Double-output-shaft joint module, dexterous hand and robot

Abstract

The invention discloses a double-output-shaft joint module, a dexterous hand and a robot, and relates to the technical field of dexterous hand joint modules. The double-output-shaft joint module comprises a base, an upper cover, a first output shaft and a second output shaft, a containing cavity is limited by the base and the upper cover, the first output shaft and the second output shaft are arranged in a spaced mode, part of the first output shaft is arranged in the containing cavity, the axial position of the first output shaft is adjustable, and the second output shaft is arranged in the containing cavity. The other end of the first output shaft is used for being rotationally connected with a finger or a joint, part of the second output shaft is arranged in the containing cavity and can be adjusted in the axial direction of the containing cavity, the other end of the second output shaft is used for being rotationally connected with the finger or the joint, and the first output shaft and the second output shaft are connected to the same finger or the same joint. According to the double-output-shaft joint module, through a simplified structure and modular design, under the condition that side-sway control over the connected joints or fingers is achieved, the installation space is reduced, the input cost is reduced, operation is easy, and control is accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hand joint modules, and in particular, to a dual-output shaft joint module, a dexterous hand, and a robot. Background Art

[0002] With the progress of technology, bionic hands have shown great application potential in many fields such as medical rehabilitation, industrial production, aerospace, and service robots. By simulating the structure and function of the human hand, bionic hands provide users with a more natural and flexible operation experience.

[0003] However, in related technologies, there is no unified standard for the driving joint structure. Limited by different design structures, each driving joint is different and is assembled from scattered parts, with a relatively low degree of modularization. In the control of the lateral swing freedom of the dexterous hand fingers, two driving modules are independently driven. The overall volume of the driving structure is large, the installation space is large, and the structure is complex, with a high cost investment, which brings great inconvenience to assembly, maintenance, and replacement, increases the control difficulty of the bionic hand, and reduces the control accuracy. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0005] To this end, an embodiment of the present invention provides a dual-output shaft joint module. Through a streamlined structure and modular design, while realizing the lateral swing control of the connected joint or finger, the installation space is reduced and the input cost is lowered, with simple operation and precise control.

[0006] An embodiment of the present invention further provides a dexterous hand.

[0007] An embodiment of the present invention further provides a robot.

[0008] The dual-output shaft joint module according to the embodiment of the present invention includes:

[0009] A base and an upper cover, the base and the upper cover are detachably connected, and a receiving cavity is defined between the base and the upper cover;

[0010] A first output shaft and a second output shaft, the first output shaft and the second output shaft are parallel and spaced apart. Part of the first output shaft is disposed in the receiving cavity, and the other end of the first output shaft is used for rotational connection with a finger or a joint, and the first output shaft is axially adjustable relative to the receiving cavity. Part of the second output shaft is disposed in the receiving cavity, and the second output shaft is axially adjustable relative to the receiving cavity. The other end of the second output shaft is used for rotational connection with a finger or a joint. The first output shaft and the second output shaft are connected to the same finger or joint.

[0011] The dual output shaft joint module of the embodiment of the present invention reduces the installation space and reduces the investment cost by simplifying the structure and modularizing the design while realizing the lateral swing control of the connected joints or fingers. It is simple to operate and has precise control.

[0012] In some embodiments, a drive assembly is included, which includes a first screw and a second screw. The first output shaft and the second output shaft are respectively fixedly engaged with the accommodating cavity. The first screw is rotatably disposed in the accommodating cavity and spirally engaged with the first output shaft. The second screw is rotatably disposed in the accommodating cavity and spirally engaged with the second output shaft.

[0013] In some embodiments, the driving assembly includes a driving motor disposed in the accommodating chamber, the driving motor being respectively connected to the first screw and the second screw, and the driving motor being used to drive the first screw and the second screw to move simultaneously in the same or opposite directions relative to the accommodating chamber.

[0014] In some embodiments, a driving gear is provided at the output end of the driving motor, a first transmission gear meshing with the driving gear is provided on the first screw, and a second transmission gear meshing with the driving gear is provided on the second screw. The thread rotation direction of the first screw is opposite to that of the second screw, and / or there is a set difference between the thread thread of the first screw and the thread thread of the second screw.

[0015] In some embodiments, the driving unit includes a reduction unit, the reduction unit is arranged at an output end of the driving unit, and the driving gear is arranged at the output end of the reduction unit.

