Bionic mechanical arm and humanoid robot

Abstract

The invention discloses a bionic mechanical arm and a humanoid robot, belongs to the field of bionic mechanical arms and solves the problem that an existing dexterous hand is low in response speed, according to the technical scheme, the bionic mechanical arm mainly comprises an arm and the dexterous hand, the dexterous hand comprises a palm and at least two fingers, and each finger comprises a finger base, a finger body and a driving mechanism; the driving mechanism comprises a driving motor, a transmission mechanism is arranged on the finger base and comprises a guiding piece and a sliding block installed on the guiding piece in a sliding mode, an output shaft of the driving motor is connected with two pulling ropes wound in opposite directions, and the driving motor is in transmission connection with the sliding block through the pulling ropes. The sliding block is connected with a cross shaft in transmission connection with the finger body, the driving motor controls the output shaft to rotate forwards and backwards so as to drag the sliding block to slide back and forth along the guiding piece through the traction rope, and then the finger body is driven to bend and / or swing. The finger is mainly used for improving the response speed of the finger body.

Description

Technical Field

[0001] The invention shows a bionic mechanical arm and a humanoid robot, belonging to the technical field of bionic mechanical arms. Background Art

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, dexterous hands, as key components for robots to perform functions and interact with humans, have received more and more attention and research. The research on bionic dexterous hands not only has great scientific significance, but also shows great potential in practical applications. The design inspiration of bionic dexterous hands comes from the morphology, structure and functional characteristics of organisms. Applying these characteristics to the design of dexterous hands has achieved a perfect integration of biology, mechanics and engineering technology. Its structural design makes the dexterous hands closer to the movement and operation of human hands, which makes it possible to achieve more natural and efficient human-computer interaction.

[0003] The existing dexterous hand usually includes fingers, a driving motor and a transmission mechanism, the transmission mechanism includes a lead screw and a lead screw nut, the lead screw nut is transmission-connected to each knuckle of the finger, the output end of the driving motor is transmission-connected to the lead screw, after the driving motor is started, it drives the lead screw to rotate, and the lead screw nut slides along the axial direction of the lead screw as the lead screw rotates, and the bending and swinging of the finger are achieved by the sliding of the lead screw nut. In the process of transmission through the cooperation of the lead screw and the lead screw nut, after the lead screw rotates one circle, the lead screw nut can only slide along the lead screw by a pitch distance, and the corresponding lead screw nut can drive the finger to move with a very small amplitude, that is, the sliding speed of the lead screw nut is slow, and the response speed and movement speed of the finger are also slow, which makes the operation of the dexterous hand more cumbersome, resulting in the dexterous hand being difficult to complete more delicate work. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of slow response speed of existing dexterous hands. To this end, a bionic mechanical arm and a humanoid robot are provided. The response speed of the finger body can be improved by dragging a slider through a traction rope.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A bionic mechanical arm comprises an arm and a dexterous hand, wherein the dexterous hand comprises a palm and at least two fingers, wherein the fingers comprise a finger base, a finger body and a driving mechanism, wherein the driving mechanism comprises a driving motor, wherein a transmission mechanism connected to the driving motor is arranged on the finger base, wherein the transmission mechanism comprises a guide member and a slider slidably mounted on the guide member, wherein the output shaft of the driving motor is connected to two traction ropes wound in opposite directions, wherein the driving motor is connected to the slider via the traction rope, wherein the slider is connected to a cross shaft connected to the finger body, wherein the driving motor controls the output shaft to rotate forward and reversely so as to drag the slider to slide back and forth along the guide member via the traction rope, thereby driving the finger body to bend and / or swing, wherein one of the fingers in the dexterous hand is a thumb connected to the palm for rotation, wherein a swinging motor for driving the thumb to swing relative to the palm is arranged on the palm, wherein the driving motor is slidably mounted on the arm, wherein the driving mechanism further comprises a guiding mechanism and an adjusting member, wherein the guiding mechanism comprises a guiding member for keeping the two traction ropes spaced apart in the axial direction of the output shaft, and wherein the adjusting member adjusts the driving motor to move closer to or away from the dexterous hand so as to adjust the tightness of the traction rope.

[0007] The beneficial effects of adopting the present invention are:

[0008] A traction rope is wound around the output shaft of the driving motor described in the present invention, and the driving motor controls the output shaft to rotate. The traction rope is wound around or released on the output shaft, thereby pulling the slider to slide along the guide member. The sliding of the slider controls the finger body to bend and / or swing, so as to realize the movement of the fingers of the dexterous hand. The driving motor transmits power to the slider through the traction rope, and the slider can quickly respond to the power output of the driving motor. While ensuring the precise transmission between the driving motor and the slider, the interaction efficiency of the finger body can also be improved, so that the finger body has higher sensitivity; in addition, the driving motor and the slider are connected by the traction rope transmission, so long-distance power transmission can be achieved by increasing the length of the traction rope, so that the driving motor does not need to be fixed on the fingers of the dexterous hand, and can be arranged away from the fingers of the dexterous hand, so that the fingers of the dexterous hand can maintain a small size, so that the fingers of the dexterous hand can be used in a small space, which helps to improve the flexibility of the fingers of the dexterous hand; secondly, the driving motor is arranged away from the fingers, so that the driving motor does not need to be limited by the space of the fingers, so there is no need to select a high-torque and small-sized driving motor, so that the selection of the driving motor is more flexible and diverse, and the manufacturing cost of the dexterous hand can be reduced.

[0009] In addition, by controlling the thumb to swing relative to the palm through a swing motor, the thumb has more degrees of freedom, which helps to improve the flexibility of the thumb, so that the thumb can accurately simulate the movement of the human thumb, and can improve the simulation of the dexterous hand so that the dexterous hand can perform more delicate movements.

[0010] Secondly, the guide is limited between the two traction ropes, so that the traction ropes can always maintain an effective spacing, avoiding long-term friction between the two traction ropes and causing wear of the traction ropes, which helps to extend the service life of the traction ropes. At the same time, the guide can also make the operation of the two traction ropes less likely to interfere with each other, so that the power of the drive motor can be stably transmitted to the transmission mechanism, so that the transmission mechanism can accurately respond to the power output of the drive motor, which can effectively reduce energy loss and help improve the flexibility of the bionic robotic arm.

[0011] In addition, when the traction rope becomes loose, the user can use the adjustment part to adjust the drive motor away from the dexterous hand, thereby increasing the distance between the drive motor and the transmission mechanism in the dexterous hand, so that the traction rope can be tightened and the traction rope can be kept in a tensioned state, effectively avoiding the inability to accurately control the movement of the finger body due to the looseness of the traction rope, resulting in a lag in the movement of the finger body. The adjustment part can enable the drive motor to accurately and reliably transmit power to the transmission mechanism, thereby achieving fine control of the bending and / or swinging of the dexterous hand fingers; the adjustment part can adjust the position of the drive motor to keep the traction rope in a tensioned state, so when the traction rope is loose, the traction rope can be adjusted without replacing the traction rope. The adjustment part allows the user to easily adjust the traction rope to keep the traction rope in a tensioned state, so as to facilitate the maintenance and maintenance of the bionic robotic arm, help to extend the service life of the bionic robotic arm, and also reduce the maintenance cost of the bionic robotic arm.

[0012] Preferably, the top of the guide is rotatably connected to a first pulley, and the traction rope includes a first traction rope and a second traction rope, the first traction rope passes around the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider. With the above technical solution, the first traction rope is connected to the upper end of the slider after being guided by the first pulley, and the first pulley is a fixed pulley that only changes the movement direction of the first traction rope, so the sliding distance of the slider is equal to the retracted and released length of the first traction rope and the second traction rope, thereby making the slider have a faster sliding speed, and at the same time can also improve the response speed of the finger body; in addition, the drive motor is directly connected to the slider through the traction rope, which can reduce the energy loss of the intermediate link and help improve the transmission efficiency between the drive motor and the slider; secondly, the connection between the traction rope and the slider is relatively simple and is not affected by the structure of the slider, so the design of the slider is not easily restricted, and a smaller and lighter slider can be used to reduce the volume and weight of the dexterous hand fingers.

[0013] Preferably, the bottom end of the guide is rotatably connected to a second pulley, and the first traction rope and the second traction rope are respectively passed through the two sides of the second pulley and then wound around the output shaft of the driving mechanism. With the above technical solution, the second pulley can guide and support the traction rope, so that the traction rope is not easily deviated or shaken during the transmission process, reducing the possibility of the traction rope detaching from the first pulley, and can also ensure the stable sliding of the slider on the guide.

