Bionic ball-and-socket joint with large movement range

Abstract

A bionic ball-and-socket joint with a large motion range belongs to the technical field of robots and comprises a ball socket, one side of the ball socket is movably connected with a spherical connecting block, one side, close to the ball socket, of the spherical connecting block is rotatably connected with a semi-arc connecting frame, and one side, close to the ball socket, of the semi-arc connecting frame is provided with a third motor. Through cooperation of a semi-arc connecting frame, a fourth motor, a second lead screw, a second gear and other structures, the effect of assisting in avoiding loosening when the joint of the ball socket and the joint rotates can be conveniently achieved, the fourth motor rotates to drive the second lead screw to rotate, the second lead screw rotates to drive an engaged second gear, and the second gear rotates to drive the ball socket and the joint to rotate. And the second gear can drive the semi-arc connecting frame while rotating, so that the ball socket and the spherical connecting block can be matched and controlled to greatly rotate when rotating, and the effect of assisting in matching the ball socket and the spherical connecting block to rotate in a large movement range is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a bionic ball and socket joint with a large motion range. Background Art

[0002] In the field of robotics, the requirements for the range of motion and flexibility of joints are becoming increasingly higher. Traditional robot joints often have a limited range of motion and are difficult to adapt to complex working environments and task requirements. Bionic ball-and-socket joints with a large range of motion can provide robots with movement capabilities that are closer to those of humans or animals, enabling them to perform more flexible operations in environments such as narrow spaces and complex terrains.

[0003] When the existing large-motion-range ball-and-socket joint is rotated greatly, the large rotation range may cause the ball and socket and the connection to become slightly loose, resulting in inflexibility and instability during rotation, so it needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of looseness caused by excessive rotation of the ball and socket and the connection proposed in the above background technology, and to provide a bionic ball and socket joint with a large range of motion.

[0005] A bionic ball-and-socket joint with a large range of motion comprises a ball-and-socket, one side of the ball-and-socket is movably connected with a spherical connection block, the side of the spherical connection block close to the ball-and-socket is rotatably connected with a semi-arc connection frame, a side of the semi-arc connection frame close to the ball-and-socket is provided with a third motor, an output shaft end of the third motor is rotatably connected with a first screw rod, a side of the third motor is provided with a fourth motor, an output shaft end of the fourth motor is rotatably connected with a second screw rod, one side of the second screw rod is meshed with a second gear, a side of the second screw rod away from the second gear is meshed with a connection gear, a side of the connection gear close to the ball-and-socket is fixedly connected with a third gear, a side of the third gear away from the second screw rod is rotatably connected with a semi-arc gear plate, and a side of the semi-arc gear plate away from the third gear is meshed with a meshing gear plate; A connecting piece is fixedly connected to one side of the meshing tooth plate close to the spherical connecting block. The connecting piece is composed of a universal joint and a spring. The number of the connecting pieces is set to four. The side of the connecting piece away from the meshing tooth plate is fixedly connected to the spherical connecting block. The third motor is movably connected to a chassis on one side away from the first screw rod, and the chassis is fixedly connected to a connecting seat on one side away from the third motor. The interior of the connecting seat is fixedly connected to a connecting frame, and a fifth motor is arranged on one side of the connecting frame. The output shaft end of the fifth motor is rotatably connected to a threaded rod, and a stop block is threadedly connected to the surface of the threaded rod, and a clamping block is clamped on one side of the stop block.

[0006] Preferably, a side of the spherical connecting block away from the ball socket is slidably connected to a connecting rod, and a side of the spherical connecting block close to the connecting rod is provided with a transverse sliding groove.

[0007] Preferably, a first motor is arranged on one side of the transverse slide groove, a vertical slide groove is arranged on one side of the spherical connecting block close to the connecting rod, and a second motor is arranged on one side of the vertical slide groove.

[0008] Preferably, a first gear is meshed on one side of the first screw rod, a first bevel gear is fixedly connected to a side of the first gear away from the first screw rod, and a second bevel gear is meshed on one side of the first bevel gear.

[0009] Preferably, a sliding plate is fixedly connected to a side of the meshing tooth plate away from the semi-arc tooth plate, and a matching sliding groove is provided on a side of the ball socket close to the sliding plate.

