Joint assembly, joint mechanism, and bionic robot

Abstract

The utility model discloses a joint assembly, joint mechanism and bionic robot. The joint assembly includes bearing piece, joint arm and pre -tightening unit. Bearing piece includes bearing body and the connecting end that is connected with bearing body. Joint arm is rotatably connected with the connecting end. Pre -tightening unit includes transmission rope, first damper and second damper. First damper includes the first damping shaft of damping rotation, and second damper includes the second damping shaft of damping rotation. First damping shaft and second damping shaft are spaced apart along the thickness direction of bearing body. First damper and second damper are spaced apart with the connecting end. Wherein, the part of transmission rope is fixedly connected with joint arm, and transmission rope stretches and is wound to first damping shaft and second damping shaft in proper order, and is fixed to joint arm. The joint assembly has stable pre -tightening force, can reduce the non -linear loss of execution force, and promotes the motion performance of joint mechanism and bionic robot.

Description

Technical Field

[0001] This disclosure relates to the field of electronic technology, and in particular to a joint component, joint mechanism, and bionic robot. Background Technology

[0002] Bionic robots represent an advanced stage of development in robotics technology. They comprehensively embody the research and development levels in various aspects of advanced robotics, including mechanics, motion, and dynamics, and are highly complex integrated systems. Among these, dexterous hand mechanisms, foot mechanisms, and gripper joint mechanisms are crucial components in bionic robot design. Currently, the joint mechanisms of bionic robots are required to be as simplified as possible while still meeting the requirements of motion and operation, in order to reduce control complexity and improve control accuracy. For example, the difference between the pose of the fingertip joints of a dexterous hand mechanism and the ideal pose of the control layer determines the operational accuracy of the dexterous hand mechanism.

[0003] In related technologies, the articulated arms of a joint mechanism are pre-tensioned to adjacent articulated arms by installing torsion springs or tension springs, relying on the elasticity of the elastomer itself to eliminate the cumulative clearance error between them. However, this approach causes a non-linear loss of actuation force in the articulated arms, and the loss is greater at the bending limit position, which is not conducive to improving the motion accuracy of the joint mechanism. Utility Model Content

[0004] This disclosure provides a joint assembly, a joint mechanism, and a bionic robot. The joint assembly has a stable preload, effectively reducing or avoiding nonlinear losses of actuation force while eliminating backlash, thereby improving the motion accuracy of the joint mechanism and enhancing the motion performance of the bionic robot.

[0005] The technical solution is as follows:

[0006] According to a first aspect of the present disclosure, a joint assembly is provided, including a carrier, a joint arm, and a pretensioning unit. The carrier includes a carrier body and a connecting end connected to the carrier body. The joint arm is rotatably connected to the connecting end. The pretensioning unit includes a transmission rope, a first damper, and a second damper. The first damper includes a first damping shaft with damped rotation, and the second damper includes a second damping shaft with damped rotation. The first damping shaft and the second damping shaft are spaced apart along the thickness direction of the carrier body. The first damper and the second damper are spaced apart from the connecting end. One end of the transmission rope is fixedly connected to the joint arm, and a portion of the transmission rope is wound around the first damping shaft, a portion of the transmission rope is wound around the second damping shaft, and a portion of the transmission rope is fixed to the joint arm, keeping the transmission rope taut.

[0007] The technical solution of this disclosure will be further explained below:

[0008] In one embodiment, the support body includes a first mounting portion and a second mounting portion spaced apart from the first mounting portion along the thickness direction of the support body. The first mounting portion and the second mounting portion are spaced apart from the connecting end along the length direction of the support body. A first damper is disposed in the first mounting portion, and a second damper is disposed in the second mounting portion.

[0009] And / or, when the drive rope is taut, the articulated arm is stationary relative to the load-bearing component when no external force is applied.

[0010] In one embodiment, the drive rope includes a first rope body connected between the articulated arm and the first damping shaft, and a second rope body connected between the articulated arm and the second damping shaft.

[0011] When the articulated arm rotates toward the direction of the first damping axis, the second rope can pull the second damper and the first damper to rotate, so that the length of the second rope increases and the length of the first rope decreases.

[0012] When the articulated arm rotates toward the direction of the second damping axis, the first rope can pull the first damper and the second damper to rotate, so that the length of the first rope increases and the length of the second rope decreases.

[0013] In one embodiment, the transmission rope is wound around the first damping shaft in a first rotation direction, then extends to the second damping shaft, and is wound around the second damping shaft in a second rotation direction; wherein the first rotation direction is opposite to the second rotation direction.

[0014] In one embodiment, the first damping shaft is provided with a first helical groove arranged along a first rotation direction, and the transmission rope is wound around the first damping shaft through the first helical groove.

[0015] And / or, the second damping shaft is provided with a second helical groove arranged in the opposite direction to the first rotation direction, and the transmission rope is wound around the second damping shaft through the second helical groove.