[0014] Preferably, the first traction rope and the second traction rope are covered with a constricting tube, and the end of the arm close to the dexterous hand is provided with a limiting plate extending toward the outer peripheral side, the constricting tube is located between the limiting plate and the second pulley, and the limiting plate is provided with perforations corresponding to the traction rope, and each constricting tube corresponds to two perforations. With the above technical solution, the constricting tube can restrain the traction rope, limit the random shaking of the traction rope, and effectively avoid the possibility of mutual entanglement between multiple traction ropes; at the same time, the constricting tube can also protect the traction rope, reduce the direct contact between the traction rope and other parts of the dexterous hand, reduce the possibility of wear of the traction rope, and help to improve the service life of the traction rope; secondly, the constricting tube can make the laying of the traction rope more neat, which helps to improve the aesthetics of the fingers of the dexterous hand; in addition, the constricting tube is located between the second pulley and the limiting plate, and the constricting tube can reduce the spacing between the traction ropes on both sides of the second pulley, so that the traction rope can maintain stable contact with the second pulley, reduce the possibility of the traction rope detaching from the second pulley, and improve the matching stability of the traction rope and the second pulley.

[0015] Preferably, the guide mechanism further comprises a guide motor, which is connected to the guide member in a transmission manner, and the guide motor controls the guide member to reciprocate along the axial direction of the output shaft of the drive motor, and the guide member moves a distance greater than the diameter of the traction rope after the traction rope is wound along the rope groove for one circle. With the above technical solution, the guide motor controls the guide member to reciprocate along the axial direction of the output shaft of the drive motor, and the guide member can also guide the traction rope to move, so as to avoid the traction rope always being wound around the same position of the output shaft, so that the winding of the traction rope on the output shaft is smoother, which can reduce the torque change of the output motor, keep the power output of the output motor stable, reduce the possibility of damage to the output motor, and make the power transmission between the drive motor and the transmission mechanism more accurate and reliable; secondly, when the traction rope is wound around the rope groove for one circle, the guide member moves a distance greater than the diameter of the traction rope in the axial direction of the output shaft, that is, the guide member also guides the traction rope during the winding process, so as to avoid the traction rope from laminating during the winding process, so that the arrangement of the traction rope on the output shaft is more neat, which also helps to extend the service life of the traction rope.

[0016] Preferably, the guide mechanism further comprises a screw driven to rotate by a guide motor and a guide rod arranged in parallel with the screw, the screw is arranged in parallel with the output shaft of the driving motor, the guide member is a roller matched with the screw thread, the guide rod penetrates the roller to limit the rotation of the roller, and the guide motor drives the screw to rotate forward and reversely to make the roller reciprocate along the axial direction of the screw; or, a groove is provided on the outer peripheral side of the guide member, and the guide rod is partially embedded in the groove to limit the rotation of the guide member. With the above technical solution, the guide rod can limit the rotation of the guide member or the roller, so that the guide member or the roller can move along the axial direction of the screw as the screw rotates, thereby making the guide member or the roller play the role of guiding the traction rope.

[0017] Preferably, the guide is a partition block disposed between the two traction ropes, and the two traction ropes are wound around the output shaft after passing through the partition block on both sides of the output shaft of the driving motor in the axial direction; or, the guide mechanism includes two guides, and the guides are provided with guide grooves, and the two traction ropes extend into the two guide grooves respectively. With the above technical solution, the partition block can separate the traction ropes, which can effectively avoid mutual interference and entanglement of the traction ropes during the winding and releasing process, making the movement of the traction rope more stable and reliable, and also helping to extend the service life of the traction rope.

[0018] Preferably, the adjustment member includes strip holes distributed along the length of the arm on the motor seat and fasteners matching the strip holes. The surface of the arm is provided with threaded holes, and the fasteners pass through the strip holes and are threadedly connected with the threaded holes. By adopting the above technical solution, the relative sliding of the motor seat and the arm can be achieved through the cooperation of the strip holes and the fasteners. The overall structure of the adjustment member is relatively simple, which simplifies the adjustment process of the adjustment member on the motor seat, helps to improve the adjustment efficiency of the motor seat, and the user can adjust it by himself without using specific adjustment tools or asking professional engineers to make adjustments, which can significantly reduce the maintenance difficulty and maintenance cost of the bionic robotic arm.

[0019] Preferably, the motor seat is provided with at least two strip holes, wherein the two strip holes are spaced apart in the direction of the arm length; or, wherein the two strip holes are spaced apart in a direction perpendicular to the arm length. The above technical solution can limit the sliding direction of the motor seat by providing at least two strip holes, thereby ensuring that the motor seat can slide in the direction of the arm length, and at the same time, avoiding the possibility of the motor seat deflecting, so that the assembly of the motor seat and the arm is more accurate and reliable.

[0020] Preferably, the end of the palm close to the arm is provided with a thumb joint, the thumb is provided with a thumb seat rotatably connected to the thumb joint, the output end of the swing motor is connected to a swing member, the swing member is transmission-connected to the thumb seat through a fisheye bearing, and the swing motor drives the thumb to swing relative to the palm through the fisheye bearing. By adopting the above technical solution, the swing amplitude of the thumb seat relative to the palm can be increased through the fisheye bearing, which helps to improve the flexibility of the thumb.

[0021] Preferably, the finger body includes a first knuckle and a second knuckle, both ends of the first knuckle are respectively hinged to the finger base and the second knuckle, the transmission mechanism includes two groups of first transmission members and one group of second transmission members, the slider of the first transmission member is connected to the first knuckle through a cross-axis transmission, the sliders of the two groups of first transmission members slide synchronously and in the same direction to drive the first knuckle to bend, the sliders of the two groups of first transmission members slide different distances or slide in opposite directions to drive the finger body to swing; the slider of the second transmission member is connected to the second knuckle through a cross-axis transmission, and the second transmission member is used to drive the second knuckle to bend.

[0022] Preferably, the connection between the first knuckle and the finger base and the connection between the second knuckle and the first knuckle are both provided with a hinge structure, which includes a rotating shaft, an axial hole and a sleeve fixed in the axial hole, and the rotating shaft passes through the sleeve and rotates with the sleeve. By adopting the above-mentioned technical scheme, the rotating shaft and the axial hole can be separated from each other through the rotational cooperation of the sleeve and the rotating shaft, thereby avoiding relative friction between the rotating shaft and the axial hole, reducing the possibility of wear on the axial hole and the rotating shaft, and helping to extend the service life of the axial hole and the rotating shaft; in addition, the sleeve is fixed on the inner wall of the axial hole, and the sleeve can support the axial hole, which helps to improve the strength of the axial hole, thereby reducing the possibility of deformation of the axial hole, making the assembly of the axial hole and the rotating shaft more stable and reliable, avoiding the possibility of jamming between the axial hole and the rotating shaft during rotation, and ensuring that the relative rotation of the axial hole and the rotating shaft is smoother, so that the first knuckle and the second knuckle can accurately reflect the power transmission of the drive motor; secondly, the rotating hole The relative rotation with the rotating shaft is kept smooth, thereby reducing the energy loss at the hinge and the delay of the finger body movement, ensuring that the finger body can maintain a high movement accuracy, so that the dexterous hand can perform more delicate movements; secondly, since the bushing and the shaft hole are not integrally formed, the bushing can be made of a material with better performance, so that the bushing has higher strength and longer service life, and at the same time, it can form a stronger support for the shaft hole so that the shaft hole is not easily deformed, so as to maintain the movement accuracy of the fingers of the dexterous hand; and compared with replacing the entire finger with a material with better performance, only adding a bushing in the shaft hole can significantly reduce the overall production cost of the dexterous hand.

[0023] Preferably, the first finger joint includes a side swing link and two first finger joint links, the first finger joint link has a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the two ends of the side swing link are bent and extend to the first finger joint link, the two ends of the side swing link are respectively hinged to the first hinge ends of the two first finger joint links, a first rotating shaft is passed through the two second hinge ends, the cross shafts connected to the sliders of the two groups of second transmission members are hinged to the first rotating shaft, the second finger joint includes a second finger joint link, a second rotating shaft is passed through the two third hinge ends, the second finger joint link is hinged to the second rotating shaft, the first link is rotatably connected between the cross shaft connected to the slider of the first transmission member and the second finger joint link, and the second link is rotatably connected between the first rotating shaft and the first link.

[0024] Preferably, the dexterous hand comprises five fingers, each finger is provided with three transmission mechanisms, the outer peripheral side of the arm is provided with five mounting surfaces, and three driving motors corresponding to the same finger are slidably mounted on each mounting surface.

[0025] The present invention also shows a humanoid robot, comprising a robot body and at least one bionic mechanical arm movably connected to the robot body, at least one of the bionic mechanical arms is a bionic mechanical arm as described in any one of the above items.

