CN115383785B

CN115383785B - Flexible elbow with wrist turning function

Info

Publication number: CN115383785B
Application number: CN202211322325.2A
Authority: CN
Inventors: 谢雄敦; 熊得竹; 温志庆
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2022-12-27
Anticipated expiration: 2042-10-27
Also published as: CN115383785A

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

Flexible elbow with wrist turning function

Technical Field

The application relates to the technical field of robots, in particular to a flexible elbow with a wrist turning function.

Background

The elbow joint of a human is a joint formed by connecting the humerus of a large arm and the ulna and the radius of a small arm and has one degree of freedom, the ulna and the radius of the small arm realize a wrist turning function through overturning and crossing, the elbow also has another degree of freedom, namely bending and stretching are realized, and the bionic robot joint can realize the two degrees of freedom at the same time in a bionic elbow joint by simulating a human joint muscle and bone ligament structure, so that the bionic robot joint has the capabilities of light weight, flexibility and softness. However, the existing rigid joint connecting rods of the robot are rigidly connected through hinges, the shock resistance is poor, a buffering effect cannot be provided in the face of collision, and the direct drive form of the joints causes large weight inertia, so that the robot is quite dangerous and is not suitable for human-computer interaction occasions.

In view of the above problems, no effective technical solution exists at present.

Disclosure of Invention

The utility model provides a flexible elbow that possesses wrist turning function aims at solving the poor and not good problem of compliance of shock resistance that current robot elbow joint rigid connection leads to.

The application provides a flexible elbow that possesses wrist-turning function is applied to the elbow of robot, includes:

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

the upper end of the first fixing frame is provided with a first driving device and a second driving device, the lower end of the first fixing frame is fixedly connected with the connecting frame, and the first moving device and the second moving device are arranged on the first fixing frame in a manner of moving up and down;

the second fixing frame comprises a rotating part and a fixing shaft, the rotating part is sleeved at one end of the fixing shaft and can rotate around the fixing shaft, and the other end of the fixing shaft is flexibly connected with the connecting frame in a swinging mode;

the first driving device is used for driving the first moving device and the second moving device to synchronously and reversely move on the first fixing frame;

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

the second tendon rope is connected among the second moving device, the second pulley block and the fixed shaft, and when the second moving device moves upwards, the second tendon rope is driven by the second moving device to drag the fixed shaft to swing downwards.

According to the flexible elbow with the wrist-turning function, the second driving device drives the first tendon rope to drive the rotating part to rotate, so that the elbow of the robot realizes the wrist-turning action, the first driving device drives the first moving device and the second moving device to synchronously move in opposite directions on the first fixing frame, the first tendon rope is driven by the first moving device to drag the fixing shaft to swing upwards so as to realize the bending action of the elbow, the second tendon rope is driven by the second moving device to drag the fixing shaft to swing downwards so as to realize the extending action of the elbow, namely the wrist-turning action of the elbow is decoupled from the bending action and the extending action of the elbow, 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.

Optionally, the first pulley block includes two sub-pulley blocks symmetrically disposed at two sides of the swing plane of the fixed shaft, each sub-pulley block includes a first movable pulley, a first fixed pulley and a second fixed pulley, the first movable pulley is disposed on the first moving device, the first fixed pulley is disposed on the first fixed frame below the first movable pulley, and the second fixed pulley is disposed on the fixed shaft at the front side of the connecting frame;

at each sub pulley block, the first tendon rope is wound on the first movable pulley after being wound on the first fixed pulley, and then is wound on the second fixed pulley.

Through the arrangement of the sub pulley block and the winding mode of the first tendon rope, the wrist overturning action of the elbow and the bending and stretching action of the elbow are decoupled, the mutual influence is avoided, and the control is simple.

Optionally, each sub-pulley block further comprises a third fixed pulley, and the third fixed pulley is arranged on the first fixed frame below the first fixed pulley; and at each sub pulley block, the first tendon rope is wound around the first movable pulley and then sequentially wound on the third fixed pulley and the second fixed pulley.

