Mechanical knuckles, mechanical fingers, dexterous manipulator and robot

Abstract

The embodiment of the invention provides a mechanical knuckle, a mechanical finger, a dexterous manipulator and a robot, and relates to the technical field of manipulators, the mechanical knuckle comprises a shell assembly and a first driving mechanism, and a first mounting cavity is formed in the shell assembly. The first driving mechanism is arranged in the first mounting cavity, and an included angle is formed between the length direction of the first driving mechanism and the length direction of the shell assembly. According to the mechanical knuckle provided by the embodiment of the invention, the length of the shell assembly can be shortened, and the driving arrangement structure is more compact, so that the mechanical knuckle conforms to the biomechanical characteristics of a human hand.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and in particular, to a mechanical knuckle, a mechanical finger, a dexterous manipulator, and a robot. Background Art

[0002] A dexterous manipulator, usually also called a dexterous hand, a manipulator, an anthropomorphic manipulator, a prosthetic hand, etc., is a mechanism for a robot to execute actions. By simulating the structure and actions of a human hand, it has high flexibility and versatility.

[0003] In the related art, a driving mechanism needs to be arranged at the upper knuckle of a dexterous manipulator to drive the relative deflection of each knuckle on the finger, so as to execute grasping actions, etc.

[0004] However, the layout structure of the drive at the knuckle of the existing dexterous mechanical finger is not compact enough, making it difficult to conform to the biomechanical characteristics of the human hand. Summary of the Invention

[0005] Based on this, this application provides a mechanical knuckle, a mechanical finger, a dexterous manipulator, and a robot to solve the problem that the layout structure of the drive at the knuckle of the existing dexterous mechanical finger is not compact enough, making it difficult to conform to the biomechanical characteristics of the human hand.

[0006] In a first aspect, this application provides a mechanical knuckle, including:

[0007] A housing assembly, in which a first installation cavity is provided;

[0008] A first driving mechanism, the first driving mechanism is arranged in the first installation cavity, and an included angle is formed between the length direction of the first driving mechanism and the length direction of the housing assembly.

[0009] In a possible implementation manner, on both sides of the housing assembly along the length direction, there are respectively a first connection part and a second connection part. The first connection part is used for rotatably connecting with the mechanical finger root, and the second connection part is used for rotatably connecting with the mechanical fingertip.

[0010] In a possible implementation manner, the first driving mechanism includes a first active transmission part and a first rotation driving component. The first active transmission part is located on the side close to the second connection part;

[0011] An included angle is formed between the rotation axis of the first active transmission part and the length direction of the housing assembly, and it is used for transmission connection with a first driven rotating part on the mechanical fingertip;

[0012] The first rotation driving component is located on the side close to the first connection part, and is coaxially arranged and transmission-connected with the first active transmission part.

[0013] In a possible implementation, the first rotation drive assembly includes a first planetary reducer and a first rotary motor, and the first active transmission member, the first planetary reducer, and the first rotary motor are coaxially arranged in sequence;

[0014] The first planetary reducer is in transmission connection with the first active transmission member, and the first rotating motor is in transmission connection with the first planetary reducer.

[0015] In a possible implementation, the first active transmission member is a first worm, and at least one end of the first worm is rotatably engaged with a portion of the inner wall of the first installation cavity.

[0016] In a possible implementation, at least one end of the first worm has a first shaft head, and the first shaft head is rotatably connected to a portion of the inner wall of the first installation cavity via a first bearing.

[0017] In one possible implementation, the first mounting cavity includes a first open chamber section, and the housing assembly includes:

[0018] a base, wherein the first open chamber section is located on the base, and the first worm and the first bearing are provided in the first open chamber section;

[0019] The end cover is arranged at the opening of the first opening chamber section.

[0020] In a possible implementation, the first mounting cavity further includes a second open chamber segment and a third open chamber segment, and the housing assembly further includes:

[0021] A connecting piece is connected to a side of the base facing away from the end cover, the second open chamber section is located on the connecting piece and is in communication with the first open chamber section, and a portion of the first planetary reducer is inserted into the second open chamber section;

[0022] The shell is connected to the base and the connecting member on the side away from the end cover. The third open chamber section is located on the shell and is connected to the second open chamber section. Part of the first planetary reducer and the first rotating motor are inserted in the third open chamber section.

[0023] In a second aspect, the present application further provides a mechanical finger comprising at least one mechanical knuckle provided in any one of the first aspects.

[0024] In a possible implementation, the method further includes:

[0025] A mechanical finger root, the mechanical finger root being rotatably connected to one side of the housing assembly;

[0026] a mechanical fingertip, the mechanical fingertip being rotationally connected to the other side of the housing assembly and being transmission-connected to the first driving mechanism to be driven for deflection;

[0027] The second driving mechanism is arranged on the mechanical finger root and is in transmission connection with the housing assembly to drive the housing assembly to deflect.

