CN115383785B - Flexible elbow with wrist turning function - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a flexible elbow with a wrist-turning function, wherein a first tendon rope is driven by a second driving device to drive a rotating part to rotate, so that the elbow of the robot realizes a wrist-turning action, a first moving device and a second moving device are driven by the first driving device to synchronously and reversely move on a first fixing frame, the first tendon rope drags a fixed shaft to swing upwards under the driving of the first moving device so as to realize a bending action of the elbow, and the second tendon rope drags the fixed shaft to swing downwards under the driving of the second moving device so as to realize an extending action of the elbow, namely the wrist-turning action of the elbow, the bending action and the extending action of the elbow are decoupled, the extending action is not influenced, and the control is simple; in addition, the other end of the fixed shaft is flexibly connected with the connecting frame in a swinging mode, so that rigid connection of the elbow is avoided, and bionic impact resistance and flexibility of the elbow can be achieved.

Description

A flexible elbow with wrist turning function

technical field

The present application relates to the field of robot technology, in particular, to a flexible elbow with the function of turning the wrist.

Background technique

The human elbow joint is the joint connecting the humerus of the big arm and the ulna radius of the forearm. It has one degree of freedom. The ulna and radius of the forearm realize the function of turning the wrist by turning over and crossing. The elbow also has another degree of freedom. It is to achieve flexion and extension. By imitating the musculoskeletal and ligament structure of human joints, the bionic robot joint can simultaneously realize the above two degrees of freedom in a bionic elbow joint, so that it has the ability of light weight, dexterity and flexibility. However, the current rigid joints of robots rely on hinge rigid links, which have poor impact resistance and cannot provide cushioning in the face of collisions. Moreover, the direct drive of the joints results in a large weight inertia, which is quite dangerous and is not suitable for man-machines. interactive occasions.

For the above problems, there is no effective technical solution at present.

Contents of the invention

The purpose of this application is to provide a flexible elbow with the function of turning the wrist, which aims to solve the problems of poor impact resistance and poor compliance caused by the rigid connection of the elbow joint of the existing robot.

This application provides a flexible elbow with the function of turning the wrist, which is applied to the elbow of a robot, including:

The first driving device, the second driving device, the first tendon rope, the second tendon rope, the first fixed frame, the first pulley block, the second pulley block, the first moving device, the second moving device, the second fixed frame and the connecting frame ;

The upper end of the first fixed frame is provided with a first driving device and a second driving device, the lower end of the first fixed frame is fixedly connected with the connecting frame, and the first moving device and the second moving device can set on the first fixed frame to move up and down;

The second fixed frame includes a rotating part and a fixed shaft, the rotating part is sleeved on one end of the fixed shaft and can rotate around the fixed shaft, and the other end of the fixed shaft is flexibly connected to the connecting frame ;

The first driving device is used to drive the first moving device and the second moving device to move synchronously and reversely on the first fixed frame;

The first tendon rope is a closed structure connected end to end, and the first tendon rope is wound on the output end of the second driving device, the first pulley block and the rotating part; the second driving device It is used to drive the rotating part to rotate through the first tendon rope; when the first moving device moves upward, the first tendon rope is driven by the first moving device to drag the fixed shaft upward swing;

The second tendon rope is connected between the second moving device, the second pulley block and the fixed shaft, and when the second moving device moves up, the second tendon rope Driven by the device, the fixed shaft is dragged to swing downwards.

In the flexible elbow with wrist-turning function provided by this application, the first tendon cord is driven by the second driving device to drive the rotating part to rotate, so that the elbow of the robot can turn the wrist, and the first moving device and the first moving device are driven by the first driving device. The second mobile device moves synchronously and reversely on the first fixed frame, so that the first tendon rope is driven by the first mobile device to drag the fixed shaft to swing upwards to realize the flexion of the elbow, so that the second tendon rope Driven by the second moving device, drag the fixed shaft to swing downward to realize the extension of the elbow, that is, the wrist turning action of the elbow and the flexion and extension actions of the elbow are decoupled, do not affect each other, and the control is simple; in addition The other end of the fixed shaft is set to be connected to the connecting frame in a flexible swing, avoiding the rigid connection of the elbow, and realizing the impact resistance and flexibility of the bionic elbow.

