A rope-driven joint reset structure and dexterous hand

Abstract

This utility model provides a cable-driven joint repositioning structure and a dexterous hand. A first, second, and third mounting posts are all positioned on the same mounting surface of a support plate, and these posts are not collinear. The first mounting post is located at the first end of the support plate, the third mounting post at the second end, and the second mounting post between the third and first mounting posts. A torsion spring is rotatably mounted on the second mounting post, with its first end fixed to the support plate and its second end close to the first mounting post. A torsion spring sleeve is rotatably fitted onto the second end of the torsion spring. The connecting end of the movable component has a movable hole for engaging with the third mounting post, and is rotatably fitted onto the third mounting post through this hole. The first end of the repositioning tendon is fixed to the support plate and located on one side of the first mounting post, while the second end sequentially wraps around the torsion spring sleeve, the first mounting post, and the connecting end face of the movable component before being fixed to one side of the movable component.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a rope-driven joint repositioning structure and a dexterous hand. Background Technology

[0002] A rope-driven dexterous hand is a biomimetic structure that uses 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 hands can pick up multiple objects and perform multiple picking actions by mimicking the structure of the human hand.

[0003] However, due to the limited space inside the finger, in order to reduce the number of actuators or reduce the structural complexity of the actuator end, there is an urgent need for a structure that can passively achieve finger repositioning. Utility Model Content

[0004] In view of this, the present invention provides a rope-driven joint repositioning structure and a dexterous hand, which can passively achieve finger repositioning.

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

[0006] The first aspect of this utility model discloses a rope-driven joint repositioning structure, including: a support plate, a movable component, a torsion spring, a torsion spring sleeve, and a repositioning tendon rope;

[0007] The support plate includes a first mounting post, a second mounting post, and a third mounting post;

[0008] The first mounting post, the second mounting post, and the third mounting post are all located on the same mounting surface of the bracket plate, and the first mounting post, the second mounting post, and the third mounting post are not collinear. The first mounting post is located at the first end of the bracket plate, the third mounting post is located at the second end of the bracket plate, and the second mounting post is located between the third mounting post and the first mounting post.

[0009] The torsion spring is rotatably mounted on the second mounting post, with the first end of the torsion spring fixed to the bracket plate and the second end of the torsion spring located close to the first mounting post.

[0010] The torsion spring sleeve is rotatably fitted onto the second end of the torsion spring;

[0011] The connecting end of the movable part is provided with a movable hole for cooperating with the third mounting post, and is rotatably sleeved on the third mounting post through the movable hole;

[0012] The first end of the repositioning tendon is fixed to the support plate and located on one side of the first mounting post. The second end is then fixed to one side of the movable part after sequentially wrapping around the torsion spring sleeve, the first mounting post, and the connecting end face of the movable part.

[0013] Preferably, the first end of the repositioning tendon ligament is bonded to the first mounting post.

[0014] Preferably, the first mounting post includes: a base and a post body;

[0015] The base is mounted on the support plate;

[0016] The column is vertically positioned on the side of the base away from the support plate;

[0017] A fixing groove is provided on the side of the base away from the support plate;

[0018] After the first end of the repositioning tendon ligament is knotted, it is fixed to the fixing groove with glue.

[0019] Preferably, it further includes: a bracket sleeve rotatably disposed on the first mounting post;

[0020] The second end of the repositioning tendon rope is sequentially wound around the torsion spring sleeve, the support sleeve, and the movable part.

[0021] Preferably, the support sleeve has a first annular limiting groove in its circumference that mates with the reduction tendon ligament.

[0022] And / or,

[0023] The end of the movable component connected to the support plate has a groove for laying the repositioning tendon rope.

[0024] Preferably, the diameter of the end of the torsion spring sleeve furthest from the torsion spring is smaller than the diameter of the end of the torsion spring sleeve closest to the torsion spring, forming a step.

[0025] And / or, the torsion spring sleeve is provided with a second annular limiting groove in the circumference that mates with the reset tendon rope.

[0026] Preferably, the support plate further includes: a fastener;

[0027] The first end of the torsion spring is fixed to the bracket plate by a fastener;

[0028] The fasteners include a stop and a sleeve;

[0029] The stop block is set on the support plate;

[0030] A sleeve is provided on one side of the stop block, and the sleeve is used for the first end of the torsion spring to extend into.

