Finger modules, manipulators and robots

Abstract

The present invention discloses a finger module, a manipulator and a robot, wherein the finger module comprises a finger base, a knuckle assembly is rotatably connected to the finger base; a driving assembly comprises a driving member, a worm and a worm wheel, the driving member is arranged on the finger base, the worm is arranged in the finger base and connected to the output shaft of the driving member, and the worm wheel is meshedly connected to the worm; one end of the connecting rod member is transmission-connected to the worm wheel, and the other end is transmission-connected to the knuckle assembly; the driving member is configured to drive the worm to rotate, and the connecting rod member is driven to rotate by the worm wheel, so as to drive the knuckle assembly to rotate relative to the finger base. The present application amplifies the relatively small torque of the driving member by means of the larger transmission ratio characteristics of the worm wheel and the worm transmission, provides a strong driving force for the rotation of the knuckle assembly, and makes the knuckle assembly rotate relative to the finger base, simulating the flexion and extension movement of human finger joints, so that the finger module can achieve bending and extension and other actions to complete various grasping and operation tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a finger module, a manipulator and a robot. Background Art

[0002] Robotic arms are often used to replace human hands to perform tasks such as grasping and manipulation. They are precise and flexible. Their finger modules, as an important component of human hand imitations, can achieve flexion and extension functions similar to human fingers.

[0003] The finger modules of existing robotic arms have the problem of insufficient control accuracy and cannot fully simulate the complex movements of human fingers. As a result, in certain specific movements or postures, the robotic arm cannot accurately adjust the position and angle of the fingers, affecting the grasping effect and operating accuracy. Summary of the invention

[0004] The main purpose of the present invention is to provide a finger module, a manipulator and a robot, aiming to solve the technical problem that the existing finger module cannot accurately adjust the position and angle of the finger.

[0005] To achieve the above object, the present invention provides a finger module for a robot, the finger module comprising:

[0006] Finger base;

[0007] a knuckle assembly, the knuckle assembly being rotatably connected to the finger base;

[0008] A driving assembly, the driving assembly comprising a driving member, a worm and a worm wheel, the driving member being arranged on the finger base and having an output shaft extending into the interior of the finger base, the worm being arranged in the finger base and connected to the output shaft, and the worm wheel being meshingly connected to the worm;

[0009] A connecting rod member, one end of which is drivingly connected to the worm gear, and the other end of which is drivingly connected to the knuckle assembly;

[0010] Wherein, the driving member is configured to: drive the worm to rotate, and drive the connecting rod member to rotate through the worm gear, so as to drive the finger joint assembly to rotate relative to the finger base.

[0011] In some embodiments, the output shaft of the driving member is arranged along a first direction, and the worm and the worm wheel are arranged along a second direction, and the second direction is perpendicular to the first direction;

[0012] The finger base is provided with a first installation cavity and a second installation cavity which are connected and arranged along the second direction. The first installation cavity is used for installing the output shaft and the worm, and the second installation cavity is used for installing the worm wheel.

[0013] In some embodiments, the finger base is provided with a through hole and a mounting groove connected to the first mounting cavity along the first direction, the through hole and the mounting groove are arranged opposite to each other at intervals, the through hole is used for allowing the output shaft to pass through the first mounting cavity, and the mounting groove is used to accommodate the free end of the output shaft.

[0014] In some embodiments, the finger base is provided with a limiting groove connected to the second mounting cavity for preventing the connecting rod member from rotating, and both side walls of the limiting groove located on the rotation trajectory of the connecting rod member are provided with limiting end surfaces for limiting the rotation range of the connecting rod member.

[0015] In some embodiments, friction rings are provided between the worm and the mounting groove, and between the worm and the through hole.

[0016] In some embodiments, a partition groove is provided at one end of the link member away from the finger joint assembly, and mounting holes are respectively configured on opposite sides of the partition groove of the link member;

[0017] The worm wheel is rotatably connected to the second mounting cavity via a first rotating shaft. The worm wheel is mounted in the partition groove. The first rotating shaft passes through the worm wheel and both ends of the first rotating shaft are respectively mounted in the corresponding mounting holes.

