A robot arm structure, dexterous hand and robot

Abstract

The utility model provides a kind of robot arm structure, dexterous hand and robot, it is related to robot technical field, robot arm structure includes small arm main body structure, small arm main body structure includes detachably connected first body and second body, first body is used to connect with big arm structure, second body is used to connect with hand structure, it is provided with driving mechanism on first body, it is provided with actuating mechanism on second body, driving mechanism is used to be connected with hand structure transmission by actuating mechanism;Driving mechanism includes motor and driving disc, motor and driving disc driving connection;Actuating mechanism includes transmission disc, driving wheel and tendon, transmission disc and driving wheel transmission connection, tendon is wound and connected in driving wheel, and tendon is used to connect with the finger part of hand structure, driving disc and transmission disc axial can be engaged with and can be separated.The utility model's robot arm structure, compared to relevant technology, has the advantages of convenient maintenance, long service life and strong working condition adaptability.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot forearm structure, a dexterous hand, and a robot. Background Technology

[0002] Currently, there are two technical approaches to dexterous hands in humanoid robots. The first is linkage actuation, where the actuators, motors, and reducers are all placed inside the dexterous hand, and the fingers are moved via linkages to complete grasping actions; all components are highly integrated within the hand. The second is chord actuation, where the actuators, motors, and reducers are placed inside the arm, and the fingers are moved via chords that cannot be quickly separated. However, current technical solutions have the following technical problems: 1) Maintenance of the dexterous hand is difficult and extremely costly after it malfunctions. The dexterous hand has many parts and a complex, compact transmission structure. Since the parts are small and compact, accidental damage or malfunction requires specialized tools and fixtures to disassemble many parts, resulting in lengthy repair times. In most cases, on-site repair is not possible, and the device must be returned to the factory. Once returned to the factory, the repair cost can reach one-third or more of the dexterous hand's original cost.

[0003] 2) High usage cost Currently, the lifespan bottleneck of chord drive systems lies in the chords themselves, which are susceptible to creeping, loosening, and wear. For link drive systems, the lifespan bottleneck is in the link components, which experience wear and deformation during use, typically resulting in a lifespan of tens of thousands to hundreds of thousands of cycles. High-value components, accounting for 90% of the cost, such as motors, reducers, and actuators, have a lifespan of at least tens of thousands of hours. In scenarios with frequent use, a hand can perform thousands of movements per day, resulting in a very short lifespan for a dexterous hand, roughly a few months. Currently, dexterous hands with 6 degrees of freedom or higher are priced between 10,000 and 100,000 yuan, a relatively high price, and robots require two dexterous hands. Once the chords or links reach the end of their lifespan, the motors, reducers, and actuators have low recycling value and are mostly scrapped along with the transmission components, resulting in high operating costs and hindering commercialization.

[0004] 3) Poor adaptability to working conditions Once a dexterous hand is installed on a robotic arm, it cannot be easily or permanently replaced, often requiring specialized technicians to use dedicated tools and spend considerable time on the task. Furthermore, humanoid robots often face non-fixed and unpredictable tasks. For example, some tasks require a high-precision but low-force hand, others require a low-precision but high-force hand, and still others require a waterproof hand. Currently, no single dexterous hand can simultaneously meet all these conditions; in the face of unpredictable situations, the adaptability of current dexterous hand solutions is poor. Utility Model Content

[0005] This utility model aims to solve at least one of the above-mentioned technical problems.

[0006] This utility model provides a robot forearm structure, including: a forearm main body structure, the forearm main body structure including a first main body and a second main body that are detachably connected, the first main body being used to connect to the upper arm structure, the second main body being used to connect to the hand structure, a drive mechanism being provided on the first main body, and an execution mechanism being provided on the second main body, the drive mechanism being used to drively connect to the hand structure through the execution mechanism; the drive mechanism including a motor and a drive disk, the motor being drivenly connected to the drive disk; the execution mechanism including a transmission disk, a drive wheel, and a tendon rope, the transmission disk being drivenly connected to the drive wheel, the tendon rope being wound around the drive wheel, and the tendon rope being used to connect to the finger part of the hand structure, the drive wheel being used to rotate and wind the tendon rope to drive the finger part to bend, the drive disk and the transmission disk being axially meshable and separable.