Optionally, the first pulley set includes two sub-pulley sets symmetrically arranged on both sides of the swing plane of the fixed shaft, each of the sub-pulley sets includes a first movable pulley, a first fixed pulley and a second fixed pulley, The first movable pulley is arranged on the first moving device, the first fixed pulley is arranged on the first fixed frame below the first movable pulley, and the second fixed pulley is arranged on the connecting frame on said fixed shaft on the front side;

At each of the sub-pulley blocks, the first tendon rope is wound around the first movable pulley after passing around the first fixed pulley, and then wound around the second fixed pulley.

By setting the sub-pulley block and the winding method of the first tendon rope, the wrist turning action of the elbow and the flexion and extension action of the elbow are decoupled, do not affect each other, and are easy to control.

Optionally, each of the sub-set pulleys also includes a third fixed pulley, and the third fixed pulley is arranged on the first fixed frame below the first fixed pulley; , the first tendon rope is wound around the first movable pulley and then wound on the third fixed pulley and the second fixed pulley in sequence.

Optionally, a rotating pulley is fixedly arranged at one end of the rotating part close to the first fixed frame, and the first tendon rope is wound on the rotating pulley.

Optionally, at least one spring set is provided between the fixed shaft and the connecting frame, the spring set includes four springs, and the fixed shaft is provided with two first connection points corresponding to each of the spring sets , the two first connecting points are respectively arranged on the front and rear sides of the connecting frame, and the connecting frame is provided with two second connecting points corresponding to each of the spring groups, and the two second connecting points are respectively Located on the upper and lower sides of the fixed shaft, one spring is connected between each of the first connection points and each of the second connection points.

By arranging at least one spring group, because the spring has stretching and restoring properties, the elbow can achieve better flexibility when flexing and extending.

Optionally, the connecting frame is provided with a through slot through the front and back, the fixed shaft is passed through the through slot, and the spring group is provided with two groups, and the two groups of spring groups are symmetrically arranged on the swing of the fixed shaft. plane sides.

Optionally, the output end of the first driving device is provided with a third tendon rope and a second drive pulley, the third tendon rope is wound on the second drive pulley, and the third tendon rope The two ends are respectively connected to the first mobile device and the second mobile device.

Optionally, the second pulley set includes a second movable pulley, a fourth fixed pulley and a fifth fixed pulley, the second movable pulley is arranged on the second moving device, and the fourth fixed pulley is arranged on the first fixed pulley. On the first fixed frame below the second movable pulley, the fifth fixed pulley is fixed on the lower end of the connecting frame, and one end of the second tendon rope is fixed on the first fixed frame below the second movable pulley. Above, the other end of the second tendon rope is wound around the second movable pulley, the fourth fixed pulley and the fifth fixed pulley in turn, and is fixed on the fixed shaft at the front side of the connecting frame.

Optionally, the second pulley set further includes a third movable pulley, the third movable pulley is arranged at the end of the fixed shaft away from the rotating part, and the second tendon rope is wound behind the fourth fixed pulley , which are wound on the third movable pulley and the fifth fixed pulley in turn.

Optionally, the connecting frame is connected to the fixed shaft through a flexible hinge.

Beneficial effect

The application provides a flexible elbow with the function of turning the wrist. The second driving device drives the first tendon rope to drive the rotating part to rotate, so that the elbow of the robot can turn the wrist. The first driving device drives the first movement. The device and the second mobile device move synchronously and reversely on the first fixed frame, so that the first tendon cord is driven by the first mobile device to drag the fixed shaft to swing upwards to realize the flexion of the elbow, and the second tendon cord Driven by the second moving device, drag the fixed shaft to swing downwards to realize the extension of the elbow. In addition, the other end of the fixed shaft is connected to the connecting frame by flexible swing to avoid the rigid connection of the elbow and realize the bionic function of the elbow. Impact resistance and flexibility.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and appended drawings.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a flexible elbow with wrist turning function provided by the present application.

Fig. 2 is a structural schematic diagram of one direction of a flexible elbow with wrist-turning function provided by the present application.

