Arm structure and bionic robot

Abstract

The utility model provides an arm structure and a bionic robot, and relates to the technical field of humanoid robots. The arm structure comprises a driving part, an upper arm part, a front arm part and a palm part, the upper arm part is rotationally connected with the driving part, the front arm part is rotationally connected with the end, away from the driving part, of the upper arm part, the palm part is rotationally connected with the end, away from the front arm part, of the upper arm part, the driving part is provided with a first limiting part, and the driving part is provided with a second limiting part. The arm structure comprises an upper arm part and a front arm part, the upper arm part is provided with a second limiting part, the front arm part is provided with a third limiting part, the first limiting part is used for limiting the rotating operation angle of the arm structure, the second limiting part is used for limiting the rotating operation angle of the upper arm part, and the third limiting part is used for limiting the rotating operation angle of the front arm part. The rotation operation angles of the upper arm part, the front arm part and the palm part can be limited, the maximum movement range of human body parts is simulated, and the anthropomorphic effect of the arms is further improved.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to an arm structure and a bionic robot. Background Art

[0002] A humanoid robot is a robot that is designed to imitate human appearance and behavior, especially a robot with a body similar to that of a human. In the prior art, the arm of a humanoid robot has few degrees of freedom, resulting in a poor anthropomorphic effect. To this end, an arm structure and a bionic robot are provided. Utility Model Content

[0003] In view of this, the purpose of the present application is to provide an arm structure and a bionic robot, aiming to solve the technical problem in the prior art that the humanoid robot arm has fewer degrees of freedom.

[0004] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides an arm structure, including:

[0006] Drive unit;

[0007] an upper arm portion, the upper arm portion being rotatably connected to the driving portion;

[0008] A forearm portion, the forearm portion being rotatably connected to an end of the upper arm portion away from the driving portion;

[0009] A palm portion, the palm portion being rotatably connected to an end of the upper arm portion away from the forearm portion;

[0010] Among them, the driving part is provided with a first limiting part, the upper arm part is provided with a second limiting part, and the forearm part is provided with a third limiting part. The first limiting part is used to limit the rotation working angle of the arm structure, the second limiting part is used to limit the rotation working angle of the upper arm part, and the third limiting part is used to limit the rotation working angle of the forearm part.

[0011] In one embodiment of the first aspect, the driving portion includes a housing, a first driving member and a first connecting member, the first driving member is installed in the housing, and the first connecting member is connected to an output shaft of the first driving member;

[0012] The first limiting portion includes a first limiting pin and a first limiting groove. The first limiting pin is arranged in one of the shell and the first connecting member, and the first limiting groove is arranged in the other one of the two. The first limiting grooves are respectively engaged with the first limiting pin.

[0013] In one embodiment of the first aspect, the upper arm portion includes a second connecting member and a second driving member, and the second driving member is rotatably connected to an end of the second connecting member away from the driving portion;

[0014] The second limiting portion includes a limiting notch and a second limiting pin, the limiting notch is arranged in one of the second connecting member and the second driving member, and the second limiting pin is arranged in the other of the two, and the second limiting pin passes through the limiting notch.

[0015] In one embodiment of the first aspect, the upper arm further comprises a third driving member, the third driving member is disposed at one end of the second driving member away from the second connecting member, and a flange edge is disposed at one end of the third driving member away from the second driving member;

[0016] The arm structure also includes an elbow, the two opposite ends of which are respectively connected to the upper arm and the forearm, the elbow is rotationally connected to the third driving member, and the elbow includes a lower beam body, which is in abutment with the flange edge.

[0017] In one of the embodiments of the first aspect, a first limit block is provided on a side of the elbow opposite to the lower beam body, and the first limit block abuts against an end portion of the third driving member.

[0018] In one embodiment of the first aspect, the forearm portion includes a fourth driving member and a connecting rod mechanism, and the connecting rod mechanism is connected to the output shaft of the fourth driving member;

[0019] The third limiting portion includes a third limiting pin and a second limiting block. The third limiting pin is arranged in one of the connecting rod mechanism and the fourth driving member, and the second limiting block is arranged in the other one of the two. There are two second limiting blocks, and the third limiting pin is respectively abutted and cooperated with the two second limiting blocks.