[0026] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings:

[0028] Figure 1 This is a schematic structural diagram of a bionic mechanical arm of the present invention;

[0029] Figure 2 It is a structural schematic diagram of a dexterous hand in a bionic mechanical arm of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of a finger in a bionic mechanical arm of the present invention;

[0031] Figure 4 A side view of a finger in a bionic mechanical arm of the present invention;

[0032] Figure 5 It is a structural schematic diagram of a finger base and a transmission mechanism in a bionic mechanical arm of the present invention;

[0033] Figure 6 It is a structural schematic diagram of a transmission mechanism in a bionic mechanical arm of the present invention;

[0034] Figure 7This is a schematic structural diagram of a finger base in a bionic mechanical arm of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of a finger body in a bionic mechanical arm of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of a first finger joint and a second finger joint in a bionic mechanical arm of the present invention;

[0037] Fig.10 An exploded view of the first finger joint in a bionic mechanical arm of the present invention;

[0038] Fig.11 This is an exploded view of an arm and a driving mechanism in a bionic mechanical arm of the present invention;

[0039] Fig.12 This is a schematic diagram of the structure of a driving mechanism in a bionic mechanical arm of the present invention;

[0040] Fig.13 for Fig.12 A partial enlarged view of part A;

[0041] Fig.14 for Fig.12 A partial enlarged view of part B;

[0042] Fig.15 The figure is a schematic structural diagram of a thumb in a bionic mechanical arm of the present invention.

[0043] Figure numerals: 1, finger base; 11, first mounting plate; 12, second mounting plate; 13, mounting side plate; 14, through hole; 15, accommodating cavity; 2, finger body; 21, first finger joint; 211, first finger joint connecting rod; 2111, first hinge end; 2112, second hinge end; 2113, third hinge end; 2114, fourth hinge end; 212, side swing connecting rod; 213, first rotating shaft; 214, second rotating shaft; 215, third Rotating shaft; 22, second finger joint; 221, second finger joint connecting rod; 222, first connecting rod; 223, second connecting rod; 224, third connecting rod; 23, third finger joint; 24, cross shaft; 251, shaft hole; 2511, step surface; 252, shaft sleeve; 2521, convex edge; 253, rotating shaft; 3, driving mechanism; 31, motor seat; 311, first fixing plate; 312, second fixing plate; 313, supporting plate; 32, driving motor; 321 , output shaft; 322, rope groove; 3221, first ring groove; 3222, second ring groove; 323, separator ring; 324, convex ring; 325, fastener; 33, traction rope; 331, first traction rope; 332, second traction rope; 333, convergence tube; 341, guide motor; 342, guide member; 3421, guide groove; 3422, rounded structure; 343, screw; 344, guide rod; 351, strip hole; 352, adjustment Bolt; 4. Transmission mechanism; 41. First transmission member; 42. Second transmission member; 421. Guide member; 422. Slider; 423. First pulley; 424. Second pulley; 425. Connecting seat; 426. Extension plate; 5. Arm; 51. Limiting plate; 511. Perforation; 52. Mounting surface; 521. Threaded hole; 6. Palm; 61. Swinging motor; 611. Swinging member; 62. Fisheye bearing; 63. Thumb joint; 64. Thumb seat. DETAILED DESCRIPTION

[0044] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" 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 invention and simplifying the description, rather than indicating or implying 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 limiting the present invention.

[0046] 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 the present invention, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0047] In the present invention, 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Embodiment 1:

[0049] like Figures 1 to 15 As shown, this embodiment shows a bionic robotic arm, including an arm 5 and a dexterous hand, the dexterous hand including a palm 6 movably connected to the arm 5, five fingers being arranged on the palm 6, the five fingers each including a finger base 1, a finger body 2 and a driving mechanism 3, one of the five fingers being a thumb, the finger base 1 of the thumb being rotatably connected to the palm 6, a swinging motor 61 for driving the thumb to swing relative to the palm 6 being arranged on the palm 6, the finger bases 1 of the remaining four fingers being fixed side by side on the palm 6, the driving mechanism 3 including a driving motor 32, a guide mechanism and an adjusting member, the output shaft 321 of the driving motor 32 being connected to two traction ropes 33 wound in opposite directions, a transmission mechanism being arranged on the finger base 1 4, the transmission mechanism 4 includes a guide member 421 and a slider 422 slidably mounted on the guide member 421, two traction ropes 33 are respectively connected to the upper end and the lower end of the slider 422, the slider 422 is connected to a cross shaft 24 that is transmission-connected to the finger body 2, the driving motor 32 controls the output shaft 321 to rotate forward and reversely so as to drag the slider 422 to slide back and forth along the guide member 421 through the traction rope 33, thereby driving the finger body 2 to bend and / or swing; in addition, the guide member 421 includes a guide member 342 for keeping the two traction ropes 33 at a distance in the axial direction of the output shaft 321, and the adjusting member adjusts the driving motor 32 to move closer to or away from the dexterous hand so as to adjust the tightness of the traction rope 33.

[0050] like Figure 5 and Figure 6As shown, the guide member 421 described in this embodiment is a long strip-shaped sliding rod, and the length direction of the guide member 421 is distributed along the length direction of the finger base 1. The upper and lower ends of the guide member 421 are fixed to the finger base 1 by bolts, and the slider 422 is provided with a sliding groove for the guide member 421 to be embedded, so that the slider 422 and the guide member 421 can slide together, and the side of the slider 422 facing away from the guide member 421 is connected to a connecting seat 425, and a cross shaft 24 is installed on the upper end of the connecting seat 425, and the connecting seat 425 is transmission-connected to the finger body 2 through the cross shaft 24.

[0051] Of course, it is understandable that in other embodiments, the slide groove can also be set on the guide member 421, and the slider 422 is at least partially embedded in the slide groove so that the slider 422 is slidably connected to the guide member 421; in addition, the connecting seat 425 and the slider 422 in this embodiment are fastened together by bolts, so that the slider 422 and the connecting seat 425 can be disassembled. When the connecting seat 425 or the slider 422 needs to be replaced, only the slider 422 or the connecting seat 425 can be replaced, and the difficulty of disassembling the connecting seat 425 can also be reduced, which helps to improve maintenance efficiency; of course, it is understandable that in other embodiments, the slider 422 and the connecting seat 425 can also be an integrated structure.

[0052] like Figure 5 , Figure 6 and Fig.11As shown, in this embodiment, the top end of the guide member 421 is rotatably connected to the first pulley 423, the first pulley 423 is in the gap between the guide member 421 and the finger base 1, the bolt connected to the top end of the guide member 421 passes through the first pulley 423, and the first pulley 423 rotates around the bolt, the output end of the drive motor 32 is transmission-connected to the output shaft 321, the outer peripheral side of the output shaft 321 is provided with two rope grooves 322 surrounding the output shaft 321, the output shaft 321 is wound with a first traction rope 331 and a second traction rope 332, the first traction rope 331 One end of the second traction rope 332 is fixed to the output shaft 321 and is respectively wound in the two rope grooves 322 in opposite directions, and the other end extends toward the transmission mechanism 4, wherein the first traction rope 331 is connected to the upper end of the slider 422 after passing through the first pulley 423, and the second traction rope 332 is directly connected to the lower end of the slider 422 after extending from the output shaft 321 to the finger base 1. When the driving motor 32 drives the output shaft 321 to rotate forward, since the winding directions of the first traction rope 331 and the second traction rope 332 are opposite, the first traction rope 331 and the second traction rope 332 are The motion state of the output shaft 321 of the first traction rope 331 is just the opposite. For example, when the first traction rope 331 is gradually released, the second traction rope 332 is gradually wound around the rope groove 322. At this time, the first traction rope 331 gradually relaxes the pull on the slider 422, and the second traction rope 332 pulls the slider 422 to slide downward along the guide member 421, while keeping the first traction rope 331 taut. When the slider 422 slides downward along the guide member 421, the rotation direction of the driving motor 32 is set to forward rotation. When the driving motor 32 is reversed, the first traction rope 331 is gradually wound around the rope groove 322. 2, the second traction rope 332 is gradually released. At this time, the second traction rope 332 relaxes its pulling on the slider 422, and the first traction rope 331 pulls the slider 422 to slide upward along the guide member 421; thereby realizing the positive and negative rotation of the driving motor 32 to drag the slider 422 to slide back and forth along the guide member 421 through the traction rope 33. Since the winding and release of the first traction rope 331 and the second traction rope 332 are kept synchronous, the first traction rope 331 and the second traction rope 332 can be kept taut, so that the power transmission between the output shaft 321 and the slider 422 remains accurate and reliable.

