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, solves the problems that an existing dexterous hand is low in response speed and short in service life, and adopts the technical scheme that the bionic mechanical arm mainly comprises an arm, the dexterous hand and a driving device, and the driving device comprises a driving motor and a transmission mechanism; the transmission mechanism comprises a guide piece and a sliding block, the sliding block is in transmission connection with fingers of the dexterous hand, the transmission mechanism further comprises two traction ropes wound on the output shaft in opposite directions, at least two rope grooves are formed in the peripheral side surrounding the output shaft, and the two traction ropes are wound in the two rope grooves respectively. The bionic mechanical arm further comprises a guide mechanism arranged between the driving motor and the sliding block, the guide mechanism comprises a guide piece used for enabling the two traction ropes to keep a distance in the axial direction of the output shaft of the driving motor, and the traction ropes are wound around the output shaft after being guided by the guide piece. 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 connected to each knuckle of the finger, the output end of the driving motor is connected to the lead screw, and the driving motor drives the lead screw to rotate after starting, 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, making the operation of the dexterous hand more cumbersome; and if the running speed of the finger needs to be increased, the rotation speed of the lead screw needs to be greatly increased, and the driving motor needs to have a higher power, and the long-term high-speed operation of the driving motor and the lead screw will also greatly affect the service life of the driving motor and the lead screw. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing dexterous hands have slow response speed and short service life, thereby shortening the service life of the traction rope. For this purpose, a bionic mechanical arm and a humanoid robot are provided. By dragging a slider by a traction rope, the response speed of the finger body can be improved.

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

[0006] A bionic mechanical arm comprises an arm, a dexterous hand and a driving device, wherein the driving device comprises a driving motor and a transmission mechanism, wherein the driving motor drives the fingers of the dexterous hand to bend and / or swing through the transmission mechanism, wherein the transmission mechanism comprises a guide member and a slider slidably mounted on the guide member, wherein the slider is transmission-connected to the fingers of the dexterous hand, and the transmission mechanism further comprises two traction ropes wound around the output shaft of the driving motor in opposite directions, 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 through the traction rope, thereby controlling the finger body to bend and / or swing, wherein at least two rope grooves are arranged around the outer peripheral side of the output shaft, wherein the two traction ropes are respectively wound in the two rope grooves, and the bionic mechanical arm further comprises a guiding mechanism arranged between the driving motor and the slider, wherein the guiding mechanism comprises a guiding member for keeping the two traction ropes spaced apart in the axial direction of the output shaft of the driving motor, and the traction rope is wound around the output shaft after being guided by the guiding member.

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

[0008] The driving motor described in the present invention controls the output shaft to rotate forward and reversely so as to drag the slider along the guide member through the traction rope to slide back and forth. The traction rope is wound around the output shaft. The retracted and extended length of the traction rope when the output shaft rotates one circle is the outer circumference of the output shaft, and the sliding distance of the slider is equal to the retracted and extended length of the traction rope. Then the driving motor drives the slider through the traction rope, so that the slider has a faster moving speed. The slider is connected to the finger body in a transmission connection, that is, the driving motor does not need to maintain high-speed operation for a long time. The finger body can respond quickly by dragging the slider through the traction rope, which can significantly improve the sensitivity of the finger body. Secondly, the guide mechanism includes a guide member. The two traction ropes are respectively wound around the output shaft after passing through the two sides of the guide member. The driving motor controls the rotation of the output shaft. During the process, one of the traction ropes is gradually wound around the output shaft, and the other traction rope is gradually released. During this process, a part of the guide is always between the two traction ropes, which can effectively limit the two traction ropes from approaching and contacting each other, avoid long-term friction between the two traction ropes and cause the traction ropes to be worn, help to extend the service life of the traction ropes, and make the operation of the bionic robotic arm more stable and reliable; in addition, the two traction ropes are kept at a stable distance through the guide, so that the operation of the two traction ropes will not interfere with each other, and 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 to improve the flexibility of the bionic robotic arm.

[0009] 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.

[0010] 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.

[0011] Preferably, a convex ring is provided at the bottom of the rope groove along the circumference of the output shaft, the convex ring divides the rope groove into a first ring groove and a second ring groove, and the guide guides the traction rope from the first ring groove to pass over the convex ring and wind into the second ring groove. With the above technical solution, the convex ring divides the rope groove into a first ring groove and a second ring groove, and the guide guides the traction rope to wind in the first ring groove and the second ring groove, which can make the tension distribution of the traction rope more uniform, and can also further reduce the possibility of lamination of the traction rope, which helps to extend the service life of the traction rope.

