Tendon sheath restraint system of joint driving device, manipulator and robot

Abstract

The invention discloses a tendon sheath restraint system of a joint driving device. The tendon sheath restraint system comprises tendons, tendon sheaths and joints. The joints comprise the first joint, and the two ends of a tendon sheath of the first joint are fixedly arranged. The joints comprise at least one second joint, and the tendon sheath passes through the second joint; the tendon sheath restraint system further comprises at least one limiting structure. The tendon sheaths penetrate through the limiting structures, and the tendon sheaths can slide at the limiting structures. The invention further discloses a manipulator comprising the tendon sheath restraint system and a robot. By arranging the limiting structures, the joints can drive the tendon sheaths to move when moving, so that the tendon sheaths are adjusted and changed in shape or position; the tendon sheath can slide at the position of the limiting structure so as to meet the required tendon sheath length adjustment; the swell of the tendon sheath is avoided; the length variation of the tendon sheath can be guided to a releasable position.

Description

Technical Field

[0001] The present application belongs to the technical field of manipulators, and more specifically, to a tendon sheath constraint system of a joint drive device, a manipulator, and a robot. Background Art

[0002] A manipulator usually has multiple joints and a relatively small physical space. In order to achieve independent control of each joint in a small space, tendon transmission technology is used in the prior art to drive multiple joints of a manipulator. A drive assembly including multiple drive units is usually set in a remote area such as an arm, and the drive unit can control the movement of the joint through the tendon. A tendon sheath can be set on the outside of the tendon, and the tendon can slide in the tendon sheath.

[0003] When the manipulator has multiple joints, such as joint 1 and joint 2, the tendon used to drive the rotation of joint 1 needs to pass through one or more joints 2 or even joint 3 before connecting to the drive unit. A tendon sheath is arranged outside the tendon, and the second end of the tendon sheath is fixedly arranged, for example, it can be fixedly arranged at other positions of the manipulator or robot.

[0004] The tendon sheath is generally long and needs to pass through one or more moving parts of the manipulator, such as one or more joints of the manipulator. The tendon sheath can usually withstand external forces, not only constraining the direction of the tendon, but also protecting the tendon.

[0005] When some parts of the manipulator move, the tendon sheath will move. For example, the tendon sheath passing through the joint may stretch or curl. The movement of the tendon sheath may affect the normal operation of the joint it passes through, or cause the tendon sheath to bulge at the joint or at the load-bearing parts connected to the joint, which we do not want to see. In addition, the tendon sheath may move out of place after movement, causing the joint to squeeze the tendon sheath during movement and affecting the reliability of the tendon sheath. Summary of the invention

[0006] In order to solve the technical problems of the above-mentioned prior art, the embodiments of the present application provide a tendon sheath constraint system of a joint drive device, a manipulator and a robot.

[0007] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: a tendon sheath constraint system of a joint drive device is provided, including a tendon, a tendon sheath, and a joint; the joint includes a joint one, the tendon is connected to the joint one, and at least a portion of the tendon passes through the tendon sheath; the first end of the tendon sheath is fixed at one place at the joint, and the second end of the tendon sheath is fixed; the joint also includes at least one joint two, and the tendon sheath passes through the joint two; the tendon sheath constraint system also includes at least one limiting structure, the tendon sheath passes through the limiting structure, and the tendon sheath can slide at the limiting structure.

[0008] In one embodiment of the present application, the tendon sheath restraint system further includes at least one positioning structure; the positioning structure is configured to fix a portion of the tendon sheath.

[0009] In one embodiment of the present application, a limiting structure is provided at the joint two, and the tendon sheath passes through the limiting structure of the joint two; the positioning structure is provided between the limiting structure and the second end of the tendon sheath; or, the positioning structure is provided between the limiting structure and the first end of the tendon sheath.

[0010] In one embodiment of the present application, a limiting structure is provided at the joint two, and the tendon sheath passes through the limiting structure of the joint two; the joint includes at least two joint twos, and a positioning structure is provided between two adjacent joint twos; or, the joint also includes a joint three cascaded with the joint two, and the positioning structure is provided between the joint two and the joint three.

[0011] In one embodiment of the present application, the joint driving device also includes a load-bearing component connected to the joint, and a tendon sheath constraint structure is provided at the load-bearing component. When the tendon sheath passes through the load-bearing component, the tendon sheath can slide at the tendon sheath constraint structure.

[0012] In one embodiment of the present application, the tendon sheath constraint structure includes at least one of a constraint groove, a constraint hole, a channel, and an elastic structure wrapped around or coated on the load-bearing component.

[0013] In one embodiment of the present application, the limiting structure is configured to detachably limit a portion of the tendon sheath at the second joint; and / or,

[0014] The positioning structure is configured to removably secure a portion of the tendon sheath.

[0015] In one embodiment of the present application, the joint two also has a tendon sheath guiding structure, and the tendon sheath guiding structure is configured to allow the tendon sheath to be slidably arranged therein; after the first end of the tendon sheath is fixed to the joint one through the tendon sheath fixing structure, the tendon sheath also passes through the tendon sheath guiding structure at the joint two and the limiting structure of the joint two.

[0016] In one embodiment of the present application, the tendon sheath guiding structure includes a first sliding structure, and a portion of the tendon sheath is slidably disposed in the first sliding structure;

[0017] The joint 1 and the joint 2 further have a tendon guiding structure, and the tendon guiding structure includes a second sliding structure, and a part of the tendon is slidably arranged in the second sliding structure.

[0018] In one embodiment of the present application, the tendon sheath restraint structure is configured to allow a portion of the tendon sheath to be detachably passed through the load-bearing component.

[0019] In an embodiment of the present application, the limiting structure includes at least one of a pressure cover, a pressure plate, a constraint hole, a channel, and an elastic structure wrapped around the load-bearing component.

[0020] In one embodiment of the present application, the tendon sheath restraint system further includes a flexible envelope element, and the flexible envelope element is wrapped around at least one of the joints.

[0021] The present application also provides a manipulator, comprising a palm module and a plurality of fingers, wherein the fingers include finger knuckles and finger joints; and also comprises the tendon sheath restraint system as described above.

