Limb group with limiting structure, robot arm and robot

Abstract

The utility model discloses a limb section group with a limiting structure, a manipulator and a robot. The limb section group with the limiting structure comprises a first limb section and a second limb section which are rotationally connected with each other, the limb section group further comprises a limiting protrusion arranged on the first limb section. A notch is formed in the second limb section, and the limiting protrusion rotates to the position of the notch. When the first limb section and the second limb section rotate and move relative to each other, the limiting protrusion can be inserted into the notch or separated from the notch. The limiting protrusion is limited through the wall of the notch, so that rotation of the first limb section and the second limb section is limited, the limb section set can be in a more stable and firmer state when in a curled state, and an object is grabbed more firmly.

Description

Technical Field

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

[0002] The limb group of a robot or manipulator contains several limbs connected in sequence, and the limb group can be in a curled state or an extended state. When grasping an object, the multi-segment limb is usually in a semi-curled state or a fully curled state. In the curled state, the more stable the multi-segment limb structure is, the more secure the object can be grasped. Usually, in order to avoid interference, there is a certain gap between the two mating structures, which provides space for the relative displacement or shaking of the structures. In the prior art, when the limb group is fully curled, the contact state between the two adjacent limbs is unstable, and it is easy to move or shake, making it difficult to maintain a stable and secure curled state. For example, in the patent document with publication number CN118721257A, the finger base, finger tip and motor housing are rotatably connected by a rotating shaft. In the curled state, relative displacement or left and right shaking may occur, resulting in a loose grip.

[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 that, in response to the above-mentioned defects of the prior art, a limb group, a robotic arm and a robot with a limiting structure are provided, aiming to solve the problem in the prior art that the limb group is difficult to maintain a stable and firm curled state when fully curled, resulting in a weak grip.

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

[0006] A limb assembly with a limited position structure, comprising: a first limb assembly and a second limb assembly rotatably connected to each other; wherein the limb assembly further comprises:

[0007] A limiting protrusion is provided on the first limb;

[0008] Wherein, a notch is formed on the second limb, and the limiting protrusion rotates to the position of the notch.

[0009] The limb group with a limited structure, wherein the first limb is provided with a rotating wheel, and the rotating wheel is used to drive the second limb to rotate;

[0010] The second limb forms a contact surface, the rotating wheel forms a first limiting surface, the first limiting surface is in close contact with the contact surface, and the first limiting surface rotates to the position of the limiting protrusion.

[0011] The limb segment assembly with a limiting structure, wherein the limiting protrusion has a first end surface, and the notch has a first notch wall;

[0012] When the first limiting surface rotates to the position of the limiting protrusion, the first notch wall contacts the first end surface.

[0013] The limb segment assembly with a limiting structure, wherein the limiting protrusion has a first side surface, and the notch has a second notch wall;

[0014] When the first limiting surface rotates to the position of the limiting protrusion, the first side surface contacts the second notch wall.

[0015] The limb group with a limiting structure, wherein the rotating wheel is formed with a second limiting surface, the limiting protrusion has a second side surface, and the second side surface limits the second limiting surface.

[0016] The limb group with a limiting structure, wherein a avoiding surface is formed between the first limiting surface and the second limiting surface on the rotating wheel, and the avoiding surface avoids the abutting surface and the limiting protrusion.

[0017] The segment assembly with a limited position structure, wherein the rotating wheel is provided with a plurality of worm teeth; the segment assembly further comprises:

[0018] a worm, meshing with the worm teeth;

[0019] A driving member is used to drive the worm to rotate.

[0020] The limb group with a limited position structure, wherein the first limb and the second limb are rotatably connected via a rotating shaft; the rotating wheel is sleeved outside the rotating shaft;

[0021] The first limb is provided with two first side plates, and the first side plates are provided with a first shaft hole;

[0022] The second limb is provided with two second side plates, and the second side plates are provided with second axial holes;

[0023] The rotating shaft passes through the first shaft hole and the second shaft hole.

[0024] A robotic arm, comprising a limb group with a limiting structure as described in any one of the above items.

[0025] A robot, comprising a limb group with a limiting structure as described in any one of the above items, or a robotic hand as described above.

[0026] Beneficial Effect: When the first and second limbs rotate relative to each other, the limiting protrusion can be inserted into or removed from the notch. The limiting protrusion is limited by the wall of the notch, thereby limiting the rotation of the first and second limbs. When the limb assembly is in the curled state, it can present a more stable and secure state, and grasp objects more firmly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of a limb group with a limiting structure in an embodiment of the utility model.

