A robotic arm

Abstract

This invention discloses a robotic arm, comprising a robotic wrist, a hand assembly, a first robotic finger, and at least one second robotic finger. The robotic wrist includes a drive motor, a rotating shaft, a rotating shaft base, and a first flange connecting plate. The hand assembly includes a flange connector, a second flange connecting plate, and a hand body. The first robotic finger includes a first linear motor, a first proximal phalanx, a first middle phalanx, and a first connecting rod. The first connection point of the first proximal phalanx is rotatably connected to the hand body, and the end of the drive shaft of the first linear motor is rotatably connected to the second connection point of the first proximal phalanx. The second robotic finger includes a second linear motor, a second proximal phalanx, a second middle phalanx, a second distal phalanx, a second connecting rod, and a third connecting rod. The second linear motor is fixedly connected to the hand body, the first connection point of the second proximal phalanx is rotatably connected to the hand body, and the end of the drive shaft of the second linear motor is rotatably connected to the second connection point.

Description

Technical Field

[0001] In the field of biomimetic devices for robotic arms used in exhibitions, this invention specifically relates to a robotic arm. Background Technology

[0002] With technological advancements in the automotive industry, automotive-related science and technology exhibitions are rapidly developing. These exhibitions often utilize automotive parts to assemble robots, which typically need to be scientifically accurate and informative while also being engaging. The robotic arms of these robots are a crucial component in enhancing audience interaction; their hands are designed and manufactured to work with intelligent voice control systems, enabling wrist rotation and finger opening and closing movements. Summary of the Invention

[0003] To address at least one aspect of the aforementioned problems, the present invention provides a robotic arm, comprising: a robotic wrist, the wrist including a drive motor, a rotating shaft, a rotating shaft base, and a first flange connecting plate, the output shaft of the drive motor being drivenly connected to the rotating shaft, the rotating shaft being rotatably mounted on the rotating shaft base, the rotating shaft base being fixedly mounted relative to the drive motor, and one end of the rotating shaft passing through the rotating shaft base and being fixedly connected to the first flange connecting plate; a palm assembly, the palm assembly including a flange connector, a second flange connecting plate, and a palm body, the flange connector being used to fixably connect the first flange connecting plate and the second flange connecting plate, the palm body being fixedly connected to the second flange connecting plate; a first robotic finger, the first robotic finger including a first linear motor, a first proximal phalanx, a first middle phalanx, and a first connecting rod, the first linear motor being fixedly mounted on the palm body, a first connection point of the first proximal phalanx being rotatably connected to the palm body, the end of the drive shaft of the first linear motor being rotatably connected to a second connection point of the first proximal phalanx, and a third connection point of the first proximal phalanx being connected to the first flange connecting plate; and a first mechanical finger including a first linear motor, a first proximal phalanx, a first middle phalanx, and a first connecting rod. The first middle finger joint is rotatably connected, the first end of the first connecting rod is rotatably connected to the palm body, and the second end of the first connecting rod is rotatably connected to the first end of the first middle finger joint; at least one second mechanical finger, the second mechanical finger including a second linear motor, a second proximal finger joint, a second middle finger joint, a second distal finger joint, a second connecting rod, and a third connecting rod, the second linear motor is fixedly connected to the palm body, the first connection point of the second proximal finger joint is rotatably connected to the palm body, the end of the drive shaft of the second linear motor is rotatably connected to the second connection point, the third connection point of the second proximal finger joint is rotatably connected to the second connection point of the second middle finger joint, the third connection point of the second middle finger joint is rotatably connected to the second connection point of the second distal finger joint, the first end of the second connecting rod is rotatably connected to the palm body, the second end of the second connecting rod is rotatably connected to the first connection point of the second middle finger joint, the first end of the third connecting rod is rotatably connected to the second connection point of the second proximal finger joint, and the second end of the third connecting rod is rotatably connected to the first connection point of the second distal finger joint.

[0004] Preferably, the robotic wrist further includes a reducer, the drive motor is connected to the rotating shaft via the reducer, and the reducer is fixedly connected to the base of the rotating shaft.

[0005] Preferably, the rotating shaft base includes a first base, a second base, a base mounting plate, a first bearing, and a second bearing. The two ends of the base mounting plate are fixedly connected to the first base and the second base, respectively. The first bearing is disposed in the first base, and the second bearing is disposed in the second base. The first end of the rotating shaft passes through the first base and is connected to the reducer for transmission. The second end of the transmission shaft passes through the second base and is fixedly connected to the flange connecting plate.

