CN217511159U - Bionic joint assembly - Google Patents

Abstract

The utility model relates to the technical field of toys, in particular to a bionic joint assembly, which comprises a limiting shell, a ratchet wheel and a pawl, wherein the ratchet wheel is axially provided with a rotating shaft, a cavity which can be used for the ratchet wheel to move left and right is arranged in the limiting shell, two ends of the rotating shaft are rotatably arranged on two sides of the limiting shell, the pawl is oppositely arranged on the left side and the right side of the limiting shell, the bottom end of the pawl is rotatably connected on the limiting shell, tooth crests of the pawl are all positioned on a horizontal path of tooth socket movement of the ratchet wheel, the limiting shell on one side of the tooth crest direction of the pawl is provided with a limiting structure, and the bionic joint assembly also comprises an elastic part which applies elastic pressure to the pawl along the tooth crest direction of the pawl; the joint is kept in a fixed state in one direction by utilizing the characteristic that the ratchet structure can only rotate in one direction, so that the requirements of displaying the doll in different postures are met.

Description

Bionic joint assembly

Technical Field

The utility model relates to a toy technical field specifically is a bionical joint subassembly.

Background

The doll is a product manufactured from the structure and appearance of human beings, wherein in order to improve the simulation degree of the doll, joints which can rotate are generally adopted at the joints of elbows, knees, ankles, finger joints and the like so as to bend the doll into various postures. The existing joints mostly adopt spherical joints or hinged structures, and the joint parts can keep a certain posture by using the friction force between the structures, but after the spherical joints or hinged parts rotate for a long time, the abrasion is serious due to the friction, the joints are easy to loosen, and the doll can not show different postures any more.

In order to solve the problems, chinese patent No. CN202022350516.2 discloses a doll spherical joint, which includes a socket, a ball head, and an elastic body, wherein an inner spherical surface adapted to the spherical surface of the ball head is disposed on a surface of the socket facing away from the elastic body, and the ball head is adapted to the inner spherical surface. However, the structure still adopts a friction mode to maintain the posture of the doll, and as the service life is prolonged, the elasticity of the spring is fatigued, so that enough elastic force cannot be generated to pass through the joint to maintain the posture of the doll, and the joint is loosened, so that the doll cannot continuously exhibit different postures.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bionical joint subassembly, it has stability good, and long service life's characteristics can make the doll gesture that remains stable.

In order to realize the purpose, the following technical scheme is provided:

the utility model provides a bionic joint assembly, including spacing casing, ratchet and pawl, the ratchet axial is equipped with the pivot, be equipped with the cavity that can supply the ratchet to remove about the spacing casing, the both ends of pivot are rotated and are set up the both sides at spacing casing, the pawl subtend sets up the left and right sides at spacing casing, the pawl bottom is rotated and is connected on spacing casing, the tooth top of pawl all is located the horizontal path that the tooth's socket of ratchet removed, all be equipped with limit structure on the spacing casing of tooth top direction one side of pawl, still exert elastic pressure's elastic component to the pawl including the tooth top direction along the pawl.

Preferably, the elastic part is a spring, the spring is arranged at the inner bottom of the cavity, and two ends of the spring are respectively connected with the pawls on two sides of the limiting shell through connecting rods.

Preferably, spacing casing both sides are equipped with and hold the chamber, hold the top and the cavity intercommunication in chamber, and the pawl is installed and is held in the tooth top that holds intracavity and pawl and stretch into the cavity, and one side and the top that hold the chamber leave and supply pawl pivoted to dodge the space, and limit structure is for being located hold the chamber opposite side and can with the salient angle of the tooth top butt of pawl.

Preferably, spacing casing includes left side casing, middle part casing and right side casing, and the cavity is located the middle part casing, and the both ends of pivot are all rotated and are set up on left side casing and right side casing.

Better, middle part casing both sides are equipped with and hold the chamber, hold the top and the cavity intercommunication in chamber, and the pawl is installed and is held in the tooth top that holds intracavity and pawl and stretch into the cavity, and one side and the top that hold the chamber leave and supply pawl pivoted to dodge the space, and limit structure is for being located hold the chamber opposite side and can with the salient angle of the tooth top one side butt of pawl.

