Tendon transmission structure

Abstract

The present application provides a tendon transmission structure for driving joint movement; the tendon transmission structure includes: a driver, a control tendon, and a joint; the output end of the driver is connected to the control tendon, and a group of drivers pull the joint through the control tendon respectively; the tendon transmission structure also includes a tendon sheath and a tendon sheath fixing element; the tendon sheath fixing element includes a first tendon sheath fixing element and a second tendon sheath fixing element; one end of the tendon sheath is arranged at the first tendon sheath fixing element, and the other end is connected to the second tendon sheath fixing element at the joint; a part of the control tendon passes through the tendon sheath and is slidably arranged in the tendon sheath; the tendon sheath is a flexible bending part; the control tendon slidably arranged in the tendon sheath can flexibly bend with the tendon sheath; tendon transmission can achieve spatial leaps and realize long-distance drive control.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, relates to a tendon transmission structure. Background Art

[0002] In order to give robots more degrees of freedom, multiple joints of the robot need to be driven. For example, the dexterous hand is the part with the most degrees of freedom on the new generation of robots. In order to meet the degrees of freedom of multiple joints in the fingers, palm, and wrist of the dexterous hand, multiple drive components are usually required. At the same time, because the space in the hand is limited, most of the drive components need to be set up in areas outside the hand, such as inside the arm. Therefore, remote drive control is required between the drive components and the joints. How to better realize this function is a technical problem that technicians in this field need to consider. Summary of the Invention

[0003] In order to solve the above problems, the present application provides a tendon transmission structure.

[0004] The technical solution adopted in this application is to provide a tendon transmission structure for driving joint movement; the tendon transmission structure includes: a driver, a control tendon, and a joint; the output end of the driver is connected to the control tendon, wherein a group of drivers respectively pull the joint through the control tendon;

[0005] The tendon transmission structure further comprises a tendon sheath and a tendon sheath fixation element; the tendon sheath fixation element comprises a first tendon sheath fixation element and a second tendon sheath fixation element; one end of the tendon sheath is arranged at the first tendon sheath fixation element, and the other end is connected to the second tendon sheath fixation element at the joint;

[0006] The tendon sheath is a flexible bending member; one or more parts of the control tendon pass through the tendon sheath and are slidably arranged in the tendon sheath.

[0007] In one embodiment, the tendon sheath fixation element includes a tendon sheath fixation seat and a tendon sheath pressure plate; the tendon sheath fixation seat is provided with an installation groove, the tendon sheath (from top to bottom) is installed in the installation groove, the tendon sheath pressure plate is buckled on the tendon sheath, and is connected to the tendon sheath fixation seat.

[0008] In one embodiment, the tendon sheath fixing seat of the tendon sheath fixing element is arranged in one to multiple steps, and a mounting groove is provided at each step; one end of multiple tendon sheaths (from the top to the bottom) is installed in the mounting groove.

[0009] In one embodiment, the tendon sheath fixing seat is arranged in a multi-layer stepped shape; the adjacent step portions on the tendon sheath fixing seat are staggered front and back, and there is a gap between the adjacent step portions; the adjacent step portions include a first step portion located above and a second step portion located below; the gap is used to allow the tendon sheath installed in the mounting groove of the second step portion to pass through.

[0010] In one embodiment, a limiting portion is provided on the tendon sheath fixing seat and / or the tendon sheath pressing plate, and the limiting portion is used to limit the end of the tendon sheath to prevent the end of the tendon sheath from axial movement.

[0011] In one embodiment, an avoidance hole is provided below the first step portion, and the avoidance hole is used to allow the tendon sheath installed in the installation groove of the second step portion to pass through.

[0012] In one embodiment, the tendon transmission structure further includes one or more tendon sheath constraint elements, and the tendon sheath constraint elements are used to constrain the spatial position and / or movement trajectory of the tendon sheath.

[0013] In one embodiment, the tendon sheath restraint element is a rigid tendon sheath restraint element or a bendable flexible tendon sheath restraint element.

[0014] In one embodiment, the tendon sheath restraint element includes at least one of a sleeve, a wire clip, a wire tie, and a tendon sheath guide plate.

[0015] In one embodiment, the tendon sheath restraint element includes one or more guide parts for guiding the tendon sheath, and the tendon sheath can pass through the guide parts and can slide freely in the guide parts.

[0016] In one embodiment, the tendon sheath restraint element has a buffer space, which allows one or more tendon sheaths to curl up to a certain extent therein.

