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, is used for driving connection bionic manipulator's finger joint, drive mechanism, drives connection worm reduction gear, control board, is fixed in the outside of worm reduction gear and is connected with drive mechanism electricity, and angle monitoring subassembly, with control board electricity is connected, is located in worm reduction gear, is used for monitoring worm reduction gear's output shaft's rotation angle. The utility model provides technical scheme and has improved bionic manipulator's joint rotation angle's control precision.

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] Currently, most bionic robotic arms use a motor and reducer structure for their drive modules, amplifying torque through the reducer to drive joint movement. One existing bionic hand drive system utilizes a combination of a servo motor, a harmonic reducer, and a worm gear reducer. An encoder monitors the rotation angle of the motor's output shaft and feeds it back to the control board to control the servo motor's output.

[0004] However, due to factors such as transmission clearance and assembly errors, there is a deviation between the angle of the motor output shaft and the actual movement angle of the joint, resulting in low joint angle control accuracy. Utility Model Content

[0005] The main purpose of this invention is to propose a drive module and a bionic manipulator, which aims to improve the control accuracy of the joint rotation angle of the bionic manipulator.

[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] A worm gear reducer is used to drive the finger joints connected to the bionic robotic hand;

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

[0009] A control board, fixed externally to the worm gear reducer and electrically connected to the drive mechanism; and

[0010] An angle monitoring component, electrically connected to the control board, is located in the worm gear reducer and is used to monitor the rotation angle of the output shaft of the worm gear reducer.

[0011] In one embodiment, the worm gear reducer includes a housing structure and an output shaft. The housing structure has a receiving cavity, and the output shaft rotatably passes through the housing structure, with both ends of the output shaft extending through the housing structure to the outside of the receiving cavity. The angle monitoring component includes:

[0012] A magnet, coaxially sleeved outside the output shaft and rotating synchronously with the output shaft; and

[0013] A magnetic angle sensor, fixed to the housing structure and electrically connected to the control board, is used to monitor the rotation angle of the magnet.

[0014] In one embodiment, the outer wall of the housing structure is provided with a receiving groove, the magnetic angle sensor is at least partially disposed in the receiving groove, and / or, the control board is at least partially disposed in the receiving groove.

[0015] In one embodiment, the receiving slot is located on the side of the housing structure facing the drive mechanism.

[0016] In one embodiment, the receiving cavity includes a first sub-cavity, a second sub-cavity, and a window, the window connecting the first sub-cavity and the second sub-cavity, the output shaft rotatably passing through the first sub-cavity, and the worm gear reducer further includes:

[0017] A worm gear, one end of which is connected to the drive mechanism, and the other end which passes through the second sub-cavity, the axis of which is perpendicular to the axis of the output shaft; and

[0018] A worm gear is coaxially mounted outside the output shaft and rotates synchronously with the output shaft. The worm gear portion passes through the window and meshes with the worm. The magnet is located on one side of the worm gear.

[0019] In one embodiment, the worm gear reducer further includes two bearings, both of which are sleeved outside the output shaft and located on both sides of the worm gear, and the magnet is located between the worm gear and one of the bearings.

[0020] In one embodiment, the housing structure includes:

[0021] The housing assembly includes the first sub-cavity and a mounting hole penetrating the housing assembly; and

[0022] The inner shell assembly has a second sub-cavity, one end of which is connected to the drive mechanism, and the other end of which passes through the assembly hole.

[0023] In one embodiment, the drive mechanism includes:

[0024] A planetary gear reducer, wherein the end of the worm gear furthest from the worm wheel is inserted into the planetary gear reducer and is drively connected to the planetary gear reducer; and

[0025] The motor drives the planetary reducer and is electrically connected to the control board.

[0026] In one embodiment, the drive module further includes a winding reel, and the worm gear reducer is driven by the winding reel, which is used to wind or unwind the drive line of the bionic manipulator.

[0027] This utility model also proposes a bionic robotic hand, including the aforementioned drive module.

