Mechanical arm

Abstract

The mechanical arm comprises a mechanical wrist, a palm assembly, a first mechanical finger and at least one second mechanical finger, and the mechanical wrist comprises a driving motor, a rotating shaft, a rotating shaft base and a first flange connecting plate; the palm assembly comprises a flange connecting piece, a second flange connecting plate and a palm body; the first mechanical finger comprises a first linear motor, a first near knuckle, a first middle knuckle and a first connecting rod, a first connecting point of the first near knuckle is rotatably connected with the palm body, and the end part of a driving shaft of the first linear motor is rotatably connected with a second connecting point of the first near knuckle; the second mechanical finger comprises a second linear motor, a second near knuckle, a second middle knuckle, a second far knuckle, a second connecting rod and a third connecting rod, the second linear motor is fixedly connected with the palm body, a first connecting point of the second near knuckle is rotatably connected with the palm body, and the end of a driving shaft of the second linear motor is rotatably connected with the second connecting point.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic devices of mechanical arms for exhibitions, and in particular to a mechanical arm. Background Art

[0002] With the technological progress in the automotive industry, automobile-related science and technology exhibitions are developing rapidly, including the use of automobile-related parts to assemble exhibition robots. Exhibition robots usually need to meet scientific and knowledge requirements while increasing interest. Among them, the mechanical arm of the exhibition robot is an important part of increasing the interaction between the exhibition robot and the audience. The design and manufacture of the robot hand can cooperate with the intelligent voice control system to realize wrist rotation and finger opening and closing movements. Summary of the invention

[0003] To solve at least one aspect of the above problems, the present invention provides a robotic arm, comprising: a robotic wrist, the wrist comprising a driving motor, a rotating shaft, a rotating shaft base and a first flange connecting plate, the output shaft of the driving motor is drivingly connected to the rotating shaft, the rotating shaft is rotatably arranged on the rotating shaft base, the rotating shaft base is fixedly arranged relative to the driving motor, one end of the rotating shaft passes through the transmission shaft base and is fixedly connected to the first flange connecting plate; a palm assembly, the palm assembly comprises a flange connector, a second flange connecting plate, and a palm body, the flange connector is used to fix the first flange connecting plate and the second flange connecting plate, and the palm body is fixedly connected to the second flange connecting plate; a first mechanical finger, the first mechanical finger comprises a first linear motor, a first proximal knuckle, a first middle knuckle and a first connecting rod, the first linear motor is fixedly arranged on the palm body, the first connection point of the first proximal knuckle is rotatably connected to the palm body, the end of the driving shaft of the first linear motor is rotatably connected to the second connection point of the first proximal knuckle, the third connection point of the first proximal knuckle is rotatably connected to the The first middle knuckle is rotatably connected, the first end of the first connecting rod is rotatably connected to the palm body, and the second end of the first connecting rod is rotatably connected to the first end of the first middle knuckle; at least one second mechanical finger, the second mechanical finger includes a second linear motor, a second proximal knuckle, a second middle knuckle, a second distal knuckle, a second connecting rod, and a third connecting rod. The second linear motor is fixedly connected to the palm body, the first connection point of the second proximal knuckle is rotatably connected to the palm body, the end of the drive shaft of the second linear motor is rotatably connected to the second connection point, the third connection point of the second proximal knuckle is rotatably connected to the second connection point of the second middle knuckle, the third connection point of the second middle knuckle is rotatably connected to the second connection point of the second distal knuckle, the first end of the second connecting rod is rotatably connected to the palm body, the second end of the second connecting rod is rotatably connected to the first connection point of the second middle knuckle, the first end of the third connecting rod is rotatably connected to the second connection point of the second proximal knuckle, and the second end of the third connecting rod is rotatably connected to the first connection point of the second distal knuckle.

[0004] Preferably, the robotic wrist further comprises a reducer, the driving motor is transmission-connected to the rotating shaft via the reducer, and the reducer is fixedly connected to the rotating shaft base.

[0005] Preferably, the rotating shaft base includes a first base, a second base, a base mounting plate, a first bearing and a second bearing, the two ends of the base mounting plate are respectively fixedly connected to the first base and the second base, the first bearing is arranged in the first base, and the second bearing is arranged in the second base, the first end of the rotating shaft passes through the first base and is transmission-connected to the reducer, and the second end of the transmission shaft passes through the second base and is fixedly connected to the flange connecting plate.

[0006] Preferably, the flange connector includes a first flange, a second flange and a flange clamping block, the first flange is fixedly connected to the first flange connecting plate, the second flange is fixedly connected to the second flange connecting plate, and the flange clamping block is used to clamp the first flange and the second flange.

