Mechanical arm

Abstract

The manipulator comprises a joint, a sensor assembly and a sensor lead, and the first end of the sensor lead is electrically connected with the sensor assembly; the sensor lead can move along with the joint, and the manipulator comprises a lead constraint structure; and the sensor lead passes through the lead constraint structure. According to the invention, the lead restraint structure is arranged, so that the sensor lead can be restrained in a segmented manner. The segmented constraint can prevent the displacement of the sensor lead, and prevent the sensor lead from being damaged after being pulled or prevent the electric connection position of the sensor lead from loosening. Meanwhile, the length allowance of each section of the sensor lead can be accurately controlled through pre-calculation.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and more specifically, relates to a robot arm. Background Art

[0002] A robot usually needs to be equipped with multiple sensors, such as force sensors, angle sensors, etc., which are connected to the signal sampling circuit through sensor leads. The sensor leads usually need to pass through multiple joints of the robot. When the joints of the robot move, the sensor leads passing through the joints will stretch or curl, which may easily cause the sensor leads to interfere with other components and be easily damaged. Summary of the invention

[0003] In order to solve the technical problems of the above-mentioned prior art, an embodiment of the present application provides a robot.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: a manipulator is provided, which includes a sensor component, a sensor lead, and multiple joints, the first end of the sensor lead is electrically connected to the sensor component; the sensor lead can move with the joint, and the manipulator includes a lead constraint structure; the sensor lead passes through the lead constraint structure.

[0005] In one embodiment of the present application, the sensor assembly is disposed on the joint; or, the sensor lead passes through one or more of the joints.

[0006] In an embodiment of the present application, the lead restraint structure is configured to fix the sensor lead; alternatively, the sensor lead can slide at the lead restraint structure.

[0007] In one embodiment of the present application, the manipulator includes a finger module, a metacarpophalangeal joint, a palm module and a wrist joint, and the palm module is provided with the lead constraint structure.

[0008] In one embodiment of the present application, at the finger module, the sensor leads are arranged on the side.

[0009] In one embodiment of the present application, the palm module includes a metacarpophalangeal joint and a palm base, and the lead restraint structure is provided at at least one position among the metacarpophalangeal joint, the palm base and the wrist joint.

[0010] In one embodiment of the present application, at the metacarpophalangeal joint, the sensor lead is arranged on the side, palm side or back side.

[0011] In one embodiment of the present application, the palm module further includes a wrist-metacarpal joint; and at least one of the finger module, the metacarpophalangeal joint, the palm module and the wrist joint is provided with a sensor component.

[0012] In one embodiment of the present application, the manipulator includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; and the sensor lead is electrically connected to the first circuit board after passing through the wrist joint.

[0013] In one embodiment of the present application, the manipulator includes a wire harness structure, and the wire harness structure is used to bring together a plurality of the sensor leads.

[0014] In one embodiment of the present application, the manipulator also includes a tendon transmission assembly for driving the joint movement, the tendon transmission assembly includes a tendon and a tendon sheath; a tendon sheath constraint structure is provided at at least one of the connection positions between the metacarpophalangeal joint, the palm base, and the wrist joint and the palm base, the tendon sheath constraint structure is a tendon sheath limiting structure or a tendon sheath positioning structure, the tendon sheath positioning structure is configured to fix a part of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to pass slidably.

[0015] In one embodiment of the present application, the finger module includes finger knuckles and finger joints; a tendon sheath limiting structure is provided at at least one position among the finger knuckles, the finger joints, and the metacarpophalangeal joints.

[0016] In one embodiment of the present application, the lead wire restraint structure and the tendon sheath restraint structure are respectively detachable structures; and / or, the lead wire restraint structure and the tendon sheath restraint structure form a stacked structure.

[0017] In one embodiment of the present application, the lead restraint structure and the tendon sheath restraint structure form a stacked structure;

[0018] At the tendon sheath restraint structure, multiple tendon sheaths can be arranged along the front-to-back direction and span the wrist joint; and / or, at the lead restraint structure of the palm base, multiple sensor leads can come out from the side of the lead restraint structure after the lead restraint structure converges.

