A rope-driven dexterous hand and a robot arm

Abstract

A rope-driven dexterous hand and a mechanical arm, the mechanical arm comprising a large arm assembly and the rope-driven dexterous hand; a rotor part of a small arm motor module of the rope-driven dexterous hand is connected with the large arm assembly; the rope-driven dexterous hand comprises, in sequence, a finger assembly, a wrist assembly and a small arm assembly, the small arm assembly comprising: a small arm shell; a small arm motor module arranged in the small arm shell; the small arm motor module has a rotor part and a stator part located outside the rotor part, one of the rotor part and the stator part is connected with the small arm shell; the other of the rotor part and the stator part penetrates out of the small arm shell and is used for connecting the large arm assembly of the mechanical arm. Since the small arm motor module is arranged in the small arm shell, the length of the whole rope-driven dexterous hand can be shortened, so as to reduce the rotational inertia of the end of the mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a rope-driven dexterous hand and a robotic arm. Background Technology

[0002] The ropy-driven dexterous hand mainly includes the hand structure, wrist structure, and forearm structure, and can be used to simulate the human arm. The joints that rotate relative to the upper arm in the ropy-driven dexterous hand are usually installed as a separate joint module between the ropy-driven dexterous hand and the upper arm.

[0003] To accommodate the motors, reducers, bearings, and other components of this joint module, the tethered dexterous hand must be extended in length, resulting in an increase in its arm length. For humanoid robots, an excessively long forearm disrupts the biomimicry of human proportions, affecting aesthetics and operational flexibility in confined spaces (such as car cockpits and home environments).

[0004] At the same time, the excessive arm length increases the rotational inertia of the entire robotic arm end, which increases the load on the joint motors of the robotic arm and also has a certain impact on the dynamic response speed and motion accuracy. Utility Model Content

[0005] The main technical problem this invention solves is that the external placement of the joint module between the rope-driven dexterous hand and the upper arm increases the overall length of the robotic arm and the moment of inertia at the end of the robotic arm.

[0006] According to a first aspect, one embodiment provides a tethered dexterous hand, including a finger assembly, a wrist assembly, and a forearm assembly connected in sequence. The forearm assembly includes: a forearm housing; a forearm motor module disposed within the forearm housing; the forearm motor module having a rotor portion and a stator portion located outside the rotor portion, one of the rotor portion and the stator portion being connected to the forearm housing; the other of the rotor portion and the stator portion extending out of the forearm housing for connecting to the upper arm assembly of the robotic arm.

[0007] In some embodiments, the forearm assembly further includes a finger motor module connected to the forearm housing, the finger motor module being connected to the finger assembly via a drive line.

[0008] In some embodiments, the forearm housing includes a first mounting tube and a second mounting tube coaxially connected; the forearm motor module is disposed inside the first mounting tube; the finger motor module includes a plurality of first motor modules and a plurality of second motor modules, the plurality of first motor modules being disposed outside the first mounting tube, and the plurality of second motor modules being disposed inside the second mounting tube.

[0009] In some embodiments, the plurality of first motor modules are distributed around the axis of the first mounting tube in the circumference of the first mounting tube; the plurality of second motor modules are distributed in a ring around the axis of the second mounting tube.

[0010] In some embodiments, the first mounting tube and the second mounting tube are connected by a first flange; the output shafts of the plurality of first motor modules pass through the first flange and are connected to the drive line drive.

[0011] In some embodiments, the first mounting tube has a first sidewall and a first endwall; the first endwall is connected to the end of the first sidewall away from the second mounting tube; one of the rotor portion and the stator portion is connected to the first endwall.

[0012] In some embodiments, the second mounting tube has a second sidewall and a second endwall; the second endwall is located at the end of the second sidewall away from the first mounting tube; the output shafts of the plurality of second motor modules pass through the second endwall and are connected to the drive line drive.

[0013] In some embodiments, the forearm housing has a wiring hole, and a control module is connected to the outside of the forearm housing; a connecting wire passing through the wiring hole connects the forearm motor module and the control module.

[0014] In some embodiments, at least a portion of the outer surface of the forearm housing is a plane that avoids the wiring hole, and the control module is disposed on the plane.

