Bionic mechanical joint structure

Abstract

The invention aims at providing a bionic mechanical joint structure. The bionic mechanical joint structure comprises a first connecting piece, a second connecting piece and a linkage piece arranged between the first connecting piece and the second connecting piece. A first connecting section, a second connecting section and a third connecting section are arranged on the side, corresponding to the linkage piece, of the first connecting piece in an extending mode. A first connecting section B, a second connecting section B and a third connecting section B are arranged on one side, corresponding to the linkage piece, of the connecting piece B in an extending manner; a first matching section, a second matching section and a third matching section are arranged on the side, corresponding to the first connecting piece, of the linkage piece, a first connecting section, a second connecting section and a third connecting section are arranged on the side, corresponding to the second connecting piece, of the linkage piece, and the first connecting piece, the second connecting piece and the linkage piece are connected through a first connecting section, a second connecting section and a third connecting section respectively. And forming a first connection relationship of the annular connection layout. Through the arrangement of the bionic mechanical joint structure, the joint structure can have certain supporting performance and has a large movement range and joint flexibility, and the high movement performance setting requirement of the robot joint is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to a bionic robot joint structure. BACKGROUND

[0002] The robot and the mechanical arm in the prior art are widely applied in the fields of industrial assembly and safety explosion prevention, and the structure thereof involves a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. The design difficulty lies in that the multi-section multi-movement structure needs to be connected through a joint structure so that the mechanical structure can be driven to adjust and change the multi-angle movement.

[0003] The mechanical joint structure in the prior art adopts a driver in series, each driver drives one degree of freedom of the robot, and the driver of the mechanism is installed on each movement rod, which leads to the defects of large overall activity inertia, small movement range and insufficient flexibility of the robot activity. SUMMARY

[0004] The present application aims to provide a bionic robot joint structure, so that the robot joint has a large movement range and joint flexibility, thereby improving the movement performance of the robot.

[0005] The bionic mechanical joint structure comprises an a connecting member, a b connecting member, a linkage member arranged between the a connecting member and the b connecting member, the a connecting member is provided with an a first connecting segment, an a second connecting segment and an a third connecting segment which are arranged in a triangular distribution on one side of the linkage member, the b connecting member is provided with a b first connecting segment, a b second connecting segment and a b third connecting segment which are arranged in a triangular distribution on one side of the linkage member, the linkage member is provided with an a first matching segment, an a second matching segment and an a third matching segment which are arranged in a triangular distribution on one side of the a connecting member, the linkage member is provided with a b first connecting segment, a b second connecting segment and a b third connecting segment which are arranged in a triangular distribution on one side of the b connecting member, the a connecting member and the linkage member and the b connecting member and the linkage member form a first connection relationship of annular connection layout, the first connection relationship comprises a first connecting rope which is arranged between the a first matching segment and the a first connecting segment, the a second matching segment and the a first connecting segment, the a second connecting segment and the a second connecting segment, the b second connecting segment and the b second connecting segment, the b third connecting segment and the b second connecting segment, the b third connecting segment and the b third connecting segment, the a first matching segment and the a third connecting segment, and forms the annular connection layout between the a connecting member and the linkage member, and the first connecting rope is arranged between the b first matching segment and the b first connecting segment, the b second matching segment and the b first connecting segment, the b second connecting segment and the b second connecting segment, the b third connecting segment and the b second connecting segment, the b third connecting segment and the b third connecting segment, the b first matching segment and the b third connecting segment, and forms the annular connection layout between the b connecting member and the linkage member.

[0006] Further, the a connecting member comprises an a positioning ring arranged in a ring shape, the a first connecting segment, the a second connecting segment and the a third connecting segment arranged in a vertical direction correspond to the position of the linkage member and are arranged in a straight rod shape, and the a first connecting segment, the a second connecting segment and the a third connecting segment are arranged in an equilateral triangle shape.

[0007] Further, the linkage member comprises a support rod arranged in a vertical direction and a straight rod shape, the a first matching segment, the a second matching segment and the a third matching segment arranged in a horizontal direction correspond to one end of the a connecting member and are arranged in a straight rod shape, the extension radius of the a first matching segment, the a second matching segment and the a third matching segment is smaller than the inner diameter of the a positioning ring, and the linkage member is movable in a range corresponding to the axis position of the a connecting member.

