Dexterous hand of robot and robot

Abstract

The invention discloses a dexterous hand of a robot and the robot. The dexterous hand of the robot comprises a palm, a plurality of finger assemblies and a flow guide fan. The palm comprises a hollow shell and a circuit board located in an inner cavity of the shell and used for installing electronic devices, an air inlet hole and a plurality of installing holes are formed in the shell, and the installing holes are located in the front side of the shell and arranged in the width direction of the shell. The finger assemblies are located on the front side of the palm and correspond to the mounting holes one to one, the rear ends of the finger assemblies penetrate through the mounting holes and then are connected to the shell, and air outlet gaps are formed between the finger assemblies and the peripheries of the mounting holes; the flow guide fan is arranged in the inner cavity of the shell, an air inlet of the flow guide fan faces the air inlet hole in the shell, and an air outlet of the flow guide fan faces the air outlet gap. According to the invention, the temperature rise in the shell is reduced, and the electronic devices on the circuit board can be always kept in a normal working state.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a dexterous hand of a robot and the robot. Background Art

[0002] The dexterous hands of humanoid robots generally imitate human hands, and are provided with a palm and multiple finger assemblies. The dexterous hands are usually provided with multiple movable joints to enable the dexterous hands to perform complex and delicate tasks. In order to accurately control each movable joint, relevant electronic devices need to be configured inside the dexterous hands to realize functions such as pressure detection at the far end of the finger assembly, control of joint rotation angle, and power supply of the drive mechanism. Due to limited space on the finger assembly, electronic devices are usually installed inside the palm of the dexterous hands. With the continuous improvement of the accuracy of dexterous hands and the continuous expansion of usage scenarios, a larger number of electronic devices need to be configured inside the dexterous hands. Some electronic devices will generate heat during operation. A relatively dense layout will cause a large temperature rise inside the palm, which will affect the normal operation of the electronic devices, resulting in unstable working state of the dexterous hands and even functional failure. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a robot's dexterous hand and a robot to solve the problem of excessive temperature rise inside the palm of the dexterous hand in the prior art.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The robot's dexterous hand includes a palm, multiple finger assemblies, and a guide fan;

[0006] The palm includes a hollow shell, a circuit board located in the inner cavity of the shell for mounting electronic devices, an air inlet hole connected to the inner cavity of the shell, and a plurality of mounting holes connected to the inner cavity of the shell, wherein the plurality of mounting holes are located at the front side of the shell and arranged along the width direction of the shell;

[0007] The plurality of finger assemblies are located on the front side of the palm and correspond to the plurality of mounting holes one by one. The rear end of the finger assembly passes through the corresponding mounting hole and is connected to the housing, and an air outlet gap is formed between the finger assembly and the periphery of the mounting hole.

[0008] The guide fan is placed in the inner cavity of the shell, with the air inlet of the guide fan facing the air inlet hole on the shell, and the air outlet facing the air outlet gap, so that the guide fan can introduce air outside the shell into the inner cavity of the shell from the air inlet hole, and make the air in the inner cavity of the shell flow out of the shell through the air outlet gap.

[0009] According to the dexterous hand of the robot according to the embodiment of the present invention, the guide fan introduces external low-temperature air from the air inlet hole into the inner cavity of the shell, and the low-temperature air exchanges heat with the heat-generating electronic components on the circuit board in the inner cavity of the shell. At the same time, the guide fan is used to send the hot air in the inner cavity of the shell to the outside of the shell through the air outlet gap at the mounting hole, thereby reducing the temperature rise inside the shell and keeping the internal environment of the shell at a relatively low temperature at all times, thereby ensuring that the electronic components on the circuit board can always maintain a normal working state. In addition, since the air outlet gap is formed by utilizing the mounting hole for assembling the finger assembly and the shell, there is no need to open other air outlet channels on the shell, making the structure of the shell relatively simple.

[0010] In a preferred embodiment, the housing includes an upper housing and a lower housing located below the upper housing, and the upper housing and the lower housing are detachably fixed together. The upper housing and the lower housing are detachably fixed together by snapping. The upper housing and the lower housing are detachably fixed together, which can facilitate the installation of a guide fan and a circuit board inside the housing, and facilitates the assembly of the finger assembly and the housing.