[0018] In some embodiments, the knuckle assembly includes a first knuckle and a second knuckle, the first knuckle is rotatably connected to the finger base, the second knuckle is rotatably connected to the first knuckle, the first knuckle is hollow, the connecting rod member passes through the first knuckle, and one end of the connecting rod member is connected to the worm gear drive, and the other end is connected to the second knuckle.

[0019] In some embodiments, the connecting rod member includes a first rod segment and a second rod segment connected to each other, the length of the first rod segment is greater than the length of the second rod segment, and a preset angle is formed between the first rod segment and the second rod segment, the end of the first rod segment away from the second rod segment is connected to the worm gear drive, and the end of the second rod segment away from the first rod segment is connected to the second finger joint.

[0020] The present application also provides a robot arm, comprising a palm module and at least one of the above-mentioned finger modules, wherein the at least one finger module is connected to the palm module.

[0021] The present application also provides a robot, comprising the above-mentioned manipulator.

[0022] The present application adopts a drive assembly consisting of a drive member, a worm and a worm wheel. With the help of the large transmission ratio characteristics of the worm wheel and the worm gear, the relatively small torque of the drive member can be amplified, providing a strong driving force for the rotation of the finger joint assembly. Moreover, the power generated by the drive assembly is transmitted to the connecting rod member through the worm wheel and the worm. Under the action of the power, the connecting rod member will rotate, thereby driving the finger joint assembly to rotate relative to the finger base, simulating the flexion and extension movement of the human finger joint, so that the finger module can achieve bending and extension and other movements, thereby completing various grasping and operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an embodiment of a finger module of the present invention;

[0024] Figure 2 for Figure 1 Disassembly diagram of the middle finger module;

[0025] Figure 3 for Figure 1 A schematic cross-sectional view of the middle finger module;

[0026] Figure 4 It is a cross-sectional schematic diagram of an embodiment of a finger base of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an embodiment of a finger base of the present invention;

[0028] Figure 6 Schematic diagram of the structure of a connecting rod component according to an embodiment of the present invention.

[0029] Description of Figure Numbers:

[0030] 100-finger module, 10-finger base, 20-finger joint assembly, 30-driving assembly, 31-driving member, 32-worm, 33-worm wheel, 311-output shaft, 40-connecting rod member, 11-first mounting cavity, 12-second mounting cavity, 13-through hole, 14-mounting groove, 15-limiting groove, 16-limiting end face, 34-friction ring, 41-partition groove, 42-mounting hole, 43-first rotating shaft, 21-first finger joint, 22-second finger joint, 401-first rod segment, 402-second rod segment.

[0031] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0034] It should also 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 there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0035] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] Please refer to Figures 1 to 3 In one embodiment of the present application, a finger module 100 is provided for a manipulator. The finger module 100 includes a finger base 10, a finger joint assembly 20, a driving assembly 30 and a connecting rod member 40. The finger joint assembly 20 is rotatably connected to the finger base 10; the driving assembly 30 includes a driving member 31, a worm 32 and a worm wheel 33. The driving member 31 is provided on the finger base 10, and the driving member 31 has an output shaft 311 extending into the interior of the finger base 10. The worm 32 is provided in the finger base 10 and connected to the output shaft 311. The worm wheel 33 is meshedly connected to the worm 32; one end of the connecting rod member 40 is transmission-connected to the worm wheel 33, and the other end is transmission-connected to the finger joint assembly 20;

[0037] The driving member 31 is configured to drive the worm 32 to rotate, and drive the connecting rod member 40 to rotate through the worm gear 33 , so as to drive the knuckle assembly 20 to rotate relative to the finger base 10 .