[0010] Preferably, the side of the block away from the stop block is fixedly connected to a connecting chassis, the side of the connecting seat close to the inside of the block is fixedly connected to an elastic member, and the side of the elastic member away from the connecting seat is fixedly connected to a special-shaped block.

[0011] Preferably, the shapes of the abutting block and the clamping block are matched, and the shapes of the special-shaped block and the clamping block are matched.

[0012] Preferably, a matching sliding notch is provided on one side of the spherical connecting block close to the transverse sliding groove and the vertical sliding groove, and the shape of the connecting rod fits the sliding notch provided on the spherical connecting block.

[0013] Preferably, one side of the second bevel gear is movably connected to a semi-arc connecting frame, and the semi-arc connecting frame is movably connected inside the ball socket.

[0014] Preferably, the side of the connecting chassis away from the connecting seat is fixedly connected to the inside of the ball socket, and the inside of the ball socket is a spherical cavity, and the shape of the spherical cavity is suitable for the spherical connecting block.

[0015] Working principle and working process of the present invention: Firstly, by setting the connecting seat and the connecting chassis, the spherical connecting block and the ball socket can be connected quickly and effectively. During the connection process, the card block cooperates with the special-shaped block, the elastic member and the abutment block to be connected, so as to ensure the stability of the connection. Then, the connecting rod drives the spherical connecting block to rotate in a large range of motion through the horizontal slide groove and the vertical slide groove. While the spherical connecting block rotates, the third motor and the fourth motor are started to drive the first screw rod and the second screw rod to operate. Therefore, the first gear and the second gear meshing with the first screw rod and the second screw rod can drive the overall semi-arc connecting frame, so that it can operate synchronously according to the motion trajectory of the spherical connecting block. When the arc connecting frame is operating, the connecting gear meshing with the second screw rod will drive the third gear and the semi-arc tooth plate to rotate. When the semi-arc tooth plate rotates, the meshing tooth plate meshing with it can move synchronously through the setting of the sliding plate. The connecting piece on one side of the meshing tooth plate is composed of a universal joint and a spring. When the spherical connecting block rotates within a large range of motion, the spring can play a buffering and resetting effect to avoid the occurrence of adverse conditions such as folding due to excessive rotation between the spherical connecting block and the ball socket. This design fully considers the synergy between the various components, so that the entire bionic ball and socket joint can achieve a large range of motion while ensuring the stability and safety of the movement.

[0016] Beneficial effects of the present invention: The present invention cooperates with structures such as a semi-arc connecting frame, a fourth motor, a second screw rod, and a second gear setting, thereby facilitating the function of assisting in preventing loosening when the ball socket and the joint connection are rotated. The rotation of the fourth motor drives the second screw rod to rotate, and the rotation of the second screw rod drives the meshing second gear, so that the rotation of the second gear can drive the semi-arc connecting frame at the same time, so that when the ball socket and the spherical connecting block are rotated, they can be coordinated and controlled to rotate in a large range, thereby achieving the effect of assisting the coordination of the ball socket and the spherical connecting block to rotate in a large range of motion.

[0017] The present invention facilitates the effective control of the rotation range of the ball socket and the spherical connecting block through the coordination of structures such as the connecting gear, the semi-arc tooth plate, the meshing tooth plate, and the connecting piece setting. The second screw is driven by the fourth motor so that the connecting gear meshed with the second screw can rotate synchronously. The rotation of the connecting gear can drive the semi-arc tooth plate on one side, so that the rotation of the semi-arc tooth plate drives the meshing tooth plate, and the meshing tooth plate drives the sliding plate in the ball socket through the rotation of the spherical connecting block, so that the connecting piece can synchronously drive the rotation of the spherical connecting block. The connecting piece can adjust and control the spherical connecting block at multiple angles through the setting of the universal joint and the spring, thereby achieving the effect of controlling the rotation range of the ball socket and the spherical connecting block and avoiding the irreversible folding caused by the rotation of the connection between the two.

