Manipulator

Abstract

Disclosed in the present invention is a manipulator. The manipulator comprises joints, a sensor assembly and a sensor lead; a first end of the sensor lead is electrically connected to the sensor assembly; the sensor lead can move along with the joints; the manipulator comprises a lead restraint structure; the sensor lead passes through the lead restraint structure. By providing the lead restraint structure, the present invention enables segmented restraint of the sensor lead; the segmented restraint can prevent free play of the sensor lead and prevent damage to the sensor lead or loosening at an electrical connection position of the sensor lead due to pulling; additionally, the length allowance of the sensor lead in each segment can be relatively accurately controlled by means of pre-calculation.

Description

A robotic arm Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, relates to a robotic arm. Background Art

[0002] A manipulator typically requires multiple sensors, such as force sensors and angle sensors, connected to signal sampling circuits via sensor leads. These sensor leads typically pass through multiple joints of the manipulator. When the manipulator's joints move, the sensor leads passing through them stretch or bend, potentially causing interference with other components and damaging them.

[0003] Summary of the Invention

[0004] In order to solve the above-mentioned technical problems of the prior art, an embodiment of the present application provides a robot arm.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in this application is: a manipulator is provided, which includes a sensor component, a sensor lead, and multiple joints, the first end of the sensor lead is electrically connected to the sensor component; the sensor lead can move with the joint, and the manipulator includes a lead constraint structure; the sensor lead passes through the lead constraint structure.

[0006] In one embodiment of the present application, the sensor assembly is disposed on the joint; or, the sensor lead passes through one or more of the joints.

[0007] In one embodiment of the present application, the lead restraint structure is configured to fix the sensor lead; alternatively, the sensor lead can slide at the lead restraint structure.

[0008] In one embodiment of the present application, the manipulator includes a finger module, a metacarpophalangeal joint, a palm module and a wrist joint, and the palm module is provided with the lead constraint structure.

[0009] In one embodiment of the present application, at the finger module, the sensor leads are arranged on the side.

[0010] In one embodiment of the present application, the palm module includes a metacarpophalangeal joint and a palm base, and the lead restraint structure is provided at at least one position among the metacarpophalangeal joint, the palm base and the wrist joint.

[0011] In one embodiment of the present application, at the metacarpophalangeal joint, the sensor lead is arranged on the side, palm side or back side.

[0012] In one embodiment of the present application, the palm module further includes a wrist-metacarpal joint; and at least one of the finger module, the metacarpophalangeal joint, the palm module and the wrist joint is provided with a sensor component.

[0013] In one embodiment of the present application, the manipulator includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; and the sensor lead is electrically connected to the first circuit board after passing through the wrist joint.

[0014] In one embodiment of the present application, the manipulator includes a wire harness structure, which is used to bring together the plurality of sensor leads.

[0015] In one embodiment of the present application, the manipulator also includes a tendon transmission assembly for driving the joint movement, and the tendon transmission assembly includes a tendon and a tendon sheath; a tendon sheath constraint structure is provided at at least one of the connection positions of the metacarpophalangeal joint, the palm base, and the wrist joint with the palm base, and the tendon sheath constraint structure is a tendon sheath limiting structure or a tendon sheath positioning structure, and the tendon sheath positioning structure is configured to fix a part of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to pass slidably.

[0016] In one embodiment of the present application, the finger module includes finger knuckles and finger joints; a tendon sheath limiting structure is provided at at least one position among the finger knuckles, the finger joints, and the metacarpophalangeal joints.

[0017] In one embodiment of the present application, the lead wire restraint structure and the tendon sheath restraint structure are respectively detachable structures; and / or, the lead wire restraint structure and the tendon sheath restraint structure form a stacked structure.

[0018] In one embodiment of the present application, the lead restraint structure and the tendon sheath restraint structure form a stacked structure;

[0019] At the tendon sheath constraint structure, multiple tendon sheaths can be arranged along the front-to-back direction and span the wrist joint; and / or, at the lead constraint structure at the palm base, multiple sensor leads can come out from the side of the lead constraint structure after the lead constraint structure converges.