[0015] According to a second aspect, one embodiment provides a robotic arm, including a large arm assembly and a rope-driven dexterous hand; the rotor portion of the forearm motor module of the rope-driven dexterous hand is connected to the large arm assembly.

[0016] According to the above embodiments of the rope-driven dexterous hand and robotic arm, by placing the forearm motor module inside the forearm housing, the overall length of the rope-driven dexterous hand can be shortened, thereby reducing the rotational inertia of the robotic arm's end effector. This helps to reduce the load on the robotic arm's joint motors and improve the dynamic response speed and motion accuracy of the robotic arm's end effector. It also improves the robotic arm's operational flexibility in confined spaces. Attached Figure Description

[0017] Figure 1 These are schematic diagrams of the robotic arm shown in some embodiments of this specification;

[0018] Figure 2 This is a partial cross-sectional view of the forearm assembly shown in some embodiments of this specification;

[0019] Figure 3This is a partial structural schematic diagram of the forearm assembly according to some embodiments of this specification;

[0020] Figure 4 This is a schematic diagram of the structure of the first mounting tube according to some embodiments of this specification;

[0021] Figure 5 This is a schematic diagram of the structure of the second mounting tube according to some embodiments of this specification.

[0022] In the picture:

[0023] 10-Forearm assembly, 100-Forearm housing, 110-First mounting tube, 111-First side wall, 112-First end wall, 113-First positioning hole, 120-Second mounting tube, 121-Second side wall, 122-Second end wall, 123-Second positioning hole, 200-Forearm motor module, 300-Finger motor module, 310-First motor module, 320-Second motor module, 400-First flange, 410-First flange, 420-Second flange, 500-Second flange, 600-Cable routing hole, 700-Control module, 20-Wrist assembly, 30-Finger assembly, 40-Upper arm assembly. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0025] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0026] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0027] Figure 1 This is a schematic diagram of the structure of a robotic arm according to some embodiments of this specification. Figure 2 This is a partial cross-sectional view of the forearm assembly shown in some embodiments of this specification. Figure 3 This is a partial structural schematic diagram of the forearm assembly according to some embodiments of this specification.

[0028] like Figure 1 As shown, a robotic arm for simulating a human arm includes an upper arm assembly 40 and a rope-driven dexterous hand.

[0029] The upper arm assembly 40 is used to simulate the human upper arm and serves as a mounting base for mounting the tethered dexterous hand. In some embodiments, the upper arm assembly 40 can be mounted to other carriers via rotary joints, wherein the other carriers may include robots, supports, etc. The rotary joints provide at least one degree of rotational freedom, allowing the upper arm assembly 40 to rotate relative to the other carriers, thereby driving the tethered dexterous hand to rotate synchronously.

[0030] The rope-driven dexterous hand may include a finger assembly 30, a wrist assembly 20, and a forearm assembly 10 connected in sequence.

[0031] The finger assembly 30 is used to simulate a human hand and may include multiple finger structures, such as three or five, the specific number of which can be set according to actual needs. The finger assembly 30 can perform actions such as grasping, holding, and clamping, thereby realizing the function of picking up a target object. In some embodiments, each finger structure may include multiple knuckles and knuckle joints connecting adjacent knuckles. The knuckles can contact the target object and apply pressure to it, and the knuckle joints can be used to change the angle of the knuckles, allowing the finger structure to simulate actions such as bending and rotating.

[0032] The wrist assembly 20, simulating a human wrist, is connected between the finger assembly 30 and the forearm assembly 10. In some embodiments, the wrist assembly 20 drives the finger assembly 30 to move as a whole, for example, rotate. In some embodiments, the wrist assembly 20 can provide at least one degree of rotational freedom. In some embodiments, the wrist assembly 20 may include a stator and a rotor, the rotor being rotatable relative to the stator. One of the stator and rotor is connected to the finger assembly 30, and the other is connected to the forearm assembly 10. When the stator and rotor rotate relative to each other, the wrist assembly 20 can drive the finger assembly 30 to rotate as a whole.

[0033] Forearm assembly 10 is used to simulate a human forearm and can provide support for wrist assembly 20 as well as limit the movement space of wrist assembly 20 and finger assembly 30.