[0038] In this embodiment, the driving member 31 is installed on the finger base 10 as the starting power source of the entire driving assembly 30, and its output shaft 311 extending into the inside of the finger base 10 can output power. When the driving member 31 starts working (for example, the motor is powered on and rotates), the output shaft 311 starts to rotate. Since the worm 32 is connected to the output shaft 311 and the worm wheel 33 is meshed with the worm 32, the worm 32 will rotate synchronously with the output shaft 311, and the spiral teeth of the worm 32 will drive the worm wheel 33 to rotate during the rotation process. While the worm wheel 33 is rotating, it is also connected to one end of the connecting rod member 40, so the rotational movement of the worm wheel 33 will be transmitted to the connecting rod member 40. After receiving the power transmitted by the worm wheel 33, it will drive the finger joint assembly 20 to rotate relative to the finger base 10, so that the entire finger module 100 can simulate the flexion and extension movement of the human hand, and complete functions such as grasping and operating objects.

[0039] Furthermore, the present embodiment adopts the transmission mode of the worm 32 and the worm wheel 33, which can achieve a larger transmission ratio, and can convert the relatively high rotation speed of the output shaft 311 of the driving member 31 into a lower rotation speed at the end of the worm wheel 33 while increasing the torque. In this way, when driving the finger module 100, even if the torque output by the driving member 31 itself is limited, after the transmission of the worm wheel and the worm 32, it can provide a sufficiently large torque for the connecting rod member 40, ensuring that the finger joint assembly 20 is driven to rotate effectively, meeting the strength requirements of the finger module 100 when grasping objects, etc., especially when grasping heavier objects or objects that require greater gripping force.

[0040] Since the entire power transmission link is clear and definite, during the motion transmission process from the drive member 31 to the knuckle assembly 20, the connection relationship between the various components is fixed and easy to control. By precisely controlling the motion parameters of the drive member 31, such as the rotation speed and direction of the output shaft 311, the motion state of the knuckle assembly 20, such as the rotation angle and speed, can be accurately controlled. Moreover, the rotational connection between the knuckle assembly 20 and the finger base 10 and the transmission action of the connecting rod member 40 enable the knuckle assembly 20 to achieve flexible movement. This flexibility allows the finger module 100 to simulate a variety of movements of human fingers, such as bending, stretching, grasping, etc., according to different operating requirements, and can adapt to objects of different shapes and sizes to a certain extent, thereby improving the versatility and adaptability of the manipulator.

[0041] It should be understood that the driving component 31 can be in various forms, such as a small motor that can convert electrical energy into mechanical energy and drive the connecting rod component 40 through the rotational movement of the output shaft 311; it can also be a pneumatic or hydraulic device that uses the pressure generated by compressed gas or liquid to push the piston and other components to move, thereby driving the connecting rod component 40 to realize the rotation of the knuckle assembly 20. These different types of driving components 31 can be selected according to specific application scenarios to meet the flexible and stable operation requirements of the finger module 100 under various working conditions.

[0042] Please refer to Figure 3 and Figure 4 The output shaft 311 of the driving member 31 is arranged along a first direction, and the worm 32 and the worm wheel 33 are arranged along a second direction, and the second direction is perpendicular to the first direction;

[0043] A first mounting cavity 11 and a second mounting cavity 12 are disposed in the finger base 10 and are connected along the second direction. The first mounting cavity 11 is used to mount the output shaft 311 and the worm 32 , and the second mounting cavity 12 is used to mount the worm wheel 33 .

[0044] Among them, the output shaft 311 of the driving member 31 is arranged along a first direction, and the worm 32 and the worm wheel 33 are arranged in a second direction perpendicular to the first direction, so that the power can be effectively turned during the transmission process, and the axial movement of the output shaft 311 is converted into the rotational movement of the plane where the worm 32 and the worm wheel 33 are located, so as to reasonably utilize the space and adapt the transmission relationship between the various components. For example, the output shaft 311 outputs power along the horizontal direction (assuming the first direction), and the transmission conversion is performed through the worm 32 and the worm wheel 33 arranged in the vertical direction (the second direction), thereby avoiding the excessive extension of various components in the same direction to cause space waste or structural interference.

