Bionic wrist joint based on rope driving

Abstract

The invention discloses a bionic wrist joint based on rope driving, and belongs to the technical field of bionic robots. The joint mainly comprises a movable part, a driving part and a tendon-imitating rope group. The movable part is composed of a far-end column carpal bone imitating component, a near-end column carpal bone imitating component and a forearm bone imitating component, two two-rod four-cable tensegrity units are formed through ligament imitating elastic bodies to be connected, and a carpal groove imitating dislocation preventing structure is formed at the connecting position of the components. The driving part comprises a driving wheel set driven by a motor. The two tendon-imitating ropes are guided by the pulleys and the tendon-imitating sheath eyebolts, penetrate through the gaps of the components and then are fixed to the far end of the movable part. The degree of freedom is effectively restrained through the carpal-groove-imitating dislocation-preventing structure, dislocation is prevented, the stability is improved, and the double-degree-of-freedom bionic movement of 180-degree buckling / stretching and 90-degree adduction / abduction is achieved in combination with rope driving. The device has the advantages of being simple in structure, high in self-recovery performance and the like, and is suitable for robot operation scenes needing high flexibility and environment adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, in particular to a bionic wrist joint based on rope driving. Background Art

[0002] The human wrist joint is a highly complex biological structure composed of multiple bones, ligaments, and tendons. Its stability relies on the coupling between its components, enabling approximately 180° of flexion / extension and 90° of adduction / abduction through the associated muscles and tendons.

[0003] In the existing technology, traditional rigid robot wrist joints have obvious limitations in environmental adaptability; while flexible robot wrist joints generally have shortcomings such as insufficient stability, complex drive systems and limiting structures, limited range of motion, poor self-recovery or even no self-recovery.

[0004] Currently, there are precedents for three-DOF bionic wrist joints in bionic robot joint design. For example, patent CN114633282B discloses a rope-driven, three-DOF, humanoid, variable-stiffness wrist joint. This allows for three-DOF wrist motion and allows for flexible stiffness changes during movement, ensuring excellent stability. However, this requires at least four steel cables for power transmission, and its limiting structure is relatively complex and lacks self-healing properties. Summary of the Invention

[0005] In order to overcome the shortcomings of the existing technology, the present invention proposes a bionic wrist joint design based on rope drive. The present invention constructs a bionic tensegrity structure that can simulate the movement function of the human wrist joint; the joint is designed with a degree of freedom constraint through an original design of a carpal groove anti-dislocation structure, so that its working space can cover the range of motion of the human wrist joint, thereby achieving a balance between flexible adaptability and structural stability. At the same time, the structure is simple and beautiful, and the complexity of the limiting structure is simplified to the greatest extent while ensuring functional stability; the present invention innovatively uses eyebolts to simulate the function of biological tendon sheaths, providing an optimized winding path for the driving rope, effectively solving the motion control problem of the bionic wrist joint, and realizing precise movement based on rope drive.

[0006] It should be noted that since the present invention relates to the field of bionic robotics technology, some components are named in conjunction with the associated wrist joint structure. Therefore, the names of the following components are exemplary and are only used to explain the present invention and should not be understood as limiting the present invention.

[0007] This invention proposes a rope-driven bionic wrist joint, which primarily comprises an active portion and a drive portion. It also includes at least two tendon-like ropes that connect the two portions to achieve related motion and function. The active portion and the drive portion are connected by four copper pillars, providing rigid support and defining the relative position of the active portion and the drive portion.

[0008] It should be noted that, in this application, "connection" refers to a rigid fixation (e.g., copper stud-bolt), where there is no relative motion between components; "coupling" refers to a movable connection (e.g., ligament-like elastic body), where controlled displacement between components is permitted. These two qualifiers are not to be construed as limiting the present invention.

[0009] The movable part mainly comprises a simulated distal carpal bone component, a simulated proximal carpal bone component and a simulated forearm bone component. The three components are positioned by a simulated joint structure to form the main structure of the movable part. Among them, there is a cross-shaped connecting component on the top of the simulated distal carpal bone component.

