A robot arm based on continuum joints

Abstract

The application discloses a kind of robot arm based on continuum joint in humanoid robot technical field.It includes: sequentially connected shoulder module, big arm module and small arm module, the shoulder module, big arm module and small arm module all include rotating unit;The rotating unit includes drive assembly, first drive rope and continuum joint, the drive assembly is connected respectively the first end of the first drive rope and the first end of the continuum joint, the second end of the first drive rope passes through the drive rope hole arranged on the continuum joint, and is connected with the second end of the continuum joint, the drive assembly is used to control the elongation contraction of first drive rope, and then control the movement of the continuum joint.The application utilizes rotating unit to control the movement of continuum joint, both avoids redundant degree of freedom, and eliminates singularity problem of robot arm.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and more particularly to a robotic arm based on continuum joints. Background Technology

[0002] As a key execution component for robots to perform tasks, the humanoid robotic arm is designed to achieve dexterity, load capacity, and operational precision similar to that of a human arm. Traditional industrial robotic arms typically employ a 6-DOF configuration, which, while meeting the minimum degree of freedom requirement for end-effector three-dimensional spatial positioning, faces inherent problems in practical applications, such as unusual configurations, excessive joint range of motion, and poor motion tolerance.

[0003] To overcome these limitations, modern humanoid robot arms generally adopt a seven-degree-of-freedom redundant design scheme. By introducing a redundant degree of freedom in kinematics, the robotic arm can adjust its own configuration while keeping the end-effector pose unchanged.

[0004] However, this design approach does not completely eliminate the singularity problem. Instead, it transforms it into a multi-solution optimization problem that requires systematic research. How to fundamentally understand, avoid, and even eliminate singularities has become a core technical challenge in the field of humanoid robot arm structure design. For humanoid robot arms, the actual harm caused by singularities is very obvious. When the robotic arm approaches a singular configuration, in order to achieve tiny end-effector movements, the angular velocities of some joints need to approach infinity. This not only exceeds the motor drive capability but also easily leads to control instability. At the same time, the joint torque will fluctuate drastically, affecting operational accuracy and safety.

[0005] Therefore, there is an urgent need for a humanoid robot arm structure based on a continuous joint to solve the singularity problem in humanoid robots during operation. The continuous joint adopts the structure disclosed in the publication with announcement number CN 119238483 B, entitled "A Linked Series Ball Joint Continuous Robot Structure". Summary of the Invention

[0006] The purpose of this invention is to provide a robotic arm based on a continuous joint, which uses a rotating unit to control the movement of the continuous joint, thus avoiding redundant degrees of freedom and eliminating the singularity problem of the robotic arm.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a robotic arm based on a continuous joint, comprising: a shoulder module, an upper arm module, and a forearm module connected in sequence, wherein each of the shoulder module, upper arm module, and forearm module includes a rotation unit;

[0009] The rotating unit includes a drive assembly, a first drive rope, and a continuous joint. The drive assembly is connected to the first end of the first drive rope and the first end of the continuous joint. The second end of the first drive rope passes through a drive rope hole provided on the continuous joint and is connected to the second end of the continuous joint. The drive assembly is used to control the movement of the continuous joint by controlling the extension and contraction of the first drive rope.

[0010] Optionally, the rotating unit includes one or two of the first drive ropes;

[0011] The drive assembly includes a connected second motor and a winding wheel. One first drive rope is wound on the winding wheel, or two first drive ropes are wound on the winding wheel in opposite directions. The winding wheel is used to rotate under the drive of the second motor to extend or retract the first drive rope.

[0012] The second ends of the two first drive ropes, which are wound in opposite directions on the winding reel, do not coincide with the connection position of the second end of the continuum joint.

[0013] Optionally, the drive assembly further includes a drive assembly housing and a drive assembly cover connected together. The drive assembly housing and the drive assembly cover are wrapped around the second motor and the winding reel. The drive assembly cover has a through hole through which the first drive rope passes.