Preferably, the middle shell comprises a middle clamping piece, a left clamping piece and a right clamping piece which are positioned at two sides of the middle clamping piece; the middle parts of the middle clamping piece, the left clamping piece and the right clamping piece are all provided with through holes forming a cavity; the bottom of the through hole on the left clamping piece and the right clamping piece is provided with a notch communicated with the through hole, and the notch and the side surface of the middle clamping piece form an accommodating cavity and an avoiding space.

Preferably, the clamping device is further provided with a fork-shaped connecting frame connected with two ends of the rotating shaft, one end or two ends of the rotating shaft are provided with clamping joints, and one side or two sides of the fork-shaped connecting frame are correspondingly provided with clamping holes matched with the clamping joints.

Preferably, the clamping joint is provided with a concave hole, the corresponding connecting frame is provided with a mounting hole, a thimble screw is arranged in the mounting hole, and the telescopic end of the thimble screw extends into the clamping joint hole and corresponds to the position of the concave hole.

The utility model discloses a theory of operation and theory of use lie in: the axis of the rotating shaft is used as a reference, the joint assembly is transversely installed between two sections of frameworks of the doll, one section of framework is connected with the outside of the limiting shell, the other section of framework is sleeved with the two ends of the rotating shaft through the clamping hole through a fork-shaped structure with the clamping hole, and the assembly is completed. Through the one end of pressing the pivot left or right, make the pivot at spacing casing and the downthehole horizontal migration of joint to drive the ratchet and move to the pawl of one side, because the addendum of this side pawl is located the horizontal route that the ratchet tooth's socket removed, when the tooth's socket of ratchet and the addendum meshing of this side pawl, make the skeleton can rotate along the addendum direction of ratchet, even the skeleton can forward rotation, simultaneously, because the pawl is exerted pressure restriction along the addendum direction of pawl by the elastic component, and can not reverse movement. In a similar way, the other end of the rotating shaft is pressed to enable the rotating shaft to horizontally move in the limiting shell and the clamping hole, so as to drive the ratchet wheel to move towards the pawl at the other side, because the tooth tops of the side pawls are also positioned on the horizontal path of the movement of the tooth grooves of the ratchet wheel, and the side pawls are arranged opposite to the pawls on the other side, when the tooth space of the ratchet wheel is engaged with the tooth crest of the side pawl, the framework can rotate towards the tooth crest direction of the ratchet wheel, even if the framework can rotate reversely, the pawl can not rotate forwardly because of being limited by the limiting elastic piece, thereby realizing the forward or reverse rotation of the two sections of frameworks by pressing the rotating shaft in different directions to respectively drive the ratchet wheel to be meshed with the pawls at the two sides, and the two sections of frameworks can only rotate towards one direction in one state, and cannot rotate towards the other direction, so that the doll joint can maintain a fixed posture in one direction. In addition, when the ratchet wheel is positioned between the pawls at the two sides and is not engaged with the pawls at the two sides, the two sections of frameworks can rotate freely without limitation.

The utility model has the beneficial technical effects that: the ratchet wheel is switched to be meshed with the pawls on the two sides in a pressing mode, so that the ratchet wheel and the pawls on one side form a ratchet wheel structure, and the joint can be kept in a fixed state in one direction by utilizing the characteristic that the ratchet wheel structure can only rotate in a single direction, so that the requirements of showing the doll in different postures are met, the ratchet wheel structure has the characteristic of good stability, and the service life of the joint part is greatly prolonged.

Drawings

Fig. 1 is a schematic structural diagram of a rotating shaft and a ratchet wheel in the bionic joint assembly of the present invention.

Fig. 2 is a schematic structural diagram of the middle shell in the bionic joint assembly of the present invention.

Fig. 3 is a second schematic diagram of the middle shell of the bionic joint assembly of the present invention.