[0020] In one embodiment of the present application, the manipulator further includes an electric actuator; a wire fixing structure is further provided at the palm base or at the connection position between the wrist joint and the palm base, and the electrical connection wire of the electric actuator passes through the wire fixing structure; at least two of the lead restraint structure, the tendon sheath restraint structure, and the wire fixing structure form a stacked structure;

[0021] And / or, the lead restraint structure, the tendon sheath restraint structure, and the wire fixing structure are respectively detachable structures.

[0022] In one embodiment of the present application, a protective cover is provided above the first circuit board, and the tendon sheath passes over the protective cover.

[0023] In one embodiment of the present application, the sensor assembly includes a sensor body and a sensor cover; a lead restraint structure is provided on the sensor cover.

[0024] The beneficial effects of this application are:

[0025] The present invention utilizes a wire restraint structure to segmentally constrain sensor wires as they pass through multiple joints. This segmented restraint prevents movement of the sensor wires, damage from being pulled, and loosening of the electrical connections. Furthermore, the pre-calculated allowance for each segment of the sensor wire allows for relatively accurate control. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] FIG1 is a schematic diagram of a manipulator provided in an embodiment of the present application;

[0028] FIG2 is a schematic structural diagram of a manipulator provided in an embodiment of the present application;

[0029] FIG3 is a partial enlarged view of point A in FIG2 .

[0030] Among them, the respective reference numerals in the figure are: finger knuckle (11), finger joint (12), metacarpophalangeal joint (13), metacarpophalangeal joint (14), wrist metacarpophalangeal joint (15), palm base (16), wrist joint (17), sensor assembly (21), sensor lead (22), lead restraint structure (23), first circuit board (24), protective cover (25), wire harness structure (26), sensor body (211), sensor cover (212), lead restraint structure (213), tendon sheath (31), tendon sheath restraint structure (32), tendon sheath limiting structure (33), wire fixing structure (41), motor compartment (42). DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0032] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0034] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0035] Please refer to Figures 1 to 3, and the robot provided in the embodiment of the present application will now be described.

[0036] An embodiment of the present application provides a manipulator, comprising a plurality of joints. The manipulator further comprises a sensor assembly (21) and a sensor lead (22). A first end of the sensor lead (22) is electrically connected to the sensor assembly (21). The manipulator comprises a first circuit board (24), and a second end of the sensor lead (22) is electrically connected to the first circuit board (24).

[0037] The sensor lead (22) can move with the joint. The sensor lead (22) can pass through the joint, for example, the sensor lead (22) passes from the outside of the joint; or the sensor component (21) is set on the joint.

[0038] Since some of the joints of the manipulator generally have one or more degrees of freedom, such as flexion and extension, lateral swing, and rotational freedom, when the joint has flexion and extension, the joint has a first limit position and a second limit position. When the joint moves between the first limit position and the second limit position, the required length of the sensor lead (22) may change from length L1 to length L2, so the sensor lead (22) passing through the joint will have a length change. Within the limited physical space of the manipulator, the movement of the sensor lead (22) may interfere with other components. In addition, the sensor lead (22) is also susceptible to damage.

[0039] In one embodiment of the present application, the manipulator includes a lead restraint structure (23); the sensor lead passes through the lead restraint structure (23). The lead restraint structure (23) is configured to fix the sensor lead (22); or the sensor lead can slide on the lead restraint structure, and the lead restraint structure allows the sensor lead to have a small amount of movement.

[0040] It can be understood that there are many specific implementation methods of the lead constraint structure (23) for fixing the sensor lead or allowing the sensor lead to slide at the lead constraint structure, including but not limited to specific structures such as a pressure cover, a pressure plate, a constraint groove, a constraint groove, and a flexible constraint structure.