[0010] In the movable portion, the simulated distal carpal bone component and the simulated proximal carpal bone component are connected in the middle portion by at least four simulated ligament elastic bodies combined with horn nails, and are connected on both sides by at least two simulated ligament elastic bodies combined with simulated tendon sheath eyebolts. The simulated proximal carpal bone component and the simulated forearm bone component are connected in the middle portion by at least four simulated ligament elastic bodies combined with horn nails, and are connected on both sides by at least two simulated ligament elastic bodies combined with simulated tendon sheath eyebolts. Simultaneously, two lateral simulated carpal bone groove anti-dislocation structures and a central simulated carpal bone groove anti-dislocation structure are formed at the connection between the simulated distal carpal bone component and the simulated proximal carpal bone component. Two lateral simulated carpal bone groove anti-dislocation structures are formed at the connection between the simulated proximal carpal bone component and the simulated forearm bone component.

[0011] The driving part includes two motors and two driving wheels, and the motors and the driving wheels are fixedly connected by bolts.

[0012] It should be noted that one end of the first simulated tendon rope is wound and fixed on the winding drum of the first driving wheel, and the other end passes through a pair of simulated tendon sheath eye bolts fixed at the connection between the simulated forearm bone component and the simulated proximal carpal bone component, and then passes through the space gap maintained by the simulated ligament elastomer between the above-mentioned simulated distal carpal bone component and the simulated proximal carpal bone component, and finally is fixed to the distal end of the cross-shaped connecting component at the top of the simulated distal carpal bone by a claw nail; one end of the second simulated tendon rope is wound and fixed on the winding drum of the second driving wheel, and the other end is wound around the pulley at the edge of the above-mentioned simulated forearm bone component, and then passes through the space gap maintained by the simulated ligament elastomer between the simulated proximal carpal bone component and the simulated forearm bone component, and then passes through a pair of simulated tendon sheath eye bolts fixed at the connection between the simulated proximal carpal bone component and the simulated distal carpal bone component, and finally is fixed to the other distal end of the cross-shaped connecting component at the top of the above-mentioned simulated distal carpal bone by a claw nail.

[0013] It should be noted that a pulley is connected to the lateral extension of the simulated forearm bone component by bolts to reduce the friction resistance of the second simulated tendon rope when it passes through the simulated proximal carpal bone component and the simulated forearm bone component, avoid movement interference, and ensure low-friction transmission of the second simulated tendon rope in complex movements.

[0014] It should be noted that the above winding method can be adjusted to a certain extent in space, specifically to simulate the flexion / extension and adduction / abduction movements of the wrist joint. The winding method proposed in the present invention is exemplary and should not be construed as only being able to achieve the desired movement through the above winding method.

[0015] The present invention is a rope-driven bionic wrist joint, which mainly connects the various components of the active part through a ligament-like elastomer. This forms two two-rod, four-cable tensioned integral units, so the bionic wrist joint has good compliance and self-recovery. In general application scenarios, the two degrees of freedom of the active part are achieved by controlling the rotation amount and direction of the two motors and changing the winding method of the two tendon-like ropes. Similarly, since tendon-like ropes are used to connect and control the drive between the active part and the drive part, it has better flexibility than traditional rigid control.

[0016] It should be noted that the preload force of the ligament-mimicking elastic body is adjustable to a certain extent. By changing the preload force of the ligament-mimicking elastic body, the structural stability and load capacity of the active part can be proportionally improved within a certain range.