Fig. 4 is a third schematic view of the middle shell of the bionic joint assembly of the present invention.

Fig. 5 is a mounting structure diagram of the pawl in the bionic joint assembly of the utility model.

Figure 6 is a mounting structure schematic diagram of the bionic joint assembly of the utility model.

Figure 7 is a schematic diagram of an application structure of the bionic joint assembly of the present invention.

Fig. 8 is a schematic diagram of the exploded structure of fig. 7.

Fig. 9 is the mounting structure diagram of the thimble screw in the bionic joint assembly of the utility model.

Fig. 10 is a schematic structural diagram of a center pin screw according to the present invention.

Fig. 11 is a schematic view of a connection structure of pawls on both sides.

In the figure: 1. a limiting shell; 101. a left side housing; 102. a middle housing; 1021. a left clamping piece; 1022. a right clamping piece; 1023. a middle clamping piece; 1024. a convex ring; 103. a right side housing; 2. a ratchet wheel; 201. a tooth socket; 202. gear teeth; 3. a pawl; 301. tooth top; 4. a rotating shaft; 5. a spring; 6. a connecting rod; 7. an accommodating chamber; 8. a lobe; 9. a fork-shaped connecting frame; 901. a clamping hole; 902. a left connecting frame; 903. a right connecting frame; 10. a clamping head; 11. concave holes; 12. a thimble screw; 13. avoiding holes; 14. a rounded head structure; 15. and (7) installing holes.

Detailed Description

The bionic joint assembly of the present invention will be further described with reference to the accompanying drawings and specific embodiments.

It should be emphasized that the tooth profile of the ratchet wheel in the present embodiment is the tooth profile of the bidirectional ratchet wheel, and the tooth top direction of the pawl is the direction in which the tooth top of the pawl abuts against the tooth socket of the ratchet wheel.

As shown in fig. 1, fig. 2, fig. 5, fig. 6, a bionic joint assembly, including spacing casing 1, ratchet 2 and pawl 3, ratchet 2 is axially equipped with pivot 4, be equipped with the cavity that can supply ratchet 2 to remove about in spacing casing 1, the both ends of pivot 4 rotate and set up the both sides at spacing casing 1, pawl 3 subtend sets up the left and right sides at spacing casing 1, pawl 3 bottom is rotated and is connected on spacing casing 1, tooth top 301 of pawl 3 all is located the horizontal path that tooth's socket 201 of ratchet 2 removed, all be equipped with limit structure on spacing casing 1 of tooth top 301 direction one side of pawl 3, still including exerting elastic pressure's elastic component to pawl 3 along tooth top 301 direction of pawl 3.

As shown in fig. 5, 6 and 7, the axis of the rotating shaft 4 is used as a reference, the joint assembly of the present scheme is transversely installed between two sections of frameworks of the doll, one section of the framework is connected with the outside of the limiting shell 1, and the other section of the framework is sleeved with two ends of the rotating shaft 4 through the clamping hole 901 by a fork-shaped structure with the clamping hole 901, so as to complete the assembly. By pressing one end of the rotating shaft 4 leftwards or rightwards, the rotating shaft 4 is enabled to move horizontally in the limiting shell 1 and the clamping hole 901, so that the ratchet 2 is driven to move towards the pawl 3 on one side, because the tooth crest 301 of the side pawl 3 is positioned on the horizontal path of the movement of the tooth crest 201 of the ratchet 2, when the tooth crest 201 of the ratchet 2 is meshed with the tooth crest 301 of the side pawl 3, the framework can rotate along the tooth crest 301 direction of the ratchet 2, even if the framework can rotate forwards, and meanwhile, because the pawl 3 is limited by pressure applied by the elastic piece along the tooth crest 301 direction of the pawl 3, the pawl cannot move backwards. Similarly, the other end of the rotating shaft 4 is pressed to enable the rotating shaft 4 to horizontally move in the limiting shell 1 and the clamping hole 901, so as to drive the ratchet wheel 2 to move towards the pawl 3 on the other side, because the tooth crest 301 of the side pawl 3 is also positioned on the horizontal path of the movement of the tooth crest 201 of the ratchet wheel 2, and the side pawl 3 is arranged opposite to the pawl 3 on the other side, when the tooth crest 201 of the ratchet wheel 2 is meshed with the tooth crest 301 of the side pawl 3, the framework can rotate towards the tooth crest 301 of the ratchet wheel 2, even if the framework can rotate in the reverse direction, the pawl 3 cannot rotate in the forward direction because of being limited by the limiting elastic piece, so that the rotating shaft 4 is pressed in different directions to respectively drive the ratchet wheel 2 to be meshed with the pawls 3 on the two sides, so as to realize the forward or reverse rotation of the two frameworks, and enable the two frameworks to rotate only in one direction and not rotate in the other direction, namely, the fact that the doll joint can maintain a fixed posture in one direction is achieved. In addition, when the ratchet wheel 2 is positioned between the pawls 3 on the two sides and is not meshed with the pawls 3 on the two sides, the two sections of frameworks can rotate freely without limitation.

