Finger assembly and humanoid robot

Abstract

The present application provides a finger assembly and a humanoid robot, and relates to the field of robot technology. Among them, the finger assembly includes a bracket, a finger member, a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly, the second drive assembly, and the third drive assembly are arranged on the bracket and connected to the finger member, and can drive the finger member to move in three degrees of freedom. The first drive member, the second drive member, and the third drive member are located outside the finger member, so as not to occupy the space inside the finger member, so as to make the structure of the finger member more compact, so that the finger member can move more flexibly. When the first drive member, the second drive member, and the third drive member fail and need to be disassembled for maintenance, the first drive member, the second drive member, and the third drive member can be easily disassembled from the bracket without disassembling the finger member, thereby reducing the difficulty of disassembly and maintenance of the finger assembly.

Description

Technical Field

[0001] The present application relates to a finger assembly and a humanoid robot, and belongs to the technical field of robots. Background Art

[0002] Humanoid robots are a vigorously developed project in the robotics industry because their shape is closer to the human body and the actions they can perform are more diverse and complex. In particular, the fingers of humanoid robots need to be movable in more directions to achieve more complex actions.

[0003] At present, in order to perform more complex and rich movements, the mechanism that drives the finger movement is relatively complex, which leads to a complex and non-compact structure of the robot finger part. Summary of the invention

[0004] The present application provides a finger assembly and a humanoid robot, which solves the problem of the non-compact structure of the finger part of the robot in the related art.

[0005] In a first aspect, the present application provides a finger assembly, comprising:

[0006] Bracket;

[0007] The finger member comprises a first finger segment and a second finger segment, wherein the first finger segment is rotatably connected to the bracket, and the second finger segment is rotatably connected to an end of the first finger segment away from the bracket;

[0008] A first driving assembly includes a first driving member and a first transmission member, wherein the first driving member is disposed on the bracket, the first transmission member is connected to the first driving member and the first finger segment respectively, and the first driving member is configured to drive the first finger segment to rotate relative to the bracket around a first axis through the first transmission member;

[0009] a second driving assembly, comprising a second driving member and a second transmission member, wherein the second driving member is disposed on the bracket, the second transmission member is connected to the second driving member and the second finger segment respectively, and the second driving member is configured to drive the second finger segment to rotate relative to the first finger segment around a second axis through the second transmission member;

[0010] A third driving assembly, comprising a third driving member and a third transmission member, wherein the third driving member is disposed on the bracket, the third transmission member is connected to the third driving member and the first finger segment respectively, and the third driving member is configured to drive the first finger segment to rotate relative to the bracket around a third axis through the third transmission member;

[0011] The first axis, the second axis and the third axis are perpendicular to each other, and when the second finger segment rotates around the second axis, the angle between the second finger segment and the first finger segment increases or decreases.

[0012] In some embodiments, the bracket includes a first frame and a second frame, the first frame and the second frame are opposite to each other and spaced apart, and at least part of the first driving member, at least part of the second driving member and at least part of the third driving member are located between the first frame and the second frame.

[0013] In some embodiments, the first transmission member includes a transmission block and a transmission support, the transmission support is rotatably disposed between the first frame and the second frame, and the transmission support is opposite to the first driving member, and the first finger segment is connected to the transmission support;

[0014] The transmission block is rotatably connected to the transmission support, and the transmission block is connected to the first driving member, and the first driving member is configured to drive the transmission block to move in a direction perpendicular to the first axis to drive the transmission support to rotate around the first axis.

[0015] In some embodiments, the first driving member includes a first output shaft, the first output shaft is rotatable, and the first output shaft is a screw structure, the transmission block is sleeved on the first output shaft, and the transmission block is a threaded structure, when the first output shaft rotates, the transmission block moves along the axial direction of the first output shaft, and the axis of the first output shaft is perpendicular to the first axis.

[0016] In some embodiments, the first driving member further includes a driving body and a connecting sleeve, the first output shaft is connected to the driving body, the connecting sleeve is sleeved on the driving body, and the connecting sleeve is rotatably connected to the first frame and the second frame respectively.

[0017] In some embodiments, the second driving member and the first driving member are disposed on different sides of the bracket, and a length direction of the second driving member intersects with a length direction of the first driving member.

[0018] In some embodiments, the second driving member includes a second output shaft, which is rotatable. The second output shaft passes through the transmission support and is connected to the second transmission member to drive the second finger segment to rotate around the second axis. The axis of the second output shaft is perpendicular to the axis of the first output shaft.

[0019] In some embodiments, the second transmission member includes a second driving wheel and a second driven wheel, the second driving wheel is connected to the second output shaft, the first finger segment is connected to the second finger segment through a second rotating shaft, the second driven wheel is connected to the second rotating shaft, and the second driven wheel is in transmission cooperation with the second driving wheel, and the axis of the second driven wheel is the second axis.

[0020] In some embodiments, the second transmission member also includes a second connecting rod, the second driving wheel is arranged in the transmission support, the second connecting rod is passed through the first finger segment, one end of the second connecting rod is in transmission cooperation with the second driving wheel, and the other end of the second connecting rod is in transmission cooperation with the second driven wheel.

[0021] In some embodiments, the second driving wheel is a bevel gear, the second driven wheel is a worm gear, the end of the second connecting rod that cooperates with the second driving wheel is a bevel gear, and the end of the second connecting rod that cooperates with the second driven wheel is a worm.

[0022] In some embodiments, the third driving member and the second driving member are disposed on the same side of the bracket, and a length direction of the third driving member is parallel to a length direction of the second driving member.