Fig. 3 is a structural schematic view in another direction of a flexible elbow with wrist-turning function provided by the present application.

Reference numerals: 100, the first fixed frame; 101, the first driving device; 102, the second driving device; 200, the second fixed frame; 201, the rotating part; 202, the fixed shaft; 203, the rotating pulley; 204, the third Tendon rope; 205, the second drive pulley; 301, the first movable pulley; 302, the first fixed pulley; 303, the second fixed pulley; 304, the third fixed pulley; 401, the first mobile device; 402, the second mobile device ; 403, the second movable pulley; 404, the fourth fixed pulley; 405, the fifth fixed pulley; 500, the first tendon rope; 600, the second tendon rope; 700, spring; 800, connecting frame; 801, the third movable pulley; 802, through slot.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

Please refer to Figure 1-Figure 3, Figure 1 is a schematic diagram of the overall structure of a flexible elbow with the function of turning the wrist in the embodiment of the application, which aims to solve the problem of poor impact resistance and To solve the problem of poor flexibility, provide a flexible elbow with good impact resistance and flexibility and the function of turning the wrist.

This application provides a flexible elbow with the function of turning the wrist, which is applied to the elbow of a robot, including:

The first driving device 101, the second driving device 102, the first tendon rope 500, the second tendon rope 600, the first fixed frame 100, the first pulley block, the second pulley block, the first moving device 401, the second moving device 402, The second fixing frame 200 and the connecting frame 800;

The upper end of the first fixed frame 100 is provided with the first driving device 101 and the second driving device 102, and the lower end of the first fixed frame 100 is fixedly connected with the connecting frame 800, and the first moving device 401 and the second moving device 402 can move up and down. set on the first fixed frame 100;

The second fixed frame 200 includes a rotating part 201 and a fixed shaft 202. The rotating part 201 is sleeved on one end of the fixed shaft 202 and can rotate around the fixed shaft 202. The other end of the fixed shaft 202 is flexibly connected to the connecting frame 800;

The first driving device 101 is used to drive the first mobile device 401 and the second mobile device 402 to move synchronously and reversely on the first fixed frame 100;

The first tendon rope 500 is a closed structure connected end to end, and the first tendon rope 500 is wound on the output end of the second driving device 102, the first pulley block and the rotating part 201; the second driving device 102 is used to pass the first tendon rope 500 drives the rotating part 201 to rotate; when the first moving device 401 moves up, the first tendon rope 500 is driven by the first moving device 401 to drag the fixed shaft 202 to swing upward;

The second tendon rope 600 is connected between the second moving device 402 , the second pulley block and the fixed shaft 202 , when the second moving device 402 moves up, the second tendon rope 600 is driven by the second moving device 402 to drag the fixed shaft 202 swings downward.

Specifically, as shown in FIG. 1 , the first tendon rope 500 is driven by the second driving device 102 to drive the rotating part 201 to rotate, so that the elbow of the robot can turn the wrist, and the first moving device 401 is driven by the first driving device 101 and the second moving device 402 move synchronously and reversely on the first fixed frame 100, so that the first tendon rope 500 is driven by the first moving device 401 to drag the fixed shaft 202 to swing upwards to realize the flexion of the elbow. Driven by the second moving device 402, the second tendon rope 600 drags the fixed shaft 202 to swing downwards to realize the extension of the elbow, that is, the turning of the wrist of the elbow is decoupled from the flexion and extension of the elbow. There is no mutual influence, and the control is simple; in addition, the other end of the fixed shaft 202 is set to be flexibly connected to the connecting frame 800 to avoid the rigid connection of the elbow, and the bionic impact resistance and compliance of the elbow can be realized.

In some embodiments, the first pulley set includes two sub-pulley sets symmetrically arranged on both sides of the swing plane of the fixed shaft 202, each sub-pulley set includes a first movable pulley 301, a first fixed pulley 302 and a second fixed pulley 303, the second fixed pulley 302 A movable pulley 301 is arranged on the first moving device 401 , the first fixed pulley 302 is arranged on the first fixed frame 100 below the first movable pulley 301 , and the second fixed pulley 303 is arranged on the fixed shaft 202 on the front side of the connecting frame 800 .