[0045] The finger base 10 is provided with a first installation cavity 11 and a second installation cavity 12 connected along the second direction, which are used to install the output shaft 311, the worm 32, and the worm wheel 33, respectively, to provide accurate and stable installation positions for each component. The first installation cavity 11 accommodates the output shaft 311 and the worm 32, ensuring that they can be tightly connected in the same space, and ensuring that the power is smoothly transmitted from the output shaft 311 to the worm 32. The second installation cavity 12 is used to install the worm wheel 33, so that it is in a suitable meshing position with the worm 32, and in the second installation cavity 12, the worm wheel 33 can stably rotate. After receiving the power transmitted by the worm 32, the power can be further transmitted smoothly through the connected space structure. The whole layout creates a good physical environment for the transmission of the worm wheel 32.

[0046] When the driving member 31 is started, the output shaft 311 arranged along the first direction starts to rotate. Since the output shaft 311 is connected to the worm 32 in the first installation cavity 11, the power will be directly transmitted to the worm 32, so that the worm 32 starts to rotate in the second direction. In this process, the structure of the first installation cavity 11 defines their relative position and connection stability, ensuring the reliability of power transmission. The worm 32 rotating in the second direction meshes with the worm wheel 33 located in the second installation cavity 12. According to the transmission principle of the worm wheel 33 and the worm 32, the worm 32 drives the worm wheel 33 to rotate.

[0047] In the present embodiment, the design of connecting the first mounting cavity 11 and the second mounting cavity 12 enables the meshing state between the worm 32 and the worm wheel 33 to be maintained in a good and stable manner, and does not cause tooth disengagement, jamming and other transmission-affecting conditions due to unreasonable spatial structure. This ensures that power can be continuously and smoothly transmitted from the worm 32 to the worm wheel 33, and then drives the finger joint assembly 20 to move through the subsequent connecting rod member 40, etc., thereby realizing the function of the finger module 100.

[0048] Furthermore, this embodiment greatly improves the space utilization rate inside the finger base 10 by arranging the output shaft 311 of the driving member 31, the worm 32, and the worm wheel 33 in mutually perpendicular directions and using the mounting cavities connected in the corresponding directions in the finger base 10 to arrange the components. The components can be compactly and orderly arranged in a limited space, avoiding space waste caused by random layout or extension of components in the same direction, which helps to achieve miniaturization and lightweight of the manipulator hand structure.

[0049] In some embodiments, the finger base 10 is provided with a through hole 13 and a mounting groove 14 connected to the first mounting cavity 11 along the first direction. The through hole 13 and the mounting groove 14 are arranged opposite to each other at intervals. The through hole 13 is used for allowing the output shaft 311 to pass through the first mounting cavity 11, and the mounting groove 14 is used to accommodate the free end of the output shaft 311.

[0050] When the finger module 100 is assembled, the output shaft 311 can be smoothly inserted into the first installation cavity 11 inside the finger base 10 through the through hole 13, so that the output shaft 311 can be accurately connected to the worm 32 installed in the first installation cavity 11. The size and position of the through hole 13 are designed according to the specifications of the output shaft 311 and the connection requirements with the worm 32, ensuring that the output shaft 311 can maintain the correct axial position during the insertion process, laying a foundation for subsequent stable power transmission.

[0051] The mounting groove 14 arranged opposite to the through hole 13 is used to accommodate the free end of the output shaft 311. After the output shaft 311 passes through the through hole 13 and enters the first mounting cavity 11 and is connected to the worm 32, the mounting groove 14 can stably accommodate the free end of the output shaft 311 therein, on the one hand, to prevent the free end from shaking due to lack of support during the operation of the finger module 100, thereby affecting the stability of power transmission; on the other hand, the positioning of the free end by the mounting groove 14 further limits the position of the output shaft 311 in the first direction, ensuring that the relative position relationship between the entire driving component 31 and the finger base 10 is more accurate, so that the power can be smoothly transmitted from the driving component 31 to the worm 32 according to the design requirements.