[0016] In some embodiments, a first limiting portion is disposed at one end of the first output shaft located in the accommodating cavity, a first sliding groove is disposed in the accommodating cavity corresponding to the first output shaft, and the first limiting portion is slidably assembled in the first sliding groove.

[0017] In some embodiments, a position measurement unit and an integrated board are included. The position measurement units are provided with two and are respectively arranged corresponding to the first output shaft and the second output shaft. The two position measurement units are respectively used to measure the distance from the first output shaft to the corresponding position measurement unit and the distance from the second output shaft to the corresponding position measurement unit. The integrated board is electrically connected to the measurement unit and the drive motor respectively.

[0018] The dexterous hand of an embodiment of the present invention comprises a finger assembly and a joint module of any of the above embodiments, wherein the finger assembly is rotationally connected to the first output shaft and the second output shaft respectively, and the joint module is used to drive the corresponding finger assembly to swing.

[0019] In some embodiments, the finger assembly includes a plurality of joint units, and a joint module is provided between two adjacent joint units. The joint module is configured to drive one of the two joint units to rotate relative to the other.

[0020] The robot according to an embodiment of the present invention includes the dexterous hand according to any one of the above embodiments. Description of the Drawings

[0021] Figure 1 is a schematic structural view of a dual-output shaft joint module from a first perspective according to an embodiment of the present invention.

[0022] Figure 2 is a schematic structural view of a dual-output shaft joint module from a second perspective according to an embodiment of the present invention.

[0023] Figure 3 is a schematic connection view of a finger assembly and a joint module in a dexterous hand according to an embodiment of the present invention.

[0024] Figure 4 is a schematic structural view of a finger assembly in a dexterous hand according to an embodiment of the present invention.

[0025] Reference Signs:

[0026] Joint module 100;

[0027] Finger assembly 200;

[0028] Base 1;

[0029] Upper cover 2;

[0030] First output shaft 3; First limiting portion 301;

[0031] Second output shaft 4;

[0032] Receiving cavity 5;

[0033] Drive assembly 6; First screw 601; Second screw 602; Drive motor 603; Drive gear 604; First transmission gear 605; Second transmission gear 606; Reduction unit 607;

[0034] Measurement unit 7;

[0035] Integrated board 8;

[0036] Connecting shaft 9;

[0037] First connecting member 10;

[0038] Second connecting member 11;

[0039] Joint unit 12;

[0040] The first driving lug 13; the long hole 1301;

[0041] The second driving lug 14. Specific embodiments

[0042] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] As Figure 1 and Figure 2 As shown, the double-output shaft joint module 100 of the embodiment of the present invention includes a base 1, an upper cover 2, a first output shaft 3, and a second output shaft 4.

[0044] A first cavity is provided in the base 1, and a second cavity is provided in the upper cover 2. The base 1 and the upper cover 2 are connected and fixed by positioning pins and bolts to facilitate the disassembly and installation of the base 1 and the upper cover 2, and ensure the connection reliability between the base 1 and the upper cover 2. When the base 1 and the upper cover 2 are assembled together, the first cavity and the second cavity jointly define an accommodation cavity 5.

[0045] The first output shaft 3 and the second output shaft 4 are arranged in parallel, and there is a set distance between the first output shaft 3 and the second output shaft 4. Part of the first output shaft 3 is assembled in the accommodation cavity 5, and the first output shaft 3 is axially adjustable relative to the accommodation cavity 5. The length of the first output shaft 3 extending out of the accommodation cavity 5 can be adjusted according to the operation requirements. The other end of the first output shaft 3 is used for rotatably connecting with a finger or a joint. Part of the second output shaft 4 is assembled in the accommodation cavity 5, and the second output shaft 4 is axially adjustable relative to the accommodation cavity 5. The length of the second output shaft 4 extending out of the accommodation cavity 5 can be adjusted according to the operation requirements. The other end of the second output shaft 4 is used for rotatably connecting with a finger or a joint. The first output shaft 3 and the second output shaft 4 are connected to the same finger or joint.

