WO2023087869A1

WO2023087869A1 - Portable fully coupled parallel continuum robot arm

Info

Publication number: WO2023087869A1
Application number: PCT/CN2022/118021
Authority: WO
Inventors: 张庭; 宁传新; 李阳; 冯凯祥; 巩振华; 唐庆康
Original assignee: 苏州大学
Priority date: 2021-11-19
Filing date: 2022-09-09
Publication date: 2023-05-25
Also published as: CN114055436A

Abstract

The present invention relates to a portable fully coupled parallel continuum robot arm, comprising a primary driving electric motor, a driving rope, a driving mechanism, and a plurality of joints connected in sequence, wherein each joint utilizes a three-degree-of-freedom spherical parallel mechanism, the three-degree-of-freedom spherical parallel mechanism comprises a static platform, a movable platform, and three branch movement mechanisms, and the movable platform of each joint is connected to the static platform of an adjacent joint by means of a main rod; each branch movement mechanism is driven by an independent driving mechanism to act; a differential gear train is used for the driving mechanism, and the differential gear train comprises two power input members and one power output member; and one power input member of the driving mechanism is driven by the driving rope to rotate, the driving rope is connected to the primary driving electric motor, the other power input member of the driving mechanism is driven by a worm and gear transmission mechanism to rotate, and the worm and gear transmission mechanism is driven by a secondary electric motor. According to the present invention, the overall structure is simple, the weight of the structure is effectively reduced, and the load capacity and movement precision are improved.

Description

A portable fully coupled parallel continuum manipulator

technical field

The invention relates to the technical field of manipulators, in particular to a portable fully coupled parallel continuum manipulator.

Background technique

The continuum manipulator mainly adopts a series structure, showing a long and thin shape as a whole. It is composed of multiple sub-sections connected in series. The components of each sub-section often have greater flexibility, making the continuum manipulator flexible and safe. In view of the above characteristics of continuum manipulators, it is widely used in medical and production fields, such as continuum surgical robots, industrial deep cavity manipulators, etc.

The Chinese patent application publication number CN112621736A discloses a flexible manipulator system and a continuum robot for deep cavity operations. The flexible manipulator system includes a functional end and a control end; the functional end includes a flexible manipulator module, camera lighting Module, top fixed module, scaling module, drive module, transmission module and sensor module; the control end includes a flexible manipulator control module, camera lighting control module and sensor control module. The design uses a soft structure as the connection of the entire robotic arm. Each drive unit is made of soft materials, and the drive units are connected in turn with ropes. However, due to the use of a flexible structure to achieve circular arc-like deformation motion, this leads to The load capacity of the robotic arm is weak and the end motion accuracy is not high. In addition, due to the large number of drive units, the number of motors is too large, which directly increases the overall quality of the robotic arm and increases the overall volume.

The Chinese patent application publication number CN105014689A discloses a motion-decoupled rope-driven continuum mechanical arm and robot. Arranged and adjacent mechanical arm sleeves are hinged to form the mechanical arm body, and the front end of the mechanical arm body is used to connect the wire rope to drive the base. The mechanical arm uses ropes to run through the whole mechanism. Each rope is driven by a motor, and a Hooke hinge is used between the driving units. The driving device of the overall structure is too large, and there are too many driving ropes, which makes the overall mechanism too complicated. Due to the rigid structure, Continuous deformation cannot be realized, so it is not flexible enough and has limited application places.

The Chinese patent with the patent application publication number CN205363953U discloses a pneumatic rope-controlled load-type flexible mechanical arm. The mechanical arm is mainly composed of multiple parallel mechanisms connected in series. The direction is bent, but the overall structure is loaded, and due to the pneumatic drive between each parallel mechanism, the overall movement stability of the mechanical arm is poor, and the noise generated during work is relatively large, and the working pressure is low, so its output force is small. The load capacity is weak.

To sum up, the existing continuum manipulator has complex overall structure, heavy structural weight, weak load capacity and low motion precision, which cannot meet the needs of use.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects of complex structure, heavy structural weight, weak load capacity and low motion precision of the continuum mechanical arm in the prior art.

