Bionic mechanical joint structure

Abstract

The application aims to provide a bionic mechanical joint structure, which comprises an A connecting piece, a B connecting piece, and a linkage arranged between the A connecting piece and the B connecting piece; the A connecting piece is provided with an A1 connecting section, an A2 connecting section and an A3 connecting section which are arranged on one side of the linkage; the B connecting piece is provided with a B1 connecting section, a B2 connecting section and a B3 connecting section which are arranged on one side of the linkage; the linkage is provided with an A1 matching section, an A2 matching section and an A3 matching section which are arranged on one side of the A connecting piece, and the linkage is provided with a B1 connecting section, a B2 connecting section and a B3 connecting section which are arranged on one side of the B connecting piece; the A connecting piece and the linkage and the B connecting piece and the linkage form a first connecting relationship of an annular connecting layout. Through the arrangement of the bionic mechanical joint structure, the joint structure has certain supporting performance, large movement range and joint flexibility, and meets the high movement performance setting requirement of the mechanical joint.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a biomimetic mechanical joint structure. Background Technology

[0002] Existing technologies involving robots and robotic arms are widely used in industrial assembly, safety and explosion protection, and other fields. Their structures involve complex systems with multiple inputs and outputs, high nonlinearity, and strong coupling. The design challenge lies in the need for joint structures to connect the multi-segment, multi-motion structures so that the mechanical structure can be driven to perform multi-angle adjustment and change movements.

[0003] Existing mechanical joint structures use a series of actuators, with each actuator driving one degree of freedom of the robot. The actuators of the mechanism are mounted on each moving link, resulting in defects such as large overall inertia, small range of motion, and insufficient flexibility in robot movement. Summary of the Invention

[0004] The present invention aims to provide a biomimetic mechanical joint structure that enables the robot joint to have a large range of motion and joint flexibility, thereby improving the robot's motion performance.

[0005] A biomimetic mechanical joint structure includes: a connecting member A, a connecting member B, and a linkage member disposed between the connecting member A and the connecting member B; the connecting member A extends with connecting segment A1, connecting segment A2, and connecting segment A3 on one side corresponding to the linkage member, and the connecting segments A1, A2, and A3 are arranged in a triangular distribution; the connecting member B extends with connecting segment B1, connecting segment B2, and connecting segment B3 on one side corresponding to the linkage member, and the connecting segments B1, B2, and B3 are arranged in a triangular distribution; the linkage member has mating segment A1, mating segment A2, and mating segment A3 on one side corresponding to the connecting member A, and the mating segments A1, A2, and A3 are arranged in a triangular distribution; the linkage member has connecting segment B1, connecting segment B2, and connecting segment B3 on one side corresponding to the connecting member B, and the connecting segments B1, B2, and B3 are arranged in a triangular distribution. The first connection relationship, comprising a ring-shaped connection layout, is formed between the first connecting member and the linkage member, and between the second connecting member and the linkage member; the first connection relationship includes a first connecting cable, which is arranged between the first mating section and the first connecting section, the second mating section and the first connecting section, the second mating section and the second connecting section, the third mating section and the third connecting section, and the first mating section and the third connecting section, forming a ring-shaped connection layout between the first connecting member and the linkage member; the first connecting cable is also arranged between the first mating section and the first connecting section, the second mating section and the first connecting section, the second mating section and the second connecting section, the third mating section and the second connecting section, and the first mating section and the third connecting section, forming a ring-shaped connection layout between the second connecting member and the linkage member.

[0006] Furthermore, the A connecting component includes an A positioning ring arranged in a ring shape, and the A positioning ring extends vertically in the shape of a straight rod, namely the A-1 connecting segment, the A-2 connecting segment, and the A-3 connecting segment, which are arranged in the shape of a straight rod corresponding to the position of the linkage component; the A-1 connecting segment, the A-2 connecting segment, and the A-3 connecting segment are distributed in an equilateral triangle shape.