[0041] By setting a lead restraint structure (23), the sensor lead (22) can be restrained in sections. The section restraint can prevent the sensor lead (22) from moving or moving significantly; it can prevent the sensor lead (22) from being damaged after being pulled or the electrical connection position of the sensor lead (22) from being loosened. At the same time, the length margin of each section of the sensor lead (22) can be rented for more accurate control through pre-calculation, that is, it does not affect the joint movement, and it can also prevent the length of each section of the sensor lead (22) from being too long.

[0042] In a specific embodiment, the sensor assembly (21) may be disposed on the joint.

[0043] In a specific embodiment of the present application, the sensor lead (22) passes through one or at least two of the joints. For example, the two joints include a first joint and a second joint, and a portion between a first point and a second point on the sensor lead (22) passes through the first joint and the second joint; the length of the sensor lead (22) between the first point and the lead restraint structure (23) reserves a first length margin required for the first joint to rotate; the length of the sensor lead (22) between the lead restraint structure (23) and the second point reserves a second length margin required for the second joint to rotate.

[0044] In one embodiment of the present application, the manipulator includes a hand module, the hand module includes a finger module, a metacarpophalangeal joint (13), and a palm module. The manipulator also includes a wrist joint (17). The hand module is connected to the wrist joint (17).

[0045] The hand module is provided with a sensor component (21). For example, at least one of the finger module, the metacarpophalangeal joint (13), the palm module and the wrist joint (17) can be provided with the sensor component (21).

[0046] In one embodiment, the sensor assembly (21) of the finger module and the corresponding sensor lead (22) need to pass through the metacarpophalangeal joint (13), the palm module and the wrist joint (17). By setting the lead constraint structure (23) on the palm module, the sensor lead (22) of the hand module can be segmented and constrained. When the metacarpophalangeal joint (13) moves, the length change of the sensor lead (22) passing through the metacarpophalangeal joint (13) will not affect the section of the sensor lead (22) passing through the wrist joint (17) and other components.

[0047] The metacarpophalangeal joint (13) has a flexion and extension degree of freedom. In some embodiments, the finger module includes a finger knuckle (11) and a finger joint (12), and the finger joint (12) has a flexion and extension degree of freedom.

[0048] In one embodiment, when the sensor lead (22) is arranged along the palm side or the back side of the finger module, the sensor lead (22) passing through the joint may stretch or curl to adapt to the movement of the joint. The sensor lead (22) arranged on the palm side or the back side is eccentric relative to the axis of flexion and extension movement. Therefore, in order not to affect the movement of the metacarpophalangeal joint (13) and the finger joint (12), the sensor lead (22) needs to reserve a large length margin, which may cause the sensor lead (22) to have a large range of movement during the stretching and curling dynamic process.

[0049] In a preferred embodiment of the present application, at the finger module, the sensor lead (22) is arranged on the side, and the sensor lead (22) can be arranged close to the axis of the flexion and extension movement, with a relatively small eccentric distance. When the metacarpophalangeal joint (13) and the finger joint (12) flex and extend, the effect on the length change of the sensor lead (22) located on the side of the finger module is small, so the sensor lead (22) only needs to have a small length margin. As a further preferred solution, the sensor lead (22) is arranged close to the axis of the joint on the side.

[0050] In one embodiment, the palm module may not include a moving structural component. In another embodiment, the palm module may include a moving component, and the palm module includes a metacarpophalangeal joint (14), a carpometacarpal joint (15), and a palm base (16).

[0051] The manipulator comprises a plurality of finger modules, a plurality of metacarpophalangeal joints (14), and a plurality of carpal joints (15). Each finger module can be connected to a metacarpophalangeal joint (14) via a metacarpophalangeal joint (13). A plurality of carpal joints (15) are connected to a palm base (16), and a plurality of metacarpophalangeal joints (14) are respectively connected to the palm base (16) via the carpal joints (15). The palm base (16) is further connected to the wrist joint (17).

[0052] In one embodiment, the lead restraint structure (23) can be provided at the metacarpophalangeal joint (14). The lead restraint structure (23) at the metacarpophalangeal joint (14) is used to fix the finger module and the sensor lead (22) passing through the metacarpophalangeal joint (13).

