Humanoid manipulator and mechanical arm

Abstract

The invention provides a humanoid manipulator. Comprising a palm assembly, a thumb, other fingers and a circuit board. The palm assembly is provided with a pitching assembly and a swinging assembly, and two-degree-of-freedom movement can be achieved through a driving part and a connecting rod. The thumb is matched with a driving component through two mutually inclined universal joints, so that multidirectional movement can be realized, and other fingers are driven to bend and stretch through tendon ropes; the circuit board is integrated at the far end of the palm and controls all driving components. The protruding part of the quick-release assembly can be screwed into the groove of the external component to be fixed and is matched with the electric connection structure to synchronously complete separation of mechanical structure connection and electric connection. Therefore, the manipulator provided by the invention has the functions of high-flexibility grasping similar to that of a human hand and quick disassembly, assembly and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and in particular to a humanoid manipulator and a robotic arm. Background Art

[0002] As a commonly used tool by people, manipulators are widely applied in fields such as industrial processing and medical rehabilitation. With the development of technology and the increasing application of manipulators, people have gradually turned their attention to bionic humanoid manipulator mechanisms. The design inspiration of humanoid manipulators comes from the physiological structure and movement mode of humans, which enables them to have high flexibility and adaptability, be able to simulate the arm structure and movement mode of humans, and complete various complex actions, such as grasping, touching, clamping, etc. In addition, the interactivity and intelligence characteristics of humanoid robotic arms also make them suitable for a variety of scenarios, such as household services, medical rehabilitation and other daily life fields.

[0003] However, with the increasing application of existing humanoid manipulators, some obvious disadvantages have also emerged. For example, the degree of freedom of the fingers of the manipulator is insufficient and it is not flexible enough. In addition, the modular design of existing humanoid manipulators is lacking, which significantly increases the complexity of fault diagnosis and maintenance operations and cannot meet the different requirements in multiple scenarios. Summary of the Invention

[0004] In order to overcome the above technical defects, the purpose of the present invention is to provide a humanoid manipulator and a robotic arm, which can achieve high flexibility of the manipulator while quickly realizing disassembly and assembly through a quick-release component, thereby greatly reducing the maintenance cost of the manipulator.

[0005] The present invention discloses a humanoid manipulator, which includes a palm assembly, a thumb, at least one other finger, and a circuit board. Among them, the palm assembly includes a first driving assembly, a second driving assembly, and a housing. The first driving assembly includes a first driving member and a first connecting rod. The second driving assembly includes a second driving member and a second connecting rod. The palm assembly further includes a first joint and a second joint that are perpendicular to each other. So that the first driving member can drive the first connecting rod, and the second driving member can drive the second connecting rod, and they work together to make the palm assembly rotate around the first joint or the second joint, thereby realizing the pitching and swinging of the palm assembly. The thumb and at least one other finger are arranged on one side of the palm assembly and extend outward. The thumb includes a third driving assembly and a fourth driving assembly. The third driving assembly includes a driving member and a first universal joint, which can drive the thumb to move in a first direction. The fourth driving assembly includes a driving member and a second universal joint, which can drive the thumb to move in a second direction. The first universal joint and the second universal joint are arranged obliquely to each other. The other fingers include a third driving assembly. The third driving assembly includes a driving member and a tendon rope, and the driving member can drive the other fingers to flex and extend by pulling or relaxing the tendon rope. The circuit board is arranged on the side of the palm assembly away from the thumb and is electrically connected to each driving member to control each driving member. The manipulator further includes a quick-release assembly. The quick-release assembly includes a fixing member and an electrical connection member. The fixing member includes a protruding portion that is arranged at the end of the palm assembly away from the thumb and extends inward. The protruding portion can be screwed into a corresponding groove of other components and relatively fix the manipulator to other components. The electrical connection member is a separable structure. When the fixing member is fixed to other components, the circuit board can be electrically connected to other components. When the fixing member is separated from other components, the electrical connection member is separated together with the fixing member.

[0006] Preferably, the electrical connection member includes at least one interface and is electrically connected to other components through a connecting wire.