[0016] In one embodiment, the first damping shaft protrudes from the bearing body along the thickness direction of the bearing body, such that at least a portion of the transmission rope between the articulated arm and the first damping shaft is spaced apart from the articulated arm.

[0017] And / or, the second damping shaft protrudes from the bearing body along the thickness direction of the bearing body, such that at least a portion of the transmission rope between the articulated arm and the second damping shaft is spaced apart from the articulated arm.

[0018] In one embodiment, the joint assembly further includes a guide wheel assembly disposed on the carrier and / or the joint arm, the guide wheel assembly engaging with the drive rope to guide the drive rope to extend along a predetermined trajectory.

[0019] In one embodiment, the guide wheel assembly includes at least one guide wheel; along the length of the carrier body, at least one guide wheel is disposed between the articulated arm and the first damping shaft to guide the transmission rope to the first damping shaft.

[0020] And / or, along the length of the bearing body, at least one guide wheel is disposed between the articulated arm and the second damping shaft to guide the transmission rope to the second damping shaft.

[0021] And / or, along the thickness direction of the bearing body, at least one guide wheel is disposed between the first damping shaft and the second damping shaft to guide the transmission rope out of the first damping shaft.

[0022] And / or, along the thickness direction of the bearing body, at least one guide wheel is disposed between the first damping shaft and the second damping shaft to guide the transmission rope into the second damping shaft.

[0023] In one embodiment, the articulated arm is provided with a first support column, and a guide wheel is disposed on the first support column to guide the transmission rope from the articulated arm to the first damping shaft.

[0024] And / or, the articulated arm is provided with a second support column, and a guide wheel is provided on the second support column to guide the transmission rope from the articulated arm to the second damping shaft.

[0025] And / or, the carrier body is provided with a third support column, and the guide wheel is provided on the third support column to guide the transmission rope from the articulated arm to the first damping shaft.

[0026] And / or, the articulated arm is provided with a fourth support column, and a guide wheel is provided on the fourth support column to guide the transmission rope from the articulated arm to the second damping shaft.

[0027] And / or, the carrier body is provided with a fifth support column, and the guide wheel is provided on the fifth support column to guide the transmission rope from the articulated arm to the first damping shaft.

[0028] And / or, the articulated arm is provided with a sixth support column, and a guide wheel is provided on the sixth support column to guide the transmission rope from the articulated arm to the second damping shaft.

[0029] In one embodiment, at least one guide wheel is disposed on the articulated arm and between the end of the articulated arm and the first support column. At least one guide wheel is disposed on the articulated arm and between the end of the articulated arm and the second support column.

[0030] In one embodiment, the support body includes a first link fixedly connected to the connecting end and a first housing housing the first link, the first link being fixed to the first housing; a first damper is disposed in at least one of the first link and the first housing; and a second damper is disposed in at least one of the first link and the first housing.

[0031] And / or, the articulated arm includes a second link rotatably connected to the connecting end and a second housing housing the second link, the second link being fixed to the second housing, and both ends of the transmission rope being fixedly connected to at least one of the second link and the second housing.

[0032] According to a second aspect of the present disclosure, a joint mechanism is also provided, including a drive component and a joint component in any of the above embodiments, wherein the drive component is drively connected to a joint arm to drive the joint arm to rotate relative to a carrier.

[0033] The technical solution of this disclosure will be further explained below:

[0034] In one embodiment, the joint mechanism includes an end mechanism, and the joint arm is an end joint arm.

[0035] According to a third aspect of the present disclosure, a bionic robot is also provided, including a torso device and a joint mechanism as described in any of the above embodiments, the joint mechanism being disposed on the torso device.

[0036] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0037] During assembly, the joint arm is rotatably connected to the connector, and the first and second dampers are assembled onto the support body. Then, one end of the transmission rope is fixedly connected to the joint arm, with a portion of the rope wound around the first damping shaft and another portion wound around the second damping shaft, while a portion of the rope is fixed to the joint arm. This process ensures that both ends of the transmission rope are taut between the first and second damping shafts. This creates a preload between the joint arm and the connector, preventing the joint arm from vibrating unnecessarily. When the drive assembly rotates the joint arm, the transmission rope moves between one end and the first damping shaft, or vice versa, ensuring that the preload between each end of the rope and the first and second damping shafts remains within a set range. This provides the joint assembly with a stable preload, effectively reducing or avoiding nonlinear losses in the actuation force while eliminating backlash, thus improving the motion accuracy of the joint mechanism and the motion performance of the bionic robot.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0039] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0040] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of a biomimetic robot shown in one embodiment.

[0042] Figure 2 This is a partial structural schematic diagram of the joint mechanism shown in one embodiment.

[0043] Figure 3 This is a schematic diagram of the joint mechanism shown in one embodiment.

[0044] Figure 4 This is a schematic diagram of the joint assembly shown in one embodiment.