[0053] In one embodiment, the lead restraint structure (23) can be provided at the palm base (16), and the lead restraint structure (23) at the palm base (16) can fix the plurality of sensor leads (22) passing through it. Because the palm base (16) corresponds to a plurality of metacarpophalangeal joints (14), the sensor leads (22) pass through the lead restraint structure (23) at the plurality of metacarpophalangeal joints (14) respectively, and then pass through the lead restraint structure (23) at the palm base (16).

[0054] The sensor leads (22) corresponding to the multiple sensor components (21) of the hand module need to pass through the lead restraint structure (23) of the palm base (16) and then pass through the wrist joint (17). The wrist joint (17) generally has two degrees of freedom and a large range of motion. By fixing the sensor leads (22) at the palm base (16), the reliability of the sensor leads (22) passing through the wrist joint (17) is improved.

[0055] The wrist joint has a main structure, the front end of the wrist joint is connected to the palm base, and the rear end of the wrist joint is connected to the drive assembly. In one embodiment, the lead restraint structure (23) can also be provided on the wrist joint; specifically, the lead restraint structure (23) can be provided at the connection position between the wrist joint and the palm base.

[0056] In one embodiment, at the metacarpophalangeal joint (14), the sensor lead (22) can be arranged on the side, the palm side, or the back side of the hand. As a preferred solution, the sensor lead (22) is arranged on the side at the metacarpophalangeal joint (14). The carpometacarpal joint (15) has flexion and extension freedom, and the sensor lead (22) is arranged on the side of the metacarpophalangeal joint (14), and a small length margin can be reserved for the sensor lead (22).

[0057] The sensor assembly (21) at the metacarpophalangeal joint (13) and the corresponding sensor lead (22) can pass through the metacarpophalangeal joint (14), the carpometacarpal joint (15), the palm base (16) of the palm module, and pass through the wrist joint (17). The sensor assembly (21) is provided at the carpometacarpal joint (15). The sensor assembly (21) at the carpometacarpal joint (15) and the corresponding sensor lead (22) can pass through the palm base (16) and the wrist joint (17). However, it is understandable that the sensor assembly (21) can also be provided at other positions on the manipulator.

[0058] The manipulator further comprises a forearm module, and the hand module is connected to the forearm module via a wrist joint (17).

[0059] The forearm module can support the hand module and the wrist joint (17). It is understandable that the forearm module can be a movable robotic arm, a fixed base, or even a part of other machinery. A drive assembly can also be provided in the forearm. The drive assembly can include a plurality of actuators, and the actuators drive the joints through the tendons. The actuators include but are not limited to motors, hydraulic elements, pneumatic actuators, electro-actuated material elements, artificial muscles, etc. In a specific embodiment, when the actuator is a motor, the drive assembly includes a motor compartment (42).

[0060] The sensor lead (22) of the hand module passes through the lead restraint structure (23), passes through the wrist joint (17), and is electrically connected to the first circuit board (24). The first circuit board (24) can be arranged in the motor compartment (42), or on a bracket of the wrist joint (17), or at the connection position between the motor compartment (42) and the wrist joint (17).

[0061] In a specific embodiment, the manipulator further includes a wire harness structure (26), which is used to gather the plurality of sensor leads together. The wire harness structure (26) can be a tensioning belt, a sleeve, a skin, or a structure similar to a spring tube, and the wire harness structure (26) can be used to gather and protect the sensor leads. Preferably, the plurality of sensor leads (22) pass through the lead restraint structure (23) and are gathered together by the wire harness structure (26), and then electrically connected to the first circuit board (24).