[0007] Preferably, the electrical connection member includes a reed and / or a contact. The reed and / or the contact are arranged on the side of the circuit board away from the thumb and are electrically connected to the circuit board.

[0008] Preferably, both the thumb and the other fingers include two finger joints. The finger joints include pulleys, and the tendon rope passes through the pulleys and drives the pulleys to rotate, thereby driving the fingers to flex and extend.

[0009] Preferably, the circuit board of the manipulator is built with an action mapping module and can be connected to a camera. It is used to convert the hand action data collected by the camera into control instructions for the driving members.

[0010] Preferably, force sensor modules are further arranged at the ends of the thumb and at least one finger away from the palm assembly, which are used to measure the contact force of the grasped object in real time and feedback it to the circuit board.

[0011] Preferably, a retractable positioning pin is provided at the end of the protruding portion of the quick-release component. When the protruding portion is screwed into the corresponding groove until it reaches the locking position, the positioning pin relatively fixes the manipulator and other components. When the protruding portion is separated from other components, the positioning pin can be pressed to release the locking.

[0012] This application also provides a humanoid robotic arm, including the manipulator in any of the above embodiments and a large arm. The large arm includes a chute corresponding to the shape of the protruding portion of the fixing component of the manipulator. When the manipulator is inserted into the large arm and slides along the chute to the locking position, the manipulator is relatively fixed and electrically connected to the large arm.

[0013] Preferably, a limiting hole is also provided at the locking position of the chute. When the positioning pin slides to the locking position, it can be inserted into the limiting hole to form a mechanical interlock.

[0014] After adopting the above technical solutions, compared with the prior art, it has the following beneficial effects:

[0015] 1. Through the dual-degree-of-freedom design of the first driving component and the second driving component, the degree of freedom at the wrist is relatively high, and the movement can be relatively flexible. Moreover, two driving mechanisms and two universal joints are provided at the thumb, so that the thumb can not only swing but also bend, and is relatively strong. Secondly, each of the other fingers has an independent driving device, and the movement of each finger can be accurately controlled. These enable the manipulator provided by this application to have a relatively large degree of freedom. The spatial movement is highly independent and flexible, and complex functions such as grasping, touching, and clamping can be realized, and the effect is good. In addition, the manipulator is also provided with a quick-release component, and the protruding portion of the quick-release component and the electrically connected component are designed for synchronous separation, so that the separation speed between the manipulator and other components connected thereto is faster, and it is easier to overhaul and replace.

[0016] 2. Two electrical connection schemes of an interface, a spring and / or a contact are provided. The interface scheme can be electrically connected to other components through a wire, so as to realize power supply and signal transmission, and the connection is relatively reliable, which is suitable for scenarios with relatively harsh working environments. The electrical connection scheme through the spring and / or the contact realizes the electrical connection between the manipulator and other components by abutting against the corresponding contacts that may be included on other components. The advantage of this is that after the fixing component is separated from other components, the separation of the electrically connected component can be realized, further simplifying the disassembly and assembly operation, and effectively reducing the plugging and unplugging wear and improving the reliability of high-frequency disassembly and assembly.

[0017] 3. Enhance the accuracy of the tendon rope drive through the pulley drive structure and reduce the wear of the rope body during movement. The double-finger joint design simulates the bending arc of the human finger, making it more suitable for grasping irregular objects. The grasping force can also be real-time feedback through the force sensor to avoid damage or slippage of the object. Through these designs, the manipulator can be closer to the human hand. Therefore, this application also provides an operation method that directly imitates the user's actions, enabling the user to directly control the manipulator through actions without learning operation knowledge such as programming.

[0018] 4. The retractable positioning pin can further ensure the mechanical connection stability and improve the anti-vibration ability. The push-button unlocking simplifies the operation steps and can be disassembled with one hand, solving the problem that traditional manipulators rely on tools for disassembly and assembly, and further improving the simplicity of disassembly and assembly.