[0023] In some embodiments, the third driving member includes a third output shaft, which is rotatable. The third output shaft passes through the transmission support and is connected to the third transmission member to drive the first finger segment to rotate around the third axis. The axis of the third output shaft is parallel to the axis of the second output shaft.

[0024] In some embodiments, the third transmission member includes a third driving wheel and a third driven wheel, the third driving wheel is connected to the third driving member, the third driven wheel is arranged on the first finger segment, and at least part of the third driven wheel is located in the transmission support, the third driving wheel is matched with the third driven wheel, and the axis of the third driven wheel is the third axis.

[0025] In some embodiments, the third transmission member also includes a connecting member, which is inserted through the transmission support, one end of the connecting member is in transmission cooperation with the third driving wheel, and the other end of the connecting member is in transmission cooperation with the third driven wheel, the axis of the connecting member is perpendicular to the axis of the third driven wheel, and the axis of the connecting member is parallel to the axis of the third driving wheel.

[0026] In some embodiments, the connecting member is sleeved on the second driving wheel.

[0027] In some embodiments, the third transmission member also includes a transmission belt, the third driving wheel and one end of the connecting member are transmission wheels, the transmission belt is sleeved on the third driving wheel and one end of the connecting member, and the other end of the third driven wheel and the connecting member are bevel gears.

[0028] In some embodiments, the finger member also includes a third finger segment and a third connecting rod, the third finger segment is rotatably connected to one end of the second finger segment facing away from the first finger segment, and both ends of the third connecting rod are rotatably connected to the first finger segment and the third finger segment respectively, when the second finger segment rotates around the second axis, the third connecting rod drives the third finger segment to rotate around a direction parallel to the second axis.

[0029] In some embodiments, the finger assembly also includes a connecting seat, which is detachably disposed on the second frame, and the connecting seat is used to connect the arm assembly of the humanoid robot. The connecting seat is provided with a threading hole, and the threading hole passes through the connecting seat along the direction from the second frame to the connecting seat.

[0030] In a second aspect, based on the above finger assembly, the present application also provides a humanoid robot, comprising the above finger assembly.

[0031] In the finger assembly provided by the present application, the first driving member cooperates with the first transmission member to drive the finger member to rotate around the first axis, the second driving member cooperates with the second transmission member to drive the second finger segment to rotate relative to the first finger segment around the second axis, and the third driving member cooperates with the third transmission member to drive the finger member to rotate around the third axis. In this way, the finger member can have multiple degrees of freedom of movement and can move in multiple directions, so that the finger member can make precise and complex movements. The first driving member, the second driving member and the third driving member are arranged on the bracket, so that the first driving member, the second driving member and the third driving member are located outside the finger member, so as not to occupy the space inside the finger member, so that the structure of the finger member is more compact, so that the finger member is more flexible. When the first driving member, the second driving member and the third driving member fail and need to be disassembled for maintenance, the first driving member, the second driving member and the third driving member can be easily disassembled from the bracket without disassembling the finger member, thereby reducing the difficulty of disassembly and maintenance of the finger assembly.

[0032] The humanoid robot of the present application includes the above-mentioned finger assembly, so that the finger part of the robot can achieve more complex and flexible movements, while also reducing the difficulty of disassembly and maintenance of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of a finger assembly according to an embodiment of the present application;

[0035] Figure 2 A schematic top view of a finger assembly according to an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the internal structure of a finger assembly according to an embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of the exploded structure of the finger assembly according to an embodiment of the present application;

[0038] Figure 5 A schematic diagram of a first driving assembly of a finger assembly according to an embodiment of the present application;

[0039] Figure 6 It is a schematic diagram of a first finger segment of a finger assembly according to an embodiment of the present application before rotating around a first axis;

[0040] Figure 7 It is a schematic diagram of a first finger segment of a finger assembly according to an embodiment of the present application after rotating around a first axis;

[0041] Figure 8 A schematic diagram of a second driving assembly of a finger assembly according to an embodiment of the present application;

[0042] Fig. 9 It is a schematic diagram of the second finger segment of the finger assembly of the embodiment of the present application before rotating around the second axis;

[0043] Fig.10 It is a schematic diagram of the second finger segment of the finger assembly according to the embodiment of the present application after rotating around the second axis;

[0044] Fig.11 is a schematic diagram of a third driving assembly of a finger assembly according to an embodiment of the present application;

[0045] Fig.12 A schematic diagram of the connection between the connecting base of the finger assembly and the second frame according to an embodiment of the present application;

[0046] Fig.13 Schematic diagram of a connection base of a finger assembly according to an embodiment of the present application.

[0047] Reference numerals:

[0048] 100- bracket, 110- first frame, 120- second frame, 130- cavity,

[0049] 200-finger member, 210-first finger segment, 220-second finger segment, 230-third finger segment, 240-third connecting rod,

[0050] 300-first drive assembly, 310-first drive member, 311-drive body, 312-connecting sleeve, 313-first output shaft, 320-first transmission member, 321-transmission block, 322-transmission support,

[0051] 400 - second driving assembly, 410 - second driving member, 411 - second output shaft, 420 - second transmission member, 421 - second driving wheel, 422 - second driven wheel, 423 - second connecting rod,

[0052] 500-third driving assembly, 510-third driving member, 511-third output shaft, 520-third transmission member, 521-third driving wheel, 522-third driven wheel, 523-connecting member, 524-transmission belt,

[0053] 600-connecting seat, 610-first connecting plate, 620-second connecting plate, 630-threading hole. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] Humanoid robots are a vigorously developed project in the robotics industry because their shape is closer to the human body and the actions they can perform are more diverse and complex. In particular, the fingers of humanoid robots need to be movable in more directions to achieve more complex actions.

