Palm skeleton, mechanical palm, manipulator and robot

Abstract

The invention provides a palm skeleton, a mechanical palm, a manipulator and a robot. Wherein the palm skeleton comprises a finger mounting part for mounting fingers; the circuit board mounting part is used for mounting a circuit board; wherein a communication port is arranged between the finger mounting part and the circuit board mounting part, and is used for wiring between the finger and the circuit board, and is convenient for plugging connection between the finger circuit interface and the circuit board circuit interface when the finger circuit interface is arranged on the finger and the circuit board circuit interface is arranged on the circuit board. The palm skeleton is divided into the finger mounting part and the circuit board mounting part, and the communication port is formed between the finger mounting part and the circuit board mounting part to realize wiring between the fingers and the circuit board, so that spatial isolation between the fingers and the circuit board can be ensured, and circuit plugging connection between the fingers and the circuit board can be realized; independent assembly and disassembly of the fingers on the palm are facilitated, and modular design of the manipulator is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of embodied robots, and in particular to a palm skeleton, a robotic palm, a robotic hand, and a robot. Background Art

[0002] With the development of embodied intelligence technology, various dexterous hands have emerged for use in embodied intelligent robots. These hands typically consist of fingers, circuit boards, and a palm. Related technologies place the fingers and circuit boards in the same physical space within the palm. This leads to interference between the fingers and circuit boards, a cluttered internal structure, and complex assembly and disassembly, compromising the dexterous hand's operational stability. Summary of the Invention

[0003] In order to solve at least one technical problem existing in the prior art, the present application proposes a palm skeleton, a robotic palm, a robotic hand and a robot.

[0004] In a first aspect, the present application provides a palm skeleton for a robotic hand, the palm skeleton comprising: a finger mounting portion for mounting a finger; A circuit board mounting portion, used for mounting a circuit board; Wherein, a communication port is provided between the finger mounting portion and the circuit board mounting portion for routing the wires between the finger and the circuit board.

[0005] In these embodiments, the palm skeleton is divided into two parts, a finger mounting part and a circuit board mounting part, and a connecting port is provided between the two parts to realize routing between the fingers and the circuit board. This ensures spatial isolation between the fingers and the circuit board (effectively avoiding physical damage to the circuit board when the fingers are unstable in mounting or movement when the two are located in the same space), and realizes line connection (communication connection and power supply connection) between the fingers and the circuit board.

[0006] In some embodiments, the communication port is used for a finger circuit interface of the finger and / or a circuit board circuit interface of the circuit board to pass through for plug-in connection.

[0007] For example, a finger circuit interface is provided on the finger, and a circuit board circuit interface is provided on the circuit board. The communication port is used to connect the finger circuit interface of the finger and the circuit board circuit interface of the circuit board. The finger circuit interface and the circuit board circuit interface can be connectors, such as plugs and sockets, used to connect circuits of small electronic devices or electronic components.

[0008] In these embodiments, the palm skeleton is divided into two parts, a finger mounting part and a circuit board mounting part, and a connecting port is provided between the two parts to realize the plug-in connection between the finger circuit interface and the circuit board circuit interface. This can ensure the spatial isolation between the finger and the circuit board (effectively avoiding physical damage to the circuit board when the finger is unstable in installation or movement when the two are located in the same space), and can also realize the line plug-in connection (communication connection and power supply connection) between the finger and the circuit board, facilitate the independent installation and removal of the finger on the palm, and realize modular design.

[0009] In some embodiments, the communication port includes a finger mounting portion communication port and a circuit board mounting portion communication port; The finger mounting portion communication port is provided at the end of the finger mounting portion; illustratively, the finger mounting portion communication port is a communication port provided at the end of the finger mounting portion; The circuit board mounting portion communication port is provided on the circuit board mounting portion; illustratively, the circuit board mounting portion communication port is a communication port provided on the circuit board mounting portion.

[0010] In these embodiments, the connecting port is provided as a finger mounting portion connecting port located at the end of the finger mounting portion and a circuit board mounting portion connecting port located on the circuit board mounting portion. By providing two independent connecting ports, flexible connection and configuration of the lines between the finger and the circuit board are achieved.

[0011] In some embodiments, the communication opening of the finger mounting portion is smaller than or equal to the terminal end port of the finger mounting portion; illustratively, the finger mounting portion includes a first end and a second end, wherein the first end is the end for inserting the finger, the second end (i.e., the terminal end of the finger mounting portion) is the end where the finger terminal is located when the finger is in the inserted state, and the terminal end port of the finger mounting portion is the port when the terminal end of the finger mounting portion is fully open; In a case where the finger mounting portion communication port is smaller than the terminal end port of the finger mounting portion, a stopper for resisting the terminal end of a finger is formed between the finger mounting portion communication port and the terminal end of the finger mounting portion.

[0012] In these embodiments, by configuring the finger mounting portion's communication opening to be smaller than the distal end of the finger mounting portion, a finger mounted on the finger mounting portion can be secured to the circuit board through the communication opening. Furthermore, the stopper can support the distal end of the finger, providing support along the finger's length (i.e., in the finger's axial direction, along the finger's length, and along the axial direction of the finger mounting portion). This reduces the impact on the finger's mounting structure when the finger is subjected to axial force, preventing the structure from loosening.

[0013] In some embodiments, the finger mounting portion includes a four-finger mounting portion and / or a thumb mounting portion; the four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, and little finger, and the thumb mounting portion is used to mount the thumb.

