Manipulator and robot

Abstract

The manipulator comprises a joint assembly, a first driving part and a transmission assembly, and the joint assembly comprises a first joint part and a second joint part rotationally connected with the first joint part; the first driving piece is arranged on the first joint piece; the transmission assembly is in transmission connection with the first driving piece and the second joint piece, the first driving piece can drive the second joint piece to rotate in the grabbing direction through the transmission assembly, and the transmission assembly is configured to be capable of cutting off power transmission with the first driving piece when the second joint piece is subjected to impact force and rotates in the grabbing direction, or cutting off power transmission with the second driving piece when the second joint piece rotates in the grabbing direction. When the second joint part is subjected to impact force and rotates in the direction opposite to the grabbing direction, the transmission assembly can cut off power transmission between the transmission assembly and the first driving part. According to the manipulator, the risk that the driving piece of the manipulator is damaged can be reduced, and therefore the use cost of the robot is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical hand and a robot. BACKGROUND

[0002] In the fields of industrial automation, service robots, medical assistance, etc., the mechanical hand as the core executive component of the robot interacting with the external environment, its performance directly determines the ability of the robot to complete fine operation tasks. At present, the mainstream mechanical hand on the market is connected through a mechanical arm, that is, through the multi-degree-of-freedom movement of the mechanical arm to drive the mechanical hand to reach the target work position, and then rely on the joint driving of the fingers of the mechanical hand to realize the actions of grabbing, assembling, operating, etc.

[0003] However, in the actual application process, due to factors such as cost control, structural integration difficulty or specific work environment (such as narrow space, dynamic uncertain scene), a large number of mechanical hands are not equipped with external perception devices such as laser radar, visual sensor, force touch feedback sensor, etc. In this kind of working condition without external sensor assistance, the robot is difficult to accurately perceive the relative position relationship between the mechanical hand and the surrounding objects in real time, and it is easy to cause accidental collision between the mechanical hand and the external objects (such as the edge of the workbench, obstacles other than the workpiece to be operated, equipment shell, etc.) in the process of mechanical arm movement or finger action.

[0004] Since the transmission assembly and the joint assembly of the existing mechanical hand are usually designed in a rigid connection, this design can ensure the accuracy of power transmission and the stability of operation, but when the mechanical hand collides with the external object, the instantaneous impact load generated by the collision will be directly transmitted to the transmission assembly along the joint assembly, and then conducted to the driving part (such as servo motor, stepper motor, driving cylinder, etc.). Since the internal precision components (such as motor rotor, bearing, gear set) of the driving part have limited tolerance to impact load, such direct transmission of impact is easy to cause mechanical damage to the driving part, and the driving part of the mechanical hand needs to be frequently replaced, thereby increasing the use cost of the robot. SUMMARY

[0005] In view of the above shortcomings in the prior art, the present application provides a mechanical hand and a robot, which can reduce the risk of damage to the driving part of the mechanical hand, thereby reducing the use cost of the robot.

[0006] In order to solve the above technical problems, in a first aspect, the present application provides a mechanical hand, comprising: a joint assembly, the joint assembly comprising a first joint part and a second joint part rotatably connected with the first joint part; a first driving part, the first driving part being arranged on the first joint part; A transmission assembly is in transmission connection with the first driving member and the second joint member respectively, the first driving member can drive the second joint member to rotate along the gripping direction through the transmission assembly, the transmission assembly is configured to cut off the power transmission between the first driving member when the second joint member is impacted and rotates along the gripping direction, or cut off the power transmission between the first driving member when the second joint member is impacted and rotates along the direction opposite to the gripping direction.

[0007] In some possible implementation manners, the transmission assembly comprises a transmission shaft, a first transmission wheel rotatably arranged on the transmission shaft, and a decoupling member, the transmission shaft is rotatably arranged on the first joint member, the first transmission wheel is in transmission connection with the first driving member, the first transmission wheel has a tooth portion and a flat portion along the circumferential direction thereof, the decoupling member has an abutting surface, the abutting surface is abuttable with the tooth portion, the length of the abutting surface along the circumferential direction of the first transmission wheel is less than the length of the flat portion, when the first driving member drives the second joint member to rotate along the gripping direction, the tooth portion of the first transmission wheel abuts against the abutting surface to drive the decoupling member to drive the second joint member to rotate along the gripping direction, and when the second joint member is impacted and rotates along the gripping direction, the abutting surface is separated from the tooth portion.