[0028] Figure 2 It is a cross-sectional view of a segment group with a limiting structure in an embodiment of the present utility model.

[0029] Figure 3 It is a cross-sectional view of a limb group with a limiting structure in a curled state in an embodiment of the present utility model.

[0030] Figure 4 It is a cross-sectional view of the first limb segment, the second limb segment and the rotating wheel in an embodiment of the utility model.

[0031] Figure 5 It is a structural diagram of the first limb segment in an embodiment of the present utility model.

[0032] Figure 6 It is a structural schematic diagram of the second limb segment in an embodiment of the present utility model.

[0033] Figure 7 It is a structural schematic diagram of the rotating wheel in the embodiment of the present utility model.

[0034] Description of reference numerals:

[0035] 10. First limb section; 11. Limiting protrusion; 111. First end face; 112. First side face; 113. Second side face; 12. First side plate; 20. Second limb section; 21. Notch; 211. First notch wall; 212. Second notch wall; 22. Abutting surface; 23. Second side plate; 30. Rotating wheel; 31. First limiting surface; 32. Second limiting surface; 33. Avoiding surface; 34. Worm gear; 41. Worm; 42. Driving member; 50. Rotating shaft. DETAILED DESCRIPTION

[0036] 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.

[0037] Please also see Figure 1-Figure 7 The present utility model provides some preferred embodiments of a limb group with a limiting structure.

[0038] like Figure 1 As shown, the limb group with a limited structure includes:

[0039] A first limb 10 and a second limb 20 rotatably connected to each other;

[0040] A limiting protrusion 11 is provided on the first limb 10;

[0041] A notch 21 is formed on the second limb 20 , and the limiting protrusion 11 rotates to the position of the notch 21 .

[0042] Specifically, the limb group has at least two limbs, for example, there is a first limb 10 and a second limb 20 in the limb group. The first limb 10 and the second limb 20 are rotatably connected. When the first limb 10 rotates, it drives the limiting protrusion 11 to rotate; when the second limb 20 rotates, it also drives the notch 21 to rotate. When the first limb 10 and the second limb 20 rotate relative to each other, the limiting protrusion 11 can be inserted into the notch 21 or detached from the notch 21. The limiting protrusion 11 is limited by the wall of the notch 21, thereby limiting the rotation of the first limb 10 and the second limb 20. When the limb group is in the curled state, it can present a more stable and secure state, and grasp objects more securely.

[0043] The limiting protrusion 11 is provided protrudingly on the first segment 10, and the notch 21 is provided concavely on the second segment 20. When the limiting protrusion 11 rotates into the notch 21, the limiting protrusion 11 and the notch 21 are mutually restrained, and the first segment 10 and the second segment 20 cannot rotate further. When the limiting protrusion 11 rotates out of the notch 21, the limiting protrusion 11 and the notch 21 are disengaged and no longer restrain each other.

[0044] In a preferred embodiment of the present invention, please refer to Figure 1 、 Figure 5 as well as Figure 6 The first limb 10 is provided with two first side panels 12 ; the second limb 20 is provided with two second side panels 23 .

[0045] Specifically, two first side panels 12 are provided on the first limb segment 10, and two second side panels 23 are provided on the second limb segment 20. The first side panels 12 and the second side panels 23 are rotatably connected to each other, thereby realizing the mutual rotational connection between the first limb segment 10 and the second limb segment 20.

[0046] The limiting protrusion 11 is located between the two first side plates 12, and the notch 21 is located between the two second side plates 23. The limiting protrusion 11 can be inserted between the two second side plates 23 and into the notch 21, and the two second side plates 23 will also limit the limiting protrusion 11.

[0047] In a preferred embodiment of the present invention, please refer to Figure 2 、 Figure 3 as well as Figure 4 The limiting protrusion 11 has an end face and a side face. The end face refers to the face of the first limb segment 10 facing the second limb segment 20, and the side face refers to the side face of the first limb segment 10 facing the surrounding of the limb segment group. The limiting protrusion 11 has one end face, denoted as the first end face 111; the limiting protrusion 11 has four side faces, denoted as the first side face 112, the second side face 113, the third side face, and the fourth side face, respectively. The first side face 112 faces outward, the second side face 113 faces inward, and the third and fourth side faces each of the two first side plates 12.