[0045] Explanation of reference numerals in the attached figures:

[0046] 10. Bionic robot; 11. Torso device; 12. Joint mechanism; 100. Drive assembly; 200. Joint assembly; 210. Bearing member; 211. Bearing body; 201. First link; 202. First shell; 2111. First mounting part; 2112. Second mounting part; 2113. Third support column; 2114. Fourth support column; 2115. Fifth support column; 2116. Sixth support column; 212 220. Connecting end; 203. Articulated arm; 204. Second connecting rod; 205. Second housing; 221. First support column; 222. Second support column; 230. Pre-tensioning unit; 231. Transmission rope; 2311. First rope body; 2312. Second rope body; 232. First damper; 2321. First damping shaft; 233. Second damper; 2331. Second damping shaft; 240. Guide wheel assembly; 241. Guide wheel. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and do not limit the scope of protection of this disclosure.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure.

[0049] Bionic robots represent an advanced stage of development in robotics technology. They comprehensively embody the research and development levels in various aspects of advanced robotics, including mechanics, motion, and dynamics, and are highly complex integrated systems. Among these, dexterous hand mechanisms, foot mechanisms, and gripper joint mechanisms are crucial components in bionic robot design. Currently, the joint mechanisms of bionic robots are required to be as simplified as possible while still meeting the requirements of motion and operation, in order to reduce control complexity and improve control accuracy. For example, the difference between the pose of the fingertip joints of a dexterous hand mechanism and the ideal pose of the control layer determines the operational accuracy of the dexterous hand mechanism.

[0050] In related technologies, the articulated arms of a joint mechanism are pre-tensioned to adjacent articulated arms by installing torsion springs or tension springs, relying on the elasticity of the elastic body itself to eliminate the cumulative clearance error between them. However, this approach causes a non-linear loss of actuation force in the articulated arms, and the loss is greater at the bending limit position, which in turn reduces the motion accuracy of the joint mechanism.

[0051] For example, in traditional solutions, dexterous hand mechanisms commonly use tension springs or torsion springs for pre-tensioning to eliminate wobbling gaps at the fingertips. Here, the fingertips serve two functions: pre-tensioning and repositioning. However, when using elastic bodies like springs for pre-tensioning, the linear tension of the elastic body gradually increases during fingertip bending, weakening the fingertip's gripping force and further reducing grasping performance—often counterproductive. But if this pre-tensioning force is eliminated, the repeatability and accuracy of fingertip positioning cannot be guaranteed, and ideal motion postures cannot be achieved, making it difficult for bionic robots to perform precise operations.

[0052] Based on this, the present disclosure provides a joint assembly. This joint assembly has a stable preload, effectively reducing or avoiding nonlinear losses of the actuating force while eliminating backlash, thereby improving the motion accuracy of the joint mechanism and enhancing the motion performance of the biomimetic robot.

[0053] To better understand the joint components of this disclosure, an illustration is given using a bionic robot that applies these joint components.

[0054] like Figure 1 As shown, in some embodiments, a bionic robot 10 is provided, including a torso device 11 and a joint mechanism 12, the joint mechanism 12 being disposed on the torso device 11.

[0055] like Figure 2 as well as Figure 3As shown, the joint mechanism 12 includes a drive assembly 100 and a joint assembly 200. The joint assembly 200 includes a support member 210, a joint arm 220, and a pretensioning unit 230. The support member 210 includes a support body 211 and a connecting end 212 connected to the support body 211. The joint arm 220 is rotatably connected to the connecting end 212. The pretensioning unit 230 includes a transmission rope 231, a first damper 232, and a second damper 233. The first damper 232 includes a first damping shaft 2321 with damped rotation, and the second damper 233 includes a second damping shaft 2331 with damped rotation. The first damping shaft 2321 and the second damping shaft 2331 are spaced apart along the thickness direction of the support body 211. The first damper 232 and the second damper 233 are spaced apart from the connecting end 212. One end of the transmission rope 231 is fixedly connected to the articulated arm 220, and a portion of the transmission rope 231 is wound around the first damping shaft 2321, a portion of the transmission rope 231 is wound around the second damping shaft 2331, a portion of the transmission rope 231 is extended and fixed to the articulated arm 220, and the transmission rope 231 is kept taut.

[0056] The drive assembly 100 is connected to the articulated arm 220 to drive the articulated arm 220 to rotate relative to the carrier 210.

