High-precision bionic mechanical arm capable of adjusting traction rope and humanoid robot

Abstract

The utility model discloses a high-precision bionic mechanical arm capable of adjusting a traction rope and a humanoid robot, belongs to the field of mechanical arms, and solves the problem that a driving motor cannot accurately transmit power to a transmission mechanism after the existing traction rope is loosened. According to the technical scheme, the robot mainly comprises an arm, a dexterous hand and a driving device, the driving device comprises a transmission mechanism and a driving motor, the driving motor is arranged on the arm, and the transmission mechanism comprises a guide part, a sliding block installed on the guide part in a sliding mode and a traction rope wound on an output shaft of the driving motor. The sliding block is in transmission connection with fingers of the dexterous hand, the pulling rope drags the sliding block to slide back and forth along with forward and reverse rotation of an output shaft of the driving motor so as to drive the fingers to bend and / or swing, the mechanical arm further comprises an adjusting piece used for adjusting the driving motor to be close to or away from the dexterous hand, and the pulling rope changes tightness along with adjustment of the driving motor. The tensioning device is mainly used for keeping the traction rope in a tensioning state by adjusting the driving motor.

Description

TECHNICAL FIELD

[0001] The utility model discloses an adjustable high-precision bionic mechanical arm of traction rope and humanoid robot belongs to bionic mechanical arm technical field. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, and its deep integration with traditional robot industry, dexterous hand as the key component of robot execution function and human interaction has received more and more attention and research, and the research of bionic dexterous hand not only has great scientific significance, but also shows great potential in practical application. The design inspiration of bionic dexterous hand comes from the morphology, structure and functional characteristics of biological body, which realizes the perfect integration of biology, mechanics and engineering technology by applying these characteristics to the design of dexterous hand. The structural design makes the dexterous hand closer to the movement and operation mode of human hand, which provides the possibility for more natural and efficient human-computer interaction.

[0003] For example, the patent CN216266086U discloses a new type of structure bionic finger, which comprises a fingertip, a finger, a wire wheel assembly, a driving assembly, a first traction rope and a second traction rope. The wire wheel assembly is located at the connection between the fingertip and the finger. The front ends of the first traction rope and the second traction rope are fixed to the front end of the fingertip. The rear ends of the first traction rope and the second traction rope are crossed around the wire wheel assembly and connected to the driving assembly. The driving assembly pulls the first traction rope and the second traction rope, drives the fingertip to rotate around the front end of the finger, and realizes the bending and resetting of the bionic finger. In the above patent, the bionic finger directly pulls the fingertip and the finger as transmission members to move. During the movement, the movement of the fingertip and the finger is related to each other, and independent movement of the fingertip and the finger cannot be realized. In addition, after long-term use, the traction rope will be loose. When the traction rope is loose, the traction rope and the wire wheel assembly will slip, and the driving assembly cannot accurately transmit power to the fingertip and the finger, which delays the response of the fingertip and the finger, and reduces the sensitivity of the fingertip and the finger, affecting the normal use of the bionic finger. SUMMARY

[0004] The utility model discloses a kind of adjustable high-precision bionic mechanical arm of traction rope and humanoid robot, to solve the problem that the driving motor cannot accurately transmit power to transmission mechanism after the traction rope of existing appears loose, and therefore provide, by adjusting driving motor, traction rope can be kept in tension state.

[0005] To solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A high-precision bionic robotic arm with an adjustable traction rope comprises an arm, a dexterous hand and a drive device, the drive device comprising a transmission mechanism and a drive motor, the drive motor being arranged on the arm, the transmission mechanism comprising a guide member, a slider slidably mounted on the guide member and a traction rope wound around an output shaft of the drive motor, the slider being connected to the fingers of the dexterous hand, the traction rope dragging the slider to slide back and forth with the forward and reverse rotation of the output shaft of the drive motor to drive the fingers to bend and / or swing, the bionic robotic arm further comprising an adjustment member for adjusting the drive motor to move closer to or away from the dexterous hand, and the tightness of the traction rope changes with the adjustment of the drive motor.

