Robotic arm

Abstract

The application discloses a mechanical hand, comprising a base, a plurality of fingers arranged on the base at intervals, each finger comprising a plurality of connecting rods, two adjacent connecting rods of each finger being connected through a joint surface, each joint surface being a circular arc surface, one of the two adjacent connecting rods being provided with a torsion spring, a rope, the rope being sequentially arranged through the plurality of fingers, a driving member, the driving member being arranged on the base, and a driving end of the driving member being connected with at least one end of the rope, the driving member being used for controlling the rope to move to drive the plurality of fingers to bend. The mechanical hand of the embodiment of the application can realize flexible bending of the fingers, the torque generated by the torsion of the torsion spring and the torque generated by the tension of the rope are balanced, the bending process of the mechanical hand is stable and reliable, no mechanical constraint member is arranged between the two adjacent connecting rods, hard transmission between the connecting rods is avoided, the rope is driven to move through the driving member, and the bending of the plurality of fingers can be realized, and the grabbing and other actions of the mechanical hand can be realized.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and more specifically, to a robotic arm. Background Technology

[0002] With the development of technology, dexterous hands are increasingly used in production and daily life. Similar to human hands, dexterous hands have a lot of freedom and can perform a variety of movements. However, the transmission structure between the knuckles of a dexterous hand is relatively complex, and the transmission between the knuckles is a rigid transmission, which makes the knuckles of the fingers easy to be injured when they come into contact with or collide with external objects. In addition, the transmission structure is complex, has many driving components, is large in size and high in cost, and there is room for improvement. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, one objective of this application is to provide a robotic arm with a simple structure and compliance.

[0004] A robotic hand according to an embodiment of this application includes: a base; multiple fingers arranged at intervals on the base, each finger including multiple links, adjacent links of each finger engaging through articular surfaces, each articular surface being an arc surface, one of the adjacent links being provided with a torsion spring, the two ends of the torsion spring being respectively fixed to the two adjacent links; a rope, the rope sequentially threading through the multiple fingers, and the rope threading through each link of each finger; a driving member, the driving member being disposed on the base, and the driving end of the driving member being connected to at least one end of the rope, the driving member being used to control the movement of the rope to cause the multiple fingers to bend.

[0005] The robotic hand described in this application uses multiple links for each finger that engage through arc-shaped joint surfaces and are connected by ropes and torsion springs. When the drive unit moves the ropes, the fingers can be flexibly bent. The torque generated by the deformation of the torsion springs balances the torque exerted by the rope tension on the links, ensuring a stable and reliable bending process. No mechanical constraints are placed between adjacent links, avoiding hard transmission between them and preventing collisions and injuries. Multiple fingers can be bent by a single drive unit, enabling the robotic hand to perform grasping and other actions. The structure is simple, easy to assemble, and low-cost, thus reducing the overall size of the robotic hand, improving its market competitiveness, and facilitating its application and promotion.

[0006] The robotic arm of this application embodiment includes a first end rod and a second end rod for each of the plurality of links of the fingers, and at least one movable rod located between the first end rod and the second end rod. The first end rod is away from the base, and the second end rod is disposed on the base and fixedly connected to the base. The second end rod has an inlet portion and an outlet portion. The rope enters the second end rod through the inlet portion, passes through each of the movable rods to enter the first end rod, passes through each of the movable rods again, and exits the second end rod through the outlet portion.

[0007] Optionally, the first end rod has a first pulley, the rope enters the first end rod and wraps around the first pulley, the rope includes a first rope segment located between the inlet and the first pulley, and a second rope segment located between the first pulley and the outlet.

[0008] Optionally, the second end rod has a second pulley, which includes three pulleys. A first space corresponding to the cable inlet is defined between two of the second pulleys, and a second space corresponding to the cable inlet is defined between two of the second pulleys. The rope enters the second end rod through the first space and exits the second end rod through the second space.

[0009] Optionally, it further includes: a third pulley, which is rotatably disposed on the base and located between two adjacent fingers, the rope passing through the exit portion of one of the two adjacent fingers, and after wrapping around at least a part of the third pulley, entering the inlet portion of the other of the two adjacent fingers.

