Robotic finger joints and robots

Abstract

The present invention discloses a robot finger joint and a robot. The robot finger joint comprises: a fixed frame; a first gear set, the first gear set comprising a first slave gear and a second slave gear, the first slave gear and the second slave gear being arranged opposite each other, the two opposing end faces of the first slave gear and the second slave gear being respectively formed into bevel gears, and the two bevel gears having different numbers of teeth to form a transmission ratio, a third spur gear being provided axially of the first slave gear, and a fourth spur gear being provided axially of the second slave gear; an intermediate rotating shaft, the intermediate rotating shaft being provided with an intermediate gear, the intermediate gear being meshed with the third spur gear and the fourth spur gear respectively; a rotating arm, the rotating arm being movably provided on the fixed frame and connected to the intermediate rotating shaft, the first gear set outputting transmission power to the rotating arm according to the transmission ratio. The present invention can reduce the space occupied by the robot finger joint, realize flexible rotation of the rotating arm, facilitate precision control of the robot finger joint, and has a long service life and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of robot manufacturing, and more particularly to a robot finger joint and a robot. Background Art

[0002] The existing robot finger joints have a very low power ratio, the multi-stage planetary reduction gearbox is difficult to control the precision and occupies a large space. Summary of the Invention

[0003] An object of the present invention is to provide a new technical solution for robot finger joints and robots, which can at least solve the problems of low power ratio, difficult to control precision and large space occupied by robot finger joints in the prior art.

[0004] The first aspect of the present invention provides a robot finger joint, comprising: a fixed frame, a mounting cavity being provided in the fixed frame; a first gear group, the first gear group being provided in the mounting cavity, the first gear group comprising a first slave gear and a second slave gear, the first slave gear and the second slave gear being arranged opposite to each other, the two opposite end faces of the first slave gear and the second slave gear being respectively formed as bevel gears, and the number of teeth of the two bevel gears being different to form a transmission ratio, a third spur gear being provided axially of the first slave gear, and a fourth spur gear being provided axially of the second slave gear; an intermediate rotating shaft, an intermediate gear being provided on the intermediate rotating shaft, the intermediate gear being respectively engaged with the third spur gear and the fourth spur gear; a rotating arm, the rotating arm being movably provided on the fixed frame and connected to the intermediate rotating shaft, the first gear group outputs transmission power to the rotating arm according to the transmission ratio to drive the rotating arm to rotate relative to the fixed frame.

[0005] Optionally, the number of teeth of the bevel gear in the first slave gear is smaller than the number of teeth of the bevel gear in the second slave gear, and the number of teeth of the two bevel gears differs by an odd number.

[0006] Optionally, the number of teeth of the two bevel gears differs by one.

[0007] Optionally, a transmission ratio between the first slave gear and the second slave gear is 1:112.

[0008] Optionally, there are two intermediate rotating shafts, each of which is provided with an intermediate gear, the intermediate gears on each intermediate rotating shaft are partially engaged, and the two intermediate rotating shafts are respectively engaged with the third spur gear and the fourth spur gear, and the rotating arms are respectively connected to the intermediate rotating shafts.

[0009] Optionally, the robot finger joint also includes: a second gear set, the second gear set is arranged in the mounting cavity, and the second gear set is respectively engaged with the first slave gear and the second slave gear; a connecting shaft, the connecting shaft is arranged in the mounting cavity, and the connecting shaft is engaged with the second gear set, and the first gear set, the second gear set and the connecting shaft form a force transmission structure to transmit the transmission force to the rotating arm through the intermediate rotating shaft.

[0010] Optionally, the second gear set is arranged in a vertical direction, the first gear set is arranged in a horizontal direction, and the connecting shaft is arranged vertically in the installation cavity.

[0011] Optionally, the second gear set includes: a proximal bevel spur gear, which is arranged on the bottom wall of the fixed frame; and a distal bevel spur gear, which is arranged on the top wall of the fixed frame.

