A joint, a dexterous hand grasping mechanism and a dexterous hand robot

Abstract

This invention relates to the field of dexterous hand technology, providing a joint, a dexterous hand grasping mechanism, and a dexterous hand robot. The joint includes a first component and a second component; the first component and the second component form a kinematic pair. The first component has a first fluid channel, the second component has a second fluid channel, and a third fluid channel connects the first and second components. When the first and second components are stationary or in relative motion, the first fluid channel communicates with the second fluid channel through the third fluid channel to form a fluid pathway. Based on the structural features of the joint itself, this invention can transmit tactile signals or power through the fluid within the fluid pathway. It can ensure the accuracy of the dexterous hand grasping mechanism's gripping control of the target object based on tactile feedback, thereby improving the safety of the dexterous hand grasping operation.

Description

Technical Field

[0001] This invention relates to the field of dexterous hand technology, and more particularly to a joint, a dexterous hand grasping mechanism, and a dexterous hand robot. Background Technology

[0002] Currently, to achieve precise grasping of target objects, existing dexterous hand grasping mechanisms are typically equipped with tactile sensors to monitor and control changes in the pressure exerted by the grasping mechanism on the target object. The deployment of tactile sensors can be broadly categorized into two types: the first involves installing force sensors at the ends of the robotic fingers to detect multidimensional force and / or torque information, enabling the perception of multidimensional force and / or torque information at a single point of contact; the second involves arranging as many arrayed tactile sensors as possible along the outer contour of the mechanism to achieve distributed pressure sensing, and indirectly measuring tangential force by utilizing sliding detection based on pressure changes at multiple points of contact during grasping.

[0003] However, in practical applications, it has been found that the above-mentioned tactile perception lacks optimized design for the wiring of its corresponding sensing circuits. The sensing circuits are generally laid out as far as possible around the joints of the dexterous hand robot. During the joint movement, the sensing circuits may move with the joint or not, but they will generate stress with the joint movement.

[0004] Existing joints are mainly used to achieve transmission connections between different components. However, there is a lack of further expansion of other related functions of joints beyond their original functions. During the operation of dexterous hand robots, the above-mentioned wiring method not only affects the reach of the grasping mechanism, but may also cause relative sliding or mutual pulling due to the inconsistency between the movement of the sensing circuit and the grasping mechanism, which is not conducive to precise control of the grasping mechanism.

[0005] Therefore, if the function of the joint can be expanded so that it can not only realize the transmission connection between different parts, but also transmit tactile information, the above problems will be effectively solved. Summary of the Invention

[0006] This invention provides a joint, a dexterous hand grasping mechanism, and a dexterous hand robot to solve the current problem of difficulty in transmitting tactile signals based on the structural features of the joint itself.

[0007] In a first aspect, the present invention provides a joint comprising: a first member and a second member;

[0008] The first component and the second component form a kinematic pair. The first component has a first fluid channel, the second component has a second fluid channel, and a third fluid channel is provided between the first component and the second component.

[0009] When the first component and the second component are stationary or in relative motion, the first fluid channel is connected to the second fluid channel through the third fluid channel to form a fluid passage.

[0010] According to a joint provided by the present invention, the first component and the second component are rotatable relative to each other about a common axis, and the third fluid channel is circumferentially extended along the common axis.

[0011] According to a joint provided by the present invention, the first component has a first sliding contact surface, the second component has a second sliding contact surface, and the first sliding contact surface and the second sliding contact surface are in contact with each other;

[0012] One end of the first fluid channel is connected to the third fluid channel, which is located on the first sliding contact surface; one end of the second fluid channel is located on the second sliding contact surface and is connected to the third fluid channel.

[0013] According to a joint provided by the present invention, the first component has a first sliding contact surface, the second component has a second sliding contact surface, and the first sliding contact surface and the second sliding contact surface are in contact with each other;

[0014] The third fluid channel includes a first grooved flow channel and a second grooved flow channel; the first grooved flow channel is disposed on the first sliding contact surface, and one end of the first fluid channel is connected to the first grooved flow channel; the second grooved flow channel is disposed on the second sliding contact surface, and one end of the second fluid channel is connected to the second grooved flow channel; the openings of the first grooved flow channel and the openings of the second grooved flow channel are arranged opposite to each other.