[0010] Optionally, the movable rod has a first guide section, a second guide section, and a third guide section corresponding to each rope segment, wherein the second guide section is disposed between the first guide section and the third guide section, wherein, in the extension direction perpendicular to the connecting rod, the second guide section is disposed on the side of the first guide section and the third guide section away from the finger bending.

[0011] The robotic hand of this application embodiment includes a finger with a contact surface, a back surface, a first side surface, and a second side surface. When the finger is bent, the contact surface is closer to the center of the base than the back surface. Both the first side surface and the second side surface are provided with elastic elements, and the elastic elements are fixedly connected to each link of the finger.

[0012] Furthermore, each of the fingers has a shaft disposed within the connecting rod, the extension direction of each shaft being perpendicular to the plane of the rope, and the two ends of the shaft being clamped between the two elastic elements, wherein the torsion spring is sleeved on the shaft.

[0013] The robotic arm of this application embodiment further includes two covers, with a mounting cavity formed between the two covers, and the base disposed within the mounting cavity.

[0014] In the robotic arm of this application embodiment, the two ends of the rope are respectively engaged with the driving end of the driving member, and the driving member drives the rope to move so as to cause two fingers on both sides of the plurality of fingers to bend synchronously.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the structure of the robotic arm according to an embodiment of this application from one perspective;

[0018] Figure 2 This is a schematic diagram of the robotic arm according to an embodiment of this application from another perspective;

[0019] Figure 3 This is a schematic diagram of the structure of a finger according to an embodiment of this application;

[0020] Figure 4 This is an exploded view of a finger according to an embodiment of this application;

[0021] Figure 5 This is a cross-sectional view of a finger according to an embodiment of this application;

[0022] Figure 6 This is another cross-sectional view of a finger according to an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the structure of a robotic arm according to another embodiment of this application.

[0024] Figure label:

[0025] Robotic arm 100,

[0026] 10. Finger; 1001. Thumb; 101. First side; 102. Second side; 103. Finger contact surface; 104. Finger back; 105. Joint surface; 11. First end rod; 111. First pulley; 112. First cover plate; 12. Second end rod; 121. Cable inlet; 122. Cable outlet; 123. Second pulley; 1231. First space; 1232. Second space; 1232. Second cover plate; 124. Movable rod; 13. First cable guide; 131. Second cable guide; 132. Third cable guide; 133. Operating port; 134. Third pulley; 14. Elastic element; 15. Shaft; 16. Fourth pulley; 17. Fifth pulley; 18.

[0027] Torsion spring 20, extension section 21,

[0028] Rope 30, first rope segment 31, second rope segment 32

[0029] Drive unit 40, base 50, cover 60. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0031] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] The following is for reference. Figures 1-7 Describes a robotic arm 100 according to an embodiment of this application.

[0034] like Figures 1-7 As shown, a robotic arm 100 according to an embodiment of this application includes: a base 50 and a plurality of fingers 10. The plurality of fingers 10 are spaced apart on the base 50. Each finger 10 includes a plurality of links. In any finger 10, two adjacent links are in contact with each other through joint surfaces 105. Each joint surface 105 is an arc surface, that is, the ends of two adjacent links are in contact with each other through arc surfaces.

[0035] Each finger 10 is also provided with a torsion spring 20. In any two adjacent links of a finger 10, the torsion spring 20 is set on one of the links. The two ends of the torsion spring 20 are fixedly connected to the two adjacent links respectively, so as to realize the installation and fixation of the torsion spring 20.

[0036] The robotic arm 100 also includes a rope 30, through which multiple fingers 10 are sequentially threaded, and through each link of each finger 10. Thus, multiple fingers 10 are linked together by a rope 30, and when the rope 30 is pulled, multiple fingers 10 can bend.

