Multi-degree-of-freedom limb, robot hand and robot

Abstract

The utility model discloses a multi-degree-of-freedom limb, a manipulator and a robot. The multi-degree-of-freedom limb comprises a base structure and a limb structure, the base structure comprises a base and a driving device, and the driving device is arranged on the base; the limb structure comprises a first limb, a first driving mechanism and a second limb; the driving device is movably connected with the first limb and used for driving the first limb to move relative to the base; the first driving mechanism is used for driving the second limb to rotate relative to the first limb. The driving device in the base structure is used for driving the limb structure to move relative to the base, and movement of the whole limb structure is achieved. A first driving mechanism in the limb structure is used for driving a second limb to rotate relative to a first limb, and rotation of the second limb is achieved. Through cooperation of the first driving mechanism and the driving device, multi-degree-of-freedom movement of limbs is achieved, the overall structure is more dispersed, layout is reasonable, the size is small, and the simulation effect is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a limb with multiple degrees of freedom, a robotic arm and a robot. Background Art

[0002] With the development of robotics, the demand for robots or manipulators to achieve multiple degrees of freedom is increasing, enabling them to handle complex operational tasks. In existing technologies, achieving multiple degrees of freedom has led to increasingly cumbersome and bulky structures for robots or manipulators, making it difficult to achieve the desired effect of limb simulation. For example, patent publication CN219311294U describes a drive unit with three drive units, achieving multi-degree-of-freedom control. However, the drive unit is cumbersome and bulky.

[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-degree-of-freedom limb, a robotic arm and a robot in response to the above-mentioned defects of the prior art, aiming to solve the problem of bloated multi-degree-of-freedom limb structure in the prior art.

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

[0006] A multi-degree-of-freedom limb, comprising: a base structure and a limb structure;

[0007] The basic structure includes: a base and a driving device, wherein the driving device is arranged on the base;

[0008] The limb structure includes:

[0009] a first limb movably connected to the base;

[0010] a first driving mechanism, disposed on the first limb;

[0011] a second limb, rotatably disposed on the first limb;

[0012] Wherein, the driving device is movably connected to the first limb and is used to drive the first limb to move relative to the base;

[0013] The first driving mechanism is used to drive the second limb to rotate relative to the first limb.

[0014] The multi-degree-of-freedom limb, wherein the first driving mechanism comprises:

[0015] a rotating structure, rotatably disposed on the first limb;

[0016] a first driving structure, disposed on the first limb and used to drive the rotating structure to rotate;

[0017] The rotating structure is provided with a fitting portion and an isolating portion, wherein the fitting portion is used to fit with the second limb, and the isolating portion is used to be separated from the second limb;

[0018] The fitting portion fits the second limb and pushes the second limb to rotate.

[0019] In the multi-degree-of-freedom limb, the first limb is rotationally connected to the second limb via a rotating shaft; and the rotating structure is sleeved outside the rotating shaft.

[0020] The multi-degree-of-freedom limb, wherein the rotating structure is further provided with a worm gear portion, and the worm gear portion is provided with a plurality of worm teeth;

[0021] The first driving structure includes:

[0022] a worm, meshing with the worm teeth;

[0023] The first driving member is used to drive the worm to rotate.

[0024] The multi-degree-of-freedom limb, wherein the limb structure further comprises:

[0025] a third limb, rotatably disposed on the second limb;

[0026] a connecting member, with two ends respectively connected to the first limb and the third limb;

[0027] a first elastic element, disposed on the third limb;

[0028] Wherein, the first elastic element is used to provide elastic force for stretching the second limb and the third limb.

[0029] The multi-degree-of-freedom limb, wherein the driving device includes: two second driving mechanisms, and the second driving mechanisms include:

[0030] A sliding structure, slidably arranged on the base;

[0031] a clutch structure, separating or combining relative to the sliding structure;

[0032] a second elastic element, two ends of which are respectively connected to the sliding structure and the base;

[0033] a second driving structure, disposed on the base and used to drive the clutch structure to move;

[0034] wherein the sliding structure is movably connected to the first limb;

[0035] The second elastic element is used to provide elastic force for combining the sliding structure and the clutch structure.

[0036] In the multi-degree-of-freedom limb, the cross-section of the clutch structure is polygonal, and a polygonal accommodating groove is formed on the sliding structure for accommodating the clutch structure.