[0017] Technical Effect: This invention achieves a balance between flexible motion and structural stability through a rope-driven tensegrity design. The rope path is optimized by utilizing the bionic tendon sheath function of the eyebolt, and combined with a pulley friction-reducing design, reliable motion control with two degrees of freedom (approximately 180° flexion / extension and 90° adduction / abduction). The adjustable preload force of the ligament-like elastomer further enhances load capacity and environmental adaptability. Furthermore, the split design improves the system's reliability and engineering applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more intuitively illustrate the embodiments of the present invention or technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. It should be noted that the drawings described below only represent some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0019] Figure 1 A schematic structural diagram of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0020] Figure 2Schematic diagram I of the structure of the active part of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0021] Figure 3 Schematic diagram II of the structure of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0022] Figure 4 An exploded view of the active part of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0023] Figure 5 A partial exploded view of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0024] Figure 6 Schematic diagram I of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0025] Figure 7 Schematic diagram II of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0026] Figure 8 Schematic diagram III of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0027] Figure 9 Schematic diagram IV of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0028] Figure 10 Schematic diagram V of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0029] Figure 11 Schematic diagram VI of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0030] Figure 12 VII is a schematic diagram of the structural details of the active part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0031] Figure 13 A schematic structural diagram of the driving portion of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0032] Figure 14 A partial exploded view of the driving portion of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0033] Figure 15 Schematic diagram I of the winding method of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0034] Figure 16 Schematic diagram II of the winding method of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0035] Figure 17 A schematic diagram of the operating directions of components related to the flexion / extension movement of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0036] Figure 18 A schematic diagram of the operating directions of components related to the adduction / abduction movement of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0037] Figure 19 Schematic diagram of the flexion / extension motion state of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0038] Figure 20 Schematic diagram of the adduction / abduction motion state of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0039] Explanation of reference numerals: 1. active part; 101. imitation distal carpal bone component; 102. cruciform connecting component; 103. imitation proximal carpal bone component; 104. imitation forearm bone component; 105. pulley; 106. first imitation ligament elastic body; 107. second imitation ligament elastic body; 108. third imitation ligament elastic body; 109. fourth imitation ligament elastic body; 110. fifth imitation ligament elastic body; 111. sixth imitation ligament elastic body; 112. seventh imitation ligament elastic body; 113. eighth imitation ligament elastic body 114, ninth imitation ligament elastic body; 115, tenth imitation ligament elastic body; 116, eleventh imitation ligament elastic body; 117, twelfth imitation ligament elastic body; 118, first claw nail; 119, second claw nail; 120, third claw nail; 121, fourth claw nail; 122, fifth claw nail; 123, sixth claw nail; 124, seventh claw nail; 125, eighth claw nail; 126, ninth claw nail; 127, tenth claw nail; 128, eleventh claw nail 129, 12th claw nail; 130, 13th claw nail; 131, 14th claw nail; 132, 15th claw nail; 133, 16th claw nail; 134, 1st imitation tendon sheath eye bolt; 135, 2nd imitation tendon sheath eye bolt; 136, 3rd imitation tendon sheath eye bolt; 137, 4th imitation tendon sheath eye bolt; 138, 5th imitation tendon sheath eye bolt; 139, 6th imitation tendon sheath eye bolt; 140, 7th imitation tendon sheath eye bolt; 141, 8th imitation tendon sheath eye bolt Bolt; 2. Driving part; 201. Driving part frame; 202. Motor group; 20201. First motor; 20202. Second motor; 203. Copper column group; 20301. First copper column; 20302. Second copper column; 20303. Third copper column; 20304. Fourth copper column; 204. Driving wheel group; 20401. First driving wheel; 20402. Second driving wheel; 3. Imitation tendon rope group; 301. First imitation tendon rope; 302. Second imitation tendon rope. DETAILED DESCRIPTION

[0040] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. The following description in conjunction with the accompanying drawings is merely illustrative and serves to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that terms referring to directions or positions, such as "middle portion," "both sides," "distal end," "proximal end," "edge," "spatial gap," "lateral extension," "lower," "left," "clockwise," and "counterclockwise," are defined based on the orientations or positions shown in the accompanying drawings. These definitions are provided solely for the purpose of describing the present invention and simplifying the explanation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," "fifth," "sixth," "seventh," "eighth," "ninth," "tenth," "eleventh," "twelfth," "thirteenth," "fourteenth," "fifteenth," and "sixteenth," are used for descriptive purposes only and should not be construed as indicating relative importance or implicitly limiting the number of the technical features referred to. Therefore, a feature designated "Xth" or "XXth" (e.g., first, second, etc., or eleventh, twelfth, etc.) may explicitly or implicitly include one or more of such features. Furthermore, in the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0042] The embodiments or examples provided below are used to illustrate different configurations of the present invention. To simplify the description, the components and their configurations in specific examples will be described. It should be emphasized that these descriptions are merely examples and are not intended to limit the present invention.

