Driving module and bionic manipulator

Abstract

The utility model discloses a drive module and bionic manipulator relates to manipulator technical field, wherein, drive module is applied to bionic manipulator, and drive module includes: worm reduction gear, has rotatable output shaft, drive mechanism, drive connection worm reduction gear, reel, and the lateral wall of reel is equipped with first receiving groove, and the end of output shaft is sleeved with first receiving groove through reel, and connecting piece, including the head and the pole department of being connected, and the head is located one side of reel and is away from output shaft, and the pole department passes through the end of output shaft and is connected with output shaft with the thread, to connect reel on output shaft and follow output shaft synchronous rotation, to make reel winding or release bionic manipulator's drive line. The utility model provides technical scheme and has reduced the possibility of reel loosening or shaking.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a drive module and a bionic robotic arm. Background Technology

[0002] Bionic robotic hands, as an important branch of robotics technology, aim to simulate the structure and function of the human hand and are widely used in industrial grasping, medical rehabilitation, human-computer interaction, and other scenarios. Their core performance relies on the precise actuation and control of the finger joints, and the drive module, as a key component for realizing joint movement, directly affects the accuracy of the bionic robotic hand.

[0003] There is a wire-driven bionic robotic hand in which a winding reel is mounted on the output shaft of a drive mechanism with an interference fit. The drive mechanism drives the winding reel to rotate, completing the winding or unwinding of the drive line, which in turn drives the fingers of the bionic robotic hand to complete bending or extending movements.

[0004] However, after long-term use, the interference fit is prone to loosening due to vibration and wear, which can cause the winding spool to loosen or wobble. Utility Model Content

[0005] The main purpose of this invention is to propose a drive module and a bionic robotic arm, which aims to reduce the possibility of the winding reel becoming loose or wobbly.

[0006] To achieve the above objectives, the present invention proposes a drive module for use in a bionic robotic hand, the drive module comprising:

[0007] Worm gear reducers have a rotatable output shaft;

[0008] The drive mechanism drives the worm gear reducer.

[0009] A winding reel, the side wall of which is provided with a first receiving groove, the winding reel being sleeved onto the end of the output shaft through the first receiving groove; and

[0010] The connector includes a head and a rod that are connected together. The head is located on the side of the winding reel opposite to the output shaft. The rod passes through the winding reel and is threaded to the end of the output shaft to connect the winding reel to the output shaft and rotate synchronously with the output shaft so that the winding reel can wind or unwind the drive line of the bionic manipulator.

[0011] In one embodiment, the drive module further includes an anti-rotation structure, which connects the end of the output shaft and the inner wall of the first receiving groove to prevent the winding reel from rotating relative to the output shaft.

[0012] In one embodiment, the anti-rotation structure includes a matching anti-rotation protrusion and an anti-rotation groove. The anti-rotation groove is provided in one of the end of the output shaft and the inner wall of the first receiving groove, and the anti-rotation protrusion is provided in the other of the end of the output shaft and the inner wall of the first receiving groove. The anti-rotation protrusion is inserted into the anti-rotation groove to prevent the winding reel from rotating relative to the output shaft.

[0013] In one embodiment, the winding spool is provided with a second receiving groove on the side opposite to the output shaft, and the head is received in the second receiving groove.

[0014] In one embodiment, the winding reel is further provided with a wire receiving groove, which is arranged circumferentially around the outer peripheral wall of the winding reel to receive the drive wire.

[0015] The winding reel is also provided with a wire guide groove, which connects the wire receiving groove and the second receiving groove, so that one end of the drive wire passes through the wire guide groove, extends into the second receiving groove, and is fixed by the connector.

[0016] In one embodiment, the worm gear reducer further includes:

[0017] The housing assembly has a communicating assembly cavity and a first assembly hole, wherein the axis of the assembly cavity is perpendicular to the axis of the first assembly hole;

[0018] The inner shell assembly is inserted into the first mounting hole and has a second mounting hole and a window. The axis of the second mounting hole is parallel to the axis of the first mounting hole, and the window connects the second mounting hole and the first mounting hole.

