Tendon tensioning mechanism, dexterous hand and robot

Abstract

The utility model provides a kind of tendon tensioning mechanism, deft hand and robot.The first guide wheel and the second guide wheel are arranged on the same side of guide rod, and the side of the first guide wheel and the second guide wheel close to guide rod is abutted with tendon, and the first elastic member and the second elastic member are fixedly arranged on guide rod, the first slider is arranged on the second end of the first elastic member, the first end of the first support rod is hinged with the first slider, the second end is hinged with tension pulley, the second slider is arranged on the second end of the second elastic member, the first end of the second support rod is hinged with the second slider, the second end is hinged with tension pulley, the tension pulley is located between the first guide wheel and the second guide wheel, and the side of the tension pulley away from guide rod is abutted with tendon, and then when the downward pressure of tendon on tension pulley weakens, the first elastic member and the second elastic member at this time make the tension pulley away from guide rod, so that tendon remains tension, and then effectively avoid the problem of idle stroke caused by plastic deformation of tendon.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a tendon tensioning mechanism, a dexterous hand, and a robot. Background Technology

[0002] Rope-driven dexterous manipulators are biomimetic structures that use tendon ropes to pull the fingers to achieve grasping actions. Compared to end effectors that pick up a single object, perform a single picking action, and have a simple design structure, rope-driven dexterous manipulators can pick up multiple objects and perform multiple picking actions by mimicking the structure of the human hand.

[0003] However, as the ligaments are used for longer periods, their length increases due to plastic deformation. At this point, the ligaments will inevitably have empty strokes, which will affect their normal use. Utility Model Content

[0004] In view of this, the present invention provides a tendon ligament tensioning mechanism, a dexterous hand, and a robot to solve the problem of idle travel caused by the increase in length of tendon ligaments over time.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] The first aspect of this utility model provides a tensioning mechanism, including: a bracket, a guide rod, a first elastic element, a first slider, a first support rod, a second support rod, a tensioning wheel, a first guide wheel, a second guide wheel, a second elastic element, and a second slider;

[0007] The first guide wheel, the second guide wheel, and the guide rod are fixed to the bracket;

[0008] The first guide wheel and the second guide wheel are set at a preset distance on the same side of the guide rod, and the side of the first guide wheel and the second guide wheel closest to the guide rod is used to abut against the tendon rope;

[0009] The first end of the first elastic element is fixedly disposed on the guide rod;

[0010] The first slider is disposed at the second end of the first elastic member and is slidably disposed on the guide rod;

[0011] The first end of the first support rod is hinged to the first slider, and the second end is hinged to the tension wheel;

[0012] The first end of the second elastic element is fixed to the guide rod;

[0013] The second slider is disposed at the second end of the second elastic member and is slidably disposed on the guide rod;

[0014] The first end of the second support rod is hinged to the second slider, and the second end is hinged to the tension wheel;

[0015] The tensioning wheel is located between the first guide wheel and the second guide wheel, and the side of the tensioning wheel away from the guide rod abuts against the tendon rope.

[0016] Preferably, the first slider has a first through hole for the guide rod to pass through.

[0017] Preferably, the second slider has a second through hole for the guide rod to pass through.

[0018] Preferably, both the first elastic element and the second elastic element are springs;

[0019] The first elastic element is sleeved on the guide rod;

[0020] The second elastic element is fitted onto the guide rod.

[0021] Preferably, it also includes: a first limiting member;

[0022] The first limiting element is located on the guide rod;

[0023] The first end of the first elastic member is connected to the first limiting member.

[0024] Preferably, it also includes: a second limiting member;

[0025] The second limiting component is located on the guide rod;

[0026] The first end of the second elastic element is connected to the second limiting element.

[0027] Preferably, both the first and second limiting members are retaining rings;

[0028] The guide rod has a first annular groove in its circumference that mates with the first limiting member;

[0029] The guide rod has a second annular groove in its circumference that mates with the second limiting member.