[0018] The present invention facilitates a better connection effect between the spherical connecting block and the ball socket by cooperating with the fifth motor, the resist block, the clamping block and other structures. The clamping block is inserted into the connecting seat so that the clamping block can fit with the resist block. After fitting, the fifth motor can drive the threaded rod to rotate. The threaded rod rotates and the resist block threadedly connected thereto moves, thereby clamping the clamping block more firmly, so that a more stable connection between the spherical connecting block and the ball socket can be achieved through a quick connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the spherical connecting block structure of the present invention; Figure 3 This is an exploded view of the spherical connection block of the present invention; Figure 4 This is an exploded view of the semi-arc connecting frame of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 It is a schematic diagram of the front cross-section structure of the present invention; Figure 7 for Figure 6 Enlarged view of point B in the middle; Figure 8 for Figure 7 Enlarged view of point C in the middle; Fig. 9 This is an exploded view of the connection seat of the present invention.

[0020] In the figure: 1, ball socket; 2, spherical connecting block; 3, connecting rod; 4, horizontal slide; 5, vertical slide; 6, first motor; 7, second motor; 8, semi-arc connecting frame; 9, third motor; 10, first screw rod; 11, first gear; 12, first bevel gear; 13, fourth motor; 14, second screw rod; 15, second gear; 16, second bevel gear; 17, connecting gear; 18, third gear; 19, semi-arc gear plate; 20, meshing gear plate; 21, sliding plate; 22, connecting piece; 220, universal joint; 221, spring; 23, connecting seat; 24, connecting frame; 25, fifth motor; 26, threaded rod; 27, block; 28, connecting chassis; 29, block; 30, elastic member; 31, special-shaped block; 32, chassis. DETAILED DESCRIPTION

[0021] See also Figures 1 to 9 , which is an embodiment of the present invention.

[0022] like Figures 1 to 9As shown, the present invention provides a bionic ball-and-socket joint with a large range of motion, comprising a ball socket 1, a spherical connecting block 2 is movably connected to one side of the ball socket 1, a semi-arc connecting frame 8 is rotatably connected to the side of the spherical connecting block 2 close to the ball socket 1, a third motor 9 is arranged on the side of the semi-arc connecting frame 8 close to the ball socket 1, a first screw rod 10 is rotatably connected to the output shaft end of the third motor 9, a fourth motor 13 is arranged on one side of the third motor 9, a second screw rod 14 is rotatably connected to the output shaft end of the fourth motor 13, a second gear 15 is meshed on one side of the second screw rod 14, a connecting gear 17 is meshed on the side of the second screw rod 14 away from the second gear 15, a third gear 18 is fixedly connected to the side of the connecting gear 17 close to the ball socket 1, a semi-arc toothed plate 19 is rotatably connected to the side of the third gear 18 away from the second screw rod 14, and a meshing toothed plate 20 is meshed on the side of the semi-arc toothed plate 19 away from the third gear 18; A connecting member 22 is fixedly connected to one side of the meshing tooth plate 20 close to the spherical connecting block 2. The connecting member 22 is composed of a universal joint 220 and a spring 221. The number of the connecting members 22 is set to four. The side of the connecting member 22 away from the meshing tooth plate 20 is fixedly connected to the spherical connecting block 2. A chassis 32 is movably connected to a side of the third motor 9 away from the first screw rod 10, a connecting seat 23 is fixedly connected to a side of the chassis 32 away from the third motor 9, a connecting frame 24 is fixedly connected to the interior of the connecting seat 23, a fifth motor 25 is provided on one side of the connecting frame 24, a threaded rod 26 is rotatably connected to the output shaft end of the fifth motor 25, a stop block 27 is threadedly connected to the surface of the threaded rod 26, and a stop block 29 is clamped on one side of the stop block 27.

[0023] By setting the fourth motor 13, when the fourth motor 13 is running, its rotation can drive the second screw rod 14 to rotate. After the second screw rod 14 rotates, it will drive the second gear 15 meshing therewith. In this way, when the second gear 15 rotates, it can drive the semi-arc connecting frame 8. The effect of this design is that when the ball socket 1 and the spherical connecting block 2 rotate, the semi-arc connecting frame 8 can cooperate and control so that they can rotate greatly. This synergistic effect can effectively improve the flexibility and controllability of the entire device during movement. In addition, a connecting piece 22 is fixedly connected to one side of the meshing tooth plate 20 close to the spherical connecting block 2. The connecting piece 22 is composed of a universal joint 220 and a spring 221, and the number of the connecting pieces 22 is set to four. These connecting pieces 22 play an important role in connecting the meshing tooth plate 20 and the spherical connecting block 2. The universal joint 220 allows a certain degree of flexibility in multiple directions, so that the spherical connecting block 2 can adjust the angle and direction more freely during the movement, and the spring 221 can provide a buffering effect during the movement, reduce the impact and vibration during the movement, thereby protecting the entire device and extending its service life; When the entire device needs to be fixed or adjusted, the fifth motor 25 is started, and the output shaft end of the fifth motor 25 is rotated to connect the threaded rod 26. When the threaded rod 26 rotates, the stop block 27 threadedly connected to its surface will move, and the stop block 27 will be engaged with the clamping block 29. The entire device is fixed by this clamping structure. This fixing method is simple and effective, and can ensure that the entire device can maintain a stable working state in different usage scenarios, providing a strong guarantee for its normal operation. In summary, this bionic ball and socket joint with a large range of motion achieves efficient, stable movement and reliable fixation through the synergistic effect of various components, and has broad application prospects.

