Distal pull wire joint chain and bionic wrist neck skeleton

Abstract

The application relates to the field of mechanical bionic dinosaurs, and particularly discloses a far-end pull wire joint chain and a bionic brachiosaurus neck skeleton formed by the joint chain, the joint chain comprising a plurality of single chains, the single chains being connected by joint bodies and cross shaft joints, so that the single chains are connected through a torsion motor, the torsion motor can drive the single chains to relatively rotate in the axial direction, and the single chains can also be independently bent by pull wires, so that the joint chain has higher flexibility; the other ends of the pull wires can also be covered by wire tubes, the wire tubes can pass through the blocking rings in the adjacent single chains and also have certain bending characteristics; when the two single chains relatively rotate in the axial direction, the normal work of the pull wires is not affected, the pull wires can also be protected, the other ends of all the pull wires are conveniently led to the same end for centralized control, the requirement of far-end control is met, and the structure is simple and light, the cost is reduced, and the installation efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical bionic dinosaurs, and specifically relates to a distal pull-wire joint chain and a bionic brachiosaurus neck skeleton. Background Technology

[0002] In the field of bionic dinosaurs, the necks of dinosaurs with long necks, such as Brachiosaurus, Plesiosaurus, or Brontosaurus, not only need to be able to bend and swing in the left and right and up and down directions with a smooth bending posture, but also need to be able to produce axial torsion in the middle area of ​​the neck so that the neck is closer to the flexibility of a real dinosaur's neck. Therefore, the design and manufacture of long necks has become a major challenge in the field of bionic dinosaurs.

[0003] Patent document with application number "CN2022115345061" discloses a rope-driven segmented linkage flexible robotic arm with joint sensing and dual closed-loop functions. It includes an operating arm mounted on a drive box. The operating arm includes multiple arm segments connected to the drive box by at least three drive ropes. The drive ropes can bend each arm segment individually. Each arm segment includes three or more articulated arms connected by universal joints. A first linkage rope defines the interval articulated arms to rotate at equal angles at both ends of the intermediate articulated arms along the opposite rotation directions of the first or second swing axis of the arm segment. A second linkage rope defines the interval articulated arms to rotate at equal angles at both ends of the intermediate articulated arms along the opposite rotation directions of the first or second swing axis of the arm segment. The axes of the first and second swing axes are perpendicular to each other. Although the robotic arm in the prior art can achieve equal-angle linkage between all adjacent joints within the arm segment, making the bending posture smoother, the joints in the prior art can only achieve multi-angle bending and cannot achieve axial torsion in the middle area of ​​the joint, thus lacking higher flexibility. Furthermore, the structure is too complex, which will increase manufacturing costs and reduce assembly efficiency.

[0004] The above background information is provided only to aid in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0005] The purpose of this invention is to provide a distal pull-wire joint chain and a biomimetic brachiosaurus neck skeleton, thereby overcoming the shortcomings of existing chain joint skeletons, such as the inability to rotate axially in the middle, poor flexibility, insufficiently smooth bending posture during bending, complex structure, high cost, and low assembly efficiency.

[0006] To achieve the above objectives, the present invention provides a distal pull-wire joint chain, comprising several single chains connected end to end, with a torsion motor connected between the ends of each single chain, the torsion motor driving each single chain to rotate relative to each other on an axis; each single chain includes a segment, a pull wire, and a cross joint, wherein there are two or more segments, and the cross joint is connected between two adjacent segments; there are four pull wires corresponding to the four rotation directions of the cross joint; a retaining ring is provided on the outer periphery of each segment, and a spring is installed between the retaining rings of adjacent segments; a wire tube is provided on the retaining ring near one end of the single chain; one end of the pull wire is fixedly connected to the retaining ring near the other end of the single chain; the other end of the pull wire extends outward through each spring and the wire tube in sequence, and each spring is in a compressed state.

[0007] Preferably, in the above technical solution, the conduit in one of the single chains can pass through the retaining ring in the adjacent single chain.