[0014] Optionally, the robot arm further includes a first motor, a first torsion joint assembly, and a second torsion joint assembly; the first motor is connected to a first end of the shoulder module via a coupling to drive the shoulder module to rotate; the first end and the second end of the first torsion joint assembly are respectively connected to the second end of the shoulder module and the first end of the upper arm module to drive the upper arm module to twist relative to the shoulder module; the first end and the second end of the second torsion joint assembly are respectively connected to the second end of the upper arm module and the forearm module to drive the forearm module to twist relative to the upper arm module.

[0015] Optionally, the first torsion joint assembly and the second torsion joint assembly have the same structure, both including a torsion flange, a torsion shaft, a third motor, a torsion joint turntable, and a second drive rope; one torsion shaft corresponds to at least two second drive ropes;

[0016] The third motor is connected to the torsion joint turntable. The first ends of the two second drive ropes are connected to the torsion joint turntable and are wound around the torsion joint turntable in opposite directions. The second ends of the two second drive ropes are connected to the first end of the torsion shaft, and the connection positions do not coincide. The second end of the torsion shaft is connected to the first end of the torsion flange. The torsion joint turntable is used to rotate under the drive of the third motor, so that one of the second drive ropes extends and the other retracts, thereby realizing the rotation of the torsion shaft and driving the torsion flange to rotate. The second end of the torsion flange serves as the second end of the first torsion joint assembly or the second torsion joint assembly.

[0017] Optionally, the first torsion joint assembly and the second torsion joint assembly further include a torsion joint cylinder, a shaft housing, and a torsion motor sleeve;

[0018] The torsion motor sleeve is wrapped around the third motor and the torsion joint turntable; the torsion joint cylinder is wrapped around the torsion motor sleeve, the first end of the torsion joint cylinder is connected to the shaft box, and the second end of the torsion joint cylinder is used as the first end of the first torsion joint assembly or the first end of the second torsion joint assembly.

[0019] The shaft box is wrapped around the outside of the torsion shaft, and the shaft box has a through hole through which the second drive rope passes.

[0020] Optionally, the second end of the torsion joint cylinder is provided with a connecting screw, which serves as the first end of the first torsion joint assembly or the first end of the second torsion joint assembly.

[0021] Optionally, the torsion motor sleeve is provided with a connecting screw, which passes through the torsion joint cylinder and serves as the first end of the first torsion joint assembly or the first end of the second torsion joint assembly.

[0022] Optionally, the continuous joint is provided with a sensor assembly for acquiring the bending angle of the continuous joint; the sensor assembly includes a detection unit and a circuit board;

[0023] The detection unit includes a reel, a magnet, a magnetic encoder, and a third drive rope. The reel is connected to the magnet, and the third drive rope is wound on the reel. The first end of the third drive rope is connected to the first end of the continuous joint, and the second end of the third drive rope is connected to the second end of the continuous joint. The third drive rope is used to drive the reel and the magnet connected to it to rotate relative to the magnetic encoder. The magnetic encoder is mounted on the circuit board and maintains a predetermined gap with the magnet. It is used to convert the detected rotation angle of the magnet into an electrical signal and output it to the calculation unit through the circuit board. The calculation unit calculates the bending angle of the continuous joint.

[0024] Optionally, the sensor assembly further includes an upper sensor cover and a lower sensor cover connected to each other; the upper sensor cover and the lower sensor cover surround the detection unit and the circuit board, and the upper sensor cover or the lower sensor cover is provided with a through hole, through which the third drive rope passes.

[0025] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0026] When the drive components in the rotating unit move, the extension and contraction of the first drive rope are controlled, thereby controlling the movement of the continuous joints. This allows the shoulder, upper arm, and forearm of the robot arm to move flexibly, avoiding redundant degrees of freedom and eliminating the singularity problem of the robot arm.

