A robot

Abstract

The application discloses a mechanical hand, which comprises a joint, a sensor assembly, and a sensor lead wire, wherein the first end of the sensor lead wire is electrically connected with the sensor assembly; the sensor lead wire can move with the joint; the mechanical hand comprises a lead wire constraint structure; and the sensor lead wire passes through the lead wire constraint structure. By arranging the lead wire constraint structure, the sensor lead wire can be segmented and constrained. The segmented constraint can prevent the sensor lead wire from moving around, and prevent the sensor lead wire from being damaged after being pulled or the electrically connected position of the sensor lead wire from loosening. Meanwhile, the length allowance of the sensor lead wire of each segment can be accurately controlled through pre-calculation.

Description

Technical Field

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

[0002] Robotic arms typically require multiple sensors, such as force sensors and angle sensors, which are connected to signal sampling circuits via sensor leads. These sensor leads usually pass through multiple joints of the robotic arm. When the joints move, the sensor leads passing through these joints may elongate or coil, which can easily cause interference with other components and also makes the sensor leads susceptible to damage. Summary of the Invention

[0003] To address the technical problems of the prior art, embodiments of this application provide a robotic arm.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a robotic arm is provided, the robotic arm including a sensor assembly, sensor leads, and multiple joints, the first end of the sensor leads being electrically connected to the sensor assembly; the sensor leads can move with the joints, and the robotic arm includes a lead constraint structure; the sensor leads pass through the lead constraint structure.

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

[0006] In one embodiment of this application, the lead constraint structure is configured to fix the sensor lead; or, the sensor lead can slide at the lead constraint structure.

[0007] In one embodiment of this application, the robotic hand includes a finger module, a metacarpophalangeal joint, a palm module, and a wrist joint, wherein the palm module is provided with the lead wire constraint structure.

[0008] In one embodiment of this application, the sensor lead is disposed on the side of the finger module.

[0009] In one embodiment of this application, the palm module includes a metacarpophalangeal joint and a palm base, and the lead wire constraint structure is provided at at least one of the metacarpophalangeal joint, the palm base and the wrist joint.

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

[0011] In one embodiment of this application, the palm module further includes a wrist-palm joint; 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 this application, the robotic arm includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; the sensor lead passes through the wrist joint and is then electrically connected to the first circuit board.

[0013] In one embodiment of this application, the robotic arm includes a wire harness structure for concentrating multiple sensor leads together.

[0014] In one embodiment of this application, the robotic arm further includes a tendon transmission assembly for driving the joint movement, the tendon transmission assembly including a tendon and a tendon sheath; a tendon sheath constraint structure is provided at at least one of the following locations: the metacarpophalangeal joint, the palm base, and the wrist joint at the connection position with 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 portion of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to slide through.

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

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

[0017] In one embodiment of this application, the lead wire constraint structure and the tendon sheath constraint structure form a stacked structure;

[0018] At the tendon sheath constraint structure, a plurality of tendon sheaths may be arranged in a front-back direction and cross the wrist joint; and / or, at the lead wire constraint structure of the palm base, a plurality of sensor leads may converge at the lead wire constraint structure and emerge from the side of the lead wire constraint structure.

[0019] In one embodiment of this application, the robotic arm 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 wire constraint structure, the tendon sheath constraint structure, and the wire fixing structure form a stacked structure;

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

[0021] In one embodiment of this 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 this application, the sensor assembly includes a sensor body and a sensor cover; the sensor cover is provided with a lead wire constraint structure.

[0023] The beneficial effects of this application are as follows:

[0024] This invention utilizes a lead-wire constraint structure to segmentally constrain the sensor leads that pass through multiple joints. This segmented constraint prevents the sensor leads from shifting, and also prevents damage or loosening of electrical connections caused by pulling. Furthermore, the length allowance of each segment of the sensor lead can be accurately controlled through pre-calculation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of a robotic arm provided for an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0028] Figure 3 for Figure 2 A magnified view of a portion of point A in the middle.

[0029] The following are the labeling elements in the figure:

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

[0031] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

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

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] Please see Figures 1-3 The robotic arm provided in the embodiments of this application will now be described.

[0036] This application provides a robotic arm comprising multiple joints. The robotic arm further includes a sensor assembly (21) and sensor leads (22). A first end of the sensor lead (22) is electrically connected to the sensor assembly (21). The robotic arm includes a first circuit board (24), and a 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 assembly (21) is disposed on the joint.