[0017] In one embodiment, the drive comprises a linear drive; or,

[0018] The driver comprises a rotary driver and a winch arranged at the output end of the rotary driver; one end of the control tendon is connected to the winch.

[0019] The beneficial effects of the tendon transmission structure provided by this application are:

[0020] In the present application, the front end of the control tendon connected to the driver is in a straight line shape; the middle part thereof is slidably arranged in the tendon sheath and can bend flexibly with the tendon sheath. Therefore, the tendon transmission can achieve a spatial jump and realize remote drive control. For example, when the driving part is set at the arm position, under the premise of the movement of the wrist joint, the driving force can still be transmitted to the various joints of the dexterous hand to realize remote drive control; this transmission method is not easily affected by the movement of the wrist joint. At the same time, it makes it possible to control the movement of the hand joints from a remote end. In addition, the tendon sheath fixing element is easy to disassemble and assemble, which is conducive to the rapid installation and maintenance of the control tendon and tendon sheath. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0022] Figure 1 An exploded view of a portion of a tendon transmission structure for driving a joint provided in an embodiment of the present application;

[0023] Figure 2 A schematic structural diagram of a tendon transmission structure for driving multiple joints provided in an embodiment of the present application;

[0024] Figure 3 An exploded view of a tendon sheath of a tendon transmission structure provided in an embodiment of the present application installed from top to bottom on a tendon sheath fixation seat;

[0025] Figure 4 A schematic structural diagram of a tendon transmission structure provided by an embodiment of the present application, in which multiple tendon sheaths are installed from top to bottom on a tendon sheath fixing seat;

[0026] Figure 5 for Figure 4 Schematic diagram of the structure of the tendon sheath fixation seat and tendon sheath pressure plate;

[0027] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0028] Figure 7 A schematic structural diagram of a tendon sheath pressure plate of a tendon transmission structure provided in an embodiment of the present application.

[0029] Among them, the reference numerals in the figures are:

[0030] 110 - first drive; 111 - first rotary drive; 112 - first winch; 120 - second drive; 121 - second rotary drive; 122 - second winch;

[0031] 200-control tendon; 300-tendon sheath; 210-first control tendon; 220-second control tendon; 310-first tendon sheath; 320-second tendon sheath;

[0032] 400 - first tendon sheath fixation element; 410 - tendon sheath pressure plate; 420 - tendon sheath fixation seat; 500 - second tendon sheath fixation element;

[0033] 411 - mating portion; 412 - limiting portion; 413 - limiting groove; 414 - avoidance groove; 421 - mounting groove; 422 - first step portion; 423 - second step portion; 424 - gap; 425 - avoidance hole; 600 - bracket; 700 - sleeve; 800 - tendon sheath guide plate. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0035] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may 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 may be directly connected to the other element or indirectly connected to the other element.

[0036] 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 accompanying drawings, and are only for the convenience of describing this 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 cannot be understood as a limitation on this application.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] See also Figures 1 to 6 , a tendon transmission structure provided in this application is now described.

[0039] The embodiment of the present application provides a tendon transmission structure for driving the joint movement of a robot. Figure 1 、 Figure 2 、 Figure 3As shown, the tendon transmission structure includes: a driver, a control tendon 200, and a joint. The output end of the driver is connected to the control tendon 200, wherein the driver pulls the joint through the control tendon 200. The tendon transmission structure also includes a tendon sheath 300 and a tendon sheath fixation element. The tendon sheath fixation element includes a first tendon sheath fixation element 400 and a second tendon sheath fixation element 500. One end of the tendon sheath 300 is disposed at the first tendon sheath fixation element 400, and the other end is connected to the second tendon sheath fixation element 500 at the joint;

[0040] like Figure 1 、 Figure 2 、 Figure 3 As shown, the control tendon 200 includes one or more straight sections between the driver and the first tendon sheath fixation element 400. The tendon sheath 300 of the present application is a flexible bending member. One or more sections of the control tendon 200 pass through the tendon sheath 300 and are slidably arranged in the tendon sheath 300.

