Robotic arm

Abstract

The application discloses a mechanical hand, comprising: a base; a plurality of fingers, the plurality of fingers are arranged on the base at intervals, each finger is rotationally connected with the base, and each finger is provided with a connecting piece at an end close to the base; a first driving member, the first driving member is installed on the base and comprises a telescopic push rod; and a connecting module, the connecting module is arranged at the end of the push rod of the first driving member, and the connecting module is connected with the connecting pieces of at least two fingers to link the at least two fingers. According to the mechanical hand, the end of the push rod of the first driving member can be connected with the connecting pieces of the at least two fingers through the connecting module, so that the at least two fingers can be linked under the driving of the first driving member, thereby on the basis of realizing the movement of the plurality of fingers, the number of driving members can be reduced, the structure of the mechanical hand is simplified, the weight and manufacturing cost of the mechanical hand are reduced, and the specific connection form of the plurality of fingers can be controlled according to requirements, so that the mechanical hand is more flexible and light.

Description

Technical Field

[0001] This invention relates to the field of dexterous hand technology, and more specifically, to a robotic hand. Background Technology

[0002] In related technologies, linkage direct-drive dexterous hands are usually structurally complex to give them multiple degrees of freedom to satisfy grasping actions. However, dexterous hands do not differentiate between grasping abilities. In actual grasping, dexterous hands mainly rely on some fingers, while other parts are in an auxiliary grasping state, which makes dexterous hands still not dexterous and lightweight enough, and there is room for improvement. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a robotic hand that is more dexterous and lightweight.

[0004] A robotic hand according to an embodiment of the present invention includes: a base; a plurality of fingers, the plurality of fingers being arranged at intervals on the base, each finger being rotatably connected to the base, and a connector being provided at one end of each finger near the base; a first driving member, the first driving member being mounted on the base and including a retractable push rod; and a connecting module, the connecting module being disposed at the end of the push rod of the first driving member, and the connecting module being connected to the connectors of at least two of the fingers to enable the at least two fingers to move together.

[0005] According to the embodiments of the present invention, the push rod end of the first driving member can be connected to the connector of at least two fingers through the connecting module, so that at least two fingers can move together under the drive of the first driving member. Thus, while realizing the movement of multiple fingers, the number of driving members can be reduced, the structure of the robot can be simplified, the weight and manufacturing cost of the robot can be reduced, and the robot can control the specific connection form of multiple fingers according to the needs, making the robot more dexterous and lightweight.

[0006] In some embodiments, the connecting module includes a connecting rod that is rotatably connected to the connector and rotatably connected to the end of the push rod.

[0007] In some embodiments, the connecting module includes a connecting rod and a connecting arm. The connecting arm includes a rotating part and a connecting part. The rotating part is sleeved on the connecting rod and can rotate around the connecting rod. The connecting part is connected to the connecting member. The connecting rod is rotatably connected to the end of the push rod.

[0008] In some embodiments, the connecting portion of the connecting arm is provided with a sliding groove, and the connecting member is provided with a fixed shaft, which passes through the sliding groove and slides in cooperation with the sliding groove.

[0009] In some embodiments, the connecting module includes a connecting rod, or the connecting module includes a connecting rod and a connecting arm that are rotatably connected, wherein at least one connecting rod is rotatably connected to a corresponding connecting member, and at least one connecting arm is rotatably connected to a corresponding connecting member; or, the connecting members corresponding to at least two fingers are rotatably connected to the connecting rod; or, the connecting members corresponding to at least two fingers are rotatably connected to the connecting arm.

[0010] In some embodiments, the finger includes a first finger segment and a second finger segment, the second finger segment being located at the end of the first finger segment away from the base, the first finger segment being provided with the connector, wherein one of the first finger segment and the connector has a limiting track, and the other of the first finger segment and the connector has a limiting block, the limiting block being adapted to be inserted into the limiting track and being slidably engaged with the limiting track.

[0011] In some embodiments, the first finger segment defines a hollow clearance cavity, the limiting track is disposed on the first finger segment and communicates with the clearance cavity, one end of the connector is adapted to be inserted into the clearance cavity, and the one end of the connector is provided with the limiting block.