[0007] Furthermore, the linkage includes a vertically extending straight rod-shaped support rod, which extends horizontally at one end of the A connecting member and is provided with a straight rod-shaped A-1 mating section, A-2 mating section, and A-3 mating section; the extending radial direction of the A-1 mating section, A-2 mating section, and A-3 mating section is smaller than the inner diameter of the A positioning ring; the linkage moves within a range corresponding to the axial position of the A connecting member.

[0008] Furthermore, the three mating segments A1, A2, and A3 extend in an equilateral triangle shape, with their extension directions positioned at the center of the connecting segments A1, A2, and A3, respectively. The lengths of the first connecting cables between mating segments A1 and A1, between mating segments A2 and A1, between mating segments A2 and A2, between mating segments A3 and A2, between mating segments A3 and A3, and between mating segments A1 and A3 are all equal.

[0009] Furthermore, the B connecting component includes a B positioning ring arranged in a ring shape, and the B positioning ring extends vertically in the shape of a straight rod from the B-1 connecting segment, the B-2 connecting segment, and the B-3 connecting segment, corresponding to the position of the linkage component; the B-1 connecting segment, the B-2 connecting segment, and the B-3 connecting segment are distributed in an equilateral triangle shape; the diameter of the B positioning ring is larger than the diameter of the A positioning ring, and the B-1 connecting segment, the B-2 connecting segment, and the B-3 connecting segment are offset outward in the vertical direction relative to the A-1 connecting segment, the A-2 connecting segment, and the A-3 connecting segment.

[0010] Furthermore, the support rod extends horizontally from one end of the connector B, forming straight rod-shaped mating sections B1, B2, and B3; these three sections extend in an equilateral triangle shape; their extension directions are respectively located at the center of each other between the connector B1, B2, and B3; and the first connecting cables between each other are of equal length.

[0011] Furthermore, the first, second, and third mating segments are staggered with the first, second, and third mating segments in their projected positions; the extension directions of the first, second, and third mating segments correspond to the positions of the first, second, and third connecting segments; and the extension directions of the first, second, and third mating segments correspond to the positions of the first, second, and third connecting segments.

[0012] Furthermore, a second connection relationship is formed between the A connecting member and the linkage member, and between the B connecting member and the linkage member, with an inclined connection layout; the second connection relationship includes the application of a second connecting cable, which is set between the A-first mating section and the B-first connecting section, the A-second mating section and the B-second connecting section, the A-third mating section and the B-third connecting section, the B-first mating section and the A-first connecting section, the B-second mating section and the A-second connecting section, and the B-third mating section and the A-third connecting section.

[0013] Furthermore, there is a third connection relationship between connector A and connector B, which is arranged in an alternating connection layout; the third connection relationship includes a third connecting cable, which includes a first connecting cable between connector A and connector B, a second connecting cable between connector A and connector B, a third connecting cable between connector A and connector B, a fourth connecting cable between connector A and connector B, a fifth connecting cable between connector A and connector B, and a sixth connecting cable between connector A and connector B.

[0014] Furthermore, the third connecting cable passes through the interior of the first, second, and third connecting sections and extends to the outside of the first connecting member. A first driving mechanism, a second driving mechanism, and a third driving mechanism are provided on the outside of the first connecting member. Of the third connecting cables, the first and fourth connecting cables are connected to the first driving mechanism, the second and fifth connecting cables are connected to the second driving mechanism, and the third and sixth connecting cables are connected to the third driving mechanism. Driven by the first driving mechanism, the first and fourth connecting cables adjust in linkage; when one cable retracts, the other cable extends. Driven by the second driving mechanism, the second and fifth connecting cables adjust in linkage; when one cable retracts, the other cable extends. Driven by the third driving mechanism, the third and sixth connecting cables adjust in linkage; when one cable retracts, the other cable extends.