[0014] In these embodiments, the four-finger mounting portion can be a finger mounting portion that can only accommodate one index finger, middle finger, ring finger, or pinky finger, or a finger mounting portion that can accommodate two, three, or four fingers but can be used to accommodate a smaller number of fingers while leaving a certain amount of space. If the four-finger mounting portion can only accommodate one finger, it can be understood as a minimum structural model of a palm support consisting of a four-finger mounting portion that can only accommodate one finger and a circuit mounting portion for mounting a circuit board. In this case, since the four-finger mounting portion is only suitable for mounting one finger, the circuit board used to drive the movement of the finger can naturally be made smaller, so this small structural model can be applied to a variety of scenarios, such as constructing a two-finger or three-finger gripper.

[0015] In some embodiments, the four-finger mounting portion and the circuit board mounting portion are sequentially distributed along the length direction of the four fingers or distributed in the thickness direction of the manipulator; The thumb mounting portion and the circuit board mounting portion are sequentially distributed along the length direction of the thumb or distributed in the thickness direction of the manipulator.

[0016] In these embodiments, there are actually four combination schemes, namely: The four finger mounting portions and the circuit board mounting portion are sequentially distributed along the length of the four fingers, and / or the thumb mounting portion and the circuit board mounting portion are sequentially distributed along the length of the thumb. This solution can reduce the thickness of the palm of the manipulator near the fingers and increase the length and width of the palm, thereby expanding the accommodation space inside the palm. The four finger mounting portions and the circuit board mounting portion are distributed in the thickness direction of the manipulator, and / or the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator. This solution helps save space on the palm length and can achieve the goal of maintaining the length of the fingers by reducing the length and width of the palm in scenarios with limited length. The four finger mounting portions and the circuit board mounting portion are sequentially distributed along the length of the four fingers, and / or the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator. This solution not only reduces the thickness of the manipulator's palm near the fingers (i.e., if the base of the fingers is too close to the inside of the palm, the length of the palm skeleton along the finger direction will be too short, resulting in too little space for the circuit board mounting portion of the palm skeleton, causing the circuit board and finger mounting portions to overlap, and thus causing the palm portion to be too thick), but also increases the palm length. Furthermore, due to the distribution of the thumb in the thickness direction of the manipulator, the palm width is reduced and the thickness of the palm portion where the thumb is located is increased, making the manipulator closer to the shape of a real human hand and improving the degree of simulation. The four-finger mounting portion and the circuit board mounting portion are distributed along the thickness of the manipulator, and / or the thumb mounting portion and the circuit board mounting portion are distributed sequentially along the length of the thumb. This solution not only reduces the length of the manipulator's palm, but also maintains the length of the thumb and reduces the thickness of the palm near the thumb due to the sequential distribution of the thumb along the length of the thumb, thus expanding the application scenarios of the manipulator, for example, it is suitable for scenarios requiring a long thumb and a short palm.

[0017] In some embodiments, the thumb mounting portion is disposed on a lower surface of the circuit board mounting portion, and the lower surface of the circuit board mounting portion is a surface of the circuit board mounting portion facing the palm of the manipulator.

[0018] In these embodiments, by arranging the thumb mounting portion on the lower surface of the circuit board mounting portion, the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, thereby increasing the thickness of the thumb portion in the palm, making this portion of the manipulator closer to the shape of a real human hand.

[0019] In some embodiments, the four-finger mounting portion is provided with a four-finger mounting slot; the end of the four-finger mounting slot serves as the end of the four-finger mounting portion. The four-finger mounting slot primarily accommodates various situations of the four-finger mounting portion of the aforementioned embodiments. Furthermore, by way of example, the four-finger mounting slot can be configured independently for each of the four fingers, or can also be a shared slot for all four fingers.

[0020] In these embodiments, when each of the four fingers is independently configured with a mounting slot, it is convenient to achieve mutual independence between the multiple fingers so that they can be independently assembled and disassembled.

[0021] In some embodiments, the thumb mounting portion is provided with a thumb mounting groove; the end of the thumb mounting groove serves as the end of the thumb mounting portion.

[0022] In some embodiments, a wall of the mounting slot is provided with a hollow area. The mounting slot includes a four-finger mounting slot and / or a thumb mounting slot.

[0023] In this embodiment, a hollow area is provided in the wall of the mounting groove, which reduces the weight of the palm skeleton while ensuring the rigidity of the palm skeleton. The provision of the hollow hole also helps to dissipate the heat generated during finger driving (the finger joint module contains a motor, which generates heat when the motor drives the finger movement).

[0024] In some embodiments, the groove wall of the mounting groove includes two side walls and a top wall; or includes two side walls and a bottom wall; or includes two side walls, a top wall, and a bottom wall.

[0025] In some embodiments, when the mounting slot includes two side walls and a top wall, the mounting slot is an inverted U-shaped slot; the opening of the inverted U-shaped slot faces toward the palm of the manipulator, and the top wall is provided with a mounting hole for securing the finger and facilitating its removal from the palm shell. This embodiment utilizes a U-shaped wraparound design plus mounting holes to secure the finger, which not only allows for independent assembly and disassembly of the finger but also improves the stability of the finger installation.

[0026] In some embodiments, when the mounting groove includes two side walls and a bottom wall, the mounting groove is a U-shaped groove, and the opening (which can be called a slot) is facing the back of the hand, so that the fingers can be easily removed from the back of the hand; when the mounting groove includes two side walls, a top wall, and a bottom wall, the mounting groove is a tubular groove, so that the fingers can be directly pulled out in the length direction of the fingers without having to disassemble the palm shell and the back of the hand shell, by simply unscrewing the screws on the palm shell and the back of the hand shell for fixing the fingers.

[0027] In some embodiments, when the four-finger mounting slots include at least two of the index finger mounting slot, the middle finger mounting slot, the ring finger mounting slot, and the little finger mounting slot, two adjacent finger mounting slots share a slot wall.