[0011] In a preferred embodiment, the air inlet is provided on the upper shell, and the inner surface of the upper shell is provided with an annular convex rib surrounding the air inlet. The guide fan includes a hood and blades installed inside the hood. The edge of the hood is butted against the lower end surface of the annular convex rib and is detachably fixed to the annular convex rib. The air inlet of the guide fan is located at the top of the hood and is connected to the air inlet through an air guide channel surrounded by the annular convex rib. The air outlet of the guide fan is located at the front side of the hood. During assembly, the guide fan can be assembled to the upper shell in advance, and then the upper shell and the lower shell are assembled, so as to facilitate the installation of the guide fan. The guide fan is directly butted against the annular convex rib, and the air inlet is connected to the air inlet of the guide fan by using the air guide channel surrounded by the annular convex rib. There is no need to arrange pipelines for the guide fan, which simplifies the structure inside the shell.

[0012] In a preferred embodiment, the air inlet hole is composed of a plurality of through holes arranged on the upper shell, and the plurality of through holes are all located in the area surrounded by the annular convex rib. The air inlet hole is arranged as a plurality of small-sized through holes, which can prevent large particles of impurities from entering the interior of the guide fan, thereby protecting the guide fan and the electronic components inside the housing.

[0013] In a preferred embodiment, a positioning column extending downward is provided on the bottom surface of the annular convex rib, a positioning groove is provided on the shroud of the air guide fan, the positioning column is embedded in the positioning groove, and the positioning column and the shroud of the air guide fan are fixedly connected together by screws. The positioning column and the positioning groove can position and prevent the air guide fan from being misaligned, ensuring that the air inlet of the air guide fan faces upward and the air outlet faces the front side, so as to facilitate the rapid assembly of the air guide fan and the upper shell.

[0014] In a preferred embodiment, the finger assembly includes a proximal finger joint, a distal finger joint, a connecting arm and a driving assembly, wherein the distal finger joint is connected to the front end of the proximal finger joint, the connecting arm is located in the inner cavity of the shell, the front end of the connecting arm passes through the mounting hole and is connected to the rear end of the proximal finger joint, the driving assembly is installed on the connecting arm to drive the proximal finger joint to swing up and down relative to the connecting arm, and the air outlet gap is located between the outer peripheral surface of the connecting arm and the periphery of the mounting hole. The proximal finger joint is connected to the shell through the connecting arm of the finger assembly, which can facilitate the assembly of the finger assembly and the shell, and the air outlet gap is formed on the front side of the shell after the connecting arm passes through the mounting hole, and the relatively flat surface of the connecting arm can guide the air to ensure that the air can flow smoothly from the inside of the shell to the outside.

[0015] In a preferred embodiment, an air guide plate is provided between any two adjacent finger assemblies inside the housing, and the air guide plate is arranged between the air outlet of the air guide fan and the air outlet gap. The air guide plate can guide the airflow so that the hot air in the inner cavity of the housing can smoothly flow to the air outlet gap through the side of the air guide plate.

[0016] In a preferred embodiment, an air guide surface is formed on both sides of the air guide plate, and the two air guide surfaces intersect at one end close to the air outlet of the air guide fan, and the distance between the two air guide surfaces gradually increases in the direction of the air guide fan toward the air outlet gap. The air guide plate is set to be conical, and the air guide surface and the air guide surface are used to guide the air flow from the two sides of the air guide plate to the two adjacent mounting holes, thereby accelerating the flow of air, accelerating the exchange of air inside and outside the shell, and improving the heat dissipation efficiency.

[0017] In a preferred embodiment, more than two air guide fans are arranged along the width direction of the housing. Arranging multiple air guide fans side by side inside the housing can further speed up the air exchange rate inside and outside the housing and improve the heat dissipation efficiency.

[0018] A robot, including the dexterous hand of the robot described above.

[0019] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the assembly of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the present invention;

[0022] Figure 3 for Figure 1 Schematic diagram of the assembly of the middle finger assembly and the housing;

[0023] Figure 4A top view of the present invention;

[0024] Figure 5 for Figure 1 Schematic diagram of the structure of the middle guide fan;

[0025] Figure 6 for Figure 1 Schematic diagram of the structure of the middle and upper shell.