[0008] Preferably, in the above technical solution, the cross joint includes a segment block and a first connecting shaft. The number of the first connecting shafts is four and they are respectively installed on the four sides of the segment block. The axes of the first connecting shafts intersect perpendicularly. One end of the first connecting shaft is fixedly connected to the side of the segment block. Mounting holes are provided at both ends of the segment body, and the mounting holes are rotatably fitted onto the first connecting shaft.

[0009] Preferably, in the above technical solution, a first reel is fixedly connected to the other end of the first connecting shaft, and the axis of the first reel coincides with the axis of the first connecting shaft; a transmission line is connected between two adjacent cross shaft sections, and the number of the transmission lines is two. The two transmission lines are respectively arranged on both sides of the section body, and the two ends of the transmission lines are respectively fixedly connected to the opposite side of the first reel installed at the mounting hole, and the connection directions of the two transmission lines located on both sides of the section body are opposite.

[0010] Preferably, in the above technical solution, the side of the first reel is provided with a groove, the transmission line can be placed in the groove, the end of the first reel is provided with a groove, a first through hole is provided between the side of the groove and the bottom of the groove, and a second through hole is provided through both sides of the groove, the second through hole is corresponding to the position of the first through hole, and the end of the transmission line can pass through the first through hole and the second through hole before being fixed.

[0011] Preferably, in the above technical solution, the number of the first threading hole and the second threading hole are both four, and the four first threading holes and the four second threading holes are symmetrically distributed around the center of the first thread spool.

[0012] Preferably, in the above technical solution, clearance holes are provided at both ends of the retaining ring, and the number of clearance holes is four or more. Each clearance hole is evenly distributed around the center of the retaining ring, and the conduit and the transmission line can pass through the clearance holes.

[0013] Preferably, in the above technical solution, a third threading hole is provided at both ends of the retaining ring, the pull wire can pass through the third threading hole, one end of the pull wire is provided with a stop block, and the outer periphery of the third threading hole can block the stop block; a wire-locking groove is provided on the retaining ring near the other end of the single chain, the end of the wire tube can be locked in the wire-locking groove to achieve a limit, and the third threading hole passes through the bottom of the wire-locking groove.

[0014] Preferably, the above technical solution further includes a motor joint, which includes a motor base and a rotating base. The torsion motor is installed in the motor base. One end of the rotating base is connected to the output end of the torsion motor. The other end of the rotating base is provided with a first connecting block. Second connecting shafts are symmetrically arranged on both sides of the first connecting block. A second wire reel is provided at the end of the second connecting shaft. Third connecting shafts are provided on both sides of the motor base. A third wire reel is provided at the end of the third connecting shaft. A wire baffle is provided on the side of the rotating base. One end of one of the single chains is rotatably connected to the second connecting shaft through the mounting hole, and the first spool and the second spool in the single chain are the same size and connected by the transmission line. Two wire tubes of one of the single chains are fixedly installed on the wire baffle plate, and the two wire tubes are located on both sides of the second connecting shaft. A spring is installed between the wire baffle plate and the retaining ring. The segment at the other end of the other single chain is rotatably connected to the third connecting shaft through the mounting hole, and the first spool and the third spool in the single chain are the same size and connected through the transmission line; one end of the two pull lines of the other single chain is fixedly connected to the side of the motor base, and the two pull lines are located on both sides of the third connecting shaft, and the spring is installed between the motor base and the retaining ring.

[0015] On the other hand, to achieve the above objectives, the present invention also discloses a biomimetic brachiosaurus neck skeleton, including the distal pull-wire joint chain as described above, and a fixed base. The fixed base is provided with a pitch motor at its end, and a pitch seat is provided at the rotating end of the pitch motor. The pitch motor can drive the end of the pitch seat to swing up and down. The end of the pitch seat is provided with a second connecting block, and the side of the second connecting block is provided with a fourth connecting shaft. The end of the single chain is rotatably connected to the fourth connecting shaft. Two of the wire tubes in the single chain are fixedly connected to the pitch seat and the two wire tubes are located on both sides of the fourth connecting shaft. A spring is provided between the pitch seat and the retaining ring. The fixed base is also provided with several traction drive components, which are staggered in a stepped manner. Each traction drive component includes a rotating motor, a drive coil, and a fixed bracket. There are two rotating motors, which are arranged side by side. The drive coil is fixedly installed at the output end of the rotating motor. The fixed bracket is located between the drive coil and the pitch base. The end of the cable tube is fixedly connected to the fixed bracket. Each group of traction drive components corresponds to one single chain. The other ends of the two traction lines in the single chain with corresponding control directions pass through the cable tube and are fixedly connected to both sides of the same drive coil.