In one embodiment, as shown in fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, the limiting casing 1 is formed by assembling two or more parts, so that the ratchet 2 and the rotating shaft 4 are installed in the limiting casing 1, and the parts of the limiting casing 1 can be connected by a fastener or by a bolt.

The limiting structure is used for limiting the tooth crest 301 of the pawl 3 on the horizontal path of the movement of the tooth socket 201 of the ratchet wheel 2, and the elastic piece is used for resetting the pawl 3 and keeping the tooth crest 301 of the pawl 3 in contact with the tooth 202 of the ratchet wheel 2 when the ratchet wheel 2 rotates.

In one embodiment, the pawl 3 is positioned on the outer side of the limiting shell 1, and the limiting structure is a stopper positioned on the outer side of the limiting shell 1; in other embodiments, the detent 3 is located on both sides of the interior of the spacing housing 1 or in a groove on both sides of the spacing housing 1.

In one embodiment, as shown in fig. 1, the edges of the teeth 202 and the teeth slots 201 of the ratchet 2 on both sides in the horizontal extension direction are provided with chamfers or fillets to facilitate the sliding of the teeth of the pawl 3 into the teeth slots 201.

In one embodiment, the resilient member may be a spring 5. The number of the springs 5 can be two, the springs 5 are respectively positioned on two sides of the limiting shell 1 and on one side of the pawl 3 in the tooth top 301 direction, the ratchet wheels 2 respectively correspond to the two ratchet wheels 2, one end of each spring 5 is connected to the limiting shell 1, and the other end of each spring 5 is connected with one side of the pawl 3 in the tooth top 301 direction; the number of the springs 5 can also be one, the springs 5 are positioned inside the limiting shell 1 and positioned between the tooth tops 301 of the pawls 3 on the two sides, one end of each spring 5 is connected with the pawl 3 on one side, and the other end of each spring 5 is connected with the pawl 3 on the other side, so that the pawls 3 are reset, and the tooth tops 301 of the pawls 3 are kept in contact with the gear teeth 202 of the ratchet 2; in other embodiments, the elastic member may also be two elastic pressing sheets, which are respectively located on two sides of the limiting housing 1 and on the opposite side of the direction of the tooth crest 301 of the pawl 3, and one end of the elastic pressing sheet is connected to the limiting housing 1, and the other end of the elastic pressing sheet presses on the opposite side of the direction of the tooth crest 301 of the pawl 3.

Further, as shown in fig. 5, the elastic member is a spring 5, the spring 5 is disposed at the inner bottom of the cavity, and two ends of the spring 5 are connected to the pawls 3 at two sides of the limiting housing 1 through connecting rods 6, respectively.

A spring 5 provides a pulling force to both pawls 3 simultaneously for keeping the tooth tops 301 of the pawls 3 in abutment with the tooth spaces 201 of the ratchet 2. Therefore, the cost is saved, and the whole structure is compact and the size is small. In this embodiment, the connecting rod 6 is a screw.