[0020] In one embodiment of the first aspect, the connecting rod mechanism includes a mounting frame, a fifth driving member, a sixth driving member, a first connecting rod and a second connecting rod, the fifth driving member and the sixth driving member are both mounted on the mounting frame, the first connecting rod is connected to the output end of the fifth driving member, the second connecting rod is connected to the output end of the sixth driving member, and the mounting frame, the first connecting rod and the second connecting rod are all rotatably connected to the palm at one end away from the upper arm.

[0021] In one embodiment of the first aspect, the palm portion includes a mounting plate and a plurality of finger mechanisms, and the plurality of finger mechanisms are all mounted on the mounting plate, and the finger mechanisms include a seventh driving member and a plurality of finger joints, and a screw rod is provided at the output end of the seventh driving member, and connecting rods are rotatably provided between the seventh driving member and the finger joint closest to it and between two adjacent finger joints, and the connecting rod closest to the seventh driving member is threadedly connected to the screw rod.

[0022] In one embodiment of the first aspect, the arm structure further includes a measuring part, and the measuring part is connected to the upper arm part and the driving part respectively.

[0023] In a second aspect, an embodiment of the present application also provides a bionic robot, comprising the arm structure described in any of the above embodiments.

[0024] Compared with the prior art, the beneficial effects of the present application are as follows: the present application provides an arm structure and a bionic robot, which are used to improve the problem of less freedom of the robot arm. The arm structure includes a driving part, an upper arm part, a forearm part, a palm part and a limiting part, wherein the driving part, the upper arm part, the forearm part and the palm part are connected and rotated in sequence, and the driving part is installed on the shoulder of the robot. In this way, the driving part can drive other parts of the arm to rotate compared with the shoulder, so as to realize the hand-raising action of the robot arm. At the same time, multiple parts can rotate freely to realize multiple degrees of freedom of the arm and enhance the anthropomorphic performance of the arm. In addition, the present application also provides a first limiting part on the driving part, a second limiting part on the upper arm part, and a third limiting part on the forearm part to limit the rotational operating angle of the arm structure, the upper arm part and the forearm part, simulate the maximum range of motion of human body parts, and further enhance the anthropomorphic effect of the arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram showing the structure of the arm structure in some embodiments of the present application is shown;

[0027] Figure 2 A schematic diagram of the structure of a driving unit in some embodiments of the present application is shown;

[0028] Figure 3 A schematic diagram of the structure of the upper arm in some embodiments of the present application is shown;

[0029] Figure 4 Shown is a schematic structural diagram of an elbow in some embodiments of the present application;

[0030] Figure 5 A schematic diagram of the connection structure between the upper arm and the elbow in some embodiments of the present application is shown;

[0031] Figure 6 It shows a schematic structural diagram of the forearm part in some embodiments of the present application;

[0032] Figure 7 A schematic diagram of the structure of the connecting rod mechanism in some embodiments of the present application is shown;

[0033] Figure 8 Shows Figure 7 A schematic diagram of the enlarged structure of part A;

[0034] Fig. 9 A schematic diagram of the structure of the finger mechanism in some embodiments of the present application is shown.

[0035] Description of main component symbols:

[0036] 100-arm structure; 110-driving part; 111-housing; 112-first driving member; 113-first connecting member; 114-first limiting pin; 115-first limiting groove; 120-upper arm; 121-second connecting member; 122-second driving member; 123-third driving member; 124-second limiting pin; 125-limiting notch; 126-flange edge; 127-first bevel gear; 130-forearm; 131-fourth driving member; 132-connecting rod mechanism; 1321-mounting frame; 1322-fifth driving member; 1323-sixth driving member; 1324-first connecting rod; 1325-second connecting rod; 1326-joint bearing; 133-second limit block; 134-third limit pin; 140-palm; 141-mounting plate; 1411-first connecting ear; 1412-second connecting ear; 142-finger mechanism; 1421-seventh driving member; 1422-knuckle; 1423-connecting rod; 1424-screw; 150-measuring part; 160-elbow; 161-lower beam; 162-first limit block; 163-second bevel gear. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] The embodiment of the present application provides an arm structure 100 and a bionic robot, which can be used to increase the freedom of movement of a robot arm, and is specifically used in the field of bionic robots. The arm structure 100 and the bionic robot provided by the present application can limit the rotation angle of each component, simulate the maximum range of movement of human body components, and further enhance the anthropomorphic effect of the arm.

