A drive centralized arrangement of humanoid robot rope-driven upper limb system

Abstract

The application discloses a kind of drive concentrated arrangement humanoid robot rope drive upper limb system, belong to robot technical field.The system includes upper limb trunk, three degrees of freedom parallel posture adjusting rope drive anthropomorphic shoulder joint, big arm, tension amplification constant torque constant stiffness rope drive anthropomorphic elbow joint, small arm, self-rotating decoupling differential rope drive anthropomorphic wrist joint and anthropomorphic simplified palm, upper limb trunk has double Y type structure, inside form the space of intersection, for the joint driving module of concentrated arrangement;Three degrees of freedom parallel posture adjusting rope drive anthropomorphic shoulder joint adopts three degrees of freedom parallel configuration, realizes rope drive transmission by steel wire rope;Tension amplification constant torque constant stiffness rope drive anthropomorphic elbow joint adopts rolling joint configuration, realizes tension amplification and constant torque output by movable pulley group;Self-rotating decoupling differential rope drive anthropomorphic wrist joint realizes three degrees of freedom decoupling motion.The application realizes electromechanical separation by rope drive transmission, and drive module is concentrated arrangement in trunk, significantly reduce arm mass and inertia.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a cable-driven upper limb system for a humanoid robot with a centrally arranged drive mechanism. Background Technology

[0002] Existing humanoid robots generally adopt a shoulder-elbow-wrist sequential drive architecture for their upper limbs, with motors and reducers arranged sequentially along the arm. This results in the torso being left with only a passive skeleton, causing the system's center of gravity to shift outward. Additional counterweights need to be added to the waist to maintain the overall balance of the robot. This increases the load on the lower limbs and limits the structural compactness and dynamic response capability of the torso itself.

[0003] Currently, there is no truly effective centralized deployment solution for the distributed nature of the drive. Summary of the Invention

[0004] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a cable-driven upper limb system for driving a centrally arranged humanoid robot.

[0005] The technical solution of this invention is: a cable-driven upper limb system for driving a centrally arranged humanoid robot, comprising: The upper limbs and torso have two symmetrical, inclined mounting surfaces that form a mating space inside; A three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint is installed on the mounting surface, with its drive unit built into the interlocking space and its output end connected to the upper arm. The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint is connected to the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint through the upper arm, and its input end is equipped with a Bowden cable tube threading end. The forearm is connected to the output end of the tension-amplified constant torque constant stiffness rope-driven humanoid elbow joint. The self-rotating decoupling differential rope-driven humanoid wrist joint is connected to the tension amplified constant torque constant stiffness rope-driven humanoid elbow joint through the forearm, and includes a self-rotating decoupling mechanism and a differential mechanism. A simplified humanoid hand is connected to the output end of the self-rotating decoupled differential rope-driven humanoid wrist joint; The three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint, the tension-amplified constant torque constant stiffness rope-driven humanoid elbow joint, and the rotation-decoupled differential rope-driven humanoid wrist joint are all driven by wire rope-pulley blocks. The wire ropes of the tension-amplified constant torque constant stiffness rope-driven humanoid elbow joint and the rotation-decoupled differential rope-driven humanoid wrist joint are routed through the inside of the upper arm and forearm. The joint modules of the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint, the tension-amplified constant-torque constant-stiffness rope-driven humanoid elbow joint, and the rotation-decoupled differential rope-driven humanoid wrist joint are all rear-mounted and centrally arranged in the upper limb torso. The joint module includes a shoulder shutdown module, an elbow joint module, and a wrist joint module. The shoulder shutdown module, elbow joint module, and wrist joint module provide driving force for the corresponding three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint, the tension-amplified constant-torque constant-stiffness rope-driven humanoid elbow joint, and the rotation-decoupled differential rope-driven humanoid wrist joint.

[0006] Furthermore, the upper limb torso has a double Y-shaped structure, with the open ends of the double Y-shaped structure nested to form the intercourse space. A small horizontal plate is formed at the top, and a large horizontal plate is formed at the bottom. The mounting surface consists of two symmetrical outer walls of the Y-shaped structure.

[0007] Furthermore, the interlocking space is equipped with a partition plate to form a single-sided four-assembly partition, which is used to centrally arrange a total of 14 joint modules of the two arms.

[0008] Furthermore, the three-degree-of-freedom parallel attitude-adjusting rope-driven anthropomorphic shoulder joint includes a shoulder joint base, a moving platform, and three RRR branches. The three RRR branches are driven by steel wire ropes, mimicking the three-directional posture movement of the ball-and-socket joint in the physiological structure of the human shoulder joint.

[0009] Furthermore, each RRR branch includes a winding reel, a rotating joint, and a rotating joint connecting rod. The winding reel is connected to the shoulder joint module via a steel wire rope. The diameter of the winding reel is 5:1 to the diameter of the motor output shaft of the shoulder joint module, thereby achieving speed reduction and torque increase.

[0010] Furthermore, the tension amplification constant torque constant stiffness rope-driven anthropomorphic elbow joint adopts a rolling joint configuration, including a fixed end of the elbow joint, a moving end of the elbow joint, and a double-end connector. The fixed end of the elbow joint and the moving end of the elbow joint are kept in a tangential gear-like meshing motion state through a coupling rope.

[0011] Furthermore, the tension amplification constant torque constant stiffness rope-driven anthropomorphic elbow joint includes a fixed-end guide wheel, a fixed-end small pulley, a fixed-end large pulley, and a moving-end stepped double-layer pulley. The steel wire rope passes around the fixed-end guide wheel, the fixed-end small pulley, the fixed-end large pulley, and the moving-end stepped double-layer pulley to form a movable pulley mechanism, achieving 8 times tension amplification and 64 times stiffness coefficient amplification.

[0012] Furthermore, the rotation decoupling differential rope-driven human wrist joint rotation decoupling mechanism includes a fixed wheel, a follower wheel, and a driving wheel. The fixed wheel, follower wheel, and driving wheel are connected by a first steel wire rope A and a first steel wire rope B to form a movable pulley group, thereby achieving decoupling of rotational motion and deflection motion.

[0013] Furthermore, the differential mechanism of the self-rotation decoupling differential rope-driven human wrist joint includes a first differential deflection base, a second differential deflection base, a differential self-rotation shaft, and a differential rotating wheel. The second steel wire rope A, the second steel wire rope B, the third steel wire rope A, and the third steel wire rope B cross and wrap around the differential rotating wheel, and achieve independent or combined movements of deflection and self-rotation by pulling in the same or opposite directions.