[0007] Preferably, the tops of the first flange and the second flange adopt a symmetrical wedge structure, the bottom of the flange clamping block is provided with a clamping groove, the clamping groove is clamped with the top wedge structure of the first flange and the second flange, the bottom of the first flange is provided with a groove, the groove is used to clamp the bottom of the second flange, a stop bar is provided on the side of the first flange facing the second flange, and the second flange is provided with a groove, and the groove is clamped with the stop bar when the flange clamping block clamps the first flange and the second flange.

[0008] Preferably, the stop bar is provided with a stop bar through hole, the stop bar through hole is communicated with the through hole of the flange clamping block, the groove is provided with an opening which is colinear with the stop bar corresponding to the groove, and the opening is colinear with the stop bar through hole.

[0009] Preferably, the palm body includes a plurality of support rods and connecting rods, the first ends of the support rods are fixedly connected to the second flange connecting plate, and the second ends of the support rods are fixedly connected to the connecting rods respectively.

[0010] Preferably, the palm body further includes a reinforcing plate, and the reinforcing plate is fixedly connected to the second flange connecting plate and the supporting rod.

[0011] Preferably, it further comprises a plurality of the second mechanical fingers, and the second linear motors of the plurality of the second mechanical fingers are arranged in parallel.

[0012] Preferably, it also includes a controller and a voice collector, the controller is connected to the drive motor, the first linear motor and the second linear motor respectively, the voice collector is used to receive voice commands, and the controller controls the operation of any one or more of the drive motor, the first linear motor and the second linear motor in response to the received voice commands.

[0013] The robotic arm of the present invention has the following beneficial effects: in the design process of the four-bar linkage, the "dead point" problem should be avoided to prevent jamming; the parts can be quickly disassembled, and the installation and disassembly are simple and easy to use; the rotating parts have a simple structure and the radial force is small during rotation; and the separate driving of multiple motors increases the execution of actions corresponding to voice commands. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0015] Figure 1 It shows a schematic structural diagram of a manipulator according to an embodiment of the present invention;

[0016] Figure 2 Another schematic diagram of the structure of the palm assembly of the manipulator according to an embodiment of the present invention is shown;

[0017] Figure 3 A schematic diagram of the exploded structure of a manipulator wrist of a manipulator according to an embodiment of the present invention is shown;

[0018] Figure 4 A schematic diagram showing the structure of a first mechanical finger of a manipulator according to an embodiment of the present invention is shown;

[0019] Figure 5 A schematic structural diagram of a second mechanical finger of a manipulator according to an embodiment of the present invention is shown.

[0020] Reference numerals:

[0021] 1. Drive motor; 2. Reducer; 3. Rotating shaft base; 4. Rotating shaft; 5. First flange connecting plate; 6. Flange connecting piece; 7. Second flange connecting plate; 8. Palm body; 9. First mechanical finger; 10. Second mechanical finger; 31. First base; 32. Second base; 33. Base mounting plate; 34. First bearing; 35. Second bearing; 51. Tension sleeve; 52. Anti-drop block; 61. First flange; 62. Second flange; 63. Flange clamping block; 611. Bumper bar; 612. Groove; 613. Opening; 621. Recess; 631. Clamping groove; 81. Support rod; 82. Connecting rod; 83. Reinforcement plate; 84. First mechanical finger base; 91. First linear motor; 92. First proximal knuckle; 93. First middle knuckle; 94. First connecting rod; 95. First connecting pin; 96. First The second connecting pin; 97, the third connecting pin; 98, the fourth connecting pin; 99, the fifth connecting pin; 921, the first proximal rod; 922, the second proximal rod; 923, the third proximal rod; 931, the first slot; 932, the first side plate; 933, the second side plate; 101, the second linear motor; 102, the second proximal knuckle; 103, the second middle knuckle; 104, the second distal knuckle; 105, the second connecting rod; 106, the third connecting rod; 107, the sixth connecting pin; 108, the seventh connecting pin; 109, the eighth connecting pin; 110, the ninth connecting pin; 111, the tenth connecting pin; 112, the eleventh connecting pin; 113, the twelfth connecting pin; 114, the thirteenth connecting pin; 1021, the second slot; 1022, the third side plate; 1023, the fourth side plate; 1024, the third boss; 1025, the fourth boss. DETAILED DESCRIPTION