[0008] In some possible implementation manners, the transmission assembly comprises a transmission shaft and a first transmission wheel rotatably arranged on the transmission shaft, the transmission shaft is rotatably arranged on the first joint member, the transmission shaft is provided with a first protruding portion, the first transmission wheel is in transmission connection with the first driving member, the first transmission wheel has a first rotation hole, and a first groove is arranged on the hole wall of the first rotation hole, the circumferential width of the first groove is greater than the circumferential width of the first protruding portion, when the first driving member drives the second joint member to rotate along the gripping direction, the first groove wall of the first groove abuts against the first protruding portion to drive the transmission shaft to drive the second joint member to rotate along the gripping direction, and when the second joint member is impacted and rotates along the direction opposite to the gripping direction, the first protruding portion is separated from the first groove wall and can rotate relative to the first groove wall along the direction opposite to the gripping direction.

[0009] In some possible implementation manners, the first transmission wheel comprises a turbine; The transmission assembly further comprises a worm, the worm is in transmission connection with the first driving member, and the worm cooperates with the turbine.

[0010] In some possible implementation manners, the mechanical arm further includes a first reset member, two ends of the first reset member are connected with the first joint member and the second joint member respectively, when the second joint member is subjected to the impact force and rotates in the gripping direction, the first reset member stores the impact force, and when the impact force on the second joint member ends, the first reset member can drive the decoupling member to rotate in a direction opposite to the gripping direction to the abutting surface and the tooth portion.

[0011] In some possible implementation manners, the second joint member includes a fingertip, the first joint member includes a finger heel, and the transmission shaft is rotationally arranged at the finger heel. The decoupling member is fixedly connected with the transmission shaft. The joint assembly further includes a fingertip connecting member, one end of the fingertip connecting member is rotationally connected with the fingertip, and the other end of the fingertip connecting member is fixedly connected with the transmission shaft.

[0012] In some possible implementation manners, the decoupling member and the fingertip connecting member are both fixed with the transmission shaft through a flat position.

[0013] In some possible implementation manners, the joint assembly further includes a transition connecting member, one end of the transition connecting member is rotationally connected with the finger heel through a first rotation shaft, and the other end of the transition connecting member is rotationally connected with the fingertip through a second rotation shaft.

[0014] In some possible implementation manners, the second joint member includes a finger heel, the first joint member includes a palm, and the transmission shaft is rotationally arranged at the palm. The first end of the decoupling member is rotationally connected with the transmission shaft, the second end of the decoupling member is rotationally connected with the finger heel through a third rotation shaft, when the tooth portion of the first transmission wheel abuts against the abutting surface and pushes the first end of the decoupling member to rotate in the gripping direction, the second end of the decoupling member can drive the finger heel to rotate in the gripping direction.

[0015] In some possible implementation manners, the mechanical arm further includes: A connecting support, the connecting support is connected with the palm, and the transmission shaft is connected to the connecting support. A swing support, the swing support is movably connected with the finger heel. A rotation shaft, the rotation shaft is rotationally arranged at the connecting support and connected with the swing support, an axial direction of the rotation shaft is perpendicular to an axial direction of the transmission shaft, and a second protruding portion is arranged on an outer circumferential wall of the rotation shaft. The second transmission wheel has a second rotating hole, and a second groove is arranged on the hole wall of the second rotating hole, and the circumferential width of the second groove is greater than the circumferential width of the second protruding part; The second driving member is in transmission connection with the rotating shaft, when the second driving member drives the rotating shaft to rotate in the first direction, the second groove wall is in abutment with the second protruding part to drive the rotating shaft to drive the swing support to rotate in the first direction, and when the toe is subjected to the impact force and rotates in the second direction, the second protruding part is separated from the second groove wall.

[0016] In some possible implementation manners, a spherical part is arranged on the third rotating shaft; The second end of the decoupling member is rotatably sleeved on the spherical part.

[0017] In some possible implementation manners, the mechanical arm further comprises a second reset member, two ends of the second reset member are respectively connected with the swing support and the connecting support, when the toe is subjected to the impact force and moves in the second direction, the second reset member stores the impact force, and when the impact force on the toe ends, the second reset member can drive the second transmission wheel to rotate in the first direction to the abutment between the second protruding part and the second groove wall.

[0018] In a second aspect, the application further provides a robot, which comprises the mechanical arm of any one of the first aspect.