[0037] The multi-degree-of-freedom limb, wherein the clutch structure is provided with a screw hole; the bottom of the polygonal receiving groove is provided with a through hole;

[0038] The second driving structure includes:

[0039] A screw rod, connected to the screw hole by a threaded connection;

[0040] a second driving member, for driving the screw to rotate;

[0041] Wherein, the through hole is for the screw to pass through;

[0042] The base is provided with a guide rail, the guide rail is provided with a slider, and the slider is connected to the sliding structure;

[0043] The sliding structure is movably connected to the first limb via a ball-end pull rod;

[0044] A rotating frame is rotatably arranged on the base, and the rotating frame is rotatably connected to the first limb.

[0045] A robotic hand, comprising a multi-degree-of-freedom limb as described in any one of the above items.

[0046] A robot, wherein it comprises a multi-degree-of-freedom limb as described in any one of the above items, or a robotic hand as described above.

[0047] Beneficial Effects: The drive device in the base structure is used to drive the limb structure relative to the base, enabling movement of the entire limb structure. The first drive mechanism in the limb structure is used to drive the second limb to rotate relative to the first limb, thereby achieving rotation of the second limb. The cooperation between the first drive mechanism and the drive device enables multi-degree-of-freedom movement of the limb, and the overall structure is more decentralized and rationally arranged, with a smaller size and a higher simulation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of a limb with multiple degrees of freedom in an embodiment of the present utility model.

[0049] Figure 2 It is a cross-sectional view of a limb with multiple degrees of freedom in an embodiment of the present utility model.

[0050] Figure 3It is a cross-sectional view of the limb structure in an embodiment of the present utility model.

[0051] Figure 4 It is a cross-sectional view of the basic structure in an embodiment of the present utility model.

[0052] Figure 5 It is a structural diagram of the basic structure in an embodiment of the present utility model.

[0053] Description of reference numerals:

[0054] 10. Basic structure; 11. Base; 111. Guide rail; 112. Slider; 113. Rotating frame; 12. Driving device; 121. Second driving mechanism; 1211. Sliding structure; 1212. Clutch structure; 1213. Second elastic element; 1214. Second driving structure; 121a. Screw; 121b. Second driving member; 1215. Ball head pull rod; 20. Limb structure; 21. First limb; 22. First driving mechanism; 221. Rotating structure; 2211. Fitting part; 2212. Isolating part; 2213. Worm gear part; 222. First driving structure; 2221. Worm; 2222. First driving member; 23. Second limb; 24. Rotating shaft; 25. Third limb; 26. Connecting member; 27. First elastic element. DETAILED DESCRIPTION

[0055] 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.

[0056] Please also see Figure 1-Figure 5 , the utility model provides some preferred embodiments of a limb with multiple degrees of freedom.

[0057] like Figure 1 As shown, the multi-degree-of-freedom limb comprises: a base structure 10 and a limb structure 20;

[0058] The basic structure 10 includes: a base 11 and a driving device 12, wherein the driving device 12 is arranged on the base 11;

[0059] The limb structure 20 includes:

[0060] A first limb 21 is movably connected to the base 11;

[0061] A first driving mechanism 22 is provided on the first limb 21;

[0062] A second limb 23 is rotatably mounted on the first limb 21;

[0063] The driving device 12 is movably connected to the first limb 21 and is used to drive the first limb 21 to move relative to the base 11 ; the first driving mechanism 22 is used to drive the second limb 23 to rotate relative to the first limb 21 .

[0064] Specifically, the multi-degree-of-freedom limb consists of two major components: a base structure 10 and a limb structure 20. The base structure 10 can be attached to another limb or a prosthetic body, while the limb structure 20 simulates a limb. The drive mechanism 12 within the base structure 10 is used to drive the limb structure 20 relative to the base 11, enabling movement of the entire limb structure 20. A first drive mechanism 22 within the limb structure 20 is used to drive the rotation of the second limb 23 relative to the first limb 21, enabling rotation of the second limb 23. The cooperation between the first drive mechanism 22 and the drive mechanism 12 enables multi-degree-of-freedom movement of the limb, while also providing a more decentralized and rationally laid out overall structure, a smaller footprint, and a high degree of simulation.