[0030] The second aspect of this utility model provides a tendon chord tensioning mechanism, comprising: a bracket, a guide rod, a first elastic element, a first slider, a first support rod, a second support rod, a tensioning wheel, a first guide wheel, and a second guide wheel;

[0031] The first guide wheel, the second guide wheel, and the guide rod are fixed to the bracket;

[0032] The first guide wheel and the second guide wheel are set at a preset distance on the same side of the guide rod, and the side of the first guide wheel and the second guide wheel closest to the guide rod is used to abut against the tendon rope;

[0033] The first end of the first elastic element is fixedly disposed on the guide rod;

[0034] The first slider is disposed at the second end of the first elastic member and is slidably disposed on the guide rod;

[0035] The first end of the first support rod is hinged to the first slider, and the second end is hinged to the tension wheel;

[0036] The first end of the second support rod is hinged to the guide rod, and the second end is hinged to the tension wheel;

[0037] The tensioning pulley is located between the first guide pulley and the second guide pulley, and abuts against the tendon rope.

[0038] Preferably, the first slider has a first through hole for the guide rod to pass through.

[0039] The third aspect of this utility model provides a dexterous hand, including the tendon cord tensioning mechanism provided in the first aspect of this utility model or the tendon cord tensioning mechanism provided in the second aspect.

[0040] The fourth aspect of this utility model provides a robot, including the tendon ligament tensioning mechanism provided in the first aspect of this utility model or the tendon ligament tensioning mechanism provided in the second aspect.

[0041] Based on the tendon ligament tensioning mechanism, dexterous hand, and robot provided by the present invention, the embodiments of the present invention fix a first guide wheel, a second guide wheel, and a guide rod to a bracket. The first guide wheel and the second guide wheel are set at a preset distance on the same side of the guide rod, and the tendon ligament abuts against the side of the first guide wheel and the second guide wheel closest to the guide rod. The first end of the first elastic member is fixed to the guide rod, the first slider is set at the second end of the first elastic member and slidably set on the guide rod, the first end of the first support rod is hinged to the first slider, and the second end is hinged to the tensioning wheel. The first end of the second elastic member is fixed to the guide rod, the second slider is set at the second end of the second elastic member and slidably set on the guide rod, the first end of the second support rod is hinged to the second slider, and the second end is hinged to the tensioning wheel. The tensioning wheel is located between the first guide wheel and the second guide wheel, and the side of the tensioning wheel away from the guide rod abuts against the tendon ligament. With the aforementioned chordae tendon tensioning mechanism, when the chordae tendons are tensioned, they exert downward pressure on the tensioning wheel. This downward pressure is transmitted to the first and second sliders via the first and second support rods, causing both sliders to slide towards the ends of the guide rod. At this time, the first and second elastic elements undergo elastic deformation and store energy. The elastic restoring force generated by the first and second elastic elements acts on the tensioning wheel via the first and second support rods, respectively, keeping the chordae tendons taut. When the downward pressure of the chordae tendons on the tensioning wheel weakens, the elastic restoring force jointly provided by the first and second elastic elements can be transmitted to the tensioning wheel via the first and second support rods, causing the tensioning wheel to move away from the guide rod, thus keeping the chordae tendons taut and effectively preventing the problem of empty travel caused by plastic deformation of the chordae tendons. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 A schematic diagram of a tendon ligament tensioning mechanism provided in an embodiment of this utility model;

[0044] Figure 2 This is a schematic diagram of the force analysis of the first slider provided in an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of force analysis when F1 is greater than F4 is provided for an embodiment of this utility model;

[0046] Figure 4 A schematic diagram of force analysis when F4 is greater than F1 is provided for an embodiment of this utility model;

[0047] Figure 5 This is a schematic diagram of another tendon tensioning mechanism provided in an embodiment of the present utility model.

[0048] Among them, there are guide rod 1, first elastic element 2, first slider 3, first support rod 4, second support rod 5, tension wheel 6, first guide wheel 7, second guide wheel 8, second elastic element 9, second slider 10, first limiting element 11, second limiting element 12, and tendon rope 13. Detailed Implementation

[0049] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0050] This utility model embodiment provides a tendon ligament tensioning mechanism, see [link to relevant documentation]. Figure 1 , Figure 1 The diagram shows the structure of the tendon chord tensioning mechanism, which includes: a bracket, a guide rod 1, a first elastic element 2, a first slider 3, a first support rod 4, a second support rod 5, a tensioning wheel 6, a first guide wheel 7, a second guide wheel 8, a second elastic element 9, and a second slider 10.