[0019] In one embodiment of the present application, the manipulator further includes an electric actuator; a wire fixing structure is further provided at the palm base or at the connection position between the wrist joint and the palm base, and the electrical connection wire of the electric actuator passes through the wire fixing structure; at least two of the lead restraint structure, the tendon sheath restraint structure, and the wire fixing structure form a stacked structure;

[0020] And / or, the lead wire restraint structure, the tendon sheath restraint structure, and the wire fixing structure are respectively detachable structures.

[0021] In one embodiment of the present application, a protective cover is provided above the first circuit board, and the tendon sheath passes over the protective cover.

[0022] In one embodiment of the present application, the sensor assembly includes a sensor body and a sensor cover; a lead restraint structure is provided on the sensor cover.

[0023] The beneficial effects of this application are:

[0024] The present invention can provide a lead constraint structure to constrain the sensor leads passing through multiple joints in sections. The section constraint can prevent the sensor leads from moving, and prevent the sensor leads from being damaged after being pulled or the electrical connection position of the sensor leads from being loosened. At the same time, the length margin of the sensor lead in each section can be more accurately controlled by precalculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 A schematic diagram of a manipulator provided in an embodiment of the present application;

[0027] Figure 2 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application;

[0028] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0029] Among them, the reference numerals in the figure are:

[0030] Finger knuckles (11), finger joints (12), metacarpophalangeal joints (13), metacarpophalangeal joints (14), wrist-metacarpal joints (15), palm base (16), wrist joints (17), sensor assembly (21), sensor leads (22), lead restraining structure (23), first circuit board (24), protective cover (25), wire harness structure (26), sensor body (211), sensor cover (212), lead restraining structure (213), tendon sheath (31), tendon sheath restraining structure (32), tendon sheath limiting structure (33), wire fixing structure (41), and motor compartment (42). DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[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 this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0035] See also Figure 1-Figure 3 , the robot provided in the embodiment of the present application is now described.

[0036] The embodiment of the present application provides a manipulator, the manipulator comprising a plurality of joints. The manipulator of the present application further comprises a sensor assembly (21) and a sensor lead (22). The first end of the sensor lead (22) is electrically connected to the sensor assembly (21). The manipulator comprises a first circuit board (24), the second end of the sensor lead (22) is electrically connected to the first circuit board (24).

[0037] The sensor lead (22) can move with the joint. The sensor lead (22) can pass through the joint, for example, the sensor lead (22) passes from the outside of the joint; or, the sensor component (21) is arranged on the joint.

[0038] Since some of the joints of the manipulator usually have one or more degrees of freedom, such as flexion and extension, lateral swing, rotation, etc. When the joint has flexion and extension, the joint has a first limit position and a second limit position. When the joint moves between the first limit position and the second limit position, the required length of the sensor lead (22) may change from length L1 to length L2, so the sensor lead (22) passing through the joint will have a length change. Within the limited physical space of the manipulator, the movement of the sensor lead (22) may interfere with other components. In addition, the sensor lead (22) is also easily damaged.

[0039] In one embodiment of the present application, the manipulator comprises a lead restraint structure (23); the sensor lead passes through the lead restraint structure (23). The lead restraint structure (23) is configured to fix the sensor lead (22); or, the sensor lead can slide at the lead restraint structure, and the lead restraint structure allows the sensor lead to have a small amount of movement.

[0040] It can be understood that there are many specific implementation methods of the lead restraint structure (23) for fixing the sensor lead or allowing the sensor lead to slide at the lead restraint structure, including but not limited to specific structures such as a pressure cover, a pressure plate, a restraint groove, a restraint groove, a flexible restraint structure, etc.

[0041] By providing a lead restraint structure (23), the sensor lead (22) can be restrained in sections. The section restraint can prevent the sensor lead (22) from moving or moving significantly; it can prevent the sensor lead (22) from being damaged after being pulled or the electrical connection position of the sensor lead (22) from being loosened. At the same time, the length margin of each section of the sensor lead (22) can be more accurately controlled by pre-calculation, that is, it does not affect the joint movement, and it can also prevent the length of each section of the sensor lead (22) from being too long.