[0014] Furthermore, the steel wire ropes driving the humanoid shoulder joint with the three-degree-of-freedom parallel attitude adjustment rope, the first and second sets of steel wire ropes driving the humanoid elbow joint with the tension amplification constant torque constant stiffness rope, and the second, second, third, and fourth steel wire ropes A and B, and the fourth and fourth steel wire ropes A and B driving the humanoid wrist joint with the rotation decoupling differential rope are all guided and protected by Bowden conduits, which are fixed to the inner side of the tube wall of the upper arm and forearm.

[0015] The beneficial effects of this invention are as follows: In this invention, each joint is electromechanically separated through a rope drive / transmission system, and each joint module is arranged on the upper limb torso, which concentrates the center of gravity and reduces the overall arm mass and inertia.

[0016] This invention features an innovative elbow joint design. The elbow joint utilizes a rolling joint pulley system to amplify both the reduction ratio and tension, reducing the demand on motor output torque. This allows for the selection of a smaller, more compact drive unit. Simultaneously, the elbow joint exhibits constant torque and constant stiffness, enabling the robot to maintain constant joint stiffness and output constant torque even in a large workspace.

[0017] The wrist joint of this invention employs an innovative structural design, effectively decoupling the motion of the two sets of steel cables as they pass through the self-rotating joint by using a set of movable pulley mechanisms. This design allows the drive unit to be centrally located on the robot base or proximal structure, optimizing the system layout.

[0018] This invention adopts a structure combining rope drive and rope transmission, which enhances the flexibility of the joints and effectively isolates the impact and vibration at the motor output. Compared with the direct drive method, when the robot is involved in an accidental collision or overload, it can absorb some energy through the elastic deformation of the steel wire rope, reducing the risk of damage to the joint body and the external environment, thereby significantly improving the safety of humanoid robots in the human-robot interaction process. Attached Figure Description

[0019] Figure 1 This is an isometric view of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a structural diagram of the upper limb and torso in this invention; Figure 4This is a structural diagram of the humanoid arm in this invention; Figure 5 This is a perspective view of the three-degree-of-freedom parallel attitude-adjusting rope-driven human shoulder joint in this invention. Figure 6 This is a three-dimensional view of the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint in this invention from another perspective; Figure 7 This is another perspective view of the three-degree-of-freedom parallel attitude-adjusting rope-driven human shoulder joint in this invention. Figure 8 This is a front view of the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint in this invention; Figure 9 This is a cross-sectional view of the AA section of the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint in this invention; Figure 10 This is a three-dimensional structural diagram of the tension amplification constant torque constant stiffness rope-driven human elbow joint in this invention. Figure 11 This is a side view of the tension amplification constant torque constant stiffness rope-driven human elbow joint in this invention. Figure 12 This is a cross-sectional view of the tension amplification constant torque constant stiffness rope-driven human elbow joint in this invention. Figure 13 This is a structural diagram of the self-rotation decoupling differential rope-driven human wrist joint in this invention; Figure 14 This is a side view of the self-rotating decoupled differential rope-driven human wrist joint in this invention; Figure 15 This is a cross-sectional view of the self-rotating decoupled differential rope-driven human wrist joint in this invention; Figure 16 This is an exploded view of the self-rotation decoupling mechanism in the rope-driven humanoid wrist joint of this invention; Figure 17 This is a perspective view of the self-rotation decoupling mechanism after assembly in this invention. Figure 18 This is a three-dimensional view from another perspective after the self-rotation decoupling mechanism of this invention is assembled; Figure 19 This is an exploded view of the differential mechanism in the rope-driven humanoid wrist joint of this invention; The components include: 1. A three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint; 10. Shoulder joint module; 11. Shoulder joint base; 12. First winding motor output shaft; 13. Second winding motor output shaft; 14. Third winding motor output shaft; 15. First winding disc; 16. Second winding disc; 17. Third winding disc; 110. First revolute joint; 19. Second revolute joint; 18. Third revolute joint; 111. Revolute joint connecting rod; 112. Moving platform; 113. Shoulder joint steering connector; 114. Steel wire rope; 2. Upper arm; 3. Tension amplification constant torque constant stiffness rope-driven humanoid elbow joint; 31. First set of steel wire rope; 32. Bowden conduit; 33. Elbow joint fixed end; 34. Double-end connector; 35. Moving end stepped double-layer pulley; 36. 37. Moving end of elbow joint; 38. Moving end pulley seat; 39. Fixed end guide wheel; 30. Fixed end small pulley; 310. Second set of steel wire rope; 311. Fixed end large pulley; 312. Tensioning plate; 313. Moving end central shaft; 314. Absolute encoder rotating side; 315. Absolute encoder magnetic seat; 316. Fixed end central shaft; 317. Coupling rope; 318. Elbow joint module; 319. Upper meshing plate with quarter-circle arc; 4. Forearm; 5. Rotation decoupling differential rope driven humanoid wrist joint; 51. Rotation decoupling mechanism; 52. Differential mechanism; 54. First joint module; 55. Second joint module; 511. Fixed wheel second left guide wheel; 512. Follower wheel first guide wheel; 513. Fixed wheel second right guide wheel 514. Second guide wheel of the follower wheel; 515. Fixed wheel; 516. Follower wheel; 517. Driving wheel; 518. First left guide wheel of the driving wheel; 519. First right guide wheel of the driving wheel; 5110. First rotation guide wheel; 5111. Third guide wheel of the follower wheel; 5112. Fixed rope end of the fixed wheel; 5113. First left guide wheel of the fixed wheel; 5114. First right guide wheel of the fixed wheel; 5115. Second left guide wheel of the driving wheel; 5116. Second right guide wheel of the driving wheel; 5117. First absolute encoder mounting base; 5118. Rotating side of the first absolute encoder; 5119. First absolute encoder magnetic base; 5120. Fixed rope end of the driving wheel; 5121. First wire rope A; 5 122. First wire rope B; 521. First differential deflection base; 522. Bearing end cover; 523. Differential rotation shaft; 524. Differential rotation shaft outer fixing seat; 525. Differential rotation shaft bushing; 526. Second differential deflection base; 527. Differential rotating wheel; 528. Second rotation guide wheel; 529. Third absolute encoder; 5210. Second absolute encoder mounting base; 5211. Second absolute encoder magnetic base; 5212. Second absolute encoder rotating side; 541. Third wire rope A; 542. Third wire rope B; 543. Second wire rope A; 544. Second wire rope B; 551. Fourth wire rope A; 552. Fourth wire rope B; 6. Humanoid simplified hand; 7. Upper limb torso. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 19 As shown, a cable-driven upper limb system for driving a centrally arranged humanoid robot includes: The upper limbs and torso 7 have two symmetrically inclined mounting surfaces, forming a mating space inside; A three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint 1 is installed on the mounting surface, its driving part is built into the interlocking space, and its output end is connected to the upper arm 2. The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint 3 is connected to the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint 1 through the upper arm 2, and its input end is provided with a Bowden tube 32 wire end. Forearm 4 is connected to the output end of the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint 3. The self-rotating decoupling differential rope-driven humanoid wrist joint 5 is connected to the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint 3 through the forearm 4, and includes a self-rotating decoupling mechanism 51 and a differential mechanism 52. A simplified humanoid hand 6 is connected to the output end of the self-rotating decoupled differential rope-driven humanoid wrist joint 5. Among them, the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint 1, the tension-amplified constant torque and constant stiffness rope-driven humanoid elbow joint 3, and the rotation-decoupling differential rope-driven humanoid wrist joint 5 are all driven by wire rope-pulley groups, and the wire ropes of the tension-amplified constant torque and constant stiffness rope-driven humanoid elbow joint 3 and the rotation-decoupling differential rope-driven humanoid wrist joint 5 are routed through the inside of the upper arm 2 and the forearm 4.

