Multi-section limb with limiting structure, robot hand and robot

Abstract

The utility model discloses a multi-section limb with a limiting structure, a manipulator and a robot, the multi-section limb with the limiting structure comprises a first limb section, a second limb section and a third limb section, a second extension plate is arranged on the second limb section; the first extension plate is rotationally connected with the second extension plate; when the first limb section and the second limb section are curled, the first limb section limits the second extension plate, and the second limb section limits the first extension plate. When the first limb section and the second limb section rotate relative to each other, the first extension plate and the second extension plate also rotate relative to each other, rotation of the first extension plate is limited by the second limb section, rotation of the second extension plate is limited by the first limb section, and through mutual limiting, the first limb section and the second limb section have a stable and firm curled state; relative movement is not prone to occurring between the first limb section and the second limb section, and the overall shape of the multi-section limb can be kept.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-segment limb with a limiting structure, a robotic arm and a robot. Background Art

[0002] The multi-segment limb of a robot or manipulator has multiple segments connected in sequence, and usually the multi-segment limb can be curled or extended. When the multi-segment limb is in the curled state, the more stable the multi-segment limb structure is, the more conducive it is to performing the corresponding task. Usually, in order to avoid interference, there is a certain gap between the two mating structures to provide space for the relative rotation of the structures. In the prior art, when the multi-segment limb is fully curled, the segments of the multi-segment limb are in contact and rely on each other, the curled state is not firm, relative rotation is prone to occur, and it is difficult to stably maintain a fully curled state. For example, in the patent document with publication number CN118721257A, the rotational connection between the base of the finger and the fingertip is achieved by a rotating shaft. In the fully curled state, the base of the finger and the fingertip are in contact and rely on each other, and there may be a small relative rotation between the two, making it difficult to maintain a stable fully curled state.

[0003] Therefore, the existing technology still needs to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by the present invention is to provide a multi-segment limb, a manipulator and a robot with a limiting structure in response to the above-mentioned defects of the prior art, aiming to solve the problem in the prior art that the multi-segment limbs are prone to relative rotation when curled.

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0006] A multi-segment limb with a limited position structure, comprising:

[0007] a first limb segment, wherein a first extension plate is provided on the first limb segment;

[0008] a second limb segment, wherein the second limb segment is provided with a second extension plate;

[0009] Wherein, the first extension plate is rotatably connected to the second extension plate;

[0010] When the first limb segment and the second limb segment are curled, the first limb segment limits the second extension plate, and the second limb segment limits the first extension plate.

[0011] The multi-segment limb with a limited structure, wherein the first extension plate and the second extension plate are rotatably connected via a first rotating shaft;

[0012] An elastic member is provided on the first rotating shaft, and the elastic member provides elastic force to stretch the first limb segment and the second limb segment.

[0013] The multi-segment limb with a limited structure, wherein the multi-segment limb includes:

[0014] a third limb segment, rotatably connected to the second limb segment;

[0015] A connecting rod, both ends of which are connected to the third limb segment and the first limb segment respectively.

[0016] The multi-segment limb with a limiting structure, wherein the second limb segment is formed with at least one first limiting surface, and the third limb segment is formed with at least one second limiting surface;

[0017] When the first limb segment and the second limb segment are extended, the first limiting surface abuts against the second limiting surface.

[0018] The multi-segment limb with a limiting structure, wherein at least one third limiting surface is formed on the second limb segment, and at least one fourth limiting surface is formed on the third limb segment;

[0019] When the first limb segment and the second limb segment are curled, the third limiting surface abuts against the fourth limiting surface.

[0020] The multi-segment limb with a limited structure, wherein the second limb segment is provided with a third extension plate, and the third limb segment is provided with a fourth extension plate;

[0021] The third extension plate and the fourth extension plate are rotatably connected via a second rotation shaft.

[0022] The multi-segment limb with a limiting structure, wherein there are two first extension plates and two second extension plates;

[0023] The connecting rod is located between the two first extension plates, and the connecting rod is located between the two second extension plates.