[0016] Compared with existing technologies, the present invention has the following advantages: 1. The remote pull-wire joint chain of this invention consists of several single chains connected end-to-end, and each single chain is connected by a torsion motor. The torsion motor can drive the single chains to generate relative axial rotation, and each single chain can also be independently bent by the pull wire, giving the joint greater flexibility. The other end of the pull wire can be covered by a conduit, which can pass through the retaining ring in the adjacent single chain and has a certain bending characteristic. When two single chains generate relative axial rotation, it will not affect the normal operation of the pull wire, and it can also protect the pull wire. It is convenient to lead the other end of all the pull wires to the same end for centralized control to achieve the requirements of remote operation. Moreover, the single chain is composed only of the joint body and the cross joint, making its structure simple and lightweight, reducing costs and improving installation efficiency.

[0017] 2. The single chain in this invention is composed of several segments connected end to end. Each segment has a retaining ring on its outer periphery, and springs are connected between the retaining rings. The springs are aligned with the threading positions of the tension wires, and each spring is in a tensioned state. Therefore, the segments can form a certain elastic support, and the single chain can maintain a smooth bending shape when it bends. It can also provide a certain support force when the single chain is straightened and a certain rebound force when the single chain is bent. At the same time, the tension wire can pass through the springs, which can also protect and constrain the tension wire.

[0018] 3. The retaining ring in the segment of this invention not only supports the skin and prevents interference between the inner skin and the pull wire and transmission wire, but also plays a shaping role. Furthermore, the retaining ring can be used for threading the pull wire and installing the spring. This not only increases the radius of the spring during installation, making the spring layout more dispersed, thereby improving the spring's support and constraint effect between the segments, but also increases the torque applied by the pull wire, thus increasing the bending amplitude of the single chain. Moreover, by providing clearance holes through both ends of the retaining ring, the conduit and transmission wire can pass through the clearance holes, thus protecting the clearance holes and conduit, and also separating the conduits from each other to prevent entanglement and interference.

[0019] 4. In the cross-shaped joint of the present invention, the ends of the four first connecting shafts are respectively fixedly installed with first reels, and each first reel is connected by a transmission line. The two opposing transmission lines on both sides of the joint are connected in opposite directions to form an X-shaped cross structure in space. This enables two of the first reels to form a reverse synchronous rotation mechanism (similar to a single-pole gear transmission mechanism). When the end of the single chain bends, the angle between each joint can be transmitted, and the joints in the same segment of the single chain can also transmit at equal angles, thus making the bending posture smoother.

[0020] 5. The first reel in this invention has a groove on its outer periphery and a recess at its end. A first threading hole is provided between the bottom of the groove and the side of the recess, and a second threading hole is provided on both sides of the groove. When the transmission line is connected to the first reel, the end of the transmission line can pass through the first and second threading holes and be easily straightened and fixed by knotting or clamping.

[0021] 6. The fixed base of the present invention is equipped with several traction drive components. Each traction drive component includes two rotating motors, two drive coils, and a fixed bracket. The two rotating motors are arranged side by side, and each rotating motor has a corresponding drive coil installed at its output end. The fixed bracket is installed between each drive coil and the pitch base. The traction drive components are staggered in a stepped manner. When the cable tubes and the fixed brackets are connected to each other, not only can the staggered arrangement of each cable tube and the traction line prevent interference, but the stepped layout of each traction drive component can also conform to the back contour of the Brachiosaurus, making the layout more reasonable and compact. Attached Figure Description

[0022] Figure 1 This is a structural diagram of the distal drawwire joint chain in this invention.

[0023] Figure 2 It is a structural diagram of a single chain.

[0024] Figure 3 This is a schematic diagram showing the connection between part of the joint and the cross joint.

[0025] Figure 4 It is a structural diagram of a segment located in the middle region of a single chain.

