CN214818582U

CN214818582U - Three-degree-of-freedom hybrid variable-rigidity bionic robot joint

Info

Publication number: CN214818582U
Application number: CN202022980903.4U
Authority: CN
Inventors: 王耀博; 张明; 张磊; 叶坤; 李飞; 张硕; 何毅; 寇皓
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-11-23
Anticipated expiration: 2030-12-14

Abstract

The utility model discloses a three-degree-of-freedom series-parallel variable-rigidity bionic robot joint, which comprises a motion output platform, an output end central shaft, a sliding groove frame, an axial limiting sleeve, a sun gear, a movable sliding seat, a pulley, a planet gear, a large gear ring, a gear ring fixing ring, a planet carrier, a carbon fiber rope, a rope roller, a rope joint fixing bolt, a belt wheel driving motor, a pinion, a gear driving motor, a star wheel shaft, a crank and a rope driving motor; the utility model discloses an adopt bionic structure design, not only can realize the three degree of freedom rotation actions of human shoulder joint, can also simulate nonlinear variable stiffness muscle characteristic simultaneously in every degree of freedom orientation to enlarged the rigidity variation range and the motion range of robot joint, strengthened robot joint's output power, increased robot joint's weight, ensured robot joint's operational reliability, effectively improved human-computer interaction's security and environmental suitability.

Description

Three-degree-of-freedom hybrid variable-rigidity bionic robot joint

Technical Field

The utility model relates to a bionic robot technical field specifically is a three degree of freedom series-parallel connection variable stiffness's bionic robot joint.

Background

In order to meet the requirements of accurate positioning, trajectory tracking and the like, an industrial robot often requires a joint driver to have high rigidity, but as the robot is applied more and more widely in various industries such as aerospace, medical treatment, service and the like, the chance of interaction with a human is more and more increased, and the problem that the robot or an operated object is easily damaged due to excessive environmental acting force in the operation process is more and more prominent, so that the safety of the human in the process of ensuring human-computer interaction operation becomes a key research target at home and abroad.

In recent years, scientists find that muscle joint tissues have nonlinear variable stiffness characteristics, can buffer certain collision, can absorb and store energy, and have good environmental adaptability and passive safety performance. If the joint with bionic muscle characteristics can be designed by referring to a muscle joint system, the high rigidity characteristic of the traditional robot can be improved, so that the safety and the environmental adaptability of human-computer interaction are improved.

The shoulder joint is the most flexible ball socket joint of the whole body, has three-degree-of-freedom rotation, and can drive the upper limbs to perform rotary motions such as flexion, extension, contraction, extension, rotation and the like. In order to simulate the flexible motion of human shoulder joints, people research various mechanisms to realize three-degree-of-freedom rotation around a fixed point, and the mechanisms mainly have rigid series structures and rigid parallel structures, wherein the rigid series structures are formed by connecting three rotary joints in a series mode, and the rotary axes of the three rotary joints intersect at a point. The rigid parallel mechanism is mainly a classical 3-RRR mechanism and a 3-RRR + S mechanism which have high rigidity and high precision, but the rigid parallel mechanism is often insufficient in working space compared with a serial shoulder joint. Compared with human shoulder joints, the rigid shoulder joint mainly has the advantages that the nonlinear variable stiffness and collision buffering functions are difficult to realize, in recent years, with the development of material technology, variable stiffness bionic shoulder joints which adopt electro-polymer artificial muscles, shape memory alloys, pneumatic artificial muscles and elastic elements appear, but the rigid shoulder joint has the defects of small stiffness change range, small movement range, small output force, large weight, complex control method and high energy consumption, is poor in working reliability, and insufficient in safety and environmental adaptability of human-computer interaction, and cannot meet the use requirements of industrial robots.

Therefore, it is necessary to design a three-degree-of-freedom hybrid variable-stiffness bionic robot joint.

Disclosure of Invention

An object of the utility model is to provide a three degree of freedom series-parallel connection variable rigidity's bionic robot joint to solve the problem that proposes in the above-mentioned background art.