[0024] like Figure 2 , Figure 3 As shown, the side of the spherical connecting block 2 away from the ball socket 1 is slidably connected to the connecting rod 3, the side of the spherical connecting block 2 close to the connecting rod 3 is provided with a transverse sliding groove 4, one side of the transverse sliding groove 4 is provided with a first motor 6, the side of the spherical connecting block 2 close to the connecting rod 3 is provided with a vertical sliding groove 5, and one side of the vertical sliding groove 5 is provided with a second motor 7.

[0025] A connecting rod 3 is slidably connected to the side of the spherical connecting block 2 away from the ball socket 1. A transverse slide groove 4 and a vertical slide groove 5 are provided on the spherical connecting block 2, which are driven by a first motor 6 and a second motor 7 respectively. When the first motor 6 and the second motor 7 are working, the spherical connecting block 2 can be driven to slide along the transverse slide groove 4 and the vertical slide groove 5, thereby realizing linear motion adjustment in two directions.

[0026] like Figure 4 , Figure 5 As shown, a first gear 11 is meshed on one side of the first screw rod 10, a first bevel gear 12 is fixedly connected to a side of the first gear 11 away from the first screw rod 10, a second bevel gear 16 is meshed on one side of the first bevel gear 12, a sliding plate 21 is fixedly connected to a side of the meshing gear plate 20 away from the semi-arc gear plate 19, and a matching sliding groove is provided on a side of the ball socket 1 close to the sliding plate 21.

[0027] A first gear 11 is meshed with one side of the first screw rod 10, and a first bevel gear 12 is fixedly connected to the side of the first gear 11 away from the first screw rod 10. With this design, when the first screw rod 10 rotates, the first gear 11 can be smoothly driven to rotate synchronously. Due to the fixed connection relationship between the first gear 11 and the first bevel gear 12, the synchronous rotation of the first gear 11 can drive the first bevel gear 12, and when the first bevel gear 12 rotates, it can drive the second bevel gear 16 meshed therewith. Through this series of tightly matched gear transmissions, power can be effectively transmitted and converted, thereby achieving a better positioning of the spherical connecting block 2 in the ball socket 1. In addition, a sliding plate 21 is fixedly connected to the meshing tooth plate 20 on one side away from the semi-arc tooth plate 19, and a slide groove compatible with the sliding plate 21 is opened inside the ball socket 1. When the spherical connecting block 2 performs a series of rotation movements, the sliding plate 21 can operate efficiently and stably inside the ball socket 1 with the help of the setting of the slide groove. This design not only ensures the coordinated work between the various components, but also provides strong support and guarantee for the large range of rotation of the spherical connecting block 2 in the ball socket 1, making the entire structure more stable and reliable during operation, and can meet various complex movement requirements.

[0028] like Figure 6 , Fig. 9 As shown, the side of the block 29 away from the stop block 27 is fixedly connected to the connecting chassis 28, the side of the connecting seat 23 close to the inside of the block 29 is fixedly connected to the elastic member 30, the side of the elastic member 30 away from the connecting seat 23 is fixedly connected to the special-shaped block 31, the stop block 27 is adapted to the shape of the block 29, and the special-shaped block 31 is adapted to the shape of the block 29.