[0027] Furthermore, when a drive assembly is equipped with two first drive ropes, when the second motor drives the winding wheel to rotate, one first drive rope contracts and the other first drive rope extends, thereby driving the driven continuous joint to move. Compared with using only one first drive rope to control the movement of the continuous joint, two first drive ropes are more reliable and can make the continuous joint move more stably and flexibly.

[0028] Furthermore, when the first and second torsion joint assemblies are driven by the third motor to rotate the torsion joint turntable, one of the two second drive ropes contracts and the other extends, driving the torsion shaft and the torsion flange to rotate, which in turn drives the upper or lower arm connected to the torsion flange to rotate, enhancing the torsion flexibility of the robot arm and further eliminating the singularity problem of the robot arm.

[0029] Furthermore, sensor components are installed on the shoulder, upper arm, and forearm of the robot arm. Through the cooperation of the reel, magnet, third drive rope, and magnetic encoder, the bending signal of the robot arm can be accurately captured when the robot arm moves. The output action is then completed by the circuit board, which facilitates the monitoring of the robot arm's movement. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the robotic arm based on continuum joints according to the present invention;

[0032] Figure 2 This is a schematic diagram of the shoulder module structure of the robot arm based on continuum joints according to the present invention;

[0033] Figure 3 This is a schematic diagram of the upper arm module structure of the robot arm based on a continuum joint according to the present invention.

[0034] Figure 4 This is a schematic diagram of the forearm module structure of the robot arm based on continuum joints according to the present invention;

[0035] Figure 5 This is a schematic diagram of the drive component structure of the robot arm based on a continuum joint according to the present invention;

[0036] Figure 6 This is a perspective view of the drive components of the robot arm based on continuum joints according to the present invention.

[0037] Figure 7 This is a schematic diagram of the first or second torsional joint assembly of the robot arm based on a continuum joint according to the present invention.

[0038] Figure 8 This is a perspective view of the first or second torsional joint assembly of the robot arm based on a continuum joint according to the present invention.

[0039] Figure 9 This is a schematic diagram of the sensor assembly structure of the robot arm based on continuum joints according to the present invention;

[0040] Figure 10 This is a perspective view of the sensor components of the robot arm based on continuum joints according to the present invention.

[0041] Figure 11 This is a schematic diagram of the internal structure of the sensor assembly of the robot arm based on a continuum joint according to the present invention;

[0042] Explanation of reference numerals in the attached figures:

[0043] Shoulder module 1; Upper arm module 2; Forearm module 3; Drive assembly 4; First torsional joint assembly 5; Sensor assembly 6; Continuous shoulder joint 7; Continuous elbow joint 8; Continuous wrist joint 9; Second torsional joint assembly 10; First motor 11; Shoulder coupling 12; Drive assembly housing 41; Drive assembly cover 42; First drive rope 43; Second motor 44; Winding reel 45; Torsional joint cylinder 51; Shaft box 52; Torsional flange 53; Torsional shaft 54; Torsional motor sleeve 55; Third motor 56; Torsional joint turntable 57; Second drive rope 58; Connecting screw 59; Sensor upper cover 61; Sensor lower cover 62; Winding reel 63; Magnet 64; Magnetic encoder 65; Third drive rope 66; Circuit board 67. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0045] Example 1

[0046] like Figure 1-4 As shown, this embodiment provides a robotic arm based on a continuum joint, including:

[0047] The shoulder module 1, upper arm module 2, and forearm module 3 are connected in sequence, and each of the shoulder module 1, upper arm module 2, and forearm module 3 includes a rotating unit;

[0048] The rotating unit includes a drive assembly 4, a first drive rope 43, and a continuous joint. The drive assembly 4 is connected to the first end of the first drive rope 43 and the first end of the continuous joint. The second end of the first drive rope 43 passes through a drive rope hole provided on the continuous joint and is connected to the second end of the continuous joint. The drive assembly 4 is used to control the movement of the continuous joint by controlling the extension and contraction of the first drive rope 43.