[0041] A set of actuators can each pull a joint through a corresponding control tendon 200. The actuators include a first actuator 110 and a second actuator 120. The control tendons 200 include a first control tendon 210 and a second control tendon 220. The output end of the first actuator 110 is connected to the first control tendon 210, and the output end of the second actuator 120 is connected to the second control tendon 220. The first actuator 110 and the second actuator 120 pull the joint in different directions through the first and second control tendons 210, 220, respectively, and together drive the joint to rotate. When the first actuator 110 tightens the first control tendon 210, the second actuator 120 releases the second control tendon 220, causing the joint to move in the first direction. When the second actuator 120 tightens the second control tendon 220, the first actuator 110 releases the first control tendon 210, causing the joint to move in the second direction. During this process, the first and second control tendons 210 and 220 are tightened and released to the same length. The first control tendon 210 and the second control tendon 220 are made of slender objects that cannot be stretched when subjected to force or whose change after stretching is extremely small, such as steel wire, Dyneema wire or carbon wire.

[0042] The tendon sheath 300 includes a first tendon sheath 310 and a second tendon sheath 320. One end of the first tendon sheath 310 is attached to a first tendon sheath fixation element 400, and the other end is connected to a second tendon sheath fixation element 500 at a joint. One end of the second tendon sheath 320 is attached to the first tendon sheath fixation element 400, and the other end is connected to a corresponding second tendon sheath fixation element 500 at another joint.

[0043] After exiting the output of the first actuator 110, the first control tendon 210 forms a substantially straight line between the first actuator 110 and the first tendon sheath fixation element 400. A portion of the first control tendon 210 then passes through the first tendon sheath 310 and is slidably disposed within it. While the figure illustrates only one straight line segment, it is understood that the first control tendon 210 can also comprise multiple straight lines between the first actuator 110 and the first tendon sheath fixation element 400 through the use of guides and / or reversing mechanisms. Examples of these guides and reversing mechanisms include pulleys, smooth guide rails, and the like.

[0044] After exiting the output of the second actuator 120, the second control tendon 220 forms one or more straight segments between the second actuator 120 and the first tendon sheath fixation element 400. A portion of the second control tendon 220 then passes through the second tendon sheath 320 and is slidably disposed within the second tendon sheath 320. The first and second tendon sheaths 310, 320 are flexible and bendable components. They guide and protect the corresponding first and second control tendons 210, 220.

[0045] In the present application, the first control tendon 210 and the second control tendon 220 connected to the first driver 110 and the second driver 120 have a mainly straight front end; the middle portion thereof is slidably disposed in the first tendon sheath 310 and the second tendon sheath 320. The first tendon sheath 310 and the second tendon sheath 320 are flexible bending parts. The first control tendon 210 and the second control tendon 220 can flexibly bend along with the first tendon sheath 310 and the second tendon sheath 320. Therefore, the tendon transmission can achieve spatial jumps and realize remote drive control. For example, when the drive part is set at the arm position, under the premise of the movement of the wrist joint, the driving force can still be transmitted to the various joints of the dexterous hand to realize remote drive control; this transmission method is not easily affected by the movement of the wrist joint. At the same time, it makes it possible to remotely control the movement of the hand joints. The drive part can be set at a farther location, such as inside the torso of the robot, or in the servo cabinet of the robotic arm.

[0046] On a control tendon 200, the tendon sheath 300 can also be multi-segmented, so that the control tendon 200 can be covered by the tendon sheath 300 in multiple parts and flexibly bend with the tendon sheath 300. The remaining parts can be tightened in a straight line, or guided by guide mechanisms and guide devices such as pulleys and slide rails.

[0047] In one embodiment, the tendon transmission structure of the present application can be set in the arm to drive multiple joints of the hand. In order to achieve the degrees of freedom of multiple joints of the hand, a large number of control tendons 200 and tendon sheaths 300 are required. Figure 2The tendon transmission structure shown can drive multiple joints.

[0048] The tendon sheath 300 is placed over the control tendon 200. During installation, the ends of the tendon sheath 300 must be secured to corresponding tendon sheath fixation elements. On the side closest to the driver, one end of each of the tendon sheaths 300 must be attached to the first tendon sheath fixation element 400. On the side closest to the joint, the other ends of each of the tendon sheaths 300 must be attached to the second tendon sheath fixation elements 500 corresponding to the joints.

[0049] In one embodiment of the present application, the tendon sheath fixation element can be a fixing plate with multiple circular holes. During installation, the first tendon sheath 310 and the second tendon sheath 320 are passed through the circular holes in a back-and-forth manner. A baffle is provided on one side of the circular hole of the fixing plate to limit the position of the first tendon sheath 310 and the second tendon sheath 320. However, this method is inefficient in actual assembly because multiple tendon sheaths 300 need to be passed through the circular holes separately.

