A large-load rope-driven agile robotic arm based on three-degree-of-freedom differential joints

Abstract

The present invention relates to a high-load, cable-driven, agile robotic arm based on a three-degree-of-freedom differential joint. The arm comprises a base, a cable-driven three-degree-of-freedom differential shoulder ball joint for performing shoulder rotation, shoulder pitch, and shoulder rotation, a first connecting arm, a one-degree-of-freedom antagonistic decoupling elbow joint for elbow pitch, a second connecting arm, a cable-driven three-degree-of-freedom differential wrist ball joint for performing wrist rotation, wrist pitch, and wrist rotation, and a driving source for providing power. The present invention can increase load capacity, making the robotic arm lighter, faster, and more powerful.

Description

Technical Field

[0001] The invention relates to a large-load rope-driven agile robotic arm based on a three-degree-of-freedom differential joint, and belongs to the technical field of robotic arms. Background Art

[0002] With the continuous advancement of industrial automation and robotics, the application scope of robotic arms continues to expand. Although traditional drive sources have advantages in control accuracy, their complex structure, heavy weight, and high cost make it difficult to simultaneously meet the higher requirements of modern industry for robotic arms in terms of large-load handling, high-precision operation, and human-machine collaboration. In particular, due to the limitations of their structure and drive method, traditional robotic arms find it difficult to simultaneously meet the needs of large-load handling and agile operation. Therefore, the design and drive method of robotic arms are undergoing innovation and optimization. As an emerging drive method, rope drive technology has significant advantages such as electromechanical separation and flexible buffering. It can effectively reduce the weight of the robotic arm, improve its load-to-weight ratio, and improve safety. However, rope drive technology also has some technical challenges, such as rope slack, wear, and coupling, which may have an adverse effect on the motion accuracy and stability of the robotic arm. Summary of the Invention

[0003] This invention provides a high-load, rope-driven, agile manipulator based on three-degree-of-freedom differential joints, aiming to address at least one of the technical issues existing in the prior art. To this end, the invention proposes a high-load, rope-driven, agile manipulator based on three-degree-of-freedom differential joints. The spherical joints at the shoulder and wrist are both designed as three-degree-of-freedom differential spherical joints, making the manipulator lighter, faster, and more powerful.

[0004] The technical solution of the present invention relates, on one hand, to a rope-driven agile robotic arm, comprising:

[0005] The base is connected in sequence, and the rope-driven three-degree-of-freedom differential shoulder ball joint is used for performing shoulder rotation, shoulder pitch and shoulder rotation, the first connecting arm is used for performing elbow pitch and one-degree-of-freedom antagonistic decoupling elbow joint, the second connecting arm is used for performing wrist rotation, wrist pitch and wrist rotation, and the rope-driven three-degree-of-freedom differential wrist ball joint is used for providing power.

[0006] Further, the driving source includes a first driving source, a second driving source, a third driving source, a fourth driving source, a fifth driving source, a sixth driving source, and a seventh driving source; the first driving source, the second driving source, and the third driving source for driving the rope-driven three-degree-of-freedom differential shoulder ball joint are all fixed on the base; the fourth driving source for driving the antagonistic decoupling elbow joint is fixed on the first arm; the fifth driving source, the sixth driving source, and the seventh driving source for driving the rope-driven three-degree-of-freedom differential wrist ball joint are fixed on the first arm.

[0007] Furthermore, the cable-driven three-degree-of-freedom differential shoulder ball joint is provided on the shoulder differential mechanism, the shoulder slewing bracket and the shoulder pitch bracket on the base; the shoulder differential mechanism includes a first differential connecting shaft of the shoulder and a second differential connecting shaft of the shoulder, and a differential wheel r arranged coaxially along the first direction of the shoulder and capable of rotating independently. 11 、First and second differential wheels r 12 and one and three differential wheels 13 , and a two-one differential gear r arranged coaxially along the second direction of the shoulder and coaxially connected to the first differential connecting shaft of the shoulder 21 、22 differential gear r 22 and the second and third differential wheels 23 , and a three-two differential wheel r arranged coaxially along the third direction of the shoulder and coaxially connected to the second differential connecting shaft of the shoulder 32 and three-three differential wheels 33 The first direction of the shoulder, the second direction of the shoulder and the third direction of the shoulder intersect at one point; the first differential connecting shaft of the shoulder is fixedly connected to the shoulder rotating bracket, the two-one differential wheel r 21 and fixedly connected to the shoulder pitch bracket; wherein the first driving source, the second driving source and the third driving source are respectively used to drive the one-to-one differential wheels. 11 、The first and second differential wheels r 12 and the three differential wheels r 13 Rotation; wherein the differential wheel r 11 and the two-one differential gear r 21 The first differential kinematic pair of the shoulder is composed of the first and second differential wheels. 12 、The second differential wheel r 22 And the three-two differential wheels r 32 The second differential motion pair of the shoulder is composed of the three differential wheels. 13 、The second and third differential wheels r 23 And the three-three differential wheel r 33The third differential motion pair of the shoulder is formed, thereby allowing the shoulder first differential motion pair, the shoulder second differential motion pair and the shoulder third differential motion pair to generate shoulder first rotation motion, shoulder second pitch motion and shoulder third rotation motion.

[0008] Furthermore, the rope-driven three-degree-of-freedom differential wrist ball joint includes a wrist differential mechanism and a wrist pitch bracket; the wrist differential mechanism includes a wrist first differential connection shaft and a wrist second differential connection shaft, and a wrist differential wheel r arranged coaxially along the first direction of the wrist and capable of rotating independently. 11 、First and second wrist differential gear r 12 and a three-wheel differential gear 13 , and a second wrist differential gear r coaxially arranged along the second direction of the wrist and coaxially connected to the first differential connecting shaft of the wrist 21 、22 wrist differential gear r 22 、Second and third wrist differential gear r 23 , and a wrist differential wheel r coaxially arranged along the third direction of the wrist and coaxially connected to the second differential connecting shaft of the wrist 32 and triple wrist differential gear r 33 The first direction of the wrist, the second direction of the wrist and the third direction of the wrist intersect at one point; the two-one wrist differential wheel r 21 The fifth drive source, the sixth drive source and the seventh drive source are respectively used to drive the wrist differential wheel r 11 、First and second wrist differential gear r 12 and a three-wheel differential gear 13 Rotation; wherein the wrist differential wheel r 11 and the two-one wrist differential gear r 21 The first wrist differential pair is composed of the first and second wrist differential wheels. 12 、The second wrist differential wheel r 22 And the three-two wrist differential wheel r 32 The second wrist differential pair is composed of the first and second wrist differential wheels. 13 、The second and third wrist differential wheels r 23 and the three-three wrist differential gear r 33 The third differential motion pair of the wrist is formed, thereby allowing wrist 1 rotation motion, wrist 2 pitch motion and wrist 3 rotation motion to be generated through the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist.

[0009] Furthermore, the antagonistic decoupling elbow joint includes an elbow driving end driving wheel, an elbow joint end driving wheel, an elbow connecting plate, a first elbow side plate, a second elbow side plate, a third elbow side plate, an elbow auxiliary pulley group and an elbow decoupling pulley group; wherein, the elbow joint end driving wheel is connected to the first elbow side plate by a coupling rope, and the second elbow side plate is connected to the third elbow side plate by a coupling rope; the elbow driving end driving wheel is coaxial and fixedly connected to the output end of the fourth driving source, and the elbow driving end driving wheel is connected to the elbow joint end driving wheel by rope transmission.