[0056] At present, in order to perform more complex and rich movements, the mechanism that drives the finger movement is relatively complex, which leads to a complex and non-compact structure of the robot finger part.

[0057] In the finger assembly proposed in the present application, the first driving member cooperates with the first transmission member to drive the finger member to rotate around the first axis, the second driving member cooperates with the second transmission member to drive the second finger segment to rotate relative to the first finger segment around the second axis, and the third driving member cooperates with the third transmission member to drive the finger member to rotate around the third axis. In this way, the finger member can have multiple degrees of freedom of movement and can move in multiple directions, so that the finger member can make precise and complex movements. The first driving member, the second driving member and the third driving member are arranged on the bracket, so that the first driving member, the second driving member and the third driving member are located outside the finger member, so as not to occupy the space inside the finger member, so that the structure of the finger member is more compact, and the finger member is more flexible. When the first driving member, the second driving member and the third driving member fail and need to be disassembled for maintenance, the first driving member, the second driving member and the third driving member can be easily disassembled from the bracket without disassembling the finger member, thereby reducing the difficulty of disassembly and maintenance of the finger assembly.

[0058] The robot of the present application includes the above-mentioned finger assembly, so that the finger part of the robot can achieve more complex and flexible movements, while also reducing the difficulty of disassembly and maintenance of the robot.

[0059] The finger assembly and humanoid robot provided by the present application are described in detail below in conjunction with specific embodiments.

[0060] This application proposes a finger assembly, referring to Figures 1 to 4 As shown, it includes a bracket 100, a finger member 200, a first driving assembly 300, a second driving assembly 400 and a third driving assembly 500. The finger assembly can be applied to a robot.

[0061] Among them, the bracket 100 is the basic component of the finger assembly of the present application. The bracket 100 can provide a mounting base for at least some of the other components of the finger assembly and protect at least some of the other components. The bracket 100 can be made of metal material, so that the bracket 100 has better structural strength, thereby making the durability and reliability of the bracket 100 better. Of course, the bracket 100 can also be made of polymer material, so that the bracket 100 has a certain structural strength and is relatively light in weight.

[0062] The finger member 200 includes a first finger segment 210 and a second finger segment 220, wherein the first finger segment 210 is rotatably connected to the bracket 100 so that the first finger segment 210 can be driven to rotate relative to the bracket 100, and the second finger segment 220 is rotatably connected to the first finger segment 210 so that the second finger segment 220 can be driven to rotate relative to the first finger segment 210. In this way, the finger member 200 can have multiple degrees of freedom, making the movement of the finger member 200 more flexible and diverse.

[0063] The first driving assembly 300 includes a first driving member 310 and a first transmission member 320. The first driving member 310 is disposed on the bracket 100 so that the first driving member 310 can be fixedly installed. The first transmission member 320 is connected to the first driving member 310, and the first transmission member 320 is also connected to the first finger segment 210 of the finger member 200. After the first driving member 310 is started, the first transmission member 320 can control the first finger segment 210 to rotate relative to the bracket 100 around the first axis, so that the finger member 200 as a whole can rotate relative to the bracket 100 around the first axis, so that the finger member 200 can make a rotational motion, so that the first finger segment 210 and the second finger segment 220 of the finger member 200 have at least one degree of freedom.

[0064] The first driving member 310 is arranged on the bracket 100, so that the first driving member 310 is not directly connected to the finger member 200, so that the first driving member 310 does not occupy the space inside and on the surface of the finger member 200, so that the structure of the finger member 200 can be arranged more compactly, and the finger member 200 can be made more flexible. When the first driving member 310 fails and needs to be disassembled for maintenance, the first driving member 310 can be directly disassembled from the bracket 100 without disassembling the finger member 200. In this way, the disassembly and maintenance process of the first driving member 310 is simple and convenient, and the convenience and efficiency of the disassembly and maintenance process of the first driving member 310 are improved.

[0065] The second driving assembly 400 includes a second driving member 410 and a second transmission member 420. The second driving member 410 is disposed on the bracket 100 so that the second driving member 410 can be fixedly installed. The second transmission member 420 is connected to the second driving member 410, and the second transmission member 420 is also connected to the second finger segment 220 of the finger member 200. After the second driving member 410 is started, the second finger segment 220 can be controlled by the second transmission member 420 to rotate around the second axis relative to the first finger segment 210, and in this process, the angle between the second finger segment 220 and the first finger segment 210 can be reduced or increased, so that the second finger segment 220 can be bent relative to the first finger segment 210 to change the angle between the two. The second axis intersects with the first axis, so that the first driving assembly 300 and the second driving assembly 400 can drive the second finger segment 220 to rotate in different directions, so that the second finger segment 220 has at least two degrees of freedom.

[0066] The second driving member 410 is arranged on the bracket 100, so that the second driving member 410 is not directly connected to the finger member 200, so that the second driving member 410 does not occupy the space inside and on the surface of the finger member 200, so that the structure of the finger member 200 can be arranged more compactly, and the finger member 200 can be made more flexible. When the second driving member 410 fails and needs to be disassembled for maintenance, the second driving member 410 can be directly disassembled from the bracket 100 without disassembling the finger member 200. In this way, the disassembly and maintenance process of the second driving member 410 is simple and convenient, and the convenience and efficiency of the disassembly and maintenance process of the second driving member 410 are improved.

