Driving module for a bionic hand

Abstract

The utility model discloses a kind of drive module for bionic manipulator, it is related to manipulator technical field, wherein, drive module for bionic manipulator includes: drive mechanism;Worm gear reducer, including shell assembly, worm wheel, worm and output shaft, shell assembly is equipped with receiving cavity, drive mechanism drives and connects one end of worm, the other end of worm is arranged in receiving cavity, worm wheel is rotatably arranged in receiving cavity and is engaged with worm connection, output shaft is arranged in worm wheel, with worm wheel coaxial and synchronous rotation, output shaft has opposite first end and second end, first end and second end all pass through shell assembly and extend to receiving cavity outside, first end is used to connect the finger of bionic manipulator;And potentiometer angle sensor, be located at second end, for monitoring the rotation angle of output shaft.The utility model provides technical scheme, improves the control precision of the finger rotation angle of bionic manipulator.

Description

Technical Field

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

[0002] As an important branch of robotics technology, bionic robotic hands 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 fingers, 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 precision in finger angle control. Utility Model Content

[0005] The main objective of this invention is to propose a drive module for a bionic robotic hand, which aims to improve the control accuracy of the finger rotation angle of the bionic robotic hand.

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

[0007] Drive mechanism;

[0008] A worm gear reducer includes a housing assembly, a worm wheel, a worm, and an output shaft. The housing assembly has a receiving cavity. A drive mechanism drives one end of the worm, and the other end of the worm passes through the receiving cavity. The worm wheel is rotatably disposed within the receiving cavity and meshes with the worm. The output shaft passes through the worm wheel, is coaxial with the worm wheel, and rotates synchronously. The output shaft has a first end and a second end, both of which extend through the housing assembly to the outside of the receiving cavity. The first end is used to connect to the fingers of a bionic robotic hand.

[0009] A potentiometer angle sensor, located at the second end, is used to monitor the rotation angle of the output shaft.

[0010] In one embodiment, the outer peripheral wall of the second end is provided with a flat rectangular structure, the flat rectangular structure being used to connect the potentiometer angle sensor; and / or,

[0011] The potentiometer angle sensor has a housing, and the housing is detachably connected to the housing assembly; and / or

[0012] The outer wall of the housing assembly near the second end is provided with a receiving groove, and the potentiometer angle sensor is at least partially disposed in the receiving groove.

[0013] In one embodiment, the second end protrudes through the potentiometer angle sensor to the side of the potentiometer angle sensor opposite to the housing assembly, such that the end of the second end is used to connect to the finger of the bionic robotic hand.

[0014] In one embodiment, the receiving cavity includes a first sub-cavity and a second sub-cavity that are connected to each other. The axis of the first sub-cavity is perpendicular to the axis of the second sub-cavity. The worm gear is disposed in the first sub-cavity, and the worm portion passes through the second sub-cavity.

[0015] In one embodiment, the housing assembly includes:

[0016] A first housing, comprising a second sub-cavity and a first assembly groove communicating with the second sub-cavity; and

[0017] The second housing has a second assembly groove, which is detachably connected to the periphery of the opening of the first assembly groove, so that the second assembly groove and the first assembly groove are combined to form the first sub-cavity.

[0018] In one embodiment, the first housing has a first wire-passing groove on the side opposite to the second housing; and / or,

[0019] The second housing has a second wire passage groove on the side opposite to the first housing.

[0020] In one embodiment, the worm gear is interference-fitted with the output shaft.

[0021] In one embodiment, the module of the worm gear and the worm is 0.2 mm to 0.8 mm; and / or,

[0022] The center distance between the worm gear and the worm is 3mm to 15mm; and / or,

[0023] The pressure angle of the worm gear and the worm is 10° to 30°.

[0024] In one embodiment, the drive mechanism includes a geared motor, the geared motor comprising:

[0025] 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

[0026] A DC motor drives the planetary gearbox.