[0031] Preferably, the end face of the connecting end of the moving part is an arc surface structure.

[0032] Preferably, the target point is the fixed point between the second end of the repositioning tendon ligament and the movable part;

[0033] The closer the arc point on the end face of the connector is to the target point, the greater the distance to the center of the movable hole.

[0034] The second aspect of this utility model discloses a robotic hand, comprising: fingers;

[0035] The finger includes the joint repositioning structure disclosed in the first aspect of this utility model.

[0036] Based on the above-mentioned cable-driven joint reset structure and dexterous hand provided by this utility model, the first mounting post, the second mounting post, and the third mounting post are all set on the same mounting surface of the support plate, and the first mounting post, the second mounting post, and the third mounting post are not collinear. The first mounting post is located at the first end of the support plate, the third mounting post is located at the second end of the support plate, and the second mounting post is located between the third mounting post and the first mounting post. A torsion spring is rotatably set on the second mounting post, and the first end of the torsion spring is fixed to the support plate. The second end of the torsion spring is set close to the first mounting post. A torsion spring sleeve is rotatably sleeved on the second end of the torsion spring. The connecting end of the movable member has a movable hole for cooperating with the third mounting post, and is rotatably sleeved on the third mounting post through the movable hole. The first end of the reset tendon rope is fixed to the support plate and located on one side of the first mounting post. The second end is sequentially wrapped around the end face of the connecting end of the torsion spring sleeve, the first mounting post, and the movable member, and then fixed to one side of the movable member. The joint reset structure disclosed above can not only pull the joint reset by the elastic restoring force of the torsion spring, but also reduce the displacement change of the moving end of the torsion spring. In addition, the torsion spring can be arranged in the internal space of the finger, which can save internal space of the finger, so as to facilitate the installation of sensors or increase the strength of the rotating joint. Attached Figure Description

[0037] 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.

[0038] Figure 1 A schematic diagram of a rope-driven joint repositioning structure provided for an embodiment of this utility model;

[0039] Figure 2 An exploded view of the rope-driven joint repositioning structure provided in this embodiment of the utility model;

[0040] Figure 3 This is a schematic diagram of the bracket plate mounting components provided in an embodiment of the present utility model;

[0041] Figure 4 This is a schematic diagram of a torsion spring sleeve installed in an embodiment of the present invention.

[0042] Among them, the bracket plate 1, movable part 2, wire groove 21, first mounting post 3, base 31, fixing groove 311, column 32, second mounting post 4, third mounting post 5, torsion spring 6, torsion spring sleeve 7, step 71, reset tendon rope 8, bracket sleeve 9, first annular limiting groove 91, fixing part 10, stop block 101, sleeve 102, and active tendon rope 11. Detailed Implementation

[0043] 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.

[0044] This utility model embodiment provides a roping joint repositioning structure, see [link to relevant documentation]. Figure 1 and combined Figures 2 to 4 The cable-driven joint repositioning structure includes: a support plate 1, a movable component 2, a torsion spring 6, a torsion spring sleeve 7, and a repositioning tendon rope 8.

[0045] The bracket plate 1 includes a first mounting post 3, a second mounting post 4, and a third mounting post 5;

[0046] The first mounting post 3, the second mounting post 4, and the third mounting post 5 are all disposed on the same mounting surface of the bracket plate 1, and the first mounting post 3, the second mounting post 4, and the third mounting post 5 are not collinear. The first mounting post 3 is located at the first end of the bracket plate 1, the third mounting post 5 is located at the second end of the bracket plate 1, and the second mounting post 4 is located between the third mounting post 5 and the first mounting post 3.

[0047] The torsion spring 6 is rotatably mounted on the second mounting post 4, and the first end of the torsion spring 6 is fixed to the bracket plate 1, while the second end of the torsion spring 6 is located close to the first mounting post 3.