[0037] The robotic arm 100 also includes a drive unit 40, which is mounted on the base 50. The drive end of the drive unit 40 is connected to the end of the rope 30. The drive unit 40 can be connected to one end of the rope 30 while the other end of the rope 30 is fixed, or the drive unit 40 can be connected to both ends of the rope 30. The drive unit 40 can control the movement of the rope 30, thereby enabling multiple fingers 10 to bend. By driving the rope 30 to move through the drive unit, the bending of the robotic arm 100 becomes more stable and controllable, while also achieving automation.

[0038] The robotic arm 100 of this application has multiple links for each finger 10 that engage through arc-shaped joint surfaces 105 and are connected by ropes 30 and torsion springs 20. When the drive member 40 drives the ropes 30, the fingers 10 can be flexibly bent. The torque generated by the deformation of the torsion springs 20 is balanced with the torque generated by the tension of the ropes 30 on the links, making the bending process of the robotic arm 100 stable and reliable. No mechanical constraint is set between two adjacent links, avoiding hard transmission between links and preventing collisions and damage. By driving the ropes 30 with one drive member 40, multiple fingers 10 can be bent, enabling the robotic arm 100 to perform grasping and other actions. The structure is simple, easy to assemble, and low in cost, which can reduce the size of the robotic arm 100, improve the market competitiveness of the product, and facilitate its application and promotion.

[0039] like Figures 1-4As shown, according to some embodiments of this application, each finger 10 includes a first end rod 11, a second end rod 12, and a movable rod 13. The first end rod 11 is located away from the base 50, and the second end rod 12 is disposed on the base 50 and fixedly connected to the base 50, for example, by fasteners to fix the second end rod 12 to the base 50, thereby fixing the finger 10. The movable rod 13 is located between the first end rod 11 and the second end rod 12. There can be one or more movable rods 13, and the number of movable rods 13 for each finger 10 can be the same or different. It is understood that since the second end rod 12 is fixed to the base 50, when the rope 30 is pulled, the first end rod 11 and the movable rod 13 move simultaneously relative to the second end rod 12, thereby bending the finger 10.

[0040] In each finger 10, the ends of the first end rod 11 and the movable rod 13 abut against each other through an arc surface, and the ends of the second end rod 12 and the movable rod 13 abut against each other through an arc surface. When there are multiple movable rods 13, each movable rod 13 has an arc surface at its end, so that the ends of two adjacent movable rods 13 abut against each other through an arc surface.

[0041] like Figure 3 As shown, in some examples, each link is roughly prismatic in shape, and each link extends in the vertical direction. The upper or lower end of the link forms an articulated surface. Of course, each link can be cylindrical, and the end of the cylindrical link also has an arc-shaped articulated surface.

[0042] like Figure 1 and Figure 3 As shown, the second end rod 12 has an inlet 121 and an outlet 122. In each finger 10, taking the first end rod 11, movable rod 13, and second end rod 12 arranged vertically as an example, the rope 30 enters the second end rod 12 through the inlet 121, passes through each movable rod 13 from bottom to top, enters the first end rod 11, the middle of the rope 30 passes through the first end rod 11, and then passes through each movable rod 13 from top to bottom. Finally, the other end of the rope 30 exits the second end rod 12 through the outlet 122, thus achieving the winding of the rope 30 within the finger 10. When the rope 30 is pulled by an external force, multiple connecting rods rotate synchronously, causing the finger 10 to bend. Simultaneously, this causes the torsion spring 20 to deform. The torque generated by the deformation of the torsion spring 20 balances the torque generated by the tension of the rope 30 on the connecting rods, ensuring the stability of the finger 10 during bending. When the external force is removed, the finger 10 can return to its original position under the action of the torsion spring 20.

[0043] Furthermore, the rope 30 is threaded through each link of each finger 10. When the rope 30 is pulled by an external force, the multiple fingers 10 bend, thereby enabling the robotic arm 100 to perform a grasping action. Here, the multiple fingers 10 can bend sequentially, or the two outer fingers 10 can bend simultaneously, and then the inner fingers 10 bend sequentially.