[0028] In a possible implementation, the second driving mechanism includes a second driving transmission member and a second rotary driving assembly. The second driving transmission member is located on one side close to the first connecting portion.

[0029] The second driving transmission member is in transmission connection with the second driven rotating member on the housing assembly, and the second rotary driving assembly is in transmission connection with the second driving transmission member.

[0030] In a possible implementation, the second driving transmission member is a second worm, and the mechanical finger root has a second installation cavity.

[0031] At least one end of the second worm is rotationally matched with a part of the inner wall of the second installation cavity.

[0032] In a possible implementation, at least one end of the second worm has a second shaft head, and the second shaft head is rotationally connected with a part of the inner wall of the second installation cavity through a second bearing.

[0033] In a possible implementation, the second rotary driving assembly includes a second planetary reducer and a second rotary motor. The second driving transmission member, the second planetary reducer, and the second rotary motor are arranged coaxially in sequence.

[0034] The second planetary reducer is in transmission connection with the second driving transmission member, and the second rotary motor is in transmission connection with the second planetary reducer.

[0035] In a possible implementation, a tactile sensing module is provided on the mechanical fingertip.

[0036] In a third aspect, the present application further provides a dexterous manipulator, including a mechanical palm and at least one mechanical finger provided in any one of the second aspects, and the mechanical finger root is connected to the mechanical palm.

[0037] In a possible implementation, it further includes a mechanical thumb. The mechanical thumb is connected to the mechanical palm and is arranged opposite to the mechanical finger.

[0038] In a fourth aspect, the present application further provides a robot, including a robot body, and any one of the mechanical fingers provided in the second aspect is arranged on the robot body.

[0039] Alternatively, any one of the dexterous manipulators provided in the third aspect is arranged on the robot body.

[0040] The mechanical knuckle, mechanical finger, dexterous manipulator and robot provided by the present application. The mechanical knuckle includes a housing assembly and a first driving mechanism. By arranging a first installation cavity in the housing assembly, disposing the first driving mechanism in the first installation cavity, and forming an angle between the length direction of the first driving mechanism and the length direction of the housing assembly, the length of the housing assembly can be shortened, and the layout structure of the driving is more compact, making it conform to the biomechanical characteristics of the human hand. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic diagram of the main cross-sectional structure of the mechanical finger provided by the embodiment of the present application;

[0043] Figure 2 For Figure 1 The partial enlarged view at A in

[0044] Figure 3 It is a schematic diagram of the structure of the dexterous manipulator provided by the embodiment of the present application.

[0045] Reference Signs:

[0046] 100: Housing assembly; 101: First installation cavity; 1011: First open cavity section; 1012: Second open cavity section; 1013: Third open cavity section; 102: First connecting part; 103: Second connecting part; 104: First bearing; 105: Second driven rotating part; 110: Base; 120: End cover; 130: Connecting piece; 140: Housing;

[0047] 200: First driving mechanism; 210: First active transmission part; 211: First shaft head; 220: First rotation driving component; 221: First planetary reducer; 222: First rotation motor;

[0048] 300: Mechanical finger root; 310: Second installation cavity; 320: Second bearing;

[0049] 400: Mechanical fingertip; 410: First driven rotating part; 420: Tactile sensing module;

[0050] 500: Second driving mechanism; 510: Second active transmission part; 511: Second shaft head; 520: Second rotation driving component; 521: Second planetary reducer; 522: Second rotation motor;

[0051] 600: Robotic hand;

[0052] 700: Mechanical thumb. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] The terms "first," "second," "third," "fourth," etc. (if any) in the specification and claims of the present application and in the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. 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 apparatus comprising 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 apparatus.

[0055] As discussed in the background section, the drive and transmission structures used in related technologies often result in longer interphalangeal lengths, making the fingers longer overall—generally longer than an adult's fingers. This creates an uncoordinated grip, resulting in a larger gripping space and difficulty reconciling the human hand's biomechanical properties and its corresponding workspace within a Cartesian coordinate system. Furthermore, existing technologies employing cantilevered transmission mechanisms can easily deform the motor shaft, generating noise, vibration, and unstable operation.

[0056] In response to the above-mentioned problems existing in the prior art, the present application provides a mechanical knuckle, a mechanical finger, a dexterous manipulator, and a robot. The mechanical knuckle provided in the present application includes a housing assembly and a first drive mechanism. By providing a first mounting cavity within the housing assembly, and disposing the first drive mechanism in the first mounting cavity, and forming an angle between the length direction of the first drive mechanism and the length direction of the housing assembly, the length of the housing assembly can be shortened, and the drive arrangement structure is more compact, so that it conforms to the biomechanical characteristics of the human hand and the workspace requirements of the kinematics and inverse kinematics of the dexterous hand.