In order to solve the above technical problems, the present invention provides a portable fully-coupled parallel continuum manipulator, which includes a main drive motor, a drive rope and a plurality of sequentially connected joints, each of which uses a three-degree-of-freedom spherical parallel mechanism , the three-degree-of-freedom spherical parallel mechanism includes a static platform and a dynamic platform, and three branch kinematic mechanisms are connected between the static platform and the dynamic platform of each of the three-degree-of-freedom spherical parallel mechanisms, and the dynamic of each joint is The platform is connected with the static platform of the adjacent joint through the main rod;

Each branch motion mechanism is driven by an independent drive mechanism;

The driving mechanism adopts a differential gear train, and the differential gear train includes two power input parts and a power output part, and the output speed of the power output part is controlled by the speed difference between the two power input parts;

One power input part of the drive mechanism is driven to rotate by the drive rope, and the drive rope is connected to the main drive motor; the other power input part of the drive mechanism is driven to rotate by a worm gear transmission mechanism, The worm gear mechanism is driven by an auxiliary motor.

In one embodiment of the present invention, the portable fully coupled parallel continuum robotic arm includes three main drive motors and three drive ropes, each of the joints is connected with three drive mechanisms, and the Each branch kinematic mechanism in the joint is in one-to-one correspondence with the drive mechanism, and each branch kinematic mechanism is driven by the corresponding drive mechanism;

A power input member of the first drive mechanism at each joint is driven to rotate by the first drive rope, and the first drive rope is connected to the first main drive motor; The other power input member of the first said drive mechanism at each said joint is driven to rotate by a worm gear mechanism driven by an auxiliary motor;

A power input member of the second drive mechanism at each joint is driven to rotate by the second drive rope, and the second drive rope is connected to the second main drive motor; The other power input member of the second said drive mechanism at each said joint is driven to rotate by a worm gear mechanism driven by an auxiliary motor;

A power input member of the third drive mechanism at each joint is driven to rotate by the third drive rope, and the third drive rope is connected to the third main drive motor; The other power input of the third said drive mechanism at each said joint is driven in rotation by a worm gear mechanism driven by an auxiliary motor.

In one embodiment of the present invention, the branch motion mechanism includes a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are connected through a rotating joint, and the three-degree-of-freedom spherical surface The first connecting rod of each branch kinematic mechanism in the parallel mechanism is connected with the moving platform through a spherical pair, the second connecting rod is connected with the static platform through a rotating pair, and the second connecting rod in each of the branch kinematic mechanisms The connecting rods are all connected with the corresponding power output parts of the driving mechanism.

In one embodiment of the present invention, both the first connecting rod and the second connecting rod are arc-shaped plates.

In one embodiment of the present invention, a first installation hole is provided on the moving platform, a mounting frame is connected to the static platform, and a second mounting hole is provided on the mounting frame. One end of the main rod is connected to the first mounting hole of a joint through threads, and the other end is connected to the second mounting holes of an adjacent joint through threads.

In one embodiment of the present invention, the differential gear train includes an internal gear, an external gear and a planetary carrier, and a plurality of planetary gears mesh between the internal gear and the external gear, and the planetary gears and the planetary carrier The external gear is connected with an input shaft, the input shaft is used as a power input part, the internal gear is used as another power input part, and the planet carrier is used as a power output part.

In one embodiment of the present invention, the planet carrier includes a first seat and a second seat, the second seat is connected with an output shaft, and the first seat is provided with a plurality of first petals body, the second seat body is provided with a plurality of second petal bodies, the number of the first petal body and the second petal body is the same as the number of planetary gears, and the planetary gears are connected with the planetary shafts through bearings , each of the first petal body and the second petal body forms a frame assembly as a group, and the frame body assembly corresponds to the planetary gear one by one, and the first petal body and the second petal body in each frame body assembly The petals are all connected to the planet shafts of the corresponding planetary wheels, and the first petals and the second petals in the frame assembly are respectively located on both sides of the corresponding planetary wheels.