[0044] like Figure 3 As shown, in some examples, the first end rod 11 has a first pulley 111, and the rope 30 enters the first end rod 11 and wraps around the first pulley 111. The rope 30 includes a first rope segment 31 and a second rope segment 32. The first rope segment 31 is located between the inlet 121 and the first pulley 111, and the second rope segment 32 is located between the first pulley 111 and the outlet 122. That is, in a single finger, the rope 30 includes two segments, with the first rope segment 31 entering and the second rope segment 32 exiting. The two rope segments are symmetrically designed, and the limiting position of each rope segment in the connecting rod is the same to ensure the flexible bending of the finger 10.

[0045] The first pulley 111 guides the rope 30, allowing for changes in its direction of movement. This facilitates the rope's insertion through the first end rod 11 and improves its smoothness, making the finger 10 more flexible and controllable during bending. Furthermore, the first pulley 111 and the cable inlet 121 constrain the first rope segment 31, while the first pulley 111 and the cable outlet 122 constrain the second rope segment 32. This constrains the length of the finger 10 in the vertical direction, ensuring the overall structural stability. Additionally, the first and second rope segments 31 and 32 can have some allowance in the vertical direction to further ensure the flexibility of the robotic arm 100 during bending.

[0046] like Figure 3 and Figure 4 As shown, in some examples, the second end rod 12 has a second pulley 123. The second pulley 123 may include multiple pulleys. The second pulley 123 may correspond to the inlet part 121 and the outlet part 122. Thus, when the rope 30 passes through the second end rod 12, the direction of movement of the rope 30 can be changed, and the smoothness of the movement of the rope 30 can be improved, making the finger 10 more flexible and controllable.

[0047] In some specific examples, the second pulley 123 includes three pulleys, wherein a first space 1231 is defined between two second pulleys 123, the first space 1231 corresponds to the cable inlet 121, and a second space 1232 is defined between two second pulleys 123, the second space 1232 corresponds to the cable inlet 121. The rope 30 enters the second end rod 12 through the first space 1231 and exits the second end rod 12 through the second space 1232. By setting three second pulleys 123, the rope 30 can cooperate with any of the corresponding second pulleys 123 when it is threaded through, which can improve the smoothness of the rope 30's movement and avoid interference between the first rope segment 31 and the second rope segment 32, which may affect the bending of the finger 10.

[0048] like Figure 1 As shown, in some examples, a third pulley 14 is provided between two adjacent fingers 10. The third pulley 14 is rotatably mounted on the base 50. In the case of two adjacent fingers 10, the rope 30 passes through the exit portion 122 of one finger 10. After the rope 30 winds around a part of the third pulley 14, the rope 30 extends into the inlet portion 121 of the other finger 10. By setting the third pulley 14, the direction of movement of the rope 30 can be changed, which facilitates the threading of the rope 30 on the two fingers 10, improves the smoothness of the rope 30's movement, and makes the robot arm 100 more flexible and controllable.

[0049] like Figure 5 As shown, in some examples, the movable rod 13 has a first wire guide 131, a second wire guide 132, and a third wire guide 133, with the second wire guide 132 located between the first wire guide 131 and the third wire guide 133, wherein, in the direction perpendicular to the extension of the connecting rod (e.g., Figure 5 (As shown in the front-back direction), the second thread guide 132 is located on the side away from the bend of the finger 10 between the first thread guide 131 and the third thread guide 133, such as... Figure 5 As shown, the finger 10 bends toward the finger contact surface 103, the second thread-passing part 132 is closer to the back of the finger 104 than the first thread-passing part 131, and the second thread-passing part 132 is closer to the back of the finger 104 than the third thread-passing part 133.

[0050] Each guide section includes two sections corresponding to two rope segments. When the rope 30 is threaded through the finger 10, the first rope segment 31 can slide and engage with the corresponding third guide section 133, second guide section 132 and first guide section 131 sequentially from bottom to top. After passing through the first pulley 111 on the first end rod 11, the second rope segment 32 can slide and engage with the corresponding first guide section 131, second guide section 132 and third guide section 133 sequentially from top to bottom. Through the limiting of the first pulley 111, the guide section, the inlet section 121 and the outlet section 122, the synchronous rotation of multiple links can be ensured. The rope 30 extends into and out of each finger 10, connecting multiple fingers together, thereby enabling the rotation of multiple fingers 10.