[0015] The beneficial effects of this invention are as follows:

[0016] By designing a biomimetic mechanical joint structure, and using a linkage between connector A and connector B, along with a first connection via a first connecting cable, the joint structure can have a certain supporting performance, a large range of motion, and joint flexibility, thus meeting the high motion performance requirements of robot joints.

[0017] Based on the application of the linkage between connector A and connector B, and the second connection relationship set by the second connecting cable, the compliance and buffering application of the bionic mechanical joint structure are effectively further formed, and the horizontal tilt range of the joint is limited and the movement is supported.

[0018] Based on the application of the linkage between connector A and connector B, and the third connection relationship established by the third connecting cable, the compliance and cushioning of the biomimetic mechanical joint structure are effectively further enhanced. Furthermore, while ensuring the joint's rotational freedom, the horizontal rotational range of the joint structure is limited and supported. When the third connecting cable is used as an active drive, three rotational degrees of freedom can be achieved at both ends of the biomimetic joint structure.

[0019] The bionic mechanical joint structure of this invention can serve as a basic joint structure for limb activities in robotic applications, adapting to different driving activity situations and possessing high applicability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the system setup of the bionic mechanical joint structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of connector A, connector B, and linkage of the present invention.

[0022] Figure 3 This is a side view of the structural configuration of Embodiment 1 of the present invention.

[0023] Figure 4 This is a three-dimensional schematic diagram of the structural configuration of Embodiment 1 of the present invention.

[0024] Figure 5 This is a side view of the structural configuration of Embodiment 2 of the present invention.

[0025] Figure 6 This is a three-dimensional schematic diagram of the structural configuration of Embodiment 2 of the present invention.

[0026] Figure 7 This is a side view of the structural configuration of Embodiment 3 of the present invention.

[0027] Figure 8 This is a three-dimensional schematic diagram of the structural configuration of Embodiment 3 of the present invention.

[0028] Figure 9 This is a schematic diagram of the antagonistic linkage driving relationship in Embodiment 3 of the present invention.

[0029] Figure 10 This is embodiment 3 of the present invention. , A diagram illustrating the functional relationship.

[0030] Explanation of reference numerals in the attached figures:

[0031] Connector A 1, Positioning Ring A 10, Connecting Segment A-1 11, Connecting Segment A-2 12, Connecting Segment A-3 13

[0032] Component B 2, Positioning Ring B 20, Connecting Segment B1 21, Connecting Segment B2 22, Connecting Segment B3 23

[0033] Linkage component 3, support rod 30, mating section A1 31, mating section A2 32, mating section A3 33, mating section B1 34, mating section B2 35, mating section B3 36.

[0034] First connecting cable 4, second connecting cable 5

[0035] 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

[0036] First drive mechanism 71, second drive mechanism 72, third drive mechanism 73. Detailed Implementation

[0037] To make the technical solution, objectives and advantages of the present invention clearer, the present invention will be further explained and described below in conjunction with the accompanying drawings and embodiments.

[0038] like Figures 1 to 10 As shown, this invention provides a biomimetic mechanical joint structure, comprising a connector 1 (A), a connector 2 (B), and a linkage 3 disposed between connector 1 and connector 2. Connectors 1, 2, and 3 are connected by a flexible connecting cable, achieving a fully flexible connection between the three components and effectively providing support and movement control for all three components. Furthermore, by attaching limbs to the outer sides of connector 1 and connector 2, this biomimetic mechanical joint structure enables the support and connection of limbs on both sides and allows for multi-angle, wide-range control of movement.

[0039] Example 1:

[0040] In this embodiment, a basic support connection scheme for the biomimetic mechanical joint structure is described.

[0041] The A connecting member 1 includes an A positioning ring 10 arranged in a ring shape, preferably a circular ring; the A positioning ring 10 extends vertically to the position of the linkage member 3 and is provided with A first connecting segment 11, A second connecting segment 12 and A third connecting segment 13 in the shape of straight rods; the A first connecting segment 11, A second connecting segment 12 and A third connecting segment 13 are arranged in a triangular distribution, preferably in an equilateral triangle shape; the extension dimensions of the A first connecting segment 11, A second connecting segment 12 and A third connecting segment 13 are the same.