[0021] The upper limb torso 7 has a double Y-shaped structure. The open ends of the double Y-shaped structure are nested to form the intercourse space. A small horizontal plate is formed at the top and a large horizontal plate is formed at the bottom. The mounting surface is the two symmetrical outer walls of the Y-shaped structure.

[0022] The interlocking space is equipped with a partition plate to form a single-sided four-assembly partition, which is used to centrally arrange a total of 14 joint modules of the two arms.

[0023] The three-degree-of-freedom parallel attitude-adjusting rope-driven anthropomorphic shoulder joint 1 includes a shoulder joint base 11, a moving platform 112, and three RRR branches. The three RRR branches are driven by steel wire ropes 114, mimicking the three-way posture movement of the ball-and-socket joint in the physiological structure of the human shoulder joint.

[0024] Each RRR branch includes a winding reel, a rotating joint, and a rotating joint connecting rod 111. The winding reel is connected to the shoulder joint module 10 via a steel wire rope 114. The diameter of the winding reel is 5:1 to the diameter of the motor output shaft of the shoulder joint module 10, thereby achieving speed reduction and torque increase.

[0025] The tension amplification constant torque constant stiffness rope-driven anthropomorphic elbow joint 3 adopts a rolling joint configuration, including an elbow joint fixed end 33, an elbow joint moving end 36, and a double-end connector 34. The elbow joint fixed end 33 and the elbow joint moving end 36 are kept in a tangential gear-like meshing motion state through a coupling rope 317.

[0026] The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint 3 includes a fixed-end guide wheel 38, a fixed-end small pulley 39, a fixed-end large pulley 311, and a moving-end stepped double-layer pulley 35. The steel wire rope passes around the fixed-end guide wheel 38, the fixed-end small pulley 39, the fixed-end large pulley 311, and the moving-end stepped double-layer pulley 35 to form a movable pulley mechanism, achieving 8 times tension amplification and 64 times stiffness coefficient amplification.

[0027] The rotation decoupling mechanism 51 of the self-rotation decoupling differential rope-driven human wrist joint 5 includes a fixed wheel 515, a follower wheel 516, and a driving wheel 517. The fixed wheel 515, the follower wheel 516, and the driving wheel 517 are connected by a first steel wire rope A5121 and a first steel wire rope B5122 to form a movable pulley group, thereby achieving decoupling of rotational motion and deflection motion.

[0028] The differential mechanism 52 of the self-rotation decoupling differential rope-driven human wrist joint 5 includes a first differential deflection base 521, a second differential deflection base 526, a differential self-rotation shaft 523, and a differential rotating wheel 527. The second steel wire rope A543, the second steel wire rope B544, the third steel wire rope A541, and the third steel wire rope B542 are crossed and wound around the differential rotating wheel 527. The deflection and self-rotation can be independently or in combination by pulling in the same or opposite directions.

[0029] The steel wire rope 114 of the three-degree-of-freedom parallel attitude adjustment rope driving the humanoid shoulder joint 1, the first set of steel wire ropes 31 and the second set of steel wire ropes 310 of the tension amplification constant torque constant stiffness rope driving the humanoid elbow joint 3, and the second steel wire ropes A543, B544, A541, B542 and A551 and B552 of the rotation decoupling differential rope driving the humanoid wrist joint 5 are all guided and protected by Bowden conduit 32, which is fixed to the inner wall of the upper arm 2 and the forearm 4.

[0030] Specifically, the mounting surface has through holes for assembly, and a partition plate is also provided in the double Y-shaped structure, thereby forming a single-sided four-assembly partition.

[0031] Specifically, the smaller transverse plate is smaller than the larger transverse plate, and the smaller transverse plate is used to install the neck joint.

[0032] Specifically, the upper limb torso 7 uses a Y-shaped structure to centrally arrange the joint modules corresponding to each joint, which can accommodate a total of 14 joint modules for both arms, ensuring the structural strength of the torso while making efficient use of the space occupied by the joint modules.

[0033] Specifically, the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint 1 adopts a parallel 3-RRR configuration and a wire rope transmission form in its basic structure. It includes a shoulder joint module 10, a shoulder joint base 11, a first winding motor output shaft 12, a second winding motor output shaft 13, a third winding motor output shaft 14, a first winding disc 15, a second winding disc 16, a third winding disc 17, a first revolute joint 110, a second revolute joint 19, a third revolute joint 18, a revolute joint connecting rod 111, a moving platform 112, a shoulder joint steering connector 113, and a wire rope 114, among other parts.

[0034] The three-degree-of-freedom parallel attitude-adjusting rope-driven anthropomorphic shoulder joint 1 mimics the three-directional posture movement of the ball-and-socket joint in the physiological structure of the human shoulder joint, and uses a parallel 3-RRR mechanism to realize the three-directional fixed-center rotation of the anthropomorphic shoulder joint.

[0035] The first winding disc 15 is fixedly connected to the shoulder joint base 11 via bearings and shaft retaining rings. The first winding disc 15, the second winding disc 16, and the third winding disc 17 are sequentially nested with bearings via their respective shaft shoulders, achieving coaxial rotation without interference. The first revolute joint 110, the second revolute joint 19, and the third revolute joint 18 have D-shaped holes in their center. The first winding disc 15, the second winding disc 16, and the third winding disc 17 each have D-shaped shafts and shaft shoulders on their upper sides, which are fixedly connected to the first revolute joint 110, the second revolute joint 19, and the third revolute joint 18 via shaft retaining rings. Therefore, the first revolute joint 110, the second revolute joint 19, and the third revolute joint 18 can also achieve coaxial rotation without interference.