[0048] The torsion spring sleeve 7 is rotatably sleeved on the second end of the torsion spring 6;

[0049] The connecting end of the movable component 2 is provided with a movable hole for cooperating with the third mounting post 5, and is rotatably sleeved on the third mounting post 5 through the movable hole;

[0050] The first end of the repositioning tendon rope 8 is fixed to the support plate 1 and located on one side of the first mounting post 3. The second end is then fixed to one side of the movable part 2 after passing through the torsion spring sleeve 7, the first mounting post 3 and the connecting end face of the movable part 2 in sequence.

[0051] It should be noted that, since the torsion spring sleeve 7 of this application is rotatably mounted on the second end of the torsion spring 6, and the second end of the reset tendon rope 8 is sequentially wrapped around the torsion spring sleeve 7, the first mounting post 3 and the connecting end face of the movable part 2 and then fixed to one side of the movable part 2, the torsion spring sleeve 7 acts as a movable pulley. Therefore, it can play a role in saving effort. That is, the ratio of the elongation of the reset tendon rope 8 to the displacement of the moving end of the torsion spring 6 (i.e., the second end of the torsion spring 6) is 2 to 1, which can effectively reduce the change in the rotation angle of the torsion spring 6 and reduce the displacement of the moving end of the torsion spring 6 (i.e., the second end of the torsion spring 6).

[0052] It should also be noted that torsion spring 6 is a type of helical spring, also known as a torsion spring. When one end of a torsion spring is fixed to other components, and the other end rotates around the center of the spring, the spring pulls them back to their initial position, generating torque or rotational force.

[0053] In this embodiment of the utility model, the first mounting post 3, the second mounting post 4, and the third mounting post 5 are all disposed on the same mounting surface of the bracket plate 1, and the first mounting post 3, the second mounting post 4, and the third mounting post 5 are not collinear. The first mounting post 3 is located at the first end of the bracket plate 1, the third mounting post 5 is located at the second end of the bracket plate 1, and the second mounting post 4 is located between the third mounting post 5 and the first mounting post 3. The torsion spring 6 is rotatably disposed on the second mounting post 4, and the first end of the torsion spring 6 is fixed to the bracket plate 1. The second end of the torsion spring 6 is disposed close to the first mounting post 3. The torsion spring sleeve 7 is rotatably sleeved on the second end of the torsion spring 6. The connecting end of the movable member 2 has a movable hole for cooperating with the third mounting post 5, and is rotatably sleeved on the third mounting post 5 through the movable hole. The first end of the reset tendon rope 8 is fixed to the bracket plate 1 and located on one side of the first mounting post 3. The second end is sequentially wrapped around the connecting end face of the torsion spring sleeve 7, the first mounting post 3, and the movable member 2, and then fixed to one side of the connecting end face of the movable member 2. The cable-driven joint reset structure disclosed above can not only pull the joint reset by the elastic restoring force of the torsion spring 6, but also reduce the displacement change of the moving end of the torsion spring 6. In addition, the torsion spring 6 can be arranged in the internal space of the finger, which can save internal space of the finger, so as to facilitate the installation of sensors or increase the strength of the rotating joint.

[0054] Specifically, the first end of the repositioning tendon cord 8 is bonded to the first mounting post 3.

[0055] It should be noted that the first end of the repositioning tendon ligament 8 can be fixed to the first mounting post 3 by adhesive or by other means (such as knotting or screw fastening). Those skilled in the art can choose according to their needs.

[0056] Specifically, the first mounting column 3 includes: a base 31 and a column body 32;

[0057] The base 31 is mounted on the support plate 1;

[0058] The column 32 is vertically disposed on the side of the base 31 away from the support plate 1;

[0059] A fixing groove 311 is provided on the side of the base 31 away from the support plate 1;

[0060] After the first end of the repositioning tendon rope 8 is knotted, it is fixed to the fixing groove 311 with glue.

[0061] It should be noted that by providing a fixing groove 311 on the side of the base 31 away from the support plate 1, and fixing the first end of the repositioning tendon rope 8 to the fixing groove 311 with glue after knotting, the bonding area between the first end of the repositioning tendon rope 8 and the inner wall of the fixing groove 311 can be increased, thereby improving the fixing strength of the first end of the repositioning tendon rope 8.