[0019] The worm gear is rotatably inserted into the second mounting hole;

[0020] A worm gear is rotatably disposed within the assembly cavity and partially passes through the window to mesh with the worm. The output shaft is coaxially disposed through the worm gear and rotates synchronously with the worm gear. Both ends of the output shaft extend through the housing assembly to the external environment.

[0021] The inner shell assembly has a fixed state and an adjustable state. In the fixed state, the inner shell assembly is fixed in the first mounting hole. In the adjustable state, the inner shell assembly can rotate around the axis of the first mounting hole and drive the worm gear to move, so as to adjust the wheelbase between the worm gear and the worm wheel.

[0022] In one embodiment, the housing assembly includes:

[0023] The first housing has a first sub-slot and a second sub-slot;

[0024] The second housing is provided with a third sub-slot and a fourth sub-slot; and

[0025] Fasteners, which pass through one of the first housing and the second housing and are threadedly connected to the other of the first housing and the second housing, to lock or loosen the first housing and the second housing;

[0026] The fastener locks the first housing and the second housing, such that the first sub-slot and the third sub-slot assemble to form the assembly cavity, and the second sub-slot and the fourth sub-slot assemble to form the first assembly hole. The inner walls of the second sub-slot and the fourth sub-slot clamp the inner shell assembly to put the inner shell assembly in the fixed state. The fastener releases the first housing and the second housing, such that the inner walls of the second sub-slot and the fourth sub-slot release the inner shell assembly to put the inner shell assembly in the adjustable state.

[0027] In one embodiment, the drive mechanism includes:

[0028] Planetary reducer, driving the worm gear reducer;

[0029] The motor drives the planetary gearbox; and

[0030] The control board is fixed to the worm gear reducer and electrically connected to the motor.

[0031] In one embodiment, the worm gear reducer further includes an angle monitoring component, which is located on the output shaft and electrically connected to the control board, for monitoring the rotation angle of the output shaft.

[0032] This utility model also proposes a bionic robotic hand, including the aforementioned drive module.

[0033] The drive module in this invention is used for a bionic robotic arm. The drive module includes a worm gear reducer, a drive mechanism, a winding reel, and a connector. The drive mechanism, as a power source, transmits its own power to the worm gear reducer, driving the reducer to rotate, which in turn rotates the output shaft of the worm gear reducer. The winding reel is fitted onto the end of the output shaft through a first receiving groove. When the winding reel rotates, it can wind or unwind the drive cable of the bionic robotic arm. The first receiving groove provides a positioning basis for the assembly of the winding reel and the output shaft, avoiding radial offset during assembly and reducing the risk of eccentric wobbling when the winding reel rotates. The connector, which can be in the form of screws or bolts, includes a head and a rod. The head is located on the side of the winding reel opposite the output shaft, and its size is larger than the rod and the hole on the winding reel through which the rod passes. The head provides a limiting position from one side of the winding reel. The rod passes through the winding reel and is threaded to the end of the output shaft, clamping the winding reel between the end of the output shaft and the head of the connector, thus achieving a fixed connection between the winding reel and the output shaft. The winding reel, by being fitted onto the end of the output shaft and threadedly secured by the connector, improves the stability of the winding reel mounted on the output shaft, reduces the possibility of loosening or wobbling, and thus ensures stability during the winding or unwinding of the drive cable, extends the service life of the drive module, and consequently improves the stability of the bionic robotic arm's movements. In addition, worm gear reducers have the characteristic of a large transmission ratio, which can convert the high speed and low torque of the drive mechanism into low speed and high torque output, which is suitable for the movement requirements of the finger joints of the bionic robotic hand. The worm gear combination also has good self-locking properties, so in the event of an unexpected power outage, the bionic robotic hand will not suddenly release the grasped object, thus enhancing the safety of the bionic robotic hand. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of an embodiment of the drive module provided by this utility model;

[0036] Figure 2 Explosion of an embodiment of the drive module provided by this utility model Figure 1 ;

[0037] Figure 3 Schematic diagram of the winding disc of the drive module provided by this utility model Figure 1 ;

[0038] Figure 4 Schematic diagram of the winding disc of the drive module provided by this utility model Figure 2 ;

[0039] Figure 5 A schematic diagram of the structure of a portion of the drive module provided by this utility model. Figure 1 ;

[0040] Figure 6 Explosion of an embodiment of the drive module provided by this utility model Figure 2 ;

[0041] Figure 7 A cross-sectional view of an embodiment of the drive module provided by this utility model;

[0042] Figure 8 A schematic diagram of a partial structure of an embodiment of the drive module provided by this utility model. Figure 2 ;

[0043] Figure 9 An exploded view of a portion of the housing assembly of the worm gear reducer for the drive module provided by this utility model.