[0012] Preferably, the height of the convex ring is smaller than the diameter of the traction rope. The above technical solution can ensure that the traction rope can pass over the convex ring and enter the second ring groove, making the winding of the traction rope between the first ring groove and the second ring groove more stable and reliable.

[0013] 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.

[0014] Preferably, the periphery of the wall surface at both ends of the guide member contacting the traction rope is provided with a rounded structure. With the above technical solution, the rounded structure can make the periphery of the guide member smoother, reduce the degree of wear of the guide member on the traction rope, and thus help to extend the service life of the traction rope, which can effectively reduce the replacement frequency and maintenance cost of the traction rope.

[0015] Preferably, the motor base includes a first mounting plate, a second mounting plate and a support plate, the two ends of the support plate are respectively connected to the sides of the first mounting plate and the second mounting plate, the first mounting plate is installed on the outer peripheral side of the arm, and the drive motor and the output shaft are positioned between the first mounting plate and the second mounting plate. The above technical solution can simplify the installation structure of the motor base and the arm, making the installation and disassembly of the motor base and the arm simpler and more convenient, which helps to reduce the difficulty of maintenance and replacement of the motor base and can effectively improve the replacement efficiency of the motor base.

[0016] Preferably, the drive motor is fixed to the second mounting plate, one end of the output shaft is transmission-connected to the drive motor, and the other end is rotationally connected to the first mounting plate. With the above technical solution, the drive motor is fixed to the second mounting plate away from the arm, one end of the output shaft is fixed to the first mounting plate close to the arm, and the traction rope is wound around the output shaft, so that the traction rope can be closer to the arm, reducing the possibility of interference between other components and the traction rope, making the operation of the traction rope more stable, and also reducing the possibility of the traction rope breaking, which helps to extend the service life of the traction rope.

[0017] Preferably, the output shaft is threadedly connected with two fasteners, the two fasteners are respectively close to the two rope grooves, the ends of the two traction ropes are respectively wound around the two fasteners, and the fasteners cooperate with the output shaft threads to compress the traction ropes. The above-mentioned technical solution is adopted to fix the traction rope by fasteners, so that the winding and release of the traction rope are more stable, and the possibility of slipping between the traction rope and the output shaft is avoided, so that the power transmission between the drive motor and the transmission mechanism is more accurate and reliable; in addition, the fastener cooperates with the output shaft threads to realize the detachable connection between the fastener and the output shaft. When the traction rope is loose or broken, the traction rope can be easily adjusted and replaced, which helps to reduce the maintenance cost of the traction rope and improve the maintenance efficiency of the traction rope.

[0018] Preferably, the periphery of the two ends of the rope groove side wall is provided with a rounded structure. With the above technical solution, the rounded structure can make the periphery of the rope groove smoother, reduce the degree of wear of the output shaft on the traction rope, and thus help to extend the service life of the traction rope, which can effectively reduce the replacement frequency and maintenance cost of the traction rope.

[0019] Preferably, the top end of the guide is rotatably connected to a first pulley, wherein one traction rope is connected to the upper end of the slider after passing through the first pulley, and the other traction rope is connected to the lower end of the slider; or, the slider is fixedly connected to a connecting seat, and the connecting seat is provided with two through holes for the traction ropes to pass through, and the ends of the two traction ropes are fixed to the inner wall of one of the through holes; or the ends of the two traction ropes are connected, and one of the traction ropes is fixed to the inner wall of one of the through holes. With the above technical solution, the drive motor is directly connected to the slider through the traction rope, which can reduce the energy loss in 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 fingers of the dexterous hand.

[0020] Preferably, the dexterous hand includes an arm and a plurality of fingers, each finger includes a finger base and a finger body, the driving motor is installed on the outer peripheral side of the arm, the transmission mechanism is installed on the finger base, the slider of the transmission mechanism is connected to the finger body through a cross-axis transmission, the driving motor drives the slider to slide along the guide member through a traction rope, and the slide rail drives the finger body to bend and / or swing through the cross-axis.