[0057] The technical solution of the present application will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0058] In a first aspect, please refer to Figures 1-2 As shown, an embodiment of the present application provides a mechanical phalanx, including:

[0059] A housing assembly 100 having a first installation cavity 101 therein.

[0060] A first driving mechanism 200 disposed in the first installation cavity 101, and an included angle is formed between the length direction of the first driving mechanism 200 and the length direction of the housing assembly 100.

[0061] The mechanical phalanx in this embodiment is the middle phalanx between the mechanical fingertip and the mechanical finger root, and can also be called the mechanical finger middle.

[0062] The housing assembly 100 in this embodiment serves as an installation base, which is at least used to support the first driving mechanism 200. The housing assembly 100 can be a rod-shaped, strip-shaped or other housing structures, and can be made similar to a human finger. The housing assembly 100 has a first installation cavity 101, which is at least used to place the first driving mechanism 200 and the like, and it is also generally a rod-shaped, strip-shaped or other cavity structures.

[0063] The first driving mechanism 200 in this embodiment is used to transmit a rotational torque. It can include a driving part and a transmission part, and the whole is generally also a rod-shaped, strip-shaped or other solid structures. The first driving mechanism 200 is arranged in the first installation cavity 101.

[0064] Wherein, an included angle is formed between the length direction of the first driving mechanism 200 and the length direction of the housing assembly 100. The size of the included angle can be 5° to 20°, that is, the first driving mechanism 200 is inclinedly arranged in the housing assembly 100, that is, the length directions of the two intersect or are skew. According to the principle of a right triangle, the length of the first driving mechanism 200 is equivalent to the hypotenuse of a right triangle, and the length of the housing assembly 100 is equivalent to one right side of the right triangle. The right side is always shorter than the length of the hypotenuse. In this way, on the premise that the length of the first driving mechanism 200 is certain, the inclined arrangement can shorten the length of the housing assembly 100.

[0065] It can be understood that, compared with the existing arrangement structure in which the length direction of the mechanical finger joint drive mechanism is consistent with the length direction of the shell, the application of the mechanical finger joint in the embodiment of the present application can shorten the length of the shell assembly 100, and the drive arrangement structure is more compact, which can be comparable to the length of a human finger, so that its gripping space can be easily consistent with that of the human hand, so as to meet the biomechanical characteristics of the human hand and the requirements of the kinematics and inverse kinematics of the dexterous hand for the workspace.

[0066] It's worth noting that the mechanical fingertip 400 is connected in series with the mechanical knuckle and the mechanical base 300, and independent drive mechanisms exist between the mechanical fingertip 400 and the mechanical knuckle, and between the mechanical knuckle and the mechanical base 300, allowing for independent control of the motion characteristics of each joint, such as speed and position. This dual active degree of freedom, compared to the traditional one active and one passive degree of freedom, allows the mechanical fingertip 400 to reach more points within the Cartesian coordinate system and achieve a greater range of motion.

[0067] Therefore, the mechanical finger joint provided in the embodiment of the present application includes a shell assembly 100 and a first drive mechanism 200. By setting a first installation cavity 101 in the shell assembly 100, and setting the first drive mechanism 200 in the first installation cavity 101, and forming an angle between the length direction of the first drive mechanism 200 and the length direction of the shell assembly 100, the length of the shell assembly 100 can be shortened, and the drive arrangement structure is more compact, so that it conforms to the biomechanical characteristics of the human hand and the requirements of the kinematics and inverse kinematics of the dexterous hand for the workspace.

[0068] In some embodiments, the shell assembly 100 has a first connection portion 102 and a second connection portion 103 on both sides along the length direction, respectively. The first connection portion 102 is used to rotate with the mechanical finger base 300, and the second connection portion 103 is used to rotate with the mechanical fingertip 400.

[0069] One side of the first driving mechanism 200 along the length direction is close to the first connecting portion 102 and passes through the line connecting the first connecting portion 102 and the second connecting portion 103 .

[0070] The other side of the first driving mechanism 200 along the length direction is close to the second connecting portion 103 and away from the palm, and a portion of the first driving mechanism 200 extends beyond the line connecting the first connecting portion 102 and the second connecting portion 103 .

[0071] For example, Figure 2 As shown, the first connecting portion 102 and the second connecting portion 103 can both be rotating shafts, pins, etc., and their axes can be parallel to facilitate the rotational connection between the knuckles and make the structure more compact.

[0072] Furthermore, the right end of the first driving mechanism 200 is close to the first connecting portion 102 and passes through the line connecting the first connecting portion 102 and the second connecting portion 103. The left end of the first driving mechanism 200 is close to the second connecting portion 103 and faces away from the palm, with a portion of the first driving mechanism 200 extending beyond the line connecting the first connecting portion 102 and the second connecting portion 103.