[0012] In some embodiments, one end of the first finger segment is rotatably connected to the base, and the other end of the first finger segment is rotatably connected to the second finger segment, the second finger segment being rotatably connected to the base via a connecting rod; and / or, each finger includes at least one second finger segment, wherein the at least one second finger segment is arranged in parallel, and each second finger segment is rotatably connected to the other end of the first finger segment, or, the at least one second finger segment is arranged in series, one second finger segment is rotatably connected to the other end of the first finger segment, and two adjacent second finger segments are rotatably connected.

[0013] In some embodiments, the device further includes: a first mounting member connected to the first drive member and the base for mounting the first drive member on the base, the first mounting member being rotatably connected to the first drive member about one axis and the first mounting member being rotatably connected to the base about another axis, the two axes extending perpendicularly.

[0014] In some embodiments, a second drive member is further included, wherein the first drive member is connected to a portion of the plurality of fingers via the connection module, the number of the second drive members is the same as the number of the other portion of the plurality of fingers, each of the second drive members is connected to each of the other portion of the plurality of fingers, and the second drive member is rotatably connected to the base.

[0015] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention 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 a robotic arm in one state according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of a robotic arm in another state according to an embodiment of the present invention;

[0019] Figure 3 yes Figure 2 A schematic diagram of the robotic arm from another perspective;

[0020] Figure 4 It is along Figure 3 Sectional view of line AA in the middle;

[0021] Figure 5 This is an exploded view of a robotic arm according to an embodiment of the present invention;

[0022] Figure 6 This is a partial structural schematic diagram of a robotic arm according to an embodiment of the present invention;

[0023] Figure 7 yes Figure 6 A schematic diagram of the structure shown from another perspective;

[0024] Figure 8 yes Figure 7 The enlarged view of B is shown in the center circle;

[0025] Figure 9 yes Figure 6 A schematic diagram of the structure shown from another perspective;

[0026] Figure 10 It is along Figure 9 A cross-sectional view of the CC line;

[0027] Figure 11 It is along Figure 9 A cross-sectional view of the DD line.

[0028] Figure label:

[0029] Robotic arm 100,

[0030] Finger 10, first finger 10a, second finger 10b, first finger segment 11, limiting track 111, clearance cavity 112, second finger segment 12, connector 13, fixed shaft 131, limiting block 132, connecting rod 14.

[0031] Connecting module 20, connecting rod 21, connecting arm 22, rotating part 221, connecting part 222, sliding groove 223.

[0032] First driving component 30, push rod 31, push block 32, first mounting component 40.

[0033] Second drive component 50,

[0034] Base 70, first part 71, second part 72, third part 73, connecting seat 74. Detailed Implementation

[0035] Embodiments of the present invention 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 the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, 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, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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 the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] The following is for reference. Figures 1-11A robotic arm 100 according to an embodiment of the present invention is described.

[0039] like Figures 1-11 As shown, a robotic arm 100 according to an embodiment of the present invention includes: a base 70 and a plurality of fingers 10, the plurality of fingers 10 being arranged at intervals on the base 70, each finger 10 being rotatably connected to the base 70, and each finger 10 having a connector 13 disposed at one end of the corresponding finger 10 near the base 70.

[0040] The robotic arm 100 also includes a first drive unit 30, which is mounted on the base 70 and includes a telescopic push rod 31.

[0041] The robotic arm 100 also includes a connection module 20, which is located at the end of the push rod 31 of the first drive member 30 (e.g., Figure 1 (as shown at the upper end), and the connecting module 20 is connected to the connector 13 of at least two fingers 10. Thus, the connector 13 of at least two fingers 10 can be connected to the end of the push rod 31 through the connecting module 20. When the push rod 31 extends or retracts, it can drive the connecting module 20 to move, so that the at least two fingers 10 connected to the connecting module 20 can move together.

[0042] The robotic arm 100 may include a first drive unit 30, which is connected to a connector 13 of a portion of the fingers 10 via a connection module 20. The first drive unit 30 can move by extending and retracting via a push rod 31, thereby driving the movement of that portion of the fingers 10. The other portion of the fingers 10 can be driven by other drive units. The robotic arm 100 may also be provided with multiple first drive units 30, each of which is connected to two or more fingers 10 via a connection module 20, so that the multiple fingers 10 on the robotic arm 100 can be controlled as needed.