[0022] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0023] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0024] In order to at least partially solve the above-mentioned problems and one or more of other potential problems, the embodiments of the present invention provide a robotic arm, including: a robotic wrist, the robotic wrist including a driving motor 1, a rotating shaft 4, a rotating shaft base 3 and a first flange connecting plate 5, the output shaft of the driving motor 1 is transmission-connected to the rotating shaft 4, the rotating shaft 4 is rotatably arranged on the rotating shaft base 3, the rotating shaft base 3 is fixedly arranged relative to the driving motor 1, and one end of the rotating shaft 4 passes through the transmission shaft base and is fixedly connected to the first flange connecting plate 5; a palm assembly, the palm assembly including a flange connecting piece 6, a second flange connecting plate 7, a palm assembly Palm body 8, flange connection member 6 is used to fix the first flange connection plate 5 and the second flange connection plate 7, and the palm body 8 is fixedly connected to the second flange connection plate 7; first mechanical finger 9, the first mechanical finger 9 includes a first linear motor 91, a first proximal finger joint 92, a first middle finger joint 93 and a first connecting rod, the first linear motor 91 is fixedly arranged on the palm body 8, the first connection point of the first proximal finger joint 92 is rotatably connected to the palm body 8, the drive shaft end of the first linear motor 91 is rotatably connected to the second connection point of the first proximal finger joint 92, the third connection point of the first proximal finger joint 92 is rotatably connected to the first middle finger joint 93 The first end of the first connecting rod 94 is rotatably connected to the palm body 8, and the second end of the first connecting rod 94 is rotatably connected to the first end of the first middle finger joint 93; at least one second mechanical finger 10, the second mechanical finger 10 includes a second linear motor 101, a second proximal finger joint 102, a second middle finger joint 103, a second distal finger joint 104, a second connecting rod 105, and a third connecting rod 106. The second linear motor 101 is fixedly connected to the palm body 8, the first connection point of the second proximal finger joint 102 is rotatably connected to the palm body 8, and the drive shaft end of the second linear motor 101 is connected to the second connection point The third connection point of the second proximal phalanx 102 is rotatably connected to the first connection point of the second middle phalanx 103, the third connection point of the second middle phalanx 103 is rotatably connected to the first connection point of the second distal phalanx 104, the first end of the second connecting rod 105 is rotatably connected to the palm body 8, the second end of the second connecting rod 105 is rotatably connected to the first connection point of the second middle phalanx 103, the first end of the third connecting rod 106 is rotatably connected to the fourth connection point of the second proximal phalanx 102, and the second end of the third connecting rod 106 is rotatably connected to the second connection point of the second distal phalanx 104.

[0025] Specifically, Figure 1 As shown, the output shaft of the drive motor 1 is fixedly connected to the rotor of the drive motor 1 , and the output shaft of the drive motor 1 rotates synchronously with the rotor of the drive motor 1 .

[0026] The output shaft end of the drive motor 1 is fixedly connected to one end of the rotating shaft 4, so that the drive motor 1 transmits power to the rotating shaft 4 through the output shaft, so that the rotating shaft 4 rotates with the output shaft of the drive motor 1. In another embodiment, the manipulator further includes a reducer 2, the drive motor 1 is connected to the rotating shaft 4 through the reducer 2, and the reducer 2 is fixedly connected to the rotating shaft base 3. For example, the reducer 2 is fixedly connected to the output shaft of the drive motor 1, or the reducer 2 is connected to the output shaft of the drive motor 1 through a coupling. The output shaft of the reducer 2 is fixedly connected to the rotating shaft 4, so that the power is transmitted through the drive motor 1, the reducer 2 and the rotating shaft 4 in sequence. The drive motor 1 adopts the HG-SN152J model, the reducer 2 adopts the MHB115 model, and the reduction ratio of the reducer 2 is 40. In some embodiments, a position sensor is also included, and the position sensor is used to collect the rotation angle of the drive motor 1, and the operation of the drive motor 1 is controlled by the rotation angle collected by the position sensor. For example, a preset rotation limit angle (for example, 180°) is set, and when the rotation angle collected by the position sensor is the preset rotation limit angle, the drive motor 1 is controlled to stop rotating. Alternatively, when the rotation angle acquired by the position sensor is a preset rotation limit angle, the rotation direction of the drive motor 1 is controlled.