[0053] It should be noted that the traction rope 33 is wound around the output shaft 321, and one of the traction ropes 33 is connected to the upper end of the slider 422 after changing its direction through the first pulley 423, and the other traction rope 33 is directly connected to the lower end of the slider 422. Therefore, the release and winding speed of the traction rope 33 is related to the rotation speed of the output shaft 321. When the output shaft 321 rotates one circle, the length of the traction rope 33 released and wound is the outer circumference of the output shaft 321, and the corresponding distance that the traction rope 33 drags the slider 422 is related to the rotation speed of the traction rope 33. The retracted and extended lengths are equal, that is, the moving distance of the slider 422 after the output shaft 321 rotates one circle is equal to the outer circumference of the output shaft 321, so the moving speed of the slider 422 is equal to the retracted and extended speed of the traction rope 33. In the prior art, the transmission is carried out by the cooperation of the screw rod and the screw nut. After the screw rod rotates one circle, the screw nut only slides along the screw rod for a pitch. Therefore, the sliding speed of the slider 422 relative to the screw nut in this embodiment is greatly improved, and the slider 422 is connected to the finger body 2 through the cross shaft 24. The slider 422 The finger body 2 can be directly pushed and pulled by the cross shaft 24 to move, so the faster the movement speed of the slider 422 is, the faster the movement of the finger body 2 is, so that the finger body 2 can respond quickly to improve the sensitivity of the finger body 2; in addition, in the present embodiment, only one drive motor 32 is needed to simultaneously drive the two traction ropes 33 to contract and release respectively, and then the forward and reverse rotation of one drive motor 32 can drag the slider 422 to reciprocate along the guide member 421 through the two traction ropes 33, and there is no need to use two drive motors 32, which can reduce the number of drive motors 32 used, so that the space occupied by the drive motor 32 is smaller and the overall structure is simpler, which helps to reduce the production cost of the dexterous hand; in addition, the drive motor 32 and the slider 422 are connected by the traction rope 33, so that the drive motor 32 can be arranged away from the finger, so that the drive motor 32 does not need to be limited by the space of the finger, so there is no need to select a high-torque and small-sized drive motor 32, so that the selection of the drive motor 32 is more flexible and diverse, and the production cost of the dexterous hand can also be reduced.

[0054] In addition, the drive motor 32 in the present embodiment is directly connected to the slider 422 through the first traction rope 331 and the second traction rope 332, which can reduce the energy loss in the intermediate links and help improve the transmission efficiency between the drive motor 32 and the slider 422; secondly, the connection between the traction rope 33 and the slider 422 is relatively simple and is not affected by the structure of the slider 422. Therefore, the design of the slider 422 is not easily restricted, and a smaller and lighter slider 422 can be used to reduce the volume and weight of the fingers of the dexterous hand.

[0055] The connecting seat 425 described in this embodiment is provided with an extension plate 426 extending toward the finger base 1, the first traction rope 331 is fixed at the upper end of the extension plate 426, and the first traction rope 331 is fixed at the lower end of the extension plate 426, the first traction rope 331 and the second traction rope 332 drag the extension plate 426 to drive the slider 422 to slide back and forth along the guide member 421, the extension plate 426 is located between the guide member 421 and the finger base 1, and the connecting seat 425 is located on the side of the guide member 421 away from the finger base 1, that is, the traction rope 33 and the connecting seat 425 are respectively located on both sides of the guide member 421, thereby avoiding the possibility of mutual interference between the traction rope 33 and the connecting seat 425, making the transmission between the traction rope 33 and the connecting seat 425 more stable and reliable; in addition, when the traction rope 33 needs to be replaced, only the first traction rope 331 or the second traction rope 332 can be replaced, which helps to reduce the difficulty and cost of maintenance.

[0056] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 may also be directly connected to the slider 422, and the first traction rope 331 and the second traction rope 332 drag the slider 422 to drive the connecting seat 425 to slide back and forth.

[0057] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 may also be an integral whole, that is, a traction rope 33 is wound around the output shaft 321, one end of the traction rope 33 is wound around one of the rope grooves 322 of the output shaft 321, and the other end is wound around the first pulley 423 and then wound around the other rope groove 322 in the opposite direction, and a section of the traction rope 33 between the first pulley 423 and the output shaft 321 is fixed to the extension plate 426; in addition, in other embodiments, the extension plate 426 may also be provided with two holes for the traction rope 33 to pass through, and the traction rope 33 is fixedly connected to the inner wall of one of the holes, and the hole can limit the traction rope 33, thereby reducing the possibility of the traction rope 33 detaching from the first pulley 423.

[0058] like Figure 6 As shown, the bottom end of the guide member 421 described in this embodiment is rotatably connected to the second pulley 424, and the second pulley 424 is located in the gap between the guide member 421 and the finger base 1. The bolt connected to the bottom end of the guide member 421 passes through the second pulley 424, and the second pulley 424 rotates around the bolt. The first traction rope 331 and the second traction rope 332 pass through the two sides of the second pulley 424 respectively and are wound around the output shaft 321 of the drive motor 32. The second pulley 424 can guide and support the traction rope 33, so that the traction rope 33 is not easy to deviate or shake during the transmission process, reducing the possibility of the traction rope 33 detaching from the first pulley 423, and also ensuring the stable sliding of the slider 422 on the guide member 421.

[0059] like Figures 8 to 10 As shown, the finger body 2 in this embodiment includes a first finger joint 21 and a second finger joint 22, the first finger joint 21 is rotatably connected to the finger base 1, and the second finger joint 22 is rotatably connected to the first finger joint 21, wherein the first finger joint 21 includes a first finger joint connecting rod 211, and the first finger joint connecting rod 211 has a first hinge end 2111, a second hinge end 2112 and a third hinge end 2113, wherein the side swing connecting rod 212 is C-shaped as a whole, and the middle part of the side swing connecting rod 212 is hinged to the finger base 1, and the side swing connecting rod 212 is The two ends are bent and extend to the side away from the finger base 1. When the side swing link 212 rotates relative to the finger base 1, the two ends of the side swing link 212 rotate around the middle of the side swing link 212 at the same time. The first hinge end 2111 of the first finger joint link 211 extends between the two ends of the side swing link 212, and the first hinge end 2111 is rotatably connected with the end of the side swing link 212 through a hinge structure. The hinge structure includes shaft holes 251 respectively arranged at the end of the side swing link 212 and the first hinge end 2111. The rotating shaft 253 passes through the side swing link 212 and the first hinge end 2111 at the same time. The shaft hole 251 at the end of the side swing link 212 is sleeved with a shaft sleeve 252. The rotating shaft 253 is a bolt. The rotating shaft 253 passes through the shaft sleeve 252 from the side of the side swing link 212 facing away from the first hinge end 2111 and extends into the shaft hole 251 of the first hinge end 2111. The rotating shaft 253 is fixedly matched with the shaft hole 251 of the first hinge end 2111, and the rotating shaft 253 is rotatably matched with the shaft sleeve 252. When the first knuckle link 212 is rotated, the rotating shaft 253 is rotated with the shaft sleeve 252. When the side swing link 212 rotates relative to the finger base 1, the rotating shaft 253 rotates synchronously with the first finger joint link 211, and the rotating shaft 253 and the shaft hole 251 rotate relative to each other, so that the first finger joint link 211 and the side swing link 212 rotate relative to each other, and the first finger joint 21 is bent; and when the side swing link 212 rotates relative to the finger base 1, when the two ends of the side swing link 212 rotate relative to the middle part of the side swing link 212, the two ends of the side swing link 212 drive the synchronous rotation of the first finger joint 21, so as to realize the swinging of the finger body 2.

[0060] The connection between the finger body 2 and the finger base 1 and the connection between the first finger and the second finger in this embodiment are both provided with a hinge structure. The shaft sleeve 252 and the rotating shaft 253 are rotatably matched to each other, so that the rotating shaft 253 and the shaft hole 251 can be separated from each other, thereby avoiding relative friction between the rotating shaft 253 and the shaft hole 251, reducing the possibility of wear between the shaft hole 251 and the rotating shaft 253, and helping to extend the service life of the shaft hole 251 and the rotating shaft 253; in addition, the shaft sleeve 252 is fixed to the inner wall of the shaft hole 251, and the shaft sleeve 252 can support the shaft hole 251, which helps to improve the strength of the shaft hole 251, thereby reducing the possibility of deformation of the shaft hole 251, making the assembly of the shaft hole 251 and the rotating shaft 253 more stable and reliable, avoiding the possibility of jamming between the shaft hole 251 and the rotating shaft 253 during rotation, and ensuring that the relative rotation of the shaft hole 251 and the rotating shaft 253 is smoother, so that the first finger joint 21 and the second finger joint 22 can accurately reflect the power transmission of the drive motor 32 ; Secondly, the relative rotation between the rotating hole and the rotating shaft 253 remains smooth, which can reduce the energy loss at the hinge, and at the same time reduce the delay in the movement of the finger body 2, ensuring that the finger body 2 can maintain a high movement accuracy, so that the dexterous hand can perform more delicate movements; secondly, since the shaft sleeve 252 and the shaft hole 251 are not integrally formed, the shaft sleeve 252 can be made of a material with better performance. For example, the shaft sleeve 252 can be made of a material with good wear resistance and high cutting strength such as copper, so that the shaft sleeve 252 has higher strength and longer service life, and at the same time can form a stronger support for the shaft hole 251 so that the shaft hole 251 is not easily deformed, so as to maintain the movement accuracy of the fingers of the dexterous hand; and compared with replacing the entire finger with a material with better performance, only adding the shaft sleeve 252 to the shaft hole 251 can significantly reduce the overall production cost of the dexterous hand; of course, it can be understood that in other embodiments, the rotating shaft 253 can also be made of a material with good wear resistance and high cutting strength such as copper.