[0057] During assembly of the joint assembly 200, the joint arm 220 is rotatably connected to the connector, and the first damper 232 and the second damper 233 are assembled onto the support body 211. Then, one end of the transmission rope 231 is fixedly connected to the joint arm 220, and a portion of the transmission rope 231 is wound around the first damping shaft 2321, a portion of the transmission rope 231 is wound around the second damping shaft 2331, and a portion of the transmission rope 231 extends and is fixed to the joint arm 220. During this process, one end of the transmission rope 231 is taut with the first damping shaft 2321, and the other end of the transmission rope 231 is taut with the second damping shaft 2331. This creates a preload between the joint arm 220 and the connector, preventing the joint arm 220 from vibrating arbitrarily. When the drive assembly 100 drives the articulated arm 220 to rotate, the transmission rope 231 moves between one end of the transmission rope 231 and the first damping shaft 2321, or between the other end of the transmission rope 231 and the second damping shaft 2331. This ensures that the preload of the transmission rope 231 between one end of the transmission rope 231 and the first damping shaft 2321, as well as the preload of the transmission rope 231 between the other end of the transmission rope 231 and the second damping shaft 2331, are within a set range. Thus, the joint assembly 200 has a stable preload, effectively reducing or avoiding nonlinear losses of the actuating force while eliminating backlash, improving the motion accuracy of the joint mechanism 12, and enhancing the motion performance of the bionic robot 10.

[0058] It should be noted that the drive component 100 can be implemented in various ways, such as drive rope + winding mechanism, linkage assembly + motor, etc., as long as it can drive the articulated arm 220 to rotate relative to the carrier body 211.

[0059] It should be noted that the joint mechanism 12 includes, but is not limited to, dexterous hand mechanism, foot mechanism, arm mechanism, leg mechanism, and gripper mechanism, etc.

[0060] like Figure 3 As shown, the thickness direction of the bearing body 211 is set in the same direction as the Z-axis, and the length direction of the bearing body 211 is set in the same direction as the X-axis.

[0061] In some embodiments, one end of the transmission rope 231 is fixedly connected to the articulated arm 220, and the transmission rope 231 extends and wraps around the first damping shaft 2321, then extends and wraps around the second damping shaft 2331. The other end of the transmission rope 231 extends and is fixed to the articulated arm 220, and the transmission rope 231 is in a taut state.

[0062] Alternatively, in some embodiments, one end of the transmission rope 231 is fixedly connected to the articulated arm 220, and the transmission rope 231 extends and wraps around the second damping shaft 2331, then extends and wraps around the first damping shaft 2321, and the other end of the transmission rope 231 extends and is fixed to the articulated arm 220, and the transmission rope 231 is in a taut state.

[0063] In some embodiments, the joint mechanism 12 includes an end mechanism, and the joint arm 220 is an end joint arm 220.

[0064] End-effectors include dexterous hand mechanisms, foot mechanisms, and gripper mechanisms, among others.

[0065] like Figure 2 as well as Figure 3 As shown, in some embodiments, the end effector includes a dexterous hand mechanism, with the articulated arm 220 being the fingertip. Thus, the fingertip has a constant preload during movement and is unaffected by the fingertip movement, achieving a minimum preload to eliminate jitter, minimizing force loss, and reducing the performance requirements of the drive assembly 100, thereby lowering the manufacturing cost of the bionic robot 10.

[0066] In some embodiments, the articulated arm 220 is rotatably connected to the carrier 210 via other articulated arms 220.

[0067] For example, the dexterous hand mechanism includes a distal structural joint, an intermediate structural joint, and a root bending joint. This part is the execution part of the finger module, consistent with most dexterous hands on the market, and is mainly used to achieve closing grasping. Among them, the end joint arm 220 is the distal structural joint, and the carrier 210 is an intermediate structural joint or a root bending joint. In this way, the drive assembly 100 drives the distal structural joint to move through the linkage or drive rope, realizing the opening and closing movements of the dexterous hand mechanism.

[0068] In some embodiments, the support body 211 includes a first mounting portion 2111 and a second mounting portion 2112 spaced apart from the first mounting portion 2111 along the thickness direction of the support body 211. The first mounting portion 2111 and the second mounting portion 2112 are spaced apart from the connecting end 212 along the length direction of the support body 211. A first damper 232 is disposed on the first mounting portion 2111, and a second damper 233 is disposed on the second mounting portion 2112. Thus, the first damper 232 is mounted through the first mounting portion 2111, and the second damper 233 is mounted through the second mounting portion 2112, facilitating the assembly of the first damper 232 and the second damper 233 onto the support body 211, and ensuring that the first damping shaft 2321 and the second damping shaft 2331 are spaced apart along the thickness direction of the support body 211. The first damper 232 and the second damper 233 are spaced apart from the connecting end 212.

[0069] It should be noted that the connection methods between the "first mounting part and the first damper" include, but are not limited to, adhesive fixing, welding fixing, screw fixing, snap fixing, etc.

[0070] Similarly, the connection methods between the "second mounting part and the second damper" include, but are not limited to, adhesive fixing, welding fixing, screw fixing, snap fixing, etc.