[0067] The third driving assembly 500 includes a third driving member 510 and a third transmission member 520. The third driving member 510 is disposed on the bracket 100 so that the third driving member 510 can be fixedly installed. The third transmission member 520 is connected to the third driving member 510, and the third transmission member 520 is also connected to the first finger segment 210 of the finger member 200. After the third driving member 510 is started, the third transmission member 520 can control the first finger segment 210 to rotate relative to the bracket 100 around the third axis, so that the finger member 200 as a whole can rotate relative to the bracket 100 around the third axis, so that the finger member 200 can make a rotational movement. The third axis intersects with the first axis and the second axis, so that the first driving assembly 300, the second driving assembly 400 and the third driving assembly 500 can drive the second finger segment 220 to rotate in different directions, so that the second finger segment 220 has at least three degrees of freedom. The first driving assembly 300 and the third driving assembly 500 can drive the first finger segment 210 to rotate in different directions, so that the first finger segment 210 has at least two degrees of freedom. Thus, the finger member 200 can have three degrees of freedom, so that the finger member 200 can move more flexibly and diversely, increasing the applicable scenarios of the finger assembly of the present application.

[0068] The third driving member 510 is arranged on the bracket 100, so that the third driving member 510 is not directly connected to the finger member 200, so that the third driving member 510 does not occupy the space inside and on the surface of the finger member 200, so that the structure of the finger member 200 can be arranged more compactly, and the finger member 200 can be moved more flexibly. When the third driving member 510 fails and needs to be disassembled for maintenance, the third driving member 510 can be directly disassembled from the bracket 100 without disassembling the finger member 200. In this way, the disassembly and maintenance process of the third driving member 510 is simple and convenient, and the convenience and efficiency of the disassembly and maintenance process of the third driving member 510 are improved.

[0069] Therefore, the first driving member 310, the second driving member 410 and the third driving member 510 of the present application will not occupy the space of the finger member 200, so that the finger member 200 does not need to have an excessively large internal space to carry and install the first driving member 310, the second driving member 410 and the third driving member 510. In this way, the structure of the finger member 200 can be more compact, and the finger member 200 is more flexible and convenient when rotating around the first axis, the second axis and the third axis.

[0070] In some embodiments, reference Figures 2 to 4 As shown, the bracket 100 of the present application may include a first frame 110 and a second frame 120, and the first frame 110 and the second frame 120 are arranged opposite to each other and spaced apart. Accordingly, an inner cavity may be formed between the first frame 110 and the second frame 120, and the inner cavity is a hollow structure in the bracket 100, and other at least partial components for installing the finger assembly may be arranged in the inner cavity of the bracket 100.

[0071] At least a portion of the first driving member 310, at least a portion of the second driving member 410 and at least a portion of the third driving member 510 are arranged between the first frame 110 and the second frame 120, so that the first driving member 310, the second driving member 410 and the third driving member 510 can utilize the space between the first frame 110 and the second frame 120, which can reduce the volume of the first driving member 310, the second driving member 410 and the third driving member 510 protruding outside the bracket 100, thereby making the structure of the finger assembly of the present application more compact.

[0072] In addition, when it is necessary to disassemble the first driving member 310, the second driving member 410 and the third driving member 510, the first frame 110 and the second frame 120 can be disassembled and separated, thereby conveniently removing the first driving member 310, the second driving member 410 and the third driving member 510 from the first frame 110 and the second frame 120, thereby further simplifying the disassembly process of the first driving member 310, the second driving member 410 and the third driving member 510.

[0073] In some embodiments, reference Figures 3 to 7As shown, in order to enable the first transmission member 320 to convert the power output by the first driving member 310 into the power for the first finger segment 210 to rotate relative to the bracket 100, the first transmission member 320 may be provided with a transmission block 321 and a transmission support 322. The transmission support 322 is rotatably arranged between the first frame 110 and the second frame 120, and the transmission support 322 is opposite to the first driving member 310. Specifically, the opposite sides of the transmission support 322 may be provided with a cylindrical convex block structure, the first frame 110 and the second frame 120 may be provided with corresponding openings, and the convex block structures on both sides of the transmission support 322 may be embedded in the openings of the first frame 110 and the second frame 120, so that the transmission support 322 can be mounted on the first frame 110 and the second frame 120 bracket 100, so that the transmission support 322 can rotate relative to the first frame 110 and the second frame 120.

[0074] The transmission member is rotatably connected to the transmission support 322, and the transmission member is also connected to the first driving member 310. The first driving member 310 is configured to drive the transmission block 321 to move in a direction perpendicular to the first axis. When the transmission block 321 moves in a direction perpendicular to the first axis, the transmission member can convert part of the force of its linear movement into a force driving the transmission support 322 to rotate along the first axis, so that the transmission support 322 can rotate around the first axis relative to the bracket 100. Correspondingly, the first finger segment 210 connected to the transmission support 322 can rotate around the first axis relative to the bracket 100. Finally, the finger member 200 can rotate around the first axis relative to the bracket 100. The finger member 200 can be rotated by Figure 6 The state shown in the figure is turned to Figure 7 The status shown in .

[0075] In some embodiments, reference Figures 3 to 5 As shown, in order to enable the first driving member 310 to drive the transmission block 321 to move in a direction perpendicular to the first axis, the first driving member 310 may be provided with a first output shaft 313, the axis of the first output shaft 313 is perpendicular to the first axis, the first output shaft 313 is rotatable, and the first output shaft 313 is a screw structure. Specifically, the first driving member 310 may be an electric screw member. The transmission block 321 is sleeved on the first output shaft 313, and the transmission block 321 is a threaded structure. Specifically, the inner wall of the transmission block 321 in contact with the first output shaft 313 is provided with a thread that matches the thread on the surface of the first output shaft 313, so that when the first output shaft 313 rotates in a clockwise direction or a counterclockwise direction, the transmission block 321 can move normally or reversely along the axis of the first output shaft 313, and accordingly, the transmission support 322 can rotate clockwise or counterclockwise around the first axis, so that the finger member 200 can also rotate in the reverse direction to reset after rotating around the first axis by a certain angle.

