Robot hand and robot

Abstract

The utility model discloses a robot hand and a robot. The robot hand comprises a shell, a driving device and a driving device, at least one multi-degree-of-freedom first limb; at least one multi-degree-of-freedom second limb; the first driving assembly corresponding to the first limb is located in the shell and arranged in the longitudinal direction of the shell. The second driving assembly corresponding to the second limb is located in the shell and arranged in the transverse direction of the shell. The first limb rotates through the first driving assembly, the second limb rotates through the second driving assembly, the first driving assembly is arranged in the longitudinal direction of the shell, the second driving assembly is arranged in the transverse direction of the shell, and therefore the whole robot arm is more compact, not bloated in structure, good in simulation effect and close to a real limb.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic hand and a robot. Background Technology

[0002] Robotic hands are modeled after real limbs and typically have multiple limbs that work together to perform different tasks. To improve the flexibility of robotic hands, multi-degree-of-freedom limbs can be used. However, in existing technologies, robotic hands formed by multi-degree-of-freedom limbs are structurally bulky and have poor simulation effects.

[0003] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a robotic hand and robot in view of the above-mentioned defects of the prior art, which aims to solve the problem that the robotic hand formed by multi-degree-of-freedom limbs in the prior art has a bulky structure and poor simulation effect.

[0005] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0006] A robotic arm, comprising:

[0007] case;

[0008] At least one multi-degree-of-freedom first limb;

[0009] At least one second limb with multiple degrees of freedom;

[0010] The first drive component corresponding to the first limb is located inside the housing and is arranged along the longitudinal direction of the housing;

[0011] The second drive assembly corresponding to the second limb is located inside the housing and is arranged laterally along the housing.

[0012] The robotic hand, wherein the movement of the first limb includes at least two of the following: rotation in the plane of the housing, rotation in the longitudinal plane of the housing, and curling of the first limb;

[0013] The second limb's modes of movement include at least two of the following: rotation in the longitudinal plane of the housing, rotation in the transverse plane of the housing, and curling of the second limb.

[0014] The robotic arm, wherein the first drive component includes:

[0015] A first base is connected to the first limb for movement;

[0016] At least one telescopic device is disposed on the first base and is connected to the first limb in an active manner.

[0017] The robotic hand, wherein the first base is movably connected to the first limb via a first rotating component, and the first rotating component is rotatably connected to both the first base and the first limb;

[0018] The telescopic mechanism has two parts, and the telescopic mechanism includes:

[0019] A first driving component is disposed on the first base;

[0020] The screw is connected to the output shaft of the first driving component;

[0021] A slider is slidably disposed on the first base and threadedly connected to the screw;

[0022] The first link is movably connected at both ends to the first limb and the slider, respectively.

[0023] The robotic arm, wherein the slider comprises:

[0024] The sliding seat forms a locking hole;

[0025] The clip is inserted into the clip hole from the side where the first limb is located and is threadedly connected to the screw.

[0026] The sliding seat is connected to the first base via a first elastic element.

[0027] The robotic arm, wherein the second drive component includes:

[0028] Second base;

[0029] At least one rotator is disposed on the second base and is movably connected to the second limb.

[0030] The robotic arm, wherein the rotator comprises: a first rotator and a second rotator; the first rotator comprises:

[0031] The second rotating component is rotatably disposed on the second base and rotatably connected to the second limb;

[0032] The second driving member is disposed on the second base and connected to the second rotating member;

[0033] The second rotator includes:

[0034] The third rotating component is rotatably mounted on the second base;

[0035] The third driving component is disposed on the second base and connected to the third rotating component;

[0036] The bent component is rotatably connected at both ends to the third rotating component and the second limb, respectively.

[0037] The rotation direction of the second rotating component is different from that of the third rotating component.

[0038] The robotic hand, wherein both the first limb and the second limb comprise:

[0039] Basal limbs;

[0040] The middle segment is rotatably connected to the basal segment;

[0041] The distal segment is rotatably connected to the middle segment;

[0042] The second link connects the base segment and the end segment at its two ends, respectively.

[0043] A third rotator is disposed on the basal segment and is used to rotate the middle segment.

[0044] The robotic arm, wherein the third rotator comprises:

[0045] The fourth driving component is disposed on the base segment;

[0046] The worm gear is connected to the output shaft of the fourth driving component;

[0047] A worm gear is rotatably mounted on the base segment and meshes with the worm.

[0048] The worm gear abuts against the middle segment.