[0050] In another preferred embodiment of the present application, Figure 3 As shown, the tendon sheath fixation element includes a tendon sheath fixation seat 420 and a tendon sheath pressure plate 410. The tendon sheath fixation seat 420 is provided with a mounting groove 421, and one end of the tendon sheath can be installed in the mounting groove 421 from top to bottom; after the tendon sheath is installed in place, the tendon sheath pressure plate 410 is pressed against the tendon sheath and connected to the tendon sheath fixation seat 420.

[0051] There are many ways to connect the tendon sheath pressure plate 410 and the tendon sheath fixing seat 420. For example, the tendon sheath pressure plate 410 and the tendon sheath fixing seat 420 can be fixedly connected by screws; or, the tendon sheath pressure plate 410 and the tendon sheath fixing seat 420 can be connected by buckles.

[0052] The tendon sheath fixing seat 420 of the tendon sheath fixing element can be arranged in one or more steps, and a mounting groove 421 is provided at the step; one end of the tendon sheath is installed in the mounting groove 421.

[0053] As a preferred solution, Figure 4 As shown, the tendon sheath fixation seat 420 is arranged in a multi-layered stepped manner, and a mounting groove 421 is provided at each step. Multiple tendon sheaths 300 can be installed from top to bottom in the mounting groove 421. Multiple tendon sheaths 300 are distributed in the multi-layered steps of the tendon sheath fixation seat 420 in an up-down and front-to-back spatial distribution.

[0054] In a specific embodiment, Figure 5 、 Figure 6As shown, the adjacent steps on the tendon sheath fixation seat 420 are staggered front to back, with a gap 424 between them. This gap 424 allows the other end of the tendon sheath 300 to pass through. The adjacent steps, for example, include a first step 422 located at the top and a second step 423 located at the bottom. The first step 422 and the second step 423 are staggered front to back, with a gap 424 between them. This gap 424 allows the tendon sheath 300, which is mounted in the mounting slot 421 of the second step 423, to pass through.

[0055] The first step portion 422 and the second step portion 423 may be connected by a connecting portion. The connecting portion may be provided at the ends of the first step portion 422 and the second step portion 423; or the connecting portion may be provided in the middle of the first step portion 422 and the second step portion 423.

[0056] Since in actual applications, one end of more tendon sheaths 300 needs to be installed on the first tendon sheath fixing element 400, this up and down installation method is more convenient and more efficient. In the present application, the setting of the tendon sheath fixing element can enable the transmission parts, including the control tendon 200 and the tendon sheath 300, to be quickly disassembled and maintained. Furthermore, multiple tendon sheaths 300 are distributed in the upper and lower, front and back spaces on the multi-layer steps of the tendon sheath fixing seat 420, and a large number of tendon sheaths 300 can be arranged in the limited space of the tendon sheath fixing seat 420. The adjacent step portions on the tendon sheath fixing seat 420 are staggered front and back, and there is a gap 424 between them. The tendon sheath 300 set in the mounting groove 421 of the lower step portion can easily pass through the gap 424.

[0057] A limiting portion 412 is provided on the tendon sheath fixing seat 420 and / or the tendon sheath pressing plate 410 , and the limiting portion 412 is used to limit the end of the tendon sheath 300 to prevent the tendon sheath 300 from moving axially.

[0058] Specifically, a positioning groove may be provided at the mounting groove 421 of the tendon sheath fixing seat 420 .

[0059] Or, as Figure 7 As shown, a limiting portion 412 can be provided on the tendon sheath pressure plate 410. The tendon sheath pressure plate 410 can be an L-shaped plate and includes a mating portion 411 and a limiting portion 412. The mating portion 411 of the tendon sheath pressure plate 410 presses against the tendon sheath. The mating portion 411 has a limiting groove 413 near the limiting portion 412. The positioning end of the tendon sheath is retained in the limiting groove 413 to prevent the tendon sheath from moving axially.

[0060] The limiting portion 412 is provided with an avoidance groove 414 for the tendon sheath to pass through.

[0061] like Figure 5 、 Figure 6As shown, an escape hole 425 is provided below the first step 422 along the direction of the mounting groove 421 of the second step 423. The escape hole 425 is used to allow the tendon sheath 300 installed in the mounting groove 421 of the second step 423 located below to pass through. When one end of the tendon sheath is located at the mounting groove 421 of the second step 423, the tendon sheath 300 can pass through the escape hole 425.