[0029] A connecting chassis 28 is fixedly connected to the side of the clamping block 29 away from the resisting block 27. The connecting chassis 28 can fix the clamping block 29 and also enable an effective connection between the connecting chassis 28 and the ball socket 1. An elastic member 30 is fixedly connected to the side of the connecting seat 23 close to the inside of the clamping block 29. A special-shaped block 31 is fixedly connected to the side of the elastic member 30 away from the connecting seat 23. Through the arrangement of the elastic member 30 and the special-shaped block 31, the clamping block 29 can be first clamped and fixed in the first step through the arrangement of the elastic member 30 and the special-shaped block 31 when being clamped inwards. The shapes of the resisting block 27 and the clamping block 29 are adapted, and the shapes of the special-shaped block 31 and the clamping block 29 are adapted. Through this adaptive clamping structure, the fixation of the entire device is achieved.

[0030] like Figure 6As shown, the spherical connecting block 2 is provided with a matching sliding groove on one side close to the horizontal slide groove 4 and the vertical slide groove 5, the shape of the connecting rod 3 fits the sliding groove provided on the spherical connecting block 2, one side of the second bevel gear 16 is movably connected to the semi-arc connecting frame 8, the semi-arc connecting frame 8 is movably connected inside the ball socket 1, the side of the connecting chassis 28 away from the connecting seat 23 is fixedly connected to the inside of the ball socket 1, the interior of the ball socket 1 is a spherical cavity, and the shape of the spherical cavity is suitable for the spherical connecting block 2.

[0031] The connecting rod 3 is slidably connected to the spherical connecting block 2, and its shape fits perfectly with the sliding groove opened on the spherical connecting block 2. This design ensures close contact between the two and greatly reduces friction and resistance during movement, so that the spherical connecting block 2 can achieve smooth and smooth movement in the lateral direction. The second bevel gear 16 is rotationally connected to the semi-arc connecting frame 8. When the second bevel gear 16 rotates, its power is transmitted to the semi-arc connecting frame 8 through a tight connection, thereby driving the entire semi-arc connecting frame 8 to operate. This design realizes effective power transmission and ensures the stability and coordination of mechanical parts during operation. The semi-arc connecting frame 8 is located inside the ball socket 1. This design utilizes the spatial structure of the ball socket 1 to provide rotation for the spherical connecting block 2. When the spherical connecting block 2 rotates inside the ball socket 1, the semi-arc connecting frame 8 ensures the smooth rotation of the spherical connecting block 2.

[0032] The working principle and working process of this embodiment: First, by setting the connecting seat 23 and the connecting chassis 28, the spherical connecting block 2 and the ball socket 1 can be quickly and effectively connected. During the connection process, the clamping block 29 cooperates with the special-shaped block 31, the elastic member 30 and the stop block 27 to clamp together, thereby ensuring the stability of the connection. Then, the connecting rod 3 drives the spherical connecting block 2 to rotate in a large range of motion through the horizontal slide groove 4 and the vertical slide groove 5. While the spherical connecting block 2 rotates, the third motor 9 and the fourth motor 13 are started to drive the first screw rod 10 and the second screw rod 14 to operate. Therefore, the first gear 11 and the second gear 15 meshing with the first screw rod 10 and the second screw rod 14 can drive the overall semi-arc connecting frame 8, so that it can operate synchronously according to the motion trajectory of the spherical connecting block 2 When the semi-arc connecting frame 8 is running, the connecting gear 17 meshing with the second screw rod 14 will drive the third gear 18 and the semi-arc tooth plate 19 to rotate. When the semi-arc tooth plate 19 rotates, the meshing tooth plate 20 meshing therewith can move synchronously through the setting of the sliding plate 21. The connecting piece 22 on one side of the meshing tooth plate 20 is composed of a universal joint 220 and a spring 221. When the spherical connecting block 2 rotates within a large range of motion, the spring 221 can play a buffering and resetting effect to avoid the occurrence of adverse conditions such as folding due to excessive rotation between the spherical connecting block 2 and the ball socket 1. This design fully considers the synergy between the various components, so that the entire bionic ball and socket joint can achieve a large range of motion while ensuring the stability and safety of the movement.

