CN112077834B - Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm - Google Patents

Abstract

Translated fromChinese

一种可重构绳驱动混联变刚度家用服务机械臂，由肩关节、肘关节、腕关节串联组成，腕关节与末端手爪相连，驱动绳索终端均直接布置在各关节处，由直线推杆带动动滑轮组，每根绳索长度为定值；所述肩关节、腕关节通过直线推杆的协同调节实现绳索驱动重构；各个关节均为混联机构，绳索与中间螺旋压簧组成并联部分，两中间轴通过铰链或虎克铰连接，且穿过上平台由线性轴承支撑，组成串联部分；本发明机械臂质量轻，惯性小，成本低，绳索较短，避免运动耦合，具有运动冗余与驱动冗余，各个关节利用平动实现变刚度调节，保证了机械臂的运动灵活性、安全性与实用性。

A reconfigurable rope-driven hybrid variable-stiffness household service manipulator is composed of a shoulder joint, an elbow joint, and a wrist joint in series. The rod drives the movable pulley block, and the length of each rope is a fixed value; the shoulder joint and the wrist joint realize the rope drive reconstruction through the coordinated adjustment of the linear push rod; each joint is a hybrid mechanism, and the rope and the intermediate helical compression spring form a parallel part , the two intermediate shafts are connected by hinges or Hooke hinges, and are supported by linear bearings through the upper platform to form a series part; the mechanical arm of the present invention is light in weight, low in inertia, low in cost, short in rope, avoids motion coupling, and has motion redundancy. Redundancy and drive redundancy, each joint uses translation to realize variable stiffness adjustment, which ensures the movement flexibility, safety and practicability of the robotic arm.

Description

Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm

Technical Field

The invention relates to the technical field of rope-driven mechanical arms, in particular to a reconfigurable rope-driven series-parallel variable stiffness household service mechanical arm. The mechanical arm can be arranged on a desktop, an intelligent wheelchair and an automatic guide trolley and is used for assisting the old or the disabled to perform daily life activities, and further realizing self-care of life. The mechanical arm has the characteristics of light weight and intrinsic safety, and can improve the safety and the practicability of the household service mechanical arm.

Background

In the face of the current situation of rapid aging and huge disabled people in the Chinese society, long-term care of the aged and disabled people becomes a social problem restricting the development of China. The home service robot arm can help the old and the disabled to improve the activities of daily life of the old and the disabled, so that the research on the home service robot arm suitable for the old and the disabled in China is urgent. At present, the problems of heavy arm body, inflexible action and the like exist because joints of the mechanical arm are thick. The rope driving mechanism has the characteristics of small inertia, large working space, high effective load ratio, capability of realizing remote driving, better reconfigurability and the like, and can effectively alleviate the problems.

The rope transmission mode of the existing rope driving mechanical arm concentrates a driving source on the end of a base, so that wiring is complex, and the movement coupling among the ropes is caused along with the increase of driving ropes.

Considering that the acting object of the household service mechanical arm is human, physical man-machine interaction exists, and therefore the mechanical arm is required to have flexibility to adapt to different action requirements.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a reconfigurable rope-driven series-parallel variable-stiffness household service mechanical arm, which solves the problems in the prior art that an arm body is heavy, the action is not flexible enough, the movement coupling between ropes is difficult, the variable stiffness is difficult to adjust in real time and the like. The household service mechanical arm is formed by serially connecting a shoulder joint, an elbow joint and a wrist joint, each joint is of a hybrid structure, a variable-rigidity joint is constructed by utilizing the nonlinear characteristic of pressure spring bending, and variable-rigidity adjustment is realized through joint translation.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the shoulder joint and the wrist joint are reconfigurable series-parallel variable stiffness joints driven by 4 ropes, and have 3 rotational degrees of freedom and 1 translational degree of freedom. 4 ropes and a middle nonlinear pressure spring form a joint parallel part to realize inward flexion/outward extension and outward extension/inward retraction of the shoulder joint and the wrist joint; the middle two shafts are connected by a hook hinge, and the middle shaft penetrates through the upper platform and is supported by a linear bearing to form a joint series part, so that the translation of the middle shaft and the upper platform is realized; a direct-drive rotating motor is arranged between the intermediate shaft and the lower platform, so that inward/outward rotation of the shoulder joint and the wrist joint is realized.