[0062] The joint movement of the manipulator can be achieved through a variety of driving methods. In a preferred embodiment of the present application, the manipulator further includes a tendon transmission component for driving the joint movement. The tendon transmission component includes a tendon and a tendon sheath (31), and the controlled joint can be driven to rotate through the tendon. The physical space range of the manipulator is limited. Compared with other driving methods, the tendon transmission driving method is conducive to layout in a relatively small space and can achieve long-distance power transmission. One end of the tendon is connected to the rotating end of the controlled joint, and the tendon sheath (31) is used to protect the tendon. The tendon is slidably arranged in the tendon sheath (31). The tendon sheath (31) and the tendon are arranged outside the skeleton of the manipulator. The tendon sheath (31) needs to pass through multiple cascaded joints. Taking the controlled joint of the finger module as an example, the corresponding tendon sheath (31) needs to pass through the metacarpophalangeal joint (13), the metacarpophalangeal joint (14), the carpometacarpal joint (15) and the palm base (16) of the hand module, and cross the wrist joint (17).

[0063] When the joint through which the tendon sheath (31) passes moves, the length of the tendon sheath (31) will change to a certain extent. When passing through multiple joints, the tendon sheath (31) at multiple joints will accumulate to produce a larger amount of movement. If the accumulated movement accumulates at a certain point, it will affect the normal tendon transmission drive.

[0064] The wrist joint (17) has two degrees of freedom and a large range of motion. The plurality of tendons and tendon sheaths (31) of the hand module need to cross the wrist joint (17) and then enter the forearm module.

[0065] In one embodiment, a tendon sheath restraint structure (32) is provided at the palm base (16).

[0066] In a specific embodiment, the tendon sheath constraint structure (32) is a tendon sheath limiting structure, which is configured to allow the tendon sheath to slide through; the tendon sheath is restricted to only slide at the tendon sheath limiting structure. Alternatively, in a specific embodiment, the tendon sheath constraint structure (32) is a tendon sheath positioning structure, which is configured to fix a portion of the plurality of tendon sheaths (31).

[0067] In one embodiment, the aforementioned tendon sheath restraint structure (32) may also be provided at the metacarpophalangeal joint (14).

[0068] In one embodiment, the aforementioned tendon sheath constraint structure (32) can also be provided at the wrist joint; specifically, the tendon sheath constraint structure (32) can be provided at the connection position between the wrist joint and the palm base.

[0069] By setting the tendon sheath constraint structure (32) to restrict or fix multiple tendon sheaths (31), the tendon sheaths (31) that cross the tendon sheaths (31) can be constrained and protected; and the tendon sheath constraint structure (32) is used as a boundary to restrict the tendon sheaths (31) in sections, which can prevent the length change of the tendon sheath (31) on one side of the hand module from being transmitted to the tendon sheath (31) of the forearm module on the other side of the limiting structure and causing adverse effects.

[0070] In one embodiment, the tendon sheath (31) is provided along the palm side or the back side of the manipulator at at least one position among the finger module, the metacarpophalangeal joint (13) and the palm module.

[0071] The finger module includes finger knuckles and finger joints. A tendon sheath limiting structure (33) is provided at at least one position among the finger module, the metacarpophalangeal joint (13) and the metacarpophalangeal joint. The tendon sheath limiting structure (33) can guide the tendon sheath (31) and constrain the tendon sheath (31) within a certain spatial range of the corresponding position of the manipulator; the tendon sheath (31) can slide at the tendon sheath limiting structure (33). By providing the tendon sheath limiting structure (33), at least a portion of the tendon sheath (31) can be maintained at the tendon sheath limiting structure (33), and the joint can drive the tendon sheath (31) to move when moving, so that the tendon sheath (31) can be adjusted or changed in shape or position. In addition, when the joint through which the tendon sheath (31) passes moves, the length of the tendon sheath (31) will produce a certain amount of change; when the length of the tendon sheath (31) at the corresponding joint position needs to be adjusted due to the movement of the joint, the tendon sheath (31) can slide at the tendon sheath limiting structure (33) to adapt to the required tendon sheath (31) length at the joint. The tendon sheath limiting structure (33) can include but is not limited to structures such as a constraint hole, a constraint groove, a baffle, a pressure cover, and a flexible constraint structure. Preferably, the constraint groove and the pressure cover can be used together, and the constraint groove and the flexible constraint structure can be used together.