In one embodiment of the present invention, the differential gear train further includes a power input wheel, the power input wheel is connected to the internal gear, and the worm and gear transmission mechanism includes a meshing worm and a worm wheel. The worm gear is connected to the power input wheel, and the worm is driven to rotate by the auxiliary motor.

In one embodiment of the present invention, the differential gear train further includes a casing, the internal gear, the external gear, the planet carrier and the power input wheel are all located inside the casing, and the worm gear mechanism is located outside the casing, The worm is connected to the casing through a bracket, and the input shaft passes through the casing.

In one embodiment of the present invention, one end of the input shaft passing through the housing is connected with a driving wheel.

The above technical solution of the present invention has the following advantages compared with the prior art:

The portable fully coupled parallel continuum mechanical arm described in the present invention has a simple overall structure, effectively reduces the structural weight, improves the load capacity and motion accuracy, and has many degrees of freedom, high flexibility, flexible motion, and is easy to operate. The environmental adaptability of the arm during use.

Description of drawings

In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below according to the specific embodiments of the present invention and in conjunction with the accompanying drawings.

Fig. 1 is the structural diagram of portable fully coupled parallel type continuum manipulator of the present invention;

Fig. 2 is a schematic structural view of the driving structure (differential gear train) in Fig. 1;

Fig. 3 is a schematic structural view of the driving structure in Fig. 2 after removing the shell;

Fig. 4 is a structural schematic diagram of another angle of the structure in Fig. 3;

Fig. 5 is a schematic diagram of explosion decomposition of the driving structure in Fig. 2;

Fig. 6 is an exploded exploded schematic diagram of another angle of the driving structure in Fig. 2;

Fig. 7 is a schematic diagram of the mechanism of the driving structure in Fig. 2;

Fig. 8 is a structural schematic diagram of the joint shown in Fig. 1;

Fig. 9 is a structural schematic diagram of another angle of the joint shown in Fig. 7;

Fig. 10 is a schematic structural view of the mounting bracket in Fig. 1;

Fig. 11 is a structural schematic diagram of an angle of the transmission roller in Fig. 1;

Fig. 12 is a schematic diagram of another angle structure of the driving roller in Fig. 11;

Explanation of reference signs in the manual:

1. The first driving rope; 2. The second driving rope; 3. The third driving rope; 4. The first main driving motor; 5. The second main driving motor; 6. The third main driving motor ;

7. Driving mechanism; 71. External gear; 711. Input shaft; 72. Internal gear; 73. Planetary gear; 74. Planet carrier; 741. Output shaft; 742. First base; 7421. First petal body; 743 , the second seat body; 7431, the second petal body; 75, the power input wheel; 76, the worm gear transmission mechanism; 761, the worm; 762, the worm wheel; 77, the bracket; 78, the shell; 781, the first shell, 782 , the second housing; 79, the driving wheel;

8. Joint; 81. Static platform; 82. Dynamic platform; 821. First installation hole; 83. Branch motion mechanism; 831. First connecting rod; 832. Second connecting rod; 8321. Central axis; 84. Main rod 85, mounting frame; 851, second mounting hole; 852, extension arm; 86, transmission roller; 861, rope hole; 87, torque sensor; 88, connector; 89, axle sleeve; 891, shaft hole.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

Referring to Figure 1, this embodiment discloses a portable fully-coupled parallel continuum manipulator, including a main drive motor, a drive rope and a plurality of sequentially connected joints 8, and each joint 8 adopts a three-degree-of-freedom spherical parallel connection Mechanism, the three-degree-of-freedom spherical parallel mechanism includes a static platform 81 and a dynamic platform 82, and there are three branch motion mechanisms 83 connected between the static platform 81 and the dynamic platform 82 of each three-degree-of-freedom spherical parallel mechanism, and the dynamic platform 82 of each joint It is connected with the static platform 81 of the adjacent joint through the main rod 84;

Each branch motion mechanism 83 is driven by an independent drive mechanism 7;

The driving mechanism 7 adopts a differential gear train, and the differential gear train includes two power input parts and one power output part, and the output speed of the power output part is controlled by the speed difference between the two power input parts;

A power input part of the drive mechanism 7 is driven to rotate by a drive rope, and the drive rope is connected to the main drive motor; another power input part of the drive mechanism is driven to rotate by a worm gear mechanism 76, and the worm gear mechanism 76 is powered by an auxiliary motor. drive.