[0042] The B connecting member 2 includes a B positioning ring 20 arranged in a ring shape. The B positioning ring 20 extends vertically in the shape of a straight rod from the B first connecting section 21, B second connecting section 22, and B third connecting section 23, corresponding to the position of the linkage member 3. The B first connecting section 21, B second connecting section 22, and B third connecting section 23 are arranged in a triangular distribution, preferably in an equilateral triangle shape. The extension dimensions of the B first connecting section 21, B second connecting section 22, and B third connecting section 23 are the same.

[0043] The linkage 3 includes a vertically extending straight support rod 30. The support rod 30, corresponding to one end of the A connecting member 1, extends horizontally and comprises a first mating section 31, a second mating section 32, and a third mating section 33. These three sections are arranged in a triangular shape, preferably with identical extension dimensions, and are distributed in an equilateral triangular pattern. The radial extension of the first mating section 31, the second mating section 32, and the third mating section 33 is smaller than the inner diameter of the A positioning ring 10, forming a corresponding distance from the first connecting section 11, the second connecting section 12, and the third connecting section 13. The linkage 3 moves within a range corresponding to the axial position of the A connecting member 1 (A positioning ring 10).

[0044] The support rod 30 extends horizontally from one end of the connector 2, forming straight rod-shaped mating sections 34, 35, and 36. These three sections are arranged in a triangular shape, preferably with identical extension dimensions, and are distributed in an equilateral triangular pattern. The radial extension of the mating sections 34, 35, and 36 is smaller than the inner diameter of the positioning ring 20, creating corresponding distances from the connecting sections 21, 22, and 23. The linkage 3 moves within a range corresponding to the axial position of the connector 2 (positioning ring 20).

[0045] In a preferred embodiment, the diameter of the B positioning ring 20 (the outer diameter of the B connector 2) is larger than the diameter of the A positioning ring 10 (the outer diameter of the A connector), and the B-1 connecting segment 21, B-2 connecting segment 22 and B-3 connecting segment 23 are offset outward in the horizontal direction relative to the A-1 connecting segment 11, A-2 connecting segment 12 and A-3 connecting segment 13.

[0046] The first connection relationship, consisting of a ring-shaped connection layout, is formed between connector 1 (A) and linkage 3, and between connector 2 (B) and linkage 3. Specifically, the first connection relationship utilizes a first connecting cable 4, which is used between the first mating section 31 and the first connecting section 11, between the second mating section 32 and the first connecting section 11, between the second mating section 32 and the second connecting section 12, between the third mating section 33 and the second connecting section 12, and between the third mating section 33 and the third connecting section 13, and between the first mating section 31 and the first connecting section 3. The three connecting segments 13 are arranged to form a ring-shaped connection layout between the first connecting member 1 and the linkage member 3; the first connecting cable 4 is arranged between the first matching segment 34 and the first connecting segment 21, between the first matching segment 34 and the second connecting segment 22, between the second matching segment 35 and the second connecting segment 22, between the second matching segment 35 and the third connecting segment 23, between the third matching segment 36 and the third connecting segment 23, and between the third matching segment 36 and the first connecting segment 21, forming a ring-shaped connection layout between the second connecting member 2 and the linkage member 3.

[0047] The first connecting cable 4 can be a spring structure using existing technology, or a soft cable made of other materials with soft and elastic characteristics. By using the ring connection layout of the first connecting cable 4, the characteristics of the soft cable are applied to connect the linkage 3 to the first connecting member 1 and the second connecting member 2 respectively. The first connecting member 1 and the second connecting member 2 can generate longitudinal buffering and support, which is suitable for limb joint applications that provide support in robot structures such as leg limbs.