[0027] In one embodiment, the planetary reducer includes a first housing, the DC motor includes a second housing, one end of the first housing is threadedly connected to the second housing, and the other end of the first housing is threadedly connected to the housing assembly.

[0028] The drive module for the bionic robotic arm in this invention includes a drive mechanism, a worm gear reducer, and a potentiometer angle sensor. The drive mechanism, as a power source, provides rotational power to drive the worm connected to the worm gear reducer. The worm gear reducer includes a housing assembly, a worm wheel, a worm, and an output shaft. The housing assembly has a receiving cavity, which provides a closed installation space for the worm wheel and worm, protecting the transmission structure within the cavity and extending the service life of the worm gear reducer. The output shaft has a first end and a second end, both of which pass through the housing assembly and extend outside the receiving cavity. The first end is used to connect to the fingers of the bionic robotic hand, translating the rotation of the output shaft into the movement of the fingers. The second end is used to mount a potentiometer angle sensor, enabling the sensor to monitor the rotation angle of the output shaft. Because the first end of the output shaft is connected to the fingers of the bionic robotic hand, the transmission chain from the output shaft to the fingers is much shorter than that from the motor output shaft to the fingers. The rotation angle of the output shaft is closer to the actual rotation angle of the fingers, reducing angle detection deviations caused by transmission backlash, assembly errors, etc., thereby improving the accuracy of finger rotation angle control and thus enhancing the accuracy of the bionic robotic hand's movements. On the other hand, the potentiometer angle sensor is located outside the worm gear reducer, which facilitates the miniaturization of the worm gear reducer and reduces the manufacturing and assembly difficulties. 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 A schematic diagram of the structure of an embodiment of the drive module for a bionic robotic hand provided by this utility model. Figure 1 ;

[0031] Figure 2 A schematic diagram of the structure of an embodiment of the drive module for a bionic robotic hand provided by this utility model. Figure 2 ;

[0032] Figure 3 Explosion of an embodiment of the drive module for a bionic robotic hand provided by this utility model Figure 1 ;

[0033] Figure 4 Explosion of an embodiment of the drive module for a bionic robotic hand provided by this utility model Figure 2 ;

[0034] Figure 5 A schematic diagram of the housing assembly of the worm gear reducer for the drive module of the bionic robotic arm provided by this utility model;

[0035] Figure 6 An exploded view of a portion of the worm gear reducer for the drive module of the bionic robotic arm provided by this utility model;

[0036] Figure 7 Explosion of an embodiment of the drive module for a bionic robotic hand provided by this utility model Figure 3 .

[0037] Explanation of icon numbers:

[0038] 100. Worm gear reducer; 110. Housing assembly; 1101. First sub-cavity; 1102. Second sub-cavity; 1103. Receiving groove; 111. First housing; 1111. First wire guide groove; 112. Second housing; 1121. Second wire guide groove; 120. Output shaft; 121. Flat rectangular structure; 130. Worm; 140. Worm gear;

[0039] 200. Drive mechanism; 210. Planetary reducer; 211. First housing; 220. DC motor; 221. Second housing;

[0040] 300. Potentiometer angle sensor.

[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 invention proposes a drive module for a bionic robotic arm.

[0047] Please see Figures 1 to 3 , Figure 1 A schematic diagram of the structure of an embodiment of the drive module for a bionic robotic hand provided by this utility model. Figure 1 , Figure 2 A schematic diagram of the structure of an embodiment of the drive module for a bionic robotic hand provided by this utility model. Figure 2 , Figure 3 Explosion of an embodiment of the drive module for a bionic robotic hand provided by this utility model Figure 1 .