[0044] Explanation of icon numbers:

[0045] 100. Worm gear reducer; 110. Housing assembly; 1101. Assembly cavity; 1102. First assembly hole; 111. First housing; 112. Second housing; 113. Fastener; 120. Inner housing assembly; 121. Second assembly hole; 122. Window; 130. Output shaft; 131. Anti-rotation groove; 140. Worm; 150. Worm gear;

[0046] 200. Drive mechanism; 210. Planetary reducer; 220. Motor; 230. Control board;

[0047] 300. Winding reel; 301. First receiving groove; 302. Second receiving groove; 303. Anti-rotation protrusion; 304. Wire receiving groove; 305. Wire guiding groove;

[0048] 400. Connectors;

[0049] 500, Angle monitoring component; 510, Magnet; 520, Magnetic angle sensor.

[0050] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0052] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0053] In this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "fixation" should be interpreted broadly. For example, "fixation" can mean a fixed connection, a detachable connection, or an integral part; "connection" can mean a mechanical connection or an electrical connection, a direct connection or an indirect connection through an intermediate medium, or a connection within two components or an interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0054] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0055] This utility model proposes a drive module.

[0056] Please see Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of an embodiment of the drive module provided by this utility model. Figure 2 Explosion of an embodiment of the drive module provided by this utility model Figure 1 , Figure 3 Schematic diagram of the winding disc of the drive module provided by this utility model Figure 1 .

[0057] In one embodiment of this utility model, the drive module is applied to a bionic robotic hand, and the drive module includes:

[0058] The worm gear reducer 100 has a rotatable output shaft 130;

[0059] Drive mechanism 200, drive connection to worm gear reducer 100;

[0060] A winding reel 300 has a first receiving groove 301 on its side wall, and the winding reel 300 is sleeved onto the end of the output shaft 130 through the first receiving groove 301; and

[0061] The connector 400 includes a head and a rod that are connected together. The head is located on the side of the winding reel 300 away from the output shaft 130. The rod passes through the winding reel 300 and is threaded to the end of the output shaft 130 to connect the winding reel 300 to the output shaft 130 and rotate synchronously with the output shaft 130 so that the winding reel 300 winds or unwinds the drive line of the bionic robot.

[0062] The drive module in this invention is used for a bionic robotic arm. The drive module includes a worm gear reducer 100, a drive mechanism 200, a winding reel 300, and a connector 400. The drive mechanism 200, as a power source, transmits its own power to the worm gear reducer 100, driving the reducer to rotate, which in turn rotates the output shaft 130 of the worm gear reducer 100. The winding reel 300 is fitted onto the end of the output shaft 130 via a first receiving groove 301. When the winding reel 300 rotates, it can wind or unwind the drive cable of the bionic robotic arm. The first receiving groove 301 provides a positioning basis for the assembly of the winding reel 300 and the output shaft 130, preventing radial offset during assembly and reducing the risk of eccentric wobbling when the winding reel 300 rotates. The connector 400 can be in the form of screws or bolts, and includes a head and a rod. The head is located on the side of the winding reel 300 away from the output shaft 130. The head is larger than the rod and larger than the hole on the winding reel 300 through which the rod passes. The head can provide a limiting position from one side of the winding reel 300. The rod passes through the winding reel 300 and is threadedly connected to the end of the output shaft 130, so that the winding reel 300 is clamped between the end of the output shaft 130 and the head of the connector 400, thus achieving a fixed connection between the winding reel 300 and the output shaft 130. By fitting the winding reel 300 onto the end of the output shaft 130 and engaging with the threaded fastening of the connector 400, the stability of the winding reel 300 mounted on the output shaft 130 is improved, reducing the possibility of the winding reel 300 loosening or wobbling. This ensures stability during the winding or unwinding of the drive wire, extends the service life of the drive module, and ultimately improves the stability of the bionic robotic arm's movements. In addition, the worm gear reducer 100 has the characteristic of a large transmission ratio, which can convert the high speed and low torque of the drive mechanism 200 into a low speed and high torque output, which is suitable for the movement requirements of the finger joints of the bionic robotic hand; the worm gear 150 and worm 140 also have good self-locking properties, which will prevent the bionic robotic hand from suddenly releasing the grasped object in the event of an unexpected power outage, thus enhancing the safety of the bionic robotic hand.