[0007] The beneficial effects of adopting the utility model are:

[0008] The bionic robotic arm described in the present invention is provided with an adjusting part. When the traction rope becomes loose, the user can adjust the drive motor away from the dexterous hand through the adjusting part, thereby increasing the distance between the drive motor and the transmission mechanism in the dexterous hand, thereby tightening the traction rope and keeping the traction rope in a tensioned state, effectively avoiding the inability to accurately control the movement of the finger body due to the loosening of the traction rope, resulting in a lag in the movement of the finger body. The adjusting part can enable the drive motor to accurately and reliably transmit power to the transmission mechanism, thereby achieving fine control of the bending and / or swinging of the fingers of the dexterous hand; in addition, the adjusting part can adjust the position of the drive motor, so that the traction rope can be kept in a tensioned state. Therefore, when the traction rope is loose, the traction rope can be adjusted without replacing the traction rope. The adjusting part allows the user to easily keep the traction rope in a tensioned state, which is very convenient for the maintenance and care of the bionic robotic arm, helps to extend the service life of the bionic robotic arm, and can also reduce the maintenance cost of the bionic robotic arm.

[0009] Preferably, the adjusting member includes a motor base that can slide relative to the arm and a fastener for fixing the motor base to the arm, and the drive motor is installed on the motor base. With the above technical solution, the motor base can slide relative to the arm, so that the user can easily move the drive motor to the desired position to adjust the traction rope. When the motor base moves to the specified position, the motor base can be fixed to the arm by the fastener, ensuring that the motor base and the arm maintain a stable connection, so that the traction rope can be kept in a tensioned state for a long time and stably. In addition, the motor base is connected to the arm by the fastener, which can simplify the installation and disassembly process of the motor base and the arm, effectively reduce the difficulty of maintaining the motor base, and help improve the maintenance efficiency of the motor base.

[0010] Preferably, the adjusting member includes a motor mount fixedly mounted on the arm, the motor mount being provided with a movable mount that slides along the length of the arm, and the drive motor being fixed to the movable mount so that the drive motor can move relative to the motor mount. Adopting the aforementioned technical solution, the drive motor can slide relative to the motor mount via the movable mount, thereby allowing for simultaneous installation of multiple drive motors on the motor mount. This can reduce the number of motor mounts required, thus helping to reduce the manufacturing cost of the bionic robotic arm. Furthermore, the spacing between the drive motors can be reduced, thereby reducing the space occupied by the entire drive mechanism and making the overall size of the bionic robotic arm more compact.

[0011] Preferably, the motor base is provided with a strip-shaped hole extending along the length of the arm, and the surface of the arm is provided with a threaded hole, through which a fastener is threadedly connected. With the aforementioned technical solution, the motor base and the arm can slide relative to each other through the cooperation of the strip-shaped hole and the fastener. The overall structure of the adjustment member is relatively simple, which simplifies the adjustment process of the adjustment member on the motor base, helping to improve the adjustment efficiency of the motor base. Users can make adjustments themselves without using specific adjustment tools or hiring professional engineers, which can significantly reduce the difficulty and cost of maintaining the bionic robotic arm.

[0012] Preferably, the motor base is provided with at least two strip-shaped holes, wherein the two strip-shaped holes are spaced apart along the length of the arm; alternatively, the two strip-shaped holes are spaced apart perpendicular to the length of the arm. The aforementioned technical solution, by providing at least two strip-shaped holes, can limit the sliding direction of the motor base, ensuring that the motor base can slide along the length of the arm while also preventing the motor base from deflecting, making assembly of the motor base and the arm more precise and reliable.

[0013] Preferably, the traction rope is sheathed with a constricting tube, which is located between the output shaft of the drive motor and the transmission mechanism. Using the aforementioned technical solution, the constricting tube can constrain the traction rope, limiting its free swinging and effectively preventing the possibility of multiple traction ropes becoming entangled with each other. It can also protect the traction rope, reducing direct contact between the traction rope and other parts of the dexterous hand, reducing the possibility of traction rope wear, and helping to increase the service life of the traction rope. Furthermore, constricting the traction rope with the constricting tube can make the traction rope laying more neatly, helping to improve the aesthetics of the dexterous hand's fingers.