[0015] According to a joint provided by the present invention, the first component and the second component are movable relative to each other along a first direction, and the third fluid channel extends along the first direction.

[0016] According to a joint provided by the present invention, the joint is provided with a plurality of fluid passages; and / or, the joint is provided with a plurality of joints, the plurality of joints being integrated into a multi-degree-of-freedom joint, and at least a portion of the plurality of joints being sequentially connected through the built-in fluid passages.

[0017] In a second aspect, the present invention also provides a dexterous hand grasping mechanism, comprising: a first gripper and a second gripper, wherein a gripping space is formed between the first gripper and the second gripper;

[0018] At least one of the first gripper and the second gripper includes a base, a clamping portion and a deformable contact, wherein the base and the clamping portion are formed as joints as described above;

[0019] The first end of the fluid passage is formed on the clamping surface of the clamping part and connected to the deformable contact. The second end of the fluid passage is used to connect to the detection device.

[0020] According to the present invention, a dexterous hand grasping mechanism further includes: a plurality of transmission joints, each of which employs the joint described above;

[0021] The first gripper is sequentially connected to a portion of the plurality of transmission joints through their respective built-in fluid passages; the second gripper is sequentially connected to another portion of the plurality of transmission joints through their respective built-in fluid passages.

[0022] In a third aspect, the present invention also provides a dexterous hand grasping mechanism, comprising: a first gripper and a second gripper, wherein a clamping space is formed between the first gripper and the second gripper;

[0023] At least one of the first gripper and the second gripper includes a base, a clamping portion and a negative pressure suction head, wherein the base and the clamping portion are formed as joints as described above;

[0024] The first end of the fluid passage is formed on the clamping surface of the clamping part and communicates with the negative pressure suction head, and the second end of the fluid passage is used to communicate with the negative pressure mechanism.

[0025] In a fourth aspect, the present invention also provides a dexterous hand robot, the dexterous hand robot comprising the joints described above; or, the dexterous hand robot comprising the dexterous hand grasping mechanism described above.

[0026] The joint, dexterous hand grasping mechanism, and dexterous hand robot provided by this invention, by setting a fluid passage within the joint, can transmit tactile signals or power based on the structural characteristics of the joint itself, without changing the original rotational structure of the joint. Since the fluid passage remains connected when the first and second components of the joint move relative to each other, it avoids the problem of relative sliding or mutual pulling caused by the inconsistency between the movement of the sensing circuit and the grasping mechanism in the prior art, thereby ensuring that the degree of freedom of the joint is not restricted and facilitating precise control of the joint's movement state.

[0027] Furthermore, since the dexterous hand gripping mechanism is arranged based on the aforementioned joints, it is convenient to transmit the contact force sensed by the deformable contact points through the fluid pathway in the joint structure to achieve the acquisition of tactile information. This avoids the limitation of the existing sensor wire and power line layout on the reachable space of the dexterous hand gripping mechanism, ensuring the accuracy of clamping and controlling the target object.

[0028] At the same time, since the dexterous hand gripping mechanism is arranged based on the aforementioned joints, when the dexterous hand gripping mechanism clamps the target object, it is convenient to increase the stability of gripping the target object based on the negative pressure suction provided by the negative pressure suction head and the corresponding fluid passage. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is one of the structural schematic diagrams of the joint provided by the present invention;

[0031] Figure 2 This is the second schematic diagram of the joint structure provided by the present invention;

[0032] Figure 3 This is a schematic diagram of the dexterous hand grasping mechanism provided by the present invention;

[0033] Figure 4 This is a schematic diagram of the structure provided by the present invention, showing that the first gripper and the transmission joint are connected through a fluid passage;

[0034] Figure 5 This is a schematic diagram of the dexterous hand grasping mechanism provided by the present invention for grasping a neuroendoscopy;

[0035] Figure 6 This is a schematic diagram of the structure of the dexterous hand grasping mechanism provided by the present invention for grasping an ultrasonic probe.