In order to solve the technical problem, the utility model provides a following technical scheme: a three-degree-of-freedom hybrid variable-rigidity bionic robot joint comprises a motion output platform, a first universal joint seat, a thin-wall bearing, a thin-wall check ring, a cross universal joint, a second universal joint seat, an output end central shaft, a sliding groove frame, an axial limiting sleeve, a sun wheel, a first rope clamping head, a movable sliding seat, a pulley, a spring piece, a rotary fixing table, a machine key lug ring, a machine key through hole, a first cross bearing outer check ring, a base, a planet wheel, a large gear ring, a gear ring fixing ring, a planet carrier, a second cross bearing outer check ring, a cross bearing inner check ring, a carbon fiber rope, a double-line pipe, a second rope clamping head, a motor fixing seat, a rope rolling wheel, a rope joint fixing bolt, a driven belt wheel, a synchronous belt, a driving belt wheel, a belt wheel driving motor, a pinion, a gear driving motor, The center of the side surface of the motion output platform is fixedly connected with the middle section of a first universal joint seat, two ends of the first universal joint seat are fixedly hinged with two ends of a cross universal joint through a thin-wall bearing and a thin-wall retaining ring, the other two ends of the cross universal joint are fixedly connected with two ends of a second universal joint seat through a thin-wall bearing and a thin-wall retaining ring, the middle section of the second universal joint seat is fixedly connected with one end of an output end central shaft, a sliding groove frame, an axial limiting sleeve and a sun wheel are fixedly sleeved at the center and two sides of the middle section of the output end central shaft respectively, a first rope clamping head is fixedly installed on the outer wall of the sliding groove frame, three sliding grooves are annularly formed in the outer edge of the side surface of the sliding groove frame, one ends of the sliding grooves are slidably embedded and movably, and a sliding seat is fixedly hinged with a pulley at one end of the movable sliding seat, the other end of the movable sliding seat is fixedly connected with one end of a spring piece, and the other end of the spring piece is fixedly connected with the other end of the sliding groove; the middle section of the axial limiting sleeve is fixedly sleeved with a rotary fixing table, the inner edge and the outer edge of the side surface of the rotary fixing table are respectively provided with three machine key earrings and machine key through holes in an annular mode, and the outer circumference of the rotary fixing table is fixedly hinged with the top end of the side surface of the base through a first crossed bearing and a first crossed bearing outer retainer ring; the outer tooth profile of the sun gear is respectively meshed with the outer tooth profiles of the three annularly arranged planet gears, the outer tooth profiles of the planet gears are meshed with the inner tooth profiles of the large gear ring, the inner edges of two sides of the large gear ring are respectively fixedly connected with the gear ring fixing ring and the outer edge of one side of the planet carrier, and the outer circumferences of the other sides of the gear ring fixing ring and the planet carrier are respectively fixedly hinged with the top end of the side surface of the base through a second crossed bearing, a second crossed bearing outer retainer ring and a crossed bearing inner retainer ring; the triangle of motion output platform side respectively with the one end fixed connection of carbon fiber rope, the middle section of carbon fiber rope passes key earrings, key through-hole, pulley race, first rope dop, double-line rope spool, second rope dop and motor fixing base race respectively, and the other end of carbon fiber rope passes through the one end fixed connection of rope joint fixing bolt and rope gyro wheel race.

Furthermore, the other end of the output end center shaft is fixedly sleeved with a driven belt wheel, the driven belt wheel is fixedly hinged with the top end of the side surface of the base, the outer circumference of the driven belt wheel is meshed with one end of the inner circumference of the synchronous belt, the other end of the inner circumference of the synchronous belt is meshed with the outer circumference of the driving belt wheel, the driving belt wheel is fixedly hinged with the bottom end of the side surface of the base, the driving belt wheel is fixedly sleeved on the output end of a belt wheel driving motor, and the belt wheel driving motor is fixedly installed at the bottom end of the side surface of the base.

Furthermore, the external tooth profile of the large gear ring is meshed with the external tooth profile of the small gear, the small gear is fixedly sleeved on the output end of the gear driving motor, and the gear driving motor is fixedly installed in the middle section of the side face of the base.

Furthermore, the inner edge of the side face of the planet carrier is fixedly hinged with the middle sections of the three annular star wheel shafts through deep groove ball bearings and ball bearing retainer rings respectively, one end of each star wheel shaft is fixedly sleeved with the inner circumference of the planet wheel through a shaft end retainer ring, the other end of each star wheel shaft is fixedly sleeved with one end of a crank through a pin shaft, and the other end of each crank is fixedly connected with the side face of the movable sliding seat.

