Bionic robot joint, bionic robot comprising same and bionic robot system

Abstract

The invention discloses a bionic robot joint and a robot and system comprising the bionic robot joint. The bionic robot joint comprises a stepping motor fixed to a motor support, the two ends of a rotating shaft of the stepping motor protrude from the two opposite sides of the motor support respectively, and at least one end of the rotating shaft is provided with (or serves as) a wire spool; a tendon rope is wound on the wire spool; the cross shaft universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected through a cross shaft, the first shaft arm is attached to (or serves as) the motor support, and the central axis of the first shaft arm is perpendicular to a rotating shaft of the stepping motor; the tendon rope is provided with a forward winding rope and a reverse winding rope, and the ends of the tendon rope are fixed to the second shaft arm.

Description

Technical Field

[0001] The present application relates to the field of bionic robots, and in particular to bionic robot joints, a bionic robot including the joints, and a bionic robot system. Background Art

[0002] Currently, most robot joints under development use servo motors, which are costly and heavy. Although they have multiple joints and multiple degrees of freedom, their size and movements are far from those of the human body. They can only be used in specific industrial production scenarios and are difficult to enter the service industry. Currently, there are individual patents involving the use of motors, cross shafts, tendons and other elements to make robot joints, but they are all based on mechanical engineering theories, not invented according to sports anatomy and bionics theories. Moreover, motors, cross shafts, tendons and other elements are not used at the same time, and only involve joints in individual parts of the robot, not all joints of humanoid robots. Summary of the invention

[0003] The technical problems to be solved by this application include designing a bionic robot suitable for the service industry based on the theory of sports anatomy and bionics, with low cost, light weight and various joints that can flexibly swing in multiple degrees of freedom, using a control system to achieve joint control, overcoming the problem of weak load of a single joint stepper motor, completing complex movements with bionic human joints, and approaching human movement patterns to the extreme.

[0004] The technical solution of this application is as follows:

[0005] According to a first aspect of the present application, a bionic robot joint is provided, comprising: a stepper motor, the stepper motor is fixed to a motor bracket, two ends of a rotating shaft of the stepper motor protrude from opposite sides of the motor bracket respectively, at least one end of the rotating shaft is mounted on (or serves as) a winding disk; a tendon rope is wound around the winding disk; a cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to (or serves as) the motor bracket, and the first The central axis of the shaft arm is perpendicular to the rotating shaft of the stepper motor; the tendon rope has a forward winding rope and a reverse winding rope, and the ends of the forward winding rope and the reverse winding rope are respectively fixed at the second shaft arm; when the stepper motor is started, the rotating shaft drives the winding drum to rotate, thereby driving the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located, wherein when the forward winding rope of the tendon rope is tightened, the reverse winding rope is loosened, and when the forward winding rope of the tendon rope is loosened, the reverse winding rope is tightened.

[0006] According to a variation of the first aspect of the present application, a bionic robot joint is provided, comprising: a stepper motor, wherein the two ends of the rotating shaft of the stepper motor protrude from opposite sides of the motor bracket respectively, and a tendon rope is wound around at least one end of the rotating shaft; a cross-axis universal joint, wherein the cross-axis universal joint comprises a first shaft arm and a second shaft arm, wherein the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotating shaft of the stepper motor; the tendon rope has a forward winding rope and a reverse winding rope, and the ends of the forward winding rope and the reverse winding rope are respectively fixed at the second shaft arm; wherein when the stepper motor is started, the rotating shaft rotates, thereby driving the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located, wherein when the forward winding rope of the tendon rope is tightened, the reverse winding rope is loosened, and when the forward winding rope of the tendon rope is loosened, the reverse winding rope is tightened.

[0007] According to the second aspect of the present application, a bionic robot joint is provided, comprising: a stepper motor, the stepper motor is fixed at a motor bracket, the two ends of the rotating shaft of the stepper motor protrude from opposite sides of the motor bracket respectively, the first end of the rotating shaft is installed with (or serves as) a winding disk A, and the second end of the rotating shaft is installed with (or serves as) a winding disk B; the winding disk A is wound with a tendon rope A, and the winding disk B is wound with a tendon rope B; a cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected by a cross shaft, the first shaft arm is attached to (or serves as) the motor bracket, and the central axis of the first shaft arm is perpendicular to the rotating shaft of the stepper motor; the tendon rope A has one rope or multiple ropes wound in the same direction, the tendon rope B has one rope or multiple ropes wound in the same direction, and the tendon rope The winding direction of one rope of rope A or multiple ropes wound in the same direction is opposite to the winding direction of one rope of tendon rope B or multiple ropes wound in the same direction, and the ends of one rope of tendon rope A or multiple ropes wound in the same direction and the ends of one rope of tendon rope B or multiple ropes wound in the same direction are respectively fixed at the second shaft arm; wherein, when the stepper motor is started, the rotating shaft drives the winding reel A and the winding reel B to rotate, thereby driving the tendon rope A and the tendon rope B to pull the second shaft arm to swing in a plane parallel to the plane where the winding reel A and the winding reel B are located, wherein when one rope of tendon rope A or multiple ropes wound in the same direction are tightened, one rope of tendon rope B or multiple ropes wound in the same direction are relaxed, and when one rope of tendon rope A or multiple ropes wound in the same direction are relaxed, one rope of tendon rope B or multiple ropes wound in the same direction are tightened.

[0008] According to a variation of the second aspect of the present application, a bionic robot joint is provided, comprising: a stepper motor, wherein the two ends of the rotating shaft of the stepper motor protrude from opposite sides of the motor bracket respectively, a tendon A is wound around the first end of the rotating shaft, and a tendon B is wound around the second end of the rotating shaft; a cross-axis universal joint, wherein the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotating shaft of the stepper motor; the tendon A has one rope or multiple ropes wound in the same direction, the tendon B has one rope or multiple ropes wound in the same direction, and the one rope of the tendon A or multiple ropes wound in the same direction The winding direction of the rope is opposite to the winding direction of the one rope of the tendon rope B or the multiple ropes wound in the same direction, and the ends of the one rope of the tendon rope A or the multiple ropes wound in the same direction and the ends of the one rope of the tendon rope B or the multiple ropes wound in the same direction are respectively fixed at the second shaft arm; wherein, when the stepper motor is started, the rotating shaft drives the tendon rope A and the tendon rope B to pull the second shaft arm to swing in a plane parallel to the plane where the winding reel A and the winding reel B are located, wherein when the one rope of the tendon rope A or the multiple ropes wound in the same direction are tightened, the one rope of the tendon rope B or the multiple ropes wound in the same direction are relaxed, and when the one rope of the tendon rope A or the multiple ropes wound in the same direction are relaxed, the one rope of the tendon rope B or the multiple ropes wound in the same direction are tightened.

[0009] According to the third aspect of the present application, a bionic robot joint is provided, comprising: a stepper motor, wherein the stepper motor is fixed at a motor bracket, and the two ends of the rotating shaft of the stepper motor protrude from opposite sides of the motor bracket respectively, and one end of the rotating shaft is installed with (or serves as) a winding disk, and a tendon rope is wound on the winding disk; a cross-axis universal joint, wherein the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected by a cross shaft, the first shaft arm is attached to (or serves as) the motor bracket, and the central axis of the first shaft arm is perpendicular to the rotating shaft of the stepper motor; the end of the tendon rope is fixed at the second shaft arm; wherein, when the stepper motor is started, the rotating shaft drives the winding disk to rotate, thereby driving the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding disk is located, wherein when the tendon rope is tightened, the second shaft arm is lifted, and when the tendon rope is reset, the second shaft arm falls back to its position by gravity.

[0010] According to a variation of the third aspect of the present invention, a bionic robot joint is provided, comprising: a stepper motor, one end of the rotating shaft of the stepper motor protrudes from one side of the motor bracket, and a tendon rope is wound around one end of the rotating shaft; a cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotating shaft of the stepper motor; the end of the tendon rope is fixed at the second shaft arm; wherein, when the stepper motor is started, the rotating shaft drives the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located, wherein when the tendon rope is tightened, the second shaft arm is lifted, and when the tendon rope is reset, the second shaft arm falls back to its position by gravity.