[0073] In this way, the length between the first connecting portion 102 and the second connecting portion 103 can be shortened as much as possible, and the protruding portion of the first driving mechanism 200 can be staggered, thereby making the overall volume smaller.

[0074] Furthermore, in this embodiment, the first driving mechanism 200 includes a first active transmission member 210 and a first rotation driving assembly 220 . The first active transmission member 210 is located on a side close to the second connecting portion 103 .

[0075] The rotation axis of the first active transmission member 210 forms an included angle with the length direction of the housing assembly 100 , and is used for transmission connection with the first driven rotating member 410 on the mechanical fingertip 400 .

[0076] The first rotation driving assembly 220 is located on a side close to the first connecting portion 102 , and is coaxially arranged with and transmission-connected to the first active transmission member 210 .

[0077] Specifically, the first active transmission member 210 may be a worm, a driving bevel gear, etc., and the first driven rotating member 410 may be a matching worm gear, a driven bevel gear, etc. The first rotary drive assembly 220 is in transmission connection with the first active transmission member 210, and the first active transmission member 210 is in transmission connection with the first driven rotating member 410, thereby driving the mechanical fingertip 400 to deflect relative to the housing assembly 100.

[0078] The first active transmission member 210 is located on a side close to the second connection portion 103 , and the first rotation drive assembly 220 is located on a side close to the first connection portion 102 . The two are coaxially arranged, making the structure more compact and the transmission structure more reasonable.

[0079] Furthermore, in this embodiment, the first rotation driving assembly 220 includes a first planetary reducer 221 and a first rotation motor 222 , and the first active transmission member 210 , the first planetary reducer 221 and the first rotation motor 222 are coaxially arranged in sequence.

[0080] The first planetary reducer 221 is in transmission connection with the first active transmission member 210 , and the first rotary motor 222 is in transmission connection with the first planetary reducer 221 .

[0081] Specifically, if Figure 1 、 Figure 2As shown, the first planetary speed reducer 221 can provide a large reduction ratio, thereby providing greater torque. The first rotating motor 222 can be a coreless motor, which is generally cylindrical in shape and has prominent energy-saving characteristics, sensitive control characteristics, and stable operation characteristics. By arranging the first driving member 210, the first planetary speed reducer 221, and the first rotating motor 222 coaxially in sequence, the axis of rotation is as shown in Figure 2 D in

[0082] so as to form an elongated cylindrical structure, which is convenient for integrated installation in the housing assembly 100. The first rotating motor 222 is drivingly connected to the first driving member 210 through the first planetary speed reducer 221, thereby achieving stable and high-torque transmission.

[0083] Among them, for the specific types, structures, etc. of the first planetary speed reducer 221 and the first rotating motor 222, they can be determined according to actual needs and are not overly limited in this embodiment.

[0084] Specifically, as shown in Figure 2 both ends of the first worm can be fitted with a part of the inner wall of the first installation cavity 101 through bearings or rotating structures. In this way, compared with the cantilevered worm structure, support can be provided for the first worm, making its transmission smoother and the transmission accuracy higher.

[0085] Furthermore, in this embodiment, at least one end of the first worm has a first shaft head 211, and the first shaft head 211 is rotatably connected to a part of the inner wall of the first installation cavity 101 through a first bearing 104.

[0086] Exemplarily, as shown in Figure 2 both ends of the first worm have first shaft heads 211, and each first shaft head 211 is rotatably connected to a part of the inner wall of the first installation cavity 101 through a first bearing 104. Here, the first bearing 104 can be a rolling bearing such as a deep groove ball bearing or a thrust ball bearing.

[0087] In this way, the rotational resistance of the first worm can be greatly reduced, and its service life can also be improved. Among them, for the specific size, specification, etc. of the first bearing 104, they can be determined according to the actual installation requirements of the first worm and are not overly limited in this embodiment.

[0088] Still further, in this embodiment, the first installation cavity 101 includes a first open cavity section 1011, and the housing assembly 100 includes:

[0089] The base 110 and the first open chamber section 1011 are located on the base 110 , and the first worm and the first bearing 104 are disposed in the first open chamber section 1011 .

[0090] The end cover 120 is disposed at the opening of the first open chamber section 1011 .

[0091] Specifically, if Figure 1 、 Figure 2 As shown, the first open chamber section 1011 constitutes a portion of the first mounting cavity 101 and is located on the base 110. The left side of the first open chamber section 1011 has an opening to facilitate installation of the first worm and the first bearing 104 within the first open chamber section 1011. An end cap 120 is then placed over the opening of the first open chamber section 1011 to achieve axial positioning of the first worm and the first bearing 104, thereby facilitating processing and installation.