[0036] Figure label:

[0037] 1. Joint; 11. First component; 12. Second component; 101. First fluid channel; 102. Second fluid channel; 103. Third fluid channel; 1031. First grooved flow channel; 1032. Second grooved flow channel;

[0038] 2. Dexterous gripping mechanism; 21. First gripper; 22. Second gripper; 211. Base; 212. Clamping part; 213. Deformable contact; 214. Negative pressure suction head; 2111. First component; 2112. Second component;

[0039] 201. Transmission joint; 202. Connecting passage;

[0040] 3. Neuroendoscopy; 4. Ultrasound probe. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0042] The following is combined with Figures 1-6 The joints, dexterous hand grasping mechanisms, and dexterous hand robots provided in this invention will be described in detail through specific embodiments and application scenarios.

[0043] In the first aspect, such as Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a joint, the joint 1 including a first component 11 and a second component 12; the first component 11 and the second component 12 form a kinematic pair, the first component 11 is provided with a first fluid channel 101, the second component 12 is provided with a second fluid channel 102, and a third fluid channel 103 is provided between the first component 11 and the second component 12.

[0044] When the first component 11 and the second component 12 are stationary or in relative motion, the first fluid channel 101 is connected to the second fluid channel 102 through the third fluid channel 103 to form a fluid passage.

[0045] Understandably, the first component 11 and the second component 12 are movably connected to form a kinematic pair. Depending on the type of relative motion between the first component 11 and the second component 12, the kinematic pair formed by the first component 11 and the second component 12 can be any one of a revolute joint, a prismatic joint, and a helical joint.

[0046] When arranging the first fluid channel 101, the second fluid channel 102, and the third fluid channel 103, the third fluid channel 103 can be disposed between the contact surfaces of the first component 11 and the second component 12. By connecting the first end of the first fluid channel 101 to the third fluid channel 103 and communicating the first end of the second fluid channel 102 to the third fluid channel 103, even if the relative positions of the first end of the first fluid channel 101 and the first end of the second fluid channel 102 change when the first component 11 and the second component 12 move relative to each other, it can be ensured that the first fluid channel 101, the third fluid channel 103, and the second fluid channel 102 are sequentially connected to form the aforementioned fluid passage.

[0047] The fluid passage is used to supply fluid flow, and the fluid can be a liquid or a gas.

[0048] In one example, a fluid passage is encapsulated with liquid fluid. One end of the fluid passage is used to connect to a deformable contact that can sense stress changes, and the other end of the fluid passage is used to connect to a detection device.

[0049] In one example, the fluid passage is used for gas flow, one end of the fluid passage is used to connect to the negative pressure suction head, and the other end of the fluid passage is used to connect to the negative pressure mechanism.

[0050] As can be seen from the above, by setting a fluid passage in the joint 1, this embodiment can transmit tactile signals or power based on the structural characteristics of the joint itself without changing the original rotation structure of the joint. Since the fluid passage remains connected when the first component 11 and the second component 12 of the joint 1 move relative to each other, the problem of relative sliding or mutual pulling caused by the inconsistency between the movement of the sensing circuit and the grasping mechanism in the prior art can be avoided, thereby ensuring that the degree of freedom of the joint 1 is not restricted, and facilitating precise control of the movement state of the joint 1.

[0051] In some embodiments, such as Figure 1 As shown, in this embodiment, the first component 11 and the second component 12 are rotatable relative to each other about a common axis to form a rotating joint 1 based on the first component 11 and the second component 12. The third fluid channel 103 extends circumferentially along the common axis.

[0052] Specifically, by setting the third fluid channel 103 to extend circumferentially along the common axis, it can be ensured that the first end of the first fluid channel 101 and the first end of the second fluid channel 102 can rotate relative to each other along the extension direction of the third fluid channel 103. While realizing the connection between the first fluid channel 101 and the second fluid channel 102 through the third fluid channel 103, the sealing of the connection parts of the first fluid channel 101 and the third fluid channel 103, as well as the connection parts of the second fluid channel 102 and the third fluid channel 103, is ensured.