[0011] According to the fourth aspect of the present application, a bionic robot joint is provided, comprising: a first stepper motor, the first stepper motor is fixed at a first motor bracket, the two ends of the first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket respectively, and at least one end of the first rotating shaft is installed (or serves as) a first winding disk; a first tendon rope is wound around the first winding disk; a second stepper motor, the second stepper motor is fixed at a second motor bracket, the two ends of the second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket respectively, and at least one end of the second rotating shaft is installed (or serves as) a second winding disk; a second tendon rope is wound around the second winding disk; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle from the second rotating shaft; a cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, wherein the first shaft arm is attached to (or serves as) the first motor bracket. The frame comprises a first stepper motor bracket, the second shaft arm is attached to (or serves as) the second motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the first tendon rope and the second tendon rope both have a forward winding rope and a reverse winding rope, the ends of the forward winding rope and the reverse winding rope of the first tendon rope are respectively fixed at the second shaft arm, and the ends of the forward winding rope and the reverse winding rope of the second tendon rope are respectively fixed at the first shaft arm; wherein, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the winding disk thereon to rotate, thereby driving the corresponding tendon rope to pull the corresponding part to swing in a plane parallel to the plane where the corresponding winding disk is located, wherein when the forward winding rope of the first tendon rope and the second tendon rope is tightened, the reverse winding rope of the first tendon rope and the second tendon rope is loosened; when the forward winding rope of the first tendon rope and the second tendon rope is loosened, the reverse winding rope of the first tendon rope and the second tendon rope is tightened.

[0012] According to a variation of the fourth aspect of the present application, a bionic robot joint is provided, comprising: a first stepper motor, wherein two ends of a first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket, respectively, and a first tendon is wound around at least one end of the first rotating shaft; a second stepper motor, wherein two ends of a second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket, respectively, and a second tendon is wound around at least one end of the second rotating shaft; wherein the first rotating shaft of the first stepper motor and the second stepper motor are parallel to or offset by a certain angle from the second rotating shaft; a cross-axis universal joint, wherein the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross-axis, wherein the first shaft arm is attached to the first stepper motor, and the second shaft arm is attached to the second stepper motor, and the The central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the first tendon rope and the second tendon rope both have a forward winding rope and a reverse winding rope, and the ends of the forward winding rope and the reverse winding rope of the first tendon rope are respectively fixed at the second shaft arm, and the ends of the forward winding rope and the reverse winding rope of the second tendon rope are respectively fixed at the first shaft arm; wherein, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the corresponding tendon rope to pull the corresponding part to swing, wherein when the forward winding ropes of the first tendon rope and the second tendon rope are tightened, the reverse winding ropes of the first tendon rope and the second tendon rope are relaxed; when the forward winding ropes of the first tendon rope and the second tendon rope are relaxed, the reverse winding ropes of the first tendon rope and the second tendon rope are tightened.

[0013] According to a fifth aspect of the present application, a bionic robot joint is provided, comprising: a first stepper motor, the first stepper motor is fixed at a first motor bracket, two ends of a first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket, the two ends of the first rotating shaft are respectively installed (or serve as) a winding drum A and a winding drum B; a tendon rope A is wound around the winding drum A; a tendon rope B is wound around the winding drum B; a second stepper motor, the second stepper motor is fixed at a second motor bracket, two ends of a second rotating shaft of the second stepper motor protrude from the two opposite sides of the first motor bracket, and the two ends of the first rotating shaft are respectively installed (or serve as) a winding drum A and a winding drum B; a tendon rope A is wound around the winding drum A; a tendon rope B is wound around the winding drum B; a second stepper motor, the second stepper motor is fixed at a second motor bracket, and two ends of a second rotating shaft of the second stepper motor protrude from the two opposite sides of the first motor bracket. The second motor bracket protrudes on opposite sides, and the two ends of the second rotating shaft are respectively installed with (or serve as) a winding drum C and a winding drum D; a tendon rope C is wound on the winding drum C; a tendon rope D is wound on the winding drum D; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle with the second rotating shaft; a cross-axis universal joint, the cross-axis universal joint includes a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected by a cross shaft, wherein the first shaft arm is attached to (or serves as) the first motor bracket, and the second shaft arm is attached to connected to (or serving as) the second motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the tendon rope A, the tendon rope B, the tendon rope C and the tendon rope D all have a rope or multiple ropes wound in the same direction, the ends of the rope A or the multiple ropes wound in the same direction are respectively fixed at the second shaft arm, the ends of the rope B or the multiple ropes wound in the same direction are respectively fixed at the second shaft arm, and the ends of the rope C or the multiple ropes wound in the same direction are respectively fixed at the second shaft arm. They are respectively fixed at the first shaft arm, and the ends of one rope of the tendon rope D or multiple ropes wound in the same direction are respectively fixed at the first shaft arm; wherein, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the winding disk thereon to rotate, thereby driving the corresponding tendon rope to pull the corresponding part to swing in a plane parallel to the plane where the corresponding winding disk is located, wherein when the tendon rope A and the tendon rope D are tightened, the tendon rope B and the tendon rope C are relaxed, and when the tendon rope A and the tendon rope D are relaxed, the tendon rope B and the tendon rope C are tightened.

[0014] According to a variation of the fifth aspect of the present application, a bionic robot joint is provided, comprising: a first stepper motor, the first stepper motor is fixed at a first motor bracket, the two ends of the first rotating shaft of the first stepper motor protrude from the opposite sides of the first motor bracket respectively, and the two ends of the first rotating shaft are respectively installed with a winding drum A and a winding drum B; the winding drum A is wound with a tendon A; the winding drum B is wound with a tendon B; a second stepper motor, the second stepper motor is fixed at a second motor bracket, the two ends of the second rotating shaft of the second stepper motor protrude from the opposite sides of the second motor bracket respectively, and the two ends of the second rotating shaft are respectively installed with a winding drum C and a winding drum D; the winding drum C is wound with a tendon C; the winding drum D is wound with a tendon D; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle with the second rotating shaft; a cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected by a cross shaft, wherein the first shaft arm is attached to the first motor bracket, and the second shaft arm is attached To the second motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the tendon rope A, the tendon rope B, the tendon rope C and the tendon rope D all have a rope or multiple ropes wound in the same direction, the ends of the rope or multiple ropes wound in the same direction of the tendon rope A are respectively fixed at the second shaft arm, the ends of the rope or multiple ropes wound in the same direction of the tendon rope B are respectively fixed at the second shaft arm, and the ends of the rope or multiple ropes wound in the same direction of the tendon rope C are respectively Fixed at the first shaft arm, the ends of one rope of the tendon rope D or multiple ropes wound in the same direction are respectively fixed at the first shaft arm; wherein, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the winding disk thereon to rotate, thereby driving the corresponding tendon rope to pull the corresponding part to swing in a plane parallel to the plane where the corresponding winding disk is located, wherein when the tendon rope A and the tendon rope D are tightened, the tendon rope B and the tendon rope C are relaxed, and when the tendon rope A and the tendon rope D are relaxed, the tendon rope B and the tendon rope C are tightened.

[0015] Optionally, the angle range of the offset between the first rotation axis and the second rotation axis is 0° to 90°.

[0016] Optionally, the cross-axis universal joint is a single cross-axis universal joint or a double cross-axis universal joint.

[0017] According to a sixth aspect of the present application, a bionic robot is provided, comprising the bionic robot joint.

[0018] Optionally, the bionic robot joints are one or more of cervical vertebrae joints, shoulder joints, elbow joints, wrist joints, finger joints, spinal joints, hip joints, knee joints and sole joints.

[0019] Optionally, the bionic robot further includes a stepper motor driver corresponding one-to-one to the joint, for sending a pulse signal to the corresponding stepper motor so that the motor rotates an angle based on the pulse signal.