[0026] In the figure: 10, shell; 11, upper shell; 110, air inlet; 111, annular rib; 112, air guide channel; 113, positioning column; 12, lower shell; 121, mounting hole; 13, air guide plate; 131, air guide surface; 132, air guide surface; 20, finger assembly; 21, proximal finger joint; 22, distal finger joint; 23, connecting arm; 24, driving assembly; 30, guide fan; 31, hood; 311, positioning groove; 32, blade; 33, air inlet; 34, air outlet. DETAILED DESCRIPTION

[0027] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figure 1-6 As shown, a dexterous hand of a robot of the present invention comprises a palm, a plurality of finger assemblies 20, and a guide fan 30. The palm comprises a hollow shell 10 and a circuit board. The circuit board is located in the inner cavity of the shell 10. The electronic components of the dexterous hand are all mounted on the circuit board. An air inlet 110 connected to the inner cavity of the shell 10 and a plurality of mounting holes 121 connected to the inner cavity of the shell 10 are arranged on the shell 10. The plurality of mounting holes 121 are arranged along the width direction of the shell 10. The plurality of finger assemblies 20 are located on the front side of the palm. The plurality of finger assemblies 20 are arranged one-to-one with the plurality of mounting holes 121. The rear end of the finger assembly 20 passes through the corresponding mounting hole 121 and is connected to the shell 10 in the inner cavity of the shell 10. In this way, the finger assembly 20 is connected to the shell 10. The palm is connected, and an air outlet gap is formed between the part of the finger assembly 20 placed inside the mounting hole 121 and the periphery of the mounting hole 121; the guide fan 30 is installed in the inner cavity of the shell 10, and the air inlet 33 of the guide fan 30 faces the air inlet hole 110 of the shell 10, and the air outlet 34 of the guide fan 30 faces the air outlet gap. In this way, the guide fan 30 can be used to introduce the air outside the shell 10 from the air inlet hole 110 into the inner cavity of the shell 10, and at the same time, the air in the inner cavity of the shell 10 is blown out to the outside of the shell 10 through the air outlet gap. That is to say, by guiding the air through the guide fan 30, the low-temperature air outside the shell 10 can be allowed to enter the inner cavity of the shell 10, and the hot air in the inner cavity of the shell 10 can be discharged to the outside of the shell 10.

[0032] When the dexterous hand of the robot of the present invention is working, the guide fan 30 introduces external low-temperature air into the inner cavity of the shell 10 from the air inlet hole 110, and the low-temperature air exchanges heat with the heat-generating electronic components on the circuit board in the inner cavity of the shell 10. At the same time, the guide fan 30 is used to send the hot air in the inner cavity of the shell 10 through the air outlet gap at the mounting hole 121 to the outside of the shell 10, thereby reducing the temperature rise inside the shell 10 and keeping the internal environment of the shell 10 at a relatively low temperature, thereby ensuring that the electronic components on the circuit board can always maintain a normal working state. In addition, since the air outlet gap is formed by using the mounting hole 121 where the finger assembly 20 and the shell 10 are assembled, there is no need to open other air outlet channels on the shell 10, so that the structure of the shell 10 is relatively simple.

[0033] In a preferred embodiment, the housing 10 includes an upper housing 11 and a lower housing 12, wherein the lower housing 12 is located below the upper housing 11, and the two housings can be detachably fixed together by screws, or mutually matching buckles are provided on the upper housing 11 and the lower housing 12, and the upper housing 11 and the lower housing 12 are detachably fixed together by snapping. The upper housing 11 and the lower housing 12 are detachably fixed together, which can facilitate the installation of the guide fan 30 and the circuit board inside the housing 10, and facilitate the assembly of the finger assembly 20 and the housing 10.

[0034] The air inlet 110 is arranged on the upper shell 11, and the inner surface of the upper shell 11 is provided with an annular rib 111 surrounding the air inlet 110, and the annular rib 111 forms an air guide channel 112; the guide fan 30 includes a hood 31 and blades 32 installed inside the hood 31, the air inlet 33 of the guide fan 30 is located on the top surface of the hood 31, and the air outlet 34 is located on the front side of the hood 31, the edge of the hood 31 is connected to the lower end surface of the annular rib 111 and is detachably fixed to the annular rib 111, the air inlet 110 and the air inlet 33 of the guide fan 30 are connected by the air guide channel 112 surrounded by the annular rib 111, and the air outlet 34 located on the front side of the hood 31 is set to face the front side, and then the air outlet 34 faces the air outlet gap at the mounting hole 121. The guide fan 30 is installed on the upper shell 11. During assembly, the guide fan 30 can be assembled to the upper shell 11 in advance, and then the upper shell 11 and the lower shell 12 are assembled, so as to facilitate the installation of the guide fan 30. The guide fan 30 is directly docked on the annular rib 111, and the air guide channel 112 surrounded by the annular rib 111 is used to connect the air inlet 110 with the air inlet 33 of the guide fan 30. There is no need to arrange pipelines for the guide fan 30 separately, which simplifies the structure inside the shell 10.