[0065] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 3 , the first driving mechanism 22 includes:

[0066] A rotating structure 221 rotatably disposed on the first limb 21 ;

[0067] A first driving structure 222 is provided on the first limb 21 and is used to drive the rotating structure 221 to rotate;

[0068] The rotating structure 221 is provided with a fitting portion 2211 , and the fitting portion 2211 is used to fit with the second limb 23 ; the fitting portion 2211 fits with the second limb 23 and pushes the second limb 23 to rotate.

[0069] Specifically, the first driving structure 222 is used to drive the rotation structure 221 to rotate, by engaging the second limb 23 with the contact portion 2211 of the rotation structure 221 and driving the second limb 23 to rotate. The contact portion 2211 can be in contact with or separate from the second limb 23. When the contact portion 2211 is in contact with the second limb 23, rotation of the rotation structure 221 can drive the second limb 23 to rotate. When the contact portion 2211 is separated from the second limb 23, rotation of the rotation structure 221 does not drive the second limb 23 to rotate. When the second limb 23 is passively rotated by an external force, the second limb 23 separates from the contact portion 2211, and the rotation structure 221 does not passively rotate, allowing the second limb 23 to passively bend without affecting the rotation structure 221 and the first driving structure 222.

[0070] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 3The rotating structure 221 is provided with an isolation portion 2212 , and the isolation portion 2212 is used to be separated from the second limb 23 .

[0071] Specifically, the isolation portion 2212 is separated from the second limb 23 , so that the second limb 23 and the rotating structure 221 are separated from each other, and the second limb 23 can rotate freely without being affected by the rotating structure 221 .

[0072] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 3 The first limb 21 is rotatably connected to the second limb 23 via a rotating shaft 24 ; the rotating structure 221 is sleeved outside the rotating shaft 24 .

[0073] Specifically, the first limb 21 and the second limb 23 are rotationally connected via a rotating shaft 24. A rotating structure 221 is disposed outside the rotating shaft 24. The rotating shaft 24 can be rotationally connected to the first limb 21, the second limb 23, and the rotating structure 221. The rotating shaft 24 can also be fixedly connected to one of the first limb 21, the second limb 23, and the rotating structure 221, and rotationally connected to the other two. Disposing the rotating structure 221 outside the rotating shaft 24 saves space.

[0074] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 3 The rotating structure 221 is further provided with a worm gear portion 2213, and the worm gear portion 2213 is provided with a plurality of worm teeth; the first driving structure 222 includes:

[0075] a worm 2221 meshing with the worm gear;

[0076] The first driving member 2222 is used to drive the worm 2221 to rotate.

[0077] Specifically, a worm gear portion 2213 is formed on the rotating structure 221. This portion is located outside the contact portion 2211 and the isolation portion 2212. The worm gear portion 2213 is provided with a plurality of worm teeth that mesh with the worm 2221. The first driving member 2222 is used to drive the worm 2221 to rotate. Rotation of the worm 2221 also drives the rotating structure 221. The worm 2221 rotates perpendicularly to the direction of rotation of the rotating structure 221.

[0078] In a preferred embodiment of the present invention, please refer to Figure 1-Figure 3 , the limb structure 20 further includes:

[0079] a third limb 25 rotatably disposed on the second limb 23;

[0080] a connecting member 26 , with two ends respectively connected to the first limb 21 and the third limb 25 ;

[0081] a first elastic element 27 , provided on the third limb 25 ;

[0082] The first elastic element 27 is used to provide elastic force for the second limb 23 and the third limb 25 to stretch.

[0083] Specifically, the third limb 25 is rotationally connected to the second limb 23. The ends of the connecting member 26 are rotationally connected to the first limb 21 and the third limb 25, respectively. The third limb 25 is located on the side of the second limb 23 facing away from the first limb 21. When the first driving structure 222 drives the rotating structure 221 to rotate and push the second limb 23 to rotate relative to the first limb 21, the third limb 25 also rotates relative to the second limb 23 under the action of the connecting member 26, causing the entire limb to bend. The first elastic element 27 provides elastic force for the second and third limbs 23, 25 to stretch. When the first driving structure 222 drives the rotating structure 221 to rotate from its initial position to achieve bending, the first elastic element 27 deforms. When the first driving structure 222 reverses the rotation structure 221 to return to its initial position, the second and third limbs 23, 25, are extended under the action of the first elastic element 27.