[0062] It is worth noting that since the joint reduction structure of this application is located inside the finger, the thickness of the support plate 1 is limited. Therefore, the first mounting post 3 needs to be set as a base 31 and a post 32, and the post 32 is fixed to the support plate 1 through the base 31. This allows the base 31 to have sufficient thickness to open the fixing groove 311, so that the first end of the reduction tendon rope 8 can be knotted and fixed to the fixing groove 311 with glue.

[0063] It should also be noted that the base 31 of this application can be fixed to the support plate 1 by welding, or by screws, or the column 32, the base 31 and the support plate 1 can be set as an integral structure.

[0064] Furthermore, the cable-driven joint repositioning structure also includes: a bracket sleeve 9 rotatably mounted on the first mounting post 3;

[0065] The second end of the repositioning tendon rope 8 is sequentially wound around the torsion spring sleeve 7, the support sleeve 9, and the movable part 2.

[0066] It should be noted that by setting a rotatable bracket sleeve 9 on the first mounting post 3, and by having the second end of the reset tendon rope 8 sequentially wrapped around the torsion spring sleeve 7, the bracket sleeve 9 and the movable part 2, the friction of the reset tendon rope 8 during movement can be effectively reduced, thereby reducing the wear of the reset tendon rope 8 and extending its service life.

[0067] Specifically, the support sleeve 9 has a first annular limiting groove 91 circumferentially provided to mate with the reduction tendon ligament 8.

[0068] And / or,

[0069] The end of the movable part 2 that is connected to the support plate 1 has a groove 21 for laying the repositioning tendon rope 8.

[0070] It should be noted that by providing a first annular limiting groove 91 around the circumference of the support sleeve 9 to cooperate with the reduction tendon rope 8, the reduction tendon rope 8 can be kept in the limiting groove during movement, thereby effectively ensuring that the second end of the reduction tendon rope 8 is arranged around the torsion spring sleeve 7, the support sleeve 9 and the movable part 2 in sequence, further ensuring the reliability of the joint reduction structure.

[0071] By providing a groove 21 for laying the repositioning tendon rope 8 at one end of the movable part 2 connected to the support plate 1, the repositioning tendon rope 8 can always be in the groove 21 when it moves, thereby effectively ensuring that the second end of the repositioning tendon rope 8 is arranged to be wound around the torsion spring sleeve 7, the support sleeve 9 and the movable part 2 in sequence, further ensuring the reliability of the joint repositioning structure.

[0072] Furthermore, the diameter of the end of the torsion spring sleeve 7 furthest from the torsion spring 6 is smaller than the diameter of the end of the torsion spring sleeve 7 closest to the torsion spring 6, forming a step 71.

[0073] And / or, the torsion spring sleeve 7 is provided with a second annular limiting groove in the circumference that cooperates with the reset tendon rope 8.

[0074] It should be noted that the diameter of the end of the torsion spring sleeve 7 away from the torsion spring 6 is smaller than the diameter of the end of the torsion spring sleeve 7 close to the torsion spring 6, forming a step 71. Thus, during the movement of the second end of the torsion spring 6, the step 71 can prevent the reset tendon rope 8 from moving axially in the torsion spring sleeve 7, thereby ensuring that the lever arm of the reset tendon rope 8 on the torsion spring 6 remains unchanged. When the reset tendon rope 8 is subjected to tension, the required tension can be greatly reduced through the torsion spring sleeve 7.

[0075] By opening a second annular limiting groove in the circumference of the torsion spring sleeve 7 to cooperate with the reset tendon 8, the reset tendon 8 can be limited by the second annular limiting groove when it wraps around the torsion spring sleeve 7. During the movement of the second end of the spring, the second annular limiting groove can prevent the reset tendon 8 from moving axially in the torsion spring sleeve 7, thereby ensuring that the lever arm of the reset tendon 8 on the torsion spring 6 remains unchanged. When the reset tendon 8 is subjected to tension, the required tension can be greatly reduced by the torsion spring sleeve 7.

[0076] Furthermore, the bracket plate 1 also includes: a fastener 10;

[0077] The first end of the torsion spring 6 is fixed to the bracket plate 1 by the fastener 10;

[0078] The fastener 10 includes: a stop 101 and a sleeve 102;

[0079] The stop block 101 is disposed on the support plate 1;

[0080] The sleeve 102 is disposed on one side of the stop 101, and the sleeve 102 is used for the first end of the torsion spring 6 to extend into.