[0022] In one embodiment of the present application, the palm module includes a palm base, a wrist-palm joint, a metacarpophalangeal joint, and a metacarpophalangeal joint; the joint two includes at least one of the wrist-palm joint, the metacarpophalangeal joint, and the finger joint; the manipulator may also include a wrist joint; the wrist joint is the joint three.

[0023] In one embodiment of the present application, the limiting structure or the positioning structure is provided at the connection position between the palm base or the wrist joint and the palm base; the limiting structure or the positioning structure is a multi-layer structure.

[0024] In one embodiment of the present application, the positioning structure is provided at the metacarpophalangeal joint, and the positioning structure is a single-layer structure or a multi-layer structure.

[0025] In one embodiment of the present application, the finger joints include distal finger joints and proximal finger joints;

[0026] The joint seat of the distal interphalangeal joint is provided with a fixing groove, and the joint seat of the distal interphalangeal joint is provided with a detachable first gland; the tendon sheath fixing structure of the distal interphalangeal joint includes the fixing groove and the first gland; and / or,

[0027] The joint seat of the proximal interphalangeal joint is provided with a fixing groove and a limiting groove, the joint seat of the proximal interphalangeal joint is provided with a detachable second gland, and the tendon sheath fixing structure of the proximal interphalangeal joint includes a fixing groove and a second gland; and / or,

[0028] The palm module includes a metacarpophalangeal joint, a joint seat of the metacarpophalangeal joint is provided with a fixing groove and at least one limiting groove, and a detachable second pressure cover is provided on the joint seat of the metacarpophalangeal joint; the tendon sheath fixing structure of the metacarpophalangeal joint includes a fixing groove.

[0029] In one embodiment of the present application, the palm module includes a palm base, a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint;

[0030] The load-bearing component includes the metacarpophalangeal joint and the finger knuckle, and the metacarpophalangeal joint and the finger knuckle respectively have a tendon sheath constraint structure; and / or,

[0031] The proximal interphalangeal joint and the metacarpophalangeal joint are provided with a tendon sheath guiding structure; and / or,

[0032] The proximal interphalangeal joint and the metacarpophalangeal joint are respectively provided with a limiting structure.

[0033] In one embodiment of the present application, avoidance grooves are respectively provided on the rotating ends of the proximal phalangeal joint and the metacarpophalangeal joint.

[0034] The present application also provides a robot comprising a plurality of joints and the tendon sheath restraint system as described above.

[0035] The beneficial effects of this application are:

[0036] By setting a limiting structure, the joint can drive the tendon sheath to move when it moves, so that the tendon sheath can be adjusted in shape or position; in addition, when the length of the tendon sheath at the corresponding joint position needs to be adjusted due to the movement of the joint, the tendon sheath can slide at the limiting structure to meet the required tendon sheath length adjustment at the corresponding joint position. While allowing the tendon sheath to slide, since the tendon sheath passes through the limiting structure, the physical space of the tendon sheath is limited, which avoids the movement of the tendon sheath that may affect the normal operation of the joint, and also avoids the bulging phenomenon of the tendon sheath that we do not want to see. In addition, since the physical space of the tendon sheath is limited at the limiting structure, the length change (elongation) of the tendon sheath can be guided to other positions that can be released. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 A schematic diagram of a tendon sheath restraint system of a joint drive device provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of the structure of a tendon sheath restraint system of a joint drive device provided in an embodiment of the present application;

[0040] Figure 3 for Figure 2 A schematic diagram of the structure of a tendon sheath constraint system and a tendon sheath of a joint drive device;

[0041] Figure 4 A schematic structural diagram of a tendon sheath restraint structure of a tendon sheath restraint system provided in an embodiment of the present application.

[0042] Among them, the reference numerals in the figure are:

[0043] Tendon (1), tendon sheath (2), joint one (11), load-bearing component (20), finger knuckle (21), metacarpophalangeal joint (22), joint two (12), joint three (13), finger joint (31), metacarpophalangeal joint (32), distal finger joint (301), proximal finger joint (302), palm base (33), wrist joint (34), tendon sheath fixing structure (40), limiting structure (50), positioning structure (60), tendon sheath guiding structure (70), tendon sheath restraint structure (80), tendon sheath restraint part (81), limiting part (82), opening (83), avoidance groove (90). DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0046] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] See also Figure 1-Figure 4 , the tendon sheath constraint system, manipulator and robot of the joint drive device provided in the embodiments of the present application are now described.

[0049] Embodiment 1

[0050] like Figure 1-Figure 4 As shown, an embodiment of the present application provides a tendon sheath constraint system of a joint drive device, comprising a tendon (1), a tendon sheath (2) and a plurality of joints.

[0051] like Figure 1 As shown, the joint includes a joint one (11) and at least one joint two (12). The tendon (1) is connected to the rotating end of the driven joint one (11), and the tendon (1) used to drive the joint one (11) to rotate needs to pass through the joint two (12) and then be connected to the driving unit. A tendon sheath (2) is arranged on the outside of the tendon (1), and at least a part of the tendon (1) can slide through the tendon sheath (2). The tendon sheath restraint system includes a tendon sheath fixing structure (40), and the tendon sheath fixing structure (40) can fix the end of the tendon sheath (2). For example, the tendon sheath fixing structure (40) can be arranged at the joint seat of the joint one (11). The first end of the tendon sheath (2) is fixed to the joint one (11), such as the joint seat or the fixed end on the joint one (11) through the tendon sheath fixing structure (40). The second end of the tendon sheath (2) is fixedly arranged, for example, it can be fixedly arranged at other positions of the manipulator or robot. The joint also includes at least one joint 2 (12), and the tendon sheath (2) also passes through the joint 2 (12).

[0052] The tendon sheath restraint system comprises at least one limiting structure (50), the tendon sheath (2) passes through the limiting structure (50), and the tendon sheath (2) can slide at the limiting structure (50).

[0053] In one embodiment, a limiting structure (50) is provided at the joint two (12), the tendon sheath (2) passes through the limiting structure (50) of the joint two (12), and the tendon sheath (2) can slide at the limiting structure (50) of the joint two (12).