[0051] The first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket;

[0052] The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1. The side of the first guide wheel 7 and the second guide wheel 8 closest to the guide rod 1 is used to abut against the tendon rope 13.

[0053] The first end of the first elastic element 2 is fixedly disposed on the guide rod 1;

[0054] The first slider 3 is disposed at the second end of the first elastic member 2 and is slidably disposed on the guide rod 1;

[0055] The first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6;

[0056] The first end of the second elastic element 9 is fixed to the guide rod 1;

[0057] The second slider 10 is disposed at the second end of the second elastic member 9 and is slidably disposed on the guide rod 1;

[0058] The first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6;

[0059] The tensioning wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tensioning wheel 6 away from the guide rod 1 abuts against the tendon rope 13.

[0060] In this utility model embodiment, the first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket. The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1, and the first guide wheel 7 and the second guide wheel 8 abut against the tendon rope 13 on the side closest to the guide rod 1. The first end of the first elastic member 2 is fixed to the guide rod 1, the first slider 3 is set at the second end of the first elastic member 2 and slidably set on the guide rod 1, the first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6, the first end of the second elastic member 9 is fixed to the guide rod 1, the second slider 10 is set at the second end of the second elastic member 9 and slidably set on the guide rod 1, the first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6. The tension wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tension wheel 6 away from the guide rod 1 abuts against the tendon rope 13. With the aforementioned chordae tendon tensioning mechanism, when the chordae tendon 13 is tensioned, it exerts downward pressure on the tensioning wheel 6. This downward pressure is transmitted to the first slider 3 and the second slider 10 through the first support rod 4 and the second support rod 5, causing both sliders 3 and 10 to slide towards both ends of the guide rod 1. At this time, the first elastic element 2 and the second elastic element 9 undergo elastic deformation and store energy. The elastic restoring force generated by the first elastic element 2 and the second elastic element 9 is then applied to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, respectively, ensuring that the tensioning wheel 6 keeps the chordae tendon 13 taut. When the downward pressure of the chordae tendon 13 on the tensioning wheel 6 weakens, the elastic restoring force jointly provided by the first elastic element 2 and the second elastic element 9 can be transmitted to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, causing the tensioning wheel 6 to move away from the guide rod 1, thus keeping the chordae tendon 13 taut and effectively preventing the chordae tendon 13 from experiencing idle travel due to plastic deformation.

[0061] Specifically, the first slider 3 has a first through hole for the guide rod 1 to pass through.

[0062] It should be noted that by opening a first through hole in the first slider 3 and passing the guide rod 1 through the first through hole, the first slider 3 can slide along the axial direction of the guide rod 1 when it slides.

[0063] It should also be noted that a sliding fit can be achieved by opening a first through hole in the first slider 3 for the guide rod 1 to pass through, or by setting a slide rail or a slide groove to achieve a sliding fit between the first slider 3 and the guide rod 1. Those skilled in the art can choose according to their needs.

[0064] Specifically, the second slider 10 has a second through hole for the guide rod 1 to pass through.

[0065] It should be noted that by opening a second through hole in the second slider 10 and passing the guide rod 1 through the second through hole, the second slider 10 can slide along the axial direction of the guide rod 1 when it slides.

[0066] It should also be noted that a sliding fit can be achieved by opening a second through hole in the second slider 10 for the guide rod 1 to pass through, or by setting a slide rail or a slide groove to achieve a sliding fit between the second slider 10 and the guide rod 1. Those skilled in the art can choose according to their needs.

[0067] Furthermore, both the first elastic element 2 and the second elastic element 9 are springs;

[0068] The first elastic element 2 and the second elastic element 9 are both sleeved on the guide rod 1.

[0069] It should be noted that the first elastic element 2 and the second elastic element 9 can be springs, sheet springs, or other components that undergo elastic deformation under external force (such as components made of rubber, sponge, etc.). Those skilled in the art can choose according to their needs.

