Tendon-driven bionic wrist joint based on tension structure

Abstract

The invention belongs to the technical field of robot joints, and discloses a tendon-driven bionic wrist joint based on a tension structure, including a fixed seat, a movable part, a driving device and at least two elastic tendon rope groups; the movable part includes a movable part main body and two Drive wheels; the central shafts of the two drive wheels extend along the left and right directions, and are pivotally connected with the left and right sides of the main body of the movable part respectively, and the pivot shafts extend along the front and rear directions; at least one elastic tendon is respectively arranged on the front and rear sides of the movable part The rope group; the elastic tendon rope group includes two elastic tendon ropes, one end of the two elastic tendon ropes is fixedly connected with the fixing seat, and the other end is fixedly connected with two driving wheels respectively; the driving device includes two motors and a closed drive The tendon rope, the driving tendon rope goes around the first drive wheel from back to front, around the output end of the first motor, around the second drive wheel from back to front, around the output end of the second motor The output end; thus it can realize universal swing and has good impact resistance and compliance.

Description

technical field [0001] The invention relates to the technical field of robot joints, in particular to a tendon-driven bionic wrist joint based on a tension structure. Background technique [0002] The carpal bone of the human wrist is non-rigidly connected with the ulna and radial bone of the forearm through cartilage, has two degrees of freedom in pitch and yaw, is driven by tendons, and has strong impact resistance. To achieve a better bionic effect, the bionic wrist joint needs to have corresponding degrees of freedom, and have a certain degree of flexibility, and can absorb unexpected impacts from the external environment without damage. [0003] The existing robot wrist structure generally includes a fixed part and a moving part. The fixed part is used for fixed connection with the end of the robot, and the moving part is used for connecting with the mechanical gripper. The fixed part and the moving part are usually connected by bearings, hinges, etc. Connection, altho...

AI Technical Summary

Problems solved by technology

[0003] The existing robot wrist structure generally includes a fixed part and a moving part. The fixed part is used for fixed connection with the end of the robot, and the moving part is used for connecting with the mechanical gripper. Connection, although the movement accuracy is high, but the impact resistance is low; and most of the existing robot wrists generally use gear transmission mechanisms for transmission, and the impact resistance is poor, and some existing robot wrists use ropes Drive transmission mechanism, friction wheel drive mechanism, belt transmission mechanism, etc. to improve impact resistance, but can not achieve bionic flexibility

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