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

[0049] Drive mechanism 200;

[0050] A worm gear reducer 100 includes a housing assembly 110, a worm wheel 140, a worm 130, and an output shaft 120. The housing assembly 110 has a receiving cavity. A drive mechanism 200 drives one end of the worm 130, and the other end of the worm 130 passes through the receiving cavity. The worm wheel 140 is rotatably disposed in the receiving cavity and meshes with the worm 130. The output shaft 120 passes through the worm wheel 140, is coaxial with the worm wheel 140, and rotates synchronously. The output shaft 120 has a first end and a second end, both of which extend out of the receiving cavity through the housing assembly 110. The first end is used to connect to the fingers of a bionic robotic hand.

[0051] A potentiometer angle sensor 300 is located at the second end and is used to monitor the rotation angle of the output shaft 120.

[0052] The drive module in this utility model includes a drive mechanism 200, a worm gear reducer 100, and a potentiometer angle sensor 300. The drive mechanism 200 serves as a power source, providing rotational power to drive the worm 130 connected to the worm gear reducer 100. The worm gear reducer 100 includes a housing assembly 110, a worm wheel 140, a worm 130, and an output shaft 120. The housing assembly 110 has a receiving cavity, which provides a closed installation space for the worm wheel 140 and worm 130, protecting the transmission structure within the cavity and extending the service life of the worm gear reducer 100. The output shaft 120 has a first end and a second end, both of which pass through the housing assembly 110 and extend outside the receiving cavity. The first end is used to connect to the fingers of the bionic robotic hand, converting the rotation of the output shaft 120 into the movement of the fingers. The second end is used to mount a potentiometer angle sensor 300, enabling the potentiometer angle sensor 300 to monitor the rotation angle of the output shaft 120. Since the first end of the output shaft 120 is connected to the fingers of the bionic robotic hand, the transmission chain from the output shaft 120 to the fingers is much shorter than the transmission chain from the motor output shaft 120 to the fingers. The rotation angle of the output shaft 120 is closer to the actual rotation angle of the fingers, reducing angle detection deviations caused by transmission gaps, assembly errors, etc., thereby improving the accuracy of finger rotation angle control and thus enhancing the accuracy of the bionic robotic hand's movements. On the other hand, the potentiometer angle sensor 300 is located outside the worm gear reducer 100, which is beneficial for the miniaturization of the worm gear reducer 100 and reduces the manufacturing and assembly difficulty of the worm gear reducer 100.

[0053] In one embodiment, the outer peripheral wall of the second end is provided with a flat rectangular structure 121, which is used to connect the potentiometer angle sensor 300; and / or,

[0054] The potentiometer angle sensor 300 has a housing, which is detachably connected to the housing assembly 110.

[0055] Combination Figure 1 , Figure 4 and Figure 6 In this embodiment of the invention, a planar structure is machined on the circular outer peripheral wall of the second end of the output shaft 120, so that the outer peripheral wall of the second end is no longer a complete circle, but has at least one straight side, thereby forming a flat rectangular structure 121. An inner hole adapted to the shape and size of the flat rectangular structure 121 is provided at the input end of the potentiometer angle sensor 300. During assembly, the inner hole of the potentiometer angle sensor 300 is directly fitted onto the flat rectangular structure 121 at the second end of the output shaft 120, realizing the connection between the sensor and the output shaft 120. This avoids asynchronous rotation between the input end of the potentiometer angle sensor 300 and the output shaft 120 of the worm gear reducer 100, improving the accuracy of angle monitoring. Furthermore, no additional keys or pins are required during assembly, making the assembly process simple and easy to operate.

[0056] In this embodiment of the invention, the housing of the potentiometer angle sensor 300 is detachably connected to the housing assembly 110 of the worm gear reducer 100, which can be achieved by screw fastening or snap-fitting. When the potentiometer angle sensor 300 malfunctions, it can be removed and replaced separately for repair, reducing maintenance difficulty and cost.

[0057] In one embodiment, the outer wall of the housing assembly 110 near the second end is provided with a receiving groove 1103, and the potentiometer angle sensor 300 is at least partially disposed in the receiving groove 1103.