[0035] The air inlet 110 is composed of a plurality of through holes arranged on the upper shell 11, and the plurality of through holes are all located in the area surrounded by the annular convex rib 111. The air inlet 110 is arranged as a plurality of small-sized through holes, which can prevent large particles of impurities from entering the interior of the guide fan 30, and protect the guide fan 30 and the electronic components inside the housing 10. Of course, a notch equivalent to the inner diameter of the annular convex rib 111 can also be opened on the upper shell 11, and a dustproof net can be installed on the notch, and the air inlet is formed through the plurality of small holes on the dustproof net.

[0036] A positioning column 113 extending downward is provided on the bottom surface of the annular rib 111, and a positioning groove 311 is provided on the cover 31 of the air guide fan 30. The positioning column 113 is embedded in the positioning groove 311, and the positioning column 113 and the cover 31 of the air guide fan 30 are fixedly connected together by screws. The positioning column 113 and the positioning groove 311 can position and prevent the air guide fan 30, ensuring that the air inlet 33 of the air guide fan 30 faces upward and the air outlet 34 faces the front side, so as to facilitate the rapid assembly of the air guide fan 30 and the upper shell 11.

[0037] The finger assembly 20 includes a proximal knuckle 21, a distal knuckle 22, a connecting arm 23, and a driving assembly 24. The distal knuckle 22 is connected to the front end of the proximal knuckle 21. The connecting arm 23 is located in the inner cavity of the housing 10. The front end of the connecting arm 23 protrudes from the front side of the housing 10 after passing through the mounting hole 121. The rear end of the proximal knuckle 21 is connected to the front end of the connecting arm 23. The driving assembly 24 is installed on the connecting arm 23, which is used to drive the proximal knuckle 21 to swing up and down relative to the connecting arm 23, thereby enabling the proximal knuckle 21 and the distal knuckle 22 to move up and down relative to the palm. Swing, after the connecting arm 23 is inserted into the mounting hole 121, the above-mentioned air outlet gap is formed by the outer peripheral surface of the connecting arm 23 and the peripheral edge of the mounting hole 121. For example, the height of the mounting hole 121 can be set to be greater than the thickness of the connecting arm 23, so that after the connecting arm 23 is fixed to the housing 10 by abutting against the lower edge of the mounting hole 121, the air outlet gap is located between the lower edge of the mounting hole 121 and the upper surface of the connecting arm 23, or the width of the mounting hole 121 is set to be greater than the width of the connecting arm 23, so that the air outlet gap is located on one side or both sides of the connecting arm 23. The proximal knuckle 21 of the connecting arm 23 of the finger assembly 20 is connected to the housing 10, which can facilitate the assembly of the finger assembly 20 and the housing 10, and the air outlet gap is formed on the front side of the housing 10 after the connecting arm 23 passes through the mounting hole 121. The relatively flat surface of the connecting arm 23 can guide the air, ensuring that the air can flow smoothly from the inside of the housing 10 to the outside.

[0038] An air guide plate 13 is provided between any two adjacent finger assemblies 20 inside the housing 10. The air guide plate 13 is arranged between the air outlet 34 of the air guide fan 30 and the air outlet gap. The air guide plate 13 can guide the airflow so that the hot air in the inner cavity of the housing 10 can smoothly flow to the air outlet gap through the side of the air guide plate 13. The air guide plate 13 can be integrally formed and connected to the inner wall surface of the upper housing 11.

[0039] An air guide surface 131 and an air guide surface 132 are respectively formed on both sides of the air guide plate 13, and the air guide surface 131 and the air guide surface 132 intersect at one end close to the air outlet 34 of the guide fan 30, and the distance between the air guide surface 131 and the air guide surface 132 gradually increases in the direction of the air outlet gap of the guide fan 30; the air guide plate 13 is set to be conical, and the air guide surface 131 and the air guide surface 132 are used to guide the airflow from both sides of the air guide plate 13 to the two adjacent mounting holes 121, thereby accelerating the flow of air, accelerating the exchange of air inside and outside the shell 10, and improving the heat dissipation efficiency.