[0012] Optionally, the proximal bevel spur gear includes: a first gear shaft; a first bevel gear, the first bevel gear is arranged on the first gear shaft, and the first bevel gear is engaged with the first gear set; a first spur gear, the first spur gear is arranged on the first gear shaft, and the first bevel gear is relative to the first spur gear toward the distal bevel spur gear, and the first spur gear is engaged with a connecting gear of the connecting shaft.

[0013] Optionally, the distal bevel spur gear includes: a second gear shaft, which is spaced apart from the first gear shaft in the vertical direction; a second bevel gear, which is provided on the second gear shaft and is meshed with the first gear set; a second spur gear, which is provided on the second gear shaft and is opposite to the first bevel gear relative to the second bevel gear, and is meshed with another connecting gear of the connecting shaft.

[0014] Optionally, the robot finger joint further includes: a driving member, which is disposed at the bottom of the fixed frame and is connected to the second gear set.

[0015] Optionally, the robot finger joint further comprises: a synchronous belt, wherein the synchronous belt is wound around the distal bevel spur gear and the connecting shaft.

[0016] Optionally, the cross-section of the rotating arm is square, and each of the intermediate rotating shafts passes through two opposite sides of the rotating arm.

[0017] A second aspect of the present invention provides a robot comprising the robot finger joints described in the above embodiments.

[0018] The robot finger joint of the present invention integrates the first gear set within a fixed frame, reducing the space occupied by the robot finger joint and facilitating automated mass production. By designing the bevel gears in the first and second slave gears with different numbers of teeth, a large transmission ratio is achieved, which drives the intermediate shaft, thereby enabling flexible rotation of the rotating arm and facilitating precise control of the robot finger joint. Furthermore, the first gear set is used as part of the reduction mechanism, and its transmission components are all rigid, resulting in a long lifespan and low cost.

[0019] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0021] Figure 1 is an exploded diagram of the structure of a robot finger joint according to an embodiment of the present invention;

[0022] Figure 2 is a top view of a finger joint of a robot according to an embodiment of the present invention;

[0023] Figure 3 yes Figure 2 Cross-section along CC;

[0024] Figure 4 is a partial structural diagram of a robot finger joint according to an embodiment of the present invention;

[0025] Figure 5 is another partial structural diagram of a robot finger joint according to an embodiment of the present invention;

[0026] Figure 6 4 is another partial structural diagram of a robot finger joint according to an embodiment of the present invention.

[0027] Reference numerals:

[0028] Fixed frame 10; mounting cavity 11; first mounting hole 12; second mounting hole 13;

[0029] Second gear set 20; proximal bevel spur gear 21; first gear shaft 211; first bevel gear 212; first spur gear 213; distal bevel spur gear 22; second gear shaft 221; second bevel gear 222; second spur gear 223;

[0030] First gear set 30; first slave gear 31; second slave gear 32; bevel gear 33; third spur gear 34; fourth spur gear 35;

[0031] Connecting shaft 40; connecting gear 41;

[0032] Rotating arm 50;

[0033] Driving member 60;

[0034] Intermediate rotating shaft 80; intermediate gear 81;

[0035] Bearing 90. DETAILED DESCRIPTION

[0036] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0038] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0039] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0040] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] In the specification and claims of the present invention, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, in the specification and claims, "and / or" refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0044] The following describes in detail the robot finger joint according to an embodiment of the present invention with reference to the accompanying drawings.

[0045] like Figures 1 to 6 As shown, the robot finger joint according to an embodiment of the present invention includes a fixed frame 10 , a first gear set 30 , an intermediate rotating shaft 80 and a rotating arm 50 .