[0049] The robotic arm, wherein the worm gear comprises:

[0050] The wheel body has a side portion forming an abutment.

[0051] Several worm teeth are positioned outside the abutment portion on the side surface;

[0052] The abutting part abuts against the middle limb segment.

[0053] A robot, wherein it includes a robotic arm as described in any of the preceding items.

[0054] Beneficial effects: The first limb is rotated by the first drive component, and the second limb is rotated by the second drive component. The first drive component is arranged along the longitudinal direction of the shell, and the second drive component is arranged along the transverse direction of the shell. This makes the entire robotic hand more compact, less bulky, and provides better simulation effects, closely resembling real limbs. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model.

[0056] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0057] Figure 3 This is a cross-sectional view of the first limb in an embodiment of this utility model.

[0058] Figure 4 yes Figure 3 Enlarged view of point B in the middle.

[0059] Figure 5 This is a cross-sectional view of the expansion joint in an embodiment of this utility model.

[0060] Figure 6 This is a schematic diagram of the structure of the second limb in an embodiment of this utility model.

[0061] Figure 7 yes Figure 6 Enlarged view of point C in the middle.

[0062] Figure 8 This is a cross-sectional view of the second driving component in an embodiment of this utility model.

[0063] Explanation of reference numerals in the attached figures:

[0064] 1. Shell; 2. First limb; 201. First rotating component; 20. First drive assembly; 21. First base; 22. Telescopic device; 221. First drive component; 222. Screw; 223. Slider; 2231. Sliding seat; 2232. Clamping element; 2233. First elastic element; 224. First connecting rod; 3. Second limb; 30. Second drive assembly; 31. Second base; 32. First rotator; 321. Second rotating component; 322. Second drive component; 33. Second rotator; 331. Third rotating component; 332. Third drive component; 333. Bending component; 41. Base limb; 42. Middle limb; 43. End limb; 44. Second connecting rod; 45. Third rotator; 451. Fourth drive component; 452. Worm; 453. Worm wheel; 4531. Wheel body; 4532. Worm tooth. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0066] Please also refer to Figures 1-8 This utility model provides some preferred embodiments of a robotic arm.

[0067] like Figure 1 As shown, the robotic arm includes:

[0068] Casing 1;

[0069] At least one multi-degree-of-freedom first limb 2;

[0070] At least one multi-degree-of-freedom second limb;

[0071] The first driving component 20 corresponding to the first limb 2 is located inside the housing 1 and is arranged along the longitudinal direction of the housing 1.

[0072] The second drive component 30 corresponding to the second limb 3 is located inside the housing 1 and is arranged laterally along the housing 1.

[0073] Specifically, the robotic hand has at least two limbs, namely a first limb 2 and a second limb 3. Both the first limb 2 and the second limb 3 are multi-degree-of-freedom limbs, which are limbs that can rotate in at least two directions. Therefore, the first limb 2 rotates in at least two directions, and the second limb 3 rotates in at least two directions. The rotation directions of the first limb 2 and the second limb 3 can be the same or different. The first limb 2 is rotated by a first drive component 20, and the second limb 3 is rotated by a second drive component 30. The first drive component 20 is arranged longitudinally along the shell 1, and the second drive component 30 is arranged transversely along the shell 1. This makes the entire robotic hand more compact, less bulky, and provides better simulation effects, closely resembling a real limb.

[0074] In a preferred embodiment of this utility model, please also refer to... Figure 1 and Figure 3 The movement of the first limb 2 includes at least two of the following: rotation in the plane of the housing 1, rotation in the longitudinal plane of the housing 1, and curling of the first limb 2.

[0075] Specifically, the first limb 2 can move or rotate in the following ways: rotating within the plane of the shell 1, rotating within the longitudinal plane of the shell 1, or curling. The longitudinal plane extends along the longitudinal direction of the shell 1 and can be a longitudinally perpendicular plane, that is, a longitudinal plane perpendicular to the plane of the shell 1. The first limb 2 can curl to form a curved first limb 2. The first limb 2 has at least two segments, and the two segments rotate relative to each other to achieve the curling of the first limb 2.

[0076] In a preferred embodiment of this utility model, please also refer to... Figure 1 and Figure 6The second limb 3 can move in at least two of the following ways: rotation in the longitudinal plane of the housing 1, rotation in the transverse plane of the housing 1, and curling of the second limb 3.