[0019] Compared with the prior art, the application has at least the following beneficial effects: In the application, when the mechanical arm is in gripping, the first driving member drives the transmission assembly to drive the second joint member to rotate in the gripping direction, when the second joint member is subjected to the impact force, if the second joint member continues to rotate in the gripping direction, the transmission assembly can cut off the power transmission between the first driving member, or if the second joint member rotates in the direction opposite to the gripping direction, the transmission assembly can cut off the power transmission between the first driving member, thereby avoiding the impact of the impact force on the second joint member through the transmission assembly to the first driving member, so as to achieve the purpose of protecting the first driving member, and further reduce the use cost of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0021] Figure 1 This is a structural schematic diagram of the robotic arm from a first-view perspective, provided in an embodiment of the present invention. Figure 2 A schematic diagram of the fingertip structure provided in an embodiment of the present invention; Figure 3 An exploded view of the first transmission wheel and decoupling component provided in an embodiment of the present invention; Figure 4 A cross-sectional view of the first transmission wheel and transmission shaft provided in an embodiment of the present invention; Figure 5 This is a structural schematic diagram of the robotic arm from a second perspective, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of the finger heel provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection structure of the swing bracket provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the second transmission wheel connection provided in an embodiment of the present invention; Figure 9 for Figure 8 Cross-sectional view at point AA; Figure 10 for Figure 6 Partial exploded view.

[0022] Explanation of reference numerals in the attached figures: 100-robotic arm; 110 - Joint assembly; 111 - First joint component; 112 - Second joint component; 113 - Fingertip connector; 114 - Transition connector; 120 - First driving component; 130 - Transmission assembly; 131 - Drive shaft; 1311 - First protrusion; 132 - First drive wheel; 1321 - Tooth; 1322 - Flat part; 1323 - First rotating hole; 13231 - First groove; 133 - Decoupling component; 1331 - Abutment surface; 134 - Worm gear; 140 - First reset component; 151-Connecting bracket; 152-Swing bracket; 153-Rotating shaft; 1531-Second protrusion; 154-Second transmission wheel; 1541-Second rotating hole; 1542-Second groove; 15421-Second groove wall; 155-Second driving component; 156-Second reset component; 157-Third rotating shaft; 1571-Spherical component. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0025] Furthermore, some of the aforementioned terms, besides indicating direction or positional relationships, may also have other meanings. For example, the term "above" may, in certain circumstances, indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0026] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0027] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0028] The present application will be described in detail below through specific embodiments: See Figure 1This application provides a robotic arm 100, which includes a joint assembly 110, a first drive member 120, and a transmission assembly 130. The joint assembly 110 includes a first joint member 111 and a second joint member 112 rotatably connected to the first joint member 111. The first drive member 120 is disposed on the first joint member 111. The transmission assembly 130 is respectively connected to the first drive member 120 and the second joint member 112. The first drive member 120 can drive the second joint member 112 to rotate in the gripping direction through the transmission assembly 130. The transmission assembly 130 is configured to cut off the power transmission with the first drive member 120 when the second joint member 112 is subjected to an impact force and rotates in the gripping direction, or when the second joint member 112 is subjected to an impact force and rotates in the opposite direction to the gripping direction, the transmission assembly 130 can cut off the power transmission with the first drive member 120.

[0029] The aforementioned gripping direction refers to the direction in which the fingers of the robotic arm 100 bend and rotate when it shakes its hand. Figure 1 The direction indicated by arrow X1 is opposite to the gripping direction. Figure 1 The direction indicated by the X2 arrow in the middle.

[0030] The second joint 112 in the first joint 111 and the second joint 112 mentioned above can move relative to the first joint 111, but it should not be understood that the first joint 111 is fixed. The first joint 111 can be a fingertip, finger base, etc., and the second joint 112 can be a finger base, palm, etc.

[0031] The first driving component 120 mentioned above can be a servo motor, a stepper motor, etc.

[0032] The transmission assembly 130 can be a gear assembly, a turbine assembly, a belt drive assembly, etc.

[0033] The aforementioned joint component 110 can be a proximal joint, a distal joint, a palm joint, etc.

[0034] In addition, when the first driving member 120 drives the transmission assembly 130 to rotate the second joint member 112 along the gripping direction, the movement of the second joint member 112 is an active movement. The movement generated when the second joint member 112 is subjected to an impact force is called the passive movement of the second joint member 112.

[0035] In this embodiment, when the robotic arm 100 grasps, the first driving member 120 drives the transmission assembly 130 to rotate the second joint member 112 along the grasping direction. When the second joint member 112 is subjected to an impact force, if the second joint member 112 continues to rotate along the grasping direction, the transmission assembly 130 can cut off the power transmission with the first driving member 120. Alternatively, if the second joint member 112 rotates in the opposite direction to the grasping direction, the transmission assembly 130 can cut off the power transmission with the first driving member 120. Thus, it is possible to prevent the impact force from being transmitted to the first driving member 120 through the transmission assembly 130 after the second joint member 112 is subjected to an impact force, thereby achieving the purpose of protecting the first driving member 120 and reducing the operating cost of the robot.