[0014] Preferably, the end of the arm near the dexterous hand is provided with a limit plate extending toward the outer periphery, the convergence tube is located between the limit plate and the transmission mechanism, and the limit plate is provided with perforations corresponding to the traction ropes, with each convergence tube corresponding to two perforations. Using the aforementioned technical solution, the perforations on the limit plate can provide a precise guide channel for the traction ropes, effectively preventing the possibility of mutual interference or entanglement between the traction ropes, allowing the traction ropes to operate stably and independently, and ensuring precise transmission between the drive motor and the transmission mechanism. Furthermore, the perforations can also play a role in arranging the traction ropes in an orderly manner, making the laying of the traction ropes more neat and orderly, facilitating the maintenance and replacement of the traction ropes, and also improving the aesthetics of the bionic robotic arm.

[0015] Preferably, the top end of the guide member is rotatably connected to a first pulley, and the traction ropes include a first traction rope and a second traction rope. The first traction rope passes over the first pulley and is connected to the upper end of the slider, while the second traction rope is connected to the lower end of the slider. With this technical solution, the first and second traction ropes are connected to the slider separately, which reduces the difficulty of connecting the traction ropes to the slider. Furthermore, when the traction ropes need to be replaced, only the first or second traction rope can be replaced, which helps reduce maintenance difficulty and costs.

[0016] Preferably, the finger includes a finger base, a guide member is fixed to the finger base, and the slider is connected to an extension plate extending toward the finger base. The first and second traction ropes are both fixed to the extension plate. With the aforementioned technical solution, the extension plate extends from the finger base, that is, the extension plate is positioned between the guide member and the finger base. This prevents interference between the traction rope and the slider, making the transmission between the traction rope and the slider more stable and reliable.

[0017] Preferably, the bottom end of the guide member is rotatably connected to a second pulley, with the first and second traction ropes respectively contacting opposite sides of the second pulley. Using the aforementioned technical solution, the second pulley can guide and support the traction ropes, making them less likely to deflect or shake during transmission, reducing the likelihood of the traction ropes detaching from the first pulley and ensuring stable sliding of the slider on the guide member.

[0018] Preferably, the dexterous hand includes five fingers, each finger is provided with three transmission mechanisms, and the outer peripheral side of the arm is provided with five mounting surfaces, and three drive motors corresponding to the same finger are slidably mounted on each mounting surface.

[0019] The present utility model also shows a humanoid robot, comprising a robot body and at least one bionic robotic arm movably connected to the robot body, wherein at least one of the bionic robotic arms adopts a high-precision bionic robotic arm with an adjustable traction rope as described in any one of the above items.

[0020] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a structural diagram of a high-precision bionic robotic arm with an adjustable traction rope according to the present invention;

[0023] Figure 2 This is an exploded view of the arm and drive mechanism of a high-precision bionic robotic arm with adjustable traction rope in the utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the driving mechanism of a high-precision bionic robotic arm with an adjustable traction rope according to the present invention;

[0025] Figure 4 This is a schematic structural diagram of a transmission mechanism in a bionic robotic arm of the present invention;

[0026] Figure markings: 1. Finger base; 2. Finger body; 3. Driving mechanism; 31. Motor seat; 311. First mounting plate; 312. Second mounting plate; 313. Support plate; 32. Driving motor; 321. Output shaft; 33. Traction rope; 331. First traction rope; 332. Second traction rope; 333. Condensing tube; 351. Strip hole; 352. Fastener; 4. Transmission mechanism; 421. Guide member; 422. Slider; 423. First pulley; 424. Second pulley; 425. Connecting seat; 426. Extension plate; 5. Arm; 51. Limiting plate; 511. Through hole; 52. Mounting surface; 521. Threaded hole. DETAILED DESCRIPTION

[0027] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless expressly limited otherwise.