[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 a first transmission member and two groups of second transmission members, the slider of the first transmission member is connected to the second knuckle through a cross-axis transmission, the second transmission member is used to drive the second knuckle to bend, the slider of the second transmission member is connected to the second knuckle through a cross-axis transmission, the sliders of the two groups of second transmission members slide synchronously in the same direction to drive the first knuckle to bend, and 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.

[0022] The present invention also shows a humanoid robot, comprising at least one bionic mechanical arm as described in any one of the above items.

[0023] 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

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] Figure 1 This is a schematic structural diagram of a bionic mechanical arm of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of a driving mechanism in a bionic mechanical arm of the present invention;

[0027] Figure 3 for Figure 2 A partial enlarged view of part A;

[0028] Figure 4 for Figure 2 A partial enlarged view of part B;

[0029] Figure 5 It is a structural schematic diagram of a transmission mechanism in a bionic mechanical arm of the present invention;

[0030] Figure 6 The present invention is a schematic structural diagram of the fingers of a dexterous hand in a bionic robotic arm.

[0031] Figure numerals: 1, finger base; 2, finger body; 21, first finger joint; 212, side swing link; 22, second finger joint; 23, third finger joint; 24, cross shaft; 3, driving mechanism; 31, motor seat; 311, first mounting plate; 312, second mounting plate; 313, support plate; 32, driving motor; 321, output shaft; 322, rope groove; 3221, first ring groove; 3222, second ring groove; 323, separation 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 corner structure; 343. screw; 344. guide rod; 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. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Embodiment 1:

[0037] like Figures 1 to 6As shown, this embodiment shows a bionic mechanical arm, including an arm 5, a dexterous hand and a driving device, the driving device including a driving motor 32 and a transmission mechanism 4, the driving motor 32 drives the fingers of the dexterous hand to bend and / or swing through the transmission mechanism 4, the transmission mechanism 4 includes a guide member 421 and a slider 422 slidably mounted on the guide member 421, the slider 422 is connected to the fingers of the dexterous hand by transmission, the transmission mechanism 4 also includes two traction ropes 33 wound around the output shaft 321 of the driving motor 32 in opposite directions, the driving motor 32 controls the output shaft 321 to rotate forward and reversely to pass the traction rope 33. The guide rope 33 drags the slider 422 to slide back and forth along the guide member 421, thereby controlling the finger body 2 to bend and / or swing. At least two rope grooves 322 are provided on the outer peripheral side of the output shaft 321. The two traction ropes 33 are respectively wound in the two rope grooves 322. The bionic robotic arm also includes a guide mechanism arranged between the drive motor 32 and the slider 422. The guide mechanism includes a guide member 342 for maintaining the spacing between the two traction ropes 33 in the axial direction of the output shaft 321 of the drive motor 32. The traction rope 33 is guided by the guide member 342 and then wound around the output shaft 321.

[0038] The transmission mechanism 4 described in this embodiment also includes a first pulley 423 rotatably connected to the upper end of the guide member 421. Among the two traction ropes 33 wound on the output shaft 321, one traction rope 33 bypasses the first pulley 423 and is connected to the upper end of the slider 422, and the other end is directly connected to the lower end of the slider 422. When the drive motor 32 is started, the drive motor 32 controls the output shaft 321 to rotate. Since the winding directions of the two traction ropes 33 on the output shaft 321 are opposite, as the traction ropes 33 rotate, one of the traction ropes 33 is released and the other traction rope 33 is contracted, that is, the movements of the two traction ropes 33 are opposite. In addition, since the overall size of the fingers of the dexterous hand is small, the sizes of the slider 422 and the first pulley 423 are also correspondingly small. The two traction ropes 33 are distributed on both sides of the first pulley 423, that is, the spacing between the two traction ropes 33 is small. In addition, in order to keep the size of the fingers small, the traction ropes 33 are used to pull the fingers. The rope 33 can make the driving motor 32 be arranged away from the fingers, and thus the length of the traction rope 33 needs to be increased. Similarly, in order to reduce the space occupied by the driving motor 32, the length of the output shaft 321 is shorter, that is, the winding positions of the two traction ropes 33 on the output shaft 321 are closer. Secondly, a dexterous hand can be provided with multiple fingers, and each finger is provided with multiple transmission mechanisms 4, and each transmission mechanism 4 is equipped with two traction ropes 33. Therefore, the number of traction ropes 33 on the entire dexterous hand is large, and the wiring space is relatively tight. Therefore, in the process of winding and releasing the traction rope 33 on the output shaft 321, the two sections of the traction rope 33 are easy to contact each other, and the movement directions of the two sections of the traction rope 33 are always opposite. Therefore, when the two sections of the traction rope 33 are in contact, sliding friction will be generated, so that the two sections of the traction rope 33 will be cut each other, resulting in a significant shortening of the service life of the traction rope 33, which is easy to affect the normal use of the dexterous hand.