[0027] One end of the rotating shaft base 3 is fixedly connected to the base of the reducer 2, and both ends of the rotating shaft 4 are rotatably arranged on the rotating shaft base 3 through bearings to increase the stability of the rotating shaft 4. In some embodiments, the rotating shaft base 3 includes a first base 31, a second base 32, a base mounting plate 33, a first bearing 34 and a second bearing 35, and both ends of the base mounting plate 33 are respectively fixedly connected to the first base 31 and the second base 32, a first bearing 34 is arranged in the first base 31, and a second bearing 35 is arranged in the second base 32, and both ends of the rotating shaft 4 are respectively rotatably connected to the first base 31 and the second base 32 through the first bearing 34 and the second bearing 35, and the first end of the rotating shaft 4 passes through the first base 31 to be transmission-connected to the reducer 2, and the second end of the transmission shaft passes through the second base 32 to be fixedly connected to the flange connection plate. In another embodiment, the rotating shaft base 3 adopts an integrally formed structure, the rotating shaft base 3 is fixedly connected to the reducer 2, a connecting through hole is opened on the rotating shaft base 3, the rotating shaft 4 is rotatably arranged in the through hole of the rotating shaft base 3, the first end of the rotating shaft 4 extends from the rotating shaft base 3 and is connected to the output shaft of the reducer 2, and the second end of the rotating shaft 4 extends from the rotating shaft base 3 and is fixedly connected to the first flange connecting plate 5.

[0028] The first flange connecting plate 5 adopts a flat plate structure, on which a plurality of threaded holes for fixedly connecting the palm assembly are provided, and a connecting through hole for fixedly connecting the rotating shaft 4 is also provided in the central axial direction of the first flange connecting plate 5. In some embodiments, the manipulator further comprises a tension sleeve 51, which is arranged in the connecting through hole of the first flange connecting plate 5, and is used to fixedly connect the rotating shaft 4 and the first flange connecting plate 5, so that the first flange connecting plate 5 rotates synchronously with the rotating shaft 4.

[0029] The palm assembly is used to connect the mechanical wrist, the first mechanical finger 9 and the second mechanical finger 10. The second flange connecting plate 7 is used to fix the palm body 8, the palm body 8 is used to connect the first mechanical finger 9 and the second mechanical finger 10, and the flange connecting member 6 is used to fix the first flange connecting plate 5 and the second flange connecting plate 7, so that the second flange connecting plate 7 rotates with the first flange connecting plate 5, so that the power output by the drive motor 1 is transmitted through the reducer 2, the rotating shaft 4, the first flange connecting plate 5 and the second flange connecting plate 7 in sequence, and further realizes the rotation of the palm assembly. In some embodiments, the flange connecting member 6 includes a first flange 61, a second flange 62 and a flange clamping block 63, the first flange 61 is fixedly connected to the first flange connecting plate 5, the second flange 62 is fixedly connected to the second flange connecting plate 7, and the flange clamping block 63 is used to clamp the first flange 61 and the second flange 62. Specifically, the first flange 61 and the first flange connecting plate 5 are stacked with a plurality of groups of mounting holes for connecting fasteners. For example, the fasteners are bolts, and the inner wall of the mounting hole is provided with a threaded structure corresponding to the bolts, and the second flange 62 and the second flange connecting plate adopt the same connection method. The flange clamping block 63 includes a plurality of clamping blocks, which are sequentially arranged along the outer edges of the first flange 61 and the second flange 62, and each of the plurality of clamping blocks fixes and clamps the first flange 61 and the second flange 62, thereby achieving a fixed connection between the first flange 61 and the second flange 62. In another embodiment, the flange connector 6 includes a plurality of clamping blocks, which are sequentially arranged along the outer edges of the first flange connecting plate 5 and the second flange connecting plate 7, and each of the plurality of clamping blocks fixes and clamps the first flange connecting plate 5 and the second flange connecting plate 7, thereby achieving a fixed connection between the first flange connecting plate 5 and the second flange connecting plate 7.

[0030] The first linear motor 91 of the first mechanical finger 9 adopts a stepping electric push rod motor with a stroke of 100 mm. The first proximal finger joint 92 includes a first connection point, a second connection point and a third connection point, and multiple connection points of the first proximal finger joint 92 are provided with through holes connecting the front and rear sides of the first proximal finger joint 92.