[0070] Furthermore, the tendon ligament tensioning mechanism also includes: a first limiting member 11;

[0071] The first limiting member 11 is provided on the guide rod 1;

[0072] The first end of the first elastic member 2 is connected to the first limiting member 11.

[0073] It should be noted that by setting the first limiting member 11 and placing the first limiting member 11 on the guide rod 1, and connecting the first end of the first elastic member 2 to the first limiting member 11, the movement of the first end of the first elastic member 2 can be effectively prevented.

[0074] Furthermore, the tendon ligament tensioning mechanism also includes: a second limiting member 12;

[0075] The second limiting member 12 is disposed on the guide rod 1;

[0076] The first end of the second elastic member 9 is connected to the second limiting member 12.

[0077] It should be noted that by setting the second limiting member 12 and placing the second limiting member 12 on the guide rod 1, and connecting the first end of the second elastic member 9 to the second limiting member 12, the movement of the first end of the second elastic member 9 can be effectively prevented.

[0078] Specifically, both the first limiting member 11 and the second limiting member 12 are retaining rings;

[0079] The guide rod 1 has a first annular groove in its circumference that cooperates with the first limiting member 11;

[0080] The guide rod 1 has a second annular groove in its circumference that cooperates with the second limiting member 12.

[0081] It should be noted that the first limiting member 11 is set as a snap ring, and a first annular groove that cooperates with the snap ring is opened in the circumference of the guide rod 1. Thus, when the first elastic member 2 is subjected to force, the snap ring can effectively move the first end of the first elastic member 2 along the axial direction of the guide rod 1 through cooperation with the first annular groove.

[0082] The second limiting member 12 is set as a retaining ring, and a second annular groove that cooperates with the retaining ring is opened in the circumference of the guide rod 1. Thus, when the second elastic member 9 is subjected to force, the retaining ring can effectively move the first end of the second elastic member 9 along the axial direction of the guide rod 1 through cooperation with the second annular groove.

[0083] To facilitate understanding of the above scheme, the following... Figure 1 Based on the combination Figure 2 , Figure 3 and Figure 4 Further explanation of this application is provided.

[0084] The force state of the first slider 3 is as follows: Figure 2 As shown, the elastic force generated by the first elastic element 2 is F1, and the force exerted by the first support rod 4 on the first slider 3 is F2. F2 can be decomposed into a normal force F3 and a downward force F4 along the guide rod 1.

[0085] When F1 is greater than F4, the frictional force generated by F3 is the same as that of F4; otherwise, it is in the same direction as that of F1.

[0086] refer to Figure 3 Let θ be the angle between F2 and guide rod 1, then F4 = F2 * cosθ, F3 = F2 * sinθ.

[0087] The maximum value of frictional forces F3-1 and F3-2 is F3*μ (μ is the coefficient of friction between the first slider 3 and the guide rod 1).

[0088] When the tendon cord 13 relaxes, F2 decreases until F1 is greater than F2*cosθ+μ*F2*sinθ. Then, the first slider 3 will move towards the second slider 10 to tighten the tendon cord 13 until force balance is achieved.

[0089] When F2 increases, the first slider 3 can only move in the opposite direction if F2*cosθ is greater than F1+μ*F2*sinθ. That is, it will only move in the opposite direction if F1 is less than (cosθ-μ*sinθ)F2. Therefore, the included angle θ or the friction coefficient μ can be controlled to keep cosθ-μ*sinθ always negative, so there will be no reverse movement. Even if the tendon rope 13 between the first guide wheel 7, the second guide wheel 8 and the tension wheel 6 becomes longer, it will affect the control accuracy.

[0090] When the first slider 3 moves upward to tension the tendon rope 13, θ increases, cosθ decreases, and μ*sinθ increases. Overall, F2*cosθ+μ*F2*sinθ decreases. Therefore, even if the elastic force F1 provided by the first elastic element 2 decreases due to the tensioning of the tendon rope 13, the impact on subsequent tensioning is small, and a large automatic tensioning range can be guaranteed.