[0048] In a preferred embodiment, the extension directions of the first-stage mating section 31, the second-stage mating section 32, and the third-stage mating section 33 are respectively located at the center positions between the first-stage connecting section 11, the second-stage connecting section 12, and the third-stage connecting section 13; the first connecting cable 4 connecting the first-stage connector 1 and the linkage 3 is of equal length; the extension directions of the second-stage mating section 34, the second-stage mating section 35, and the third-stage mating section 36 are respectively located at the center positions between the first-stage connecting section 21, the second-stage connecting section 22, and the third-stage connecting section 23; the first connecting cable 4 connecting the second-stage connector 2 and the linkage 3 is of equal length. The multiple equidistant triangular connection relationships formed by the connection of each of the first connecting cables 4 maximize the connection and support stability of the ring-shaped connection layout.

[0049] To further improve the connection and support stability of the ring connection layout, as a preferred embodiment, the first-part mating segment 34, the second-part mating segment 35, and the third-part mating segment 36 are staggered with the first-part mating segment 31, the second-part mating segment 32, and the third-part mating segment 33 in the projection direction. The projection positions of the first-part mating segment 34, the second-part mating segment 35, and the third-part mating segment 36 are respectively located at the center position between the first-part mating segment 31, the second-part mating segment 32, and the third-part mating segment 33. The extension directions of the first-part mating segment 31, the second-part mating segment 32, and the third-part mating segment 33 correspond to the positions of the first-part connecting segment 21, the second-part connecting segment 22, and the third-part connecting segment 23. The extension directions of the first-part mating segment 34, the second-part mating segment 35, and the third-part mating segment 36 correspond to the positions of the first-part connecting segment 11, the second-part connecting segment 12, and the third-part connecting segment 13.

[0050] Example 2:

[0051] Based on the basic support connection scheme of the bionic mechanical joint structure in Embodiment 1 above, in order to enable the joint structure to have better and more stable tilting mobility, this embodiment further explains the structural connection method of the bionic mechanical joint structure:

[0052] The first connecting member 1 and the second connecting member 3, and the second connecting member 2 and the second connecting member 3, form a second connection relationship with an inclined connection layout; the second connection relationship includes the application of a second connecting cable 5, which is set between the first mating section 31 and the first connecting section 21, the second mating section 32 and the second connecting section 22, the third mating section 33 and the third connecting section 23, the first mating section 34 and the first connecting section 11, the second mating section 35 and the second connecting section 12, and the third mating section 36 and the third connecting section 13.

[0053] The second connecting cable 5 effectively enhances the compliance and cushioning of the bionic mechanical joint structure. While ensuring the joint's freedom of tilting movement, it also limits and supports the horizontal tilting range. The soft cable's properties create a tilting traction and cushioning effect during joint movement, resulting in a higher degree of realism in the robot's limb movements.

[0054] Example 3:

[0055] Based on the basic support connection scheme of the bionic mechanical joint structure in Embodiment 1 or Embodiment 2 above, in order to make the joint structure have better and more stable rotational mobility, this embodiment further explains the bionic mechanical joint structure.

[0056] The first connecting member 1 and the second connecting member 2 are connected by a third connection relationship with an alternating layout. The third connection relationship includes a third connecting cable 6, which includes a first connecting cable 61 between the first connecting segment 11 and the first connecting segment 21, a second connecting cable 62 between the first connecting segment 11 and the second connecting segment 22, a third connecting cable 63 between the second connecting segment 12 and the second connecting segment 22, a fourth connecting cable 64 between the second connecting segment 12 and the third connecting segment 23, a fifth connecting cable 65 between the third connecting segment 13 and the third connecting segment 23, and a sixth connecting cable 66 between the third connecting segment 13 and the first connecting segment 21.

[0057] The third connecting cable 6 further enhances the flexibility and cushioning of the bionic mechanical joint structure. While ensuring the joint's rotational freedom, it also limits and supports the horizontal rotational range of the joint structure. The soft cable's properties create a torsional buffering effect during joint movement, resulting in a higher degree of realism in the robot's limb movements.