[0054] The joint has a first limit position and a second limit position when in motion. When the joint 2 (12) moves between the first limit position and the second limit position, the required length of the tendon sheath (2) passing through the outside of the joint 2 (12) may change from length L1 to length L2, so the tendon sheath (2) will have a length change (or it can also be called elongation). The length change may cause the tendon sheath (2) to curl or bulge.

[0055] The embodiment of the present application provides a limiting structure (50), which can drive the tendon sheath (2) to move when the joint moves, so that the tendon sheath (2) can be adjusted in shape or position. When the length of the tendon sheath (2) at the corresponding joint position needs to be adjusted due to the movement of the joint, the tendon sheath (2) can slide at the limiting structure (50) to adapt to the required length of the tendon sheath (2) at the joint two (12). While allowing the tendon sheath (2) to slide, since the tendon sheath (2) passes through the limiting structure (50), at least a portion of the tendon sheath (2) is retained at the limiting structure (50), which limits the physical space of the tendon sheath (2), which is beneficial to avoid the tendon sheath (2) from affecting the normal operation of the joint after the movement, and is also beneficial to avoid the tendon sheath (2) from bulging, which we do not want to see. In addition, since the limiting structure (50) limits the physical space of the tendon sheath (2), the length change (elongation) of the tendon sheath (2) can be guided to other positions where it can be released.

[0056] The limiting structure (50) may include at least one of a pressure cover, a pressure plate, a constraint hole, a constraint channel, and a wound or wrapped elastic structure. It is understandable that the limiting structure includes but is not limited to a pressure cover, a pressure plate, a constraint hole, a constraint channel, and an elastic structure.

[0057] In addition, when the joint 2 (12) moves, the tendon sheath (2) passing through the joint 2 (12) will produce a certain length change, resulting in movement. When passing through multiple joints, the movement of the tendon sheaths (2) at multiple joints will accumulate to produce a larger movement. If the accumulated movement is all accumulated at one place, it will affect the normal tendon transmission drive.

[0058] Preferably, in a specific embodiment of the present application, the tendon sheath restraint system further comprises at least one positioning structure (60), and the positioning structure (60) is configured to fix a portion of the tendon sheath (2). The present application is provided with a positioning structure (60), and the positioning structure (60) is configured to fix a portion of the tendon sheath (2). Since the tendon sheath (2) is fixed at the positioning structure (60), the tendon sheath (2) is restricted in sections with the positioning structure (60) as the boundary, which can prevent the change in the length of the tendon sheath (2) from being transmitted to the tendon sheath (2) located on the other side of the positioning structure (60).

[0059] In one embodiment, a positioning structure (60) can be provided between the limiting structure (50) of the joint 2 (12) and the second end of the tendon sheath (2). Since the tendon sheath (2) is fixed at the positioning structure (60), the tendon sheath (2) is divided into two parts with the positioning structure (60) as the boundary, and the length variation of the tendon sheath (2) at the joint 2 (12) and the joint 1 (11) is limited to the side where the tendon sheath (2) is located at the joint 2 (12); the present application can prevent the length variation of the tendon sheath (2) from being transmitted to the tendon sheath (2) located on the other side of the positioning structure (60) by providing a positioning structure (60). When there are multiple cascaded joints 2 (12), the length variation of the tendon sheath (2) generated by the multiple joints 2 (12) during movement can be prevented from being accumulated and transmitted to the tendon sheath (2) on the other side.

[0060] In one embodiment, the positioning structure (60) may also be provided between the limiting structure (50) of the joint 2 (12) and the first end of the tendon sheath (2).

[0061] When the joint includes at least two cascaded joints (12), especially when the robot has multiple cascaded joints (12), or when at least one of the joints (12) causes a large change in the length of the tendon sheath (2) passing through the joint (12) when rotating, a positioning structure (60) can be set between two adjacent joints (12) to further segment the tendon sheath (2).

[0062] like Figure 2 , Figure 3As shown, when the tendon sheath constraint system of the joint drive device is applied to a manipulator, the manipulator may include a drive assembly, a wrist module, and a hand module, wherein the wrist module includes a wrist joint (34), the hand module includes a palm module and a plurality of fingers, the palm module includes a palm base (33), a wrist-metacarpal joint, a metacarpophalangeal joint (22), and a metacarpophalangeal joint (32) arranged in sequence, and the fingers include finger joints (21) and finger joints (31). The finger joints (31) may include a distal finger joint (301), or include a proximal finger joint (302) and a distal finger joint (301).

[0063] It can be understood that the multiple joints are controlled and driven independently, and the joint one (11) and the joint two (12) are relative concepts. The joint one (11) can be any one of the distal interphalangeal joint (301), the proximal interphalangeal joint (302), the metacarpophalangeal joint (32), and the carpometacarpal joint. The joint two (12) is specifically relative to the joint one (11). For example, when the distal interphalangeal joint (301) is the driven joint one (11), the corresponding joints cascaded with the joint one (11) include the proximal interphalangeal joint (302), the metacarpophalangeal joint (32), and the carpometacarpal joint, which is the joint two (12); when the proximal interphalangeal joint (302) is the driven joint one (11), the corresponding joints cascaded with the joint one (11) include the metacarpophalangeal joint (32), and the carpometacarpal joint, which is the joint two (12).

[0064] When the joint also includes a joint three (13) cascaded with the joint two (12), the positioning structure (60) can be arranged between the limiting structure (50) at the joint two (12) and the joint three (13). In one embodiment, for example, when the joint driving device is applied to a manipulator, the manipulator may include a forearm module. A driving assembly and a wrist module are arranged in the forearm module, and the wrist module includes a wrist joint (34). The joint three (13) may include a wrist joint (34), and the hand module includes the joint one (11) and one or more joint twos (12) cascaded in sequence, for example, the joint two (12) may include at least one of a carpal-metacarpal joint, a metacarpophalangeal joint (32), and a finger joint (31). By arranging the positioning structure (60) between the joint two (12) and the joint three (13), it is possible to prevent the length change of the tendon sheath (2) at the hand module from being accumulated and then transmitted to the tendon sheath (2) of the forearm module, and it is also possible to prevent the length change of the tendon sheath (2) of the forearm module from being transmitted to the tendon sheath (2) of the hand module.