[0043] It should be noted that the same reference numerals and / or letters may be used repeatedly in different examples in this specification. This repetition is only for the sake of brevity and clarity of description and does not in itself indicate a specific relationship between the different embodiments and / or settings described.

[0044] See also Figure 1 The present invention provides a rope-driven bionic wrist joint, which generally comprises an active portion 1, a driving portion 2, and a tendon-mimicking rope assembly 3. The active portion 1 and the driving portion 2 are separated by the plane of the pulley 105. The active portion 1 and the driving portion 2 are connected and fixed by a copper column assembly 203. The tendon-mimicking rope assembly 3 can be divided into a first tendon-mimicking rope 301 and a second tendon-mimicking rope 302. The copper column assembly 203 can be divided into a first copper column 20301, a second copper column 20302, a third copper column 20303, and a fourth copper column 20304.

[0045] See Figures 1 to 6 , see further Figures 2 to 4The movable part 1 mainly includes an imitation distal carpal bone component 101, an imitation proximal carpal bone component 103 and an imitation forearm bone component 104. The top of the imitation distal carpal bone component 101 and the cross-shaped connecting component 102 form an integrated whole. Among them, the imitation distal carpal bone component 101 is equipped with a fifth claw nail 122, a sixth claw nail 123, a third imitation tendon sheath eye bolt 136 and a fifth imitation tendon sheath eye bolt 138; the cross-shaped connecting component 102 is equipped with a first claw nail 118, a second claw nail 119, a third claw nail 120 and a fourth claw nail 121; the imitation proximal carpal bone component 103 is equipped with a seventh claw nail 124, an eighth claw nail 125, a ninth claw nail 126, a tenth claw nail The simulated forearm bone component 104 is provided with a fifteenth claw nail 132, a sixteenth claw nail 133, a second imitation tendon sheath eye bolt 135 and an eighth imitation tendon sheath eye bolt 141. It should be noted that the first ligament-imitation elastic body 106, the second ligament-imitation elastic body 107, the third ligament-imitation elastic body 108, the fourth ligament-imitation elastic body 109, the fifth ligament-imitation elastic body 110, the sixth ligament-imitation elastic body 111, the seventh ligament-imitation elastic body 112, and the eighth ligament-imitation elastic body 113 are connected by the fifth claw nail 122, the sixth claw nail 123, the seventh claw nail 124, the eighth claw nail 125, the ninth claw nail 126, the tenth claw nail 127, the eleventh claw nail 128, the twelfth claw nail 129, the thirteenth claw nail 130, the fourteenth claw nail 131, the fifteenth claw nail 132, and the sixteenth claw nail 133 , forming two two-rod and four-cable tensioned integral units; the ninth simulated ligament elastic body 114, the tenth simulated ligament elastic body 115, the eleventh simulated ligament elastic body 116, and the twelfth simulated ligament elastic body 117 are connected by the first simulated tendon sheath eye bolt 134, the second simulated tendon sheath eye bolt 135, the third simulated tendon sheath eye bolt 136, the fourth simulated tendon sheath eye bolt 137, the fifth simulated tendon sheath eye bolt 138, the sixth simulated tendon sheath eye bolt 139, the seventh simulated tendon sheath eye bolt 140, and the eighth simulated tendon sheath eye bolt 141, playing the role of auxiliary connection between the simulated distal row carpal bone component 101, the simulated proximal row carpal bone component 103, and the simulated forearm bone component 104.

[0046] See Figures 1 to 6 , please refer to Figures 5 and 6. The simulated distal row carpal bone component 101 and the simulated proximal row carpal bone component 103 form two lateral simulated carpal bone groove anti-dislocation structures (such as the framed portion in the dotted box I) and a central simulated carpal bone groove anti-dislocation structure (i.e. the framed portion in the dotted box II). Similarly, the simulated proximal row carpal bone component 103 and the simulated forearm bone component 104 form two lateral simulated carpal bone groove anti-dislocation structures (such as the framed portion in the dotted box III). The simulated carpal bone groove anti-dislocation structure cooperates with the above-mentioned multiple simulated ligament elastic bodies to also play an auxiliary connection role between the simulated distal row carpal bone component 101, the simulated proximal row carpal bone component 103, and the simulated forearm bone component 104. In addition, due to the unique spatial redundancy design and the simulated joint limiting design, even if there is a large relative rotation or a small relative displacement between the simulated distal row carpal bone component 101, the simulated proximal row carpal bone component 103, and the simulated forearm bone component 104, the device can still stably realize various functions. The invention effectively solves the problem in the prior art that the limit device occupies a large space, has a complex structure and affects its self-recovery and reliability.