[0058] In this embodiment, the bionic mechanical joint structure can also be driven by driving the third connecting cable 6.

[0059] Specifically, in the B connector 2, the B-1 connecting section 21, B-2 connecting section 22, and B-3 connecting section 23 form a through channel leading to the lower side of the inner side 20 of the B positioning ring. Each of the third connecting cables 6 can pass through the through channel inside the B-1 connecting section 21, B-2 connecting section 22, and B-3 connecting section 23 and be led out from the lower side of the B positioning ring 20. The lower side of connector 2 is provided with a first driving mechanism 71, a second driving mechanism 72, and a third driving mechanism 73. In the third connecting cable 6, cable 61 and cable 64 are grouped and connected to the first driving mechanism 71, cable 62 and cable 65 are grouped and connected to the second driving mechanism 72, and cable 63 and cable 66 are grouped and connected to the third driving mechanism 73. Driven by the first driving mechanism 71, cable 61 and cable 64 are linked and adjusted; when one cable retracts, the other cable extends. Driven by the second driving mechanism 72, cable 62 and cable 65 are linked and adjusted; when one cable retracts, the other cable extends. Driven by the third driving mechanism 73, cable 63 and cable 66 are linked and adjusted; when one cable retracts, the other cable extends.

[0060] In a preferred embodiment, the first drive mechanism 71, the second drive mechanism 72 and the third drive mechanism 73 are reciprocating drive motors that can rotate in both directions in the prior art. In each of the corresponding drive mechanisms, the drive end of the reciprocating drive motor is provided with a drive turntable with a grooved contact.

[0061] In application, the first connecting cable 61 and the fourth connecting cable 64 are continuously integrated, the second connecting cable 62 and the fifth connecting cable 65 are continuously integrated, and the third connecting cable 63 and the sixth connecting cable 66 are continuously integrated. The corresponding integrated connecting cable combination is wound around the drive turntable groove of the corresponding drive mechanism. When the corresponding drive mechanism drives its drive turntable to rotate, it will retract one end of the connecting cable and extend the other end of the connecting cable, thereby achieving the purpose of controlling the linkage of the corresponding connecting cable combination.

[0062] Based on the preferred structural combinations of embodiments 1 and 2, and considering the application of the third connecting cable 6 in this embodiment, the driving and yaw relationship of this biomimetic mechanical joint structure is as follows: Figure 9 As shown in the figure, the direction of the drive control joint structure's yaw is divided into six quadrants by three straight lines. The quadrant in which the yaw direction is located indicates whether the corresponding third connecting cable 6 is extended (+) or shortened (-). (The figure uses a combination of A and Arabic numerals to represent the corresponding third connecting cable 6 number, such as connecting cable 61 being represented as A1 and connecting cable 62 as A2.)

[0063] The direction angle of the yaw. The angle of the sway. The angle of torsion is denoted as , and the direction is counterclockwise from the moving end in the top view. The relationship between the length changes of the six ropes, superimposed with yaw and torsion, is as follows:

[0064]

[0065] 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, therefore they are antagonistic ropes and can be driven by the same motor.

[0066] The amplitude angle of the swing is related to the rope length. The relationship between the amplitude of change and the angle of twist and the rope length The relationship of the magnitude of change is as follows Figure 10 As shown in the figure, the relationship described above is non-linear; as the corresponding angle changes, the required rope length amplitude increases at a faster rate. Due to the structure's flexibility, the specific curve is affected by various factors, with the maximum theoretically achievable sway and torsional amplitude angles both being 60°.

[0067] Example: When cables 61 and 62 are shortened, and cables 64 and 65 are extended, the upper end of the joint structure tilts towards the common connection point of cables 61 and 62 (the same applies to other tilting directions; simply contract the cables in the corresponding direction and relax the cables on the opposite side to achieve control). This allows the joint structure to achieve two degrees of freedom: pitch and yaw.