[0065] Since the tendon sheath (2) passes through the joint two (12), the tendon sheath (2) may affect the normal functioning of the tendon of the joint two (12) during movement, or, during movement, part of the structure of the joint two (12) may squeeze the tendon sheath (2) passing through it and affect the reliability of the tendon sheath (2).

[0066] In order to further constrain the tendon sheath (2) passing through the joint two (12), a tendon sheath guiding structure (70) may be provided at the joint two (12), wherein the tendon sheath guiding structure (70) is configured to allow the tendon sheath (2) to be slidably arranged therein. In some specific embodiments, the tendon sheath guiding structure (70) may also enable the tendon sheath (2) to follow at least a partial rotational movement of the joint two (12). By providing the tendon sheath guiding structure (70) at the joint two (12) to further constrain the tendon sheath (2), it is possible to prevent the tendon sheath (2) from affecting the normal operation of the tendon of the joint two (12) during movement, and also to prevent the joint two (12) from squeezing the tendon sheath (2) during movement and affecting the reliability of the tendon sheath (2).

[0067] After the first end of the tendon sheath (2) is fixed to the joint one (11) through the tendon sheath fixing structure (40), the tendon sheath (2) also passes through the tendon sheath guiding structure (70) at the joint two (12) and the limiting structure (50) of the joint two (12). The tendon sheath guiding structure (70) includes a first sliding structure such as a slideway, a pulley, a slide groove, or a slide rail on the joint two (12). When the joint two (12) moves, a part of the tendon sheath (2) can slide in the first sliding structure. When the joint two (12) has multiple degrees of freedom, the tendon sheath guiding structure (70) can be set on a structure with one of the rotational degrees of freedom and can follow the movement of another rotational degree of freedom. When the joint two (12) moves, the length of the tendon sheath (2) in the tendon sheath guiding structure (70) of the joint two (12) is adjusted accordingly.

[0068] The joint one (11) has a tendon guiding structure. After the tendon is fixed at the rotating end of the joint one (11), it passes through the tendon guiding structure and enters the tendon sheath (2). The tendon guiding structure includes a second sliding structure, and a part of the tendon is slidably arranged on the second sliding structure. The second sliding structure is, for example, any one of a slideway, a pulley, a slide groove and a slide rail. For example, the distal interphalangeal joint (301), the proximal interphalangeal joint (302) and the metacarpophalangeal joint (32) are all provided with tendon guiding structures.

[0069] It can be understood that the joint two (12) has both the tendon sheath fixing structure (40) and the limiting structure (50), and the joint two (12) also has both the tendon guiding structure and the tendon sheath guiding structure (70).

[0070] In a specific embodiment, when the joint 2 (12) is a metacarpophalangeal joint (32), it includes one tendon guiding structure and at least one tendon sheath guiding structure (70), and the first sliding structure of the tendon sheath guiding structure (70) and the second sliding structure of the tendon guiding structure are both slideways, wherein the tendon used to drive the joint 2 (12) can slide in one of the slideways, wherein the tendon sheath (2) of the joint 2 (12) passing through can slide in the other slideway. In another specific embodiment, when the joint 2 (12) is a finger joint (31), the first sliding structure of the tendon sheath guiding structure (70) and the second sliding structure of the tendon guiding structure are both pulleys, wherein the tendon used to drive the joint 2 (12) can slide in one of the pulleys, wherein the tendon sheath (2) of the joint 2 (12) passing through can slide in the other pulley.

[0071] The joint driving device also includes a load-bearing component (20) connected to the joint. In order to constrain the tendon sheath (2) passing through the load-bearing component (20), a tendon sheath constraint structure (80) can be provided at the load-bearing component (20). When the tendon sheath (2) passes through the load-bearing component (20), the tendon sheath (2) passes through the tendon sheath constraint structure (80), and the tendon sheath can slide at the tendon sheath constraint structure.

[0072] The tendon sheath constraint structure (80) may be at least one of a constraint groove, a constraint hole, a channel, and an elastic structure wrapped around or wrapped around the load-bearing component (20). The load-bearing component (20) includes but is not limited to the metacarpophalangeal joint (22) and the finger knuckle (21) on the manipulator. Preferably, the tendon sheath constraint structure (80) is configured to allow a portion of the tendon sheath (2) to be detachably passed through the load-bearing component (20).

[0073] In a specific embodiment, the tendon sheath restraint structure (80) may include a restraint groove on the load-bearing component (20), and when the tendon sheath (2) passes through the load-bearing component (20), a portion of the tendon sheath (2) is located in the restraint groove. For example, a third groove may be provided on the finger knuckle (21) as a restraint groove, which can prevent the tendon sheath (2) from protruding from the surface of the load-bearing component (20).

[0074] In a specific embodiment, a constraint hole can be provided on the load-bearing component (20) as a tendon sheath constraint structure (80), and the tendon sheath (2) passes through the constraint hole.

[0075] In a specific embodiment, the tendon sheath constraint structure (80) can also be an elastic structure such as an elastic rope, an elastic band or an elastic sleeve that is wrapped around or wrapped around the load-bearing component (20). For example, the elastic structure can be wrapped around the finger knuckle (21) to constrain the tendon sheath (2). The tendon sheath (2) is wrapped around or wrapped around the joint by an elastic structure. On the one hand, the elastic structure provides the tendon sheath (2) with an elastic force in the direction of the load-bearing component (20) to limit the position and deformation range of the tendon sheath (2) at the load-bearing component (20). On the other hand, the elastic structure allows the tendon sheath (2) to curl and deform to a certain extent. Preferably, when a constraint groove is provided on the load-bearing component (20) as the tendon sheath constraint structure (80), an elastic structure can be further wrapped around or wrapped around the finger knuckle (21) to further constrain the tendon sheath (2).