[0048] In a preferred embodiment of the present invention, please refer to Figure 2 、 Figure 4 as well as Figure 6 The notch 21 has four notch walls: a first notch wall 211, a second notch wall 212, a third notch wall, and a fourth notch wall. The first notch wall 211 faces outward, the second notch wall 212 faces toward the first limb 10, and the third and fourth notch walls are located on the two second side panels 23, respectively. After the limiting protrusion 11 is inserted into the notch 21, the third and fourth notch walls limit the third and fourth side surfaces, respectively.

[0049] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 as well as Figure 7 The first limb 10 is provided with a rotating wheel 30, and the rotating wheel 30 is used to drive the second limb 20 to rotate.

[0050] Specifically, the rotating wheel 30 rotates relative to the first limb segment 10 and is used to drive the second limb segment 20 to rotate. The limb segment assembly further includes a driving structure for driving the rotating wheel 30 to rotate. The driving structure can be provided on the first limb segment 10.

[0051] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 The second limb 20 forms a supporting surface 22 , and the rotating wheel 30 forms a first limiting surface 31 . The first limiting surface 31 is in close contact with the supporting surface 22 , and the first limiting surface 31 rotates to the position of the limiting protrusion 11 .

[0052] Specifically, the second limb 20 has a contact surface 22 on the side facing the first limb 10, and the rotating wheel 30 has a first limiting surface 31 on the side facing the second limb 20. The contact surface 22 abuts against the first limiting surface 31. The first limiting surface 31 can rotate to the position of the limiting protrusion 11, which drives the second limb to rotate to the position of the limiting protrusion 11, and the limiting protrusion 11 is inserted into the notch 21.

[0053] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 The limiting protrusion 11 has a first end surface 111 , and the notch 21 has a first notch wall 211 ; when the first limiting surface 31 rotates to the position of the limiting protrusion 11 , the first notch wall 211 contacts the first end surface 111 .

[0054] Specifically, when the first limiting surface 31 rotates to the position of the limiting protrusion 11, the first limiting surface 31 drives the second limb to rotate, the limiting protrusion 11 is inserted into the notch 21, the limiting protrusion 11 and the notch 21 limit each other, and the first limb and the second limb cannot continue to rotate.

[0055] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 The limiting protrusion 11 has a first side surface 112 , and the notch 21 has a second notch wall 212 ; when the first limiting surface 31 rotates to the position of the limiting protrusion 11 , the first side surface 112 contacts the second notch wall 212 .

[0056] Specifically, the first limiting surface 31 rotates to the position of the limiting protrusion 11 , the limiting protrusion 11 is inserted into the notch 21 , and the second notch wall 212 contacts the first side surface 112 .

[0057] In a preferred embodiment of the present invention, please refer to Figure 2 、 Figure 4 as well as Figure 7 The rotating wheel 30 is formed with a second limiting surface 32 , and the limiting protrusion 11 has a second side surface 113 , and the second side surface 113 limits the second limiting surface 32 .

[0058] Specifically, a second limiting surface 32 is formed on the rotating wheel 30, and the limiting protrusion 11 forms a second side surface 113. The second side surface 113 limits the second limiting surface 32, thereby limiting the rotation range of the rotating wheel 30. The limiting protrusion 11 can also limit the first limiting surface 31. The first limiting surface 31 and the second limiting surface 32 are located at different positions on the rotating wheel 30. The limiting protrusion 11 limits the first limiting surface 31 and the second limiting surface 32. Therefore, the rotation range of the rotating wheel 30 is the range between the first limiting surface 31 and the second limiting surface 32.

[0059] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 as well as Figure 7 A avoiding surface 33 is formed between the first limiting surface 31 and the second limiting surface 32 on the rotating wheel 30 , and the avoiding surface 33 avoids the abutting surface 22 and the limiting protrusion 11 .

[0060] Specifically, a clearance surface 33 is formed between the first limiting surface 31 and the second limiting surface 32. The clearance surface 33 provides clearance for the limiting protrusion 11 and the abutting surface 22. When the limiting protrusion 11 is at a position corresponding to the clearance surface 33, a gap exists between the limiting protrusion 11 and the clearance surface 33, thereby enabling the clearance surface 33 to provide clearance for the limiting protrusion 11. When the abutting surface 22 is at a position corresponding to the clearance surface 33, a gap exists between the abutting surface 22 and the clearance surface 33, thereby enabling the clearance surface 33 to provide clearance for the abutting surface 22.

