Tendon transmission system with composite tendon sheath and tendon sheath restraint element

Abstract

The present invention discloses a tendon transmission system with a composite tendon sheath and a tendon sheath restraint element. The transmission system draws on the tendons, tendon sheaths and ligament tissues of the human hand to propose a composite tendon sheath structure composed of an inner tendon sheath and an outer tendon sheath, which can effectively reduce the friction between the tendons and the tendon sheaths and prevent the lateral shear force of the tendons from damaging the tendon sheaths. It also proposes type I tendon sheath restraint elements, type II tendon sheath restraint elements, type III tendon sheath restraint elements and type IV tendon sheath restraint elements, which can flexibly restrain the position and range of motion of the tendon sheath and prevent it from falling out, and can decouple the movements of the various joints spanned by the tendon sheath, provide a certain curling buffer space for the tendon sheath, and provide a certain degree of pressure and impact protection for the tendon sheath. The transmission system has the advantages of simple and reliable structure, certain flexibility, high life and easy maintenance, and is particularly suitable for application in bionic dexterous hands, bionic mechanical feet or other robotic mechanisms requiring tendon transmission.

Description

Technical Field

[0001] The present invention belongs to the field of transmission devices of dexterous hands or bionic mechanical feet, and in particular relates to a tendon transmission system having a composite tendon sheath and a tendon sheath constraint element. Background Art

[0002] A bionic dexterous hand is a robotic arm with similar finger count, degrees of freedom, shape, and functions to a human hand. It can manipulate objects flexibly and precisely, making it suitable for use in versatile service robots, industrial scenarios such as flexible assembly, and as a high-performance prosthetic limb. A bionic robotic foot is the mechanical foot of a bipedal or quadrupedal robot, primarily used to enable the robot to walk, run, jump, and climb flexibly and smoothly on various surfaces and terrains. Both the bionic dexterous hand and the bionic robotic foot are key components and devices of bionic or humanoid robots. Their common characteristics are their small size and large number of joints. Both require a transmission system to transmit significant force within a confined space, and often require independent control of each joint to achieve high flexibility, making the design of the transmission system extremely challenging.

[0003] Tendon transmission is a widely used transmission method in many dexterous hands (and some robotic feet). This method uses tendons (wires or flexible cables) to transmit the force and motion of actuators located in the arms or legs to the joints of the hands or feet. This effectively balances the conflict between spatial size constraints and the need to transmit large forces. Some solutions also include a tendon sheath (a flexible tube) over the tendon, allowing the tendon to slide axially within the sheath and constrain its direction. However, most current tendon transmission solutions still have inherent problems that have not been fully addressed.

[0004] The first problem is that there is a lot of friction between the tendon and the tendon sheath, and both are prone to wear; and because the tendon and tendon sheath can bend, when a large tensile force is applied to make the tendon very tight, the tendon exerts a large internal cutting force on the inner wall of the tendon sheath at the bend, which can easily cut the tendon sheath.

[0005] The second problem is that when the tendon sheath spans one or more cascaded joints, a device is needed at the joint to constrain its position, direction, and deformation range. Two current solutions exist: one is to install gears or pulleys at the joint as relay transmission components, but this solution results in too many moving parts at the joint, reducing structural reliability and taking up a large amount of space. The other is to install a rigid semi-enclosed guide rail or chute structure at the joint to constrain the tendon sheath's movement. However, the tendon sheath can easily escape from the open side of the chute, and the rigid chute structure creates sharp bending points in the tendon sheath, making it susceptible to damage.

[0006] The third problem is that the movements of the joints spanned by the tendon sheath need to be decoupled from each other, that is, when a joint moves, it does not affect the movement of other joints; this requires that when a joint moves, it cannot affect the tendon sheaths of other joints, otherwise it will affect the movement of other joints.

[0007] The fourth problem is that the tendon sheath should have a certain buffer space for curling. When one or some joints it passes through rotates, the tendon sheath should be able to tighten or relax to adapt to the change in the length of the tendon sheath path caused by the rotation of the joint.