[0068] When cables 61 (number 1), 63 (number 3), and 65 (number 5) shorten, cables 62 (number 2), 64 (number 4), and 66 (number 6) lengthen, the upper part of the joint structure will rotate counterclockwise (and vice versa). This allows for rotational control of the joint structure, with a maximum rotation angle of ±60 degrees.

[0069] In summary, by controlling the three sets of antagonistic cables—connecting cable 61 to cable 64, connecting cable 62 to cable 65, and connecting cable 63 to cable 66—according to the motion requirements, the three mutually perpendicular rotational degrees of freedom of the joint structure can be controlled. Simultaneously, the joint structure exhibits yielding behavior when obstructed by external forces during motion.

[0070] In a preferred embodiment, to reduce the transmission links of the connecting cables, the reciprocating drive motors in the three sets of drive mechanisms in this embodiment are evenly distributed at 120° intervals, so that the motor axes are perpendicular to the plane of the two antagonistic connecting cable combinations to be driven. In this biomimetic mechanical joint structure, based on the combined application of the first connecting cable 4, the second connecting cable 5, and the third connecting cable 6, a combination of three connection relationships—ring connection layout, inclined connection layout, and staggered connection layout—is realized. This allows the joint structure to have not only three drivable rotational degrees of freedom, but also three redundant translational degrees of freedom, which can resist tangential translation and axial tension and compression, and return to a neutral state after the external force impact disappears, exhibiting excellent joint connection performance.

[0071] The above description is only a preferred embodiment of the present invention. For those skilled in the art, modifications can still be made to the embodiments without departing from the implementation principle of the present invention, and the corresponding modifications should also be considered within the protection scope of the present invention.

Claims

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

2. The biomimetic mechanical joint structure according to claim 1, wherein, The connection member includes a ring-shaped positioning ring, and the first connection segment, the second connection segment and the third connection segment are arranged in a straight rod shape and distributed in an equilateral triangle shape between the first connection segment, the second connection segment and the third connection segment.

3. The biomimetic mechanical joint structure according to claim 2, wherein, The linkage member includes a vertical extension straight rod, and the first matching segment, the second matching segment and the third matching segment are arranged in a straight rod shape and distributed in an equilateral triangle shape between the first matching segment, the second matching segment and the third matching segment.

4. The biomimetic mechanical joint structure according to claim 3, wherein The first connecting segment, the second connecting segment and the third connecting segment are in an equilateral triangle shape, and the extending direction of the first connecting segment, the second connecting segment and the third connecting segment is at the central position between the first connecting segment, the second connecting segment and the third connecting segment.

5. The biomimetic mechanical joint structure according to claim 4, wherein The connecting member includes a ring-shaped positioning ring, and the first connecting segment, the second connecting segment and the third connecting segment are in a straight rod shape and are arranged in an equilateral triangle shape.

6. The biomimetic mechanical joint structure according to claim 5, wherein The support rod includes a first connecting segment, a second connecting segment and a third connecting segment in a straight rod shape, and the first connecting segment, the second connecting segment and the third connecting segment are in an equilateral triangle shape.

7. The biomimetic mechanical joint structure according to claim 6, wherein The first connecting segment, the second connecting segment and the third connecting segment are in an equilateral triangle shape, and the extending direction of the first connecting segment, the second connecting segment and the third connecting segment is at the central position between the first connecting segment, the second connecting segment and the third connecting segment.

8. The biomimetic mechanical joint structure according to any one of claims 1 to 7, characterized in that, The first connecting segment, the second connecting segment and the third connecting segment are in an equilateral triangle shape, and the extending direction of the first connecting segment, the second connecting segment and the third connecting segment is at the central position between the first connecting segment, the second connecting segment and the third connecting segment. The first connecting segment, the second connecting segment and the third connecting segment are in an equilateral triangle shape, and the extending direction of the first connecting segment, the second connecting segment and the third connecting segment is at the central position between the first connecting segment, the second connecting segment and the third connecting segment.

9. The biomimetic mechanical joint structure of claim 8, 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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