[0053] In some examples, the first component 11 can be a bushing, and the second component 12 can be a rotating shaft, which is rotatably inserted in the bushing. The rotating shaft and the bushing are coaxially arranged, and the peripheral wall of the rotating shaft fits against the inner surface of the bushing.

[0054] The third fluid channel 103 is located between the contact surfaces of the rotating shaft and the bushing.

[0055] In some embodiments, the third fluid channel 103 can be arranged between the first component 11 and the second component 12 in such a way that the first fluid channel 101 and the second fluid channel 102 are connected through the third fluid channel 103.

[0056] like Figure 1As shown, in this embodiment, the first component 11 has a first sliding contact surface, and the second component 12 has a second sliding contact surface, and the first sliding contact surface and the second sliding contact surface are in contact with each other.

[0057] The third fluid channel 103 includes a first grooved flow channel 1031 and a second grooved flow channel 1032; the first grooved flow channel 1031 is disposed on the first sliding contact surface, and one end of the first fluid channel 101 is connected to the first grooved flow channel 1031; the second grooved flow channel 1032 is disposed on the second sliding contact surface, and one end of the second fluid channel 102 is connected to the second grooved flow channel 1032; the opening of the first grooved flow channel 1031 and the opening of the second grooved flow channel 1032 are arranged opposite to each other.

[0058] As the first component 11 and the second component 12 rotate relative to each other, at least part of the slot opening of the first grooved flow channel 1031 and the slot opening of the second grooved flow channel 1032 can be joined together and fluid communication can be achieved. Based on the first fluid channel 101, the third fluid channel 103 and the second fluid channel 102, a sequentially connected fluid passage can be formed.

[0059] In some embodiments, such as Figure 2 As shown, in this embodiment, the first component 11 and the second component 12 are movable relative to each other along the first direction to form a movable joint 1; the third fluid channel 103 extends along the first direction.

[0060] Specifically, by extending the third fluid channel 103 along the first direction, it is ensured that the first end of the first fluid channel 101 and the first end of the second fluid channel 102 can move relative to each other along the extension direction of the third fluid channel 103. While realizing the connection between the first fluid channel 101 and the second fluid channel 102 through the third fluid channel 103, the sealing of the connection between the first fluid channel 101 and the third fluid channel 103, as well as the connection between the second fluid channel 102 and the third fluid channel 103, is ensured.

[0061] In some embodiments, the third fluid channel 103 can be arranged between the first component 11 and the second component 12 in such a way that the first fluid channel 101 and the second fluid channel 102 are connected through the third fluid channel 103.

[0062] like Figure 2 As shown, in this embodiment, the first component 11 has a first sliding contact surface, and the second component 12 has a second sliding contact surface, and the first sliding contact surface and the second sliding contact surface are in contact with each other.

[0063] One end of the first fluid channel 101 is connected to the third fluid channel 103, which is located on the first sliding contact surface; one end of the second fluid channel 102 is located on the second sliding contact surface and is connected to the third fluid channel 103.

[0064] Since one end of the first fluid channel 101 is connected to the third fluid channel 103, as the first component 11 and the second component 12 move relative to each other, one end of the second fluid channel 102 will move along the extension direction of the third fluid channel 103, which can ensure that one end of the second fluid channel 102 and the third fluid channel 103 are always connected. Based on the first fluid channel 101, the third fluid channel 103 and the second fluid channel 102, a sequentially connected fluid passage can be formed.

[0065] Based on the above embodiments, in order to achieve the transmission of multiple tactile signals or the transmission of multiple power sources, multiple fluid pathways can be set in the joint 1, and the multiple fluid pathways are isolated from each other, while satisfying the degrees of freedom of the joint 1 itself.