[0043] like Figure 1As shown, an embodiment of the present application provides an arm structure 100, which includes a driving part 110, an upper arm part 120, a forearm part 130, a palm part 140 and a plurality of limiting parts. The upper arm part 120 is rotatably connected to the driving part 110, the forearm part 130 is rotatably connected to one end of the upper arm part 120 away from the driving part 110, and the palm part 140 is rotatably connected to one end of the upper arm part 120 away from the forearm part 130. The driving part 110 is provided with a first limiting part, the upper arm part 120 is provided with a second limiting part, and the forearm part 130 is provided with a third limiting part. The first limiting part is used to limit the rotational operating angle of the arm structure 100, the second limiting part is used to limit the rotational operating angle of the upper arm part 120, and the third limiting part is used to limit the rotational operating angle of the forearm part 130.

[0044] Exemplarily, the driving unit 110 is installed on the shoulder of the bionic robot. During the operation, the driving unit 110 can drive the arm structure 100 as a whole to raise or lower the hand upward or downward. At the same time, by rotating the connected driving unit 110, the upper arm 120, the forearm 130 and the palm 140 in sequence, the driving unit 110, the upper arm 120, the forearm 130 and the palm 140 can be respectively provided with driving parts, and each driving part can work separately or cooperate with each other, and can respectively control the rotation of a single part, or can cooperate with each other to perform complex operation actions at the same time, so as to realize the free rotation of each part, improve the freedom of movement of the arm structure 100, and simulate the movement of the human arm.

[0045] In addition, different limiters can be respectively provided at the rotational connection of each component to limit the range of motion of each component respectively, simulate the maximum range of motion of human body components, and further enhance the anthropomorphic effect of the arm. For example, the first limiter provided at the driving part 110 can limit the overall hand-raising angle of the arm structure 100, the second limiter provided at the upper arm part 120 can limit the rotation angle of the upper arm part 120; the third limiter provided at the forearm part 130 can limit the rotation angle of the forearm part 130.

[0046] Combination Figure 2 As shown, in some embodiments, the driving portion 110 includes a shell 111, a first driving member 112 and a first connecting member 113, the first driving member 112 is installed in the shell 111, and the first connecting member 113 is connected to the output shaft of the first driving member 112; the first limiting portion includes a first limiting pin 114 and a first limiting groove 115, the first limiting pin 114 is set in one of the shell 111 and the first connecting member 113, and the first limiting groove 115 is set in the other of the two, and the first limiting groove 115 is respectively engaged with the first limiting pin 114.

[0047] Exemplarily, a mounting groove is provided inside the housing 111, and the overall structure is U-shaped. The first driving member 112 is installed in the groove of the housing 111, and the outer side of the housing 111 is connected to the shoulder of the bionic robot. The first connecting member 113 can be a metal workpiece with a connecting ear, and the first connecting member 113 is connected to the output shaft of the first driving member 112, and the connecting part between the first driving member 112 and the first driving member 112 protrudes compared to the housing 111, so that it can rotate freely under the action of the first driving member 112.

[0048] In one embodiment, the first limiting pin 114 is disposed on the first connecting member 113 , and the first limiting groove 115 is disposed on the housing 111 .

[0049] The first limit pins 114 are symmetrically arranged on the two opposite sides of the housing 111, and two first limit pins 114 are arranged on each side, and the two first limit pins 114 on the same side can be arranged opposite to each other up and down. Correspondingly, the first limit slot 115 is arranged on the circumference of the part where the first connecting member 113 is connected to the first driving member 112, and two first limit slots 115 are arranged on each side of the first driving member 112 corresponding to the first limit pin 114. During the arm raising action, when the first limit slot 115 located above abuts against the first limit pin 114 located above, the maximum lifting height of the arm is reached at this time; when the first limit slot 115 located below abuts against the first limit pin 114 located below, the maximum lower position of the arm is reached at this time.

[0050] In another embodiment, the first limiting pin 114 is disposed on the housing 111 , and the first limiting groove 115 is disposed on the first connecting member 113 . In this case, the end surface of the housing 111 can be made to protrude more than the first connecting member 113 .

[0051] In one embodiment, the arm raising angle of the arm structure 100 is 0°-120°.