[0020] According to the seventh aspect of the present application, a bionic robot system is provided, comprising: the bionic robot according to the sixth aspect of the present application; a stereo camera; and a host computer, wherein the stereo camera collects images of the motion state and motion position of the limbs of the bionic robot, and sends the collected image data to the host computer, and the host computer sends control instructions to the bionic robot based on the received image data, and receives feedback signals.

[0021] Optionally, the stereo camera is a binocular stereo camera or a trinocular stereo camera.

[0022] The beneficial technical effects of this application include: the bionic robot of this technical solution is low-cost and flexible in rotation. Under the traction of multiple sets of stepper motors and tendons, it can achieve multi-degree-of-freedom combined motion of the sagittal plane ZY axis, the coronal plane XY axis, and the horizontal plane XZ axis. The cost of stepper motors is much lower than that of servo motors, and the weight is also much lighter than that of servo motors, which can achieve cost reduction and weight reduction of robot joint components. The control system is used to achieve joint control, overcome the problem of weak load of single joint stepper motors, and complete complex movements by bionic human joints, which is close to the movement form of humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A It is a schematic diagram of the human body posture coordinate system.

[0024] Figure 1B It is a schematic diagram of the joints of the entire human body.

[0025] Figure 2 It is a schematic diagram of the structural characteristics of human joints.

[0026] Figure 3A (1)(2)(3) are schematic diagrams of the joint structure of the bionic robot according to Example 1 of the present application; wherein Figure 3A (1) is the main view, Figure 3A (2) is a top view, Figure 3A (3) Yes Figure 3A (2) The changing state diagram.

[0027] Figure 3B (1)(2) is a schematic diagram of a bionic robot joint structure according to a variant of Example 1 of the present application; wherein Figure 3B(1) is the main view, Figure 3B (2) is a bottom view.

[0028] Figure 4A (1)(2) are schematic diagrams of the joint structure of the bionic robot according to Example 2 of the present application; wherein Figure 4A (1) is the main view, Figure 4A (2) is a bottom view.

[0029] Figure 4B (1)(2) is a schematic diagram of a bionic robot joint structure according to a variant of Example 2 of the present application; wherein Figure 4B (1) is the main view, Figure 4B (2) is a bottom view.

[0030] Figure 5A (1)(2) are schematic diagrams of the joint structure of the bionic robot according to Example 3 of the present application; wherein Figure 5A (1) is a top view, Figure 5A (2) is the main view.

[0031] Figure 5B (1)(2) is a schematic diagram of a bionic robot joint structure according to a variant of Example 3 of the present application; wherein Figure 5B (1) is a top view, Figure 5B (2) is the main view.

[0032] Fig. 6A (1)(2) are schematic diagrams of the joint structure of the bionic robot according to Example 4 of the present application; wherein Fig. 6A (1) is the main view, Fig. 6A (2) is a bottom view.

[0033] Figure 6B (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the first variant of Example 4 of the present application; wherein Figure 6B (1) is the main view, Figure 6B (2) is a bottom view.

[0034] Figure 6C (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the second variant of Example 4 of the present application; wherein Figure 6C (1) is the main view, Figure 6C (2) is a top view.

[0035] Fig.6D (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the third variant of Example 4 of the present application; wherein Fig.6D (1) is the main view, Fig.6D (2) is a bottom view.

[0036] Fig. 7A (1)(2) are schematic diagrams of the joint structure of the bionic robot according to Example 5 of the present application; wherein Fig. 7A (1) is the main view, Fig. 7A (2) is a bottom view.

[0037] Figure 7B (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the first variant of Example 5 of the present application; wherein Figure 7B (1) is the main view, Figure 7B (2) is a bottom view.

[0038] Figure 7C (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the second variant of Example 5 of the present application; wherein Figure 7C (1) is the main view, Figure 7C (2) is a bottom view.

[0039] Fig.7D (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the third variant of Example 5 of the present application; wherein Fig.7D (1) is the main view, Fig.7D (2) is a bottom view.

[0040] Fig. 7E (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the fourth variant of Example 5 of the present application; wherein Fig. 7E (1) is the main view, Fig. 7E (2) is a bottom view.

[0041] Figure 7F (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the fifth variant of Example 5 of the present application; wherein Figure 7F (1) is the main view, Figure 7F (2) is a bottom view.

[0042] Figure 7G (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the sixth variant of Example 5 of the present application; wherein Figure 7G (1) is the main view, Figure 7G (2) is a bottom view.

[0043] Figure 7H (1)(2) is a schematic diagram of the joint structure of a bionic robot according to the seventh variant of Example 5 of the present application; wherein Figure 7G (1) is the main view, Figure 7G (2) is a bottom view.

[0044] Figure 8(1)(2) is a schematic diagram of a bionic robot joint structure using a double cross-axis universal joint according to another embodiment of the present application; wherein Figure 8 (1) is the main view, Figure 8 (2) is a top view.

[0045] Fig. 9 (1)(2)(3) are schematic diagrams of a bionic robot joint structure using a pull ring according to another embodiment of the present application.

[0046] Fig.10 (1)(2)(3)(4) are schematic diagrams of the bionic robot joint structure in which the fixing point of the tendon rope is arranged to the intermediate shaft arm of the double cross-axis universal joint according to another embodiment of the present application.

[0047] Fig.11 It is a schematic diagram of the joint structure of a bionic robot in which the winding reel is designed as a double wire groove structure according to another embodiment of the present application.

[0048] Fig.12 (1)(2)(3) are schematic diagrams of a motor bracket according to another embodiment of the present application.

[0049] Fig.13 It is a schematic diagram of the bionic robot joint system of the present application.

[0050] In the figure: 11-stepping motor, first stepping motor; 12-second stepping motor; 110-motor bracket, first motor bracket; 111-rotating shaft, first rotating shaft; 111A, 111B, 121C, 121D-winding reel; 1110A, 1110B, 1210C, 1210D-tendon rope; 120-second motor bracket; 121-second rotating shaft; 20-cross-axis universal joint; 201-first shaft arm; 202-second shaft arm; 200-intermediate shaft arm; 203, 207, 208-cross shaft; 204-central axis of the first shaft arm; 206-central axis of the second shaft arm;

[0051] 1111A, 1112A, 1111B, 1112B, 1211C, 1212C, 1211D, 1212D - rope; 300 - pull ring. DETAILED DESCRIPTION

[0052] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of systems consistent with some aspects of the present application.

[0053] The description of illustrative embodiments according to the principles of the present application is read in conjunction with the accompanying drawings, which are considered part of the entire written description. In the description of the embodiments of the present application disclosed herein, any reference to direction or orientation is merely for ease of description and is not intended to limit the scope of the present application in any way. Relative terms such as "downward", "upward", "horizontally", "vertically", "above", "below", "up", "down", "top", "bottom" and their derivatives (e.g., "horizontally", "downwardly", "upwardly", etc.) should be interpreted as referring to the orientation as described or as shown in the drawings discussed. These relative terms are merely for ease of description and do not require that the device be constructed or operated in a specific orientation unless expressly noted.

[0054] Terms such as "attach", "attach", "connect", "couple", "interconnect", etc. refer to a relationship in which structures are fixed or attached to each other directly or indirectly through intermediate structures, and both are removable or rigid attachments or relationships unless otherwise expressly stated. In addition, the features and benefits of the present application are described by reference to exemplary embodiments. Therefore, the present application expressly should not be limited to such exemplary embodiments, which illustrate some possible non-limiting combinations of features that may exist alone or in other feature combinations.

[0055] The present application is based on the theory of motion anatomy and bionics, and uses stepper motors, cross-axis universal joints and tendon ropes to drive bionic human joints, with low cost, light weight, multiple joints, multiple degrees of freedom, and can swing in three vector planes, and the swing amplitude can exceed human joints. The present application can bionic human joint motion to solve the problem of weak load of a single stepper motor. As a bionic robot composed of joints provided by the embodiment of the present application, through binocular (or trinocular) stereo camera perception, closed-loop control of the stepper motor is achieved, so as to achieve precise control of limb movement. The present application can strengthen the power of the stepper motor, and the application surface is more extensive, not only suitable for the service industry, but also suitable for industrial production, and the body shape and movement are very close to the human body, and there is the potential to develop into a general robot body.