[0042] In a specific embodiment, the sensor assembly (21) may be disposed on the joint.

[0043] In a specific embodiment of the present application, the sensor lead (22) passes through one or at least two of the joints. For example, the two joints include a first joint and a second joint, and the portion between the first point and the second point on the sensor lead (22) passes through the first joint and the second joint; the length of the sensor lead (22) between the first point and the lead constraint structure (23) reserves a first length margin required when the first joint rotates; the length of the sensor lead (22) between the lead constraint structure (23) and the second point reserves a second length margin required when the second joint rotates.

[0044] In one embodiment of the present application, the manipulator comprises a hand module, the hand module comprises a finger module, a metacarpophalangeal joint (13), and a palm module. The manipulator further comprises a wrist joint (17). The hand module is connected to the wrist joint (17).

[0045] The hand module is provided with a sensor component (21). For example, at least one of the finger module, the metacarpophalangeal joint (13), the palm module and the wrist joint (17) may be provided with the sensor component (21).

[0046] In one embodiment, the sensor lead (22) corresponding to the sensor assembly (21) of the finger module needs to pass through the metacarpophalangeal joint (13), the palm module and the wrist joint (17). By setting the lead constraint structure (23) in the palm module, the sensor lead (22) of the hand module can be segmented and constrained. When the metacarpophalangeal joint (13) moves, the length change of the sensor lead (22) passing through the metacarpophalangeal joint (13) will not affect the section of the sensor lead (22) passing through the wrist joint (17) and other components.

[0047] The metacarpophalangeal joint (13) has a flexion and extension degree of freedom. In some embodiments, the finger module includes a finger knuckle (11) and a finger joint (12), and the finger joint (12) has a flexion and extension degree of freedom.

[0048] In one embodiment, when the sensor lead (22) is arranged along the palm side or the back side of the finger module, the sensor lead (22) passing through the joint may stretch or curl to adapt to the movement of the joint. The sensor lead (22) arranged on the palm side or the back side is eccentric relative to the axis of flexion and extension movement. Therefore, in order not to affect the movement of the metacarpophalangeal joint (13) and the finger joint (12), the sensor lead (22) needs to reserve a large length margin, which may cause the sensor lead (22) to have a large range of movement during the stretching and curling dynamic process.

[0049] In a preferred embodiment of the present application, at the finger module, the sensor lead (22) is arranged on the side, and the sensor lead (22) can be arranged close to the axis of the flexion and extension movement, with a relatively small eccentric distance. When the metacarpophalangeal joint (13) and the finger joint (12) flex and extend, the influence on the length change of the sensor lead (22) located on the side of the finger module is small, so the sensor lead (22) only needs to reserve a small length margin. As a further preferred solution, the sensor lead (22) is arranged close to the axis of the joint on the side.

[0050] In one embodiment, the palm module may not include a moving structural component. In another embodiment, the palm module may include a moving component, and the palm module includes a metacarpophalangeal joint (14), a carpometacarpal joint (15), and a palm base (16).

[0051] The manipulator comprises a plurality of finger modules, a plurality of metacarpophalangeal joints (14), and a plurality of wrist-palm joints (15). Each finger module can be connected to a metacarpophalangeal joint (14) via a metacarpophalangeal joint (13). A plurality of wrist-palm joints (15) are connected to a palm base (16), and a plurality of metacarpophalangeal joints (14) are respectively connected to the palm base (16) via the wrist-palm joints (15). The palm base (16) is further connected to the wrist joint (17).

[0052] In one embodiment, the lead restraint structure (23) may be provided at the metacarpophalangeal joint (14). The lead restraint structure (23) at the metacarpophalangeal joint (14) is used to fix the finger module and the sensor lead (22) of the metacarpophalangeal joint (13) passing therethrough.