[0006] Preferably, the flange connector includes a first flange, a second flange, and a flange clamping block. The first flange is fixedly connected to the first flange connecting plate, the second flange is fixedly connected to the second flange connecting plate, and the flange clamping block is used to hold the first flange and the second flange.

[0007] Preferably, the tops of the first flange and the second flange adopt a symmetrical wedge structure, the bottom of the flange clamping block is provided with a snap-fit ​​groove, the snap-fit ​​groove is snapped with the top wedge structure of the first flange and the second flange, the bottom of the first flange is provided with a groove, the groove is used to snap with the bottom of the second flange, a stop bar is provided on the side of the first flange facing the second flange, and a groove is provided on the second flange. When the flange clamping block snaps with the first flange and the second flange, the groove is snapped with the stop bar.

[0008] Preferably, the baffle has a baffle through hole that communicates with the through hole of the flange clamping block, and the groove has an opening that is collinear with the baffle corresponding to the groove, and the opening is collinear with the baffle through hole.

[0009] Preferably, the palm body includes multiple support rods and connecting rods, the first end of the support rod is fixedly connected to the second flange connecting plate, and the second end of the support rod is fixedly connected to the connecting rod.

[0010] Preferably, the hand body further includes a reinforcing plate, which is fixedly connected to the second flange connecting plate and the support rod.

[0011] Preferably, it further includes a plurality of second mechanical fingers, and the second linear motors of the plurality of second mechanical fingers are arranged in parallel.

[0012] Preferably, the system further includes a controller and a voice acquisition unit. The controller is connected to the drive motor, the first linear motor, and the second linear motor, respectively. The voice acquisition unit is used to receive voice commands. The controller controls the operation of any one or more of the drive motor, the first linear motor, and the second linear motor in response to the received voice commands.

[0013] The robotic arm of the present invention has the following advantages: the four-bar linkage design avoids the occurrence of "dead point" problems and prevents jamming; the components can be quickly disassembled, making installation and disassembly simple and easy to use; the rotating parts have a simple structure and low radial force during rotation; and the individual driving of multiple motors increases the executability of actions corresponding to voice commands. Attached Figure Description

[0014] To better understand the above and other objects, features, advantages, and functions of the present invention, reference can be made to the embodiments shown in the accompanying drawings. The same reference numerals in the drawings refer to the same parts. Those skilled in the art should understand that the drawings are intended to schematically illustrate preferred embodiments of the invention and do not limit the scope of the invention in any way; the parts in the drawings are not drawn to scale.

[0015] Figure 1 A schematic diagram of the structure of the robotic arm according to an embodiment of the present invention is shown;

[0016] Figure 2 Another structural schematic diagram of the hand assembly of the robotic hand according to an embodiment of the present invention is shown;

[0017] Figure 3 An exploded structural diagram of the mechanical wrist of a robotic arm according to an embodiment of the present invention is shown;

[0018] Figure 4 A schematic diagram of the structure of the first mechanical finger of the robotic arm according to an embodiment of the present invention is shown;

[0019] Figure 5 A schematic diagram of the structure of the second mechanical finger of the robotic arm according to an embodiment of the present invention is shown.

[0020] Figure label:

[0021] 1. Drive motor; 2. Reducer; 3. Rotating shaft base; 4. Rotating shaft; 5. First flange connecting plate; 6. Flange connector; 7. Second flange connecting plate; 8. Hand body; 9. First mechanical finger; 10. Second mechanical finger; 31. First base; 32. Second base; 33. Base mounting plate; 34. First bearing; 35. Second bearing; 51. Tensioning sleeve; 52. Anti-fall block; 61. First flange; 62. Second flange; 63. Flange clamping block; 611. Stop bar; 612. Groove; 613. Opening; 621. Recess; 631. Snap-fit ​​groove; 81. Support rod; 82. Connecting rod; 83. Reinforcing plate; 84. First mechanical finger base; 91. First linear motor; 92. First proximal phalanx; 93. First middle phalanx; 94. First connecting rod; 95. First connecting pin; 96. 97. Second connecting pin; 98. Third connecting pin; 99. Fourth connecting pin; 90. Fifth connecting pin; 921. First proximal rod; 922. Second proximal rod; 923. Third proximal rod; 931. First slot; 932. First side plate; 933. Second side plate; 101. Second linear motor; 102. Second proximal knuckle; 103. Second middle knuckle; 104. Second distal knuckle; 105. Second connecting rod; 106. Third connecting rod; 107. Sixth connecting pin; 108. Seventh connecting pin; 109. Eighth connecting pin; 110. Ninth connecting pin; 111. Tenth connecting pin; 112. Eleventh connecting pin; 113. Twelfth connecting pin; 114. Thirteenth connecting pin; 1021. Second slot; 1022. Third side plate; 1023. Fourth side plate; 1024. Third boss; 1025. Fourth boss. Detailed Implementation