[0008] The fifth problem is that when the dexterous hand or bionic mechanical foot is under pressure or impact, it needs to have certain protection to prevent the transmission system from being damaged. Summary of the Invention

[0009] In order to solve the above-mentioned problems of tendon transmission, the present invention proposes a tendon transmission system with a composite tendon sheath and a tendon sheath restraint element; the transmission system draws on the tendons, tendon sheaths and ligament tissues of the human hand to propose a composite tendon sheath structure composed of an inner tendon sheath and an outer tendon sheath, which can effectively reduce the friction between the tendons and the tendon sheaths, and prevent the lateral shear force of the tendons from damaging the tendon sheaths, and proposes type I tendon sheath restraint elements, type III tendon sheath restraint elements, type II tendon sheath restraint elements and type IV tendon sheath restraint elements, which can flexibly restrain the position and range of motion of the tendon sheath and prevent it from falling out, and can decouple the movements of the various joints spanned by the tendon sheath from each other, and provide a certain curling buffer space for the tendon sheath, as well as provide a certain degree of pressure and impact protection for the tendon sheath; the transmission system has the advantages of simple and reliable structure, certain flexibility, high life and easy maintenance, and is particularly suitable for application in bionic dexterous hands, bionic mechanical feet or other robot components requiring tendon transmission.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] A tendon transmission system with a composite tendon sheath and a tendon sheath restraint element, the system comprising: a tendon, a composite tendon sheath, a tendon sheath fixing element, and a tendon sheath restraint element.

[0012] The tendon can be a flexible cord (such as a Dyneema PE cord) or a steel cable, and is used to transmit the driving force of the driver to the joint.

[0013] The composite tendon sheath is composed of at least two layers of tendon sheaths from inside to outside.

[0014] A tendon sheath with only one layer was defined as a single-layer tendon sheath.

[0015] The composite tendon sheath or single-layer tendon sheath has the function of protecting the tendon and restricting the direction and stroke of the tendon.

[0016] Furthermore, the tendon sheath restraint element includes: a type I tendon sheath restraint element, a type II tendon sheath restraint element, a type III tendon sheath restraint element, and a type IV tendon sheath restraint element.

[0017] The Type I tendon sheath restraint element is used to restrain the position and deformation range of a small number (no more than 4) of composite tendon sheaths or single-layer tendon sheaths when passing through the joint; when the joint rotates, swings sideways, flexes or extends, the Type I tendon sheath restraint element restrains the composite tendon sheath or single-layer tendon sheath within the deformation range, preventing the composite tendon sheath or single-layer tendon sheath from being damaged by sharp bending, and preventing the composite tendon sheath or single-layer tendon sheath from falling out of the joint; in addition, when the joint is subjected to pressure or lateral shear force, the Type I tendon sheath restraint element can effectively protect the composite tendon sheath or single-layer tendon sheath.

[0018] The Type I tendon sheath restraint element is a flexible element that can be bent and has one or more guide grooves or guide holes for guiding 1 to 4 composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes; the Type I tendon sheath restraint element is configured to be installed on the interphalangeal joints or metacarpophalangeal joints of a dexterous hand, or the toe joints or metatarsophalangeal joints of a bionic mechanical foot, or other robotic joints that pass through at least 1 but no more than 4 composite tendon sheaths or single-layer tendon sheaths.

[0019] The type II tendon sheath restraint element is used to restrain the position and deformation range of multiple (more than 4) composite tendon sheaths or single-layer tendon sheaths when passing through joints, and to provide a certain curling buffer space for each composite tendon sheath or single-layer tendon sheath.

[0020] The Type II tendon sheath restraint element is a flexible element that can be bent, and has one or more guide grooves or guide holes for guiding at least 5 composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes, and has a structure that allows one or more composite tendon sheaths or single-layer tendon sheaths passing through it to curl up individually inside the Type II tendon sheath restraint element; the Type II tendon sheath restraint element is configured to be installed on the wrist joint of a dexterous hand, or the ankle joint of a bionic mechanical foot, or other robot joints passing through at least 5 composite tendon sheaths or single-layer tendon sheaths.

[0021] The Type III tendon sheath constraint element is used to constrain the position and deformation range of one or more composite tendon sheaths or single-layer tendon sheaths in the rod part (non-joint part) passing through the robot joint, and to provide a certain curling buffer space for each composite tendon sheath or single-layer tendon sheath, and is particularly suitable for installation on the palm of a dexterous hand.