[0028] The drive module in this invention includes a worm gear reducer, a drive mechanism, a control board, and an angle monitoring component. The input end of the worm gear reducer is connected to the drive mechanism, and the output end is used to drive the finger joints of the bionic robotic hand. The drive mechanism is the power source, providing rotational power. It is electrically connected to the control board and can receive control signals from the control board to adjust the output speed or torque. The control board is fixed externally to the reducer and is connected to the drive mechanism and the angle monitoring component via circuitry. It is used to process angle signals, generate drive commands, and adjust the operating state of the drive mechanism. The angle monitoring component is located on the worm gear reducer, which monitors the rotation angle of the reducer's output shaft in real time and feeds the data back to the control board. The control board then controls the output of the drive mechanism. Because the transmission chain from the worm gear reducer's output shaft to the finger joint is much shorter than that from the motor's output shaft to the finger joint, the rotation angle of the worm gear reducer's output shaft is closer to the actual rotation angle of the finger joint. This reduces angle detection deviations caused by transmission backlash and assembly errors, thereby improving the accuracy of finger joint rotation angle control and ultimately enhancing the accuracy of the bionic robotic hand's movements. Furthermore, the worm gear reducer has a large transmission ratio, converting the high-speed, low-torque output of the drive mechanism into a low-speed, high-torque output, adapting to the movement requirements of the finger joint. The worm gear's self-locking property is also good, preventing the bionic robotic hand from suddenly releasing the grasped object in the event of an unexpected power outage, thus enhancing its safety. In addition, both the control board and the angle monitoring component are located within the worm gear reducer, resulting in a compact overall layout and reduced space occupation. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is a schematic diagram of the structure of an embodiment of the drive module provided by this utility model;

[0031] Figure 2A partial structural diagram of an embodiment of the drive module provided by this utility model Figure 1 ;

[0032] Figure 3 An exploded view of an embodiment of the drive module provided by this utility model;

[0033] Figure 4 A schematic diagram of the outer shell assembly of the drive module housing provided by this utility model;

[0034] Figure 5 A partial structural diagram of an embodiment of the drive module provided by this utility model Figure 2 .

[0035] Explanation of icon numbers:

[0036] 100. Worm gear reducer; 110. Housing structure; 1101. Receiving groove; 111. Housing assembly; 1111. First housing; 1112. Second housing; 112. Inner housing assembly; 120. Output shaft; 130. Worm; 140. Worm wheel; 150. Bearing;

[0037] 200. Drive mechanism; 210. Planetary reducer; 220. Motor;

[0038] 300. Control panel;

[0039] 400. Angle monitoring component; 410. Magnet; 420. Magnetic angle sensor;

[0040] 500. Winding reel.

[0041] 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

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] This utility model proposes a drive module.

[0047] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of an embodiment of the drive module provided by this utility model.

[0048] In one embodiment of this utility model, the drive module is applied to a bionic robotic hand, and the drive module includes:

[0049] Worm gear reducer 100 is used to drive the finger joints of a bionic robotic hand;

[0050] Drive mechanism 200, drive connection to worm gear reducer 100;

[0051] The control board 300 is fixed to the outside of the worm gear reducer 100 and electrically connected to the drive mechanism 200; and

[0052] An angle monitoring component 400, electrically connected to the control board 300, is located in the worm gear reducer 100 and is used to monitor the rotation angle of the output shaft 120 of the worm gear reducer 100.

[0053] The drive module in this invention includes a worm gear reducer 100, a drive mechanism 200, a control board 300, and an angle monitoring component 400. The input end of the worm gear reducer 100 is connected to the drive mechanism 200, and its output end is used to drive the finger joints of the bionic robotic hand. The drive mechanism 200 is the power source, providing rotational power. The drive mechanism 200 is electrically connected to the control board 300 and can receive control signals from the control board 300 to adjust the output speed or torque. The control board 300 is fixed external to the reducer and is connected to the drive mechanism 200 and the angle monitoring component 400 via circuitry. It is used to process angle signals, generate drive commands, and adjust the operating state of the drive mechanism 200. An angle monitoring component 400 is mounted on the worm gear reducer 100 to monitor the rotation angle of the output shaft 120 of the worm gear reducer 100 in real time and feed the data back to the control board 300, which then controls the output of the drive mechanism 200. Since the transmission chain from the output shaft 120 of the worm gear reducer 100 to the finger joint is much shorter than the transmission chain from the motor output shaft to the finger joint, the rotation angle of the output shaft 120 of the worm gear reducer 100 is closer to the actual rotation angle of the finger joint. This reduces the angle detection deviation caused by transmission clearance, assembly errors, etc., thereby improving the accuracy of finger joint rotation angle control and thus enhancing the movement accuracy of the bionic robotic hand. In addition, the worm gear reducer 100 features a large transmission ratio, converting the high-speed, low-torque output of the drive mechanism 200 into a low-speed, high-torque output, suitable for the movement requirements of finger joints. The worm gear combination also exhibits good self-locking properties, preventing the bionic robotic hand from suddenly releasing the grasped object in the event of an unexpected power outage, thus enhancing its safety. Furthermore, the control board 300 and the angle monitoring component 400 are both housed within the worm gear reducer 100, resulting in a compact overall layout and reduced space occupancy.