[0076] In some embodiments, reference Figures 3 to 5 As shown, the first driving member 310 of the present application may also be provided with a driving body 311 and a connecting sleeve 312, the driving body 311 is connected to the first output shaft 313, and the driving body 311 can drive the first output shaft 313 to rotate. Specifically, a motor may be provided in the driving body 311, and the driving body 311 may be connected to an external power source to power the motor. Of course, a battery may also be provided in the driving body 311 to directly power the battery, and this application does not limit this. The connecting sleeve 312 is sleeved on the driving body 311, and the connecting sleeve 312 is rotatably connected to the first frame 110 and the second frame 120, so that the driving body 311 can be fixed between the first frame 110 and the second frame 120, so that the first driving member 310 can be more stably provided on the bracket 100.

[0077] Specifically, the connecting sleeve 312 is located between the first frame 110 and the second frame 120, and correspondingly, at least part of the driving body 311 is also located between the first frame 110 and the second frame 120, and the first output shaft 313 is also located between the first frame 110 and the second frame 120. In this way, at least part of the first driving member 310 can be located inside the bracket 100, so that the structure of the finger assembly of the present application is compact.

[0078] In some embodiments, reference Figures 1 to 4 As shown, in order to further make the structure of the finger assembly of the present application more compact, the second driving member 410 and the first driving member 310 of the present application can be arranged on different sides of the bracket 100, and the length direction of the second driving member 410 intersects with the length direction of the first driving member 310. In this way, the first driving member 310 can occupy the space between the first frame 110 and the second frame 120 in one direction, and the second driving member 410 can occupy the space between the first frame 110 and the second frame 120 in another direction, so that the first driving member 310 and the second driving member 410 can fully utilize the space in the bracket 100 for installation, and finally make the structure of the finger assembly of the present application more compact, and avoid the finger assembly being too large in size in a certain direction and not compact.

[0079] Specifically, the first frame 110 and the second frame 120 can adopt plate structures, the length direction of the first driving member 310 can be set to be parallel to the length directions of the first frame 110 and the second frame 120, and the length direction of the second driving member 410 can be set to be perpendicular to the length direction of the first driving member 310. Accordingly, the second driving member 410 can be set perpendicular to the plate surface of the first frame 110 and the second frame 120.

[0080] In some embodiments, reference Figure 3 to Figure 4 ,as well as Figures 8 to 10As shown, the second driving member 410 of the present application may be provided to include a second output shaft 411, the axis of the second output shaft 411 is perpendicular to the axis of the first output shaft 313, and the second output shaft 411 is rotatable. The second output shaft 411 is connected to the second transmission member 420. After the second output shaft 411 rotates, the second transmission member 420 can convert the rotational force of the second output shaft 411 into a force that causes the second finger segment 220 to rotate relative to the first finger segment 210 around the second axis. When the second output shaft 411 rotates in a clockwise direction or a counterclockwise direction, the second finger segment 220 can rotate clockwise or counterclockwise around the second axis, so that the second finger segment 220 can rotate in the opposite direction to reset after rotating around the second axis for a certain angle.

[0081] Specifically, the second output shaft 411 passes through the transmission support 322 and is connected to the second transmission member 420 , so that the transmission support 322 can also play a role in fixing and supporting the second output shaft 411 , thereby making the structure of the second output shaft 411 more stable.

[0082] In some embodiments, reference Figure 3 to Figure 4 ,as well as Figures 8 to 10 As shown, in order to enable the second transmission member 420 to convert the rotational force of the second output shaft 411 into the rotational force driving the second finger segment 220 to rotate relative to the first finger segment 210, the second transmission member 420 can be configured to include a second driving wheel 421 and a second driven wheel 422. The second driving wheel 421 is connected to the second output shaft 411, so that the second output shaft 411 can drive the second driving wheel 421 to rotate. The second finger segment 220 is connected to the first finger segment 210 through the second rotating shaft, so that the second finger segment 220 can rotate relative to the first finger segment 210, the second driven wheel 422 is connected to the second rotating shaft, and the second driven wheel 422 is in transmission cooperation with the second driving wheel 421, and the axis of the second driven wheel 422 is the second axis. When the second output shaft 411 drives the second driving wheel 421 to rotate, it can drive the second driven wheel 422 to rotate, thereby driving the second rotating shaft to rotate, and finally driving the second finger segment 220 to rotate relative to the first finger segment 210 around the second axis.

[0083] By providing the second driving wheel 421 and the second driven wheel 422 that match each other, the second driving member 410 can drive the second finger segment 220 to rotate around the second axis when the second output shaft 411 is not provided on the finger member 200 but is spaced apart from the finger member 200. In this way, only part of the second transmission member 420 needs to be provided on the finger member 200 to enable the second finger segment 220 to rotate around the second axis, so that the structure of the finger member 200 can be more compact, thereby making the structure of the finger assembly of the present application more compact.