[0010] Furthermore, the antagonistic decoupling elbow joint also has two elbow connecting plates, wherein the opposite ends of one elbow connecting plate are respectively connected to the first elbow side plate and the elbow joint end driving wheel, and the opposite ends of the other elbow connecting plate are respectively connected to the second elbow side plate and the third elbow side plate.

[0011] Furthermore, the wrist differential mechanism includes a first wrist driving wheel, a second wrist driving wheel and a third wrist driving wheel; the first wrist driving wheel is fixedly connected to the fifth driving source, the second wrist driving wheel is fixedly connected to the sixth driving source, and the third wrist driving wheel is fixedly connected to the seventh driving source; wherein, the first wrist driving wheel, the second wrist driving wheel and the third wrist driving wheel transmit power to the elbow auxiliary pulley group and the elbow decoupling pulley group through ropes, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint to move.

[0012] Furthermore, a plurality of adjustment pulleys are provided between the rope-driven three-degree-of-freedom differential wrist ball joint and the antagonistic decoupling elbow joint; the plurality of adjustment pulleys are movably provided on the second connecting arm rod to keep the rope taut when the robotic arm moves.

[0013] Furthermore, a plurality of steering pulleys are provided between the rope-driven three-degree-of-freedom differential wrist ball joint and the antagonistic decoupling elbow joint; the plurality of steering pulleys are fixed on the second connecting arm and are respectively provided on the wrist differential pulleys. 11 、The first and second wrist differential wheels r 12 and the three-wheel differential gear r 13 around the periphery to deflect the drive rope.

[0014] Furthermore, the two-one differential gear r 21 The diameter is smaller than the second differential wheel r 22 , the two differential wheels r 22 The diameter is smaller than the second and third differential wheels r 23 .

[0015] The beneficial effects of the present invention are as follows.

[0016] The present invention presents a high-load, rope-driven, agile manipulator based on a three-degree-of-freedom differential joint. The manipulator adopts an SRS configuration, with the shoulder and wrist spherical joints both designed as three-degree-of-freedom differential spherical joints. Leveraging the torque superposition principle of the three-degree-of-freedom differential joint, the torque from multiple drive sources is concentrated into a single joint via a rope. This increases the torque output of a single joint without increasing the number of drive sources or improving their performance, thereby enhancing the manipulator's load capacity. The manipulator's elbow utilizes an antagonistic decoupling design, allowing the three drive sources at the wrist to be mounted on the first arm bar, while the three drive sources at the shoulder are fixed to the base. This significantly reduces the weight and inertia of the manipulator's active parts, thereby achieving a high load-to-weight ratio and agility. The manipulator's active parts weigh no more than 8.3 kg, have an arm length of 1000 mm, and can carry a load of 12 kg. Its load-to-weight ratio exceeds 1, and its terminal linear velocity can reach 7 m / s, making the manipulator lighter, faster, and more powerful. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 is an overall schematic diagram of a large-load rope-driven agile robotic arm according to an embodiment of the present invention;

[0019] Figure 2 2 is a schematic structural diagram of a rope-driven three-degree-of-freedom differential shoulder ball joint according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a decoupling portion of a shoulder differential mechanism according to an embodiment of the present invention;

[0021] Figure 4 1 is a schematic structural diagram of a first differential kinematic pair, a second differential kinematic pair, and a third differential kinematic pair of a rope-driven three-degree-of-freedom differential shoulder ball joint according to an embodiment of the present invention;

[0022] Figure 5 is a diagram of the rope winding at the driving end of the rope-driven three-degree-of-freedom differential shoulder ball joint according to the present invention;

[0023] Figure 6 is a rope winding diagram of a differential mechanism of a rope-driven three-degree-of-freedom differential shoulder ball joint according to the present invention;

[0024] Figure 7 is a schematic structural diagram of an antagonistic decoupling elbow joint according to an embodiment of the present invention;

[0025] Figure 8 2 is a schematic structural diagram of a rope-driven three-degree-of-freedom differential wrist ball joint according to an embodiment of the present invention;

[0026] Figure 9 1 is a structural exploded view of the first differential kinematic pair, the second differential kinematic pair, and the third differential kinematic pair of the wrist of a rope-driven three-degree-of-freedom differential wrist ball joint according to an embodiment of the present invention;

[0027] Figure 10 is a schematic diagram of the routing of the wrist joint drive line according to an embodiment of the present invention;

[0028] Figure 11 4 is a cross-sectional schematic diagram of a rope-driven three-degree-of-freedom differential shoulder ball joint according to an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Base; 2. Rope-driven three-degree-of-freedom differential shoulder ball joint; 3. First connecting arm; 4. Antagonistic decoupling elbow joint; 5. Second connecting arm; 6. Rope-driven three-degree-of-freedom differential wrist ball joint; 7. Drive source; 8. Wrist support plate.

[0031] 21. Shoulder differential mechanism; 22. Shoulder rotation bracket; 23. Shoulder pitch bracket;

[0032] 201, shoulder first differential connecting shaft; 202, shoulder second differential connecting shaft; 211, differential wheel 11 ; 212, first and second differential wheels r 12 ; 213, one and three differential wheels r 13 ; 221, 21 differential wheel r 21 ; 222, 22 differential wheel r 22 ; 223, second and third differential wheels r 23 ; 232, three-two differential wheel r 32 ; 233, three-three differential wheel r 33 ;

[0033] 401, elbow drive end drive wheel; 402, elbow joint end drive wheel; 411, elbow connecting plate; 412, first elbow side plate 1; 413, second elbow side plate 2; 414, third elbow side plate 3; 421, elbow auxiliary pulley assembly; 422, elbow decoupling pulley assembly; 431, elbow lower side decoupling pulley assembly; 432, elbow upper side decoupling pulley assembly 432;

[0034] 501, steering pulley; 510, adjusting pulley;

[0035] 601, first differential connecting shaft of wrist; 602, second differential connecting shaft of wrist;

[0036] 61. Wrist differential mechanism; 62. Wrist pitch support;

[0037] 611, wrist differential gear 11;612, one and two wrist differential wheels r 12 ; 613, one or three wrist differential gear r 13 ;621, 21 wrist differential gear r 21 ;622, 22 wrist differential wheel r 22 ;623, second and third wrist differential gear r 23 ;632, three-two wrist differential wheel r 32 ;633, three-three wrist differential wheel r 33 ;

[0038] 71. First driving source; 72. Second driving source; 73. Third driving source; 74. Fourth driving source; 75. Fifth driving source; 76. Sixth driving source; 77. Seventh driving source;

[0039] 701, shoulder first drive rope; 702, shoulder second drive rope; 703, shoulder third drive rope; 704, shoulder fourth drive rope; 705, shoulder fifth drive rope; 706, shoulder sixth drive rope; 711, shoulder first coupling rope; 712, shoulder second coupling rope; 713, shoulder third coupling rope; 714, shoulder fourth coupling rope; 715, shoulder fifth coupling rope; 716, shoulder sixth coupling rope; 721, elbow and wrist first drive rope; 72 2. Second drive rope for elbow and wrist 1; 723. Third drive rope for elbow and wrist 1; 724. Fourth drive rope for elbow and wrist 1; 731. First coupling rope for elbow and wrist 1; 732. Second coupling rope for elbow and wrist 1; 733. Third coupling rope for elbow and wrist 1; 734. Fourth coupling rope for elbow and wrist 1; 741. First drive rope for wrist 2 and wrist 3; 742. Second drive rope for wrist 2 and wrist 3; 743. Third drive rope for wrist 2 and wrist 3; 744. Fourth drive rope for wrist 2 and wrist 3;

