A biomimetic robotic arm

Abstract

This invention relates to a bionic robotic arm in the field of bionic robotic arm technology, comprising an upper arm structure and a forearm structure. The upper arm structure is provided with a shoulder joint module, an upper arm module, and a lower arm module in sequence. The end of the lower arm module away from the upper arm module is provided with a joint connection part. The forearm structure is provided with a joint part, a forearm body, and a connecting platform for connecting an external robotic hand in sequence. A detachable hand sensing module is provided on the surface of the forearm body near the connecting platform. The hand sensing module is connected to the forearm body through a magnetic structure. The contact surface between the hand sensing module and the forearm body is provided with a set of connecting contact points. The hand sensing module is electrically connected to the forearm body through the set of connecting contact points, which can realize quick connection or disconnection, while ensuring stable power supply and sensing signal transmission. This design allows the external signal module of the bionic robotic arm to be replaced according to specific practical scenarios, and has adaptability for use in multiple scenarios.

Description

Technical Field

[0001] This invention relates to the field of bionic robotic arm technology, and in particular to a bionic robotic arm. Background Technology

[0002] A bionic robotic arm is an intelligent robotic actuator designed and manufactured to mimic the structure, movement, sensory capabilities, and even neural control mechanisms of a human arm. Its core objective is to achieve more flexible, natural, and safer human-computer interaction and adaptability to complex environments than traditional industrial robotic arms.

[0003] The existing Chinese patent with publication number CN118003313 discloses a bionic robotic arm, including a power box and a large arm, a medium arm, and a small arm that are hinged in sequence. The top of the power box is fixedly connected to the bottom of the large arm via a horizontal rotating gear. A first shaft plate is fixedly provided at the top of the large arm, and a first convex shaft is fixedly provided at the bottom of the medium arm. The first convex shaft movably passes through the central hole of the first shaft plate and inserts and fixes a first driven wheel. A second shaft plate is fixedly provided at the top of the medium arm, and a second convex shaft is fixedly provided at the bottom of the small arm. The driving force of the bionic robotic arm of the present invention comes entirely from the power box. The power is transmitted to the medium arm and the small arm through a ring steel cable. Therefore, it is not necessary to install a reduction motor at the connection of the large arm, medium arm, and small arm for driving. This makes the main body of the small arm very small, and miniaturized bionic robotic arms can be manufactured.

[0004] Existing bionic robotic arms, when mimicking human hand movements, all require the use of sensing elements such as visual sensors, thermal sensors, infrared sensors, and ultrasonic sensors to capture external signals and provide feedback. Furthermore, different application scenarios necessitate customized designs for these bionic robotic arms. Therefore, there is an urgent need to develop a bionic robotic arm to meet practical application requirements. Summary of the Invention

[0005] The purpose of this invention is to provide a bionic robotic arm to address the aforementioned shortcomings.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A bionic robotic arm includes an upper arm structure and a lower arm structure. The upper arm structure is provided with a shoulder joint module, an upper arm module and a lower arm module in sequence. The lower arm module has a joint connection part at the end away from the upper arm module. The shoulder joint module and the upper arm module are movably connected through a steering knuckle. The lower arm structure is provided with a joint part, a forearm body and a connecting platform for connecting an external robot hand in sequence. The forearm structure is movably connected to the joint connection part of the upper arm structure through the joint part. A detachable hand sensor module is provided on one end of the forearm body near the connecting platform. The hand sensor module is connected to the forearm body via a magnetic structure. The contact surface between the hand sensor module and the forearm body is provided with a set of connecting contact points. The hand sensor module is electrically connected to the forearm body through the set of connecting contact points.

[0007] As a further option, the hand sensing module can be composed of any one of a visual sensing unit, a thermal sensing unit, an infrared sensing unit, and an ultrasonic sensing unit.

[0008] In the above description, as a further solution, the joint, forearm body, and connecting platform are all separately configured. The key feature is that a transmission-type locking device is provided between the joint and the forearm body. The locking device includes a locking motor and a torque ring. The output end of the locking motor is connected to a locking gear. The surface of the torque ring is provided with a torque gear that is paired with the locking gear for transmission. The torque gear is located in the upper half of the torque ring, and the lower half of the torque ring is annular. The torque ring is installed inside the joint via a gear fixing seat. The surface of the gear fixing seat has a fixing groove, and the surface of the torque ring has a protruding locking block that is paired with the fixing groove for installation.

[0009] As a further embodiment of the above description, the forearm body is equipped with an adjustment assembly for adjusting the swing direction of the connecting platform. The adjustment assembly includes a spring motor and a pull motor. The output ends of the spring motor and the pull motor are partially connected to an adjustment plate. One end of the connecting platform is equipped with a pull head, which is connected to a pull rod and a tension spring that are paired with the spring motor and the pull motor, respectively. The pull rod and the tension spring are both connected to the surface of the adjustment plate through the connection head. The surfaces of the spring motor and the pull motor are electrically connected to a drive circuit board. One end of the locking motor is electrically connected to a locking circuit board. The forearm body is equipped with a main control panel. The surface of the main control panel is a main control unit. The main control unit is connected to the drive circuit board and the locking circuit board through wires or lines, respectively.