[0024] The multi-segment limb with a limiting structure, wherein the multi-segment limb further includes:

[0025] a driving mechanism, provided on the third limb segment and used for rotating the second limb segment;

[0026] The elastic member is a torsion spring, and the torsion spring is sleeved on the first rotating shaft.

[0027] A robotic arm, comprising a multi-segment limb with a limiting structure as described in any one of the above items.

[0028] A robot, comprising a multi-segment limb with a limiting structure as described in any one of the above, or a robotic hand as described above.

[0029] Beneficial effect: When the first limb segment and the second limb segment rotate relative to each other, the first extension plate and the second extension plate also rotate relative to each other. The rotation of the first extension plate is limited by the second limb segment, and the rotation of the second extension plate is limited by the first limb segment. Through mutual limitation, the first limb segment and the second limb segment have a more stable and firm curling state, and relative movement is not likely to occur between the first limb segment and the second limb segment, which is conducive to maintaining the overall morphology of the multi-segment limb. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of a multi-segment limb with a limiting structure in an embodiment of the present utility model.

[0031] Figure 2 It is a cross-sectional view of a multi-segment limb with a limiting structure in an embodiment of the present utility model.

[0032] Figure 3 It is a cross-sectional view of a multi-segment limb with a limiting structure in a curled state in an embodiment of the present invention.

[0033] Figure 4 It is a cross-sectional view of a multi-segment limb with a limiting structure in an embodiment of the present utility model.

[0034] Figure 5 This is a first structural schematic diagram of the second limb segment in an embodiment of the present utility model.

[0035] Figure 6 This is a first structural schematic diagram of the second limb segment in an embodiment of the present utility model.

[0036] Figure 7 It is a structural schematic diagram of the third limb segment in an embodiment of the present utility model.

[0037] Figure 8 It is a structural schematic diagram of the second limb segment and the connecting rod in an embodiment of the utility model.

[0038] Description of reference numerals:

[0039] 10. First limb segment; 101. First abutting surface; 11. First extension plate; 111. First extension surface; 20. Second limb segment; 201. Second abutting surface; 202. First limiting surface; 203. Third limiting surface; 21. Second extension plate; 211. Second extension surface; 22. Third extension plate; 31. First rotating shaft; 32. Second rotating shaft; 40. Elastic member; 41. Cylindrical structure; 42. Extension foot; 50. Third limb segment; 501. Second limiting surface; 502. Fourth limiting surface; 51. Fourth extension plate; 60. Connecting rod; 70. Driving mechanism. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Please also see Figures 1-8 The present utility model provides some preferred embodiments of a multi-segment limb with a limiting structure.

[0042] like Figure 1 and Figure 2 As shown, the multi-segment limb with a limited position structure includes:

[0043] A first limb segment 10, wherein a first extension plate 11 is provided on the first limb segment 10;

[0044] A second limb segment 20, wherein a second extension plate 21 is provided on the second limb segment 20;

[0045] Wherein, the first extension plate 11 is rotatably connected to the second extension plate 21;

[0046] When the first limb segment 10 and the second limb segment 20 are curled, the first limb segment 10 limits the second extension plate 21 , and the second limb segment 20 limits the first extension plate 11 .

[0047] Specifically, a multi-segment limb refers to a limb that is divided into at least two segments. For example, the fingers, arms, and legs of a robot are all multi-segment limbs. A multi-segment limb is divided into a first segment 10, a second segment 20, a third segment 50, and so on. The first segment 10 and the second segment 20 rotate relative to each other. Specifically, a first extension plate 11 is formed on the first segment 10, and a second extension plate 21 is formed on the second segment 20. The first extension plate 11 extends toward the second segment 20, and the second extension plate 21 extends toward the first segment 10. The first extension plate 11 and the second extension plate 21 are rotatably connected, thereby enabling the first segment 10 and the second segment 20 to rotate relative to each other.

