A rope-driven bionic wrist joint

Abstract

This invention discloses a rope-driven bionic wrist joint, belonging to the field of bionic robotics. The joint mainly comprises a movable part, a driving part, and a set of tendon-like ropes. The movable part consists of components mimicking the distal and proximal carpal bones, and forearm bones, connected by two two-bar, four-cable tensioned integral units formed by mimicking ligament elastomers. A carpal groove anti-dislocation structure is formed at the component connection point. The driving part includes a motor-driven drive wheel assembly. Two tendon-like ropes are guided by pulleys and tendon sheath bolts, passing through the gaps between components and fixed to the distal end of the movable part. This invention utilizes the carpal groove anti-dislocation structure to effectively constrain degrees of freedom, prevent dislocation, and improve stability. Combined with rope drive, it achieves approximately 180° flexion / extension and 90° adduction / abduction bionic motion. It features a simple structure and strong self-recovery capabilities, making it suitable for robot operation scenarios requiring high flexibility and environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and in particular to a rope-driven bionic wrist joint. Background Technology

[0002] The human wrist joint is a highly complex biological structure, composed of multiple bones, ligaments, and tendons working together. Its stability depends on the coupling between these components and is achieved through the relevant motor tendons, allowing for approximately 180° of flexion / extension and 90° of adduction / abduction.

[0003] In existing technologies, traditional rigid robot wrist joints have significant limitations in terms of 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 the design of three-degree-of-freedom bionic wrist joints in the design of bionic robot joints. For example, patent CN114633282B discloses a rope-driven three-degree-of-freedom humanoid variable stiffness wrist joint, which can realize three-degree-of-freedom movement of the wrist joint and can freely change its stiffness during movement, ensuring good motion stability. However, it requires at least four steel cables for power transmission, and its limiting structure is relatively complex and lacks self-recovery capability. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a rope-driven bionic wrist joint design. This invention constructs a bionic tension structure that simulates the movement function of the human wrist joint. Through a uniquely designed anti-dislocation structure mimicking the wrist groove, the joint's degrees of freedom are constrained, allowing its workspace to cover the range of motion of the human wrist joint. This achieves a balance between flexibility and structural stability, while maintaining a simple and aesthetically pleasing structure that minimizes the complexity of the constraint structure while ensuring functional stability. Furthermore, this invention innovatively uses eye bolts 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 achieving precise rope-driven movement.

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

[0007] This invention proposes a rope-driven bionic wrist joint, which mainly includes a movable part and a driving part. It also includes at least two tendon-like ropes for connecting the two parts to achieve related movements and functions. The movable part and the driving part are connected by four copper pillars, providing rigid support and defining the relative positions of the movable and driving parts.

[0008] It should be noted that in this application, "connection" refers to rigid fixation (such as a copper column and bolt), where there is no relative movement between the components; "linkage" refers to movable association (such as a ligament-like elastomer), allowing controllable displacement between the components. Furthermore, these two qualifiers should not be construed as limiting factors of the present invention.

[0009] The movable part mainly comprises a component mimicking the distal carpal bones, a component mimicking the proximal carpal bones, and a component mimicking the forearm bones. These three components are positioned using a joint-like structure to form the main structure of the movable part. The component mimicking the distal carpal bones has a cross-shaped connecting member at its top.

[0010] In the active section, the distal carpal bone component and the proximal carpal bone component are connected at their midpoints by at least four simulated ligament elastomers with ram's horn screws, and at least two simulated ligament elastomers with simulated tendon sheath sling bolts on both sides. Similarly, the proximal carpal bone component and the forearm bone component are connected at their midpoints by at least four simulated ligament elastomers with ram's horn screws, and at least two simulated ligament elastomers with simulated tendon sheath sling bolts on both sides. Simultaneously, two lateral simulated carpal groove anti-dislocation structures and one central simulated carpal groove anti-dislocation structure are formed at the connection points between the distal and proximal carpal bone components. Two lateral simulated carpal groove anti-dislocation structures are also formed at the connection points between the proximal carpal bone component and the forearm bone component.