[0026] Figure 5 This is a structural diagram of a segment located at the end of a single chain.

[0027] Figure 6 This is a structural diagram of the cross-shaped joint.

[0028] Figure 7 This is a structural diagram of the motor joint and the segments connected to it.

[0029] Figure 8 This is a structural diagram of the motor joint and the segment connected to it from another angle.

[0030] Figure 9 This is a structural diagram of the biomimetic brachiosaurus neck skeleton in this invention.

[0031] Explanation of key figure labels: 100-Single chain, 110-Section body, 111-Retaining ring, 112-Mounting hole, 113-Leaning hole, 114-Third wire hole, 115-Wire slot, 120-Pull wire, 121-Stop block, 130-Cross shaft joint, 131-Section block, 132-First connecting shaft, 133-First wire reel, 134-Wire groove, 135-Groove, 136-First wire hole, 137-Second wire hole, 140-Spring, 150-Wire tube, 160-Transmission wire; 200-torsion motor; 300-Motor joint, 310-Motor base, 311-Third connecting shaft, 320-Rotating seat, 330-First connecting block, 331-Second connecting shaft, 340-Second reel, 350-Third reel, 360-Wire baffle; 400-Fixed base, 410-Pitch motor, 420-Pitch base, 430-Second connecting block, 440-Fourth connecting shaft, 450-Torture drive assembly, 451-Rotation motor, 452-Drive coil, 453-Fixed bracket. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "top surface," "bottom surface," "inner," "outer," "inner side," and "outer side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0036] like Figure 1 As shown, the distal pull-wire joint chain in this embodiment includes several single chains 100 connected end to end, and a torsion motor 200 is connected between the ends of each single chain 100. The torsion motor 200 can drive each single chain 100 to rotate relative to each other on the axis.

[0037] like Figures 2 to 3As shown, the single chain 100 includes segments 110, tension lines 120, and cross joints 130. There are two or more segments 110. Cross joints 130 connect adjacent segments 110, allowing relative rotation between segments 110 in directions perpendicular to each other. There are four tension lines 120, whose orientation aligns with that of each segment 110. The positions of the four tension lines 120 correspond to the four rotational directions of the cross joints 130. Retaining rings 111 are provided on the outer periphery of each segment 110. [The last sentence appears to be incomplete and possibly refers to a different chain.] Several springs 140 are installed between the retaining rings 111. A conduit 150 is installed on the retaining ring 111 near one end of the single chain 100. One end of the pull line 120 is fixedly connected to the retaining ring 111 near the other end of the single chain 100. The other end of the pull line 120 passes through each spring 140 and the conduit 150 in sequence and extends outward to serve as the pull drive end. Each spring 140 is in a compressed state and is evenly distributed around the axis of the retaining ring 111. When two single chains 100 are connected to each other, the conduit 150 in one of the single chains 100 can pass through the retaining ring 111 in the adjacent single chain 100.

[0038] like Figures 3 to 6 As shown, the cross-shaped joint 130 includes a segment 131 and four first connecting shafts 132, which are respectively installed on the four sides of the segment 131. The axes of the first connecting shafts 132 intersect perpendicularly. One end of the first connecting shaft 132 is fixedly connected to the side of the segment 131. The two ends of the joint body 110 are provided with mounting holes 112, which are rotatably fitted onto the first connecting shafts 132. The other end of the first connecting shaft 132 is fixedly connected to a first coil 133. The axis of 133 coincides with the axis of the first connecting shaft 132. A transmission line 160 is connected between two adjacent cross shaft sections 130. There are two transmission lines 160, which are respectively arranged on both sides of the section body 110. The two ends of the transmission line 160 are respectively fixedly connected to the opposite side of the first wire reel 133 installed at the mounting hole 112. The connection directions of the two transmission lines 160 on both sides of the section body 110 are opposite, so that the two transmission lines 160 form an X-shaped cross structure in space.