[0091] It should be noted that the second slider 10 is symmetrical to the first slider 3, and the force it experiences is the same as that of the first slider 3. The force on the second slider 10 can be referred to the force analysis of the first slider 3 mentioned above, and will not be elaborated further here.

[0092] On the other hand, this embodiment of the invention also provides another tendon tensioning mechanism, see reference. Figure 5 The tendon chord tensioning mechanism includes: a bracket, a guide rod 1, a first elastic element 2, a first slider 3, a first support rod 4, a second support rod 5, a tensioning wheel 6, a first guide wheel 7, and a second guide wheel 8;

[0093] The first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket;

[0094] The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1. The side of the first guide wheel 7 and the second guide wheel 8 closest to the guide rod 1 is used to abut against the tendon rope 13.

[0095] The first end of the first elastic element 2 is fixedly disposed on the guide rod 1;

[0096] The first slider 3 is disposed at the second end of the first elastic member 2 and is slidably disposed on the guide rod 1;

[0097] The first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6;

[0098] The first end of the second support rod 5 is hinged to the guide rod 1, and the second end is hinged to the tension wheel 6;

[0099] The tension wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tension wheel 6 away from the guide rod 1 abuts against the tendon rope 13. In this embodiment of the invention, the first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket. The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1, and the side of the first guide wheel 7 and the second guide wheel 8 near the guide rod 1 abuts against the tendon rope 13. The first end of the first elastic member 2 is fixed to the guide rod 1, the first slider 3 is set at the second end of the first elastic member 2 and slidably set on the guide rod 1, the first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6. The first end of the second support rod 5 is hinged to the guide rod 1, and the second end is hinged to the tension wheel 6. The tension wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tension wheel 6 away from the guide rod 1 abuts against the tendon rope 13. With the aforementioned chordae tendon tensioning mechanism, when the chordae tendon 13 is tensioned, it exerts downward pressure on the tensioning wheel 6. Since the first end of the second support rod 5 is connected to the guide rod 1, the first support rod 4 and the second support rod 5, under the action of downward pressure, cause the first slider 3 to slide on the guide rod 1. At this time, the first elastic element 2 undergoes elastic deformation and stores energy. The elastic restoring force provided by the first elastic element 2 can be transmitted to the first support rod 4 through the first slider 3, keeping the tensioning wheel 6 tensioned on the chordae tendon 13. When the downward pressure of the chordae tendon 13 on the tensioning wheel 6 weakens, the elastic restoring force provided by the first elastic element 2 can be transmitted to the first support rod 4 through the first slider 3, causing the tensioning wheel 6 to move away from the guide rod 1, thus keeping the chordae tendon 13 tensioned and effectively avoiding the problem of empty stroke caused by plastic deformation of the chordae tendon 13.

[0100] Based on the tendon ligament tensioning mechanism provided in the above embodiments, this utility model embodiment also provides a dexterous hand;

[0101] Dexterous hands include: chordae tendon tensioning mechanisms;

[0102] The tendon chord tensioning mechanism includes a bracket, a guide rod 1, a first elastic element 2, a first slider 3, a first support rod 4, a second support rod 5, a tensioning wheel 6, a first guide wheel 7, a second guide wheel 8, a second elastic element 9, and a second slider 10;

[0103] The first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket;

[0104] The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1. The side of the first guide wheel 7 and the second guide wheel 8 closest to the guide rod 1 is used to abut against the tendon rope 13.

[0105] The first end of the first elastic element 2 is fixedly disposed on the guide rod 1;

[0106] The first slider 3 is disposed at the second end of the first elastic member 2 and is slidably disposed on the guide rod 1;

[0107] The first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6;

[0108] The first end of the second elastic element 9 is fixed to the guide rod 1;

[0109] The second slider 10 is disposed at the second end of the second elastic member 9 and is slidably disposed on the guide rod 1;

[0110] The first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6;

[0111] The tensioning wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tensioning wheel 6 away from the guide rod 1 abuts against the tendon rope 13.