[0061] In the present embodiment, in the same hinge structure, only a shaft sleeve 252 is set in one shaft hole 251, which can reduce the number of shaft sleeves 252 and thus reduce the manufacturing cost of the fingers of the dexterous hand; in addition, the rotating shaft 253 is fixedly connected to the other shaft hole 251, which can reduce the wear between the rotating shaft 253 and the shaft hole 251 and help to extend the service life of the rotating shaft 253 and the shaft hole 251; secondly, the first finger joint link 211 has three hinged ends, and the three hinged ends of the first finger joint link 211 are respectively connected to the side swing link 212, the cross shaft 24 and the second finger joint 22, so that the force on the first finger joint link 211 is more uniform, which can reduce the possibility of the first finger joint link 211 being bent. In addition, the first finger joint link 211 is hinged to the second finger joint 22, which can effectively prevent the second finger joint 22 from bending with the bending of the first finger joint 21, so that the second finger joint 22 has a separate degree of freedom, which can effectively improve the flexibility of the fingers of the dexterous hand.

[0062] In addition, in order to make the assembly of the shaft sleeve 252 and the shaft hole 251 easier and more convenient, as shown in FIG. Fig.10 As described, in the present embodiment, a flange 2521 is provided on the outer peripheral side of one end of the shaft sleeve 252, and a step surface 2511 abutting against the flange 2521 is provided at the end of the shaft hole 251. The cooperation between the flange 2521 and the step surface 2511 can play a positioning role for the shaft sleeve 252, so that the end of the shaft sleeve 252 can be kept flush with the end of the shaft hole 251, thereby making the appearance of the shaft sleeve 252 and the shaft hole 251 more complete, which helps to improve the aesthetics of the fingers; in addition, after the flange 2521 abuts against the step surface 2511, the user can clearly feel that the shaft sleeve 252 has been installed in place, which can effectively reduce the difficulty of installing the shaft sleeve 252 and help to improve the assembly efficiency of the fingers.

[0063] like Figures 3 to 5 As shown, the transmission mechanism 4 in this embodiment includes two groups of first transmission members 41 and one group of second transmission members 42, the first transmission members 41 and the second transmission members 42 both include the above-mentioned guide members 421 and sliders 422 slidably mounted on the guide members 421, the two groups of first transmission members 41 are located on the same mounting surface of the finger base 1, the two groups of first transmission members 41 are connected with cross shafts 24, the cross shafts 24 of the two first transmission members 41 are transmission-connected with the second hinged end 2112, and the connection between the second hinged end 2112 and the cross shaft 24 is also provided with a hinge structure, the hinge structure includes a first rotating shaft 213, the first rotating shaft 213 passes through an axial hole 251 passing through the second hinged end 2112 and the axial holes 251 at the ends of the two cross shafts 24, a shaft sleeve 252 is fixedly installed in the shaft hole 251 of the cross shaft 24, the first rotating shaft 213 is fixedly connected with the second hinged end 2112, the first rotating shaft 213 and the cross shaft 24 are rotationally connected through the shaft sleeve 252, when When it is necessary to control the first knuckle 21 to bend, the driving motor 32 controls the two groups of first transmission members 41 to descend synchronously and in the same direction along the finger base 1, and the first transmission member 41 pulls the first rotation downward through the cross shaft 24, and the first rotating shaft 213 acts on the first knuckle link 211 through the first hinge end 2111, so that the first knuckle link 211 rotates downward around the first hinge end 2111, thereby realizing the bending of the first knuckle 21; and when it is necessary to control the finger body 2 to swing, the driving motor 32 controls the two groups of first transmission members 41 to slide at different speeds or the two groups of first transmission members 41 slide in opposite directions, so that the two cross shafts 24 are at different heights of the finger base 1, the two cross shafts 24 act on the first rotating shaft 213 to tilt the first rotating shaft 213 relative to the horizontal plane, the first rotating shaft 213 acts on the first knuckle link 211, and the first knuckle link 211 drives the side swing link 212 to rotate, so as to realize the swing of the finger body 2.

[0064] like Figure 8 and Fig. 9 As shown, in this embodiment, the second finger joint 22 includes a second finger joint connecting rod 221, and the second finger joint connecting rod 221 is rotatably connected to the third hinge end 2113 of the first finger joint connecting rod 211. The connection between the second finger joint connecting rod 221 and the third hinge end 2113 is also provided with a hinge structure, and the hinge structure includes a second rotating shaft 214, and the second rotating shaft 214 passes through the second finger joint connecting rod 221 and the third hinge end 2113 at the same time, wherein a shaft sleeve 252 is fixedly installed in the shaft hole 251 of the second finger joint connecting rod 221, and the second rotating shaft 214 is rotatably matched with the shaft sleeve 252, and the second rotating shaft 214 is fixedly connected to the third hinge end 2113, thereby realizing the rotational connection between the second finger joint 22 and the first finger joint 21. In addition, the second finger joint connecting rod 221 and the third hinge end 2113 are connected at the same time. The rod 221 is rotatably connected to the first connecting rod 222, and the second connecting rod 223 is rotatably connected to the first rotating shaft 213. The cross shaft 24 of the second transmission mechanism 4 is rotatably connected to the second connecting rod 223. The first connecting rod 222 is rotatably connected to the second connecting rod 223. When it is necessary to control the second knuckle 22 to bend, the driving motor 32 controls the second transmission member 42 to slide downward along the finger base 1, and the second transmission member 42 drives the second connecting rod 223 to rotate downward around the first rotating shaft through the cross shaft 24. During the rotation of the second connecting rod 223, the second connecting rod 223 pulls the first connecting rod 222 to move downward, and the first connecting rod 222 pulls the second knuckle connecting rod 221 to rotate downward around the second rotating shaft 214, thereby realizing the bending of the second knuckle 22.

[0065] It should be noted that the dexterous fingers of the present embodiment may further include a third knuckle 23, wherein the first knuckle 21 simulates the knuckle at the base of a human finger, the second knuckle 22 simulates the knuckle at the middle of a human finger, and the third knuckle 23 simulates the knuckle at the tip of a human finger; the third knuckle 23 is hinged to the end of the second knuckle connecting rod 221 away from the first knuckle 21, and a hinge structure is also provided at the connection between the third knuckle 23 and the second knuckle connecting rod 221, wherein the hinge structure comprises a third rotating shaft 215, and the third rotating shaft 215 passes through the second knuckle connecting rod 221 and the third knuckle 23 at the same time, wherein a shaft hole 251 of the second knuckle connecting rod 221 is fixed with The third rotating shaft 215 is rotatably matched with the second finger joint connecting rod 221 through the shaft sleeve 252, and the third rotating shaft 215 is fixedly connected to the third finger joint 23; in addition, the first finger joint connecting rod 211 also has a fourth hinged end 2114, and the third connecting rod 224 is rotatably connected between the third finger joint 23 and the first finger joint connecting rod 211, and a hinge structure is provided at the connection between the third connecting rod 224 and the fourth hinged end 2114, and a hinge structure is also provided at the connection between the third connecting rod 224 and the third finger joint 23, and when the second finger joint 22 is bent under the control of the driving motor 32, the third finger joint 23 will rotate relative to the second finger joint 22 as the second finger joint 22 is bent.

[0066] In addition, in order to enhance the control over the movement of the finger body 2, a fingertip is installed at the end of the third knuckle 23 in the present embodiment, and a six-axis force sensor is arranged on the fingertip. The six-axis force sensor can detect the force acting on the contact part of the fingertip. The six-axis force sensor cooperates with the drive motor 32 to control and adjust the bending degree of the first knuckle 21 and the second knuckle 22, thereby realizing the function of the dexterous hand to grasp fragile objects, such as eggs, potato chips, etc., so that the dexterous hand has more precise control, so as to complete more delicate movements and improve the simulation degree of the dexterous hand.

[0067] It should be noted that if Figure 2 and Fig.15 As shown, when the finger is a thumb, the finger body 2 of the thumb in this embodiment only includes a first knuckle 21 and a second knuckle 22, and the tip of the thumb is fixed to the end of the second knuckle 22. In addition, in order to increase the freedom of the thumb, a thumb joint 63 is installed on the bottom edge of the palm 6 in this embodiment, and a thumb seat 64 is fixedly connected to the finger base 1 of the thumb, and the thumb seat 64 is rotatably connected to the thumb joint 63. A swing motor 61 is provided on the palm 6, and a swing member 611 is transmission-connected to the output end of the swing motor 61. The swing member 611 and the thumb seat 64 are transmission-connected through a fisheye bearing 62. After the swing motor 61 is started, the swing member 611 is driven to swing, and the swing member 611 drives the thumb seat 64 to swing around the thumb joint 63 through the fisheye bearing 62, so as to realize the thumb swinging relative to the palm 6 as a whole, so that the function of the thumb is closer to that of the human thumb, which helps to improve the simulation of the dexterous hand; in addition, the fisheye bearing 62 can increase the swing amplitude of the thumb seat 64 relative to the palm 6, which helps to improve the flexibility of the thumb.