[0034] In some embodiments, such as Figure 2 As shown, the forearm assembly 10 includes a forearm housing 100 and a forearm motor module 200.

[0035] The forearm housing 100 can serve as a mounting base for mounting the forearm motor module 200. In some embodiments, the forearm housing 100 has an internal accommodating space. In some embodiments, the forearm housing 100 may include various structures, such as at least one of tubular, sleeve-shaped, etc. In some embodiments, the forearm housing 100 may be a one-piece structure or a split structure. In some embodiments, the forearm housing 100 may be made of metal material and formed by various methods, such as at least one of welding, machining, casting, etc.

[0036] The forearm motor module 200 is disposed within the forearm housing 100. The forearm motor module 200 is used to output torque to drive the forearm assembly 10 to rotate as a whole. In some embodiments, the forearm motor module 200 can provide at least one rotational degree of freedom. In some embodiments, the forearm motor module 200 has a rotor portion (not shown in the figure) and a stator portion (not shown in the figure) located outside the rotor portion. One of the rotor portion and the stator portion is connected to the forearm housing 100, and the other of the rotor portion and the stator portion passes through the forearm housing 100 to connect to the upper arm assembly 40 of the robotic arm.

[0037] As an example only, the stator is connected to the forearm housing 100, and the rotor passes through the forearm housing 100 and is fixedly connected to the boom assembly 40. When the forearm motor module 200 is started, the rotor is fixed relative to the boom assembly 40, and the stator rotates relative to the rotor, causing the stator to drive the forearm assembly 10 to rotate as a whole. The rotation center of the forearm assembly 10 is the axis of the rotor.

[0038] As an example only, the rotor is connected to the forearm housing 100, and the stator passes through the forearm housing 100 and is fixedly connected to the boom assembly 40. When the forearm motor module 200 is started, the stator is fixed relative to the boom assembly 40, and the rotor rotates relative to the stator, causing the forearm assembly 10 to rotate as a whole. The rotation center of the forearm assembly 10 is the axis of the rotor.

[0039] In some embodiments, the forearm motor module 200 can be an integrated structure, and may further include a motor, a reducer, and sensors. The motor can be driven to the rotor via the reducer, and may be fixedly connected to the stator. Sensors are used to detect parameters of the forearm motor module 200 during operation, such as at least one of temperature, pressure between components, and rotor speed. Sensors may include multiple types, such as at least one of temperature sensors, pressure sensors, speed sensors, and angular velocity sensors.

[0040] In some embodiments, the forearm motor module 200 may have two sets of corresponding stator and rotor sections. For example, the forearm motor module 200 may have a first rotor section and a first stator section corresponding to the first rotor section, and a second rotor section and a second stator section corresponding to the second rotor section.

[0041] By way of example only, the rotation center of the first rotor section may be parallel to the length direction of the forearm motor module 200 (e.g., Figure 2 The rotation center of the second rotor (in the Z direction) can be perpendicular to the length direction of the forearm motor module 200. The first rotor can be drivenly connected to the second stator. The first stator is connected to the forearm housing 100, and the second rotor is connected to the boom assembly 40. This provides two rotational degrees of freedom for the forearm assembly.

[0042] In some embodiments, a rotating joint may be provided at the end of the upper arm assembly 40 connected to the lower arm assembly 10. The rotating joint may include a third rotor portion and a third stator portion located outside the third rotor portion. The third rotor portion may rotate relative to the third stator portion, and the rotation center of the third stator portion is perpendicular to the length direction of the lower arm motor module 200. One of the rotor portion and the stator portion of the lower arm motor module 200 may be connected to the third rotor portion. The rotation of the third rotor portion drives the entire lower arm assembly 10 to rotate.

[0043] In some embodiments, the forearm assembly 10 may further include a forearm housing (not shown in the figure), and the forearm housing 100 may be disposed inside the forearm housing, thereby encapsulating and protecting the forearm housing 100. In some embodiments, the forearm housing may be a split or integrally molded structure. In some embodiments, the forearm housing and the forearm housing 100 may be connected in a variety of ways, such as at least one of snap-fit, threaded connection, etc.