[0052] by Figure 1 For example, in the figure, the arm structure 100 is in a horizontal position. When the arm structure 100 raises its hand upward from the horizontal state, when the upper first limit groove 115 abuts against the first limit pin 114, the lifting angle of the arm structure 100 is 30° upward; when the arm structure 100 swings its hand downward from the horizontal state, when the lower first limit groove 115 abuts against the first limit pin 114, the swinging angle of the arm structure 100 is 90° downward, and the arm structure 100 is in a vertical state.

[0053] It should be noted that the above description of the direction only refers to Figure 1In actual application, the initial state of the arm structure 100 may be other forms. For example, if the initial state of the arm structure 100 is a vertical state, the action limit of the arm structure 100 is 30° forward swing and 90° backward swing.

[0054] Combination Figure 2 and Figure 3 As shown, in some embodiments, the upper arm portion 120 includes a second connecting member 121 and a second driving member 122, and the second driving member 122 is rotatably connected to an end of the second connecting member 121 away from the driving portion 110; the second limiting portion includes a limiting notch 125 and a second limiting pin 124, the limiting notch 125 is arranged in one of the second connecting member 121 and the second driving member 122, and the second limiting pin 124 is arranged in the other of the two, and the second limiting pin 124 passes through the limiting notch 125.

[0055] Exemplarily, the second connecting member 121 may be a metal workpiece, and connected to the first connecting member 113 through a connecting plate, so as to follow the hand-lifting movement of the first connecting member 113. The second driving member 122 is rotatably connected to the second connecting member 121, so that other components on the side of the second connecting member 121 away from the driving part 110 can rotate relative to the second connecting member 121.

[0056] In one embodiment, the second limiting pin 124 is disposed on the second driving member 122 , and the limiting notch 125 is disposed on the second connecting member 121 .

[0057] A limiting notch 125 with a certain arc begins at one end of the second connecting member 121 close to the second driving member 122. The second limiting pin 124 on the second driving member 122 extends toward the direction close to the second connecting member 121 and passes through the limiting notch 125. The limiting notch 125 restricts the rotation of the second limiting pin 124 to limit the rotation angle of the upper arm 120.

[0058] In another embodiment, the second limiting pin 124 is disposed on the second connecting member 121 , and the limiting notch 125 is disposed on the second driving member 122 .

[0059] In other embodiments, the limiting notch 125 may also be replaced by an arc-shaped through groove, both of which can achieve the rotation limitation of the second limiting pin 124 .

[0060] In some embodiments, the rotation angle of the second driving member 122 is 0°-135°.

[0061] by Figure 2For example, in the figure, the upper arm 120 is in the initial state, and the second limit pin 124 is located in the middle of the limit notch 125. Then, when the second driving member 122 rotates upward and abuts against the end of the limit notch 125, the rotation angle of the second driving member 122 is 45° upward; when the second driving member 122 rotates downward and abuts against the end of the limit notch 125, the rotation angle of the second driving member 122 is 90° downward.

[0062] It should be noted that the above description of the direction only refers to Figure 2 To describe, in actual application, the rotation direction of the upper arm 120 can be rotated toward the inside or outside of the body.

[0063] Combination Figure 3 As shown, in some embodiments, the upper arm 120 further includes a third driving member 123, which is disposed at one end of the second driving member 122 away from the second connecting member 121, and the end of the third driving member 123 away from the second driving member 122 is provided with a flange edge 126. The arm structure 100 further includes an elbow 160, two opposite ends of the elbow 160 are respectively connected to the upper arm 120 and the forearm 130, the elbow 160 is rotatably connected to the third driving member 123, and the elbow 160 includes a lower beam body 161, and the lower beam body 161 is abutted against the flange edge 126.

[0064] Exemplarily, a connecting plate may be provided between the third driving member 123 and the second driving member 122, and the third driving member 123 and the second driving member 122 are respectively fixed to the side surfaces of the two opposite sides of the connecting plate. The third driving member 123 is used to drive the elbow 160 to rotate to simulate the movement of the elbow 160 of the human body. In the initial state, the elbow 160 and the upper arm 120 remain in a parallel and straight state. When bending, the elbow 160 rotates in a direction close to the third driving member 123. When the lower beam 161 touches the flange edge 126 of the third driving member 123, the elbow 160 reaches the maximum rotation angle.

[0065] In one embodiment, when the elbow 160 is in a state of being parallel to the third driving member 123 and touching the flange edge 126 of the third driving member 123 , the rotation angle of the elbow 160 is 115°.