[0062] like Figure 1 、 Figure 3 、 Figure 4 As shown, when the tendon sheath is positioned within the mounting slot 421 of the tenosynovium fixation seat 420, the straight portion of the control tendon 200 between the driver output end and the first tenosynovium fixation element 400 is aligned with the tendon sheath 300 at the mounting slot 421. As the control tendon 200 passes through the tendon sheath 300 at the tenosynovium fixation seat 420, it is not subject to lateral forces from the tenosynovium fixation seat 420, is less susceptible to damage, and exhibits improved reliability.

[0063] The tendon transmission structure also includes a tendon sheath constraint element, which is used to constrain the three-dimensional spatial position and movement trajectory of the tendon sheath 300 coming out of the first tendon sheath fixing element 400 so that the tendon sheath 300 does not interfere with other components.

[0064] The tendon sheath restraint element can be distributed at any position in the middle of the tendon sheath, and there can be one or more tendon sheath restraint elements. The tendon sheath restraint element can be a rigid tendon sheath restraint element or a bendable flexible tendon sheath restraint element.

[0065] For rigid tendon sheath constraint elements, the main function is to constrain the tendon sheath to a certain three-dimensional spatial position; while flexible tendon sheath constraint elements can also constrain the movement of the tendon sheath, so that the tendon sheath follows an appropriate movement trajectory when the joint moves.

[0066] At a location proximal to the driver, the tendon sheath restraint element may include at least one of a sleeve 700, a wire clip, a wire tie, and a tendon sheath guide plate.

[0067] In one embodiment, a sleeve 700 is sleeved on one or several adjacent tendon sheaths 300. The sleeve 700 is located at the tenosynovium fixation seat 420 or on one side of the tenosynovium fixation seat 420. Figure 4 The sleeve 700 shown can be sleeved on the tendon sheath 300. The sleeve 700 has a certain length and can effectively constrain the position of the tendon sheath 300 in three-dimensional space so that the tendon sheath 300 does not interfere with other components.

[0068] In one embodiment, one or several adjacent tendon sheaths 300 are provided with a wire buckle or wire tie, which can be fixed in a spatial position, and the position of the tendon sheath 300 in three-dimensional space is constrained by the wire buckle or wire tie.

[0069] In one embodiment, a tendon sheath guide plate 800 may be provided, and the tendon sheath guide plate 800 may be provided below one or more tendon sheaths 300. As shown in Figure 4, the tendon sheath guide plate 800 may be provided below a plurality of sleeves 700 to prevent the tendon sheath 300 or the sleeve 700 from interfering with the control tendon 200 and / or the capstan below. The tendon sheath guide plate 800 may be provided on one side of the tendon sheath fixing seat 420. It is used to prevent the tendon sheath 300 from interfering with other parts. A constraint groove may be provided on the tendon sheath guide plate 800 to constrain the tendon sheath. The sleeve 700 may be provided as a bendable flexible element. The tendon sheath guide plate may include an arc-shaped plate and at least two constraint walls connected to the arc-shaped plate, and the two adjacent constraint walls are provided in a V-shape to form a constraint groove with the arc-shaped plate.

[0070] At a position close to the robot's execution end, such as a dexterous hand, the tendon sheath constraint element may further include one or more guide portions for guiding the tendon sheath 300. The dexterous hand has multiple knuckles, joints, metacarpophalangeal joints, and metacarpophalangeal joints, one or more joint cascades. The guide portion is constructed to guide one or more tendon sheaths. The tendon sheath 300 can pass through the guide portion and can slide freely in the guide portion. The guide portion may be formed by a groove, a hole, or other structures.

[0071] The tendon sheath restraint element may have a buffer space that allows one or more tendon sheaths 300 to curl up to a certain extent therein.

[0072] The tendon transmission structure includes a bracket 600 , on which the first driver 110 , the second driver 120 , and the tendon sheath fixing seat 420 are mounted.

[0073] In one embodiment, the first actuator 110 and the second actuator 120 are linear actuators, such as linear motors, pneumatic components, hydraulic components, etc., and the output ends of the linear actuators are directly connected to the first control tendon 210 and the second control tendon 220. In one embodiment, the first actuator 110 and the second actuator 120 can also be artificial muscles, and the implementation method is similar to the embodiment of the linear actuator.

[0074] In one embodiment, the driver comprises a rotary driver. The first driver 110 comprises a first rotary driver 111 and a first capstan 112 disposed at an output end of the first rotary driver 111 .