[0071] In some embodiments, when the drive rope is taut, the articulated arm remains stationary relative to the support component without external force. This prevents the articulated arm from easily vibrating when no external force is applied. It facilitates damped rotation of the articulated arm by cooperating with the drive assembly via the drive rope. In other words, the pretension of the drive rope ensures that once the articulated arm reaches the set position, the drive assembly stops outputting power, and the articulated arm stops moving, preventing further movement.

[0072] In one example, the joint mechanism is a dexterous hand mechanism. When there is swaying or shaking between the joint arm and the carrier due to the axial clearance, the transmission rope is taut and generates rope force. This rope force is greater than the slight swaying force of the joint arm. As a result, the joint arm remains relatively stationary with respect to the carrier without being subjected to external force and will not easily sway.

[0073] In addition, the rope force can be adjusted by the first damper and the second damper.

[0074] It should be noted that the specific implementation methods of the first damper and the second damper are implemented in traditional technologies, and will not be elaborated here.

[0075] like Figure 3 as well as Figure 4 As shown, in some embodiments, the transmission rope 231 includes a first rope body 2311 connected between the articulated arm 220 and the first damping shaft 2321, and a second rope body 2312 connected between the articulated arm 220 and the second damping shaft 2331. When the articulated arm 220 rotates towards the first damping shaft 2321, the second rope body 2312 can pull the second damper 233 and the first damper 232 to rotate, so that the length of the second rope body 2312 increases, while the length of the first rope body 2311 decreases. When the articulated arm 220 rotates towards the second damping shaft 2331, the first rope body 2311 can pull the first damper 232 and the second damper 233 to rotate, so that the length of the first rope body 2311 increases, while the length of the second rope body 2312 decreases. Thus, the drive assembly 100 drives the articulated arm 220 to rotate towards the first damping shaft 2321 (that is, when the articulated arm 220 rotates clockwise, such as...). Figure 4 When (as shown), it is necessary to overcome the damping force generated by the tightening of the transmission rope 231. At this time, the length of the second rope 2312 increases, pulling the second damping shaft 2331 to rotate and release the rope. During the release process, the first damping shaft 2321 is also pulled to rotate and retract the rope, causing the first rope 2311 to shorten, but the total length of the transmission rope 231 remains unchanged. When the drive assembly 100 drives the articulated arm 220 to rotate towards the second damping shaft 2331 (that is, when the articulated arm 220 rotates counterclockwise, as shown), Figure 3 When (as shown), it is necessary to overcome the damping force generated by the tightening of the transmission rope 231. At this time, the length of the first rope 2311 increases, pulling the first damping shaft 2321 to rotate and release the rope. During the release process, the second damping shaft 2331 is also pulled to rotate and retract the rope, causing the second rope 2312 to shorten, but the total length of the transmission rope 231 remains unchanged. Therefore, during the rotation of the articulated arm 220, the articulated arm 220 has a constant preload (which is the driving resistance for the drive assembly 100). Compared with the linear work done by the torsion spring force, the work done by the drive assembly 100 of the technical solution disclosed in this invention is constant and has low loss, which can effectively reduce or avoid nonlinear loss of the actuation force, improve the motion accuracy of the joint mechanism 12 and improve the motion performance of the bionic robot 10.

[0076] It should be noted that the transmission rope 231 can be implemented in various ways, including but not limited to steel wire or polymer rope, as long as the creep under long-term use is very small and can meet the usage requirements.

[0077] like Figure 3 as well as Figure 4 As shown, in some embodiments, the transmission rope 231 is wound around the first damping shaft 2321 in a first rotational direction, then extends to the second damping shaft 2331, and is wound around the second damping shaft 2331 in a second rotational direction; wherein the first rotational direction is opposite to the second rotational direction. Thus, when the first damping shaft 2321 releases the rope, the second damping shaft 2331 can retract the rope. Conversely, when the first damping shaft 2321 retracts the rope, the second damping shaft 2331 can release the rope.

[0078] In some embodiments, the first damping shaft is provided with a first helical groove (not shown) arranged along a first rotation direction, and the transmission rope is wound around the first damping shaft through the first helical groove. In this way, the first helical groove is used to accommodate the transmission rope, so that the transmission rope can be reliably wound onto the first damping shaft, and the connection between the transmission rope and the first damping rope is reliable.

[0079] In some embodiments, the second damping shaft is provided with a second helical groove (not shown) arranged in the opposite direction to the first rotation direction, and the transmission rope is wound around the second damping shaft through the second helical groove. In this way, the transmission rope is accommodated by the second helical groove, so that the transmission rope can be reliably wound onto the second damping shaft, and the connection between the transmission rope and the second damping rope is reliable.

[0080] like Figure 3 As shown, in some embodiments, the first damping shaft 2321 protrudes from the support body 211 along its thickness direction, such that at least a portion of the transmission rope 231 between the articulated arm 220 and the first damping shaft 2321 is spaced apart from the articulated arm 220. This allows for better avoidance of the support body 211, enabling the transmission rope 231 to be suspended and spaced apart from the support body 211, thereby reducing friction and improving the durability of the joint assembly 200.