[0081] It should be noted that the first end of the torsion spring 6 is fixed to the bracket plate 1 by the fastener 10;

[0082] The fastener 10 includes a stop 101 and a sleeve 102;

[0083] The stop block 101 is disposed on the support plate 1;

[0084] The sleeve 102 is disposed on one side of the stop 101, and the sleeve 102 is used for the first end of the torsion spring 6 to extend into.

[0085] It should be noted that the fixing component 10 is configured as a stop 101 and a sleeve 102. The stop 101 is set on the support plate 1, and the sleeve 102 is set on one side of the stop 101. The sleeve 102 is used for the first end of the torsion spring 6 to extend into. Thus, no matter how the second end of the torsion spring 6 moves, the first end of the torsion spring 6 is always inside the sleeve 102. Thus, after pulling the reduction tendon rope 8, the position of the second end of the torsion spring 6 can be changed, realizing the energy storage (elastic deformation) of the torsion spring 6. When the tension on the reduction tendon rope 8 is removed, the second end of the torsion spring 6 returns to its initial position under the action of its own elastic restoring force, and drives the joint to be reduced.

[0086] Specifically, the end of the movable part 2 that is connected to the support plate 1 is provided with a groove 21 for laying the repositioning tendon rope 8.

[0087] It should be noted that by providing a groove 21 for laying the repositioning tendon rope 8 at the end of the movable part 2 connected to the support plate 1, the repositioning tendon rope 8 can always be in the groove 21 when it moves, thereby effectively ensuring that the second end of the repositioning tendon rope 8 is arranged around the torsion spring sleeve 7, the support sleeve 9 and the movable part 2 in sequence, further ensuring the reliability of the joint repositioning structure.

[0088] Preferably, the chord-driven joint repositioning structure further includes: an active tendon chord 11 for driving the rotation of the movable part 2.

[0089] It should be noted that one end of the active tendon cord 11 is fixed to the movable part 2, and the other end is connected to the drive mechanism, so that the drive mechanism can drive the movable part 2 to rotate through the active tendon cord 11.

[0090] It should also be noted that the active tendon cord 11 can be connected to the reduction tendon cord 8. The connection between the active tendon cord 11 and the reduction tendon cord 8 is fixed to the movable part 2. It can be fixed by screws or by adhesive, and those skilled in the art can choose according to their needs.

[0091] Specifically, the end face of the connecting end of the movable part 2 is an arc surface structure.

[0092] It should be noted that by making the connecting end face of the movable part 2 an arc surface structure, the rotation of the movable part 2 is more linear and smooth when the repositioning tendon rope 8 drives the movable part 2 to reposition, thereby making the joint movement more linear and smooth.

[0093] For details, please refer to Figure 1 The second end of the repositioning tendon rope 8 and the fixed point of the movable part 2 are the target points;

[0094] The closer the arc point on the end face of the connector is to the target point, the greater the distance to the center of the movable hole.

[0095] It should be noted that the fixing point between the second end of the repositioning tendon ligament 8 and the movable part 2 is set as the target point, and the closer the arc point on the end face of the connection is to the target point, the greater the distance from the center of the movable hole. Figure 1 As shown, during the process of the decrease in angle B of the tension applied by the active tendon cord 11, the lever arm of the active tendon cord 11 about the center of rotation remains constant, but the lever arm of the reset tendon cord 8 relative to the center of rotation decreases. When angle B is equal to 180 degrees (the limit position of the finger when it is horizontally extended), the reset tension provided by the torsion spring 6 is F1, and when angle B is equal to 90 degrees (the limit position of the finger when it is bent), the reset tension provided by the torsion spring 6 is F2. The torques applied by the torsion spring 6 to the rotating pair in the two limit states are F1*L1 and F2*L2, respectively. The amount of change is much lower than that of the prior art, and the required tension of the active tendon cord 11 is greatly reduced.