[0019] 5. This application also provides a robotic arm. By setting a chute corresponding to the manipulator on the upper arm, the upper arm and the manipulator can achieve precise positioning, stable fixation, and rapid disassembly and assembly, thus greatly increasing the flexibility of the humanoid robotic arm and significantly reducing its maintenance cost. By further setting limit holes in the chute, the axial displacement of the manipulator can be restricted, enabling it to bear a greater load, with more precise positioning and better fixation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective structural view of the robotic arm provided by this application;

[0021] Figure 2 is a front structural view of the humanoid manipulator provided by this application;

[0022] Figure 3 is a side structural view of the humanoid manipulator provided by this application;

[0023] Figure 4 is a front structural view of the humanoid manipulator removing the outer shell and part of the structure provided by this application;

[0024] Figure 5 is a partial structure of the upper arm provided by this application.

[0025] Reference numerals: 100, manipulator;

[0026] 1, palm assembly; 11, outer shell; 111, first nut; 112, second nut;

[0027] 2, thumb; 21, third drive assembly; 22, fourth drive assembly;

[0028] 3, other fingers; 31, third drive assembly; 311, drive component; 312, tendon rope; 32, pulley;

[0029] 4. Quick-release component; 41. Fixed component; 411. Protrusion; 42. Electrical connection component; 421. Interface;

[0030] 5. Circuit board;

[0031] 200; Robot arm;

[0032] 6. Upper arm; 61. Groove. Specific implementation mode

[0033] The advantages of the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0034] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0035] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the" and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining"

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0038] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two components. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0039] In the following description, the suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of the description of the present invention, and they do not have specific meanings themselves. Therefore, "module" and "component" can be used interchangeably.

[0040] Please refer to Figures 1-5 , Figure 1 which is a schematic three-dimensional structure diagram of the robotic arm provided by this application; Figure 2 which is a front view structure diagram of the humanoid manipulator provided by this application; Figure 3 which is a side view structure diagram of the humanoid manipulator provided by this application; Figure 4 which is a front view structure diagram of the humanoid manipulator provided by this application excluding the outer shell and some structures; Figure 5 which is a partial structure of the upper arm provided by this application.

[0041] As Figure 1 shown, as Figure 1 shown, this application provides a humanoid robotic arm 200, which includes a manipulator 100 and an upper arm 6. The manipulator 100 and the upper arm 6 are fixedly and electrically connected to each other.

[0042] Those skilled in the art can understand that the specific structure of the manipulator 100 is not limited.

[0043] As Figures 2-4 shown, this application also provides a humanoid manipulator 100. The manipulator 100 includes a palm assembly 1, a thumb 2, at least one other finger 3, and a circuit board 5.

[0044] The palm assembly 1 includes a first driving assembly, a second driving assembly (not shown in the figure), and a housing 11. In a possible implementation, the first driving assembly includes a first driving member, a first connecting rod, and a first joint. Among them, a first nut 111 is fixed on the housing 11, and the first nut 111 is inclined at a relatively large angle with respect to the horizontal direction, so that the overall facing direction of the first nut 111 is more biased towards the horizontal direction (it can be parallel to the horizontal direction or have a small angle with the horizontal direction, such as between ±30 degrees). One end of the first connecting rod is set as a bolt structure and sleeved outside the first nut 111, but does not make close contact with the first nut 111. Specifically, the end of the first connecting rod close to the first nut 111 has a first sleeve hole, the inner diameter of which is larger than the lower half of the first nut 111 and smaller than the radius of the free end of the first nut 111. When the first sleeve hole is sleeved outside the first nut 111, there is a gap between it and the lower half of the first nut 111, so that the first screw rod can have a small displacement in the direction provided by this part of the gap and is blocked by the upper half of the first nut 111, and is restricted to move in the displacement provided by this part of the gap. Since the overall trend of the first nut 111 is towards the horizontal direction, therefore, the first screw rod can be designed to be slightly spiral, so that when one end of the first screw rod faces the vertical direction, the facing trend of the other end faces the horizontal direction, thereby making the first connecting rod also inclined with respect to the horizontal direction. The first driving member is connected to the end of the first connecting rod in the vertical direction and drives this end to make a circular motion in the horizontal direction. In other words, after this end of the first connecting rod is driven, it can move left and right, front and back in the horizontal direction, and further drive the other end of the first connecting rod whose facing trend faces the horizontal direction to also move left and right, front and back in the horizontal direction. And because the cooperation between the first sleeve hole and the first nut 111 is overall towards the horizontal direction, it further drives the first nut to move left and right in the horizontal direction, and finally forms the effect that the first connecting rod pushes the housing 11, and then drives the palm assembly to rotate around the first joint.