[0077] Specifically, the second limb 3 can move or rotate in the following ways: rotating within the longitudinal plane of the housing 1, rotating within the transverse plane of the housing 1, or curling. The longitudinal plane extends along the longitudinal direction of the housing 1 and can be a longitudinally perpendicular plane, i.e., a longitudinal plane perpendicular to the plane on which the housing 1 is located. The transverse plane extends along the transverse direction of the housing 1 and can be a transversely perpendicular plane, i.e., a transverse plane perpendicular to the plane on which the housing 1 is located. The second limb 3 has at least two segments, and the two segments rotate relative to each other to achieve the curling of the second limb 3. The rotation methods of the first limb 2 and the second limb 3 are not entirely the same, which allows for a wider range of application scenarios and the performance of more different tasks.

[0078] In a preferred embodiment of this utility model, please also refer to... Figures 2-3 The first driving component 20 includes:

[0079] The first base 21 is movably connected to the first limb 2;

[0080] At least one telescopic member 22 is disposed on the first base 21 and is movably connected to the first limb 2.

[0081] Specifically, the first base 21 is disposed on the housing 1 and is movably connected to the first limb 2; the telescopic device 22 is disposed on the first base 21 and is movably connected to the first limb 2. Through the extension and retraction of the telescopic device 22, the first limb 2 moves relative to the first base 21 and the telescopic device 22, thereby realizing the movement (or rotation) of the first limb 2.

[0082] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 5 The first base 21 is movably connected to the first limb 2 via the first rotating member 201, and the first rotating member 201 is rotatably connected to the first base 21 and the first limb 2 respectively.

[0083] Specifically, a first rotating member 201 is provided on the first base 21. The first rotating member 201 rotates relative to the first base 21 and also rotates relative to the first limb 2. The rotation direction of the first rotating member 201 relative to the first base 21 and the rotation direction relative to the first limb 2 are different, so as to realize the movable connection between the first base 21 and the first limb 2.

[0084] In a preferred embodiment of this utility model, please also refer to... Figures 2-3 There are two telescopic devices 22, and each telescopic device 22 includes:

[0085] The first driving component 221 is disposed on the first base 21;

[0086] Screw 222 is connected to the output shaft of the first drive member 221;

[0087] The slider 223 is slidably disposed on the first base 21 and threadedly connected to the screw 222;

[0088] The first link 224 is movably connected at both ends to the first limb 2 and the slider 223, respectively.

[0089] Specifically, there are two telescopic devices 22, both of which are movably connected to the first limb 2 via a first connecting rod 224. The first driving member 221 drives the screw 222 to rotate, causing the slider 223 to slide along the length of the screw 222. The slider 223 then drives the first limb 2 to rotate via the first connecting rod 224. The two telescopic devices 22 are independently controlled; their telescopic directions and amounts can be the same or different. Therefore, by cooperating, the two telescopic devices 22 can cause the first limb 2 to rotate in different directions.

[0090] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 5 The slider 223 includes:

[0091] Sliding seat 2231 forms a locking hole;

[0092] The clip 2232 is inserted into the clip hole from the side where the first limb 2 is located, and is threadedly connected to the screw 222;

[0093] The sliding seat 2231 is connected to the first base 21 via a first elastic element 2233.

[0094] Specifically, the sliding seat 2231 slides relative to the first base 21, and the locking member 2232 engages in the locking hole. The locking member 2232 and the sliding seat 2231 can be separated or engaged. When the locking member 2232 is engaged in the locking hole, the locking member 2232 and the sliding seat 2231 are engaged, and when the screw 222 rotates, the locking member 2232 and the sliding seat 2231 slide together. When the locking member 2232 is outside the locking hole, the locking member 2232 and the sliding seat 2231 are separated. If the first limb 2 is subjected to external force or accidental contact, it will push the first limb 2 to rotate relative to the first base 21, and the locking member 2232 and the sliding seat 2231 will separate from each other to avoid damage to the first limb 2. The sliding seat 2231 and the first base 21 can be connected by a first elastic member 2233, so that the locking member 2232 and the sliding seat 2231 are engaged. When the first limb 2 is subjected to external force or accidental contact, the elastic force of the first elastic element 2233 needs to be overcome before the locking element 2232 and the sliding seat 2231 can separate.

[0095] In a preferred embodiment of this utility model, please also refer to... Figure 6 , Figure 7 as well as Figure 8 The second driving component 30 includes:

[0096] Second base 31;

[0097] At least one rotator is disposed on the second base 31 and is movably connected to the second limb 3.

