robotic arm

Abstract

This application provides a robotic hand, including a robotic finger. The robotic finger includes a first phalanx, a second phalanx, and a first drive module. The first and second phalanxes are rotatably connected. The first phalanx has an accommodating space, and the first drive module is disposed within the accommodating space. The first drive module includes a first drive member, a transmission assembly, a first rotating member, and a first translating member. One end of the first drive member and the first rotating member are respectively connected to the transmission assembly. With the cooperation of the first rotating member and the first translating member, it is beneficial to achieve high power density drive and precise control. At the same time, since the first drive member and the first rotating member are arranged side by side and located on the same side of the transmission assembly, it is beneficial to reduce the length of the first drive module. This allows the first drive module to be installed within the accommodating space of the first phalanx without increasing the length of the first phalanx and by reducing the length of the first drive member, ensuring that a first drive member with a larger driving force can be used.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robotic arm. Background Technology

[0002] With the rapid development of robotics technology, the robotic hand, as a key actuator for robot-environment interaction, directly determines the upper limit of robot applicability in complex tasks such as precision assembly, medical surgery, space exploration, and service operations. In recent years, although various driving principles, such as parallel structures, flexible hinges, tendon actuations, shape memory alloys, and pneumatic artificial muscles, have been introduced into the field of robotic hands and achieved some progress, in existing robotic hands, while the different segments of the fingers can rotate independently, it is still impossible to simultaneously achieve high power density actuation and precise control within a limited installation space. Summary of the Invention

[0003] This application provides a robotic hand, including a robotic finger. The robotic finger includes a first phalanx, a second phalanx, and a first drive module. The first phalanx and the second phalanx are rotatably connected. The first phalanx has an accommodating space, and the first drive module is disposed within the accommodating space. The first drive module is used to drive the first phalanx and the second phalanx to rotate relative to each other. The first drive module includes a first drive member, a transmission assembly, a first rotating member, and a first translation member. One end of the first drive member and the first rotating member are respectively connected to the transmission assembly. The first drive member and the first rotating member are arranged side by side and located on the same side of the transmission assembly. The other end of the first rotating member is connected to the first translation member. The first translation member is rotatably connected to the second phalanx. The transmission assembly can move under the drive of the first drive member and drive the first rotating member to rotate. The first translation member can move linearly under the drive of the rotating first rotating member and drive the second phalanx to rotate relative to the first phalanx.

[0004] In some embodiments, the first drive module further includes a first deceleration component, wherein the first deceleration component is disposed between the first rotating member and the transmission component, and the first deceleration component, the first rotating member, and the first drive member are located on the same side of the transmission component; and / or, the housing of the transmission component is fixedly connected to the second phalanx, and the first drive member is fixedly connected to the housing of the transmission component; and / or, the second phalanx is provided with a connecting groove, and the first translation member extends into the connecting groove and is confined within the connecting groove.

[0005] In some embodiments, the robotic hand further includes a palm assembly, and the robotic finger further includes a second drive module mounted on the palm assembly; wherein, the output end of the second drive module is connected to the first phalanx, the first phalanx is rotatably connected to the palm assembly, and the first phalanx can rotate relative to the palm assembly under the drive of the second drive module, thereby causing the second phalanx to rotate together; or, the output end of the second drive module is connected to the second phalanx, the second phalanx is rotatably connected to the palm assembly, and the second phalanx can rotate relative to the palm assembly under the drive of the second drive module, thereby causing the first phalanx to rotate together.

[0006] In some embodiments, the robotic hand further includes a support member fixedly connected to the palm assembly and rotatably connected to the first or second phalanx.

[0007] In some embodiments, the support member includes a block portion and two strip portions. The block portion is fixedly connected to the palm assembly. Both strip portions are provided with pivot holes. The robotic arm also includes a pivot member, which is rotatably inserted through the pivot hole and fixedly connected to the first or second phalanx.

[0008] In some embodiments, the second drive module includes a second drive member, a second rotating member, and a second translating member; the second drive member is mounted on the palm assembly, one end of the second rotating member is connected to the second drive member, the other end of the second rotating member is connected to the second translating member, the second translating member is connected to the first knuckle or the second knuckle, and the second rotating member can rotate under the drive of the second drive member and drive the second translating member to move linearly.

[0009] In some embodiments, the robotic arm further includes a mounting member, wherein one end of the second drive member remote from the second rotating member is rotatably connected to the mounting member, and the mounting member is mounted on the palm assembly.

[0010] In some embodiments, the second drive module further includes a connector connected to the second translation member and connected to the first or second knuckle.