[0011] The drive unit includes two motors and two drive wheels, which are fixedly connected by bolts.

[0012] It should be noted that one end of the first simulated tendon rope is wound and fixed to the winding reel of the first drive wheel, and the other end passes through a pair of simulated tendon sheath sling bolts fixed at the connection between the simulated forearm bone component and the simulated proximal carpal bone component. Then it passes through the space maintained by the simulated ligament elastomer between the simulated distal carpal bone component and the simulated proximal carpal bone component, and is finally fixed to the distal end of the cross-shaped connecting member at the top of the simulated distal carpal bone by a ram's horn nail. One end of the second simulated tendon rope is wound and fixed to the winding reel of the second drive wheel, and the other end passes around the pulley at the edge of the simulated forearm bone component. Then it passes through the space 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 sling bolts fixed at the connection between the simulated proximal carpal bone component and the simulated distal carpal bone component. Finally, it is fixed to the other distal end of the cross-shaped connecting member at the top of the simulated distal carpal bone by a ram's horn nail.

[0013] It should be noted that a pulley is bolted to the lateral extension of the simulated forearm bone component to reduce the frictional resistance of the second simulated tendon cable when it passes through the simulated proximal carpal bone component and the simulated forearm bone component, avoid motion interference, and ensure low-friction transmission of the second simulated tendon cable in compound movements.

[0014] It should be noted that the above-described winding method allows for a certain degree of spatial adjustment, specifically achieving wrist joint flexion / extension and adduction / abduction movements. The winding method proposed in this invention is exemplary and should not be construed as meaning that the required movement can only be achieved through the above-described winding method.

[0015] This invention is a rope-driven bionic wrist joint, primarily using ligament-like elastomers to connect the various components of the moving part. This forms two two-bar, four-cable tensioned integral units, thus giving the bionic wrist joint excellent compliance and self-recovery capabilities. In typical applications, the two degrees of freedom of the moving part are achieved by controlling the rotation and direction of the two motors and changing the winding method of the two tendon-like ropes. Similarly, because the use of tendon-like ropes for connecting and controlling the moving and driving parts, it offers superior compliance compared to traditional rigid control.

[0016] It should be noted that the preload of the simulated ligament elastomer is adjustable to some extent. By changing the preload of the simulated ligament elastomer, the structural stability and load-bearing capacity of the moving parts can be proportionally improved within a certain range.

[0017] Technical Effects: This invention achieves a balance between flexible motion and structural stability through a rope-driven tensioning integral structure design. By utilizing the biomimetic tendon sheath function of the eye bolts to optimize the rope path, combined with a pulley friction-reducing design, reliable motion control with two degrees of freedom (approximately 180° flexion / extension and 90° adduction / abduction) is achieved. The adjustable preload mechanism, mimicking a ligament elastomer, further enhances load-bearing capacity and environmental adaptability. Simultaneously, the modular design improves the system's reliability and engineering applicability. Attached Figure Description

[0018] To more intuitively illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly described below. It should be noted that the accompanying drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

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

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

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

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

[0023] Figure 5 This is a partially exploded view of the movable part of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0024] Figure 6 A schematic diagram (I) showing the structural details of the movable part of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

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

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

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

[0028] Figure 10 A schematic diagram (V) showing the structural details of the movable part of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

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

[0030] Figure 12 Schematic diagram VII showing the structural details of the movable part of the rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0031] Figure 13 This is a schematic diagram of the drive section of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

[0032] Figure 14 This is a partially exploded view of the drive portion of a rope-driven bionic wrist joint provided in an embodiment of the present invention.

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

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

[0035] Figure 17 This is a schematic diagram illustrating the operational direction of components related to the flexion / extension movements of a rope-driven bionic wrist joint, as provided in an embodiment of the present invention.