[0076] In a specific embodiment, a tendon sheath restraint portion (81) may be provided on the load-bearing component (20), and the tendon sheath restraint portion (81) may be at least one of the above-mentioned restraint groove, restraint hole, and channel. For example, the channel is provided on the metacarpophalangeal joint (22), and the tendon sheath (2) corresponding to the metacarpophalangeal joint (32) and the tendon sheath (2) corresponding to the finger joint (31) may pass through the channel. Preferably, the tendon sheath restraint structure (80) on the metacarpophalangeal joint (22) includes two tendon sheath restraint portions (81), and the tendon sheath (2) passes through the first tendon sheath restraint portion (81) and the second tendon sheath restraint portion (81) at both ends of the metacarpophalangeal joint (22) in sequence.

[0077] The tendon sheath restraint structure (80) may be a single-layer structure or a multi-layer structure.

[0078] The tendon sheath fixing structure (40) is preferably a detachable tendon sheath fixing structure (40), and the tendon sheath fixing structure (40) is configured to detachably fix the first end of the tendon sheath (2) on the joint one (11) or at a position close to the joint one (11).

[0079] In one embodiment, the tendon sheath fixing structure (40) may include a fixing groove at the joint one (11) and a first detachable pressure cover, and the tendon sheath (2) is fixed between the fixing groove and the first pressure cover. The fixing groove may be a first groove. When the joint one (11) is a distal interphalangeal joint (301) or a proximal interphalangeal joint (302), the fixing groove may be arranged on the joint seat of the joint one (11). When the joint one (11) is a metacarpophalangeal joint (32), the metacarpophalangeal joint (32) has both pitch freedom and roll freedom, and the pitch freedom of the metacarpophalangeal joint (32) is driven by tendon transmission, and the fixing groove may be arranged on the pitch structure of the joint one (11).

[0080] Preferably, the limiting structure (50) is configured to detachably limit a portion of the tendon sheath (2) at the joint two (12).

[0081] In one embodiment, the limiting structure (50) includes a limiting groove on the joint 2 (12) and a second pressure cover that is detachably arranged, and the tendon sheath (2) is located between the limiting groove and the second pressure cover. The limiting groove can be a second groove. When the joint 2 (12) is a proximal interphalangeal joint (302), the limiting groove can be arranged on the joint seat of the joint 2 (12). When the joint 2 (12) is a metacarpophalangeal joint (32), the limiting groove can be arranged on the pitch structure of the joint 2 (12).

[0082] In one embodiment, the limiting structure (50) may include a wound or wrapped elastic structure, and the elastic structure limits a portion of the tendon sheath (2) at the joint two (12).

[0083] In one embodiment, the limiting structure (50) may include a limiting groove on the joint two (12), and also include an elastic structure wrapped around or wrapped around the joint two (12), and the elastic structure limits a part of the tendon sheath (2) at the limiting groove of the joint two (12).

[0084] When the tendon sheath constraint system of the joint drive device is applied to a manipulator: Preferably, a fixing groove and a detachable first pressure cover are provided on the joint seat of the distal interphalangeal joint (301); the tendon sheath fixing structure (40) of the distal interphalangeal joint (301) includes the fixing groove and the first pressure cover. Preferably, a fixing groove and a limiting groove are provided on the joint seat of the proximal interphalangeal joint (302); the tendon sheath fixing structure (40) of the proximal interphalangeal joint (302) includes a fixing groove and a second pressure cover. Preferably, a fixing groove and at least one limiting groove are provided on the joint seat of the metacarpophalangeal joint (32), and a detachable second pressure cover is provided on the joint seat of the metacarpophalangeal joint (32); the tendon sheath fixing structure (40) of the metacarpophalangeal joint (32) includes a fixing groove and a second pressure cover.

[0085] Preferably, the positioning structure (60) is configured to detachably fix a portion of the tendon sheath (2), and a portion of the tendon sheath (2) can be detachably arranged at the positioning structure (60). The positioning structure (60) is a detachable structure, and the positioning structure (60) may include a positioning portion and a fixing portion detachably arranged at the positioning portion, and the tendon sheath (2) is fixed between the positioning portion and the fixing portion.

[0086] When a plurality of the tendon sheaths (2) pass through the positioning structure (60), the positioning structure (60) has a plurality of positioning parts.

[0087] When the tendon sheath constraint system of the joint drive device is applied to a manipulator, in one embodiment, the wrist joint (34) is the joint three (13), and the metacarpophalangeal joint (32) is the joint two (12). The limiting structure (50) or the positioning structure (60) can be provided at the connection position between the palm base (33) or the wrist joint (34) and the palm base (33) (for example, on the bracket of the wrist joint (34)). The limiting structure (50) is preferably a multi-layer structure; the positioning structure (60) is preferably a multi-layer structure.

[0088] The positioning structure (60) may also be provided on the metacarpophalangeal joint (22), and the positioning structure (60) is a single-layer or multi-layer structure.

[0089] In one embodiment, when the tendon sheath constraint system of the joint drive device is applied to a manipulator:

[0090] The finger joint (31) comprises the distal finger joint (301) and the proximal finger joint (302), and the distal finger joint (301), the proximal finger joint (302), and the metacarpophalangeal joint (32) respectively have a tendon sheath fixing structure (40);

[0091] The load-bearing component (20) comprises the metacarpophalangeal joint (22) and the finger knuckle (21), and the metacarpophalangeal joint (22) and the finger knuckle (21) respectively have a tendon sheath restraint structure (80);

[0092] The proximal interphalangeal joint (302) and the metacarpophalangeal joint (32) are provided with a tendon sheath guiding structure (70), respectively, and the tendon sheath guiding structure (70) is configured to allow the tendon sheath (2) to be slidably arranged therein;

[0093] The proximal interphalangeal joint (302) and the metacarpophalangeal joint (32) of the finger joint (31) are respectively provided with limiting structures (50), and the tendon sheath (2) passes through the limiting structures (50).

[0094] After the first end of one of the tendon sheaths (2) is fixed at the tendon sheath fixing structure (40) of a joint, the tendon sheath (2) can also pass through the tendon sheath restraint structure (80) of the adjacent load-bearing component (20), the tendon sheath guiding structure (70) of the adjacent joint and the limiting structure (50).