[0040] 810, first shoulder driving wheel; 811, first shoulder driven wheel; 820, second shoulder driving wheel; 821, second shoulder driven wheel; 830, third shoulder driving wheel; 831, third shoulder driven wheel;

[0041] 91. First rotary encoder; 91a. Inner ring of the first rotary encoder; 91b. Outer ring of the first rotary encoder; 92. Second rotary encoder; 92a. Inner ring of the second rotary encoder; 92b. Outer ring of the second rotary encoder; 93. Third rotary encoder; 93a. Inner ring of the third rotary encoder; 93b. Outer ring of the third rotary encoder. DETAILED DESCRIPTION

[0042] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention, in conjunction with the embodiments and accompanying drawings, to provide a full understanding of the objectives, solutions, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features within the embodiments of this application may be combined with each other. It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "up," "down," "left," "right," "top," and "bottom" used in this disclosure refer solely to the relative positions of the components of the present invention as shown in the accompanying drawings. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art. The terms used in this specification are intended to describe specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items. It should be understood that although the terms "first," "second," "third," and so on may be used to describe various elements in this disclosure, these elements should not be limited to these terms. These terms are used solely to distinguish elements of the same type from one another. For example, a first element could be termed a second element, and similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

[0043] See also Figures 1 to 11 The large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint of the technical solution of the present invention includes a base 1, a rope-driven three-degree-of-freedom differential shoulder ball joint 2 for performing shoulder rotation, shoulder pitch and shoulder rotation, a first arm 3, an antagonistic decoupling elbow joint 4 with one degree of freedom for elbow pitch, a second arm 5 and a rope-driven three-degree-of-freedom differential wrist ball joint 6 for performing wrist rotation, wrist pitch and wrist rotation, and a driving source 7 for providing power.

[0044] Reference Figure 1 The large-load, rope-driven agile manipulator includes a base 1, a rope-driven three-degree-of-freedom differential shoulder ball joint 2, a first connecting arm 3, an antagonistic decoupling elbow joint 4, a second connecting arm 5, a rope-driven three-degree-of-freedom differential wrist ball joint 6, and a driving source 7 for providing power. The rope-driven three-degree-of-freedom differential shoulder ball joint 2 consists of a shoulder swivel joint 1, a shoulder pitch joint 202, and a shoulder swivel joint 3, providing a total of three degrees of freedom. The shoulder swivel joint 1 is connected to the base 1. One end of the first arm 3 is connected to the three-degree-of-freedom differential shoulder joint 2, and the other end is connected to the antagonistic decoupling elbow joint 4.

[0045] The antagonistic decoupling elbow joint 4 has one degree of freedom, enabling elbow pitch motion. It also decouples the wrist's three-degree-of-freedom drive rope at the elbow, ensuring that the length of the drive rope for the rope-driven three-degree-of-freedom differential wrist ball joint 6 is unaffected by the movement of the antagonistic decoupling elbow joint 4. One end of the second arm 5 is connected to the antagonistic decoupling elbow joint 4, and the other end is connected to the rope-driven three-degree-of-freedom differential wrist ball joint 6. The rope-driven three-degree-of-freedom differential wrist ball joint 6 has three degrees of freedom, enabling rotational motion of wrist 1, pitch motion of wrist 2, and rotational motion of wrist 3.

[0046] Among them, the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the rope-driven three-degree-of-freedom differential wrist ball joint 6 are both three-degree-of-freedom parallel differential ball joints, both of which realize the movement of a joint by simultaneously controlling 3 / 2 drive sources, and the torques of multiple drive sources are superimposed at the same joint to increase the output torque of the joint. At the same time, the three drive sources drive the drive wheels arranged on the concentric axes to rotate, and transmit power to the three-degree-of-freedom parallel differential ball joint. The three drive sources can be fixed on the base at the same time for the rope-driven three-degree-of-freedom differential shoulder ball joint 2 or rear-mounted for the rope-driven three-degree-of-freedom differential wrist ball joint 6.

[0047] The present invention presents a high-load, rope-driven, agile manipulator based on a three-degree-of-freedom differential joint. The large-load, rope-driven, agile manipulator adopts an SRS configuration, with the spherical joints at the shoulder and wrist designed as three-degree-of-freedom differential spherical joints. Leveraging the torque superposition principle of the three-degree-of-freedom differential joint, the torques of multiple drive sources are concentrated into a single joint via a rope, increasing the torque output of a single joint without increasing the number of drive sources or improving their performance, thereby enhancing the manipulator's load-bearing capacity. The manipulator's elbow utilizes an antagonistic decoupling design, with the three drive sources at the wrist mounted on the first arm bar and the three drive sources at the shoulder fixed to the base. This significantly reduces the weight and inertia of the manipulator's active portion, thereby achieving a high load-to-weight ratio and agility. The manipulator's active portion weighs no more than 8.3 kg, has an arm length of 1000 mm, and can carry a load of 12 kg. Its load-to-weight ratio exceeds 1, and its terminal linear velocity can reach 7 m / s, making the manipulator lighter, faster, and more powerful.

[0048] In some embodiments, the driving source 7 of the large-load rope-driven agile robotic arm based on a three-degree-of-freedom differential joint includes a first driving source 71 , a second driving source 72 , a third driving source 73 , a fourth driving source 74 , a fifth driving source 75 , a sixth driving source 76 and a seventh driving source 77 .

[0049] Reference Figure 3The first drive source 71, the second drive source 72 and the third drive source 73 are arranged on the base 1. With the cooperation of the first drive source 71, the second drive source 72 and the third drive source 73, the torque is distributed to each joint of the shoulder through the transmission line, realizing the shoulder first rotation movement, shoulder second pitch movement and shoulder third rotation movement of the rope-driven three-degree-of-freedom differential shoulder ball joint 2. Figure 1 The fourth driving source 74, the fifth driving source 75, the sixth driving source 76 and the seventh driving source 77 are all fixed on the first arm 3. The fourth driving source 74 directly drives the antagonistic decoupling elbow joint 4 to move, thereby realizing the elbow pitching movement of the antagonistic decoupling elbow joint 4. Figure 1 With the cooperation of the fifth driving source 75, the sixth driving source 76 and the seventh driving source 77, the torque is distributed to each joint of the wrist through the transmission line distribution, realizing the wrist one rotational motion, wrist two pitching motion and wrist three rotational motion of the rope-driven three-degree-of-freedom differential wrist ball joint 6.

[0050] In some embodiments, the cable-driven three-degree-of-freedom differential shoulder ball joint 2 includes a shoulder differential mechanism 21, a shoulder swivel bracket 22, and a shoulder pitch bracket 23. Figure 4 The shoulder differential mechanism 21 includes 8 differential wheels, a shoulder first differential connecting shaft 201 and a shoulder second differential connecting shaft 202. The 8 differential wheels are respectively 11 211, differential wheel one and two 12 212, differential gear r 13 213, 21 differential gear 21 221, 22 differential wheel r 22 222, second and third differential wheels 23 223, three-two differential wheel r 32 232 and three-three differential gear r 33 233.

