Bionic joint with locking mode and one-dimensional spherical rotating motion mode

Abstract

The invention discloses a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode, which comprises a base, and a first motion branch chain, a second motion branch chain and a third motion branch chain are connected to the base; the robot further comprises a fourth movement branch chain, and the first movement branch chain, the second movement branch chain and the third movement branch chain are all connected with the fourth movement branch chain. According to the bionic joint, the movement modes of the bionic joint can be changed through the driving motor, the output component is in the locked state, locking driving is not needed, and the output component can be kept in the locked state.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode. Background Art

[0002] When an animal is stationary or uses the ground contact point as a base and interacts with the external environment, it needs to lock its joints. Traditional robot joint locking is achieved by locking the motor. When interacting with the outside world, when the environmental force is suddenly loaded and the load is large, it is easy to cause damage to the locked drive motor. To resist the large force load of the environment, a high-power and large-volume motor is required, which increases the weight of the joint and reduces the flexibility of the bionic robot. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode. In a non-driven locking state, it can resist external impacts through structural strength, and to a certain extent solve the damage to the motor after being impacted when the posture is maintained by the driving motor.

[0004] The technical solution adopted by the present invention is a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode, comprising a base, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotation pair R11, a second connecting rod, a twelfth rotation pair R12, a third connecting rod assembly, a thirteenth rotation pair R13, a fourth connecting rod and a fourteenth rotation pair R14 connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base; The third connecting rod assembly is connected to the fourth kinematic branch chain; The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0005] The present invention is also characterized in that: The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0006] The third connecting rod assembly is an I-shaped connecting rod assembly, and the third connecting rod assembly includes a first arc-shaped cross rod, a first vertical rod and a second arc-shaped cross rod, wherein the first end of the first vertical rod is connected to the rod body of the first arc-shaped cross rod, and the second end of the first vertical rod is connected to the rod body of the second arc-shaped cross rod; The first end of the first arc-shaped crossbar is connected to the twelfth rotation pair R12, and the second end of the first arc-shaped crossbar is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc-shaped crossbar are both connected to the fourth kinematic branch chain.

[0007] The fourth kinematic branch chain includes a twenty-second rotation pair R22, a fifth connecting rod, a twenty-first rotation pair R21, a seventh connecting rod assembly, a twenty-fourth rotation pair R24, a sixth connecting rod and a twenty-third rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly.

[0008] The seventh connecting rod assembly is an I-shaped connecting rod assembly, and the seventh connecting rod assembly includes a third arc-shaped cross rod, a second vertical rod and a fourth arc-shaped cross rod, the first end of the second vertical rod is connected to the rod body of the third arc-shaped cross rod, and the second end of the second vertical rod is connected to the rod body of the fourth arc-shaped cross rod; The first end of the third arc cross bar is connected to the twenty-first rotation pair R21, and the second end of the third arc cross bar is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc cross bar is connected to the second motion branch, and the second end of the fourth arc cross bar is connected to the third motion branch.

[0009] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar; The thirty-second rotation pair R32 is connected to the base.

[0010] The third kinematic branch chain includes a thirty-fourth rotation pair R34, a ninth connecting rod and a thirty-third rotation pair R33 connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar; The thirty-third rotation pair R33 is connected to the base.

[0011] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0012] The beneficial effects of the present invention are: (1) The bionic joint of the present invention has locking and one-dimensional spherical rotation motion modes, and the transformation of the bionic joint motion mode can be achieved by driving a motor.

[0013] (2) When the bionic joint of the present invention is in the locking mode, the output member is in a locked state, and the output member can remain in the locked state without the need for locking drive.

[0014] (3) When the bionic joint of the present invention is in the locking mode and is subjected to external forces, it can resist the external forces through the strength of its own components without the need for driving.

[0015] (4) The bionic joint of the present invention has a large space in the middle. The bionic joint has a compact structure and is hollow inside. It is suitable as the main structure of the bionic joint and can be used as an exoskeleton of bionic muscles. The hollow part of the bionic joint can be used to arrange bionic muscles. The bionic joint of the present invention can use the strength of the mechanical structure itself to resist the force of the external environment. It has important application prospects for reducing the energy consumption of bionic robots and improving the bionic robots' ability to withstand the force of the external environment in a specific position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the bionic joint of the present invention in the transformation of motion mode; Figure 2 A schematic diagram of the mechanism configuration of the bionic joint of the present invention in a locking mode; Figure 3 It is a schematic diagram of the bionic joint of the present invention in a one-dimensional spherical rotation motion mode.

[0017] 1. base, 2. second connecting rod, 3. third connecting rod assembly, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod, 7. seventh connecting rod assembly, 8. eighth connecting rod, 9. ninth connecting rod; 3-1. The first arc-shaped crossbar, 3-2. The first vertical bar, 3-3. The second arc-shaped crossbar; 7-1. The third curved horizontal bar, 7-2. The second vertical bar, 7-3. The fourth curved bar. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The present invention provides a bionic joint with a locking mode and a one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0020] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain.