Further, the rope roller is fixedly sleeved on the output end of the rope driving motor, the rope driving motor is fixedly installed at the top end of the side face of the motor fixing seat, and the bottom of the motor fixing seat is fixedly connected with one side of the top of the base.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is: the utility model discloses a whole adopts bionic structure design, not only can realize the three degree of freedom rotation actions of human shoulder joint, and can also simulate nonlinear variable stiffness muscle characteristic in every degree of freedom direction, thereby the rigidity variation range and the motion range of robot joint have been enlarged, the output power of robot joint has been strengthened, the articulated weight of robot has been increased, the operational reliability of robot joint has been ensured, human-computer interaction's security and environmental suitability have been improved by a wide margin, adopt parallelly connected rope drive structure simultaneously, thereby driving motor's quantity has been reduced, the articulated volume and the weight of robot have been reduced.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a front view of the overall structure of the present invention;

fig. 2, fig. 3 and fig. 4 are perspective views of the present invention with a partial structure;

in the figure: 1. a motion output platform; 2. a first gimbal base; 3. a thin-walled bearing; 4. a thin-wall retainer ring; 5. a cross universal joint; 6. a second gimbal base; 7. an output end central shaft; 8. a chute frame; 9. an axial limit sleeve; 10. a sun gear; 11. a first rope chuck; 12. moving the slide; 13. a pulley; 14. a spring plate; 15. rotating the fixed table; 16. a key earring; 17. a machine key through hole; 18. a first cross bearing; 19. a first cross bearing outer retainer ring; 20. a base; 21. a planet wheel; 22. a large gear ring; 23. a gear ring fixing ring; 24. a planet carrier; 25. a second crossed bearing; 26. a second cross bearing outer retainer ring; 27. an inner retainer ring of the crossed bearing; 28. a carbon fiber rope; 29. a two-wire rope conduit; 30. a second rope chuck; 31. a motor fixing seat; 32. a rope roller; 33. a rope joint fixing bolt; 34. a driven pulley; 35. a synchronous belt; 36. a driving pulley; 37. a pulley drive motor; 38. a pinion gear; 39. a gear drive motor; 40. a deep groove ball bearing; 41. a ball bearing retainer ring; 42. a star wheel shaft; 43. a shaft end retainer ring; 44. a pin shaft; 45. a crank; 46. the rope drives the motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a three-degree-of-freedom hybrid variable-rigidity bionic robot joint comprises a motion output platform 1, a first universal joint seat 2, a thin-wall bearing 3, a thin-wall retainer ring 4, a cross universal joint 5, a second universal joint seat 6, an output end central shaft 7, a sliding groove frame 8, an axial limiting sleeve 9, a sun wheel 10, a first rope clamp 11, a movable sliding seat 12, a pulley 13, a spring piece 14, a rotary fixing table 15, a key lug ring 16, a key through hole 17, a first cross bearing 18, a first cross bearing outer retainer ring 19, a base 20, a planet wheel 21, a large gear ring 22, a gear ring fixing ring 23, a planet carrier 24, a second cross bearing 25, a second cross bearing outer retainer ring 26, a cross bearing inner retainer ring 27, a carbon fiber rope 28, a double-line rope line pipe 29, a second rope clamp 30, a motor fixing seat 31, a rope roller 32, a rope joint fixing bolt 33, a first rope clamp 13, a second universal joint seat 3, a thin-wall bearing 4, a thin-wall retainer ring 5, a cross universal joint 5, a second universal joint seat 6, a second universal joint outer retainer ring 16, a second cross bearing, a third rope clamp ring, a fourth, A driven belt wheel 34, a synchronous belt 35, a driving belt wheel 36, a belt wheel driving motor 37, a pinion 38, a gear driving motor 39, a deep groove ball bearing 40, a ball bearing retainer ring 41, a star wheel shaft 42, a shaft end retainer ring 43, a pin shaft 44, a crank 45 and a rope driving motor 46, wherein the center of the side surface of the motion output platform 1 is fixedly connected with the middle section of the first universal joint seat 2, two ends of the first universal joint seat 2 are fixedly hinged with two ends of the cross universal joint 5 through a thin wall bearing 3 and a thin wall retainer ring 4, the other two ends of the cross universal joint 5 are fixedly connected with two ends of the second universal joint seat 6 through the thin wall bearing 3 and the thin wall retainer ring 4, the middle section of the second universal joint seat 6 is fixedly connected with one end of an output end central shaft 7, the center and two sides of the middle section of the output end central shaft 7 are respectively fixedly sleeved with a sliding groove frame 8, an axial limiting sleeve 9 and a sun wheel 10, the other end of the output end central shaft 7 is fixedly sleeved with the driven belt wheel 34, a driven pulley 34 is fixedly hinged with the top end of the side surface of the base 20, the outer circumference of the driven pulley 34 is meshed with one end of the inner circumference of the synchronous belt 35, the other end of the inner circumference of the synchronous belt 35 is meshed with the outer circumference of the driving pulley 36, the driving pulley 36 is fixedly hinged with the bottom end of the side surface of the base 20, the driving pulley 36 is fixedly sleeved on the output end of a pulley driving motor 37, the pulley driving motor 37 is fixedly installed at the bottom end of the side surface of the base 20, a first rope chuck 11 is fixedly installed on the outer wall of the sliding chute frame 8, three sliding chutes are annularly arranged on the outer edge of the side surface of the sliding chute frame 8, one ends of the sliding chutes are slidably embedded and connected with a movable sliding seat 12, one end of the movable sliding seat 12 is fixedly hinged with a pulley 13, the other end of the movable sliding seat 12 is fixedly connected with one end of a spring