[0075] One end of the first control tendon 210 is connected to the first capstan 112. The second driver 120 includes a second rotary driver 121 and a second capstan 122 provided at an output end of the second rotary driver 121. One end of the second control tendon 220 is connected to the second capstan 122.

[0076] It is understood that the tendon drive structure of the present application can be used not only in dexterous robotic hands, but also in multi-degree-of-freedom parts of a robot, such as a bionic robotic foot with multiple degrees of freedom. Alternatively, it can be used to drive the joints of other types of multi-jointed machines, such as robotic animals or insects with multiple joints, and can even be used in generalized kinematic pairs in equipment.

[0077] The beneficial effects of the tendon transmission structure provided by this application are:

[0078] In the present application, the control tendon connected to the driver has a straight front end; the middle part thereof is slidably disposed in the tendon sheath and can bend flexibly with the tendon sheath. Therefore, the tendon transmission can achieve a spatial jump and realize remote drive control. For example, when the driving part is set at the arm position, under the premise of the movement of the wrist joint, the driving force can still be transmitted to the various joints of the dexterous hand to realize remote drive control; this transmission method is not easily affected by the movement of the wrist joint. At the same time, it makes it possible to control the movement of the hand joints from a remote end. In addition, the tendon sheath fixing element is easy to disassemble and assemble, making the disassembly and maintenance of the tendon and tendon sheath more convenient; and the tendon sheath constraint element can make the tendon transmission more reliable.

[0079] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A tendon transmission structure for driving joint movement; characterized in that: The tendon transmission structure includes: a driver, a control tendon, and a joint; the output end of the driver is connected to the control tendon, wherein a group of drivers respectively pulls the joint through the control tendon; The tendon transmission structure further comprises a tendon sheath and a tendon sheath fixation element; the tendon sheath fixation element comprises a first tendon sheath fixation element and a second tendon sheath fixation element; one end of the tendon sheath is arranged at the first tendon sheath fixation element, and the other end is connected to the second tendon sheath fixation element at the joint; The tendon sheath is a flexible bending member; one or more parts of the control tendon pass through the tendon sheath and are slidably arranged in the tendon sheath; The tendon sheath fixation element includes a tendon sheath fixation seat, which is arranged in a multi-layer step shape, and a mounting groove is provided on the step; one end of each tendon sheath is mounted on the mounting groove; Adjacent step portions on the tendon sheath fixing seat are staggered front to back, and there is a gap between the adjacent step portions; the gap is used for the tendon sheath to pass through.

2. A tendon transmission structure according to claim 1, characterized in that: The tendon sheath fixing element includes a tendon sheath pressing plate; the tendon sheath pressing plate is buckled on the tendon sheath and connected to the tendon sheath fixing seat.

3. A tendon transmission structure according to claim 1, characterized in that: The adjacent step portions include a first step portion located at the top and a second step portion located at the bottom; the gap is used to allow the tendon sheath installed in the installation groove of the second step portion to pass through.

4. A tendon transmission structure according to claim 2, characterized in that: The tendon sheath fixing seat and / or the tendon sheath pressing plate are provided with a limiting portion, and the limiting portion is used to limit the end of the tendon sheath to prevent the end of the tendon sheath from axial movement.

5. A tendon transmission structure according to claim 3, characterized in that: An escape hole is provided below the first step portion, and the escape hole is used for allowing the tendon sheath to pass through.

6. A tendon transmission structure according to claim 2, characterized in that: The tendon transmission structure further includes one or more tendon sheath constraint elements, and the tendon sheath constraint elements are used to constrain the spatial position and / or movement trajectory of the tendon sheath.

7. A tendon transmission structure according to claim 6, characterized in that: The tendon sheath restraint element is a rigid tendon sheath restraint element or a bendable flexible tendon sheath restraint element.

8. A tendon transmission structure according to claim 6, characterized in that: The tendon sheath restraint element includes at least one of a sleeve, a wire buckle, a wire tie, and a tendon sheath guide plate.

9. The tendon transmission structure according to claim 6, wherein: The tendon sheath restraint element includes one or more guide parts for guiding the tendon sheath, and the tendon sheath can pass through the guide parts and can slide freely in the guide parts.

10. A tendon transmission structure according to claim 6, characterized in that: The tendon sheath restraint element has a buffer space, which allows one or more tendon sheaths to curl up to a certain extent inside the buffer space.

Images