[0039] The driving motor 32 described in this embodiment 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. The traction rope 33 is wound around the output shaft 321. The retracted length of the traction rope 33 when the output shaft 321 rotates one circle is the outer circumference of the output shaft 321, and the sliding distance of the slider 422 is equal to the retracted length of the traction rope 33. Then, the driving motor 32 drives the slider 422 to slide through the traction rope 33, so that the slider 422 has a faster moving speed. The slider 422 is connected to the finger body 2 in a transmission connection, that is, the driving motor 32 does not need to maintain high-speed operation for a long time. The slider 422 can be dragged by the traction rope 33 to make the finger body 2 respond quickly, which can significantly improve the sensitivity of the finger body 2. Secondly, the guiding mechanism includes a guide member 342. The two traction ropes 33 pass through the two sides of the guide member 342 respectively and are wound around the output shaft 321. During the process of the drive motor 32 controlling the output shaft 321 to rotate, one of the traction ropes 33 is gradually wound around the output shaft 321, and the other traction rope 33 is gradually released. During this process, the guide member 342 is always partially located between the two traction ropes 33, thereby effectively limiting the two traction ropes 33 from approaching and contacting each other, 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 and make the operation of the bionic robotic arm more stable and reliable; in addition, the guide member 342 is used to keep the distance between the two traction ropes 33 stable, so that the operation of the two traction ropes 33 will not interfere with each other, thereby enabling 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.

[0040] like Figure 1 and Figure 2 As shown, the motor base 31 described in this embodiment includes a first mounting plate 311, a second mounting 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 mounting plate 311 and the second mounting plate 312. The motor base 31 is C-shaped as a whole, wherein the first mounting 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 mounting plate 311, and the other end extends to the side away from the arm 5, and the second mounting 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 mounting plate 311 and the second mounting plate 312.

[0041] like Figure 2 and Figure 3As 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 mounting 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 mounting plate 311 and is rotationally connected to the first mounting 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.

[0042] When the driving motor 32 is started, the driving motor 32 drives the output shaft 321 to rotate. The two traction ropes 33 wound on the output shaft 321 are respectively the first traction rope 331 and the second traction rope 332. 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. In this process, the guide The 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 be kept 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 will drive the two traction ropes 33 to move along the axial direction of the output shaft 321.

[0043] 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.

[0044] 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 .

[0045] 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.

[0046] 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.

[0047] like Figure 2 and Figure 4 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.

[0048] 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.

[0049] like Figure 4 As shown, 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 are threadedly matched with the output shaft 321 to compress the traction rope 33, and the traction rope 33 is tightened by the fasteners 325. The fixing makes the winding and releasing of the traction rope 33 more stable, avoids the possibility of slipping between the traction rope 33 and the output shaft 321, and makes the power transmission between the drive motor 32 and the transmission mechanism 4 more accurate and reliable; in addition, the fastener 325 is threadedly matched with the output shaft 321, thereby realizing a detachable connection between the fastener 325 and the output shaft 321. When the traction rope 33 becomes 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.

[0050] 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.

[0051] like Figure 2 and Figure 4 As shown, the drive motor 32 described in this embodiment is fixed to the second mounting 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 mounting plate 311, the drive motor 32 is fixed on the second mounting plate 312 away from the arm 5, one end of the output shaft 321 is fixed on the first mounting plate 311 close to the arm 5, and the traction rope 33 is wound around the output shaft 321, so that the traction rope 33 can be closer to the arm 5, reducing the possibility of interference between other components and the traction rope 33, making the operation of the traction rope 33 more stable, and at the same time can also reduce the possibility of breakage of the traction rope 33, which helps to extend the service life of the traction rope 33.

[0052] like Figure 5 As shown, the transmission mechanism 4 described in this embodiment includes a guide member 421 and a slider 422 slidably installed on the guide member 421. The guide member 421 is a long sliding rod. 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 sliding rod are fixed to the finger base 1 by bolts. 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 be slidably matched. 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. The connecting seat 425 is transmission-connected to the finger body 2 through the cross shaft 24.