[0095] The rotating end of the joint 2 (12) is provided with an avoidance groove (90), and the tendon sheath guiding structure (70) is located between the avoidance groove (90) and the limiting structure (50). The first end of the tendon sheath (2) is fixed to the joint 1 (11) by the tendon sheath fixing structure (40), and after the tendon sheath (2) comes out of the joint 1 (11), it also passes through the tendon sheath restraint structure (80) at the adjacent load-bearing component (20), the avoidance groove (90) at the adjacent rotating end of the joint 2 (12), the tendon sheath guiding structure (70) at the joint 2 (12) and the limiting structure (50).

[0096] When the joint two (12) includes the first joint two (12) and the second joint two (12), there is also a load-bearing component (20) between the first joint two (12) and the second joint two (12), and after the tendon sheath (2) comes out of the tendon sheath guiding structure (70) at the first joint two (12), it also passes through the tendon sheath restraint structure (80) at the adjacent load-bearing component (20), the avoidance groove (90) at the rotating end of the second joint two (12), the tendon sheath guiding structure (70) at the second joint two (12) and the limiting structure (50).

[0097] For example, the rotation ends of the proximal interphalangeal joint (302) and the metacarpophalangeal joint (32) are respectively provided with avoidance grooves (90). After the first end of the tendon sheath (2) is fixed at the tendon sheath fixing structure (40) of a joint, the tendon sheath (2) also passes through the tendon sheath restraint structure (80) of the adjacent load-bearing component (20), the avoidance groove (90) of the adjacent joint, the tendon sheath guiding structure (70) and the limiting structure (50).

[0098] The tendon sheath restraint system further comprises a flexible envelope element, and at least one of the joints is enveloped by the flexible envelope element.

[0099] The flexible envelope element is wrapped around the joint to limit the position and deformation range of the tendon sheath (2) at the joint. The flexible envelope element is elastic and can be deformed when the joint moves without affecting the movement of the joint. After the joint is reset, the flexible envelope element can return to its original state. In one embodiment, the flexible envelope element can be formed by an elastic structure, which includes an elastic rope or an elastic belt. The elastic rope or elastic belt can be wound around the joint, and the elastic rope or elastic belt can constrain the tendon sheath (2). In one embodiment, the elastic structure can also be a braided structure of an elastic rope or an elastic belt. The flexible envelope element provides an elastic force in the direction of the joint to the tendon sheath (2) through a braided structure braided by an elastic rope or an elastic belt, so as to limit the position and deformation range of the tendon sheath (2) at the joint. In one embodiment, the flexible envelope element can be formed by an elastic polymer material, such as a molded part such as a rubber part, a silicone part, etc. formed by an elastic polymer material through a molding process. When the tendon sheath passes through the flexible envelope element and the tendon sheath is slidable on the flexible envelope element, the flexible envelope element may serve as a limiting structure.

[0100] The tendon sheath restraint system of a joint drive device provided in the present application has the following advantages in addition to the advantages mentioned above: the tendon sheath (2) is mainly arranged outside the bone, which is convenient for maintenance; further, the tendon sheath restraint system is designed so that the tendon sheath (2) can be easily installed and disassembled.

[0101] Embodiment 2

[0102] like Figure 2 , Figure 3 As shown, the embodiment of the present application also provides a manipulator, comprising a palm module and a plurality of fingers, wherein the palm module comprises a palm base (33), a carpometacarpal joint, a metacarpophalangeal joint (22), and a metacarpophalangeal joint (32), and the fingers comprise finger knuckles (21) and finger joints (31). The manipulator also comprises a tendon sheath restraint system as described in the first embodiment.

[0103] In one embodiment, the joint 2 (12) may include at least one of the carpometacarpal joint, the metacarpophalangeal joint (32), and the finger joint (31). The limiting structure (50) or the positioning structure (60) may be provided at the palm base (33). The limiting structure (50) is preferably a multi-layer structure; the positioning structure (60) is preferably a multi-layer structure. The positioning structure (60) may also be provided on the metacarpophalangeal joint (22), and the positioning structure (60) may be a single-layer or multi-layer structure.

[0104] Alternatively, in one embodiment, the manipulator may further include a wrist module and a drive module, wherein the wrist module includes a wrist joint (34); the joint three (13) includes the wrist joint (34), and the joint two (12) includes at least one of the wrist-palm joint, the metacarpophalangeal joint (32), and the finger joint (31). The limiting structure (50) or the positioning structure (60) may be provided at the connection position between the palm base (33) or the wrist joint (34) and the palm base (33) (for example, on the bracket of the wrist joint (34)). The limiting structure (50) is preferably a multi-layer structure; the positioning structure (60) is preferably a multi-layer structure. The positioning structure (60) may also be provided on the metacarpophalangeal joint (22), and the positioning structure (60) may be a single-layer or multi-layer structure.

[0105] In a specific embodiment, a fixing groove is arranged on the joint seat of the distal metacarpal joint (301), and a detachable first pressure cover is arranged on the joint seat of the distal metacarpal joint (301); the tendon sheath fixing structure (40) of the distal metacarpal joint (301) includes the fixing groove and the first pressure cover.

[0106] In a specific embodiment, the joint seat of the proximal finger joint (302) is provided with a fixing groove and a limiting groove, the joint seat of the proximal finger joint (302) is provided with a detachably arranged second gland, the tendon sheath fixing structure (40) of the proximal finger joint (302) comprises the fixing groove and the second gland. The limiting structure (50) of the proximal finger joint (302) comprises the limiting groove.

[0107] In a specific embodiment, a fixing groove and at least one limiting groove are arranged on the joint seat of the metacarpophalangeal joint (32), and a second pressure cover which is detachably arranged is provided on the joint seat of the metacarpophalangeal joint (32); the tendon sheath fixing structure (40) of the metacarpophalangeal joint (32) includes a fixing groove and a second pressure cover, and the limiting structure (50) of the metacarpophalangeal joint (32) includes the limiting groove.

[0108] Regarding the tendon sheath constraint structure (80) at the load-bearing component (20) on the manipulator:

[0109] In a specific embodiment, the load-bearing component (20) includes a finger knuckle (21), and a restraining groove is provided on the finger knuckle (21) as a tendon sheath restraint structure (80).

[0110] In a specific embodiment, the load-bearing component (20) is wrapped or wrapped with an elastic structure.