Wherein, the front side refers to the side of the connecting frame 800 close to the rotating part 201, and the rear side refers to the side of the connecting frame 800 away from the rotating part 201. The directions of the front side and the rear side in this application are based on the first The placement direction of the fixing frame 100 and the second fixing frame 200 is a relative direction adopted for convenience of description, and does not represent the front and rear directions of the flexible elbow in use.

At each sub-pulley block, the first tendon rope 500 is wound around the first fixed pulley 302 , then wound on the first movable pulley 301 , and then wound on the second fixed pulley 303 .

Specifically, as shown in FIG. 1 , the second drive device 102 drives the second pulley set wound on the first pulley set by symmetrically arranging the sub-pulley set and the winding method of the first tendon rope 500 on both sides of the swing plane of the fixed shaft 202. A tendon rope 500, the first tendon rope 500 drives the rotating part 201 to rotate to realize the wrist turning action of the elbow, and the first driving device 101 drives the first moving device 401 to move upward, so that the first tendon rope 500 drags the fixed shaft The 202 swings upwards to realize the flexion of the elbow. Through the setting of the first pulley block, the wrist-turning action of the elbow is decoupled from the flexion and extension of the elbow, without mutual influence, and the control is simple.

In some embodiments, each sub-pulley set also includes a third fixed pulley 304, and the third fixed pulley 304 is arranged on the first fixed frame 100 below the first fixed pulley 302; at each sub-pulley set, the first tendon rope 500 is wound around the first movable pulley 301 and then wound on the third fixed pulley 304 and the second fixed pulley 303 in turn.

Specifically, as shown in FIG. 1 , by setting the third fixed pulley 304 , the first tendon rope 500 has a better guiding effect between the first movable pulley 301 and the second fixed pulley 303 .

In some embodiments, a rotating pulley 203 is fixedly arranged at one end of the rotating part 201 close to the first fixed frame 100 , and the first tendon rope 500 is wound on the rotating pulley 203 .

Specifically, as shown in Figure 1, by setting the rotating pulley 203, it is convenient for the first tendon rope 500 to be wound on the rotating pulley 203, so that the rotating pulley 203 rotates under the driving of the first tendon rope 500, thereby driving the rotating part 201 to rotate To achieve the wrist turning action.

In some embodiments, at least one spring set is provided between the fixed shaft 202 and the connecting frame 800, and the spring set includes four springs 700, and the fixed shaft 202 is provided with two first connection points corresponding to each spring set, and two second connection points. One connecting point is arranged on the front and rear sides of the connecting frame 800 respectively, and the connecting frame 800 is provided with two second connecting points corresponding to each spring group, and the two second connecting points are respectively located on the upper and lower sides of the fixed shaft 202, each second A spring 700 is connected between a connection point and every second connection point.

Specifically, as shown in FIG. 2 , through at least one spring group, since the spring 700 has stretching and restoring properties, the elbow can achieve better flexibility when flexing and extending.

In some embodiments, the connecting frame 800 is provided with a through slot 802 passing through the front and back, the fixed shaft 202 is passed through the through slot 802, two groups of spring groups are provided, and the two groups of spring groups are symmetrically arranged on both sides of the swing plane of the fixed shaft 202 .

Specifically, as shown in FIG. 3 , by setting the through slot 802 and two sets of springs, when the elbow performs flexion and extension movements, the elbow can achieve better flexibility due to the force of the spring set.

In some embodiments, the output end of the first driving device 101 is provided with a third tendon rope 204 and a second driving pulley 205, the third tendon rope 204 is wound on the second driving pulley 205, and the third tendon rope 204 The two ends are respectively connected to the first mobile device 401 and the second mobile device 402 .

Specifically, by setting the third tendon rope 204 and the second driving pulley 205, the changing lengths of the movement of the first mobile device 401 and the second mobile device 402 are kept consistent, and at the same time, the first tendon rope 500 and the second tendon rope 600 The change of the length of the tendon remains the same, which can avoid the situation that the first tendon cord 500 and the second tendon cord 600 are loose or too tight.