[0072] In one embodiment, at least one of the end fixing structure of the tendon sheath (31), the tendon sheath constraint structure (32), and the tendon sheath limiting structure (33) is a detachable structure. Preferably, the end fixing structure of the tendon sheath (31), the tendon sheath constraint structure (32), and the tendon sheath limiting structure (33) are all detachable structures, which is convenient for installing and disassembling the tendon sheath (31).

[0073] The tendon sheath (31) can be arranged on the palm side, back side or side of the hand module. However, in a preferred embodiment of the present application, most of the finger modules, taking a human-like manipulator as an example, the tendon sheaths (31) of most of the finger modules other than the thumb can be arranged on the palm side and back side of the hand module. The sensor leads (22) are mainly arranged on the side of the finger modules, the metacarpophalangeal joints (13) and the metacarpophalangeal joints (14). Therefore, the tendon sheaths (31) and the sensor leads (22) are arranged at different positions of the hand module.

[0074] When the tendon sheath (31) and the sensor lead (22) are gathered at one position, for example, at the palm base (16) or at the connection position between the palm base and the wrist joint, the sensor lead (22) is fixed by setting the lead constraint structure (23), and the tendon sheath (31) is fixed by setting the tendon sheath constraint structure (32), so that the sensor lead (22) and the tendon sheath (31) of the manipulator are decoupled. In the limited physical space of the manipulator, the decoupling between the sensor lead (22) and the tendon sheath (31) is not only conducive to the arrangement of complicated circuits, but also can avoid the mutual influence and interference between the sensor lead (22) and the tendon sheath (31), which is conducive to achieving the reliability of the manipulator performance.

[0075] The lead constraint structure (23) and the tendon sheath constraint structure (32) are respectively detachable structures, and the lead constraint structure (23) and the tendon sheath constraint structure (32) are decoupled. Changes to any one of the parts will not affect other parts; there is no need to remove the sensor lead (22) in order to adjust a certain tendon sheath (31).

[0076] In one embodiment, the lead restraint structure (23) and the tendon sheath restraint structure (32) can be respectively arranged at different positions. However, in a preferred embodiment, the lead restraint structure (23) and the tendon sheath restraint structure (32) can be stacked together at the palm base (16) or at the connection position between the palm base and the wrist joint to form a stacked structure. The stacked structure is not only more flexible, but also conducive to arranging the lead restraint structure (23) and the tendon sheath restraint structure (32) within a limited space, so that the sensor lead (22) and the tendon sheath can also be better arranged in three-dimensional space.

[0077] When the tendon sheath (31) and the sensor lead (22) are gathered at one position, for example, at the palm base (16) or at the connection position between the palm base and the wrist joint, the number of the tendon sheaths (31) is large, and the number of the sensor leads (22) is also not small. The tendon sheaths (31) and the sensor leads (22) need to enter the forearm after passing through the wrist joint (17). At the wrist joint (17), the tendon sheaths (31) and the sensor leads (22) are prone to influence and interfere with each other. In order to decouple the sensor leads (22) and the tendon sheaths (31) at the wrist joint (17), at the tendon sheath constraint structure (32), multiple tendon sheaths (31) can be arranged along the front-to-back direction and cross the wrist joint (17). The direction along the hand module, the wrist joint (17) and the forearm module is the front-to-back direction.

[0078] At the connection position between the palm base (16) or the wrist joint and the palm base, the sensor lead can cross the wrist in the front-to-back direction. Alternatively, after the plurality of sensor leads (22) are joined at the lead restraining structure (23), they can exit from the side of the lead restraining structure (23) and then enter the first circuit board (24).

[0079] The manipulator further comprises an electric actuator, which includes but is not limited to a motor, an electro-actuated material element, an artificial muscle, etc. The electric actuator can be arranged on the metacarpophalangeal joint (14) or the finger module. The electric actuator can be used to drive certain joint movements of the hand module, for example, to drive the lateral swing degree of freedom of the metacarpophalangeal joint (13).