[0049] In one specific embodiment of this example, the rotating unit includes one or two of the first drive ropes 43;

[0050] The drive assembly 4 includes a connected second motor 44 and a winding wheel 45. One first drive rope 43 is wound on the winding wheel 45, or two first drive ropes 43 are wound on the winding wheel 45 in opposite directions. The winding wheel 45 is used to rotate under the drive of the second motor 44 to extend or retract the first drive rope 43.

[0051] The second ends of the two first drive ropes 43, which are wound in opposite directions on the winding wheel 45, do not coincide with the connection position of the second end of the continuum joint.

[0052] In one specific embodiment of this example, the drive assembly 4 further includes a drive assembly housing 41 and a drive assembly cover 42 connected together. The drive assembly housing 41 and the drive assembly cover 42 are wrapped around the second motor 44 and the winding wheel 45. The drive assembly cover 42 is provided with a through hole, and the first drive rope 43 passes through the through hole.

[0053] In one specific embodiment of this invention, the robot arm further includes a first motor 11, a first torsion joint assembly 5, and a second torsion joint assembly 10. The first motor 11 is connected to the first end of the shoulder module 1 via a coupling 12, and is used to drive the shoulder module 1 to rotate. The first end and the second end of the first torsion joint assembly 5 are respectively connected to the second end of the shoulder module 1 and the first end of the upper arm module 2, and are used to drive the upper arm module 2 to twist relative to the shoulder module 1. The first end and the second end of the second torsion joint assembly 10 are respectively connected to the second end of the upper arm module 2 and the forearm module 3, and are used to drive the forearm module 3 to twist relative to the upper arm module 2.

[0054] In one specific embodiment of this example, the first torsion joint assembly 5 and the second torsion joint assembly 10 have the same structure, both including a torsion flange 53, a torsion shaft 54, a third motor 56, a torsion joint turntable 57, and a second drive rope 58; one torsion shaft 54 ​​corresponds to at least two second drive ropes 58.

[0055] The third motor 56 is connected to the torsion joint turntable 57. The first ends of the two second drive ropes 58 are connected to the torsion joint turntable 57 and are wound around the torsion joint turntable 57 in opposite directions. The second ends of the two second drive ropes 58 are connected to the first end of the torsion shaft 54, and the connection positions do not coincide. The second end of the torsion shaft 54 ​​is connected to the first end of the torsion flange 53. The torsion joint turntable 57 is used to rotate under the drive of the third motor 56, so that one of the second drive ropes 58 extends and the other retracts, thereby realizing the rotation of the torsion shaft 54 ​​and driving the torsion flange 53 to rotate. The second end of the torsion flange 53 is used as the second end of the first torsion joint assembly 5 or the second torsion joint assembly 10.

[0056] In one specific embodiment of this example, the first torsion joint assembly 5 and the second torsion joint assembly 10 further include a torsion joint cylinder 51, a shaft box 52, and a torsion motor sleeve 55;

[0057] The torsion motor sleeve 55 is wrapped around the third motor 56 and the torsion joint turntable 57; the torsion joint cylinder 51 is wrapped around the torsion motor sleeve 55, the first end of the torsion joint cylinder 51 is connected to the shaft box 52, and the second end of the torsion joint cylinder 51 is used as the first end of the first torsion joint assembly 5 or the first end of the second torsion joint assembly 10.

[0058] The shaft box 52 is wrapped around the torsion shaft 54. The shaft box 52 is provided with a through hole, and the second drive rope 58 is passed through the through hole.

[0059] In one specific embodiment of this example, the second end of the torsion joint cylinder 51 is provided with a connecting screw 59, which serves as the first end of the first torsion joint assembly 5 or the first end of the second torsion joint assembly 10.

[0060] In one specific embodiment of this example, a sensor assembly 6 is provided on the continuous joint for acquiring the bending angle of the continuous joint; the sensor assembly includes a detection unit and a circuit board 67.