Optionally, a rotating pulley is fixedly disposed at one end of the rotating portion close to the first fixing frame, and the first tendon rope is wound around the rotating pulley.

Optionally, at least one spring group is arranged between the fixed shaft and the connecting frame, the spring group comprises four springs, the fixed shaft is provided with two first connecting points corresponding to each spring group, the two first connecting points are respectively arranged on the front side and the rear side of the connecting frame, the connecting frame is provided with two second connecting points corresponding to each spring group, the two second connecting points are respectively arranged on the upper side and the lower side of the fixed shaft, and one spring is connected between each first connecting point and each second connecting point.

By arranging at least one spring group, the elbow can achieve better flexibility during bending and stretching actions due to the stretching and resetting performance of the spring.

Optionally, the connecting frame is provided with a through groove running through the front and the back, the fixing shaft penetrates through the through groove, the two groups of spring groups are arranged, and the two groups of spring groups are symmetrically arranged on two sides of the swinging plane of the fixing shaft.

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

Optionally, the second pulley block includes a second movable pulley, a fourth fixed pulley and a fifth fixed pulley, the second movable pulley is disposed on the second moving device, the fourth fixed pulley is disposed below the second movable pulley on the first fixed frame, the fifth fixed pulley is fixed at the lower end of the connecting frame, one end of the second tendon rope is fixed on the first fixed frame below the second movable pulley, and the other end of the second tendon rope is sequentially wound on the second movable pulley, the fourth fixed pulley and the fifth fixed pulley and fixed on the fixed shaft at the front side of the connecting frame.

Optionally, the second pulley block further includes a third movable pulley, the third movable pulley is disposed at an end of the fixed shaft far away from the rotating portion, and the second tendon rope is wound around the fourth fixed pulley and then sequentially wound around the third movable pulley and the fifth fixed pulley.

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

Advantageous effects

The utility model provides a pair of flexible elbow that possesses wrist-turning function, thereby it rotates to drive the portion of rotating by second drive arrangement drive first tendon rope, the elbow of messenger's robot realizes the wrist-turning action, drive first mobile device and the synchronous reverse motion of second mobile device on first mount by first drive arrangement, make first tendon rope drag the fixed axle and swing up in order to realize the action of buckling of elbow under first mobile device's drive, make second tendon rope drag the fixed axle and swing down in order to realize the action of stretching of elbow under second mobile device's drive, the other end that sets up the fixed axle in addition is connected with the flexible swing of link, avoid the rigid connection of elbow, can realize the bionical impact resistance and compliance of elbow.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the present 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 drawings.

Drawings

Fig. 1 is a schematic structural diagram of an overall structure of a flexible elbow with a wrist-flipping function provided in the present application.

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

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

Description of the reference symbols: 100. a first fixing frame; 101. a first driving device; 102. a second driving device; 200. a second fixing frame; 201. a rotating part; 202. a fixed shaft; 203. rotating the pulley; 204. a third tendon rope; 205. a second drive pulley; 301. a first movable pulley; 302. a first fixed pulley; 303. a second fixed pulley; 304. a third fixed pulley; 401. a first mobile device; 402. a second mobile device; 403. a second movable pulley; 404. a fourth fixed pulley; 405. a fifth fixed pulley; 500. a first tendon rope; 600. a second tendon rope; 700. A spring; 800. a connecting frame; 801. a third movable pulley; 802. a through groove.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.

Referring to fig. 1 to 3, fig. 1 is a schematic view of an overall structure of a flexible elbow with a wrist-flipping function in an embodiment of the present application, which is intended to solve the problems of poor impact resistance and poor flexibility caused by rigid connection of an elbow joint of an existing robot, and provide a flexible elbow with a wrist-flipping function with good impact resistance and flexibility.