[0051] See also Figures 2 to 4 The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels r 11 211, differential wheel one and two 12 212, differential gear r 13 213 rotations, and the differential wheel r 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 213 are connected in sequence along the first direction of the shoulder and are arranged concentrically. 21 221, 22 differential wheel r 22 222, second and third differential wheels 23 223 is arranged along the second direction of the shoulder and is coaxial with the axis. 32 232 and three-three differential gear r 33233 is arranged along the concentric axis of the shoulder third direction. The first shoulder direction, the second shoulder direction and the third shoulder direction correspond to Figure 4 The J1 direction, J2 direction and J3 direction of the shoulder, the first direction J1 of the shoulder, the second direction J2 of the shoulder and the third direction J3 of the shoulder intersect at one point in space.

[0052] Reference Figure 2 and Figure 4 , 21 differential gear r 21 221, 22 differential wheel r 22 222, second and third differential wheels 23 223 is coaxially arranged with the first differential connecting shaft 201 of the shoulder, wherein the second differential gear r 21 221 is connected to one end of the first differential connecting shaft 61 of the shoulder, and the second differential wheel r 22 222 and second and third differential wheels r 23 223 is connected to the other end of the shoulder first differential connecting shaft 61. 32 232 and three-three differential gear r 33 233 are fixedly connected to both ends of the shoulder second differential connecting shaft 202. The first driving source 71, the second driving source 72, and the first driving source 73 are fixedly connected to the base 1. 21 221 is fixedly connected to the pitch bracket 23 .

[0053] Among them, the differential gear r 11 211, 21 differential gear 21 221 forms the first differential motion pair of the shoulder, the first and second differential wheels 12 212, 22 differential wheel r 22 222 and 32 differential gear r 32 232 forms the second differential kinematic pair of the shoulder, the first and third differential wheels 13 213, second and third differential wheels 23 223 and 33 differential gear r 33 233 constitutes the third differential motion pair of the shoulder. The first driving source 71, the second driving source 72, and the third driving source 73 transmit power to the differential wheels r 11 211, differential wheel one and two 12 212, differential wheel one and two 13 213, thereby driving the first differential motion pair of the shoulder, the second differential motion pair of the shoulder and the third differential motion pair of the shoulder to move, and realizing the independent controllability of the three-degree-of-freedom joint and the superposition of multiple driver output torques at the same joint through the cooperation between the differential motion pairs.

[0054] In an application embodiment, see Figure 2The shoulder rotating bracket 22 is placed above the base 1 and is connected through a bearing, the shoulder pitch bracket 23 is connected to the shoulder rotating bracket 22 through a bearing, the shoulder first differential connecting shaft 201 is fixedly connected to the shoulder rotating bracket 22, and the shoulder second differential connecting shaft 202 is connected to the pitch bracket 23 through a bearing.

[0055] See also Figure 2 and Figure 4 , differential gear r 11 211, differential wheel one and two 12 212, differential gear r 13 213 adopts concentric shaft setting mode, one by one differential gear 11 211 and the first and second differential wheels 12 212 are connected by bearings, and the first and second differential wheels are connected by bearings. 12 212 and 1 / 3 differential wheel r 13 213 also adopts bearing connection support, one by one differential wheel 11 211, differential wheel one and two 12 212, differential gear r 13 213 is positioned in the first direction J1 of the shoulder through the base 1 and the second differential connecting shaft 202 of the shoulder. 22 222 and second and third differential wheels r 23 223 is connected to the first differential connecting shaft 201 of the shoulder through a bearing to achieve positioning in the second direction J2 of the shoulder.

[0056] It should be noted that the rotation axes of the joints of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 intersect at one point. According to the three-degree-of-freedom differential principle, the power can be transmitted through the transmission line 700 by controlling the first drive source 71, the second drive source 72, and the third drive source 73, so that each joint can be independently controlled. The rope-driven three-degree-of-freedom differential shoulder ball joint 2 of the present invention is based on the differential principle. The output torque of multiple drive sources is superimposed on the same joint through the rope. It can increase the output torque of a single joint without increasing the number of drive sources and the performance of the drive source, thereby improving the load capacity. Furthermore, the two-one differential wheel r 21 The diameter of 221 is smaller than the differential gear r 22 222, 22 differential gear r 22 The diameter of 222 is smaller than the second and third differential wheels r 23 223.

[0057] In some embodiments, the shoulder differential mechanism 21 includes a first shoulder driving wheel 810, a second shoulder driving wheel 820, and a third shoulder driving wheel 830, and a first shoulder driven wheel 811, a second shoulder driven wheel 821, and a third shoulder driven wheel 831. Specifically, the first shoulder driving wheel 810 and the first shoulder driven wheel 811 form a fourth shoulder differential pair, the second shoulder driving wheel 820 and the second shoulder driven wheel 821 form a fifth shoulder differential pair, and the third shoulder driving wheel 830 and the third shoulder driven wheel 831 form a sixth shoulder differential pair.

[0058] Specifically, see Figures 1 to 3 The first shoulder driving wheel 810 is fixedly connected to the first driving source 71, and the first shoulder driven wheel 811 is coaxially fixed to the differential wheel r 11 211, so that the first driving source 71 passes through the first shoulder driving wheel 810 and the differential wheel r 11 211 drive two-one differential wheel r 21 221 Movement.

[0059] Specifically, see Figures 1 to 3 The second shoulder driving wheel 820 is fixedly connected to the second driving source 72, and the second shoulder driven wheel 821 is coaxially fixed to the first and second differential wheels. 12 212, so that the second driving source 72 passes through the second shoulder driving wheel 820 and the first and second differential wheels r 12 212 drive two-two differential wheel r 22 222 and 32 differential gear r 32 232 Movement.

[0060] Specifically, see Figures 1 to 3 The third shoulder driving wheel 830 is fixedly connected to the third driving source 73, and the third shoulder driven wheel 831 is coaxially fixed to the two-one differential wheel r 21 221, so that the third driving source 73 passes through the third shoulder driving wheel 830 and the first three differential wheels r 13 213 drives the second and third differential wheels 23 223 and 33 differential gear r 33 233 Movement.

[0061] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the first drive source 71, the first drive source 71 and the third drive source 73 can transmit the motion to the fourth differential motion pair of the shoulder, the fifth differential motion pair of the shoulder and the sixth differential motion pair of the shoulder respectively, and then drive the first differential motion pair of the shoulder, the second differential motion pair of the shoulder and the third differential motion pair of the shoulder to move respectively.