[0058] Combination Figure 1 and Figure 4 In this embodiment of the invention, a receiving groove 1103 is provided on the outer wall of the housing assembly 110. The potentiometer angle sensor 300 is at least partially embedded in the receiving groove 1103, reducing the extra space occupied by the potentiometer angle sensor 300 outside the housing assembly 110, making the drive module structure more compact, and reducing the risk of interference caused by the protrusion of the potentiometer angle sensor 300. On the other hand, the rotation of the output shaft 120 and the operation of the drive mechanism 200 will bring a certain amount of vibration. Embedding the potentiometer angle sensor 300 in the receiving groove 1103 helps to improve the stability of the potentiometer angle sensor 300, reduce movement or shaking caused by vibration, and thus improve the accuracy of angle measurement. Furthermore, the receiving groove 1103 corresponds to the shape of the potentiometer angle sensor 300, which facilitates the alignment of the potentiometer angle sensor 300 with the output shaft 120 during assembly and improves assembly efficiency.

[0059] In one embodiment, the second end protrudes through the potentiometer angle sensor 300 to the side of the potentiometer angle sensor 300 away from the housing assembly 110, such that the end of the second end is used to connect to the fingers of the bionic robotic hand.

[0060] In an embodiment of this invention, the length of the second end of the output shaft 120 extending out of the housing assembly 110 is longer than the thickness of the potentiometer angle sensor 300, causing the output shaft 120 to protrude from the side of the potentiometer angle sensor 300 away from the housing assembly 110. This allows the second end of the output shaft 120 to also be used to connect to the fingers of the bionic robotic hand. The first and second ends of the output shaft 120 can connect to different sides of the same finger, improving the stability of finger movements; the first and second ends of the output shaft 120 can also connect to different fingers, enabling synchronized movements of the connected fingers.

[0061] In one embodiment, the receiving cavity includes a first sub-cavity 1101 and a second sub-cavity 1102 that are connected to each other. The axis of the first sub-cavity 1101 is perpendicular to the axis of the second sub-cavity 1102. The worm gear 140 is disposed in the first sub-cavity 1101, and the worm 130 is partially inserted in the second sub-cavity 1102.

[0062] Combination Figure 5 and Figure 3 In an embodiment of this utility model, the receiving cavity includes a first sub-cavity 1101 and a second sub-cavity 1102 that are connected to each other. The central axis of the first sub-cavity 1101 is perpendicular to the central axis of the second sub-cavity 1102 and corresponds to the worm gear 140 and the worm 130, providing an installation reference that meets the meshing requirements for the worm gear 140 and the worm 130. The axis of the first sub-cavity 1101 defines the rotation axis of the worm gear 140, and the axis of the second sub-cavity 1102 defines the rotation axis of the worm 130, ensuring that the axes of the worm gear 140 and the worm 130 are perpendicular after installation in the receiving cavity, and meshing can be achieved without additional adjustment, thus improving the convenience of assembly.

[0063] In one embodiment, the housing assembly 110 includes:

[0064] The first housing 111 is provided with a second sub-cavity 1102 and a first assembly groove communicating with the second sub-cavity 1102; and

[0065] The second housing 112 is provided with a second assembly groove, which is detachably connected to the periphery of the opening of the first assembly groove, so that the second assembly groove and the first assembly groove are combined to form a first sub-cavity 1101.

[0066] Reference Figure 3In an embodiment of this utility model, the housing assembly 110 includes a first housing 111 and a second housing 112. The first housing 111 is provided with a second sub-cavity 1102 and a first assembly groove. The second housing 112 is detachably installed on the periphery of the opening of the first assembly groove by means of screws or snaps. The second assembly groove on the second housing 112 corresponds to the shape and size of the first assembly groove, so that after the second housing 112 and the first housing 111 are spliced ​​together, the second assembly groove and the first assembly groove are spliced ​​together to form the first sub-cavity 1101. By designing the housing assembly 110 in separate parts, the manufacturing difficulty and assembly difficulty of the housing assembly 110 are reduced, which helps to reduce manufacturing costs.