[0043] According to the embodiment of the present invention, the end of the push rod 31 of the first driving member 30 can be connected to the connector 13 of at least two fingers 10 through the connecting module 20, so that at least two fingers 10 can move together under the drive of the first driving member 30. Thus, while realizing the movement of multiple fingers 10, the number of driving members can be reduced, the structure of the robot 100 can be simplified, the weight and manufacturing cost of the robot 100 can be reduced, and the robot 100 can control the specific connection form of multiple fingers 10 according to the requirements, making the robot 100 more dexterous and lightweight.

[0044] In addition, the first drive unit 30 is mounted on the base 70. By reducing the number of drive units, the base 70 can have more space to accommodate other components, and the integration of the structure can also be improved.

[0045] like Figures 6-11As shown, in some embodiments, the connecting module 20 includes a connecting rod 21, which is rotatably connected to the connecting member 13. Here, the connecting member 13 can be connected to the end of the connecting rod 21 or to any part between the two ends of the connecting rod 21. The connecting rod 21 is rotatably connected to the end of the push rod 31. The end of the push rod 31 can be a part of the push rod 31 itself or a push block 32 connected to the push rod 31. The push block 32 can be rotatably connected to the push rod 31, thereby increasing the degree of freedom at the connection and facilitating the connection between the end of the push rod 31 and the connecting rod 21.

[0046] The connecting member 13 of the finger 10 is rotatably connected to the connecting rod 21, and the connecting rod 21 is rotatably connected to the end of the push rod 31, making the movement of the finger 10 more flexible. The rotation axis of the connecting member 13 relative to the connecting rod 21 is the first axis, and the rotation axis of the connecting rod 21 relative to the end of the push rod 31 is the second axis. The first axis and the second axis can be parallel. When pushing and extending, the connecting rod 21 can swing to a certain extent when it is interfered with, and the connecting member 13 of the finger 10 can swing accordingly, improving the self-adaptability of the finger 10.

[0047] Furthermore, with the same structural dimensions for multiple fingers 10 and connector 13, multiple fingers 10 can be located at the same height in the vertical direction, thereby achieving the linkage of multiple fingers 10 and making the arrangement of multiple fingers 10 more neat and aesthetically pleasing.

[0048] like Figure 1 As shown, in some optional examples, multiple fingers 10 are arranged in a left-right direction, each finger 10 has a connector 13 at its lower end, and a connecting rod 21 extends in the left-right direction. The connecting rod 21 can then connect to the connectors 13 of the multiple fingers 10. For example, both ends of the connecting rod 21 can be rotatably connected to two connectors 13 respectively. When the dimensions of the multiple fingers 10 and the connectors 13 are the same, the multiple fingers 10 can be at the same height in the vertical direction. This achieves the linkage of the multiple fingers 10 while making their arrangement more neat and aesthetically pleasing. Of course, the connecting rod 21 can also be arc-shaped or other shapes, with the connectors 13 of the multiple fingers 10 connected to different areas of the connecting rod 21.

[0049] like Figures 6-11As shown, in some embodiments, the connecting module 20 includes a connecting rod 21 and a connecting arm 22. The connecting rod 21 is rotatably connected to the end of the push rod 31. The connecting arm 22 includes a rotating part 221 and a connecting part 222. The rotating part 221 is disposed on the connecting rod 21 and can rotate around the connecting rod 21. Here, the rotating part 221 can be sleeved on the outside of the connecting rod 21 and can rotate around the outer periphery of the connecting rod 21. The rotating part 221 can also be disposed at the end of the connecting rod 21. The rotating part 221 is connected to the connecting rod 21 via a shaft. The connecting rod 21 is rotatably connected, and the connecting part 222 is connected to the connecting piece 13 of a finger 10. Thus, when the push rod 31 extends or retracts, it drives the connecting rod 21 and the connecting arm 22 to move, thereby driving the finger 10 connected to the connecting arm 22 to move. The connecting arm 22 is rotatably connected to the connecting rod 21, so that when the first driving member 30 drives multiple fingers 10 to move, even if the fingers 10 are interfered with to a certain extent, the first driving member 30 can still continue to work, reducing the probability of damage to the first driving member 30 and improving the self-adaptability of the robot 100.

[0050] By setting up a connecting module 20 with a connecting rod 21 and a connecting arm 22, the degree of freedom of the finger 10 can be increased to a certain extent, and the flexibility and adaptability of the finger 10 can be improved. At the same time, a part of the connecting arm 22 can protrude from the connecting rod 21, and the position of the connector 13 connected to the connecting module 20 can be adjusted to meet the connection needs of the finger 10 in different positions.