[0053] In one embodiment, the lead restraint structure (23) may be provided at the palm base (16), and the lead restraint structure (23) at the palm base (16) may fix the plurality of sensor leads (22) passing through it. Since the palm base (16) corresponds to a plurality of metacarpophalangeal joints (14), the sensor leads (22) respectively pass through the lead restraint structure (23) at the plurality of metacarpophalangeal joints (14) and then pass through the lead restraint structure (23) at the palm base (16).

[0054] The sensor leads (22) corresponding to the multiple sensor components (21) of the hand module need to pass through the lead restraint structure (23) of the palm base (16) and then pass through the wrist joint (17). The wrist joint (17) usually has two degrees of freedom and a large range of motion. By fixing the sensor leads (22) at the palm base (16), it is helpful to improve the reliability of the sensor leads (22) passing through the wrist joint (17).

[0055] The wrist joint has a main structure, the front end of the wrist joint is connected to the palm base, and the rear end of the wrist joint is connected to the drive assembly. In one embodiment, the lead restraint structure (23) can also be set on the wrist joint; specifically, the lead restraint structure (23) can be set at the connection position between the wrist joint and the palm base.

[0056] In one embodiment, at the metacarpophalangeal joint (14), the sensor lead (22) can be arranged on the side, the palm side or the back side of the hand. As a preferred solution, at the metacarpophalangeal joint (14), the sensor lead (22) is arranged on the side. The carpometacarpal joint (15) has a degree of flexion and extension, and the sensor lead (22) is arranged on the side of the metacarpophalangeal joint (14), and a small length margin can be reserved for the sensor lead (22).

[0057] The sensor assembly (21) at the metacarpophalangeal joint (13), and the corresponding sensor lead (22) can pass through the metacarpophalangeal joint (14), the wrist-metacarpal joint (15), the palm base (16) of the palm module, and pass through the wrist joint (17). The sensor assembly (21) is arranged at the wrist-metacarpal joint (15). The sensor assembly (21) at the wrist-metacarpal joint (15), and the corresponding sensor lead (22) can pass through the palm base (16) and the wrist joint (17). However, it can be understood that the sensor assembly (21) can also be arranged at other positions on the manipulator.

[0058] The manipulator also includes a forearm module, and the hand module is connected to the forearm module via a wrist joint (17).

[0059] The forearm module can support the hand module and the wrist joint (17). It can be understood that the forearm module can be a movable mechanical arm, a fixed base, or even a part of other machinery. A driving assembly can also be arranged in the forearm. The driving assembly can include a plurality of actuators, and the actuators drive the joints through the tendons. Actuators include but are not limited to motors, hydraulic elements, pneumatic actuators, electro-actuated material elements, artificial muscles, etc. In a specific embodiment, when the actuator is a motor, the driving assembly includes a motor compartment (42).

[0060] The sensor lead (22) of the hand module passes through the lead restraining structure (23), passes through the wrist joint (17), and is electrically connected to the first circuit board (24). The first circuit board (24) can be arranged in the motor compartment (42), or on a bracket of the wrist joint (17), or at a connection position between the motor compartment (42) and the wrist joint (17).

[0061] In a specific embodiment, the manipulator further comprises a wire harness structure (26), and the wire harness structure is used to gather the plurality of sensor leads together. The wire harness structure (26) may be a tensioning belt, a sleeve, a skin, or a structure similar to a spring tube, and the wire harness structure (26) may be used to gather and protect the sensor wiring. Preferably, the plurality of sensor leads (22) pass through the lead restraint structure (23), are gathered together through the wire harness structure (26), and are then electrically connected to the first circuit board (24).