[0080] In one embodiment of the present application, a wire fixing structure (41) may be provided at the palm base (16). The electrical connection wire of the electric actuator passes through the wire fixing structure (41) of the palm base (16) and is electrically connected to the second circuit board after passing through the wrist joint (17). Alternatively, the wire fixing structure (41) may also be provided at the wrist joint, for example, at the connection position between the wrist joint and the palm base.

[0081] In one embodiment, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are decoupled from each other, and changes in any one of the parts will not affect the other parts. Any one or more of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are detachable structures. Preferably, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are respectively detachable structures.

[0082] In one embodiment, at least two of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are arranged at the same position and form a stacked structure. Preferably, the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) are all arranged at the same position and form a stacked structure. The stacking method is not only flexible and detachable, but also more space-saving. The upper and lower order of the lead wire restraint structure (23), the tendon sheath restraint structure (32), and the wire fixing structure (41) when stacked can be adaptively adjusted according to actual conditions.

[0083] The sensor lead (22) can be electrically connected to the first circuit board (24) after passing through the wrist joint (17). The tendon sheath (31) needs to pass through the first circuit board (24) after crossing the wrist joint (17). In order to decouple and layer the tendon sheath (31) at the first circuit board (24), the first circuit board (24), and the sensor lead (22), a protective cover (25) is provided above the first circuit board (24), and the sensor lead (22) is located below the protective cover (25); the tendon sheath (31) passes above the protective cover (25).

[0084] In addition, in order to decouple the tendon sheath (31) and the sensor lead (22) at the first circuit board (24), the wire bundle structure (26) can be provided so that the plurality of sensor leads (22) pass through the lead restraint structure (23) and are then gathered together by the wire bundle structure (26). Since the sensor leads (22) are gathered in the wire bundle structure (26), interference between the sensor leads (22) and other components, the tendon sheath (31), the electrical connection line, etc. can be avoided.

[0085] In one embodiment, at least one of the electrical connection structure between the first end of the sensor lead (22) and the sensor assembly (21), the electrical connection structure between the second end of the sensor lead (22) and the sensor assembly (21), and the lead restraining structure (23) is a detachable structure. Preferably, the electrical connection structure between the first end of the sensor lead (22) and the sensor assembly (21), the electrical connection structure between the second end of the sensor lead (22) and the sensor assembly (21), and the lead restraining structure (23) are all detachable structures.

[0086] The sensor leads (22) may pass through one or more of the joints. Therefore, one or more of the sensor leads (22) may pass through one joint. In an embodiment of the present application, the sensor assembly (21) includes a sensor body (211) and a sensor cover (212). A lead restraining structure (213) is provided on the sensor cover (212). One or more sensor leads (22) may pass through the sensor cover (212); in one embodiment, at least one of the sensor assemblies (21) is mounted on the side of the joint.

[0087] The lead restraining structure (213) may include a limiting portion, the limiting portion being used to retain a portion of the sensor lead (22) on the sensor cover (212); the limiting portion may be a snap-fit ​​structure. Alternatively, the lead restraining structure (213) includes a guiding portion, the guiding portion being used to guide the direction of the sensor lead (22) on the sensor cover (212); the guiding portion (212) may be a groove or a restraining channel formed by a guide bone; the guiding portion (212) may also be formed by a plurality of spaced-apart snap-fit ​​structures. The sensor lead (22) is slidably arranged at the lead restraining structure (213); or the sensor lead (22) is relatively fixedly arranged at the lead restraining structure (213).

[0088] The accompanying drawings only illustrate the angle sensor located at the joint. It can be understood that the sensor in this application is a broad sensor, which may include but is not limited to angle sensors, angular velocity sensors, force sensors, torque sensors, tactile sensors and other sensors.

[0089] The number of finger modules of the manipulator described in this application can be 2, 3, 4 or 5. It is understood that the number of fingers is not limited to this. The above solution can be implemented at the corresponding associated positions of one or more finger modules.