[0007] The robot forearm structure provided by this utility model has, but is not limited to, the following beneficial effects compared with related technologies: The robot forearm structure described in this utility model is an improvement on the tendon cable transmission scheme with the drive mechanism placed inside the forearm. The main structure of the forearm refers to the support frame that bears the functions of power transmission and mechanical connection. Specifically, it can be implemented using a split aluminum alloy casting, with standardized interfaces for positioning and fixing between modules. Detachable connection refers to a mechanical connection method that allows manual assembly and disassembly. Specifically, it can be implemented using a combination of pin hole positioning and screw locking to ensure the accuracy of repeated module installation. The drive mechanism is a device that converts electrical energy into mechanical rotational motion. Specifically, it can be implemented using a combination of a motor with a reducer and a coupling, with the output end transmitting torque through a drive disc. The actuator is a device that converts the rotational motion of the drive mechanism into linear traction force, controlling the movement of the fingers (the finger part of the hand structure) through the release and retraction of tendon cables. Axial meshing refers to a connection method where the drive disc and transmission disc contact along the axial direction to form a power transmission interface. Specifically, it can be implemented using an end-face gear meshing structure, with axial movement disengaging the mesh during separation. Specifically, when the drive disc and transmission disc are axially engaged, the rotational power of the motor is transmitted to the transmission disc through the teeth on the end face of the drive disc, driving the drive wheel to rotate and wind the tendon rope, enabling the fingers (the finger parts of the hand structure) to complete the grasping action. When it is necessary to replace the hand structure or maintain the actuator, the mechanical connection between the first and second bodies is released, and the drive disc and transmission disc are separated axially, allowing the second body, along with the actuator and hand, to be disassembled as a whole. At this time, the drive mechanism remains inside the first body, avoiding the loss of precision caused by repeated disassembly and assembly. By replacing the second body and hand with those integrating different transmission ratios or functions, the needs of different loads / scenarios can be quickly adapted.

[0008] Optionally, the forearm structure of this robot also includes a wrist skeleton and an adjustment mechanism. The wrist skeleton has a swing joint and a pitch joint. The wrist skeleton is hinged to the second main body through the pitch joint. The wrist skeleton is used to hinge to the hand structure through the swing joint. The adjustment mechanism is connected to the first main body and the wrist skeleton respectively. The adjustment mechanism is used to drive the hand structure to perform pitch movement and left and right swing movement.

[0009] Optionally, the adjustment mechanism includes two linear actuators, each with a fisheye connector at both ends. One fisheye connector of each linear actuator is connected to the first main body, and the other fisheye connector of each linear actuator is connected to the wrist skeleton. By simultaneously extending or retracting the two linear actuators, the hand structure can be driven to perform pitching motion; by extending one linear actuator and retracting the other, the hand structure can be driven to perform left-right swinging motion.

[0010] Optionally, a flexible sleeve is fitted onto the tendon cord, wherein the length of the flexible sleeve is shorter than that of the tendon cord, and both ends of the tendon cord pass through the flexible sleeve. A first fixing structure is provided on the second main body, and a second fixing structure is provided on the palm part of the hand structure. The flexible sleeve is connected to the first fixing structure and the second fixing structure respectively.

[0011] Optionally, a reset torsion spring is provided on the drive wheel.

[0012] Optionally, the second body is provided with a guide wheel, which is used to guide the tendon rope.

[0013] Optionally, the first body is provided with a positioning pin, and the second body is provided with a positioning hole, the positioning pin being used to insert into the positioning hole; the first body is provided with a first threaded hole, and the second body is provided with a second threaded hole, the first threaded hole and the second threaded hole being used to connect by screws to fix the first body and the second body.

[0014] Optionally, the first body and the second body are connected and mated along a first direction, which is perpendicular to the extension direction of the forearm body structure; there are multiple driving mechanisms and multiple corresponding execution mechanisms, and the driving disks of the multiple driving mechanisms and the transmission disks of the multiple execution mechanisms are engaged and mated along the first direction and can be separated.

[0015] In addition, this utility model also provides a dexterous hand, including an upper arm structure, a hand structure, and a robotic forearm structure as described above.