[0092] The end cap 120 can be connected to the base 110 by screwing, snapping, plugging, or other means. Furthermore, a clearance groove must be provided at the bottom of the first open chamber section 1011 to facilitate engagement between the first worm and the first driven rotating member 410. The specific shapes and sizes of the base 110, end cap 120, and the first open chamber section 1011 on the base 110 can be determined based on practical needs and are not particularly limited in this embodiment.

[0093] Furthermore, in this embodiment, the first installation cavity 101 further includes a second open chamber section 1012 and a third open chamber section 1013, and the housing assembly 100 further includes:

[0094] The connecting member 130 is connected to the side of the base 110 away from the end cover 120. The second open chamber section 1012 is located on the connecting member 130 and is connected to the first open chamber section 1011. Part of the first planetary reducer 221 is inserted into the second open chamber section 1012.

[0095] The shell 140 is connected to the base 110 and the connecting member 130 on the side away from the end cover 120. The third open chamber section 1013 is located on the shell 140 and is connected to the second open chamber section 1012. Part of the first planetary reducer 221 and the first rotating motor 222 are inserted into the third open chamber section 1013.

[0096] Specifically, if Figure 2As shown, the second open chamber section 1012 and the third open chamber section 1013 also constitute part of the first installation cavity 101. The left side of the connector 130 is connected to the side of the base 110 facing away from the end cover 120. The second open chamber section 1012 is located within the connector 130 to facilitate installation of a portion of the first planetary reducer 221. The housing 140 is connected to the upper side of the base 110 and the right side of the connector 130. The third open chamber section 1013 is located within the housing 140 to facilitate installation of another portion of the first planetary reducer 221 and the first rotating motor 222. For example, the outer wall of the first planetary reducer 221 has external threads, and the third open chamber section 1013 has matching internal threads. The first planetary reducer 221 and the third open chamber section 1013 are securely connected through the mating of the internal and external threads, which can prevent loosening. This facilitates the manufacture and installation of individual components.

[0097] The connector 130 can be connected to the base 110 by screwing, snapping, plugging, etc., and the housing 140 can also be connected to the base 110 and the connector 130 by screwing, snapping, plugging, etc. The specific shape and size of the connector 130 and the housing 140 can be determined according to actual needs and are not excessively limited in this embodiment.

[0098] In a second aspect, an embodiment of the present application further provides a mechanical finger comprising at least one mechanical knuckle provided by any of the above embodiments.

[0099] The structure of the mechanical knuckles has been described in detail in the above embodiments and will not be described again here.

[0100] The robotic finger provided in the embodiment of the present application is configured with a mechanical joint, which includes a shell assembly 100 and a first drive mechanism 200. By setting a first installation cavity 101 in the shell assembly 100, and setting the first drive mechanism 200 in the first installation cavity 101, and forming an angle between the length direction of the first drive mechanism 200 and the length direction of the shell assembly 100, the length of the shell assembly 100 can be shortened, and the drive arrangement structure is more compact, so that it conforms to the biomechanical characteristics of the human hand and the requirements of the kinematics and inverse kinematics of the dexterous hand for the workspace.

[0101] In some embodiments, the robotic finger provided by the embodiments of the present application further includes:

[0102] The mechanical finger 300 is rotatably connected to one side of the housing assembly 100 .

[0103] The mechanical fingertip 400 is rotationally connected to the other side of the housing assembly 100 and is transmission-connected to the first driving mechanism 200 to be driven to deflect.

[0104] The second driving mechanism 500 is disposed on the mechanical finger 300 and is in transmission connection with the housing assembly 100 to drive the housing assembly 100 to deflect.

[0105] Specifically, if Figure 2 As shown, the left side of the mechanical finger base 300 can be connected to the right side of the housing assembly 100 via a rotating structure such as a rotating shaft, allowing the left side of the housing assembly 100 to deflect up and down relatively. The right side of the mechanical finger tip 400 can also be connected to the left side of the housing assembly 100 via a rotating structure such as a rotating shaft, allowing the left side of the mechanical finger tip 400 to deflect up and down relatively.

[0106] The first drive mechanism 200 is in transmission connection with the mechanical fingertip 400 and is used to drive its deflection. The second drive mechanism 500 is located on the mechanical finger base 300 and is in transmission connection with the housing assembly 100 to drive the housing assembly 100 to deflect. The second drive mechanism 500 and the first drive mechanism 200 can have substantially the same structure.

[0107] It should be noted that the movement of the mechanical fingertip 400 and the shell assembly 100 is controlled by a separate driving mechanism, which facilitates independent control, improves the flexibility of the grasping space and the requirements of the kinematics and inverse kinematics of the dexterous hand for the workspace.

[0108] Furthermore, in this embodiment, the second driving mechanism 500 includes a second active transmission member 510 and a second rotation driving assembly 520 . The second active transmission member 510 is located on a side close to the first connecting portion 102 .