[0052] In this embodiment, the design of the through hole 13 and the mounting groove 14 enables the output shaft 311 of the driving member 31 to be accurately installed and positioned on the finger base 10. Specifically, the output shaft 311 accurately enters the first mounting cavity 11 through the through hole 13 to dock with the worm 32, and its free end can be properly received by the mounting groove 14. This clear installation method avoids the position deviation of the output shaft 311 caused by manual installation errors or inaccurate matching of components, improves the assembly accuracy of the entire finger module 100, and creates good conditions for subsequent stable power transmission and precise motion control.

[0053] Please refer to Figure 4 and Figure 5 In some embodiments, the finger base 10 is provided with a limiting groove 15 which is connected to the second mounting cavity 12 and is used to prevent the connecting rod member 40 from rotating. Both side walls of the limiting groove 15 which are located on the rotation trajectory of the connecting rod member 40 are provided with limiting end surfaces 16 for limiting the rotation range of the connecting rod member 40.

[0054] The connecting rod member 40 enters the limiting groove 15 and is rotatably connected therein, so that the connecting rod member 40 has a relatively stable rotation space in the finger base 10. When the driving assembly 30 drives the connecting rod member 40 to rotate, it will rotate around the connection point in the limiting groove 15. The limiting end faces 16 at both ends of the limiting groove 15 along the rotation direction of the connecting rod member 40 play a key limiting role. When the connecting rod member 40 rotates in one direction, it will gradually approach one of the limiting end faces 16. When the limiting end face 16 is contacted, the connecting rod member 40 cannot continue to rotate in this direction due to the obstruction of the limiting end face 16, thereby limiting its rotation angle in this direction. Similarly, when rotating in the opposite direction, the other limiting end face 16 will also play the same limiting role, thereby effectively limiting the angle range of rotation of the connecting rod member 40 relative to the finger base 10.

[0055] Due to the presence of the limiting groove 15 and the limiting end face 16, the rotation angle of the connecting rod member 40 can be accurately controlled to indirectly control the rotation angle of the knuckle assembly 20 relative to the finger base 10, thereby improving the movement accuracy of the entire finger module 100, and effectively avoiding excessive rotation of the connecting rod member 40, thereby preventing damage to components caused by excessive movement.

[0056] In some embodiments, friction rings 34 are disposed between the worm 32 and the mounting groove 14 , and between the worm 32 and the through hole 13 .

[0057] When the driving member 31 drives the worm 32 to rotate, the friction between the friction ring 34 and the worm 32, the mounting groove 14 or the through hole 13 will produce a certain damping effect on the rotation of the worm 32. This damping can prevent the worm 32 from losing control of its speed due to a sudden change in power (such as a sudden change in the speed of the output shaft 311 of the driving member 31). For example, when the driving member 31 suddenly accelerates or decelerates, the friction of the friction ring 34 can make the speed of the worm 32 change more slowly, ensuring that the process of power from the driving member 31 to the worm 32, and then transmitted to the finger joint assembly 20 through the worm wheel 33 and the connecting rod member 40 is more stable, thereby making the movement of the finger module 100 more stable.

[0058] Since the friction ring 34 can adjust the rotation speed and position of the worm 32, the power transmission of the entire finger module 100 is more stable, thereby improving the motion accuracy of the finger module 100. In addition, by buffering the collision and friction between the worm 32 and the through hole 13 and the mounting groove 14, the friction ring 34 effectively protects these components, reduces their wear, avoids component damage or uncontrolled movement caused by impact, and improves the reliability and adaptability of the finger module 100.

[0059] In some embodiments, a partition groove 41 is provided at one end of the link member 40 away from the knuckle assembly 20 , and mounting holes 42 are respectively configured on opposite sides of the partition groove 41 of the link member 40 ;

[0060] The worm wheel 33 is rotatably connected to the second installation cavity 12 via the first rotating shaft 43 . The worm wheel 33 is installed in the partition groove 41 . The first rotating shaft 43 passes through the worm wheel 33 and both ends of the first rotating shaft 43 are respectively installed in the corresponding installation holes 42 .