[0036] In addition, there are various specific structures in which the transmission assembly 130 cuts off the power transmission with the first drive member 120 after the second joint member 112 is subjected to an impact force. Examples will be given below.

[0037] In some possible embodiments, see Figure 1 , Figure 2 and Figure 3 The transmission assembly 130 includes a transmission shaft 131, a first transmission wheel 132 rotatably mounted on the transmission shaft 131, and a decoupling member 133. The transmission shaft 131 is rotatably mounted on a first joint member 111. The first transmission wheel 132 is connected to a first driving member 120. The first transmission wheel 132 has teeth 1321 and planar surfaces 1322 along its circumference. The decoupling member 133 has an abutment surface 1331 that can abut against the teeth 1321. Along the circumference of the first transmission wheel 132, the length of the contact surface 1331 is less than the length of the planar portion 1322. When the first driving member drives the second joint member 112 to rotate in the gripping direction, the tooth portion 1321 of the first transmission wheel 132 abuts against the contact surface 1331 to push the decoupling member 133 to drive the second joint member 112 to rotate in the gripping direction. When the second joint member 112 is subjected to an impact force and rotates in the gripping direction, the contact surface 1331 separates from the tooth portion 1321.

[0038] Since the first transmission wheel 132 is connected to the first driving member 120, the contact surface 1331 can abut against the teeth 1321. Therefore, when the first driving member 120 drives the first transmission wheel 132 to rotate, the teeth 1321 of the first transmission wheel 132 can push the decoupling member 133 to rotate in the gripping direction through the contact surface 1331. Furthermore, since the length of the contact surface 1331 is less than the length of the planar portion 1322 along the circumference of the first transmission wheel 132, when the second joint member 112 is subjected to an impact force and rotates in the gripping direction, the contact surface... 1331 separates from the tooth 1321, thereby decoupling the decoupling member 133 from the first transmission wheel 132, that is, cutting off the power transmission between the decoupling member 133 and the first transmission wheel 132, and further cutting off the power transmission with the first driving member 120. In this way, when the second joint member 112 moves actively, the power of the first driving member 120 can be transmitted to the second joint member 112 through the transmission assembly 130, and the power transmission with the first driving member 120 can be cut off when the second joint member 112 is subjected to an impact force.

[0039] It can be seen that in this structure, when the second joint 112 is subjected to an impact force, the power transmission between the second joint 112 and the first drive member 120 can be cut off when the active and passive movement directions of the second joint 112 are the same.

[0040] In some other possible embodiments, see Figure 2 and Figure 4 The transmission assembly includes a transmission shaft 131 and a first transmission wheel 132 rotatably mounted on the transmission shaft 131. The transmission shaft 131 is rotatably mounted on a first joint member 111. A first protrusion 1311 is provided on the transmission shaft 131. The first transmission wheel 132 is connected to a first driving member 120. The first transmission wheel 132 has a first rotating hole 1323. A first groove 13231 is provided on the wall of the first rotating hole 1323. The circumferential width of the first groove 13231 is greater than the circumferential width of the first protrusion 1311. When the first driving member drives the second joint member 112 to rotate in the gripping direction, the first groove wall of the first groove 13231 abuts against the first protrusion 1311 to push the transmission shaft 131 to drive the second joint member 112 to rotate in the gripping direction. When the second joint member 112 is subjected to an impact force and rotates in the opposite direction to the gripping direction, the first protrusion 1311 separates from the first groove wall and can rotate relative to the first groove wall in the opposite direction to the gripping direction.

[0041] Since the first transmission wheel 132 has a first rotating hole 1323, it can be rotatably mounted on the transmission shaft 131 by being sleeved on the transmission shaft 131 through the first transmission hole. Furthermore, since the first protrusion 1311 on the transmission shaft 131 engages with the first groove 13231 in the first transmission hole, and the circumferential width of the first groove 13231 is greater than the circumferential width of the first protrusion 1311, and when the first driving member 120 drives the second joint member 112 to rotate in the gripping direction, the first groove wall of the first groove 13231 can engage with the first protrusion 13231. The first drive member 120 outputs power to the first drive wheel 132, and then to the first protrusion 1311 via the first groove wall. This achieves the purpose of the first drive wheel 132 driving the drive shaft 131 to rotate. When the second joint member 112 is subjected to an impact force, the second joint member 112 rotates in the opposite direction to the gripping direction, thereby driving the drive shaft 131 to rotate in the opposite direction to the gripping direction. At this time, the first protrusion 1311 will separate from the first groove wall, thereby cutting off the power transmission with the first drive member 120.