In some embodiments, the second pulley set includes a second movable pulley 403, a fourth fixed pulley 404 and a fifth fixed pulley 405, the second movable pulley 403 is arranged on the second moving device 402, and the fourth fixed pulley 404 is arranged on the second movable pulley 403 below the first fixed frame 100, the fifth fixed pulley 405 is fixed on the lower end of the connecting frame 800, one end of the second tendon rope 600 is fixed on the first fixed frame 100 below the second movable pulley 403, and the second tendon rope 600 The other end of the second movable pulley 403 , the fourth fixed pulley 404 and the fifth fixed pulley 405 are wound around in turn, and are fixed on the fixed shaft 202 on the front side of the connecting frame 800 .

Specifically, as shown in FIG. 3 , by setting the second pulley block, the flexion and extension actions of the elbow and the wrist turning action of the elbow are not affected by each other, and the control is simple.

In some embodiments, the second pulley set further includes a third movable pulley 801, the third movable pulley 801 is arranged at the end of the fixed shaft 202 away from the rotating part 201, the second tendon rope 600 is wound around the fourth fixed pulley 404, and wound in sequence On the third movable pulley 801 and the fifth fixed pulley 405 .

Specifically, as shown in FIGS. 2-3 , the tension of the second tendon rope 600 is better balanced by setting the third movable pulley 801 .

In some embodiments, the connecting frame 800 is connected to the fixed shaft 202 through a flexible hinge.

Specifically, the connecting frame 800 is connected to the fixed shaft 202 through a flexible hinge, so as to realize the flexibility of the elbow, which is not limited to the flexible hinge connection, but also can be other specific ways to realize the flexible swing connection, which is not limited here.

As can be seen from the above, the flexible elbow with wrist turning function provided by the present application drives the first tendon cord 500 by the second driving device 102 to drive the rotating part 201 to rotate, so that the elbow of the robot can turn the wrist. The device 101 drives the first mobile device 401 and the second mobile device 402 to move synchronously and reversely on the first fixed frame 100, so that the first tendon rope 500 is driven by the first mobile device 401 to drag the fixed shaft 202 to swing upwards. To realize the flexion of the elbow, the second tendon cord 600 is driven by the second moving device 402 to drag the fixed shaft 202 to swing downwards to realize the extension of the elbow, that is, the turning of the wrist of the elbow and the flexion of the elbow Action and extension are decoupled, do not affect each other, and are easy to control; in addition, the other end of the fixed shaft 202 is connected to the connecting frame 800 in a flexible swing, avoiding the rigid connection of the elbow, and realizing the impact resistance and compliance of the bionic elbow sex.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

In addition, a unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second etc. are used only to distinguish one entity or operation from another without necessarily requiring or implying any such relationship between these entities or operations. Actual relationship or sequence.