[0046] Specifically, a mounting cavity 11 is provided in the fixed frame 10. A first gear set 30 is provided in the mounting cavity 11. The first gear set 30 includes a first slave gear 31 and a second slave gear 32. The first slave gear 31 and the second slave gear 32 are arranged opposite to each other. The two opposite end faces of the first slave gear 31 and the second slave gear 32 are respectively formed as bevel gears 33, and the two bevel gears 33 have different numbers of teeth to form a transmission ratio. A third spur gear 34 is axially provided in the first slave gear 31, and a fourth spur gear 35 is axially provided in the second slave gear 32. An intermediate gear 81 is provided on the intermediate rotating shaft 80, and the intermediate gear 81 is meshed with the third spur gear 34 and the fourth spur gear 35 respectively. The rotating arm 50 is movably provided on the fixed frame 10 and connected to the intermediate rotating shaft 80. The first gear set 30 outputs the transmission power to the rotating arm 50 according to the transmission ratio to drive the rotating arm 50 to rotate relative to the fixed frame 10.

[0047] In other words, see Figures 1 to 6 The robot finger joint according to the embodiment of the present invention is mainly composed of a fixed frame 10, a first gear set 30, an intermediate shaft 80 and a rotating arm 50. Figure 1As shown, a mounting cavity 11 is provided within the fixed frame 10. The first gear set 30 primarily comprises a first slave gear 31 and a second slave gear 32, which can be arranged relative to each other. The opposing end surfaces of the first and second slave gears 31, 32 are configured as bevel gears 33, respectively. The first and second slave gears 31, 32 rotate at the same angular velocity but in opposite directions. Furthermore, the two bevel gears 33 are designed to have different numbers of teeth to facilitate the formation of a transmission ratio, thereby achieving output of transmission force and enabling flexible rotation of the rotating arm 50.

[0048] like Figure 1 As shown, a third spur gear 34 is provided in the axial direction of the first slave gear 31, and a fourth spur gear 35 is provided in the axial direction of the second slave gear 32. An intermediate gear 81 is provided on the intermediate shaft 80, and the intermediate gear 81 can mesh with the third spur gear 34 and the fourth spur gear 35 respectively. During the rotation of the first slave gear 31 and the second slave gear 32, due to the different number of teeth of the bevel gears 33 on the two end faces of the first slave gear 31 and the second slave gear 32, the intermediate shaft 80 can be driven to rotate (see Figures 3 to 6 The first gear set 30 and the intermediate shaft 80 are highly integrated in the fixed frame 10, which reduces the space occupied by the robot's finger joints and is conducive to automated mass production.

[0049] like Figure 1 As shown, the rotating arm 50 is movably arranged on the fixed frame 10, and the rotating arm 50 is connected to the intermediate rotating shaft 80. The first gear set 30 outputs the transmission power to the rotating arm 50 through the intermediate rotating shaft 80 according to the transmission ratio, so as to drive the rotating arm 50 to rotate relative to the fixed frame 10. The first gear set 30 constitutes a part of the reducer structure through the bevel gear 33 on the end face of the first slave gear 31 and the second slave gear 32, so as to realize the flexible rotation of the rotating arm 50, which is beneficial to the precision control of the robot finger joints. In addition, the first gear set 30 and the intermediate rotating shaft are both rigid parts as transmission parts, with long life and low cost. While meeting the large transmission ratio required by the dexterous hand (finger joints), it is also durable and has high rigidity.

[0050] Compared with the prior art, the finger joints formed by multi-stage planetary reduction gearboxes are difficult to control in terms of precision and occupy a large space. Harmonic reducers are expensive and have a short lifespan. Therefore, in the robot finger joints according to an embodiment of the present invention, the first gear set 30 is integrated into the fixed frame 10, which reduces the space occupied by the robot finger joints and is conducive to automated mass production. By designing the bevel gears 33 in the first slave gear 31 and the second slave gear 32 to have different numbers of teeth, a large transmission ratio is formed to drive the intermediate shaft 80 to rotate, thereby achieving flexible rotation of the rotating arm 50, which is conducive to the precision control of the robot finger joints. At the same time, the first gear set 30 is used as part of the reduction structure, and its transmission parts are all rigid parts with long lifespan and low cost.