[0022] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0023] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0024] To at least partially address one or more of the aforementioned problems and other potential issues, embodiments of this disclosure provide a robotic arm, comprising: a robotic wrist, the robotic wrist including a drive motor 1, a rotating shaft 4, a rotating shaft base 3, and a first flange connecting plate 5, the output shaft of the drive motor 1 being drive-connected to the rotating shaft 4, the rotating shaft 4 being rotatably mounted on the rotating shaft base 3, the rotating shaft base 3 being fixedly mounted relative to the drive motor 1, and one end of the rotating shaft 4 passing through the drive shaft base and being fixedly connected to the first flange connecting plate 5; and a hand assembly, the hand assembly including a flange connector 6, a second flange connecting plate 7, and a hand... The hand body 8 and flange connector 6 are used to fix the first flange connecting plate 5 and the second flange connecting plate 7. The hand body 8 is fixedly connected to the second flange connecting plate 7. The first mechanical finger 9 includes a first linear motor 91, a first proximal phalanx 92, a first middle phalanx 93, and a first connecting rod. The first linear motor 91 is fixedly mounted on the hand body 8. The first connection point of the first proximal phalanx 92 is rotatably connected to the hand body 8. The end of the drive shaft of the first linear motor 91 is rotatably connected to the second connection point of the first proximal phalanx 92. The third connection point of the first proximal phalanx 92 is connected to the first middle phalanx 93. The hand is rotatably connected, with the first end of the first link 94 rotatably connected to the palm body 8, and the second end of the first link 94 rotatably connected to the first end of the first middle phalanx 93; at least one second mechanical finger 10, the second mechanical finger 10 including a second linear motor 101, a second proximal phalanx 102, a second middle phalanx 103, a second distal phalanx 104, a second link 105, and a third link 106, the second linear motor 101 being fixedly connected to the palm body 8, the first connection point of the second proximal phalanx 102 being rotatably connected to the palm body 8, and the end of the drive shaft of the second linear motor 101 being connected to the second connection point. The second proximal phalanx 102 is rotatably connected to the first connection point of the second middle phalanx 103, the third connection point of the second middle phalanx 103 is rotatably connected to the first connection point of the second distal phalanx 104, the first end of the second link 105 is rotatably connected to the palm body 8, the second end of the second link 105 is rotatably connected to the first connection point of the second middle phalanx 103, the first end of the third link 106 is rotatably connected to the fourth connection point of the second proximal phalanx 102, and the second end of the third link 106 is rotatably connected to the second connection point of the second distal phalanx 104.

[0025] Specifically, such as Figure 1 As shown, the output shaft of drive motor 1 is fixedly connected to the rotor of drive motor 1, and the output shaft of drive motor 1 rotates synchronously with the rotor of drive motor 1.

[0026] The output shaft of drive motor 1 is fixedly connected to one end of rotating shaft 4, so that drive motor 1 transmits power to rotating shaft 4 through output shaft, causing rotating shaft 4 to rotate with output shaft of drive motor 1. In another embodiment, the robotic wrist also includes reducer 2, drive motor 1 is connected to rotating shaft 4 through reducer 2, and reducer 2 is fixedly connected to rotating shaft base 3. For example, reducer 2 is fixedly connected to output shaft of drive motor 1, or reducer 2 is connected to output shaft of drive motor 1 through coupling. The output shaft of reducer 2 is fixedly connected to rotating shaft 4, so that power is transmitted sequentially through drive motor 1, reducer 2 and rotating shaft 4. Drive motor 1 is model HG-SN152J, reducer 2 is model MHB115, and reduction ratio of reducer 2 is 40. In some embodiments, a position sensor is also included, which is used to collect the rotation angle of drive motor 1, and control the operation of drive motor 1 by the rotation angle collected by position sensor. For example, a preset rotation limit angle (e.g., 180°) is set, and when the rotation angle collected by position sensor is the preset rotation limit angle, drive motor 1 is controlled to stop rotating. Alternatively, when the rotation angle collected by the position sensor is the preset rotation limit angle, the rotation direction of the drive motor 1 is controlled.