[0016] Since the technical improvements and effects achieved by the dexterous hand are the same as those of the robot forearm structure, the technical effects of the dexterous hand will not be described in detail.

[0017] In addition, this utility model also provides a robot, including the dexterous hand as described above.

[0018] Since the technological improvements and technical effects achieved by the robot are the same as those of the dexterous hand, the technical effects of the robot will not be described in detail. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the dexterous hand according to an embodiment of the present utility model; Figure 2 This is a transmission principle diagram of the robot forearm structure and hand structure according to an embodiment of the present invention; Figure 3 The driving mechanism and the actuator are separated in this embodiment of the utility model. Figure 1 ; Figure 4 The driving mechanism and the actuator are separated in this embodiment of the utility model. Figure 2 ; Figure 5 This is a schematic diagram illustrating the motion principle of the hand structure in an embodiment of this utility model. Figure 6 This is a schematic diagram of the structure of the first main body in an embodiment of the present utility model; Figure 7 This is a cross-sectional view of the first main body of an embodiment of the present utility model; Figure 8 This is a transmission diagram of the actuator of an embodiment of the present utility model; Figure 9 This is a schematic diagram of the flexible sleeve fixing according to an embodiment of the present utility model; Figure 10 This is a schematic diagram of the structure of the actuator according to an embodiment of the present utility model; Figure 11 This is a schematic diagram of the structure of the reset torsion spring according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the drive wheel in an embodiment of the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the structure of the drive wheel in an embodiment of the present invention. Figure 2 ; Figure 14 This is a schematic diagram of an optional embodiment of the adjusting mechanism of this utility model. Figure 1 ; Figure 15 This is a schematic diagram of an optional embodiment of the adjusting mechanism of this utility model. Figure 2 .

[0020] Explanation of reference numerals in the attached figures: 1. Forearm main body structure; 11. First main body; 111. Positioning pin; 12. Second main body; 121. Positioning hole; 2. Drive mechanism; 21. Motor; 22. Drive disc; 3. Actuator; 31. Transmission disc; 32. Drive wheel; 33. Tendon rope; 34. Return torsion spring; 4. Wrist skeleton; 41. Swing joint; 42. Pitch joint; 5. Linear actuator; 51. Fisheye connector; 6. Flexible sleeve; 71. First fixing structure; 72. Second fixing structure; 8. Guide wheel; 9. Screw; 100. Upper arm structure; 200. Hand structure; 2001. Finger part; 2002. Palm part. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0022] In the description of this utility model, the orientation or positional relationship indicated by terms such as "up", "down", "left", "right", "top", "bottom", "front", "back", "inner" and "outer" is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this utility model and is not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this utility model.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 mechanical 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 utility model based on the specific circumstances.

[0024] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0025] like Figures 1 to 4As shown, the robot forearm structure of this embodiment includes: a forearm main body structure 1, which includes a first main body 11 and a second main body 12 detachably connected. The first main body 11 is used to connect with the upper arm structure 100, and the second main body 12 is used to connect with the hand structure 200. A drive mechanism 2 is provided on the first main body 11, and an execution mechanism 3 is provided on the second main body 12. The drive mechanism 2 is used to drive the hand structure 200 through the execution mechanism 3. The drive mechanism 2 includes a motor 21. The actuator 3 includes a transmission disk 31, a drive wheel 32, and a tendon cord 33. The transmission disk 31 is connected to the drive wheel 32, and the tendon cord 33 is wound around the drive wheel 32. The tendon cord 33 is used to connect to the finger part 2001 of the hand structure 200. The drive wheel 32 is used to rotate and wind the tendon cord 33 to drive the finger part 2001 to bend. The drive disk 22 and the transmission disk 31 can be axially engaged and disengaged.