[0044] In some embodiments, such as Figure 2 , Figure 3 As shown, the forearm assembly 10 also includes a finger motor module 300 connected to the forearm housing 100. The finger motor module 300 is connected to the finger assembly 30 via a drive line (not shown in the figure).

[0045] The finger motor module 300 is used to output power to drive the finger structure in the finger assembly 30 to perform actions. In some embodiments, the finger motor module 300 can output power to retract and extend a drive cable, and use the drive cable to pull the finger structure, causing the finger structure to perform actions such as bending and extending. In some embodiments, the finger motor module 300 can control multiple different finger structures separately. In some embodiments, the finger motor module 300 can also control the finger structure in other ways, for example, by driving the drive cable to rotate, and using the rotation of the drive cable to control the finger structure to perform corresponding actions.

[0046] By connecting the finger motor module 300 to the forearm housing 100, the overall length of the drive line can be controlled to manage costs.

[0047] In some embodiments, such as Figure 2 , Figure 3 As shown, the forearm housing 100 may include a first mounting tube 110 and a second mounting tube 120 coaxially connected; the forearm motor module is disposed within the first mounting tube 110. The finger motor module 300 includes multiple first motor modules 310 and multiple second motor modules 320, with the multiple first motor modules 310 disposed on the outer side of the first mounting tube 110 and the multiple second motor modules 320 disposed on the inner side of the second mounting tube 120.

[0048] The first mounting tube 110 serves as a mounting base for mounting the arm motor module 200 and multiple first motor modules 310. Holes on the first mounting tube 110 can serve as accommodating spaces for the arm motor module 200. The arm motor module 200 can be connected to the inner surface of the first mounting tube 110. In some embodiments, the first mounting tube 110 can be connected to the arm motor module 200 and the multiple first motor modules 310 in various ways, such as at least one of adhesive bonding, snap-fitting, welding, and threaded connection.

[0049] The second mounting tube 120 serves as a mounting base for mounting multiple second motor modules 320. Holes on the second mounting tube 120 can serve as accommodating spaces for the multiple second motor modules 320. The multiple second motor modules 320 can be connected to the inner surface of the second mounting tube 120 in various ways, such as at least one of adhesive bonding, snap-fitting, welding, or threaded connection.

[0050] In some embodiments, the first mounting tube 110 and the second mounting tube 120 may be made of metal and formed by various methods, such as at least one of welding, machining, casting, and stamping. In some embodiments, the first mounting tube 110 and the second mounting tube 120 may be connected by various methods, such as at least one of snap-fit, welding, and threaded connection.

[0051] Multiple first motor modules 310 and multiple second motor modules 320 are connected to the finger structures in the finger assembly 30 via drive lines, so as to control the corresponding finger structures using the first motor module 310 or the second motor module 320.

[0052] In some embodiments, the output shafts of the first motor module 310 and the second motor module 320 are positioned toward the finger assembly 30 to avoid unnecessary bending or tangling of the drive lines connected to the output shafts.

[0053] By using the first mounting tube 110 and the second mounting tube 120, different mounting spaces can be formed along the length of the forearm assembly 10, and multiple first motor modules 310, multiple second motor modules 320 and forearm motor modules 200 can be installed respectively. This makes reasonable use of the mounting space in the forearm assembly 10, making the overall structure of the forearm assembly 10 more compact and helping to make the overall weight distribution of the forearm assembly 10 more uniform.

[0054] In some embodiments, a plurality of first motor modules 310 may be distributed around the axis of the first mounting tube 110 in the circumferential direction of the first mounting tube 110; a plurality of second motor modules 320 may be distributed in a ring around the axis of the second mounting tube 120. This facilitates a uniform weight distribution of the forearm assembly 10 in the circumferential direction, and improves the stability of the forearm assembly 10 and reduces its sway when the forearm assembly 10 rotates around its length direction, thereby improving the overall control accuracy of the robotic arm.

[0055] Figure 4 This is a schematic diagram of the structure of the first mounting tube according to some embodiments of this specification. Figure 5 This is a schematic diagram of the structure of the second mounting tube according to some embodiments of this specification.

[0056] In some embodiments, such as Figure 2 , Figure 3 As shown, the first mounting pipe 110 and the second mounting pipe 120 are connected by the first flange 400; the output shafts of the multiple first motor modules 310 pass through the first flange 400 and are connected to the drive line drive.