[0061] The detection unit includes a reel 63, a magnet 64, a magnetic encoder 65, and a third drive rope 66. The reel 63 is connected to the magnet 64, and the third drive rope 66 is wound on the reel 63. The first end of the third drive rope 66 is connected to the first end of the continuous joint, and the second end of the third drive rope 66 is connected to the second end of the continuous joint. The third drive rope 66 is used to drive the reel 63 and the magnet 64 connected to it to rotate relative to the magnetic encoder 65. The magnetic encoder 65 is mounted on the circuit board 67 and maintains a predetermined gap with the magnet 64. It is used to convert the detected rotation angle of the magnet 64 into an electrical signal and output it to the calculation unit through the circuit board 67. The calculation unit calculates the bending angle of the continuous joint.

[0062] In one specific embodiment of this example, the sensor assembly further includes a sensor upper cover 61 and a sensor lower cover 62 connected to each other; the sensor upper cover 61 and the sensor lower cover 62 surround the detection unit and the circuit board 67, and the sensor upper cover 61 or the sensor lower cover 62 is provided with a through hole, through which the third drive rope 66 passes.

[0063] Example 2

[0064] The difference between this embodiment and embodiment 1 is that: the torsion motor sleeve 55 is provided with a connecting screw 59, which passes through the torsion joint cylinder 51 and serves as the first end of the first torsion joint assembly 5 or the first end of the second torsion joint assembly 10.

[0065] The following uses a robotic arm as an example to describe in detail the robotic arm based on continuum joints in this invention, with specific implementation details, such as... Figure 1-11 As shown, the technical solution of the present invention includes the following:

[0066] like Figure 1 As shown in the figure, this embodiment provides a rigid-flexible hybrid humanoid robot arm structure, including a shoulder module 1, an upper arm module 2, and a lower arm module 3. The end of the upper arm module 2 is connected to the root of the shoulder module 1, and the root of the lower arm module 3 is connected to the end of the upper arm module 2.

[0067] The continuous shoulder joint 7, continuous elbow joint 8, and continuous wrist joint 9 involved in this embodiment all adopt the structure disclosed in the applicant's patent with publication number CN 119238483 B, entitled "A Linked Serial Ball Joint Continuous Robot Structure". Therefore, the specific structure of the continuous joints will not be described in detail here. This embodiment mainly describes the specific application of the above-mentioned continuous joints in the robot arm of the present invention and their connection relationship with other components.

[0068] like Figure 2 As shown, the shoulder module 1 specifically includes: a first motor 11, a coupling 12, two drive components 4, a two-degree-of-freedom double-layer continuous shoulder joint 7, and a sensor component 6. The first motor 11 is connected to the other components through the coupling 12 to realize the torsional movement of the entire shoulder. The two drive components 4 are connected, with their axes overlapping and set at an angle of 90 degrees around their axes, to drive the continuous shoulder joint 7 to bend in two mutually perpendicular directions. Each drive component 4 is equipped with two first drive ropes 43. When the first motor 11 moves, one of the two first drive ropes 43 extends and the other contracts. The four first drive ropes 43 of the two drive components 4 pass through the drive rope holes of the continuous shoulder joint 7 and are fixed to the end of the continuous shoulder joint 7.

[0069] Thus, the two drive components 4 work together to achieve omnidirectional motion control of the continuous shoulder joint 7. The sensor component 6 is located at the end of the continuous shoulder joint 7 and is used to detect the bending angle of the continuous shoulder joint 7 in various directions in real time, providing feedback signals for the robot's posture control.

[0070] like Figure 3 As shown, the upper arm module 2 specifically includes: a first torsion joint assembly 5, a drive assembly 4, a single-degree-of-freedom double-layer continuous elbow joint 8, and a sensor assembly 6. The first torsion joint assembly 5 is located at the root of the upper arm module 2 and is connected to the shoulder module 1 via a connecting screw 59, used to realize the torsion movement of the upper arm itself.