[0027] One end of the rotating shaft base 3 is fixedly connected to the base of the reducer 2. Both ends of the rotating shaft 4 are rotatably mounted on the rotating shaft base 3 via bearings to increase the stability of the rotating shaft 4. In some embodiments, the rotating shaft base 3 includes a first base 31, a second base 32, a base mounting plate 33, a first bearing 34, and a second bearing 35. Both ends of the base mounting plate 33 are fixedly connected to the first base 31 and the second base 32, respectively. The first bearing 34 is disposed in the first base 31, and the second bearing 35 is disposed in the second base 32. Both ends of the rotating shaft 4 are rotatably connected to the first base 31 and the second base 32 via the first bearing 34 and the second bearing 35, respectively. The first end of the rotating shaft 4 passes through the first base 31 and is connected to the reducer 2 for transmission. The second end of the transmission shaft passes through the second base 32 and is fixedly connected to the flange connecting plate. In another embodiment, the rotating shaft base 3 adopts an integral molding structure. The rotating shaft base 3 is fixedly connected to the reducer 2. A through hole is opened on the rotating shaft base 3. The rotating shaft 4 is rotatably installed in the through hole of the rotating shaft base 3. The first end of the rotating shaft 4 extends out from the rotating shaft base 3 and is connected to the output shaft of the reducer 2. The second end of the rotating shaft 4 extends out from the rotating shaft base 3 and is fixedly connected to the first flange connecting plate 5.

[0028] The first flange connecting plate 5 adopts a flat plate structure, on which multiple threaded holes for fixing and connecting the hand assembly are provided. The first flange connecting plate 5 also has a connecting through hole in the central axial direction for fixing and connecting the rotating shaft 4. In some embodiments, the mechanical wrist also includes a tension sleeve 51, which is disposed in the connecting through hole of the first flange connecting plate 5. The tension sleeve 51 is used to fix and connect the rotating shaft 4 and the first flange connecting plate 5, so that the first flange connecting plate 5 rotates synchronously with respect to the rotating shaft 4.

[0029] The hand assembly is used to connect the robotic wrist, the first robotic finger 9, and the second robotic finger 10. The second flange connecting plate 7 is used to fix the hand body 8, which in turn connects the first robotic finger 9 and the second robotic finger 10. The flange connector 6 is used to fix the first flange connecting plate 5 and the second flange connecting plate 7, allowing the second flange connecting plate 7 to rotate with the first flange connecting plate 5. This enables the power output from the drive motor 1 to be transmitted sequentially through the reducer 2, the rotating shaft 4, the first flange connecting plate 5, and the second flange connecting plate 7, further realizing the rotation of the hand assembly. In some embodiments, the flange connector 6 includes a first flange 61, a second flange 62, and a flange clamping block 63. The first flange 61 is fixedly connected to the first flange connecting plate 5, and the second flange 62 is fixedly connected to the second flange connecting plate 7. The flange clamping block 63 is used to hold the first flange 61 and the second flange 62. Specifically, the first flange 61 and the first flange connecting plate 5 have multiple sets of mounting holes for connecting fasteners, such as bolts. The inner wall of the mounting holes has a thread structure corresponding to the bolts. The second flange 62 and the second flange connecting plate use the same connection method. The flange clamping block 63 includes multiple clamping blocks arranged sequentially along the outer edges of the first flange 61 and the second flange 62. Each clamping block securely holds the first flange 61 and the second flange 62, thereby achieving a fixed connection between the first flange 61 and the second flange 62. In another embodiment, the flange connector 6 includes multiple clamping blocks arranged sequentially along the outer edges of the first flange connecting plate 5 and the second flange connecting plate 7. Each clamping block securely holds the first flange connecting plate 5 and the second flange connecting plate 7, thereby achieving a fixed connection between the first flange connecting plate 5 and the second flange connecting plate 7.

[0030] The first linear motor 91 of the first mechanical finger 9 is a stepper electric actuator motor with a stroke of 100mm. The first proximal finger joint 92 includes a first connection point, a second connection point and a third connection point, and multiple connection points of the first proximal finger joint 92 are provided with through holes connecting the front and rear sides of the first proximal finger joint 92.