[0010] In the above description, as a further embodiment, one end of the joint has an open area shaped like an inverted triangle. This area is provided with a joint gear to assist the joint in its movement. The joint gear is mounted on the surface of the joint via a gear mounting table. One end of the gear mounting table is provided with a locking post to limit the position of the external mechanical arm. The end of the joint surface opposite to the joint gear is provided with a limiting block that rotates together with the joint gear. The locking gear is a bevel gear, and the transmission method between the locking gear and the torque gear is a reversible meshing configuration.

[0011] As a further embodiment of the above description, the shoulder joint module includes a shoulder joint mounting shell and a swing arm motor. The shoulder mounting shell is located on one side of the top of the upper arm module, and the swing arm motor is fixedly installed on the inner side of the shoulder mounting shell. The output rod of the swing arm motor is set towards the steering knuckle, and a double-layer reduction assembly is provided at the end of the swing arm motor near the steering knuckle. The double-layer reduction assembly includes an inner gear cylinder and a linkage block. The inner gear cylinder is fixedly installed inside the swing arm motor at one end near the steering knuckle. The linkage block is oscillatingly installed at both ends of the middle part of the inner gear cylinder. Rotating gears that cooperate with the inner gear surface of the inner gear are evenly distributed along the edge of the linkage block near the inner gear cylinder. The side wall of the linkage block near the steering knuckle is synchronously connected to the steering knuckle.

[0012] As a further embodiment of the above description, the upper arm module includes an upper arm mounting shell and a lifting arm motor. The top of the upper arm mounting shell is connected to the steering knuckle via a connecting shaft. The lifting arm motor is fixedly installed in the middle of the inner side of the upper arm mounting shell. A transmission gear set is provided on the inner side of the upper arm mounting shell near the drive shaft of the lifting arm motor and the steering knuckle. The gears of the transmission gear set mesh and drive in sequence, and are arranged sequentially towards the steering knuckle and extend to the position of the steering knuckle. The gear at the top of the transmission gear set is set on the connecting shaft, and the gear at the top of the transmission gear set is fixedly connected to the connecting shaft. A spiral spring is located inside the upper arm mounting housing near the rotating shaft. The inner end hook of the spiral spring is connected to the connecting shaft. An outer end connecting groove is located inside the upper arm mounting housing near the spiral spring. The outer end hook of the spiral spring is fixedly installed in the outer end connecting groove. The bottom of the upper arm mounting housing is connected to the top of the lower arm module.

[0013] As a further embodiment of the above description, the lower arm module includes a lower arm mounting shell, a swing arm motor, and a forearm drive assembly. The lower arm mounting shell is designed below the upper arm mounting shell. The swing arm motor is fixedly mounted on the top inner side of the lower arm mounting shell, with its output shaft facing the upper arm mounting shell. The bottom of the upper arm mounting shell has an extension plate, the lower end of which extends towards the lower arm mounting shell. The top of the lower arm mounting shell is rotatably connected to the extension plate. An internal gear ring is fixedly mounted in the middle of the extension plate. A rotating bearing is located on the top of the lower arm mounting shell near the outer cylindrical surface of the internal gear ring.

[0014] As a further embodiment of the above description, the top of the boom motor is provided with a boom gear set. The gear at the top of the boom gear set is engaged with the internal tooth surface of the internal gear ring. The gear at the bottom of the boom gear set is connected to the output shaft of the boom motor. The forearm drive assembly is fixedly installed at the lower end of the inner side of the lower arm mounting shell. The forearm drive assembly includes a forearm drive motor and a linkage gear set. The forearm drive assembly is fixed below the boom motor, and the linkage gear set is installed below the forearm drive motor.