[0008] Further, the a1, a2 and a3 cooperation sections are in the shape of an equilateral triangle, and the a1, a2 and a3 cooperation sections are respectively at the central position between the a1, a2 and a3 connection sections.

[0009] Further, the b connection member includes a b positioning ring in the shape of a ring, and the b positioning ring is vertically arranged at the position of the linkage member, and the b1, b2 and b3 connection sections are in the shape of an equilateral triangle, and the b1, b2 and b3 connection sections are respectively at the central position between the b1, b2 and b3 connection sections.

[0010] Further, the b1, b2 and b3 cooperation sections are in the shape of an equilateral triangle, and the b1, b2 and b3 cooperation sections are respectively at the central position between the b1, b2 and b3 connection sections.

[0011] Further, the b1, b2 and b3 cooperation sections are in the shape of an equilateral triangle, and the b1, b2 and b3 cooperation sections are respectively at the central position between the b1, b2 and b3 connection sections.

[0012] Further, the second connection relationship of the inclined connection layout is formed between the a connecting piece and the linkage, and between the b connecting piece and the linkage; the second connection relationship includes a second connection cable, which is arranged between the a first matching segment and the b first connecting segment, between the a second matching segment and the b second connecting segment, between the a third matching segment and the b third connecting segment, between the b first matching segment and the a first connecting segment, between the b second matching segment and the a second connecting segment, and between the b third matching segment and the a third connecting segment.

[0013] Further, the third connection relationship of the staggered connection layout is formed between the a connecting piece and the b connecting piece; the third connection relationship includes a third connection cable, which includes a first connection cable arranged between the a first connecting segment and the b first connecting segment, a second connection cable arranged between the a first connecting segment and the b second connecting segment, a third connection cable arranged between the a second connecting segment and the b second connecting segment, a fourth connection cable arranged between the a second connecting segment and the b third connecting segment, a fifth connection cable arranged between the a third connecting segment and the b third connecting segment, and a sixth connection cable arranged between the a third connecting segment and the b first connecting segment.

[0014] Further, the third connection cable extends to the outside of the b connecting piece through the inside of the b first connecting segment, the b second connecting segment and the b third connecting segment; the first driving mechanism, the second driving mechanism and the third driving mechanism are arranged outside the b connecting piece; the first connection cable and the fourth connection cable are connected to the first driving mechanism, the second connection cable and the fifth connection cable are connected to the second driving mechanism, and the third connection cable and the sixth connection cable are connected to the third driving mechanism; under the driving of the first driving mechanism, the first connection cable and the fourth connection cable are adjusted in linkage, when one of the connection cables is retracted, the other connection cable is extended in linkage; under the driving of the second driving mechanism, the second connection cable and the fifth connection cable are adjusted in linkage, when one of the connection cables is retracted, the other connection cable is extended in linkage; under the driving of the third driving mechanism, the third connection cable and the sixth connection cable are adjusted in linkage, when one of the connection cables is retracted, the other connection cable is extended in linkage.

[0015] The beneficial effects of the present application are as follows: By arranging the bionic mechanical joint structure, based on the application of the linkage arranged between the a connecting piece and the b connecting piece, and cooperating with the first connection cable, the first connection relationship is arranged, so that the joint structure has certain support performance and large movement range and joint flexibility, which meets the high movement performance setting requirement of the mechanical person joint.

[0016] Based on the application of the linkage arranged between the a connecting piece and the b connecting piece, cooperating with the second connection cable, the second connection relationship is arranged, which effectively further forms the compliance and buffering application of the bionic mechanical joint structure, and limits and supports the connection of the inclined activity range in the horizontal direction of the joint.

[0017] The linkage between connectors A and B, combined with a third connection via a third connecting cable, effectively further enhances the bionic mechanical joint's compliance and cushioning properties. While ensuring the joint's rotational freedom, the joint's horizontal rotational range is limited and supported. When the third connecting cable is used as an active drive, three rotational degrees of freedom are achieved at both ends of the bionic joint structure.