[0036] Figure 18 This is a schematic diagram illustrating the operational direction of the adduction / abduction motion components of a rope-driven bionic wrist joint, as provided in an embodiment of the present invention.

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

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

[0039] Labeling Explanation: 1. Active Part; 101. Imitation Distal Carpal Bone Component; 102. Cross-shaped Connecting Component; 103. Imitation Proximal Carpal Bone Component; 104. Imitation Forearm Bone Component; 105. Pulley; 106. First Imitation Ligament Elastomer; 107. Second Imitation Ligament Elastomer; 108. Third Imitation Ligament Elastomer; 109. Fourth Imitation Ligament Elastomer; 110. Fifth Imitation Ligament Elastomer; 111. Sixth Imitation Ligament Elastomer; 112. Seventh Imitation Ligament Elastomer; 113. Eighth Imitation Ligament Elastomer With elastomer; 114, Ninth imitation ligament elastomer; 115, Tenth imitation ligament elastomer; 116, Eleventh imitation ligament elastomer; 117, Twelfth imitation ligament elastomer; 118, First claw screw; 119, Second claw screw; 120, Third claw screw; 121, Fourth claw screw; 122, Fifth claw screw; 123, Sixth claw screw; 124, Seventh claw screw; 125, Eighth claw screw; 126, Ninth claw screw; 127, Tenth claw screw; 128, Eleventh claw screw Nails; 129. Twelfth Ram's Horn Nail; 130. Thirteenth Ram's Horn Nail; 131. Fourteenth Ram's Horn Nail; 132. Fifteenth Ram's Horn Nail; 133. Sixteenth Ram's Horn Nail; 134. First Imitation Tendon Sheath Eye Bolt; 135. Second Imitation Tendon Sheath Eye Bolt; 136. Third Imitation Tendon Sheath Eye Bolt; 137. Fourth Imitation Tendon Sheath Eye Bolt; 138. Fifth Imitation Tendon Sheath Eye Bolt; 139. Sixth Imitation Tendon Sheath Eye Bolt; 140. Seventh Imitation Tendon Sheath Eye Bolt; 141. Eighth Imitation Tendon Sheath Eye Bolt 1. Bolt; 2. Drive section; 201. Drive section frame; 202. Motor assembly; 20201. First motor; 20202. Second motor; 203. Copper column assembly; 20301. First copper column; 20302. Second copper column; 20303. Third copper column; 20304. Fourth copper column; 204. Drive wheel assembly; 20401. First drive wheel; 20402. Second drive wheel; 3. Prototype tendon cable assembly; 301. First prototype tendon cable; 302. Second prototype tendon cable. Detailed Implementation

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

[0041] In the description of this invention, it should be understood that terms relating to directional or positional relationships such as "middle portion," "both sides," "far end," "proximal end," "edge," "spatial gap," "lateral extension," "lower," "left," "clockwise," and "counterclockwise" are defined based on the orientation or position shown in the accompanying drawings. These definitions are merely for the convenience of describing the invention and simplifying the explanation, and do not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Similarly, terms such as "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 indicated technical features. Based on this, a feature defined as "the Xth" or "the XXth" (such as first, second, etc., or eleventh, twelfth, etc.) may explicitly or implicitly include one or more of that feature. Furthermore, in this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] The embodiments or examples provided below are used to illustrate different structures of the present invention. For the sake of simplicity, the components and their arrangements in specific examples will be described. It should be emphasized that these descriptions are merely examples and are not intended to limit the scope of the 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 purpose of brevity and clarity of expression and does not in itself indicate a specific relationship between the different embodiments and / or settings described.