[0081] like Figure 3 As shown, in some embodiments, the second damping shaft 2331 protrudes from the support body 211 along its thickness direction, such that at least a portion of the transmission rope 231 between the articulated arm 220 and the second damping shaft 2331 is spaced apart from the articulated arm 220. This allows for better avoidance of the support body 211, enabling the transmission rope 231 to be suspended and spaced apart from the support body 211, thereby reducing friction and improving the durability of the joint assembly 200.

[0082] In combination with any of the above embodiments, such as Figure 3As shown, in some embodiments, the joint assembly 200 further includes a guide wheel assembly 240 disposed on the support member 210 and / or the joint arm 220. The guide wheel assembly 240 is guided and engaged with the transmission rope 231 so that the transmission rope 231 extends along a set trajectory. In this way, the guide wheel assembly 240 can better guide the transmission rope 231, so that the transmission rope 231 extends along the set trajectory and wraps around the first damping shaft 2321, then extends and wraps around the second damping shaft 2331. Finally, the other end of the transmission rope 231 extends and is fixed to the joint arm 220, so that a preload is generated between the joint arm 220 and the support member 210 through the taut transmission rope 231. This can effectively eliminate the gap between the joint arm 220 and the support member 210, and can effectively reduce or avoid nonlinear loss of actuation force, improve the motion accuracy of the joint mechanism 12 and improve the motion performance of the bionic robot 10.

[0083] Optionally, in some embodiments, the guide wheel assembly 240 includes at least one guide wheel 241; along the length direction of the support body 211, at least one guide wheel 241 is disposed between the articulated arm 220 and the first damping shaft 2321 to guide the transmission rope 231 to the first damping shaft 2321. Thus, by using at least one guide wheel 241, it is convenient to guide the transmission rope 231 to the first damping shaft 2321.

[0084] Optionally, in some embodiments, at least one guide wheel 241 is disposed between the articulated arm 220 and the second damping shaft 2331 along the length of the support body 211 to guide the transmission rope 231 to the second damping shaft 2331. Thus, by using at least one guide wheel 241, it is convenient to guide the transmission rope 231 to the second damping shaft 2331.

[0085] Optionally, in some embodiments, at least one guide wheel 241 is disposed between the first damping shaft 2321 and the second damping shaft 2331 along the thickness direction of the supporting body 211 to guide the transmission rope 231 out of the first damping shaft 2321. In this way, the transmission rope 231 is easily guided out of the first damping shaft 2321 by using at least one guide wheel 241.

[0086] Optionally, in some embodiments, at least one guide wheel 241 is disposed between the first damping shaft 2321 and the second damping shaft 2331 along the thickness direction of the supporting body 211 to guide the transmission rope 231 into the second damping shaft 2331. In this way, by using at least one guide wheel 241, it is convenient to guide the transmission rope 231 from the first damping shaft 2321 into the second damping shaft 2331.

[0087] Optionally, such as Figure 3As shown, in some embodiments, the articulated arm 220 is provided with a first support column 221, and a guide wheel 241 is disposed on the first support column 221 to guide the transmission rope 231 from the articulated arm 220 to the first damping shaft 2321. In this way, by providing the first support column 221 to support the guide wheel 241, the transmission rope 231 can be suspended and guided to the first damping shaft 2321.

[0088] like Figure 3 As shown, in some embodiments, the articulated arm 220 is provided with a second support column 222, and a guide wheel 241 is disposed on the second support column 222 to guide the transmission rope 231 from the articulated arm 220 to the second damping shaft 2331. In this way, by providing the second support column 222 to support the guide wheel 241, the transmission rope 231 can be suspended and guided to the second damping shaft 2331.

[0089] like Figure 3 As shown, in some embodiments, the support body 211 is provided with a third support column 2113, and a guide wheel 241 is disposed on the third support column 2113 to guide the transmission rope 231 from the articulated arm 220 to the first damping shaft 2321. Thus, by providing the third support column 2113 to support the guide wheel 241, the transmission rope 231 can be suspended on the support body 211 and guided to the first damping shaft 2321 by the guide wheel 241.

[0090] like Figure 3 As shown, in some embodiments, the articulated arm 220 is provided with a fourth support column 2114, and a guide wheel 241 is disposed on the fourth support column 2114 to guide the transmission rope 231 from the articulated arm 220 to the second damping shaft 2331. Thus, by providing the fourth support column 2114 to support the guide wheel 241, the transmission rope 231 can be suspended on the supporting body 211 and guided to the second damping shaft 2331 using the guide wheel 241.

[0091] In some embodiments, the support body 211 is provided with a fifth support column 2115, and a guide wheel 241 is disposed on the fifth support column 2115 to guide the transmission rope 231 from the articulated arm 220 to the first damping shaft 2321. Thus, by providing the fifth support column 2115 to support the guide wheel 241, the transmission rope 231 can be suspended between the first damping shaft 2321 and the second damping shaft 2331. The guide wheel 241 also facilitates the guidance of the transmission rope 231 from the first damping shaft 2321.

