A curved limb and a control method thereof, a robot

Abstract

The application discloses a bending limb, a control method thereof, a machine hand and a robot. The bending limb comprises a first end part, a second end part and a limb segment part. The limb segment part comprises a bending rod and a connecting rod which are cross arranged. The bending rod has a first rotating node, a second rotating node, a third rotating node and a fourth rotating node. The connecting rod has a fifth rotating node and a sixth rotating node. The first rotating node and the fifth rotating node are rotationally connected with adjacent limb segment parts or the first end part. The fourth rotating node and the sixth rotating node are rotationally connected with adjacent limb segment parts or the second end part. At least one of the second rotating node and the third rotating node is rotationally connected with an adjacent limb segment part. The application connects the first end part and the second end part by the limb segment part, forms a multi-segment bending limb, and forms a linkage structure as a whole. When one limb segment part rotates, other limb segment parts and the end part are driven to rotate, so that the overall bending of the bending limb is more easily realized, and the reliability is higher.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a bending limb and its control method, a robotic hand, and a robot. Background Technology

[0002] Bending limbs can be used in end effectors of industrial robots, humanoid hands, and intelligent prosthetics. Bending limbs such as fingers, arms, and feet can assume various bending postures to perform operations such as grasping, hugging, and knee bending.

[0003] In the existing technology, bending limbs are mainly achieved by linear drive or pneumatics to bend and extend the limb as a whole. The bending limb is not very reliable when bending and is prone to damage and failure.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bending limb and its control method, a robotic arm, and a robot, in order to address the above-mentioned deficiencies of the prior art and solve the problem of low reliability of the bending limb when bending in the prior art.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A flexed limb, comprising: a first end portion, a second end portion, and at least one segmental portion; said segmental portion comprising:

[0008] The bending rod has a first rotation node, a second rotation node, a third rotation node, and a fourth rotation node;

[0009] The connecting rod has a fifth rotation node and a sixth rotation node;

[0010] The bending rod and the connecting rod are arranged in a cross configuration;

[0011] The first rotation node and the fourth rotation node are located at both ends of the bending rod, respectively;

[0012] The second rotation node is located at the bending position of the bent rod, and the bending position of the bent rod is close to the position of the first rotation node;

[0013] The third rotation node is located close to the fourth rotation node;

[0014] The fifth rotation node and the sixth rotation node are located at both ends of the connecting rod, respectively;

[0015] The first rotating node and the fifth rotating node are configured to rotatably connect adjacent limbs or the first end portion;

[0016] The fourth and sixth rotating nodes are configured to rotatably connect adjacent limbs or the second end portion;

[0017] At least one of the second and third rotating nodes is rotatably connected to an adjacent limb segment.

[0018] In the aforementioned bent limb, when the segment is adjacent to the first end, the first rotation node in the segment is rotatably connected to the first end, and the fifth rotation node in the segment is rotatably connected to the first end.

[0019] In the aforementioned bent limb, when the segment portion is adjacent to the second end portion, the fourth rotation node in the segment portion is rotatably connected to the second end portion, and the sixth rotation node in the segment portion is rotatably connected to the second end portion.

[0020] In the aforementioned bent limb, when the limb segment is adjacent to another limb segment, the first rotation node in the limb segment is rotatably connected to the third rotation node of the other limb segment, the second rotation node in the limb segment is rotatably connected to the sixth rotation node of the other limb segment, and the fifth rotation node in the limb segment is rotatably connected to the fourth rotation node of the other limb segment.

[0021] The bent limb, wherein the bent limb further includes:

[0022] Base;

[0023] The first turntable is rotatably mounted on the base;

[0024] The first driving element is configured to drive the first turntable to rotate;

[0025] The first turntable is rotatably connected to the second rotating node, which belongs to the limb portion adjacent to the first end.

[0026] The bent limb, wherein the bent limb further includes:

[0027] The second turntable is rotatably mounted on the base;

[0028] The second driving element is configured to drive the second turntable to rotate;

[0029] The second turntable is connected to the first end.

[0030] The bent limb, wherein the bent limb further includes:

[0031] The connector is rotatably connected at both ends to the first turntable and the second rotating node, respectively.

[0032] The rotation axis of the first turntable, the rotation axis of the second turntable, the rotation axis of the connector rotatably connected to the first turntable, the rotation axis of the connector rotatably connected to the second rotation node, and the rotation axis of the first rotation node rotatably connected to the first end all intersect at one point.