[0036] L-shaped brackets extend from the upper sides of the first rotary joint 110, the second rotary joint 19, and the third rotary joint 18. Further extending from these are brackets at an angle of 140° to the L-shaped brackets. Bearing positioning shafts are mounted on these brackets, and the intersection of the three bearing positioning shaft axes is the rotation center of the human-like shoulder joint. Three lugs extend from the upper and lower sides of the moving platform 112. The upper lug is T-shaped and used to be bolted to one side of the shoulder joint steering connector 113. The lower lug has bearing positioning holes. The brackets on the upper sides of the first rotary joint 110, the second rotary joint 19, and the third rotary joint 18, and the three lower lugs of the moving platform 112 are interconnected by three rotary joint connecting rods 111, thus forming three branches of a parallel 3-RRR mechanism. The other side of the shoulder joint steering connector 113 is bolted to the upper arm.

[0037] The shoulder joint base 11 has three positioning holes evenly distributed on its upper side for positioning the central axis of the shoulder joint module. The three shoulder joint modules are respectively fixed to the shoulder joint base 11 by bolts. The first winding motor output shaft 12, the second winding motor output shaft 13, and the third winding motor output shaft 14 are sequentially fixed to the three shoulder joint modules 10 by bolts, and their heights are respectively level with the heights of the first winding disc 15, the second winding disc 16, and the third winding disc 17.

[0038] Three fixing seats extend from the lower side of the shoulder joint base 11 and are connected to the left and right sides of the upper limb torso 7 by bolts. The two Bowden tubes and steel wire ropes connected to each joint module in the upper limb torso 7 are led out through the circular openings on the left and right sides of the upper limb torso 7, and further transported through the opening in the middle of the three-degree-of-freedom parallel attitude adjustment rope driven humanoid shoulder joint to the tension amplification constant torque constant stiffness rope driven humanoid elbow joint 3 and the rotation decoupling differential rope driven humanoid wrist joint 5.

[0039] Taking the output shaft 12 of the first winding motor as an example, the first winding motor output shaft 12 has a winding groove and a knot hole on its upper side. One end of each of the two steel wire ropes 114 is knotted and tensioned at the knot hole, and the other end passes through the knot hole and is wound around the winding groove on the first winding motor output shaft 12 in a clockwise / counterclockwise direction, and then cross-wound to the first winding disc 15. The first winding disc 15 has knot holes on both sides of its vertical surface for fixing the two steel wire ropes 114. The shoulder joint module 10 rotates, causing the output shaft 12 of the first winding motor to rotate, which in turn causes the two steel wire ropes 114 to further wind into / out of the winding groove. The two steel wire ropes 114 on the first winding reel 15 further wind out / wind into the first winding reel 15, which in turn causes the first winding reel 15 to rotate. At this time, the driving force is transmitted from the shoulder joint module 10 to the first rotating joint in the branch of the parallel 3-RRR mechanism. The diameter ratio between the output shaft 12 of the first winding motor and the first winding reel 15 is 5, so deceleration and torque increase can be achieved.

[0040] The winding method on the output shaft 13 of the second wound motor and the output shaft 14 of the third wound motor is the same, and both are connected to the second winding reel 16 and the third winding reel 17 respectively to transmit driving force. Under the combination of the rotation angles of the first rotating joints of the three branches of the parallel 3-RRR mechanism, the lateral yaw motion range of the moving platform 112 can be >45°, and the rotation motion range can be >180°.

[0041] The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint of the present invention adopts a rolling joint configuration and Bowden conduit-steel wire rope transmission form in its basic structure. It includes a first set of steel wire rope 31, Bowden conduit 32, elbow joint fixed end 33, double-end connector 34, moving end stepped double-layer pulley 35, elbow joint moving end 36, moving end pulley seat 37, fixed end guide wheel 38, fixed end small pulley 39, second set of steel wire rope 310, fixed end large pulley 311, tension plate 312, moving end central shaft 313, absolute encoder rotating side 314, absolute encoder magnetic seat 315, fixed end central shaft 316, coupling rope 317, elbow joint module 318 and other parts.

[0042] The four-sided planar side of the elbow joint fixing end 33 is fixedly connected to one side of the upper arm. Two Bowden cable threading ends and two rope knot fixing ends are provided on its upper side, and two protruding pentagonal bearing support platforms are provided on its lower side. Each support platform is equipped with a four-step shaft, totaling eight steps. The shoulders of these eight steps, together with the open retaining ring, work together to fix eight small pulleys 39 of the same diameter used for rope winding guidance. One end of the elbow joint fixing end 33, perpendicular to its four-sided planar side, extends out of the four-sided planar side and, through the shoulders of the two step shafts and the open retaining ring, fixes two large pulleys 311 of different diameters used for rope winding guidance. The other end of the quarter-circle planar side has a circular groove at the center of the arc and eight evenly spaced threaded holes. The two central shafts 316 of the fixing ends are fixedly connected to the left and right end faces of the other end of the elbow joint fixing end 33 with the quarter-circle planar side by bolts. The fixed end center shaft 316, through the joint action of the shoulder of the stepped shaft and the shaft retaining ring, axially fixes the inner sides of two deep groove ball bearings of the same diameter and a third deep groove ball bearing of a different diameter, respectively. The outer sides of the two deep groove ball bearings of the same diameter are axially fixed to the fixed end guide wheel 38 through the hole retaining ring.

[0043] The four planar sides of the elbow joint moving end 36 are fixedly connected to one side of the forearm. One end with a quarter-circle arc planar side, perpendicular to the four planar sides of the elbow joint moving end 36, extends out of the four planar sides. The other end with the quarter-circle arc planar side has a circular groove at the center of the arc and eight threaded holes are evenly arranged. The two moving end central shafts 313 are fixedly connected to the left and right end faces of the other end with the quarter-circle arc planar side of the elbow joint moving end 36 by bolts. The moving end central shaft 313 is axially fixed to the inner side of the deep groove ball bearing by the joint action of the shoulder of the stepped shaft and the shaft retaining spring. The outer side of the deep groove ball bearing is fixed to the moving end pulley seat 37 by the hole retaining spring. Two stepped shafts are arranged on the moving end pulley seat 37. The stepped shafts and bolts are used to axially fix the moving end stepped double-layer pulley 35, which is used as a secondary rope winding guide, by the joint action of the shoulder of the stepped shaft and bolts. Four threaded holes are evenly arranged on the moving end pulley seat 37 and fixed to one side of the double-end connector 34 by bolts. The double-ended connector 34 has a bearing hole on the other side. A snap ring is used through the hole to axially fix the elbow joint to the outermost third deep groove ball bearing on the central shaft 316 of the fixed end, thereby connecting the elbow joint fixed end 33 to the elbow joint moving end 36.