[0067] In one embodiment, the first housing 111 has a first wire channel 1111 on the side opposite to the second housing 112; and / or,

[0068] The second housing 112 has a second wire groove 1121 on the side opposite to the first housing 111.

[0069] Reference Figure 4 and Figure 5 In an embodiment of this utility model, a first wire groove 1111 is provided on the side of the first housing 111 away from the second housing 112 for accommodating wires, such as the signal line of the potentiometer angle sensor 300, the control line or power line of the drive mechanism 200, etc. The wires can be embedded in the first wire groove 1111 for laying, avoiding the wires from being messily arranged outside the housing assembly 110, reducing the risk of the wires themselves or other components getting tangled, and improving safety.

[0070] Reference Figure 4 and Figure 5 In this embodiment of the present invention, a second wire channel 1121 is provided on the side of the second housing 112 away from the first housing 111 to accommodate wires, such as the signal line of the potentiometer angle sensor 300, the control line or power line of the drive mechanism 200, etc. The wires can be embedded in the second wire channel 1121 to avoid the wires being messily arranged outside the housing assembly 110, reduce the risk of the wires themselves or other components getting tangled, and improve safety. On the other hand, it makes the drive module structure more compact and miniaturized, and better adapts to the limited installation space inside the bionic robot.

[0071] In one embodiment, the worm gear 140 is interference-fitted with the output shaft 120; and / or,

[0072] The worm gear 140 is made of aluminum bronze; and / or,

[0073] The output shaft 120 is made of 303 stainless steel.

[0074] Reference Figure 6In the embodiments of this utility model, the worm gear 140 and the output shaft 120 are connected by an interference fit to ensure synchronous rotation of the worm gear 140 and the output shaft 120. No additional fasteners (keys or pins, etc.) are required, which reduces the number of parts and makes assembly convenient.

[0075] In the embodiments of this utility model, the worm gear 140 is made of aluminum bronze, which is a bronze alloy with a high aluminum content (the main components are copper and aluminum, and a small amount of iron, manganese and other elements may also be added). It has excellent wear resistance and a certain degree of corrosion resistance in dry or slightly corrosive environments, making it suitable for the internal use environment of the bionic robotic arm.

[0076] In the embodiments of this utility model, the output shaft 120 is made of 303 stainless steel, which has good corrosion resistance and can resist the corrosion of moisture and minor impurities in the air, avoiding rusting after long-term use and helping to extend the service life of the output shaft 120.

[0077] In the embodiments of this utility model, the worm 130 is an Archimedean worm 130. On the plane perpendicular to the axis of the worm 130 (i.e., the end face), the tooth profile is an Archimedean spiral. On the plane containing the axis (i.e., the axial tooth profile), the tooth profile is a straight line. The machining difficulty is low, which helps to reduce manufacturing costs.

[0078] In this embodiment of the invention, the worm gear 130 is made of 40Cr, which is a grade of alloy steel. "40" indicates that the average carbon content of the steel is 0.40%, and "Cr" indicates that the main alloying element in the steel is Cr (chromium), and its average content is less than 1.5%. 40Cr has good machinability, which facilitates the machining of the worm gear 130 shape and helps reduce machining difficulty. It also has high toughness, is not easy to break, and helps ensure the reliability of power transmission.

[0079] In one embodiment, the module of the worm gear 140 and the worm 130 is 0.2 mm to 0.8 mm; and / or,

[0080] The center distance between the worm gear 140 and the worm 130 is 3mm to 15mm; and / or,

[0081] The pressure angle of the worm gear 140 and the worm 130 is 10° to 30°.