[0044] Please see Figure 1 This invention provides a rope-driven bionic wrist joint, generally comprising a movable part 1, a driving part 2, and a tendon-like rope assembly 3. The movable part 1 and the driving part 2 are separated by the plane of the pulley 105, and are connected and fixed by a copper pillar assembly 203. The tendon-like rope assembly 3 can be divided into a first tendon-like rope 301 and a second tendon-like rope 302. The copper pillar assembly 203 can be divided into a first copper pillar 20301, a second copper pillar 20302, a third copper pillar 20303, and a fourth copper pillar 20304.

[0045] See Figures 1 to 6 For further information Figures 2 to 4The activity section 1 mainly includes a simulated distal carpal bone component 101, a simulated proximal carpal bone component 103, and a simulated forearm bone component 104. The top of the simulated distal carpal bone component 101 and the cross-shaped connecting component 102 form an integrated whole. The simulated distal carpal bone component 101 is equipped with a fifth horn screw 122, a sixth horn screw 123, a third simulated tendon sheath sling bolt 136, and a fifth simulated tendon sheath sling bolt 138; the cross-shaped connecting component 102 is equipped with a first horn screw 118, a second horn screw 119, a third horn screw 120, and a fourth horn screw 121; the simulated proximal carpal bone component 103 is equipped with a seventh horn screw 124, an eighth horn screw 125, a ninth horn screw 126, a tenth horn screw 124, and a tenth horn screw 125. 127, 128, 129, 130, 141, 134, 137, 139, 140; 134, 139, 130, 141; 134, 139, 130, 131; 132, 133, 135, 136, 141; 137, 139, 139; and 140; 132, 133, 135, 136, 137, 139; and 141; and 141, 138, 139, 139; on the forearm bone component 104. It should be noted that the first, second, third, fourth, fifth, sixth, seventh, and eighth ligament elastomers 106, 107, 108, 109, 110, 111, 112, and 113 are connected by the fifth, sixth, seventh, and eighth ligament elastomers 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, and 133, respectively. These components form two two-bar four-cable tensioning integral units. The ninth, tenth, eleventh, and twelfth pseudo-ligament elastomers 114, 115, 116, and 117 are connected by the first, second, third, fourth, fifth, sixth, seventh, and eighth pseudo-tendon sheath eyelet bolts 134, 135, 136, 137, 138, 139, 140, and 141, respectively, thus serving as auxiliary connections between the distal carpal bone component 101, the proximal carpal bone component 103, and the forearm bone component 104.

[0046] See Figures 1 to 6 Please refer to further information. Figures 5 to 6The distal carpal bone component 101 and the proximal carpal bone component 103 form two lateral carpal groove anti-dislocation structures (as shown in dashed box I) and a central carpal groove anti-dislocation structure (as shown in dashed box II). Similarly, the proximal carpal bone component 103 and the forearm bone component 104 form two lateral carpal groove anti-dislocation structures (as shown in dashed box III). These carpal groove anti-dislocation structures, in conjunction with the aforementioned multiple ligament-like elastomers, also serve as auxiliary connections between the distal carpal bone component 101, the proximal carpal bone component 103, and the forearm bone component 104. Furthermore, due to the unique spatial redundancy design and joint-like limiting design, the device can still stably perform its functions even when there is a large relative rotation or a small relative displacement between the distal carpal bone component 101, the proximal carpal bone component 103, and the forearm bone component 104. It effectively solves the problems of large space occupation and complex structure of existing limit devices, which also affect their self-recovery and reliability.