[0026] In this embodiment, in conjunction with the appendix Figure 1 To be continued Figure 4 As shown, this utility model is an improvement on the tendon cable transmission scheme based on the drive placed inside the forearm. The forearm main structure 1 refers to the support frame that bears the functions of power transmission and mechanical connection. Specifically, it can be realized by using a split aluminum alloy casting, injection molding, or machined part. The positioning and fixing between modules are realized through standardized interfaces. Detachable connection refers to the mechanical connection method that allows manual operation to complete assembly and disassembly. Specifically, it can be realized by using a combination structure of pin hole positioning and screw locking to ensure the accuracy of repeated module installation. Drive mechanism 2 refers to the device that converts electrical energy into mechanical rotational motion. Specifically, it can be realized by using a combination structure of a motor with a reducer and a coupling. Its output end transmits torque through drive disc 22. Actuator 3 refers to the device that converts the rotational motion of drive mechanism 2 into linear traction force. The tendon cable 33 controls the movement of the fingers (finger part 2001 of hand structure 200) through contraction and release. Axial meshing refers to the connection method in which drive disc 22 and transmission disc 31 contact along the axial direction and form a power transmission interface. Specifically, it can be realized by end face gear meshing or other concave-convex nested anti-rotation structure. When separating, the meshing state is released by axial movement.

[0027] Specifically, when the drive disc 22 and the transmission disc 31 are axially engaged, the rotational power of the motor 21 is transmitted to the transmission disc 31 through the teeth on the end face of the drive disc 22, driving the drive wheel 32 to rotate and wind the tendon rope 33, enabling the fingers (finger part 2001 of the hand structure 200) to complete the grasping action. When it is necessary to replace the hand structure or maintain the actuator 3, the mechanical connection between the first body 11 and the second body 12 is released, and the drive disc 22 and the transmission disc 31 are separated axially, allowing the second body 12 to be disassembled as a whole along with the actuator 3. At this time, the drive mechanism 2 remains inside the first body 11, avoiding precision loss or damage caused by repeated disassembly and assembly, and simplifying the maintenance process. Moreover, by replacing the second body 12 with one that integrates different transmission ratios or functions, the hand structure can be quickly adapted to different loads or scenario requirements.

[0028] Compared to related technologies, when the low-value, easily worn actuator (actuator 3) is damaged, the user can quickly replace it using only conventional tools, solving the problem of difficult and costly maintenance after existing dexterous hands fail. The easily worn actuators are mostly structural components with a low cost percentage, while the higher-cost drive components (drive mechanism 2) have a longer lifespan. When the easily worn actuators reach the end of their lifespan, only the actuators need to be replaced, resulting in significantly lower long-term costs compared to existing technologies, thus solving the problem of high operating costs. Because the actuators in this robot's forearm structure are designed for quick replacement, when the existing dexterous hand cannot meet the requirements of new tasks, it can be quickly replaced with a more suitable dexterous hand by replacing the actuators, solving the problem of poor adaptability to working conditions in existing technologies.

[0029] In other embodiments, the drive mechanism 2 may also include a reducer, an encoder, a brake, and a motor driver. The encoder is used to acquire information such as the rotation angle and speed of the motor 21 in real time, thereby controlling the amount of tension on the tendon ligament. The brake locks the hand when it grasps an object, stopping the motor 21 from rotating and eliminating the need for additional force, thus saving energy.

[0030] Optionally, the forearm structure of this robot also includes a wrist skeleton 4 and an adjustment mechanism. The wrist skeleton 4 has a swing joint 41 and a pitch joint 42. The wrist skeleton 4 is hinged to the second body 12 through the pitch joint 42. The wrist skeleton 4 is used to hinge to the hand structure 200 through the swing joint 41. The adjustment mechanism is connected to the first body 11 and the wrist skeleton 4 respectively. The adjustment mechanism is used to drive the hand structure 200 to perform pitch movement and left and right swing movement.

[0031] In this embodiment, in conjunction with the appendix Figure 5As shown, the wrist skeleton 4 can be a rectangular frame structure. The swing joint 41 and pitch joint 42 are respectively disposed on the mutually orthogonal borders of the wrist skeleton 4. For example, the swing joint 41 is disposed on the upper and lower borders of the wrist skeleton 4, and the pitch joint 42 is disposed on the left and right borders of the wrist skeleton 4. Specifically, both the swing joint 41 and the pitch joint 42 can include a pivot and a bearing. One end of the pivot is connected to the wrist skeleton 4, and the bearing is fixedly sleeved outside the pivot. The outer ring of the bearing of the pitch joint 42 is fixed to the hand structure 200, and the outer ring of the bearing of the swing joint 41 is fixed to the second body 12. The hollow area of ​​the rectangular frame allows the tendon chord 33 to pass through.