[0018] The bionic mechanical joint structure of the present invention can be used as a basic joint activity structure in robot limb activities, is adaptable to different driving activity conditions, and has high applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the system configuration of the bionic mechanical joint structure of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the first connecting member, the second connecting member and the linkage member of the present invention.

[0021] Figure 3 This is a side schematic diagram of the structure of Example 1 of the present invention.

[0022] Figure 4 This is a schematic three-dimensional diagram of the structure of embodiment 1 of the present invention.

[0023] Figure 5 This is a side view schematic diagram of the structure of Example 2 of the present invention.

[0024] Figure 6 This is a schematic three-dimensional diagram of the structure of embodiment 2 of the present invention.

[0025] Figure 7 This is a side view schematic diagram of the structure of Example 3 of the present invention.

[0026] Figure 8 This is a three-dimensional schematic diagram of the structure of Example 3 of the present invention.

[0027] Figure 9 Schematic diagram of the antagonistic cable drive relationship of Example 3 of the present invention.

[0028] Figure 10 For Example 3 of the present invention , Schematic diagram of functional relationship.

[0029] Description of reference numerals: A connecting piece 1, A positioning ring 10, A first connecting section 11, A second connecting section 12, A third connecting section 13, Alpha connecting piece 2, beta positioning ring 20, alpha first connecting segment 21, alpha second connecting segment 22, alpha third connecting segment 23, Linkage 3, support rod 30, alpha first matching segment 31, alpha second matching segment 32, alpha third matching segment 33, beta first matching segment 34, beta second matching segment 35, beta third matching segment 36, First connecting cable 4, second connecting cable 5, Third connecting cable 6, first connecting cable 61, second connecting cable 62, third connecting cable 63, fourth connecting cable 64, fifth connecting cable 65, sixth connecting cable 66, First driving mechanism 71, second driving mechanism 72, third driving mechanism 73. DETAILED DESCRIPTION

[0030] In order to make the technical solutions, objectives and advantages of the present application clearer, the following further explains and describes the present application in combination with the drawings and examples.

[0031] As Figures 1 to 10 shown, the present application provides a bionic mechanical joint structure scheme: it includes alpha connecting piece 1, beta connecting piece 2, linkage 3 arranged between the alpha connecting piece 1 and the beta connecting piece 2; the alpha connecting piece 1, the beta connecting piece 2 and the linkage 3 are connected by flexible connecting cables, realizing full flexible connection of the three component structures, and effectively forming support and activity control of the three component structures. Further, the limbs are respectively connected outside the alpha connecting piece 1 and the beta connecting piece 2, so that the bionic mechanical joint structure can realize support connection and multi-angle, large-range control activity application of the two limbs.

[0032] Example 1 In this embodiment, a basic support connection scheme of the bionic mechanical joint structure is described.

[0033] The alpha connecting piece 1 includes an alpha positioning ring 10 arranged in a ring shape, preferably a circular ring shape; the alpha positioning ring 10 is vertically extended to correspond to the position of the linkage 3, and is arranged in a straight rod shape as an alpha first connecting segment 11, an alpha second connecting segment 12 and an alpha third connecting segment 13; the alpha first connecting segment 11, the alpha second connecting segment 12 and the alpha third connecting segment 13 are arranged in a triangular distribution, preferably an equilateral triangle shape; the extension sizes of the alpha first connecting segment 11, the alpha second connecting segment 12 and the alpha third connecting segment 13 are consistent.

[0034] The said B connecting piece 2 comprises a B positioning ring 20 arranged in a ring shape, which is vertically extended in position corresponding to the linkage 3 and is provided in a straight rod shape as a B first connecting section 21, a B second connecting section 22 and a B third connecting section 23; the B first connecting section 21, the B second connecting section 22 and the B third connecting section 23 are arranged in a triangular distribution, preferably in an equilateral triangle shape; the extension sizes of the B first connecting section 21, the B second connecting section 22 and the B third connecting section 23 are consistent.