[0030] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances. Example

[0031] like Figures 1 to 4 As shown, this embodiment shows a high-precision bionic robotic arm with an adjustable traction rope 33, including an arm 5, a dexterous hand and a driving device, the driving device including a transmission mechanism 4 and a driving motor 32, the driving motor 32 being arranged on the arm 5, the transmission mechanism 4 including a guide 421, a slider 422 slidably mounted on the guide 421 and a traction rope 33 wound around the output shaft 321 of the driving motor 32, the slider 422 being connected to the finger of the dexterous hand, the traction rope 33 drags the slider 422 to slide back and forth with the forward and reverse rotation of the output shaft 321 of the driving motor 32 to drive the fingers to bend and / or swing, the bionic robotic arm also includes an adjusting member for adjusting the driving motor 32 to be close to or away from the dexterous hand, and the traction rope 33 changes its tightness with the adjustment of the driving motor 32.

[0032] The bionic mechanical arm in the embodiment is provided with an adjusting member. When the traction rope 33 is slack, the user can adjust the driving motor 32 away from the dexterous hand through the adjusting member, thereby increasing the distance between the driving motor 32 and the transmission mechanism 4 in the dexterous hand, and then the traction rope 33 can be tightened, so that the traction rope 33 can be kept in a tension state, effectively avoiding the situation that the movement of the finger body 2 cannot be accurately controlled due to the slack of the traction rope 33, resulting in the lag of the movement of the finger body 2. The adjusting member can make the driving motor 32 accurately and reliably transmit power to the transmission mechanism 4, so that fine control of the bending and / or swinging of the fingers of the dexterous hand can be achieved. In addition, the adjusting member can adjust the position of the driving motor 32, so that the traction rope 33 can be kept in a tension state. Therefore, when the traction rope 33 is slack, the traction rope 33 can be adjusted without replacing it. The adjusting member makes it easy for the user to keep the traction rope 33 in a tension state, which is convenient for the maintenance and repair of the bionic mechanical arm, helps to prolong the service life of the bionic mechanical arm, and can also reduce the maintenance cost of the bionic mechanical arm.

[0033] As shown in Figure 2 and Figure 3 , the adjusting member in the embodiment includes a motor seat 31 that can slide relative to the arm 5 and a fastener 352 for fixing the motor seat 31 to the arm 5. The motor seat 31 includes a first mounting plate 311, a second mounting plate 312 and a support plate 313. The two ends of the support plate 313 are connected to the side edges of the first mounting plate 311 and the second mounting plate 312, respectively. The motor seat 31 as a whole has a C shape, wherein the first mounting plate 311 is installed on the outer circumferential side of the arm 5, one end of the support plate 313 is connected to the side edge of the first mounting plate 311, the other end extends away from the arm 5, and the second mounting plate 312 is fixed to the end of the support plate 313 away from the arm 5. The driving motor 32 is installed between the first mounting plate 311 and the second mounting plate 312. The motor seat 31 can slide relative to the arm 5, so that the driving motor 32 can be easily moved to the desired position to adjust the traction rope 33. When the motor seat 31 moves to the specified position, the motor seat 31 can be fixed to the arm 5 through the fastener 352, so as to ensure that the motor seat 31 and the arm 5 are stably connected, and the traction rope 33 can be kept in a tension state for a long time and stably. In addition, the motor seat 31 is connected to the arm 5 through the fastener 352, which can simplify the installation and disassembly process of the motor seat 31 and the arm 5, effectively reduce the maintenance difficulty of the motor seat 31, and help to improve the maintenance efficiency of the motor seat 31.

[0034] In this embodiment, a strip hole 351 is provided on the first mounting plate 311 along the length direction of the arm 5, and a threaded hole 521 is provided on the surface of the arm 5. The fastener 352 passes through the strip hole 351 and is threadedly connected to the threaded hole 521. When the position of the motor base 31 needs to be adjusted, the fastener 352 can be loosened first, and then the fastener 352 is loosened to fix the first mounting plate 311, so that the first mounting plate 311 can slide relative to the arm 5, and then the entire motor base 31 is controlled to move along the length direction of the arm 5. During the movement, the fastener 352 moves relative to the strip hole 351, thereby changing the distance between the drive motor 32 and the transmission mechanism 4. When the motor base 31 moves away from the dexterous hand along the arm 5, The distance between the driving motor 32 and the transmission mechanism 4 can be increased so that the traction rope 33 can be tightened and maintained in a tensioned state. After the motor base 31 is moved to the specified position, the fastener 352 is tightened to achieve a fixed connection between the motor base 31 and the arm 5, so that the motor base 31 is fixed on the arm 5. Through the cooperation of the bar hole 351 and the fastener 352, the relative sliding of the motor base 31 and the arm 5 can be achieved. The overall structure of the adjustment part is relatively simple, which simplifies the adjustment process of the adjustment part on the motor base 31, helps to improve the adjustment efficiency of the motor base 31, and users can adjust it by themselves without using specific adjustment tools or asking professional engineers to make adjustments, which can significantly reduce the maintenance difficulty and maintenance cost of the bionic robotic arm.