[0039] More in detail, such as Figure 6As shown, a wire groove 134 is provided on the side of the first wire reel 133. The wire groove 134 is arranged around the outer periphery of the first wire reel 133. The transmission wire 160 can be stored in the wire groove 134. A groove 135 is provided at the end of the first wire reel 133. A first threading hole 136 is provided between the side of the groove 135 and the bottom of the wire groove 134. A second threading hole 137 is provided on both sides of the wire groove 134. The second threading hole 137 corresponds to the position of the first threading hole 136. There are four first threading holes 136 and four second threading holes 137. The four first threading holes 136 and the four second threading holes 137 are symmetrically distributed around the center of the first wire reel 133. The end of the transmission wire 160 can pass through the first threading hole 136 and the second threading hole 137 and then be fixed by knotting or installing a wire clamp.

[0040] More in detail, such as Figure 4 and Figure 5 As shown, four or more clearance holes 113 are provided at both ends of the through retaining ring 111. The clearance holes 113 are evenly distributed around the center of the retaining ring 111, and the positions of the clearance holes 113 correspond to the positions of the conduit 150 and the transmission line 160. The conduit 150 and the transmission line 160 can pass through the clearance holes 113. A third wire hole 114 is provided at both ends of the through retaining ring 111. The pull wire 120 can pass through the third wire hole 114. A stop block 121 is installed at one end of the pull wire 120. The outer periphery of the third wire hole 114 can block the stop block 121. A wire clamping groove 115 is provided on the retaining ring 111 near the other end of the single chain 100. The end of the conduit 150 can be clamped in the wire clamping groove 115 for limiting. The third wire hole 114 passes through the bottom of the wire clamping groove 115.

[0041] In addition, such as Figure 7 and Figure 8As shown, a motor joint 300 is also installed between the two single chains 100. The motor joint 300 includes a motor base 310 and a rotating base 320. A torsion motor 200 is installed inside the motor base 310. One end of the rotating base 320 is connected to the output end of the torsion motor 200, enabling the torsion motor 200 to drive the rotating base 320 to rotate. A first connecting block 330 is installed at the other end of the rotating base 320. Second connecting shafts 331 are symmetrically arranged on both sides of the first connecting block 330. A second coil 340 is provided at the end of the second connecting shaft 331. The axis of the disc 340 coincides with the axis of the second connecting shaft 331. A third connecting shaft 311 is provided on both sides of the motor base 310. A third coil 350 is provided at the end of the third connecting shaft 311, and the axis of the third coil 350 coincides with the axis of the third connecting shaft 311. An outwardly extending wire baffle 360 ​​is provided on the side of the rotating base 320. One end of a single chain 100 has a segment 110 that is rotatably connected to the second connecting shaft 331 through a mounting hole 112. The first coil 133 in this single chain 100 has the same dimensions as the second coil 340 and is connected to the second connecting shaft 331. The transmission line 160 is connected, and two conduits 150 of one single chain 100 are fixedly installed on the line stop plate 360, with the two conduits 150 located on both sides of the second connecting shaft 331. A spring 140 is installed between the line stop plate 360 ​​and the retaining ring 111. The pull wire 120 of one single chain 100 passes through the spring 140, and the two ends of the spring 140 abut against the line stop plate 360 ​​and the retaining ring 111 respectively and are in a compressed state. The other end of the single chain 100 has a segment 110 that is rotatably connected to the third connecting shaft 311 through the mounting hole 112. The first reel 133 and the third reel 350 of the single chain 100 are the same size and connected by a transmission line 160; one end of the two pull lines 120 of the other single chain 100 is fixedly connected to the side of the motor base 310, and the two pull lines 120 are located on both sides of the third connecting shaft 311. A spring 140 is installed between the motor base 310 and the retaining ring 111. The pull line 120 of the other single chain 100 passes through the spring 140. The two ends of the spring 140 abut against the motor base 310 and the retaining ring 111 respectively and are in a compressed state.

[0042] On the other hand, such as Figure 9As shown, this embodiment also discloses a biomimetic brachiosaurus neck skeleton, which includes the aforementioned distal wire joint chain and a fixing base 400. A pitch motor 410 is mounted on the end of the fixing base 400, and a pitch seat 420 is provided on the rotating end of the pitch motor 410. The pitch motor 410 can drive the end of the pitch seat 420 to swing up and down. A second connecting block 430 is fixedly mounted on the end of the pitch seat 420, and a fourth connecting block 430 is mounted on the side of the second connecting block 430. The mounting hole 112 on the segment 110 at the end of the single chain 100 is rotatably connected to the fourth connecting shaft 440. Two wire tubes 150 in the single chain 100 are fixedly connected to the pitch seat 420 and the two wire tubes 150 are located on both sides of the fourth connecting shaft 440. A spring 140 is installed between the pitch seat 420 and the retaining ring 111. The pull wire 120, which is passed through the wire tube 150, passes through the spring 140 and the two ends of the spring 140 are compressed.