[0084] In some embodiments, reference Figure 3 to Figure 4 ,as well as Figures 8 to 10As shown, in order to make the second driving wheel 421 and the second driven wheel 422 cooperate in transmission, the second transmission member 420 of the present application may also be provided with a second connecting rod 423. The second connecting rod 423 is penetrated through the first finger segment 210, so that the second connecting rod 423 can be arranged in the first finger segment 210, so that the first finger segment 210 can cover at least part of the second connecting rod 423 therein, thereby achieving the purpose of protecting the second connecting rod 423. The second driving wheel 421 can be arranged on the transmission support 322, so that the transmission support 322 can play a role in supporting and fixing the second driving wheel 421. Accordingly, the second output shaft 411 does not bear the main weight of the second driving wheel 421, thereby reducing the pressure on the second output shaft 411, so that the second driving member 410 drives the second driving wheel 421 to rotate more stably and reliably. One end of the second connecting rod 423 can be inserted into the transmission support 322 and cooperate with the second driving wheel 421, and the other end of the second connecting rod 423 can cooperate with the second driven wheel 422. In this way, there can be a certain distance between the second driving wheel 421 and the second driven wheel 422, and the structure of the second driving wheel 421 and the second driven wheel 422 can be set more compact.

[0085] In some embodiments, reference Figure 3 to Figure 4 and Figures 8 to 10 As shown, the second driving wheel 421 of the present application is a bevel gear, the second driven wheel 422 is a worm gear, the end of the second connecting rod 423 that cooperates with the second driving wheel 421 is a bevel gear, and the end of the second connecting rod 423 that cooperates with the second driven wheel 422 is a worm. After the second driving wheel 421 rotates, it can drive the second connecting rod 423 to rotate, and after the second connecting rod 423 rotates, it can correspondingly drive the second driven wheel 422 to rotate, so that the second finger segment 220 can rotate relative to the first finger segment 210. The axis of the second driving wheel 421 is perpendicular to the axis of the second connecting rod 423, and accordingly, the second connecting rod 423 is perpendicular to the second output shaft 411, so that the parts of the second driving assembly 400 can be prevented from extending in one direction, and the structure of the second driving assembly 400 can be compact.

[0086] In some embodiments, reference Figures 1 to 4 As shown, the third driving member 510 and the second driving member 410 of the present application can be arranged on the same side of the bracket 100, and accordingly, the third driving assembly 500 and the first driving assembly 300 are located on different sides of the bracket 100. Arranging the third driving assembly 500 and the second driving assembly 400 on the same side of the bracket 100 can make the third driving assembly 500 and the second driving assembly 400 arranged close to each other, so that the structure of multiple driving assemblies arranged on the bracket 100 can be more compact, which is conducive to the overall compactness of the structure of the finger assembly of the present application.

[0087] The length direction of the third driving member 510 can be set to be parallel to the length direction of the second driving member 410. Accordingly, the length direction of the third driving member 510 intersects with the length direction of the first driving member 310. The first driving member 310 can occupy the space between the first frame 110 and the second frame 120 in one direction, and the third driving member 510 can occupy the space between the first frame 110 and the second frame 120 in another direction, so that the first driving member 310 and the third driving member 510 can fully utilize the space in the bracket 100 for installation, and finally make the structure of the finger assembly of the present application more compact, avoiding the finger assembly being too large and not compact in a certain direction.

[0088] In some embodiments, reference Figure 2 , Figure 3 , Figure 4 and Fig.11 As shown, the third driving member 510 of the present application may be provided with a third output shaft 511, the axis of the third output shaft 511 is parallel to the axis of the second output shaft 411, and the axis of the third output shaft 511 is perpendicular to the axis of the first output shaft 313, and the third output shaft 511 is rotatable. The third output shaft 511 is connected to the third transmission member 520. After the third output shaft 511 rotates, the third transmission member 520 can convert the rotational force of the third output shaft 511 into a force that causes the first finger segment 210 to rotate relative to the bracket 100 around the third axis, so that the finger member 200 as a whole can rotate relative to the bracket 100 around the third axis. When the third output shaft 511 rotates in the clockwise direction or counterclockwise direction, the first finger segment 210 can rotate clockwise or counterclockwise around the third axis, so that the first finger segment 210 can rotate around the third axis after a certain angle and can also rotate in the opposite direction to reset.

[0089] Specifically, the third output shaft 511 passes through the transmission support 322 and is connected to the third transmission member 520 , so that the transmission support 322 can also play a role in fixing and supporting the third output shaft 511 , thereby making the structure of the third output shaft 511 more stable.

[0090] In some embodiments, reference Figure 2 , Figure 3 , Figure 4 and Fig.11As shown, in order to enable the third transmission member 520 to convert the rotational force of the third output shaft 511 into the rotational force driving the first finger segment 210 to rotate relative to the bracket 100, the third transmission member 520 can be configured to include a third driving wheel 521 and a third driven wheel 522. The third driving wheel 521 is connected to the third output shaft 511, so that the third output shaft 511 can drive the third driving wheel 521 to rotate. The third driven wheel 522 is connected to the first finger segment 210, and the third driven wheel 522 is in transmission cooperation with the third driving wheel 521, and the axis of the third driven wheel 522 is the third axis. When the third output shaft 511 drives the third driving wheel 521 to rotate, it can drive the third driven wheel 522 to rotate, and drive the first finger segment 210 to rotate relative to the transmission support 322 around the third axis, so that the finger member 200 can rotate around the third axis as a whole.

[0091] By providing the matched third driving wheel 521 and the third driven wheel 522, the third driving member 510 can drive the first finger segment 210 to rotate around the third axis when the third output shaft 511 is not provided on the finger member 200 but is spaced apart from the finger member 200. In this way, only part of the third transmission member 520 needs to be provided on the finger member 200 to make the third finger segment 230 rotate around the third axis, so that the structure of the finger member 200 can be more compact, thereby making the structure of the finger assembly of the present application more compact.