[0035] like Figure 3 As shown, in this embodiment, four strip holes 351 are provided on the first mounting plate 311, and the four strip holes 351 are divided into two groups. The two strip holes 351 in each group are arranged at intervals along the length direction of the arm 5, and the two groups of strip holes 351 are distributed at intervals perpendicular to the length direction of the arm 5, that is, the four strip holes 351 are distributed in a matrix. By setting a plurality of adjustment holes, the sliding direction of the motor base 31 can be limited to ensure that the motor base 31 can slide along the length direction of the arm 5. At the same time, the possibility of deflection of the motor base 31 can be avoided, so that the assembly of the motor base 31 and the arm 5 is more accurate and reliable.

[0036] Of course, it is understandable that in other embodiments, the number of the strip holes 351 can also be two or three or more than four. When the number of the strip holes 351 is two, the two strip holes 351 are spaced apart along the length direction of the arm 5; or, the two strip holes 351 are spaced apart along a direction perpendicular to the length direction of the arm 5.

[0037] Of course, it is understandable that in other embodiments, the motor seat 31 can be fixedly connected to the arm 5, and a movable seat can be provided on the motor seat 31 that slides along the length direction of the arm 5. The drive motor 32 is fixed to the movable seat so that the drive motor 32 can move relative to the motor seat 31. The drive motor 32 can slide relative to the motor seat 31 through the movable seat, that is, multiple drive motors 32 can be installed on the motor seat 31 at the same time, which can reduce the setting of the motor seat 31, help reduce the production cost of the bionic robotic arm, and also reduce the spacing between the drive motors 32, thereby reducing the space occupied by the entire drive mechanism 3 and making the overall volume of the bionic robotic arm more compact.

[0038] like Figure 4 As shown, the transmission mechanism 4 in this embodiment includes a guide member 421 and a slider 422 slidably mounted on the guide member 421. The guide member 421 is a long sliding rod. The length direction of the guide member 421 is distributed along the length direction of the finger base 1. The upper and lower ends of the sliding rod are fixed to the finger base 1 by bolts. The slider 422 is provided with a sliding groove for the guide member 421 to be embedded, so that the slider 422 and the guide member 421 can slide together. The side of the slider 422 facing away from the guide member 421 is connected to a connecting seat 425. A cross shaft is installed on the upper end of the connecting seat 425. The connecting seat 425 is transmission-connected to the finger body 2 through the cross shaft.

[0039] Of course, it is understandable that in other embodiments, the slide groove can also be set on the guide member 421, and the slider 422 is at least partially embedded in the slide groove so that the slider 422 is slidably connected to the guide member 421; in addition, the connecting seat 425 and the slider 422 in this embodiment are fastened together by bolts, so that the slider 422 and the connecting seat 425 can be disassembled. When the connecting seat 425 or the slider 422 needs to be replaced, only the slider 422 or the connecting seat 425 can be replaced. At the same time, it can also reduce the difficulty of disassembling the connecting seat 425, which helps to improve maintenance efficiency; of course, it is understandable that in other embodiments, the slider 422 and the connecting seat 425 can also be an integrated structure.