[0048] like Figure 3 As shown, when the first limb segment 10 and the second limb segment 20 rotate with each other, the first extension plate 11 and the second extension plate 21 also rotate with each other. The rotation of the first extension plate 11 is limited by the second limb segment 20, and the rotation of the second extension plate 21 is limited by the first limb segment 10. Through mutual limitation, the first limb segment 10 and the second limb segment 20 have a more stable and firm curling state, and relative movement is not likely to occur between the first limb segment 10 and the second limb segment 20, which is conducive to maintaining the overall morphology of the multi-segment limb.

[0049] The inner side of the multi-segment limb when curled is the front side, and the outer side of the multi-segment limb when curled is the back side. A first abutting surface 101 is formed on the first limb segment 10, a second abutting surface 201 is formed on the second limb segment 20, a first extension surface 111 is formed on the first extension plate 11, and a second extension surface 211 is formed on the second extension plate 21. The first abutting surface 101 of the first limb segment 10 and the second limb segment 20 are in contact with the second extension surface 211, and the second abutting surface 201 is in contact with the first extension surface 111. This contact state can specifically form a surface-to-surface contact. The first abutting surface 101, the first extension surface 111, and the second extension surface 211 are close to the front side, and the second abutting surface 201 is close to the back side.

[0050] In a preferred embodiment of the present invention, please refer to Figure 1-Figure 2 The first extension plate 11 and the second extension plate 21 are rotatably connected via a first rotating shaft 31 .

[0051] Specifically, a first axial hole is formed in the first extension plate 11, a second axial hole is formed in the second extension plate 21, and the first rotating shaft 31 is located within the first and second axial holes. Specifically, the first abutting surface 101, the first extension surface 111, and the second extension surface 211 are located on one side of the first rotating shaft 31, and the second abutting surface 201 is located on the other side of the first rotating shaft 31.

[0052] In a preferred embodiment of the present invention, please refer to Figure 1 and Figure 4 There are two first extension plates 11 and two second extension plates 21.

[0053] Specifically, there are two first extension plates 11 and two second extension plates 21, and the two first extension plates 11 can be located between the two second extension plates 21. A first shaft hole is formed on each of the two first extension plates 11, and a second shaft hole is formed on each of the two second extension plates 21. The first end of the first rotating shaft 31 is inserted through one of the first shaft hole and the second shaft hole, and the second end of the first rotating shaft 31 is inserted through the other first shaft hole and the other second shaft hole.

[0054] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 An elastic member 40 is provided on the first rotating shaft 31 , and the elastic member 40 provides elastic force to stretch the first limb segment 10 and the second limb segment 20 .

[0055] Specifically, an elastic member 40 is disposed on the first rotating shaft 31. When the first limb 10 or the second limb 20 is curled by the rotational force, the elastic member 40 is deformed. When the rotational force on the first limb 10 or the second limb 20 is removed, the elastic member 40 recovers its deformation, pushing the first limb 10 or the second limb 20 to extend.

[0056] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 The elastic member 40 is a torsion spring, and the torsion spring is sleeved on the first rotating shaft 31 .

[0057] Specifically, if Figure 8 As shown, the torsion spring includes a cylindrical structure 41 and two extension legs 42. The cylindrical structure 41 is mounted on the first rotating shaft 31, and the two extension legs 42 extend toward the first limb 10 and the second limb 20, respectively. When the first limb 10 and the second limb 20 are curled, the angle between the two extension legs 42 changes, causing the torsion spring to deform.

[0058] In a preferred embodiment of the present invention, please refer to Figures 1-4 , the multi-segment limb comprises:

[0059] The third limb segment 50 is rotatably connected to the second limb segment 20;

[0060] The connecting rod 60 has two ends connected to the third limb segment 50 and the first limb segment 10 respectively.

[0061] Specifically, the third limb segment 50 is rotationally connected to the second limb segment 20, and the two ends of the connecting rod 60 are rotationally connected to the third limb segment 50 and the first limb segment 10 respectively. Then the first limb segment 10, the second limb segment 20 and the third limb segment 50 form a linkage structure. When the second limb segment 20 rotates relative to the third limb segment 50, the first limb segment 10 will also rotate under the drive of the connecting rod 60. In short, the first limb segment 10, the second limb segment 20 and the third limb segment 50 stretch synchronously or curl differently.