[0063] In one embodiment, the drive module further includes an anti-rotation structure that connects the end of the output shaft 130 to the inner wall of the first receiving groove 301 to prevent the winding reel 300 from rotating relative to the output shaft 130.

[0064] In embodiments of this invention, the drive module structure further includes an anti-rotation structure. This structure limits the relative displacement of the output shaft 130 and the winding disc 300 in the circumferential direction (i.e., the direction of rotation), ensuring that the rotation angle and speed of the winding disc 300 are completely consistent with those of the output shaft 130. This prevents slippage of the winding disc 300 relative to the output shaft 130, thereby improving the accuracy of the bionic robotic arm's movements. Furthermore, the anti-rotation structure can bear part of the circumferential torque between the winding disc 300 and the output shaft 130. When the winding disc 300 is subjected to the circumferential reaction force of the drive line, this force is transmitted to the anti-rotation structure, and then from the anti-rotation structure to the output shaft 130, rather than simply through the connector 400. This reduces the stress on the connector 400, thereby lowering the risk of damage to the connector 400 and extending the service life of the drive module.

[0065] Among them, the anti-rotation structure can be implemented in various forms, such as key and keyway cooperation, flat part and flat hole cooperation, and protrusion and groove cooperation.

[0066] In one embodiment, the anti-rotation structure includes a matching anti-rotation protrusion 303 and an anti-rotation groove 131. The anti-rotation groove 131 is provided on one end of the output shaft 130 and on the inner wall of the first receiving groove 301, and the anti-rotation protrusion 303 is provided on the other end of the output shaft 130 and on the inner wall of the first receiving groove 301. The anti-rotation protrusion 303 is inserted into the anti-rotation groove 131 to prevent the winding reel 300 from rotating relative to the output shaft 130.

[0067] Combination Figure 2 and Figure 3 In this embodiment of the invention, the anti-rotation structure includes an anti-rotation protrusion 303 and an anti-rotation groove 131, which are respectively disposed at the end of the output shaft 130 and the inner wall of the first receiving groove 301. If the anti-rotation groove 131 is disposed at the end of the output shaft 130, then the anti-rotation protrusion 303 must be disposed at a corresponding position on the inner wall of the first receiving groove 301; conversely, if the anti-rotation protrusion 303 is disposed at the end of the output shaft 130, then the anti-rotation groove 131 must be disposed at a corresponding position on the inner wall of the first receiving groove 301. During assembly, the anti-rotation protrusion 303 is inserted into the anti-rotation groove 131, and the sidewall of the anti-rotation protrusion 303 fits tightly against the inner wall of the anti-rotation groove 131, forming a constraint in the circumferential direction, thereby preventing relative rotation between the winding disc 300 and the output shaft 130. The anti-rotation protrusion 303 and the anti-rotation groove 131 form a rigid constraint through their interlocking, ensuring precise movement of the bionic robotic arm. Furthermore, the entire anti-rotation structure is easy to manufacture, low in cost, and highly efficient to assemble.

[0068] In one embodiment, the winding reel 300 has a second receiving groove 302 on the side opposite to the output shaft 130, and the head is received in the second receiving groove 302.

[0069] Combination Figure 1 , Figure 2 and Figure 4 In this embodiment of the present invention, the winding reel 300 is provided with a second receiving groove 302. The second receiving groove 302 is located on the end face of the winding reel 300 away from the end of the output shaft 130, that is, it is located on both sides of the winding reel 300, respectively, along with the first receiving groove 301. The second receiving groove 302 receives the head of the connector 400 to avoid the head protruding outward and causing wasted space. This keeps the surface of the winding reel 300 away from the output shaft 130 flat or only slightly convex, eliminating the protruding head structure. This makes the drive module structure more compact and prevents the head of the connector 400 from colliding or snagging with other parts of the robot, thus improving the safety of the drive module operation.