[0033] A method for controlling flexed limbs as described in any of the above claims, comprising the steps of:

[0034] The first driving component is controlled to drive the first turntable to rotate, so as to bend the bent limb;

[0035] The second drive unit is controlled to drive the second turntable to rotate, so as to deflect the bent limb.

[0036] A robotic hand, comprising: a flexed limb as described in any of the above.

[0037] A robot comprising: a flexed limb as described in any of the above or a robotic hand as described above.

[0038] Beneficial effects: This application uses limb segments to connect the first and second ends, forming a multi-segmented curved limb, and the curved limb as a whole forms a linked structure. When one limb segment rotates, it will drive the other limb segments and ends to rotate, making it easier to achieve overall bending of the curved limb, and with higher reliability. Attached Figure Description

[0039] Figure 1 This is a schematic diagram illustrating the principle of a bent limb in an extended state in the first case of this invention.

[0040] Figure 2 This is a schematic diagram illustrating the principle of the bent limb in the bent state in the first case of the present invention.

[0041] Figure 3 This is a schematic diagram illustrating the principle of a bent limb in an extended state in the second scenario of this invention.

[0042] Figure 4 This is a schematic diagram illustrating the principle of the bent limb in a bent state in the second case of this invention.

[0043] Figure 5 This is a schematic diagram illustrating the principle of a bent limb in an extended state in the third case of this invention.

[0044] Figure 6 This is a schematic diagram illustrating the principle of the bent limb in a bent state in the third case of this invention.

[0045] Figure 7This is a schematic diagram of the first structure of the thumb in an embodiment of the present invention.

[0046] Figure 8 This is a schematic diagram of the second structure of the thumb in an embodiment of the present invention.

[0047] Figure 9 This is a schematic diagram of the thumb in an embodiment of the present invention.

[0048] Figure 10 This is a schematic diagram of the first structure of the middle finger in an embodiment of the present invention.

[0049] Figure 11 This is a schematic diagram of the second structure of the middle finger in an embodiment of the present invention.

[0050] Figure 12 This is a top view of the middle finger in an embodiment of the present invention.

[0051] Figure 13 yes Figure 12 A sectional view along line A.

[0052] Figure 14 This is a schematic diagram of the principle of the middle finger in an embodiment of the present invention.

[0053] Figure 15 This is a schematic diagram of the middle finger in a bent state according to an embodiment of the present invention.

[0054] Figure 16 This is a schematic diagram of the middle finger in the deflection state according to an embodiment of the present invention.

[0055] Figure 17 This is a first structural schematic diagram of the robotic arm according to an embodiment of the present invention.

[0056] Figure 18 This is a schematic diagram of the second structure of the robotic arm according to an embodiment of the present invention.

[0057] Explanation of reference numerals in the attached figures:

[0058] 10. First end;

[0059] 20. Second end;

[0060] 30. Limb; 31. Bending rod; 311. First rotation node; 312. Second rotation node; 313. Third rotation node; 314. Fourth rotation node; 32. Connecting rod; 321. Fifth rotation node; 322. Sixth rotation node;

[0061] 41. Base; 42. First turntable; 43. First driving component; 44. Second turntable; 45. Second driving component; 46. Connecting component. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0063] Please also refer to Figures 1-16 The present invention provides some embodiments of bending limbs.

[0064] like Figure 1 As shown, the flexed limb of the present invention includes: a first end portion 10, a second end portion 20, and at least one segment 30; the segment 30 includes:

[0065] The bending rod 31 has a first rotation node 311, a second rotation node 312, a third rotation node 313 and a fourth rotation node 314;

[0066] The connecting rod 32 has a fifth rotation node 321 and a sixth rotation node 322;

[0067] The bending rod 31 and the connecting rod 32 are arranged crosswise; the first rotating node 311 and the fourth rotating node 314 are respectively located at both ends of the bending rod 31; the second rotating node 312 is located at the bending position of the bending rod 31, and the bending position of the bending rod 31 is close to the first rotating node 311; the third rotating node 313 is located close to the fourth rotating node 314; the fifth rotating node 321 and the sixth rotating node 322 are respectively located at both ends of the connecting rod 32; the first rotating node 311 and the fifth rotating node 321 are configured to rotatably connect adjacent limb portions 30 or the first end portion 10; the fourth rotating node 314 and the sixth rotating node 322 are configured to rotatably connect adjacent limb portions 30 or the second end portion 20; at least one of the second rotating nodes 312 and the third rotating node 313 is rotatably connected to the adjacent limb portion 30.