[0071] The drive assembly 4 is used to drive the continuous elbow joint 8 to bend in one direction. Specifically, the first drive rope 43 of the drive assembly 4 passes through the drive rope hole of the continuous elbow joint 8 and is fixed to the end of the continuous elbow joint 8. Considering that the human elbow joint has only one degree of freedom in one direction, the other degree of freedom of the continuous elbow joint is fixed by a locking rope, so that it has only one degree of freedom in one direction. The sensor assembly 6 is disposed at the end of the continuous elbow joint 8 and is used to detect the bending angle of the joint.

[0072] like Figure 4As shown, the forearm module 3 specifically includes: a second torsional joint assembly 10, two drive assemblies 4, a two-degree-of-freedom single-layer continuous wrist joint 9, and a sensor assembly 6. The second torsional joint assembly 10 is located at the root of the forearm module 3 and is connected to the upper arm module 2 via a connecting screw 59, used to realize the torsional movement of the forearm itself. The two drive assemblies 4 are used to drive the continuous wrist joint 9 to bend in two directions. The four first drive ropes 43 of the two drive assemblies 4 pass through the drive rope holes of the continuous wrist joint 9 and are fixed to the joint end, with the two drive assemblies 4 jointly controlling the omnidirectional bending movement of the joint. The sensor assembly 6 is located at the end of the continuous wrist joint 9 and is used to detect the bending angle of the joint.

[0073] like Figure 5-6 As shown, the drive component 4 in this embodiment includes: a drive component housing 41, a drive component cover 42, a second motor 44, a winding reel 45, and two first drive ropes 43. The drive component cover 42 is fixedly connected to the drive component housing 41, and the two together form a receiving cavity. The interior of the drive component cover 42 is provided with a channel for the first drive ropes 43 to pass through.

[0074] The second motor 44 is fixedly installed inside the drive assembly housing 41 and has an output shaft. The winding wheel 45 is fixedly connected to the output shaft of the second motor 44 and rotates synchronously with the output shaft. One end of each of the two first drive ropes 43 is fixed to the winding wheel 45 and wound around the winding wheel 45 in opposite directions. The other ends of the two first drive ropes 43 pass through the rope channel inside the drive assembly cover 42 and out of the drive assembly cover 42 for connection to the driven component, i.e., the continuous joint.

[0075] When the second motor 44 drives the winding wheel 45 to rotate forward or in reverse, one drive rope 43 is wound up and the other drive rope 43 is extended, thereby driving the driven component connected to it to move in one direction or the opposite direction.

[0076] like Figure 7-8 As shown, the first torsion joint assembly 5 and the second torsion joint assembly 10 in this embodiment have the same structure, both including: a torsion joint cylinder 51, a torsion motor sleeve 55, a third motor 56, a torsion joint turntable 57, two second drive ropes 58, a shaft box 52, a torsion shaft 54, a torsion flange 53, and two connecting screws 59.

[0077] The torsion motor sleeve 55 is fixedly installed inside the torsion joint cylinder 51. The third motor 56 is fixedly installed inside the torsion motor sleeve 55 and has an output shaft.

[0078] The torsion joint turntable 57 is fixedly connected to the output shaft of the third motor 56 and rotates synchronously with the output shaft.

[0079] One end of each of the two second drive ropes 58 is fixed to the torsion joint turntable 57 and wound around the torsion joint turntable 57 in opposite directions. The other end of each of the two second drive ropes 58 passes through the rope channel inside the shaft box 52 and is fixed to the torsion shaft 54.

[0080] The torsion flange 53 is fixedly connected to the torsion shaft 54. The two connecting screws 59 are fixed to the torsion motor sleeve 55 and pass through the bottom of the torsion joint cylinder 51 for connection and fixation with other components.

[0081] When the third motor 56 drives the torsion joint turntable 57 to rotate, one of the two second drive ropes 58 contracts and the other extends, causing the torsion shaft 54 ​​and the torsion flange 53 to rotate relative to the torsion joint cylinder 51, thereby realizing the torsion movement of the entire continuous joint.

[0082] like Figure 9-11 As shown, the sensor assembly 6 includes a sensor upper cover 61, a sensor lower cover 62, and two identical detection units, which are used to detect the bending angles of the continuous joint in two mutually perpendicular directions.