[0035] The linkage 3 comprises a support rod 30 vertically extended in a straight rod shape, which is horizontally extended in position corresponding to the A connecting piece 1 and is provided in a straight rod shape as an A first matching section 31, an A second matching section 32 and an A third matching section 33; the A first matching section 31, the A second matching section 32 and the A third matching section 33 are arranged in a triangular shape, preferably in an equilateral triangle shape; the extension sizes of the A first matching section 31, the A second matching section 32 and the A third matching section 33 are consistent, and they are arranged in an equilateral triangle shape. The extension radial direction of the A first matching section 31, the A second matching section 32 and the A third matching section 33 is smaller than the inner diameter of the A positioning ring 10 to form a corresponding distance with the A first connecting section 11, the A second connecting section 12 and the A third connecting section 13; the linkage 3 is range active corresponding to the axial position of the A connecting piece 1 (A positioning ring 10).

[0036] The support rod 30 is horizontally extended in position corresponding to the B connecting piece 2 and is provided in a straight rod shape as a B first matching section 34, a B second matching section 35 and a B third matching section 36; the B first matching section 34, the B second matching section 35 and the B third matching section 36 are arranged in a triangular shape, preferably in an equilateral triangle shape; the extension sizes of the B first matching section 34, the B second matching section 35 and the B third matching section 36 are consistent, and they are arranged in an equilateral triangle shape. The extension radial direction of the B first matching section 34, the B second matching section 35 and the B third matching section 36 is smaller than the inner diameter of the B positioning ring 20 to form a corresponding distance with the B first connecting section 21, the B second connecting section 22 and the B third connecting section 23; the linkage 3 is range active corresponding to the axial position of the B connecting piece 2 (B positioning ring 20).

[0037] As a preferred embodiment, the ring diameter (the outer diameter of the B connecting piece 2) of the B positioning ring 20 is larger than the ring diameter (the outer diameter of the A connecting piece) of the A positioning ring 10, and the B first connecting section 21, the B second connecting section 22 and the B third connecting section 23 are horizontally outwardly offset relative to the A first connecting section 11, the A second connecting section 12 and the A third connecting section 13.

[0038] The first connecting relationship of the annular connecting layout is formed between the A connecting member 1 and the linkage 3, and between the B connecting member 2 and the linkage 3. Specifically, the first connecting relationship applies the first connecting cord 4, which is arranged between the A first matching segment 31 and the A first connecting segment 11, between the A second matching segment 32 and the A first connecting segment 11, between the A second matching segment 32 and the A second connecting segment 12, between the A third matching segment 33 and the A second connecting segment 12, between the A third matching segment 33 and the A third connecting segment 13, and between the A first matching segment 31 and the A third connecting segment 13, to form the annular connecting layout between the A connecting member 1 and the linkage 3. The first connecting cord 4 is arranged between the B first matching segment 34 and the B first connecting segment 21, between the B first matching segment 34 and the B second connecting segment 22, between the B second matching segment 35 and the B second connecting segment 22, between the B second matching segment 35 and the B third connecting segment 23, between the B third matching segment 36 and the B third connecting segment 23, and between the B third matching segment 36 and the B first connecting segment 21, to form the annular connecting layout between the B connecting member 2 and the linkage 3.

[0039] The first connecting cord 4 can be a spring structure as a connecting cord in the prior art, or a soft cord made of other materials with softness and elasticity. By using the annular connecting layout of the first connecting cord 4, the characteristics of the soft cord are used to connect the linkage 3 with the A connecting member 1 and the B connecting member 2, and the A connecting member 1 and the B connecting member 2 can produce longitudinal direction buffering and support, which is suitable for the application of supporting the joints of the limbs in the mechanical man structure such as the legs.

[0040] As a preferred embodiment, the extension direction of the A first matching segment 31, the A second matching segment 32, and the A third matching segment 33 is respectively at the central position between the A first connecting segment 11, the A second connecting segment 12, and the A third connecting segment 13; the length of the first connecting cord 4 arranged between the A connecting member 1 and the linkage 3 is equal; the extension direction of the B first matching segment 34, the B second matching segment 35, and the B third matching segment 36 is respectively at the central position between the B first connecting segment 21, the B second connecting segment 22, and the B third connecting segment 23; and the length of the first connecting cord 4 arranged between the B connecting member 2 and the linkage 3 is equal. The multiple equidistant triangular connecting relationship organizations formed by the combination of the first connecting cords 4 maximize the connecting and supporting stability of the annular connecting layout.