[0047] Note: see Figures 1 to 12 , see further Figure 7 and Figure 8 The simulated distal carpal bone component 101 and the simulated proximal carpal bone component 103 are connected on both sides to form a side simulated carpal groove anti-dislocation structure (i.e. the part selected by the dotted box I); please refer to Figure 9 and Figure 10 The simulated distal carpal bone component 101 and the simulated proximal carpal bone component 103 form a central simulated carpal groove anti-dislocation structure (i.e. the dotted line box II selected part) at the middle connection; please refer to Figure 11 and Figure 12 The simulated proximal carpal bone component 103 and the simulated forearm bone component 104 respectively form a lateral simulated carpal groove anti-dislocation structure at the connection point on both sides (i.e. the part selected by the dotted box III). In order to solve the problems in the prior art such as the large space occupied by the limiting device / structure, the complex structure, and the impact on its self-recovery and operational reliability, the present invention creatively introduces the anti-dislocation structure of the simulated carpal groove. By making the connection point of the two pairs of components into an arc, the sliding friction is minimized to ensure the operational reliability and stability when relative displacement occurs between the components, while ensuring the sensitive response of the self-recovery of the present invention; through the redundant size design, the simulated distal carpal bone component 101 and the simulated proximal carpal bone component 103, and the simulated proximal carpal bone component 103 and the simulated forearm bone component 104 can ensure the normal realization of various functions even in the case of dislocation (a certain degree of internal dislocation).

[0048] See Figure 13 and Figure 14The driving part 2 is composed of a driving part frame 201, a motor group 202 and a driving wheel group 204. The motor group 202 can be divided into a first motor 20201 and a second motor 20202, and the driving wheel group 204 can be divided into a first driving wheel 20401 and a second driving wheel 20402.

[0049] See Figures 1 to 16 , see further Figure 15 and Figure 16 . It should be noted that although the present invention provides a specific example of a winding method for the imitation tendon rope group 3, a person skilled in the art should understand that other winding methods are also applicable. In this embodiment, one end of the first imitation tendon rope 301 is wound and fixed on the winding drum of the first driving wheel 20401, and the other end passes through the second imitation tendon sheath eye bolt 135 and the first imitation tendon sheath eye bolt 134 fixed at the connection between the imitation forearm bone component 104 and the imitation proximal carpal bone component 103, and then passes through the space gap between the imitation distal carpal bone component 101 and the imitation proximal carpal bone component 103 maintained by the first imitation ligament elastomer 106, the second imitation ligament elastomer 107, the third imitation ligament elastomer 108 and the fourth imitation ligament elastomer 109, and is finally fixed to the distal end of the cross-shaped connecting component 102 by the fourth claw nail 121; the second imitation tendon rope 3 One end of 02 is wound and fixed on the winding drum of the second driving wheel 20402, and the other end is wound around the pulley 105 at the edge of the simulated forearm bone component 104, and then passes through the space between the simulated proximal row carpal bone component 103 and the simulated forearm bone component 104 maintained by the fifth simulated ligament elastic body 110, the sixth simulated ligament elastic body 111, the seventh simulated ligament elastic body 112 and the eighth simulated ligament elastic body 113, and then passes through the sixth simulated tendon sheath eye bolt 139 and the fifth simulated tendon sheath eye bolt 138 fixed at the connection between the simulated proximal row carpal bone component 103 and the simulated distal row carpal bone component 101, and finally fixed to the other distal end of the cross-shaped connecting component 102 through the third claw nail 120.

[0050] See Figures 1 to 20 , see further Figures 17 to 20 In general applications, controlling the rotation and direction of motor assembly 202 and changing the winding method of tendon-like cable assembly 3 achieves dual-degree-of-freedom swinging of active portion 1, namely flexion / extension and adduction / abduction. Furthermore, the use of tendon-like cable assembly 3 for connecting and controlling the active portion 1 and drive portion 2 provides superior flexibility and self-healing properties compared to traditional rigid connections and controls.