[0038] Since some joints of a robotic arm typically have one or more degrees of freedom, such as flexion-extension, lateral swing, and rotation, when a joint has a flexion-extension degree of freedom, it 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, thus the sensor lead (22) passing through the joint will have a length change. Within the limited physical space of the robotic arm, the movement of the sensor lead (22) may interfere with other components, and the sensor lead (22) is also easily damaged.

[0039] In one embodiment of this application, the manipulator includes a lead wire constraint structure (23); the sensor lead wire passes through the lead wire constraint structure (23). The lead wire constraint structure (23) is configured to fix the sensor lead wire (22); or, the sensor lead wire is slidable at the lead wire constraint structure, which allows the sensor lead wire to have a small amount of slippage.

[0040] It is understandable that the sensor lead wire can be fixed or made to slide at the lead wire constraint structure. The lead wire constraint structure (23) can be implemented in various ways, including but not limited to the pressure cover, pressure plate, constraint groove, constraint slot, flexible constraint structure and other specific structures.

[0041] By setting the lead wire constraint structure (23), the sensor lead wire (22) can be segmented and constrained. Segmented constraint can prevent the sensor lead wire (22) from shifting or shifting too much; it can also prevent the sensor lead wire (22) from being damaged after being pulled or from becoming loose in its electrical connection position. At the same time, the length margin of each segment of the sensor lead wire (22) can be accurately controlled by pre-calculation, that is, it does not affect the joint movement, and at the same time, it can also prevent the length of each segment of the sensor lead wire (22) from being too long.

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

[0043] In one specific embodiment of this application, the sensor lead (22) passes through one or at least two joints. For example, the two joints include a first joint and a second joint, and the portion of the sensor lead (22) between a first point and a second point 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) is reserved with a first length margin required for the rotation of the first joint; the length of the sensor lead (22) between the lead constraint structure (23) and the second point is reserved with a second length margin required for the rotation of the second joint.

[0044] In one embodiment of this application, the robotic hand includes a hand module, which includes a finger module, a metacarpophalangeal joint (13), and a palm module. The robotic hand also includes a wrist joint (17). The hand module is connected to the wrist joint (17).

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

[0046] In one embodiment, the sensor lead (22) of 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 constrained in segments. When the metacarpophalangeal joint (13) moves, the change in length of the sensor lead (22) passing through the metacarpophalangeal joint (13) will not affect the segment of the sensor lead (22) passing through the wrist joint (17) or other components.

[0047] The metacarpophalangeal joint (13) has flexion and extension degrees of freedom. In some embodiments, the finger module includes finger knuckles (11) and finger joints (12), the finger joints (12) having flexion and extension degrees of freedom.

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

[0049] In a preferred embodiment of this application, at the finger module, the sensor lead (22) is disposed on the side, and the sensor lead (22) is arranged close to the axis of the flexion and extension movement with a relatively small eccentric distance. The metacarpophalangeal joint (13) and the finger joint (12) have little impact on the length change of the sensor lead (22) located on the side of the finger module during flexion and extension movements; therefore, a small length margin is sufficient for the sensor lead (22). As a further preferred embodiment, 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 moving structural components. In another embodiment, the palm module may include moving components, and the palm module includes metacarpophalangeal joints (14), wrist-metacarpophalangeal joints (15), and palm base (16).

[0051] The robotic hand includes multiple finger modules, multiple metacarpophalangeal joints (14), and multiple wrist-metacarpal joints (15). Each finger module is connected to the metacarpophalangeal joint (14) via a metacarpophalangeal joint (13). Multiple wrist-metacarpal joints (15) are connected to a palm base (16), and the multiple metacarpophalangeal joints (14) are respectively connected to the palm base (16) via wrist-metacarpal joints (15). The palm base (16) is further connected to the wrist joints (17).

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

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

[0054] The sensor leads (22) corresponding to the multiple sensor components (21) of the hand module, after passing through the lead constraint structure (23) of the palm base (16), also need to pass through the wrist joint (17). The wrist joint (17) typically has two degrees of freedom and a large range of motion. Fixing the sensor leads (22) at the palm base (16) helps to improve the reliability of the sensor leads (22) passing through the wrist joint (17).