[0046] When the double-output shaft joint module of the embodiment of the present invention is in use, the base 1 and the upper cover 2 are connected together, and the lengths of the first output shaft 3 and the second output shaft 4 extending out of the accommodation cavity 5 are adjusted. When the length of the first output shaft 3 extending out of the accommodation cavity 5 is greater than the length of the second output shaft 4 extending out of the accommodation cavity 5, the joint or finger connected to the first output shaft 3 and the second output shaft 4 at the same time rotates towards the side away from the first output shaft 3, thereby realizing the side swing adjustment of the finger or the bending control of the joint. When the length of the first output shaft 3 extending out of the accommodation cavity 5 is less than the length of the second output shaft 4 extending out of the accommodation cavity 5, the joint or finger connected to the first output shaft 3 and the second output shaft 4 at the same time rotates towards the side away from the second output shaft 4, thereby realizing the side swing adjustment of the finger or the bending control of the joint. The adjustment is convenient, safe and reliable, and the control accuracy is high.

[0047] The dual-output shaft joint module according to the embodiments of the present invention can achieve precise control of the lateral swing of the connected joints or fingers through a streamlined structure and modular design. It is simple to operate and precise in control. The overall volume of the joint module 100 is relatively small, reducing the installation space, and the modular components are convenient for unified production and rapid replacement, reducing the input cost.

[0048] In some embodiments, it includes a driving component 6. The driving component 6 includes a first screw 601 and a second screw 602. The first output shaft 3 and the second output shaft 4 are respectively in non-rotating fit with the accommodating cavity 5. The first screw 601 is rotatably arranged in the accommodating cavity 5 and is in screw fit with the first output shaft 3, and the second screw 602 is rotatably arranged in the accommodating cavity 5 and is in screw fit with the second output shaft 4.

[0049] Specifically, as Figure 1 and Figure 2 shown, the driving component 6 includes a first screw 601 and a second screw 602. A first rotating bearing and a second rotating bearing are respectively fixedly arranged in the accommodating cavity 5. The first screw 601 is assembled in the accommodating cavity 5 through the first rotating bearing. The other end of the first screw 601 is in screw fit with the first output shaft 3 through a thread. The second screw 602 is assembled in the accommodating cavity 5 through the second rotating bearing. The other end of the second screw 602 is in screw fit with the second output shaft 4 through a thread. The first screw 601 and the second screw 602 are respectively in non-rotating assembly in the accommodating cavity 5. By controlling the rotation direction of the first screw 601, the movement direction of the first output shaft 3 can be controlled, and by controlling the rotation direction of the second screw 602, the movement direction of the first output shaft 3 can be controlled, which is convenient for operation.

[0050] Optionally, the first rotating bearing is arranged on the side of the first screw 601 away from the first output shaft 3, and the second rotating bearing is arranged on the side of the second screw 602 away from the second output shaft 4. Under the condition that the lengths of the first screw 601 and the second screw 602 are limited, the thread lengths on the first screw 601 and the second screw 602 are increased, thereby increasing the effective adjustment range of the first screw 601 for the first output shaft 3 and the effective adjustment range of the second screw 602 for the second output shaft 4.

[0051] By arranging the first screw 601 and the second screw 602, the support installation of the first output shaft 3 and the second output shaft 4 can be realized while driving the first output shaft 3 and the second output shaft 4 to move, which is convenient for adjusting the positions of the first output shaft 3 and the second output shaft 4, and through the screw fit, it is convenient to precisely control the distance of the movement of the first output shaft 3 and the second output shaft 4.

[0052] In some embodiments, as Figure 1 and Figure 2As shown, the driving assembly 6 includes a driving motor 603 disposed in the accommodating cavity 5. The driving motor 603 is respectively in transmission connection with the first screw rod 601 and the second screw rod 602. The driving motor 603 is used to drive the first screw rod 601 and the second screw rod 602 to move relative to the accommodating cavity 5 simultaneously in the same or opposite directions.

[0053] By arranging the driving motor 603 to drive and convey the first screw rod 601 and the second screw rod 602 simultaneously, the transmission components required for driving the first screw rod 601 and the second screw rod 602 are simplified, the material cost of the module is reduced, and the linkage drive of the first screw rod 601 and the second screw rod 602 is realized. The lateral swing angle of the corresponding joint or finger can be quickly achieved, and the operation is convenient and reliable.

[0054] Optionally, the base 1 and the upper cover 2 are provided with ventilation holes.

[0055] In some embodiments, a driving gear 604 is provided at the output end of the driving motor 603. A first transmission gear 605 meshing with the driving gear 604 is provided on the first screw rod 601. A second transmission gear 606 meshing with the driving gear 604 is provided on the second screw rod 602. The thread helix direction of the first screw rod 601 is opposite to that of the second screw rod 602, and / or there is a set difference between the thread pitches of the first screw rod 601 and the second screw rod 602.