Claims

1. A bionic ball-and-socket joint with a large range of motion, comprising a ball and socket (1), characterized in that: A spherical connection block (2) is movably connected to one side of the ball socket (1); a semi-arc connection frame (8) is rotatably connected to the side of the spherical connection block (2) close to the ball socket (1); a third motor (9) is provided on the side of the semi-arc connection frame (8) close to the ball socket (1); an output shaft end of the third motor (9) is rotatably connected to a first screw rod (10); a fourth motor (13) is provided on one side of the third motor (9); an output shaft end of the fourth motor (13) is rotatably connected to a second screw rod (14); a second gear (15) is meshed on one side of the second screw rod (14); a connecting gear (17) is meshed on the side of the second screw rod (14) away from the second gear (15); a third gear (18) is fixedly connected to the side of the connecting gear (17) close to the ball socket (1); a semi-arc toothed plate (19) is rotatably connected to the side of the third gear (18) away from the second screw rod (14); a meshing gear plate (20) is meshed on the side of the semi-arc toothed plate (19) away from the third gear (18); A connecting piece (22) is fixedly connected to the side of the meshing tooth plate (20) close to the spherical connecting block (2), the connecting piece (22) is composed of a universal joint (220) and a spring (221), the number of the connecting pieces (22) is set to four, and the side of the connecting piece (22) away from the meshing tooth plate (20) is fixedly connected to the spherical connecting block (2); The side of the third motor (9) away from the first screw rod (10) is movably connected to the chassis (32), the side of the chassis (32) away from the third motor (9) is fixedly connected to the connecting seat (23), the interior of the connecting seat (23) is fixedly connected to the connecting frame (24), one side of the connecting frame (24) is provided with a fifth motor (25), the output shaft end of the fifth motor (25) is rotatably connected to the threaded rod (26), the surface of the threaded rod (26) is threadedly connected to a stop block (27), and one side of the stop block (27) is clamped with a clamping block (29).

2. A bionic ball-and-socket joint with a large range of motion according to claim 1, characterized in that: The side of the spherical connection block (2) away from the ball socket (1) is slidably connected to a connection rod (3), and the side of the spherical connection block (2) close to the connection rod (3) is provided with a transverse sliding groove (4).

3. A bionic ball-and-socket joint with a large range of motion according to claim 2, characterized in that: A first motor (6) is arranged on one side of the transverse slide groove (4), a vertical slide groove (5) is arranged on one side of the spherical connecting block (2) close to the connecting rod (3), and a second motor (7) is arranged on one side of the vertical slide groove (5).

4. A bionic ball-and-socket joint with a large range of motion according to claim 1, characterized in that: One side of the first screw rod (10) is meshed with a first gear (11), a side of the first gear (11) away from the first screw rod (10) is fixedly connected to a first bevel gear (12), and one side of the first bevel gear (12) is meshed with a second bevel gear (16).

5. The bionic ball-and-socket joint with a large range of motion according to claim 1, characterized in that: The side of the meshing tooth plate (20) away from the semi-arc tooth plate (19) is fixedly connected to a sliding plate (21), and a matching sliding groove is provided on the side of the ball socket (1) close to the sliding plate (21).

6. A bionic ball-and-socket joint with a large range of motion according to claim 1, characterized in that: The side of the clamping block (29) away from the stopper (27) is fixedly connected to a connecting chassis (28), the side of the connecting seat (23) close to the inside of the clamping block (29) is fixedly connected to an elastic member (30), and the side of the elastic member (30) away from the connecting seat (23) is fixedly connected to a special-shaped block (31).

7. A bionic ball-and-socket joint with a large range of motion according to claim 6, characterized in that: The shape of the stop block (27) matches that of the clamping block (29), and the shape of the special-shaped block (31) matches that of the clamping block (29).

8. The bionic ball-and-socket joint with a large range of motion according to claim 2, characterized in that: The spherical connection block (2) is provided with a matching sliding notch on one side close to the transverse sliding groove (4) and the vertical sliding groove (5), and the shape of the connecting rod (3) fits the sliding notch on the spherical connection block (2).

9. The bionic ball-and-socket joint with a large range of motion according to claim 4, characterized in that: One side of the second bevel gear (16) is movably connected to a semi-arc connecting frame (8), and the semi-arc connecting frame (8) is movably connected inside the ball socket (1).

10. The bionic ball-and-socket joint with a large range of motion according to claim 6, characterized in that: The side of the connecting chassis (28) away from the connecting seat (23) is fixedly connected to the inside of the ball socket (1), and the inside of the ball socket (1) is a spherical cavity, the shape of the spherical cavity is suitable for the spherical connecting block (2).

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