[0062] In a preferred embodiment of the present invention, please refer to Figure 6-Figure 7 A third extension plate 22 is provided on the second limb segment 20 , and a fourth extension plate 51 is provided on the third limb segment 50 .

[0063] Specifically, the third extension plate 22 and the fourth extension plate 51 are rotatably connected to enable the second limb segment 20 and the third limb segment 50 to rotate relative to each other. There are two third extension plates 22 and two fourth extension plates 51. Both third extension plates 22 are located between the two fourth extension plates 51.

[0064] In a preferred embodiment of the present invention, please refer to Figure 1 、 Figure 4 、 Figure 6 as well as Figure 7 The third extension plate 22 and the fourth extension plate 51 are rotatably connected via a second rotating shaft 32 .

[0065] Specifically, the third extension plate 22 and the fourth extension plate 51 are rotatably connected via the second rotating shaft 32. The third extension plate 22 is provided with a third shaft hole, and the fourth extension plate 51 is provided with a fourth shaft hole. Both third extension plates 22 are provided with a third shaft hole, and both fourth shaft holes are provided with a fourth shaft hole. The first end of the second rotating shaft 32 is inserted through one third shaft hole and one fourth shaft hole, and the second end of the second rotating shaft 32 is inserted through the other third shaft hole and the other fourth shaft hole.

[0066] In a preferred embodiment of the present invention, please refer to Figure 1 、 Figure 6 as well as Figure 7 , the connecting rod 60 is located between the two first extension plates 11 , and the connecting rod 60 is located between the two second extension plates 21 .

[0067] Specifically, the connecting rod 60 is located between the two first extension plates 11 and between the two second extension plates 21. Both first extension plates 11 are provided with a fifth axial hole, within which a third rotating shaft is disposed. The connecting rod 60 is rotatably connected to the first extension plates 11 via the third rotating shaft. The third limb 50 is provided with a sixth axial hole, within which a fourth rotating shaft is disposed. The connecting rod 60 is rotatably connected to the third limb 50 via the fourth rotating shaft.

[0068] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 5 At least one first limiting surface 202 is formed on the second limb segment 20, and at least one second limiting surface 501 is formed on the third limb segment 50; when the first limb segment 10 and the second limb segment 20 are extended, the first limiting surface 202 abuts against the second limiting surface 501.

[0069] Specifically, at least one first limiting surface 202 is formed on the side of the second limb segment 20 facing the third limb segment 50, and at least one second limiting surface 501 is formed on the side of the third limb segment 50 facing the second limb segment 20. When the first limb segment 10 and the second limb segment 20 are extended, the first limiting surface 202 and the second limiting surface 501 abut against each other, preventing the first limb segment 10, the second limb segment 20, and the third limb segment 50 from further extension. The limiting between the first limb segment 10, the second limb segment 20, the first extension plate 11, and the second extension plate 21 limits the range of curling of the multi-segment limb; the limiting between the first limiting surface 202 and the second limiting surface 501 limits the range of extension of the multi-segment limb.

[0070] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 6At least one third limiting surface 203 is formed on the second limb segment 20, and at least one fourth limiting surface 502 is formed on the third limb segment 50; when the first limb segment 10 and the second limb segment 20 are curled, the third limiting surface 203 abuts against the fourth limiting surface 502.

[0071] Specifically, to further limit the range of curling of the multi-segment limb, at least one third limiting surface 203 is formed on the second limb segment 20, and at least one fourth limiting surface 502 is formed on the third limb segment 50. When the first limb segment 10 and the second limb segment 20 are curled, the third limiting surface 203 and the fourth limiting surface 502 abut against each other, preventing further curling of the first limb segment 10, the second limb segment 20, and the third limb segment 50. The third limiting surface 203 is located between the two third extension plates 22, and the fourth limiting surface 502 is located between the two fourth extension plates 51.