[0021] The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0022] Selection of structural parameters: Angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11, must meet the following conditions: .

[0023] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0024] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0025] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0026] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod 8 and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar 7-3; The thirty-second rotation pair R32 is connected to the base 1 .

[0027] The third kinematic branch chain includes a thirty-fourth rotation pair R34, a ninth connecting rod 9 and a thirty-third rotation pair R33 connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar 7-3; The thirty-third rotation pair R33 is connected to the base 1 .

[0028] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0029] like Figure 1 As shown, the second connecting rod 2 is rotationally connected to the base 1 through the eleventh rotation pair R11. The first arc-shaped cross bar 3-1 is rotationally connected to the second connecting rod 2 through the twelfth rotation pair R12. The fourth connecting rod 4 is rotationally connected to the first arc-shaped cross bar 3-1 through the thirteenth rotation pair R13. The fourth connecting rod 4 is rotationally connected to the base 1 through the fourteenth rotation pair R14.

[0030] The first end of the second arc-shaped cross bar 3-3 is rotationally connected to the fifth connecting rod 5 through the twenty-second rotation pair R22. The fifth connecting rod 5 is rotationally connected to the first end of the third arc-shaped cross bar 7-1 through the twenty-first rotation pair R21, the second end of the third arc-shaped cross bar 7-1 is rotationally connected to one end of the sixth connecting rod 6 through the twenty-fourth rotation pair R24, and the other end of the sixth connecting rod 6 is rotationally connected to the second end of the second arc-shaped cross bar 3-3 through the twenty-third rotation pair R23.

[0031] The first end of the fourth arc rod 7-3 is rotationally connected to one end of the eighth connecting rod 8 through the thirty-first rotation pair R31, and the other end of the eighth connecting rod 8 is connected to the base 1 through the thirty-second rotation pair R32. The base 1 is rotationally connected to the ninth connecting rod 9 through the thirty-third rotation pair R33, and the ninth connecting rod 9 is rotationally connected to the second end of the fourth arc rod 7-3 through the thirty-fourth rotation pair R34.

[0032] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotation pair R11, the twenty-first rotation pair R21, and the thirty-first rotation pair R31 are collinear.

[0033] Figure 1 In the shown mechanism configuration, the axes of the twelfth rotation pair R12, the twenty-second rotation pair R22, and the thirty-second rotation pair R32 are collinear.

[0034] Figure 1 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13, the twenty-third rotation pair R23, and the thirty-third rotation pair R33 are collinear.

[0035] Figure 1 In the shown mechanism configuration, the axes of the fourteenth rotation pair R14, the twenty-fourth rotation pair R24, and the thirty-fourth rotation pair R34 are collinear.

[0036] Figure 2 In the shown mechanism configuration, the axes of the eleventh rotation pair R11, the twenty-first rotation pair R21, and the thirty-first rotation pair R31 are collinear.

[0037] Figure 2 In the shown mechanism configuration, the axes of the twelfth rotation pair R12 and the twenty-second rotation pair R22 are collinear, and the axes are not collinear with the axis of the thirty-second rotation pair R32.

[0038] Figure 2 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13 and the twenty-third rotation pair R23 are collinear, and the axes are not collinear with the axis of the thirty-third rotation pair R33.

[0039] Figure 2 In the shown mechanism configuration, the axes of the fourteenth rotation pair R14, the twenty-fourth rotation pair R24, and the thirty-fourth rotation pair R34 are collinear.

[0040] Figure 3 In the shown mechanism configuration, the axes of the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are collinear, and the axes are not collinear with the eleventh rotation pair R11.

[0041] Figure 3 In the shown mechanism configuration, the axes of the twelfth rotational pair R12, the twenty-second rotational pair R22, and the thirty-second rotational pair R32 are collinear.

[0042] Figure 3 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13, the twenty-third rotation pair R23, and the thirty-third rotation pair R33 are collinear.

[0043] Figure 3 In the shown mechanism configuration, the axes of the twenty-fourth rotation pair R24 ​​and the thirty-fourth rotation pair R34 are collinear, and the axes are not collinear with the axis of the fourteenth rotation pair R14.

[0044] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0045] Driving the auxiliary rotating motor connected to the eleventh rotating pair R11 and locking the driving rotating motor connected to the thirty-second rotating pair R32 can make the mechanism move to Figure 2 The configuration of the mechanism shown, Figure 2 In the shown mechanism configuration, the seventh connecting rod assembly 7 is in a locked mode. In this mode, it is not necessary to lock the auxiliary rotating motor connected to the eleventh rotating pair R11, and it is not necessary to lock the driving rotating motor connected to the thirty-second rotating pair R32. The seventh connecting rod assembly 7 is in a locked state.