[0068] Specifically, the first end 10 and the second end 20 are located at the two ends of the bent limb, respectively. The first end 10 can be connected to other structures, and the second end 20 can also be connected to other structures. The bent limb can be bent, specifically through rotation between the segment 30 and the first end 10, rotation between the segment 30 and the second end 20, and rotation between two adjacent segment 30s. The segment 30 includes a bending rod 31 and a connecting rod 32. The bending rod 31 has a bending portion, and the connecting rod 32 may or may not have a bending portion. The bending rod 31 has a rotation node, and the connecting rod 32 has a rotation node. The rotation nodes form a rotational connection with other rotation nodes, for example, a pivot connection. The bending rod 31 may have two, three, or four rotation nodes. For example, the bending rod 31 has a first rotation node 311 and a fourth rotation node 314, which are located at the two ends of the bending rod 31, respectively. The bending rod 31 also has a second rotation node 312, which is located at the bending position (i.e., the bending part) of the bending rod 31. The second rotation node 312 is close to the first rotation node 311 and far away from the fourth rotation node 314. The bending rod 31 may also have a third rotation node 313, which is close to the fourth rotation node 314 and far away from the first rotation node 311. In some bending rods 31, the second rotation node 312 and / or the third rotation node 313 may be omitted. The connecting rod 32 has two rotation nodes, namely a fifth rotation node 321 and a sixth rotation node 322. The fifth rotation node 321 and the sixth rotation node 322 are located at both ends of the connecting rod 32, respectively.

[0069] To achieve bending of the limb, two rotation nodes at the same end of the same member cannot be simultaneously connected to another member (as this would create a fixed structure). The two rotation nodes at the same end of the same member need to be connected to different members. For example, the first rotation node 311 and the second rotation node 312 are located on the same member of the same limb segment 30. The first rotation node 311 and the second rotation node 312 are respectively connected to the bending member 31 and the connecting member 32 of the adjacent limb segment 30. Two members in the same limb segment 30 (i.e., the bending member 31 and the connecting member 32) intersect but are not directly connected. Therefore, the connection relationships of each node can be determined, specifically in the following three cases: Figures 1-6 As shown, the solid curved line represents the curved rod 31, the dashed line represents the connecting rod 32, the straight line represents the first end 10, and the broken line represents the second end 20.

[0070] The first case, such as Figure 1As shown, the first rotation node 311 is connected to the third rotation node 313 of the adjacent bending rod 31, the second rotation node 312 is connected to the sixth rotation node 322 of the adjacent connecting rod 32, and the fifth rotation node 321 is connected to the fourth rotation node 314 of the adjacent bending rod 31.

[0071] The second scenario, such as Figure 3 As shown, the first rotation node 311 is connected to the fourth rotation node 314 of the adjacent bending rod 31, the second rotation node 312 is connected to the sixth rotation node 322 of the adjacent connecting rod 32, and the third rotation node 313 is connected to the fifth rotation node 321 of another adjacent connecting rod 32.

[0072] The third scenario, such as Figure 5 As shown, the first rotating node 311 is connected to the sixth rotating node 322 of the adjacent connecting rod 32, the second rotating node 312 is connected to the fourth rotating node 314 of the adjacent bending rod 31, and the third rotating node 313 is connected to the fifth rotating node 321 of another adjacent connecting rod 32.

[0073] Bending limbs form a linked structure; the rotation of any link will cause other links to rotate as well. Due to different connection relationships, the rotation patterns also differ. For example... Figure 2 As shown, the first case is a bend with a small curvature, such as... Figure 4 As shown, the second case involves bending with a large curvature. For example... Figure 6 As shown, the third scenario involves bending where the rotation angles of the members are not entirely the same. The connection method of the members can be configured according to the specific application scenario.

[0074] In the limb portion 30 adjacent to the first end 10 (or the second end 20), the second rotation node 312 (or the third rotation node 313) can be connected to other structures to drive the bending rod 31 to rotate relative to the first end 10 (or the second end 20), thereby achieving bending of the limb.