[0028] In some embodiments, the four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers, and the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, and the four-finger mounting portion and the circuit board mounting portion are integrally formed; the thumb mounting portion and the circuit board mounting portion are integrally formed or detachably connected.

[0029] In these embodiments, when the circuit board mounting portion and the finger mounting portion are sequentially distributed along the length of the manipulator, the four-finger mounting portion and the thumb mounting portion are all integrally formed with the circuit board mounting portion, which helps to improve the integrity and structural strength of the palm skeleton. In this case, an area can be directly designated on the circuit mounting portion as the thumb mounting portion, and the fingers can be fixed with screws, eliminating the need for adding extra components for the thumb mounting, reducing the number of components, improving simplicity and installation efficiency, and reducing the weight of the palm support. Furthermore, the thumb mounting portion and the circuit board mounting portion adopt a detachable and separate connection solution, mainly to adapt to situations where a separate thumb mounting portion design is required due to specific needs or technical limitations.

[0030] In some embodiments, a recessed groove is provided on the upper surface of the circuit board mounting portion for mounting the circuit board, and the upper surface of the circuit board mounting portion is the surface of the circuit board mounting portion facing the back of the manipulator.

[0031] In this embodiment, the recessed groove provided on the upper surface of the circuit board mounting portion expands the accommodation space, allowing the circuit board mounting portion to accommodate more circuit boards (because the driving boards of each joint module are integrated into the palm skeleton).

[0032] In some embodiments, the circuit board mounting portion communication port is a communication port disposed at the bottom of the sink.

[0033] In some embodiments, the four-finger mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, and the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, and the finger mounting portion is integrally formed by the four-finger mounting portion and the thumb mounting portion; the finger mounting portion and the circuit board mounting portion are integrally formed or detachably connected.

[0034] In these embodiments, when the finger mounting portions (i.e., the four fingers and the thumb mounting portion) and the circuit board mounting portion are distributed along the thickness direction of the manipulator, the four finger mounting portions and the thumb mounting portion are integrally formed to improve the stability of the finger mounting portions. Furthermore, the finger mounting portions and the circuit board mounting portion are integrally formed to adapt to the improved scheme of direct finger plug-in connection. This can eliminate the need for disassembly of the finger mounting portions and the circuit board mounting portion during assembly and detachment of the fingers and the circuit board, thereby improving the efficiency of assembly and detachment of the fingers and the circuit board. Of course, the finger mounting portions and the circuit board mounting portion are detachably connected, primarily to facilitate assembly and detachment of the fingers when adapting to improved schemes of non-direct finger plug-in connection (due to special needs / operating conditions / technical conditions, the fingers are not installed straight, typically with a bend between the first and second knuckles of the fingers, i.e., non-straight).

[0035] In some embodiments, the circuit board mounting portion and the finger mounting portion are detachably connected, allowing the finger to be detachably mounted within the finger mounting portion for yaw and swing movement. The detachable connection between the circuit board mounting portion and the finger mounting portion in the previous embodiment is further enhanced here, facilitating finger installation when adding a yaw degree of freedom. In this embodiment, the finger yaws within the finger mounting portion, achieving yaw and swing freedom.

[0036] In some embodiments, the circuit board mounting portion includes a finger assembly component and a circuit board mounting portion body, and the finger assembly component and the circuit board mounting portion body are detachably connected or integrally formed; A first hinge is provided on the lower surface of the finger assembly part, and a second hinge is provided on the upper surface of the bottom wall of the finger mounting groove; The first hinge and the second hinge constitute a movable mounting mechanism for arranging the finger in the finger mounting portion for swinging movement.

[0037] In these embodiments, the finger assembly, as a component of the circuit board mounting portion, is introduced primarily to facilitate the installation and removal of a finger with yaw motion (i.e., yaw freedom). For example, the finger assembly can be a separate, separate finger assembly, allowing for independent assembly and disassembly, allowing for individual finger installation and removal. Of course, the finger assembly and the main circuit board mounting portion can be integrally formed to facilitate integrated assembly and disassembly of the circuit board mounting portion, to accommodate specific needs and technical limitations.

[0038] In some embodiments, the finger mounting slot is an index finger mounting slot.

[0039] In a second aspect, the present application provides a robotic palm, which includes the palm skeleton described in any embodiment of the present application.

[0040] In some embodiments, a palm shell is further included, and the palm shell is integrally formed with the palm skeleton.

[0041] In some embodiments, a palm shell detachably mounted to the palm skeleton is further included, and a support boss is provided on the palm shell relative to the finger mounting slot for auxiliary supporting the fingers in the finger mounting slot.

[0042] The palm shell's detachable assembly facilitates easy insertion and removal of the fingers from the palm. Furthermore, the presence of a boss on the palm shell allows for compatibility with palm supports that have a finger mounting slot with only two sides, or with three sides and the slot opening facing the palm. The boss can be made of a non-metallic material or the same material as the palm shell (typically also a non-metallic material, such as a plastic material with good strength and heat dissipation, or a metal material with good strength, heat dissipation, and lightness), thus achieving a certain degree of weight reduction.

[0043] In some embodiments, a gap is formed between two adjacent support bosses, and the gap corresponds to the side wall shared by two adjacent finger mounting grooves. When the side wall is embedded in the gap, it can stabilize the palm shell in the left and right directions to prevent it from loosening and shifting in the left and right directions.

[0044] In some embodiments, the back of the hand housing is further included, and the back of the hand housing is detachably assembled with the palm frame, so that the fingers and the circuit board can be easily assembled and disassembled from the back of the hand.

[0045] In a third aspect, the present application provides a robotic arm comprising a palm, fingers, and a circuit board; The palm includes the mechanical palm described in any embodiment of the present application; The fingers can be independently detached and installed on the robotic palm, and the circuit board is electrically connected to the fingers for controlling and driving the movement of the fingers. The independently detachable installation of the fingers facilitates the replacement of the fingers. For example, when a finger fails, it can be independently removed for repair.