[0043] The fixed base 400 also houses multiple traction drive assemblies 450, which are staggered in a stepped arrangement. Each group of traction drive assemblies 450 corresponds to a single chain 100. Each traction drive assembly 450 includes a rotary motor 451, a drive coil 452, and a fixed bracket 453. There are two rotary motors 451 arranged side by side. The drive coil 452 is fixedly installed at the output end of the rotary motor 451. The fixed bracket 453 is located between the drive coil 452 and the pitch base 420. The end of the conduit 150 is fixedly connected to the fixed bracket 453. The other ends of the two pull lines 120 with corresponding control directions in the single chain 100 pass through the conduit 150 and are fixedly connected to both sides of the same drive reel 452, so that each set of pull drive components 450 can control all bending directions of a single chain 100. The number of pull drive components 450 is consistent with the number of single chains 100, and the stepped layout of each pull drive component 450 can also conform to the back contour of Brachiosaurus, making the layout more reasonable and compact.

[0044] In summary, the remote pull-wire joint chain in this embodiment is provided with several single chains 100 connected end to end, and each single chain 100 is connected by a torsion motor 200. The torsion motor 200 can drive the single chains 100 to generate relative axial rotation, and each single chain 100 can also be independently bent by the pull wire 120, so that the joint as a whole has higher flexibility. The other end of the pull wire 120 can also be covered by the wire tube 150. The wire tube 150 can pass through the retaining ring 111 in the adjacent single chain 100 and also has a certain bending characteristic. When two single chains 100 generate relative axial rotation, it will not affect the normal operation of the pull wire 120 and can also protect the pull wire 120. It is convenient to lead the other end of all the pull wires 120 to the same end for centralized control to achieve the requirements of remote operation. Moreover, the single chain 100 is composed only of the joint body 110 and the cross joint 130, making its structure simple and lightweight, reducing costs and improving installation efficiency.

[0045] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although embodiments of the invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the invention and its practical application, so that those skilled in the art, after reading this specification, can make modifications, substitutions, variations, and various choices and changes to the embodiments as needed without departing from the principles and spirit of the invention, provided that such modifications, substitutions, variations, and choices and changes are within the scope of the claims of the invention and are protected by patent law.

Claims

1. A distal drawstring articulated chain, characterized in that, It includes several single chains connected end to end, and a torsion motor is connected between the ends of each single chain. The torsion motor can drive each single chain to rotate relative to each other on an axis. The single chain includes segments, tension wires, and cross joints. There are two or more segments, and the cross joints are connected between two adjacent segments. There are four tension wires, which correspond to the four rotation directions of the cross joints. A retaining ring is provided on the outer periphery of each segment, and a spring is installed between the retaining rings of adjacent segments. A wire tube is provided on the retaining ring near one end of the single chain. One end of the tension wire is fixedly connected to the retaining ring near the other end of the single chain, and the other end of the tension wire extends outward by passing through each spring and the wire tube in sequence. Each spring is in a compressed state.

2. The distal drawstring joint chain according to claim 1, characterized in that, The conduit in one of the single chains can pass through the retaining ring in the adjacent single chain.

3. The distal drawstring joint chain according to claim 1, characterized in that, The cross joint includes a segment and a first connecting shaft. There are four first connecting shafts, which are respectively installed on the four sides of the segment. The axes of the first connecting shafts intersect perpendicularly. One end of the first connecting shaft is fixedly connected to the side of the segment. The two ends of the segment are provided with mounting holes, which are rotatably fitted onto the first connecting shaft.