[0061] The partition groove 41 provided on the first rod segment 401 provides installation space for the worm gear 33, so that the worm gear 33 can be placed therein, and the originally relatively independent driving assembly 30 and connecting rod member 40 are more closely integrated in space, reducing the space interval and unnecessary connection structure between the components, making the structure of the entire finger module 100 more compact. This compact structure is conducive to integrating more functional components in a limited space, or allowing the finger module 100 to occupy a smaller space when installed on a robot or other equipment, which is convenient for the miniaturization design and layout optimization of the overall equipment.

[0062] Furthermore, the stable connection between the worm wheel 33 and the first rod segment 401 by means of the first rotating shaft 43 ensures stability during the power transmission process. Specifically, the two ends of the first rotating shaft 43 are precisely installed in the mounting hole 42, so that the worm wheel 33 can stably drive the first rod segment 401 to rotate when rotating, avoiding problems such as power transmission interruption and transmission angle deviation caused by loose connection or loose installation, ensuring the reliability of the entire transmission link from the drive assembly 30 to the rotation of the finger joint, making the movement of the finger module 100 more stable and accurate, and helping to improve the performance of the finger module 100 during long-term work.

[0063] In some embodiments, the knuckle assembly 20 includes a first knuckle 21 and a second knuckle 22, the first knuckle 21 is rotatably connected to the finger base 10, the second knuckle 22 is rotatably connected to the first knuckle 21, the first knuckle 21 is hollow, the connecting rod member 40 passes through the first knuckle 21, and one end of the connecting rod member 40 is transmission-connected to the worm gear 33, and the other end is connected to the second knuckle 22.

[0064] In this embodiment, the knuckle assembly 20 is composed of a first knuckle 21 and a second knuckle 22. The first knuckle 21 is rotatably connected to the finger base 10, which lays a foundation for the movement of the entire knuckle assembly 20 relative to the finger base 10, so that the first knuckle 21 can rotate around the connection point with the finger base 10, simulating the flexion and extension of the joints at the connection between the fingers and the palm of the human hand. The second knuckle 22 is rotatably connected to the first knuckle 21, further increasing the relative movement flexibility between the knuckles, allowing the second knuckle 22 to rotate relative to the first knuckle 21, just like the multiple joints of the fingers of the human hand move in coordination with each other. Such a double-layer rotation connection structure together constructs the basic framework of the finger module 100 to simulate the complex finger movements of the human hand.

[0065] The first knuckle 21 is hollow, providing a space passage for the connecting rod member 40 to pass through. One end of the connecting rod member 40 is connected to the worm gear 33 for transmission, and receives power from the drive assembly 30. When the worm gear 33 rotates, the power is transmitted through the connecting rod member 40. Since the connecting rod member 40 passes through the first knuckle 21 and is connected to the second knuckle 22, its rotational movement will drive the second knuckle 22 to rotate relative to the first knuckle 21. In addition, the rotational connection relationship between the first knuckle 21 and the finger base 10, and the second knuckle 22 and the first knuckle 21, enables the entire knuckle assembly 20 to achieve orderly and coherent flexion and extension movements under the drive of the connecting rod member 40, converting the power transmitted from the drive assembly 30 into flexible movement of the knuckles, and finally realizing the functions of grasping and operating the finger module 100.

[0066] Furthermore, the hollow setting of the first finger joint 21 cleverly utilizes the internal space, allowing the connecting rod member 40 to pass through it, thereby avoiding the overall structure of the finger module 100 becoming bulky due to the additional external installation space for the connecting rod member 40. This compact structural layout not only makes the finger module 100 more concise in appearance, but also facilitates the integrated installation of multiple finger modules 100 in the limited space of the manipulator hand, which is conducive to the miniaturization of the manipulator hand and the optimization of the overall layout, and improves the space utilization rate.