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

[0056] In one embodiment, the sensor lead (22) at the metacarpophalangeal joint (14) can be located on the side, palm side, or back side. Preferably, the sensor lead (22) at the metacarpophalangeal joint (14) is located on the side. The wrist-metacarpophalangeal joint (15) has flexion and extension degrees of freedom, and the sensor lead (22) located on the side of the metacarpophalangeal joint (14) can have a small length allowance.

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

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

[0059] The forearm module supports the hand module and the wrist joint (17). It is understood that the forearm module can be a movable robotic arm, a fixed base, or even part of another machine. A drive assembly can also be provided within the forearm. The drive assembly can include multiple actuators that drive the joint via the tendon. Actuators include, but are not limited to, motors, hydraulic components, pneumatic actuators, electro-actuated material components, artificial muscles, etc. In one specific embodiment, when the actuator is a motor, the drive assembly includes a motor housing (42).

[0060] The sensor lead (22) of the hand module passes through the lead constraint 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 disposed in the motor compartment (42), on the bracket of the wrist joint (17), or at the connection position between the motor compartment (42) and the wrist joint (17).

[0061] In one specific embodiment, the robotic arm further includes a wire harness structure (26) for concentrating multiple sensor leads together. The wire harness structure (26) can be a tension band, sleeve, skin, or a structure similar to a Bourdon tube, etc., and can be used to concentrate and protect the sensor wiring. Preferably, multiple sensor leads (22) pass through the lead constraint structure (23) and are then concentrated together by the wire harness structure (26) before being electrically connected to the first circuit board (24).

[0062] The joint movement of the robotic hand can be achieved through various driving methods. In a preferred embodiment of this application, the robotic hand further includes a tendon transmission assembly for driving the joint movement. The tendon transmission assembly includes a tendon and a tendon sheath (31), through which the controlled joint can be driven to rotate. The physical space of the robotic hand is limited. Compared with other driving methods, the tendon transmission driving method is advantageous for 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. The tendon is slidably disposed in the tendon sheath (31). The tendon sheath (31) and the tendon are disposed outside the skeleton of the robotic hand. 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 carpometacarpophalangeal 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 by a certain amount. When passing through multiple joints, the amount of movement of the tendon sheath (31) at multiple joints will accumulate to produce a large amount of movement. If the accumulated amount of 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 large range of motion. The tendons and tendon sheaths (31) of the hand module need to cross the wrist joint (17) to enter the forearm module.

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

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

[0067] In one implementation, the aforementioned tendon sheath constraint 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 multiple 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 the boundary, the tendon sheaths (31) are segmented and restricted, which can prevent the change in the length 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 and causing adverse effects.

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

[0071] The finger module includes finger joints and finger knuckles. A tendon sheath limiting structure (33) is provided at at least one location in the finger module, the metacarpophalangeal joint (13), and the metacarpophalangeal knuckle. The tendon sheath limiting structure (33) can guide the tendon sheath (31), constraining it within a certain spatial range at the corresponding position of the robotic arm; 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 held at the tendon sheath limiting structure (33), and the joint can move the tendon sheath (31) during movement, allowing the tendon sheath (31) to adjust or change in shape or position. Furthermore, when the joint through which the tendon sheath (31) passes moves, the length of the tendon sheath (31) will change by a certain amount; when the joint needs to adjust the length of the tendon sheath (31) at the corresponding joint position due to movement, the tendon sheath (31) can slide at the tendon sheath limiting structure (33) to adapt to the required tendon sheath (31) length at the joint. The tendon sheath limiting structure (33) may include, but is not limited to, constraint holes, constraint grooves, baffles, pressure caps, flexible constraint structures, etc. Preferably, the constraint groove and the pressure cap 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 facilitates 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 this application, for most of the finger modules, taking a humanoid robotic hand as an example, the tendon sheath (31) of most of the finger modules other than the thumb can be arranged on the palm side and back side of the hand module. The sensor leads (22) are mainly arranged on the sides of the finger modules, the metacarpophalangeal joints (13), and the metacarpophalangeal joints (14). Therefore, the tendon sheath (31) and the sensor leads (22) are arranged at different positions on the hand module.