[0051] According to one embodiment of the present invention, the number of teeth of the bevel gear 33 in the first slave gear 31 is smaller than the number of teeth of the bevel gear 33 in the second slave gear 32 , and the number of teeth of the two bevel gears 33 differs by an odd number.

[0052] That is to say, if Figures 4 to 6 As shown, the number of teeth of the first slave gear 31 can be smaller than the number of teeth of the second slave gear 32, and the number of teeth of the bevel gear 33 in the first slave gear 31 is an odd number different from the number of teeth of the bevel gear 33 in the second slave gear 32, so as to ensure that the intermediate shaft 80 can be driven to rotate during the rotation of the first slave gear 31 and the second slave gear 32 (see Figure 1 and Figure 5 ), thereby driving the rotating arm 50 to rotate around the central axis of rotation of the slave gear, realizing the output of the transmission force, and enabling the rotating arm 50 to rotate flexibly.

[0053] In some specific embodiments of the present invention, the number of teeth of the two bevel gears 33 differs by one. The transmission ratio of the first slave gear 31 to the second slave gear 32 is 1:112.

[0054] In other words, the bevel gear 33 in the first slave gear 31 and the second slave gear 32, because of the one-tooth difference in the number of teeth, drives the rotating arm 50 to rotate about the central axis of rotation of the slave gears (intermediate rotating shaft 80). The transmission ratio is the number of teeth of the gear with the larger number of teeth, the first slave gear 31 or the second slave gear 32.

[0055] The transmission ratio between the first slave gear 31 and the second slave gear 32 is 1:56. For example, if the first slave gear 31 has 55 teeth, z1, and the second slave gear 32 has 56 teeth, the transmission ratio is (z2-z1):z2, or 1:56. The second gear set 20 and the first gear set 30 can output power to the rotating arm 50 based on the transmission ratio, thereby driving the rotating arm 50 to rotate relative to the fixed frame 10. The large transmission ratio created by the second gear set 20 and the first gear set 30 enables flexible rotation of the rotating arm 50, facilitating precise control of the robot's finger joints.

[0056] According to one embodiment of the present invention, there are two intermediate rotating shafts 80, each intermediate rotating shaft 80 is provided with an intermediate gear 81, the intermediate gear 81 on each intermediate rotating shaft 80 is partially engaged, and the two intermediate rotating shafts 80 are respectively engaged with the third spur gear 34 and the fourth spur gear 35, and the rotating arms 50 are respectively connected to the intermediate rotating shafts 80.

[0057] That is to say, if Figure 1 and Figure 5 As shown, there can be two intermediate rotating shafts 80, each equipped with an intermediate gear 81. The intermediate gears 81 on each intermediate rotating shaft 80 can partially mesh. Furthermore, the two intermediate rotating shafts 80 can mesh with the third spur gear 34 and the fourth spur gear 35, respectively. The intermediate rotating shafts 80, the first slave gear 31, the second slave gear 32, and so on, are fixed to the fixed frame 10 via bearings 90. The rotating arms 50 are each connected to the intermediate rotating shafts 80. The number of teeth on the first slave gear 31 and the second slave gear 32 differs by one tooth. The third spur gear 34 on the first slave gear 31 meshes with the intermediate gear 81 on one intermediate rotating shaft 80, while the fourth spur gear 35 on the second slave gear 32 meshes with the intermediate gear 81 on the other intermediate rotating shaft 80. Two identical intermediate rotating shafts 80 also mesh with each other through the corresponding intermediate gears 81. During the rotation of the first slave gear 31 and the second slave gear 32 , the intermediate shaft 80 can be driven to rotate, thereby driving the rotating arm 50 to rotate around the central axis of rotation of the slave gears, thereby outputting the transmission force and enabling the rotating arm 50 to rotate flexibly.