[0062] The joint movement of the manipulator can be achieved by a variety of driving methods. In a preferred embodiment of the present application, the manipulator also includes a tendon transmission component for driving the joint movement. The tendon transmission component includes a tendon and a tendon sheath (31), and the controlled joint can be driven to rotate through the tendon. The physical space range of the manipulator is limited. Compared with other driving methods, the tendon transmission driving method is conducive to layout in a relatively small space and can achieve long-distance power transmission. One end of the tendon is connected to the rotating end of the controlled joint, and the tendon sheath (31) is used to protect the tendon, and the tendon is slidably arranged in the tendon sheath (31). The tendon sheath (31) and the tendon are arranged outside the skeleton of the manipulator. The tendon sheath (31) needs to pass through multiple cascaded joints. Taking the controlled joint of the finger module as an example, the corresponding tendon sheath (31) needs to pass through the metacarpophalangeal joint (13), the metacarpophalangeal joint (14), the carpal joint (15) and the palm base (16) of the hand module, and cross the wrist joint (17).

[0063] When the joint through which the tendon sheath (31) passes moves, the length of the tendon sheath (31) will change to a certain extent. When passing through multiple joints, the accumulated movement of the tendon sheath (31) at multiple joints will produce a larger movement. If the accumulated movement accumulates at a certain point, it will affect the normal tendon transmission drive.

[0064] The wrist joint (17) has two degrees of freedom and a relatively large range of motion. The plurality of tendons and tendon sheaths (31) of the hand module need to cross the wrist joint (17) and then enter the forearm module.

[0065] In one embodiment, a tendon sheath restraint structure (32) is provided at the palm base (16).

[0066] In a specific embodiment, the tendon sheath constraint structure (32) is a tendon sheath limiting structure, which is configured to allow the tendon sheath to slide through; the tendon sheath is restricted to slide only at the tendon sheath limiting structure. Alternatively, in a specific embodiment, the tendon sheath constraint structure (32) is a tendon sheath positioning structure, which is configured to fix a portion of the plurality of tendon sheaths (31).

[0067] In one implementation, the aforementioned tendon sheath restraint structure (32) may also be provided at the metacarpophalangeal joint (14).

[0068] In one implementation, the aforementioned tendon sheath constraint structure (32) may also be provided at the wrist joint; specifically, the tendon sheath constraint structure (32) may be provided at the connection position between the wrist joint and the palm base.

[0069] By setting the tendon sheath constraint structure (32) to restrict or fix the plurality of tendon sheaths (31), the tendon sheaths (31) that cross the tendon sheaths (31) can be constrained and protected; and by using the tendon sheath constraint structure (32) as a boundary, the tendon sheaths (31) are restricted in sections, which can prevent the length change of the tendon sheath (31) on one side of the hand module from being transmitted to the tendon sheath (31) of the forearm module on the other side of the limiting structure, thereby preventing adverse effects.

[0070] In one embodiment, the tendon sheath (31) is arranged along the palm side or the back side of the manipulator at at least one position among the finger module, the metacarpophalangeal joint (13) and the palm module.

[0071] The finger module includes finger knuckles and finger joints. A tendon sheath limiting structure (33) is provided at at least one position of the finger module, the metacarpophalangeal joint (13) and the metacarpophalangeal joint. The tendon sheath limiting structure (33) can guide the tendon sheath (31) and constrain the tendon sheath (31) within a certain spatial range of the corresponding position of the manipulator; the tendon sheath (31) can slide at the tendon sheath limiting structure (33). By providing the tendon sheath limiting structure (33), at least a portion of the tendon sheath (31) can be maintained at the tendon sheath limiting structure (33), and the joint can drive the tendon sheath (31) to move when moving, so that the tendon sheath (31) can be adjusted and changed in shape or position. In addition, when the joint through which the tendon sheath (31) passes moves, the length of the tendon sheath (31) will change to a certain extent; when the length of the tendon sheath (31) at the corresponding joint position needs to be adjusted due to the movement of the joint, the tendon sheath (31) can slide at the tendon sheath limiting structure (33) to adapt to the required length of the tendon sheath (31) at the joint. The tendon sheath limiting structure (33) may include but is not limited to structures such as a constraint hole, a constraint groove, a baffle, a gland, and a flexible constraint structure. Preferably, the constraint groove and the gland can be used together, and the constraint groove and the flexible constraint structure can be used together.