[0046] The fingers include at least one of a thumb, an index finger, a middle finger, a ring finger, and a little finger.

[0047] In some embodiments, the circuit board includes a circuit board circuit interface; the finger includes a finger circuit interface; The circuit board circuit interface passes through the circuit board mounting portion connecting port and the finger mounting portion connecting port, and is plugged and unplugged connected to the finger circuit interface provided at the end of the finger; or the finger circuit interface passes through the finger mounting portion connecting port and the circuit board mounting portion connecting port, and is plugged and unplugged connected to the circuit board circuit interface provided on the circuit board.

[0048] Exemplarily, the finger circuit interface is provided at the end of the finger, and the end of the finger may be a place on the upper surface of the joint module close to the end or the end face.

[0049] The difficulty in independently disassembling the fingers lies in disconnecting the wiring between them and the palm. This difficulty exists because both the fingers and the palm contain hardware components, such as circuit boards. This solution addresses this issue by providing circuit board interfaces on the circuit board and finger circuit interfaces on the fingers, thereby enhancing the modularity and scalability of the manipulator's design.

[0050] In some embodiments, the circuit board includes a control board and a driver board; the control board and the driver board are electrically connected; the control board and the driver board are integrated on a single circuit board or separately provided as two circuit boards; if the control board and the driver board are separately provided as two circuit boards, the electrical connection between the control board and the driver board includes a plug-in connection. In this embodiment, whether the control board and the driver board are simultaneously mounted on the circuit board mounting portion or separately mounted on the palm and fingers, the plug-in connection between the control board and the driver board further enhances the modular design of the manipulator.

[0051] In some embodiments, the control board and the driver board are mounted on the circuit board mounting portion; the driver board circuit interface at the driver board output terminal serves as the circuit board circuit interface and is pluggable connected to the finger circuit interface. This embodiment, in which both the control board and the driver board are mounted on the circuit board mounting portion, is suitable for palms with a large accommodating space. This also reduces the size of the finger (because the driver board does not need to be mounted on the finger), making the finger more human-sized.

[0052] In some embodiments, the control board is mounted on the circuit board mounting portion, and the driver board is mounted on the finger. The driver board circuit interface at the driver board input end serves as the finger circuit interface, and the control board circuit interface at the control board output end serves as the circuit board circuit interface. The finger circuit interface is pluggable connected to the circuit board circuit interface. This embodiment separately mounts the control board and the driver board on the circuit board mounting portion and the finger. It is suitable for solutions with a smaller palm space, which is usually a requirement for full-wheel drive solutions. Full-wheel drive means that each degree of freedom of the joint requires a joint module (including a motor and other power mechanisms) placed in the knuckle.

[0053] In some embodiments, the driving plate includes at least one finger driving plate for driving the movement of the finger corresponding thereto.

[0054] In this embodiment, regardless of whether one finger has one driver board (i.e., an under-driven solution) or multiple driver boards (i.e., a fully driven solution), setting the driver board on the finger can, on the one hand, reduce the thickness of the palm. In some implementation scenarios, the palm thickness needs to be reduced or the palm storage space is limited, so the driver board needs to be set on the finger; on the other hand, when the driver board is set on the finger, the cables of the motor, angle sensor, tactile sensor, etc. on the finger can be integrated through the driver board and then routed, which can solve the problem of finger hiding / routing and joint rotation being difficult to be compatible. In particular, in the following embodiment, each finger joint is equipped with an independent driver board, the effect is more obvious.

[0055] In some embodiments, the finger driving plate includes at least one joint driving plate, and the joint driving plate is provided on the knuckle of the finger, and is used to independently drive the rotation of the joint corresponding to the knuckle; The knuckles include at least one of a first knuckle, an intermediate knuckle, and a fingertip knuckle. The first knuckle is the knuckle closest to the robotic palm, and the intermediate knuckle is the knuckle between the first knuckle and the fingertip knuckle. The first knuckle is also called the root knuckle, that is, the knuckle closest to the palm.

[0056] This embodiment achieves independent control of the joints by independently configuring drive boards for the finger joints, improving joint control accuracy and overall force output and flexibility of the fingers and even the manipulator. Based on the above-mentioned solution of independent drive of individual joints, each joint is equipped with an independent drive board, which can greatly improve the convenience of finger routing and solve the routing problem. For example, in the development trend of dexterous hands, the joints in the fingers will inevitably use sensors for detecting joint rotation angles and sensors for detecting touch (such as pressure sensors). Among them, angle sensors generally have three wires (i.e., power line, at least one signal line, and ground line), and tactile sensors (such as pressure sensors) generally have about three wires (i.e., power line, one signal line, and ground line). In addition, the power output mechanism for driving the joint rotation - the motor (generally has three wires, i.e., power line, one signal line, and ground line). In this way, the angle sensor and motor wires generated by a single joint have six wires. If the tactile sensor is added, there are nine wires. If a complete Each finger (index, middle, ring, and pinky) has three joint modules (the base, proximal, and middle knuckles located in the palm), with a total of 18 wires. Adding the three tactile sensors in the fingertip modules, each finger has 21 wires. Therefore, if the joint driver board isn't centrally connected to these wires, they will be routed in a dispersed manner. This makes it difficult to achieve reasonable routing at each degree of freedom without affecting motion (such as rotation) at that degree of freedom and routing within the joints, given the design requirements for miniaturized dexterous fingers. Each joint has an independent joint driver board, which not only achieves independent control of the degrees of freedom but also solves the routing problem.