[0044] The rotating side 314 of the absolute encoder is fixedly connected to the top end of the central shaft 313 of the moving end via a set screw. The magnetic base 315 of the absolute encoder is embedded in a circular groove on one side of the double-ended connector and is fixedly connected by bolts. A gap of 0.8mm is left between the rotating side 314 of the absolute encoder and the magnetic base 315 of the absolute encoder. This electrical component is used to measure the rotation angle of the elbow joint in real time.

[0045] Two wire grooves and two knot holes are formed on the vertical surface of the other end of the elbow joint fixing end 33, which has a quarter-circle plane side. Correspondingly, two wire grooves and two knot holes of the same size and position are also formed on the vertical surface of the other end of the elbow joint moving end 36, which has a quarter-circle plane side. One end of each of the two coupling ropes 317 is fixed along the wire groove to the knot hole of the elbow joint fixing end 33 and the tension plate 312 on the elbow joint moving end 36 side, respectively. The other end of each of the two coupling ropes 317 is fixed along the wire groove to the knot hole of the elbow joint moving end 36 and the tension plate 312 on the elbow joint fixing end 33 side, respectively. The tension plate 312 has three holes, and the knot of the coupling rope 317 is fixed to one of the holes on both sides of the tension plate 312.

[0046] A long bolt is installed on the bolt holes on the four sides of the elbow joint fixing end 33. The middle threaded hole of the tensioning plate 312 is connected to the long bolt by thread, and the axial displacement of the tensioning plate 312 can be achieved by tightening the bolt, thereby achieving the tensioning of the coupling rope 317. Since the radii of the two quarter-circle arcs are the same, and the length of the connecting line between the two circular grooves of the double-end connector 34 is the same as the diameter of the quarter-circle arc, under the fixed length of the two coupling ropes 317, the elbow joint fixing end 33 and the elbow joint moving end 36 always maintain a tangential gear-like meshing motion state.

[0047] The two sets of steel wire ropes are respectively fixed to the release end and the take-up end of the elbow joint module 318, and then transmitted through the Bowden conduit to the Bowden conduit threading end on the elbow joint fixing end 33, and further wound around the elbow joint.

[0048] More specifically, the first set of wire rope 31, after being guided by the fixed end guide wheel 38, winds around to the small groove of the stepped double-layer pulley 35 on the opposite moving end. After being guided by the pulley, it is again guided by the fixed end guide wheel 38 on the opposite side and winds around to the two fixed end small pulleys 39. It then winds further through the fixed end guide wheel 38 to the large groove of the stepped double-layer pulley 35 on the opposite moving end. After being guided by the pulley 35, it is again guided by the fixed end guide wheel 38 on the opposite side and winds around to the fixed end large pulley 311. Here, after being guided by the pulley 311, it winds around to the other side of the elbow joint fixed end 33 with the quarter-circle upper meshing plate 319. The winding method here is exactly the same as that described above. That is, after the first set of steel wire rope 31 is guided by the fixed end guide wheel 38, it winds into the large groove of the stepped double-layer pulley 35 on the opposite moving end. After being guided by the pulley, it is guided again by the fixed end guide wheel 38 on the opposite side and winds into the two fixed end small pulleys 39. Then, it winds further through the fixed end guide wheel 38 into the small groove of the stepped double-layer pulley 35 on the opposite moving end. After being guided by the pulley 35, it is guided again by the fixed end guide wheel 38 on the opposite side and then the knot is fixed to the knot fixing end of the elbow joint fixing end 33, or fixed to the rope end tensioning point of the elbow joint fixing end 33.

[0049] The complete path of the first set of steel wire rope 31 after passing through the Bowden conduit end on the elbow joint fixed end 33 is: fixed end guide wheel 38 Mobile terminal stepped double-layer pulley 35 Fixed end guide wheel 38 Fixed end small pulley 39 Fixed end guide wheel 38 Mobile terminal stepped double-layer pulley 35 Fixed end guide wheel 38 Fixed end large pulley 311 Fixed end guide wheel 38 Mobile terminal stepped double-layer pulley 35 Fixed end guide wheel 38 Fixed end small pulley 39 Fixed end guide wheel 38 Mobile terminal stepped double-layer pulley 35 Fixed end guide wheel 38 The knotted end of the elbow joint fixing end 33.

[0050] Let the changes in rope length of the first set of wire rope 31 and the second set of wire rope 310 be respectively and The change in the rolling angle of a pure circle is The diameter of the fixed end guide wheel 38 is d The number of wire ropes that pass around the movable pulley block is n Then its linear relationship can be expressed as formula (1): (1).

[0051] The tension amplification principle is achieved using the designed movable pulley system: Let the change in the tensile length of the wire rope be... The change in length of the movable pulley is The number of wire ropes that pass around the movable pulley block is n The tension at the tension end of the wire rope is The output tension at the end of the movable pulley is The stiffness coefficient of the wire rope body is The combined stiffness coefficient of the movable pulley end is Formulas (2)-(5) can be derived as follows. It can be seen that the mechanism achieves deceleration and force amplification through the constructed movable pulley system, and achieves an exponential increase in the stiffness coefficient. Since the number of steel wire ropes bypassing the movable pulley system in this mechanism is 8, it can achieve an 8-fold increase in tension and a 64-fold increase in stiffness coefficient: .

[0052] The principle by which the elbow joint can achieve constant stiffness and constant torque is as follows: Let... This represents a small change in the output torque of the elbow joint. For joint angle The minute changes These represent the tension at the taut end and the slack end of the rope, respectively. This is the preload length of the rope. This represents a tiny change in the amount of change in the rope. is the stiffness coefficient of the wire rope body. d The diameter of the fixed-end guide wheel. n The number of wire ropes that need to be bypassed by the movable pulley block, k This refers to the stiffness of the elbow joint.

[0053] Differentiating formula (1) yields: (6).

[0054] Based on the principle of virtual work, assuming the elbow joint rotates by a certain angle, Δ T Defined as the tension end of a rope and relaxation end From the tension difference, we can obtain: (7); Substituting equation (6) into equation (7) yields (8); Expand and achievable (9); (10); Then Δ T It can also be expressed as (11); Substituting equations (6) and (11) into equation (8) yields... (12); Therefore, the elbow joint stiffness can be obtained as follows: (13); As can be seen from equations (12) and (13), the torque and stiffness of the elbow joint do not change with the angle, and it has the characteristics of constant stiffness and constant torque.