[0015] As a further embodiment of the above description, one end of the connecting platform is provided with a connecting rod for connecting to an external robot hand, and the connecting rods are arranged in a ring on the surface of the connecting platform.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: a detachable hand sensing module is provided on the surface of the forearm body near the connecting platform, which can replace different types of sensing modules. The module can be composed of any one of a visual sensing unit, a thermal sensing unit, an infrared sensing unit, and an ultrasonic sensing unit, and can be quickly connected or disassembled through a magnetic structure. At the same time, the contact surface between the hand sensing module and the forearm body is provided with a group of connecting contact points to ensure stable power supply and sensing signal transmission. This design allows the external signal module of the bionic robotic arm to be replaced according to specific practical scenarios, and has adaptability for use in multiple scenarios. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a bionic robotic arm described in this embodiment; Figure 2 for Figure 1 A magnified schematic diagram of the structure of part A in the diagram; Figure 3 This is a three-dimensional structural diagram of the forearm structure described in this embodiment from a first angle; Figure 4 This is a three-dimensional structural diagram of the forearm structure described in this embodiment from a second angle; Figure 5 This is a schematic diagram of the first internal structure of the forearm structure described in this embodiment; Figure 6 This is a schematic diagram of the second internal structure of the forearm structure described in this embodiment; Figure 7 This is a first exploded view of the forearm structure described in this embodiment; Figure 8 This is a second exploded view of the forearm structure described in this embodiment. Figure 9 This is an exploded view of the forearm structure described in this embodiment from the first axial view angle; Figure 10 This is an exploded view of the forearm structure described in this embodiment from the second axial view angle; Figure 11 This is a partial exploded view of the forearm structure described in this embodiment; Figure 12 This is a three-dimensional structural diagram of the boom structure described in this embodiment; Figure 13 This is a schematic diagram of the internal structure of the boom structure described in this embodiment; Figure 14This is a schematic diagram of the first partial internal structure of the boom structure described in this embodiment; Figure 15 This is a schematic diagram of the second partial internal structure of the boom structure described in this embodiment; Figure 16 This is a schematic diagram of the third partial internal structure of the boom structure described in this embodiment; Figure 17 This is a schematic diagram of the fourth partial internal structure of the boom structure described in this embodiment; Figure 18 This is an exploded view of the shoulder joint module described in this embodiment; Figure 19 This is a first exploded view of the upper arm module described in this embodiment; Figure 20 This is a second exploded view of the upper arm module described in this embodiment; Figure 21 This is a first exploded structural diagram of the lower arm module described in this embodiment; Figure 22 This is a second exploded view of the lower arm module described in this embodiment; In the diagram: 1-Joint, 2-Forearm body, 3-Connecting platform, 4-Locking motor, 5-Torque ring, 6-Locking gear, 7-Torque gear, 8-Gear fixing seat, 9-Fixing slot, 10-Card block, 11-Spring motor, 12-Pull motor, 13-Adjusting disc, 14-Pull head, 15-Pull rod, 16-Tension spring, 17-Connecting head, 18-Drive circuit board, 19-Locking circuit board, 20-Main control panel, 21-Main control unit, 22-Joint gear, 23-Gear mounting platform, 24-Card post, 25-Limit block, 26-Connecting rod, 27-Hand sensor module, 28-Magnetic structure, 29-Connecting contact point group, 1a-Shoulder joint module Block, 2a-upper arm module, 3a-lower arm module, 4a-steering knuckle, 5a-joint connection, 201-shoulder joint mounting shell, 202-swing arm motor, 203-internal gear cylinder, 204-linkage block, 205-rotating gear; 301-upper arm mounting shell, 302-lifting arm motor, 303-connecting shaft, 304-transmission gear set, 305-volume spring, 306-outer end connecting groove; 401-lower arm mounting shell, 402-swing arm motor, 403-arm drive assembly, 404-extension disc, 405-internal gear ring, 406-rotating bearing, 407-swing arm gear set, 408-arm drive motor, 409-linkage gear set. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] For this embodiment, please refer to Figures 1-22The specific implementation of the bionic robotic arm includes an upper arm structure and a lower arm structure. The upper arm structure is provided with a shoulder joint module 1a, an upper arm module 2a and a lower arm module 3a in sequence. The lower arm module 3a is provided with a joint connection part 5a at the end away from the upper arm module 2a. The shoulder joint module 1a and the upper arm module 2a are movably connected through a steering knuckle 4a. The lower arm structure is provided with a joint part 1, a lower arm body 2 and a connecting platform 3 for connecting an external robot hand in sequence. The lower arm structure is movably connected to the joint connection part 5a of the upper arm structure through the joint part 1. A detachable hand sensing module 27 is provided on one end surface of the forearm body 2 near the connecting platform 3. The hand sensing module 27 is connected to the forearm body 2 via a magnetic structure 28. A connecting contact point group 29 is provided on the contact surface between the hand sensing module 27 and the forearm body 2. The hand sensing module 27 is electrically connected to the forearm body 2 via the connecting contact point group 29.

[0020] As a further embodiment of the above description, the hand sensing module 27 can be composed of any one of a visual sensing unit, a thermal sensing unit, an infrared sensing unit, and an ultrasonic sensing unit. A detachable hand sensing module 27 is provided on the surface of the forearm body 2 near the connecting platform 3, allowing for the replacement of different types of sensing modules. These modules can be composed of any one of a visual sensing unit, a thermal sensing unit, an infrared sensing unit, and an ultrasonic sensing unit, and can be quickly connected or disconnected via a magnetic structure 28. Simultaneously, the contact surface between the hand sensing module 27 and the forearm body 2 is provided with a set of connecting contact points 29 to ensure stable power supply and sensing signal transmission. This design allows the external signal modules of the bionic robotic arm to be replaced according to specific practical scenarios, providing adaptability for multiple applications.