[0031] The first proximal phalanx 92 includes a first proximal rod 921, a second proximal rod 922, and a third proximal rod 923. The first end of the first proximal rod 921 is a first connection point to the first proximal phalanx 922. The first end of the second proximal rod 922 is fixedly connected to the first proximal rod 921, and the second end of the second proximal rod 922 is a second connection point to the first proximal phalanx 922. The second proximal rod 922 is perpendicular to the first proximal rod 921. The first end of the third proximal rod 923 is connected to the second end of the first proximal rod 921, and the second end of the third proximal rod 923 is a third connection point to the first proximal phalanx 922. The third proximal rod 923 is perpendicular to the first proximal rod 921. The second proximal rod 922 and the third proximal rod 923 are respectively located on the upper and lower sides of the first proximal rod 921. The first proximal phalanx 92 also includes a first boss and a second boss, both of which are flat plate structures. The first boss and the second boss are respectively located on the front and rear sides of the first proximal phalanx 92. The first proximal phalanx 92 is a one-piece molded structure. The first middle finger joint 93 includes a first connecting point and a second connecting point. A first slot 931 is formed at the first end of the first middle finger joint 93. The depth of the first slot 931 is greater than the length of the second proximal rod 922 of the first proximal finger joint 92. The first slot 931 includes a first side plate 932 and a second side plate 933. The length of the first side plate 932 is greater than the length of the second side plate. The first connecting point of the first middle finger joint 93 is a set of through holes at the end of the second side plate 933 and the middle of the first side plate 932. The first connecting point of the first middle finger joint 93 is used to rotatably connect to the first proximal finger joint 92. The second connecting point of the first middle finger joint 93 is a through hole at the end of the first side plate 932. The second connecting point of the first middle finger joint 93 is used to rotatably connect to the second end of the first connecting rod 94. The first middle finger joint 93 adopts an integrally molded structure. Through holes for pin engagement are formed at both ends of the first connecting rod 94. In some embodiments, the hand body 8 further includes a first mechanical finger base 84, a first end of a first link 94 being rotatably connected to the first mechanical finger base 84, and a first connection point of a first proximal phalanx 92 being rotatably connected to the first mechanical finger base 84. The first mechanical finger 9 also includes a plurality of connecting pins, which are used for rotatable connections between the first proximal phalanx 92, the first middle phalanx 93, the first link 94, and the hand body 8.

[0032] The first connecting pin 95 is used for a rotatable connection between the first connection point of the first proximal phalanx 92 and the palm body 8. The second connecting pin 96 is used for a rotatable connection between the drive shaft of the first linear motor 91 and the second connection point of the first proximal phalanx 92. The third connecting pin 97 is used for a rotatable connection between the third connection point of the first proximal phalanx 92 and the first connection point of the first middle phalanx 93. The fourth connecting pin 98 is used for a rotatable connection between the first end of the first connecting rod 94 and the palm body 8. The fifth connecting pin 99 is used for a rotatable connection between the second end of the first connecting rod 94 and the second connection point of the first middle phalanx 93.

[0033] The second linear motor 101 of the second mechanical finger 10 is a stepper electric actuator motor with a stroke of 100mm. The second proximal finger joint 102 includes a first connection point, a second connection point, a third connection point, and a fourth connection point. Through holes connecting the front and rear sides of the second proximal finger joint 102 are opened at multiple connection points of the second proximal finger joint 102.

[0034] The second proximal phalanx 102 includes a fourth proximal rod, a fifth proximal rod, and a sixth proximal rod. The first end of the fourth proximal rod is provided with a first connection point of the second proximal phalanx 102. The first end of the fifth proximal rod is fixedly connected to the fourth proximal rod. The second end of the fifth proximal rod is provided with a second connection point of the first proximal phalanx 92. The fifth proximal rod is perpendicular to the fourth proximal rod. The first end of the sixth proximal rod is connected to the second end of the fourth proximal rod. The second end of the sixth proximal rod is provided with a third connection point of the second proximal phalanx 102. The sixth proximal rod is perpendicular to the fourth proximal rod. The fifth and sixth proximal rods are respectively provided on the upper and lower sides of the fourth proximal rod. The fourth connection point of the second proximal phalanx 102 is provided between the fifth and sixth proximal rods.