[0040] Two or more air guide fans 30 are arranged inside the housing 10, and the two or more air guide fans 30 are arranged along the width direction of the housing 10. Arranging multiple air guide fans 30 side by side inside the housing 10 can further speed up the air exchange rate inside and outside the housing 10 and improve the heat dissipation efficiency.

[0041] The robot of the present invention includes the dexterous hand of the robot described above, and other structures of the robot are the same as those in the prior art and will not be described in detail here.

[0042] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0043] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. A dexterous robot hand, characterized in that: Including palm, multiple finger components, and air guide fan; The palm includes a hollow shell, a circuit board located in the inner cavity of the shell for mounting electronic devices, an air inlet hole connected to the inner cavity of the shell, and a plurality of mounting holes connected to the inner cavity of the shell, wherein the plurality of mounting holes are located at the front side of the shell and arranged along the width direction of the shell; The plurality of finger assemblies are located on the front side of the palm and correspond to the plurality of mounting holes one by one. The rear end of the finger assembly passes through the corresponding mounting hole and is connected to the housing, and an air outlet gap is formed between the finger assembly and the periphery of the mounting hole. The guide fan is placed in the inner cavity of the shell, with the air inlet of the guide fan facing the air inlet hole on the shell, and the air outlet facing the air outlet gap, so that the guide fan can introduce air outside the shell into the inner cavity of the shell from the air inlet hole, and make the air in the inner cavity of the shell flow out of the shell through the air outlet gap.

2. The dexterous hand of the robot according to claim 1, characterized in that: The shell comprises an upper shell and a lower shell located below the upper shell, and the upper shell and the lower shell are detachably fixed together.

3. The dexterous hand of the robot as claimed in claim 2, characterized in that: The air inlet is arranged on the upper shell, and the inner surface of the upper shell is provided with an annular rib surrounding the air inlet. The guide fan includes a hood and blades installed inside the hood. The edge of the hood is connected to the lower end surface of the annular rib and is detachably fixed to the annular rib. The air inlet of the guide fan is located at the top of the hood and is connected to the air inlet through an air guide channel surrounded by the annular rib. The air outlet of the guide fan is located on the front side of the hood.

4. The dexterous hand of the robot as claimed in claim 3, characterized in that: The air inlet hole is composed of a plurality of through holes arranged on the upper shell, and the plurality of through holes are all located in the area surrounded by the annular convex rib.

5. The dexterous hand of the robot as claimed in claim 3, characterized in that: A positioning column extending downward is arranged on the bottom surface of the annular convex rib, a positioning groove is arranged on the cover of the air guide fan, the positioning column is embedded in the positioning groove, and the positioning column and the cover of the air guide fan are fixedly connected together by screws.

6. The dexterous hand of the robot as claimed in claim 3, characterized in that: The finger assembly includes a proximal knuckle, a distal knuckle, a connecting arm and a driving assembly. The distal knuckle is connected to the front end of the proximal knuckle. The connecting arm is located in the inner cavity of the shell. The front end of the connecting arm passes through the mounting hole and is connected to the rear end of the proximal knuckle. The driving assembly is installed on the connecting arm to drive the proximal knuckle to swing up and down relative to the connecting arm. The air outlet gap is located between the outer peripheral surface of the connecting arm and the periphery of the mounting hole.

7. The dexterous hand of the robot as claimed in claim 1, characterized in that: An air guide plate is provided between any two adjacent finger assemblies inside the shell, and the air guide plate is arranged between the air outlet and the air outlet gap of the guide fan.

8. The dexterous hand of the robot according to claim 7, characterized in that: An air guide surface is formed on both sides of the air guide plate, and the two air guide surfaces intersect at one end close to the air outlet of the air guide fan. In the direction of the air guide fan toward the air outlet gap, the distance between the two air guide surfaces gradually increases.

9. The dexterous hand of the robot as claimed in claim 1, characterized in that: It includes two or more air guide fans arranged along the width direction of the housing.

10. A robot, characterized in that A dexterous hand comprising a robot as described in any one of claims 1-9.

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