4. The distal drawstring joint chain according to claim 3, characterized in that, The other end of the first connecting shaft is fixedly connected to a first spool, the axis of the first spool coincides with the axis of the first connecting shaft; a transmission line is connected between two adjacent cross shaft sections, the number of the transmission lines is two, the two transmission lines are respectively arranged on both sides of the section body, the two ends of the transmission lines are respectively fixedly connected to the opposite side of the first spool installed at the mounting hole, and the connection directions of the two transmission lines on both sides of the section body are opposite.

5. The distal drawstring joint chain according to claim 4, characterized in that, The first reel has a groove on its side, and the transmission wire can be placed in the groove. The end of the first reel has a groove, and a first through hole is formed between the side of the groove and the bottom of the groove. A second through hole is formed through both sides of the groove, and the second through hole corresponds to the position of the first through hole. The end of the transmission wire can pass through the first through hole and the second through hole before being fixed.

6. The distal drawwire joint chain according to claim 5, characterized in that, There are four first threading holes and four second threading holes, and the four first threading holes and the four second threading holes are symmetrically distributed around the center of the first thread spool.

7. The distal drawstring joint chain according to claim 4, characterized in that, The retaining ring has four or more clearance holes at both ends, and each clearance hole is evenly distributed around the center of the retaining ring. The conduit and the transmission line can pass through the clearance holes.

8. The distal drawstring joint chain according to claim 1, characterized in that, A third threading hole is provided at both ends of the retaining ring, through which the pull wire can pass. A stop block is provided at one end of the pull wire, and the outer periphery of the third threading hole can block the stop block. A wire-locking groove is provided on the retaining ring near the other end of the single chain, and the end of the wire tube can be locked in the wire-locking groove to achieve a limiting position. The third threading hole passes through the bottom of the wire-locking groove.

9. The distal drawstring joint chain according to claim 4, characterized in that, It also includes a motor joint, which includes a motor base and a rotating base. The torsion motor is installed in the motor base. One end of the rotating base is connected to the output end of the torsion motor. The other end of the rotating base is provided with a first connecting block. Second connecting shafts are symmetrically arranged on both sides of the first connecting block. A second wire reel is provided at the end of the second connecting shaft. Third connecting shafts are arranged on both sides of the motor base. A third wire reel is provided at the end of the third connecting shaft. A wire baffle is provided on the side of the rotating base. One end of one of the single chains is rotatably connected to the second connecting shaft through the mounting hole, and the first spool and the second spool in the single chain are the same size and connected by the transmission line. Two wire tubes of one of the single chains are fixedly installed on the wire baffle plate, and the two wire tubes are located on both sides of the second connecting shaft. A spring is installed between the wire baffle plate and the retaining ring. The segment at the other end of the other single chain is rotatably connected to the third connecting shaft through the mounting hole, and the first spool and the third spool in the single chain are the same size and connected through the transmission line; one end of the two pull lines of the other single chain is fixedly connected to the side of the motor base, and the two pull lines are located on both sides of the third connecting shaft, and the spring is installed between the motor base and the retaining ring.

10. A biomimetic brachiosaurus neck skeleton, comprising the distal drawstring articulation chain as described in any one of claims 1 to 9, characterized in that, It also includes a fixed base, an end of which is provided with a pitch motor, and a pitch seat at the rotating end of the pitch motor. The pitch motor can drive the end of the pitch seat to swing up and down. The end of the pitch seat is provided with a second connecting block, and the side of the second connecting block is provided with a fourth connecting shaft. The end of the single chain is rotatably connected to the fourth connecting shaft. Two of the wire tubes in the single chain are fixedly connected to the pitch seat and the two wire tubes are located on both sides of the fourth connecting shaft. A spring is provided between the pitch seat and the retaining ring. The fixed base is also provided with several traction drive components, which are staggered in a stepped manner. Each traction drive component includes a rotating motor, a drive coil, and a fixed bracket. There are two rotating motors, which are arranged side by side. The drive coil is fixedly installed at the output end of the rotating motor. The fixed bracket is located between the drive coil and the pitch base. The end of the cable tube is fixedly connected to the fixed bracket. Each group of traction drive components corresponds to one single chain. The other ends of the two traction lines in the single chain with corresponding control directions pass through the cable tube and are fixedly connected to both sides of the same drive coil.

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