[0047] Please refer to the following: Figures 1 to 12 For further information Figure 7 and Figure 8 The distal carpal bone component 101 and the proximal carpal bone component 103 form a lateral carpal groove anti-dislocation structure at their respective side connections (i.e., the portion selected by dashed box I); see further details. Figure 9 and Figure 10 The distal carpal bone component 101 and the proximal carpal bone component 103 form a central carpal groove anti-dislocation structure at the intermediate connection point (i.e., the part selected by dashed box II); please refer to further details. Figure 11 and Figure 12 The proximal carpal bone component 103 and the forearm bone component 104 form a lateral carpal groove anti-dislocation structure at their respective side connections (i.e., the portion highlighted by dashed box III). This invention creatively introduces a carpal groove anti-dislocation structure to address the problems of large space occupation, complex structure, and impact on self-recovery and operational reliability of existing limiting devices / structures. By rounding the connection points of the two pairs of components, sliding friction is minimized, ensuring operational reliability and stability when relative displacement occurs between the components, while also guaranteeing the sensitive response of the invention's self-recovery. Through redundant dimensional design, even in the event of dislocation (a certain degree of misalignment), the distal carpal bone component 101 and the proximal carpal bone component 103, and the proximal carpal bone component 103 and the forearm bone component 104, can still ensure normal operation of various functions.

[0048] See Figure 13 and Figure 14The drive unit 2 consists of a drive unit frame 201, a motor assembly 202, and a drive wheel assembly 204. The motor assembly 202 can be divided into a first motor 20201 and a second motor 20202, and the drive wheel assembly 204 can be divided into a first drive wheel 20401 and a second drive wheel 20402.

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

[0050] See Figures 1 to 20 For further information Figures 17 to 20 In typical applications, the two-degree-of-freedom swing of the active part 1—flexion / extension and adduction / abduction—is achieved by controlling the rotation and direction of the motor assembly 202 and changing the winding method of the prosthetic tendon cable assembly 3. Furthermore, because the prosthetic tendon cable assembly 3 is used for the connection and drive control between the active part 1 and the drive part 2, it exhibits superior compliance and self-recovery compared to traditional rigid connections and controls.

[0051] See Figures 1 to 20 For more details, please refer to the following: Figure 17 and Figure 19When the first motor 20201 drives the first drive wheel 20401 to rotate counterclockwise (i.e., along direction C), it causes the first simulated tendon rope 301 to move downwards (i.e., along direction A). The first simulated tendon rope 301 tightens along the winding reel of the first drive wheel 20401, thereby causing the simulated distal carpal bone component 101 to swing counterclockwise (i.e., tangential to direction X) around the axis of the third simulated tendon sheath sling bolt 136, achieving a maximum swing of approximately 90° relative to its initial position. This swing is defined as the flexion / extension movement of the present invention; see further reference. Figure 18 and Figure 20 When the second motor 20202 drives the second drive wheel 20402 to rotate clockwise (i.e. along the D direction), it drives the second simulated tendon rope 302 to move downward (i.e. along the B direction). The second simulated tendon rope 302 tightens along the winding reel of the second drive wheel 20402, thereby driving the simulated proximal carpal bone component 103 to swing counterclockwise (i.e. along the Y direction tangentially) around the axis of the first simulated tendon sheath hanging ring bolt 134, achieving a maximum swing of about 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 although this invention provides a specific example of the rotation amount and direction of the motor assembly 202 and the winding method of the prosthetic tendon cable assembly 3, those skilled in the art should understand that other winding and driving methods are equally applicable. For simplicity and ease of understanding, detailed descriptions are omitted here. Therefore, by controlling the rotation amount and direction of the motor assembly 202 and changing the winding method of the prosthetic tendon cable assembly 3, the moving part 1 can achieve movements in the same angle but opposite directions regarding the aforementioned flexion / extension and adduction / abduction, i.e., this invention can achieve a maximum of approximately 180° flexion / extension and 90° adduction / abduction movements. Meanwhile, during flexion / extension and adduction / abduction movements, the first pseudo-ligament elastomer 106, the second pseudo-ligament elastomer 107, the third pseudo-ligament elastomer 108, the fourth pseudo-ligament elastomer 109, the fifth pseudo-ligament elastomer 110, the sixth pseudo-ligament elastomer 111, the seventh pseudo-ligament elastomer 112, the eighth pseudo-ligament elastomer 113, the ninth pseudo-ligament elastomer 114, the tenth pseudo-ligament elastomer 115, the eleventh pseudo-ligament elastomer 116, and the twelfth pseudo-ligament elastomer 117 can provide a restoring torque. When the pseudo-tendon cable group 3 does not provide tension, the active part 1 can quickly return to its initial position, exhibiting good self-recovery properties.