Further, spacing casing 1 both sides are equipped with and hold chamber 7, hold the top and the cavity intercommunication in chamber 7, and pawl 3 is installed and is held in chamber 7 and in the tooth top 301 of pawl 3 stretches into the cavity, and the space of dodging that can supply pawl 3 pivoted is left at the one side and the top that hold chamber 7, and limit structure is for being located and hold chamber 7 opposite side and can with the salient angle 8 of the tooth top 301 one side butt of pawl 3.

In this embodiment, the escape space is used to reserve a space for the pawl 3 to rotate backward when the ratchet 2 toggles the pawl 3. The convex angle 8 and the limiting shell 1 are of an integral structure. The accommodating cavity 7 and the avoiding space are groove structures which are positioned on two sides of the limiting shell 1 and are communicated with each other and used for accommodating the pawl 3, and the bottom of the pawl 3 is rotatably installed in the groove structures through bolts.

Further, the limiting shell 1 comprises a left shell 101, a middle shell 102 and a right shell 103, the cavity is located in the middle shell 102, and two ends of the rotating shaft 4 are rotatably arranged on the left shell 101 and the right shell 103.

In this embodiment, the left casing 101, the middle casing 102, and the right casing 103 are integrally connected by a snap or a bolt. Holes for rotating the rotating shaft 4 are formed on the left casing 101 and the right casing 103.

Further, as shown in fig. 2, 3, 4, and 5, the two sides of the middle housing 102 are provided with accommodating cavities 7, the top of the accommodating cavity 7 is communicated with the cavity, the pawl 3 is installed in the accommodating cavity 7, the tooth top 301 of the pawl 3 extends into the cavity, an avoiding space for the rotation of the pawl 3 is reserved on one side and the top of the accommodating cavity 7, and the limiting structure is a convex angle 8 which is located on the other side of the accommodating cavity 7 and can be abutted to the tooth top 301 of the pawl 3.

In this embodiment, the accommodating chamber 7 and the avoiding space are groove structures located on both sides of the middle housing 102 and communicated with each other for accommodating the pawl 3, and the bottom of the pawl 3 is rotatably mounted in the groove structures through bolts. Avoidance holes 13 for avoiding bolt caps are further formed in the left casing 101 and the right casing 103.

Further, as shown in fig. 3, the middle housing 102 includes a middle clip 1023 and left and right clips 1021, 1022 located on both sides of the middle clip 1023; the middle parts of the middle clamping piece 1023, the left clamping piece 1021 and the right clamping piece 1022 are all provided with through holes forming a cavity; the bottom of the through hole on the left clamping piece 1021 and the right clamping piece 1022 is provided with a notch communicated with the through hole, and the side surface of the notch and the side surface of the middle clamping piece 1023 form an accommodating cavity 7 and an avoiding space.

In this embodiment, as shown in fig. 4, the middle housing 102 is assembled in the form of a clip assembly to facilitate product processing and assembly. The middle jaw 1023 can also provide a support position for the spring 5 located between the two pawls 3. In other embodiments, the middle clip 1023 can be formed of multiple clips.

Further, as shown in fig. 7 and 8, a fork-shaped connecting frame 9 connected to two ends of the rotating shaft 4 is further provided, one end or two ends of the rotating shaft 4 are provided with a clamping head 10, and one side or two sides of the fork-shaped connecting frame 9 are correspondingly provided with clamping holes 901 matched with the clamping heads 10.

The fork-shaped connecting frame 9 is convenient to be connected with two ends of the rotating shaft 4, and the specific fork-shaped connecting frame 9 comprises a left connecting frame 902 and a right connecting frame 903. The forked connecting frame 9 is sleeved with the clamping joints 10 at one end or two ends of the rotating shaft 4 through the clamping holes 901, so that the framework is pulled to drive the rotating shaft 4 and the ratchet 2 to rotate, and meanwhile, when the end part of the rotating shaft 4 is pressed, the two ends of the rotating shaft 4 can move in the clamping holes 901. In this embodiment, the clamping head 10 has a polygonal structure, an elliptical structure, or other irregular structures, so that the forked connecting frame 9 is sleeved with the rotating shaft 4, and the clamping head 10 is disposed at one end of the rotating shaft 4.