The worm gear 76 has self-locking characteristics, that is, only the worm 761 can drive the worm gear 762 to rotate, but the worm gear 762 cannot drive the worm 761, and the corresponding power input parts can be driven by the worm gear 76, so that the joint 8 can be moved Self-locking is realized in the middle, so as to play a better role in safety protection. In addition, the worm and gear transmission mechanism 76 is stable in transmission, low in noise and can achieve a large transmission ratio, which can effectively increase the power adjustment range, so that each joint 8 can move smoothly under low noise conditions.

The differential gear train in the above structure includes two power input parts and a power output part, wherein one power input part is driven by the corresponding main drive motor to drive the driving rope to provide power, and the other power input part is powered by the worm gear transmission mechanism 76 Provide power, and control the speed of the power output part through the speed difference of the two power input parts, so that the differential gear train can output at a speed different from that of the main drive motor, so that each joint is driven by the same main drive motor but has its own The effect of different rotation ranges can effectively meet the needs of different motion modes; in addition, a power transmission part in the differential gear train is driven by a drive rope, which reduces the number of drive motors placed at the joints of the prosthetic arm, thereby effectively reducing the overall The quality of the robotic arm also improves the movement flexibility of the robotic arm.

In the above structure, each joint 8 adopts a three-degree-of-freedom spherical parallel mechanism, and the adjacent joints are connected by the main rod 84, which is beneficial to increase the stiffness and bearing capacity of the overall mechanical arm. The combination of the method and the three-degree-of-freedom spherical parallel mechanism can enable the robotic arm to achieve a high load-to-weight ratio with a light weight, and it is also conducive to improving the accuracy of the motion position.

In one of the embodiments, the portable fully-coupled parallel continuum robotic arm includes three main drive motors and three drive ropes, each joint 8 is connected with three drive mechanisms 7, and each branch motion mechanism 83 in the joint 8 One-to-one correspondence with the drive mechanism 7, each branch motion mechanism 83 is driven by the corresponding drive mechanism 7;

A power input member of the first drive mechanism at each joint 8 is driven to rotate by the first drive rope 1, and the first drive rope 1 is connected with the first main drive motor 4; The other power input part of the first driving mechanism is driven to rotate by a worm gear mechanism 76, and the worm gear mechanism 76 is driven by an auxiliary motor;

A power input member of the second drive mechanism at each joint 8 is driven to rotate by the second drive rope 2, and the second drive rope 2 is connected with the second main drive motor 5; Another power input part of the second driving mechanism is driven to rotate by a worm gear mechanism 76, and the worm gear mechanism 76 is driven by an auxiliary motor;

A power input member of the third driving mechanism at each joint 8 places is driven to rotate by the third drive rope 3, and the third drive rope 3 is connected with the third main drive motor 6; The other power input of the third drive mechanism is driven to rotate by a worm gear mechanism 76 driven by an auxiliary motor.

The above-mentioned structure only needs to set three driving ropes and three main driving motors, and the global coupling drive is used to arrange the ropes, and the three driving ropes driven by the three driving motors are serially connected to the driving mechanism 7 of each joint 8, which greatly reduces the number of driving motors. Quantity reduces the overall quality and effectively reduces the structural complexity caused by too many driving ropes.

In one embodiment, referring to FIGS. 8-9 , the branch motion mechanism 83 includes a first connecting rod 831 and a second connecting rod 832, and the first connecting rod 831 and the second connecting rod 832 are connected through a rotating pair. The first connecting rod 831 of each branch motion mechanism 83 in the three-degree-of-freedom spherical parallel mechanism is connected with the moving platform 82 through a spherical pair, and the second connecting rod 832 is connected with the static platform 81 through a rotating pair. The second connecting rods 832 in the mechanism 83 are all connected to the corresponding power output parts of the driving mechanism 7, so that the second connecting rods 832 are driven to rotate by the power input parts. The above-mentioned structure can meet the requirements of three degrees of freedom of the parallel mechanism, and can realize a large bending angle and rigidity, so that the mechanical arm can not only meet the needs of various complex environments, but also have a certain bearing capacity.