The application provides a flexible elbow that possesses wrist turning function, is applied to the elbow of robot, includes:

a first driving device 101, a second driving device 102, a first tendon rope 500, a second tendon rope 600, a first fixing frame 100, a first pulley block, a second pulley block, a first moving device 401, a second moving device 402, a second fixing frame 200 and a 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, the lower end of the first fixing frame 100 is fixedly connected with a connecting frame 800, and a first moving device 401 and a second moving device 402 are arranged on the first fixing frame 100 in a manner of moving up and down;

the second fixing frame 200 comprises a rotating part 201 and a fixing shaft 202, the rotating part 201 is sleeved at one end of the fixing shaft 202 and can rotate around the fixing shaft 202, and the other end of the fixing shaft 202 is flexibly connected with the connecting frame 800 in a swinging manner;

the first driving device 101 is used for driving the first moving device 401 and the second moving device 402 to synchronously move in opposite directions on the first fixing 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 for driving the rotating part 201 to rotate through the first tendon rope 500; when the first moving device 401 moves upwards, the first tendon rope 500 is driven by the first moving device 401 to drag the fixed shaft 202 to swing upwards;

the second tendon rope 600 is connected among the second moving device 402, the second pulley block and the fixed shaft 202, and when the second moving device 402 moves upwards, the second tendon rope 600 is driven by the second moving device 402 to drag the fixed shaft 202 to swing downwards.

Specifically, as shown in fig. 1, the second driving device 102 drives the first tendon rope 500 to drive the rotating part 201 to rotate, so that the elbow of the robot realizes a wrist-turning action, the first driving device 101 drives the first moving device 401 and the second moving device 402 to synchronously move in opposite directions on the first fixing frame 100, the first tendon rope 500 is driven by the first moving device 401 to drag the fixed shaft 202 to swing upwards to realize a bending action of the elbow, and the second tendon rope 600 is driven by the second moving device 402 to drag the fixed shaft 202 to swing downwards to realize an extending action of the elbow, that is, the wrist-turning action of the elbow, the bending action and the extending action of the elbow are decoupled, so that the extending action is not influenced, and the control is simple; in addition, the other end of the fixed shaft 202 is flexibly connected with the connecting frame 800 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.

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

The front side refers to a side of the connection frame 800 close to the rotation portion 201, and the rear side refers to a side of the connection frame 800 far away from the rotation portion 201, and the front and rear directions in this application are based on the placing directions of the first fixing frame 100 and the second fixing frame 200 in fig. 2, which are relative directions adopted for convenience of description, and do not represent the front and rear directions of the flexible elbow when in use.

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

Specifically, as shown in fig. 1, by symmetrically arranging sub pulley blocks on two sides of the swing plane of the fixed shaft 202 and winding the first tendon rope 500, the second driving device 102 drives the first tendon rope 500 wound on the first pulley block, the first tendon rope 500 drives the rotating part 201 to rotate to realize the wrist-turning action of the elbow, the first driving device 101 drives the first moving device 401 to move upwards, so that the first tendon rope 500 drags the fixed shaft 202 to swing upwards to realize the bending action of the elbow, and the wrist-turning action of the elbow is decoupled from the bending action and the extending action of the elbow by the arrangement of the first pulley block, which has no influence on each other and is simple to control.

In some embodiments, each pulley assembly further includes a third fixed pulley 304, and the third fixed pulley 304 is disposed on the first fixed frame 100 below the first fixed pulley 302; at each sub-pulley block, the first tendon rope 500 is wound around the first movable pulley 301 and then sequentially wound around the third fixed pulley 304 and the second fixed pulley 303.

Specifically, as shown in fig. 1, by providing third fixed sheave 304, first tendon rope 500 has a better guiding function between first movable sheave 301 and second fixed sheave 303.

In some embodiments, a rotating pulley 203 is fixedly disposed at one end of the rotating portion 201 close to the first fixing frame 100, and the first tendon rope 500 is wound around the rotating pulley 203.

Specifically, as shown in fig. 1, by providing the rotating pulley 203, the first tendon rope 500 is conveniently wound on the rotating pulley 203, so that the rotating pulley 203 is driven by the first tendon rope 500 to rotate, thereby driving the rotating part 201 to rotate to realize the wrist-flipping action.