[0056] The bionics theoretical basis of this patent. According to the traditional sports anatomy theory, bones are hard mechanical support structures used to support the human body. Bones are connected by joints, and muscle contraction pulls the bones to produce joint movement. In human movement, the role of bones is equivalent to a lever. It can rotate around the joint under the action of muscle tension. It not only withstands muscle tension in a certain direction, but also withstands resistance in the opposite direction, so it is called a bone lever. Most of the movements produced by bones, joints and muscles conform to the principle of leverage and can be explained by the principle of leverage. According to the latest biotensegrity theory, the human body is a biotensegrity, with bones connected together by fascia (connective tissues such as cartilage, joint capsules, tendons, ligaments, etc.). These fascia maintain tension, jointly bear the load force, and maintain various movements of the human body, so that the human body can complete support, standing, and walking movements. The bionic robot joints of the present invention are respectively arranged at the cervical vertebrae joints, shoulder joints, spinal joints, elbow joints, wrist joints, palm joints, hip joints, knee joints, ankle joints, sole joints and the like of the bionic robot; the cross-axis universal joint is a rod-like connecting part, the motor bracket is also a rod-like connecting part, the tendon rope is a cable-like connecting part, the tendon rope always remains in a straight state, forming a tensegrity structure to maintain the human form of the robot.

[0057] like Figure 1A As shown in the figure, a coordinate system is established according to human anatomy, which includes the sagittal plane (ZY axis), the coronal plane (XY axis), and the horizontal plane (XZ axis). Figure 1B The joints of the human body shown include neck joints, shoulder joints, elbow joints, wrist joints, finger joints, hip joints, knee joints, ankle joints, sole joints, etc.

[0058] Figure 2 It is a schematic diagram of the structural characteristics of human joints. It is a form of bionic robot joint driven by stepper motors, cross-axis universal joints and tendon ropes. It consists of cross-axis universal joints, stepper motors, tendon ropes and other components. The cross-axis universal joint is used as a rotatable connector here. The connected cross-axis can rotate from horizontal to vertical; the stepper motor converts electrical pulses into angular displacement, and has precise position control, speed control, forward and reverse rotation, emergency stop and locking functions; the winding drum is fixed on the rotating shaft of the stepper motor to transmit the rotational force of the stepper motor; the tendon rope is wound on the winding drum to convert rotational motion into linear motion. The tendon rope can be steel wire or polymer material.

[0059] Example 1

[0060] See also Figure 3A(1), 3A(2), 3A(3), the present application provides a bionic robot joint, comprising: a stepper motor 11, the stepper motor 11 is fixed in a motor bracket 110, the two ends of the rotating shaft 111 of the stepper motor 11 protrude from the opposite sides of the motor bracket 110 respectively, and the two ends of the rotating shaft 111 are installed with winding disks 111A and 111B; the winding disk 111A is wound with a tendon rope 1110A, and the winding disk 111B is wound with a tendon rope 1110B; and also includes a cross The cross-axis universal joint 20 comprises a first shaft arm 201 and a second shaft arm 202, wherein the first shaft arm 201 and the second shaft arm 202 are pivotally connected via a cross shaft 203, the first shaft arm 201 is attached to the motor bracket 110, and the central axis 204 of the first shaft arm 201 is perpendicular to the rotation axis 111 of the stepping motor 11; the tendon rope 1110A has two ropes 1111A and 1112A, and the tendon rope 1110B has two ropes 1111B and 1112B, see Figure 3A (2) The ropes 1111A and 1111B have the same winding direction and are located on one side of the central axis 204 (the ropes 1111A and 1111B overlap in the top view), and the ropes 1112A and 1112B have the same winding direction and are located on the other side of the central axis 204 (the ropes 1112A and 1112B overlap in the top view). The two ropes 1111A and 1111B have opposite winding directions to the two ropes 1112A and 1112B. The ends of the ropes 1111A, 1111B and 1112A, 1112B are respectively fixed to the second shaft arm 202, so that when the stepper motor 11 is started, the rotating shaft 111 drives the winding discs 111A, 111B to rotate, thereby driving the tendon ropes 1110A, 1110B to pull the second shaft arm 202 to swing in a plane parallel to the plane where the winding discs 111A, 111B are located (such as the sagittal plane (ZY axis), the coronal plane (XY axis), the horizontal plane (XZ axis)), and the swing amplitude can be ±90°. Figure 3A (3) Observe that when the rotating shaft 111 rotates clockwise, the ropes 1111A and 1111B are tightened, and the ropes 1112A and 1112B are loosened; or when the rotating shaft 111 rotates reversely, the ropes 1111A and 1111B are loosened, and the ropes 1112A and 1112B are tightened.

[0061] Those skilled in the art will appreciate that a variation of Embodiment 1 may include simplifying the installation of a winding reel at only one end of the rotating shaft 111 to meet the needs of different application scenarios. Figure 3B(1) and 3B (2), only one end of the rotating shaft 111 is equipped with a winding drum 111B, and a tendon rope 1110B is arranged on the winding drum 111B. The tendon rope 1110B has two ropes 1111B and 1112B wound in opposite directions. The ends of the ropes 1111B and 1112B are respectively fixed to the second shaft arm 202. Considering the balance of moment, the fixing points of the rope 1111B and the second shaft arm 202 and the fixing points of the rope 1112B and the second shaft arm 202 can be respectively set on both sides of the central axis 204 (from Figure 3B (2) Observation).

[0062] Those skilled in the art should understand that a variation of Example 1 may be to omit the motor bracket 110 and directly connect and fix the first shaft arm 201 to the stepper motor 11 (e.g., directly fix it on the housing of the stepper motor 11); omit the winding reels 111A, 111B installed at both ends of the rotating shaft 111, and process the two ends of the rotating shaft 111 into parts that can directly wrap the tendon rope.

[0063] Example 2

[0064] See also Figure 4A (1) and 4A(2), the present application provides a bionic robot joint, comprising: a stepper motor 11, the stepper motor 11 is fixed in a motor bracket 110, the two ends of the rotating shaft 111 of the stepper motor 11 protrude from the opposite sides of the motor bracket 110 respectively, and the two ends of the rotating shaft 111 are respectively installed with winding drums 111A and 111B; a tendon rope 1110A is wound on the winding drum 111A, and a tendon rope 1110B is wound on the winding drum 111B; and also includes a cross-axis universal joint 20, the cross-axis universal joint 20 includes a first shaft arm 201 and a second shaft arm 202, the first shaft arm 201 and the second shaft arm 202 are pivotally connected by a cross shaft 203, the first shaft arm 201 is attached to the motor bracket 110, and the central axis 204 of the first shaft arm 201 is perpendicular to the stepper motor The rotating shaft 111 of stepper motor 11 is as follows: the tendon 1110A has a rope 1111A, the tendon 1110B has a rope 1111B, the winding direction of the tendon 1110A is opposite to that of the tendon 1110B, the ends of the ropes 1111A and 1111B are respectively fixed at the second shaft arm 202, so that when the stepper motor 11 is started, the rotating shaft 111 drives the winding drums 111A and 111B to rotate, thereby driving the tendons 1110A and 1110B to pull the second shaft arm 202 to swing in a plane parallel to the plane where the winding drums 111A and 111B are located (such as the sagittal plane (ZY axis), the coronal plane (XY axis), and the horizontal plane (XZ axis)), and the swing amplitude can be ±90°, wherein when the rope 1111A is tightened, the rope 1111B is loosened, and when the rope 1111A is loosened, the rope 1111B is tightened.

[0065] Those skilled in the art will appreciate that a variation of Embodiment 2 may include configuring the tendon ropes 1110A and 1110B to be multiple ropes (e.g., 2 or more) each having a same-direction winding, and in the case of multiple ropes, the connection points of the multiple ropes and the second shaft arm 202 may be different to meet the needs of different application scenarios (see Figure 4B (1) and 4B(2)).