[0090] The beneficial effects of this application are:

[0091] The present invention utilizes a wire restraint structure to segmentally constrain the sensor leads. This segmented restraint prevents movement or significant movement of the sensor leads, damage from pulling, and loosening of the sensor leads' electrical connections. Furthermore, the pre-calculated allowance for each sensor lead length allows for relatively accurate control.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: The manipulator includes a sensor component, a sensor lead, and multiple joints. The first end of the sensor lead is electrically connected to the sensor component; the sensor lead can move with the joint. The manipulator includes a lead constraint structure; the sensor lead passes through the lead constraint structure.

2. The robot according to claim 1, characterized in that: The sensor assembly is disposed on the joint; or the sensor lead passes through one or more of the joints.

3. The robot according to claim 1, characterized in that: The lead restraint structure is configured to fix the sensor lead; alternatively, the sensor lead can slide at the lead restraint structure.

4. The robot according to claim 1, characterized in that: The manipulator comprises a finger module, a metacarpophalangeal joint, a palm module and a wrist joint, and the palm module is provided with the lead restraint structure.

5. The robot according to claim 4, characterized in that: At the finger module, the sensor leads are arranged at the side.

6. The robot according to claim 4, characterized in that: The palm module comprises a metacarpophalangeal joint and a palm base, and the lead restraint structure is arranged at at least one position among the metacarpophalangeal joint, the palm base and the wrist joint.

7. The robot according to claim 6, characterized in that: At the metacarpophalangeal joint, the sensor lead is arranged on the side, palm side or back side.

8. The robot according to claim 4, characterized in that: The palm module also includes a wrist-metacarpal joint; at least one of the finger module, the metacarpophalangeal joint, the palm module and the wrist joint is provided with a sensor component.

9. The robot according to claim 6, characterized in that: The manipulator includes a first circuit board; the second end of the sensor lead is electrically connected to the first circuit board; and the sensor lead is electrically connected to the first circuit board after passing through the wrist joint.

10. The robot according to claim 9, characterized in that: The manipulator comprises a wire harness structure, and the wire harness structure is used to gather a plurality of the sensor leads together.

11. The robot according to claim 9, characterized in that: The manipulator also includes a tendon transmission component for driving the joint movement, and the tendon transmission component includes a tendon and a tendon sheath; a tendon sheath constraint structure is provided at at least one of the connection positions between the metacarpophalangeal joint, the palm base, and the wrist joint and the palm base, and the tendon sheath constraint structure is a tendon sheath limiting structure or a tendon sheath positioning structure, and the tendon sheath positioning structure is configured to fix a part of the tendon sheath, and the tendon sheath limiting structure is configured to allow the tendon sheath to pass slidably.

12. The robot according to claim 11, characterized in that: The finger module includes finger knuckles and finger joints; a tendon sheath limiting structure is arranged at at least one position among the finger knuckles, the finger joints and the metacarpophalangeal joints.

13. The robot according to claim 11, characterized in that: The lead wire restraint structure and the tendon sheath restraint structure are respectively detachable structures; and / or, the lead wire restraint structure and the tendon sheath restraint structure form a stacked structure.

14. The robot according to claim 13, characterized in that: The lead restraint structure and the tendon sheath restraint structure form a stacked structure; At the tendon sheath restraint structure, a plurality of the tendon sheaths may be arranged along the front-to-back direction and span the wrist joint; And / or, at the lead restraining structure of the palm base, a plurality of sensor leads may come out from a side of the lead restraining structure after the lead restraining structure merges.

15. The robot according to claim 11, characterized in that: The manipulator further includes an electric actuator; a wire fixing structure is also provided at the palm base or at the connection position between the wrist joint and the palm base, and the electrical connection wire of the electric actuator passes through the wire fixing structure; at least two of the lead restraint structure, the tendon sheath restraint structure, and the wire fixing structure form a stacked structure; And / or, the lead wire restraint structure, the tendon sheath restraint structure, and the wire fixing structure are respectively detachable structures.

16. The robot according to claim 11, characterized in that: A protective cover is provided above the first circuit board, and the tendon sheath passes over the protective cover.

17. The robot according to claim 1, characterized in that: The sensor assembly comprises a sensor body and a sensor cover; a lead restraint structure is arranged on the sensor cover.

Images