[0062] In an application embodiment, see Figures 2 to 5The first coupling rope 711 and the second coupling rope 712 are wound around the differential gears in an "8" winding pattern. 11 211 and 21 differential gear r 21 221, and both ends of each rope are fixed on two differential wheels, that is, the ends of the first coupling rope 711 are respectively fixed on the two differential wheels r 11 211 and 21 differential gear r 21 221 is fixedly connected, and the ends of the second coupling rope 712 are respectively connected to the differential wheels r 11 211 and 21 differential gear r 21 The third coupling rope 713 and the fourth coupling rope 714 are wound around the first and second differential wheels in an "8" winding manner. 12 212 and 22 differential wheels 22 222, and in the 22 differential wheel r 22 222 and three-two differential wheels r 32 232, the "0" winding method is used, that is, the two ends of the third coupling rope 713 are respectively connected to the first and second differential wheels r 12 212 and 32 differential wheels 32 232 is fixedly connected, and the middle part of the third coupling rope 713 passes around the second differential wheel r 22 222 and the steering pulley, and the ends of the fourth coupling rope 714 are respectively connected to the first and second differential wheels r 12 212 and 32 differential wheels r 32 232 is fixedly connected, and the middle part of the fourth coupling rope 714 passes around the second differential wheel r 22 222 and another steering pulley, wherein the third coupling rope 713 and the fourth coupling rope 714 are respectively arranged on the opposite sides of each differential wheel of the linkage. The fifth coupling rope 715 and the sixth coupling rope 716 are wound around the first and third differential wheels in an "8" winding manner. 13 213 and second and third differential wheels 23 Between 223, the second and third differential wheels 23 223 and 33 differential gear r 33 233 are also wound in an "8" winding manner, that is, the ends of the fifth coupling rope 715 are respectively connected to the first and third differential wheels r 13 213 and three-three differential wheel r 33 233 is fixedly connected, and the middle of the fifth coupling rope 715 passes around the second and third differential wheels r 23 223, and the ends of the sixth coupling rope 716 are respectively connected to the first and third differential wheels r 13 213 and three-three differential wheel r 33 233 is fixedly connected, and the middle of the sixth coupling rope 716 passes around the second and third differential wheels r23 223, wherein the fifth coupling rope 715 and the sixth coupling rope 716 are respectively arranged on opposite sides of each linked differential wheel. This rope winding method completes power transmission between adjacent differential wheels, thereby allowing shoulder 1 rotation motion, shoulder 2 pitch motion, and shoulder 3 rotation motion to be generated through the first shoulder differential kinematic pair, the second shoulder differential kinematic pair, and the third shoulder differential kinematic pair.

[0063] In an application embodiment, see Figure 2 and Figure 4 and Figure 6 The first drive rope 701 and the second drive rope 702 are wound between the first drive source end drive wheel 71 and the first differential end drive wheel 81 in a "0" winding pattern, that is, the two ends of the first drive rope 701 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81, respectively, and the two ends of the second drive rope 702 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81, respectively. The third drive rope 703 and the fourth drive rope 704 are wound between the second drive source end drive wheel 72 and the second differential end drive wheel 82 in a "0" winding pattern, that is, the two ends of the third drive rope 703 are fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively, and the fourth drive rope 704 is fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively. The fifth drive rope 705 and the sixth drive rope 706 are wound between the third drive source end drive wheel 73 and the third differential end drive wheel (83) in a "0" winding manner, that is, the two ends of the fifth drive rope 705 are fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel (83), respectively, and the two ends of the sixth drive rope 706 are fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel (83), respectively. The required transmission ratio is ensured by varying the diameters of the corresponding drive wheels, and the drive ropes are wound helically around the drive wheels to ensure that the rotation range requirements of the joint can be met. The first differential drive source 51, the second differential drive source 52, and the third differential drive source 53 respectively drive the first drive source end drive wheel 71, the second drive source end drive wheel 72, and the third drive source end drive wheel 73 fixed on the drive source to rotate, and transmit power to the first differential wheel 211, the first and second differential wheels 212, and the first and second differential wheels 213 through the above-mentioned drive ropes to make them move, thereby driving the first differential motion pair of the shoulder, the second differential motion pair of the shoulder, and the third differential motion pair of the shoulder to move.

[0064] It should be noted that the differential pairs are connected by belts, chains, gears, or ropes, so that the first, second, and third differential drive sources 51, 52, and 53 can transmit motion to the fourth, fifth, and sixth differential pairs, respectively, which in turn drive the first, second, and third differential pairs, respectively. Furthermore, ropes are used to transmit power between the differential pairs, and the rope winding method can be an "8" or "0" rope winding method.

[0065] In some embodiments, see Figure 8 and Figure 9 The rope-driven three-degree-of-freedom differential wrist ball joint 6 of the present invention includes a wrist differential mechanism 61 and a wrist pitch bracket 62. The wrist differential mechanism 61 includes eight wrist differential wheels, a wrist first differential connecting shaft 601, and a wrist second differential connecting shaft 602. The eight wrist differential wheels are respectively: wrist differential wheels r 11 611, first and second wrist differential gears 12 612, one and three wrist differential gear r 13 613, 21 wrist differential gear 21 621、22 wrist differential gear 22 622, Second and Third wrist differential gear r 23 623、Three-two wrist differential gear r 32 632 and triple wrist differential gear r 33 633.

[0066] The fifth driving source 75, the sixth driving source 76, and the seventh driving source 77 drive the wrist differential wheels r 11 611, first and second wrist differential gears 12 612 and 1 / 3 wrist differential gear r 13 613 rotates and extends along the first direction of the wrist. 21 621, 22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 extends along the second direction of the wrist, the three-two wrist differential wheel r 32 632 and triple wrist differential gear r 33 633 extends along the third direction of the wrist, wherein the first direction of the wrist, the second direction of the wrist, and the third direction of the wrist intersect at a point in space.

[0067] Among them, the 21 wrist differential gear r 21 621、22 wrist differential gear 22 622, Second and Third wrist differential gear r 23 623 is coaxially arranged with the first wrist differential connecting shaft 601, and the third and second wrist differential wheels are r 32632 and triple wrist differential gear r 33 633 is fixedly connected to both ends of the second wrist differential connecting shaft 602, the fifth driving source 75, the sixth driving source 76, and the seventh driving source 77 are fixedly connected to the second wrist connecting arm 5, and the second wrist differential gear is fixedly connected to the wrist differential gear. 21 621 is fixedly connected to the wrist pitch support 62.

[0068] Among them, the wrist differential gear r 11 611, 21 wrist differential gear 21 621 constitutes the first wrist differential motion pair, the first and second wrist differential wheels r 12 612, 22 wrist differential gear r 22 622 and 32 wrist differential gear r 32 632 constitutes the second wrist differential motion pair, the first and third wrist differential wheels r 13 613, Second and Third wrist differential gear r 23 623 and triple wrist differential gear r 33 633 constitutes the third differential pair of the wrist. The fifth drive source 75, the sixth drive source 76, and the seventh drive source 77 transmit power to the wrist differential gears r 11 611, first and second wrist differential gears 12 612, one and three wrist differential gear r 13 613, thereby driving the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist to move, and realizing independent controllability of the three-degree-of-freedom joint of the wrist and superposition of output torques of multiple drive sources at the same joint through the cooperation between the differential motion pairs of the wrist.

[0069] In an application embodiment, see Figure 9 and Figure 10 The rope-driven three-degree-of-freedom differential wrist ball joint 6 has a wrist pitch bracket 62 connected to the first differential connection shaft 601 of the wrist by a bearing, and the relative movement between the two is the wrist second pitch movement. A bearing is installed between the wrist pitch bracket 62 and the second differential connection shaft 602 of the wrist, and the relative movement between the two is the wrist third rotational movement.

[0070] Specifically, the wrist first differential connecting shaft 601 and the third wrist differential gear r 13 There are bearings between 613, a three-wheel differential gear 13 613 and the first and second wrist differential wheels 12 There are bearings between 612, and the first and second wrist differential wheels are 12 612 and wrist differential gear r 11 There are bearings between 611, and the three groups of components are connected by bearings to achieve relative rotation. 21 621、22 wrist differential gear22 622 and second and third wrist differential gear r 23 623 is positioned in the first direction of the wrist through the wrist support plate 8 and the first wrist differential connecting shaft 601. 21 621、22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 coaxial arrangement, 22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 and the first differential connection shaft 601 of the wrist can rotate relative to each other.