[0057] In some embodiments, the driver board circuit interface at the input end of the joint drive board of the first phalanx serves as the finger circuit interface and is pluggable connected to the circuit board circuit interface. In this way, as long as the pluggable connection problem between the joint drive board of the first phalanx and the circuit board located in the palm is solved, the fingers can be independently assembled and disassembled.

[0058] In some embodiments, the electrical connection between the joint drive plates of adjacent knuckles includes a plug-in connection to achieve independent assembly and disassembly of the knuckles and their joint modules.

[0059] In some embodiments, the circuit board also includes a fingertip control board for controlling the fingertip tactile sensor, the fingertip control board is arranged on the fingertip joint of the finger, and the electrical connection between the fingertip control board and the drive board of the adjacent joint includes a plug-in connection. In order to realize the independent loading and unloading of the fingertip joints. In the above embodiment, the circuit between the joint drive board of the first joint and the circuit board, the circuit between the joint drive boards of the adjacent joints, and the circuit between the fingertip control board and the drive board of the adjacent joints are all electrically connected by plug-in connection of connectors, which is convenient for the independent loading and unloading of the drive board, solves the problem of inconvenient disassembly of the lines between the drive boards during the independent loading and unloading of a single joint in the finger, improves the efficiency of assembly and disassembly while reducing costs, and avoids the problem of bloated finger structure and complicated routing caused by setting multiple sets of parallel lines.

[0060] In a fourth aspect, the present application provides a robot comprising the manipulator described in any embodiment of the present application.

[0061] The present application divides the palm skeleton into two parts, a finger mounting part and a circuit board mounting part, and sets a connecting port between the two parts to realize the line routing between the fingers and the palm, and facilitates the plug-in connection between the two when setting the finger line interface and the circuit board setting the circuit board line interface, thereby ensuring the spatial isolation between the fingers and the circuit board (effectively avoiding physical damage to the circuit board when the fingers are installed unstable when the two are located in the same space), and realizing the plug-in connection of the lines between the fingers and the circuit board, realizing the independent loading and unloading of the fingers on the palm, and improving or realizing modular design. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0063] Figure 1 A schematic diagram of the three-dimensional structure of a palm skeleton according to an embodiment of the present application; Figure 2 This is a schematic structural diagram of another embodiment of the manipulator of the present application; Figure 3 This is a schematic structural diagram of an embodiment of the palm skeleton of the present application; Figure 4 This is a schematic structural diagram of another embodiment of the manipulator in this application; Figure 5 This is a schematic structural diagram of another embodiment of the palm skeleton of the present application; Figure 6This is a structural diagram of another embodiment of the robot arm of the present application. DETAILED DESCRIPTION

[0064] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0065] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 understood as a limitation on the present application.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0067] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0068] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0069] Example 1: Palm Skeleton like Figure 1 The palm skeleton of the present invention is a schematic diagram of a three-dimensional structure of an embodiment of the palm skeleton. This embodiment takes the palm skeleton of the right hand as an example. The palm skeleton of this embodiment can be used in a manipulator, which can be used as a dexterous hand of a robot. Figure 1 As shown, in this embodiment, the palm skeleton 1100 includes a finger mounting portion 1110 and a circuit board mounting portion 1120, and the finger mounting portion 1110 and the circuit board mounting portion 1120 are distributed in sequence along the length direction of the manipulator, and the length direction of the manipulator is the direction from the palm of the manipulator to the fingers of the manipulator. Among them, a connecting port is provided between the finger mounting portion 1110 and the circuit board mounting portion 1120 for routing between the fingers and the circuit board. Exemplarily, the connecting port includes a connecting port 11211 provided on the circuit board mounting portion; in addition, the connecting port may also include a connecting port (not shown in the figure) provided on the side of the finger mounting portion 1110 close to the circuit board mounting portion. In some embodiments, the palm skeleton 1100 composed of the finger mounting portion 1110 and the circuit board mounting portion 1120 is integrally formed.

[0070] In some embodiments, the finger mounting portion 1110 includes a four-finger mounting portion and / or a thumb mounting portion. The four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, or pinky finger, and the thumb mounting portion is used to mount the thumb. The four-finger mounting portion and the circuit board mounting portion 1120 are sequentially arranged along the length of the four fingers (i.e., the length of the manipulator). The thumb mounting portion and the circuit board mounting portion 1120 are sequentially arranged along the length of the thumb or distributed along the thickness of the manipulator.

[0071] In some embodiments, the four-finger mounting portion and the circuit board mounting portion 1120 are distributed sequentially along the length direction of the four fingers, and when the thumb mounting portion and the circuit board mounting portion 1120 are distributed in the thickness direction of the manipulator, the four-finger mounting portion and the circuit board mounting portion 1120 are integrally formed; the thumb mounting portion and the circuit board mounting portion 1120 are integrally formed or detachably connected.

[0072] like Figure 1The four-finger mounting portion shown includes four finger mounting slots 1111, which are used to mount the index finger, middle finger, ring finger and little finger of the manipulator respectively. Of course, the number of fingers can be less than four, and the specific number can be determined according to the specific implementation scenario and needs. Each finger mounting slot includes a top wall and two side walls. A top wall and two side walls constitute an inverted U-shaped slot, and the opening of the inverted U-shaped slot faces the palm of the manipulator. A mounting hole 11112 is provided on the top wall for fixing and mounting the corresponding finger. Usually, the root knuckle of the finger is generally located in the finger mounting slot, and the root knuckle usually includes components such as a motor, a reduction mechanism and / or a drive plate. For example, a threaded hole is provided at the corresponding position of the finger, and the finger can be fixedly installed in the finger mounting slot by a screw. In actual use, the end of the finger is inserted into the inverted U-shaped slot, and the finger is fixedly installed by a screw.