[0031] The first proximal knuckle 92 includes a first proximal rod 921, a second proximal rod 922 and a third proximal rod 923. The first end of the first proximal rod 921 is provided with a first connection point of the first proximal knuckle 92. The first end of the second proximal rod 922 is fixedly connected to the first proximal rod 921. The second end of the second proximal rod 922 is provided with a second connection point of the first proximal knuckle 92. The second proximal rod 922 is vertically arranged with the first proximal rod 921. The first end of the third proximal rod 923 is connected with the second end of the first proximal rod 921. The second end of the third proximal rod 923 is provided with a third connection point of the first proximal knuckle 92. The third proximal rod 923 is vertically arranged with the first proximal rod 921. The second proximal rod 922 and the third proximal rod 923 are respectively arranged at the upper and lower sides of the first proximal rod 921. The first proximal knuckle 92 also includes a first boss and a second boss. The first boss and the second boss adopt a flat plate structure. The first boss and the second boss are respectively arranged at the front and rear sides of the first proximal knuckle 92. The first proximal knuckle 92 adopts an integrally formed structure. The first middle phalanx 93 includes a first connection point and a second connection point. The first end of the first middle phalanx 93 is provided with a first slot 931. The depth of the first slot 931 is greater than the length of the second proximal rod 922 of the first proximal phalanx 92. The first slot 931 includes a first side plate 932 and a second side plate 933. The length of the first side plate 932 is greater than the length of the second side plate. The first connection point of the first middle phalanx 93 is a group of through holes provided at the end of the second side plate 933 and the middle of the first side plate 932. The first connection point of the first middle phalanx 93 is used to rotatably connect the first proximal phalanx 92. The second connection point of the first middle phalanx 93 is a through hole provided at the end of the first side plate 932. The second connection point of the first middle phalanx 93 is used to rotatably connect the second end of the first connecting rod 94. The first middle phalanx 93 adopts an integrally formed structure. Through holes for pin connection are provided at both ends of the first connecting rod 94. In some embodiments, the palm body 8 further includes a first mechanical finger base 84, a first end of a first connecting rod 94 is rotatably connected to the first mechanical finger base 84, and a first connection point of a first proximal knuckle 92 is rotatably connected to the first mechanical finger base 84. The first mechanical finger 9 further includes a plurality of connecting pins, which are respectively used for rotatable connection between the first proximal knuckle 92, the first middle knuckle 93, the first connecting rod 94, and the palm body 8.

[0032] The first connecting pin 95 is used for rotatably connecting the first connection point of the first proximal knuckle 92 with the palm body 8, and the second connecting pin 96 is used for rotatably connecting the driving shaft of the first linear motor 91 with the second connection point of the first proximal knuckle 92. The third connecting pin 97 is used for rotatably connecting the third connection point of the first proximal knuckle 92 with the first connection point of the first middle knuckle 93, the fourth connecting pin 98 is used for rotatably connecting the first end of the first connecting rod 94 with the palm body 8, and the fifth connecting pin 99 is used for rotatably connecting the second end of the first connecting rod 94 with the second connection point of the first middle knuckle 93.

[0033] The second linear motor 101 of the second mechanical finger 10 adopts a stepper electric push rod motor with a stroke of 100 mm. The second proximal finger joint 102 includes a first connection point, a second connection point, a third connection point and a fourth connection point, and a through hole connecting the front and rear sides of the second proximal finger joint 102 is opened at multiple connection points of the second proximal finger joint 102.

[0034] The second proximal joint 102 includes a fourth proximal rod, a fifth proximal rod and a sixth proximal rod, the first end of the fourth proximal rod is provided with a first connection point of the second proximal joint 102, the first end of the fifth proximal rod is fixedly connected to the fourth proximal rod, the second end of the fifth proximal rod is provided with a second connection point of the first proximal joint 92, the fifth proximal rod is vertically arranged with the fourth proximal rod, the first end of the sixth proximal rod is connected to the second end of the fourth proximal rod, the second end of the sixth proximal rod is provided with a third connection point of the second proximal joint 102, the sixth proximal rod is vertically arranged with the fourth proximal rod, the fifth proximal rod and the sixth proximal rod are respectively arranged on the upper and lower sides of the fourth proximal rod, and the fourth connection point of the second proximal joint 102 is arranged between the fifth proximal rod and the sixth proximal rod.