In some embodiments, at least one spring assembly is disposed between the fixed shaft 202 and the connection frame 800, the spring assembly includes four springs 700, two first connection points are disposed on the fixed shaft 202 corresponding to each spring assembly, the two first connection points are disposed on the front and rear sides of the connection frame 800, two second connection points are disposed on the connection frame 800 corresponding to each spring assembly, the two second connection points are disposed on the upper and lower sides of the fixed shaft 202, and one spring 700 is connected between each first connection point and each second connection point.

In particular, as shown in fig. 2, by at least one spring set, the elbow is more compliant when performing flexion and extension due to the extension and return properties of the spring 700.

In some embodiments, the connection frame 800 is provided with a through slot 802 penetrating the front and the back, the fixing shaft 202 is inserted into the through slot 802, and the two sets of spring sets are symmetrically arranged on two sides of the swing plane of the fixing shaft 202.

Specifically, as shown in fig. 3, by providing the through slots 802 and two sets of spring sets, when the elbow performs bending and stretching motions, the elbow can achieve better flexibility due to the acting force of the spring sets.

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 two ends of the third tendon rope 204 are respectively connected to the first moving device 401 and the second moving device 402.

Specifically, by providing third tendon rope 204 and second drive pulley 205, the varying lengths of movement of first and

second movement devices

401 and 402 are kept consistent while the varying lengths of first and

second tendon ropes

500 and 600 are kept the same, and a situation where first and

second tendon ropes

500 and 600 are slack or over-tight can be avoided.

In some embodiments, the second pulley block includes a second movable pulley 403, a fourth fixed pulley 404 and a fifth fixed pulley 405, the second movable pulley 403 is disposed on the second moving device 402, the fourth fixed pulley 404 is disposed on the first fixed frame 100 below the second movable pulley 403, the fifth fixed pulley 405 is fixed at 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 other end of the second tendon rope 600 is sequentially 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 at the front side of the connecting frame 800.

Specifically, as shown in fig. 3, by providing the second pulley block, the bending and extending actions of the elbow and the wrist-turning action of the elbow can be not affected, and the control is simple.

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

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

In some embodiments, attachment bracket 800 is coupled to stationary shaft 202 by a flexible hinge.

Specifically, the connecting frame 800 is connected to the fixed shaft 202 by a flexible hinge to achieve compliance of the elbow, and the connection is not limited to the flexible hinge, but may be other specific ways to achieve the flexible swing connection, and is not limited herein.

As can be seen from the above, in the flexible elbow with the wrist-flipping function provided by the present application, the second driving device 102 drives the first tendon rope 500 to drive the rotating portion 201 to rotate, so that the elbow of the robot realizes the wrist-flipping motion, the first driving device 101 drives the first moving device 401 and the second moving device 402 to synchronously and reversely move on the first fixing 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 upward to realize the bending motion of the elbow, and the second tendon rope 600 is driven by the second moving device 402 to drag the fixed shaft 202 to swing downward to realize the extending motion of the elbow, i.e., the wrist-flipping motion of the elbow is decoupled from the bending motion and the extending motion of the elbow, which does not affect each other, and is simple to control; in addition, the other end of the fixed shaft 202 is flexibly connected with the connecting frame 800 in a swinging mode, so that rigid connection of elbows is avoided, and bionic impact resistance and flexibility of the elbows can be realized.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a flexible elbow that possesses wrist-turning function, is applied to the elbow of robot which characterized in that includes:

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

a first driving device (101) and a second driving device (102) are arranged at the upper end of the first fixing frame (100), the connecting frame (800) is fixedly connected to the lower end of the first fixing frame (100), and the first moving device (401) and the second moving device (402) are arranged on the first fixing frame (100) in a manner of moving up and down;

the second fixing frame (200) comprises a rotating part (201) and a fixing shaft (202), the rotating part (201) is sleeved at one end of the fixing shaft (202) and can rotate around the fixing shaft (202), and the other end of the fixing shaft (202) is in flexible swinging connection with the connecting frame (800);

the first driving device (101) is used for driving the first moving device (401) and the second moving device (402) to synchronously move in opposite directions on the first fixing frame (100);

the first tendon rope (500) is of 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 for driving the rotating part (201) to rotate through the first tendon rope (500); when the first moving device (401) moves upwards, the first tendon rope (500) is driven by the first moving device (401) to drag the fixed shaft (202) to swing upwards;

the second tendon rope (600) is connected among the second moving device (402), the second pulley block and the fixed shaft (202), and when the second moving device (402) moves upwards, the second tendon rope (600) is driven by the second moving device (402) to drag the fixed shaft (202) to swing downwards.