The steering of the second connecting rod 832 can be adjusted by controlling the steering of the power output part of the driving mechanism 7, and the moving platform can be realized by controlling the steering of the second connecting rod 832 in the three branch kinematic mechanisms 83 of the three-degree-of-freedom spherical parallel mechanism. 82 different modes of movement.

In one embodiment, both the first connecting rod 831 and the second connecting rod 832 use arc-shaped plates, which can effectively increase the deflection range of the moving platform 82 from top to bottom and the rotation range of the same plane.

In one of the embodiments, as shown in FIG. 1 , the second connecting rod 832 in each branch motion mechanism 83 is connected with a central shaft 87, and the central shaft 87 is connected with a transmission roller 86 through a torque sensor 88, and the transmission roller 86 is driven to rotate by the power output member of the corresponding driving mechanism 7, and the rotation of the transmission roller 86 drives the central shaft 87 and the second connecting rod 832 to move together. Therefore, through the above structure, the torque sensor 88 can be directly used to measure the transmission torque of each branch mechanism 83 during the transmission process.

Further, the transmission roller 86 is connected with the power output member of the driving mechanism 7 through a transmission rope. Specifically, a rope hole 861 is provided on the outer wall of the transmission roller 86 , one end of the transmission rope is connected to the power input member, and the other end is wound on the transmission roller 86 and fixed on the rope hole 861 .

In one of the embodiments, as shown in Figure 11 and Figure 12, the torque sensor 88 and the transmission roller 86 are connected through a connecting piece 89, and the connecting piece 89 is connected with a shaft sleeve 89, and the shaft sleeve 89 is provided with a shaft hole 891 , the central shaft 87 is connected in the shaft hole 891 .

In one of the embodiments, the moving platform 82 is provided with a first mounting hole 821, and the static platform 81 is connected with a mounting frame 85. Referring to FIG. One end of the main rod 84 is connected to the first installation hole 821 of one of the joints through threads, and the other end is connected to the second installation hole 851 of the adjacent joint through threads. The above-mentioned structure is easy to install and disassemble, is beneficial to the expansion of multiple joints, and realizes different length requirements of the continuum manipulator.

In one embodiment, the installation frame 85 includes a plurality of extension arms 852, and each extension arm 852 is connected to the static platform 81 by bolts to ensure the stability of the connection.

In one embodiment, referring to Fig. 2-Fig. 7, the differential gear train includes an internal gear 72, an external gear 71 and a planet carrier 74, and a plurality of planetary gears 73 are engaged between the internal gear 72 and the external gear 71, and the planetary gears 73 is connected with the planet carrier 74; the external gear 71 is connected with an input shaft 711, and the input shaft 711 is used as a power input part to drive the external gear 71 to rotate through the input shaft 711, and the internal gear 72 is used as another power input part, and the planet carrier 74 as a power output.

In one of the embodiments, referring to Fig. 5-Fig. 6, the planetary carrier 74 includes a first seat body 742 and a second seat body 743, the second seat body 743 is connected with an output shaft 741, and the output shaft 741 is used as a power output member , the first seat body 742 is provided with a plurality of first petal bodies 7421, and the second seat body 743 is provided with a plurality of second petal bodies 7431, the number of the first petal bodies 7421 and the second petal bodies 7431 is the same as that of the planetary wheel The number of 73 is the same, and the planetary gear 73 is connected with the planetary shaft through the bearing;

Each first petal body 7421 and second petal body 7431 form a set of a frame body assembly, and the frame body assembly corresponds to the planetary gear 73 one by one, for example, if three planetary wheels 73 are provided, then there are three frame body components , each frame assembly is composed of a first petal body 7421 and a second petal body 7431;

The first petal body 7421 and the second petal body 7431 in each frame assembly are all connected on the planet shaft of the corresponding planetary wheel 73, and the first petal body 7421 and the second petal body 7431 in the frame body assembly are respectively located on the corresponding planet Both sides of the wheel 73 , that is, the first petal body 7421 in the frame assembly is located on the left side of the corresponding planetary wheel 73 , and the second petal body 7431 is located on the right side of the corresponding planetary wheel 73 .