[0075] This application uses a segment 30 to connect a first end 10 and a second end 20 to form a multi-segmented curved limb, and the curved limb as a whole forms a linkage structure. When one segment 30 rotates, it will drive the other segments 30 and ends (such as the first end 10 and the second end 20) to rotate, making it easier to achieve overall bending of the curved limb and with higher reliability.

[0076] In a preferred implementation of this invention, such as Figure 1 , Figure 3 and Figure 5As shown, when the limb portion 30 is adjacent to the first end portion 10, the first rotating node 311 in the limb portion 30 is rotatably connected to the first end portion 10, and the fifth rotating node 321 in the limb portion 30 is rotatably connected to the first end portion 10.

[0077] Specifically, when the segment 30 is adjacent to the first end 10, the first rotation node 311 and the fifth rotation node 321 of the segment 30 are rotatably connected to the two rotation nodes of the first end 10, respectively.

[0078] In a preferred implementation of this invention, such as Figure 1 , Figure 3 and Figure 5 As shown, when the limb portion 30 is adjacent to the second end portion 20, the fourth rotation node 314 in the limb portion 30 is rotatably connected to the second end portion 20, and the sixth rotation node 322 in the limb portion 30 is rotatably connected to the second end portion 20.

[0079] Specifically, when the limb portion 30 is adjacent to the second end portion 20, the fourth rotation node 314 and the sixth rotation node 322 of the limb portion 30 are rotatably connected to the two rotation nodes of the second end portion 20, respectively.

[0080] When a segment 30 is adjacent to another segment 30, the situations differ depending on the connection method. The first case will be used as an example for explanation below.

[0081] In a preferred implementation of this invention, such as Figures 1-2 As shown, when the limb segment 30 is adjacent to another limb segment 30, the first rotation node 311 in the limb segment 30 is rotatably connected to the third rotation node 313 of the other limb segment 30, the second rotation node 312 in the limb segment 30 is rotatably connected to the sixth rotation node 322 of the other limb segment 30, and the fifth rotation node 321 in the limb segment 30 is rotatably connected to the fourth rotation node 314 of the other limb segment 30.

[0082] Specifically, when a limb segment 30 is adjacent to another limb segment 30, the first rotation node 311 of the limb segment 30 is rotatably connected to the third rotation node 313 of the other limb segment 30, the second rotation node 312 of the limb segment 30 is rotatably connected to the sixth rotation node 322 of the other limb segment 30, and the fifth rotation node 321 of the limb segment 30 is rotatably connected to the fourth rotation node 314 of the other limb segment 30.

[0083] The second scenario will be used as an example for explanation below.

[0084] In a preferred implementation of this invention, such as Figures 3-4As shown, when limb segment 30 is adjacent to another limb segment 30, the first rotation node 311 in limb segment 30 is rotatably connected to the fourth rotation node 314 of the other limb segment 30, the second rotation node 312 in limb segment 30 is rotatably connected to the sixth rotation node 322 of the other limb segment 30, and the fifth rotation node 321 in limb segment 30 is rotatably connected to the third rotation node 313 of the other limb segment 30.

[0085] The third scenario will be used as an example for explanation below.

[0086] In a preferred implementation of this invention, such as Figures 5-6 As shown, when limb segment 30 is adjacent to another limb segment 30, the first rotation node 311 in limb segment 30 is rotatably connected to the sixth rotation node 322 of the other limb segment 30, the second rotation node 312 in limb segment 30 is rotatably connected to the fourth rotation node 314 of the other limb segment 30, and the fifth rotation node 321 in limb segment 30 is rotatably connected to the third rotation node 313 of the other limb segment 30.

[0087] In a preferred implementation of this invention, such as Figures 7-8 As shown, the bent limb also includes:

[0088] Base 41;

[0089] The first turntable 42 is rotatably mounted on the base 41;

[0090] The first driving element 43 is configured to drive the first turntable 42 to rotate;

[0091] The first turntable 42 is rotatably connected to the second rotating node 312, which belongs to the limb portion 30 adjacent to the first end portion 10.

[0092] Specifically, the first drive element 43 drives the first turntable 42 to rotate, thereby causing the second rotation node 312 to rotate relative to the base 41, thus realizing the bending of the limb (e.g., Figure 15 (As shown).