[0057] The first flange 400 includes a first flange 410 disposed around the first mounting pipe 110 and a second flange 420 disposed around the second mounting pipe 120.

[0058] The first flange 410 is distributed in a ring around the circumference of the first mounting pipe 110, and the end face of the first flange 410 facing the second mounting pipe 120 is coplanar with the end face of the first mounting pipe 110 facing the second mounting pipe 120.

[0059] The second flange 420 is distributed in a ring around the circumference of the second mounting pipe 120, and the end face of the first flange 410 facing the first flange 410 is coplanar with the end face of the second mounting pipe 120 facing the first flange 410.

[0060] In some embodiments, the first flange 410 may be coaxial and have the same diameter as the second flange 420. In some embodiments, the first flange 410 may be bolted to the second flange 420.

[0061] In some embodiments, the first flange 410 has a plurality of first positioning holes 113 on the side facing the boom assembly 40, and the first motor module 310 is correspondingly connected to the first positioning holes 113. The first positioning holes 113 can improve the positioning accuracy of the first motor module 310. In some embodiments, the first motor module 310 and the first flange 410 can be connected in various ways, such as at least one of snap-fit, welding, and threaded connection. In some embodiments, an elastic pad can be provided between the first motor module 310 and the first flange 410, which can serve as a buffer and vibration damping layer. When the first motor module 310 is running, the vibration transmitted to the first mounting pipe 110 can be reduced, which helps to reduce the overall vibration of the boom assembly 10 and improve the overall stability and control accuracy of the boom assembly 10. The elastic pad can be made of various materials, such as at least one of rubber, silicone, and plastic.

[0062] Connecting the first mounting pipe 110 and the second mounting pipe 120 via the first flange 400 increases the contact area between them, thereby improving the connection strength and avoiding the reduction in strength and rigidity of the first and second mounting pipes 110 and 120 that would have been caused by drilling bolt holes in them. Simultaneously, it provides installation space for multiple first motor modules 310, allowing for a more rational distribution of the first motor modules 310. The first flange 400 also facilitates the installation and disassembly of the first mounting pipe 110 and the second mounting pipe 120.

[0063] In some embodiments, such as Figure 4 As shown, the first mounting tube 110 has a first side wall 111 and a first end wall 112; the first end wall 112 is connected to the end of the first side wall 111 away from the second mounting tube 120; one of the rotor portion and the stator portion is connected to the first end wall 112.

[0064] The first end wall 112 can serve as a mounting base for mounting the forearm motor module 200. In some embodiments, the inner surface of the first end wall 112 can be perpendicular to the length direction of the forearm assembly 10 (e.g., Figure 4(in the Z direction), which helps to make the rotation center of the rotor parallel to the length direction of the arm assembly 10.

[0065] The forearm motor module 200 can be installed inward from the end of the first mounting tube 110 where the first end wall 112 is not provided.

[0066] In some embodiments, one first end wall 112 may be provided, and the first end wall 112 may be annular. At least a portion of the forearm motor module 200 may pass through a through hole in the first end wall 112 and be connected to the upper arm assembly 40. In some embodiments, multiple first end walls 112 may be provided, and the multiple first end walls 112 may be distributed in annular shape around the axis of the first mounting tube 110.

[0067] In some embodiments, the forearm motor module 200 and the first end wall 112 can be connected in various ways, such as at least one of snap-fit, threaded connection, etc. In some embodiments, an elastic pad can be provided between the forearm motor module 200 and the first end wall 112, which can serve as a buffer and vibration damping layer. In some embodiments, an elastic pad can also be provided between the side of the forearm motor module 200 and the inner side of the first side wall 111, which can also serve as a buffer and vibration damping layer.

[0068] In some embodiments, the first end wall 112 and the first side wall 111 can be connected in a variety of ways, such as at least one of snap-fit, welding, threaded connection, integral molding, etc.

[0069] In some embodiments, a support structure may be provided on the outer wall of the first sidewall 111 to provide support for the multiple first motor modules 310, thereby improving the stability of the first motor modules 310. In some embodiments, the support structure may include various types, such as slots, retaining rings, etc. In some embodiments, the first motor modules 310 may be connected to the support structure in various ways, such as at least one of snap-fit, adhesive, threaded connection, etc.