[0045] Similarly, the second driving assembly includes a second driving member, a second connecting rod, and a second joint. The second connecting rod is fixedly connected to a second nut 112 on the housing 11 and is inclined at another angle relative to the horizontal direction so that the second driving member can drive the second connecting rod to push the housing 11, thereby driving the palm assembly to rotate around the second joint. Specifically, the second nut 112 is fixed on the housing 11 and is inclined at a small angle relative to the horizontal direction, such that the overall facing direction of the second nut 112 is more biased towards the vertical direction (it can be parallel to the vertical direction or have a small angle with the vertical direction, such as between ±30 degrees). One end of the second connecting rod is configured as a bolt structure and is sleeved outside the second nut 112, but does not make close contact with the second nut 112. Specifically, the end of the second connecting rod close to the second nut 112 has a second sleeve hole, the inner diameter of which is larger than the lower half of the second nut 112 and smaller than the radius of the free end of the second nut 112. When the second sleeve hole is sleeved outside the second nut 112, there is a gap between it and the lower half of the second nut 112, such that the second screw rod can have a small displacement in the direction provided by this part of the gap and is blocked by the upper half of the second nut 112, being restricted to move within the displacement provided by this part of the gap. Since the overall trend of the second nut 112 is towards the horizontal direction, the second screw rod can be designed as an almost straight line without a helix, such that when one end of the second screw rod faces the vertical direction, the facing trend of the other end is towards the vertical direction (it can be selected to be completely towards or almost towards the vertical direction). The second driving member is connected to the end of the second connecting rod in the vertical direction and drives this end to perform a circular motion in the horizontal direction. In other words, after this end of the second connecting rod is driven, it can move left and right, forward and backward in the horizontal direction, thereby driving the other end of the second connecting rod whose facing trend is towards the vertical direction to also move left and right, forward and backward in the horizontal direction. And since the cooperation between the second sleeve hole and the second nut 112 is overall towards the vertical direction, it further drives the second nut to pivot around the pivot axis at the connection between the palm and the forearm in the vertical direction, finally achieving the effect that the second connecting rod pushes the housing 11, thereby driving the palm assembly to pitch and rotate around the first joint.

[0046] The first joint and the second joint are perpendicular to each other. Exemplarily, the first joint can be arranged in the horizontal direction to control the swinging of the palm assembly. The second joint can be arranged in the vertical direction to control the pitching of the palm assembly. In another possible implementation, the first joint and the second joint can also have other angular relationships, which are not limited in this application.

[0047] The above is an independent control method for the palm assembly 1 provided by this application. Those skilled in the art can understand that the movement of the palm assembly 1 can also be controlled by other control methods.

[0048] Exemplarily, in another possible implementation, the first driving component and the second driving component also have driving parts and connecting rods. The first connecting rod and the second connecting rod are also sleeved on the first nut 111 and the second nut 112, and drive the housing by pushing the first nut 111 and the second nut 112. The first joint and the second joint are also perpendicular to each other. Differently, the pitching and swinging of the palm are both completed by the first connecting rod and the second connecting rod together. For example, in one possible implementation, the first connecting rod is arranged on the left side and the second connecting rod is arranged on the right side. When the first connecting rod retracts and the second connecting rod pushes forward, the palm component can be pushed by the housing to rotate around the first joint, and at this time the manipulator swings to the left. When the second connecting rod pushes forward and the second connecting rod retracts, the palm component also rotates around the first joint, and at this time the manipulator swings to the right. When the first connecting rod and the second connecting rod push forward at the same time, the palm component rotates around the second joint, and at this time the manipulator tilts backward. When the first connecting rod and the second connecting rod retract at the same time, the palm component also rotates around the second joint, and at this time the manipulator pitches forward. At this time, there is no need to set the angles of the first nut and the second nut with the housing, and the flexible swinging and pitching of the wrist can also be achieved, and the design and processing are more flexible.