[0058] According to one embodiment of the present invention, the robot finger joint further includes a second gear set 20 and a connecting shaft 40 .

[0059] Specifically, the second gear set 20 is disposed within the mounting cavity 11 and meshes with the first and second slave gears 31 and 32, respectively. A connecting shaft 40 is disposed within the mounting cavity 11 and meshes with the second gear set 20. The first gear set 30, the second gear set 20, and the connecting shaft 40 form a force transmission structure to transmit the transmission force to the rotating arm 50 via the intermediate rotating shaft 80.

[0060] In other words, if Figures 1 to 5As shown, the robot finger joint also includes a second gear set 20 and a connecting shaft 40. The second gear set 20 is installed in the mounting cavity 11, and the second gear set 20 is meshed with the first slave gear 31 and the second slave gear 32 respectively. The first slave gear 31 and the second slave gear 32 can be driven to rotate by the second gear set 20. The connecting shaft 40 is installed in the mounting cavity 11, and the connecting shaft 40 is meshed with the second gear set 20. The first gear set 30, the second gear set 20 and the connecting shaft 40 constitute a force transmission structure to transmit the transmission force to the rotating arm 50 through the intermediate rotating shaft 80. The second gear set 20 and the first gear set 30 are used to form a deceleration structure, and the transmission parts thereof are all rigid parts with long life and low cost. While meeting the large transmission ratio required by the dexterous hand (finger joint), it is durable and has high rigidity.

[0061] By integrating the second gear set 20, the first gear set 30, and the connecting shaft 40 within the fixed frame 10, the space occupied by the robot's finger joints is reduced, facilitating automated mass production. The rotating arm 50 is movably mounted on the fixed frame 10. The second gear set 20 and the first gear set 30 can output power to the rotating arm 50 based on the transmission ratio, thereby driving the rotating arm 50 to rotate relative to the fixed frame 10. The large transmission ratio formed by the second gear set 20 and the first gear set 30 enables flexible rotation of the rotating arm 50, facilitating precise control of the robot's finger joints.

[0062] According to one embodiment of the present invention, the second gear set 20 is arranged in a vertical direction, the first gear set 30 is arranged in a horizontal direction, and the connecting shaft 40 is arranged vertically in the installation cavity 11 .

[0063] That is to say, if Figure 3 and Figure 5 As shown, the second gear set 20 can be arranged in a vertical direction, and the first gear set 30 can be arranged in a horizontal direction. The second gear set 20 can transmit the vertical transmission force to the horizontally rotating first gear set 30. The connecting shaft 40 is arranged vertically in the installation cavity 11. The connecting shaft 40 realizes power transmission between the second gear set 20 and the first gear set 30, thereby transmitting the transmission force rotating about the horizontal axis to the rotating arm 50, realizing flexible rotation of the rotating arm 50.

[0064] According to one embodiment of the present invention, the second gear set 20 includes a proximal bevel spur gear 21 and a distal bevel spur gear 22. Specifically, the proximal bevel spur gear 21 is provided on the bottom wall of the fixed frame 10, and the distal bevel spur gear 22 is provided on the top wall of the fixed frame 10.

[0065] In other words, if Figure 1As shown, the second gear set 20 is mainly composed of a proximal bevel spur gear 21 and a distal bevel spur gear 22. The proximal bevel spur gear 21 is mounted on the bottom wall of the fixed frame 10, and the distal bevel spur gear 22 is mounted on the top wall of the fixed frame 10. The proximal bevel spur gear 21 and the distal bevel spur gear 22 are arranged opposite each other in the vertical direction. The proximal bevel spur gear 21 meshes with the first gear set 30 on the bottom wall of the fixed frame 10, and the distal bevel spur gear 22 meshes with the first gear set 30 on the top wall of the fixed frame 10. Connecting gears 41 are respectively provided at both ends of the connecting shaft 40. The two connecting gears 41 mesh with the proximal bevel spur gear 21 and the distal bevel spur gear 22, respectively, thereby transmitting the transmission force to the first gear set 30 and achieving precise control of the rotating arm 50.