[0032] Optionally, the adjustment mechanism includes two linear actuators 5, each with a fisheye connector 51 at both ends. One end of the fisheye connector 51 of the two linear actuators 5 is connected to the first main body 11, and the other end of the fisheye connector 51 of the two linear actuators 5 is connected to the wrist skeleton 4. By simultaneously extending or retracting the two linear actuators 5, the hand structure 200 can be driven to perform pitching motion; by extending one of the two linear actuators 5 and retracting the other, the hand structure 200 can be driven to perform left and right swinging motion.

[0033] In this embodiment, in conjunction with the appendix Figure 5 To be continued Figure 7 As shown, the linear actuator 5 refers to a drive device capable of telescopic movement along the axial direction. Specifically, it can be implemented using a servo electric actuator or a servo hydraulic cylinder. Its stroke length can be adapted to the range of hand movement to directly generate linear driving force. The fisheye joint refers to a ball joint connector with multi-degree-of-freedom rotation capability. Specifically, it can be implemented using a structure with an internal spherical bearing, allowing the actuator to produce pitch and yaw angle changes during telescopic movement, avoiding mechanical interference caused by restricted joint movement.

[0034] Specifically, when the two linear actuators 5 extend synchronously, they push the wrist skeleton 4 to rotate around the axis of the swing joint 41, causing the hand structure 200 to tilt upwards. When the two linear actuators 5 retract synchronously, the wrist skeleton 4 rotates in the opposite direction, causing the hand structure 200 to tilt downwards. When the two linear actuators 5 extend and retract at different speeds, the wrist skeleton 4 rotates horizontally around the axis of the pitch joint 42, causing the hand structure 200 to swing left or right. By controlling the combination of extension and retraction of the linear actuators 5, continuous adjustment of the pitch and swing angles can be achieved, thereby dynamically adjusting the hand's spatial posture according to the working conditions. For example, when fine operations are required, the hand can be adjusted to a stable pitch angle to reduce vibration; when it is necessary to avoid obstacles, the grasping orientation can be changed by swinging left and right.

[0035] In other implementation schemes, in conjunction with the appendix Figure 14As shown, the adjustment mechanism can use two servo motors a (or rotary actuators), where the output end of the servo motor a and the hand structure 200 are connected by two connecting rods b, forming a crank-rocker mechanism, which can change the distance between the two to achieve the same effect. Alternatively, in conjunction with the attached... Figure 15 As shown, the adjustment mechanism can also be driven by a geared motor c to rotate the lead screw d (the geared motor c is fixed inside the first main body 11). The lead screw nut e is connected to the guide rail slider f. The lead screw nut e and the guide rail slider f move linearly along the guide rail. One end of the universal coupling g is hinged to the hand structure 200, and the other end is hinged to the nut or slider structure. This scheme can also achieve palm pitch and swing by changing the distance.

[0036] It should be noted that the two linear actuators 5 and the palm part 2002 of the hand structure 200 are fixed with screws. For easy installation and disassembly, a quick-locking snap-fit ​​connector can also be used for screwless installation.

[0037] Optionally, a flexible sleeve 6 is fitted onto the tendon cord 33, wherein the length of the flexible sleeve 6 is shorter than that of the tendon cord 33, and both ends of the tendon cord 33 pass through the flexible sleeve 6 respectively. A first fixing structure 71 is provided on the second main body 12, and a second fixing structure 72 is provided on the palm part 2002 of the hand structure 200. The flexible sleeve 6 is connected to the first fixing structure 71 and the second fixing structure 72 respectively.