[0046] Lock the auxiliary rotating motor connected to the eleventh rotating pair R11, and drive the driving rotating motor connected to the thirty-second rotating pair R32, so that the mechanism can move to Figure 3 The configuration of the mechanism shown, Figure 3 In the shown mechanism configuration, the seventh connecting rod assembly 7 is in a one-dimensional spherical rotation mode. In this mode, the driving motor connected to the thirty-second rotation pair R32 is driven to make the seventh connecting rod assembly 7 perform a one-dimensional spherical rotation motion mode.

[0047] The bionic joint of the present invention has locking and one-dimensional spherical rotation movement modes, and the transformation of the bionic joint movement mode can be achieved by driving the motor; the output component is in a locked state, and there is no need to lock the drive, and the output component can remain in a locked state; when subjected to external forces, the external forces can be resisted by the strength of its own components without driving. In the non-driven locked state, the structural strength can be used to resist external impacts, which to a certain extent solves the damage to the motor after being impacted when the posture is maintained by the driving motor. The invention has a compact structure and a hollow interior, and is suitable as the main structure of a bionic joint.

[0048] Figure 1 In the spherical 4R mechanism loop composed of the eleventh revolving pair R11, the second connecting rod 2, the twelfth revolving pair R12, the third connecting rod assembly 3, the thirteenth revolving pair R13, the fourth connecting rod 4, and the fourteenth revolving pair R14, the structural parameters are reasonably selected so that it has no constrained singular configuration.

[0049] Example 1 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0050] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0051] Example 2 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0052] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0053] The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0054] Example 3 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0055] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain.

[0056] The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0057] The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0058] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0059] Example 4 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0060] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain.

[0061] The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0062] The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0063] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0064] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0065] Example 5 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0066] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain.

[0067] The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0068] The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0069] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0070] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0071] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0072] Example 6 Bionic joints with locking mode and one-dimensional spherical rotation motion mode, such as Figure 1 As shown, it includes a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; it also includes a fourth motion branch chain, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected.

[0073] The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain.

[0074] The axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 intersect at one point. The selection of structural parameters makes the structure have no motion bifurcation configuration.

[0075] The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: .

[0076] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0077] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0078] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0079] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod 8 and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar 7-3; The thirty-second rotation pair R32 is connected to the base 1 .

Claims

1. A bionic joint with a locking mode and a one-dimensional spherical rotation motion mode, characterized in that: The invention comprises a base (1), to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth rotational pair R12, a third connecting rod assembly (3), a thirteenth rotational pair R13, a fourth connecting rod (4) and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base (1); The third connecting rod assembly (3) is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 intersect at one point.

2. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 1, characterized in that: The angle ɑ12 between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12, the angle ɑ23 between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13, the angle ɑ34 between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14, and the angle ɑ41 between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11 must meet the following conditions: 。 3. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 2, characterized in that: The third connecting rod assembly (3) is an I-shaped connecting rod assembly, comprising a first arc-shaped cross rod (3-1), a first vertical rod (3-2) and a second arc-shaped cross rod (3-3), wherein the first end of the first vertical rod (3-2) is connected to the rod body of the first arc-shaped cross rod (3-1), and the second end of the first vertical rod (3-2) is connected to the rod body of the second arc-shaped cross rod (3-3); The first end of the first arc-shaped cross bar (3-1) is connected to the twelfth rotation pair R12, and the second end of the first arc-shaped cross bar (3-1) is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc-shaped cross bar (3-3) are both connected to the fourth kinematic branch chain.

4. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 3, characterized in that: The fourth kinematic branch chain comprises a twenty-second rotational pair R22, a fifth connecting rod (5), a twenty-first rotational pair R21, a seventh connecting rod assembly (7), a twenty-fourth rotational pair R24, a sixth connecting rod (6) and a twenty-third rotational pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar (3-3), and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar (3-3); The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly (7).

5. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 4, characterized in that: The seventh connecting rod assembly (7) is an I-shaped connecting rod assembly, comprising a third arc-shaped cross rod (7-1), a second vertical rod (7-2) and a fourth arc-shaped cross rod (7-3), wherein the first end of the second vertical rod (7-2) is connected to the rod body of the third arc-shaped cross rod (7-1), and the second end of the second vertical rod (7-2) is connected to the rod body of the fourth arc-shaped cross rod (7-3); The first end of the third arc-shaped cross bar (7-1) is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar (7-1) is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar (7-3) is connected to the second motion branch chain, and the second end of the fourth arc-shaped cross bar (7-3) is connected to the third motion branch chain.

6. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 7, characterized in that: The second kinematic branch chain comprises a thirty-first rotation pair R31, an eighth connecting rod (8) and a thirty-second rotation pair R32 which are connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar (7-3); The thirty-second rotation pair R32 is connected to the base (1).

7. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 6, characterized in that: The third kinematic branch chain comprises a thirty-fourth rotation pair R34, a ninth connecting rod (9) and a thirty-third rotation pair R33 which are connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar (7-3); The thirty-third rotation pair R33 is connected to the base (1).

8. The bionic joint with locking mode and one-dimensional spherical rotation motion mode according to claim 7, characterized in that: The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

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