[0073] In this embodiment, the finger mounting groove 1111 is configured to be an inverted U-shape including a top wall and two side walls, which can achieve stable clamping of the finger end, and is beneficial to improving the stability and reliability of the finger installation in the finger mounting groove 1111.

[0074] Furthermore, the four finger mounting slots 1111 are, from right to left, the index finger mounting slot, the middle finger mounting slot, the ring finger mounting slot, and the pinky finger mounting slot. By providing each of the index finger, middle finger, ring finger, and pinky finger with an independent finger mounting slot 1111, independent assembly and disassembly of each finger is possible. In some embodiments, the four fingers can share a single finger mounting slot, or at least two adjacent fingers can share a single finger mounting slot.

[0075] In addition, rectangular hollow holes 11111 (or hollow holes of other shapes, which are not limited in this application) are provided on the top wall and the side walls to reduce its weight while ensuring the strength of the palm skeleton and facilitate heat dissipation of the finger part (such as the motor) located in the finger mounting groove.

[0076] In some embodiments, the finger mounting groove 1111 can also be configured to include two side walls and a bottom wall; or include two side walls, a top wall, a bottom wall, etc., which is not limited in this application.

[0077] like Figure 1 The upper surface of the circuit board mounting portion 1120 is provided with a recessed groove 1121 for mounting a circuit board. The upper surface of the circuit board mounting portion 1120 faces the back of the manipulator's hand. A communication port 11211 is also provided in the recessed groove 1121. This communication port 11211 connects the finger mounting portion 1110 and the circuit board mounting portion 1120 and can be used to connect the finger circuits of the finger with the circuit board circuits of the circuit board.

[0078] Furthermore, a circuit board mounting base 11212 is provided in the sink 1121. The circuit board mounting base 11212 has threaded holes for fixing and mounting the circuit board. There are four circuit board mounting bases 11212, which are used to fix and mount the circuit board at the four corners of the circuit board.

[0079] In some embodiments, communication port 11211 is configured in a T-shape. This allows for connection between the circuit board and the finger circuit interface (not shown) in the space below the sink 1121, fully utilizing the space below the sink 1121. Furthermore, it allows for the placement of taller components on the circuit board. For example, taller components on the circuit board can be positioned at a location corresponding to communication port 11211, allowing the taller components to face communication port 11211 during installation, fully utilizing the thickness of the palm skeleton. For example, the taller components on the circuit board can be circuit interfaces (e.g., driver board circuit interfaces on a driver board) or other components, and this application does not impose any limitations thereon.

[0080] In some embodiments, the inverted U-shaped groove includes a first end and a second end relative to each other (the first end is the end away from the middle of the manipulator, and the second end is the end close to the middle of the manipulator), the first end is used for inserting the finger for installation, and the second end is provided with a connecting port for connecting to the sink 1121 and / or the space facing the lower surface of the sink, which is used to realize the connection between the finger circuit interface at the end of the finger and the circuit board circuit interface of the control board in the sink 1121 and / or the connection between the finger circuit interface and the circuit board circuit interface of the drive board in the space facing the lower surface of the sink.

[0081] In some embodiments, the communication port comprises an opening provided in the end wall of the second end of the inverted U-shaped groove. This embodiment provides the communication port by providing a hole in the end wall of the second end of the inverted U-shaped groove (rather than leaving the entire end wall open, so that the communication port is smaller than the port if the entire end wall of the second end is open, i.e., the communication port is smaller than the end of the finger). This allows the end wall of the second end of the inverted U-shaped groove to provide support for the finger (axially). This embodiment not only facilitates finger routing through the communication port but also provides position-limiting support for the end of the finger through the end wall. This reduces the impact on the fixing structure between the top wall of the inverted U-shaped groove and the finger (e.g., screws passing through the top wall to secure the finger) when the finger is in place, preventing loosening of the fixing structure.

[0082] In some embodiments, a thumb mounting portion is also provided on the lower surface of the circuit board mounting portion 1120, with the lower surface of the circuit board mounting portion 1120 facing the palm of the manipulator. This embodiment positions the thumb and fingers (e.g., four fingers) on different sides or in different planes, making the shape of a manipulator employing this palm skeleton more realistic. Specifically, the thumb is mounted below the recess, resulting in staggered placement of the thumb and fingers (e.g., four fingers) within the palm, with the inner palm raised, enhancing hand simulation.

[0083] Further references Figure 1 , the sink 1121 also includes a plurality of thumb fixing holes 11213, which can be used to cooperate with the threaded holes opened on the thumb for threaded fixing connection. During use, the thumb is placed on the lower surface of the circuit board mounting portion 1120 so that the threaded holes on the thumb are aligned with the corresponding thumb fixing holes 11213, and the thumb is fixed and installed using screws. The finger circuit interface of the thumb is also connected to the circuit board circuit interface on the circuit board through the connecting port. Exemplarily, the connecting port is T-shaped, and the finger circuit interface of the thumb is connected to the circuit board circuit interface on the circuit board at the through-hole portion extending downward from the T-shape. Exemplarily, a plug (or socket) is provided at a position on the circuit board corresponding to the through-hole portion extending downward from the T-shape, and the corresponding thumb finger circuit interface adopts a socket (or plug) to achieve connection between the two.

[0084] In this embodiment, by mounting the thumb on the lower surface of the circuit board mounting portion 1120, the thumb and four fingers are not in the same plane, making the shape of the robotic hand using this palm skeleton more similar to a real human hand. Specifically, by mounting the thumb on the lower surface of the recess 1121, the thumb and four fingers are arranged in staggered layers within the palm, with the inner palm raised, which improves the human hand simulation.