[0109] The second active transmission member 510 is in transmission connection with the second driven rotating member 105 on the housing assembly 100 , and the second rotary drive assembly 520 is in transmission connection with the second active transmission member 510 .

[0110] Specifically, the second active transmission member 510 may be a worm, a driving bevel gear, etc., and the second driven rotating member 105 may be a matching worm gear, a driven bevel gear, etc. The second rotary drive assembly 520 is in transmission connection with the second active transmission member 510, and the second driven rotating member 105 is in transmission connection with the second active transmission member 510, thereby driving the housing assembly 100 to deflect relative to the mechanical finger 300.

[0111] The second active transmission member 510 is located on a side close to the first connection portion 102 , and the second rotation drive assembly 520 is located on a side away from the first connection portion 102 . The two are coaxially arranged, making the structure more compact and the transmission structure more reasonable.

[0112] Furthermore, in this embodiment, the second active transmission member 510 is a second worm, and the mechanical finger 300 has a second installation cavity 310 .

[0113] At least one end of the second worm is rotatably engaged with a part of the inner wall of the second installation cavity 310.

[0114] Specifically, as Figure 2 shown, both ends of the second worm can be engaged with a part of the inner wall of the second installation cavity 310 through bearings or rotating structures. In this way, compared with the cantilevered worm structure, support can be provided for the second worm, making its transmission smoother and the transmission accuracy higher.

[0115] It should be noted that the joints between the first worm and the worm wheel and between the second worm and the worm wheel are fitted with concave-convex structures (roughly in an L-shaped structure). This concave-convex structure is similar to the mortise and tenon structure and can replace pins or keys to ensure the transmission of a large torque, making the large transmission ratio larger and the transmission smoother.

[0116] Furthermore, in this embodiment, at least one end of the second worm has a second shaft head 511, and the second shaft head 511 is rotatably connected to a part of the inner wall of the second installation cavity 310 through a second bearing 320.

[0117] Exemplarily, as Figure 2 shown, both ends of the second worm have second shaft heads 511, and each second shaft head 511 is rotatably connected to a part of the inner wall of the second installation cavity 310 through a second bearing 320. Here, the second bearing 320 can be a deep groove ball bearing, a thrust ball bearing, etc.

[0118] In this way, the rotational resistance of the second worm can be greatly reduced, and its service life can also be improved. Among them, the specific size, specifications, etc. of the second bearing 320 can be determined according to the actual installation requirements of the second worm, and are not overly limited in this embodiment.

[0119] In some embodiments, the second rotation drive assembly 520 includes a second planetary reducer 521 and a second rotation motor 522, and the second drive member 510, the second planetary reducer 521, and the second rotation motor 522 are arranged coaxially in sequence.

[0120] The second planetary reducer 521 is in transmission connection with the second drive member 510, and the second rotation motor 522 is in transmission connection with the second planetary reducer 521.

[0121] Specifically, as Figure 2As shown, the second planetary speed reducer 521 can provide a large reduction ratio, thereby providing greater torque. The second rotating motor 522 can be a coreless motor, which is generally cylindrical in shape and has prominent energy-saving characteristics, sensitive control characteristics, and stable operation characteristics. By arranging the second driving transmission member 510, the second planetary speed reducer 521, and the second rotating motor 522 coaxially in sequence, an elongated cylindrical structure is formed, which is convenient for installation on the mechanical finger root 300. The second rotating motor 522 is drivingly connected to the second driving transmission member 510 through the second planetary speed reducer 521, thereby achieving stable and high-torque transmission.

[0122] Among them, for the specific types, structures, etc. of the second planetary speed reducer 521 and the second rotating motor 522, they can be determined according to actual needs and are not overly restricted in this embodiment.

[0123] Furthermore, in this embodiment, a tactile sensing module 420 is provided on the mechanical fingertip 400.

[0124] Specifically, as Figure 2 shown, a tactile sensing module 420 can be arranged on the side of the mechanical fingertip 400 facing the palm. It can be a piezoresistive tactile sensor for sensing the grasping force, etc. And through modular design, it is convenient for disassembly, replacement, etc.

[0125] Moreover, bumps can also be arranged on the tactile sensing module 420, which helps to increase the friction force so that the item is not easy to slip during grasping.

[0126] Among them, the tactile sensing module 420 can be installed according to actual needs. For its specific type, structure, etc., it can be selected according to actual needs and is not overly restricted in this embodiment.