[0040] The top end of the guide member 421 described in this embodiment is rotatably connected to the first pulley 423, and the first pulley 423 is in the gap between the guide member 421 and the finger base 1. The bolt connecting the top end of the guide member 421 passes through the first pulley 423, and the first pulley 423 rotates around the bolt. The first traction rope 331 is connected to the upper end of the slider 422 after passing through the first pulley 423, and the second traction rope 332 is directly connected to the lower end of the slider 422 after extending from the output shaft 321 to the finger base 1. When the driving motor 32 drives the output shaft 321 to rotate forward, the first traction rope 331 is gradually released, and the second traction rope 332 is gradually wound around the rope groove. At this time, the first traction rope 331 gradually relaxes the pull on the slider 422, and the second traction rope 332 pulls the slider 422 to slide downward along the guide member 421. When the first traction rope 331 is in rotation, the first traction rope 331 is kept taut; when the slider 422 slides downward along the guide member 421, the rotation direction of the driving motor 32 is set to forward rotation. When the driving motor 32 reverses, the first traction rope 331 is gradually wound around the rope groove, and the second traction rope 332 is gradually released. At this time, the second traction rope 332 relaxes the pull on the slider 422, and the first traction rope 331 pulls the slider 422 to slide upward along the guide member 421; thereby realizing the forward and reverse rotation of the driving motor 32 to drag the slider 422 to slide back and forth along the guide member 421 through the traction rope 33. Since the winding and release of the first traction rope 331 and the second traction rope 332 are synchronized, the first traction rope 331 and the second traction rope 332 can be kept taut, so that the power transmission between the output shaft 321 and the slider 422 remains accurate and reliable.

[0041] In this embodiment, the drive motor 32 is directly connected to the slider 422 through the first traction rope 331 and the second traction rope 332, which can reduce the energy loss in the intermediate links and help improve the transmission efficiency between the drive motor 32 and the slider 422; secondly, the connection between the traction rope 33 and the slider 422 is relatively simple and is not affected by the structure of the slider 422. Therefore, the design of the slider 422 is not easily restricted, and a smaller and lighter slider 422 can be used to reduce the volume and weight of the fingers of the dexterous hand.

[0042] The connecting seat 425 described in this embodiment is provided with an extension plate 426 extending toward the finger base 1, the first traction rope 331 is fixed to the upper end of the extension plate 426, and the first traction rope 331 is fixed to the lower end of the extension plate 426, the first traction rope 331 and the second traction rope 332 drag the extension plate 426 to drive the slider 422 to slide back and forth along the guide member 421, the extension plate 426 is located between the guide member 421 and the finger base 1, and the connecting seat 425 is located on the side of the guide member 421 away from the finger base 1, that is, the traction rope 33 and the connecting seat 425 are respectively located on both sides of the guide member 421, thereby avoiding the possibility of mutual interference between the traction rope 33 and the connecting seat 425, making the transmission between the traction rope 33 and the connecting seat 425 more stable and reliable; in addition, when the traction rope 33 needs to be replaced, only the first traction rope 331 or the second traction rope 332 can be replaced, which helps to reduce the difficulty and cost of maintenance.

[0043] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 may also be directly connected to the slider 422, and the first traction rope 331 and the second traction rope 332 drag the slider 422 to drive the connecting seat 425 to slide back and forth.

[0044] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 can also be a whole, that is, the output shaft 321 is wrapped with a traction rope 33, one end of the traction rope 33 is wrapped in one of the rope grooves of the output shaft 321, and the other end passes around the first pulley 423 and is wrapped in another rope groove in the opposite direction, and a section of the traction rope 33 between the first pulley 423 and the output shaft 321 is fixed to the extension plate 426; in addition, in other embodiments, the extension plate 426 can also be provided with two through-holes 511 for the traction rope 33 to pass through, and the traction rope 33 is fixedly connected to the inner wall of one of the through-holes 511, and the through-hole 511 can limit the traction rope 33, thereby reducing the possibility of the traction rope 33 detaching from the first pulley 423.

[0045] In order to improve the control over the dexterous hand, the drive motor 32 in this embodiment is provided with a sensor for detecting the output shaft speed and the number of rotations. The sensor can be a Hall sensor. The sensor detects the speed and number of rotations of the output shaft 321 and transmits the detection result to the control component of the dexterous hand. The control component can accurately record the movement state of the finger body 2 according to the speed and number of rotations of the output shaft 321, and then adjust the movement position of the finger body 2 according to the use requirements. In addition, the speed of the drive motor 32 can also be adjusted to change the movement speed of the finger body 2, making the movement of the finger body 2 more flexible and precise.