[0042] It can be seen that in this structure, when the second joint 112 is subjected to an impact force, it can solve the problem of cutting off the power transmission between the second joint 112 and the first drive member 120 when the active movement direction and the passive movement direction of the second joint 112 are opposite.

[0043] In some possible embodiments, see Figure 1 The first transmission wheel 132 includes a turbine; the transmission assembly 130 also includes a worm gear 134, which is connected to the first driving member 120 and cooperates with the turbine gear.

[0044] Because the worm gear 134 transmission can achieve a large transmission ratio, it can meet some requirements that require a large reduction in speed.

[0045] In addition, since the worm gear 134 transmission is equivalent to a helical transmission and is a multi-tooth meshing transmission, it is smoother and has less vibration, impact and noise compared to some other transmission methods, such as gear transmission.

[0046] Of course, in some other possible embodiments, the first transmission wheel 132 includes a first gear, and the transmission assembly 130 also includes a second gear, which is connected to the first driving member 120 in a transmission manner, and the second gear meshes with the first gear.

[0047] In some possible embodiments, see Figure 1The robotic arm 100 also includes a first reset member 140. The two ends of the first reset member 140 are connected to the first joint member 111 and the second joint member 112 respectively. When the second joint member 112 is subjected to an impact force and rotates in the gripping direction, the first reset member 140 stores force. When the impact force on the second joint member 112 ends, the first reset member 140 can drive the decoupling member 133 to rotate in the opposite direction to the gripping direction until the contact surface 1331 abuts against the tooth 1321.

[0048] The first reset component 140 can be a compression spring, a V-shaped spring, or other similar structure.

[0049] When the second joint 112 is impacted and rotates along the gripping direction, the first reset member 140 simultaneously stores energy, converting the kinetic energy generated by the impact into its own elastic potential energy or deformation potential energy. After the impact force disappears, the second reset member releases the stored potential energy, causing the second joint 112 and the decoupling member 133 to rotate in the opposite direction to the gripping direction, ultimately allowing the contact surface 1331 to re-engage with the tooth 1321. As can be seen, the entire process requires no additional drive components or manual operation, realizing a fully automatic cycle of "impact-energy storage-reset," thus improving the continuous operation capability of the robot arm 100.

[0050] In some possible embodiments, see Figure 2 The second joint component 112 includes a fingertip, the first joint component 111 includes a finger base, and the drive shaft 131 is rotatably disposed on the finger base; the decoupling component 133 is fixedly connected to the drive shaft 131; the joint assembly 110 also includes a fingertip connector 113, one end of the fingertip connector 113 is rotatably connected to the fingertip, and the other end of the fingertip connector 113 is fixedly connected to the drive shaft 131.

[0051] When the second joint 112 includes a fingertip and the first joint 111 includes a finger base, the first drive member can drive the fingertip to rotate relative to the finger base through the transmission assembly.

[0052] Since the decoupling component 133 is fixed to the transmission shaft 131, the transmission shaft 131 then transmits power to the fingertip through the fingertip connector 113, forming a complete transmission link of "driving component → first transmission wheel 132 → decoupling component 133 → transmission shaft 131 → fingertip", ensuring that the power is transmitted without deviation and realizing the controllable rotation of the fingertip along the gripping direction.

[0053] In addition, one end of the fingertip connector 113 is rotatably connected to the fingertip. While the drive shaft 131 drives the fingertip to rotate, the fingertip is allowed to finely adjust the angle according to the shape of the object being grasped or the force applied, thereby improving the gripping flexibility and adaptability.

[0054] In some possible embodiments, see Figure 3 Both the decoupling component 133 and the fingertip connector 113 are fixed to the drive shaft 131 via a flat section.

[0055] Therefore, the power received by the decoupling component 133 comes from the first transmission wheel 132 and the power that the fingertip connector 113 needs to transmit to the fingertip. All of them are rigidly bound directly to the transmission shaft 131 through the flat fixing, ensuring that the rotation angles of the three are completely consistent and the torque is transmitted without loss, avoiding delays or accuracy deviations in fingertip movements caused by relative rotation of components.

[0056] In some possible embodiments, see Figure 2 The joint assembly 110 also includes a transition connector 114, one end of which is rotatably connected to the base of the finger via a first pivot, and the other end of which is rotatably connected to the fingertip via a second pivot.

[0057] The transition connector 114 forms a dual-axis structure: "finger base → transition connector 114 → fingertip" by rotating with the first axis and the second axis. Compared to a single-axis direct connection, this adds an extra dimension of rotation to the fingertip, allowing for more complex swinging or flipping movements.