[0066] Combination Figure 4 As shown, in some embodiments, a first limit block 162 is provided on a side of the elbow 160 opposite to the lower beam body 161 , and the first limit block 162 abuts against an end of the third driving member 123 .

[0067] Exemplarily, a slot for accommodating the first limit block 162 is provided at the end of the third driving member 123, so that when the elbow 160 is in the straight state, the first limit block 162 is pressed against the wall of the slot to prevent the elbow 160 from continuing to rotate and maintain the straight state.

[0068] Combination Figure 5 As shown, in some embodiments, the output shaft of the third driving member 123 is provided with a first bevel gear 127, and the elbow 160 is provided with a second bevel gear 163, and the axis of the first bevel gear 127 is perpendicular to the axis of the second bevel gear 163. Through the meshing connection between the first bevel gear 127 and the second bevel gear 163, the rotation direction of the third driving member 123 is changed, so that the elbow 160 can rotate in a direction close to the third driving member 123.

[0069] Combination Figure 4 and 6 As shown, in some embodiments, the forearm portion 130 includes a fourth driving member 131 and a connecting rod mechanism 132, and the connecting rod mechanism 132 is connected to the output shaft of the fourth driving member 131; the third limiting portion includes a third limiting pin 134 and a second limiting block 133, the third limiting pin 134 is arranged in one of the connecting rod mechanism 132 and the fourth driving member 131, and the second limiting block 133 is arranged in the other of the two, and two second limiting blocks 133 are provided, and the third limiting pin 134 is respectively abutted and cooperated with the two second limiting blocks 133.

[0070] Exemplarily, the fourth driving member 131 is installed on the elbow 160, and its output shaft is connected to the connecting rod mechanism 132 to control the rotation of the forearm 130. The connecting rod mechanism 132 can control the palm 140 to rotate in multiple directions, thereby simulating the wrist movement of the human body.

[0071] In one embodiment, the third limiting pin 134 is disposed on the connecting rod mechanism 132, and the second limiting block 133 is disposed on the fourth driving member 131. The third limiting pin 134 and the two second limiting blocks 133 are abutted to limit the rotation angle of the connecting rod mechanism 132 to simulate the movement range of the human forearm.

[0072] In another embodiment, the third limiting pin 134 is disposed on the fourth driving member 131 , and the second limiting block 133 is disposed on the connecting rod mechanism 132 .

[0073] In one embodiment, the rotation angle of the connecting rod mechanism 132 at the fourth driving member 131 is 180°. In the initial state, the third limit pin 134 is located between the two second limit blocks 133, and the connecting rod mechanism 132 abuts against one of the second limit blocks 133 after rotating 90° in two directions.

[0074] Combination Figure 7As shown, in some embodiments, the connecting rod mechanism 132 includes a mounting frame 1321, a fifth driving member 1322, a sixth driving member 1323, a first connecting rod 1324 and a second connecting rod 1325. The fifth driving member 1322 and the sixth driving member 1323 are both mounted on the mounting frame 1321, the first connecting rod 1324 is connected to the output end of the fifth driving member 1322, the second connecting rod 1325 is connected to the output end of the sixth driving member 1323, and the ends of the mounting frame 1321, the first connecting rod 1324 and the second connecting rod 1325 away from the upper arm portion 120 are all rotatably connected to the palm portion 140.

[0075] Exemplarily, both ends of the mounting frame 1321 are connected to the fourth driving member 131 and the palm portion 140, respectively, and the fifth driving member 1322 and the sixth driving member 1323 are both mounted on the mounting frame 1321. The first connecting rod 1324 and the second connecting rod 1325 are respectively located at two opposite sides of the mounting frame 1321, and are respectively connected to the output shafts of the fifth driving member 1322 and the sixth driving member 1323, so as to respectively control the degrees of freedom on both sides of the palm portion 140.

[0076] A flange block can be set at the output end of the fifth driving member 1322 and the sixth driving member 1323 respectively, wherein the center of the flange block is connected to the output shaft, and the first connecting rod 1324 and the second connecting rod 1325 are respectively connected to the edges of the two flange blocks, so that under the action of the fifth driving member 1322 and the sixth driving member 1323, the flange block follows the rotation and drives the first connecting rod 1324 and the second connecting rod 1325 to perform repeated telescopic movements, similar to a cam rotation structure.