[0038] In this embodiment, in conjunction with the appendix Figure 8 and attached Figure 9 As shown, the flexible sleeve 6 can be composed of a soft and flexible composite material with a low coefficient of friction, such as UHMWPE (ultra-high molecular weight polyethylene), a spring tube, or a combination of various composite materials in a nested and braided manner. The inner diameter of the flexible sleeve 6 is slightly larger than that of the tendon cord 33. After the flexible sleeve 6 is fixed by the first fixing structure 71 and the second fixing structure 72, the flexible sleeve 6 will passively deform regardless of the movement of the wrist (the palm part 2002 of the hand structure 200), but the path length remains unchanged, and the length of the tendon cord 33 also remains unchanged. This decouples the overall movement of the palm part 2002 from the movement of the finger part 2001, so that they do not affect each other. The first fixing structure 71 and the second fixing structure 72 can be pressure plate structures with through holes for fixing the flexible sleeve 6. It should be noted that the tendon cord 33 is movable within the flexible sleeve 6. In addition to using a crimping fixing method, the two ends of the flexible sleeve 6 can also be fixed by bonding, welding, or other methods.

[0039] Optionally, a reset torsion spring 34 is provided on the drive wheel 32.

[0040] In this embodiment, in conjunction with the appendix Figure 10 To be continued Figure 13 As shown, this invention introduces a return torsion spring 34 on the lower side of the drive wheel 32. This torsion spring allows the drive wheel 32 to remain in a single position or zero position when independent and without external force. For example, before the actuator 3 engages with the drive mechanism 2, if a finger (finger portion 2001 of the hand structure 200) is touched by an external force, the tendon 33 will cause the drive wheel 32 to deflect. Although the finger has a return spring, the tendon 33 is in a slack state when the finger returns to its original position, and therefore cannot transmit thrust, so the drive wheel 32 will be in an uncertain position. After introducing the return torsion spring 34, when the external force applied to the finger disappears, even if the tendon 33 is slack, the return torsion spring 34 can still drive the drive wheel 32 back to zero. There is a limitation here: the change in length of the tendon 33 from the extended to the maximum flexed state of the finger must be less than the circumference of the groove of the drive wheel 32.

[0041] Specifically, in conjunction with the appendix Figure 10 To be continued Figure 13 As shown, the return torsion spring 34 has two end hooks 341. The drive wheel 32 has an upper protrusion 321, a lower protrusion 322, and a notch 323. One end of the tendon rope 33 is wrapped and fixed to the upper protrusion 321 of the drive wheel 32, and the tendon rope 33 is wrapped around the groove of the drive wheel 32 through the notch 323. The transmission disc 31, the return torsion spring 34, and the drive wheel 32 are coaxially mounted on the second body 12, and the drive wheel 32 and the transmission disc 31 can be connected together by screws. The end hook 341 of one end of the return torsion spring 34 is fitted onto the protrusion of the second body 12, and the end hook 341 of the other end is fitted onto the lower protrusion 322 of the drive wheel 32. When the actuator 3 disengages from the drive mechanism 2, the drive wheel 32, the finger, and the tendon rope 33 will maintain a fixed position and posture under the combined action of the torsion spring 34 and the return spring of the finger (finger part 2001 of hand structure 200). No additional adjustment or alignment is required for installation and disassembly, and operations such as finger zeroing are performed.

[0042] Optionally, the second body 12 is provided with a guide wheel 8, which is used to guide the tendon rope 33.

[0043] In this embodiment, in conjunction with the appendix Figure 10 As shown, after the tendon cord 33 comes out of the drive wheel 32, it changes direction through the guide wheel 8 and enters the flexible sleeve 6. After coming out of the flexible sleeve 6, the tendon cord 33 enters the inside of the finger (finger part 2001 of the hand structure 200).

[0044] Optionally, the first body 11 is provided with a positioning pin 111, and the second body 12 is provided with a positioning hole 121, wherein the positioning pin 111 is used to insert into the positioning hole 121. The positions of the positioning pin 111 and the positioning hole 121 can be interchanged.

[0045] In this embodiment, in conjunction with the appendix Figure 3 and attached Figure 4 As shown, the locating pin 111 is a cylindrical locating component with a chamfered end for insertion into the locating hole 121. The locating hole 121 is a hole structure that forms a clearance fit with the locating pin 111. The locating pin 111 and the locating hole 121 form an insertion fit relationship, establishing a reference positioning through physical contact during assembly to ensure the relative positional accuracy of the two main components (first main body 11 and second main body 12) in the axial and radial directions.