[0058] In some possible embodiments, see Figure 5 The second joint 112 includes the base of the finger, the first joint 111 includes the palm, and the drive shaft 131 is rotatably disposed on the palm. The first end of the decoupling member 133 is rotatably connected to the drive shaft 131, and the second end of the decoupling member 133 is rotatably connected to the base of the finger through the third rotating shaft 157. When the tooth 1321 of the first drive wheel 132 abuts against the contact surface 1331 and pushes the first end of the decoupling member 133 to rotate in the gripping direction, the second end of the decoupling member 133 can drive the base of the finger to rotate in the gripping direction.

[0059] In this embodiment, when the second joint 112 includes the base of the finger and the first joint 111 includes the palm, the first driving member can drive the base of the finger to rotate, which is equivalent to the palm, through the transmission component.

[0060] Optionally, the first driving element that drives the movement of the base of the finger and the first driving element that drives the movement of the fingertip can be two independent first driving elements.

[0061] Since the first end of the decoupling component 133 rotates with the drive shaft 131, and the second end is connected to the fingertip via the third rotating shaft 157, this "one-end rotation, one-end hinge" structure can convert the circumferential rotation of the drive shaft 131 into the swinging motion of the fingertip around the third rotating shaft 157, perfectly matching the gripping or unfolding motion requirements of the robotic arm 100. Furthermore, the fixed length of the decoupling component 133 and the fixed connection position of the first and second ends allow for precise control of the fingertip's swing angle and amplitude through the design of the decoupling component 133, preventing finger movement deviation and ensuring accurate gripping position.

[0062] In some possible embodiments, see Figures 5 to 9 The robotic arm 100 also includes a connecting bracket 151, a swing bracket 152, a rotating shaft 153, a second transmission wheel 154, and a second driving component 155. The connecting bracket 151 is connected to the palm, and the transmission shaft 131 is connected to the connecting bracket 151. The swing bracket 152 is movably connected to the fingertips. The rotating shaft 153 is rotatably mounted on the connecting bracket 151 and connected to the swing bracket 152. The axial direction of the rotating shaft 153 is perpendicular to the axial direction of the transmission shaft 131, and a second protrusion 1531 is provided on the outer peripheral wall of the rotating shaft 153. The second transmission wheel 154 has a second rotating hole 1541. The second rotating hole 1541 has a second groove 1542 on its wall. The circumferential width of the second groove 1542 is greater than the circumferential width of the second protrusion 1531. The second driving member 155 is connected to the rotating shaft 153. When the second driving member 155 drives the rotating shaft 153 to rotate in the first direction, the second groove wall 15421 of the second groove 1542 abuts against the second protrusion 1531 to push the rotating shaft 153 to drive the swing bracket 152 to rotate in the first direction. When the finger heel is impacted and rotates in the second direction, the second protrusion 1531 separates from the second groove wall 15421.

[0063] Since the axis of the rotating shaft 153 is perpendicular to the axis of the transmission shaft 131, when the second drive member 155 drives the rotating shaft 153 to rotate, it will cause the fingertip to swing along the first direction perpendicular to the original gripping direction through the swing bracket 152. This design upgrades the fingertip from a single "bending / unbending" rotation to a compound action of "bending + swinging", which can adapt to more complex grasping scenarios such as grasping irregular objects and adjusting the grasping angle to avoid obstacles.

[0064] In addition, when the fingertip is impacted and rotates in the second direction, since the circumferential width of the second groove 1542 is greater than that of the second protrusion 1531, the second protrusion 1531 will separate from the groove wall of the second groove 1542. Therefore, the impact force on the fingertip cannot be directly transmitted to the second drive member 155 through the second transmission wheel 154, thus avoiding damage to the second drive member 155 due to reverse impact.

[0065] In addition, the width of the second groove 1542 provides a clearance for the second protrusion 1531, allowing the fingertip to rotate slightly when it is hit, rather than rigidly resisting the impact, thereby indirectly reducing the risk of deformation of the fingertip and the swing bracket 152 and extending the life of the component.

[0066] Additionally, it should be noted that the aforementioned first direction refers to... Figure 9 The direction indicated by the X3 arrow, the second direction mentioned above refers to... Figure 9 The direction indicated by the X4 arrow in the middle.

[0067] In some possible embodiments, see Figure 10 A spherical component 1571 is provided on the third rotating shaft 157; the second end of the decoupling component 133 is rotatably sleeved on the spherical component 1571.

[0068] Therefore, the spherical component 1571, in conjunction with the sleeve structure, allows the second end of the decoupling component 133 to rotate around the spherical component 1571 at any angle within a large range, such as swinging up and down or deflecting left and right, rather than rotating in a single direction as in traditional single-axis connections.