[0066] According to one embodiment of the present invention, the proximal bevel spur gear 21 includes a first gear shaft 211 , a first bevel gear 212 and a first spur gear 213 .

[0067] Specifically, the first bevel gear 212 is disposed on the first gear shaft 211 and meshes with the first gear set 30. The first spur gear 213 is disposed on the first gear shaft 211 and faces the distal bevel spur gear 22 relative to the first spur gear 213. The first spur gear 213 meshes with a connecting gear 41 of the connecting shaft 40.

[0068] The distal bevel spur gear 22 includes a second gear shaft 221, a second bevel gear 222, and a second spur gear 223. Specifically, the second gear shaft 221 is vertically spaced apart from the first gear shaft 211. The second bevel gear 222 is disposed on the second gear shaft 221 and meshes with the first gear set 30. The second spur gear 223 is disposed on the second gear shaft 221, facing away from the first bevel gear 212. The second spur gear 223 meshes with the other connecting gear 41 of the connecting shaft 40.

[0069] That is to say, if Figure 1 、 Figure 3 and Figure 5As shown, the proximal bevel spur gear 21 is primarily composed of a first gear shaft 211, a first bevel gear 212, a first spur gear 213, a second gear shaft 221, a second bevel gear 222, and a second spur gear 223. The first bevel gear 212 is mounted on the first gear shaft 211 and meshes with the first gear set 30. The first spur gear 213 is mounted on the first gear shaft 211, and faces the distal bevel spur gear 22 relative to the first spur gear 213. The first spur gear 213 meshes with the connecting shaft 40. As the proximal bevel spur gear 21 rotates, the first bevel gear 212 in the proximal bevel spur gear 21 meshes with the bevel gear 33 in the first slave gear 31, driving the first slave gear to rotate. The first spur gear 213 in the proximal bevel spur gear 21 meshes with a connecting gear 41 at the lower end of the connecting shaft 40, driving the connecting shaft 40 to rotate together.

[0070] The second gear shaft 221 is spaced apart from the first gear shaft 211 in the vertical direction. The second bevel gear 222 is mounted on the second gear shaft 221, and the second bevel gear 222 is meshed with the bevel gear 33 in the second slave gear 32. The second spur gear 223 is mounted on the second gear shaft 221, and the second spur gear 223 faces away from the first bevel gear 212 relative to the second bevel gear 222, and the second spur gear 223 is meshed with the connecting shaft 40. The second bevel gear 222 of the distal bevel spur gear 22 is meshed with the bevel gear 33 in the second slave gear 32, and the second spur gear 223 of the distal extreme gear is meshed with the connecting gear 41 at the upper end of the connecting shaft 40, thereby driving the first gear set 30 to rotate, ensuring that the first gear set 30 can rotate around its own central axis in the fixed frame 10, thereby realizing the output of the transmission force and enabling the rotating arm 50 to rotate flexibly.

[0071] In the present invention, the axial spacing between the proximal bevel spur gear 21, the distal bevel spur gear 22 and the connecting shaft 40 can be adjusted according to actual needs, and the module of the gear can be a standard module, which is conducive to reducing processing costs.

[0072] According to one embodiment of the present invention, the robot finger joint further includes a driving member 60 , which is disposed at the bottom of the fixed frame 10 and is connected to the second gear set 20 .