[0092] In some embodiments, reference Figure 2 , Figure 3 , Figure 4 and Fig.11 As shown, in order to make the third driving wheel 521 and the third driven wheel 522 cooperate in transmission, the third transmission member 520 of the present application may also be provided with a connecting member 523. At least part of the third driven wheel 522 is located in the transmission support 322, and the connecting member 523 is penetrated through the transmission support 322, so that one end of the connecting member 523 can be matched and connected with the third driven wheel 522 in the transmission support 322, so that the transmission support 322 can cover at least part of the third driven wheel 522 therein, thereby protecting the third driven wheel 522. The third driving wheel 521 can be arranged on the bracket 100, so that the bracket 100 can play the role of supporting and fixing the third driving wheel 521, and accordingly, the third output shaft 511 does not bear the main weight of the third driving wheel 521, so that the pressure on the third output shaft 511 can be reduced, so that the third driving member 510 drives the third driving wheel 521 to rotate more stably and reliably. The other end of the connecting member 523 is in transmission cooperation with the third driving wheel 521 , so that there can be a certain distance between the third driving wheel 521 and the third driven wheel 522 , and the structure of the third driving wheel 521 and the third driven wheel 522 can be set more compactly.

[0093] Specifically, the connecting member 523 may include a rod-shaped portion, a first connecting gear portion located at a first end of the rod-shaped portion, and a second connecting gear portion located at a second end of the rod-shaped portion. The first end of the rod-shaped portion is close to the third driving wheel 521, so that the first connecting gear portion can be in transmission cooperation with the third driving wheel 521. The second end of the rod-shaped portion is close to the third driven wheel 522, so that the second connecting gear portion can be in transmission cooperation with the third driven wheel 522.

[0094] The axis of the connecting member 523 is perpendicular to the axis of the third driven wheel 522, and the axis of the connecting member 523 is parallel to the axis of the third driving wheel 521. In this way, the third driven wheel 522 and the third driving wheel 521 can be distributed at different positions of the bracket 100, avoiding the third driven wheel 522 and the third driving wheel 521 being concentrated on one side of the bracket 100, which would cause the local structure of the finger assembly of the present application to be too bloated.

[0095] In some embodiments, reference Figure 2 , Figure 3 , Figure 4 and Fig.11 As shown, in order to make the third driving assembly 500 of the present application more compact, a connecting member 523 can be set to be sleeved on the second driving wheel 421, and the connecting member 523 can rotate relative to the second driving wheel 421, so that the connecting member 523 and the second driving wheel 421 can be centrally arranged, thereby saving the internal space of the bracket 100 and the transmission support 322, so that the finger assembly structure of the present application is more compact. Specifically, a bearing can be set between the connecting member 523 and the second driving wheel 421, so that the connecting member 523 and the second driving wheel 421 can rotate relative to each other.

[0096] The third transmission member 520 of the present application may also be provided with a transmission belt 524. The third driving wheel 521 and the first connecting gear portion in the connecting member 523 are both transmission wheels. The transmission belt 524 may be sleeved on the third driving wheel 521 and the first connecting gear portion in the connecting member 523, so that the third driving wheel 521 can drive the connecting member 523 to rotate after rotating.

[0097] The third driven wheel 522 and the second connecting gear portion of the connecting member 523 can be set as a bevel gear, so that when the axis of the connecting member 523 is perpendicular to the third driven wheel 522, the connecting member 523 can drive the third driven wheel 522 to rotate after rotating, thereby driving the first finger segment 210 to rotate around the transmission support 322.

[0098] In some embodiments, reference Figures 1 to 3As shown, the finger member 200 of the present application may also be provided with a third finger segment 230 and a third connecting rod 240, and the third finger segment 230 is rotatably connected to one end of the second finger segment 220 away from the first finger segment 210. The two ends of the third connecting rod 240 are rotatably connected to the third finger segment 230 and the first finger segment 210, respectively, so that when the second finger segment 220 rotates relative to the first finger segment 210 around the second axis, the third connecting rod 240 can drive the third finger segment 230 to rotate relative to the second finger segment 220 around a direction parallel to the second axis, so that the movement of the finger member 200 when bending is closer to the natural movement of bending of human fingers.

[0099] In some embodiments, reference Figure 12 to Figure 13 As shown, the finger assembly of the present application may also be provided with a connection seat 600, and the finger assembly of the present application may be connected to the arm assembly of the humanoid robot through the connection seat 600. Specifically, the connection seat 600 may be provided on the second frame 120, so that the connection seat 600 may avoid the second driving member 410 and the third driving member 510, making the structure of the finger assembly of the present application more compact. The connection seat 600 and the second frame 120 may be connected by threads, and correspondingly, the connection seat 600 and the outer shell of the arm assembly may also be connected by threads. The connection seat 600 may also be provided with a threading hole 630, and the threading hole 630 passes through the connection seat 600 in the direction from the second frame 120 to the connection seat 600, and the wire used to electrically connect the finger assembly and the arm assembly may be passed through the threading hole 630.

[0100] The connection seat 600 may include a first connection piece 610 and a second connection piece 620 , and the first connection piece 610 and the second connection piece 620 are connected to form the connection seat.

[0101] Based on the above finger assembly, the present application also proposes a humanoid robot, comprising the above finger assembly.

[0102] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0103] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0104] It should be easily understood that “on,” “above,” and “over” in this application should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above something” or “over,” but also may include the meaning of “above something” or “over” with no intervening features or layers therebetween.