[0049] The thumb 2 and at least one other finger 3 are arranged on one side of the palm component 1 and extend outward. The thumb 2 includes a third driving component 21 and a fourth driving component 22. The third driving component 21 includes a driving part and a first universal joint, and can drive the thumb 2 to move in a first direction. The fourth driving component 22 includes a driving part and a second universal joint, and can drive the thumb 2 to move in a second direction. The first universal joint and the second universal joint are arranged obliquely to each other.

[0050] Those skilled in the art can understand that the specific directions of the first direction and the second direction described here are not limited. Those skilled in the art can freely design according to needs, and deduce the positional relationship between the first universal joint and the second universal joint through the first direction and the second direction. For example: the first universal joint and the second universal joint are perpendicular, relatively inclined at 30°, 45°, 60°, etc., and the present application also does not make limitations here.

[0051] Exemplarily, the driving parts of the third driving component 21 and the fourth driving component 22 can be motors of various types and any combination thereof, such as a micro linear motor, a rotary stepping motor, etc., and drive the universal joint, so that the thumb 2 can achieve swinging and bending. Thus, the thumb 2 is allowed to move more flexibly and more powerfully, and can complete grasping and other actions together with other fingers 3.

[0052] The above is the introduction of the related structures of the thumb 2 and the palm component 1 in this application. Next, the specific structures of the other fingers 3 will be described with reference to the drawings.

[0053] As Figures 3-4As shown, the other fingers 3 include a third driving component 31. The third driving component 31 includes a driving part 311 and a tendon cord 312. The driving part 311 can drive the other fingers 3 to flex and extend by pulling or relaxing the tendon cord 312. The circuit board 5 is arranged on one side of the palm component 1 away from the thumb 2 and is electrically connected to each driving part to control each driving part.

[0054] Those skilled in the art can understand that the specific number of fingers of the manipulator 100 provided in this application is not limited. In a possible implementation manner, at least one finger specifically includes four fingers, so as to correspond to the five fingers of the human body, which is more in line with the user's usage habits. In another possible implementation manner, the manipulator 100 may also include more or fewer fingers, such as six, seven, four, three, etc., to achieve certain special functions and adapt to certain special scenarios. This application does not make any restrictions here.

[0055] Hereinafter, the specific structure will be exemplified by taking the manipulator 100 with five fingers as an example. Therefore, for the convenience of description, the five fingers of the human hand, namely the thumb 2, index finger, middle finger, ring finger, and little finger, will be used to refer to the thumb 2 and the other four fingers 3 in this case.

[0056] Furthermore, in a possible implementation manner, the thumb 2, index finger, middle finger, ring finger, and little finger all include two finger joints. Among them, the finger joint includes a pulley 32. The tendon cord 312 passes through the pulley 32 and drives the pulley 32 to rotate, thereby driving the finger to flex and extend. Through such a design, the transmission structure of the pulley 32 enhances the driving accuracy of the tendon cord 312 and reduces the wear of the cord body during the movement process. The double-finger joint design simulates the bending arc of the human finger, is more suitable for grasping irregular objects, and can further imitate the movements of the human hand and optimize the bionic design.

[0057] Furthermore, a force sensor module can be arranged at one end of the finger away from the palm component 1 to be used for real-time testing of the contact force of the grasped object and feedback the grasping force to the circuit board 5 to avoid damage or slipping of the object.

[0058] The above is the description of the specific structures of the palm and each finger in the manipulator 100 provided in this application. In a possible implementation manner, the manipulator 100 further includes a quick-release component 4 that cooperates with the upper arm 6.

[0059] Specifically, as Figure 3 and Figure 5As shown, the manipulator 100 further includes a quick-release assembly 4. The quick-release assembly 4 includes a fixed component 41 and an electrical connection component 42. The fixed component 41 includes a protruding portion 411 disposed at an end of the palm component 1 away from the thumb 2 and extending inwardly. The large arm 6 is provided with a groove 61 corresponding to the shape of the protruding portion 411, and the protruding portion 411 can be screwed into the groove 61 to relatively fix the manipulator 100 and the large arm 6. The electrical connection component 42 is also a separable structure. When the fixed component 41 is fixed to the large arm 6, the circuit board 5 can be electrically connected to the large arm 6. When the fixed component 41 is separated from the large arm 6, the electrical connection component 42 and the fixed component 41 are separated from the large arm 6 together.