[0054] The angle monitoring component 400 can be implemented using an encoder or potentiometer.

[0055] In one embodiment, the worm gear reducer 100 includes a housing structure 110 and an output shaft 120. The housing structure 110 has a receiving cavity, and the output shaft 120 is rotatably disposed through the housing structure 110, with both ends of the output shaft 120 extending through the housing structure 110 to the outside of the receiving cavity. The angle monitoring component 400 includes:

[0056] Magnet 410 is disposed inside the receiving cavity, coaxially sleeved on the outside of output shaft 120, and rotates synchronously with output shaft 120; and

[0057] A magnetic angle sensor 420 is fixed to the housing structure 110 and electrically connected to the control board 300, and is used to monitor the rotation angle of the magnet 410.

[0058] Reference Figure 2 In an embodiment of this utility model, the worm gear reducer 100 includes a housing structure 110 and an output shaft 120. The housing structure 110 has an internal receiving cavity. The output shaft 120 is rotatably inserted through the housing structure 110, with both ends extending outside the receiving cavity to form a double-ended output structure. The angle monitoring component 400 includes a magnet 410 and a magnetic angle sensor 420. The magnet 410 is disposed within the receiving cavity, sleeved outside the output shaft 120, and rotates synchronously with the output shaft 120. The magnet 410 serves as a signal source for angle monitoring, generating a change in magnetic field through rotation. The magnetic angle sensor 420 is fixed to the housing structure 110 and electrically connected to the control board 300. It detects the change in the magnetic field direction of the magnet 410 in a non-contact manner, thereby obtaining the rotation angle of the output shaft 120. The magnet 410 is disposed inside the housing structure 110, 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 420. The magnet 410 can be connected to the output shaft 120 through various methods such as threaded connection, interference fit, bonding or welding, so as to realize that the magnet 410 rotates synchronously with the output shaft 120.

[0059] The two ends of the output shaft 120 extend to the outside of the housing, which can be used to connect different sides of the same finger joint at the same time to improve the stability of the finger joint's movement. It can also be used to drive two finger joints connected side by side at the same time to realize the linkage of two finger joints side by side.

[0060] In one embodiment, the outer wall of the housing structure 110 is provided with a receiving groove 1101, the magnetic angle sensor 420 is at least partially disposed in the receiving groove 1101, and / or the control board 300 is at least partially disposed in the receiving groove 1101.

[0061] Combination Figure 1 and Figure 4 In this embodiment of the invention, a receiving groove 1101 is added to the outer wall of the housing structure 110. The magnetic angle sensor 420 can be partially or completely embedded in the receiving groove 1101 for fixation, with its detection end facing the internal magnet 410, ensuring a stable relative position with the magnet 410 and avoiding signal distortion due to vibration or assembly errors. Alternatively, part or all of the control board 300 can be placed in the receiving groove 1101. The magnetic angle sensor 420 and the control board 300 are embedded in the receiving groove 1101 provided in the housing assembly, further improving the structural compactness of the drive module. On the other hand, the magnetic angle sensor 420 is hidden in the receiving groove 1101, reducing the possibility of interference or collision with external objects, reducing positional shift caused by external force collisions, and ensuring the stability of angle monitoring.

[0062] In one embodiment, the receiving groove 1101 is provided on the side of the housing structure 110 facing the drive mechanism 200.

[0063] Combination Figure 1 and Figure 4 In this embodiment of the present invention, the receiving groove 1101 is disposed on the side of the housing structure 110 facing the drive mechanism 200, so that the magnetic angle sensor 420, the control board 300 and the drive mechanism 200 are closely adjacent in space. On the one hand, the electrical connection path between the control board 300 and the drive mechanism 200 is shortened, and the cable detour is reduced. On the other hand, the drive mechanism 200, the control board 300 and the magnetic angle sensor 420 are disposed on the same side of the worm gear reducer 100, which further improves the structural compactness and facilitates its application in bionic robotic hands.