[0051] like Figure 7 and Figure 8 As shown, in some optional examples, multiple fingers 10 are arranged in a left-right direction. Each finger 10 has a connector 13 at its lower end. A connecting rod 21 extends in a left-right direction, and one end of the connecting rod 21 has a connecting arm 22. The rotating part 221 of the connecting arm 22 is rotatably connected to the connecting rod 21. The connecting part 222 of the connecting arm 22 protrudes from the upper side of the connecting rod 21. At this time, the connector 13 of at least one finger 10 can be rotatably connected to the connecting rod 21, and the connector 13 of at least one finger 10 is rotatably connected to the connecting arm 22. This allows at least two fingers 10 to have different heights, which can better mimic the shape of a human hand. When the first driving member 30 drives the finger 10 to bend, the finger 10 can swing to a certain extent when it is interfered with, thereby improving the flexibility of the finger 10 and ensuring the normal operation of the first driving member 30, thus improving the self-adaptability of the robotic hand 100. Here, the multiple fingers 10 can be two or more.

[0052] In some alternative examples, multiple fingers 10 are arranged in a left-right direction, each finger 10 has a connector 13 at its lower end, a connecting rod 21 extends in a left-right direction, and multiple connecting arms 22 are provided on the connecting rod 21. The rotating part 221 of each connecting arm 22 is rotatably connected to the connecting rod 21, and the connecting part 222 of the connecting arm 22 protrudes from the upper side of the connecting rod 21. The multiple connecting arms 22 correspond one-to-one with the multiple fingers 10. At this time, the connectors 13 of the multiple fingers 10 are all rotatably connected to the connecting arms 22. Thus, when the first driving member 30 drives the fingers 10 to bend, the multiple fingers 10 can swing to a certain extent when interfered with, so as to improve the flexibility of the fingers 10, while ensuring the normal operation of the first driving member 30 and improving the self-adaptability of the robot 100. Here, the multiple fingers 10 can be two or more.

[0053] like Figure 8 As shown, in some embodiments, the connecting part 222 of the connecting arm 22 is provided with a groove 223, and the connecting member 13 is provided with a fixed shaft 131. The fixed shaft 131 passes through the groove 223 and slides with the groove 223, so that the fixed shaft 131 can move in the groove 223. For example, the groove 223 extends in the left and right direction, so that the connecting rod 21 can move in the left and right direction. The connecting rod 21 can rotate about the center line of the fixed shaft 131 as the axis. When it is interfered with, the finger 10 can avoid the interfering object by deflection, which can further improve the flexibility and practicality of the finger 10.

[0054] like Figure 1 As shown, in some embodiments, the finger 10 includes a first finger segment 11 and a second finger segment 12. The second finger segment 12 is located at the end of the first finger segment 11 away from the base 70. The first finger segment 11 is provided with a connector 13. When the finger 10 is driven to rotate, the first finger segment 11 and the second finger segment 12 rotate in the same direction, thereby realizing the bending of the finger 10.

[0055] Among them, such as Figure 4 and Figure 10As shown, the first finger segment 11 has a limiting track 111, and the connecting member 13 has a limiting block 132. The limiting block 132 can be inserted into the limiting track 111, and the limiting block 132 and the limiting track 111 are in sliding engagement. That is to say, the connection between the connecting member 13 and the first finger segment 11 is not fixed. Therefore, when the push rod 31 is not extended or retracted, when an external force is applied to the finger 10, the limiting block 132 slides along the limiting track 111, causing the connection position between the connecting member 13 and the first finger segment 11 to change, and the finger 10 can bend. This gives the robotic hand 100 the ability to push the finger 10 from the back of the hand to the palm, giving the robotic hand 100 a certain degree of flexibility, reducing the risk of damage to the finger 10 under use or impact, and improving the dexterity and bionics of the robotic hand 100. Of course, the limiting track 111 can also be set on the connecting member 13, and the limiting block 132 can be set on the first finger segment 11.

[0056] In some embodiments, the first finger segment 11 defines a hollow clearance cavity 112, a limiting track 111 is disposed on the first finger segment 11 and communicates with the clearance cavity 112, the upper end of the connector 13 has a limiting block 132, the upper end of the connector 13 can be inserted into the clearance cavity 112, and the limiting block 132 is inserted into the limiting track 111 to realize the connection between the connector 13 and the first finger segment 11.