[0105] In addition, spatially relative terms, such as "below," "below," "below," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations, and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger assembly, characterized in that: include: Bracket; The finger member comprises a first finger segment and a second finger segment, wherein the first finger segment is rotatably connected to the bracket, and the second finger segment is rotatably connected to an end of the first finger segment away from the bracket; A first driving assembly includes a first driving member and a first transmission member, wherein the first driving member is disposed on the bracket, the first transmission member is connected to the first driving member and the first finger segment respectively, and the first driving member is configured to drive the first finger segment to rotate relative to the bracket around a first axis through the first transmission member; The first transmission member includes a transmission block and a transmission support, the transmission support is opposite to the first driving member, and the first finger segment is connected to the transmission support; the first driving member includes a first output shaft, and the transmission block is sleeved on the first output shaft; a second driving assembly, comprising a second driving member and a second transmission member, wherein the second driving member is disposed on the bracket, the second transmission member is connected to the second driving member and the second finger segment respectively, and the second driving member is configured to drive the second finger segment to rotate relative to the first finger segment around a second axis through the second transmission member; The second driving member comprises a second output shaft, the second output shaft is rotatable, the second output shaft is passed through the transmission support, and is connected to the second transmission member to drive the second finger segment to rotate around the second axis, and the axis of the second output shaft is perpendicular to the axis of the first output shaft; The second transmission member further includes a second driving wheel and a second driven wheel, the second driving wheel is connected to the second output shaft, the first finger segment is connected to the second finger segment via a second rotating shaft, the second driven wheel is connected to the second rotating shaft, and the second driven wheel is in transmission cooperation with the second driving wheel, and the axis of the second driven wheel is the second axis; A third driving assembly, comprising a third driving member and a third transmission member, wherein the third driving member is disposed on the bracket, the third transmission member is connected to the third driving member and the first finger segment respectively, and the third driving member is configured to drive the first finger segment to rotate relative to the bracket around a third axis through the third transmission member; The first axis, the second axis and the third axis are perpendicular to each other, and when the second finger segment rotates around the second axis, the angle between the second finger segment and the first finger segment increases or decreases.

2. The finger assembly according to claim 1, characterized in that: The bracket includes a first frame and a second frame, the first frame and the second frame are opposite to each other and spaced apart, and at least part of the first driving member, at least part of the second driving member and at least part of the third driving member are located between the first frame and the second frame.

3. The finger assembly according to claim 2, characterized in that: The transmission support is rotatably disposed between the first frame and the second frame; The transmission block is rotatably connected to the transmission support, and the transmission block is connected to the first driving member, and the first driving member is configured to drive the transmission block to move in a direction perpendicular to the first axis to drive the transmission support to rotate around the first axis; The first output shaft is rotatable, and the first output shaft is a screw structure, and the transmission block is a threaded structure. When the first output shaft rotates, the transmission block moves along the axial direction of the first output shaft, and the axis of the first output shaft is perpendicular to the first axis; The first driving member further comprises a driving body and a connecting sleeve. The first output shaft is connected to the driving body. The connecting sleeve is sleeved on the driving body, and the connecting sleeve is rotatably connected to the first frame and the second frame respectively.

4. The finger assembly according to claim 3, characterized in that: The second driving member and the first driving member are arranged on different sides of the bracket, and the length direction of the second driving member intersects with the length direction of the first driving member.

5. The finger assembly according to claim 4, characterized in that: The second transmission member further comprises a second connecting rod, the second driving wheel is arranged in the transmission support, the second connecting rod is passed through the first finger section, one end of the second connecting rod is in transmission cooperation with the second driving wheel, and the other end of the second connecting rod is in transmission cooperation with the second driven wheel; The second driving wheel is a bevel gear, the second driven wheel is a worm wheel, one end of the second connecting rod that cooperates with the second driving wheel is a bevel gear, and one end of the second connecting rod that cooperates with the second driven wheel is a worm.

6. The finger assembly according to claim 5, characterized in that: The third driving member comprises a third output shaft, the third output shaft is rotatable, the third output shaft is passed through the transmission support, and is connected to the third transmission member to drive the first finger segment to rotate around the third axis, and the axis of the third output shaft is parallel to the axis of the second output shaft; The third transmission member further comprises a third driving wheel and a third driven wheel, the third driving wheel is connected to the third driving member, the third driven wheel is arranged on the first finger segment, and at least part of the third driven wheel is located in the transmission support, the third driving wheel is in transmission cooperation with the third driven wheel, and the axis of the third driven wheel is the third axis; The third transmission member also includes a connecting member, which is inserted into the transmission support, one end of the connecting member is in transmission cooperation with the third driving wheel, and the other end of the connecting member is in transmission cooperation with the third driven wheel, the axis of the connecting member is perpendicular to the axis of the third driven wheel, and the axis of the connecting member is parallel to the axis of the third driving wheel.

7. The finger assembly according to claim 6, characterized in that: The connecting piece is sleeved on the second driving wheel; The third transmission member also includes a transmission belt, the third driving wheel and one end of the connecting member are transmission wheels, the transmission belt is sleeved on the third driving wheel and one end of the connecting member, and the other end of the third driven wheel and the connecting member are bevel gears.

8. The finger assembly according to any one of claims 1 to 7, characterized in that: The finger member also includes a third finger segment and a third connecting rod. The third finger segment is rotatably connected to an end of the second finger segment facing away from the first finger segment. Both ends of the third connecting rod are rotatably connected to the first finger segment and the third finger segment respectively. When the second finger segment rotates around the second axis, the third connecting rod drives the third finger segment to rotate around a direction parallel to the second axis.

9. A humanoid robot, characterized in that: The invention comprises a finger assembly as claimed in any one of claims 1 to 8.

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