[0070] In one embodiment, the winding reel 300 is further provided with a wire receiving groove 304, which is arranged around the outer peripheral wall of the winding reel 300 in the circumferential direction for receiving the drive wire.

[0071] The winding reel 300 is also provided with a wire guide groove 305, which connects to the receiving groove 304 and the second receiving groove 302, so that one end of the drive wire passes through the wire guide groove 305 and extends into the second receiving groove 302 and is fixed by the connector 400.

[0072] Reference Figures 3 to 4 In this embodiment of the invention, a wire-receiving groove 304 is provided on the outer peripheral wall of the winding reel 300. The wire-receiving groove 304 is continuously distributed around the circumference of the winding reel 300, forming an annular groove structure, providing storage space for the drive wire. This allows the drive wire to be wound or released in an orderly manner along the circumference when the winding reel 300 rotates, preventing the drive wire from deviating along the axis of the winding reel 300 or even detaching from the winding reel 300, thus enabling the drive wire to be wound or released smoothly. A through-groove 305 connects the wire-receiving groove 304 and the second receiving groove 302, providing a path for the end of the drive wire to pass through, allowing the drive wire to extend from the wire-receiving groove 304 into the second receiving groove 302, and then be fixed by the connector 400, ensuring that the drive wire can move synchronously through the wire-receiving groove 304 when the winding reel 300 rotates.

[0073] In one embodiment, the worm gear reducer 100 further includes:

[0074] The housing assembly 110 has a communicating assembly cavity 1101 and a first assembly hole 1102, and the axis of the assembly cavity 1101 is perpendicular to the axis of the first assembly hole 1102.

[0075] The inner shell assembly 120 is inserted into the first assembly hole 1102 and has a second assembly hole 121 and a window 122. The axis of the second assembly hole 121 is parallel to the axis of the first assembly hole 1102, and the window 122 connects the second assembly hole 121 and the first assembly hole 1102.

[0076] The worm gear 140 is rotatably inserted through the second mounting hole 121;

[0077] The worm gear 150 is rotatably disposed in the assembly cavity 1101 and partially passes through the window 122 to mesh with the worm 140. The output shaft 130 is coaxially disposed in the worm gear 150 and rotates synchronously with the worm gear 150. Both ends of the output shaft 130 pass through the housing assembly 110 and extend to the external environment.

[0078] The inner shell assembly 120 has a fixed state and an adjustable state. In the fixed state, the inner shell assembly 120 is fixed in the first mounting hole 1102. In the adjustable state, the inner shell assembly 120 can rotate around the axis of the first mounting hole 1102 in the first mounting hole 1102 and drive the worm gear 140 to move, so as to adjust the wheelbase between the worm gear 140 and the worm wheel 150.

[0079] Reference Figure 1 as well as Figures 5 to 7 In an embodiment of this utility model, the worm gear reducer 100 includes a housing assembly 110, an inner housing assembly 120, a worm 140, a worm wheel 150, and an output shaft 130. The outer shell assembly 110 is provided with an assembly cavity 1101 and a first assembly hole 1102. The assembly cavity 1101 is the installation space for the worm gear 150, and the first assembly hole 1102 is a channel for the inner shell assembly 120 to pass through. The perpendicular axis relationship between the two facilitates the perpendicular interlocking meshing of the worm gear 150 and the worm 140. The inner shell assembly 120 passes through the first assembly hole 1102 and is provided with a second assembly hole 121 and a window 122. The second assembly hole 121 is used to pass through the worm 140, and the window 122 provides a channel for the meshing of the worm gear 150 and the worm 140, so that the worm gear 150 in the assembly cavity 1101 can partially pass through the window 122 and extend into the area of ​​the second assembly hole 121 to form a meshing connection with the worm 140, ensuring that power can be transmitted from the worm 140 to the worm gear 150.