[0082] In the embodiments of this utility model, the module of the worm gear 140 and the worm 130 is 0.2mm to 0.8mm. The module of the worm gear 140 is the same as that of the worm 130. For example, the modules of the worm gear 140 and the worm 130 are both 0.2mm, or both 0.6mm, or both 0.8mm, etc. This module range is relatively small, which is suitable for the miniaturization requirements of bionic robotic arms and helps to reduce the overall size of the drive module.

[0083] In embodiments of this invention, the center distance between the worm gear 140 and the worm 130 is 3mm to 15mm, meaning the vertical distance between the axis of the worm gear 140 and the axis of the worm 130 ranges from 3mm to 15mm, such as 3mm, 8mm, 10mm, or 15mm. A smaller center distance helps reduce the overall size of the worm gear reducer 100, meeting the miniaturization requirements of bionic robotic arms.

[0084] In embodiments of this invention, the pressure angles of the worm gear 140 and the worm 130 range from 10° to 30°, with the pressure angle of the worm gear 140 being the same as that of the worm 130. For example, the pressure angles of the worm gear 140 and the worm 130 can both be 10°, 20°, or 30°. When the pressure angle is smaller, the meshing efficiency is higher and the transmission is smoother; when the pressure angle is larger, the tooth root thickness increases, resulting in higher tooth bending strength and the ability to withstand greater loads. The specific pressure angle can be flexibly selected according to the specific load requirements of the bionic robotic arm, enabling the drive module to adapt to the transmission needs of different scenarios.

[0085] In one embodiment, the drive mechanism 200 includes a geared motor, the geared motor comprising:

[0086] 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

[0087] A DC motor 220 is connected to a planetary gear reducer 210.

[0088] Reference Figures 1 to 3In this embodiment of the invention, the drive mechanism 200 includes a planetary reducer 210 and a DC motor 220. The end of the worm gear 130 away from the worm wheel 140 is directly inserted into the planetary reducer 210. The transmission connection is achieved through the output end of the planetary reducer 210 (such as a planetary carrier or internal gear ring). When the planetary reducer 210 is running, it can directly drive the worm gear 130 to rotate synchronously without the need for an additional intermediate coupling, reducing power transmission loss and making the drive module structure more compact. Through the dual reduction design of the planetary reducer 210 and the worm gear reducer 100, a larger reduction ratio and torque amplification factor can be achieved, meeting the usage requirements of the bionic robotic hand that does not require high-speed operation but needs sufficient grasping force. The DC motor 220 and the potentiometer angle sensor 300 are electrically connected to the control module via wires. The DC motor 220's speed, direction, start / stop time, etc., are adjusted by the control module (such as a microcontroller or PLC). Specifically, in this embodiment, the control module is located in the palm of the bionic robotic hand, without occupying space at the finger joints, which is beneficial for the miniaturization of the bionic robotic hand. The control module controls the rotation of the DC motor 220, and the potentiometer angle sensor 300 monitors the angle of the output shaft 120 (that is, the angle of the bionic robotic hand's fingers) and feeds it back to the control module. If the angle deviates, the control module adjusts the output of the DC motor 220 in real time, thereby improving the accuracy of the bionic robotic hand's finger movements. The DC motor 220 can be a brushless DC motor or a brushed DC motor.

[0089] In one embodiment, the planetary reducer 210 includes a first housing 211, and the DC motor 220 includes a second housing 221. One end of the first housing 211 is threadedly connected to the second housing 221, and the other end of the first housing 211 is threadedly connected to the housing assembly 110.

[0090] Reference Figure 7 In this embodiment of the invention, the planetary reducer 210 has a first housing 211 for enclosing internal components such as the planetary gear system, and the DC motor 220 has a second housing 221 for enclosing internal components such as the stator and rotor. The first housing 211 has an external or internal thread at the end near the DC motor 220, and the second housing 221 has a matching internal or external thread at the end near the planetary reducer 210. The threaded connection between the first housing 211 and the second housing 221 ensures a strong connection between the DC motor 220 and the planetary reducer 210 and facilitates assembly. Similarly, the first housing 211 has an external or internal thread at the end near the worm gear reducer 100, and the housing assembly 110 has a matching internal or external thread at the end near the planetary reducer 210. The threaded connection between the first housing 111 and the housing assembly 110 ensures a strong connection between the planetary reducer 210 and the worm gear reducer 100 and facilitates assembly.