[0055] The self-rotation decoupling differential rope-driven anthropomorphic wrist joint 5 is a three-degree-of-freedom rope-driven serial joint, consisting of the self-rotation decoupling mechanism 51 and the differential mechanism 52. The flexible drive and transmission between the first joint module 54 and the second joint module 55 between corresponding degrees of freedom are achieved through the combination of Bowden tube, steel wire rope and guide wheel.

[0056] The self-rotation decoupling mechanism 51 is composed of the fixed wheel 515, the first left guide wheel 5113 of the fixed wheel, the first right guide wheel 5114 of the fixed wheel, the second left guide wheel 511 of the fixed wheel, the second right guide wheel 513 of the fixed wheel, the fixed rope end 5112 of the fixed wheel, the follower wheel 516, the first guide wheel 512 of the follower wheel, the second guide wheel 514 of the follower wheel, the third guide wheel 5111 of the follower wheel, the driving wheel 517, the first left guide wheel 518 of the driving wheel, the first right guide wheel 519 of the driving wheel, the second left guide wheel 5115 of the driving wheel, the second right guide wheel 5116 of the driving wheel, the fixed rope end 5120 of the driving wheel, the first self-rotation guide wheel 5110, the first absolute encoder mounting base 5117, the first absolute encoder rotating side 5118, the first absolute encoder magnetic base 5119, the first steel wire rope, and the fourth steel wire rope.

[0057] The fixed wheel 515 serves as the base, and its annular boss end is bolted to the humanoid robot forearm 4. A first left guide wheel 5113 and a first right guide wheel 5114 are symmetrically mounted on one side of the annular boss end of the fixed wheel 515, and a second left guide wheel 511 and a second right guide wheel 513 are symmetrically mounted on the other side. The fixing rope ends 5112 of the two fixed wheels are installed between the first left guide wheel 5113 and the first right guide wheel 5114. L-shaped brackets extend symmetrically from both sides of the circular surface of the fixed wheel 515, and the rotating guide wheel 5110 is fixed by a shoulder and an open retaining ring.

[0058] The fixed wheel 515 has a multi-step shaft end with a first-step shoulder that is fixed to the axial movement of the inner ring of the first bearing by a circlip. The outer ring of the bearing is fixed to the follower wheel 516 by a circlip through a hole. The outer ring of the follower wheel 516 has two symmetrically designed stepped surfaces with cylindrical grooves for wiring. The outer ring of the follower wheel 516 has a fan-shaped groove with two stepped shafts extending from the bottom plane of the groove, which respectively fix the first guide wheel 512 and the second guide wheel 514 of the follower wheel with different diameters.

[0059] Similarly, the inner ring of the follower wheel 516 has a cylindrical groove for wiring, and a fan-shaped groove with a stepped shaft extending from the bottom plane of the groove for fixing the third guide wheel 5111 of the follower wheel. Positionally, the semi-circular guide grooves of the first left guide wheel 5113 and the first right guide wheel 5114 of the fixed wheel are tangent to the semi-cylindrical guide groove of the inner ring of the follower wheel 516.

[0060] Similarly, the semi-circular guide grooves of the second left guide wheel 511 and the second right guide wheel 513 of the fixed wheel are tangent to the semi-circular guide groove of the inner ring of the follower wheel 516.

[0061] The fixed wheel 515 has a multi-step shaft end with a second-step shaft shoulder, which is fixed to the axial movement of the inner ring of the second bearing by a circlip. The outer ring of the bearing is fixed to the driving wheel 517 through a circlip. The first left guide wheel 518 and the first right guide wheel 519 of the driving wheel are symmetrically installed on one side of the annular groove of the driving wheel 517, and the second left guide wheel 5115 and the second right guide wheel 5116 of the driving wheel are symmetrically installed on the other side. In terms of position, the semi-circular guide grooves of the first left guide wheel 518 and the first right guide wheel 519 of the driving wheel are tangent to the semi-cylindrical guide groove of the inner ring of the follower wheel 516.

[0062] Similarly, the semi-circular guide grooves of the second left guide wheel 5115 and the second right guide wheel 5116 of the driving wheel are tangent to the semi-cylindrical guide groove of the inner ring of the follower wheel 516. The fixing rope ends 5120 of the two driving wheels are installed between the first left guide wheel 518 and the first right guide wheel 519 of the driving wheel. Four cylindrical platforms extend from the annular groove of the driving wheel 517, and threaded holes are opened at their upper ends for fixing with the differential mechanism 52.

[0063] The specific rope winding method is as follows: One end of each of the first wire ropes A5121 and B5122 is symmetrically fixed to the fixed end 5112 of the fixed wheel, then passes around the cylindrical groove on the stepped surface of the outer ring of the follower wheel 516, and is further guided by the first guide wheel 512 of the follower wheel before passing around the cylindrical groove on the stepped surface of the outer ring of the follower wheel 516. The other ends of the ropes are then symmetrically fixed to the fixed end 5120 of the driving wheel.

[0064] One end of the second wire rope A543 and the second wire rope B544 is transmitted through the Bowden conduit 32 to the wire threading end of the Bowden conduit 32 on the fixed end of the forearm 4. After being guided by the first left guide wheel 5113 and the first right guide wheel 5114 of the fixed wheel, they are symmetrically wound around the cylindrical groove on the outer ring of the follower wheel 516. After being guided by the second guide wheel 514 of the follower wheel, they are further wound around the cylindrical groove on the outer ring of the follower wheel 516. After being guided by the first left guide wheel 518 and the first right guide wheel 519 of the drive wheel, they reach the other end of the rope.

[0065] One end of each of the two third wire ropes A541 and B542 is transmitted through the Bowden conduit 32 to the threaded end of the Bowden conduit 32 on the fixed end of the forearm 4. After being guided by the second left guide wheel 511 and the second right guide wheel 513 of the fixed wheel, they symmetrically wind around the cylindrical groove of the inner ring of the follower wheel 516. After being guided by the third guide wheel 5111 of the follower wheel, they wind around the cylindrical groove of the inner ring of the follower wheel 516. After passing through the second left guide wheel 5115 and the second right guide wheel 5116 of the driving wheel, they reach the other end of the rope. The second wire ropes A543 and B544, together with the third wire ropes A541 and B542, are used to drive the deflection and rotation of the differential mechanism 52, thereby realizing the movement of the second and third degrees of freedom of the wrist joint.

[0066] One end of each of the four fourth wire ropes A551 and B552 is transmitted through the Bowden conduit 32 to the threaded end of the Bowden conduit 32 on the fixed end of the forearm 4. After passing through the self-rotating guide wheel 5110, they cross and are wound upward / downward onto the cylindrical surface of the drive wheel 517, respectively. The rope ends are fixed through openings on both sides of the drive wheel 517. The fourth wire ropes A551 and B552 are used to drive the rotation of the drive wheel 517, thereby realizing the first degree of freedom of the wrist joint.