[0051] In some specific examples, the second thread guide 132 is eccentric relative to the center of the movable rod 13 towards the back of the finger 104, the first thread guide 131 is eccentric relative to the center of the movable rod 13 towards the finger contact surface 103, and the third thread guide 133 is eccentric relative to the center of the movable rod 13 towards the finger contact surface 103. Furthermore, the distances between the first thread guide 131 and the third thread guide 133 and the finger contact surface 103 are the same. Therefore, when the rope 30 is threaded through the movable rod 13, the length of the rope 30 between the first thread guide 131 and the second thread guide 132 is always consistent with the length of the rope 30 between the third thread guide 133 and the second thread guide 132. The first thread guide 131, the second thread guide 132, and the third thread guide 133 approximately form an isosceles triangle, which improves the stability of the rope 30's movement.

[0052] The first pulley 111 on the first end rod 11 is adjacent to the finger contact surface 103, and the second pulley 123 on the second end rod 12 is adjacent to the finger contact surface 103. The distance between the first pulley 111 and the finger contact surface 103 can be the same as the distance between the second pulley 123 and the finger contact surface 103, and can also be the same as the distance between the third guide wire 133 and the finger contact surface 103. When the rope 30 is pulled, the action of the first pulley 111 and the guide wire ensures that multiple first end rods 11 and movable rods 13 can rotate simultaneously.

[0053] like Figure 4 and Figure 6 As shown, the first end rod 11 has a first cover plate 112, which can be fixedly connected to the first end rod 11 to fix the first pulley 111 on the first end rod 11. Correspondingly, the second end rod 12 has a second cover plate 124, which can be fixedly connected to the second end rod 12 to fix the second pulley 123 on the second end rod 12. By setting the cover plate, it is also convenient to thread the rope 30 through, thereby facilitating the assembly and forming of the overall structure.

[0054] like Figure 5 As shown, in some examples, the movable rod 13 has an operating port 134, which is located on the back of the fingers 104 of the movable rod 13. The operating port 134 is connected to the second wire guide 132. By providing the operating port 134, when the rope 30 is threaded through the movable rod 13, the rope 30 can reliably cooperate with the second wire guide 132, which facilitates the fixing and limiting of the rope 30.

[0055] like Figure 3 and Figure 5 As shown, according to some embodiments of this application, the finger 10 includes a finger contact surface 103, a finger back surface 104, a first side surface 101, and a second side surface 102. When the finger 10 is bent, the finger contact surface 103 is closer to the center of the base 50 than the finger back surface 104. The first side surface 101 is provided with an elastic element 15, which is fixedly connected to each link of the finger 10. The second side surface 102 may also be provided with an elastic element 15, which is also fixedly connected to each link of the finger 10. By providing the elastic element 15, the finger 10 can be protected to a certain extent. When the finger 10 is bent by external force, the finger 10 can quickly return to its original shape, thereby improving the stability of the overall structure.

[0056] Of course, protective sleeves can also be fitted on the outside of multiple links. The protective sleeves fit snugly against the links, which not only limit and protect the links of finger 10, but also make the overall structure more aesthetically pleasing.

[0057] like Figure 4 As shown, in some examples, each finger 10 has a shaft 16, which is disposed within the connecting rod, and the extension direction of each shaft 16 is perpendicular to the plane of the rope 30, such as... Figure 4 As shown, the shaft 16 extends in the left and right direction, and the left and right ends of the shaft are fixedly connected to the connecting rod respectively. The rope 30 can be wrapped around the outside of the shaft, and the outer side of the shaft 16 can form a cable passage. When the rope 30 moves, the shaft 16 can limit the movement of the rope 30.

[0058] The two ends of the shaft 16 are clamped between two elastic elements 15. That is, the elastic elements 15 can cover the ends of the shaft 16 and can limit the shaft 16 to a certain extent, so as to prevent the shaft 16 from slipping and affecting the stability of the robot arm 100.