[0011] In some embodiments, the connector includes a columnar portion and two finger-shaped portions. One end of the columnar portion is fixedly connected to the second translational member, and the other end of the columnar portion is connected to the two finger-shaped portions. Both finger-shaped portions are rotatably connected to the first or second phalanx.

[0012] In some embodiments, the second drive module further includes a second deceleration component, which is connected to the second drive member and the second rotating member.

[0013] Compared with the prior art, the mechanical fingers in the robotic hand of this application embodiment include a first phalanx, a second phalanx, and a first drive module; the first phalanx and the second phalanx are rotatably connected, the first phalanx has an accommodating space, and the first drive module is disposed in the accommodating space. The first drive module includes a first drive member, a transmission assembly, a first rotating member, and a first translating member; one end of the first drive member and the first rotating member are respectively connected to the transmission assembly. With the cooperation of the first rotating member and the first translating member, it is beneficial to achieve high power density drive and precise control. At the same time, since the first drive member and the first rotating member are arranged side by side and located on the same side of the transmission assembly, it is beneficial to reduce the length of the first drive module. This allows the first drive module to be installed in the accommodating space of the first phalanx without increasing the length of the first phalanx and reducing the length of the first drive member, ensuring that a first drive member with a larger driving force can be used. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a perspective view of a robotic arm according to an embodiment of this application.

[0016] Figure 2 This is another perspective view of the robotic arm according to an embodiment of this application.

[0017] Figure 3 A perspective view showing the assembly and connection of the first drive module and the second knuckle.

[0018] Figure 4 A perspective view showing the assembly and connection of the connector, the first finger joint, and the screws.

[0019] Figure 5 A perspective view showing the assembly and connection of the support member, the second finger joint, and the pivot member. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0021] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] It should also be noted that, unless otherwise explicitly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Please see Figure 1-5 The robotic hand in this embodiment includes a robotic finger 100, a palm assembly 200, and a support member 300, with the robotic finger 100 mounted on the palm assembly 200.

[0024] As shown in the figure, in some embodiments, the mechanical finger 100 includes a first phalanx 10, a second phalanx 20, and a first drive module 30; the first phalanx 10 and the second phalanx 20 are rotatably connected, the first phalanx 10 has an accommodating space 10a, and the first drive module 30 is disposed in the accommodating space 10a so that the first drive module 30 drives the first phalanx 10 and the second phalanx 20 to rotate relative to each other.

[0025] like Figure 1-3 As shown, in some embodiments, the first drive module 30 includes a first drive member 31, a transmission assembly 32, a first rotating member 33, and a first translation member 34. One end of the first drive member 31 and the first rotating member 33 are respectively connected to the transmission assembly 32. The first drive member 31 and the first rotating member 33 are arranged side by side and located on the same side of the transmission assembly 32. The other end of the first rotating member 33 is connected to the first translation member 34. The first translation member 34 is rotatably connected to the second phalanx 20, so that the transmission assembly 32 can move under the drive of the first drive member 31 and drive the first rotating member 33 to rotate. The first translation member 34 can move linearly under the drive of the rotating first rotating member 33 and drive the second phalanx 20 to rotate relative to the first phalanx 10, thereby realizing the bending between the finger joints and facilitating the gripping of objects. Specifically, the first rotating member 33 is a lead screw, and the first translation member 34 is a nut that cooperates with the lead screw to realize the change of rotation into translation, which is beneficial for the transmission of large torque and precise control, but is not limited thereto.

[0026] like Figure 1-3 As shown, in some embodiments, the first drive module 30 further includes a first deceleration component 35. The first deceleration component 35 is disposed between the first rotating member 33 and the transmission component 32. The first deceleration component 35, the first rotating member 33, and the first drive member 31 are located on the same side of the transmission component 32, so as to achieve speed reduction and torque increase through the first deceleration component 35, and to make the first deceleration component 35 and the first rotating member 33 be located in the same column, so as to avoid encroaching on the installation space of the first drive member 31, which is beneficial to the installation of the first drive member 31 with a larger torque.

[0027] like Figure 1-3 As shown, in some embodiments, the housing 32a of the transmission assembly 32 is fixedly connected to the second finger joint 20, and the first driving member 31 is fixedly connected to the housing 32a of the transmission assembly 32, which helps to reduce the encroachment on the installation space of the first driving member 31 and makes the internal structure more stable.

[0028] like Figure 1-3 As shown, in some embodiments, the second phalanx 20 is provided with a connecting groove 21, and the first translation member 34 extends into the connecting groove 21 and is confined in the connecting groove 21, so as to achieve reliable connection between the first translation member 34 and the second phalanx 20 and improve compactness.