[0067] In some embodiments, the first knuckle 21 is pin-connected to the finger base 10; and / or,

[0068] The link member 40 is pin-connected to the finger base 10; and / or,

[0069] The link member 40 is pin-connected to the second knuckle 22; and / or,

[0070] The second finger joint 22 is pin-connected to the first finger joint 21 .

[0071] In this embodiment, the pin connection method gives the components the flexibility of relative rotation. Whether it is the first finger joint 21 relative to the finger base 10, or the connecting rod member 40 and other components, or the second finger joint 22 and the first finger joint 21, they can all rotate freely around the pin within a certain angle range. This flexibility makes the finger mechanism more natural and smooth when simulating the flexion and extension of the human hand, and can better meet the needs of grasping objects of different shapes, sizes and textures. For example, when grasping a spherical object, each finger joint can be flexibly rotated to fit the surface of the object to achieve a stable grasp.

[0072] During the assembly process of the finger module 100, the pin connection operation is relatively simple. Workers only need to align the corresponding pin holes on each component and insert the pin to complete the connection, which helps to improve the efficiency of production and assembly and reduce assembly costs. Moreover, during subsequent use, if a pin connection part is worn out and needs to be repaired or replaced, it can also be easily disassembled and reinstalled, which facilitates the maintenance of the entire finger module 100 and extends its service life.

[0073] In some embodiments, the connection between the first knuckle 21 and the finger base 10 forms a first connection position, the connection between the connecting rod member 40 and the finger base 10 forms a second connection position, the connection between the connecting rod member 40 and the second knuckle 22 forms a third connection position, and the connection between the second knuckle 22 and the first knuckle 21 forms a fourth connection position. The first connection position, the second connection position, the third connection position and the fourth connection position are arranged in a quadrilateral.

[0074] The quadrilateral layout constrains the position and angle of each component in space. Taking the first knuckle 21 and the second knuckle 22 as an example, due to the existence of the fourth connection position and its being in the quadrilateral layout, the rotation angle range of the second knuckle 22 relative to the first knuckle 21 will be limited by this layout, and excessive rotation beyond the design expectation will not occur, thereby ensuring the accuracy and stability of the movement of the finger module 100.

[0075] Similarly, in the connection between the connecting rod member 40 and the finger base 10 and the second finger joint 22, the quadrilateral layout where the second connection position and the third connection position are located limits the swing angle, displacement, etc. in space to a certain range, thereby making the motion trajectory of the entire finger module 100 more predictable and more in line with design requirements, and facilitating operations such as precise grasping of objects of different shapes. For example, when grasping a rectangular object, each finger joint can accurately adjust the angle and position within the motion range limited by the quadrilateral layout to fit the surface of the object.

[0076] In this embodiment, the quadrilateral layout constructs a relatively stable structural form, making the relative movement between each connection position more orderly and stable. During the repeated flexion and extension of the finger module 100, the force transmission and movement connection between the components are carried out under this layout framework, reducing the unstable factors such as shaking and offset caused by the uncoordinated movement between the components, and can more reliably complete tasks such as grasping and operation, especially when working continuously for a long time, it can still maintain a good movement state, improving the overall performance and service life of the finger mechanism.

[0077] Please refer to Figure 3 and Figure 6In some embodiments, the connecting rod member 40 includes a first rod segment 401 and a second rod segment 402 connected to each other, the length of the first rod segment 401 is greater than the length of the second rod segment 402, and a preset angle is formed between the first rod segment 401 and the second rod segment 402, and one end of the first rod segment 401 away from the second rod segment 402 is transmission-connected to the worm gear 33, and one end of the second rod segment 402 away from the first rod segment 401 is connected to the second finger joint 22.