[0056] Specifically, as Figure 1 and Figure 2 shown, the driving motor 603 is fixedly assembled in the accommodating groove and is disposed between the first screw rod 601 and the second screw rod 602. A driving gear 604 is provided at the output end of the driving motor 603. A first transmission gear 605 is provided on the first screw rod 601. A second transmission gear 606 is provided on the second screw rod 602. When the driving motor 603 operates, the driving gear 604 drives the first transmission gear 605 and the second transmission gear 606 to rotate through meshing, and then drives the first screw rod 601 and the second screw rod 602 to rotate. The transmission through gear meshing is reliable, the transmission failure can be avoided, and the stability of the transmission output can be ensured.

[0057] It should be noted that there are the following three situations when selecting the first screw rod 601 and the second screw rod 602:

[0058] The first case: The thread directions of the first screw 601 and the second screw 602 are opposite, and the thread pitches of the first screw 601 and the second screw 602 are the same. When the driving motor 603 drives the driving gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction opposite to the first direction, that is, the rotation directions of the first screw 601 and the second screw 602 are the same at this time. Since the thread directions of the first screw 601 and the second screw 602 are opposite, the first output shaft 3 and the second output shaft 4 move in opposite directions at this time. And because the thread pitches of the first screw 601 and the second screw 602 are the same, the moving speeds of the first output shaft 3 and the second output shaft 4 are the same, thereby realizing the adjustment of the lengths of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5;

[0059] The second case: The thread directions of the first screw 601 and the second screw 602 are the same, and there is a set difference between the thread pitches of the first screw 601 and the second screw 602. When the driving motor 603 drives the driving gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction opposite to the first direction, that is, the rotation directions of the first screw 601 and the second screw 602 are the same. Since the thread directions of the first screw 601 and the second screw 602 are the same, the first output shaft 3 and the second output shaft 4 move in the same direction at this time. However, there is a set difference between the thread pitches of the first screw 601 and the second screw 602, that is, there is a difference in the moving speeds of the first output shaft 3 and the second output shaft 4. After the driving motor 603 rotates for a set time, the difference in the extended lengths of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5 is further increased, thereby realizing the adjustment of the lengths of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5;

[0060] The third case: The thread directions of the first screw 601 and the second screw 602 are opposite, and there is a set difference between the thread pitches of the first screw 601 and the second screw 602. When the driving motor 603 drives the driving gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction opposite to the first direction, that is, the rotation directions of the first screw 601 and the second screw 602 are the same at this time. Since the thread directions of the first screw 601 and the second screw 602 are opposite, the first output shaft 3 and the second output shaft 4 move in opposite directions at this time. There is a set difference between the thread pitches of the first screw 601 and the second screw 602, that is, there is a difference in the moving speeds of the first output shaft 3 and the second output shaft 4. After the driving motor 603 rotates for a set time, the difference in the extended lengths of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5 is further increased, thereby realizing the adjustment of the lengths of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5.

[0061] In some embodiments, such asFigure 1 and Figure 2 As shown in Figure 2 , the driving unit includes a speed reduction unit 607. The speed reduction unit 607 is provided at the output end of the driving unit, and the driving gear 604 is provided at the output end of the speed reduction unit 607.

[0062] By setting the speed reduction unit 607 to control the speed transmitted from the driving motor 603 to the driving gear 604, the rotation speeds of the first screw 601 and the second screw 602 are reduced, and further the moving speeds of the first output shaft 3 and the second output shaft 4 are reduced, facilitating the precise control of the positions of the first output shaft 3 and the second output shaft 4 and improving the control accuracy.

[0063] Optionally, the speed reduction unit 607 is a speed reducer.

[0064] In some embodiments, as Figure 1 and Figure 2 shown in Figure 2 , one end of the first output shaft 3 located in the accommodating cavity 5 is provided with a first limiting portion 301. A first sliding groove is provided in the accommodating cavity 5 corresponding to the first output shaft 3, and the first limiting portion 301 is slidably assembled in the first sliding groove.