[0029] like Figure 1-2 As shown, in some embodiments, the mechanical finger 100 further includes a second drive module 40, which is mounted on the palm assembly 200. The output end of the second drive module 40 is connected to the first phalanx 10, and the first phalanx 10 is rotatably connected to the palm assembly 200 so that the first phalanx 10 can rotate relative to the palm assembly 200 under the drive of the second drive module 40, and drive the second phalanx 20 to rotate together. Of course, in other embodiments, the output end of the second drive module 40 can also be connected to the second phalanx 20, and correspondingly, the second phalanx 20 is rotatably connected to the palm assembly 200 so that the second phalanx 20 can rotate relative to the palm assembly 200 under the drive of the second drive module 40, and drive the first phalanx 10 to rotate together. Therefore, it is not limited to this.

[0030] like Figure 2 and 5 As shown, in some embodiments, the support member 300 is fixedly connected to the palm assembly 200, and the support member 300 is rotatably connected to the first knuckle 10. It is understood that in other embodiments, when the output end of the second drive module 40 is connected to the second knuckle 20, the support member 300 is rotatably connected to the second knuckle 20, so it is not limited thereto.

[0031] like Figure 2 and 5As shown, in some embodiments, the support member 300 includes a block-shaped portion 301 and two strip-shaped portions 302. The block-shaped portion 301 is fixedly connected to the palm assembly 200, and both strip-shaped portions 302 are provided with pivot holes 302a. The robotic arm also includes a pivot member 400, which is rotatably inserted through the pivot hole 302a and fixedly connected to the first phalanx 10 to achieve reliability and stability of the connection between the support member 300 and the first phalanx 10, as well as the structural compactness of the support member 300. It is understood that in other embodiments, when the support member 300 is rotatably connected to the second phalanx 20, the pivot member 400 is fixedly connected to the second phalanx 20, so it is not limited thereto.

[0032] like Figure 1 and 4 As shown, in some embodiments, the second drive module 40 includes a second drive member 41, a second rotating member 42, and a second translating member 43. The second drive member 41 is mounted on the palm assembly 200. One end of the second rotating member 42 is connected to the second drive member 41, and the other end of the second rotating member 42 is connected to the second translating member 43. The second translating member 43 is connected to the first knuckle 10. The second rotating member 42 can rotate under the drive of the second drive member 41, and drive the second translating member 43 to move linearly. It is understood that in other embodiments, when the output end of the second drive module 40 is connected to the second knuckle 20, the second translating member 43 is connected to the second knuckle 20, so it is not limited thereto.

[0033] like Figure 1 and 4 As shown, in some embodiments, the robotic arm further includes a mounting member 500. The end of the second drive member 41 away from the second rotating member 42 is rotatably connected to the mounting member 500. The mounting member 500 is mounted on the palm assembly 200 so that the second drive module 40 can rotate relative to the palm assembly 200. This allows the second drive module 40 to rotate relative to the palm assembly 200 when the first knuckle 10 and the second knuckle 20 rotate relative to the palm assembly 200, thereby increasing the rotation angle that the first knuckle 10 and the second knuckle 20 can be driven relative to the palm assembly 200.

[0034] like Figure 1 and 4 As shown, in some embodiments, the second drive module 40 further includes a connector 600, which is connected to the second translation member 43 and the first knuckle 10, such that the second translation member 43 is connected to the first knuckle 10 via the connector 600. It is understood that in other embodiments, when the output terminal of the second drive module 40 is connected to the second knuckle 20, the connector 600 is also connected to the second knuckle 20; therefore, this is not a limitation.

[0035] like Figure 1 and 4 As shown, in some embodiments, the connector 600 includes a columnar portion 601 and two finger-shaped portions 602. One end of the columnar portion 601 is fixedly connected to the second translation member 43, and the other end of the columnar portion 601 is connected to the two finger-shaped portions 602. Both finger-shaped portions 602 are rotatably connected to the first phalanx 10 to achieve a smooth and reliable rotatable connection between the second translation member 43 and the first phalanx 10. This rotatable connection further increases the rotatable angle of rotation of the first phalanx 10 and the second phalanx 20 relative to the palm assembly 200. It is understood that in other embodiments, when the connector 600 is connected to the second phalanx 20, the two finger-shaped portions 602 in the connector 600 are rotatably connected to the second phalanx 20.

[0036] like Figure 4 As shown, in some embodiments, the two finger-like portions 602 are rotatably connected to the first finger joint 10 by two screws 700.

[0037] like Figure 1 and 4 As shown, in some embodiments, the second drive module 40 further includes a second deceleration component 44, which is connected to the second drive member 41 and the second rotating member 42 to achieve speed reduction and torque increase.