[0041] In order to further improve the connection and support stability of the annular connection layout, as a preferred embodiment, the first, second and third cooperation sections 34, 35 and 36 are staggered with the first, second and third cooperation sections 31, 32 and 33 in the projection direction, and the projection positions of the first, second and third cooperation sections 34, 35 and 36 are respectively arranged at the central positions between the first, second and third cooperation sections 31, 32 and 33; the extension directions of the first, second and third cooperation sections 31, 32 and 33 correspond to the positions of the first, second and third connection sections 21, 22 and 23; and the extension directions of the first, second and third cooperation sections 34, 35 and 36 correspond to the positions of the first, second and third connection sections 11, 12 and 13.

[0042] Embodiment 2 Based on the basic support connection scheme of the bionic mechanical joint structure in Embodiment 1, in order to make the joint structure have more excellent and stable tilting activity, this embodiment further describes the structure connection mode of the bionic mechanical joint structure. The second connection relationship of the tilting connection layout is formed between the first connection member 1 and the linkage member 3 and between the second connection member 2 and the linkage member 3; the second connection relationship includes the second connection cable 5, which is arranged between the first cooperation section 31 and the first connection section 21, between the second cooperation section 32 and the second connection section 22, between the third cooperation section 33 and the third connection section 23, between the first cooperation section 34 and the first connection section 11, between the second cooperation section 35 and the second connection section 12, and between the third cooperation section 36 and the third connection section 13.

[0043] Through the arrangement of the second connection cable 5, the compliance and buffering application of the bionic mechanical joint structure are effectively further formed, and the tilting activity range in the horizontal direction of the joint is limited and supported under the premise of the tilting activity freedom of the joint. Under the characteristics of the cable, the joint activity has the characteristics of tilting activity traction buffering, so that the activity simulation degree of the mechanical man is higher.

[0044] Embodiment 3 Based on the basic support connection scheme of the bionic mechanical joint structure in Embodiment 1 or Embodiment 2, in order to make the joint structure have more excellent and stable rotating activity, this embodiment further describes the bionic mechanical joint structure.

[0045] The third connecting relationship with staggered connection layout is between the A connecting member 1 and the B connecting member 2; the third connecting relationship applies the third connecting cords 6, which include the first connecting cord 61 connected between the A first connecting segment 11 and the B first connecting segment 21, the second connecting cord 62 between the A first connecting segment 11 and the B second connecting segment 22, the third connecting cord 63 between the A second connecting segment 12 and the B second connecting segment 22, the fourth connecting cord 64 between the A second connecting segment 12 and the B third connecting segment 23, the fifth connecting cord 65 between the A third connecting segment 13 and the B third connecting segment 23, and the sixth connecting cord 66 between the A third connecting segment 13 and the B first connecting segment 21.

[0046] The third connecting cords 6 are set to effectively further form the compliance and buffering application of the bionic mechanical joint structure, and to limit and support the movement of the joint structure in the horizontal direction under the premise of ensuring the rotation freedom of the joint.

[0047] In the embodiment, the third connecting cords 6 are also driven to drive the bionic mechanical joint structure.

[0048] Specifically, in the B connecting member 2, the B first connecting segment 21, the B second connecting segment 22, and the B third connecting segment 23 are internally formed with through channels to the lower side of the B positioning ring 20. Each of the third connecting cords 6 can pass through the internal through channels of the B first connecting segment 21, the B second connecting segment 22, and the B third connecting segment 23 and be led out from the lower side of the B positioning ring 20. The lower side of the B connecting member 2 is provided with a first driving mechanism 71, a second driving mechanism 72, and a third driving mechanism 73; in the third connecting cords 6, the first connecting cord 61 and the fourth connecting cord 64 are grouped and connected to the first driving mechanism 71 respectively, the second connecting cord 62 and the fifth connecting cord 65 are grouped and connected to the second driving mechanism 72 respectively, and the third connecting cord 63 and the sixth connecting cord 66 are grouped and connected to the third driving mechanism 73 respectively; under the driving of the first driving mechanism 71, the first connecting cord 61 and the fourth connecting cord 64 are linked and adjusted, when one of the connecting cords is retracted, the other connecting cord is extended; under the driving of the second driving mechanism 72, the second connecting cord 62 and the fifth connecting cord 65 are linked and adjusted, when one of the connecting cords is retracted, the other connecting cord is extended; under the driving of the third driving mechanism 73, the third connecting cord 63 and the sixth connecting cord 66 are linked and adjusted, when one of the connecting cords is retracted, the other connecting cord is extended.