[0065] Specifically, a first sliding groove and a second sliding groove are provided in the accommodating cavity 5. The cross-sectional shapes of the first sliding groove and the second sliding groove are the same. The cross-section of the first sliding groove can be and is not limited to triangle, rectangle, pentagon, and hexagon. A first limiting portion 301 is provided on the first output shaft 3, and a second limiting portion is provided on the second output shaft 4. Both the first limiting portion 301 and the second limiting portion are limiting blocks, and the cross-section of the limiting block is adapted to the cross-sectional dimension of the first sliding groove. When the first screw 601 drives the first output shaft 3 to rotate, the first sliding groove restricts the limiting block from rotating, and further drives the first output shaft 3 to move along the first sliding groove. The structure is simple and convenient for processing.

[0066] In some embodiments, as Figure 1 and Figure 2 shown in Figure 2 , it includes a position measuring unit 7 and an integrated board 8. There are two position measuring units 7, which are respectively arranged corresponding to the first output shaft 3 and the second output shaft 4. The two position measuring units 7 are respectively used to measure the distance from the first output shaft 3 to the corresponding position measuring unit 7 and the distance from the second output shaft 4 to the corresponding position measuring unit 7. The integrated board 8 is electrically connected to the measuring unit 7 and the driving motor 603 respectively.

[0067] Specifically, the position measurement unit 7 measures the positions of the first output shaft 3 and the second output shaft 4, transmits the measured data array to the integrated board 8, and conveys it to the data processing component through the integrated board 8, thereby realizing the same collection and processing of data. When the first output shaft 3 and the second output shaft 4 move to the set position or the limit position, the integrated board 8 conveys a signal to stop the operation to the drive motor 603, making the control more precise, reducing the use of cables within the joint module 100, streamlining the circuit, and facilitating the reduction of the overall volume of the joint module 100.

[0068] Optionally, the position measurement unit 7 includes a position detection brush and a position detection brush electrode. The position detection brush is arranged corresponding to the first screw 601 and the second screw 602, and the position detection brush electrode is arranged corresponding to the position detection brush on the base 1 or the upper cover 2. By using the position detection brush and the position detection brush electrode in cooperation, they are combined into a position measurement sensor to realize the real-time detection of the positions of the first output shaft 3 and the second output shaft 4.

[0069] Optionally, the position measurement unit 7 adopts a laser rangefinder.

[0070] The dexterous hand according to the embodiment of the present invention will be described below.

[0071] The dexterous hand according to the embodiment of the present invention includes a finger assembly 200 and the joint module 100 of any one of the above embodiments. The finger assembly 200 is respectively rotatably connected to the first output shaft 3 and the second output shaft 4, and the joint module 100 is used to drive the corresponding finger assembly 200 to swing.

[0072] Specifically, as Figure 3 shown, the dexterous hand includes a palm. The joint module 100 is arranged on the palm. The first output shaft 3 and the second output shaft 4 are arranged on the side of the joint module 100 away from the palm. A connecting shaft 9 is provided on the finger assembly 200 through a supporting lug. A first connecting member 10 is fixedly provided on the connecting shaft 9. The other end of the first connecting member 10 is rotatably connected to the first output shaft 3. A second connecting member 11 is slidably provided on the connecting shaft 9. The other end of the second connecting member 11 is rotatably connected to the second output shaft 4. When adjusting the lengths of the first output shaft 3 and the second output shaft 4 extending out of the receiving groove, the first connecting member 10 and the first output shaft 3 rotate. While the second connecting member 11 and the second output shaft 4 rotate, the end of the second connecting member 11 connected to the connecting shaft 9 slides relative to the connecting shaft 9, thereby realizing the adjustment of the distance between the first connecting member 10 and the second connecting member 11 to adapt to the change in the distance between the end of the first output shaft 3 and the end of the second output shaft 4, and further realizing the lateral swing adjustment of the finger assembly 200, with convenient operation and precise control.

[0073] In the embodiment of the present invention, the dexterous hand realizes the side swing control of the finger assembly 200 by adopting a modular joint module 100, reducing the installation space, solving the problem of high mass production cost, facilitating assembly, reducing the control difficulty of the finger assembly 200 and improving the control precision of the finger assembly 200.

[0074] In some embodiments, the finger assembly 200 includes a plurality of joint units 12, and a joint module 100 is arranged between two adjacent joint units 12. The joint module 100 is used to drive one of the two joint units 12 to rotate relative to the other.