[0022] The Type III tendon sheath restraint element has one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes, and has a structure that allows one or more composite tendon sheaths or single-layer tendon sheaths to curl up in their respective parts in the Type III tendon sheath restraint element; the Type III tendon sheath restraint element is configured to be installed on the palm or metacarpophalangeal joint of a dexterous hand, or the palm of a bionic mechanical foot, or other non-joint parts of robotic mechanisms.

[0023] The type IV tendon sheath restraint element is used to flexibly guide and restrain the position and deformation range of the composite tendon sheath or single-layer tendon sheath at the rod portion (non-joint portion) passing through the robot joint, and to prevent the composite tendon sheath or single-layer tendon sheath from curling at this location.

[0024] The type IV tendon sheath restraint element has one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes; the type IV tendon sheath restraint element is configured to be installed on the knuckles of a dexterous hand, or the toe joints of a bionic mechanical foot, or other non-joint parts of a robotic mechanism.

[0025] A single guide groove or guide hole can adopt a specific structure to guide multiple composite tendon sheaths or single-layer tendon sheaths.

[0026] At least one end of the tendon is fixed to the output shaft or capstan of the driver, and any point on the tendon is fixed to the rotating end of the driven robot joint to transmit the driving force of the driver to the joint.

[0027] One end of the composite tendon sheath is fixedly connected to the joint seat of the driven robot joint through a tendon sheath fixing element, and the other end is fixedly connected to other components of the robot through a tendon sheath fixing element.

[0028] The tendon slides in the composite tendon sheath along the axial direction of the composite tendon sheath.

[0029] Preferably, a tendon sheath seal is installed at each end of the composite tendon sheath to bind the layers of the tendon sheath together and prevent the lubricating fluid between the tendon and the innermost tendon sheath from leaking out.

[0030] Preferably, the inner tendon sheath of the composite tendon sheath adopts a tightly wound spring tube, the rigidity of which can prevent it from being worn or cut by the lateral shear force of the tendon; it has a strong lateral bending ability, and the tightly wound spring tube cannot be axially compressed to cause plastic deformation, so it can transmit a large tensile force; the spring tube is preferably made of steel or copper.

[0031] Preferably, the outer tendon sheath of the composite tendon sheath adopts a flexible hose with high outer surface hardness, smoothness and wear resistance, and can be flexibly bent, which is put on the outside of the inner tendon sheath to prevent the inner tendon sheath from being damaged by excessive bending, and to provide support and protection for the inner tendon sheath when the transmission system is subjected to external lateral shear force or extrusion force.

[0032] Preferably, the space between the tendon and the innermost layer of the composite tendon sheath is filled with lubricating fluid.

[0033] Preferably, the space between the outermost layer of the composite tendon sheath and the guide hole of the IV-type tendon sheath restraint element is filled with lubricating liquid.

[0034] Lubricating fluid is used to reduce friction, heat and noise, and provide cushioning when the robot joints are changing direction at high speed and frequently, thus avoiding resonance in the system.

[0035] Furthermore, the I-type tendon sheath restraint element is a hollow soft sleeve structure, or a structure with one or more connecting belts and two or more tensioning rings.

[0036] The connecting strap flexibly connects the tensioning rings together.

[0037] The type I tendon sheath constraint element is tensioned on the interphalangeal joints or metacarpophalangeal joints of a dexterous hand, or the toe joints or metatarsophalangeal joints of a bionic mechanical foot, or other robotic joints through at least one but no more than four composite tendon sheaths or single-layer tendon sheaths through its soft sleeve structure or tensioning ring.

[0038] The side wall of the I-type tendon sheath restraint element may have one or more reinforcing ribs.

[0039] The inner wall of one or more guide holes of the I-type tendon sheath restraint element may have an anti-wear layer or an anti-wear sleeve.

[0040] Furthermore, the type II tendon sheath restraint element is a hollow soft sleeve structure, or a structure with two to more constricting rings and one to more outer protection sheets and one to more inner protection sheets.

[0041] The outer protection sheet and the inner protection sheet flexibly couple the respective tightening rings together.