[0127] In a third aspect, an embodiment of the present application further provides a dexterous manipulator, which includes a mechanical palm 600 and at least one mechanical finger provided in any of the above embodiments. The mechanical finger root 300 is connected to the mechanical palm 600. Among them, the mechanical fingers can be set to five, corresponding to the thumb, index finger, middle finger, ring finger and little finger on the human hand. However, the thumb uses two sets of worm and worm gear mechanisms to form two active degrees of freedom. The index finger and middle finger use double worm and worm gear, with a total of 2×2 = 4 active degrees of freedom (because when a person grasps, the thumb, index finger and middle finger are used the most, so these three fingers preferentially use double worm and worm gear, double active degrees of freedom). Each of the first joints of the remaining ring finger and little finger uses one active degree of freedom, that is, a set of worm and worm gear mechanisms and a set of motors. The second joints of the remaining ring finger and little finger can use passive degrees of freedom, such as a crank-rocker mechanism or a tendon-cable structure. Passive degrees of freedom are usually not counted into the degrees of freedom. Then: 2 (thumb) + 2 (middle finger) + 2 (index finger) + 1 (ring finger) + 1 (little finger) form 8 degrees of freedom. Of course, the second joints of the ring finger and little finger can also use active degrees of freedom, then: 2 (thumb) + 2 (middle finger) + 2 (index finger) + 2 (ring finger) + 1 (little finger) form 9 degrees of freedom. Or, 2 (thumb) + 2 (middle finger) + 2 (index finger) + 2 (ring finger) + 2 (little finger) form 10 degrees of freedom, which can be determined according to actual needs.

[0128] The dexterous manipulator provided by the embodiment of the present application, by configuring the mechanical finger, the mechanical finger includes a mechanical finger joint, the mechanical finger joint includes a housing assembly 100 and a first driving mechanism 200. By setting a first installation cavity 101 in the housing assembly 100, arranging the first driving mechanism 200 in the first installation cavity 101, and forming an angle between the length direction of the first driving mechanism 200 and the length direction of the housing assembly 100, the length of the housing assembly 100 can be shortened, and the layout structure of the driving is more compact, making it meet the biomechanical characteristics of the human hand and the requirements of the working space for the kinematics and inverse kinematics of the dexterous hand.

[0129] Furthermore, the dexterous manipulator in this embodiment further includes a mechanical thumb 700. The mechanical thumb 700 is connected to the mechanical palm 600 and is disposed opposite to the mechanical fingers.

[0130] Specifically, as Figure 3 shown, the mechanical thumb 700 is disposed opposite to each mechanical finger. In this way, a grasping space can be formed to simulate the human hand to grasp objects, etc.

[0131] Moreover, one or two driving mechanisms can be provided between the mechanical thumb 700 and the mechanical palm 600, so that the mechanical thumb 700 can deflect relative to the mechanical palm 600 in two directions, which can be determined according to actual needs and is not specifically limited in this embodiment.

[0132] Fourthly, an embodiment of the present application further provides a robot, including a robot body, and the robot body is provided with the mechanical finger or the dexterous manipulator provided in any of the above embodiments. Among them, the robot can be an industrial robot, a service robot, a special robot, etc.

[0133] For the robot provided by the embodiment of the present application, by configuring a mechanical finger or a dexterous manipulator having the same, the mechanical finger includes a mechanical finger joint, and the mechanical finger joint includes a housing assembly 100 and a first driving mechanism 200. By providing a first installation cavity 101 in the housing assembly 100, arranging the first driving mechanism 200 in the first installation cavity 101, and forming an included angle between the length direction of the first driving mechanism 200 and the length direction of the housing assembly 100, the length of the housing assembly 100 can be shortened, and the layout structure of the driving is more compact, so as to meet the biomechanical characteristics of the human hand and the requirements of the dexterous hand kinematics and inverse kinematics for the working space.

[0134] After considering the specification and practicing the application disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the claims.

[0135] It should be understood that the present application is not limited to the exact structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A mechanical knuckle, characterized in that, Comprising: A housing assembly (100) having a first installation cavity (101) therein; A first driving mechanism (200) disposed in the first installation cavity (101), and an included angle is formed between the length direction of the first driving mechanism (200) and the length direction of the housing assembly (100).

2. The mechanical knuckle according to claim 1, characterized in that, On both sides of the housing assembly (100) along the length direction, there are respectively a first connection portion (102) and a second connection portion (103). The first connection portion (102) is used for rotatably connecting with a mechanical finger root (300), and the second connection portion (103) is used for rotatably connecting with a mechanical fingertip (400).

3. The mechanical knuckle according to claim 2, characterized in that, The first driving mechanism (200) includes a first driving transmission member (210) and a first rotary driving assembly (220). The first driving transmission member (210) is located on one side close to the second connection portion (103); The rotation axis of the first driving transmission member (210) forms the included angle with the length direction of the housing assembly (100), and is used for drivingly connecting with a first driven rotating member (410) on the mechanical fingertip (400); The first rotary driving assembly (220) is located on one side close to the first connection portion (102), and is coaxially arranged and drivingly connected with the first driving transmission member (210).