The nonlinear pressure spring is a waist drum type nonlinear variable stiffness spring so as to avoid the interference between the spring and a Hooke joint in the motion process of the platform on the joint, and the variable stiffness spring is designed by changing the diameter of the spring wire, the section shape of the spring wire, the thread pitch and the pitch diameter.

Considering the characteristics of the linear push rod such as small volume, large thrust, light weight and the like, the rope driving scheme of the shoulder joint and the wrist joint is as follows: the upper platform is driven by 4 ropes, and each rope is divided into two sections by a linear push rod with a pulley on the upper platform, so that the tension of the ropes is reduced; because the pulley is driven by the linear push rod, the 'break point' of each rope divided into two sections can be changed, so that the configuration of the joint is changed, and the rotating working space and the translation working space of the joint are changed; the slideway of the lower platform is provided with two sections, one section is provided with a linear push rod with a hose, and the other section is provided with a linear push rod with a rope fixing end, so that the configurations of the shoulder joint and the wrist joint are reconstructed through the adjustment of the two sections of linear push rods, and the joint rotation working space and the joint translation working space are further changed; the final rope driving end drives the movable pulley block through the linear push rod to enable the length of the rope between the upper platform and the lower platform to be changed, and then the movable platform is driven to move. The driving scheme can realize the constant tensioning of the rope by means of the cooperation of the linear push rods without adding a rope tensioning mechanism.

The elbow joint is a hybrid variable stiffness joint driven by 2 ropes and has 1 rotational degree of freedom and 1 translational degree of freedom; the 2 ropes and the middle linear pressure spring form an elbow joint parallel part, the middle two shafts are connected by a hinge, penetrate through the upper platform and are supported by a linear bearing to form an elbow joint serial part; the final driving end of each rope drives the movable pulley block through the linear push rod, so that the length of the rope between the upper platform and the lower platform of the elbow joint is changed, and the movable platform is driven to move.

The final driving end of each rope adopts a linear push rod to drive a movable pulley block so as to change the length of the rope, so that the stroke of the linear push rod can be very small when the number of the movable pulleys is large, and the change of the length of the rope is large; the movable pulley is placed on the thin plate, and the thin plate is connected with the push rod through a bolt.

The lower platform of the shoulder joint is fixedly connected with a platform for placing the linear push rod through 4 studs; the shoulder joint intermediate shaft penetrates through the upper platform and is connected with a platform of the elbow joint for placing the linear push rod by adopting a circular flange plate; the elbow joint lower platform is supported by a middle shaft, and the middle shaft is respectively connected with the lower platform and a platform for placing the linear push rod by a circular flange plate; the middle shaft penetrating through the upper platform of the elbow joint is connected with the wrist joint placing linear push rod platform by a circular flange plate; the lower platform of the wrist joint is fixedly connected with a platform for placing the linear push rod through 4 studs; the wrist joint intermediate shaft passes through the upper platform and is connected with the end paw of the mechanical arm.

The shoulder joint, the elbow joint, the wrist joint upper platform, the wrist joint lower platform and the platform for placing the linear push rod are all light aluminum alloy sheets; the stud, the circular flange plate and the fastening nut are made of stainless steel materials, the linear bearing is a circular flange linear bearing made of stainless steel, and the driving rope is a high-strength stainless steel wire rope; the fixed end of the rope is fixed with the aluminum sleeve by a steel wire rope chuck; the sheet metal material of placing the movable pulley block is the aluminum alloy, and the material of all pulleys is nylon.