[0071] In some embodiments, see Figures 7 to 10 The first wrist drive wheel 840 is fixedly connected to the fifth drive source 75, the second wrist drive wheel 850 is fixedly connected to the sixth drive source 76, and the third wrist drive wheel 860 is fixedly connected to the seventh drive source 77. The first wrist drive wheel 840, the second wrist drive wheel 850, and the third wrist drive wheel 860 transmit power to the lower elbow decoupling pulley assembly 431, the upper elbow decoupling pulley assembly 432, the elbow auxiliary pulley assembly 421, and the elbow decoupling pulley assembly 422 via ropes, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint 6 to move.

[0072] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the fifth drive source 75, the fifth drive source 75 and the seventh drive source 77 can transmit the motion to the fourth differential motion pair of the wrist, the fifth differential motion pair of the wrist and the sixth differential motion pair of the wrist respectively, and then drive the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist to move respectively.

[0073] In some embodiments, the antagonistic decoupling elbow joint 4 of the present invention includes an elbow drive end drive wheel 401, an elbow joint end drive wheel 402, an elbow connecting plate 411, a first elbow side plate 412, a second elbow side plate 413, a third elbow side plate 414, an elbow auxiliary pulley group 421 and an elbow decoupling pulley group 422.

[0074] See also Figure 1 、 Figure 7 and Figure 10The elbow joint drive wheel 402 is connected to the first elbow side plate 412 via a coupling rope, while the second elbow side plate 413 is connected to the third elbow side plate 414 via a coupling rope, ensuring that the elbow motion is pure rolling. One coupling rope has two ends fixedly connected to the first elbow side plate 412 and the elbow joint drive wheel 402, respectively, and these ends are located on opposite sides of the robotic arm. Another coupling rope has two ends fixedly connected to the second elbow side plate 413 and the third elbow side plate 414, respectively, and these ends are located on opposite sides of the robotic arm.

[0075] Furthermore, the elbow drive end drive wheel 401 is coaxially and fixedly connected to the output end of the fourth drive source 74. The elbow drive end drive wheel 401 transmits power to the elbow joint end drive wheel 402 via a rope, completing the elbow pitch motion. Furthermore, two elbow connecting plates 411 are provided. One elbow connecting plate 411 has its opposite ends connected to the first elbow side plate 412 and the elbow joint end drive wheel 402, respectively. The other elbow connecting plate 411 has its opposite ends connected to the second elbow side plate 413 and the third elbow side plate 414, respectively.

[0076] Specifically, the driving rope of the rope-driven three-degree-of-freedom differential wrist ball joint 6 transmits power to the wrist after passing through the elbow auxiliary pulley group 421 and the elbow decoupling pulley group 422. Since the second elbow side plate 413 and the third elbow side plate 414 are connected by a coupling rope, the elbow moves in pure rolling along circles that fit each other, and the elbow auxiliary pulley group 421 limits the entry and exit rope positions of the wrist driving rope passing through the elbow. When the elbow rotates, the length of the wrist driving rope wrapped around the lower decoupling pulley group 431 increases (decreases) by the same length as the length of the wrist driving rope wrapped around the upper decoupling pulley group 432 of the elbow decreases (increases), so that the driving rope of the rope-driven three-degree-of-freedom differential wrist ball joint 6 remains unchanged when passing through the antagonistic decoupling elbow joint 4, so as to achieve the purpose of preventing the wrist joint from rotating when the elbow moves. The elbow auxiliary pulley set 421 is mainly responsible for limiting the entry and exit positions of the rope passing through the elbow, and ensuring that the wrist drive rope is close to the elbow pulley set during the antagonistic decoupling elbow joint 4 movement. The elbow decoupling pulley set 422 is responsible for ensuring that the rope is in a decoupled state during elbow joint movement.

[0077] See also Figure 1 、 Figures 7 to 10 A plurality of steering pulleys 500 and a plurality of adjusting pulleys 510 are further provided between the rope-driven three-degree-of-freedom differential wrist ball joint 6 and the antagonistic decoupling elbow joint 4. Figure 8 , multiple steering pulleys 500 are fixed on the second connecting arm 5 and are set on the wrist differential wheel r 11 611, first and second wrist differential gears 12612 and 1 / 3 wrist differential gear r 13 The periphery of 613 is used to realize the steering of the driving rope. Figure 1 and Figure 8 , multiple adjusting pulleys 510 are movably arranged on the second connecting arm rod 5, so as to keep the rope in a taut state when the robotic arm moves.

[0078] In one embodiment, the shoulder differential mechanism 21 further includes a first rotary encoder 91 , a second rotary encoder 92 , and a third rotary encoder 93 for measuring the rotation angle and angular velocity of each joint.

[0079] See also Figure 1 and Figure 11 The first rotary encoder 91 includes an inner ring 91a and an outer ring 91b of the first rotary encoder. The inner ring 91a of the first rotary encoder is fixedly mounted on one end of the first differential connecting shaft 61 of the shoulder, and the outer ring 91b of the first rotary encoder is fixedly connected to the base 1. Thus, the first rotary encoder 91 is used to measure the angle and angular velocity of the rotational motion of the first joint.

[0080] See also Figure 1 and Figure 11 The second rotary encoder 92 includes an inner ring 92a of the second rotary encoder and an outer ring 92b of the second rotary encoder. The inner ring 92a of the second rotary encoder is fixedly mounted on one end of the shoulder first differential connection shaft 61, and the outer ring 92b of the second rotary encoder is fixedly connected to the shoulder pitch bracket 4. Thus, the shoulder second rotary encoder 92 is used to measure the angle and angular velocity of the pitch motion of the second joint.

[0081] See also Figure 1 and Figure 11 The third rotary encoder 93 includes an inner ring 93a and an outer ring 93b. The inner ring 93a is fixedly mounted on one end of the second differential connecting shaft 62, while the outer ring 93b is fixedly connected to the shoulder pitch bracket 4. Thus, the third rotary encoder 93 is used to measure the angle and angular velocity of the rotational motion of the third joint.

[0082] In some embodiments, the three-degree-of-freedom differential shoulder joint 2 of the present invention is composed of a shoulder swivel joint 1, a shoulder pitch joint 2, and a shoulder swivel joint 3, which can achieve a total of three degrees of freedom.

[0083] Among them, the shoulder first rotary joint is the first joint, and its first joint rotary motion principle is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. When the first and third differential wheels are driven 13 213 and 21 differential wheel r 21 221 are around J1 axis Figure 3When rotating counterclockwise or clockwise, the three-two differential gears fixed on the same shaft 32 232 and three-three differential gear r 33 233 in the opposite direction around the J3 axis see Figure 3 Rotation, thus producing a rotation around the J2 axis Figure 3 The counterclockwise or clockwise pitch motion. 11 When 211 rotates counterclockwise or clockwise around the J1 axis, a pitching motion in the clockwise or counterclockwise direction around the J2 axis is generated. This pitching motion counteracts the pitching motion generated by the differential motion between the second differential motion pair of the shoulder and the third differential motion pair of the shoulder, thereby generating a rotational motion of the movable part in the counterclockwise or clockwise direction around the J1 axis.

[0084] Among them, the shoulder second pitch joint is the second switch, and the pitch motion principle of the second joint is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. When driving the first and third differential wheels, 13 213 and 21 differential wheel r 21 When 221 rotates counterclockwise or clockwise around the J1 axis, the three-two differential gear r fixed on the same axis 32 232 and three-three differential gear r 33 233 rotates in the opposite direction around the J3 axis, thereby generating a counterclockwise or clockwise pitch motion around the J2 axis. 11 When 211 rotates clockwise or counterclockwise around the J1 axis, a pitch motion in the counterclockwise or clockwise direction around the J2 axis is generated. The pitch motion is superimposed on the pitch motion generated by the differential motion of the second differential motion pair and the third differential motion pair, thereby generating a pitch motion in the counterclockwise or clockwise direction around the J2 axis.