[0049] As a preferred embodiment, the first driving mechanism 71, the second driving mechanism 72 and the third driving mechanism 73 are applied as the reciprocating driving motor of the prior art which can be forward and reverse rotation driving, and the driving end of the reciprocating driving motor is provided with the driving turntable with recessed slot.

[0050] In application, the first connecting cable 61 and the fourth connecting cable 64 are continuously and integrally arranged, the second connecting cable 62 and the fifth connecting cable 65 are continuously and integrally arranged, and the third connecting cable 63 and the sixth connecting cable 66 are continuously and integrally arranged, and the corresponding integrally arranged connecting cable combination is arranged around the recessed slot of the driving turntable of the corresponding driving mechanism, when the corresponding driving mechanism drives the driving turntable to rotate, the one end connecting cable is retracted and the other end connecting cable is stretched, so as to achieve the purpose of controlling the linkage of the corresponding connecting cable combination.

[0051] Based on the preferred structure combination of embodiments 1 and 2, combined with the application of the third connecting cable 6 in this embodiment, the driving deflection relationship of the bionic mechanical joint structure is as shown in Figure 9 In the figure, the direction of the deflection of the driving control joint structure is divided into six quadrants by three straight lines, and it is marked that when the deflection direction is in which quadrant, the third connecting cable 6 is stretched (+) or shortened (-) (in the figure, the combination of corresponding A and Arabic numerals represents the serial number of the corresponding third connecting cable 6, for example, the first connecting cable 61 is represented as A1, and the second connecting cable 62 is represented as A2).

[0052] is the deflection angle, is the deflection amplitude angle, is the twist amplitude angle, and the direction is counterclockwise in the top view direction of the moving end. Superimposed with deflection and twist, the length change relationship of the six ropes is as follows:

[0053] The sum of the length changes of the first connecting cable 61 and the fourth connecting cable 64, the second connecting cable 62 and the fifth connecting cable 65, and the third connecting cable 63 and the sixth connecting cable 66 is zero, so they are antagonistic ropes and can be driven by the same motor.

[0054] The relationship between the deflection amplitude angle and the rope length change amplitude and the twist amplitude angle and the rope length change amplitude is as shown in Figure 10 The figure shows that the above relationship is nonlinear, and as the corresponding angle change increases, the required rope length amplitude growth rate will increase. Since the structure is flexible, the specific curve is affected by many factors, and the maximum theoretical deflection amplitude angle and twist amplitude angle are both 60°.

[0055] Example: when the first connecting cable 61 and the second connecting cable 62 are shortened, the fourth connecting cable 64 and the fifth connecting cable 65 are elongated, at this time, the upper end of the joint structure is deflected to the node connected by the first connecting cable 61 and the second connecting cable 62 (the other deflection directions are the same, only need to contract the connecting cable in the corresponding direction and relax the connecting cable on the opposite side to achieve control). The joint structure can be moved to realize two degrees of freedom: pitch and yaw.

[0056] When the first connecting cable 61, the third connecting cable 63, and the fifth connecting cable 65 are shortened, the second connecting cable 62, the fourth connecting cable 64, and the sixth connecting cable 66 are elongated, at this time, the upper end of the joint structure will rotate counterclockwise (vice versa clockwise). The joint structure can be moved to realize rotation control, and the maximum rotation angle can reach plus or minus 60 degrees.