[0084] In a preferred embodiment of the present invention, please refer to Figure 1 and Figure 5 The driving device 12 includes two second driving mechanisms 121, and the second driving mechanism 121 includes:

[0085] A sliding structure 1211 is slidably disposed on the base 11;

[0086] The clutch structure 1212 is separated from or combined with the sliding structure 1211;

[0087] The second driving structure 1214 is provided on the base 11 and is used to drive the clutch structure 1212 to move;

[0088] The sliding structure 1211 is movably connected to the first limb 21 .

[0089] Specifically, the driving device 12 uses two second driving mechanisms 121. The two driving mechanisms can be arranged in parallel. Both driving mechanisms can drive the limb structure 20 to move. The two driving mechanisms cooperate to drive the limb structure 20 to form a variety of movement modes, such as left and right deflection, bending, stretching and other movements. The limb structure 20 has an anti-accidental collision function relative to the base 11. When the limb structure 20 is subjected to external force or collides with other objects, the first limb 21 moves relative to the base 11 and pushes the sliding structure 1211 to slide, so that the sliding structure 1211 and the clutch structure 1212 are separated. When the limb structure 20 moves passively, it does not affect the clutch structure 1212 and the second driving structure 1214. When the sliding structure 1211 and the clutch structure 1212 are combined, the second driving structure 1214 can drive the sliding structure 1211 and the clutch structure 1212 to move together.

[0090] In a preferred embodiment of the present invention, please refer to Figure 4-Figure 5 , the second driving mechanism 121 further includes:

[0091] The second elastic element 1213 has two ends connected to the sliding structure 1211 and the base 11 respectively;

[0092] The second elastic element 1213 is used to provide elastic force for combining the sliding structure 1211 and the clutch structure 1212 .

[0093] Specifically, the binding force between the sliding structure 1211 and the clutch structure 1212 can be an elastic force or a magnetic force. For example, a second elastic element 1213 is used to provide elastic force to combine the sliding structure 1211 and the clutch structure 1212. When subjected to external force or colliding with other objects, the limb structure 20 moves relative to the base 11, which can overcome the binding force between the sliding structure 1211 and the clutch structure 1212, so that the sliding structure 1211 and the clutch structure 1212 are separated.

[0094] In a preferred embodiment of the present invention, please refer to Figure 2 and Figure 4 The cross section of the clutch structure 1212 is polygonal, and a polygonal accommodating groove is formed on the sliding structure 1211 for accommodating the clutch structure 1212 .

[0095] Specifically, the cross section of the clutch structure 1212 is polygonal, and a polygonal receiving groove is formed on the sliding structure 1211 , so the clutch structure 1212 cannot rotate in the polygonal receiving groove of the sliding structure 1211 .

[0096] In a preferred embodiment of the present invention, please refer to Figure 2 and Figure 4, the clutch structure 1212 is provided with a screw hole; the bottom of the polygonal receiving groove is provided with a through hole;

[0097] The second driving structure 1214 includes:

[0098] The screw rod 121a is threadedly connected to the screw hole;

[0099] A second driving member 121b is used to drive the screw 121a to rotate;

[0100] The through hole is for the screw rod 121 a to pass through.

[0101] Specifically, a screw hole is formed on the clutch structure 1212, and the screw rod 121a is threadedly connected to the screw hole. The second driving member 121b drives the screw rod 121a to rotate, while the clutch structure 1212 and the sliding structure 1211 do not rotate, but slide or move along the length of the screw rod 121a, thereby driving the first limb 21 to move through the sliding structure 1211.

[0102] In a preferred embodiment of the present invention, please refer to Figure 2 and Figure 4 A guide rail 111 is provided on the base 11 , a slider 112 is provided on the guide rail 111 , and the slider 112 is connected to the sliding structure 1211 .

[0103] Specifically, in order to guide the sliding of the sliding structure 1211, the slider 112 slides along the guide rail 111 and drives the sliding structure 1211 to slide along the length direction of the guide rail 111. The length direction of the guide rail 111 is parallel to the length of the screw rod 121a.