[0046] The bottom end of the guide member 421 described in this embodiment is rotatably connected to the second pulley 424, and the second pulley 424 is located in the gap between the guide member 421 and the finger base 1. The bolt connected to the bottom end of the guide member 421 passes through the second pulley 424, and the second pulley 424 rotates around the bolt. The first traction rope 331 and the second traction rope 332 pass through the two sides of the second pulley 424 respectively and are wound around the output shaft 321 of the drive motor 32. The second pulley 424 can guide and support the traction rope 33, so that the traction rope 33 is not easy to deviate or shake during the transmission process, reducing the possibility of the traction rope 33 detaching from the first pulley 423, and also ensuring the stable sliding of the slider 422 on the guide member 421.

[0047] The second traction rope 331 and the second traction rope 332 are both in the same traction rope 333, and the traction rope 331 and the second traction rope 332 are both in the same traction rope 333. The traction rope 333 is located between the second pulley 424 and the output shaft 321 of the driving motor 32. The traction rope 333 can restrain the first traction rope 331 and the second traction rope 332, and can limit the random shaking of the first traction rope 331 and the second traction rope 332, and effectively avoid the possibility of the first traction rope 331 and the second traction rope 332 being entangled with other traction ropes 33; at the same time, the traction rope 333 can also protect the first traction rope 331 and the second traction rope 332, reduce the direct contact between the first traction rope 331 and the second traction rope 332 and other parts of the dexterous hand, and reduce the first traction rope 331 and the second traction rope 332. The possibility of wear and tear of the first traction rope 331 and the second traction rope 332 is improved, and the service life of the first traction rope 331 and the second traction rope 332 is improved; secondly, the first traction rope 331 and the second traction rope 332 are bundled by the bundle tube 333, so that the first traction rope 331 and the second traction rope 332 can be laid more neatly, which helps to improve the aesthetics of the fingers of the dexterous hands; in addition, the bundle tube 333 is located between the second pulley 424 and the output shaft 321 of the drive motor 32, and the bundle tube 333 can reduce the distance between the first traction rope 331 and the second traction rope 332, so that the first traction rope 331 and the second traction rope 332 can maintain stable contact with the second pulley 424, reduce the possibility of the first traction rope 331 and the second traction rope 332 detaching from the second pulley 424, and improve the matching stability of the first traction rope 331 and the second traction rope 332 and the second pulley 424. Figure 2 As shown, the dexterous hand described in this embodiment is provided with five fingers, and the arm 5 is a pentagonal columnar structure as a whole. The outer peripheral side of the arm 5 is provided with five mounting surfaces 52 corresponding to the fingers, and each mounting surface 52 is provided with three driving mechanisms 3. The driving mechanism 3 of the same mounting surface 52 corresponds to the transmission mechanism 4 of the finger corresponding to the mounting surface 52.

[0048] The arm 5 is provided with a limiting plate 51 extending outwardly at the end of the dexterous hand, the collection tube 333 is between the limiting plate 51 and the transmission mechanism 4, the limiting plate 51 is provided with a through hole 511 corresponding to the traction rope 33, each collection tube 333 corresponds to two through holes 511, since each mounting surface 52 is provided with three driving mechanisms 3, the limiting plate 51 corresponding to each mounting surface 52 is provided with six through holes 511, the first traction rope 331 and the second traction rope 332 enter the collection tube 333 after being guided by the second pulley 424, the end of the collection tube 333 is close to the limiting plate 51, the first traction rope 331 and the second traction rope 332 enter the driving mechanism 3 on the mounting surface 52 after leaving the collection tube 333, the through hole 511 on the limiting plate 51 can provide an accurate guide channel for the traction rope 33, can effectively avoid the possibility of mutual interference or winding between the traction ropes 33, can make the traction rope 33 run stably and independently, and ensure accurate transmission between the driving motor 32 and the transmission mechanism 4; in addition, the through hole 511 can also play an orderly arrangement role for the traction rope 33, can make the laying of the traction rope 33 more orderly, can facilitate maintenance and replacement of the traction rope 33, and can also improve the aesthetics of the bionic mechanical arm. Embodiment

[0049] The embodiment shows a humanoid robot, comprising a robot body, at least one bionic mechanical arm is movably installed on the robot body, at least one of the bionic mechanical arms adopts the bionic mechanical arm as described in embodiment one.