[0064] In one embodiment, the receiving cavity includes a first sub-cavity, a second sub-cavity, and a window, the window connecting the first and second sub-cavities. The output shaft 120 is rotatably disposed in the first sub-cavity. The worm gear reducer 100 further includes:

[0065] A worm gear 130, one end of which is connected to the drive mechanism 200, and the other end passing through the second sub-cavity, wherein the axis of the worm gear 130 is perpendicular to the axis of the output shaft 120; and

[0066] The worm gear 140 is coaxially sleeved outside the output shaft 120 and rotates synchronously with the output shaft 120. Part of the worm gear 140 passes through the window and meshes with the worm 130. The magnet 410 is located on one side of the worm gear 140.

[0067] Reference Figure 2 In an embodiment of this utility model, the worm gear reducer 100 further includes a worm 130 and a worm wheel 140. The worm wheel 140 is sleeved on the output shaft 120 and disposed in the first sub-cavity. One end of the worm 130 passes through the second sub-cavity, and the other end extends into the planetary reducer 210 of the drive mechanism 200. The worm wheel 140 partially passes through a window and meshes with the worm 130. By setting separate first and second sub-cavities and allowing the worm wheel 140 to pass through through the window, lubrication schemes can be designed separately for the worm wheel 140 area and the worm 130 area, reducing cross-contamination of lubricating media.

[0068] In one embodiment, the worm gear reducer 100 further includes two bearings 150, both of which are sleeved on the outside of the output shaft 120 and located on both sides of the worm gear 140, and a magnet 410 is located between the worm gear 140 and one of the bearings 150.

[0069] Reference Figure 5In this embodiment of the present invention, two bearings 150 are provided on the outside of the output shaft 120. The two bearings 150 are arranged on both sides of the worm gear 140 to support the output shaft 120 in a distributed manner, ensuring the smooth rotation of the output shaft 120. The magnet 410 is located between the worm gear 140 and one of the bearings 150, which helps to make the two ends of the output shaft 120 evenly stressed and improve the stability of the rotation of the output shaft 120.

[0070] In one embodiment, the housing structure 110 includes:

[0071] The housing assembly 111 has a first sub-cavity and a mounting hole penetrating the housing assembly 111; and

[0072] The inner shell assembly 112 has a second sub-cavity. One end of the inner shell assembly 112 is connected to the drive mechanism 200, and the other end passes through the assembly hole.

[0073] Reference Figure 3 In this embodiment of the invention, the housing structure 110 includes an outer shell assembly 111 and an inner shell assembly 112. The outer shell assembly 111 has a first sub-cavity and a through-hole, serving as the main load-bearing structure and responsible for physical connection with the finger joints of the release robot. The inner shell assembly 112 has a second sub-cavity, one end of which is fixedly connected to the drive mechanism 200, and the other end passes through the through-hole of the outer shell assembly 111, achieving positioning and nesting with the outer shell assembly 111. The outer shell assembly 111 and the inner shell assembly 112 are designed separately, allowing for independent machining of the first and second sub-cavities, reducing the manufacturing difficulty of complex cavities and improving dimensional accuracy. Furthermore, if it is necessary to inspect or repair the worm gear 140, output shaft 120, or magnet 410, only the outer shell assembly 111 needs to be disassembled, improving the convenience of maintenance.

[0074] In one embodiment, the housing assembly 111 includes a first housing 1111 and a second housing 1112. The first housing 1111 is provided with a first sub-slot and a second sub-slot, and the second housing 1112 is provided with a third sub-slot and a fourth sub-slot. The first housing 1111 and the second housing 1112 are detachably connected, such that the first sub-slot and the third sub-slot are combined to form a first sub-cavity, and the second sub-slot and the fourth sub-slot are combined to form an assembly hole.

[0075] Reference Figure 3 and Figure 4In an embodiment of this utility model, the outer shell assembly 111 includes a first shell 1111 and a second shell 1112, which are connected by a detachable connection (such as bolts or clips). The first shell 1111 has a first sub-slot and a second sub-slot, and the second shell 1112 has a third sub-slot and a fourth sub-slot, wherein the first sub-slot and the third sub-slot correspond to each other, and the second sub-slot and the fourth sub-slot correspond to each other. When the first shell 1111 and the second shell 1112 are connected, the first sub-slot and the third sub-slot are combined to form a complete first sub-cavity, and the second sub-slot and the fourth sub-slot are combined to form an assembly hole. The split outer shell assembly 111 simplifies the processing technology of complex cavities and helps to reduce manufacturing costs. The detachable design facilitates the repair and replacement of internal components, improving the convenience of maintenance and repair. In addition, the assembled structure allows for partial replacement of damaged shells, such as replacing only the second shell 1112 when it is deformed by collision, reducing maintenance costs.