[0069] In addition, when the robotic arm 100 performs compound actions such as "finger swing" and "finger rotation" at the same time, the decoupling component 133 can automatically adjust the angle through the ball component 1571 to avoid the joint component 110 from getting stuck due to motion interference, making the overall action smoother and more natural.

[0070] In addition, during normal torque transmission, the spherical connection can automatically adapt to the slight angular deviation between the decoupling component 133 and the fingertip, ensuring more uniform force transmission, reducing local stress concentration, and extending the service life of the third rotating shaft 157 and the decoupling component 133.

[0071] Optionally, the swing range of the swing bracket 152 is -15° to 15°.

[0072] In some possible embodiments, see Figure 7 The robotic arm 100 also includes a second reset member 156. The two ends of the second reset member 156 are connected to the swing bracket 152 and the connecting bracket 151, respectively. When the fingertip receives an impact force and moves in the second direction, the second reset member 156 stores force. When the impact force on the fingertip ends, the second reset member 156 can drive the second transmission wheel 154 to rotate in the first direction until the second protrusion 1531 abuts against the second groove wall 15421.

[0073] The second reset component 156 can be a compression spring, a V-shaped spring, or other similar structure.

[0074] Therefore, when the fingertip is impacted and moves in the second direction, the swing bracket 152 connected to it will move synchronously, causing the second reset member 156 to deform, such as by stretching, compressing or twisting, and storing elastic potential energy, thus converting the kinetic energy generated by the impact into the potential energy of the second reset member 156.

[0075] When the impact force disappears, the second reset member 156 releases the stored potential energy, which drives the swing bracket 152 and the rotating shaft 153 to move in the opposite direction. Finally, the second protrusion 1531 on the rotating shaft 153 abuts against the second groove wall 15421 of the second transmission wheel 154, restoring the swing transmission link of "second drive member 155 → second transmission wheel 154 → rotating shaft 153 → swing bracket 152 → finger heel". It can return to normal working state without manual intervention.

[0076] This application also provides a robot, which includes the robotic arm 100 in the above embodiments.

[0077] The robotic arm 100 in this embodiment may have the same structure as any of the robotic arms 100 in the above embodiments and may bring the same or similar beneficial effects. For details, please refer to the description in the above embodiments. This embodiment will not be repeated here.

[0078] Since the robot in this embodiment includes the robotic arm 100 in the above embodiment, the production cost of the robot can be reduced.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm (100), characterized in that, include: The joint assembly (110) includes a first joint member (111) and a second joint member (112) rotatably connected to the first joint member (111). The first driving member (120) is disposed on the first joint member (111). A transmission assembly (130) is connected to the first drive member (120) and the second joint member (112) respectively. The first drive member (120) can drive the second joint member (112) to rotate in the gripping direction through the transmission assembly (130). The transmission assembly (130) is configured to cut off the power transmission with the first drive member (120) when the second joint member (112) is subjected to an impact force and rotates in the same direction as the gripping direction, or when the second joint member (112) is subjected to an impact force and rotates in the opposite direction to the gripping direction, the transmission assembly (130) can cut off the power transmission with the first drive member (120).

2. The robotic arm (100) according to claim 1, characterized in that, The transmission assembly (130) includes a transmission shaft (131), a first transmission wheel (132) rotatably mounted on the transmission shaft (131), and a decoupling member (133). The transmission shaft (131) is rotatably mounted on the first joint (111). The first transmission wheel (132) is connected to the first driving member (120). The first transmission wheel (132) has teeth (1321) and a planar surface (1322) along its circumference. The decoupling member (133) has an abutment surface (1331) that can abut against the teeth (1321). In the circumferential direction of the first transmission wheel (132), the length of the contact surface (1331) is less than the length of the flat portion (1322). When the first driving member drives the second joint member (112) to rotate in the gripping direction, the tooth (1321) of the first transmission wheel (132) abuts against the contact surface (1331) to push the decoupling member (133) to drive the second joint member (112) to rotate in the gripping direction. When the second joint member (112) is subjected to an impact force and rotates in the gripping direction, the contact surface (1331) separates from the tooth (1321).

3. The robotic arm (100) according to claim 1, characterized in that, The transmission assembly includes a transmission shaft (131) and a first transmission wheel (132) rotatably mounted on the transmission shaft (131). The transmission shaft (131) is rotatably mounted on the first joint (111). A first protrusion (1311) is provided on the transmission shaft (131). The first transmission wheel (132) is connected to the first driving member (120). The first transmission wheel (132) has a first rotating hole (1323). A first groove (13231) is provided on the wall of the first rotating hole (1323). The circumferential width of the first groove (13231) is large. Regarding the circumferential width of the first protrusion (1311), when the first driving member drives the second joint (112) to rotate along the gripping direction, the first groove wall of the first groove (13231) abuts against the first protrusion (1311) to push the transmission shaft (131) to drive the second joint (112) to rotate along the gripping direction. When the second joint (112) is subjected to an impact force and rotates in a direction opposite to the gripping direction, the first protrusion (1311) separates from the first groove wall and can rotate relative to the first groove wall in a direction opposite to the gripping direction.