leaf 14, the other end of the sliding chute 14 is fixedly connected with the other end of the sliding chute, a rotary fixing table 15 is fixedly sleeved on the middle section of an axial limiting sleeve 9, the inner edge and the outer edge of the side surface of the rotary fixed platform 15 are respectively provided with three key ear rings 16 and key through holes 17 in an annular mode, the outer circumference of the rotary fixed platform 15 is fixedly hinged with the top end of the side surface of the base 20 through a first cross bearing 18 and a first cross bearing outer retainer ring 19, the outer tooth profile of the sun gear 10 is respectively meshed with the outer tooth profiles of three planet gears 21 arranged in an annular mode, the outer tooth profile of the planet gears 21 is meshed with the inner tooth profile of a large gear ring 22, the outer tooth profile of the large gear ring 22 is meshed with the outer tooth profile of a small gear 38, the small gear 38 is fixedly sleeved on the output end of a gear driving motor 39, the gear driving motor 39 is fixedly installed on the middle section of the side surface of the base 20, the inner edges of the two sides of the large gear ring 22 are respectively fixedly connected with the inner edge of one side of the gear ring fixed ring 23 and the outer edge of one side of the planet carrier 24, the outer circumference of the other sides of the gear ring fixed ring 23 and the planet carrier 24 are fixedly connected with the outer edge of the other side of the planet carrier 24 through a second cross bearing 25, The outer retainer ring 26 of the second cross bearing and the inner retainer ring 27 of the cross bearing are respectively and fixedly hinged with the top end of the side surface of the base 20, the inner edge of the side surface of the planet carrier 24 is respectively and fixedly hinged with the middle sections of three ring-shaped planet wheel shafts 42 through a deep groove ball bearing 40 and a ball bearing retainer ring 41, one end of the planet wheel shaft 42 is fixedly sleeved with the inner circumference of the planet wheel 21 through a shaft end retainer ring 43, the other end of the star wheel shaft 42 is fixedly sleeved with one end of a crank 45 through a pin shaft 44, the other end of the crank 45 is fixedly connected with the side surface of the movable sliding seat 12, the bionic structure design is adopted, not only the three-degree-of-freedom rotation action of the shoulder joint of a human can be realized, but also the nonlinear variable stiffness muscle characteristic can be simulated in each degree-of-freedom direction, therefore, the rigidity change range and the movement range of the robot joint are expanded, the output force of the robot joint is enhanced, and the safety and the environmental adaptability of human-computer interaction are improved; the triangle on the side of the motion output platform 1 is fixedly connected with one end of a carbon fiber rope 28, the middle section of the carbon fiber rope 28 passes through a machine key ear ring 16, a machine key through hole 17, a pulley 13 wheel groove, a first rope chuck 11, a double-wire rope tube 29, a second rope chuck 30 and a motor fixing seat 31 wheel groove respectively, the other end of the carbon fiber rope 28 is fixedly connected with one end of a rope roller 32 wheel groove through a rope joint fixing bolt 33, the rope roller 32 is fixedly sleeved on the output end of a rope driving motor 46, the rope driving motor 46 is fixedly installed at the top end of the side of the motor fixing seat 31, the bottom of the motor fixing seat 31 is fixedly connected with one side of the top of the base 20, and a parallel rope driving structure is adopted, so that the number of driving motors is reduced, and the volume and the weight of a robot joint are reduced; when the utility model is used, firstly, the belt driving motor 37 and the gear driving motor 39 are started, the driving belt wheel 36 drives the sun wheel 10 to rotate through the synchronous belt 35, the driven belt wheel 34 and the output end central shaft 7, the large gear ring 22 is driven to rotate through the pinion 38, the sun wheel 10 and the large gear ring 22 rotate in the same direction and at the same speed, the planet wheel 21 relatively revolves around the sun wheel 10, then the planet carrier 24 relatively revolves around the output end central shaft 7 through the star wheel shaft 42, the movable sliding seat 12 and the crank 45 do not move relative to the chute frame 8 and the planet carrier 24 respectively, the working rigidity of the spring piece 14 does not change, further, the motion output platform 1 rotates relative to the output end central shaft 7 by one degree of freedom through the three carbon fiber ropes 28, then the rope driving motor 46 is started, and the rope roller 32 rotates forward or reversely relative to the motor fixing seat 31, further changing the length of the three carbon fiber ropes 28, enabling the motion output platform 1 to rotate relative to the output end central shaft 7 by two degrees of freedom through the first universal joint seat 2, the cross universal joint 5 and the second universal joint seat 6, finally enabling the sun gear 10 and the large gear ring 22 to rotate in a constant speed and reverse direction, further enabling the planet gear 21 to rotate relative to the sun gear 10, enabling the moving slide seat 12 to slide relative to the chute frame 8, enabling the crank 45 to rotate relative to the planet carrier 24, enabling the working rigidity of the spring piece 14 to change, adjusting the rigidity of the robot joint through changing the working rigidity of the three carbon fiber ropes 28, realizing three-degree-of-freedom rotation action of the robot joint by using a bionic structure design, and simultaneously simulating the nonlinear rigidity-changing muscle characteristics in each degree-of-freedom direction, thereby expanding the rigidity change range and the motion range of the robot joint and enhancing the output force of the robot joint, the safety and the environmental adaptability of the man-machine interaction are improved.