[0083] The upper sensor cover 61 and the lower sensor cover 62 are fixedly connected, together forming a sensor housing; both detection units are fixedly installed inside the sensor housing. The following explanation uses one of the detection units as an example:

[0084] Each detection unit includes: a reel 63, a magnet 64, a magnetic encoder 65, and a third drive rope 66; the magnetic encoder 65 is mounted on a PCB board, i.e., circuit board 67; the magnet 64 is fixedly connected to the reel 63 and is positioned directly above the magnetic encoder 65, with a relatively fixed gap between the magnet 64 and the magnetic encoder 66; the reel 63 is rotatably mounted inside the housing of the sensor assembly; one end of the third drive rope 66 is fixed to one side of the root of the continuous joint, and the other end passes through the inside of the continuous joint and is wound around the corresponding reel 63, and then passes through the inside of the continuous joint and is fixed to the opposite side of the root of the continuous joint.

[0085] Specifically, when the continuous joint bends in a certain direction, the third drive rope 66 in the corresponding direction extends and contracts at the same time, driving the corresponding winding wheel 63 and magnet 64 to rotate. The rotation angle of magnet 64 is detected in real time by the magnetic encoder 65 directly below it and converted into an electrical signal output to the calculation unit. By calculating the electrical signal, the precise bending angle of the continuous joint in that direction can be obtained.

[0086] The two sensor drive ropes are set one-to-one with the two winding reels. The fixed directions of the third drive ropes 66 of the two detection units are perpendicular to each other and form a 90-degree angle. Through the cooperation of the two detection units, the sensor assembly 6 can obtain the bending angle of the joint in two degrees of freedom in real time, providing accurate feedback signals for the robot's posture closed-loop control.

[0087] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0088] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0089] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robotic arm based on a continuum joint, comprising a continuum joint, characterized in that, include: The shoulder module (1), upper arm module (2) and forearm module (3) are connected in sequence, and each of the shoulder module (1), upper arm module (2) and forearm module (3) includes a rotating unit; The rotating unit includes a drive assembly (4), a first drive rope (43), and a continuous joint. The drive assembly (4) is connected to the first end of the first drive rope (43) and the first end of the continuous joint. The second end of the first drive rope (43) passes through the drive rope hole provided on the continuous joint and is connected to the second end of the continuous joint. The drive assembly (4) is used to control the movement of the continuous joint by controlling the extension and contraction of the first drive rope (43).

2. The robotic arm based on a continuum joint according to claim 1, characterized in that, The rotating unit includes one or two of the first drive ropes (43); The drive assembly (4) includes a connected second motor (44) and a winding wheel (45). One first drive rope (43) is wound on the winding wheel (45), or two first drive ropes (43) are wound on the winding wheel (45) in opposite directions. The winding wheel (45) is used to rotate under the drive of the second motor (44) to extend or retract the first drive rope (43). The second ends of the two first drive ropes (43) wound in opposite directions on the winding wheel (45) do not coincide with the connection position of the second end of the continuum joint.

3. The robotic arm based on a continuum joint according to claim 2, characterized in that, The drive assembly (4) also includes a drive assembly housing (41) and a drive assembly cover (42) connected to each other. The drive assembly housing (41) and the drive assembly cover (42) are wrapped around the second motor (44) and the winding wheel (45). The drive assembly cover (42) is provided with a through hole, through which the first drive rope (43) passes.

4. The robotic arm based on a continuum joint according to claim 1, characterized in that, The robot arm also includes a first motor (11), a first torsion joint assembly (5), and a second torsion joint assembly (10); the first motor (11) is connected to the first end of the shoulder module (1) via a coupling (12) to drive the shoulder module (1) to rotate; the first end and the second end of the first torsion joint assembly (5) are respectively connected to the second end of the shoulder module (1) and the first end of the upper arm module (2) to drive the upper arm module (2) to twist relative to the shoulder module (1); the first end and the second end of the second torsion joint assembly (10) are respectively connected to the second end of the upper arm module (2) and the forearm module (3) to drive the forearm module (3) to twist relative to the upper arm module (2).