[0057] In summary, as long as the three groups of antagonistic connecting cables of the first connecting cable 61 and the fourth connecting cable 64, the second connecting cable 62 and the fifth connecting cable 65, and the third connecting cable 63 and the sixth connecting cable 66 are controlled according to the movement requirements, the three perpendicular rotation degrees of freedom of the joint structure can be controlled. At the same time, when the joint structure is blocked by external force during movement, the joint structure has a yielding property.

[0058] As a preferred embodiment, in order to reduce the transmission link of the connecting cable, in the three groups of driving mechanisms of the embodiment, the reciprocating driving motors are evenly distributed at an interval of 120°, so that the motor shaft is perpendicular to the plane where the two antagonistic connecting cable combinations to be driven are located. In the bionic mechanical joint structure, based on the combination of the first connecting cable 4, the second connecting cable 5, and the third connecting cable 6, the ring connection layout, the inclined connection layout, and the staggered connection layout are combined, so that the joint structure has three redundant translation degrees of freedom in addition to the three drivable rotation degrees of freedom, which can resist tangential translation and axial tension and compression, and can restore to a neutral state after the external force impact disappears, having excellent joint connection performance.

[0059] The above only describes the preferred embodiments of the present application. For those skilled in the art, the embodiments can be modified without departing from the principles of the present application, and the corresponding modification schemes should be considered as the protection scope of the present application.

Claims

1. A biomimetic mechanical joint structure, characterized by, The utility model relates to a kind of ring-shaped connection layout, including: A connection piece, a connection piece, linkage is arranged between the connection piece and the connection piece; The connection piece corresponds the side extension of the linkage and is provided with a first connection segment, a second connection segment and a third connection segment, and the first connection segment, the second connection segment and the third connection segment are distributed in a triangular distribution;The connection piece corresponds the side extension of the linkage and is provided with a first connection segment, a second connection segment and a third connection segment, and the first connection segment, the second connection segment and the third connection segment are distributed in a triangular distribution;The linkage corresponds the side of the connection piece and is provided with a first connection segment, a second connection segment and a third connection segment, and the first connection segment, the second connection segment and the third connection segment are distributed in a triangular distribution;The linkage corresponds the side of the connection piece and is provided with a first connection segment, a second connection segment and a third connection segment, and the first connection segment, the second connection segment and the third connection segment are distributed in a triangular distribution; The first connection relationship of the first connection relationship between the connection piece and the linkage, the connection piece and the linkage, forms annular connection layout;The first connection relationship is applied to include first connection cable, and the first connection cable is arranged between the first connection segment and the first connection segment, the second connection segment and the first connection segment, the second connection segment and the second connection segment, the second connection segment and the second connection segment, the third connection segment and the second connection segment, the third connection segment and the third connection segment, the third connection segment and the first connection segment, to form the annular connection layout between the connection piece and the linkage;The first connection cable is arranged between the first connection segment and the first connection segment, the first connection segment and the second connection segment, the second connection segment and the second connection segment, the second connection segment and the third connection segment, the third connection segment and the third connection segment, the third connection segment and the first connection segment, to form the annular connection layout between the connection piece and the linkage.

2. The biomimetic mechanical joint structure according to claim 1, wherein, The connection piece includes a first positioning ring arranged in a ring shape, and the first positioning ring is vertically extended and arranged in a straight rod shape corresponding to the position of the linkage;The first connection segment, the second connection segment and the third connection segment are distributed in an equilateral triangle shape.

3. The bionic mechanical joint structure according to claim 2, characterized in that: The linkage includes a support rod vertically extended in a straight rod shape, and the support rod is arranged in a straight rod shape corresponding to the side of the connection piece and extending in a horizontal direction;The extension of the first connection segment, the second connection segment and the third connection segment is smaller than the inner diameter of the ring of the first positioning ring;The linkage corresponds the axial position of the connection piece and is range active.

4. The biomimetic mechanical joint structure according to claim 3, wherein The first connection segment, the second connection segment and the third connection segment are distributed in an equilateral triangle shape, and the extension of the first connection segment, the second connection segment and the third connection segment is respectively located at the central position between the first connection segment, the second connection segment and the third connection segment;The length of the first connection cable arranged between the connection piece and the linkage is equal.