[0042] The type II tendon sheath constraint element is tensioned on the wrist joint of a dexterous hand, or the ankle joint of a bionic mechanical foot, or other robot joints through at least 5 composite tendon sheaths or single-layer tendon sheaths through its soft sleeve structure or constricting ring.

[0043] The inner wall of one or more guide holes of the type II tendon sheath restraint element may have an anti-wear layer or an anti-wear sleeve.

[0044] The type II tendon sheath restraint element may have one or more separators inside.

[0045] The outer protective sheet, separator and inner protective sheet are arranged from outside to inside, and the space between them separates the multiple composite tendon sheaths or single-layer tendon sheaths passing through them from each other and supports them to curl up independently, and the curled part of each composite tendon sheath or single-layer tendon sheath does not exceed the space; the outer protective sheet is used to restrain the composite tendon sheath or single-layer tendon sheath from falling out to the outside, and to protect the composite tendon sheath or single-layer tendon sheath when the joint is subjected to pressure and tangential force; the inner protective sheet is used to restrain the composite tendon sheath or single-layer tendon sheath from falling out to the inside; the separator is used to separate multiple composite tendon sheaths or single-layer tendon sheaths to reduce their interference with each other.

[0046] Furthermore, the type III tendon sheath restraint element has two fixed ends and a cover plate.

[0047] The Type III tendon sheath restraint element may have one or more layered sheets inside.

[0048] Each of the fixed ends has one or more guide holes; the two ends of the guide holes can be smoothly transitioned to prevent the composite tendon sheath or single-layer tendon sheath from being damaged by sharp bends; the inner wall of the guide hole is smooth, allowing the composite tendon sheath or single-layer tendon sheath to pass through it and slide freely along its axis.

[0049] The cover plate and each layered sheet are arranged in parallel longitudinally between two fixed ends, and the space between them will pass through each composite tendon sheath or single-layer tendon sheath layer and support their independent curling; the cover plate is used to prevent the composite tendon sheath or single-layer tendon sheath from being damaged by pressure and tangential force; the layered sheet is used to separate different composite tendon sheaths or single-layer tendon sheaths into layers, and each composite tendon sheath or single-layer tendon sheath can curl in its own plane space without interfering with each other.

[0050] In one solution, the type IV tendon sheath restraint element is a hollow tube structure, and its through hole functions as a guide hole.

[0051] Preferably, the IV-type tendon sheath restraint element adopts a flexible hose with a smooth and wear-resistant inner wall, high strength and flexibility, so that the composite tendon sheath or single-layer tendon sheath can slide freely axially therein.

[0052] The beneficial effects of the present invention are as follows: the present invention discloses a tendon transmission system with a composite tendon sheath and a tendon sheath restraint element; the transmission system draws on the tendons, tendon sheaths and ligament tissues of the human hand to propose a composite tendon sheath structure composed of an inner tendon sheath and an outer tendon sheath, which can effectively reduce the friction between the tendons and the tendon sheaths, and prevent the lateral shear force of the tendons from damaging the tendon sheaths, and proposes type I tendon sheath restraint elements, type III tendon sheath restraint elements, type II tendon sheath restraint elements and type IV tendon sheath restraint elements, which can flexibly restrain the position and range of motion of the tendon sheath and prevent it from falling out, and can decouple the movements of the joints spanned by the tendon sheath, and provide a certain curling buffer space for the tendon sheath, as well as provide a certain degree of pressure and impact protection for the tendon sheath; the transmission system has the advantages of simple and reliable structure, certain flexibility, high life and easy maintenance, and is particularly suitable for application in bionic dexterous hands and bionic mechanical feet. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0054] Figure 1 A schematic diagram of the overall structure of a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element provided by the present invention;

[0055] Figure 2 Schematic diagram of a half-section of a composite tendon sheath of a tendon transmission system having a composite tendon sheath and a tendon sheath constraint element according to an embodiment of the present invention;

[0056] Figure 3 Schematic diagram of an I-type tendon sheath restraint element with oblique reinforcing ribs in a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element according to an embodiment of the present invention;

[0057] Figure 4 Schematic diagram of an I-type tendon sheath restraint element using vertical reinforcing ribs in a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element according to an embodiment of the present invention;

[0058] Figure 5 Schematic diagram of a half-section structure of a type I tendon sheath restraint element of a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element in an embodiment of the present invention;