[0057] Therefore, the limiting track 111 is set inside the first finger segment 11. The limiting track 111 and the connecting block are not visible on the outside of the first finger segment 11, eliminating the need for slotting on the outside of the first finger segment 11, making the appearance of the finger 10 more aesthetically pleasing. At the same time, since the limiting track 111 is hidden inside, it is difficult for debris to fall into the limiting track 111, avoiding the possibility of debris getting stuck in the limiting track 111 and affecting the cooperation between the first finger segment 11 and the connecting piece 13, thus achieving protection for the robotic arm 100.

[0058] In addition, the hollow clearance cavity 112 design is also conducive to integrating sensors or other structures inside the finger 10. The neat appearance of the first finger segment 11 is also conducive to setting other protective structures on the outside of the finger 10.

[0059] like Figure 4 As shown, the upper end of the limiting track 111 is open, and the lower end of the limiting track 111 has a blocking member. The blocking member can be integrally formed on the first finger segment 11. Thus, the connecting member 13 can be installed from the upper end of the limiting track 111 onto the first finger segment 11, and the blocking member can limit the connecting member 13 to prevent the connecting member 13 from coming off from the lower end of the limiting track 111.

[0060] like Figure 4 and Figure 11As shown, in some embodiments, one end of the first finger segment 11 is rotatably connected to the base 70, and the other end of the first finger segment 11 is rotatably connected to the second finger segment 12. The second finger segment 12 is rotatably connected to the base 70 via a connecting rod 14, as shown. Figure 11 As shown, the lower end of the connecting rod 14 is rotatably connected to the connecting seat 74 on the base 70, and the upper end of the connecting rod 14 is rotatably connected to the second finger segment 12. Thus, when the push rod 31 extends or retracts, the connecting piece 13 moves downward, causing the first finger segment 11 to rotate relative to the base 70. Since the second finger segment 12 is rotatably connected to both the first finger segment 11 and the base 70, the second finger segment 12 can rotate synchronously when the first finger segment 11 rotates, thereby enabling the bending of the finger 10. This facilitates the movement of the finger 10, and the overall structure of the finger 10 is simple and the connection is reliable. Of course, the first finger segment 11 and the second finger segment 12 can also be connected to the base 70 via a rope, or any other form of connection, to achieve the linkage between the first finger segment 11 and the second finger segment 12.

[0061] like Figure 11 As shown, each finger 10 includes a second finger segment 12, which is rotatably connected to the first finger segment 11, and the second finger segment 12 is rotatably connected to the base 70 via a connecting rod 14. This results in a simple structure, fewer parts, lower costs, easier assembly, and improved simplicity of the module design.

[0062] According to other embodiments of this application, each finger 10 includes a plurality of second finger segments 12, wherein the plurality of finger segments can be arranged in parallel, that is, each second finger segment 12 is rotatably connected to the other end of the first finger segment 11, and each second finger segment 12 is rotatably connected to the base 70 through a connecting rod 14. The first driving member 30 can drive the first finger segment 11 to move, thereby driving the plurality of second finger segments 12 to move. Thus, when the finger 10 is bent, a wrapping grasping effect can be achieved to meet different usage needs.

[0063] According to some embodiments of this application, each finger 10 includes a plurality of second finger segments 12, wherein the plurality of second finger segments 12 are arranged in series, that is, one end of one second finger segment 12 is rotatably connected to a first finger segment 11, and the other end of the second finger segment 12 is rotatably connected to another second finger segment 12. In other words, two adjacent second finger segments 12 are rotatably connected. Each second finger segment 12 is rotatably connected to the base 70 through a connecting rod 14. The first driving member 30 drives the first finger segment 11 to move, thereby driving the plurality of second finger segments 12 to move, realizing the bending of the finger 10, thereby increasing the size of the finger 10 and improving the gripping capacity of the finger 10.

[0064] like Figure 5As shown, in some embodiments, the robotic arm 100 further includes: a first mounting member 40, which is connected to the first drive member 30 and the base 70, for mounting the first drive member 30 on the base 70. For example, the first drive member 30 has a through hole, and a fastener passes through the through hole to fix it to the first mounting member 40, so that the first drive member 30 and the first mounting member 40 are rotatably connected; the base 70 also has a through hole, and a fastener passes through the through hole to fix it to the first mounting member 40, so that the first mounting member 40 and the base 70 are rotatably connected.