[0085] Example 2: Robotic Hand like Figure 2 As shown, the robotic palm includes a palm skeleton 1100, a back-of-hand shell 1200, and a palm shell 1300. The palm skeleton 1100 adopts the palm skeleton described in Example 1. The back-of-hand shell 1200 is mounted on the back side of the palm skeleton 1100, and the palm shell 1300 is mounted on the palm side of the palm skeleton 1100. Furthermore, the robotic palm also includes a wrist structure 1600, which is fixedly mounted on the end of the palm skeleton 1100 away from the fingers, specifically, on the end of the circuit board mounting portion 1120 away from the finger mounting portion 1100.

[0086] In some embodiments, the palm shell 1300 and the palm skeleton 1100 are integrally formed; the back of the hand shell 1200 and the palm skeleton 1100 are detachably assembled.

[0087] In some embodiments, in order to facilitate independent insertion and removal of fingers, the back of the hand housing 1200 and the palm frame 1100 can be fixed in the following manner: (1) The back of the hand housing 1200 is snap-fitted to the palm frame 1100. This makes it easy to remove the back of the hand housing 1200. The user can then use a screwdriver to unscrew the screws in the mounting holes 11112 on the top wall of the finger mounting slot and remove the finger. This solution is more effective when combined with the circuit board interface in Example 1, which is directly fixed to the wiring hole 1411 at the second end of the finger mounting slot.

[0088] (2) A back-of-hand housing mounting hole corresponding to the mounting hole 11112 on the top wall of the finger mounting slot is provided on the back-of-hand housing 1200. Screws are passed through the back-of-hand housing mounting hole and the mounting hole 11112 on the top wall to secure the back-of-hand housing 1200 and the finger together. When a finger is removed, the screws securing the finger through the back-of-hand housing mounting hole and the mounting hole 11112 on the top wall are directly unscrewed, and the finger can be removed. Similarly, this solution is combined with the circuit board circuit interface directly secured to the wiring hole 1411 at the second end of the finger mounting slot in Example 1, achieving a better effect.

[0089] (3) If Figure 2 As shown, screw holes are provided on the side of the back-of-hand shell 1200, and the back-of-hand shell 1200 is fixed to the palm skeleton 1100 by screws.

[0090] Similarly, the above three fixing methods can also be used to fix the palm shell 1300 and the palm skeleton 1100 in an analogous manner to facilitate independent insertion and removal of fingers.

[0091] Continue to refer to Figure 2 Support bosses 1310 are provided on the palm shell 1300 at positions corresponding to the multiple finger mounting slots 1111. Each finger mounting slot 1111 corresponds to a support boss 1310. The support bosses 1310 support the corresponding finger, improving the stability of the finger within the corresponding finger mounting slot. In addition, a gap is formed between adjacent support bosses 1310. This gap corresponds to the sidewall shared by two adjacent finger mounting slots 1111. That is, the sidewall can be inserted into the gap, thereby strengthening the stability of the connection between the palm shell 1300 and the palm skeleton 1100.

[0092] Continue to refer to Figure 2The side of the palm shell 1300 is provided with a thumb through-hole 1320 for mounting the thumb. The portion of the palm shell 1300 corresponding to the recess 1121 is provided with a palm support portion, which can be configured as a support column 1330. The bottom end of the support column 1330 is connected to the palm shell 1300, supporting the top end of the support column 1330 against the lower surface of the recess 1121, thereby supporting the palm shell 1300, reducing deformation of the palm shell 1300 caused by squeezing, and protecting the components in the space formed between the palm shell 1300 and the palm skeleton 1100.

[0093] In some embodiments, the palm shell 1300 is integrally formed with the palm frame 1100. In this case, the inverted U-shaped top wall, side walls, and corresponding support bosses 1310 (i.e., bottom wall) form a tubular groove. In this embodiment, the palm shell 1300 is integrally formed with the palm frame 1100, allowing fingers to be inserted and removed directly from the tubular groove without having to remove the palm shell and then remove it from the palm side.

[0094] Example 3: Robotic Arm like Figure 2 Figure 1 shows a schematic diagram of the structure of one embodiment of a robotic hand according to the present application. In this embodiment, the robotic hand comprises a palm, fingers, and a circuit board. A wrist structure 1600 is provided at the end of the palm away from the fingers. The palm can be a robotic hand described in any embodiment of the present application; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and pinky finger; and the circuit board includes a drive board and a control board.

[0095] Furthermore, the palm includes a back shell 1200, a circuit board 1500, a palm skeleton 1100, and a palm shell 1300, which are sequentially distributed from the back of the hand to the palm. The palm skeleton 1100 adopts the palm skeleton described in any embodiment of the present application.

[0096] like Figure 2 As shown, the thumb 1410 is installed in the robotic palm through the thumb through hole 1320 on one side of the palm shell 1300, and the four fingers (index finger 1420, middle finger 1430, ring finger 1440 and little finger 1450) are inserted into the robotic palm through the four finger installation slots 1111 arranged side by side.

[0097] In this embodiment, the disassembly of four fingers only requires removing the back-of-hand shell 1200, then removing the fixing screws of the finger to be disassembled, removing the line connection between the finger and the circuit board, and then pulling the finger out of the finger mounting slot (the corresponding installation step is the reverse process of the disassembly step).

[0098] Continue to refer to Figure 2The circuit board 1500 includes a drive board 1510 and a control board 1520. The drive board 1510 is located below the control board 1520, and the control board 1520 is mounted on the drive board 1510. The drive board 1510 is fixedly mounted by cooperating with the four circuit board mounting bases 11212 in the sink 1121 through the fixing holes on the four corners. A circuit board circuit is provided on the drive board 1510, and the circuit board circuit is connected to the finger circuit of the finger through the connecting port 11211. The drive board 1510 is used to drive the finger movement, and the control board 1520 is connected to the drive board 1510 to send a control signal to the drive board 1510 to realize the drive control of the finger through the drive board 1510.