[0059] Figure 6 Schematic diagram of a type II tendon sheath restraint element of a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element in an embodiment of the present invention;

[0060] Figure 7Schematic diagram of a type III tendon sheath restraint element of a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element in an embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of the installation position of a type IV tendon sheath restraint element of a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] See attached Figure 1 and attached Figure 8 An embodiment of the present invention discloses a tendon transmission system having a composite tendon sheath and a tendon sheath restraint element. The system includes: a tendon 8, a composite tendon sheath 10, a tendon sheath fixing element 11, and a tendon sheath restraint element.

[0064] The tendon sheath restraint elements include: a type I tendon sheath restraint element 12 , a type II tendon sheath restraint element 14 , a type III tendon sheath restraint element 13 , and a type IV tendon sheath restraint element 34 .

[0065] The tendon 8 is a flexible cord (such as a Dyneema PE cord) or a steel wire rope, and is used to transmit the driving force of the driver to the joint.

[0066] At least one end of the tendon 8 is fixed to the output shaft or winch of the driver, and any point on the tendon 8 is fixed to the rotating end of the driven robot joint (such as the interphalangeal joint rotating end 1), transmitting the driving force of the driver to the joint.

[0067] See attached Figure 1 and attached Figure 2 The composite tendon sheath 10 is composed of at least two layers of tendon sheaths from inside to outside.

[0068] A tendon sheath with only one layer was defined as a single-layer tendon sheath.

[0069] The composite tendon sheath 10 or the single-layer tendon sheath has the function of protecting the tendon 8 and restricting the direction and stroke of the tendon 8.

[0070] See attached Figure 2 and attached Figure 5 In one embodiment of the present invention, the composite tendon sheath 10 is composed of an inner tendon sheath 29 , an outer tendon sheath 30 and a tendon sheath head 9 .

[0071] The inner tendon sheath 29 enables the tendon 8 to slide axially therein; the inner tendon sheath 29 adopts a tightly wound spring tube, the rigidity of which can prevent it from being worn or cut by the lateral shear force of the tendon 8; it has a strong lateral bending ability, and at the same time, the tightly wound spring tube cannot be axially compressed to cause plastic deformation, and thus can transmit a large tensile force; the spring tube is preferably made of steel or copper.

[0072] The outer tendon sheath 30 is a flexible hose with a high outer surface hardness, smoothness, wear resistance, and is sleeved on the outside of the inner tendon sheath 29 to prevent the inner tendon sheath 29 from being damaged by excessive bending, and to provide support and protection for the inner tendon sheath 29 when the transmission system is subjected to external lateral shear force or extrusion force.

[0073] The gap between the tendon 8 and the inner tendon sheath 29 is filled with a viscous lubricant to reduce friction, heat and noise, and to provide a buffer when the robot joint changes direction at high speed and frequently, thereby avoiding resonance of the system.

[0074] The tendon sheath seal 9 is installed at both ends of the composite tendon sheath 10 to bind the inner tendon sheath 29 and the outer tendon sheath 30 together and prevent the lubricating fluid between the tendon 8 and the inner tendon sheath 29 from leaking out.

[0075] See attached Figure 1 and attached Figure 2 The tendon sheath fixing element 11 can be matched with the tendon sheath head 9, for example, the tendon sheath fixing element 11 is tensioned on the outer layer of the tendon sheath head 9; one end of the composite tendon sheath 10 is connected to the joint seat of the driven robot joint (attached) through the tendon sheath fixing element 11. Figure 1 The other end of the composite tendon sheath 10 can be fixed to the wrist joint seat 7 or the tendon sheath guide seat or driver mounting seat of the forearm through the tendon sheath fixing element 11.

[0076] See attached Figure 3 , Attachment Figure 4 and attached Figure 5 The structure of the I-type tendon sheath restraint element 12 is a hollow sleeve with two tensioning rings 15 and two connecting belts 16. It has one or more I-type guide holes 17 inside or outside. The composite tendon sheath 10 or the single-layer tendon sheath passes through the I-type guide hole 17 and can slide freely along its axis.