Compared with the prior art, the technical scheme of the invention has the following advantages: the mechanical arm adopts a reconfigurable rope to drive a hybrid variable stiffness joint, has 7 rotational degrees of freedom and 3 translational degrees of freedom, has motion redundancy and drive redundancy, and enhances the motion flexibility and safety; the shoulder and wrist joints of the mechanical arm have the same structure, the elbow joint is similar to the shoulder and wrist joints, the joint reconstruction is good, the modularization is easy to realize, the structure is simple, the layout is reasonable, and the popularization is easy; the mechanical arm is light in weight and low in inertia, can be mounted on an intelligent wheelchair seat, and greatly expands the working space of the mechanical arm; the rope driving of the mechanical arm adopts the linear push rod which is directly arranged at the joint, the rope is short, the kinematic coupling among the ropes is avoided, the rigidity of the joint is increased, and the joint oscillation can be avoided through rigidity adjustment so as to enhance the controllability of the mechanical arm; the mechanical arm adopts a variable-stiffness spring, realizes variable-stiffness adjustment by utilizing joint translation, and has the advantages of simple structure, light weight and easy control; the mechanical arm joint provided by the invention realizes the reconfiguration of joint driving ropes by utilizing the plurality of slideways, can reduce the tension of the ropes, simultaneously increases the working space and the variable stiffness adjusting range, and improves the safety and the practicability of the mechanical arm.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of a reconfigurable rope-driven series-parallel variable stiffness home service robot of the present invention;

FIG. 2 is a schematic view of the construction of a shoulder or wrist joint of the present invention;

FIG. 3 is a schematic structural view of the elbow joint of the present invention;

fig. 4 is a schematic diagram of the final end drive scheme of the rope of the present invention;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a reconfigurable rope-driven series-parallel variable stiffness household service mechanical arm.

As shown in fig. 1, the reconfigurable rope-driven hybrid stiffness household service robot arm according to the embodiment of the invention comprises a shoulder joint S, an elbow joint E and a wrist joint W, wherein the elbow joint E of the embodiment is a 2-degree-of-freedom joint, and the shoulder joint S and the wrist joint W are identical in structure and are both 4-degree-of-freedom joints. In the embodiment, the shoulder joint S, the elbow joint E and the wrist joint W adopt a rope driving parallel-serial mechanism, and the shoulder joint S and the wrist joint W realize the reconstruction of joint driving ropes by utilizing a plurality of slideways; the shoulder joint S and the wrist joint W both adopt nonlinear variable-stiffness combined springs to support the upper platform, and the elbow joint E adopts a linear pressure spring to support the upper platform.

The linear push rod has the characteristics of light weight, small volume, large thrust and the like, so that the reconfigurable rope-driven series-parallel variable-stiffness household service mechanical arm in the embodiment adopts the linear push rod to drive the rope.

In the embodiment, the reconfigurable rope-driven series-parallel variable stiffness household service mechanical arm is configured according to the form of the degree of freedom of a human arm, has a working space similar to that of the human arm, and can realize stiffness adjustment of the mechanical arm through joint translation.

The reconfigurable rope-driven hybrid variable-stiffness household service mechanical arm is light in weight and small in inertia, can be installed on a seat of an intelligent wheelchair, and can be installed on other known schemes such as a desktop and an automatic guided vehicle.

Referring to fig. 2, the shoulder joint S of the present embodiment includes anupper platform 1, alower platform 2, a base platform 3 (a rope driving end on which a linear push rod is placed), an intermediate shaft 4, anintermediate shaft 10, a nonlinear waist drum type compression spring 8, a hooke hinge 9, a linear push rod 6, a linear push rod 15, a linear push rod 16, alinear push rod 19, a direct-drive rotating motor 12, afixed pulley 7, arope fixing end 11, a plasticsoft sleeve 13, aguide wheel 17, amovable pulley block 20, a movable pulleythin plate 21, a fixedpulley support column 18, aninter-platform support column 14, and alinear bearing 5; the intermediate shaft 4 is connected with theintermediate shaft 10 through a Hooke joint 9, and the intermediate shaft 4 penetrates through theupper platform 1 and is supported by the linear bearing 5; the nonlinear waist drum type pressure spring 8 is clamped in the grooves of theupper platform 1 and thelower platform 2 and is fixedly connected through structural adhesive; the shoulder joints are driven by 4 ropes, the end point of each rope is arope fixing end 11, the position of the rope fixing end is adjusted through a linear push rod 15, the rope penetrates through afixed pulley 7, and the reconfiguration of the rope at the driving end point of theupper platform 1 is realized through the linear push rod 6; then, the rope is guided into a plasticsoft sleeve 13, the plasticsoft sleeve 13 is connected to a linear push rod 16 through a bolt, and the reconfigurable driving end of the rope on thelower platform 2 is realized through the linear push rod 15 and the linear push rod 16; the 4 rope driving symmetric arrangement and the required linear push rod symmetric arrangement are shown in fig. 2, the driving ropes realize the reconfiguration of rope driving end points through the cooperative control of the linear push rod 6, the linear push rod 15, the linear push rod 16 and thelinear push rod 19, and therefore the shoulder joint S is a reconfigurable rope driving mechanism.