[0092] In some embodiments, the articulated arm 220 is provided with a sixth support column 2116, and a guide wheel 241 is disposed on the sixth support column 2116 to guide the transmission rope 231 from the articulated arm 220 to the second damping shaft 2331. Thus, by providing the sixth support column 2116 to support the guide wheel 241, the transmission rope 231 can be suspended between the first damping shaft 2321 and the second damping shaft 2331. The guide wheel 241 also facilitates the transfer of the transmission rope 231 from the first damping shaft 2321 to the second damping shaft 2331.

[0093] Optionally, such as Figure 3 As shown, in some embodiments, at least one guide wheel 241 is disposed on the articulated arm 220 and between the end of the articulated arm 220 and the first support column 221. Thus, after one end of the transmission rope 231 is fixed to the end of the articulated arm 220, the guide wheel 241 allows the transmission rope 231 to be suspended above the articulated arm 220, facilitating its suspended guidance of the first damping shaft 2321.

[0094] Optionally, such as Figure 3 As shown, in some embodiments, at least one guide wheel 241 is disposed on the articulated arm 220 and between the end of the articulated arm 220 and the second support column 222. Thus, after the other end of the transmission rope 231 is fixed to the end of the articulated arm 220, the guide wheel 241 allows the transmission rope 231 to be suspended above the articulated arm 220, facilitating its suspended guidance of the second damping shaft 2331.

[0095] It should be noted that the specific implementation methods of the above-mentioned support columns can be achieved in conventional technologies, including but not limited to support frames and other structures. Optionally, the guide wheel 241 is rotatably mounted on the support column.

[0096] In some embodiments, at least one of the support columns has an adjustable length. This allows the length of the support columns to be adjusted according to actual conditions to meet different guiding requirements.

[0097] In combination with any of the above embodiments, such as Figure 3 As shown, in some embodiments, the support body 211 includes a first connecting rod 201 fixedly connected to the connecting end 212 and a first housing 202 accommodating the first connecting rod 201, with the first connecting rod 201 fixed to the first housing 202. A first damper 232 is disposed on at least one of the first connecting rod 201 and the first housing 202. A second damper 233 is disposed on at least one of the first connecting rod 201 and the first housing 202. Thus, the first housing 202 protects the first connecting rod 201, and the pretensioning unit 230 is also protected by the first housing 202, which improves both the durability of the joint assembly 200 and its aesthetic appearance.

[0098] In combination with any of the above embodiments, such as Figure 3 As shown, in some embodiments, the articulated arm 220 includes a second link 203 rotatably connected to the connecting end 212 and a second housing 204 housing the second link 203. The second link 203 is fixed to the second housing 204, and both ends of the transmission rope 231 are fixedly connected to at least one of the second link 203 and the second housing 204. Thus, the second housing 204 protects the second link 203, and the portion of the transmission rope 231 is also protected by the second housing 204, which improves both the durability and aesthetics of the joint assembly 200.

[0099] Optionally, the first link and the second link are rotatably connected.

[0100] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure 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 disclosure.

[0101] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0103] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0104] It should be noted that when a component is described as "fixed to," "set on," "fixed to," or "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intervening component. Furthermore, when a component is considered to be "fixedly connected" to another component, the connection can be detachable or non-detachable, such as through socketing, snap-fitting, integral molding, welding, etc., which are achievable in conventional technologies and will not be elaborated upon here.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above embodiments are merely illustrative of several implementation methods of this disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A joint assembly, characterized in that, include: The carrier includes a carrier body and a connecting end connected to the carrier body; The articulated arm is rotatably connected to the connecting end; as well as The pretensioning unit includes a transmission rope, a first damper, and a second damper. The first damper includes a first damping shaft with damped rotation, and the second damper includes a second damping shaft with damped rotation. The first damping shaft and the second damping shaft are spaced apart along the thickness direction of the bearing body, and the first damper and the second damper are spaced apart from the connecting end. One end of the transmission rope is fixedly connected to the joint arm, and a portion of the transmission rope is wound around the first damping shaft, a portion of the transmission rope is wound around the second damping shaft, and a portion of the transmission rope is extended and fixed to the joint arm, so that the transmission rope is in a taut state.

2. The joint assembly according to claim 1, characterized in that, The supporting body includes a first mounting portion and a second mounting portion spaced apart from the first mounting portion along the thickness direction of the supporting body. The first mounting portion and the second mounting portion are spaced apart from the connecting end along the length direction of the supporting body. The first damper is disposed in the first mounting portion, and the second damper is disposed in the second mounting portion. And / or, when the transmission rope is taut, the articulated arm is relatively stationary relative to the load-bearing member when not subjected to external force.