[0066] Meanwhile, in order to meet the transmission requirements of multiple degrees of freedom, multiple joints 1 can be provided, and multiple joints 1 are integrated into a multi-degree-of-freedom joint. At least some of the multiple joints 1 are connected sequentially through built-in fluid channels, which enables the multi-degree-of-freedom joint to transmit tactile signals or transmit power based on the fluid channels.

[0067] In the second aspect, such as Figure 3 As shown, this embodiment of the invention also provides a dexterous hand grasping mechanism 2, including: a first gripper 21 and a second gripper 22, with a clamping space formed between the first gripper 21 and the second gripper 22.

[0068] At least one of the first gripper 21 and the second gripper 22 includes a base 211, a clamping portion 212, and a deformable contact 213, wherein the base 211 and the clamping portion 212 are formed as joints 1 as described above. The base 211 can be connected to a robotic arm or other mounting platform via various joints 1.

[0069] The first end of the fluid passage is formed on the clamping surface of the clamping part 212 and connected to the deformable contact 213. The second end of the fluid passage is used to connect to the detection device.

[0070] Understandably, the deformable contact 213 is provided on the clamping surface of the clamping part 212, and the deformable contact 213 can be a thin sheet or film that can deform under the action of contact force.

[0071] In practical applications, the deformable contact 213 can seal the first end of the fluid passage to prevent leakage of the encapsulated liquid fluid within the passage. Furthermore, the deformable contact 213 can sense minute contact forces and transmit these forces to the liquid fluid. Since the liquid fluid is incompressible under normal conditions, guided by the fluid passage, the deformation generated by the deformable contact 213 is transmitted to the second end of the fluid passage. Thus, a detection device located at the second end of the fluid passage can collect tactile information.

[0072] Optionally, the detection device can be a pressure sensor, with its probe installed at the second end of the fluid passage. By detecting the pressure information of the liquid fluid, the pressure sensor can correspondingly acquire tactile information.

[0073] Optionally, the detection device can be a laser rangefinder, with its detection end facing a strain membrane positioned at the second end of the fluid passage. The strain membrane can sense the flow state of the liquid fluid and deform under its influence. Thus, the laser rangefinder can acquire tactile information by detecting the displacement of the center of the strain membrane.

[0074] As can be seen from the above, the dexterous hand gripping mechanism 2 is arranged based on the joint 1 mentioned above, which facilitates the transmission of the contact force sensed by the deformable contact point 213 through the fluid passage in the joint structure, so as to realize the acquisition of tactile information, avoid the existing sensor wire and power line layout from restricting the reachable space of the dexterous hand gripping mechanism 2, and ensure the accuracy of gripping and controlling the target object.

[0075] Meanwhile, based on the tactile sensing design of the fluid pathway, this embodiment can arrange one or more deformable contacts 213 on the complex clamping surface. This arrangement not only ensures the stability of the dexterous hand gripping mechanism 2 in grasping the target object, but also controls the clamping force of the dexterous hand gripping mechanism 2 on the target object based on the feedback of the contact force from one or more deformable contacts 213, thus forming a clamping protection for the target object.

[0076] In the case where multiple deformable contacts 213 are provided, multiple fluid passages are provided in the joint 1, and the multiple fluid passages and multiple deformable contacts 213 are arranged one-to-one.

[0077] To further ensure the accuracy of clamping control of the target object, both the first gripper 21 and the second gripper 22 can be configured to include a base 211, a clamping part 212 and a deformable contact 213. The base 211 and the clamping part 212 are constructed as joint 1 as described above. The first end of the fluid passage in the joint 1 is formed on the clamping surface of the clamping part 212 and connected to the deformable contact 213. The second end of the fluid passage is used to connect to the detection device.

[0078] In some embodiments, such as Figure 3 and Figure 4 As shown, the base 211 of this embodiment can be configured to include a first component 2111 and a second component 2112. The first component 2111 and the second component 2112 are formed as joint 1 as described above. The second component 2112 and the clamping part 212 are also formed as joint 1 as described above. The fluid passages in the first component 2111 and the second component 2112 are connected to the fluid passages in the second component 2112 and the clamping part 212.