[0067] The rotation decoupling principle of the self-rotation decoupling mechanism 51 is as follows: One end of the first wire rope A5121 and the first wire rope B5122 is fixed to the fixed end 5112 of the fixed pulley. After passing through the first guide wheel 512, the other end is fixed to the fixed end 5120 of the driving pulley. Thus, through the connection of the first wire ropes A5121 and B5122, the fixed pulley 515, the follower pulley 516, and the driving pulley 517 form a standard movable pulley system. The fixed end 5112 of the fixed pulley is kept fixed. The driving pulley 517, driven by the fourth wire ropes A551 and B552, moves at a speed of r1*. ω If the speed rotates clockwise or counterclockwise, it will drive the second wire rope A543 and the second wire rope B544 to generate r2*. ω The change in rope length *Δt will cause the third wire rope A541 and the third wire rope B542 to generate r3* ω The rope length change of *Δt; under the action of the movable pulley characteristics, the follower pulley 516 moves at r n * ω / 2( n The steel wire ropes on both sides of the first guide wheel 512, the second guide wheel 514, and the third guide wheel 5111 of the follower wheel shorten in the same rotational direction, with a shortening amount of 2 * r. n * ω / 2*Δt = r n * ω *Δt ( n =1,2,3), which cancels out the changes in the length of the second and third wire ropes caused by the rotation of the drive wheel 517. Therefore, while the drive wheel 517 rotates, the output ends of the second and third wire ropes remain unchanged.

[0068] The first absolute encoder mounting base 5117 extends four legs and is fixedly connected to the drive wheel 517. The rotating side 5118 of the first absolute encoder is fixedly connected to the top of the third step of the multi-step shaft of the follower wheel 516 via set screws. The first absolute encoder magnetic base 5119 is fitted into the first absolute encoder mounting base 5117 and fixedly connected by bolts. A 0.8mm gap is left between the rotating side 5118 of the first absolute encoder and the first absolute encoder magnetic base 5119. This electrical component is used to measure the rotation angle of the self-rotation decoupling mechanism 51 in real time.

[0069] The differential mechanism 52 consists of a differential rotation shaft 523, a differential rotation shaft sleeve 525, a differential rotation shaft outer fixing seat 524, a first differential deflection base 521, a second differential deflection base 526, a differential rotating wheel 527, a second rotation guide wheel 528, a bearing end cover 522, a second absolute encoder mounting seat 5210, a second absolute encoder magnetic seat 5211, a second absolute encoder rotating side 5212, and a third absolute encoder 529.

[0070] One side of the differential rotation shaft 523 is fixedly connected to the simplified humanoid hand 6 by bolts, and the other side is sequentially equipped with a first deep groove ball bearing, a differential rotation shaft sleeve 525, and a second deep groove ball bearing. The outer fixing seat 524 of the differential rotation shaft has a groove, and the outer side of the bearing is fitted into the groove by the two outer fixing seats 524 of the differential rotation shaft. After the two outer fixing seats 524 of the differential rotation shaft are fitted together, a multi-step shaft is formed on the left and right sides. The axial movement of the inner side of the third deep groove ball bearing is fixed on the stepped shaft by the first stepped shaft shoulder and a shaft retaining spring. The outer side of the third deep groove ball bearing is fixed to the differential rotating wheel 527 by a hole retaining spring. Further, the axial movement of the inner side of the fourth deep groove ball bearing is fixed by the second stepped shaft shoulder and a shaft retaining spring. The outer side of the fourth deep groove ball bearing is fixed to the first differential deflection base 521 and the second differential deflection base 526 by the bearing end cover 522.

[0071] The second absolute encoder mounting base 5210 extends four legs and is fixedly connected to the outer fixing base 524 of the differential rotation shaft. The rotating side 5212 of the second absolute encoder is interference-fitted with the top end of the differential rotation shaft 523. The magnetic base 5211 of the second absolute encoder is fitted into the second absolute encoder mounting base 5210 and fixedly connected by bolts. A 0.8mm gap is left between the rotating side 5212 of the second absolute encoder and the magnetic base 5211 of the second absolute encoder. This electrical component is used to measure the rotation angle of the differential mechanism 52 in real time.

[0072] The third absolute encoder 529 is fixed to the inside of the multi-step shaft formed on the left and right sides after the outer fixing seats 524 of the two differential rotation shafts are closed together by its own shoulder. The groove on its rotating side is engaged with the corresponding boss on the bearing end cover 522. This electrical component is used to measure the deflection rotation angle in the differential mechanism 52 in real time.

[0073] The specific rope winding method is as follows: The two second steel wire ropes A543 and B544, and the two third steel wire ropes A541 and B542, after passing through the self-rotation decoupling mechanism 51, are respectively crossed and wound onto the two differential rotating wheels 527, and the rope ends are fixed through openings on both sides of the differential rotating wheel 527. There are four fifth steel wire ropes 5213, one end of which is connected to both sides of the two differential rotating wheels 527, and the other end, after being guided by the second self-rotation guide wheel 528 on the outer fixing seat 524 of the differential self-rotation shaft, is crossed and wound onto the opening fixed end of the second stepped shaft of the differential self-rotation shaft 523.

[0074] When the second wire rope B544, the third wire rope A541, or the third wire rope B542 and the second wire rope A543 are pulled in the same direction and at the same speed, the second degree of freedom of the wrist joint produces a deflection motion, but no rotational motion. When the second wire rope B544, the third wire rope A541, or the third wire rope B542 and the second wire rope A543 are pulled in opposite directions at the same speed, the third degree of freedom of the wrist joint produces a rotational motion, but no deflection motion. When the third wire rope A541, the second wire rope B544, or the third wire rope B542 and the second wire rope A543 are pulled at different speeds, both the second and third degrees of freedom of the wrist joint will operate, and couple to generate deflection and rotational motions.

[0075] More specifically, the three degrees of freedom of movement corresponding to the human wrist joint are: When the fourth steel wire rope A551 or the fourth steel wire rope B552 driven by the second joint module 55 is pulled, the drive wheel 517 will generate a counterclockwise or clockwise rotation of the first degree of freedom of the wrist joint, and drive the differential mechanism 52 and the hand 53 to rotate synchronously to simulate the rotation of the human wrist.

[0076] When the third wire rope A541, the second wire rope B544, or the second wire rope A543 and the third wire rope B542 driven by the first joint module 54 are pulled in the same direction and at the same speed, the second degree of freedom of the wrist joint produces a deflection motion to simulate the pitching and flexing motion of the human wrist.