[0078] In this embodiment, the connecting rod member 40 is composed of a first rod segment 401 and a second rod segment 402 that are connected to each other, and a preset angle is formed between the two. This design with an angle enables it to transmit power at a specific angle relationship during the transmission process, change the direction and magnitude of the force, and better meet the complex movement requirements of the finger module 100. In addition, the length of the first rod segment 401 is greater than the length of the second rod segment 402, so that the force can be amplified or reduced and the angle can be effectively adjusted during the power transmission process. According to the principle of lever, when the driving component 30 acts on the longer end of the first rod segment 401, a larger torque can be obtained at the shorter end of the second rod segment 402, thereby enhancing the gripping force of the finger module 100.

[0079] The present application also provides a manipulator, including a palm module and at least one of the above-mentioned finger modules 100, wherein at least one of the finger modules 100 is connected to the palm module. Since the manipulator adopts all the technical solutions of all the embodiments of the above-mentioned finger modules 100, the manipulator of the present invention also has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0080] The present application also provides a robot, including the above-mentioned manipulator. Since the robot adopts all technical solutions of all embodiments of the above-mentioned finger module 100, the robot of the present invention also has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0081] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A finger module for a robot, characterized in that: The finger module comprises: Finger base; a knuckle assembly, the knuckle assembly being rotatably connected to the finger base; A driving assembly, the driving assembly comprising a driving member, a worm and a worm wheel, the driving member being arranged on the finger base and having an output shaft extending into the interior of the finger base, the worm being arranged in the finger base and connected to the output shaft, and the worm wheel being meshingly connected to the worm; A connecting rod member, one end of which is drivingly connected to the worm gear, and the other end of which is drivingly connected to the knuckle assembly; Wherein, the driving member is configured to: drive the worm to rotate, and drive the connecting rod member to rotate through the worm gear, so as to drive the finger joint assembly to rotate relative to the finger base; The finger joint assembly includes a first finger joint and a second finger joint, the first finger joint is rotatably connected to the finger base, the second finger joint is rotatably connected to the first finger joint, the first finger joint is hollow, the connecting rod member passes through the first finger joint, and one end of the connecting rod member is connected to the worm gear transmission, and the other end is connected to the second finger joint; The connecting rod member comprises a first rod segment and a second rod segment connected to each other, the length of the first rod segment is greater than the length of the second rod segment, and a preset angle is formed between the first rod segment and the second rod segment, one end of the first rod segment away from the second rod segment is connected to the worm gear transmission, and one end of the second rod segment away from the first rod segment is connected to the second finger joint; The output shaft of the driving member is arranged along a first direction, and the worm and the worm wheel are arranged in a second direction, and the second direction is perpendicular to the first direction; The finger base is provided with a first installation cavity and a second installation cavity which are connected and arranged along the second direction, the first installation cavity is used to install the output shaft and the worm, and the second installation cavity is used to install the worm wheel; The finger base is provided with a through hole and a mounting groove communicating with the first mounting cavity along the first direction, the through hole and the mounting groove are arranged opposite to each other at an interval, the through hole is used for the output shaft to pass through the first mounting cavity, and the mounting groove is used for accommodating the free end of the output shaft; Friction rings are provided between the worm and the mounting groove, and between the worm and the through hole.

2. The finger module according to claim 1, characterized in that: The finger base is provided with a limiting groove which is communicated with the second mounting cavity and is used to prevent the connecting rod member from rotating. Both side walls of the limiting groove which are located on the rotating track of the connecting rod member are provided with limiting end surfaces which are used to limit the rotating range of the connecting rod member.

3. The finger module according to claim 1, characterized in that: The connecting rod member is provided with a partition groove at one end away from the finger joint assembly, and the connecting rod member is respectively configured with mounting holes on two opposite sides of the partition groove; The worm wheel is rotatably connected to the second mounting cavity via a first rotating shaft. The worm wheel is mounted in the partition groove. The first rotating shaft passes through the worm wheel and both ends of the first rotating shaft are respectively mounted in the corresponding mounting holes.

4. A robot, characterized in that: The invention comprises a palm module and at least one finger module according to any one of claims 1 to 3, wherein the at least one finger module is connected to the palm module.

5. A robot, characterized in that: Comprising the robot as described in claim 4.

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