[0077] The I-type tendon sheath restraint element 12 is a bendable flexible element, which can be made of materials such as rubber or human silicone, and the side wall can have oblique reinforcement ribs 18 (see attached Figure 3 ) or vertical reinforcement 35 (see Appendix Figure 4), used to constrain the position and deformation range of the composite tendon sheath 10 or the single-layer tendon sheath when passing through the joint; when the joint rotates, swings sideways, flexes or extends, the I-type tendon sheath constraint element 12 constrains the composite tendon sheath 10 or the single-layer tendon sheath within the deformation range, preventing the composite tendon sheath 10 or the single-layer tendon sheath from being damaged by sharp bending, and preventing the composite tendon sheath 10 or the single-layer tendon sheath from falling out of the joint; in addition, when the joint is subjected to pressure or lateral shear force, the said I-type tendon sheath constraint element 12 can effectively protect the composite tendon sheath 10 or the single-layer tendon sheath.

[0078] See attached Figure 1 The type I tendon sheath restraint element 12 is configured to be installed on the interphalangeal joint (composed of the interphalangeal joint seat 2 and the interphalangeal joint rotation end 1) or the metacarpophalangeal joint 3 of a dexterous hand, or the toe joint or metatarsophalangeal joint of a bionic mechanical foot, or other joints that require a small amount of composite tendon sheath 10 or a single-layer tendon sheath.

[0079] The appendix of this embodiment Figure 1 Only one finger of a dexterous hand consisting of two knuckles is shown, and the type I tendon sheath constraint element 12 is shown to be installed on the metacarpophalangeal joint 3; in actual application, the type I tendon sheath constraint element 12 can be applied to a multi-fingered (each finger includes multiple knuckles) dexterous hand and each knuckle or metacarpophalangeal joint 3 of each finger.

[0080] See attached Figure 1 and attached Figure 6 The Type II tendon sheath restraint element 14 is a flexible element that can be bent and can be made of materials such as rubber or human silicone. The front and rear sides of the Type II tendon sheath restraint element 14 each have a restraining ring 27, two to multiple outer protective sheets 23, two to multiple inner protective sheets 25, and one to multiple separators 24, which are used to restrain the position and deformation range of multiple composite tendon sheaths 10 or single-layer tendon sheaths when passing through the joint, and to provide a certain curling buffer space for each composite tendon sheath 10 or single-layer tendon sheath.

[0081] Each of the constricting rings 27 has one or more type II guide holes 26; the inner wall of the type II guide hole 26 has an anti-wear layer, and the composite tendon sheath 10 or the single-layer tendon sheath passes through the type IV tendon sheath restraint element 34 and can slide freely along its axis; the constricting ring 27 has a mounting port for adapting to the joint of the robot (such as the wrist joint 6); for example, one constricting ring 27 of the type II tendon sheath restraint element 14 can be put on the rotating end 5 of the wrist joint, and the other constricting ring 27 can be put on the wrist joint seat 7.

[0082] The outer protective sheet 23 is used to restrain the composite tendon sheath 10 or the single-layer tendon sheath from falling out to the outside, and to protect the composite tendon sheath 10 or the single-layer tendon sheath when the joint is subjected to pressure and tangential force.

[0083] The inner protection sheet 25 is used to restrain the composite tendon sheath 10 or the single-layer tendon sheath from falling out inward.

[0084] The separator 24 is used to separate multiple composite tendon sheaths 10 or single-layer tendon sheaths to reduce interference between the composite tendon sheaths 10 or single-layer tendon sheaths.

[0085] The space between the outer protection sheet 23, the separator sheet 24 and the inner protection sheet 25 provides a buffer space for each composite tendon sheath 10 or single-layer tendon sheath to curl up.

[0086] The appendix of this embodiment Figure 1 and attached Figure 6 The cross section of the type II tendon sheath restraint element 14 shown in the figure is rectangular. In actual application, the shape of the type II tendon sheath restraint element 14 can also be adjusted according to the shape of the joint, such as making the cross section into an elliptical shape.

[0087] See attached Figure 1 The type II tendon sheath constraint element 14 is configured to be installed on the wrist joint 6 of a dexterous hand or the ankle joint of a bionic mechanical foot, or other joint parts that require a large number of tendons and tendon sheaths to pass through.