[0050] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiment. Any modification without deviating from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A high-precision bionic robotic arm with an adjustable traction rope, comprising an arm, a dexterous hand, and a drive device, wherein the drive device comprises a transmission mechanism and a drive motor, characterized in that: The drive motor is arranged on the arm, and the transmission mechanism includes a guide, a slider slidably mounted on the guide, and a traction rope wound around the output shaft of the drive motor. The slider is connected to the fingers of the dexterous hand, and the traction rope drags the slider back and forth with the forward and reverse rotation of the output shaft of the drive motor to drive the fingers to bend and / or swing. The bionic robotic arm also includes an adjustment member for adjusting the drive motor to move closer to or away from the dexterous hand, and the tightness of the traction rope changes with the adjustment of the drive motor.

2. The high-precision bionic robotic arm with adjustable traction rope according to claim 1, characterized in that: The adjusting member comprises a motor seat which can slide relative to the arm and a fastener for fixing the motor seat to the arm, and the driving motor is mounted on the motor seat.

3. The high-precision bionic robotic arm with adjustable traction rope according to claim 2, characterized in that: The adjusting member comprises a motor seat fixedly mounted on the arm, a movable seat sliding along the length direction of the arm is provided on the motor seat, and a driving motor is fixed to the movable seat so that the driving motor can move relative to the motor seat.

4. The high-precision bionic robotic arm with adjustable traction rope according to claim 2, characterized in that: The motor seat is provided with a strip hole arranged along the length direction of the arm, the surface of the arm is provided with a threaded hole, and the fastener passes through the strip hole and is threadedly connected with the threaded hole.

5. The high-precision bionic robotic arm with adjustable traction rope according to claim 4, characterized in that: The motor base is provided with at least two strip-shaped holes, wherein the two strip-shaped holes are spaced apart along the length direction of the arm; or, the two strip-shaped holes are spaced apart along a direction perpendicular to the length direction of the arm.

6. The high-precision bionic robotic arm with adjustable traction rope according to claim 1, characterized in that: The traction rope is sheathed with a bunching tube, which is located between the output shaft of the driving motor and the transmission mechanism.

7. The high-precision bionic robotic arm with adjustable traction rope according to claim 6, characterized in that: The end of the arm close to the dexterous hand is provided with a limit plate extending toward the outer periphery. The convergence tube is located between the limit plate and the transmission mechanism. The limit plate is provided with perforations corresponding to the traction rope, and each convergence tube corresponds to two perforations.

8. The high-precision bionic robotic arm with adjustable traction rope according to claim 1, characterized in that: The top end of the guide member is rotatably connected to a first pulley, and the traction rope includes a first traction rope and a second traction rope. The first traction rope passes around the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider.

9. The high-precision bionic robotic arm with adjustable traction rope according to claim 8, characterized in that: The finger includes a finger base, a guide member is fixed to the finger base, a slider is connected to an extension plate extending toward the finger base, and the first traction rope and the second traction rope are both fixed to the extension plate.

10. The high-precision bionic robotic arm with adjustable traction rope according to claim 8, characterized in that: The bottom end of the guide member is rotatably connected to a second pulley, and the first traction rope and the second traction rope are respectively in contact with two sides of the second pulley.

11. The high-precision bionic robotic arm with adjustable traction rope according to claim 1, characterized in that: The dexterous hand includes five fingers, each finger is provided with three transmission mechanisms, the outer peripheral side of the arm is provided with five mounting surfaces, and three driving motors corresponding to the same finger are slidably mounted on each mounting surface.

12. A humanoid robot comprising a robot body and at least one bionic robot arm movably connected to the robot body, characterized in that: At least one of the bionic robotic arms is a high-precision bionic robotic arm with an adjustable traction rope as described in any one of claims 1 to 11.

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