[0065] The first mounting component 40 is rotatably connected to the first driving component 30 about one axis, and the first mounting component 40 is rotatably connected to the base 70 about another axis. The two axes extend perpendicularly, which allows the first driving component 30 to rotate in multiple directions relative to the base 70. Compared to the first driving component 30 being fixed on the base 70, this increases the degree of freedom of the first driving component 30. Thus, when the first driving component 30 drives the finger 10 to move, the movement of the finger 10 can drive the first driving component 30 to rotate, reducing the possibility of movement jamming and allowing for better grasping operations, making the robot arm 100 more flexible.

[0066] like Figure 1 and Figure 5 As shown, in some embodiments, the robotic arm 100 further includes a second drive member 50. The first drive member 30 is connected to a portion of the plurality of fingers 10 via a connection module 20. The number of second drive members 50 is the same as the number of the other portion of the plurality of fingers 10. Each second drive member 50 is connected to each finger 10 of the other portion of the plurality of fingers 10. Thus, the robotic arm 100 drives the corresponding plurality of fingers 10 to move through the plurality of second drive members 50 and the first drive member 30 drives the corresponding plurality of fingers 10 to move, thereby performing grasping operations.

[0067] The second driving member 50 and the base 70 are rotatably connected. For example, the second driving member 50 has a through hole, and a fastener passes through the through hole and is fixedly connected to the base 70, so that the second driving member 50 and the base 70 are rotatably connected.

[0068] The following is combined Figures 1-11 This describes a specific embodiment of the present invention.

[0069] The robotic arm 100 includes a base 70, five fingers 10, a first drive member 30, and three second drive members 50. The base 70 includes a first part 71, a second part 72, and a third part 73. The first part 71 and the second part 72 are supported on the third part 73. The first part 71 and the second part 72 are arranged opposite to each other to form the back of the hand and the palm. The upper part of the first part 71 has a connecting seat 74. The connecting seat 74 can be connected to the first part 71 by fasteners or can be integrally formed on the first part 71.

[0070] The first driving member 30 and the second driving member 50 are respectively mounted on the base 70. The first driving member 30 can be rotatably connected to the first part 71 or the second part 72 through the first mounting member 40, and the first driving member 30 is rotatably connected to the first mounting member 40. The second driving member 50 can be rotatably connected to the first part 71 or the second part 72. Both the first driving member 30 and the second driving member 50 have a telescopic push rod 31. The end of the push rod 31 of the first driving member 30 has a push block 32, and the push block 32 is rotatably connected to the push rod 31.

[0071] Five fingers 10 are arranged in a left-right direction. Each finger 10 has a connector 13 at its lower end. Each finger 10 includes a first finger segment 11, a second finger segment 12, and a connector 13. The second finger segment 12 is located at the upper end of the first finger segment 11. The first finger segment 11 defines a hollow clearance cavity 112. The first finger segment 11 has a limiting track 111, which communicates with the clearance cavity 112. The connector 13 has a limiting block 132, which can be inserted into the limiting track 111 and slides with the limiting track 111, thereby allowing the connector 13 to be installed on the first finger segment 11. The lower end of the first finger segment 11 is rotatably connected to the connecting seat 74, and the upper end of the first finger segment 11 is rotatably connected to the second finger segment 12. The second finger segment 12 is also rotatably connected to the connecting seat 74 via a connecting rod 14.

[0072] The first finger 10a and the second finger 10b of the five fingers 10 are connected to the first driving member 30 through a connecting module 20. Specifically, the connecting module 20 includes a connecting rod 21 and a connecting arm 22. The middle part of the connecting rod 21 is rotatably connected to the push block 32, and one end of the connecting rod 21 is rotatably connected to the connector 13 of the first finger 10a. The connecting arm 22 includes a rotating part 221 and a connecting part 222. The rotating part 221 is provided on the connecting rod 21 and can rotate around the connecting rod 21. The connecting part 222 is integrally formed with the rotating part 221, and the connecting part 222 is provided with a sliding groove 223. The fixed shaft 131 of the connector 13 passes through the sliding groove 223, so that the fixed shaft 131 and the sliding groove 223 slide and cooperate, thereby realizing the connection between the connector 13 of the second finger 10b and the connecting arm 22.

[0073] The other three fingers 10 of the five fingers 10 correspond one-to-one with the three second drive members 50, and each finger 10 is rotatably connected to the end of the push rod 31 of the second drive member 50 through its connector 13.