In one of the embodiments, the differential gear train further includes a power input wheel 75, the power input wheel 75 is connected to the inner gear 72 by bolts, and the worm gear mechanism 76 includes a meshing worm 761 and a worm wheel 762, and the worm wheel 762 is connected to On the power input wheel 75, the worm 761 is driven to rotate by the auxiliary motor. The auxiliary motor drives the worm 761 to rotate, thereby driving the turbine to rotate, and the worm wheel 762, the power input wheel 75 and the internal gear 72 are connected together, so that the rotation of the turbine 762 can finally drive the internal gear 72 to rotate. The above design has a compact structure, can make full use of the installation space and can effectively improve the stability of the transmission.

In the differential gear train, the internal gear 72 receives two powers, one is the power transmitted by the rotation of the input shaft 711 (driven by the drive rope), and the other is transmitted by the worm gear mechanism 76 (driven by the auxiliary motor) Power, the final speed of the internal gear 72 is the synthesis of two powers, so that the speed of the output shaft 741 is also the result of power synthesis.

In one of the embodiments, referring to Fig. 2, Fig. 5 and Fig. 6, the differential gear train further includes a housing 78, the inner gear 72, the outer gear 71, the planetary carrier 74 and the power input wheel 75 are located inside the housing 78, and the worm gear The transmission mechanism 76 is located outside the casing 78, the two ends of the worm 761 are connected to the casing 78 through the bracket 77, the input shaft 711 passes through the casing 78, and the passing end is used for connecting with the driving rope.

Further, the shell 78 includes a first shell 781 and a second shell 782, and the first shell 781 and the second shell 782 are detachably connected.

In one embodiment, one end of the input shaft 711 passing through the casing 78 is connected to a driving wheel 79, and the driving wheel 79 is driven by a corresponding driving rope.

In one embodiment, the entire robotic arm can be placed in a protective shell, and the outer shell can be covered with soft silicone for better protection.

The portable fully coupled parallel continuum manipulator of the above embodiment transmits power to the three-degree-of-freedom spherical parallel mechanism at each joint through the differential gear train, so that the three-degree-of-freedom spherical parallel mechanism can move at different motion angles, By separately controlling the movement angle of the three-DOF spherical parallel mechanism at each joint, the manipulator can work in a complex environment with a certain load-bearing and fine operation capabilities, enabling the manipulator to achieve high load ratio.

The portable fully-coupled parallel continuum manipulator of the above embodiment adopts the design method of the three-degree-of-freedom spherical parallel mechanism and the differential gear train. The overall structure is simple, the number of drives is reduced, the structural weight is effectively reduced, and the Load capacity and motion accuracy, and many degrees of freedom, high flexibility, flexible movement, easy to operate, greatly increased the environmental adaptability of the manipulator during use, and also facilitated the remote control of the manipulator.

Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims

A portable fully coupled parallel continuum mechanical arm, characterized in that it includes a main drive motor, a drive rope and a plurality of sequentially connected joints, each of which uses a three-degree-of-freedom spherical parallel mechanism, and the three-degree-of-freedom The spherical parallel mechanism includes a static platform and a dynamic platform, and three branch kinematic mechanisms are connected between the static platform and the dynamic platform of each of the three-degree-of-freedom spherical parallel mechanisms, and the dynamic platform of each joint and the adjacent joint The static platforms are connected by main rods;

Each branch motion mechanism is driven by an independent drive mechanism;

The driving mechanism adopts a differential gear train, and the differential gear train includes two power input parts and a power output part, and the output speed of the power output part is controlled by the speed difference between the two power input parts;