[0046] Specifically, when the main arm structure 1 needs to be disassembled for maintenance, the operator loosens the threaded fasteners and maintains the relative positions of the two main components through the insertion and engagement of the locating pin 111 and the locating hole 121. During reassembly, the locating pin 111 automatically guides the second main body 12 to align with the first main body 11 along a predetermined trajectory, ensuring the coaxiality of the drive disc 22 and the transmission disc 31. This mechanical positioning method eliminates the need for auxiliary measuring tools, effectively shortening the alignment adjustment time during disassembly and assembly.

[0047] Optionally, the first body 11 is provided with a first threaded hole, and the second body 12 is provided with a second threaded hole. The first threaded hole and the second threaded hole are used to connect by screws 9 to fix the first body 11 and the second body 12.

[0048] In this embodiment, in conjunction with the appendix Figure 3 and attached Figure 4 As shown, the first threaded hole refers to the internal threaded hole structure provided on the connecting surface of the first body 11, used to form a threaded engagement with the screw. The second threaded hole refers to the internal threaded hole structure provided on the connecting surface of the second body 12 and corresponding to the position of the first threaded hole. Specifically, it can be implemented with the same thread specification as the first threaded hole, ensuring that the screw can pass through both bodies simultaneously for fixation. The screw 9 refers to a standard fastener with external threads, specifically a hexagonal head screw or a cross-head screw. By screwing it into the threaded hole, an axial preload is generated, making the two bodies form a rigid connection.

[0049] Specifically, when assembling the forearm body structure 1, align the connecting surfaces of the first body 11 and the second body 12 so that the axes of their threaded holes coincide. Then, pass the screws 9 through the first and second threaded holes in sequence and tighten them. The friction generated by the thread engagement secures the two bodies (first body 11 and second body 12). When maintenance or replacement is required, use a conventional tool such as a screwdriver or wrench to turn the screws 9 in the opposite direction to disconnect the two bodies.

[0050] Optionally, the first body 11 and the second body 12 are connected and mated along a first direction, which is perpendicular to the extension direction of the forearm body structure 1; the drive mechanism 2 and the execution mechanism 3 are both multiple and correspondingly arranged, and the drive disks 22 of the multiple drive mechanisms 2 and the transmission disks 31 of the multiple execution mechanisms 3 are engaged and mated along the first direction and can be separated.

[0051] In this embodiment, in conjunction with the appendix Figure 3 and attached Figure 4 As shown, the first body 11 and the second body 12 are connected to each other along a first direction, wherein the first direction is perpendicular to the extension direction of the forearm body structure 1. This results in a larger mating surface of the first body 11 and the second body 12, which can accommodate multiple sets of drive mechanisms 2 and actuators 3.

[0052] In addition, this utility model also provides a dexterous hand, including an upper arm structure 100, a hand structure 200, and a robotic forearm structure as described above.

[0053] Combined with appendix Figure 1 As shown, the dexterous hand includes a large arm structure 100, a hand structure 200, and a robot forearm structure as described above. The forearm main body structure 1 is connected between the large arm structure 100 and the hand structure 200. A shoulder joint is provided at the end of the large arm structure 100 away from the forearm main body structure 1. The large arm structure 100 and the forearm main body structure 1 are rotatably connected by a shaft joint.

[0054] The finger section 2001 of the hand structure 200 may include five fingers, with the thumb corresponding to two active degrees of freedom and two sets of actuators, and each of the other fingers corresponding to one active degree of freedom and one set of actuators. Each fingertip contains a pressure sensor (not limited to the finger; pressure sensors can also be covered on the inner surface of the finger joint, the palm, or the back of the hand). This pressure sensor can be of various types, such as piezoresistive, capacitive, piezoelectric, optical, fabric pressure, or MEMS. The palm section 2002 contains a signal integration board for collecting and processing data from all pressure sensors. This signal integration board can also store other information, such as product ID, code, expiration date, model, and number of uses. It should be noted that each finger has a spring return mechanism; when the tendon ligament 33 releases tension, the finger straightens under the action of the return spring. Based on the principle of this invention, increasing the number of actuators, such as to 22 sets, can realize a fully dexterous hand with all degrees of freedom.

[0055] In addition, this utility model also provides a robot, including the dexterous hand as described above.