[0111] In a specific embodiment, the load-bearing component (20) includes a metacarpophalangeal joint (22), such as Figure 4 As shown, the tendon sheath constraint structure (80) on the metacarpophalangeal joint (22) includes two tendon sheath constraint parts (81), and the tendon sheath (2) passes through the first tendon sheath constraint part (81) and the second tendon sheath constraint part (81) at both ends of the metacarpophalangeal joint (22) in sequence. The tendon sheath constraint part (81) can be at least one of the above-mentioned constraint grooves, constraint holes, and channels. The tendon sheath constraint structure (80) on the metacarpophalangeal joint (22) can be a single-layer structure or a multi-layer structure. Further, the tendon sheath constraint structure (80) also includes a limiting part (82) between the two tendon sheath constraint parts (81), and the limiting part (82) is configured to limit the top space of the tendon sheath (2) on the tendon sheath constraint structure (80), and the limiting part (82) forms a accommodating space on the metacarpophalangeal joint (22). As a further solution, the tendon sheath constraint structure (80) also includes an opening (83) located on the side.

[0112] Regarding the arrangement of the tendon sheath (2) on the manipulator and the restraint scheme of the tendon sheath (2):

[0113] The finger joint (31) may include the distal finger joint (301) and the proximal finger joint (302). The distal finger joint (301), the proximal finger joint (302), and the metacarpophalangeal joint (32) each have a tendon sheath fixing structure (40). The load-bearing component (20) includes the metacarpophalangeal joint (22) and the finger knuckle (21), and the metacarpophalangeal joint (22) and the finger knuckle (21) each have a tendon sheath restraint structure (80). The proximal finger joint (302) and the metacarpophalangeal joint (32) each have a tendon sheath guiding structure (70), and the tendon sheath guiding structure (70) is configured to allow the tendon sheath (2) to be slidably arranged therein. The proximal finger joint (302) and the metacarpophalangeal joint (32) each have a limiting structure (50), and the tendon sheath (2) passes through the limiting structure (50). Among them, after the first end of a tendon sheath (2) is fixed at the tendon sheath fixing structure (40) of a joint, it can also pass through the tendon sheath restraint structure (80) of the adjacent load-bearing component (20), the tendon sheath guiding structure (70) of the adjacent joint and the limiting structure (50).

[0114] In a specific embodiment, after the first end of the tendon sheath (2) for driving the distal interphalangeal joint (301) is fixed at the tendon sheath fixing structure (40) of the distal interphalangeal joint (301), it can pass through the tendon sheath constraint structure (80) of the finger knuckle (21) such as the middle knuckle, the tendon sheath guide structure (70) and the limiting structure (50) of the proximal interphalangeal joint (302), and then the tendon sheath (2) also passes through the tendon sheath constraint structure (80) of the finger knuckle (21) such as the proximal knuckle, the tendon sheath guide structure (70) and the limiting structure (50) of the adjacent joint such as the metacarpophalangeal joint (32). Afterwards, the tendon sheath (2) passes through the tendon sheath constraint structure (80) of the metacarpophalangeal joint (22). The tendon sheath (2) coming out of the metacarpophalangeal joint (22) can enter the positioning structure (60) or the limiting structure (50) at the connection position between the wrist joint and the palm base on the palm base (33). Alternatively, the tendon sheath (2) coming out of the metacarpophalangeal joint (22) first passes through the carpometacarpal joint and then enters the positioning structure (60) or the limiting structure (50) of the palm base (33).

[0115] In a specific embodiment, after the first end of the tendon sheath (2) for driving the proximal interphalangeal joint (302) is fixed at the tendon sheath fixing structure (40) of the proximal interphalangeal joint (302), it passes through the tendon sheath restraint structure (80) of the finger knuckle (21) such as the proximal interphalangeal joint, the tendon sheath guide structure (70) of the adjacent joint such as the metacarpophalangeal joint (32), and the limiting structure (50) in sequence. Afterwards, the tendon sheath (2) passes through the tendon sheath restraint structure (80) of the metacarpophalangeal joint (22). The tendon sheath (2) coming out of the metacarpophalangeal joint (22) can enter the positioning structure (60) or the limiting structure (50) at the connection position between the wrist joint and the palm base on the palm base (33). Alternatively, the tendon sheath (2) coming out of the metacarpophalangeal joint (22) first passes through the carpometacarpal joint and then enters the positioning structure (60) or the limiting structure (50) at the connection position between the wrist joint and the palm base (33).

[0116] Furthermore, avoidance grooves (90) may be provided on the rotating ends of the proximal interphalangeal joint (302) and the metacarpophalangeal joint (32), respectively, and the tendon sheath guiding structure (70) is located between the avoidance grooves (90) and the limiting structure (50).

[0117] Embodiment 3

[0118] An embodiment of the present application also provides a robot comprising a plurality of joints and a tendon sheath constraint system of the joint drive device as described in the first embodiment.

[0119] The tendon sheath constraint system of the joint drive device can be used for the manipulator, and the manipulator may include multiple fingers. For example, the number of fingers may be 2, 3, 4 or 5. It is understandable that the number of fingers is not limited to this. Alternatively, the tendon sheath constraint system of the joint drive device can be used at other multi-joint cascade positions of the robot. In addition, it can also be used for other types of multi-joint machines. Other types of multi-joint machines can be mechanical animals or mechanical insects with multiple joints, etc.

[0120] The beneficial effects of this application are:

[0121] The tendon sheath constraint system of the joint drive device provided in the present application is capable of sliding at the limiting structure to satisfy the required tendon sheath length adjustment at the corresponding joint position when the movement of joint 2 causes the tendon sheath length at the corresponding joint position to need to be adjusted.

[0122] In addition, the present application provides a positioning structure, which is configured to fix a portion of the tendon sheath. Since the tendon sheath is fixed at the positioning structure, the tendon sheath is segmented and limited with the limiting structure as the boundary, which can prevent the change in the length of the tendon sheath from being transmitted to the tendon sheath located on the other side of the limiting structure.