The drive scheme of the final drive end of all the ropes of the shoulder joint S of the embodiment of the invention is the same as that of fig. 4.

4 ropes are used as 4 movement branched chains to form a shoulder joint S parallel part with a middle nonlinear waist drum type pressure spring 8, an intermediate shaft 4 is connected with anintermediate shaft 10 in series through a hook hinge 9, the intermediate shaft 4 penetrates through anupper platform 1 to form a shoulder joint S series part, and therefore the shoulder joint S is a hybrid mechanism and achieves outward bending/inward stretching and outward expanding/inward contraction of the shoulder joint S; theintermediate shaft 10 is connected with a direct-drive rotating motor 12, and the direct-drive rotating motor 12 is fixedly connected with thelower platform 2, so that the shoulder joint S realizes inward/outward rotation; the nonlinear waist drum type pressure spring 8 realizes the variable stiffness design by changing the diameter of the spring wire, the section shape, the thread pitch and the pitch diameter of the spring wire, and meanwhile, the nonlinear waist drum type pressure spring 8 can present the nonlinear characteristic in the bending process, so the shoulder joint S is a variable stiffness mechanism, and the rigidity of the shoulder joint S can be adjusted by the joint translation because the intermediate shaft 4 penetrates through theupper platform 1 and is supported by the linear bearing 5.

The shoulder joint S of the embodiment of the invention can be arranged on a seat of an intelligent wheelchair or other known schemes such as a table top, an automatic guided vehicle and the like through thebase platform 3.

The shoulder joint S and the wrist joint W of the embodiment of the present invention have the same structure.

Referring to fig. 3, the elbow joint E of this embodiment includes anupper platform 22, alower platform 24, a base platform 25 (rope driving end, on which a linear push rod is placed), anintermediate shaft 26, a linear bearing 27, anintermediate shaft 31, alinear compression spring 30, ahinge 29, alinear push rod 32, amovable pulley block 33, aguide wheel 34, a movable pulleythin plate 35, a fixedpulley support post 36,rope fixing ends 28 and 37, and acircular flange 38. Theintermediate shaft 26 is connected with theintermediate shaft 31 through ahinge 29, and theintermediate shaft 26 penetrates through theupper platform 22 and is supported by thelinear bearing 27; thelinear compression spring 30 is clamped in the grooves of the upper platform and the lower platform and is fixedly connected through structural adhesive; the elbow joint is driven with a total of 2 cables, each cable terminating in acable securing end 28 and 37, the cables passing from theupper platform 22 through thelower platform 24 driven by a cable drive scheme as shown in figure 4.

The elbow joint E parallel connection part is formed by the 2 ropes serving as the 2 moving branched chains and the middlelinear pressure spring 30, themiddle shaft 26 is connected with themiddle shaft 31 in series through thehinge 29, themiddle shaft 26 penetrates through theupper platform 22 to form the elbow joint E series connection part, and therefore the elbow joint E is a parallel-serial connection mechanism and achieves the flexion and extension actions of the elbow joint E; thelinear compression spring 30 exhibits a non-linear characteristic during the bending process, so that the elbow joint E is a variable stiffness mechanism, and since theintermediate shaft 26 is supported by thelinear bearing 27 through theupper platform 22, the stiffness of the elbow joint E can be adjusted by joint translation.