[0077] When the third wire rope A541 and the second wire rope B544, or the second wire rope A543 and the third wire rope B542, driven by the first joint module 54, are pulled in the opposite direction at the same speed, the wrist joint's third degree of freedom generates a rotational motion, first rotating 90°. Subsequently, when the third wire rope A541 and the second wire rope B544, or the second wire rope A543 and the third wire rope B542, driven by the first joint module 54, are pulled in the same direction at the same speed, the wrist joint's second degree of freedom generates a yaw motion, which simulates the yaw motion of the human wrist.

[0078] The tensioning solutions for the rope end fixed to the wrist joint include, but are not limited to, bolt-slider tensioning solutions, tension / compression spring tensioning solutions, disc spring tensioning solutions, and temperature-controlled spring tensioning solutions.

[0079] The basic principles, main features and beneficial effects of the present invention have been described above. Any changes, modifications, substitutions and variations made to these implementations without departing from the principles and spirit of the present invention shall fall within the scope of the claims of the present invention.

Claims

1. A cable-driven upper limb system for a centrally arranged humanoid robot, characterized in that: include: The upper limbs and torso (7) have two symmetrically inclined mounting surfaces, forming a mating space inside; A three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint (1) is installed on the mounting surface, with its drive unit built into the interlocking space and its output end connected to the upper arm (2). The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3) is connected to the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint (1) through the upper arm (2), and its input end is provided with a Bowden tube (32) threading end; Forearm (4) is connected to the output end of the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3); The self-rotation decoupling differential rope-driven humanoid wrist joint (5) is connected to the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3) through the forearm (4), and includes a self-rotation decoupling mechanism (51) and a differential mechanism (52). A simplified humanoid hand (6) is connected to the output end of the self-rotating decoupled differential rope-driven humanoid wrist joint (5); The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3) and the rotation decoupling differential rope-driven humanoid wrist joint (5) are driven by a wire rope-pulley system, and the wire ropes of the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3) and the rotation decoupling differential rope-driven humanoid wrist joint (5) are routed through the inside of the upper arm (2) and the lower arm (4). The joint modules of the three-degree-of-freedom parallel attitude-adjusting rope-driven humanoid shoulder joint (1), the tension-amplified constant torque constant stiffness rope-driven humanoid elbow joint (3), and the rotation-decoupling differential rope-driven humanoid wrist joint (5) are all rear-mounted and centrally arranged in the upper limb trunk (7). The tension amplification constant torque constant stiffness rope-driven anthropomorphic elbow joint (3) adopts a rolling joint configuration, including an elbow joint fixed end (33), an elbow joint moving end (36) and a double-end connector (34). The elbow joint fixed end (33) and the elbow joint moving end (36) are connected through the double-end connector (34) and are constrained by the coupling rope (317) to maintain a tangential gear-like meshing motion state. The tension amplification constant torque constant stiffness rope-driven humanoid elbow joint (3) includes a fixed end guide wheel (38), a fixed end small pulley (39), a fixed end large pulley (311), and a moving end stepped double-layer pulley (35). The wire rope passes around the fixed end guide wheel (38), the fixed end small pulley (39), the fixed end large pulley (311), and the moving end stepped double-layer pulley (35) to form a movable pulley mechanism, so that the wire rope and the tension amplification constant torque constant stiffness rope-driven humanoid elbow joint achieve 8 times tension amplification and 64 times stiffness coefficient amplification, respectively.

2. The cable-driven upper limb system for a centrally arranged humanoid robot according to claim 1, characterized in that: The upper limb trunk (7) is a double Y-shaped structure. The open ends of the double Y-shaped structure are nested to form the intercourse space. A small horizontal plate is formed at the top and a large horizontal plate is formed at the bottom. The mounting surface is the two symmetrical outer walls of the Y-shaped structure.

3. The cable-driven upper limb system for a centrally arranged humanoid robot according to claim 2, characterized in that: The interlocking space is equipped with a partition plate to form a single-sided four-assembly positioning zone for centralized arrangement of joint modules.

4. The cable-driven upper limb system for a centrally arranged humanoid robot according to claim 1, characterized in that: The three-degree-of-freedom parallel attitude-adjusting tethered humanoid shoulder joint (1) includes a shoulder joint base (11), a moving platform (112), and three RRR branches. The shoulder joint base and the moving platform are connected in parallel through the three RRR branches. The three RRR branches realize the three-way posture movement of the ball-and-socket joint in the physiological structure of the human shoulder joint under tethered drive through the steel wire rope (114).

5. A cable-driven upper limb system for a centrally arranged humanoid robot according to claim 4, characterized in that: The RRR branch includes a winding reel, a rotating joint and a rotating joint connecting rod (111) connected in sequence. The winding reel is connected to the shoulder joint module (10) by a steel wire rope (114). The diameter of the winding reel is 5:1 to the diameter of the motor output shaft of the shoulder joint module (10) to achieve deceleration and torque increase.

6. The cable-driven upper limb system for a centrally arranged humanoid robot according to claim 1, characterized in that: The rotation decoupling mechanism (51) of the self-rotation decoupling differential rope-driven human wrist joint (5) includes a fixed wheel (515), a follower wheel (516) and a driving wheel (517). The fixed wheel (515) is connected to the follower wheel (516) and the driving wheel (517) through the first wire rope A (5121) and the first wire rope B (5122) to form a movable pulley group, thereby realizing the decoupling of rotational motion and deflection motion.

7. A cable-driven upper limb system for a centrally arranged humanoid robot according to claim 6, characterized in that: The differential mechanism (52) of the self-rotation decoupling differential rope-driven human wrist joint (5) includes a first differential deflection base (521), a second differential deflection base (526), ​​a differential self-rotation shaft (523), and a differential rotating wheel (527). The second steel wire rope A (543), the second steel wire rope B (544), the third steel wire rope A (541), and the third steel wire rope B (542) are sequentially wound around the differential rotating wheel (527) in opposite directions, and the deflection and self-rotation are achieved by pulling in the same or opposite directions.

8. A cable-driven upper limb system for a centrally arranged humanoid robot according to claim 7, characterized in that: The steel wire rope (114) of the three-degree-of-freedom parallel attitude adjustment rope driving the humanoid shoulder joint (1), the first set of steel wire ropes (31) and the second set of steel wire ropes (310) of the tension amplification constant torque constant stiffness rope driving the humanoid elbow joint (3), and the second steel wire ropes A (543), B (544), A (541), B (542) and A (551) and B (552) of the rotation decoupling differential rope driving the humanoid wrist joint (5) are all guided and protected by Bowden tubes (32), which are fixed to the inner side of the tube wall of the upper arm (2) and the lower arm (4).

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