5. The robotic arm based on a continuum joint according to claim 4, characterized in that, The first torsion joint assembly (5) and the second torsion joint assembly (10) have the same structure, both including a torsion flange (53), a torsion shaft (54), a third motor (56), a torsion joint turntable (57), and a second drive rope (58); one torsion shaft (54) corresponds to at least two second drive ropes (58). The third motor (56) is connected to the torsion joint turntable (57). The first ends of the two second drive ropes (58) are connected to the torsion joint turntable (57) and are wound around the torsion joint turntable (57) in opposite directions. The second ends of the two second drive ropes (58) are connected to the first end of the torsion shaft (54), and the connection positions do not coincide. The second end of the torsion shaft (54) is connected to the first end of the torsion flange (53). The torsion joint turntable (57) is used to rotate under the drive of the third motor (56), so that one of the second drive ropes (58) extends and the other retracts, thereby realizing the rotation of the torsion shaft (54) and driving the torsion flange (53) to rotate. The second end of the torsion flange (53) is used as the second end of the first torsion joint assembly (5) or the second torsion joint assembly (10).

6. The robotic arm based on a continuum joint according to claim 5, characterized in that, The first torsion joint assembly (5) and the second torsion joint assembly (10) further include a torsion joint cylinder (51), a shaft box (52), and a torsion motor sleeve (55). The torsion motor sleeve (55) is wrapped around the third motor (56) and the torsion joint turntable (57); the torsion joint cylinder (51) is wrapped around the torsion motor sleeve (55), the first end of the torsion joint cylinder (51) is connected to the shaft box (52), and the second end of the torsion joint cylinder (51) is used as the first end of the first torsion joint assembly (5) or the first end of the second torsion joint assembly (10); The shaft box (52) is wrapped around the outside of the torsion shaft (54), and the shaft box (52) is provided with a through hole, through which the second drive rope (58) passes.

7. The robotic arm based on a continuum joint according to claim 6, characterized in that, The second end of the torsion joint cylinder (51) is provided with a connecting screw (59), which serves as the first end of the first torsion joint assembly (5) or the first end of the second torsion joint assembly (10).

8. The robotic arm based on a continuum joint according to claim 6, characterized in that, The torsion motor sleeve (55) is provided with a connecting screw (59), which passes through the torsion joint cylinder (51) and serves as the first end of the first torsion joint assembly (5) or the first end of the second torsion joint assembly (10).

9. The robotic arm based on a continuum joint according to claim 1, characterized in that, The continuous joint is provided with a sensor assembly (6) for obtaining the bending angle of the continuous joint; the sensor assembly includes a detection unit and a circuit board (67). The detection unit includes a reel (63), a magnet (64), a magnetic encoder (65), and a third drive rope (66). The reel (63) is connected to the magnet (64), and the third drive rope (66) is wound on the reel (63). The first end of the third drive rope (66) is connected to the first end of the continuous joint, and the second end of the third drive rope (66) is connected to the second end of the continuous joint. The third drive rope (66) is used to drive the reel (63) and the magnet (64) connected to it to rotate relative to the magnetic encoder (65). The magnetic encoder (65) is mounted on the circuit board (67) and maintains a predetermined gap with the magnet (64). It is used to convert the detected rotation angle of the magnet (64) into an electrical signal and output it to the calculation unit through the circuit board (67). The calculation unit calculates the bending angle of the continuous joint.

10. The robotic arm based on a continuum joint according to claim 9, characterized in that, The sensor assembly also includes a sensor upper cover (61) and a sensor lower cover (62) connected to each other; the sensor upper cover (61) and the sensor lower cover (62) surround the detection unit and the circuit board (67), and the sensor upper cover (61) or the sensor lower cover (62) is provided with a through hole, through which the third drive rope (66) passes.

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