[0035] The second proximal phalanx 102 adopts a one-piece molded structure. The second middle phalanx 103 includes a first connection point, a second connection point, and a third connection point. A second slot 1021 is formed at the first end of the second middle phalanx 103. The depth of the second slot 1021 is greater than the length of the fifth proximal phalanx of the second proximal phalanx 102. The second slot 1021 includes a third side plate 1022 and a fourth side plate 1023. The length of the third side plate 1022 is greater than the length of the fourth side plate 1023. The first connection point of the second middle phalanx 103 is a set of through holes at the end of the fourth side plate 1023 and the middle of the third side plate 1022. The first connection point of the second middle finger joint 103 is used to rotatably connect to the second proximal finger joint 102. The second connection point of the second middle finger joint 103 is a through hole opened at the end of the fourth side plate 1023. The second connection point of the second middle finger joint 103 is used to rotatably connect to the second end of the second connecting rod 105. The third connection point of the second middle finger joint 103 is located at the second end of the second middle finger joint 103. A through hole connecting the front and rear sides of the second middle finger joint 103 is opened at the third connection point of the second middle finger joint 103. The second middle finger joint 103 adopts an integral molding structure. The first end of the second distal phalanx 104 has a third slot, which includes a fifth side plate and a sixth side plate. The second connection point of the second distal phalanx 104 is a through hole located at the end of the fifth side plate and the middle of the sixth side plate. The third connection point of the second middle phalanx 103 is engaged between the through holes of the fifth and sixth side plates. The sixth side plate also includes a corner plate, which is perpendicular to the body of the sixth side plate. The first end of the corner plate is perpendicular to the sixth side plate, and the second connection point of the second distal phalanx 104 is located at the second end of the corner plate. The two ends of the second connecting rod 105 and the third connecting rod 106 each have through holes for pin engagement. The second proximal phalanx 102 also includes a third boss 1024 and a fourth boss 1025. The third boss 1024 and the fourth boss 1025 adopt a flat plate structure. The third boss 1024 and the fourth boss 1025 are respectively located on the front and rear sides of the second proximal phalanx 102. The thickness of the third boss 1024 and the fourth boss 1025 is equal to the thickness of the third side plate 1022 and the fourth side plate 1023, respectively, so that the two sides of the second proximal phalanx and the second middle phalanx are of equal thickness, so as to provide support for the second connecting rod 105 and increase stability.

[0036] In some embodiments, the hand body 8 further includes a base for a second mechanical finger 10, a first end of a second link 105 rotatably connected to the base for the second mechanical finger 10, and a first connection point of a second proximal phalanx 102 rotatably connected to the base for the second mechanical finger 10. The second mechanical finger 10 also includes a plurality of connecting pins, which are used for rotatable connections between the second proximal phalanx 102, the second middle phalanx 103, the second distal phalanx 104, the second link 105, the third link 106, and the hand body 8.

[0037] The sixth connecting pin 107 is used for the rotatable connection between the first connection point of the second proximal phalanx 102 and the second mechanical finger base. The seventh connecting pin 108 is used for the rotatable connection between the drive shaft of the second linear motor 101 and the second connection point of the second proximal phalanx 102. The eighth connecting pin 109 is used for the rotatable connection between the third connection point of the second proximal phalanx 102 and the first connection point of the second middle phalanx 103. The ninth connecting pin 110 is used for the rotatable connection between the first end of the second connecting rod 105 and the second mechanical finger base. The tenth connecting pin 111 is used for the rotatable connection between the second end of the second connecting rod 105 and the second connection point of the second middle phalanx 103. The eleventh connecting pin 112 is used for the rotatable connection between the fourth connection point of the second proximal phalanx 102 and the third connecting rod 106. The twelfth connecting pin 113 is used for the rotatable connection between the third connection point of the second middle phalanx 103 and the first connection point of the second distal phalanx 104. The thirteenth connecting pin 114 is used for the rotatable connection between the second connection point of the second distal phalanx 104 and the third connecting rod 106.

[0038] In some embodiments, the tops of the first flange 61 and the second flange 62 adopt a symmetrical wedge structure, and the bottom of the flange clamping block 63 is provided with a snap-fit ​​groove, which snaps with the top wedge structure of the first flange 61 and the second flange 62. The bottom of the first flange 61 is provided with a groove 612, which is used to snap with the bottom of the second flange 62. A stop bar 611 is provided on the side of the first flange 61 facing the second flange 62, and the second flange 62 is provided with a groove. When the flange clamping block 63 snaps with the first flange 61 and the second flange 62, the groove snaps with the stop bar 611.

[0039] Specifically, the tops of the first flange 61 and the second flange 62 adopt a mirror-symmetrical wedge structure. When the first flange 61 and the second flange 62 are tightly fitted, the wedge structure of the first flange 61 and the second flange 62 is held in the snap-fit ​​groove. Furthermore, the groove 612 at the bottom of the first flange 61 snaps into the bottom of the second flange 62, achieving relative fixation of the first flange 61 and the second flange 62 in the longitudinal direction (longitudinal direction is perpendicular to the length direction of the snap-fit ​​groove) and axial direction (axial direction is perpendicular to the plane axis of the first flange 61 and the second flange 62). Furthermore, the snap-fit ​​of the retaining strip 611 of the first flange 61 and the groove of the second flange 62 achieves relative fixation of the first flange 61 and the second flange 62 in the transverse direction (transverse direction is parallel to the length direction of the snap-fit ​​groove). In some embodiments, the connecting block of the first flange 61 also includes an anti-drop stop 52, which is used to increase the connection stability between the first flange connecting plate 5 and the first flange 61.