[0077] Through the above arrangement, when the fifth driving member 1322 and the sixth driving member 1323 operate separately, the palm 140 can be moved left and right. When the fifth driving member 1322 and the sixth driving member 1323 operate simultaneously, the palm 140 can be rotated up and down.

[0078] In one embodiment, one end of the mounting frame 1321 connected to the palm portion 140 is provided with an upper and lower end surface. When the palm portion 140 rotates from an initial state toward close to the upper end surface, the rotation angle when abutting against the upper end surface is 60°; when the palm portion 140 rotates from an initial state toward close to the lower end surface, the rotation angle when abutting against the lower end surface is 40°.

[0079] Combination Fig. 9As shown, in some embodiments, the palm portion 140 includes a mounting plate 141 and a plurality of finger mechanisms 142, and the plurality of finger mechanisms 142 are all mounted on the mounting plate 141. The finger mechanisms 142 include a seventh driving member 1421 and a plurality of finger joints 1422. A screw rod 1424 is provided at the output end of the first driving member 112. A connecting rod 1423 is rotatably provided between the seventh driving member 1421 and the finger joint 1422 closest to it and between two adjacent finger joints 1422. A connecting rod 1423 closest to the seventh driving member 1421 is threadedly connected to the screw rod 1424.

[0080] For example, the mounting plate 141 may resemble a human palm, and the plurality of finger mechanisms 142 may correspond to the thumb, index finger, middle finger, ring finger, and little finger of the human body, respectively. The index finger, middle finger, ring finger, and little finger are mounted on the outside of the mounting plate 141, and the thumb is mounted on the inside of the mounting plate 141. Each finger mechanism 142 may be provided with a seventh driving member 1421, and the bending movement of each knuckle 1422 is realized through the screw rod 1424 and the connecting rod structure.

[0081] by Fig. 9 Taking the index finger mechanism in the figure as an example, when the seventh driving member 1421 rotates, the connecting rod 1423 connected to the seventh driving member 1421 performs telescopic movement through the threaded transmission of the screw rod 1424, thereby driving it to bend directly in the direction of the mounting plate 141, and the bending movement of multiple finger joints 1422 is realized by the connecting rod 1423 set between different finger joints 1422.

[0082] In one embodiment, the ring finger and the little finger may share one seventh driving member 1421 to reduce installation space.

[0083] Combination Figure 8 As shown, in some embodiments, the connection end of the mounting plate 141 and the connecting rod mechanism 132 is provided with a first connecting ear 1411 and a second connecting ear 1412. Two first connecting ears 1411 and two second connecting ears 1412 are provided opposite to each other, the two second connecting ears 1412 are located in the middle of the mounting plate 141, and the two first connecting ears 1411 are respectively located on both sides of the mounting plate 141. Among them, the mounting frame 1321 is rotatably connected to the two second connecting ears 1412 through a pin shaft, and the first connecting rod 1324 and the second connecting rod 1325 are rotatably connected to the two first connecting ears 1411 respectively.

[0084] In one embodiment, a joint bearing 1326 is provided at the connection between the mounting frame 1321 and the second connecting ear 1412, and the joint bearing 1326 can be limited by 15° on the left and right sides according to the characteristics of the bearing itself. A ball head rod is provided at one end of the first connecting rod 1324 and the second connecting rod 1325 connected to the palm 140, and the ball head rod is rotatably connected to the second connecting ear 1412, and a joint bearing 1326 is also provided at the connection, so that the palm 140 can move with multiple degrees of freedom, providing a simulated human wrist movement effect.

[0085] Combination Figure 1 and Figure 2 In some embodiments, the arm structure 100 further includes a measuring unit 150 , which is connected to the upper arm unit 120 and the driving unit 110 , respectively.

[0086] Exemplarily, the measuring unit 150 includes two multi-dimensional static torque sensors, which are respectively mounted on the first connecting member 113 and the second connecting member 121, and the two torque sensors are connected by a plate. The torque sensors can accurately measure and feedback the torque of the arm structure 100 during the hand-raising movement.

[0087] In the present application, the first driving member 112, the second driving member 122 and the third driving member 123 in the above embodiment can be harmonic reduction steering gears, which have the advantages of small size, large reduction ratio, high motion accuracy, etc. The fourth driving member 131 and the seventh driving member 1421 can be planetary reduction steering gears, which have the advantages of small size, low cost, good rigidity, etc. The fifth driving member 1322 and the sixth driving member 1323 can be metal gear reduction steering gears.