[0072] In one embodiment, at least one of the end fixing structure of the tendon sheath (31), the tendon sheath constraint structure (32), and the tendon sheath limiting structure (33) is a detachable structure. Preferably, the end fixing structure of the tendon sheath (31), the tendon sheath constraint structure (32), and the tendon sheath limiting structure (33) are all detachable structures, which is conducive to the installation and removal of the tendon sheath (31).

[0073] The tendon sheath (31) can be arranged on the palm side, back side or side of the hand module. However, in a preferred embodiment of the present application, most of the finger modules, taking a humanoid hand as an example, most of the finger modules other than the thumb, have the tendon sheath (31) arranged on the palm side and back side of the hand module. The sensor lead (22) is mainly arranged on the side of the finger module, the metacarpophalangeal joint (13) and the metacarpophalangeal joint (14), so the tendon sheath (31) and the sensor lead (22) are arranged at different positions of the hand module respectively.

[0074] When the tendon sheath (31) and the sensor lead (22) are gathered at one position, for example, at the palm base (16) or at the connection position between the palm base and the wrist joint, the sensor lead (22) is fixed by setting the lead constraint structure (23), and the tendon sheath (31) is fixed by setting the tendon sheath constraint structure (32), so that the sensor lead (22) and the tendon sheath (31) of the manipulator are decoupled. In the limited physical space of the manipulator, the decoupling between the sensor lead (22) and the tendon sheath (31) is not only conducive to the layout of complicated lines, but also can avoid the mutual influence and interference between the sensor lead (22) and the tendon sheath (31), which is conducive to achieving the reliability of the manipulator performance.

[0075] The lead wire restraint structure (23) and the tendon sheath restraint structure (32) are respectively detachable structures, and the lead wire restraint structure (23) and the tendon sheath restraint structure (32) are decoupled from each other, so that changes in any one part will not affect other parts; and there is no need to remove the sensor lead wire (22) in order to adjust a certain tendon sheath (31).

[0076] In one embodiment, the lead restraint structure (23) and the tendon sheath restraint structure (32) can be respectively arranged at different positions. However, in a preferred embodiment, the lead restraint structure (23) and the tendon sheath restraint structure (32) can be stacked together at the palm base (16) or at the connection position between the palm base and the wrist joint to form a stacked structure. The stacked structure is not only more flexible, but also conducive to arranging the lead restraint structure (23) and the tendon sheath restraint structure (32) within a limited space, so that the sensor lead (22) and the tendon sheath can also be better arranged in three-dimensional space.

[0077] When the tendon sheath (31) and the sensor lead (22) are gathered at one position, for example, at the palm base (16) or at the connection position between the palm base and the wrist joint, the number of the tendon sheaths (31) is large, and the number of the sensor leads (22) is also not small. The tendon sheath (31) and the sensor lead (22) need to enter the forearm after passing through the wrist joint (17) respectively. At the wrist joint (17), the tendon sheath (31) and the sensor lead (22) are easy to influence and interfere with each other. In order to decouple the sensor lead (22) and the tendon sheath (31) at the wrist joint (17), at the tendon sheath constraint structure (32), multiple tendon sheaths (31) can be arranged along the front-to-back direction and cross the wrist joint (17). The direction along the hand module, the wrist joint (17) and the forearm module is the front-to-back direction.

[0078] At the connection position between the palm base (16) or the wrist joint and the palm base, the sensor lead wire can cross the wrist in the front-to-back direction. Alternatively, after the plurality of sensor leads (22) are joined at the lead restraining structure (23), they can come out from the side of the lead restraining structure (23) and then enter the first circuit board (24).

[0079] The manipulator further comprises an electric actuator, which includes but is not limited to a motor, an electro-actuated material element, an artificial muscle, etc. The electric actuator can be arranged on the metacarpophalangeal joint (14) or the finger module. The electric actuator can be used to drive certain joint movements of the hand module, for example, to drive the lateral swing degree of freedom of the metacarpophalangeal joint (13).