[0035] The second proximal phalanx 102 adopts an integrally formed structure. The second middle phalanx 103 includes a first connection point, a second connection point and a third connection point. A second slot 1021 is provided at the first end of the second middle phalanx 103. The depth of the second slot 1021 is greater than the length of the fifth proximal rod of the second proximal phalanx 102. The second slot 1021 includes a third side plate 1022 and a fourth side plate 1023. The length of the third side plate 1022 is greater than the length of the fourth side plate 1023. The first connection point of the second middle phalanx 103 is a set of through holes provided at the end of the fourth side plate 1023 and the middle of the third side plate 1022. The first connection point of the second middle phalanx 103 is used to rotatably connect to the second proximal phalanx 102, the second connection point of the second middle phalanx 103 is a through hole opened at the end of the fourth side plate 1023, the second connection point of the second middle phalanx 103 is used to rotatably connect to the second end of the second connecting rod 105, the third connection point of the second middle phalanx 103 is located at the second end of the second middle phalanx 103, and a through hole connecting the front and rear sides of the second middle phalanx 103 is opened at the third connection point of the second middle phalanx 103, and the second middle phalanx 103 adopts an integrally molded structure. The first end of the second distal knuckle 104 is provided with a third slot, the third slot includes a fifth side plate and a sixth side plate, the second connection point of the second distal knuckle 104 is a through hole provided at the end of the fifth side plate and the middle of the sixth side plate, the third connection point of the second middle knuckle 103 is connected between the through holes of the fifth side plate and the sixth side plate, the sixth side plate also includes a corner plate, the corner plate is perpendicular to the body of the sixth side plate, the first end of the corner plate is vertically arranged with the sixth side plate, and the second connection point of the second distal knuckle 104 is arranged at the second end of the corner plate. Through holes for pin connection are respectively provided at both ends of the second connecting rod 105 and the third connecting rod 106. The second proximal knuckle 102 also includes a third boss 1024 and a fourth boss 1025. The third boss 1024 and the fourth boss 1025 adopt a flat plate structure. The third boss 1024 and the fourth boss 1025 are respectively arranged on the front and rear sides of the second proximal knuckle 102. The thickness of the third boss 1024 and the fourth boss 1025 are respectively equal to the thickness of the third side plate 1022 and the fourth side plate 1023, so that the two sides of the second proximal knuckle and the second middle knuckle are of equal thickness, so as to provide support for the second connecting rod 105 and increase stability.

[0036] In some embodiments, the palm body 8 further includes a base for the second mechanical finger 10, a first end of the second connecting rod 105 is rotatably connected to the base for the second mechanical finger 10, and a first connection point of the second proximal knuckle 102 is rotatably connected to the base for the second mechanical finger 10. The second mechanical finger 10 further includes a plurality of connecting pins, which are respectively used for rotatable connection between the second proximal knuckle 102, the second middle knuckle 103, the second distal knuckle 104, the second connecting rod 105, the third connecting rod 106 and the palm body 8.

[0037] The sixth connecting pin 107 is used for the rotatable connection between the first connection point of the second proximal knuckle 102 and the second mechanical finger base, and the seventh connecting pin 108 is used for the rotatable connection between the driving shaft of the second linear motor 101 and the second connection point of the second proximal knuckle 102. The eighth connecting pin 109 is used for the rotatable connection between the third connection point of the second proximal knuckle 102 and the first connection point of the second middle knuckle 103, the ninth connecting pin 110 is used for the rotatable connection between the first end of the second connecting rod 105 and the second mechanical finger base, the tenth connecting pin 111 is used for the rotatable connection between the second end of the second connecting rod 105 and the second connection point of the second middle knuckle 103, the eleventh connecting pin 112 is used for the rotatable connection between the fourth connection point of the second proximal knuckle 102 and the third connecting rod 106, the twelfth connecting pin 113 is used for the third connection point of the second middle knuckle 103 and the first connection point of the second distal knuckle 104, and the thirteenth connecting pin 114 is used for the rotatable connection between the second connection point of the second distal knuckle 104 and the third connecting rod 106.

[0038] In some embodiments, the top of the first flange 61 and the second flange 62 adopt a symmetrical wedge structure, and a clamping groove is provided at the bottom of the flange clamping block 63, which is clamped with the top wedge structure of the first flange 61 and the second flange 62. A groove 612 is provided at the bottom of the first flange 61, and the groove 612 is used to clamp the bottom of the second flange 62. A stop bar 611 is provided on the side of the first flange 61 facing the second flange 62, and a groove is provided on the second flange 62. When the flange clamping block 63 clamps the first flange 61 and the second flange 62, the groove is clamped with the stop bar 611.

[0039] Specifically, the top of the first flange 61 and the second flange 62 adopts a mirror-symmetrical wedge structure. When the first flange 61 and the second flange 62 are tightly fitted, the wedge structures of the first flange 61 and the second flange 62 are clamped in the clamping groove. Further, the groove 612 at the bottom of the first flange 61 is clamped with the bottom of the second flange 62 to achieve the relative fixation of the first flange 61 and the second flange 62 in the longitudinal direction (the longitudinal direction is perpendicular to the length direction of the clamping groove) and the axial direction (the axial direction is perpendicular to the plane axis direction of the first flange 61 and the second flange 62); further, the clamping of the stop bar 611 of the first flange 61 and the groove of the second flange 62 achieves the relative fixation of the first flange 61 and the second flange 62 in the transverse direction (the transverse direction is parallel to the length direction of the clamping groove). In some embodiments, the first flange 61 connection block also has an anti-drop block 52, and the anti-drop block 52 is used to increase the connection stability between the first flange connection plate 5 and the first flange 61.