[0098] Specifically, a second base 31 is disposed on the housing 1, and a second rotator 33 is disposed on the second base 31 and movably connected to the second limb 3. The rotator drives the second limb 3 to rotate. Different rotators can drive the second limb 3 to rotate in different directions.

[0099] In a preferred embodiment of this utility model, please also refer to... Figures 6-8 The rotator includes: a first rotator 32 and a second rotator 33; the first rotator 32 includes:

[0100] The second rotating member 321 is rotatably disposed on the second base 31 and rotatably connected to the second limb 3;

[0101] The second driving member 322 is disposed on the second base 31 and connected to the second rotating member 321.

[0102] Specifically, there can be two rotators, namely a first rotator 32 and a second rotator 33. The second rotator 321 rotates relative to the second base 31 and is rotatably connected to the second limb 3. The second drive member 322 drives the second rotator 321 to rotate, thereby causing the second limb 3 to rotate.

[0103] In a preferred embodiment of this utility model, please also refer to... Figures 7-8 The second rotator 33 includes:

[0104] The third rotating component 331 is rotatably disposed on the second base 31;

[0105] The third driving member 332 is disposed on the second base 31 and connected to the third rotating member 331;

[0106] The bent component 333 is rotatably connected at both ends to the third rotating component 331 and the second limb 3, respectively.

[0107] The rotation direction of the second rotating member 321 is different from that of the third rotating member 331.

[0108] Specifically, the third rotating member 331 rotates relative to the second base 31, and the rotation direction of the second rotating member 321 relative to the second base 31 is different from the rotation direction of the third rotating member 331 relative to the second base 31. The third rotating member 331 is rotatably connected to the second limb 3 via a bending member 333. Specifically, the bending member 333 rotates relative to the third rotating member 331, and the bending member 333 rotates relative to the second limb 3. The third driving member 332 drives the third rotating member 331 to rotate, thereby causing the second limb 3 to rotate.

[0109] The second driving member 322 and the third driving member 332 are independently controlled. The second rotating member 321 and the third rotating member 331 can rotate independently. For example, when the second driving member 322 drives the second rotating member 321 to rotate, the bending member 333 rotates accordingly, while the third rotating member 331 may not rotate, or it may drive the second limb 3 to rotate. When the third driving member 332 drives the third rotating member 331 to rotate, the bending member 333 rotates accordingly, while the second rotating member 321 may not rotate, or it may drive the second limb 3 to rotate.

[0110] In a preferred embodiment of this utility model, please also refer to... Figure 3 , Figure 4 as well as Figure 6 Both the first limb 2 and the second limb 3 include:

[0111] 41 basal limbs;

[0112] The middle segment 42 is rotatably connected to the base segment 41;

[0113] The end segment 43 is rotatably connected to the middle segment 42;

[0114] The second link 44 is connected at both ends to the base segment 41 and the end segment 43, respectively.

[0115] A third rotator 45 is disposed on the base segment 41 and is used to rotate the middle segment 42.

[0116] Specifically, the first limb 2 and the second limb 3 can adopt the same structure. The first limb 2 and the second limb 3 can each have three segments: a basal segment 41, a middle segment 42, and an distal segment 43. In the first limb 2, the basal segment 41 is movably connected to the first base 21 and the telescopic device 22. In the second limb 3, the basal segment 41 is movably connected to the second base 31 and the rotator. Since the second connecting rod 44 connects the basal segment 41 and the distal segment 43 respectively, when the middle segment 42 rotates relative to the basal segment 41, it also drives the distal segment 43 to rotate relative to the middle segment 42, causing the entire limb to curl. The third rotator 45 is used to rotate the middle segment 42 to achieve the curling of the first limb 2 or the second limb 3.

[0117] In a preferred embodiment of this utility model, please also refer to... Figures 3-4 The third rotator 45 includes:

[0118] The fourth driving member 451 is disposed on the base segment 41;

[0119] The worm gear 452 is connected to the output shaft of the fourth drive component 451;

[0120] The worm gear 453 is rotatably mounted on the base segment 41 and meshes with the worm 452;

[0121] The worm gear 453 abuts against the middle segment 42.

[0122] Specifically, the fourth driving member 451 drives the worm gear 452 to rotate, which in turn drives the worm wheel 453 to rotate, thereby pushing the middle segment 42 to rotate via the worm wheel 453. The worm wheel 453 rests against the end face of the middle segment 42, but is not fixedly connected to the middle segment 42. When the middle segment 42 or the end segment 43 is subjected to external force or accidental impact, the first segment 2 and the second segment 3 curl, causing the worm wheel 453 to separate from the middle segment 42, and a gap is formed between the worm wheel 453 and the middle segment 42. A second elastic member can also be provided on the end segment 43 to extend the middle segment 42 and the end segment 43; for example, the second elastic member can be a torsion spring.