[0059] like Figure 4 As shown, in some examples, the torsion spring 20 is sleeved on the shaft, and the two ends of the torsion spring 20 are fixedly connected to the connecting rod on which the shaft is set and the adjacent connecting rod, respectively, so as to fix the torsion spring 20. This makes the installation and fixing of the torsion spring 20 more convenient, and at the same time avoids the center offset of the torsion spring 20, thus improving the stability of the torsion spring 20.

[0060] like Figure 4 As shown, in some examples, the shaft 16 with torsion springs 20 has three torsion springs 20. By setting three torsion springs 20 on one shaft 16, a first rope segment 31 and a second rope segment 32 can be installed between two adjacent torsion springs 20. This can avoid interference between the two rope segments, improve the stability of the robot arm 100 during movement, facilitate the synchronous movement of the two rope segments, and ensure the stability of reset when the external force is removed.

[0061] In some specific examples, the torsion spring 20 includes a body and an extension section 21. The body is sleeved on the shaft 16, and the extension section 21 extends from both sides of the body. One extension section 21 is connected to the connecting rod on which the shaft 16 is mounted, and the other extension section 21 is connected to the adjacent connecting rod. The included angle between the two extension sections is α, where α is greater than 0° and less than or equal to 180°. For example, α can be 30°, 45°, 60°, 90°, 120°, 150°, 180°, etc., that is, α can be an acute angle or an obtuse angle.

[0062] In some specific examples, the included angle α between the two protruding sections is 90°. The torsion spring is set on the shaft of the lower connecting rod among two adjacent connecting rods, and the torsion spring 20 is coaxial with the axis of the shaft 16. The protruding sections 21 extend from both sides of the body. One protruding section 21 is connected to the lower connecting rod, and the other protruding section 21 is connected to the upper connecting rod. The two protruding sections 21 are perpendicular. This ensures the reliability of the cooperation between the torsion spring 20 and the two adjacent shafts 16, and also facilitates the synchronous deformation of the torsion spring 20 when the rope 30 is pulled by an external force and causes the finger 10 to bend. At the same time, it is easy for the torsion spring 20 to return to its initial state after the external force is removed.

[0063] In some specific examples, the end of the connecting rod has a mounting hole, and the protruding section 21 extends from both sides of the body. One protruding section 21 is fixed near the shaft sleeved on the body and extends in the front-back direction. The other protruding section 21 is inserted into the mounting hole of the adjacent connecting rod. For example, the lower end of the first end rod 11 has a mounting hole, the body of the torsion spring 20 is sleeved on the shaft at the upper end of the movable rod 13, one protruding section 21 extends from the upper side of the body and is inserted into the first end rod 11, and the other protruding section 21 is connected to the movable rod 13. The movable rod 13 also has a movable cover, which is installed at the position corresponding to the torsion spring 20. By setting the movable cover, the installation of the torsion spring 20 can be facilitated, and at the same time, the torsion spring 20 can be limited to a certain extent to prevent the torsion spring 20 from shaking or shifting and affecting the stability of the overall structure.

[0064] Understandably, the two extended sections 21 of the torsion spring 20 can move in the front-back direction and reset under torque. The two extended sections 21 can also deform to a certain extent in the left-right direction and reset under torque, thereby ensuring the flexibility of the finger 10 in the front-back and left-right directions. Furthermore, by setting two torsion springs 20 spaced apart on a shaft, it is also convenient for the torsion springs 20 to reset in the left-right direction, thus improving the stability of the robot arm 100.

[0065] like Figure 4 As shown, in some examples, the shaft 16 is provided with a rotatable fourth pulley 17, and the rope 30 is slidably engaged with the fourth pulley 17. The fourth pulley 17 can guide the rope 30. The outer surface of the fourth pulley 17 inside the movable rod 10 can form a cable guide on the movable rod 10, which limits the movement of the rope 30. By setting the fourth pulley 17, the friction of the rope 30 can be reduced, and the rope 30 can be prevented from being worn by repeated friction. This can improve the smoothness of the robot arm 100 and extend the service life of the rope 30.