As shown in fig. 8 and 9, the inner edge of the clamping hole 901 is concave, holes for rotating the rotating shaft 4 are formed in the left casing 101 and the right casing 103, a convex ring 1024 matched with the concave part of the clamping hole 901 is arranged on the outer edge of the hole, and the convex ring 1024 is used for guiding when being installed.

Further, as shown in fig. 1, 8, 9, and 10, a concave hole 11 is provided on the clamping joint 10, a mounting hole 15 is provided on the corresponding fork-shaped connecting frame 9, a thimble screw 12 is provided in the mounting hole 15, and a telescopic end of the thimble screw 12 extends into the clamping hole 901 and corresponds to the position of the concave hole 11.

The thimble screw 12 is a screw with a thread on the outer side and a telescopic piece on one end, and is an existing product. The thimble screws 12 are mounted in the mounting holes 15 and extend the telescopic ends into the connection frame to correspond to the recesses 11 in the bayonet joint 10, typically the telescopic ends remain in abutment with the shaft 4. When one end of the rotating shaft 4 is pressed, the telescopic end of the thimble screw 12 slides on the clamping head 10, when the tooth groove 201 of the ratchet wheel 2 moves to the tooth crest 301 of the pawl 3 on one side and is meshed with the pawl 3, the telescopic end of the thimble screw 12 just can slide into the concave hole 11 and make a tiny sound and a touch feeling of snap so as to remind a user that the ratchet wheel 2 is in place and is in a meshed state with the pawl 3, and the framework can be rotated to enable a doll to keep a specific posture.

The number of the concave holes 11 may be 1, and when the user presses the rotary shaft 4 to one side, the user is reminded that the ratchet 2 has engaged with the pawl 3 of the side. Shrinkage pool 11 can set up 2 side by side along 4 horizontal migration directions of pivot, corresponds the engaged state of both sides respectively, and when the user pressed pivot 4 to one side and opposite side for remind the user ratchet 2 have engaged with the pawl 3 that corresponds the side respectively. Shrinkage pool 11 can set up 3 side by side along 4 horizontal migration directions of pivot, corresponds the engaged state of both sides respectively to and ratchet 2 is located the middle part, all not have with the state of pawl 3 contact, through shrinkage pool 11 and the design of thimble screw 12, can the person of facilitating the use when rotating the joint, obtain the feedback of ratchet 2 position.

Further, the both ends of pivot 4 all are located the joint hole 901 on the forked type link 9, and the distance in the both ends of pivot 4 to the joint hole 901 outside is suitable for with the user can press pivot 4, avoids pivot 4 too long, leads to the emulation skin protrusion that the doll outside covered, influences beautifully.

Further, as shown in fig. 7 and 8, the two ends of the rotating shaft 4 are both provided with round head structures protruding out of the fastening holes 901, so that on one hand, a user can conveniently find the position of the rotating shaft 4 by touching, and on the other hand, abrasion between the end of the rotating shaft 4 and the skin outside the doll can also be reduced. In this embodiment, the round head structure is a round head bolt.

The scheme is also suitable for dolls made of skeletons and appearances of animals or other cartoon images, and can be applied to joints of various dolls so as to realize bending of elbows, wrists, finger joints and other parts and show different postures.

The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only a specific implementation method of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The bionic joint assembly is characterized by comprising a limiting shell (1), a ratchet wheel (2) and a pawl (3), wherein a rotating shaft (4) is axially arranged on the ratchet wheel (2), a cavity capable of enabling the ratchet wheel (2) to move left and right is formed in the limiting shell (1), two ends of the rotating shaft (4) are rotatably arranged on two sides of the limiting shell (1), the pawl (3) is oppositely arranged on the left side and the right side of the limiting shell (1), the bottom end of the pawl (3) is rotatably connected to the limiting shell (1), tooth crests (301) of the pawl (3) are all located on a horizontal path where tooth troughs (201) of the ratchet wheel (2) move, and a limiting structure is arranged on the limiting shell (1) on one side of the tooth crests (301) of the pawl (3) in the direction; the ratchet mechanism further comprises an elastic piece which exerts elastic pressure on the pawl (3) along the tooth crest (301) direction of the pawl (3).