[0068] like Figure 5 and Figure 7 As shown, the finger base 1 described in this embodiment includes a first mounting plate 11, a second mounting plate 12 and two mounting side plates 13 for connecting the first mounting plate 11 and the second mounting plate 12. The first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 form a cylindrical finger base 1. The first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 are arranged to form a accommodating cavity 15. The second transmission member 42 is fixed in the accommodating cavity 15. The two groups of first transmission members 4142 are fixed on the side of the second mounting plate 12 facing away from the accommodating cavity 15. The second transmission member 42 is fixed in the accommodating cavity 15, so that the assembly of the finger base 1 and the second transmission member 42 is more compact, which improves the space utilization rate of the dexterous hand fingers and helps to reduce the volume of the dexterous hand fingers.

[0069] In addition, in order to reduce the weight of the finger base 1, at least one through hole 14 is provided on the first mounting plate 11, the second mounting plate 12 and the mounting side plate 13 in the present embodiment; it should be noted that, in the present embodiment, the through hole 14 in the second mounting plate 12 divides the second mounting plate 12 into two pieces, that is, the through hole 14 penetrates the second mounting plate 12 along the length direction of the second mounting plate 12, and the two pieces of the second mounting plate 12 are respectively fixed to the ends of the two mounting side plates 13 away from the first mounting plate 11, and the two groups of transmission parts are respectively located on both sides of the through hole 14.

[0070] like Fig.11 and Fig.12 As shown, the motor base 31 described in this embodiment includes a first fixing plate 311, a second fixing plate 312 and a support plate 313, and the two ends of the support plate 313 are respectively connected to the sides of the first fixing plate 311 and the second fixing plate 312. The motor base 31 is C-shaped as a whole, wherein the first fixing plate 311 is installed on the outer peripheral side of the arm 5, one end of the support plate 313 is connected to the side of the first fixing plate 311, and the other end extends to the side away from the arm 5, the second fixing plate 312 is fixed to the end of the support plate 313 away from the arm 5, and the drive motor 32 and the guide mechanism are both installed between the first fixing plate 311 and the second fixing plate 312.

[0071] like Fig.14 As shown, in this embodiment, the output shaft 321 is provided with two rope grooves 322 spaced apart along the axial direction of the output shaft 321, and a separator ring 323 is provided between the two rope grooves 322. The height of the separator ring 323 protruding from the rope groove 322 is much greater than the diameter of the traction rope 33. The separator ring 323 can effectively prevent the traction rope 33 from crossing the separator ring 323 and entering another ring groove, thereby reducing the possibility of mutual interference or entanglement between the two traction ropes 33, so that the two traction ropes 33 can run smoothly; in addition, a convex ring 324 is provided at the bottom of each rope groove 322 along the circumference of the output shaft 321, and the convex ring 324 divides the rope groove 322 into a first ring groove 3221 and a second ring groove 3222. During the winding process of the traction rope 33, after the traction rope 33 is wound around the first annular groove 3221 for one circle, the guide member 342 guides the traction rope 33 from the first annular groove 3221 over the convex ring 324 to be wound around the second annular groove 3222, so that the traction rope 33 can continue to be wound around the second annular groove 3222. The convex ring 324 separates the rope groove 322 into the first annular groove 3221 and the second annular groove 3222. The guide member 342 guides the traction rope 33 to be wound around the first annular groove 3221 and the second annular groove 3222, which can make the tension distribution of the traction rope 33 more uniform, and at the same time can further reduce the possibility of lamination of the traction rope 33, which helps to extend the service life of the traction rope 33.

[0072] In order to allow the traction rope 33 to smoothly pass over the convex ring 324, the height of the convex ring 324 in this embodiment is smaller than the diameter of the traction rope 33, thereby preventing the convex ring 324 from blocking the traction rope 33 from entering the second ring groove 3222, making the winding of the traction rope 33 between the first ring groove 3221 and the second ring groove 3222 more stable and reliable.

[0073] In order to improve the control over the dexterous hand, the driving motor 32 in this embodiment is provided with a sensor for detecting the rotation speed and number of rotations of the output shaft 321. The sensor can be a Hall sensor. The sensor detects the rotation speed and number of rotations of the output shaft 321, and transmits the detection result to the control component of the simulated robotic arm. The control component can accurately record the movement state of the finger body 2 according to the rotation speed and number of rotations of the output shaft 321, and then adjust the movement position of the finger body 2 according to the use requirements. In addition, the rotation speed of the driving motor 32 can also be adjusted to change the movement speed of the finger body 2, so that the movement of the finger body 2 is more flexible and precise.

[0074] In this embodiment, the output shaft 321 is threadedly connected with two fasteners 325, one of the two fasteners 325 is fixed to the end of the output shaft 321 close to the drive motor 32, and the other is fixed to the end of the output shaft 321 away from the drive motor 32, that is, the two fasteners 325 are respectively close to the two rope grooves 322, and the ends of the two traction ropes 33 are respectively wound around the two fasteners 325, and the fasteners 325 and the output shaft 321 are threadedly matched to compress the traction rope 33, and the traction rope 33 is fixed by the fasteners 325. The traction rope 33 is fixed, so that the winding and releasing of the traction rope 33 are more stable, the possibility of slipping between the traction rope 33 and the output shaft 321 is avoided, and the power transmission between the drive motor 32 and the transmission mechanism 4 is more accurate and reliable; in addition, the fastener 325 is threadedly matched with the output shaft 321, so as to realize the detachable connection between the fastener 325 and the output shaft 321. When the traction rope 33 is loose or broken, the traction rope 33 can be easily adjusted and replaced, which helps to reduce the maintenance cost of the traction rope 33 and improve the maintenance efficiency of the traction rope 33.

[0075] In addition, the drive motor 32 described in this embodiment is fixed to the second fixed plate 312, one end of the output shaft 321 is transmission-connected to the drive motor 32, and the other end is rotationally connected to the first fixed plate 311, the drive motor 32 is fixed on the second fixed plate 312 away from the arm 5, one end of the output shaft 321 is fixed on the first fixed plate 311 close to the arm 5, and the traction rope 33 is wound around the output shaft 321, which can make the traction rope 33 closer to the arm 5, reduce the possibility of interference between other components and the traction rope 33, make the operation of the traction rope 33 more stable, and also reduce the possibility of breakage of the traction rope 33, which helps to extend the service life of the traction rope 33.

[0076] like Fig.13 As shown, the guide mechanism in this embodiment includes a guide motor 341, a screw 343 driven to rotate by the guide motor 341, and a guide rod 344 arranged in parallel with the screw 343, two rollers are threadedly connected to the screw 343, the end of the guide motor 341 is fixed to the second fixed plate 312, the output end of the guide motor 341 is transmission-connected with the screw 343, the other end of the screw 343 extends toward the first fixed plate 311 and is rotationally connected with the first fixed plate 311, and the screw 343 is arranged in parallel with the output shaft 321 of the driving motor 32, and the outer peripheral sides of the two rollers are provided with The guide groove 3421, the two traction ropes 33 are respectively embedded in the two guide grooves 3421, and the traction rope 33 is wound around the output shaft 321 of the driving motor 32 after passing through the guide groove 3421. In addition, the surface of the roller is provided with a groove, and the guide rod 344 passes through the grooves of the two rollers to limit the rotation of the guide member 342. The guide rod 344 can limit the rotation of the guide member 342 or the roller, so that the guide member 342 or the roller can move along the axial direction of the screw 343 as the screw 343 rotates, thereby allowing the guide member 342 or the roller to play the role of guiding the traction rope 33.

[0077] When the drive motor 32 is started, the drive motor 32 drives the output shaft 321 to rotate. Since the winding directions of the first traction rope 331 and the second traction rope 332 on the output shaft 321 are opposite, when the first traction rope 331 is gradually wound around the output shaft 321 as the output shaft 321 rotates, the second traction rope 332 is gradually released as the output shaft 321 rotates. During this process, the guide motor 341 is also started and drives the screw 343 to rotate, and the guide rod 344 stops the roller from rotating. The two rollers move along the axial direction of the screw 343 as the screw 343 rotates, and the two rollers keep moving synchronously, so that the distance between the two rollers can remain unchanged, so that the first traction rope 331 and the second traction rope 332 are distributed and embedded in the guide grooves 3421 of the two rollers, and the side walls of the guide grooves 3421 drive the two traction ropes 33 to move along the axial direction of the output shaft 321.

[0078] In this embodiment, the guide member 342 is limited between the two traction ropes 33, so that the traction ropes 33 can always maintain an effective spacing, avoiding long-term friction between the two traction ropes 33 and causing the traction ropes 33 to be worn, which helps to extend the service life of the traction ropes 33. At the same time, the guide member 342 can also prevent the operation of the two traction ropes 33 from interfering with each other, thereby allowing the power of the drive motor 32 to be stably transmitted to the transmission mechanism 4, so that the transmission mechanism 4 can accurately reflect the power output of the drive motor 32, which can effectively reduce energy loss and help improve the flexibility of the bionic robotic arm.