[0073] That is to say, if Figure 1As shown, the robot finger joint also includes a drive member 60, which can be a motor. The drive member 60 is mounted at the bottom of the fixed frame 10 and is connected to the proximal bevel spur gear 21 of the second gear set 20. The input motor drives the proximal bevel spur gear 21 to rotate. The first bevel gear 212 at the head of the proximal bevel spur gear engages with the bevel gear 33 of the first slave gear 31, driving the first slave gear 31 to rotate. The first spur gear 213 in the middle of the proximal bevel spur gear 21 engages with the connecting shaft 40 to drive it to rotate together. The number of teeth on the first spur gear 213 is the same as that on the proximal bevel spur gear 21. The transmission arm transmits power to the distal bevel spur gear 22 through the top synchronous belt. The second bevel gear 222 at the head of the distal bevel spur gear 22 engages with the bevel gear 33 of the second slave gear 32, driving the second slave gear 32 to rotate. The above action causes the first slave gear 31 and the second slave gear 32 to rotate around their own central axes in the fixed frame 10 under the drive of the input motor, with the same angular velocity and opposite direction, thereby realizing the output of transmission force and enabling the rotating arm 50 to rotate flexibly.

[0074] According to one embodiment of the present invention, the robot finger joint further comprises: a synchronous belt, which is wound around the distal bevel spur gear 22 and the connecting shaft 40. The first spur gear 213 in the middle of the proximal bevel spur gear 21 engages with the connecting shaft 40 to drive it to rotate together. The number of teeth of the first spur gear 213 is the same as that of the proximal bevel spur gear 21. The transmission arm transmits power to the distal bevel spur gear 22 through the top synchronous belt. The second bevel gear 222 at the head of the distal bevel spur gear 22 engages with the bevel gear 33 of the second slave gear 32, driving the second slave gear 32 to rotate. The above action causes the first slave gear 31 and the second slave gear 32 to rotate around their own central axes in the fixed frame 10 under the drive of the input motor. The rotational angular velocities are the same in magnitude and opposite in direction, thereby realizing the output of the transmission force and enabling the rotating arm 50 to rotate flexibly.

[0075] According to one embodiment of the present invention, Figure 1 As shown, the cross section of the rotating arm 50 is square, and each intermediate rotating shaft 80 passes through opposite sides of the rotating arm 50 and is connected to the intermediate rotating shaft 80. The rotation of the rotating arm 50 is driven by the rotation of the intermediate rotating shaft 80.

[0076] In the present invention, Figure 1 As shown, the fixed frame 10 is provided with a first mounting hole 12 for mounting the second gear set 20 and a second mounting hole 13 for mounting the first gear set 30. The aperture size and number of the first mounting hole 12 and the second mounting hole 13 can be specifically set according to the number of gears in the second gear set 20 and the first gear set 30, and will not be described in detail in the present invention.

[0077] Of course, for those skilled in the art, other structures of the robot's finger joints and their working principles are understandable and achievable, and will not be described in detail in the present invention.

[0078] In summary, the robot finger joint according to an embodiment of the present invention integrates the second gear set 20, the first gear set 30, and the connecting shaft 40 within the fixed frame 10, reducing the space occupied by the robot finger joint and facilitating automated mass production. The second gear set 20 and the first gear set 30 form a large transmission ratio, enabling flexible rotation of the rotating arm 50 and facilitating precision control of the robot finger joint. Furthermore, the second gear set 20 and the first gear set 30 form a reduction mechanism, and their transmission components are all rigid, resulting in a long lifespan and low cost.

[0079] According to a second aspect of the present invention, a robot is provided, comprising the robot finger joint of the above-mentioned embodiment. Since the robot finger joint according to the embodiment of the present invention has the above-mentioned technical effects, the robot according to the embodiment of the present invention should also have corresponding technical effects, that is, by adopting the robot finger joint, the robot of the present invention can effectively reduce the space occupied by the robot finger joint, facilitate automated mass production, realize flexible rotation of the rotating arm 50, and facilitate precision control of the robot finger joint. At the same time, the second gear set 20 and the first gear set 30 are used to form a reduction structure, and their transmission parts are all rigid parts, with long life and low cost.