[0085] Among them, the shoulder three-joint rotary joint is the third joint, and its third joint rotary motion principle is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. When driving the first and third differential wheels, 13 213 rotates counterclockwise or clockwise around the J1 axis, driving the first and second differential wheels r 12 When 212 rotates clockwise or counterclockwise around the J1 axis, the three-two differential gear r fixed on the same axis 32 232 and three-three differential gear r 33 233 rotates clockwise and counterclockwise around the J3 axis in the same direction, thereby generating a clockwise or counterclockwise rotational motion around the J3 axis.

[0086] According to the kinematics of the driving source and the joint end, the first driving source 71 drives the differential wheel r 11 The rotation angle of 211 is q1, and its input torque is τ m1 The second driving source 72 drives the first and second differential wheels r12 The rotation angle of 212 is q2, and its output torque is τ m2 The third driving source 73 drives a three-wheel differential 13 The rotation angle of 213 is q3, and its output torque is τ m3 ; The rotation angles of the first joint, the second joint and the third joint are θ1, θ2 and θ3 respectively, and the driving torques of the first joint, the second joint and the third joint are τ1, τ2 and τ3 respectively; the positive directions of the joints and the driving sources obey the right-hand rule. Assume that the transmission ratio of the driving source-joint driving end is 1, and the diameter of the differential wheels wrapped around the same coupling rope is the same. Because each joint is connected to multiple driving sources, the total driving torque on the joint is the sum of the torques transmitted by multiple driving sources. At the same time, the total rotation angle of the driving source is the sum of the rotation angles of multiple joints, because each driving source is connected to multiple joints. According to the above differential principle, the positive kinematic expression of the driving source-joint end is as follows:

[0087]

[0088] Based on this, the inverse kinematics of the driving source and joint end is expressed as follows:

[0089]

[0090] The torque distribution of the driving source input torque at each joint is calculated as follows:

[0091]

[0092] According to the above formula, assuming that the peak torque of the driving source is 1 N·m and the transmission ratio of each link is 1, when the input torque of each driving source is as shown in Table 1, the maximum driving torque of the joint end can reach twice the peak torque of the motor.

[0093] Table 1 Relationship between driving source and input torque at joint end

[0094]

[0095] See also Figures 1 to 11 , which is described below with a specific embodiment.

[0096] The base 1 is a hollow structure, the first driving source 71, the second driving source 72, the third driving source 73, the differential wheel r 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 213 are all set in the base 1, and the differential wheel r 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13213 are coaxial and connected in sequence from bottom to top and can rotate independently. The first driving source 71, the second driving source 72, and the third driving source 73 are set on a differential gear. 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels r through the transmission lines respectively. 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 213 rotation. See Figure 2 、 Figure 4 and Figure 11 , differential gear r 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 213 is a long cylindrical type, the lower side of the three differential wheels is set in the base 1, and the upper end of the three differential wheels is set between the two side plates of the slewing bracket 3, so that the differential wheels r 11 211 and 21 differential gear r 21 221 transmission connection, first and second differential wheels r 12 212 and 22 differential wheels 22 222 transmission connection and one-three differential wheels 13 213 and second and third differential wheels 23 Transmission connection between 223.

[0097] The swivel bracket 3 is arranged above the base 1 and can rotate relative to the base 1. The swivel bracket 3 includes a bottom plate and two side plates forming a U-shaped structure. The remaining six differential wheels are arranged between the two side plates of the swivel bracket 3. The first differential connecting shaft 61 is arranged horizontally and its two ends are fixedly connected to the two side plates of the swivel bracket 3. One end of the first differential connecting shaft 61 is connected to the second differential wheel. 22 222 and second and third differential wheels r 23 223 is rotatably connected, and the other end of the first differential connecting shaft 61 is connected to the second differential gear r 21 221 is rotatably connected. The first differential connecting shaft 61 is connected to the differential gears r 11 211 interval setting. Among them, see Figure 2 and Figure 11The first differential connecting shaft 61 is a T-shaped structure, with its two sides fixedly connected to the two side plates of the slewing support 3, and one side fixedly connected to the inner ring 91a of the first rotary encoder. The lower middle side of the first differential connecting shaft 61 is fixedly connected to the inner ring 92a of the second rotary encoder via an intermediate shaft. Specifically, the intermediate shaft is partially disposed within and passes through the base 1. The lower end of the intermediate shaft is located on the lower side of the base, and the upper end of the intermediate shaft protrudes from the upper side of the base to be fixedly connected to the lower middle side of the first differential connecting shaft 61. The inner ring 92a of the second rotary encoder is fixedly connected to the lower side of the intermediate shaft. 11 211, differential wheel one and two 12 212 and one-three differential wheels r 13 213 are rotatably sleeved on the intermediate shaft, and the axis of the intermediate shaft is coaxially arranged with the first direction J1 axis.

[0098] The pitch bracket 4 is arranged on the upper side of the slewing bracket 3 and can rotate relative to the slewing bracket 3. The pitch bracket 4 includes a bottom plate and two side plates forming an inverted U-shaped structure. One side of the pitch bracket 4 is connected to the two-one differential wheel. 21 221 is fixedly connected, and the two side plates of the pitch bracket 4 are rotatably connected to the two ends of the first differential connecting shaft 61. The second differential connecting shaft 61 is vertically arranged and can rotate independently through the bottom plate of the pitch bracket 4. The two ends of the second differential connecting shaft 61 are respectively connected to the three-two differential wheels r 32 232 and three-three differential gear r 33 233 is fixedly connected, and the inner ring 93a of the third rotary encoder is set on the three-two differential wheel r 32 232 and three-three differential gear r 33 233 and fixedly connected to the second differential connecting shaft 61. The second differential connecting shaft 61 rotatably passes through the bottom plate of the pitch bracket 4. The second differential connecting shaft 61 is spaced apart from the first differential connecting shaft 61. 11 211 and 21 differential wheel r 21 221 are linked together through the transmission line 700 to form the first differential pair. 12 212, 22 differential wheel r 22 222 and 32 differential wheels r 32 232 are linked through the transmission line 700 to form a second differential pair. 13 213, second and third differential wheels 23 223 and 33 differential wheels 33 233 are linked through the transmission line 700 to form a third differential motion pair.

[0099] It should be noted that the main structures of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the rope-driven three-degree-of-freedom differential wrist ball joint 6 in the present invention are the same. Accordingly, the working principles of the shoulder rotation movement, shoulder pitch movement and shoulder rotation movement of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the wrist rotation movement, wrist pitch movement and wrist rotation movement of the rope-driven three-degree-of-freedom differential wrist ball joint 6 can be referenced to each other.