[0091] The bionic robotic hand using this drive module includes a palm and multiple fingers, each finger being rotatably connected to the palm. The drive mechanism 200 of the drive module is mounted on the palm, and the output shaft 120 of the worm gear reducer 100 is connected to the fingers, driving the fingers to rotate relative to the palm. Each finger includes three phalanges that are rotatably connected in sequence. Connected phalanges are driven by the drive module. For example, the three phalanges are designated as the first phalange, second phalange, and third phalange along the direction away from the palm. The drive mechanism 200 is mounted on the first phalange connected to the palm, and the output shaft 120 of the worm gear reducer 100 is connected to the second phalange, thereby driving the second phalange to rotate relative to the first phalange.

[0092] 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 a bionic robotic hand, characterized in that, The drive module includes: Drive mechanism; A worm gear reducer includes a housing assembly, a worm wheel, a worm, and an output shaft. The housing assembly has a receiving cavity. A drive mechanism drives one end of the worm, and the other end of the worm passes through the receiving cavity. The worm wheel is rotatably disposed within the receiving cavity and meshes with the worm. The output shaft passes through the worm wheel, is coaxial with the worm wheel, and rotates synchronously. The output shaft has a first end and a second end, both of which extend through the housing assembly to the outside of the receiving cavity. The first end is used to connect to the fingers of a bionic robotic hand. A potentiometer angle sensor, located at the second end, is used to monitor the rotation angle of the output shaft.

2. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The outer peripheral wall of the second end is provided with a flat rectangular structure, which is used to connect the potentiometer angle sensor; and / or, The potentiometer angle sensor has a housing, and the housing is detachably connected to the housing assembly; and / or The outer wall of the housing assembly near the second end is provided with a receiving groove, and the potentiometer angle sensor is at least partially disposed in the receiving groove.

3. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The second end protrudes through the potentiometer angle sensor to the side of the potentiometer angle sensor away from the housing assembly, such that the end of the second end is used to connect to the finger of the bionic robotic hand.

4. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The receiving cavity includes a first sub-cavity and a second sub-cavity that are connected to each other. The axis of the first sub-cavity is perpendicular to the axis of the second sub-cavity. The worm gear is disposed in the first sub-cavity, and the worm portion passes through the second sub-cavity.

5. The drive module for a bionic robotic hand as described in claim 4, characterized in that, The housing assembly includes: A first housing, comprising a second sub-cavity and a first assembly groove communicating with the second sub-cavity; and The second housing has a second assembly groove, which is detachably connected to the periphery of the opening of the first assembly groove, so that the second assembly groove and the first assembly groove are combined to form the first sub-cavity.

6. The drive module for a bionic robotic hand as described in claim 5, characterized in that, The first housing has a first wire-passing groove on the side opposite to the second housing; and / or, The second housing has a second wire passage groove on the side opposite to the first housing.

7. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The worm gear is interference-fitted with the output shaft.

8. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The module of the worm gear and the worm is 0.2mm to 0.8mm; and / or, The center distance between the worm gear and the worm is 3mm to 15mm; and / or, The pressure angle of the worm gear and the worm is 10° to 30°.

9. The drive module for a bionic robotic hand as described in claim 1, characterized in that, The drive mechanism includes a geared motor, and the geared motor 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 A DC motor drives the planetary gearbox.

10. The drive module for a bionic robotic hand as described in claim 9, characterized in that, The planetary reducer includes a first housing, and the DC motor includes a second housing. One end of the first housing is threadedly connected to the second housing, and the other end of the first housing is threadedly connected to the housing assembly.

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