[0056] Since the technological improvements and technical effects achieved by the robot are the same as those of the dexterous hand, the technical effects of the robot will not be described in detail.

[0057] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0058] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A robot forearm structure, characterized in that, include: The forearm main structure (1) includes a first main body (11) and a second main body (12) that are detachably connected. The first main body (11) is used to connect with the upper arm structure (100), and the second main body (12) is used to connect with the hand structure (200). A drive mechanism (2) is provided on the first main body (11), and an execution mechanism (3) is provided on the second main body (12). The drive mechanism (2) is used to drive the hand structure (200) through the execution mechanism (3). The drive mechanism (2) includes a motor (21) and a drive disk (22). (21) Driven connection with the drive disk (22); The actuator (3) includes a transmission disk (31), a drive wheel (32) and a tendon cord (33). The transmission disk (31) is drivenly connected to the drive wheel (32). The tendon cord (33) is wound around the drive wheel (32). The tendon cord (33) is used to connect with the finger part (2001) of the hand structure (200). The drive wheel (32) is used to rotate and wind the tendon cord (33) to drive the finger part (2001) to bend. The drive disk (22) and the transmission disk (31) are axially meshable and separable.

2. The robot forearm structure according to claim 1, characterized in that, It also includes a wrist skeleton (4) and an adjustment mechanism. The wrist skeleton (4) has a swing joint (41) and a pitch joint (42). The wrist skeleton (4) is hinged to the second body (12) through the swing joint (41). The wrist skeleton (4) is used to hinge to the hand structure (200) through the pitch joint (42). The adjustment mechanism is connected to the first body (11) and the wrist skeleton (4) respectively. The adjustment mechanism is used to drive the hand structure (200) to perform pitch and swing movements.

3. The robot forearm structure according to claim 2, characterized in that, The adjustment mechanism includes two linear actuators (5), each with a fisheye connector (51) at both ends. One end of the fisheye connector (51) of the two linear actuators (5) is connected to the first body (11), and the other end of the fisheye connector (51) of the two linear actuators (5) is connected to the wrist skeleton (4). By simultaneously extending or retracting the two linear actuators (5), the hand structure (200) is driven to perform pitching motion. By having one linear actuator (5) extend and the other retract, the hand structure (200) is driven to perform left and right swinging motion.

4. The robot forearm structure according to claim 2, characterized in that, A flexible sleeve (6) is fitted on the tendon cord (33), wherein the length of the flexible sleeve (6) is shorter than that of the tendon cord (33), and both ends of the tendon cord (33) pass through the flexible sleeve (6). A first fixing structure (71) is provided on the second body (12), and a second fixing structure (72) is provided on the palm part (2002) of the hand structure (200). The flexible sleeve (6) is connected to the first fixing structure (71) and the second fixing structure (72) respectively.

5. The robot forearm structure according to claim 1, characterized in that, A reset torsion spring (34) is provided on the drive wheel (32).

6. The robot forearm structure according to claim 1, characterized in that, The second body (12) is provided with a guide wheel (8), which is used to guide the tendon rope (33).

7. The robot forearm structure according to claim 1, characterized in that, The first body (11) is provided with a positioning pin (111), and the second body (12) is provided with a positioning hole (121). The positioning pin (111) is used to be inserted into the positioning hole (121). The first body (11) is provided with a first threaded hole, and the second body (12) is provided with a second threaded hole. The first threaded hole and the second threaded hole are used to connect by screws (9) to fix the first body (11) and the second body (12).

8. The robot forearm structure according to claim 1, characterized in that, The first body (11) and the second body (12) are connected in a first direction, which is perpendicular to the extension direction of the forearm body structure (1); the drive mechanism (2) and the execution mechanism (3) are both multiple and correspondingly arranged, and the drive disks (22) of the multiple drive mechanisms (2) and the transmission disks (31) of the multiple execution mechanisms (3) are engaged and connected in the first direction and can be separated.

9. A dexterous hand, characterized in that, It includes an upper arm structure (100), a hand structure (200), and a robot forearm structure as described in any one of claims 1-8.

10. A robot, characterized in that, Including the dexterous hand as described in claim 9.

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