[0088] See attached Figure 1 and attached Figure 7 The type III tendon sheath restraint element 13 is made of flexible material or non-flexible material, and has two fixed ends 22, a cover plate 21 and one or more layered sheets 20, which are used to restrain the position and deformation range of one or more composite tendon sheaths 10 or single-layer tendon sheaths passing through the robot joint rod (such as the metacarpophalangeal joint 4), and provide a certain curling buffer space for each composite tendon sheath 10 or single-layer tendon sheath.

[0089] Each of the fixed ends 22 has one or more type III guide holes 19; the inner wall of the type III guide hole 19 is smooth, allowing the composite tendon sheath 10 or the single-layer tendon sheath to pass through it and slide freely along its axis; the two ends of the type III guide hole 19 are smoothly transitioned to prevent the composite tendon sheath 10 or the single-layer tendon sheath from being damaged by sharp bends; the fixed end 22 can be fixed to the rod part of the robot joint (such as the metacarpophalangeal joint 4) by screws, clips, adhesives, etc.

[0090] The cover plate 21 is used to prevent the composite tendon sheath 10 or the single-layer tendon sheath from being damaged by pressure and tangential force.

[0091] The layered sheet 20 is used to separate different composite tendon sheaths 10 or single-layer tendon sheaths into layers. Each composite tendon sheath 10 or single-layer tendon sheath can curl up in its own plane space. The curled part of the composite tendon sheath 10 or single-layer tendon sheath is located inside the type III tendon sheath restraint element 13 and protrudes to both sides, and there will be no interference between them.

[0092] See attached Figure 1 The type III tendon sheath restraint element 13 is configured to be installed on the metacarpophalangeal joint 4 of the dexterous hand, or the sole of the bionic mechanical foot, or other non-joint parts.

[0093] See attached Figure 8 In one embodiment, the IV-type tendon sheath restraint element 34 adopts a hose with a smooth and wear-resistant inner wall, high strength and flexibility. The through hole allows the composite tendon sheath 10 or the single-layer tendon sheath to slide freely axially therein, so as to flexibly guide and restrain the direction of the composite tendon sheath 10 or the single-layer tendon sheath.

[0094] Attachment Figure 8 The finger shown in the figure is composed of a distal phalanx 31, a middle phalanx 32, and a proximal phalanx 33 hinged in sequence; the dorsal side and the palm side of the middle phalanx 32 are respectively connected to a composite tendon sheath 10 through a tendon sheath fixing element 11; the dorsal side and the palm side of the proximal phalanx 33 are respectively installed with a type IV tendon sheath restraint element 34; a middle point of the tendon 8 is fixedly connected to the joint rotation end of the distal phalanx 31, and can slide axially in the composite tendon sheath 10; the composite tendon sheath 10 can slide in the type IV tendon sheath restraint element 34.

[0095] The gap between the composite tendon sheath 10 and the IV-type tendon sheath restraint element 34 is filled with a viscous lubricating fluid to reduce friction, heat and noise, and to provide a buffer when the robot joint changes direction at high speed and frequently, thereby avoiding resonance of the system.