It is noted that, herein, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-degree-of-freedom hybrid variable-rigidity bionic robot joint comprises a motion output platform (1), a first universal joint seat (2), a thin-wall bearing (3), a thin-wall retainer ring (4), a cross universal joint (5), a second universal joint seat (6), an output end central shaft (7), a sliding groove frame (8), an axial limiting sleeve (9), a sun wheel (10), a first rope chuck (11), a movable sliding seat (12), a pulley (13), a spring piece (14), a rotary fixing table (15), a key lug ring (16), a key through hole (17), a first cross bearing (18), a first cross bearing outer retainer ring (19), a base (20), a planet wheel (21), a large gear ring (22), a gear ring fixing ring (23), a planet carrier (24), a second cross bearing (25), a second cross bearing outer retainer ring (26), a cross bearing inner retainer ring (27), Carbon fiber rope (28), double-line rope spool (29), second rope dop (30), motor fixing base (31), rope gyro wheel (32), rope joint fixing bolt (33), driven pulleys (34), hold-in range (35), driving pulley (36), band pulley driving motor (37), pinion (38), gear driving motor (39), deep groove ball bearing (40), ball bearing retaining ring (41), star wheel axle (42), axle head retaining ring (43), round pin axle (44), crank (45) and rope driving motor (46), its characterized in that: the center of the side surface of the motion output platform (1) is fixedly connected with the middle section of a first universal joint seat (2), the two ends of the first universal joint seat (2) are fixedly hinged with the two ends of a cross universal joint (5) through a thin-wall bearing (3) and a thin-wall check ring (4), the other two ends of the cross universal joint (5) are fixedly connected with the two ends of a second universal joint seat (6) through the thin-wall bearing (3) and the thin-wall check ring (4), the middle section of the second universal joint seat (6) is fixedly connected with one end of an output end central shaft (7), the center and the two sides of the middle section of the output end central shaft (7) are respectively and fixedly sleeved with a sliding groove frame (8), an axial limiting sleeve (9) and a sun wheel (10), a first rope clamping head (11) is fixedly installed on the outer wall of the sliding groove frame (8), and three sliding grooves are annularly formed in the outer edge of the side surface of the sliding groove frame (8), one end of the sliding chute is embedded with a movable sliding seat (12) in a sliding manner, one end of the movable sliding seat (12) is fixedly hinged with a pulley (13), the other end of the movable sliding seat (12) is fixedly connected with one end of a spring piece (14), and the other end of the spring piece (14) is fixedly connected with the other end of the sliding chute; a rotary fixing table (15) is fixedly sleeved at the middle section of the axial limiting sleeve (9), three machine key ear rings (16) and machine key through holes (17) are respectively and annularly arranged on the inner edge and the outer edge of the side face of the rotary fixing table (15), and the outer circumference of the rotary fixing table (15) is fixedly hinged with the top end of the side face of the base (20) through a first crossed bearing (18) and a first crossed bearing outer retainer ring (19); the outer tooth profile of the sun gear (10) is respectively meshed with the outer tooth profiles of three annularly arranged planet gears (21), the outer tooth profile of the planet gears (21) is meshed with the inner tooth profile of a large gear ring (22), the inner edges of two sides of the large gear ring (22) are respectively fixedly connected with a gear ring fixing ring (23) and the outer edge of one side of a planet carrier (24), and the outer circumferences of the other sides of the gear ring fixing ring (23) and the planet carrier (24) are respectively fixedly hinged with the top end of the side surface of the base (20) through a second crossed bearing (25), a second crossed bearing outer retainer ring (26) and a crossed bearing inner retainer ring (27); the triangle of motion output platform (1) side respectively with the one end fixed connection of carbon fiber rope (28), the middle section of carbon fiber rope (28) passes key earrings (16), key through-hole (17), pulley (13) race, first rope dop (11), double-line rope spool (29), second rope dop (30) and motor fixing base (31) race respectively, and the other end of carbon fiber rope (28) passes through the one end fixed connection of rope joint fixing bolt (33) and rope gyro wheel (32) race.