[0080] The inner housing assembly 120 has two states: a fixed state and an adjustable state. In the fixed state, which is also the normal operating state of the worm gear reducer 100, the inner housing assembly 120 is fixed relative to the first mounting hole 1102, and its position remains unchanged, ensuring a stable meshing relationship between the worm gear 150 and the worm 140. In the adjustable state, combined with... Figures 5 to 6 , Figure 5 Point O1 is the projection point of the axis of the first assembly hole 1102 onto this view. Figure 5Point O2 is the projection point of the worm gear 140 axis (which is also the axis of the second mounting hole 121) in this view. The inner housing assembly 120 can rotate around the axis of the first mounting hole 1102. During the rotation, it will drive the worm gear 140 in the second mounting hole 121 to move, thereby changing the meshing clearance between the worm gear 140 and the worm wheel 150. Specifically, since the position of the worm wheel 150 is fixed, when the inner housing assembly 120 rotates, because the axis of the second mounting hole 121 is parallel to the axis of the first mounting hole 1102, the worm gear 140 in the second mounting hole 121 will make circular motion around the axis of the first mounting hole 1102, such as... Figure 5 As shown, O2 rotates around O1, causing the worm 140 to move closer to or further away from the worm wheel 150, thus achieving fine adjustment of the meshing clearance. This controls the meshing clearance within a suitable range, improving the transmission efficiency and accuracy of the worm gear reducer 100, thereby reducing the motion deviation of the bionic manipulator and extending the service life of the worm gear reducer 100. Furthermore, even if there are slight dimensional deviations in the worm wheel 150 or worm 140 after machining, adjustments can be made by rotating the inner housing assembly 120, eliminating the need to scrap parts due to minor errors and reducing machining accuracy requirements and manufacturing costs.

[0081] In one embodiment, the housing assembly 110 includes:

[0082] The first housing 111 is provided with a first sub-slot and a second sub-slot;

[0083] The second housing 112 is provided with a third sub-slot and a fourth sub-slot; and

[0084] Fastener 113 is inserted through one of the first housing 111 and the second housing 112 and is threadedly connected to the other of the first housing 111 and the second housing 112 to lock or loosen the first housing 111 and the second housing 112;

[0085] In this configuration, fastener 113 locks the first housing 111 and the second housing 112, such that the first sub-slot and the third sub-slot are assembled to form an assembly cavity 1101, and the second sub-slot and the fourth sub-slot are assembled to form a first assembly hole 1102. The inner walls of the second sub-slot and the fourth sub-slot clamp the inner housing assembly 120 to keep the inner housing assembly 120 in a fixed state. Fastener 113 then releases the first housing 111 and the second housing 112, such that the inner walls of the second sub-slot and the fourth sub-slot release the inner housing assembly 120 to keep the inner housing assembly 120 in an adjustable state.

[0086] Reference Figure 6 , Figure 7 as well as Figure 9In this embodiment of the invention, the outer shell assembly 110 includes a first shell 111, a second shell 112, and a fastener 113. By mating the two shells, the closed cavity that originally needed to be machined on a single shell is disassembled into two open sub-grooves, reducing the difficulty of machining and assembly. Specifically, when the fastener 113 is tightened, the first sub-groove on the first shell 111 and the third sub-groove on the second shell 112 are completely joined together to form a complete assembly cavity 1101; the second sub-groove on the first shell 111 and the fourth sub-groove on the second shell 112 are completely joined together to form a complete first assembly hole 1102. At the same time, the inner walls of the joined second and fourth sub-grooves will form a radial clamping force on the inner shell assembly 120 that passes through the first assembly hole 1102, firmly fixing the inner shell assembly 120 in the first assembly hole 1102, so that the inner shell assembly 120 cannot move and is in a fixed state. When fastener 113 is not tightened, the first housing 111 and the second housing 112 are not in complete contact. The inner housing assembly 120 has a certain rotation space within the first mounting hole 1102 and can rotate around the axis of the first mounting hole 1102, thus being in an adjustment state to adjust the meshing clearance between the worm gear 140 and the worm wheel 150. During assembly, the internal components can be placed into the first sub-slot of the first housing 111 or the third sub-slot of the second housing 112. The inner housing assembly 120 with the worm gear 140 inserted can then be placed into the second sub-slot of the first housing 111 or the fourth sub-slot of the second housing 112. The first housing 111 and the second housing 112 can then be joined together. Finally, the fastener 113 can be tightened to complete the assembly and fixation. The entire assembly process has sufficient operating space, which helps to reduce assembly difficulty and improve assembly efficiency.