[0075] Specifically, as Figure 4 shown, two first driving lugs 13 are arranged on the joint unit 12 at intervals parallel to the first output shaft 3. A long hole 1301 is arranged on the first driving lug 13. A driving shaft is arranged at the end of the first output shaft 3. The driving shaft is slidably arranged in the long hole 1301 and is rotationally matched with the long hole 1301. A second driving lug 14 is arranged on the joint unit 12 corresponding to the second output shaft 4. The second driving lug 14 is rotationally connected with the second output shaft 4. When the two adjacent joint units 12 rotate, when adjusting the lengths of the first output shaft 3 and the second output shaft 4 extending out of the accommodating groove, the driving shaft slides and rotates relative to the long hole 1301, and the second output shaft 4 rotates with the second driving lug 14, thereby realizing the bending adjustment of the joint unit 12, with convenient operation and precise control.

[0076] The robot of the embodiment of the present invention will be described below.

[0077] The robot of the embodiment of the present invention includes the dexterous hand of any one of the above embodiments.

[0078] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0079] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and explicitly defined.

[0080] In the present invention, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0082] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0083] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dual output shaft joint module, characterized in that: include: A base and an upper cover, wherein the base and the upper cover are detachably connected, and an accommodating cavity is defined between the base and the upper cover; A first output shaft and a second output shaft, the first output shaft and the second output shaft are parallel and spaced apart, part of the first output shaft is arranged in the accommodating cavity, the other end of the first output shaft is used for rotationally connecting with a finger or a joint, and the position of the first output shaft along its axial direction relative to the accommodating cavity is adjustable, part of the second output shaft is arranged in the accommodating cavity, the position of the second output shaft along its axial direction relative to the accommodating cavity is adjustable, the other end of the second output shaft is used for rotationally connecting with a finger or a joint, and the first output shaft and the second output shaft are connected to the same finger or joint.

2. The dual output shaft joint module according to claim 1, characterized in that: It includes a driving component, which includes a first screw and a second screw. The first output shaft and the second output shaft are respectively fixedly engaged with the accommodating cavity. The first screw is rotatably disposed in the accommodating cavity and spirally engaged with the first output shaft. The second screw is rotatably disposed in the accommodating cavity and spirally engaged with the second output shaft.

3. The dual output shaft joint module according to claim 2, characterized in that: The driving assembly includes a driving motor disposed in the accommodating cavity, the driving motor being respectively connected to the first screw and the second screw, and the driving motor being used to drive the first screw and the second screw to move simultaneously in the same or opposite directions relative to the accommodating cavity.

4. The dual output shaft joint module according to claim 3, characterized in that: A driving gear is provided at the output end of the driving motor, a first transmission gear meshing with the driving gear is provided on the first screw, and a second transmission gear meshing with the driving gear is provided on the second screw. The thread rotation direction of the first screw is opposite to that of the second screw, and / or there is a set difference between the thread thread of the first screw and the thread thread of the second screw.

5. The dual output shaft joint module according to claim 4, characterized in that: The driving unit comprises a reduction unit, the reduction unit is arranged at an output end of the driving unit, and the driving gear is arranged at the output end of the reduction unit.

6. The dual output shaft joint module according to claim 2, characterized in that: A first limiting portion is disposed at one end of the first output shaft located in the accommodating cavity, a first sliding groove is disposed in the accommodating cavity corresponding to the first output shaft, and the first limiting portion is slidably assembled in the first sliding groove.

7. The dual output shaft joint module according to claim 3, characterized in that: It includes a position measurement unit and an integrated board. The position measurement unit is provided with two and is respectively arranged corresponding to the first output shaft and the second output shaft. The two position measurement units are respectively used to measure the distance from the first output shaft to the corresponding position measurement unit and the distance from the second output shaft to the corresponding position measurement unit. The integrated board is electrically connected to the measurement unit and the drive motor respectively.

8. A dexterous hand, characterized in that: It comprises a finger assembly and a joint module as described in any one of claims 1 to 7, wherein the finger assembly is rotationally connected to the first output shaft and the second output shaft respectively, and the joint module is used to drive the corresponding finger assembly to swing.

9. The dexterous hand according to claim 8, characterized in that: The finger assembly includes a plurality of joint units, and the joint module is arranged between two adjacent joint units. The joint module is used to drive one of the two joint units to rotate relative to the other.

10. A robot, characterized in that: Including the dexterous hand described in claim 8 or 9.

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