[0093] In a preferred implementation of this invention, such as Figures 7-8 As shown, the bent limb also includes:

[0094] The second turntable 44 is rotatably mounted on the base 41;

[0095] The second drive element 45 is configured to drive the second turntable 44 to rotate;

[0096] The second turntable 44 is connected to the first end 10.

[0097] Specifically, the second drive member 45 drives the second turntable 44 to rotate, thereby causing the first end 10 to rotate relative to the base 41, achieving the deflection of the bent limb (e.g. Figure 16 (As shown).

[0098] In a preferred implementation of this invention, such as Figures 7-8 As shown, the bent limb also includes:

[0099] Connector 46 is rotatably connected at both ends to the first turntable 42 and the second rotating node 312, respectively;

[0100] The rotation axis of the first turntable 42, the rotation axis of the second turntable 44, the rotation axis of the connector 46 rotatably connected to the first turntable 42, the rotation axis of the connector 46 rotatably connected to the second rotation node 312, and the rotation axis of the first rotation node 311 rotatably connected to the first end 10 all intersect at one point.

[0101] Specifically, the connector 46 connects the first turntable 42 and the second rotation node 312. When the first turntable 42 rotates, the connector 46 drives the second rotation node 312 to rotate relative to the base 41. The rotation axes of the first turntable 42, the second turntable 44, the connector 46, and the first rotation node 311 all intersect at one point.

[0102] In a preferred implementation of this invention, such as Figures 10-13 As shown, the bending rod 31 can be a single-piece plate or a double-piece plate, and the connecting rod 32 can be either a single-piece plate or a double-piece plate. When the bending rod 31 in the same segment 30 uses a double-piece plate, the connecting rod 32 can use a single-piece plate, with the single-piece plate positioned between the double-piece plates. Similarly, when the bending rod 31 in the same segment 30 uses a single-piece plate, the connecting rod 32 can use a double-piece plate, with the single-piece plate positioned between the double-piece plates.

[0103] Specifically, for the limb portion 30 near the base 41, a thicker single-piece or double-piece plate can be used; for the limb portion 30 far from the base 41, a thinner single-piece or double-piece plate can be used. This makes the bent limb more in line with the shape of a real limb, and makes it easier to bend the bent limb through the drive component.

[0104] In a preferred implementation of this invention, such as Figures 7-9As shown, the bent limb is the thumb, and the bent limb adopts a segment 30. The bending rod 31 of the segment 30 has a first rotating node 311, a second rotating node 312, and a fourth rotating node 314; the connecting rod 32 of the segment 30 has a fifth rotating node 321 and a sixth rotating node 322. The first rotating node 311 and the fifth rotating node 321 are rotatably connected to the two rotating nodes of the first end 10, the second rotating node 312 is rotatably connected to the connector 46, and the fourth rotating node 314 and the sixth rotating node 322 are rotatably connected to the two rotating nodes of the second end 20. The second end 20 forms the fingertip shape of the thumb.

[0105] In a preferred implementation of this invention, such as Figures 10-14 As shown, the bent limb is the index finger, middle finger, ring finger, or little finger. The bent limb comprises two segments 30, namely a first segment and a second segment, with the first segment near the first end 10 and the second segment near the second end 20. The bending rod 31 of the first segment has a first rotation node 311, a second rotation node 312, a third rotation node 313, and a fourth rotation node 314. The connecting rod 32 of the first segment has a fifth rotation node 321 and a sixth rotation node 322. The bending rod 31 of the second segment also has a first rotation node 311, a second rotation node 312, and a fourth rotation node 314. The connecting rod 32 of the second segment also has a fifth rotation node 321 and a sixth rotation node 322. In the first limb segment, the first rotating node 311 and the fifth rotating node 321 are rotatably connected to the two rotating nodes of the first end portion 10, respectively. The second rotating node 312 is rotatably connected to the connector 46. The third rotating node 313 is rotatably connected to the first rotating node 311 of the second limb segment. The fourth rotating node 314 is rotatably connected to the fifth rotating node 321 of the second limb segment. The sixth rotating node 322 is rotatably connected to the second rotating node 312 of the second limb segment. In the second limb segment, the fourth rotating node 314 and the sixth rotating node 322 are rotatably connected to the two rotating nodes of the second end portion 20, respectively. The second end portion 20 is shaped like the fingertip of the index finger, middle finger, ring finger, or little finger.