[0079] The guide motor 341 controls the guide member 342 to reciprocate along the axial direction of the output shaft 321 of the drive motor 32, and the guide member 421 can also guide the traction rope 33 to move, so as to prevent the traction rope 33 from always being wound around the same position of the output shaft 321, so that the winding of the traction rope 33 on the output shaft 321 is smoother, which can reduce the torque change of the output motor, keep the power output of the output motor stable, reduce the possibility of damage to the output motor, and make the power transmission between the drive motor 32 and the transmission mechanism 4 more accurate and reliable; secondly, when the traction rope 33 is wound around the rope groove 322, the moving distance of the guide member 342 in the axial direction of the output shaft 321 is greater than the diameter of the traction rope 33, that is, the guide member 342 will also guide the traction rope 33 during the winding process, so as to prevent the traction rope 33 from laminating during the winding process, so that the arrangement of the traction rope 33 on the output shaft 321 is more neat, which also helps to extend the service life of the traction rope 33.

[0080] Of course, it is understandable that in other embodiments, the guide rod 344 may also penetrate the two guide members 342 along the axial direction of the screw rod 343 , thereby limiting the guide members 342 from rotating with the rotation of the screw rod 343 .

[0081] Of course, it is understandable that in other embodiments, the guide member 342 of the guide mechanism can also be provided with one, and two guide grooves 3421 are provided on the surface of a guide member 421 at the same time; or, the guide member 342 is provided between the first traction rope 331 and the second traction rope 332, and the first traction rope 331 and the second traction rope 332 pass through the guide member 342 on both sides of the axial direction of the output shaft 321 of the drive motor 32 and are wound around the output shaft 321. The guide member 342 can separate the traction rope 33, and can effectively avoid mutual interference and entanglement of the traction rope 33 during the winding and releasing process, so that the movement of the traction rope 33 is more stable and reliable, and it also helps to extend the service life of the traction rope 33.

[0082] In order to prevent the traction rope 33 from laminating on the output shaft 321, in this embodiment, after the traction rope 33 is wound along the rope groove 322 for one circle, the moving distance of the guide member 342 is greater than the diameter of the traction rope 33, and the guide motor 341 controls the guide member 342 to reciprocate along the axial direction of the output shaft 321 of the drive motor 32, and the guide member 421 can also guide the traction rope 33 to move, so as to prevent the traction rope 33 from always being wound around the same position of the output shaft 321, so that the traction rope 33 is wound around the output shaft 321 more smoothly, which can reduce the torque change of the output motor and make the output motor more dynamic. The force output remains stable, reducing the possibility of damage to the output motor, and can also make the power transmission between the drive motor 32 and the transmission mechanism 4 more accurate and reliable; secondly, while the traction rope 33 is wound around in the rope groove 322, the guide member 342 moves a distance greater than the diameter of the traction rope 33 in the axial direction of the output shaft 321, that is, the guide member 342 will also guide the traction rope 33 during the winding process, avoiding the traction rope 33 from overlapping during the winding process, making the traction rope 33 more neatly arranged on the output shaft 321, and also helping to extend the service life of the traction rope 33.

[0083] In order to further reduce the possibility of wear of the traction rope 33, the edges of the two ends of the wall where the guide member 342 contacts the traction rope 33 in this embodiment are provided with rounded structures 3422, and the edges of the two ends of the side walls of the rope groove 322 are also provided with rounded structures 3422. The rounded structures 3422 can make the edges of the guide member 342 and the rope groove 322 smoother, reduce the degree of wear of the guide member 342 and the output shaft 321 on the traction rope 33, and thus help to extend the service life of the traction rope 33, and can effectively reduce the replacement frequency and maintenance cost of the traction rope 33.

[0084] like Fig.11As shown, the adjusting member in this embodiment includes a strip hole 351 arranged on the first fixing plate 311 and an adjusting bolt 352 matching the adjusting hole. The strip hole 351 is arranged along the length direction of the arm 5. A threaded hole 521 is arranged on the surface of the arm 5. The adjusting bolt 352 passes through the strip hole 351 and is threadedly connected with the threaded hole 521. When it is necessary to adjust the position of the motor base 31, the adjusting bolt 352 can be loosened first, and then the fixing of the first fixing plate 311 by the adjusting bolt 352 is loosened, so that the first fixing plate 311 can slide relative to the arm 5, and then the entire motor base 31 is controlled to move along the length direction of the arm 5. During the movement, the adjusting bolt 352 moves relative to the strip hole 351, so that the distance between the drive motor 32 and the transmission mechanism 4 can be changed. When the motor base 31 moves away from the dexterous hand along the arm 5, the distance between the driving motor 32 and the transmission mechanism 4 can be increased, so that the traction rope 33 can be tightened and maintained in a tensioned state. After the motor base 31 moves to the specified position, the adjusting bolt 352 is tightened to achieve a fixed connection between the motor base 31 and the arm 5, so that the motor base 31 is fixed on the arm 5. Through the cooperation of the bar hole 351 and the adjusting bolt 352, the relative sliding of the motor base 31 and the arm 5 can be achieved. The overall structure of the adjusting part is relatively simple, which simplifies the adjustment process of the adjusting part on the motor base 31, helps to improve the adjustment efficiency of the motor base 31, and users can adjust it by themselves without using specific adjustment tools or asking professional engineers to make adjustments, which can significantly reduce the maintenance difficulty and maintenance cost of the bionic robotic arm.

[0085] In this embodiment, four strip holes 351 are provided on the first fixing plate 311, and the four strip holes 351 are divided into two groups. The two strip holes 351 in each group are arranged at intervals along the length direction of the arm 5, and the two groups of strip holes 351 are distributed at intervals perpendicular to the length direction of the arm 5, that is, the four strip holes 351 are distributed in a matrix. By setting a plurality of adjustment holes, a limiting effect can be played on the sliding direction of the motor base 31 to ensure that the motor base 31 can slide along the length direction of the arm 5. At the same time, the possibility of deflection of the motor base 31 can also be avoided, so that the assembly of the motor base 31 and the arm 5 is more accurate and reliable.

[0086] Of course, it is understandable that in other embodiments, the number of the strip holes 351 can also be two or three or more than four. When the number of the strip holes 351 is two, the two strip holes 351 are spaced apart along the length direction of the arm 5; or, the two strip holes 351 are spaced apart along a direction perpendicular to the length direction of the arm 5.

[0087] Of course, it can be understood that in other embodiments, the motor seat 31 can be fixedly connected to the arm 5, and a movable seat can be provided on the motor seat 31 for sliding along the length direction of the arm 5. The drive motor 32 is fixed to the movable seat so that the drive motor 32 can move relative to the motor seat 31. The drive motor 32 can slide relative to the motor seat 31 through the movable seat, that is, multiple drive motors 32 can be installed on the motor seat 31 at the same time, which can reduce the setting of the motor seat 31, help reduce the production cost of the bionic robotic arm, and also can reduce the spacing between the drive motors 32, so as to reduce the space occupied by the entire drive mechanism 3, and make the overall volume of the bionic robotic arm more compact.

[0088] In this embodiment, the first traction rope 331 and the second traction rope 332 are sheathed with a constricting tube 333, and the first traction rope 331 and the second traction rope 332 are both in the same constricting tube 333, and the constricting tube 333 is between the second pulley 424 and the output shaft 321 of the driving motor 32, and the constricting tube 333 can restrain the first traction rope 331 and the second traction rope 332, and can limit the first traction rope 331 and the second traction rope 332 from shaking at will, and effectively avoid the possibility of the first traction rope 331 and the second traction rope 332 being entangled with other traction ropes 33; at the same time, the constricting tube 333 can also protect the first traction rope 331 and the second traction rope 332, reduce the direct contact between the first traction rope 331 and the second traction rope 332 and other parts of the dexterous hand, and reduce the first traction rope 331 and the second traction rope 33 2, which is helpful to increase the service life of the first traction rope 331 and the second traction rope 332; secondly, by converging the first traction rope 331 and the second traction rope 332 through the converging tube 333, the first traction rope 331 and the second traction rope 332 can be laid more neatly, which is helpful to improve the aesthetics of the fingers of the dexterous hand; in addition, the converging tube 333 is located between the second pulley 424 and the output shaft 321 of the driving motor 32, and the converging tube 333 can reduce the distance between the first traction rope 331 and the second traction rope 332, so that the first traction rope 331 and the second traction rope 332 can maintain stable contact with the second pulley 424, reduce the possibility of the first traction rope 331 and the second traction rope 332 detaching from the second pulley 424, and improve the matching stability of the first traction rope 331 and the second traction rope 332 with the second pulley 424.