[0096] Based on the roping joint repositioning structure provided in the above embodiments, this utility model embodiment also provides a dexterous hand, which includes: fingers;

[0097] The fingers include joint repositioning structures;

[0098] The joint reduction structure includes: a support plate 1, a movable component 2, a torsion spring 6, a torsion spring sleeve 7, and a reduction tendon rope 8;

[0099] The bracket plate 1 includes a first mounting post 3, a second mounting post 4, and a third mounting post 5;

[0100] The first mounting post 3, the second mounting post 4, and the third mounting post 5 are all disposed on the same mounting surface of the bracket plate 1, and the first mounting post 3, the second mounting post 4, and the third mounting post 5 are not collinear. The first mounting post 3 is located at the first end of the bracket plate 1, the third mounting post 5 is located at the second end of the bracket plate 1, and the second mounting post 4 is located between the third mounting post 5 and the first mounting post 3.

[0101] The torsion spring 6 is rotatably mounted on the second mounting post 4, and the first end of the torsion spring 6 is fixed to the bracket plate 1, while the second end of the torsion spring 6 is located close to the first mounting post 3.

[0102] The torsion spring sleeve 7 is rotatably sleeved on the second end of the torsion spring 6;

[0103] The connecting end of the movable component 2 is provided with a movable hole for cooperating with the third mounting post 5, and is rotatably sleeved on the third mounting post 5 through the movable hole;

[0104] The first end of the repositioning tendon rope 8 is fixed to the support plate 1 and located on one side of the first mounting post 3. The second end is then fixed to one side of the movable part 2 after passing through the torsion spring sleeve 7, the first mounting post 3 and the connecting end face of the movable part 2 in sequence.

[0105] It should be noted that, since the torsion spring sleeve 7 of this application is rotatably mounted on the second end of the torsion spring 6, and the second end of the reset tendon rope 8 is sequentially wrapped around the torsion spring sleeve 7, the first mounting post 3 and the connecting end face of the movable part 2 and then fixed to one side of the movable part 2, the torsion spring sleeve 7 acts as a movable pulley. Therefore, it can play a role in saving effort. That is, the ratio of the elongation of the reset tendon rope 8 to the displacement of the moving end of the torsion spring 6 (i.e., the second end of the torsion spring 6) is 2 to 1, which can effectively reduce the change in the rotation angle of the torsion spring 6 and reduce the displacement of the moving end of the torsion spring 6 (i.e., the second end of the torsion spring 6).

[0106] In this embodiment of the utility model, the first mounting post 3, the second mounting post 4, and the third mounting post 5 are all disposed on the same mounting surface of the bracket plate 1, and the first mounting post 3, the second mounting post 4, and the third mounting post 5 are not collinear. The first mounting post 3 is located at the first end of the bracket plate 1, the third mounting post 5 is located at the second end of the bracket plate 1, and the second mounting post 4 is located between the third mounting post 5 and the first mounting post 3. The torsion spring 6 is rotatably disposed on the second mounting post 4, and the first end of the torsion spring 6 is fixed to the bracket plate 1. The second end of the torsion spring 6 is disposed close to the first mounting post 3. The torsion spring sleeve 7 is rotatably sleeved on the second end of the torsion spring 6. The connecting end of the movable member 2 has a movable hole for cooperating with the third mounting post 5, and is rotatably sleeved on the third mounting post 5 through the movable hole. The first end of the reset tendon rope 8 is fixed to the bracket plate 1 and located on one side of the first mounting post 3. The second end is sequentially wrapped around the connecting end face of the torsion spring sleeve 7, the first mounting post 3, and the movable member 2, and then fixed to one side of the movable member 2. The joint reset structure disclosed above not only allows the joint to be reset by the elastic restoring force of the torsion spring 6, but also reduces the displacement change of the moving end of the torsion spring 6. Furthermore, by arranging the torsion spring 6 in the internal space of the finger, it not only saves internal space of the finger, but also facilitates the installation of sensors inside the finger or increases the strength of the rotating joint.

[0107] To further understand this utility model, the following is in conjunction with... Figure 1 We will provide further details.