Referring to fig. 4, the rope final driving schemes of the present embodiment all adopt the rope driving scheme of fig. 4, arope 39 passes through the platform under the joint, is guided into the base platform by aguide wheel 34, and therope 39 passes through theguide wheel 34 to themovable pulley block 33 and is finally connected to arope fixing end 37; themovable pulley block 33 is arranged on a movable pulleythin plate 35, the movable pulleythin plate 35 is fixedly connected with thelinear push rod 32 through bolts, the fixed pulley is supported by afixed pulley support 36 to ensure that the height of the fixed pulley is consistent with that of the push rod of thelinear push rod 32, arope fixing end 37 is supported by asupport column 38 to ensure that the height of the fixed pulley is consistent with that of the push rod of thelinear push rod 32, therefore, the change value of the length of the rope between theupper platform 22 and thelower platform 24 is just 2n times of the stroke of thelinear push rod 32, the thrust of thelinear push rod 32 is 2n times of the tension of the rope, and n is the number of the movable pulleys in themovable pulley block 33. The number of the movable pulleys in the embodiment is 3, which is only one implementation, and it should be understood that the present invention is not limited to the specific embodiment described above, and those skilled in the art can make various changes or modifications within the scope of the claims without affecting the essence of the present invention.

The foregoing is a preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principle, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (4)