[0051] See Figures 1 to 20 For more details, please refer to Figure 17 and Figure 19When the first motor 20201 drives the first driving wheel 20401 to rotate counterclockwise (i.e., in the direction C), the first simulated tendon rope 301 is driven to move downward (i.e., in the direction A). The first simulated tendon rope 301 is tightened along the winding drum of the first driving wheel 20401, thereby driving the simulated distal carpal bone component 101 to swing counterclockwise (i.e., tangent to the X direction) around the axis of the third simulated tendon sheath eye bolt 136 to achieve a maximum of approximately 90° relative to the initial position. This swing is defined as the flexion / extension movement of the present invention; see further. Figure 18 and Figure 20 When the second motor 20202 drives the second driving wheel 20402 to rotate clockwise (i.e., along the D direction), it drives the second imitation tendon rope 302 to move downward (i.e., along the B direction), and the second imitation tendon rope 302 is tightened along the winding disk of the second driving wheel 20402, thereby driving the imitation proximal carpal bone component 103 to swing counterclockwise (i.e., tangent to the Y direction) around the axis of the first imitation tendon sheath eye bolt 134 to achieve a maximum of approximately 45° relative to the initial position. This swing is defined as the adduction / abduction movement of the present invention.

[0052] It should be noted that while the present invention provides a specific example regarding the rotation amount and direction of the motor assembly 202 and the winding method of the tendon-like cable assembly 3, those skilled in the art will appreciate that other winding and driving methods are equally applicable. For ease of understanding, this description will not be elaborated upon in detail. Therefore, by controlling the rotation amount and direction of the motor assembly 202 and changing the winding method of the tendon-like cable assembly 3, the movable portion 1 can achieve the aforementioned flexion / extension and adduction / abduction movements in opposite directions at the same angle. In other words, the present invention can achieve a maximum of approximately 180° flexion / extension and 90° adduction / abduction movements. At the same time, when performing flexion / extension and adduction / abduction movements, the first ligament-like elastomer 106, the second ligament-like elastomer 107, the third ligament-like elastomer 108, the fourth ligament-like elastomer 109, the fifth ligament-like elastomer 110, the sixth ligament-like elastomer 111, the seventh ligament-like elastomer 112, the eighth ligament-like elastomer 113, the ninth ligament-like elastomer 114, the tenth ligament-like elastomer 115, the eleventh ligament-like elastomer 116 and the twelfth ligament-like elastomer 117 can provide a reset torque. When the tendon-like rope group 3 does not provide tension, the movable part 1 can quickly return to its original position and has good self-recovery properties.

[0053] In actual application scenarios, the other side of the cross-shaped connecting member 102 that cooperates with the simulated distal carpal bone member 101 can be equipped with clamps including but not limited to pneumatic clamps or other functional components to meet different actual needs of different usage scenarios.

[0054] It should be noted that the pre-tightening force of the first ligament-like elastomer 106, the second ligament-like elastomer 107, the third ligament-like elastomer 108, the fourth ligament-like elastomer 109, the fifth ligament-like elastomer 110, the sixth ligament-like elastomer 111, the seventh ligament-like elastomer 112, the eighth ligament-like elastomer 113, the ninth ligament-like elastomer 114, the tenth ligament-like elastomer 115, the eleventh ligament-like elastomer 116 and the twelfth ligament-like elastomer 117 can be adjusted to a certain extent by means including but not limited to replacing their materials and specifications, thereby improving the applicability of the present invention in actual application scenarios.

[0055] In summary, although the present invention has been described in detail above with reference to specific embodiments, the scope of protection of the present invention is not limited thereto. Persons skilled in the art may make modifications, adjustments, or variations to the above embodiments without departing from the principles of the present invention, and such modifications, adjustments, or variations shall be encompassed within the scope of protection of the present invention.