[0060] Here, it can be understood that the protruding portion 411 of the quick-release assembly 4 and the electrical connection component 42 are designed for synchronous separation, so that the separation speed of the manipulator 100 and the connected large arm 6 is faster, and it is easier for the daily maintenance and replacement of the manipulator 100 and the large arm 6.

[0061] Those skilled in the art can understand that the specific structures of the fixed component 41 and its corresponding groove 61 are not limited.

[0062] In a possible implementation, a retractable positioning pin (not shown in the figure) is provided at the end of the protruding portion 411 of the quick-release assembly 4. When the protruding portion 411 is screwed into the corresponding groove 61 to the locking position, the positioning pin relatively fixes the manipulator 100 and the large arm 6. When the protruding portion 411 is separated from the large arm 6, the positioning pin can be pressed to release the lock. The retractable positioning pin can further ensure the mechanical connection stability and improve the anti-vibration ability. The push-button unlocking simplifies the operation steps and can be completed with one hand, solving the problem that the traditional manipulator 100 depends on tools for disassembly and assembly, and further improving the simplicity of disassembly and assembly.

[0063] Correspondingly, in a possible implementation, a limiting hole is further provided at the locking position of the chute of the large arm 6. When the positioning pin slides to the locking position, it can be caught in the limiting hole to form a mechanical interlock. By providing a chute corresponding to the manipulator 100 on the large arm 6, the large arm 6 and the manipulator 100 can achieve precise positioning, stable fixation and quick disassembly and assembly, thus greatly increasing the flexibility of the humanoid robotic arm 200 and greatly reducing its maintenance cost. By further providing a limiting hole in the chute, the axial displacement of the manipulator 100 can be restricted, enabling it to bear a greater load, with more precise positioning and better fixation effect.

[0064] The above are the possible structures of the fixed component 41 of the present application and the groove 61 on the large arm 6 corresponding to the fixed component 41.

[0065] Those skilled in the art can understand that the specific structure of the electrical connection component 42 in the present application is also not limited.

[0066] As Figure 3 shown and understood in conjunction with Figures 1-2 In a possible implementation, the electrical connection component 42 includes at least one interface 421. The interface 421 is fixed to one end of the manipulator 100 away from the thumb 2, and electrically connects the circuit board 5 and the upper arm 6 through a connecting wire, thereby realizing the transmission of power supply and signals. This connection method is relatively reliable and is suitable for scenarios with relatively harsh working environments.

[0067] In another possible implementation, the electrical connection component 42 includes reeds and / or contacts. The reeds and / or contacts are arranged on the side of the circuit board 5 away from the thumb 2 and are electrically connected to the circuit board 5. The upper arm 6 is provided with corresponding reeds and / or contacts. When the manipulator 100 is fixed, the reeds and / or contacts on one side of the manipulator 100 are in contact with the reeds and / or contacts on one side of the upper arm 6, thereby realizing the electrical connection between the circuit board 5 and the upper arm 6 and transmitting power supply and signals. The advantage of this is that when the fixing component 41 is separated from the upper arm 6, the electrical connection component 42 can be separated, further simplifying the disassembly and assembly operations, and effectively reducing the plugging and unplugging wear to improve the reliability of high-frequency disassembly and assembly.

[0068] The above is a specific description of the mechanical structures of the manipulator 100 and the upper arm 6 provided in this application.

[0069] Those skilled in the art can understand that the specific operation method of the manipulator 100 is also not limited.

[0070] In a possible implementation, the manipulator 100 can be input after being programmed by a computer and run according to the program. In another possible implementation, the circuit board 5 of the manipulator 100 can also be built-in with an action mapping module and can be connected to a camera for converting the hand action data collected by the camera into control instructions for the driving components to directly imitate the user's actions. Among them, the setting position of the camera is not limited. It can be set on the manipulator 100 or the upper arm 6, or can be set separately outside the robotic arm 200 and connected to the circuit board 5 of the manipulator 100 through a connecting wire. This enables the user to directly control the manipulator 100 through actions without having to learn operation knowledge such as programming, further reducing the learning cost and the usage threshold.