Translated fromChinese

1.一种可重构绳驱动混联变刚度家用服务机械臂，其特征在于，包括肩关节、肘关节、腕关节，所述的肩关节、肘关节、腕关节均为混联机构；所述的肩关节、肘关节、腕关节均为绳驱动机构，所述的肩关节、腕关节可实现绳索驱动的可重构；所述的肩关节、肘关节、腕关节均由3个平台组成，3个平台包括上平台、下平台、基平台；所述的肩关节、肘关节、腕关节均由中间压簧支撑上平台，中间压簧分别卡入上平台和下平台的凹槽，并使用结构胶与上平台、下平台固连，所述的肩关节、肘关节、腕关节均包含两个中间轴，所述的肩关节、腕关节的两个中间轴均通过虎克铰串联，肘关节的两个中间轴通过铰链串联，所述的肩关节、肘关节、腕关节的一个中间轴均穿过上平台，由线性轴承支撑；所述的肩关节、肘关节、腕关节的每根绳索驱动端均通过直线推杆驱动动滑轮组使得上平台、下平台间的绳索长度发生改变，所述的肩关节、肘关节、腕关节的均由多根绳索与中间压簧组成并联部分，所述的肩关节、肘关节、腕关节的两个中间轴组成串联部分；所述的肩关节为4自由度关节，其中3自由度可以实现肩关节外展/内收、内屈/外伸以及旋内/旋外动作，1自由度实现肩关节上平台的平动，肩关节可以通过上平台平动实现变刚度调节；所述的腕关节的结构和自由度与肩关节结构和自由度相同，所述的肩关节、腕关节外展/内收、内屈/外伸动作由可重构绳索驱动，所述的肩关节、腕关节旋内/旋外动作由直驱旋转电机驱动关节中间轴实现，所述的肩关节、腕关节的直驱旋转电机均直接安装在肩关节和腕关节的下平台上；所述的肘关节为2自由度关节，其中1个自由度实现肘关节内屈/外伸，1个自由度实现肘关节上平台的平动，肘关节可以通过上平台平动实现变刚度调节；肩关节的下平台与放置直线推杆的基平台由螺柱固连；肩关节的中间轴穿过上平台与肘关节放置直线推杆的基平台采用圆法兰盘连接；肘关节的下平台由中间轴支撑，中间轴分别与下平台、以及放置直线推杆的基平台采用圆法兰盘连接；穿过肘关节上平台的中间轴与腕关节放置直线推杆的基平台采用圆法兰盘连接；腕关节下平台与放置直线推杆的基平台由螺柱固连；腕关节中间轴穿过上平台与机械臂末端手爪相连；所述的肩关节、腕关节的中间压簧均为非线性腰鼓型压簧，可以避免关节运动过程中弹簧与虎克铰的干涉，非线性腰鼓型压簧通过改变簧丝直径、弹簧丝截面形状、螺距及中径实现变刚度弹簧设计，由此，所述的肩关节、腕关节均为变刚度机构；所述的肘关节中间压簧为线性压簧，由于线性压簧在压弯过程中呈现非线性特性，由此，所述的肘关节为变刚度机构；所述的肩关节、腕关节的上平台均用4根绳索驱动，每根绳索被上平台带有滑轮的直线推杆分成两段；由于滑轮被直线推杆驱动，因此，每根绳索分成两段的“断点”可以改变，进而改变关节构型；所述的肩关节、腕关节的下平台的滑道均有两段，一段安装带有软管的直线推杆，一段安装带有绳索固定端的直线推杆，这样通过两段的直线推杆调节，使得肩关节、腕关节构型重构，可以使肩关节、腕关节绳索拉力变小，不再增加绳索张紧机构，依靠各个直线推杆的协同实现绳索时刻张紧，也可以避免绳索与中间压簧的干涉。1. a reconfigurable rope-driven hybrid variable stiffness household service mechanical arm, is characterized in that, comprises shoulder joint, elbow joint, wrist joint, and described shoulder joint, elbow joint, wrist joint are all hybrid mechanism; The shoulder joints, elbow joints and wrist joints are all rope drive mechanisms, and the shoulder joints and wrist joints can be reconfigured by rope driving; the shoulder joints, elbow joints and wrist joints are all composed of three platforms. , the three platforms include an upper platform, a lower platform, and a base platform; the shoulder joints, elbow joints, and wrist joints are all supported on the upper platform by an intermediate compression spring, and the intermediate compression springs are respectively inserted into the grooves of the upper platform and the lower platform, and The upper platform and the lower platform are fixedly connected with structural glue, the shoulder joint, elbow joint and wrist joint all include two intermediate shafts, and the two intermediate shafts of the shoulder joint and wrist joint are connected in series by the Hooke hinge, The two intermediate shafts of the elbow joint are connected in series through hinges, and one intermediate shaft of the shoulder joint, elbow joint and wrist joint passes through the upper platform and is supported by linear bearings; each of the shoulder joint, elbow joint and wrist joint The driving end of the rope drives the movable pulley block through the linear push rod, so that the length of the rope between the upper platform and the lower platform changes. The shoulder joint, elbow joint and wrist joint are all composed of multiple ropes and intermediate compression springs. The two intermediate shafts of the shoulder joint, the elbow joint and the wrist joint form a series part; the shoulder joint is a 4-degree-of-freedom joint, of which 3-degree-of-freedom can realize shoulder joint abduction/adduction, internal flexion/extension As well as internal/external rotation, 1 degree of freedom realizes the translation of the upper platform of the shoulder joint, and the shoulder joint can realize variable stiffness adjustment through the translation of the upper platform; the structure and degree of freedom of the wrist joint are the same as the structure and degree of freedom of the shoulder joint. In the same way, the abduction/adduction, flexion/extension movements of the shoulder joint and wrist joint are driven by reconfigurable ropes, and the internal rotation/external rotation movements of the shoulder joint and wrist joint are driven by a direct-drive rotary motor. The intermediate shaft is realized, and the direct-drive rotary motors of the shoulder joint and the wrist joint are directly installed on the lower platform of the shoulder joint and the wrist joint; the elbow joint is a 2-DOF joint, of which one degree of freedom realizes the elbow joint Inward flexion/extension, one degree of freedom realizes the translation of the upper platform of the elbow joint, and the elbow joint can realize variable stiffness adjustment through the translation of the upper platform; the lower platform of the shoulder joint and the base platform on which the linear push rod is placed are