[0021] The upper arm structure includes a shoulder joint module 1, an upper arm module 2, and a lower arm module 3. The shoulder joint module 1 is located on one side of the upper end of the upper arm module 2, and the lower arm module 3 is located below the upper arm module 4. The top of the upper arm module 2 is connected to the shoulder joint module 1 through a steering knuckle 4. The steering knuckle 4 is rotatably connected to the shoulder joint module 1 and can pitch and swing around the lateral rotation axis of the shoulder joint module 1. The top of the upper arm module 2 is connected to the steering knuckle 4, and the upper arm module 2 can be lifted and rotated by using the steering knuckle 4 as a fulcrum. The top of the lower arm module 3 is connected to the bottom of the upper arm module 2, and the lower arm module 3 can rotate around the axial center line of the upper arm module 2. The lower end of the lower arm module 3 away from the upper arm module 2 is provided with a joint connection part 5. Specifically, the original single rigid linkage upper arm is divided into an upper arm module 2 that is linked with the shoulder joint module 1 and a lower arm module 3 that is used to simulate the rotation of the upper arm and connect with the forearm. The top of the lower arm module 3 is connected to the bottom of the upper arm module 2. The lower arm module 3 can rotate around the axial center line of the upper arm module 2, thus creating an independent rotary joint on the upper arm, which can achieve the effect of mimicking the rotation of the human upper arm. Furthermore, this design, by giving the lower arm module 3 an independent degree of rotational freedom around the upper arm axis, allows the robotic arm to flexibly adjust the spatial orientation of the end effector, i.e. the forearm module and the hand, without changing the basic configuration of the shoulder and elbow, thereby increasing the flexibility of the robotic arm.

[0022] The shoulder joint module 1 includes a shoulder joint mounting shell 201 and a swing arm motor 202. The shoulder mounting shell is located on one side of the top of the upper arm module 2. The swing arm motor 202 is fixedly installed on the inner side of the shoulder mounting shell, and the output rod of the swing arm motor 202 is set towards the steering knuckle 4. A double-layer deceleration assembly is provided at one end of the swing arm motor 202 near the steering knuckle 4. The double-layer deceleration assembly includes an inner gear cylinder 203 and a linkage block 204. The inner gear cylinder 203 is fixedly installed inside the swing arm motor 202 near one end of the steering knuckle 4. The linkage block 204 is swayably installed at both ends of the middle part of the inner gear cylinder 203. Rotating gears 205 that cooperate with the inner gear surface of the inner gear are evenly distributed along the edge of the linkage block 204 near the inner gear cylinder 203. The side wall of the linkage block 204 near the steering knuckle 4 is synchronously rotated and connected to the steering knuckle 4. Specifically, such as Figure 7 As shown, by setting a double-layer reduction assembly inside the shoulder joint mounting shell 201, through the cooperation relationship of the inner gear cylinder 203, linkage block 204 and rotating gear 205 of the double-layer reduction assembly, when the swing arm motor 202 rotates, the small gear sleeved on the output shaft of the swing arm motor 202 synchronously drives multiple rotating gears 205 and linkage block 204 to rotate in the same direction. When the linkage block 204 rotates, since the side wall is connected to the steering knuckle 4, it drives the steering knuckle 4 to rotate synchronously. Furthermore, the double-layer reduction assembly utilizes the characteristics of gear transmission ratio to convert the high speed of the motor into a low speed, thereby providing a speed reduction and torque increase effect for the output shaft of the swing arm motor 202, ensuring that the robotic arm still has stable driving force under heavy load conditions.

[0023] The upper arm module 2 includes an upper arm mounting shell 301 and a lifting arm motor 302. The top of the upper arm mounting shell 301 is connected to the steering knuckle 4 via a connecting shaft 303. The lifting arm motor 302 is fixedly installed in the middle of the inner side of the upper arm mounting shell 301. A transmission gear set 304 is provided on the inner side of the upper arm mounting shell 301 near the drive shaft of the lifting arm motor 302 and the steering knuckle 4. The gears of the transmission gear set 304 mesh and drive in sequence, and are arranged and extend to the position of the steering knuckle 4 in sequence. The gear at the top of the transmission gear set 304 is set on the connecting shaft 303, and the gear at the top of the transmission gear set 304 is fixedly connected to the connecting shaft 303. A spiral spring 305 is provided inside the upper arm mounting shell 301 near the rotating shaft. The inner end hook of the spiral spring 305 is connected to the connecting shaft 303. An outer end connecting groove 306 is provided inside the upper arm mounting shell 301 near the spiral spring 305. The outer end hook of the spiral spring 305 is fixedly installed in the outer end connecting groove 306. The bottom of the upper arm mounting shell 301 is connected to the top of the lower arm module 3. Specifically, such as Figures 2-5 As shown, through the cooperation of the transmission gear set 304 and the lifting arm motor 302, and the fixed connection between the gear at the top of the transmission gear set 304 and the connecting shaft 303, during operation, the lifting arm motor 302 is turned on, and the output shaft of the lifting arm motor 302 drives the transmission gear set 304 to perform transmission. Since the gear at the top of the transmission gear set 304 is fixedly connected to the connecting shaft 303, when the transmission gear set 304 rotates, the gear parts that mesh with the gear at the top of the transmission gear set 304 drive the upper arm module to perform the arm lifting movement along the axis of the gear, i.e., the transmission shaft. Furthermore, during the arm-raising motion of the upper arm module, the outer end connecting groove 306 of the upper arm mounting shell 301 will drive the spiral spring 305 to undergo elastic deformation. When the upper arm module is raised to a certain height and hovers, the spiral spring 305 releases elastic potential energy and generates a restoring torque opposite to the direction of gravity.