[0087] In one embodiment, the drive mechanism 200 includes:

[0088] Planetary reducer 210 drives and connects to worm gear reducer 100;

[0089] Motor 220 drives planetary gear reducer 210; and

[0090] The control board 230 is fixed to the worm gear reducer 100 and is electrically connected to the motor 220.

[0091] Reference Figure 2 and Figure 7In this embodiment of the invention, the drive mechanism 200 includes a planetary reducer 210, a motor 220, and a control board 230. The motor 220 serves as a power source and is electrically connected to the control board 230, receiving control signals to drive the planetary reducer 210. The planetary reducer 210 serves as the first-stage reduction unit, with its input end connected to the motor 220 and its output end connected to one end of the worm gear 140. The planetary reducer 210 achieves a high transmission ratio through its internal gear train, reducing the speed of the motor 220 and amplifying its torque before transmitting it to the worm gear 140. Specifically, in this embodiment, one end of the worm gear 140 is directly inserted into the planetary reducer 210 and connected to the planetary gears of the planetary reducer 210, eliminating the need for intermediate components such as couplings, shortening the axial dimension of the entire drive module, making the drive module structure more compact, and better suited to the narrow space of the finger joints of a bionic robotic hand.

[0092] In one embodiment, the worm gear reducer 100 further includes an angle monitoring component 500, which is disposed on the output shaft 130 and electrically connected to the control board 230, for monitoring the rotation angle of the output shaft 130.

[0093] Reference Figure 8 In this embodiment of the invention, the angle monitoring component 500 is mounted on the output shaft 130, which monitors the rotation angle of the output shaft 130 in real time and feeds the data back to the control board 230, enabling the control board 230 to control the output of the motor 220. Since the transmission chain from the output shaft 130 of the worm gear reducer 100 to the finger joint is relatively short, the rotation angle of the output shaft 130 of the worm gear reducer 100 is equivalent to the actual rotation angle of the finger joint. This reduces angle detection deviations caused by transmission clearances, assembly errors, etc., thereby improving the accuracy of finger joint rotation angle control and ultimately enhancing the accuracy of the bionic robotic hand's movements. The angle monitoring component 500 can be implemented using an encoder or potentiometer, etc. Specifically, in this embodiment, the angle monitoring component 500 includes a magnet 510 and a magnetic angle sensor 520. The magnet 510 is disposed within a receiving cavity, sleeved on the outside of the output shaft 130, and rotates synchronously with the output shaft 130. The magnet 510 serves as a signal source for angle monitoring, generating a change in magnetic field through rotation. The magnetic angle sensor 520 is fixed to the housing structure and electrically connected to the control board 230. It detects the change in the direction of the magnetic field of the magnet 510 in a non-contact manner, thereby obtaining the rotation angle of the output shaft 130. The magnet 510 is disposed inside the housing structure, improving structural compactness and preventing external environmental contamination such as dust and moisture, thus ensuring the accuracy of the magnetic field monitoring by the magnetic angle sensor 520. The magnet 510 can be connected to the output shaft 130 through various methods such as threaded connection, interference fit, bonding, or welding to achieve synchronous rotation with the output shaft 130.

[0094] This utility model also proposes a bionic robotic hand, including the aforementioned drive module. The specific structure of the drive module is as described in the above embodiments. Since this bionic robotic hand adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. The bionic robotic hand also includes a palm, fingers, and drive lines. One end of each finger is rotatably connected to the palm. Each finger includes multiple sequentially connected phalanges, and adjacent phalanges are rotatably connected. The drive lines drive and connect multiple phalanges. The drive module is located in the palm, driving the winding disc 300 to rotate, causing the drive lines to wind or unwind, thus causing the drive lines to drive multiple phalanges to bend or extend.