[0076] In one embodiment, the drive mechanism 200 includes:

[0077] In planetary reducer 210, the end of worm gear 130 furthest from worm wheel 140 is inserted inside planetary reducer 210 and is connected to planetary reducer 210 for transmission; and

[0078] Motor 220 drives planetary reducer 210 and is electrically connected to control board 300.

[0079] Reference Figure 1 In this embodiment of the invention, the drive mechanism 200 includes a planetary reducer 210 and a motor 220. The motor 220 serves as a power source and is electrically connected to the control board 300, 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 130. 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 130. One end of the worm gear 130 is directly inserted into the planetary reducer 210 and connected to its planetary gears, eliminating the need for intermediate components such as couplings. This shortens 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.

[0080] In one embodiment, the drive module further includes a winding reel 500, and the worm gear reducer 100 drives and connects to the winding reel 500. The winding reel 500 is used to wind or release the drive line of the bionic manipulator.

[0081] Reference Figure 1In an embodiment of this utility model, the drive module further includes a winding reel 500, which serves as an end effector and is connected to the output shaft 120 of the worm gear reducer 100. It can be fixed by keyway or screws. The outer periphery of the winding reel 500 is provided with a groove for winding or releasing the drive line of the bionic manipulator. When the winding reel 500 rotates, it pulls the joint movement of the bionic manipulator, such as the bending or extension of the fingers, by winding and releasing the drive line.

[0082] 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 has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0083] 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: A worm gear reducer is used to drive the finger joints connected to the bionic robotic hand; The drive mechanism drives the worm gear reducer. A control board, fixed externally to the worm gear reducer and electrically connected to the drive mechanism; and An angle monitoring component, electrically connected to the control board, is located in the worm gear reducer and is used to monitor the rotation angle of the output shaft of the worm gear reducer.

2. The drive module as described in claim 1, characterized in that, The worm gear reducer includes a housing structure and an output shaft. The housing structure has a receiving cavity, and the output shaft rotatably passes through the housing structure, with both ends of the output shaft extending through the housing structure to the outside of the receiving cavity. The angle monitoring component includes: A magnet, coaxially sleeved outside the output shaft and rotating synchronously with the output shaft; and A magnetic angle sensor, fixed to the housing structure and electrically connected to the control board, is used to monitor the rotation angle of the magnet.

3. The drive module as described in claim 2, characterized in that, The outer wall of the housing structure is provided with a receiving groove, and the magnetic angle sensor is at least partially disposed in the receiving groove, and / or the control board is at least partially disposed in the receiving groove.

4. The drive module as described in claim 3, characterized in that, The receiving slot is located on the side of the housing structure facing the drive mechanism.

5. The drive module as described in claim 2, characterized in that, The receiving cavity includes a first sub-cavity, a second sub-cavity, and a window, the window connecting the first sub-cavity and the second sub-cavity. The output shaft rotatably passes through the first sub-cavity. The worm gear reducer further includes: A worm gear, one end of which is connected to the drive mechanism, and the other end which passes through the second sub-cavity, the axis of which is perpendicular to the axis of the output shaft; and A worm gear is coaxially mounted outside the output shaft and rotates synchronously with the output shaft. The worm gear portion passes through the window and meshes with the worm. The magnet is located on one side of the worm gear.

6. The drive module as described in claim 5, characterized in that, The worm gear reducer also includes two bearings, both of which are sleeved on the outside of the output shaft and located on both sides of the worm gear. The magnet is located between the worm gear and one of the bearings.

7. The drive module as described in claim 5, characterized in that, The shell structure includes: The housing assembly includes the first sub-cavity and a mounting hole penetrating the housing assembly; and The inner shell assembly has a second sub-cavity, one end of which is connected to the drive mechanism, and the other end of which passes through the assembly hole.

8. The drive module as described in claim 5, characterized in that, The drive mechanism includes: A planetary gear reducer, wherein the end of the worm gear furthest from the worm wheel is inserted into the planetary gear reducer and is drively connected to the planetary gear reducer; and The motor drives the planetary reducer and is electrically connected to the control board.

9. The drive module as described in any one of claims 1 to 8, characterized in that, The drive module also includes a winding reel, and the worm gear reducer is connected to the winding reel. The winding reel is used to wind or unwind the drive line of the bionic manipulator.

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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