[0024] The lower arm module 3 includes a lower arm mounting shell 401, a swing arm motor 402, and a forearm drive assembly 403. The lower arm mounting shell 401 is designed below the upper arm mounting shell 301. The swing arm motor 402 is fixedly installed on the inner top of the lower arm mounting shell 401. The output shaft of the swing arm motor 402 is positioned and installed facing the upper arm mounting shell 301. An extension plate 404 is provided at the bottom of the upper arm mounting shell 301. The lower end of the extension plate 404 extends towards the lower arm mounting shell 401. The top of the lower arm mounting shell 401 is rotatably connected to the extension plate 404. An internal gear ring 405 is fixedly provided in the middle of the extension plate 404. A rotating bearing 406 is provided at the top of the lower arm mounting shell 401 near the outer cylindrical surface of the internal gear ring 405. The top of the boom motor 402 is provided with a boom gear set 407. The gear at the top of the boom gear set 407 is engaged with the internal tooth surface of the internal gear ring 405. The gear at the bottom of the boom gear set 407 is connected to the output shaft of the boom motor 402. The forearm drive assembly 403 is fixedly installed at the lower end inside the lower arm mounting shell 401. The forearm drive assembly 403 includes a forearm drive motor 408 and a linkage gear set 409. The forearm drive assembly is fixed below the boom motor 402, and the linkage gear set 409 is installed below the forearm drive motor 408. Specifically, such as Figure 2 , Figure 10 and Figure 11 As shown, during operation, the boom motor 402 is turned on. Through the transmission relationship between the gear of the boom motor 402 and the internal gear ring 405, and the connection between the lower arm mounting shell 401 and the internal gear ring 405 through the rotating bearing 406, when the boom motor 402 drives the boom gear set 407 to move, since the boom motor 402 is fixed inside the lower arm mounting shell 401, it will synchronously drive the lower arm to rotate. To elaborate further, Figure 10 and Figure 11 In the middle, the bottom of the internal gear ring 405 has a limiting convex ring. The convex ring is used to provide connection stability between the internal gear ring 405 and the rotating bearing 406, and to prevent the rotating bearing from separating from the internal gear ring 405. The working process of this application is as follows: 1) When the swing arm is in motion, the small gear on the output shaft of the swing arm motor 202 is turned on, which synchronously drives multiple rotating gears 205 and linkage block 204 to rotate in the same direction. When the linkage block 204 rotates, since the side wall is connected to the steering knuckle 4, it drives the steering knuckle 4 to rotate synchronously. 2) When the arm is raised, the arm raising motor 302 is turned on. The output shaft of the arm raising motor 302 drives the transmission gear set 304 for transmission. Since the gear at the top of the transmission gear set 304 is fixedly connected to the connecting shaft 303, when the transmission gear set 304 rotates, the gear parts that mesh with the gear at the top of the transmission gear set 304 drive the upper arm module to perform the arm raising movement along the axis of the gear, i.e. the transmission shaft. 3) When the boom is in motion, the boom motor 402 is turned on. Through the transmission relationship between the gear of the boom motor 402 and the internal gear ring 405, and the connection between the lower arm mounting shell 401 and the internal gear ring 405 through the rotating bearing 406, when the boom motor 402 drives the boom gear set 407 to move, since the boom motor 402 is fixed inside the lower arm mounting shell 401, it will synchronously drive the lower arm module 3 to rotate.

[0025] The forearm structure includes a joint 1, a forearm body 2, and a connecting platform 3 for connecting to an external robot hand. The joint 1, the forearm body 2, and the connecting platform 3 are all separately arranged. A transmission-type locking device is provided between the joint 1 and the forearm body 2. The locking device includes a locking motor 4 and a torque ring 5. The output end of the locking motor 4 is connected to a locking gear 6. The surface of the torque ring 5 is provided with a torque gear 7 that is paired with the locking gear 6 for transmission. The torque gear 7 is located in the upper half of the torque ring 5, and the lower half of the torque ring 5 is arranged in a ring shape. As a load-bearing component connecting the upper arm and the palm, the forearm needs to withstand bending moments, torques, and impact loads generated by external gripping and operation. This mechanism forms a closed annular bearing surface through torque gear 7 and torque ring 5, which can evenly transmit the reaction forces generated by the connecting platform 3, the palm, and the forearm body 2 during operation. The following is the force transmission logic: locking motor 4 → locking gear 6 → torque gear 7 → torque ring 5 → lower annular part → forearm body 2 / connecting platform 3; The locking gear 6 and torque ring 5 adopt a ring structure, which can convert the local tangential force generated by gear meshing into circumferential compressive stress through the ring body and distribute it evenly to the entire connection interface. This ensures that while the locking force is operating effectively, the force can also be transmitted to the housing mating surface, preventing the torque ring 5 from warping or coming off under high load. This structure adopts a segmented functional partition design. The joint 1 generates power input through gear transmission, and the forearm body 2 is used for structural support and load bearing. The joint 1, forearm body 2, and connecting platform 3 are all separate. During assembly, the ring-shaped part can serve as a self-centering guide structure to ensure the alignment and closure between the upper forearm bodies. During disassembly, the locking motor 4 is driven to rotate the locking gear 6 and the torque gear 7, which in turn causes the entire torque ring 5 to rotate. When it reaches the designated position, the locking gear 6 and the torque gear 7 disengage, and the forearm body 2 can be removed from one end of the joint 1 without the need for cumbersome procedures such as disassembling multiple screws. This structure not only uses gear meshing for locking, but also uses this method to adjust the direction of movement / rotation. When it is necessary to adjust the rotation position of the forearm body 2 horizontally in a coaxial state, the locking gear 6 rotates slightly, and the tooth tip meshes with a specified number of tooth roots. This can maintain the locking force while assisting the rotation position of the forearm body 2, thus playing the role of fine adjustment and locking.