[0038] Compared with the prior art, the mechanical finger 100 in the robotic hand of this application embodiment includes a first phalanx 10, a second phalanx 20, and a first drive module 30; the first phalanx 10 and the second phalanx 20 are rotatably connected, the first phalanx 10 has an accommodating space 10a, the first drive module 30 is disposed in the accommodating space 10a, the first drive module 30 includes a first drive member 31, a transmission assembly 32, a first rotating member 33, and a first translation member 34; one end of the first drive member 31 and the first rotating member 33 are respectively connected to the transmission assembly 32, and with the cooperation of the first rotating member 33 and the first translation member 34, it is beneficial to achieve high power density drive and precise control; at the same time, since the first drive member 31 and the first rotating member 33 are arranged side by side and located on the same side of the transmission assembly 32, it is beneficial to reduce the length of the first drive module 30, so that the first drive module 30 can be installed therein without increasing the length of the first phalanx 10 or reducing the length of the first drive member 31.

[0039] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robotic hand, comprising robotic fingers, characterized in that, The mechanical finger includes a first phalanx, a second phalanx, and a first drive module. The first and second phalanxes are rotatably connected. The first phalanx has an accommodating space, and the first drive module is disposed within the accommodating space. The first drive module is used to drive the first and second phalanxes to rotate relative to each other. The first drive module includes a first drive member, a transmission assembly, a first rotating member, and a first translation member. One end of the first drive member and the first rotating member are respectively connected to the transmission assembly. The first drive member and the first rotating member are arranged side by side and located on the same side of the transmission assembly. The other end of the first rotating member is connected to the first translation member. The first translation member is rotatably connected to the second phalanx. The transmission assembly can move under the drive of the first drive member and drive the first rotating member to rotate. The first translation member can move linearly under the drive of the rotating first rotating member and drive the second phalanx to rotate relative to the first phalanx.

2. The robotic arm as described in claim 1, characterized in that, The first drive module further includes a first reduction gear assembly, which is disposed between the first rotating member and the transmission assembly. The first reduction gear assembly, the first rotating member, and the first drive member are located on the same side of the transmission assembly; and / or, The housing of the transmission assembly is fixedly connected to the second phalanx, and the first driving member is fixedly connected to the housing of the transmission assembly; and / or, The second phalanx is provided with a connecting groove, and the first translation member extends into the connecting groove and is confined within the connecting groove.

3. The robotic arm as described in claim 1, characterized in that, The robotic hand also includes a palm assembly, and the robotic finger also includes a second drive module, which is mounted on the palm assembly; Wherein, the output end of the second drive module is connected to the first knuckle, the first knuckle is rotatably connected to the palm component, and the first knuckle can rotate relative to the palm component under the drive of the second drive module, thereby causing the second knuckle to rotate together; or, the output end of the second drive module is connected to the second knuckle, the second knuckle is rotatably connected to the palm component, and the second knuckle can rotate relative to the palm component under the drive of the second drive module, thereby causing the first knuckle to rotate together.

4. The robotic arm as described in claim 3, characterized in that, The robotic arm also includes a support member, which is fixedly connected to the palm assembly and rotatably connected to the first or second phalanx.

5. The robotic arm as described in claim 4, characterized in that, The support member includes a block-shaped part and two strip-shaped parts. The block-shaped part is fixedly connected to the palm assembly. Both strip-shaped parts are provided with pivot holes. The robotic arm also includes a pivot member, which is rotatably inserted through the pivot hole and fixedly connected to the first or second phalanx.

6. The robotic arm as described in claim 3, characterized in that, The second drive module includes a second drive component, a second rotating component, and a second translating component; the second drive component is mounted on the palm assembly, one end of the second rotating component is connected to the second drive component, the other end of the second rotating component is connected to the second translating component, the second translating component is connected to the first knuckle or the second knuckle, and the second rotating component can rotate under the drive of the second drive component and drive the second translating component to move linearly.

7. The robotic arm as described in claim 6, characterized in that, The robotic arm also includes a mounting component, wherein the end of the second drive component away from the second rotating component is rotatably connected to the mounting component, and the mounting component is mounted on the palm assembly.

8. The robotic arm as described in claim 6, characterized in that, The second drive module further includes a connector, which is connected to the second translation member and is connected to the first or second knuckle.

9. The robotic arm as described in claim 8, characterized in that, The connector includes a columnar portion and two finger-shaped portions. One end of the columnar portion is fixedly connected to the second translational member, and the other end of the columnar portion is connected to the two finger-shaped portions. Both finger-shaped portions are rotatably connected to the first or second phalanx.

10. The robotic arm as described in claim 6, characterized in that, The second drive module further includes a second deceleration assembly, which is connected to the second drive component and the second rotating component.

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