[0112] In this utility model embodiment, the first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket. The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1, and the first guide wheel 7 and the second guide wheel 8 abut against the tendon rope 13 on the side closest to the guide rod 1. The first end of the first elastic member 2 is fixed to the guide rod 1, the first slider 3 is set at the second end of the first elastic member 2 and slidably set on the guide rod 1, the first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6, the first end of the second elastic member 9 is fixed to the guide rod 1, the second slider 10 is set at the second end of the second elastic member 9 and slidably set on the guide rod 1, the first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6. The tension wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tension wheel 6 away from the guide rod 1 abuts against the tendon rope 13. With the aforementioned chordae tendon tensioning mechanism, when the chordae tendon 13 is tensioned, it exerts downward pressure on the tensioning wheel 6. This downward pressure is transmitted to the first slider 3 and the second slider 10 through the first support rod 4 and the second support rod 5, causing both sliders 3 and 10 to slide towards both ends of the guide rod 1. At this time, the first elastic element 2 and the second elastic element 9 undergo elastic deformation and store energy. The elastic restoring force generated by the first elastic element 2 and the second elastic element 9 is then applied to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, respectively, ensuring that the tensioning wheel 6 keeps the chordae tendon 13 taut. When the downward pressure of the chordae tendon 13 on the tensioning wheel 6 weakens, the elastic restoring force jointly provided by the first elastic element 2 and the second elastic element 9 can be transmitted to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, causing the tensioning wheel 6 to move away from the guide rod 1, thus keeping the chordae tendon 13 taut and effectively preventing the chordae tendon 13 from experiencing idle travel due to plastic deformation.

[0113] Based on the tendon ligament tensioning mechanism provided in the above embodiments, this utility model also provides a robot;

[0114] The robot includes: a chordae tendon tensioning mechanism;

[0115] The tendon chord tensioning mechanism includes a bracket, a guide rod 1, a first elastic element 2, a first slider 3, a first support rod 4, a second support rod 5, a tensioning wheel 6, a first guide wheel 7, a second guide wheel 8, a second elastic element 9, and a second slider 10;

[0116] The first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket;

[0117] The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1. The side of the first guide wheel 7 and the second guide wheel 8 closest to the guide rod 1 is used to abut against the tendon rope 13.

[0118] The first end of the first elastic element 2 is fixedly disposed on the guide rod 1;

[0119] The first slider 3 is disposed at the second end of the first elastic member 2 and is slidably disposed on the guide rod 1;

[0120] The first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6;

[0121] The first end of the second elastic element 9 is fixed to the guide rod 1;

[0122] The second slider 10 is disposed at the second end of the second elastic member 9 and is slidably disposed on the guide rod 1;

[0123] The first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6;

[0124] The tensioning wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tensioning wheel 6 away from the guide rod 1 abuts against the tendon rope 13.

[0125] In this utility model embodiment, the first guide wheel 7, the second guide wheel 8, and the guide rod 1 are fixed to the bracket. The first guide wheel 7 and the second guide wheel 8 are set at a preset distance on the same side of the guide rod 1, and the first guide wheel 7 and the second guide wheel 8 abut against the tendon rope 13 on the side closest to the guide rod 1. The first end of the first elastic member 2 is fixed to the guide rod 1, the first slider 3 is set at the second end of the first elastic member 2 and slidably set on the guide rod 1, the first end of the first support rod 4 is hinged to the first slider 3, and the second end is hinged to the tension wheel 6, the first end of the second elastic member 9 is fixed to the guide rod 1, the second slider 10 is set at the second end of the second elastic member 9 and slidably set on the guide rod 1, the first end of the second support rod 5 is hinged to the second slider 10, and the second end is hinged to the tension wheel 6. The tension wheel 6 is located between the first guide wheel 7 and the second guide wheel 8, and the side of the tension wheel 6 away from the guide rod 1 abuts against the tendon rope 13. With the aforementioned chordae tendon tensioning mechanism, when the chordae tendon 13 is tensioned, it exerts downward pressure on the tensioning wheel 6. This downward pressure is transmitted to the first slider 3 and the second slider 10 through the first support rod 4 and the second support rod 5, causing both sliders 3 and 10 to slide towards both ends of the guide rod 1. At this time, the first elastic element 2 and the second elastic element 9 undergo elastic deformation and store energy. The elastic restoring force generated by the first elastic element 2 and the second elastic element 9 is then applied to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, respectively, ensuring that the tensioning wheel 6 keeps the chordae tendon 13 taut. When the downward pressure of the chordae tendon 13 on the tensioning wheel 6 weakens, the elastic restoring force jointly provided by the first elastic element 2 and the second elastic element 9 can be transmitted to the tensioning wheel 6 through the first support rod 4 and the second support rod 5, causing the tensioning wheel 6 to move away from the guide rod 1, thus keeping the chordae tendon 13 taut and effectively preventing the chordae tendon 13 from experiencing idle travel due to plastic deformation.