[0079] In order to facilitate clamping the target object, the first component 2111 and the second component 2112 shown in the above embodiment are constructed as rotary joints, and the second component 2112 and the clamping part 212 are also constructed as rotary joints.

[0080] Since both the first gripper 21 and the second gripper 22 include a base 211 and a gripping part 212, and the base 211 includes a first component 2111 and a second component 2112 arranged in a fractal configuration, the first gripper 21 and the second gripper 22 have a high degree of freedom. The structure of the first gripper 21 and the second gripper 22 can be designed according to actual needs, so that the dexterous hand grasping mechanism 2 has a degree of freedom far exceeding that of the human hand, and can form an envelope grasping for complex-shaped target objects.

[0081] Furthermore, in order to further enhance the dexterity of the dexterous hand gripping mechanism 2, the dexterous hand gripping mechanism 2 may also be configured to include multiple transmission joints 201, each transmission joint 201 employing the joint 1 as described above.

[0082] In practical applications, the base 211 of the first gripper 21 can be connected to a portion of the multiple transmission joints 201, and the fluid passage built into the first gripper 21 and the fluid passage built into a portion of the multiple transmission joints 201 can be sequentially connected through the connection passage 202.

[0083] Meanwhile, the base 211 of the second gripper 22 is connected to another part of the plurality of transmission joints 201, and the fluid passage built into the second gripper 22 is sequentially connected to the fluid passage built into another part of the plurality of transmission joints 201 through the connection passage 202.

[0084] The connection passage 202 can be a flexible tube. Optionally, the flexible tube can be configured as a silicone tube.

[0085] In one example, the first gripper 21 and the second gripper 22 are each configured with a transmission joint 201, and their mounting structure is shown below:

[0086] The transmission joint 201 corresponding to the first gripper 21 can be a first rotary joint. The first rotary joint is used to drive the first gripper 21 to rotate, and the first rotary joint has the above-mentioned fluid passage built in it. The fluid passage is connected to the fluid passage in the joint 1 corresponding to the first gripper 21 through a connection passage 202.

[0087] Accordingly, the transmission joint 201 corresponding to the second gripper 22 can be a second rotary joint. The second rotary joint is used to drive the second gripper 22 to rotate, and the second rotary joint has the above-mentioned fluid passage built in. The fluid passage is connected to the fluid passage in the joint 1 corresponding to the second gripper 22 through another connection passage 202.

[0088] In the third aspect, such as Figure 4 As shown, this embodiment of the invention also provides a dexterous hand grasping mechanism 2, including: a first gripper 21 and a second gripper 22, with a clamping space formed between the first gripper 21 and the second gripper 22.

[0089] At least one of the first gripper 21 and the second gripper 22 includes a base 211, a clamping portion 212 and a negative pressure suction head 214. The base 211 and the clamping portion 212 are formed as joint 1 as described above. The first end of the fluid passage is formed on the clamping surface of the clamping portion 212 and communicates with the negative pressure suction head 214. The second end of the fluid passage is used to communicate with the negative pressure mechanism.

[0090] Specifically, since the dexterous hand gripping mechanism 2 is arranged based on the aforementioned joint 1, when the dexterous hand gripping mechanism 2 clamps the target object, it is convenient to increase the stability of gripping the target object based on the negative pressure suction provided by the negative pressure suction head 214 and the corresponding fluid passage.

[0091] It should be noted that both the first gripper 21 and the second gripper 22 can be configured to include a base 211, a clamping part 212 and a negative pressure suction head 214, and the base 211 can be configured to include the first component 2111 and the second component 2112 of the above embodiments, which will not be described in detail here.

[0092] Based on the above embodiments, the dexterous hand gripping mechanism 2 provided in this embodiment not only has high dexterity and a large working range that can be reached, enabling precise clamping of the target object and ensuring the clamping safety of the target object, but also ensures the stability of the gripping of the target object, and is especially suitable for enveloping gripping of target objects with complex shapes.

[0093] In practical applications, the target objects can include light sources, sensing devices, packaging products and mechanical parts, or they can be shaped samples such as profiles, wood, and ores.