[0088] An embodiment of the present application further provides a bionic robot, comprising the arm structure 100 in any of the above embodiments.

[0089] This embodiment has the arm structure 100 in any of the above embodiments, and therefore has all the beneficial effects of the arm structure 100 in any of the above embodiments, which will not be described in detail here.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0091] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An arm structure, characterized in that: include: Drive unit; an upper arm portion, the upper arm portion being rotatably connected to the driving portion; A forearm portion, the forearm portion being rotatably connected to an end of the upper arm portion away from the driving portion; A palm portion, the palm portion being rotatably connected to an end of the upper arm portion away from the forearm portion; Among them, the driving part is provided with a first limiting part, the upper arm part is provided with a second limiting part, and the forearm part is provided with a third limiting part. The first limiting part is used to limit the rotation working angle of the arm structure, the second limiting part is used to limit the rotation working angle of the upper arm part, and the third limiting part is used to limit the rotation working angle of the forearm part.

2. The arm structure according to claim 1, characterized in that: The driving part comprises a housing, a first driving member and a first connecting member, wherein the first driving member is installed in the housing, and the first connecting member is connected to an output shaft of the first driving member; The first limiting portion includes a first limiting pin and a first limiting groove. The first limiting pin is arranged in one of the shell and the first connecting member, and the first limiting groove is arranged in the other one of the two. The first limiting grooves are respectively engaged with the first limiting pin.

3. The arm structure according to claim 1, characterized in that: The upper arm portion comprises a second connecting member and a second driving member, wherein the second driving member is rotatably connected to an end of the second connecting member away from the driving portion; The second limiting portion includes a limiting notch and a second limiting pin, the limiting notch is arranged in one of the second connecting member and the second driving member, and the second limiting pin is arranged in the other of the two, and the second limiting pin passes through the limiting notch.

4. The arm structure according to claim 3, characterized in that: The upper arm portion further comprises a third driving member, the third driving member is arranged at one end of the second driving member away from the second connecting member, and the end of the third driving member away from the second driving member is provided with a flange edge; The arm structure also includes an elbow, the two opposite ends of which are respectively connected to the upper arm and the forearm, the elbow is rotationally connected to the third driving member, and the elbow includes a lower beam body, which is in abutment with the flange edge.

5. The arm structure according to claim 4, characterized in that: A first limiting block is provided on a side of the elbow opposite to the lower beam body, and the first limiting block is abutted and matched with an end portion of the third driving member.

6. The arm structure according to claim 1, characterized in that: The forearm portion includes a fourth driving member and a connecting rod mechanism, and the connecting rod mechanism is connected to the output shaft of the fourth driving member; The third limiting portion includes a third limiting pin and a second limiting block. The third limiting pin is arranged in one of the connecting rod mechanism and the fourth driving member, and the second limiting block is arranged in the other one of the two. There are two second limiting blocks, and the third limiting pin is respectively abutted and cooperated with the two second limiting blocks.

7. The arm structure according to claim 6, characterized in that: The connecting rod mechanism includes a mounting frame, a fifth driving member, a sixth driving member, a first connecting rod and a second connecting rod. The fifth driving member and the sixth driving member are both mounted on the mounting frame, the first connecting rod is connected to the output end of the fifth driving member, the second connecting rod is connected to the output end of the sixth driving member, and the mounting frame, the first connecting rod and the second connecting rod are all rotatably connected to the palm at one end away from the upper arm.

8. The arm structure according to any one of claims 1 to 7, characterized in that: The palm portion includes a mounting plate and a plurality of finger mechanisms, and the plurality of finger mechanisms are all mounted on the mounting plate. The finger mechanisms include a seventh driving member and a plurality of finger joints. A screw rod is provided at the output end of the seventh driving member. Connecting rods are rotatably provided between the seventh driving member and the finger joint closest to it and between two adjacent finger joints. The connecting rod closest to the seventh driving member is threadedly connected to the screw rod.

9. The arm structure according to any one of claims 1 to 7, characterized in that: The arm structure also includes a measuring part, which is connected to the upper arm part and the driving part respectively.

10. A bionic robot, characterized in that: An arm structure comprising any one of claims 1 to 9.

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