fixedly connected by studs ; The intermediate shaft of the shoulder joint passes through the upper platform and is connected with the base platform on which the linear push rod is placed at the elbow joint by a circular flange; the lower platform of the elbow joint is supported by the intermediate shaft, and the intermediate shaft is respectively connected with the lower platform and the base platform on which the linear push rod is placed. The base platform is connected by a circular flange; the intermediate axis of the upper platform of the elbow joint and the base platform where the linear push rod is placed are connected by a circular flange; the lower platform of the wrist joint and the base platform where the linear push rod is placed are connected by studs. Fixed connection; the intermediate shaft of the wrist joint passes through the upper platform and is connected to the end claw of the mechanical arm; the intermediate compression springs of the shoulder joint and wrist joint are non-linear waist drum type compression springs, which can avoid the spring and the hook during the joint movement. The interference of the hinge, the nonlinear waist drum compression spring realizes the variable stiffness spring design by changing the diameter of the spring wire, the cross-sectional shape of the spring wire, the pitch and the middle diameter. Therefore, the shoulder joint and the wrist joint are all variable stiffness mechanisms; the The intermediate compression spring of the elbow joint is a linear compression spring. Since the linear compression spring exhibits nonlinear characteristics during the bending process, the elbow joint is a variable stiffness mechanism; the upper platforms of the shoulder joint and the wrist joint are both Driven by 4 ropes, each rope is divided into two sections by a linear push rod with a pulley on the upper platform; since the pulley is driven by the linear push rod, the "breakpoint" at which each rope is divided into two sections can be changed, thereby changing the joint Configuration; the slideway of the lower platform of the shoulder joint and the wrist joint has two sections, one is equipped with a linear push rod with a hose, and the other is equipped with a linear push rod with a fixed end of the rope, so that the straight line through the two sections is installed. The adjustment of the push rod makes the configuration of the shoulder joint and the wrist joint reconstructed, which can reduce the rope tension of the shoulder joint and the wrist joint, and no longer increase the rope tensioning mechanism. Avoid the interference of the rope with the intermediate compression spring.2.如权利要求1所述的可重构绳驱动混联变刚度家用服务机械臂，其特征在于，所述的肩关节、肘关节、腕关节上平台、下平台及放置直线推杆的平台均为轻质铝合金薄板；螺柱、圆法兰盘与紧固螺母为不锈钢材质，直线轴承为圆法兰直线轴承材质为不锈钢，驱动绳索为高强度不锈钢钢丝绳；绳固定端采用钢丝绳夹头与铝套固定；放置动滑轮组的薄板材质为铝合金，所有滑轮的材料为尼龙。2. The reconfigurable rope-driven hybrid variable-stiffness home service robotic arm according to claim 1, wherein the shoulder joint, elbow joint, wrist joint upper platform, lower platform and a platform for placing linear push rods All are lightweight aluminum alloy sheets; studs, round flanges and fastening nuts are made of stainless steel, the linear bearing is made of stainless steel, and the driving rope is high-strength stainless steel wire rope; the fixed end of the rope is a wire rope chuck It is fixed with aluminum sleeve; the material of the thin plate on which the movable pulley block is placed is aluminum alloy, and the material of all pulleys is nylon.3.权利要求1所述的可重构绳驱动混联变刚度家用服务机械臂，其特征在于，每根绳索驱动终端通过直线推杆带动动滑轮组改变上平台、下平台间的绳索长度，但绳索总长为一定值。3. The reconfigurable rope-driven hybrid variable-stiffness household service robotic arm according to claim 1, wherein each rope-driven terminal drives the movable pulley block to change the rope length between the upper platform and the lower platform through a linear push rod, but The total length of the rope is a certain value.4.如权利要求3所述的可重构绳驱动混联变刚度家用服务机械臂，其特征在于，所述的肩关节、肘关节、腕关节的上平台和下平台间的每根绳索长度的改变值均是绳索驱动终端的直线推杆行程的2n倍，直线推杆推力是绳索拉力的2n倍，n为动滑轮组中滑轮的个数。4. The reconfigurable rope-driven hybrid variable-stiffness home service robotic arm according to claim 3, wherein the length of each rope between the upper platform and the lower platform of the shoulder joint, elbow joint and wrist joint The value of change is 2n times the stroke of the linear push rod of the rope drive terminal, the thrust of the linear push rod is 2n times the rope pulling force, and n is the number of pulleys in the movable pulley block.

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