Claims

1. A bionic wrist joint based on rope drive, characterized in that: include: The movable part (1) comprises an imitation distal carpal bone component (101), an imitation proximal carpal bone component (103) and an imitation forearm bone component (104), wherein a cross-shaped connecting component (102) is provided on the top of the imitation distal carpal bone component (101); A driving part (2) comprising a driving part frame (201), a motor group (202) mounted on the frame, and a driving wheel group (204) driven by the motor; At least two tendon-like ropes (301, 302) for connecting the movable part (1) and the driving part (2); Four copper pillars (20301-20304) rigidly connecting the movable part (1) and the driving part (2) to define relative positions; in: The simulated forearm bone component (104) and the simulated proximal carpal bone component (103), as well as the simulated proximal carpal bone component (103) and the simulated distal carpal bone component (101) are all connected via simulated ligament elastic bodies (106-117), and a simulated carpal groove anti-dislocation structure is formed at the connection between the components; The driving wheel assembly (204) comprises two winding drums, one end of a first imitation tendon rope (301) is fixed to the winding drum of the first driving wheel (20401), and the other end passes through the imitation tendon sheath eye bolts (134, 135) at the connection between the imitation forearm bone component (104) and the imitation proximal carpal bone component (103), and the space between the imitation distal carpal bone component (101) and the imitation proximal carpal bone component (103), and is finally fixed to the distal end of the cross-shaped connecting component (102); the second imitation tendon rope (301) is fixed to the distal end of the cross-shaped connecting component (102); One end of the tendon rope (302) is fixed to the winding drum of the second driving wheel (20402), and the other end is passed through the pulley (105) at the edge of the simulated forearm bone component (104), through the space between the simulated proximal carpal bone component (103) and the simulated forearm bone component (104), and the simulated tendon sheath eye bolts (138, 139) at the connection between the simulated proximal carpal bone component (103) and the simulated distal carpal bone component (101), and finally fixed to the other distal end of the cross-shaped connecting component (102).

2. The rope-driven bionic wrist joint according to claim 1, characterized in that: The movable part (1) is composed of two two-rod and four-cable tensegrity units through a ligament-like elastic body, specifically comprising: The first group of simulated ligament elastic bodies (106-109) connects the middle part of the simulated distal row carpal bone component (101) and the simulated proximal row carpal bone component (103); The second group of simulated ligament elastic bodies (110-113) connects the middle part of the simulated proximal carpal bone component (103) and the simulated forearm bone component (104); In addition, a third set of ligament-like elastic bodies (114–117) are connected to both sides of each component through tendon-like sheath eyebolts (134–141).

3. The rope-driven bionic wrist joint according to claim 1, characterized in that: A pulley (105) is provided on the lateral extension of the simulated forearm bone component (104), which is fixed by bolts and is used to guide the second simulated tendon rope (302) and reduce its transmission friction resistance.

4. The rope-driven bionic wrist joint according to claim 1, characterized in that: The preload force of the ligament-like elastomer (106–117) is adjustable, and the structural stability and load capacity can be adjusted by replacing the elastomer material or specifications.

5. The rope-driven bionic wrist joint according to claim 1, characterized in that: The motor group (202) includes two independently controlled motors (20201, 20202), which drive the tendon-like ropes (301, 302) to achieve two-degree-of-freedom motion of the active part (1) by controlling the rotation direction and angle of the motors: The first motor (2201) drives the first simulated tendon rope (301) to drive the simulated distal carpal bone component (101) to perform flexion / extension movement around the axis of the third simulated tendon sheath eye bolt (136); The second motor (2202) drives the second simulated tendon rope (302) to drive the simulated proximal carpal bone component (103) to perform adduction / abduction movement around the axis of the first simulated tendon sheath eye bolt (134).

6. The rope-driven bionic wrist joint according to claim 5, characterized in that: The maximum swing angle of the flexion / extension movement in one direction is 90°, and a total range of motion of 180° is achieved when combined with the reverse movement; the maximum swing angle of the adduction / abduction movement in one direction is 45°, and a total range of motion of 90° is achieved when combined with the reverse movement.

7. The rope-driven bionic wrist joint according to claim 1, characterized in that: The other side of the cross-shaped connecting member (102) that cooperates with the simulated distal carpal bone member (101) can be equipped with fixtures including but not limited to pneumatic clamps or other functional components to meet different practical needs in different usage scenarios.

Images