[0026] The torque ring 5 is installed inside the joint 1 via a gear fixing seat 8. The gear fixing seat 8 has a fixing groove 9 on its surface, and the torque ring 5 has a protruding locking block 10 that mates with the fixing groove 9. The locking mechanism of the fixing groove 9 and the locking block 10 prevents abnormal gear meshing clearance or uneven transmission of locking force, forming a mechanical stop and limiting position. This ensures the torque ring 5 is fixed in its circumferential position after assembly, reducing rotational drift caused by vibration or reaction forces. When the locking block 10 is embedded in the fixing groove 9, a direct shear force transmission path is formed, allowing the torsional torque borne by the torque ring 5 to be directly transmitted to the gear fixing seat 8 through the side wall of the locking block 10, and then from the fixing seat to the joint 1. This structure achieves a rigid anti-torsion effect, enhances the dynamic load-bearing capacity of the locking mechanism, and during installation, simply aligning the locking block 10 of the torque ring 5 with the fixing slot 9 and pushing it axially completes the positioning and initial fixation. Based on this, driving the locking motor 4 causes the locking gear 6 to rotate the torque gear 7, which in turn causes the entire torque ring 5 to rotate. Double fixation is achieved through meshing and snapping, eliminating the need to tighten multiple screws or wait for the glue to cure. Disassembly can be performed by reversing the operation for quick separation, facilitating the replacement of the torque ring 5, maintenance of the locking motor 4, or cleaning of the internal structure. In addition to facilitating replacement, when local parts are damaged or malfunction, replacement can also be performed according to the degree of damage to the upper and lower parts, reducing the cost of replacing the entire arm.

[0027] The forearm body 2 is internally equipped with an adjustment assembly for adjusting the swing direction of the connecting platform 3. The adjustment assembly includes a spring motor 11 and a pull motor 12. The output ends of the spring motor 11 and pull motor 12 are partially connected to an adjustment disc 13. A pull head 14 is installed at one end of the connecting platform 3. The pull head 14 is connected to a pull rod 15 and a tension spring 16, which are paired with the spring motor 11 and pull motor 12, respectively. Both the pull rod 15 and tension spring 16 are connected to the surface of the adjustment disc 13 via a connector 17. When the spring motor 11... When the pulling motor 12 generates driving force to drive the adjusting plate 13, the adjusting plate 13 pulls the pull rod 15 and the tension spring 16. The adjusting plate 13 serves as the force transmission hub for the output ends of the spring motor 11 and the pulling motor 12. Its rotation angle is determined by the difference in output torque between the two motors. After the connecting platform 3 is connected to the external palm, the output forces of the spring motor 11 and the pulling motor 12 are coordinated and controlled to facilitate the adjustment of the horizontal angle of the palm axis, so that the connecting platform 3 can adjust the horizontal deflection angle within a certain angle range.

[0028] The surfaces of the spring motor 11 and the pulling motor 12 are electrically connected to the drive circuit board 18, one end of the locking motor 4 is electrically connected to the locking circuit board 19, the forearm body 2 is provided with a main control console 20, the surface of the main control console 20 is a main control unit 21, and the main control unit 21 is connected to the drive circuit board 18 and the locking circuit board 19 respectively through wires or lines. The drive circuit board 18 is used to drive the posture of the spring motor 11 and the pull motor 12, and the locking circuit board 19 is used to drive the locking / releasing action of the locking motor 4. The two are electrically and logically independent. By arranging power drive components such as H-bridge, MOSFET, and voltage regulator module near each motor, low PWM, direction signal, enable signal and other current control signal lines need to be led out from the main control unit 21 during use. This avoids passing high current power lines through the narrow forearm cavity for a long distance, thereby realizing closed-loop control and preparing for providing underlying data support for the future.