5. The biomimetic mechanical joint structure according to claim 4, wherein, The ethyl connector includes a ring-shaped arrangement of ethyl positioning rings, which correspond to the vertical extension of the ethyl one connection segment, ethyl two connection segment and ethyl three connection segment; the ethyl one connection segment, ethyl two connection segment and ethyl three connection segment are arranged in an equilateral triangle shape; the ethyl positioning ring has a larger ring diameter than the methyl positioning ring, and the ethyl one connection segment, ethyl two connection segment and ethyl three connection segment are outwardly offset in the horizontal direction relative to the methyl one connection segment, methyl two connection segment and methyl three connection segment.

6. The biomimetic mechanical joint structure according to claim 5, wherein, The support rod extends in the horizontal direction to form the ethyl one matching segment, ethyl two matching segment and ethyl three matching segment; the three segments are arranged in an equilateral triangle shape; the central positions of the ethyl one matching segment, ethyl two matching segment and ethyl three matching segment are respectively located between the ethyl one connection segment, ethyl two connection segment and ethyl three connection segment; the first connecting cable between the ethyl connector and the linkage is arranged with equal length.

7. The biomimetic mechanical joint structure according to claim 6, wherein The ethyl one matching segment, ethyl two matching segment and ethyl three matching segment are staggered with the methyl one matching segment, methyl two matching segment and methyl three matching segment in the projection direction; the projection positions of the ethyl one matching segment, ethyl two matching segment and ethyl three matching segment are respectively located at the central positions between the methyl one matching segment, methyl two matching segment and methyl three matching segment; the extension directions of the methyl one matching segment, methyl two matching segment and methyl three matching segment correspond to the positions of the ethyl one connection segment, ethyl two connection segment and ethyl three connection segment; the extension directions of the ethyl one matching segment, ethyl two matching segment and ethyl three matching segment correspond to the positions of the methyl one connection segment, methyl two connection segment and methyl three connection segment.

8. The biomimetic mechanical joint structure of claim 1, wherein, The second connection relationship between the methyl connector and the linkage and the ethyl connector and the linkage forms an inclined connection layout; the second connection relationship includes a second connecting cable, which is arranged between the methyl one matching segment and the ethyl one connection segment, the methyl two matching segment and the ethyl two connection segment, the methyl three matching segment and the ethyl three connection segment, the ethyl one matching segment and the methyl one connection segment, the ethyl two matching segment and the methyl two connection segment, and the ethyl three matching segment and the methyl three connection segment.

9. The biomimetic mechanical joint structure according to any one of claims 1 to 8, characterized in that, The third connection relationship between the methyl connector and the ethyl connector has a staggered connection layout; the third connection relationship includes a third connecting cable, which includes a first connecting cable between the methyl one connection segment and the ethyl one connection segment, a second connecting cable between the methyl one connection segment and the ethyl two connection segment, a third connecting cable between the methyl two connection segment and the ethyl two connection segment, a fourth connecting cable between the methyl two connection segment and the ethyl three connection segment, a fifth connecting cable between the methyl three connection segment and the ethyl three connection segment, and a sixth connecting cable between the methyl three connection segment and the ethyl one connection segment.

10. The biomimetic mechanical joint structure of claim 9, wherein, The third connecting rope is threaded through the inside of the first connecting section, the second connecting section and the third connecting section to the outside of the connecting member B, and the outside of the connecting member B is provided with a first driving mechanism, a second driving mechanism and a third driving mechanism; among the third connecting rope, the first connecting rope and the fourth connecting rope are connected to the first driving mechanism, the second connecting rope and the fifth connecting rope are connected to the second driving mechanism, and the third connecting rope and the sixth connecting rope are connected to the third driving mechanism; Under the driving of the first driving mechanism, the first connecting rope and the fourth connecting rope are linked to adjust, when one of the connecting ropes is retracted, the other connecting rope is extended; Under the driving of the second driving mechanism, the second connecting rope and the fifth connecting rope are linked to adjust, when one of the connecting ropes is retracted, the other connecting rope is extended; Under the driving of the third driving mechanism, the third connecting rope and the sixth connecting rope are linked to adjust, when one of the connecting ropes is retracted, the other connecting rope is extended.

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