[0094] like Figure 5As shown in the diagram, this embodiment provides a schematic diagram of the dexterous hand grasping mechanism 2 grasping the neuroendoscope 3. Figure 6 As shown in the figure, this embodiment provides a schematic diagram of the dexterous hand grasping mechanism 2 grasping the ultrasonic probe 4.

[0095] In a fourth aspect, embodiments of the present invention also provide a dexterous hand robot, which includes the joint 1 as described above; or, the dexterous hand robot includes the dexterous hand grasping mechanism 2 as described above.

[0096] Specifically, since the dexterous hand robot includes the joints or dexterous hand grasping mechanisms of the above embodiments, and the specific structure of the joints or dexterous hand grasping mechanisms can be referred to the above embodiments, the dexterous hand robot of this embodiment includes all the technical solutions of the above embodiments. Therefore, it has at least all the beneficial effects obtained by all the technical solutions of the above embodiments, which will not be described in detail here.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A joint, characterized in that, include: First component and second component; The first component and the second component form a kinematic pair. The first component has a first fluid channel, the second component has a second fluid channel, and a third fluid channel is provided between the first component and the second component. When the first component and the second component are stationary or in relative motion, the first fluid channel is connected to the second fluid channel through the third fluid channel to form a fluid passage; One end of the fluid passage is used to connect to a deformable contact capable of sensing stress changes, and the other end of the fluid passage is used to connect to a detection device.

2. The joint according to claim 1, characterized in that, The first component and the second component are rotatable relative to each other about a common axis, and the third fluid channel extends circumferentially along the common axis.

3. The joint according to claim 2, characterized in that, The first component has a first sliding contact surface, and the second component has a second sliding contact surface, wherein the first sliding contact surface and the second sliding contact surface are in contact with each other; One end of the first fluid channel is connected to the third fluid channel, which is located on the first sliding contact surface; one end of the second fluid channel is located on the second sliding contact surface and is connected to the third fluid channel.

4. The joint according to claim 2, characterized in that, The first component has a first sliding contact surface, and the second component has a second sliding contact surface, wherein the first sliding contact surface and the second sliding contact surface are in contact with each other; The third fluid channel includes a first grooved flow channel and a second grooved flow channel; the first grooved flow channel is disposed on the first sliding contact surface, and one end of the first fluid channel is connected to the first grooved flow channel; the second grooved flow channel is disposed on the second sliding contact surface, and one end of the second fluid channel is connected to the second grooved flow channel; the openings of the first grooved flow channel and the openings of the second grooved flow channel are arranged opposite to each other.

5. The joint according to claim 1, characterized in that, The first component and the second component are movable relative to each other along a first direction, and the third fluid channel extends along the first direction.

6. The joint according to any one of claims 1 to 5, characterized in that, The joint is provided with multiple fluid passages; And / or, the joint is provided in multiple parts, the multiple joints are integrated into a multi-degree-of-freedom joint, and at least a portion of the multiple joints are sequentially connected through the built-in fluid passage.

7. A dexterous hand grasping mechanism, characterized in that, include: A first gripper and a second gripper, with a clamping space formed between the first gripper and the second gripper; At least one of the first gripper and the second gripper includes a base, a clamping portion and a deformable contact, wherein the base and the clamping portion are formed as a joint as claimed in any one of claims 1 to 6; The first end of the fluid passage is formed on the clamping surface of the clamping part and connected to the deformable contact. The second end of the fluid passage is used to connect to the detection device.

8. The dexterous hand grasping mechanism according to claim 7, characterized in that, Also includes: Multiple transmission joints, each of which employs a joint as described in any one of claims 1 to 6; The first gripper is sequentially connected to a portion of the plurality of transmission joints through their respective built-in fluid passages; the second gripper is sequentially connected to another portion of the plurality of transmission joints through their respective built-in fluid passages.

9. A dexterous hand robot, characterized in that, The dexterous hand robot includes a joint as described in any one of claims 1 to 6; or, the dexterous hand robot includes a dexterous hand grasping mechanism as described in claim 7 or 8.

Images