[0074] Therefore, by differentiating the grasping abilities of multiple fingers 10, the first driving component 30 and the second driving component 50 can drive all five fingers 10 to bend, thereby achieving a grasping action. At the same time, the number of driving components is relatively reduced, simplifying the structure of the robotic hand 100, reducing its weight and manufacturing cost, and making the robotic hand 100 more dexterous and lightweight. When the push rod 31 is not extended or retracted, when an external force is applied to the finger 10, it slides along the limiting track 111 through the limiting block 132, causing the connection position between the connector 13 and the first finger segment 11 to change, allowing the finger 10 to bend. This gives the robotic hand 100 the ability to push the finger 10 from the back of the hand to the palm, giving the robotic hand 100 a certain degree of flexibility and further improving its dexterity and bionics.

[0075] Other configurations and operations of the robotic arm 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. The vertical, horizontal, and forward / backward directions are defined as shown in the figures.

[0076] In the description of this invention, 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 not in direct contact but through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature 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.

[0077] 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 the invention. 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.

[0078] Although embodiments of the invention 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 the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that include: Base; Multiple fingers are spaced apart on the base, each finger is rotatably connected to the base, and each finger has a connector at one end near the base; A first drive unit, which is mounted on the base and includes a retractable push rod; A connecting module is disposed at the end of the push rod of the first driving member, and the connecting module is connected to the connecting member of at least two fingers so that the at least two fingers can move together. The finger includes a first finger segment and a second finger segment, the second finger segment being located at the end of the first finger segment away from the base, and the first finger segment being provided with the connecting member. Wherein, one of the first finger segment and the connecting member has a limiting track, and the other of the first finger segment and the connecting member has a limiting block, the limiting block being adapted to be inserted into the limiting track and being slidably engaged with the limiting track; The first finger segment defines a hollow clearance cavity, the limiting track is disposed on the first finger segment and communicates with the clearance cavity, one end of the connector is adapted to be inserted into the clearance cavity, and the one end of the connector is provided with the limiting block.

2. The robotic arm according to claim 1, characterized in that, The connecting module includes a connecting rod, which is rotatably connected to the connecting member, and the connecting rod is rotatably connected to the end of the push rod.

3. The robotic arm according to claim 1, characterized in that, The connecting module includes a connecting rod and a connecting arm. The connecting arm includes a rotating part and a connecting part. The rotating part is disposed on the connecting rod and can rotate around the connecting rod. The connecting part is connected to the connecting member. The connecting rod is rotatably connected to the end of the push rod.

4. The robotic arm according to claim 3, characterized in that, The connecting arm has a sliding groove at its connecting part, and the connecting member has a fixed shaft that passes through the sliding groove and slides in cooperation with the sliding groove.

5. The robot of claim 3, wherein At least one of the connecting rods is rotatably connected to the corresponding connecting member, and at least one of the connecting arms is rotatably connected to the corresponding connecting member.

6. The robot of claim 2, wherein, The connectors corresponding to at least two fingers are rotatably connected to the connecting rod.

7. The robotic arm according to claim 3, characterized in that, The connectors corresponding to at least two fingers are rotatably connected to the connecting arm.

8. The robotic arm according to claim 1, characterized in that, One end of the first finger segment is rotatably connected to the base, and the other end of the first finger segment is rotatably connected to the second finger segment, the second finger segment being rotatably connected to the base via a connecting rod; and / or Each of the fingers includes at least one second finger segment, wherein the at least one second finger segment is arranged in parallel and each second finger segment is rotatably connected to the other end of the first finger segment, or the at least one second finger segment is arranged in series, one second finger segment is rotatably connected to the other end of the first finger segment, and two adjacent second finger segments are rotatably connected.

9. The robotic arm according to claim 1, characterized in that, It also includes: a first mounting component, which is connected to the first drive component and the base, for mounting the first drive component on the base. The first mounting component is rotatably connected to the first driving component about one axis, and the first mounting component is rotatably connected to the base about another axis, the two axes extending perpendicularly.

10. The robotic arm according to claim 1, characterized in that, It also includes a second drive unit, wherein the first drive unit is connected to a portion of the plurality of fingers via the connection module, the number of the second drive units is the same as the number of the other portion of the plurality of fingers, each of the second drive units is connected to each of the other portion of the plurality of fingers, and the second drive unit and the base are rotatably connected.

Images