[0080] In one embodiment of the present application, a wire fixing structure (41) may be provided at the palm base (16). The electrical connection wire of the electric actuator passes through the wire fixing structure (41) of the palm base (16), and is electrically connected to the second circuit board after passing through the wrist joint (17). Alternatively, the wire fixing structure (41) may also be provided at the wrist joint, for example, at the connection position between the wrist joint and the palm base.

[0081] In one embodiment, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are decoupled from each other, and changes in any one of the parts will not affect other parts. Any one or more of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are detachable structures. Preferably, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are detachable structures.

[0082] In one embodiment, at least two of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are arranged at the same position and form a stacked structure. Preferably, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are all arranged at the same position and form a stacked structure. The stacked approach is not only flexible and detachable, but also more space-saving. The upper and lower order of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) when stacked can be adaptively adjusted according to actual conditions.

[0083] The sensor lead (22) can be electrically connected to the first circuit board (24) after passing through the wrist joint (17). The tendon sheath (31) needs to pass through the first circuit board (24) after crossing the wrist joint (17). In order to decouple and delaminate the tendon sheath (31) and the first circuit board (24) and the sensor lead (22) at the first circuit board (24), a protective cover (25) is provided above the first circuit board (24), and the sensor lead (22) is located below the protective cover (25); the tendon sheath (31) passes above the protective cover (25).

[0084] In addition, in order to decouple the tendon sheath (31) and the sensor lead (22) at the first circuit board (24), the wire harness structure (26) can be provided so that the plurality of sensor leads (22) pass through the lead restraining structure (23) and are then gathered together through the wire harness structure (26). Since the sensor leads (22) are gathered in the wire harness structure (26), interference between the sensor leads (22) and other components, the tendon sheath (31), the electrical connection wire, etc. can be avoided.

[0085] In one embodiment, at least one of the electrical connection structure between the first end of the sensor lead (22) and the sensor assembly (21), the electrical connection structure between the second end of the sensor lead (22) and the sensor assembly (21), and the lead restraining structure (23) is a detachable structure. Preferably, the electrical connection structure between the first end of the sensor lead (22) and the sensor assembly (21), the electrical connection structure between the second end of the sensor lead (22) and the sensor assembly (21), and the lead restraining structure (23) are all detachable structures.

[0086] The sensor lead (22) may pass through one or more of the joints, and therefore, one or more of the sensor leads (22) may pass through one of the joints. In an embodiment of the present application, the sensor assembly (21) includes a sensor body (211) and a sensor cover (212). A lead restraint structure (213) is provided on the sensor cover (212). One or more sensor leads (22) may pass through the sensor cover (212); in one embodiment, at least one of the sensor assemblies (21) is installed on the side of the joint.

[0087] The lead restraining structure (213) may include a limiting portion, the limiting portion is used to retain a portion of the sensor lead (22) on the sensor cover (212); the limiting portion may be a snap-fit ​​structure. Alternatively, the lead restraining structure (213) includes a guiding portion, the guiding portion is used to guide the direction of the sensor lead (22) on the sensor cover (212); the guiding portion (212) may be a groove or a restraining channel formed by a guiding bone position; the guiding portion (212) may also be formed by a plurality of snap-fit ​​structures arranged at intervals. The sensor lead (22) is slidably arranged at the lead restraining structure (213); or the sensor lead (22) is relatively fixedly arranged at the lead restraining structure (213).

[0088] The accompanying drawings only illustrate the angle sensor located at the joint. It can be understood that the sensor in the present application is a broad sensor, which may include but is not limited to angle sensors, angular velocity sensors, force sensors, torque sensors, tactile sensors and other sensors.

[0089] The number of finger modules of the manipulator described in the present application can be 2, 3, 4 or 5, and it is understandable that the number of fingers is not limited thereto. The aforementioned scheme can be implemented at the corresponding associated positions of one or more finger modules.