[0040] In some embodiments, the stop bar 611 is provided with a stop bar 611 through hole, which is connected to the through hole of the flange clamping block 63, and the groove 612 is provided with an opening 613 which is colinear with the stop bar 611 corresponding to the groove, and the opening 613 is colinear with the stop bar 611 through hole.

[0041] Specifically, the length direction of the stop bar 611 is perpendicular to the length direction of the clamping groove, and the flange clamping block 63 is provided with a longitudinal through hole, and the through hole of the stop bar 611 is connected with the longitudinal through hole of the flange clamping block 63. The opening 613 on the groove 612 is in line with the through hole of the stop bar 611, so that the longitudinal through hole of the flange clamping block 63, the through hole of the stop bar 611 and the opening 613 on the groove 612 can be in line. The fixing pin is used to sequentially insert and fix the first flange 61, the second flange 62 and the flange clamping block 63, or in another embodiment, the circuit is connected through the above-mentioned connected through hole to realize the electrical drive of the first mechanical finger 9 and the second mechanical finger 10.

[0042] In some embodiments, the palm body 8 includes a plurality of support rods 81 and connecting rods 82 , the first ends of the support rods 81 are fixedly connected to the second flange connecting plate 7 , and the second ends of the support rods 81 are fixedly connected to the connecting rods 82 .

[0043] Specifically, the plurality of support rods 81 are arranged in parallel, and the connecting rods 82 are fixedly connected to the plurality of support rods 81 respectively, and the connecting rods 82 are used to fixedly connect the plurality of support rods 81 .

[0044] In some embodiments, the palm body 8 further includes a reinforcing plate 83 , which is fixedly connected to the second flange connecting plate 7 and the supporting rod 81 .

[0045] Specifically, the reinforcing plate 83 is a right-angled triangle plate, the first right-angled side of the right-angled triangle plate is fixedly connected to the second flange connecting plate 7, and the second right-angled side of the right-angled triangle plate is fixedly connected to the support rod 81 of the palm body 8, so as to increase the stability of the governor body and the second flange connecting plate 7. In another implementation, the reinforcing plate 83 is a strip bar, and the two ends of the strip bar are respectively fixedly connected to the second flange connecting plate 7 and the support rod 81 of the palm body 8. Alternatively, in other embodiments, the reinforcing plate 83 is a block structure, and the two ends of the reinforcing plate 83 are fixedly connected to the second flange connecting plate 7 and the palm body 8.

[0046] In some embodiments, a plurality of second mechanical fingers 10 are further included, and the second linear motors 101 of the plurality of second mechanical fingers 10 are arranged in parallel.

[0047] Specifically, multiple second mechanical fingers 10 are respectively connected to the palm body 8, the second linear motor 101 of each of the multiple second mechanical fingers 10 is fixedly set on the palm body 8, and the second linear motors 101 of the multiple second mechanical fingers 10 are set in parallel, the first mechanical finger 9 is set on one side of the multiple second mechanical fingers 10, and the first linear motor 91 of the first mechanical finger 9 is perpendicular to the second linear motor 101 of the second mechanical finger 10.

[0048] In some embodiments, a controller and a voice collector are also included. The controller is electrically connected to the drive motor 1, the first linear motor 91 and the second linear motor 101 respectively. The voice collector is used to receive voice commands. The controller controls the operation of the motor in response to the received voice commands.

[0049] Specifically, the voice collector uses a microphone sensor to receive the user's voice command through the voice collector, and the controller receives the voice command through a communication connection with the voice collector. It can be understood by those skilled in the art that the controller also includes a voice recognition module, which recognizes the received voice command and outputs a recognition result, and controls the corresponding drive motor and / or the first linear motor and the second linear motor to perform corresponding operations according to the recognition result. The controller also includes a mechanical drive module, which includes pre-stored action instructions, which correspond to specific recognition results. The mechanical drive module is used to generate action instructions according to the recognition result, and the action instructions are used to control the corresponding drive motor, the first linear motor and any one or more of the plurality of second linear motors to start, run and stop.