3. The joint assembly according to claim 1, characterized in that, The transmission rope includes a first rope body connected between the joint arm and the first damping shaft, and a second rope body connected between the joint arm and the second damping shaft; When the articulated arm rotates toward the first damping axis, the second rope can pull the second damper and the first damper to rotate, so that the length of the second rope increases and the length of the first rope decreases. When the articulated arm rotates toward the direction of the second damping axis, the first rope can pull the first damper and the second damper to rotate, so that the length of the first rope increases and the length of the second rope decreases.

4. The joint assembly according to claim 1, characterized in that, The transmission rope is wound around the first damping shaft in a first rotation direction, then extends to the second damping shaft, and is wound around the second damping shaft in a second rotation direction; wherein the first rotation direction is opposite to the second rotation direction.

5. The joint assembly according to claim 4, characterized in that, The first damping shaft is provided with a first helical groove arranged along the first rotation direction, and the transmission rope is wound around the first damping shaft through the first helical groove; And / or, the second damping shaft is provided with a second helical groove arranged in the opposite direction to the first rotation direction, and the transmission rope is wound around the second damping shaft through the second helical groove.

6. The joint assembly according to claim 1, characterized in that, The first damping shaft protrudes from the bearing body along the thickness direction of the bearing body, so that at least a portion of the transmission rope between the joint arm and the first damping shaft is spaced apart from the joint arm; And / or, the second damping shaft protrudes from the bearing body along the thickness direction of the bearing body, such that at least a portion of the transmission rope between the articulated arm and the second damping shaft is spaced apart from the articulated arm.

7. The joint assembly according to claim 1, characterized in that, The joint assembly further includes a guide wheel assembly disposed on the carrier and / or the joint arm, the guide wheel assembly being guided and engaged with the transmission rope to allow the transmission rope to extend along a predetermined trajectory.

8. The joint assembly according to claim 7, characterized in that, The guide wheel assembly includes at least one guide wheel; along the length direction of the bearing body, at least one of the guide wheels is disposed between the joint arm and the first damping shaft to guide the transmission rope to the first damping shaft; And / or, along the length of the bearing body, at least one of the guide wheels is disposed between the articulated arm and the second damping shaft to guide the transmission rope to the second damping shaft; And / or, along the thickness direction of the bearing body, at least one of the guide wheels is disposed between the first damping shaft and the second damping shaft to guide the transmission rope out of the first damping shaft; And / or, along the thickness direction of the bearing body, at least one of the guide wheels is disposed between the first damping shaft and the second damping shaft to guide the transmission rope into the second damping shaft.

9. The joint assembly according to claim 8, characterized in that, The articulated arm is provided with a first support column, and the guide wheel is disposed on the first support column to guide the transmission rope from the articulated arm to the first damping shaft; And / or, the articulated arm is provided with a second support column, and the guide wheel is disposed on the second support column to guide the transmission rope from the articulated arm to the second damping shaft; And / or, the bearing body is provided with a third support column, and the guide wheel is disposed on the third support column to guide the transmission rope from the articulated arm to the first damping shaft; And / or, the articulated arm is provided with a fourth support column, and the guide wheel is disposed on the fourth support column to guide the transmission rope from the articulated arm to the second damping shaft; And / or, the bearing body is provided with a fifth support column, and the guide wheel is disposed on the fifth support column to guide the transmission rope from the articulated arm to the first damping shaft; And / or, the articulated arm is provided with a sixth support column, and the guide wheel is disposed on the sixth support column to guide the transmission rope from the articulated arm to the second damping shaft.

10. The joint assembly according to claim 9, characterized in that, At least one guide wheel is disposed on the articulated arm and between the end of the articulated arm and the first support column; at least one guide wheel is disposed on the articulated arm and between the end of the articulated arm and the second support column.

11. The joint assembly according to any one of claims 1 to 10, characterized in that, The supporting body includes a first connecting rod fixedly connected to the connecting end and a first housing housing the first connecting rod, the first connecting rod being fixed to the first housing; a first damper being disposed in at least one of the first connecting rod and the first housing; and a second damper being disposed in at least one of the first connecting rod and the first housing. And / or, the articulated arm includes a second link rotatably connected to the connecting end and a second housing housing the second link, the second link being fixed to the second housing, and both ends of the transmission rope being fixedly connected to at least one of the second link and the second housing.

12. A joint mechanism, characterized in that, It includes a drive assembly and a joint assembly as described in any one of claims 1 to 11, wherein the drive assembly is drively connected to the articulated arm to drive the articulated arm to rotate relative to the carrier.

13. The joint mechanism according to claim 12, characterized in that, The joint mechanism includes an end mechanism, and the joint arm is an end joint arm.

14. A biomimetic robot, characterized in that, It includes a torso device and a joint mechanism as described in claim 12 or 13, the joint mechanism being disposed on the torso device.

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