[0090] The beneficial effects of this application are:

[0091] The present invention can provide a lead restraint structure to restrain the sensor lead in sections. The section restraint can prevent the sensor lead from moving or moving too much, and prevent the sensor lead from being damaged after being pulled or the electrical connection position of the sensor lead from being loosened. At the same time, the length margin of each section of the sensor lead can be controlled more accurately by precalculating.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot, characterized in that: The manipulator includes a sensor component, a sensor lead, and multiple joints. The first end of the sensor lead is electrically connected to the sensor component; the sensor lead can move with the joint. The manipulator includes a lead constraint structure; the sensor lead passes through the lead constraint structure.

2. The robot according to claim 1, characterized in that: The sensor assembly is disposed on the joint; or the sensor lead passes through one or more of the joints.

3. The robot according to claim 1, characterized in that: The lead restraint structure is configured to fix the sensor lead; alternatively, the sensor lead can slide at the lead restraint structure.

4. The robot according to claim 1, characterized in that: The manipulator comprises a finger module, a metacarpophalangeal joint, a palm module and a wrist joint, and the palm module is provided with the lead restraint structure.

5. The robot according to claim 4, characterized in that: At the finger module, the sensor leads are arranged at the side.

6. The robot according to claim 4, characterized in that: The palm module comprises a metacarpophalangeal joint and a palm base, and the lead restraint structure is arranged at at least one position among the metacarpophalangeal joint, the palm base and the wrist joint.

7. The robot according to claim 6, characterized in that: At the metacarpophalangeal joint, the sensor lead is arranged on the side, palm side or back side.

8. The robot according to claim 4, characterized in that: The palm module also includes a wrist-metacarpal joint; at least one of the finger module, the metacarpophalangeal joint, the palm module and the wrist joint is provided with a sensor component.

9. The robot according to claim 6, characterized in that: The manipulator includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; and the sensor lead is electrically connected to the first circuit board after passing through the wrist joint.

10. The robot according to claim 9, characterized in that: The manipulator comprises a wire harness structure, and the wire harness structure is used to gather a plurality of the sensor leads together.

11. The robot according to claim 9, characterized in that: The manipulator also includes a tendon transmission component for driving the joint movement, and the tendon transmission component includes a tendon and a tendon sheath; a tendon sheath constraint structure is provided at at least one of the connection positions between the metacarpophalangeal joint, the palm base, and the wrist joint and the palm base, and the tendon sheath constraint structure is a tendon sheath limiting structure or a tendon sheath positioning structure, and the tendon sheath positioning structure is configured to fix a part of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to pass slidably.

12. The robot according to claim 11, characterized in that: The finger module includes finger knuckles and finger joints; a tendon sheath limiting structure is arranged at at least one position among the finger knuckles, the finger joints and the metacarpophalangeal joints.

13. The robot according to claim 11, characterized in that: The lead wire restraint structure and the tendon sheath restraint structure are respectively detachable structures; and / or, the lead wire restraint structure and the tendon sheath restraint structure form a stacked structure.

14. The robot according to claim 13, characterized in that: The lead restraint structure and the tendon sheath restraint structure form a stacked structure; At the tendon sheath restraint structure, a plurality of the tendon sheaths may be arranged along the front-to-back direction and span the wrist joint; And / or, at the lead restraining structure of the palm base, a plurality of sensor leads may come out from a side of the lead restraining structure after the lead restraining structure merges.

15. The robot according to claim 11, characterized in that: The manipulator further includes an electric actuator; a wire fixing structure is also provided at the palm base or at the connection position between the wrist joint and the palm base, and the electrical connection wire of the electric actuator passes through the wire fixing structure; at least two of the lead restraint structure, the tendon sheath restraint structure, and the wire fixing structure form a stacked structure; And / or, the lead wire restraint structure, the tendon sheath restraint structure, and the wire fixing structure are respectively detachable structures.

16. The robot according to claim 11, characterized in that: A protective cover is provided above the first circuit board, and the tendon sheath passes over the protective cover.

17. The robot according to claim 1, characterized in that: The sensor assembly comprises a sensor body and a sensor cover; a lead restraint structure is arranged on the sensor cover.

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