[0040] In some embodiments, the baffle 611 has a through hole that communicates with the through hole of the flange clamping block 63, and the groove 612 has an opening 613 that is collinear with the baffle 611 corresponding to the groove. The opening 613 is collinear with the through hole of the baffle 611.

[0041] Specifically, the length direction of the retaining strip 611 is perpendicular to the length direction of the snap-fit ​​groove. The flange clamping block 63 has a longitudinal through hole, and the through hole of the retaining strip 611 communicates with the longitudinal through hole of the flange clamping block 63. The opening 613 on the groove 612 is collinear with the through hole of the retaining strip 611, so that the longitudinal through hole of the flange clamping block 63, the through hole of the retaining strip 611, and the opening 613 on the groove 612 are collinear. This is used to sequentially insert and fix the first flange 61, the second flange 62, and the flange clamping block 63 with a fixing pin. Alternatively, in another embodiment, a circuit is connected through the aforementioned communicating through hole to achieve electric drive of the first mechanical finger 9 and the second mechanical finger 10.

[0042] In some embodiments, the palm body 8 includes a plurality of support rods 81 and connecting rods 82, the first end of the support rod 81 is fixedly connected to the second flange connecting plate 7, and the second end of the support rod 81 is fixedly connected to the connecting rod 82 respectively.

[0043] Specifically, multiple support rods 81 are arranged in parallel, and connecting rods 82 are fixedly connected to the multiple support rods 81 respectively. The connecting rods 82 are used to fix the multiple support rods 81.

[0044] In some embodiments, the hand body 8 further includes a reinforcing plate 83, which is fixedly connected to the second flange connecting plate 7 and the support rod 81.

[0045] Specifically, the reinforcing plate 83 is a right-angled triangle, with its first right-angled side fixedly connected to the second flange connecting plate 7, and its second right-angled side fixedly connected to the support rod 81 of the hand body 8, to increase the stability of the hand body 8 and the second flange connecting plate 7. In another embodiment, the reinforcing plate 83 is a strip rod, with both ends fixedly connected to the second flange connecting plate 7 and the support rod 81 of the hand body 8, respectively. Alternatively, in other embodiments, the reinforcing plate 83 adopts a block structure, with both ends of the reinforcing plate 83 fixedly connected to the second flange connecting plate 7 and the hand body 8.

[0046] In some embodiments, a plurality of second mechanical fingers 10 are also included, and the second linear motors 101 of the plurality of second mechanical fingers 10 are arranged in parallel.

[0047] Specifically, multiple second mechanical fingers 10 are connected to the palm body 8 respectively. The second linear motor 101 of each of the multiple second mechanical fingers 10 is fixedly mounted on the palm body 8, and the second linear motors 101 of the multiple second mechanical fingers 10 are arranged in parallel. The first mechanical finger 9 is located on one side of the multiple second mechanical fingers 10, and the first linear motor 91 of the first mechanical finger 9 is perpendicular to the second linear motor 101 of the second mechanical fingers 10.

[0048] In some embodiments, the system further includes a controller and a voice acquisition unit. The controller is electrically connected to the drive motor 1, the first linear motor 91, and the second linear motor 101, respectively. The voice acquisition unit is used to receive voice commands, and the controller controls the operation of the motors in response to the received voice commands.

[0049] Specifically, the voice acquisition device employs a microphone sensor to receive user voice commands, and the controller receives these commands via a communication connection with the voice acquisition device. As will be understood by those skilled in the art, the controller also includes a voice recognition module. This module recognizes the received voice commands, outputs the recognition results, and controls the corresponding drive motor and / or the first linear motor and the second linear motor to perform corresponding operations based on the recognition results. The controller also includes a mechanical drive module, which includes pre-stored action commands that correspond to specific recognition results. The mechanical drive module generates action commands based on the recognition results, and these action commands control the start, operation, and stop of any one or more of the corresponding drive motor, the first linear motor, and the multiple second linear motors.

[0050] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand this document.