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

[0054] It should be noted that the preload 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 changing their materials and specifications, thereby improving the applicability of the present invention in practical 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. Those skilled in the art can make various modifications, adjustments, or variations to the above embodiments without departing from the principles of the present invention, and all such modifications, adjustments, or variations should be covered within the scope of protection of the present invention.

Claims

1. A rope-driven bionic wrist joint, characterized in that, include: The active part (1) includes a component mimicking the distal carpal bones (101), a component mimicking the proximal carpal bones (103), and a component mimicking the forearm bones (104). The top of the component mimicking the distal carpal bones (101) is provided with a cross-shaped connecting component (102). The drive unit (2) includes a drive unit frame (201), a motor assembly (202) mounted on the frame, and a drive wheel assembly (204) driven by the motor. At least two tendon-like cables (301, 302) are used to connect the active part (1) and the drive part (2). Four copper pillars (20301-20304) rigidly connect the movable part (1) and the drive part (2) to define their relative positions; in: The forearm bone component (104) and the proximal carpal bone component (103), as well as the proximal carpal bone component (103) and the distal carpal bone component (101), are connected by a ligament elastomer (106-117), and a carpal groove anti-dislocation structure is formed at the connection between the components. The drive wheel assembly (204) includes two winding reels. One end of the first simulated tendon rope (301) is fixed to the winding reel of the first drive wheel (20401), and the other end passes sequentially through the simulated tendon sheath sling bolts (134, 135) at the connection between the simulated forearm bone component (104) and the simulated proximal carpal bone component (103), the space gap between the simulated distal carpal bone component (101) and the simulated proximal carpal bone component (103), and is finally fixed to the distal end of the cross-shaped connecting component (102); the second simulated One end of the tendon rope (302) is fixed to the winding disc of the second drive wheel (20402), and the other end passes through the pulley (105) on 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 through the simulated tendon sheath hanging bolt (138, 139) at the connection between the simulated proximal carpal bone component (103) and the simulated distal carpal bone component (101), and is finally fixed to the other distal end of the cross-shaped connecting component (102); The active part (1) is constructed by two two-bar four-cable tensioning integral units through a ligament-like elastomer, specifically including: The first set of ligament-like elastomers (106-109) connects the middle part of the distal carpal bone component (101) and the proximal carpal bone component (103); The second set of ligament-like elastomers (110-113) connects the middle part of the proximal carpal bone component (103) and the forearm bone component (104); In addition, the third group of ligament-like elastomers (114–117) are connected to both sides of each component by tendon sheath-like eye bolts (134–141); The motor assembly (202) includes two independently controlled motors (20201, 20202). By controlling the rotation direction and angle of the motors, the simulated tendon ropes (301, 302) are driven to achieve two degrees of freedom movement of the active part (1): The first motor (20201) drives the first pseudo-tendon rope (301) to move the pseudo-distal carpal bone component (101) around the axis of the third pseudo-tendon sheath sling bolt (136) in a flexion / extension motion; The second motor (20202) drives the second pseudo-tendon rope (302) to move the pseudo-proximal carpal bone component (103) around the axis of the first pseudo-tendon sheath sling bolt (134) in an adduction / abduction motion.

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

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

4. The cable-driven bionic wrist joint according to claim 1, characterized in that: The maximum unidirectional swing angle of the flexion / extension movement is 90°, which, combined with the reverse movement, achieves a total range of motion of 180°; the maximum unidirectional swing angle of the adduction / abduction movement is 45°, which, combined with the reverse movement, achieves a total range of motion of 90°.

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

Images