[0100] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A large-load rope-driven agile manipulator, characterized in that: include: A base (1), a rope-driven three-degree-of-freedom differential shoulder ball joint (2) for performing shoulder rotation, shoulder pitch, and shoulder rotation, a first arm (3), an antagonistic decoupling elbow joint (4) with one degree of freedom for performing elbow pitch, a second connecting arm (5), and a rope-driven three-degree-of-freedom differential wrist ball joint (6) for performing wrist rotation, wrist pitch, and wrist rotation, and a driving source (7) for providing power, are connected in sequence; Wherein, the driving source (7) includes a first driving source (71), a second driving source (72), a third driving source (73), a fourth driving source (74), a fifth driving source (75), a sixth driving source (76), and a seventh driving source (77); The first driving source (71), the second driving source (72) and the third driving source (73) for driving the rope-driven three-degree-of-freedom differential shoulder ball joint (2) are all fixed on the base (1); The fourth driving source (74) for driving the antagonistic decoupling elbow joint (4) is fixed on the first arm (3); The fifth drive source (75), the sixth drive source (76), and the seventh drive source (77) for driving the rope-driven three-degree-of-freedom differential wrist ball joint (6) are fixed on the first arm (3); The rope-driven three-degree-of-freedom differential shoulder ball joint (2) is provided with a shoulder differential mechanism (21), a shoulder slewing bracket (22), and a shoulder pitch bracket (23) on the base (1); The shoulder differential mechanism (21) comprises a first differential connecting shaft (201) and a second differential connecting shaft (202) of the shoulder, and differential wheels coaxially arranged along a first direction of the shoulder and capable of rotating independently. (211), differential wheel one and two (212) and one-three differential wheels (213), and a two-one differential wheel coaxially arranged along the second direction of the shoulder and coaxially connected to the first differential connecting shaft (201) of the shoulder (221), 22 differential wheels (222) and second and third differential wheels (223), and a three-two differential wheel coaxially arranged along the third direction of the shoulder and coaxially connected to the second differential connecting shaft (202) of the shoulder (232) and three-three differential wheels (233); the first direction of the shoulder, the second direction of the shoulder and the third direction of the shoulder intersect at a point; The shoulder first differential connecting shaft (201) is fixedly connected to the shoulder slewing bracket (22), and the two-one differential wheels (221) is fixedly connected to the shoulder pitch bracket (23); Wherein, the first driving source (71), the second driving source (72) and the third driving source (73) are respectively used to drive the one-to-one differential wheels (211), the first and second differential wheels (212) and the three differential wheels (213) rotation; Among them, the differential wheels (211) and the two-one differential wheel (221) constitutes the first differential motion pair of the shoulder, the first and second differential wheels (212), the two differential wheels (222) and the three-two differential wheel (232) constitutes the second differential motion pair of the shoulder, the three differential wheels (213), the second and third differential wheels (223) and the three-three differential wheel (233) constitutes the third differential motion pair of the shoulder, thereby allowing the shoulder first differential motion pair, the shoulder second differential motion pair and the shoulder third differential motion pair to generate the shoulder first rotation motion, the shoulder second pitch motion and the shoulder third rotation motion.

2. The large-load rope-driven agile manipulator according to claim 1, characterized in that: The rope-driven three-degree-of-freedom differential wrist ball joint (6) includes a wrist differential mechanism (61) and a wrist pitch bracket (62); The wrist differential mechanism (61) includes a wrist first differential connection shaft (601), a wrist second differential connection shaft (602), and wrist differential wheels coaxially arranged along a first direction of the wrist and capable of rotating independently. (611), one and two wrist differential wheels (612) and a three-wheel differential (613), and a second wrist differential wheel coaxially arranged along the second direction of the wrist and coaxially connected to the first differential connecting shaft (601) of the wrist (621), 22 wrist differential wheel (622), Second and Third wrist differential gear (623), and a three-two wrist differential wheel coaxially arranged along the third direction of the wrist and coaxially connected to the second differential connecting shaft (602) of the wrist (632) and triple wrist differential (633); the first direction of the wrist, the second direction of the wrist and the third direction of the wrist intersect at a point; The two-wrist differential wheel (621) is fixedly connected to the second differential connecting shaft (602) of the wrist; The fifth driving source (75), the sixth driving source (76), and the seventh driving source (77) are used to drive the wrist differential wheels. (611), one and two wrist differential wheels (612) and a three-wheel differential (613) rotation; Wherein, the wrist differential wheel (611) and the two-one wrist differential wheel (621) constitutes the first differential motion pair of the wrist, the first and second wrist differential wheels (612), the two-two wrist differential wheel (622) and the three-two wrist differential wheel (632) constitutes the second differential motion pair of the wrist, the three wrist differential wheels (613), the second and third wrist differential wheels (623) and the three-three wrist differential wheel (633) constitutes the third differential motion pair of the wrist, thereby allowing wrist 1 rotation motion, wrist 2 pitch motion and wrist 3 rotation motion to be generated through the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist.

3. The large-load rope-driven agile manipulator according to claim 2, characterized in that: The antagonistic decoupling elbow joint (4) comprises an elbow drive end drive wheel (401), an elbow joint end drive wheel (402), an elbow connecting plate (411), a first elbow side plate (412), a second elbow side plate (413), a third elbow side plate (414), an elbow auxiliary pulley set (421) and an elbow decoupling pulley set (422); The elbow joint end driving wheel (402) is connected to the first elbow side plate (412) via a coupling rope, and the second elbow side plate (413) is connected to the third elbow side plate (414) via a coupling rope; the elbow driving end driving wheel (401) is coaxially and fixedly connected to the output end of the fourth driving source (74), and the elbow driving end driving wheel (401) is connected to the elbow joint end driving wheel (402) via a rope transmission.

4. The large-load rope-driven agile manipulator according to claim 3, characterized in that: The antagonistic decoupling elbow joint (4) further comprises two elbow connecting plates (411), wherein opposite ends of one elbow connecting plate (411) are respectively connected to the first elbow side plate (412) and the elbow joint end driving wheel (402), and opposite ends of the other elbow connecting plate (411) are respectively connected to the second elbow side plate (413) and the third elbow side plate (414).

5. The large-load rope-driven agile manipulator according to claim 4, characterized in that: A plurality of adjustment pulleys (510) are provided between the rope-driven three-degree-of-freedom differential wrist ball joint (6) and the antagonistic decoupling elbow joint (4); the plurality of adjustment pulleys (510) are movably provided on the second connecting arm (5) so as to keep the rope in a taut state when the robotic arm moves.

6. The large-load rope-driven agile manipulator according to claim 4, characterized in that: The wrist differential mechanism (61) further includes a first wrist drive wheel (840), a second wrist drive wheel (850) and a third wrist drive wheel (860); the first wrist drive wheel (840) is fixedly connected to the fifth drive source (75), the second wrist drive wheel (850) is fixedly connected to the sixth drive source (76), and the third wrist drive wheel (860) is fixedly connected to the seventh drive source (77); wherein the first wrist drive wheel (840), the second wrist drive wheel (850) and the third wrist drive wheel (860) transmit power to the elbow auxiliary pulley group (421) and the elbow decoupling pulley group (422) through a rope, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint (6) to move.

7. The large-load rope-driven agile manipulator according to claim 4, characterized in that: A plurality of steering pulleys (500) are provided between the rope-driven three-degree-of-freedom differential wrist ball joint (6) and the antagonistic decoupling elbow joint (4); the plurality of steering pulleys (500) are fixed on the second connecting arm (5) and are respectively provided on the wrist differential pulleys. (611), the first and second wrist differential wheels (612) and the three-wheel differential wheel (613) around the periphery to allow the drive rope to be diverted.

8. The large-load rope-driven agile manipulator according to claim 1, characterized in that: The two-one differential (221) has a diameter smaller than the second differential wheel (222), the two differential wheels The diameter of (222) is smaller than the second and third differential wheels (223).

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