[0108] When the repositioning tendon 8 is pulled, as the angle B decreases, the lever arm of the repositioning tendon 8 about the center of rotation remains constant, but the lever arm of the repositioning tendon 8 relative to the center of rotation decreases. When the set angle B is equal to 180° (the limit position 1 of the finger with horizontal extension), the repositioning force provided by the torsion spring 6 is F1. When the set angle B is equal to 90° (the limit position 2 of the finger), the repositioning force provided by the torsion spring 6 is F2. The torques applied by the torsion spring 6 to the rotating joint in the two limit states are F1*L1 and F2*L2, respectively. The change in the second end of the torsion spring 6 is small. Therefore, this application can greatly reduce the pulling force required for the repositioning tendon 8.

[0109] The variable radius scheme of the connecting end of the active component 2 in this application can be a linear change, or it can be a normal sine or cosine change. The radius change scheme can be adjusted according to the arrangement of the movable pulley structure (i.e., the torsion spring sleeve 7) to reduce the load fluctuation of the active tendon rope 11.

[0110] 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 roping-driven joint repositioning structure, characterized in that, include: Support plate, moving parts, torsion spring, torsion spring sleeve, and repositioning tendon rope; The bracket plate includes a first mounting post, a second mounting post, and a third mounting post; the first mounting post, the second mounting post, and the third mounting post are all disposed on the same mounting surface of the bracket plate, and the first mounting post, the second mounting post, and the third mounting post are not collinear, wherein the first mounting post is located at the first end of the bracket plate, the third mounting post is located at the second end of the bracket plate, and the second mounting post is located between the third mounting post and the first mounting post; The torsion spring is rotatably mounted on the second mounting post, and the first end of the torsion spring is fixed to the bracket plate, while the second end of the torsion spring is located close to the first mounting post. The torsion spring sleeve is rotatably sleeved on the second end of the torsion spring; The connecting end of the movable component is provided with a movable hole for cooperating with the third mounting post, and is rotatably sleeved on the third mounting post through the movable hole; The first end of the repositioning tendon is fixed to the bracket plate and located on one side of the first mounting post. The second end is sequentially wrapped around the torsion spring sleeve, the first mounting post, and the connecting end face of the movable part, and then fixed to one side of the movable part.

2. The roping joint repositioning structure according to claim 1, characterized in that, The first end of the repositioning tendon cord is attached to the first mounting post.

3. The roping joint repositioning structure according to claim 2, characterized in that, The first mounting post includes: a base and a post body; The base is disposed on the support plate; The column is vertically positioned on the side of the base away from the support plate; The base has a fixing groove on the side away from the support plate; The first end of the repositioning tendon rope is knotted and then fixed to the fixing groove with glue.

4. The roping joint repositioning structure according to claim 1, characterized in that, It also includes: a bracket sleeve that is rotatably mounted on the first mounting post; The second end of the repositioning tendon rope is sequentially wound around the torsion spring sleeve, the support sleeve, and the movable component.

5. The roping joint repositioning structure according to claim 4, characterized in that, The support sleeve has a first annular limiting groove circumferentially provided to cooperate with the repositioning tendon rope. And / or, The end face of the connector of the movable component is provided with a groove for laying the repositioning tendon rope.

6. The roping joint repositioning structure according to claim 1, characterized in that, The diameter of the end of the torsion spring sleeve furthest from the torsion spring is smaller than the diameter of the end of the torsion spring sleeve closest to the torsion spring, and forms a step, and / or, The torsion spring sleeve is provided with a second annular limiting groove in its circumference that cooperates with the reset tendon rope.

7. The roping joint repositioning structure according to claim 1, characterized in that, The bracket plate also includes: a fastener; The first end of the torsion spring is fixed to the bracket plate by the fastener; The fastener includes a stop block and a sleeve; The stop block is disposed on the support plate; The sleeve is disposed on one side of the stop block, and the sleeve is used for the first end of the torsion spring to extend into.

8. The joint repositioning structure according to claim 1, characterized in that, The connecting end face of the movable component has an arc surface structure.

9. The joint repositioning structure according to claim 8, characterized in that, The second end of the repositioning tendon rope and the fixing point of the movable part are the target points; The closer the arc point on the end face of the connection is to the target point, the greater the distance from the center of the movable hole.

10. A dexterous hand, characterized in that, Includes a finger, said finger comprising the chordally driven joint repositioning structure as described in any one of claims 1 to 9.

Images