[0106] Based on the bending limb described in any of the above embodiments, the present invention also provides a preferred embodiment of a method for controlling bending limb.

[0107] The method for controlling flexed limbs according to an embodiment of the present invention includes the following steps:

[0108] Step S100: Control the first driving component to drive the first turntable to rotate, so as to bend the bent limb;

[0109] Step S200: Control the second drive unit to drive the second turntable to rotate, so as to deflect the bent limb.

[0110] Specifically, such as Figure 15 and Figure 16 As shown, the limb can bend and deflect. A first drive unit drives a first turntable to rotate, causing the bending rod of the limb segment to rotate relative to the first end, thus achieving bending of the limb. A second drive unit drives a second turntable to rotate, causing the first end, limb segment, and second end to deflect.

[0111] Based on the bending limb described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0112] like Figure 17 and Figure 18 As shown, the robotic hand of the present invention includes the bent limb described in any of the above embodiments.

[0113] Based on the bending limbs or robotic hands described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0114] The robot of the present invention includes a flexible limb or robotic hand as described in any of the above embodiments.

[0115] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A curved limb characterized by, The curved limb comprises: a first end, a second end and at least two limb sections; the limb sections comprise: a curved rod having a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint; a connecting rod having a fifth rotary joint and a sixth rotary joint; wherein the curved rod and the connecting rod are arranged in a cross shape; the first rotary joint and the fourth rotary joint are located at two ends of the curved rod respectively; the second rotary joint is located at a bending position of the curved rod, and the bending position of the curved rod is close to the position of the first rotary joint; the third rotary joint is located close to the position of the fourth rotary joint; the fifth rotary joint and the sixth rotary joint are located at two ends of the connecting rod respectively; the first rotary joint and the fifth rotary joint are configured to rotate to connect adjacent limb sections or the first end; the fourth rotary joint and the sixth rotary joint are configured to rotate to connect adjacent limb sections or the second end; at least one of the second rotary joint and the third rotary joint is rotatably connected with an adjacent limb section; the curved limb forms a linkage structure as a whole; when the limb section is adjacent to the first end, the first rotary joint in the limb section is rotatably connected with the first end, and the fifth rotary joint in the limb section is rotatably connected with the first end; when the limb section is adjacent to the second end, the fourth rotary joint in the limb section is rotatably connected with the second end, and the sixth rotary joint in the limb section is rotatably connected with the second end; when the limb section is adjacent to another limb section, the first rotary joint in the limb section is rotatably connected with the fourth rotary joint of another limb section, the second rotary joint in the limb section is rotatably connected with the sixth rotary joint of another limb section, and the third rotary joint in the limb section is rotatably connected with the fifth rotary joint of another limb section; or when the limb section is adjacent to another limb section, the first rotary joint in the limb section is rotatably connected with the sixth rotary joint of another limb section, the second rotary joint in the limb section is rotatably connected with the fourth rotary joint of another limb section, and the third rotary joint in the limb section is rotatably connected with the fifth rotary joint of another limb section; the curved limb further comprises: a base; a first rotary disc rotatably arranged on the base; a first driving member configured to drive the first rotary disc to rotate; a connecting member having two ends rotatably connected with the first rotary disc and the second rotary joint, the second rotary joint belonging to the limb section adjacent to the first end.

2. The curved limb according to claim 1, wherein, The curved limb further comprises: a second rotary disc rotatably arranged on the base; a second driving member configured to drive the second rotary disc to rotate; wherein the second rotary disc is connected with the first end.

3. The curved limb according to claim 2, wherein, The rotation axes of the first rotary disc, the second rotary disc, the connecting member rotatably connected with the first rotary disc, the connecting member rotatably connected with the second rotary joint, and the first rotary joint rotatably connected with the first end intersect at a point.

4. The control method of a bending limb according to any one of claims 2 to 3, characterized by, The method comprises the steps of: controlling the first driving member to drive the first turntable to rotate, so as to bend the curved limb; controlling the second driving member to drive the second turntable to rotate, so as to deflect the curved limb.

5. A robot hand, characterized in that comprising: the curved limb according to any one of claims 1-3.

6. A robot, characterized in that comprising: the curved limb according to any one of claims 1-3 or the robot hand according to claim 5.

Images