2. The flexible elbow with a wrist-flipping function according to claim 1, wherein the first pulley block comprises two pulley sub-blocks symmetrically disposed at two sides of a swing plane of the fixed shaft (202), each pulley sub-block comprises a first movable pulley (301), a first fixed pulley (302) and a second fixed pulley (303), the first movable pulley (301) is disposed on the first moving device (401), the first fixed pulley (302) is disposed on the first fixed frame (100) below the first movable pulley (301), and the second fixed pulley (303) is disposed on the fixed shaft (202) at a front side of the connecting frame (800);

at each sub-pulley block, the first tendon rope (500) is wound on the first fixed pulley (301) after being wound on the first fixed pulley (302), and then is wound on the second fixed pulley (303).

3. The flexible elbow with a wrist-flipping function according to claim 2, wherein each of the sub-pulley sets further comprises a third fixed pulley (304), the third fixed pulley (304) is disposed on the first fixed frame (100) below the first fixed pulley (302); at each sub-pulley block, the first tendon rope (500) is wound on the third fixed pulley (304) and the second fixed pulley (303) in sequence after being wound on the first movable pulley (301).

4. The flexible elbow with the wrist-flipping function according to claim 1, wherein a rotating pulley (203) is fixedly disposed at one end of the rotating part (201) close to the first fixing frame (100), and the first tendon rope (500) is wound around the rotating pulley (203).

5. The flexible elbow with the wrist-turning function according to claim 1, wherein at least one spring set is disposed between the fixed shaft (202) and the connecting frame (800), the spring set comprises four springs (700), the fixed shaft (202) is provided with two first connecting points corresponding to each spring set, the two first connecting points are respectively disposed at the front side and the rear side of the connecting frame (800), the connecting frame (800) is provided with two second connecting points corresponding to each spring set, the two second connecting points are respectively disposed at the upper side and the lower side of the fixed shaft (202), and one spring (700) is connected between each first connecting point and each second connecting point.

6. The flexible elbow with the wrist-turning function according to claim 5, wherein the connecting frame (800) is provided with a through slot (802) penetrating through the front and the back, the fixed shaft (202) is inserted into the through slot (802), the spring sets are provided with two sets, and the two sets of spring sets are symmetrically arranged on two sides of the swinging plane of the fixed shaft (202).

7. A flexible elbow with a wrist-flipping function according to claim 1, wherein 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 around the second driving pulley (205), and two ends of the third tendon rope (204) are respectively connected with the first moving device (401) and the second moving device (402).

8. The flexible elbow with the wrist-flipping function according to claim 7, wherein the second pulley block comprises a second movable pulley (403), a fourth fixed pulley (404) and a fifth fixed pulley (405), the second movable pulley (403) is disposed on the second moving device (402), the fourth fixed pulley (404) is disposed on the first fixed frame (100) below the second movable pulley (403), the fifth fixed pulley (405) is fixed at a 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 other end of the second tendon rope (600) is sequentially 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) at the front side of the connecting frame (800).

9. The flexible elbow with a wrist-flipping function according to claim 8, wherein the second pulley set further comprises a third movable pulley (801), the third movable pulley (801) is disposed at an end of the fixed shaft (202) far away from the rotating part (201), and the second tendon rope (600) is wound around the fourth fixed pulley (404) and then sequentially wound around the third movable pulley (801) and the fifth fixed pulley (405).

10. The flexible elbow with a wrist-flipping function according to claim 1, wherein the connecting frame (800) is connected with the fixed shaft (202) by a flexible hinge.