[0071] It should be noted that the embodiments of the present invention have good implementability and are not any form of limitation to the present invention. Any person skilled in the art may use the disclosed technical content to modify or transform it into an equivalent effective embodiment. However, as long as it does not depart from the technical content of the present invention, any modification, equivalent change or modification made to the above embodiments according to the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A robot, characterized in that: including a palm assembly, a thumb, at least one other finger, and a circuit board; The palm assembly includes a first drive assembly, a second drive assembly and a housing; the first drive assembly includes a first drive component and a first connecting rod; the second drive assembly includes a second drive component and a second connecting rod; the palm assembly also includes a first joint and a second joint that are perpendicular to each other; so that the first drive component can drive the first connecting rod, and the second drive component can drive the second connecting rod, which work together to rotate the palm assembly around the first joint or the second joint, thereby achieving the pitch and swing of the palm assembly; The thumb and the at least one other finger are arranged on one side of the palm assembly and extend outward; the thumb includes a third driving assembly and a fourth driving assembly; the third driving assembly includes a driving component and a first universal joint, which can drive the thumb to move in a first direction; the fourth driving assembly includes a driving component and a second universal joint, which can drive the thumb to move in a second direction; the first universal joint and the second universal joint are arranged to be inclined to each other; the other finger includes a third driving assembly; the third driving assembly includes a driving component and a tendon rope; the driving component can drive the other finger to flex and extend by pulling or loosening the tendon rope; The circuit board is arranged on a side of the palm assembly away from the thumb, and is electrically connected to each of the driving components, so as to control each of the driving components; The manipulator also includes a quick-release component; the quick-release component includes a fixing component and an electrical connection component; the fixing component includes a protrusion that is arranged at the end of the palm component away from the thumb and extends inward; the protrusion can be screwed into the corresponding grooves of other components and fix the manipulator relative to the other components; the electrical connection component is a detachable structure, and when the fixing component is fixed to other components, the circuit board can be electrically connected to other components; when the fixing component is separated from other components, the electrical connection component and the fixing component are separated together.

2. The robot according to claim 1, characterized in that: The electrical connection component includes at least one interface and is electrically connected to other components via a connection line.

3. The robot according to claim 1, characterized in that: The electrical connection component includes a reed and / or a contact, and the reed and / or the contact are arranged on a side of the circuit board away from the thumb and are electrically connected to the circuit board.

4. The robot according to claim 1, characterized in that: The thumb and the other fingers each include two knuckles, and the knuckles include pulleys. The tendon rope passes through the pulleys and drives the pulleys to rotate, thereby driving the fingers to flex and extend.

5. The robot according to claim 1, characterized in that: The circuit board of the manipulator has a built-in motion mapping module and can be connected to a camera; it is used to convert the hand motion data collected by the camera into control instructions for driving components.

6. The robot according to claim 1, characterized in that: A force sensor module is also provided at one end of the thumb and the at least one finger away from the palm assembly, for testing the contact force of the grasped object in real time and feeding back to the circuit board.

7. The robot according to claim 1, characterized in that: A retractable positioning pin is provided at the end of the protrusion of the quick-release assembly; when the protrusion is screwed into the corresponding groove to a locking position, the positioning pin fixes the manipulator relative to other components; when the protrusion is separated from other components, the positioning pin can be pressed to release the lock.

8. A humanoid robotic arm, characterized in that: It includes a humanoid manipulator and a large arm as described in claims 1-7; the large arm includes a slide groove corresponding to the shape of the protrusion of the manipulator fixing part; when the manipulator is inserted into the large arm and slides along the slide groove to a locking position, the manipulator is relatively fixed to the large arm and electrically connected.

9. The mechanical arm according to claim 8, characterized in that: When the manipulator is provided with the positioning pin, a locking hole is further provided at the locking position of the slide slot, and when the positioning pin slides to the locking position, it can be locked into the limiting hole to form a mechanical interlock.

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