[0061] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 , the rotating wheel 30 is provided with a plurality of worm teeth 34; the limb group also includes:

[0062] a worm 41 meshing with the worm gear 34;

[0063] The driving member 42 is used to drive the worm 41 to rotate.

[0064] Specifically, the rotating wheel 30 is a worm wheel having a plurality of worm teeth 34, and the worm 41 is engaged with the worm teeth 34. The driving member 42 drives the worm 41 to rotate, thereby driving the rotating wheel 30 to rotate.

[0065] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 4 The first limb segment 10 and the second limb segment 20 are rotatably connected via a rotating shaft 50 ; the rotating wheel 30 is sleeved outside the rotating shaft 50 .

[0066] Specifically, the first limb 10 and the second limb 20 are rotatably connected via the rotating shaft 50, and the rotating wheel 30 is sleeved outside the rotating shaft 50, thereby realizing the rotatable connection between the rotating wheel 30 and the first limb 10. The rotating wheel 30 may not be connected to the rotating shaft 50.

[0067] In a preferred embodiment of the present invention, please refer to Figure 4-Figure 6 The first side plate 12 is provided with a first axial hole, and the second side plate 23 is provided with a second axial hole; the rotating shaft 50 passes through the first axial hole and the second axial hole.

[0068] Specifically, the rotating shaft 50 is passed through the first shaft hole and the second shaft hole. The rotating wheel 30 is sleeved on the rotating shaft 50 and can rotate relative to the rotating shaft 50.

[0069] Based on the limb group with a limiting structure in any of the above embodiments, the present invention also provides a robotic arm, including the limb group with a limiting structure in any of the above embodiments, as described above in detail.

[0070] The robot arm provided by the present invention has all the above beneficial effects because it is provided with the limb group with the limiting structure described in any of the above technical solutions, and no further details will be given here.

[0071] Based on the limb group or robotic arm with a limiting structure in any of the above embodiments, the utility model also provides a robot, including the limb group with a limiting structure in any of the above embodiments or the robotic arm in any of the above embodiments, as specifically described above.

[0072] The robot provided by the present invention has all the above beneficial effects because it is provided with a limb group or a robot hand with a limiting structure as described in any of the above technical solutions, and no further details will be given here.

[0073] 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 limb assembly with a limited position structure, comprising: A first limb segment and a second limb segment connected to each other in a rotational manner; wherein the limb segment group further comprises: A limiting protrusion is provided on the first limb; Wherein, a notch is formed on the second limb, and the limiting protrusion rotates to the position of the notch.

2. The limb assembly with a limiting structure according to claim 1, characterized in that: The first limb is provided with a rotating wheel, and the rotating wheel is used to drive the second limb to rotate; The second limb forms a contact surface, the rotating wheel forms a first limiting surface, the first limiting surface is in close contact with the contact surface, and the first limiting surface rotates to the position of the limiting protrusion.

3. The limb assembly with a limiting structure according to claim 2, characterized in that: The limiting protrusion has a first end surface, and the notch has a first notch wall; When the first limiting surface rotates to the position of the limiting protrusion, the first notch wall contacts the first end surface.

4. The limb assembly with a limiting structure according to claim 2, characterized in that: The limiting protrusion has a first side surface, and the notch has a second notch wall; When the first limiting surface rotates to the position of the limiting protrusion, the first side surface contacts the second notch wall.

5. The limb assembly with a limiting structure according to claim 2, characterized in that: The rotating wheel is formed with a second limiting surface, and the limiting protrusion has a second side surface, and the second side surface limits the second limiting surface.

6. The limb assembly with a limiting structure according to claim 5, characterized in that: A position avoiding surface is formed between the first position limiting surface and the second position limiting surface on the rotating wheel, and the position avoiding surface avoids the abutting surface and the position limiting protrusion.

7. The limb assembly with a limiting structure according to any one of claims 2 to 6, characterized in that: The rotating wheel is provided with a plurality of worm teeth; the limb group further includes: a worm, meshing with the worm teeth; A driving member is used to drive the worm to rotate.

8. The limb assembly with a limiting structure according to claim 7, characterized in that: The first limb segment and the second limb segment are rotatably connected via a rotating shaft; the rotating wheel sleeve is arranged outside the rotating shaft; The first limb is provided with two first side plates, and the first side plates are provided with a first shaft hole; The second limb is provided with two second side plates, and the second side plates are provided with second axial holes; The rotating shaft passes through the first shaft hole and the second shaft hole.

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

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

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