[0029] One end of the joint 1 has an open area in the shape of an incline. This area is provided with a joint gear 22 to assist the joint 1 in its movement. The joint gear 22 is mounted on the surface of the joint 1 through a gear mounting table 23. One end of the gear mounting table 23 is provided with a locking post 24 to limit the position of the external mechanical arm. The end of the surface of the joint 1 opposite to the joint gear 22 is provided with a limiting block 25 that rotates together with the joint gear 22. The external upper arm drives the joint gear 22 through the active gear meshing with it, thereby causing the entire joint 1, i.e. the upper part of the forearm, to rotate around the axis, realizing the flexion and extension movement of the joint between the upper arm and the forearm. The gear transmission method can ensure high rigidity and high precision power transmission. The locking post 24 provides mechanical positioning and anti-dislodgement protection, limits the installation position of the external upper arm, and ensures that the upper arm output shaft or connecting flange is correctly aligned with the joint gear 22. Combined with the limit block 25 rotating synchronously with the joint gear 22, the angle limiting effect is achieved.

[0030] The locking gear 6 is a bevel gear. The transmission method between the locking gear 6 and the torque gear 7 is a reversible meshing setting. The locking gear 6 plays the role of fine adjustment and locking the torque gear 7. The core characteristic of the bevel gear is to transmit power between intersecting shafts. In this structure, the output shaft of the locking motor 4 transmits power vertically to the torque gear 7 through the bevel gear 6, avoiding the long axial distance required by the parallel shaft gear, making the layout of components such as the motor and gear more compact, which is conducive to weight reduction and miniaturization. Moreover, the locking motor 4 can drive the locking gear 6 to rotate at a small angle, thereby causing the torque gear 7 to produce a micro displacement. This displacement depends on the tooth pitch, thereby realizing the fine adjustment of the distance between the connecting platform 3 and the palm. The locking motor 4 has a built-in or external electromagnetic brake that automatically locks the output shaft when the power is off. Since the bevel gear 6 and the torque gear 7 are rigidly meshed, once the motor shaft is locked, the entire transmission chain is fixed. The structure of torque ring 5 → block 10 → fixed slot 9 further prevents reverse rotation, forming a triple locking mechanism of motor lock, gear transmission and mechanical locking.

[0031] One end of the connecting platform 3 is provided with connecting rods 26 for connecting an external robot hand. The connecting rods 26 are arranged in a ring on the surface of the connecting platform 3. The ring arrangement allows multiple connecting rods 26 to be evenly distributed around the central axis of the connecting platform 3. When the external hand performs grasping, pushing, pulling, twisting and other force-bearing activities, the load is distributed at multiple points, avoiding stress concentration at a single point. This forms a spatial truss support structure, improving the bending, shearing and torsional stiffness of the connection interface. It can prevent the hand from shaking, deviating or loosening during heavy loads or dynamic operations, ensuring operational accuracy and safety. The connecting platform 3 and the ring connecting rods 26 can be arranged according to the standard pitch circle diameter, which facilitates the universal installation of different functions of the hand such as two-finger gripper and three-finger dexterous hand, realizing a plug-and-play quick-release method.

[0032] The key design feature of this invention is that this structure not only uses gear meshing for locking, but also uses this method to adjust the direction of movement / rotation. When it is necessary to adjust the rotation position of the forearm body 2 horizontally in a coaxial state, the locking gear 6 rotates slightly, and the tooth tip meshes with a specified number of tooth roots, which can assist the rotation position of the forearm body 2 while maintaining the locking force, thus playing the role of fine adjustment and locking. Furthermore, a closed annular bearing surface is formed by the torque gear 7 and the torque ring 5, which can evenly transmit the reaction force generated by the connecting platform 3 and the palm and forearm body 2 during operation. The force transmission logic is formed by locking motor 4 → locking gear 6 → torque gear 7 → torque ring 5 → annular lower half → forearm body 2 / connecting platform 3, which disperses the force during the transmission process while ensuring sufficient locking force.

[0033] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the inventive concept, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A bionic robotic arm, characterized in that, include: The upper arm structure includes a shoulder joint module, an upper arm module, and a lower arm module in sequence. The lower arm module has a joint connection part at the end away from the upper arm module. The shoulder joint module and the upper arm module are movably connected through a steering knuckle. The forearm structure includes a joint, a forearm body, and a connection platform for connecting to an external robot hand. The forearm structure is movably connected to the joint connection of the upper arm structure through the joint. A detachable hand sensor module is provided on one end of the forearm body near the connecting platform. The hand sensor module is connected to the forearm body via a magnetic structure. The contact surface between the hand sensor module and the forearm body is provided with a set of connecting contact points. The hand sensor module is electrically connected to the forearm body through the set of connecting contact points.

2. The bionic robotic arm according to claim 1, characterized in that: The hand sensing module can be composed of any one of a visual sensing unit, a thermal sensing unit, an infrared sensing unit, and an ultrasonic sensing unit.

3. The bionic robotic arm according to claim 1, characterized in that: The joint, forearm body, and connecting platform are all separately configured. The key feature is that a transmission-type locking device is provided between the joint and the forearm body. The locking device includes a locking motor and a torque ring. The output end of the locking motor is connected to a locking gear. The surface of the torque ring has a torque gear that is paired with the locking gear for transmission. The torque gear is located in the upper half of the torque ring, and the lower half of the torque ring is annular. The torque ring is installed inside the joint via a gear fixing seat. The surface of the gear fixing seat has a fixing groove, and the surface of the torque ring has a protruding locking block that is paired with the fixing groove.