The above are only examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. A flexible elbow with wrist turning function, applied to the elbow of a robot, is characterized in that, comprising: The first driving device (101), the second driving device (102), the first tendon rope (500), the second tendon rope (600), the first fixed frame (100), the first pulley block, the second pulley block, the first The mobile device (401), the second mobile device (402), the second fixed frame (200) and the connecting frame (800); The upper end of the first fixing frame (100) is provided with a first driving device (101) and a second driving device (102), and the lower end of the first fixing frame (100) is fixedly connected with the connecting frame (800) , the first moving device (401) and the second moving device (402) are arranged on the first fixing frame (100) so as to be movable up and down; The second fixed frame (200) includes a rotating part (201) and a fixed shaft (202), and the rotating part (201) is sleeved on one end of the fixed shaft (202) and can be wound around the fixed shaft (202) ) rotates, and the other end of the fixed shaft (202) is flexibly connected to the connecting frame (800); The first driving device (101) is used to drive the first moving device (401) and the second moving device (402) to move synchronously and reversely on the first fixed frame (100); The first tendon rope (500) is a closed structure connected end to end, and the first tendon rope (500) is wound around the output end of the second driving device (102), the first pulley block and the rotating part (201); the second driving device (102) is used to drive the rotating part (201) to rotate through the first tendon cord (500); when the first moving device (401) moves up, Driven by the first moving device (401), the first tendon rope (500) drags the fixed shaft (202) to swing upwards; The second tendon rope (600) is connected between the second moving device (402), the second pulley block and the fixed shaft (202), and when the second moving device (402) moves up, Driven by the second moving device (402), the second tendon rope (600) drags the fixed shaft (202) to swing downward. 2. The flexible elbow with wrist turning function according to claim 1, characterized in that, the first pulley block includes two sub-pulley blocks symmetrically arranged on both sides of the swing plane of the fixed shaft (202), each Each of the sub-block pulleys includes a first movable pulley (301), a first fixed pulley (302) and a second fixed pulley (303), and the first movable pulley (301) is arranged on the first moving device (401) , the first fixed pulley (302) is set on the first fixed frame (100) below the first movable pulley (301), and the second fixed pulley (303) is set on the connecting frame (800 ) on the fixed shaft (202) on the front side; At each of the sub-pulley blocks, the first tendon rope (500) is wound around the first fixed pulley (302), then wound on the first movable pulley (301), and then wound on the On the second fixed pulley (303). 3. The flexible elbow with wrist-turning function according to claim 2, characterized in that, each of the sub-pulley sets also includes a third fixed pulley (304), and the third fixed pulley (304) is set On the first fixed frame (100) below the first fixed pulley (302); at each of the sub-pulley blocks, the first tendon rope (500) goes around the first movable pulley (301 ) and then wound on the third fixed pulley (304) and the second fixed pulley (303) in sequence. 4. The flexible elbow with wrist turning function according to claim 1, characterized in that, one end of the rotating part (201) close to the first fixed frame (100) is fixedly provided with a rotating pulley (203), And the first tendon rope (500) is wound on the rotating pulley (203). 5. The flexible elbow with wrist turning function according to claim 1, characterized in that at least one spring set is provided between the fixed shaft (202) and the connecting frame (800), and the spring set It includes four springs (700), the fixed shaft (202) is provided with two first connection points corresponding to each of the spring groups, and the two first connection points are respectively arranged on the connecting frame (800) On the front and rear sides, the connecting frame (800) is provided with two second connection points corresponding to each of the spring groups, and the two second connection points are respectively located on the upper and lower sides of the fixed shaft (202). One spring (700) is connected between each of the first connection points and each of the second connection points. 6. The flexible elbow with the function of turning the wrist according to claim 5, characterized in that, the connecting frame (800) is provided with a through slot (802) passing through the front and back, and the fixed shaft (202) is passed through In the through slot (802), two groups of spring groups are arranged, and the two groups of spring groups are arranged symmetrically on both sides of the swing plane of the fixed shaft (202). 7. The flexible elbow with wrist turning function according to claim 1, characterized in that, the output end of the first driving device (101) is provided with a third tendon cord (204) and a second driving pulley (205 ), the third tendon rope (204) is wound on the second driving pulley (205), and the two ends of the third tendon rope (204) are respectively connected to the first moving device (401) and The second mobile device (402). 8. The flexible elbow with wrist turning function according to claim 7, characterized in that, the second pulley set includes a second movable pulley (403), a fourth fixed pulley (404) and a fifth fixed pulley (405) , the second movable pulley (403) is set on the second moving device (402), and the fourth fixed pulley (404) is set on the first fixed frame ( 100), the fifth fixed pulley (405) is fixed at the lower end of the connecting frame (800), and one end of the second tendon rope (600) is fixed at the bottom of the second movable pulley (403). On the first fixed frame (100), the other end of the second tendon rope (600) is wound around the second movable pulley (403), the fourth fixed pulley (404) and the fifth fixed pulley ( 405), and fixed on the fixed shaft (202) on the front side of the connecting frame (800). 9. The flexible elbow with wrist turning function according to claim 8, characterized in that, the second pulley set further includes a third movable pulley (801), and the third movable pulley (801) is arranged on the fixed shaft (202) The end away from the rotating part (201), the second tendon rope (600) is wound behind the fourth fixed pulley (404), and then wound around the third movable pulley (801) and on the fifth fixed pulley (405). 10. The flexible elbow with wrist turning function according to claim 1, characterized in that, the connecting frame (800) is connected to the fixed shaft (202) through a flexible hinge.

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