[0066] Those skilled in the art should understand that a variation of Example 2 may be to omit the motor bracket 110 and directly connect and fix the first shaft arm 201 to the stepper motor 11 (e.g., directly fix it on the housing of the stepper motor 11); to omit the winding reels 111A, 111B installed at both ends of the rotating shaft 111 and to process the two ends of the rotating shaft 111 into parts that can directly wrap the tendon rope.

[0067] Example 3

[0068] See also Figure 5A (1) and Figure 5A (2) The present application provides a bionic robot joint, comprising: a stepper motor 11, wherein the stepper motor 11 is fixed in a motor bracket 110, one end of a rotating shaft 111 of the stepper motor 11 protrudes from one side of the motor bracket 110, one end of the rotating shaft 111 is mounted with a winding disk 111B, and a tendon 1110B is wound around the winding disk 111B; and further comprising a cross-axis universal joint 20, wherein the cross-axis universal joint 20 comprises a first shaft arm 201 and a second shaft arm 202, wherein the first shaft arm 201 and the second shaft arm 202 are pivotally connected via a cross shaft 203, the first shaft arm 201 is attached to the motor bracket 110, and the first shaft arm 202 is pivotally connected to the motor bracket 110. 01's central axis 204 is perpendicular to the rotating shaft 111 of the stepping motor 11; the tendon rope 1110B has a rope 1111B, and the end of the rope 1111B is fixed at the second shaft arm 202, so that when the stepping motor 11 is started, the rotating shaft 111 drives the winding drum 111B to rotate, thereby driving the tendon rope 1110B to pull the second shaft arm 202 to rotate in a plane parallel to the plane where the winding drum 202 is located (such as the sagittal plane (ZY axis), the coronal plane (XY axis)), wherein when the rope 1110B is tightened, the second shaft arm 202 is lifted, and when the rope 1110B is reset, the second shaft arm 202 falls back to its original position by gravity.

[0069] It will be appreciated by those skilled in the art that a variation of Embodiment 3 may include providing the tendon cord 1110B with only one cord (see Figure 5B(1) and 5B (2)) or multiple ropes (such as 2 or more) wound in the same direction, and in the case of multiple ropes, the connection points of the multiple ropes and the second shaft arm can be different to meet the needs of different application scenarios.

[0070] Those skilled in the art should understand that a variation of Example 3 may be to omit the motor bracket 110 and directly connect and fix the first shaft arm 201 to the stepper motor 11 (e.g., directly fix it on the housing of the stepper motor 11); omit the winding reels 111A, 111B installed at both ends of the rotating shaft 111, and process the two ends of the rotating shaft 111 into parts that can directly wrap the tendon rope.

[0071] Example 4

[0072] See also Fig. 6A (1) and Fig. 6A(2) A bionic robot joint according to the present application includes: a first stepper motor 11, the first stepper motor 11 is fixed in a first motor bracket 110, two ends of a first rotating shaft 111 of the first stepper motor 11 protrude from opposite sides of the first motor bracket 110 respectively, and winding drums 111A and 111B are installed at both ends of the first rotating shaft 111; a tendon rope 1110A is wound around the winding drum 111A, and a tendon rope 1110B is wound around the winding drum 111B; a second stepper motor 12, the second stepper motor 12 is fixed in a second motor bracket 120, and the second stepper motor 1 The two ends of the second rotating shaft 121 of the second motor bracket 120 protrude from the opposite sides of the second rotating shaft 121, and the two ends of the second rotating shaft 121 are respectively installed with winding disks 121C and 121D; wherein the winding disk 111A and the winding disk 121D are arranged diagonally, and the winding disk 111B and the winding disk 121C are arranged diagonally; a tendon rope 1210C is wound around the winding disk 121C, and a tendon rope 1210D is wound around the winding disk 121D; wherein the first stepper motor 11 and the second stepper motor 12 are arranged in parallel, and the first rotating shaft 111 is parallel to the second rotating shaft 121; and further comprising a cross-axis universal joint 20 The cross-axis universal joint 20 includes a first shaft arm 201 and a second shaft arm 202, wherein the first shaft arm 201 and the second shaft arm 202 are pivotally connected via a cross shaft 203, wherein the first shaft arm 201 is attached to the first motor bracket 110, and the second shaft arm 202 is attached to the second motor bracket 120, and the central axis 204 of the first shaft arm 201 is perpendicular to the rotation axis 111 of the first stepper motor 11; the central axis 206 of the second shaft arm 202 is perpendicular to the rotation axis 121 of the second stepper motor 12; the tendons 1110A, 1110B, 1210C, 1210D all have There are two ropes, among which the tendon rope 1110A has ropes 1111A and 1112A; the tendon rope 1110B has ropes 1111B and 1112B; the tendon rope 1210C has ropes 1211C and 1212C; the tendon rope 1210D has ropes 1211D and 1212D; among which ropes 1111A, 1111B; 1211C; 1211D have the same winding direction, and ropes 1112A, 1112B, 1212C, and 1212D have the same winding direction; but ropes 1111A, 1111B, 1211C, and 1211D are wound in opposite directions to ropes 1112A, 1112B, 1212C, and 1212D.The ends of the two ropes 1111A, 1112A of the tendon rope 1110A and the ends of the two ropes 1111B, 1112B of the tendon rope 1110B are respectively fixed at the second shaft arm 202, the ends of the two ropes 1211C, 1212C of the tendon rope 1210C and the ends of the two ropes 1211D, 1212D of the tendon rope 1210D are respectively fixed at the first shaft arm 201, wherein when the first rotating shaft 111 and the second rotating shaft 121 rotate forward at the same time, the ropes 1111A, 1111B, 1211C, 1211D are tightened, and the ropes 1112A, 1112B, 1212C, 1212D with opposite winding directions are loosened; when the first rotating shaft 111 and the second rotating shaft 121 rotate in the opposite direction at the same time, the ropes 1111A, 1111B, 1211C, 1212D are loosened. 1211D is relaxed, and ropes 1112A, 1112B, 1212C, and 1212D are tightened; so that when the first stepper motor 11 and the second stepper motor 12 are started, the first rotating shaft 111 and the second rotating shaft 121 drive the winding disks thereon to rotate, thereby driving the corresponding parts of the corresponding tendon ropes to rotate in a plane parallel to the plane where the corresponding winding disks are located (such as the sagittal plane (ZY axis), the coronal plane (XY axis), and the horizontal plane (XZ axis)), wherein when ropes 1111A, 1111B, 1211C, and 1211D are tightened, ropes 1112A, 1112B, 1212C, and 1212D are relaxed; when ropes 1111A, 1111B, 1211C, and 1211D are relaxed, ropes 1112A, 1112B, 1212C, and 1212D are tightened.

[0073] Those skilled in the art will appreciate that the first variation of Embodiment 4 may include simplifying the installation of a wire winding reel at only one end of the rotating shaft 111 and the rotating shaft 121, and the wire winding reels 111B and 111C are arranged diagonally to meet the needs of different application scenarios (see Figure 6B (1) and 6B(2)).

[0074] It should be understood by those skilled in the art that the first rotation axis 111 and the second rotation axis 121 may be offset from each other. Figure 6C (1)), the first rotation axis 111 is parallel to the paper surface, and the second rotation axis 121 can be rotated and offset in a plane perpendicular to the paper surface. The offset angle between the first rotation axis 111 and the second rotation axis 121 can be any angle between 0° and 90° to meet the needs of different scenarios. According to the second variation of embodiment 4, see Figure 6C (1) and 6C (2), the first rotation axis 111 and the second rotation axis 121 are offset by an angle of 90° to meet the needs of different scenarios.

[0075] According to the third variation of embodiment 4, see Fig.6D(1) and 6D (2), the first rotating axis 111 and the second rotating axis 121 are offset by an angle of 90°, and only one winding reel is installed on each of the first rotating axis 111 and the second rotating axis 121 to meet the needs of different scenarios.