[0080] Of course, for those skilled in the art, other structures of the robot and its working principles are understandable and achievable, and will not be described in detail in the present invention.

[0081] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot finger joint, characterized in that: include: A fixed frame, wherein a mounting cavity is provided in the fixed frame; a first gear set, the first gear set being disposed in the mounting cavity, the first gear set comprising a first slave gear and a second slave gear, the first slave gear and the second slave gear being arranged opposite to each other, the two opposite end surfaces of the first slave gear and the second slave gear being respectively formed as bevel gears, and the two bevel gears having different numbers of teeth to form a transmission ratio, a third spur gear being provided in the axial direction of the first slave gear, and a fourth spur gear being provided in the axial direction of the second slave gear; a second gear set, the second gear set comprising a proximal bevel spur gear and a distal bevel spur gear, the proximal bevel spur gear comprising a first gear shaft, a first bevel gear and a first spur gear, the first bevel gear and the first spur gear being arranged on the first gear shaft, the distal bevel spur gear comprising a second gear shaft, a second bevel gear and a second spur gear, the second bevel gear and the second spur gear being arranged on the second gear shaft, the first bevel gear being meshed with the bevel gear in the first slave gear, and the second bevel gear being meshed with the bevel gear in the second slave gear; a connecting shaft, wherein the first spur gear is engaged with one connecting gear of the connecting shaft, and the second spur gear is engaged with another connecting gear of the connecting shaft; two intermediate rotating shafts, each of which is provided with an intermediate gear, the intermediate gears on each intermediate rotating shaft being partially meshed, and the intermediate gears of the two intermediate rotating shafts being meshed with the third spur gear and the fourth spur gear respectively; The rotating arm is movably arranged on the fixed frame and connected to the two intermediate rotating shafts. The first gear set outputs the transmission power to the rotating arm according to the transmission ratio to drive the rotating arm to rotate relative to the fixed frame.

2. The robot finger joint according to claim 1, characterized in that: The number of teeth of the bevel gear in the first slave gear is smaller than the number of teeth of the bevel gear in the second slave gear, and the number of teeth of the two bevel gears differs by an odd number.

3. The robot finger joint according to claim 1, characterized in that: The number of teeth of the two bevel gears differs by one.

4. The robot finger joint according to claim 1, characterized in that: The transmission ratio between the first slave gear and the second slave gear is 1:

112.

5. The robot finger joint according to claim 1, characterized in that: The second gear set is arranged in the installation cavity; the connecting shaft is arranged in the installation cavity.

6. The robot finger joint according to claim 5, characterized in that: The second gear set is arranged in a vertical direction, the first gear set is arranged in a horizontal direction, and the connecting shaft is arranged vertically in the installation cavity.

7. The robot finger joint according to claim 5, characterized in that: The proximal bevel spur gear is arranged on the bottom wall of the fixed frame; the distal bevel spur gear is arranged on the top wall of the fixed frame.

8. The robot finger joint according to claim 7, characterized in that: The first bevel gear faces the distal bevel spur gear relative to the first spur gear.

9. The robot finger joint according to claim 8, characterized in that: The second gear shaft is spaced apart from the first gear shaft in a vertical direction; The second spur gear faces away from the first bevel gear relative to the second bevel gear.

10. The robot finger joint according to claim 5, characterized in that: Also includes: A driving member is provided at the bottom of the fixed frame and is connected to the second gear set.

11. The robot finger joint according to claim 7, characterized in that: Also includes: A synchronous belt is wound around the distal bevel spur gear and the connecting shaft.

12. The robot finger joint according to claim 1, characterized in that: The cross section of the rotating arm is square, and each of the intermediate rotating shafts passes through two opposite sides of the rotating arm.

13. A robot, characterized in that: A robot finger joint comprising the robot finger joint according to any one of claims 1 to 12.

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