[0126] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tendon ligament tensioning mechanism, characterized in that, include: The bracket includes a guide rod, a first elastic element, a first slider, a first support rod, a second support rod, a tensioning wheel, a first guide wheel, a second guide wheel, a second elastic element, and a second slider. The first guide wheel, the second guide wheel, and the guide rod are fixed to the bracket; The first guide wheel and the second guide wheel are disposed on the same side of the guide rod at a preset distance, and the side of the first guide wheel and the second guide wheel closest to the guide rod is used to abut against the tendon rope; The first end of the first elastic element is fixedly disposed on the guide rod; The first slider is disposed at the second end of the first elastic member and is slidably disposed on the guide rod; The first end of the first support rod is hinged to the first slider, and the second end is hinged to the tension wheel; The first end of the second elastic element is fixed to the guide rod; The second slider is disposed at the second end of the second elastic member and is slidably disposed on the guide rod; The first end of the second support rod is hinged to the second slider, and the second end is hinged to the tension wheel; The tensioning wheel is located between the first guide wheel and the second guide wheel, and the side of the tensioning wheel away from the guide rod abuts against the tendon rope.

2. The tendon ligament tensioning mechanism according to claim 1, characterized in that, The first slider has a first through hole for the guide rod to pass through.

3. The tendon ligament tensioning mechanism according to claim 2, characterized in that, The second slider has a second through hole for the guide rod to pass through.

4. The tendon ligament tensioning mechanism according to claim 1, characterized in that, Both the first elastic element and the second elastic element are springs; Both the first elastic element and the second elastic element are sleeved on the guide rod.

5. The tendon ligament tensioning mechanism according to claim 4, characterized in that, Also includes: First limiting component; The first limiting member is disposed on the guide rod; The first end of the first elastic member is connected to the first limiting member.

6. The tendon ligament tensioning mechanism according to claim 5, characterized in that, Also includes: Second limiting component; The second limiting member is disposed on the guide rod; The first end of the second elastic member is connected to the second limiting member.

7. The tendon ligament tensioning mechanism according to claim 6, characterized in that, Both the first limiting member and the second limiting member are retaining rings; The guide rod is provided with a first annular groove in its circumference that cooperates with the first limiting member; The guide rod has a second annular groove in its circumference that cooperates with the second limiting member.

8. A tendon ligament tensioning mechanism, characterized in that, include: The bracket, guide rod, first elastic element, first slider, first support rod, second support rod, tension wheel, first guide wheel, and second guide wheel; The first guide wheel, the second guide wheel, and the guide rod are fixed to the bracket; The first guide wheel and the second guide wheel are disposed on the same side of the guide rod at a preset distance, and the side of the first guide wheel and the second guide wheel closest to the guide rod is used to abut against the tendon rope; The first end of the first elastic element is fixedly disposed on the guide rod; The first slider is disposed at the second end of the first elastic member and is slidably disposed on the guide rod; The first end of the first support rod is hinged to the first slider, and the second end is hinged to the tension wheel; The first end of the second support rod is hinged to the guide rod, and the second end is hinged to the tension wheel; The tensioning wheel is located between the first guide wheel and the second guide wheel, and the side of the tensioning wheel away from the guide rod abuts against the tendon rope.

9. A dexterous hand, characterized in that, Includes the tendon ligament tensioning mechanism as described in any one of claims 1 to 8.

10. A robot, characterized in that, Includes the tendon ligament tensioning mechanism as described in any one of claims 1 to 8.

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