[0070] The first end wall 112 can provide circumferential support for the forearm motor module 200, thereby improving the stability and installation strength of the forearm motor module 200, and confining the forearm motor module 200 inside the first mounting tube 110, thus realizing the internal mounting of the forearm motor module 200.

[0071] In some embodiments, such as Figure 5 As shown, the second mounting tube 120 has a second side wall 121 and a second end wall 122; the second end wall 122 is located at the end of the second side wall 121 away from the first mounting tube 110; the output shafts of a plurality of second motor modules 320 pass through the second end wall 122 and are connected to the drive line drive.

[0072] The second end wall 122 can serve as a mounting base for mounting multiple second motor modules 320. In some embodiments, the inner surface of the second end wall 122 can be perpendicular to the length direction of the forearm assembly 10 (e.g., Figure 4 The Z-direction of the forearm assembly is aligned with the length direction of the forearm assembly 10, thus ensuring that the length direction of the multiple second motor modules 320 is parallel to the length direction of the forearm assembly 10. This facilitates a uniform circumferential mass distribution of the forearm assembly 10. The multiple second motor modules 320 can be installed inward from the end of the second mounting tube 120 where the second end wall 122 is not provided.

[0073] In some embodiments, the inner surface of the second end wall 122 is provided with a plurality of second positioning holes 123, which are used to position the second motor module 320, thereby improving the positional accuracy of the second motor module 320. In some embodiments, the second end wall 122 and the second motor module 320 can be connected in various ways, such as at least one of snap-fit, welding, and threaded connection. In some embodiments, an elastic pad can be provided between the second end wall 122 and the second motor module 320, which can serve as a buffer and vibration damping layer. In some embodiments, an elastic pad can also be provided between the second side wall 121 and the second motor module 320, which provides support for the second motor module 320, improving the positional accuracy and stability of the second motor module 320, while also serving as a buffer and vibration damping layer.

[0074] In some embodiments, the second motor module 320 may extend radially through the second sidewall 121 along the second mounting tube 120, thereby accommodating second motor modules 320 of different sizes and utilizing the space outside the second sidewall 121.

[0075] In some embodiments, the second end wall 122 and the second side wall 121 can be connected in a variety of ways, such as at least one of snap-fit, welding, threaded connection, integral molding, etc.

[0076] The second end wall 122 provides convenient support for the second motor module 320, which helps to improve the stability and positional accuracy of the second motor module 320.

[0077] The rope-driven dexterous hand provided in some embodiments of this specification, by placing the forearm motor module inside the forearm housing, avoids external placement of the forearm motor module, thereby shortening the distance between the forearm housing 100 and the upper arm assembly 40. This effectively reduces the overall length of the forearm assembly 10, thereby reducing the rotational inertia of the robotic arm end effector. This helps to reduce the load on the robotic arm joint motors and improve the dynamic response speed and motion accuracy of the robotic arm end effector. It also improves the operational flexibility of the robotic arm in confined spaces.

[0078] In some embodiments, such as Figure 3 As shown, the forearm housing 100 has a wiring hole 600, and a control module 700 is connected to the outside of the forearm housing; a connecting wire (not shown in the figure) passing through the wiring hole 600 connects the forearm motor module 200 and the control module 700.

[0079] The control module 700 can be used to analyze, process, and store data, and control other structures based on a preset program. For example, it can control the forearm motor module 200 and the finger motor module 300 to perform functions such as starting, stopping, and changing operating parameters, thereby controlling the movements of the robotic arm. In some embodiments, the control module 700 can be electrically and / or communicatively connected to the forearm motor module 200 via a control line. In some embodiments, the control module 700 can also be electrically and / or communicatively connected to the finger motor module 300 via a control line. In some embodiments, the control module 700 can include multiple components, such as at least one of a processor, a microprocessor, and a control chip. In some embodiments, the control module 700 can be integrated onto a circuit board.

[0080] In some embodiments, the control module 700 and the forearm housing 100 can be connected in a variety of ways, such as at least one of adhesive bonding, snap-fitting, welding, threaded connection, etc.