[0050] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A robotic arm, characterized in that: include: A mechanical wrist, the wrist comprising a driving motor, a rotating shaft, a rotating shaft base and a first flange connecting plate, the output shaft of the driving motor is drivingly connected to the rotating shaft, the rotating shaft is rotatably arranged on the rotating shaft base, the rotating shaft base is fixedly arranged relative to the driving motor, and one end of the rotating shaft passes through the transmission shaft base and is fixedly connected to the first flange connecting plate; A palm assembly, the palm assembly comprising a flange connection piece, a second flange connection plate, and a palm body, the flange connection piece being used to fixedly connect the first flange connection plate and the second flange connection plate, and the palm body being fixedly connected to the second flange connection plate; A first mechanical finger, the first mechanical finger comprises a first linear motor, a first proximal knuckle, a first middle knuckle and a first connecting rod, the first linear motor is fixedly arranged on the palm body, a first connection point of the first proximal knuckle is rotatably connected to the palm body, an end of a driving shaft of the first linear motor is rotatably connected to a second connection point of the first proximal knuckle, a third connection point of the first proximal knuckle is rotatably connected to a middle part of the first middle knuckle, a first end of the first connecting rod is rotatably connected to the palm body, and a second end of the first connecting rod is rotatably connected to a first end of the first middle knuckle; At least one second mechanical finger, the second mechanical finger includes a second linear motor, a second proximal knuckle, a second middle knuckle, a second distal knuckle, a second connecting rod, and a third connecting rod, the second linear motor is fixedly connected to the palm body, the first connection point of the second proximal knuckle is rotatably connected to the palm body, the end of the drive shaft of the second linear motor is rotatably connected to the second connection point, the third connection point of the second proximal knuckle is rotatably connected to the second connection point of the second middle knuckle, the third connection point of the second middle knuckle is rotatably connected to the second connection point of the second distal knuckle, the first end of the second connecting rod is rotatably connected to the palm body, the second end of the second connecting rod is rotatably connected to the first connection point of the second middle knuckle, the first end of the third connecting rod is rotatably connected to the fourth connection point of the second proximal knuckle, and the second end of the third connecting rod is rotatably connected to the first connection point of the second distal knuckle.

2. The robotic arm according to claim 1, characterized in that: The robotic wrist further includes a reducer, the drive motor is transmission-connected to the rotating shaft via the reducer, the reducer is fixedly connected to the output shaft of the drive motor, and the output shaft of the reducer is fixedly connected to the rotating shaft.

3. The robotic arm according to claim 2, characterized in that: The rotating shaft base includes a first base, a second base, a base mounting plate, a first bearing and a second bearing, two ends of the base mounting plate are fixedly connected to the first base and the second base respectively, the first bearing is arranged in the first base, and the second bearing is arranged in the second base, the two ends of the rotating shaft are rotatably connected to the first base and the second base through the first bearing and the second bearing respectively, the first end of the rotating shaft passes through the first base and is fixedly connected to the output shaft of the reducer, and the second end of the transmission shaft passes through the second base and is fixedly connected to the first flange connecting plate.

4. The robotic arm according to claim 3, characterized in that: The flange connector includes a first flange, a second flange and a flange clamping block, the first flange is fixedly connected to the first flange connecting plate, the second flange is fixedly connected to the second flange connecting plate, and the flange clamping block is used to clamp the first flange and the second flange.

5. The robotic arm according to claim 4, characterized in that: The tops of the first flange and the second flange adopt a symmetrical wedge structure, the bottom of the flange clamping block is provided with a clamping groove, the clamping groove is clamped with the top wedge structure of the first flange and the second flange, the bottom of the first flange is provided with a groove, the groove is used to clamp the bottom of the second flange, a stop bar is provided on the side of the first flange facing the second flange, the second flange is provided with a groove, and the groove is clamped with the stop bar when the flange clamping block clamps the first flange and the second flange.

6. The robotic arm according to claim 5, characterized in that: The stop bar is provided with a stop bar through hole, which is communicated with the through hole of the flange clamping block; the groove is provided with an opening which is colinear with the stop bar corresponding to the groove, and the opening is colinear with the stop bar through hole.

7. The robotic arm according to claim 1, characterized in that: The palm body includes a plurality of support rods and connecting rods. The first ends of the support rods are fixedly connected to the second flange connecting plate, and the second ends of the support rods are fixedly connected to the connecting rods respectively.

8. The robotic arm according to claim 7, characterized in that: The palm body also includes a reinforcing plate, and the reinforcing plate is fixedly connected to the second flange connecting plate and the supporting rod.

9. The robotic arm according to claim 1, characterized in that: It also includes a plurality of the second mechanical fingers, and the second linear motors of the plurality of the second mechanical fingers are arranged in parallel.

10. The robotic arm according to claim 1, characterized in that: It also includes a controller and a voice collector, the controller is connected to the drive motor, the first linear motor and the second linear motor respectively, the voice collector is used to receive voice commands, and the controller controls the operation of any one or more of the drive motor, the first linear motor and the second linear motor in response to the received voice commands.

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