[0076] Those skilled in the art should understand that another variation of Example 4 may be to omit the motor brackets 110, 120, and directly connect and fix the first shaft arm 201 to the stepper motor 11 (e.g., directly fix it to the housing of the stepper motor 11); the second shaft arm 202 is directly connected and fixed to the stepper motor 12 (e.g., directly fix it to the housing of the stepper motor 12), omit the winding drums 111A, 111B installed at both ends of the rotating shaft 111, omit the winding drums 121C, 121D installed at both ends of the rotating shaft 121, and process the two ends of the rotating shafts 111, 121 into parts that can directly wrap the tendon rope.

[0077] Example 5

[0078] See also Fig. 7A(1) and 7A(2), a bionic robot joint according to the present application comprises: a first stepper motor 11, the first stepper motor 11 is fixed in a first motor bracket 110, two ends of a first rotating shaft 111 of the first stepper motor 11 protrude from opposite sides of the first motor bracket 110 respectively, and a winding drum 111A and a winding drum 111B are respectively installed at two ends of the first rotating shaft 111; a tendon rope 1110A is wound around the winding drum 111A; a tendon rope 1110B is wound around the first winding drum 111B; a second stepper motor 12, the second stepper motor 12 is fixed to the second motor bracket 120 In the embodiment, the two ends of the second rotating shaft 121 of the second stepper motor 12 protrude from the opposite sides of the second motor bracket 120, and the two ends of the second rotating shaft 121 are respectively installed with a winding drum 121C and a winding drum 121D; a tendon rope 1210C is wound around the winding drum 121C; a tendon rope 1210D is wound around the winding drum 121D; wherein the first stepper motor 11 and the second stepper motor 12 are arranged in parallel, and the first rotating shaft 111 is parallel to the second rotating shaft 121; wherein the winding drum 111A and the winding drum 121D are arranged diagonally, and the winding drum 111B and the winding drum 121C are arranged diagonally.It also includes a cross-axis universal joint 20, which includes a first shaft arm 201 and a second shaft arm 202, wherein the first shaft arm 201 and the second shaft arm 202 are pivotally connected via a cross shaft 203, wherein the first shaft arm 201 is attached to the first motor bracket 110, and the second shaft arm 202 is attached to the second motor bracket 120, the central axis 204 of the first shaft arm 201 is perpendicular to the rotation axis 111 of the first stepper motor 11; the central axis 206 of the second shaft arm 202 is perpendicular to the rotation axis 121 of the second stepper motor 12; the tendon rope 1110A, the tendon rope 1110B, the tendon rope 1210C and the tendon rope 1210D all have two ropes, the winding directions of the two ropes are the same, and the ends of the two ropes of the tendon rope 1110A are respectively fixed at the second shaft arm 202 and located at the winding drum 121C. On one side, the ends of the two ropes of the tendon rope 1110B are respectively fixed at the second shaft arm 202, which is located on one side of the winding drum 121D, the ends of the two ropes of the tendon rope 1210C are respectively fixed at the first shaft arm 201, which is located on one side of the winding drum 111A, and the ends of the two ropes of the tendon rope 1210D are respectively fixed at the first shaft arm 201, which is located on one side of the winding drum 121B, so that when the first stepper motor 11 and the second stepper motor 12 are started, the first rotating shaft 111 and the second rotating shaft 121 drive the winding drum thereon to rotate, and then drive the corresponding tendon rope to pull the corresponding part to rotate in a plane parallel to the plane where the corresponding winding drum is located, wherein the winding direction of the tendon rope 1110A is opposite to the winding direction of the tendon rope 1110B, and the winding direction of the tendon rope 1210C is opposite to the winding direction of the tendon rope 1210D. When the tendons 111A and 121D are tightened, the tendons 111B and 121C are relaxed, and when the tendons 111A and 121D are relaxed, the tendons 111B and 121C are tightened.

[0079] It will be appreciated by those skilled in the art that a first variation of Embodiment 5 may include providing the tendon cords 1110A, 1110B, 1210C, 1210D with only one cord (see Figure 7B (1) and 7B(2)) or more than two ropes may be provided, and in the case of multiple ropes, the connection points of the multiple ropes with the first shaft arm and the second shaft arm may be different.

[0080] A second variation of Embodiment 5 may include simplifying the winding discs mounted on the two rotating shafts to one each, arranged diagonally (see Figure 7C (1) and 7C(2)) to meet the needs of different application scenarios.

[0081] According to the third variation of Example 5, see Fig.7D (1) and 7D(2), Figure 7CThe rope in (1) and 7C (2) is simplified to one rope. Those skilled in the art should understand that the offset angle between the first rotation axis 111 and the second rotation axis 121 can be any angle between 0° and 90° to meet the needs of different scenarios. Fig. 7E (1) and 7E(2), the first rotation axis 111 and the second rotation axis 121 are offset by an angle of 90°, and the connection point between the rope and the cross-axis universal joint 20 is changed to meet the needs of different scenarios.

[0082] According to the fifth variation of embodiment 5, see Figure 7F (1) and 7F(2), Fig. 7E The ropes in (1) and 7E(2) are simplified to one.

[0083] According to the sixth variation of Embodiment 5, see Figure 7G (1) and 7G (2), the first rotating axis 111 and the second rotating axis 121 are offset by an angle of 90°, and only one winding reel is installed on the first rotating axis 11 and the second rotating axis 121 respectively to meet the needs of different scenarios.

[0084] According to the seventh variation of Example 5, see Figure 7H (1) and 7H(2), Figure 7G The ropes in (1) and 7G(2) are simplified to one.

[0085] Those skilled in the art should understand that another variation of Example 5 may be to omit the motor brackets 110, 120, and directly connect and fix the first shaft arm 201 to the stepper motor 11 (e.g., directly fix it to the housing of the stepper motor 11); the second shaft arm 202 is directly connected and fixed to the stepper motor 12 (e.g., directly fixed to the housing of the stepper motor 12), omit the winding drums 111A, 111B installed at both ends of the rotating shaft 111, omit the winding drums 121C, 121D installed at both ends of the rotating shaft 121, and process the two ends of the rotating shafts 111, 121 into parts that can directly wrap the tendon rope.

[0086] Those skilled in the art should understand that the cross-axis universal joint 20 in the embodiments 1-5 of the present application can be set as a single cross-axis universal joint or a double cross-axis universal joint. For a single cross-axis universal joint, the swing range is ±90°; for a double cross-axis universal joint, the swing range is ±180°. Figure 8 (1) and Figure 8(2) is an example diagram of replacing the single cross-axis universal joint in Example 1 with a double cross-axis universal joint, wherein the double cross-axis universal joint includes, in addition to the first arm 201 and the second arm 202, an intermediate arm 200, wherein the intermediate arm 200 is located between the first arm 201 and the second arm 202, and is pivotally connected to the first arm 201 and the second arm 202 via cross shafts 207 and 208, respectively.

[0087] See also Fig. 9 (1) Fig. 9 (2) and Fig. 9 (3) Change the fixing point of the tendon rope on the shaft arm from the near point (state A, corresponding to Fig. 9 (1)) Move to the far point (B state, corresponding to Fig. 9 (2)) can lengthen the lever arm, reduce resistance, and improve bearing capacity. However, this structure (state B) will increase the angle between the tendon rope and the shaft arm, which may interfere with the outer enclosure of the joint. To solve this problem, a pull ring 300 can be added (state C, corresponding to Fig. 9 (3)), the pull ring 300 is fixed to the shaft arm by a pull rope to constrain the tendon rope. This structure can be extended to various variants of single cross-axis universal joints and double cross-axis universal joints. As a further optimization, the fixing point of the tendon rope can also be arranged on a farther motor bracket, but it will also increase the angle between the tendon rope and the shaft arm, which may interfere with the outer enclosure of the joint. The solution can also be to add a pull ring, which is fixed to the shaft arm by a pull rope to constrain the tendon rope.

[0088] As a further optimization, the fixing point of the tendon rope can also be arranged on the intermediate shaft arm 200 of the double cross-axis universal joint, such as Fig.10 (1), 10(2), 10(3) and 10(4). When the angle at which the tendon rope is pulled up is large, the angle between the tendon rope and the axis can be reduced.