One power input part of the drive mechanism is driven to rotate by the drive rope, and the drive rope is connected to the main drive motor; the other power input part of the drive mechanism is driven to rotate by a worm gear transmission mechanism, The worm gear mechanism is driven by an auxiliary motor.
The portable fully-coupled parallel continuum mechanical arm according to claim 1, characterized in that it includes three said main drive motors and three said drive ropes, and each of said joints is connected with three said drive mechanisms , each branch kinematic mechanism in the joint is in one-to-one correspondence with the drive mechanism, and each branch kinematic mechanism is driven by the corresponding drive mechanism;

A power input member of the first drive mechanism at each joint is driven to rotate by the first drive rope, and the first drive rope is connected to the first main drive motor; The other power input member of the first said drive mechanism at each said joint is driven to rotate by a worm gear mechanism driven by an auxiliary motor;

A power input member of the second drive mechanism at each joint is driven to rotate by the second drive rope, and the second drive rope is connected to the second main drive motor; The other power input member of the second said drive mechanism at each said joint is driven to rotate by a worm gear mechanism driven by an auxiliary motor;

A power input member of the third drive mechanism at each joint is driven to rotate by the third drive rope, and the third drive rope is connected to the third main drive motor; The other power input of the third said drive mechanism at each said joint is driven in rotation by a worm gear mechanism driven by an auxiliary motor.
The portable fully-coupled parallel continuum robot arm according to claim 1, characterized in that: the branch motion mechanism includes a first link and a second link, between the first link and the second link The first connecting rod of each branch motion mechanism in the three-degree-of-freedom spherical parallel mechanism is connected with the moving platform through a spherical pair, and the second connecting rod is connected with the static platform through a rotating pair. The second connecting rods in each of the branch motion mechanisms are connected to the corresponding power output members of the drive mechanism.
The portable fully-coupled parallel continuum manipulator according to claim 3, characterized in that: both the first link and the second link are arc-shaped plates.
The portable fully coupled parallel continuum manipulator according to claim 3, characterized in that: the moving platform is provided with a first installation hole, the static platform is connected with a mounting frame, and the mounting frame is provided with a second mounting hole. Two mounting holes, one end of the main rod between two adjacent joints is connected with the first mounting hole of a joint through threads, and the other end is connected with the second mounting holes of the adjacent joints through threads connect.
The portable fully-coupled parallel continuum manipulator according to claim 1, wherein the differential gear train includes an internal gear, an external gear and a planetary carrier, and a plurality of gears are engaged between the internal gear and the external gear. The planetary gear is connected with the planet carrier; the external gear is connected with an input shaft, and the input shaft is used as a power input part, and the internal gear is used as another power input part, and the planet carrier as a power output.
The portable fully-coupled parallel continuum mechanical arm according to claim 6, wherein the planet carrier includes a first base and a second base, and an output shaft is connected to the second base, and the The first seat is provided with a plurality of first petals, and the second seat is provided with a plurality of second petals, the number of the first petals and the second petals is the same as the number of planetary wheels , the planetary wheels are connected to the planetary shafts through bearings, and each first lobe body and second lobe body form a frame assembly, the frame body assembly corresponds to the planetary wheel one by one, and each of the Both the first petal body and the second petal body in the frame assembly are connected to the planetary shaft of the corresponding planetary wheel, and the first petal body and the second petal body in the frame body assembly are respectively located on both sides of the corresponding planetary wheel.
The portable fully-coupled parallel continuum mechanical arm according to claim 6, characterized in that: the differential gear train also includes a power input wheel, the power input wheel is connected to the internal gear, and the worm gear The transmission mechanism includes an engaged worm and a worm wheel, the worm wheel is connected to the power input wheel, and the worm is driven to rotate by the auxiliary motor.
The portable fully-coupled parallel continuum mechanical arm according to claim 8, characterized in that: the differential gear train also includes a casing, and the internal gear, external gear, planetary carrier and power input wheel are all located in the casing Inside, the worm gear transmission mechanism is located outside the casing, the worm is connected to the casing through a bracket, and the input shaft passes through the casing.
The portable fully-coupled parallel continuum robot arm according to claim 9, characterized in that: the end of the input shaft passing through the casing is connected with a driving wheel.