4. The mechanical knuckle according to claim 3, characterized in that, The first rotary driving assembly (220) includes a first planetary reducer (221) and a first rotary motor (222). The first driving transmission member (210), the first planetary reducer (221), and the first rotary motor (222) are coaxially arranged in sequence; The first planetary reducer (221) is drivingly connected with the first driving transmission member (210), and the first rotary motor (222) is drivingly connected with the first planetary reducer (221).

5. The mechanical knuckle according to claim 4, wherein The first driving transmission member (210) is a first worm, and at least one end of the first worm is rotatably fitted with a part of the inner wall of the first installation cavity (101).

6. The mechanical knuckle according to claim 5, characterized in that, At least one end of the first worm has a first shaft head (211), and the first shaft head (211) is rotatably connected with a part of the inner wall of the first installation cavity (101) through a first bearing (104).

7. The mechanical knuckle according to claim 6, characterized in that, The first installation cavity (101) includes a first open cavity section (1011), and the housing assembly (100) includes: A base (110), the first open cavity section (1011) is located on the base (110), and the first worm and the first bearing (104) are arranged in the first open cavity section (1011); An end cover (120) covering the opening of the first open cavity section (1011).

8. The mechanical knuckle according to claim 7, characterized in that, The first installation cavity (101) further includes a second open cavity section (1012) and a third open cavity section (1013), and the housing assembly (100) further includes: A connecting member (130), the connecting member (130) is connected to a side of the base (110) facing away from the end cover (120), the second open cavity section (1012) is located on the connecting member (130) and communicates with the first open cavity section (1011), and a part of the first planetary reducer (221) is inserted into the second open cavity section (1012); A housing (140), the housing (140) is connected to a side of the base (110) and the connecting member (130) facing away from the end cover (120), the third open cavity section (1013) is located on the housing (140) and communicates with the second open cavity section (1012), and a part of the first planetary reducer (221) and the first rotating motor (222) are inserted into the third open cavity section (1013).

9. A mechanical finger, characterized in that, It includes at least one mechanical finger joint as described in any one of claims 1 to 8.

10. The mechanical finger according to claim 9, characterized in that, It further includes: A mechanical finger root (300), the mechanical finger root (300) is rotatably connected to one side of the housing assembly (100); A mechanical finger tip (400), the mechanical finger tip (400) is rotatably connected to the other side of the housing assembly (100) and is in transmission connection with the first driving mechanism (200) to be driven to deflect; A second driving mechanism (500), the second driving mechanism (500) is arranged on the mechanical finger root (300) and is in transmission connection with the housing assembly (100) to drive the housing assembly (100) to deflect.

11. The mechanical finger according to claim 10, wherein The second driving mechanism (500) includes a second driving transmission member (510) and a second rotating driving assembly (520), and the second driving transmission member (510) is located on a side close to the first connecting portion (102); The second driving transmission member (510) is in transmission connection with a second driven rotating member (105) on the housing assembly (100), and the second rotating driving assembly (520) is in transmission connection with the second driving transmission member (510).

12. The mechanical finger according to claim 11, characterized in that, The second driving transmission member (510) is a second worm, and the mechanical finger root (300) has a second installation cavity (310); At least one end of the second worm is rotatably fitted with a part of the inner wall of the second installation cavity (310).

13. The mechanical finger according to claim 12, wherein At least one end of the second worm has a second shaft head (511), and the second shaft head (511) is rotatably connected to a part of the inner wall of the second installation cavity (310) through a second bearing (320).

14. The mechanical finger according to claim 11, characterized in that, The second rotating driving assembly (520) includes a second planetary reducer (521) and a second rotating motor (522), and the second driving transmission member (510), the second planetary reducer (521) and the second rotating motor (522) are arranged coaxially in sequence; The second planetary reducer (521) is in transmission connection with the second driving transmission member (510), and the second rotating motor (522) is in transmission connection with the second planetary reducer (521).

15. The mechanical finger according to any one of claims 1 to 14, characterized in that, A tactile sensing module (420) is provided on the mechanical finger tip (400).

16. A dexterous manipulator, characterized in that, Comprising a mechanical palm (600) and at least one mechanical finger as described in any one of claims 1 to 15, the mechanical finger root (300) being connected to the mechanical palm (600).

17. The dexterous manipulator according to claim 16, wherein Further comprising a mechanical thumb (700), the mechanical thumb (700) being connected to the mechanical palm (600) and being disposed opposite to the mechanical finger.

18. A robot, characterized in that, Comprising a robot body, on which a mechanical finger as described in any one of claims 9 to 15 is provided; Alternatively, a dexterous manipulator as described in claim 16 or 17 is provided on the robot body.

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