[0072] The first limiting surface 202 and the second limiting surface 501 are close to the back surface, and the third limiting surface 203 and the fourth limiting surface 502 are close to the front surface. Specifically, the first limiting surface 202 and the second limiting surface 501 are located on one side of the second rotating shaft 32, and the third limiting surface 203 and the fourth limiting surface 502 are located on the other side of the second rotating shaft 32.

[0073] In a preferred embodiment of the present invention, please refer to Figures 1-4 , the multi-segment limb further comprises:

[0074] The driving mechanism 70 is provided on the third limb segment 50 and is used to rotate the second limb segment 20 .

[0075] Specifically, the driving mechanism 70 is provided on the third limb segment 50 , and the driving mechanism 70 can drive the second limb segment 20 to rotate, thereby realizing the curling and stretching of the entire multi-segment limb.

[0076] Based on the multi-segment limb with a limiting structure in any of the above embodiments, the present invention further provides a robotic arm, including the multi-segment limb with a limiting structure in any of the above embodiments, as described above in detail.

[0077] The robot arm provided by the present invention has all the above beneficial effects because it is provided with the multi-segment limb with a limiting structure as described in any of the above technical solutions, and no further details will be given here.

[0078] Based on the multi-segment limb or robotic arm with a limiting structure in any of the above embodiments, the present invention also provides a robot, including the multi-segment limb with a limiting structure in any of the above embodiments or the robotic arm in any of the above embodiments, as specifically described above.

[0079] The robot provided by the present invention has all the above beneficial effects because it is provided with the limb joints or robotic hands described in any of the above technical solutions, and no further details will be given here.

[0080] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, they can make improvements or changes based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A multi-segment limb with a limited position structure, characterized in that: It includes: a first limb segment, wherein a first extension plate is provided on the first limb segment; a second limb segment, wherein the second limb segment is provided with a second extension plate; Wherein, the first extension plate is rotatably connected to the second extension plate; When the first limb segment and the second limb segment are curled, the first limb segment limits the second extension plate, and the second limb segment limits the first extension plate.

2. The multi-segment limb with a limiting structure according to claim 1, characterized in that: The first extension plate and the second extension plate are rotatably connected via a first rotating shaft; An elastic member is provided on the first rotating shaft, and the elastic member provides elastic force to stretch the first limb segment and the second limb segment.

3. The multi-segment limb with a limiting structure according to claim 2, characterized in that: The multi-segment limb comprises: a third limb segment, rotatably connected to the second limb segment; A connecting rod, both ends of which are connected to the third limb segment and the first limb segment respectively.

4. The multi-segment limb with a limiting structure according to claim 3, characterized in that: At least one first limiting surface is formed on the second limb segment, and at least one second limiting surface is formed on the third limb segment; When the first limb segment and the second limb segment are extended, the first limiting surface abuts against the second limiting surface.

5. The multi-segment limb with a limiting structure according to claim 3, characterized in that: At least one third limiting surface is formed on the second limb segment, and at least one fourth limiting surface is formed on the third limb segment; When the first limb segment and the second limb segment are curled, the third limiting surface abuts against the fourth limiting surface.

6. The multi-segment limb with a limiting structure according to claim 3, characterized in that: The second limb segment is provided with a third extension plate, and the third limb segment is provided with a fourth extension plate; The third extension plate and the fourth extension plate are rotatably connected via a second rotation shaft.

7. The multi-segment limb with a limiting structure according to claim 3, characterized in that: There are two first extension plates and two second extension plates; The connecting rod is located between the two first extension plates, and the connecting rod is located between the two second extension plates.

8. The multi-segment limb with a limiting structure according to any one of claims 3 to 7, characterized in that: The multi-segment limb further comprises: a driving mechanism, provided on the third limb segment and used for rotating the second limb segment; The elastic member is a torsion spring, and the torsion spring is sleeved on the first rotating shaft.

9. A robotic arm, characterized in that: It comprises a multi-segment limb with a limiting structure as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: It includes a multi-segment limb with a limiting structure as described in any one of claims 1 to 8, or a robotic hand as described in claim 9.

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