[0089] As a further optimization, the tendon rope can be made of stainless steel or polymer material; the tendon rope should have the characteristics of high strength, high wear resistance, low elongation, etc. As a further optimization, the tendon rope may cause interference friction with the contact parts, and a rubber hose can be put on the outside of the tendon rope to play a protective role.

[0090] As a further optimization, if the winding directions of multiple tendons on a winding drum are opposite, entanglement may occur during movement. The winding drum can be designed as a double-slot structure to ensure that multiple wires are isolated from each other and do not get entangled. Fig.11 shown.

[0091] As a further optimization, the connection between the motor bracket and the cross-axis universal joint shaft arm can be connected in a variety of ways, such as threaded connection, snap-on connection, etc. The connection between the motor and the motor bracket can be connected in a variety of ways, such as threaded connection, snap-on connection, etc. Fig.12 (1), 12(2) and 12(3) are examples in which the motor bracket is a square tube sleeve with a circular hole and a square hole respectively opened on opposite sides of the square tube sleeve. When the motor is installed, it passes through one side of the square hole and is fixed on one side of the circular hole. The motor is fixed to the bracket by bolts.

[0092] As a further optimization, the stepper motor cannot be used under overload, and a loss of rotation alarm function during torque overload needs to be added to the motor control algorithm to protect the stepper motor from being burned out.

[0093] As a further optimization of the present application, the cross-axis universal joint has a maximum swing angle limit, and the swing angle needs to be controlled in the motor control algorithm, and a margin is set between the maximum angle to prevent contact impact.

[0094] The bionic robot joints of the embodiment of the present application can be one or more of the cervical vertebra joints, shoulder joints, elbow joints, wrist joints, finger joints, spinal joints, hip joints, knee joints and sole joints. In other words, one or more of the above joints of the bionic robot of the present application can be implemented using the structures in the above embodiments.

[0095] On the other hand, the present application also provides a bionic robot, including the bionic robot joint according to the present application.

[0096] As a bionic robot, in addition to building its joints, it also requires a joint control system to solve the problem of precise control of joint and limb movements.

[0097] See also Fig.13 ,The bionic robot joint control system includes : a binocular stereo camera, a host computer and a stepper motor driver.

[0098] The binocular stereo camera is used to collect images of the motion state and motion position of the bionic robot's limbs, and the collected image data is sent to the host computer. In the present application, the setting position of the binocular stereo camera is not limited, and it can be set on the bionic robot body or in a position in the same environment as the bionic robot, as long as it can collect the above image data.

[0099] The host computer executes the control program based on the received image data to send control instructions to the bionic robot and receive feedback signals. In one embodiment, the present application adopts the existing stepper motor control algorithm based on visual feedback. In another embodiment, the LabVIEW operating platform can be used to build a simulation prototype on the host computer and design the control program by itself. The present application does not limit this.

[0100] The stepper motor driver arranged on the bionic robot body receives the control command (including pulse and direction signal) from the host computer, and converts it into electric current to drive the stepper motor in the above-mentioned bionic robot joint of the present application. The stepper motor controls the rotation by receiving a pulse signal, and each pulse rotates the motor by a fixed angle (step angle). In the bionic robot, the stepper motor can be used to accurately control the angle and speed of the joint. Normally, the stepper motor driver corresponds to the stepper motor one by one, and is responsible for controlling the step sequence and current size of the motor, so that multiple stepper motors can be controlled at the same time, driving multiple joints, and coordinating to complete complex and precise movements.

[0101] In one embodiment, the host computer sends control instructions to the stepper motor driver and receives feedback signals via industrial Ethernet. In one embodiment, the industrial Ethernet is built with EtherCAT network as the architecture, including EtherCAT master card and EtherCAT slave controller (ESC).

[0102] The EtherCAT master card is responsible for coordinating communications in the EtherCAT network, processing instructions from the host computer, and distributing them to each slave device.

[0103] The EtherCAT slave controller handles EtherCAT communications, especially the distributed clock function in the EtherCAT slave. It is a key component to ensure the exchange of cyclic and acyclic process data between the master and slave devices via the EtherCAT fieldbus. Each EtherCAT slave device has an ESC (EtherCAT slave controller) to ensure real-time and accuracy of data exchange.

[0104] In addition, the control system also includes a power supply to provide appropriate power to the stepper motor and the driver to ensure stable operation of the motor and the driver.

[0105] The features and benefits of the present application are explained by reference to the embodiments. Accordingly, the present application should not be limited to these exemplary embodiments which illustrate some possible non-limiting combinations of features, which may exist alone or in the form of other combinations of features.

[0106] The above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A bionic robot joint, comprising: A stepper motor, wherein the stepper motor is fixed to a motor bracket, two ends of a rotating shaft of the stepper motor protrude from opposite sides of the motor bracket, at least one end of the rotating shaft is provided with a winding drum, and a tendon rope is wound around the winding drum; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the motor bracket, and the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the tendon rope has a forward winding rope and a reverse winding rope, and the ends of the forward winding rope and the reverse winding rope are respectively fixed at the second shaft arm; When the stepper motor is started, the rotating shaft drives the winding drum to rotate, thereby driving the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located, wherein when the forward winding rope of the tendon rope is tightened, the reverse winding rope is loosened, and when the forward winding rope of the tendon rope is loosened, the reverse winding rope is tightened.

2. A bionic robot joint, comprising: A stepper motor, wherein two ends of a rotating shaft of the stepper motor protrude from opposite sides of the motor bracket, and a tendon rope is wound around at least one end of the rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the tendon rope comprises a forward winding rope and a reverse winding rope, and the ends of the forward winding rope and the reverse winding rope are respectively fixed at the second shaft arm; When the stepper motor is started, the rotating shaft rotates, thereby driving the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located, wherein when the forward winding rope of the tendon rope is tightened, the reverse winding rope is loosened, and when the forward winding rope of the tendon rope is loosened, the reverse winding rope is tightened.

3. A bionic robot joint, comprising: A stepper motor, wherein the stepper motor is fixed to a motor bracket, two ends of a rotating shaft of the stepper motor protrude from opposite sides of the motor bracket, a winding reel A is mounted on a first end of the rotating shaft, and a winding reel B is mounted on a second end of the rotating shaft; a tendon A is wound around the winding reel A, and a tendon B is wound around the winding reel B; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to (or serves as) the motor bracket, and the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the tendon rope A is a single rope or multiple ropes wound in the same direction, the tendon rope B has a single rope or multiple ropes wound in the same direction, the winding direction of the single rope or multiple ropes wound in the same direction of the tendon rope A is opposite to the winding direction of the single rope or multiple ropes wound in the same direction of the tendon rope B, and the ends of the single rope or multiple ropes wound in the same direction of the tendon rope A and the ends of the single rope or multiple ropes wound in the same direction of the tendon rope B are respectively fixed at the second shaft arm; Among them, when the stepper motor is started, the rotating shaft drives the winding reel A and the winding reel B to rotate, and then drives the tendon rope A and the tendon rope B to pull the second shaft arm to swing in a plane parallel to the plane where the winding reel A and the winding reel B are located. When one rope of the tendon rope A or multiple ropes wound in the same direction are tightened, one rope of the tendon rope B or multiple ropes wound in the same direction are relaxed, and when one rope of the tendon rope A or multiple ropes wound in the same direction are relaxed, one rope of the tendon rope B or multiple ropes wound in the same direction are tightened.