2. The bionic joint assembly as claimed in claim 1, wherein the elastic member is a spring (5), the spring (5) is arranged at the inner bottom of the cavity, and two ends of the spring (5) are respectively connected with the pawls (3) at two sides of the limit shell (1) through connecting rods (6).

3. The bionic joint assembly according to claim 1 or 2, wherein the accommodating cavities (7) are arranged on two sides of the limiting shell (1), the top of each accommodating cavity (7) is communicated with the cavity, the pawl (3) is installed in each accommodating cavity (7) and the tooth crest (301) of the pawl (3) extends into the cavity, an avoiding space for the rotation of the pawl (3) is reserved on one side and the top of each accommodating cavity (7), and each limiting structure is a convex angle (8) which is located on the other side of each accommodating cavity (7) and can be abutted to the tooth crest (301) of the pawl (3).

4. The bionic joint assembly as claimed in claim 1 or 2, wherein the limit housing (1) comprises a left housing (101), a middle housing (102) and a right housing (103), the cavity is located in the middle housing (102), and both ends of the rotating shaft (4) are rotatably arranged on the left housing (101) and the right housing (103).

5. The bionic joint assembly as claimed in claim 4, wherein the two sides of the middle shell (102) are provided with accommodating cavities (7), the tops of the accommodating cavities (7) are communicated with the cavity, the pawl (3) is installed in the accommodating cavity (7) and the tooth crest (301) of the pawl (3) extends into the cavity, an avoiding space for the rotation of the pawl (3) is reserved at one side and the top of the accommodating cavity (7), and the limiting structure is a convex angle (8) which is positioned at the other side of the accommodating cavity (7) and can be abutted against one side of the tooth crest (301) of the pawl (3).

6. The biomimetic joint assembly of claim 5, wherein the middle shell (102) includes a middle clip (1023) and left (1021) and right (1022) clips on either side of the middle clip (1023); the middle parts of the middle clamping piece (1023), the left clamping piece (1021) and the right clamping piece (1022) are all provided with through holes forming a cavity; the bottom of the through hole on the left clamping piece (1021) and the right clamping piece (1022) is provided with a notch communicated with the through hole, and the notch and the side surface of the middle clamping piece (1023) form an accommodating cavity (7) and an avoiding space.

7. The bionic joint assembly as claimed in claim 1, 2, 5 or 6, further comprising a fork-shaped connecting frame (9) connected with two ends of the rotating shaft (4), wherein one or two ends of the rotating shaft (4) are provided with clamping joints (10), and one or two sides of the fork-shaped connecting frame (9) are correspondingly provided with clamping holes (901) matched with the clamping joints (10).

8. The bionic joint assembly as claimed in claim 3, further comprising a fork-shaped connecting frame (9) connected with two ends of the rotating shaft (4), wherein one or two ends of the rotating shaft (4) are provided with clamping joints (10), and one or two sides of the fork-shaped connecting frame (9) are correspondingly provided with clamping holes (901) matched with the clamping joints (10).

9. The bionic joint assembly as claimed in claim 4, further comprising a fork-shaped connecting frame (9) connected with two ends of the rotating shaft (4), wherein one or two ends of the rotating shaft (4) are provided with clamping joints (10), and one or two sides of the fork-shaped connecting frame (9) are correspondingly provided with clamping holes (901) matched with the clamping joints (10).

10. The bionic joint assembly as claimed in claim 7, wherein the clamping joint (10) is provided with a concave hole (11), the corresponding connecting frame is provided with a mounting hole (15), a thimble screw (12) is arranged in the mounting hole (15), and the telescopic end of the thimble screw (12) extends into the clamping hole (901) and corresponds to the position of the concave hole (11).

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