[0123] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A tendon sheath constraint system of a joint drive device, comprising a tendon, a tendon sheath, and a joint; the joint comprises a joint 1, the tendon is connected to the joint 1, and at least a portion of the tendon passes through the tendon sheath; the first end of the tendon sheath is fixed to a joint, and the second end of the tendon sheath is fixedly arranged; characterized in that The joint further includes at least one joint 2, and the tendon sheath passes through the joint 2; the tendon sheath restraint system further includes at least one limiting structure, and the tendon sheath passes through the limiting structure, and the tendon sheath can slide at the limiting structure.

2. The tendon sheath restraint system of the joint drive device according to claim 1, characterized in that: The tendon sheath restraint system also includes at least one positioning structure; the positioning structure is configured to fix a portion of the tendon sheath.

3. The tendon sheath restraint system of the joint drive device according to claim 2, characterized in that: A limiting structure is provided at the second joint, and the tendon sheath passes through the limiting structure of the second joint; The positioning structure is arranged between the limiting structure and the second end of the tendon sheath; or, the positioning structure is arranged between the limiting structure and the first end of the tendon sheath.

4. The tendon sheath restraint system of the joint drive device according to claim 2, characterized in that: A limiting structure is provided at the second joint, and the tendon sheath passes through the limiting structure of the second joint; The joint includes at least two joints 2, and a positioning structure is provided between two adjacent joints 2; or, the joint also includes a joint 3 cascaded with the joint 2, and the positioning structure is provided between the joint 2 and the joint 3.

5. The tendon sheath restraint system of the joint drive device according to claim 1, characterized in that: The joint driving device also includes a load-bearing component connected to the joint, and a tendon sheath constraint structure is arranged at the load-bearing component. When the tendon sheath passes through the load-bearing component, the tendon sheath can slide at the tendon sheath constraint structure.

6. The tendon sheath restraint system of the joint drive device according to claim 5, characterized in that: The tendon sheath restraint structure includes at least one of a restraint groove, a restraint hole, a channel on the load-bearing component, and an elastic structure wrapped around or coated on the load-bearing component.

7. The tendon sheath restraint system of the joint drive device according to claim 2, characterized in that: The limiting structure is configured to detachably limit a portion of the tendon sheath at the second joint; and / or, The positioning structure is configured to removably secure a portion of the tendon sheath.

8. The tendon sheath restraint system of the joint drive device according to claim 1, characterized in that: The joint two also has a tendon sheath guiding structure, which is configured to allow the tendon sheath to be slidably arranged therein; after the first end of the tendon sheath is fixed to the joint one through the tendon sheath fixing structure, the tendon sheath also passes through the tendon sheath guiding structure at the joint two and the limiting structure of the joint two.

9. The tendon sheath restraint system of the joint drive device according to claim 8, characterized in that: The tendon sheath guiding structure comprises a first sliding structure, and a portion of the tendon sheath is slidably arranged in the first sliding structure; The joint 1 and the joint 2 further have a tendon guiding structure, and the tendon guiding structure includes a second sliding structure, and a part of the tendon is slidably arranged in the second sliding structure.

10. The tendon sheath restraint system of the joint drive device according to claim 5, characterized in that: The tendon sheath restraint structure is configured to allow a portion of the tendon sheath to be detachably passed through the load-bearing component.

11. The tendon sheath restraint system of the joint drive device according to claim 1, characterized in that: The limiting structure includes at least one of a pressure cover, a pressure plate, a constraint hole, a channel, and an elastic structure wrapped around the load-bearing component.

12. The tendon sheath restraint system of the joint drive device according to claim 1, characterized in that: The tendon sheath restraint system further comprises a flexible envelope element which surrounds at least one of the joints.

13. A manipulator, comprising a palm module and a plurality of fingers, wherein the fingers comprise finger knuckles and finger joints; characterized in that: It also includes a tendon sheath restraint system as described in any one of claims 1-12.

14. The robot according to claim 13, characterized in that: The palm module includes a palm base, a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint; the joint 2 includes at least one of the carpometacarpal joint, the metacarpophalangeal joint, and the finger joint; or, The palm module includes a palm base, a wrist-metacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint; the second joint includes at least one of the wrist-metacarpal joint, the metacarpophalangeal joint, and the finger joint; the manipulator may also include a wrist joint; and the third joint includes the wrist joint.

15. The robot according to claim 14, characterized in that: The limiting structure or the positioning structure is arranged at the connection position between the palm base or the wrist joint and the palm base; the limiting structure or the positioning structure is a multi-layer structure.

16. The robot according to claim 14, characterized in that: The positioning structure is arranged at the metacarpophalangeal joint, and the positioning structure is a single-layer structure or a multi-layer structure.

17. The robot according to claim 13, characterized in that: The finger joints include distal finger joints and proximal finger joints; The joint seat of the distal interphalangeal joint is provided with a fixing groove, and the joint seat of the distal interphalangeal joint is provided with a detachable first gland; the tendon sheath fixing structure of the distal interphalangeal joint includes the fixing groove and the first gland; and / or, The joint seat of the proximal interphalangeal joint is provided with a fixing groove and a limiting groove, the joint seat of the proximal interphalangeal joint is provided with a detachable second gland, and the tendon sheath fixing structure of the proximal interphalangeal joint includes a fixing groove and a second gland; and / or, The palm module includes a metacarpophalangeal joint, a joint seat of the metacarpophalangeal joint is provided with a fixing groove and at least one limiting groove, and a detachable second pressure cover is provided on the joint seat of the metacarpophalangeal joint; the tendon sheath fixing structure of the metacarpophalangeal joint includes a fixing groove.

18. The manipulator according to claim 13, wherein the palm module comprises a palm base, a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint; The load-bearing component includes the metacarpophalangeal joint and the finger knuckle, and the metacarpophalangeal joint and the finger knuckle respectively have a tendon sheath constraint structure; and / or, The proximal interphalangeal joint and the metacarpophalangeal joint are provided with a tendon sheath guiding structure; and / or, The proximal interphalangeal joint and the metacarpophalangeal joint are respectively provided with a limiting structure.

19. The robot according to claim 18, characterized in that: The rotation ends of the proximal phalangeal joint and the metacarpophalangeal joint are respectively provided with avoidance grooves.

20. A robot comprising a plurality of joints, characterized in that: It also includes a tendon sheath restraint system as described in any one of claims 1-12.

Images