4. A bionic robot joint, comprising: A stepper motor, wherein two ends of a rotating shaft of the stepper motor protrude from opposite sides of the motor bracket, a tendon rope A is wound around a first end of the rotating shaft, and a tendon rope B is wound around a second end of the rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the tendon rope A has one rope or multiple ropes wound in the same direction, the tendon rope B has one rope or multiple ropes wound in the same direction, the winding direction of the one rope or multiple ropes wound in the same direction of the tendon rope A is opposite to the winding direction of the one rope or multiple ropes wound in the same direction of the tendon rope B, and the ends of the one rope or multiple ropes wound in the same direction of the tendon rope A and the ends of the one rope or multiple ropes wound in the same direction of the tendon rope B are respectively fixed at the second shaft arm; Among them, when the stepper motor is started, the rotating shaft drives the tendon rope A and the tendon rope B to pull the second shaft arm to swing in a plane parallel to the plane where the winding reel A and the winding reel B are located. When one rope of the tendon rope A or multiple ropes wound in the same direction are tightened, one rope of the tendon rope B or multiple ropes wound in the same direction are relaxed. When one rope of the tendon rope A or multiple ropes wound in the same direction are relaxed, one rope of the tendon rope B or multiple ropes wound in the same direction are tightened.

5. A bionic robot joint, comprising: A stepper motor, wherein the stepper motor is fixed to a motor bracket, one end of a rotating shaft of the stepper motor protrudes from one side of the motor bracket, a winding drum is installed at one end of the rotating shaft, and a tendon rope is wound on the winding drum; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the end of the tendon rope is fixed to the second shaft arm; Among them, when the stepper motor is started, the rotating shaft drives the winding drum to rotate, and then drives the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located. When the tendon rope is tightened, the second shaft arm is lifted, and when the tendon rope is reset, the second shaft arm depends on gravity to drop back to its position.

6. A bionic robot joint, comprising: A stepper motor, wherein one end of a rotating shaft of the stepper motor protrudes from one side of the motor bracket, and a tendon rope is wound around one end of the rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprising a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, the first shaft arm is attached to the stepper motor, and the central axis of the first shaft arm is perpendicular to the rotation axis of the stepper motor; the end of the tendon rope is fixed to the second shaft arm; When the stepper motor is started, the rotating shaft drives the tendon rope to pull the second shaft arm to swing in a plane parallel to the plane where the winding drum is located. When the tendon rope is tightened, the second shaft arm is lifted, and when the tendon rope is reset, the second shaft arm falls back to its position by gravity.

7. A bionic robot joint, comprising: a first stepper motor, the first stepper motor being fixed in a first motor bracket, two ends of a first rotating shaft of the first stepper motor respectively protruding from opposite sides of the first motor bracket, a first winding drum being installed at least at one end of the first rotating shaft; a first tendon cord being wound around the first winding drum; A second stepper motor, wherein the second stepper motor is fixed in a second motor bracket, two ends of a second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket, and a second winding disk is installed at least on one end of the second rotating shaft; a second tendon cord is wound around the second winding disk; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle from the second rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, wherein the first shaft arm is attached to the first motor bracket, the second shaft arm is attached to the second motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the first tendon rope and the second tendon rope both have a forward winding rope and a reverse winding rope, the ends of the forward winding rope and the reverse winding rope of the first tendon rope are respectively fixed at the second shaft arm, and the ends of the forward winding rope and the reverse winding rope of the second tendon rope are respectively fixed at the first shaft arm; Among them, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the winding drums thereon to rotate, thereby driving the corresponding tendon ropes to pull the corresponding parts to swing in a plane parallel to the plane where the corresponding winding drums are located, wherein when the forward winding ropes of the first tendon rope and the second tendon rope are tightened, the reverse winding ropes of the first tendon rope and the second tendon rope are relaxed; when the forward winding ropes of the first tendon rope and the second tendon rope are relaxed, the reverse winding ropes of the first tendon rope and the second tendon rope are tightened.

8. A bionic robot joint, comprising: a first stepper motor, wherein two ends of a first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket, respectively, and a first tendon is wound around at least one end of the first rotating shaft; A second stepper motor, wherein two ends of a second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket, and a second tendon is wound around at least one end of the second rotating shaft; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle from the second rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, wherein the first shaft arm is attached to the first stepper motor, the second shaft arm is attached to the second stepper motor, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the first tendon rope and the second tendon rope both have a forward winding rope and a reverse winding rope, the ends of the forward winding rope and the reverse winding rope of the first tendon rope are respectively fixed at the second shaft arm, and the ends of the forward winding rope and the reverse winding rope of the second tendon rope are respectively fixed at the first shaft arm; Wherein, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the corresponding tendon ropes to pull the corresponding parts to swing, wherein when the forward winding ropes of the first tendon rope and the second tendon rope are tightened, the reverse winding ropes of the first tendon rope and the second tendon rope are relaxed; when the forward winding ropes of the first tendon rope and the second tendon rope are relaxed, the reverse winding ropes of the first tendon rope and the second tendon rope are tightened.

9. A bionic robot joint, comprising: A first stepper motor, the first stepper motor is fixed to a first motor bracket, two ends of a first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket, a winding drum A and a winding drum B are respectively installed at two ends of the first rotating shaft; a tendon rope A is wound around the winding drum A; and a tendon rope B is wound around the winding drum B; A second stepper motor, the second stepper motor is fixed to the second motor bracket, two ends of the second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket, and two ends of the second rotating shaft are respectively installed with a winding drum C and a winding drum D; a tendon rope C is wound around the winding drum C; a tendon rope D is wound around the winding drum D; wherein The first rotating axis of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle from the second rotating axis; A cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, wherein the first shaft arm is attached to the first motor bracket, the second shaft arm is attached to the second motor bracket, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the tendon rope A, the tendon rope B, the tendon rope C and the tendon rope D all have a rope or multiple ropes wound in the same direction, the ends of the rope or multiple ropes of the tendon rope A are respectively fixed at the second shaft arm, the ends of the rope or multiple ropes of the tendon rope B are respectively fixed at the second shaft arm, the ends of the rope or multiple ropes of the tendon rope C are respectively fixed at the first shaft arm, and the ends of the rope or multiple ropes of the tendon rope D are respectively fixed at the first shaft arm; Among them, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the winding drum thereon to rotate, thereby driving the corresponding tendon rope to pull the corresponding part to swing in a plane parallel to the plane where the corresponding winding drum is located, wherein when the tendon rope A and the tendon rope D are tightened, the tendon rope B and the tendon rope C are relaxed, and when the tendon rope A and the tendon rope D are relaxed, the tendon rope B and the tendon rope C are tightened.

10. A bionic robot joint, comprising: A first stepper motor, two ends of a first rotating shaft of the first stepper motor protrude from opposite sides of the first motor bracket, and two ends of the first rotating shaft are respectively wound with a tendon rope A and a tendon rope B; A second stepper motor, wherein two ends of a second rotating shaft of the second stepper motor protrude from opposite sides of the second motor bracket, and two ends of the second rotating shaft are respectively wound with a tendon rope C and a tendon rope D; wherein the first rotating shaft of the first stepper motor and the second stepper motor is parallel to or offset by a certain angle with the second rotating shaft; A cross-axis universal joint, the cross-axis universal joint comprises a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are pivotally connected via a cross shaft, wherein the first shaft arm is attached to the first stepper motor, the second shaft arm is attached to the second stepper motor, the central axis of the first shaft arm is perpendicular to the rotation axis of the first stepper motor; the central axis of the second shaft arm is perpendicular to the rotation axis of the second stepper motor; the tendon rope A, the tendon rope B, the tendon rope C and the tendon rope D all have a rope or multiple ropes wound in the same direction, the ends of the rope or multiple ropes of the tendon rope A are respectively fixed at the second shaft arm, the ends of the rope or multiple ropes of the tendon rope B are respectively fixed at the second shaft arm, the ends of the rope or multiple ropes of the tendon rope C are respectively fixed at the first shaft arm, and the ends of the rope or multiple ropes of the tendon rope D are respectively fixed at the first shaft arm; Among them, when the first stepper motor and the second stepper motor are started, the first rotating shaft and the second rotating shaft drive the corresponding tendon ropes to pull the corresponding parts to swing, wherein when the tendon rope A and the tendon rope D are tightened, the tendon rope B and the tendon rope C are relaxed, and when the tendon rope A and the tendon rope D are relaxed, the tendon rope B and the tendon rope C are tightened.

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