[0053] 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.

[0054] The top end of the guide member 421 described in this embodiment is rotatably connected with a first pulley 423, and the first pulley 423 is located 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 first traction rope 331 passes around the first pulley 423 and is connected to the upper end of the slider 422. The second traction rope 332 extends from the output shaft 321 to the finger base 1 and is directly connected to the lower end of the slider 422. When the driving motor 32 drives the output shaft 321 to rotate forward, the first traction rope 331 is gradually released, and 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. When the slider 422 is rotated, the first traction rope 331 is kept 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 reverses, the first traction rope 331 is gradually wound around the rope groove 322, and the second traction rope 332 is gradually released. At this time, the second traction rope 332 relaxes the pull 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 forward and reverse 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 synchronized, 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.

[0055] In the present embodiment, the driving motor 32 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 driving 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.

[0056] 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.

[0057] 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.

[0058] 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 through 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 through holes, and the through holes can limit the traction rope 33, thereby reducing the possibility of the traction rope 33 detaching from the first pulley 423.

[0059] 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 output shaft speed and the number of rotations. The sensor can be a Hall sensor. The sensor detects the speed and number of rotations of the output shaft 321, and transmits the detection result to the control component of the dexterous hand. The control component can accurately record the movement state of the finger body 2 according to the 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 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.

[0060] 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.

[0061] In addition, in the present 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 332. 32, the possibility of wear and tear helps 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 laying of the first traction rope 331 and the second traction rope 332 can be more neat, which helps to improve the aesthetics of the fingers of the dexterous hands; 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.

[0062] like Figure 6As shown, the dexterous hand described in this embodiment includes an arm 5 and a plurality of fingers, each finger includes a finger base 1 and a finger body 2, a driving motor 32 is installed on the outer peripheral side of the arm 5, a transmission mechanism 4 is installed on the finger base 1, a slider 422 of the transmission mechanism 4 is connected to the finger body 2 through a cross shaft 24, the driving motor 32 drives the slider 422 to slide along the guide member 421 through a traction rope 33, and the slide rail drives the finger body 2 to bend and / or swing through the cross shaft 24; the finger body 2 includes a first knuckle 21, a second knuckle 22 and a third knuckle 23, and the two ends of the first knuckle 21 are respectively connected to the finger base 1 and the second knuckle 22 The third finger joint 23 is hinged, and is rotationally connected with the second finger joint connecting rod 221. The transmission mechanism 4 includes a first transmission member 41 and two groups of second transmission members 42. The slider 422 of the first transmission member 41 is connected to the second finger joint 22 through a cross shaft 24. The first transmission member 41 is used to drive the second finger joint 22 to bend. The slider 422 of the second transmission member 42 is connected to the second finger joint 22 through a cross shaft 24. The sliders 422 of the two groups of second transmission members 42 slide synchronously in the same direction to drive the first finger joint 21 to bend. The sliders 422 of the two groups of second transmission members 42 slide different distances or slide in opposite directions to drive the finger body 2 to swing.

[0063] It should be noted that, in this embodiment, 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; in addition, in order to enhance the control over the movement of the finger body, a fingertip is installed at the end of the third knuckle 23 in this embodiment, and a six-axis force sensor is provided on the fingertip. The six-axis force sensor can detect the force acting on the contact part of the fingertip, and the six-axis force sensor cooperates with the drive motor 3232 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.

[0064] Of course, it is understandable that in other embodiments, the finger of the dexterous hand may also be a thumb, that is, the finger body 2 may only include the first knuckle 21 and the second knuckle 22, and the tip of the thumb is fixed at the end of the second knuckle 22.

[0065] In addition, the dexterous hand described in this embodiment is provided with five fingers, and the arm 5 is a pentagonal columnar structure as a whole. The outer peripheral side of the arm 5 is provided with five mounting surfaces corresponding to the fingers, and each mounting surface is provided with three driving mechanisms 3. The driving mechanism 3 of the same mounting surface corresponds to the transmission mechanism 4 of the finger corresponding to the mounting surface.

[0066] Embodiment 2:

[0067] This embodiment shows a humanoid robot, including a robot body, on which at least one bionic mechanical arm is movably mounted, and the dexterous hand adopts the bionic mechanical arm described in the first embodiment.