[0095] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A drive module for use in a bionic robotic hand, characterized in that, The drive module includes: Worm gear reducers have a rotatable output shaft; The drive mechanism drives the worm gear reducer. A winding reel, the side wall of which is provided with a first receiving groove, the winding reel being sleeved onto the end of the output shaft through the first receiving groove; and The connector includes a head and a rod that are connected together. The head is located on the side of the winding reel opposite to the output shaft. The rod passes through the winding reel and is threaded to the end of the output shaft to connect the winding reel to the output shaft and rotate synchronously with the output shaft so that the winding reel can wind or unwind the drive line of the bionic manipulator.

2. The drive module as described in claim 1, characterized in that, The drive module also includes an anti-rotation structure, which connects the end of the output shaft to the inner wall of the first receiving groove to prevent the winding reel from rotating relative to the output shaft.

3. The drive module as described in claim 2, characterized in that, The anti-rotation structure includes a matching anti-rotation protrusion and an anti-rotation groove. The anti-rotation groove is provided on one of the ends of the output shaft and the inner wall of the first receiving groove, and the anti-rotation protrusion is provided on the other end of the output shaft and the inner wall of the first receiving groove. The anti-rotation protrusion is inserted into the anti-rotation groove to prevent the winding reel from rotating relative to the output shaft.

4. The drive module as described in claim 1, characterized in that, The winding spool is provided with a second receiving groove on the side opposite to the output shaft, and the head is received in the second receiving groove.

5. The drive module as described in claim 4, characterized in that, The winding reel is also provided with a wire receiving groove, which is arranged around the outer peripheral wall of the winding reel in a circumferential direction to receive the drive wire. The winding reel is also provided with a wire guide groove, which connects the wire receiving groove and the second receiving groove, so that one end of the drive wire passes through the wire guide groove, extends into the second receiving groove, and is fixed by the connector.

6. The drive module as described in claim 1, characterized in that, The worm gear reducer also includes: The housing assembly has a communicating assembly cavity and a first assembly hole, wherein the axis of the assembly cavity is perpendicular to the axis of the first assembly hole; The inner shell assembly is inserted into the first mounting hole and has a second mounting hole and a window. The axis of the second mounting hole is parallel to the axis of the first mounting hole, and the window connects the second mounting hole and the first mounting hole. The worm gear is rotatably inserted into the second mounting hole; A worm gear is rotatably disposed within the assembly cavity and partially passes through the window to mesh with the worm. The output shaft is coaxially disposed through the worm gear and rotates synchronously with the worm gear. Both ends of the output shaft extend through the housing assembly to the external environment. The inner shell assembly has a fixed state and an adjustable state. In the fixed state, the inner shell assembly is fixed in the first mounting hole. In the adjustable state, the inner shell assembly can rotate around the axis of the first mounting hole and drive the worm gear to move, so as to adjust the wheelbase between the worm gear and the worm wheel.

7. The drive module as described in claim 6, characterized in that, The housing assembly includes: The first housing has a first sub-slot and a second sub-slot; The second housing is provided with a third sub-slot and a fourth sub-slot; and Fasteners, which pass through one of the first housing and the second housing and are threadedly connected to the other of the first housing and the second housing, to lock or loosen the first housing and the second housing; The fastener locks the first housing and the second housing, such that the first sub-slot and the third sub-slot assemble to form the assembly cavity, and the second sub-slot and the fourth sub-slot assemble to form the first assembly hole. The inner walls of the second sub-slot and the fourth sub-slot clamp the inner shell assembly to put the inner shell assembly in the fixed state. The fastener releases the first housing and the second housing, such that the inner walls of the second sub-slot and the fourth sub-slot release the inner shell assembly to put the inner shell assembly in the adjustable state.

8. The drive module as described in claim 1, characterized in that, The drive mechanism includes: Planetary reducer, driving the worm gear reducer; The motor drives the planetary gearbox; and The control board is fixed to the worm gear reducer and electrically connected to the motor.

9. The drive module as described in claim 8, characterized in that, The worm gear reducer also includes an angle monitoring component, which is located on the output shaft and electrically connected to the control board, and is used to monitor the rotation angle of the output shaft.

10. A bionic robotic hand, characterized in that, Includes the drive module as described in any one of claims 1 to 9.

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