2. The three-degree-of-freedom hybrid variable-stiffness bionic robot joint as claimed in claim 1, wherein the three-degree-of-freedom hybrid variable-stiffness bionic robot joint comprises: the fixed cover of the other end of output end center pin (7) has been connect with driven pulley (34), driven pulley (34) is fixed articulated with the top of base (20) side, and the outer circumference of driven pulley (34) meshes with the one end of the interior circumference of hold-in range (35), the other end of the interior circumference of hold-in range (35) meshes with the outer circumference of driving pulley (36), fixed articulated in the bottom of driving pulley (36) and base (20) side, and driving pulley (36) fixed cup joint on the output of pulley driving motor (37), pulley driving motor (37) fixed mounting is in the bottom of base (20) side.

3. The three-degree-of-freedom hybrid variable-stiffness bionic robot joint as claimed in claim 1, wherein the three-degree-of-freedom hybrid variable-stiffness bionic robot joint comprises: the external tooth profile of the large gear ring (22) is meshed with the external tooth profile of the small gear (38), the small gear (38) is fixedly sleeved on the output end of a gear driving motor (39), and the gear driving motor (39) is fixedly installed in the middle section of the side face of the base (20).

4. The three-degree-of-freedom hybrid variable-stiffness bionic robot joint as claimed in claim 1, wherein the three-degree-of-freedom hybrid variable-stiffness bionic robot joint comprises: the inner edge of the side face of the planet carrier (24) is fixedly hinged with the middle sections of three annular star wheel shafts (42) through deep groove ball bearings (40) and ball bearing retainer rings (41), one ends of the star wheel shafts (42) are fixedly sleeved with the inner circumferences of the planet wheels (21) through shaft end retainer rings (43), the other ends of the star wheel shafts (42) are fixedly sleeved with one ends of cranks (45) through pin shafts (44), and the other ends of the cranks (45) are fixedly connected with the side face of the movable sliding seat (12).

5. The three-degree-of-freedom hybrid variable-stiffness bionic robot joint as claimed in claim 1, wherein the three-degree-of-freedom hybrid variable-stiffness bionic robot joint comprises: the rope roller (32) is fixedly sleeved on the output end of the rope driving motor (46), the rope driving motor (46) is fixedly installed at the top end of the side face of the motor fixing seat (31), and the bottom of the motor fixing seat (31) is fixedly connected with one side of the top of the base (20).