[0068] 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 robot arm, comprising an arm, a dexterous hand and a driving device, wherein the driving device comprises a driving motor and a transmission mechanism, and the driving motor drives the fingers of the dexterous hand to bend and / or swing through the transmission mechanism, characterized in that: The transmission mechanism includes a guide member and a slider slidably mounted on the guide member, the slider is connected to the fingers of the dexterous hand, the transmission mechanism also includes two traction ropes wound around the output shaft of the driving motor in opposite directions, the driver controls the output shaft to rotate forward and reversely so as to drag the slider to slide back and forth along the guide member through the traction rope, thereby controlling the finger body to bend and / or swing, at least two rope grooves are provided around the outer peripheral side of the output shaft, the two traction ropes are respectively wound in the two rope grooves, the bionic robotic arm also includes a guide mechanism arranged between the driving motor and the slider, the guide mechanism includes a guide member for maintaining the spacing between the two traction ropes in the axial direction of the output shaft of the driving motor, and the traction rope is wound around the output shaft after being guided by the guide member.

2. A bionic robotic 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.

3. A bionic robotic arm according to claim 2, 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.

4. The bionic mechanical arm according to claim 2, characterized in that: A convex ring is provided at the bottom of the rope groove along the circumference of the output shaft, the convex ring divides the rope groove into a first ring groove and a second ring groove, and the guide member guides the traction rope from the first ring groove to pass over the convex ring and wind into the second ring groove.

5. The bionic mechanical arm according to claim 4, characterized in that: The height of the convex ring is smaller than the diameter of the traction rope.

6. 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.

7. The bionic mechanical arm according to claim 6, characterized in that: The peripheries of both ends of the wall surface where the guide member contacts the traction rope are provided with rounded corner structures.

8. The bionic mechanical arm according to claim 1, characterized in that: The motor base includes a first mounting plate, a second mounting plate and a support plate, the two ends of the support plate are respectively connected to the sides of the first mounting plate and the second mounting plate, the first mounting plate is installed on the outer peripheral side of the arm, and the drive motor and the output shaft are positioned between the first mounting plate and the second mounting plate.

9. The bionic mechanical arm according to claim 8, characterized in that: The drive motor is fixed to the second mounting plate, one end of the output shaft is transmission-connected to the drive motor, and the other end is rotationally connected to the first mounting plate.

10. The bionic mechanical arm according to claim 1, characterized in that: The output shaft is threadedly connected with two fasteners, the two fasteners are respectively close to the two rope grooves, the ends of the two traction ropes are respectively wound around the two fasteners, and the fasteners cooperate with the output shaft threads to compress the traction ropes.

11. The bionic mechanical arm according to claim 1, characterized in that: The peripheries of both ends of the rope groove side walls are provided with rounded corner structures.

12. The bionic mechanical arm according to claim 1, characterized in that: The top end of the guide member is rotatably connected to a first pulley, one of the traction ropes is connected to the upper end of the slider after passing around the first pulley, and the other traction rope is connected to the lower end of the slider; or, the slider is fixedly connected to a connecting seat, and the connecting seat is provided with two through holes for the traction ropes to pass through, and the ends of the two traction ropes are fixed to the inner wall of one of the through holes; or the ends of the two traction ropes are connected, and one of the traction ropes is fixed to the inner wall of one of the through holes.

13. The bionic mechanical arm according to claim 1, characterized in that: The dexterous hand includes an arm and a plurality of fingers, each finger includes a finger base and a finger body, a driving motor is installed on the outer peripheral side of the arm, a transmission mechanism is installed on the finger base, a slider of the transmission mechanism is connected to the finger body through a cross-axis transmission, the driving motor drives the slider to slide along the guide member through a traction rope, and the slide rail drives the finger body to bend and / or swing through the cross-axis.

14. The bionic mechanical arm according to claim 13, 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 a first transmission member and two groups of second transmission members, the slider of the first transmission member is connected to the second knuckle through a cross-axis transmission, the second transmission member is used to drive the second knuckle to bend, the slider of the second transmission member is connected to the second knuckle through a cross-axis transmission, the sliders of the two groups of second transmission members slide synchronously in the same direction to drive the first knuckle to bend, and 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.

15. A humanoid robot comprising at least one bionic mechanical arm according to any one of claims 1 to 14.

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