[0074] When the tendon sheath (31) and the sensor lead (22) converge at one location, such as at the connection point between the palm base (16) 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). This decouples the sensor lead (22) and the tendon sheath (31) of the manipulator. Within the limited physical space of the manipulator, the decoupling between the sensor lead (22) and the tendon sheath (31) not only facilitates the arrangement of complex wiring but also avoids mutual influence and interference between the sensor lead (22) and the tendon sheath (31), thus improving the reliability of the manipulator's performance.

[0075] The lead wire constraint structure (23) and the tendon sheath constraint structure (32) are both detachable structures. The lead wire constraint structure (23) and the tendon sheath constraint structure (32) are decoupled from each other, so that any change to any part will not affect other parts; and it is not necessary to remove the sensor lead wire (22) in order to adjust a certain tendon sheath (31).

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

[0077] When the tendon sheaths (31) and the sensor leads (22) converge at one location, such as at the connection point between the palm base (16) and the wrist joint, there are a large number of tendon sheaths (31) and a considerable number of sensor leads (22). The tendon sheaths (31) and the sensor leads (22) each need to pass through the wrist joint (17) before entering the forearm. At the wrist joint (17), the tendon sheaths (31) and the sensor leads (22) are prone to mutual influence and interference. To decouple the sensor leads (22) and the tendon sheaths (31) at the wrist joint (17), multiple tendon sheaths (31) can be arranged along the front-back direction and span the wrist joint (17) at the tendon sheath constraint structure (32). The direction along the hand module, the wrist joint (17), and the forearm module is the front-back direction.

[0078] At the connection point between the palm base (16) and the wrist joint, the sensor leads can cross the wrist in a front-to-back direction. Alternatively, multiple sensor leads (22) can converge at the lead constraint structure (23), emerge from the side of the lead constraint structure (23), and then enter the first circuit board (24).

[0079] The robotic hand also includes electric actuators, including but not limited to motors, electro-actuated material components, and artificial muscles. The electric actuators can be located in the metacarpophalangeal joint (14) or the finger module. The electric actuators 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 this 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), passes through the wrist joint (17), and is electrically connected to the second circuit board. 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 constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) are decoupled from each other, meaning that a change in any one component will not affect the others. Any one or more of the lead wire constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) are detachable. Preferably, the lead wire constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) are all detachable structures.

[0082] In one embodiment, at least two of the lead wire constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) are disposed in the same location and form a stacked structure. Preferably, the lead wire constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) are all disposed in the same location and form a stacked structure. The stacking method is not only flexible and detachable, but also saves more space. The order of the lead wire constraint structure (23), the tendon sheath constraint structure (32), and the wire fixing structure (41) when stacked can be adaptively adjusted according to the actual situation.

[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) also needs to pass through the first circuit board (24) after crossing the wrist joint (17). In order to decouple and separate the tendon sheath (31), the first circuit board (24), and the sensor lead (22) at the first circuit board (24), a protective cover plate (25) is provided above the first circuit board (24), and the sensor lead (22) is located below the protective cover plate (25); the tendon sheath (31) passes above the protective cover plate (25).

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

[0085] In one embodiment, at least one of the following three structures is detachable: 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 constraint structure (23). 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 constraint structure (23) are all detachable structures.

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

[0087] The lead wire constraint structure (213) may include a limiting portion for holding a portion of the sensor lead wire (22) in the sensor cover (212); the limiting portion may be a snap-fit ​​structure. Alternatively, the lead wire constraint structure (213) may include a guiding portion for guiding the direction of the sensor lead wire (22) on the sensor cover (212); the guiding portion (212) may be a groove or a constraint channel formed by a guide rib; the guiding portion (212) may also be formed by a plurality of spaced snap-fit ​​structures. The sensor lead wire (22) may be slidably disposed at the lead wire constraint structure (213); or, the sensor lead wire (22) may be relatively fixedly disposed at the lead wire constraint structure (213).

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

[0089] The number of finger modules in the robotic hand described in this application can be 2, 3, 4, or 5; it is understood that the number of fingers is not limited to this. The aforementioned solution can be implemented at the corresponding associated positions of one or more finger modules.

[0090] The beneficial effects of this application are as follows:

[0091] This invention utilizes a lead-wire constraint structure to segment and constrain the sensor leads. This segmented constraint prevents the sensor leads from shifting or experiencing significant shifting, and also prevents damage from being pulled or loosening of the electrical connections. Furthermore, the length allowance of each segment of the sensor lead can be accurately controlled through pre-calculation.