Claims

1. A robotic arm, characterized in that, include: A mechanical wrist, the wrist including a drive motor, a rotating shaft, a rotating shaft base and a first flange connecting plate, the output shaft of the drive motor being drivenly connected to the rotating shaft, the rotating shaft being rotatably mounted on the rotating shaft base, the rotating shaft base being fixedly mounted relative to the drive motor, and one end of the rotating shaft passing through the rotating shaft base and being fixedly connected to the first flange connecting plate; A hand assembly, comprising a flange connector, a second flange connecting plate, and a hand body, wherein the flange connector is used to fixably connect the first flange connecting plate and the second flange connecting plate, and the hand body is fixedly connected to the second flange connecting plate. The first mechanical finger includes a first linear motor, a first proximal phalanx, a first middle phalanx, and a first connecting rod. The first linear motor is fixedly mounted on the palm body. The first connection point of the first proximal phalanx is rotatably connected to the palm body. The end of the drive shaft of the first linear motor is rotatably connected to the second connection point of the first proximal phalanx. The third connection point of the first proximal phalanx is rotatably connected to the middle part of the first middle phalanx. The first end of the first connecting rod is rotatably connected to the palm body. The second end of the first connecting rod is rotatably connected to the first end of the first middle phalanx. At least one second mechanical finger, the second mechanical finger comprising a second linear motor, a second proximal phalanx, a second middle phalanx, a second distal phalanx, a second link, and a third link, the second linear motor being fixedly connected to the hand body, the first connection point of the second proximal phalanx being rotatably connected to the hand body, the end of the drive shaft of the second linear motor being rotatably connected to the second connection point, the third connection point of the second proximal phalanx being rotatably connected to the second connection point of the second middle phalanx, the third connection point of the second middle phalanx being rotatably connected to the second connection point of the second distal phalanx, the first end of the second link being rotatably connected to the hand body, the second end of the second link being rotatably connected to the first connection point of the second middle phalanx, the first end of the third link being rotatably connected to the fourth connection point of the second proximal phalanx, and the second end of the third link being rotatably connected to the first connection point of the second distal phalanx; The flange connector includes a first flange, a second flange, and a flange clamping block. The first flange is fixedly connected to a first flange connecting plate, and the second flange is fixedly connected to a second flange connecting plate. The flange clamping block is used to hold the first flange and the second flange. The tops of the first flange and the second flange adopt a symmetrical wedge structure. The bottom of the flange clamping block has a snap-fit ​​groove, which snaps into the top wedge structure of the first flange and the second flange. The bottom of the first flange has a groove, which snaps into the bottom of the second flange. A stop bar is provided on the side of the first flange facing the second flange. The second flange has a groove. When the flange clamping block holds the first flange and the second flange, the groove snaps into the stop bar. The stop bar has a stop bar through hole, which communicates with the through hole of the flange clamping block. An opening is provided on the groove, which is collinear with the stop bar corresponding to the groove. The opening is collinear with the stop bar through hole. It also includes a plurality of second mechanical fingers, and the second linear motors of the plurality of second mechanical fingers are arranged in parallel. It also includes a controller and a voice acquisition unit. The controller is connected to the drive motor, the first linear motor and the second linear motor respectively. The voice acquisition unit is used to receive voice commands. The controller controls the operation of any one or more of the drive motor, the first linear motor and the second linear motor in response to the received voice commands.

2. The robotic arm according to claim 1, characterized in that, The robotic wrist also includes a reducer, the drive motor is connected to the rotating shaft via the reducer, the reducer is fixedly connected to the output shaft of the drive motor, and the output shaft of the reducer is fixedly connected to the rotating shaft.

3. The robotic arm according to claim 2, characterized in that, The rotating shaft base includes a first base, a second base, a base mounting plate, a first bearing, and a second bearing. The two ends of the base mounting plate are fixedly connected to the first base and the second base, respectively. The first bearing is disposed in the first base, and the second bearing is disposed in the second base. The two ends of the rotating shaft are rotatably connected to the first base and the second base, respectively, through the first bearing and the second bearing. The first end of the rotating shaft passes through the first base and is fixedly connected to the output shaft of the reducer. The second end of the drive shaft passes through the second base and is fixedly connected to the first flange connecting plate.

4. The robotic arm according to claim 1, characterized in that, The palm body includes multiple support rods and connecting rods. The first end of the support rod is fixedly connected to the second flange connecting plate, and the second end of the support rod is fixedly connected to the connecting rod.

5. The robotic arm according to claim 4, characterized in that, The hand body also includes a reinforcing plate, which is fixedly connected to the second flange connecting plate and the support rod.

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