[0096] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0097] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tendon transmission system having a tendon sheath and a tendon sheath restraint element, characterized in that: include: Tendon, tendon sheath, tendon sheath fixation element, tendon sheath restraint element; The tendon sheath restraint element includes: type I tendon sheath restraint element, type II tendon sheath restraint element, type III tendon sheath restraint element, and type IV tendon sheath restraint element; The tendon sheath is a single-layer tendon sheath or a composite tendon sheath, wherein the composite tendon sheath is composed of at least two layers of tendon sheaths from the inside to the outside; The I-type tendon sheath restraint element is a bendable flexible element having one or more guide grooves or guide holes for guiding one to four composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes; the I-type tendon sheath restraint element is configured to be mounted on an interphalangeal joint or metacarpophalangeal joint of a dexterous hand, or a toe joint or metatarsophalangeal joint of a bionic robotic foot, or other robotic joints that pass through at least one but no more than four composite tendon sheaths or single-layer tendon sheaths; The Type II tendon sheath restraint element is a bendable flexible element having one or more guide grooves or guide holes for guiding at least five composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes, and having a structure that allows one or more composite tendon sheaths or single-layer tendon sheaths passing therethrough to curl up within the Type II tendon sheath restraint element. The Type II tendon sheath restraint element is configured to be mounted on the wrist joint of a dexterous hand, or the ankle joint of a bionic robotic foot, or other robotic joints that pass through at least five composite tendon sheaths or single-layer tendon sheaths. The type III tendon sheath restraint element has one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes, and has a structure that allows the one or more composite tendon sheaths or single-layer tendon sheaths to curl up in their respective portions within the type III tendon sheath restraint element; the type III tendon sheath restraint element is configured to be mounted on the palm or metacarpophalangeal joint of a dexterous hand, or the sole of a bionic mechanical foot, or other non-joint parts of a robotic mechanism; The IV-type tendon sheath restraint element has one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along their respective axes; the IV-type tendon sheath restraint element is configured to be mounted on the knuckles of a dexterous hand, or the toe joints of a bionic mechanical foot, or other non-joint parts of a robotic mechanism; At least one end of the tendon is fixed to the output shaft or capstan of the driver, and any point on the tendon is fixed to the rotating end of the driven robot joint to transmit the driving force of the driver to the joint; One end of the tendon sheath is fixedly connected to the joint seat of the driven robot joint through a tendon sheath fixing element, and the other end is fixedly connected to other components of the robot through a tendon sheath fixing element; The tendon slides in the tendon sheath along the axial direction of the tendon sheath.

2. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1, characterized in that: A tendon sheath seal is installed at each end of the composite tendon sheath to bind the various layers of the tendon sheath together.

3. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1 or claim 2, characterized in that: The space between the tendon and the innermost layer of the composite tendon sheath is filled with lubricating fluid.

4. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1 or claim 2, characterized in that: The space between the outermost layer of the composite tendon sheath and the guide hole of the IV-type tendon sheath restraint element is filled with lubricating liquid.

5. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1, characterized in that: The I-type tendon sheath restraint element is a hollow soft sleeve structure, or a structure having one or more connecting belts and two or more tensioning rings; The connecting belt flexibly connects the tensioning rings together; The I-type tendon sheath restraint element is tensioned on the interphalangeal joint or metacarpophalangeal joint of a dexterous hand, or the toe joint or metatarsophalangeal joint of a bionic mechanical foot, or other robotic joints through at least one but no more than four composite tendon sheaths or single-layer tendon sheaths through its soft sleeve structure or tensioning ring; the side wall of the I-type tendon sheath restraint element may have one or more reinforcing ribs; The inner wall of one or more guide holes of the I-type tendon sheath restraint element may have an anti-wear layer or an anti-wear sleeve.

6. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1, characterized in that: The type II tendon sheath restraint element is a hollow soft sleeve structure, or a structure having two or more constricting rings and one or more outer protective sheets and one or more inner protective sheets; the outer protective sheets and the inner protective sheets flexibly connect the constricting rings together; The type II tendon sheath constraint element is tensioned on the wrist joint of a dexterous hand, or the ankle joint of a bionic mechanical foot, or other robot joints through at least five composite tendon sheaths or single-layer tendon sheaths through its soft sleeve structure or constricting ring; The inner wall of one or more guide holes of the type II tendon sheath constraint element may have an anti-wear layer or an anti-wear sleeve; The type II tendon sheath restraint element may have one or more separators inside; The outer protective sheet, separator sheet and inner protective sheet are arranged from outside to inside, and the space between them separates the multiple composite tendon sheaths or single-layer tendon sheaths passing through them from each other and supports their independent curling. The curled part of each composite tendon sheath or single-layer tendon sheath does not exceed the space.

7. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1, characterized in that: The type III tendon sheath restraint element has two fixed ends and a cover plate; The type III tendon sheath restraint element may have one or more layered sheets inside; Each of the fixed ends has one or more guide holes; The cover plate and the separators are arranged in parallel in the longitudinal direction between the two fixed ends, and the space therebetween layers the composite tendon sheaths or single-layer tendon sheaths passing therethrough and supports them to curl up independently.

8. A tendon transmission system having a tendon sheath and a tendon sheath restraint element according to claim 1, characterized in that: The IV-type tendon sheath restraint element is a hollow tube structure.

Images