[0066] like Figure 4 As shown, in some specific examples, each movable rod 13 has three third shafts, the third shafts correspond to the positions of three wire guides, and each third shaft is fitted with a fourth pulley 17. The fourth pulley 17 is rotatably engaged with the third shaft, and the first wire guide 131, the second wire guide 132 and the third wire guide 133 can be located on the outer peripheral surface of the corresponding three fourth pulleys 17.

[0067] In some examples, the rope 30 can be made of PE material and has a certain degree of elasticity. This elasticity improves the flexibility of the finger 10 in the vertical direction. The rope 30 can also have a certain length allowance in the vertical direction to further ensure the flexibility of the finger 10 during bending. Of course, the rope 30 can also be made of steel wire rope.

[0068] like Figure 7 As shown, according to some embodiments of this application, the robot arm 100 further includes two covers 60, with a mounting cavity formed between the two covers 60. The base 50 is disposed within the mounting cavity, thereby protecting the base 50 and its drive components 40 and other structures, preventing dust from entering and affecting the movement of the drive components 40 and the rope 30. It should be noted that the two covers 60 can cooperate with each other, such as by snap-fitting or fastening, and the covers 60 can also cooperate with the base 50 to protect the base 50.

[0069] According to some embodiments of this application, the first end of the rope 30 is engaged with the driving end of the driving member 40, and the second end of the rope 30 is fixed on the base 50. When the driving member 40 drives the rope 30 to move, the finger 10 adjacent to the first end of the rope 30 can be driven to bend first, and then multiple fingers 10 bend in sequence to realize the gripping of the robotic hand 10.

[0070] like Figure 1 and Figure 2 As shown, according to some other embodiments of this application, the two ends of the rope 30 are respectively engaged with the driving end of the driving member 40. When the driving member 40 drives the rope 30 to move, it can drive the two fingers 10 located on both sides to bend synchronously, and then make the inner fingers 10 bend in sequence, thereby improving the bending efficiency of the fingers 10 and facilitating the gripping of the robotic arm 10.

[0071] In some examples, a fifth pulley 18 is provided between the outermost finger 10 and the drive end of the drive member 40. The fifth pulley 18 includes multiple pulleys. One end of the rope 30 is fixed around the drive end of the drive member 40. The rope 30 is wound around a portion of the fifth pulley 18, enters the finger 10 through the inlet 121, passes through multiple fingers 10, and exits from the outlet 122 of the last finger 10. After being wound around other portions of the fifth pulley 18, the other end of the rope 30 engages with the drive end of the drive member 40. By setting the fifth pulley 18, the direction of movement of the rope 30 can be changed, which facilitates the coordination between the rope 30 and the drive member 40. At the same time, it can improve the smoothness of the rope 30's movement, making the robot arm 100 more flexible and controllable.

[0072] like Figure 1 and Figure 2 As shown, in some examples, the robotic hand 100 is shaped like a human hand and includes five fingers 10, namely the thumb 1001, index finger, middle finger, ring finger, and little finger. The thumb 1001 includes a first end rod 11, a second end rod 12, and a movable rod 13. The other four fingers 10 each include a first end rod 11, a second end rod 12, and two movable rods 13. The two movable rods 13 are arranged in pairs and contact each other through articular surfaces 103. The rope 30 extends along the same path within each movable rod 13. The first side 101 of each finger 10 is adjacent to the second side 102 of another finger 10. Each first side 101 and second side 102 of each finger 10 is provided with an elastic element 15.

[0073] The thumb 1001 is positioned below the other four fingers 10. One end of the rope 30 is wrapped around and fixed to the drive end of the drive member 40. The rope 30 is wrapped around a portion of the fifth pulley 18, enters the finger 10 through the inlet 121 of the little finger, then passes through the ring finger, middle finger, and index finger, and extends downward into the inlet 121 of the thumb 1001. It then exits from the outlet 122 of the thumb 1001, wraps around a portion of the fifth pulley 18, and the other end of the rope 30 is wrapped around and fixed to the drive end of the drive member 40.