[0123] In a preferred embodiment of this utility model, please also refer to... Figures 3-4 The worm gear 453 includes:

[0124] Wheel body 4531, the side of which forms an abutment portion;

[0125] Several worm gears 4532 are disposed on the side surface outside the abutment portion;

[0126] The abutting part abuts against the middle limb 42.

[0127] Specifically, the abutting part abuts against the end face of the middle limb 42, and the worm gear 4532 meshes with the worm 452. There is a transition area between the worm gear 4532 and the abutting part where the worm gear 4532 is not provided. When the middle limb 42 rotates to the transition area, there is a gap between the worm wheel 453 and the middle limb 42.

[0128] Based on the robotic hand in any of the above embodiments, this utility model also provides a robot, including the robotic hand described in any of the above embodiments, as specifically as described above.

[0129] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with the robotic arm described in any of the above technical solutions, which will not be repeated here.

[0130] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot hand, characterized in that, The shell comprises: At least one first multi-degree-of-freedom limb; At least one second multi-degree-of-freedom limb; The first driving assembly corresponding to the first limb is located in the shell and is arranged in the longitudinal direction of the shell; The second driving assembly corresponding to the second limb is located in the shell and is arranged in the transverse direction of the shell; The first limb is rotated by the first driving assembly, the second limb is rotated by the second driving assembly, and the rotation modes of the first limb and the second limb are not completely the same. The movement mode of the first limb comprises at least two of rotation in the plane of the shell, rotation in the longitudinal plane of the shell, and curling of the first limb; 2. The robot according to claim 1, characterized in that The movement mode of the second limb comprises at least two of rotation in the longitudinal plane of the shell, rotation in the transverse plane of the shell, and curling of the second limb. The first driving assembly comprises:

3. The robot according to claim 2, characterized in that A first base movably connected with the first limb; At least one extender arranged in the first base and movably connected with the first limb. The first base is movably connected with the first limb through a first rotating member, and the first rotating member is movably connected with the first base and the first limb, respectively; 4. The robot according to claim 3, characterized in that The extender comprises two extenders, and each extender comprises: A first driving member arranged in the first base; A screw rod connected with an output shaft of the first driving member; A sliding block slidably arranged in the first base and threadedly connected with the screw rod; A first connecting rod movably connected with the first limb and the sliding block at two ends thereof. The sliding block comprises:

5. The robot according to claim 4, characterized in that A sliding seat forming a clamping hole; A clamping member inserted into the clamping hole from a side of the first limb and threadedly connected with the screw rod; The sliding seat is connected with the first base through a first elastic member. The second driving assembly comprises:

6. The robot according to claim 2, wherein A second base; At least one rotator arranged in the second base and movably connected with the second limb. The rotator comprises a first rotator and a second rotator, and the first rotator comprises:

7. The robot according to claim 6, characterized in that A second rotating member rotatably arranged in the second base and movably connected with the second limb; A second driving member arranged in the second base and connected with the second rotating member; The second rotator comprises: A third rotating member rotatably arranged in the second base; A third driving member arranged in the second base and connected with the third rotating member; A bending member movably connected with the third rotating member and the second limb at two ends thereof; The rotation direction of the second rotating member is different from the rotation direction of the third rotating member. The first limb and the second limb each comprise:

8. The robot according to claim 2, wherein A base segment; A middle segment movably connected with the base segment; An end segment movably connected with the middle segment; A second connecting rod movably connected with the base segment and the end segment at two ends thereof; A third rotator arranged in the base segment and used for rotating the middle segment. The third rotator comprises:

9. The robot according to claim 8, characterized in that A fourth driving member arranged in the base segment; A worm connected with an output shaft of the fourth driving member; ​ A worm wheel is rotatably arranged on the base link and engages with the worm; The worm wheel abuts against the middle link.

10. The robot according to claim 9, characterized in that The worm wheel comprises: A wheel body, a side surface of the wheel body forms an abutting portion; A plurality of worm teeth are arranged on the side surface at a position outside the abutting portion; The abutting portion abuts against the middle link.

11. A robot, characterized in that The machine hand comprises the machine hand according to any one of claims 1 to 10.

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