4. The bionic robotic arm according to claim 3, characterized in that: The forearm body has an internal adjustment assembly for adjusting the swing direction of the connecting platform. The adjustment assembly includes a spring motor and a pull motor. The output ends of the spring motor and the pull motor are partially connected to an adjustment plate. One end of the connecting platform is equipped with a pull head, which is connected to a pull rod and a tension spring that are paired with the spring motor and the pull motor, respectively. The pull rod and the tension spring are both connected to the surface of the adjustment plate through the connecting head. The surfaces of the spring motor and the pull motor are electrically connected to a drive circuit board. One end of the locking motor is electrically connected to a locking circuit board. The forearm body has an internal main control panel, the surface of which is a main control unit. The main control unit is connected to the drive circuit board and the locking circuit board through wires or lines, respectively.

5. A bionic robotic arm according to claim 3, characterized in that: One end of the joint has an open area shaped like the letter C. This area is provided with a joint gear to assist the joint in its movement. The joint gear is mounted on the surface of the joint via a gear mounting platform. One end of the gear mounting platform is provided with a locking post to limit the position of the external mechanical arm. The end of the joint surface opposite to the joint gear is provided with a limiting block that rotates together with the joint gear. The locking gear is a bevel gear, and the transmission method between the locking gear and the torque gear is a reversible meshing configuration.

6. The bionic robotic arm according to claim 1, characterized in that: The shoulder joint module includes a shoulder joint mounting shell and a swing arm motor. The shoulder mounting shell is located on one side of the top of the upper arm module. The swing arm motor is fixedly installed on the inner side of the shoulder mounting shell, and the output rod of the swing arm motor is set towards the steering knuckle. A double-layer reduction assembly is provided at the end of the swing arm motor near the steering knuckle. The double-layer reduction assembly includes an inner gear cylinder and a linkage block. The inner gear cylinder is fixedly installed inside the swing arm motor at one end near the steering knuckle. The linkage block is oscillatingly installed at both ends of the middle part of the inner gear cylinder. Rotating gears that cooperate with the inner gear surface of the inner gear are evenly distributed along the edge of the linkage block near the inner gear cylinder. The side wall of the linkage block near the steering knuckle is synchronously connected to the steering knuckle.

7. A bionic robotic arm according to claim 6, characterized in that: The upper arm module includes an upper arm mounting shell and a lifting arm motor. The top of the upper arm mounting shell is connected to the steering knuckle via a connecting shaft. The lifting arm motor is fixedly installed in the middle of the inner side of the upper arm mounting shell. A transmission gear set is provided on the inner side of the upper arm mounting shell near the drive shaft of the lifting arm motor and the steering knuckle. The gears of the transmission gear set mesh and drive in sequence, and are arranged in sequence towards the steering knuckle and extend to the position of the steering knuckle. The gear at the top of the transmission gear set is set on the connecting shaft, and the gear at the top of the transmission gear set is fixedly connected to the connecting shaft. A spiral spring is located inside the upper arm mounting housing near the rotating shaft. The inner end hook of the spiral spring is connected to the connecting shaft. An outer end connecting groove is located inside the upper arm mounting housing near the spiral spring. The outer end hook of the spiral spring is fixedly installed in the outer end connecting groove. The bottom of the upper arm mounting housing is connected to the top of the lower arm module.

8. A bionic robotic arm according to claim 6, characterized in that: The lower arm module includes a lower arm mounting shell, a swing arm motor, and a forearm drive assembly. The lower arm mounting shell is designed below the upper arm mounting shell. The swing arm motor is fixedly mounted on the top inner side of the lower arm mounting shell, with its output shaft facing the upper arm mounting shell. The bottom of the upper arm mounting shell has an extension plate, the lower end of which extends towards the lower arm mounting shell. The top of the lower arm mounting shell is rotatably connected to the extension plate. An internal gear ring is fixedly mounted in the middle of the extension plate. A rotating bearing is located on the top of the lower arm mounting shell near the outer cylindrical surface of the internal gear ring.

9. A bionic robotic arm according to claim 8, characterized in that: The top of the boom motor is provided with a boom gear set. The gear at the top of the boom gear set is engaged with the internal tooth surface of the internal gear ring. The gear at the bottom of the boom gear set is connected to the output shaft of the boom motor. The forearm drive assembly is fixedly installed at the lower end of the inner side of the lower arm mounting shell. The forearm drive assembly includes a forearm drive motor and a linkage gear set. The forearm drive assembly is fixed below the boom motor, and the linkage gear set is installed below the forearm drive motor.

10. A bionic robotic arm according to any one of claims 1-9, characterized in that: One end of the connecting platform is provided with a connecting rod for connecting to an external robot hand, and the connecting rods are arranged in a ring on the surface of the connecting platform.

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