[0074] When the drive component 40 drives the rope 30, it can simultaneously bend the thumb 1001 and the little finger. After the thumb 1001 and the little finger bend, the ring finger and index finger bend, and finally the middle finger bends. This enables the robotic hand 100 to perform a grasping action, which is convenient, efficient, and low-cost. The bending direction of the thumb 1001 is roughly opposite to that of the other four fingers, such as... Figure 1 As shown, the thumb 1001 can bend from the outside in and from the bottom up, while the other four fingers can bend from the top down.

[0075] Of course, the robotic arm 100 can also include two, three, four or more fingers 10. The bending direction of each finger can be the same or different, which can increase the degree of freedom of the robotic arm 100 and improve the flexibility of its use.

[0076] Other configurations and operations of the robotic arm 100 according to the embodiments of this application are known to those skilled in the art and will not be described in detail here. The up-down, left-right, and front-back directions are defined as shown in the figures.

[0077] In the description of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0079] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that The utility model relates to a kind of finger bending device, including: Base; Multiple fingers are arranged at intervals on the base, each finger includes multiple connecting rods, and two adjacent connecting rods of each finger are connected by joint surface, each joint surface is circular arc surface, one of two adjacent connecting rods is provided with torsion spring, and two ends of the torsion spring are fixed on two adjacent connecting rods respectively; Rope, the rope is sequentially threaded multiple fingers, and the rope is threaded each connecting rod of each finger; Driving member, the driving member is provided in the base, and the driving end of the driving member is connected with at least one end of the rope, and the driving member is used to control the rope to move to drive multiple fingers to bend; The multiple connecting rods of each finger include first end rod and second end rod, and at least one movable rod between first end rod and second end rod, the first end rod is away from the base, and the second end rod is provided in the base and is fixedly connected with the base, Wherein, the second end rod has wire inlet part and wire outlet part, the rope enters the second end rod through the wire inlet part, passes through each movable rod to enter the first end rod, and then passes through each movable rod to pass out of the second end rod through the wire outlet part.

2. The robot according to claim 1, characterized in that The first end rod has first pulley, the rope enters the first end rod and is arranged around the first pulley, and the rope includes first rope section between the wire inlet part and the first pulley and second rope section between the first pulley and the wire outlet part.

3. The robot of claim 1, wherein The second end rod has second pulley, the second pulley includes three, and first space corresponding to wire inlet part is defined between two second pulleys, and second space corresponding to wire inlet part is defined between two second pulleys, the rope enters the second end rod through the first space, and the rope passes out of the second end rod through the second space.

4. The robot of claim 1, wherein Also including: Third pulley, the third pulley is rotatably arranged in the base and located between two adjacent fingers, the rope passes out of wire outlet part of one of the two adjacent fingers, and enters wire inlet part of the other of the two adjacent fingers after being arranged around at least part of the third pulley.

5. The robot of claim 2, wherein, The movable rod has first wire passing part, second wire passing part and third wire passing part corresponding to each rope section, the second wire passing part is arranged between the first wire passing part and the third wire passing part, Wherein, in the direction perpendicular to the extension direction of the connecting rod, the second wire passing part is arranged on the side away from the bending of the finger from the first wire passing part and the third wire passing part.

6. The robot of claim 1, wherein The finger includes finger contact surface, finger back, first side and second side, in the bending state of the finger, the finger contact surface is close to the center of the base relative to the finger back, the first side and the second side are both provided with elastic member, and the elastic member is fixedly connected with each connecting rod of the finger.

7. The robot of claim 6, wherein Each finger has a shaft arranged in the connecting rod, the extension direction of each shaft is perpendicular to the plane where the rope is located, and two ends of the shaft are clamped between two elastic members, wherein the torsion spring is sleeved on the shaft.

8. The robot of claim 1, wherein, The mechanical hand further comprises two covers, a mounting cavity is formed between the two covers, and the base is arranged in the mounting cavity.

9. The robot according to any one of claims 1-8, characterized in that, Two ends of the rope are matched with driving ends of the driving members respectively, the driving members drive the rope to move to drive the two fingers on both sides to bend synchronously.

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