[0081] In some embodiments, the connecting cable may further include sensor wires and encoder wires connected to the sensor.

[0082] By placing the control module 700 on the outside of the forearm housing 100 and connecting the forearm motor module 200 and the control module 700 with a connecting cable passing through the wiring hole 600, unnecessary tangling and bending of the connecting cable can be reduced, thereby simplifying the wiring process and facilitating the connection between the forearm motor module 200 and the control module 700. The connecting cables can be centrally located inside the forearm housing 100, eliminating the need for them to pass through the external rotating joint, which further simplifies the forearm assembly 10.

[0083] In some embodiments, the rotor portion of the forearm motor module 200 of the rope-driven dexterous hand is connected to the boom assembly 40.

[0084] In some embodiments, such as Figure 3 As shown, the rotor and boom assembly 40 can be connected via the second flange 500.

[0085] As an example only, the forearm motor module 200 is located inside the forearm housing 100. The stator of the forearm motor module 200 is connected to the forearm housing 100, and the rotor of the forearm motor module 200 passes through the forearm housing 100 and is exposed outside the forearm housing 100. The second flange 500 can be located at the end of the rotor. The second flange 500 and the boom assembly 40 can be connected by bolts.

[0086] In some embodiments, the main power cable can pass through the second flange 500 and enter the forearm housing 100, then pass through the wiring hole 600 to connect to the control module 700, or be directly connected to the forearm motor module 200 and the finger motor module 300.

[0087] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A rope-driven dexterous hand, comprising a finger assembly, a wrist assembly, and a forearm assembly connected in sequence, characterized in that, The forearm assembly includes: Forearm housing; The forearm motor module is located inside the forearm housing; the forearm motor module has a rotor part and a stator part located outside the rotor part, one of the rotor part and the stator part is connected to the forearm housing; the other of the rotor part and the stator part extends out of the forearm housing to connect to the upper arm assembly of the robotic arm.

2. The rope-driven dexterous hand as described in claim 1, characterized in that, The forearm assembly also includes a finger motor module connected to the forearm housing, and the finger motor module is connected to the finger assembly via a drive line.

3. The rope-driven dexterous hand as described in claim 2, characterized in that, The forearm housing includes a first mounting tube and a second mounting tube coaxially connected; the forearm motor module is disposed inside the first mounting tube; the finger motor module includes multiple first motor modules and multiple second motor modules, the multiple first motor modules are disposed outside the first mounting tube, and the multiple second motor modules are disposed inside the second mounting tube.

4. The rope-driven dexterous hand as described in claim 3, characterized in that, The plurality of first motor modules are distributed around the axis of the first mounting tube in the circumference of the first mounting tube; the plurality of second motor modules are distributed in a ring around the axis of the second mounting tube.

5. The rope-driven dexterous hand as described in claim 4, characterized in that, The first mounting pipe and the second mounting pipe are connected by a first flange; the output shafts of the plurality of first motor modules pass through the first flange and are connected to the drive line drive.

6. The rope-driven dexterous hand as described in claim 4, characterized in that, The first mounting tube has a first side wall and a first end wall; the first end wall is connected to the end of the first side wall away from the second mounting tube; one of the rotor portion and the stator portion is connected to the first end wall.

7. The rope-driven dexterous hand as described in claim 4, characterized in that, The second mounting tube has a second side wall and a second end wall; the second end wall is located at the end of the second side wall away from the first mounting tube; the output shafts of the plurality of second motor modules pass through the second end wall and are connected to the drive line drive.

8. The rope-driven dexterous hand as described in any one of claims 1-7, characterized in that, The forearm housing has a wiring hole, and a control module is connected to the outside of the forearm housing; a connecting wire passing through the wiring hole connects the forearm motor module and the control module.

9. The rope-driven dexterous hand as described in claim 8, characterized in that, At least a portion of the outer surface of the forearm housing is a plane that avoids the wiring hole, and the control module is disposed on the plane.

10. A robotic arm, characterized in that, Includes the boom assembly and the rope-driven dexterous hand as described in any one of claims 1-9; The rotor of the forearm motor module of the rope-driven dexterous hand is connected to the upper arm assembly.

Images