[0089] like Figure 1 and Fig.11As shown, in this embodiment, the end of the arm 5 close to the dexterous hand is provided with a limit plate 51 extending toward the outer circumference, the convergence tube 333 is between the limit plate 51 and the transmission mechanism 4, the limit plate 51 is provided with perforations 511 corresponding to the traction rope 33, each convergence tube 333 corresponds to two perforations 511, and since three driving mechanisms 3 are installed on each mounting surface 52, six perforations 511 are provided on the limit plate 51 corresponding to each mounting surface 52, the first traction rope 331 and the second traction rope 332 enter the convergence tube 333 after being guided by the second pulley 424, and the end of the convergence tube 333 is close to the limit plate 51, and the first traction rope 33 1 and the second traction rope 332 are separated from the bundle tube 333 and enter the driving mechanism 3 on the mounting surface 52 through the through hole 511. The through hole 511 on the limit plate 51 can provide a precise guide channel for the traction rope 33, which can effectively avoid the possibility of mutual interference or entanglement between the traction ropes 33, so that the traction rope 33 can operate stably and independently, ensuring the precise transmission between the drive motor 32 and the transmission mechanism 4; in addition, the through hole 511 can also play a role in arranging the traction rope 33 in an orderly manner, making the laying of the traction rope 33 more neat and orderly, which can facilitate the maintenance and replacement of the traction rope 33, and also improve the aesthetics of the bionic robotic arm.

[0090] The dexterous hand described in this embodiment has five fingers, each of which is provided with three transmission mechanisms 4, and five mounting surfaces 52 are provided on the outer peripheral side of the arm 5, and three drive motors 32 corresponding to the same finger are mounted on each mounting surface 52. In this embodiment, the drive motors 32 are arranged away from the fingers, so that the drive motors 32 do not need to be restricted by the space of the fingers. Therefore, there is no need to select high-torque and small-sized drive motors 32. The price of high-torque and small-sized drive motors 32 is relatively high, ranging from 5,000 to 6,000 yuan, and a bionic robotic arm needs to install 15 drive motors 32. Arranging the drive motors 32 on the arm 5 can expand the selection range of the drive motors 32, so as to facilitate the selection of lower-priced drive motors 32, making the selection of drive motors 32 more flexible and diverse, and also reducing the production cost of the dexterous hand.

[0091] Embodiment 2:

[0092] This embodiment shows a humanoid robot, including a robot body, on which at least one bionic mechanical arm is movably mounted, and at least one of the bionic mechanical arms of the humanoid robot is the bionic mechanical arm described in the first embodiment.

[0093] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A bionic mechanical arm, comprising an arm and a dexterous hand, wherein the dexterous hand comprises a palm and at least two fingers, wherein the fingers comprise a finger base, a finger body and a driving mechanism, wherein the driving mechanism comprises a driving motor, and a transmission mechanism connected to the driving motor is provided on the finger base, wherein: The transmission mechanism includes a guide member and a slider slidably mounted on the guide member. The output shaft of the driving motor is connected to two traction ropes wound in opposite directions. The driving motor is transmission-connected to the slider through the traction rope. The slider is connected to a cross shaft transmission-connected to the finger body. The driver controls the output shaft to rotate forward and reverse to drag the slider to slide back and forth along the guide member through the traction rope, thereby driving the finger body to bend and / or swing. One of the fingers in the dexterous hand is a thumb rotationally connected to the palm. A swinging motor is provided on the palm for driving the thumb to swing relative to the palm. The driving motor is slidably mounted on the arm. The driving mechanism also includes a guiding mechanism and an adjusting member. The guiding mechanism includes a guiding member for keeping the two traction ropes at a distance in the axial direction of the output shaft. The adjusting member adjusts the driving motor to move closer to or away from the dexterous hand to adjust the tightness of the traction rope.

2. A bionic robotic arm according to claim 1, characterized in that: The top end of the guide member is rotatably connected to a first pulley, and the traction rope comprises a first traction rope and a second traction rope. The first traction rope passes over the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider.

3. A bionic robotic arm according to claim 2, characterized in that: The bottom end of the guide member is rotatably connected to a second pulley, and the first traction rope and the second traction rope are respectively passed through two sides of the second pulley and then wound around the output shaft of the driving mechanism.

4. The bionic mechanical arm according to claim 3, characterized in that: The first traction rope and the second traction rope are sheathed with a restraining tube, and the end of the arm close to the dexterous hand is provided with a limiting plate extending toward the outer peripheral side. The restraining tube is located between the limiting plate and the second pulley, and the limiting plate is provided with perforations corresponding to the traction ropes, and each restraining tube corresponds to two perforations.

5. The bionic mechanical arm according to claim 1, characterized in that: The guide mechanism also includes a guide motor, which is transmission-connected to the guide member. The guide motor controls the guide member to reciprocate along the axial direction of the output shaft of the drive motor. After the traction rope is wound around the rope groove once, the moving distance of the guide member is greater than the diameter of the traction rope.

6. The bionic mechanical arm according to claim 5, characterized in that: The guide mechanism also includes a screw driven to rotate by a guide motor and a guide rod arranged parallel to the screw. The screw is arranged parallel to the output shaft of the driving motor. The guide member is a roller that cooperates with the screw thread. The guide rod penetrates the roller to limit the rotation of the roller. The guide motor drives the screw to rotate forward and reversely to make the roller reciprocate along the axial direction of the screw; or, a groove is provided on the outer peripheral side of the guide member, and the guide rod is partially embedded in the groove to limit the rotation of the guide member.

7. The bionic mechanical arm according to claim 1, characterized in that: The guide member is a partition block arranged between the two traction ropes, and the two traction ropes are wound around the output shaft after passing through the partition block on both sides of the axial direction of the output shaft of the driving motor; or, the guide mechanism includes two guide members, each of which is provided with a guide groove, and the two traction ropes extend into the two guide grooves respectively.

8. The bionic mechanical arm according to claim 1, characterized in that: The adjusting member comprises strip holes distributed along the length direction of the arm on the motor seat and fasteners matching the strip holes. The surface of the arm is provided with threaded holes, and the fasteners pass through the strip holes and are threadedly connected with the threaded holes.

9. The bionic mechanical arm according to claim 8, characterized in that: The motor seat is provided with at least two strip holes, wherein the two strip holes are spaced apart in the direction of the arm length; or, the two strip holes are spaced apart in a direction perpendicular to the arm length.

10. The bionic mechanical arm according to claim 1, characterized in that: The end of the palm close to the arm is provided with a thumb joint, the thumb is provided with a thumb seat rotatably connected to the thumb joint, the output end of the swing motor is connected to a swing piece, the swing piece is transmission connected to the wood through a fisheye bearing, and the swing motor drives the thumb to swing relative to the palm through the fisheye bearing.

11. The bionic mechanical arm according to claim 1, characterized in that: The finger body includes a first knuckle and a second knuckle, both ends of the first knuckle are hinged to the finger base and the second knuckle respectively, the transmission mechanism includes two groups of first transmission members and one group of second transmission members, the slider of the first transmission member is connected to the first knuckle through a cross-axis transmission, the sliders of the two groups of first transmission members slide synchronously and in the same direction to drive the first knuckle to bend, the sliders of the two groups of first transmission members slide different distances or slide in opposite directions to drive the finger body to swing; the slider of the second transmission member is connected to the second knuckle through a cross-axis transmission, and the second transmission member is used to drive the second knuckle to bend.

12. The bionic mechanical arm according to claim 11, characterized in that: A hinge structure is provided at the connection between the first knuckle and the finger base and at the connection between the second knuckle and the first knuckle. The hinge structure includes a rotating shaft, an axial hole and a shaft sleeve fixed in the axial hole. The rotating shaft passes through the shaft sleeve and rotates with the shaft sleeve.

13. The bionic mechanical arm according to claim 11, characterized in that: The first finger joint includes a side swing link and two first finger joint links, the first finger joint link has a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the two ends of the side swing link are bent and extend to the first finger joint link, the two ends of the side swing link are respectively hinged to the first hinge ends of the two first finger joint links, a first rotating shaft is passed between the two second hinge ends, the cross shafts connected to the sliders of the two groups of second transmission members are hinged to the first rotating shaft, the second finger joint includes a second finger joint link, a second rotating shaft is passed between the two third hinge ends, the second finger joint link is hinged to the second rotating shaft, a first link is rotatably connected between the cross shaft connected to the slider of the first transmission member and the second finger joint link, and a second link is rotatably connected between the first rotating shaft and the first link.

14. The bionic mechanical arm according to claim 1, characterized in that: The dexterous hand comprises five fingers, each of which is provided with three transmission mechanisms, and the outer peripheral side of the arm is provided with five mounting surfaces, and three driving motors corresponding to the same finger are slidably mounted on each mounting surface.

15. A humanoid robot comprising a robot body and at least one bionic mechanical arm movably connected to the robot body, characterized in that: At least one of the bionic robotic arms is a bionic robotic arm as described in any one of claims 1 to 14.

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