4. The robotic arm (100) according to claim 2 or 3, characterized in that, The first drive wheel (132) includes a turbine; The transmission assembly (130) further includes a worm (134), which is connected to the first drive member (120) and cooperates with the turbine.

5. The robotic arm (100) according to claim 2, characterized in that, The robotic arm (100) also includes a first reset member (140), the two ends of which are connected to the first joint member (111) and the second joint member (112) respectively. When the second joint member (112) is subjected to an impact force and rotates along the gripping direction, the first reset member (140) stores force. When the impact force on the second joint member (112) ends, the first reset member (140) can drive the decoupling member (133) to rotate in the opposite direction to the gripping direction until the contact surface (1331) abuts against the tooth (1321).

6. The robotic arm (100) according to claim 2, characterized in that, The second joint (112) includes a fingertip, the first joint (111) includes a finger base, and the drive shaft (131) is rotatably disposed on the finger base; The decoupling component (133) is fixedly connected to the transmission shaft (131); The joint assembly (110) also includes a fingertip connector (113), one end of which is rotatably connected to the fingertip, and the other end of which is fixedly connected to the drive shaft (131).

7. The robotic arm (100) according to claim 6, characterized in that, Both the decoupling component (133) and the fingertip connector (113) are fixed to the drive shaft (131) via a flat position.

8. The robotic arm (100) according to claim 6, characterized in that, The joint assembly (110) further includes a transition connector (114), one end of which is rotatably connected to the base of the finger via a first pivot, and the other end of which is rotatably connected to the fingertip via a second pivot.

9. The robotic arm (100) according to claim 2, characterized in that, The second joint (112) includes fingertips, the first joint (111) includes a palm, and the drive shaft (131) is rotatably disposed on the palm; The first end of the decoupling member (133) is rotatably connected to the transmission shaft (131), and the second end of the decoupling member (133) is rotatably connected to the fingertip through the third rotating shaft (157). When the tooth (1321) of the first transmission wheel (132) abuts against the contact surface (1331) and pushes the first end of the decoupling member (133) to rotate along the gripping direction, the second end of the decoupling member (133) can drive the fingertip to rotate along the gripping direction.

10. The robotic arm (100) according to claim 9, characterized in that, The robotic arm (100) also includes: A connecting bracket (151) is connected to the palm, and a drive shaft (131) is connected to the connecting bracket (151). A swing bracket (152) is movably connected to the finger heel; A rotating shaft (153) is rotatably mounted on the connecting bracket (151) and connected to the swing bracket (152). The axial direction of the rotating shaft (153) is perpendicular to the axial direction of the transmission shaft (131). A second protrusion (1531) is provided on the outer peripheral wall of the rotating shaft (153). The second transmission wheel (154) has a second rotating hole (1541), and a second groove (1542) is provided on the hole wall of the second rotating hole (1541). The circumferential width of the second groove (1542) is greater than the circumferential width of the second protrusion (1531). The second driving member (155) is connected to the rotating shaft (153) in a transmission manner. When the second driving member (155) drives the rotating shaft (153) to rotate in the first direction, the second groove wall (15421) of the second groove (1542) abuts against the second protrusion (1531) to push the rotating shaft (153) to drive the swing bracket (152) to rotate in the first direction. When the finger heel is subjected to an impact force and rotates in the second direction, the second protrusion (1531) separates from the second groove wall (15421).

11. The robotic arm (100) according to claim 10, characterized in that, A spherical component (1571) is provided on the third rotating shaft (157). The second end of the decoupling member (133) is rotatably sleeved on the spherical member (1571).

12. The robotic arm (100) according to claim 10, characterized in that, The robotic arm (100) also includes a second reset member (156). The two ends of the second reset member (156) are connected to the swing bracket (152) and the connecting bracket (151) respectively. When the fingertip receives an impact force and moves in the second direction, the second reset member (156) stores force. When the impact force on the fingertip ends, the second reset member (156) can drive the second transmission wheel (154) to rotate in the first direction until the second protrusion (1531) abuts against the second groove wall (15421).

13. A robot, characterized in that, Includes the robotic arm (100) as described in any one of claims 1-12.

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