[0104] In a preferred embodiment of the present invention, please refer to Figure 1 、 Figure 2 、 Figure 4 as well as Figure 5 The sliding structure 1211 is movably connected to the first limb 21 via a ball-end pull rod 1215 ; a rotating frame 113 is rotatably provided on the base 11 , and the rotating frame 113 is rotatably connected to the first limb 21 .

[0105] Specifically, both ends of the ball head pull rod 1215 are movably connected to the first limb 21 and the sliding structure 1211 respectively. The ball head pull rod 1215 has a high degree of freedom and moves in three directions, thereby improving the freedom of movement of the limb structure 20.

[0106] Based on the multi-degree-of-freedom limb of any of the above embodiments, the present invention further provides a robotic hand, comprising the multi-degree-of-freedom limb described in any of the above embodiments, as specifically described above.

[0107] The robotic arm provided by the present invention has all the above beneficial effects because it is provided with the limb joints described in any of the above technical solutions, and no further details will be given here.

[0108] Based on the multi-degree-of-freedom limb or robotic arm of any of the above embodiments, the present invention also provides a robot, including the multi-degree-of-freedom limb or robotic arm described in any of the above embodiments, as described above.

[0109] 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.

[0110] 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-degree-of-freedom limb, characterized in that: include: basic and limb structures; The basic structure includes: a base and a driving device, wherein the driving device is arranged on the base; The limb structure includes: a first limb movably connected to the base; a first driving mechanism, disposed on the first limb; a second limb, rotatably disposed on the first limb; Wherein, the driving device is movably connected to the first limb and is used to drive the first limb to move relative to the base; The first driving mechanism is used to drive the second limb to rotate relative to the first limb.

2. The multi-degree-of-freedom limb according to claim 1, characterized in that The first driving mechanism comprises: a rotating structure, rotatably disposed on the first limb; a first driving structure, disposed on the first limb and used to drive the rotating structure to rotate; The rotating structure is provided with a fitting portion and an isolating portion, wherein the fitting portion is used to fit with the second limb, and the isolating portion is used to be separated from the second limb; The fitting portion fits the second limb and pushes the second limb to rotate.

3. The multi-degree-of-freedom limb according to claim 2, characterized in that: The first limb is rotatably connected to the second limb via a rotating shaft; the rotating structure is sleeved outside the rotating shaft.

4. The multi-degree-of-freedom limb according to claim 2, characterized in that: The rotating structure is further provided with a worm gear portion, and the worm gear portion is provided with a plurality of worm teeth; The first driving structure includes: a worm, meshing with the worm teeth; The first driving member is used to drive the worm to rotate.

5. The multi-degree-of-freedom limb according to any one of claims 1 to 4, characterized in that: The limb structure further comprises: a third limb, rotatably disposed on the second limb; a connecting member, with two ends respectively connected to the first limb and the third limb; a first elastic element, disposed on the third limb; Wherein, the first elastic element is used to provide elastic force for stretching the second limb and the third limb.

6. The multi-degree-of-freedom limb according to claim 1, characterized in that: The driving device includes: two second driving mechanisms, and the second driving mechanisms include: A sliding structure, slidably arranged on the base; a clutch structure, separating or combining relative to the sliding structure; a second elastic element, two ends of which are respectively connected to the sliding structure and the base; a second driving structure, disposed on the base and used to drive the clutch structure to move; wherein the sliding structure is movably connected to the first limb; The second elastic element is used to provide elastic force for combining the sliding structure and the clutch structure.

7. The multi-degree-of-freedom limb according to claim 6, characterized in that: The cross section of the clutch structure is polygonal, and a polygonal accommodating groove is formed on the sliding structure for accommodating the clutch structure.

8. The multi-degree-of-freedom limb according to claim 7, characterized in that: The clutch structure is provided with a screw hole; the bottom of the polygonal receiving groove is provided with a through hole; The second driving structure includes: a screw rod, connected to the screw hole by a thread; a second driving member, for driving the screw to rotate; Wherein, the through hole is for the screw to pass through; The base is provided with a guide rail, the guide rail is provided with a slider, and the slider is connected to the sliding structure; The sliding structure is movably connected to the first limb via a ball-end pull rod; A rotating frame is rotatably arranged on the base, and the rotating frame is rotatably connected to the first limb.

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

10. A robot, characterized in that: It comprises a multi-degree-of-freedom limb as claimed in any one of claims 1 to 8, or a robotic hand as claimed in claim 9.

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