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

Claims

1. A robotic arm, characterized in that, The robotic hand includes a finger module, a palm module, a sensor assembly, sensor leads, and multiple joints. The finger module includes finger joints and finger knuckles. The finger module and / or the metacarpophalangeal joints are equipped with sensor assemblies. The first end of the sensor lead is electrically connected to the sensor assembly, passing through a first joint, the palm module, and a second joint. The portion of the sensor lead between a first point and a second point can move with the first joint and the second joint. The first joint includes the metacarpophalangeal joint, and the second joint includes a wrist joint. The palm module includes a palm base and metacarpophalangeal joints. A lead constraint structure is provided at the metacarpophalangeal joints, and the sensor lead passes through the lead constraint structure. The length of the sensor lead between the first point and the lead constraint structure has a first length margin, and the length of the sensor lead between the lead constraint structure and the second point has a second length margin. The robotic hand also includes tendons and tendon sheaths; the tendon sheaths of the finger joints and / or the metacarpophalangeal joints pass through the palm module and cross the wrist joint; at the finger module, the sensor leads are disposed on the side, and the tendon sheaths are disposed along the palm side or the back side of the hand; At the palm base or at the connection point between the wrist joint and the palm base, the lead wire constraint structure and the tendon sheath constraint structure are provided; after passing through the lead wire constraint structure at the metacarpophalangeal joint, the multiple sensor leads also pass through the lead wire constraint structure; the tendon sheath constraint structure is used to restrict the multiple tendon sheaths in segments.

2. The robotic arm according to claim 1, characterized in that, The lead constraint structure is configured to fix the sensor lead; or, the sensor lead can slide at the lead constraint structure.

3. The robotic arm according to claim 1, characterized in that, At the finger module, the sensor lead is positioned near the joint axis on the side.

4. The robotic arm according to claim 1, characterized in that, At the metacarpophalangeal joint, the sensor lead is disposed on the side, palm side, or back side of the hand; at the metacarpophalangeal joint and the metacarpophalangeal joint, the tendon sheath is disposed along the palm side or back side of the hand.

5. The robotic arm according to claim 1, characterized in that, The palm module also includes a wrist joint, and the metacarpophalangeal joints are connected to the palm base via the wrist joint; at least one of the palm module and the wrist joint is provided with a sensor component.

6. The robotic arm according to claim 1, characterized in that, The robotic arm includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; the sensor lead passes through the wrist joint and is then electrically connected to the first circuit board.

7. The robotic arm according to claim 6, characterized in that, The robotic arm includes a wire harness structure for concentrating multiple sensor leads together. After passing through the lead constraint structure at the connection point between the palm base and the wrist joint and the palm base, the multiple sensor leads first pass through the wire harness structure and then are electrically connected to the first circuit board.

8. The robotic arm according to claim 6, characterized in that, 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 portion of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to slide through.

9. The robotic arm according to claim 8, characterized in that, The tendon sheath limiting structure is provided at at least one of the finger joints, finger joints, and metacarpophalangeal joints.

10. The robotic arm according to claim 8, characterized in that, The lead wire constraint structure and the tendon sheath constraint structure are both detachable structures; and / or, the lead wire constraint structure and the tendon sheath constraint structure form a stacked structure.

11. The robotic arm according to claim 10, characterized in that, The lead wire constraint structure and the tendon sheath constraint structure form a stacked structure; At the tendon sheath constraint structure, a plurality of tendon sheaths may be arranged in the anterior-posterior direction and span the wrist joint; And / or, at the lead constraint structure of the palm base, multiple sensor leads may emerge from the side of the lead constraint structure after converging at the lead constraint structure.

12. The robotic arm according to claim 8, characterized in that, The robotic arm also 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 wire constraint structure, the tendon sheath constraint structure, and the wire fixing structure form a stacked structure; And / or, the lead wire constraint structure, the tendon sheath constraint structure, and the wire fixing structure are all detachable structures.

13. The robotic arm according to claim 8, characterized in that, A protective cover is provided above the first circuit board, the sensor lead is located below the protective cover, and the tendon sheath passes above the protective cover.

14. The robotic arm according to claim 1, characterized in that, The sensor assembly includes a sensor body and a sensor cover; the sensor cover is provided with the lead wire constraint structure.

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