[0099] In some embodiments, the drive board 1510 is an integrated drive board. For example, the integrated drive board integrates the drive boards of each finger. The drive board of each finger can be a finger drive board or a finger joint drive board. That is, the drive boards of these fingers can be integrated on a circuit board as a whole integrated drive board and placed on the palm.

[0100] In some embodiments, the finger drive plates can also be independently distributed on the palm. Among them, the finger drive plate refers to the one that drives the entire finger movement when applied to the under-actuated manipulator / dexterous hand. Generally, the movement of the other finger joints can be driven by controlling the movement of the first finger joint. Figure 1-Figure 2 The embodiment of the invention is such a solution; the joint drive plate refers to a method for independently driving the joint movement of a finger joint through a joint drive plate when applied to a full-drive manipulator / dexterous hand, thereby realizing the movement of each joint on the finger. Of course, the drive plates in this case can be distributed on the fingers, as shown below. Figure 3-Figure 6 A scheme of an embodiment of the robot.

[0101] In some embodiments, the circuit board circuit of the driving board 1510 can extend into the space below the sink 1121 through the connecting port 11211 and be connected to the finger circuit of the finger in the space below.

[0102] For example, the circuit board circuit of the driving board 1510 includes a circuit board circuit interface, and the finger circuit of the finger includes a finger circuit interface. The circuit board circuit interface of the driving board 1510 is a socket, and the finger circuit interface of the finger is a plug, or the circuit board circuit interface of the driving board 1510 is a plug, and the finger circuit interface of the finger is a socket (e.g. Figure 3 The finger circuit interface 2451 is a socket. The circuit board circuit interface is connected to the circuit board 1500 via a flat cable, and the finger circuit interface is connected to the finger via a flat cable.

[0103] In some embodiments, the finger end can be a place on the upper surface of the joint module close to the end or the end surface. The multiple fingers include four fingers, and the four fingers include the index finger, the middle finger, the ring finger and the little finger.

[0104] Example 4: Palm Skeleton (Index Finger Can Deflect) In some embodiments, the finger mounting portions and the circuit board mounting portion are distributed along the thickness of the manipulator, where the thickness of the manipulator is the direction from the palm of the manipulator toward the back of the manipulator. This embodiment, by distributing the finger mounting portions and the circuit board mounting portion along the thickness of the manipulator, helps conserve space along the length of the palm, leaving ample space for the placement of other mechanisms within the palm.

[0105] like Figure 3 The figure shows a schematic diagram of the structure of an embodiment of a palm skeleton of the present application. In this embodiment, the palm skeleton 2100 includes a palm base 2110 and a palm cover 2120. The side of the palm base 2110 opposite the palm cover 2120 is provided with a finger mounting portion for mounting fingers. The upper surface of the palm cover 2120 is provided with a circuit board mounting portion for mounting a circuit board 2500. The palm cover 2120 is provided with a connecting port 2121 for routing wires between the fingers and the circuit board.

[0106] In some embodiments, the palm skeleton is designed as a split palm base 2110 and a split palm cover 2120 to facilitate assembly and disassembly of the fingers mounted on the finger mounting portion and the circuit board mounted on the circuit board mounting portion.

[0107] In some embodiments, the palm base 2110 and the palm cover 2120 may also be designed to be integrally formed, thereby reducing the number of components of the palm skeleton and improving the stability of the overall structure.

[0108] In some embodiments, the finger mount includes a four-finger mount. Figure 3 As shown, in this embodiment, a four-finger mounting portion is provided at one end of the palm base 2110 away from the wrist structure 2600. The four-finger mounting portion includes multiple finger mounting slots 2111 for mounting multiple fingers (illustratively, four side-by-side finger mounting slots 2111, respectively for mounting the index finger, middle finger, ring finger, and pinky finger). Exemplarily, the finger mounting slots 2111 are U-shaped slots including a bottom wall and two side walls.

[0109] In some embodiments, when the palm base 2110 and the palm cover 2120 are integrally formed, the lower surface (i.e., top wall) of the palm cover 2120 and the U-shaped groove form a tubular groove. In this case, fingers can be directly inserted into or removed from the tubular groove without removing the back of the hand housing.

[0110] In some embodiments, the finger mount further comprises a thumb mount. Figure 4 A thumb mounting slot 2112 is provided at one end of the palm base 2110 near the wrist structure 2600 in the horizontal direction (i.e., along the width of the palm or in a direction forming an acute angle with the width of the palm). An index finger yaw module mounting slot 2113 is provided above the thumb mounting slot 2112 for mounting the index finger yaw module. The index finger yaw module is used to drive the index finger to yaw within the palm plane. In this embodiment, the thumb mounting slot 2112 is located below the palm cover 2120, and the upper surface of the palm cover 2120 forms a circuit board mounting portion, thereby achieving the distribution of the thumb mounting slot 2112 and the circuit board mounting portion in the thickness direction of the manipulator. Of course, the thumb mounting slot 2112 and the circuit board mounting portion can also be distributed in the length direction of the thumb (i.e., the extension direction of the thumb after it is straightened).

[0111] In some embodiments, when the palm base 2110 and the palm cover 2120 are integrally formed, the thumb mounting slot and the circuit board mounting portion are also integrally formed; when the palm base 2110 and the palm cover 2120 are detachably connected, the thumb mounting slot and the circuit board mounting portion are also detachably connected.

[0112] Continue to refer to Figure 3 A lower cam 2421 is provided on the palm base 2110 at a location corresponding to the index finger mounting slot, and an upper cam (not shown) is provided at a corresponding location on the palm cover 2120. The upper and lower cams 2421 are coaxial and mate with the axial holes provided on the index finger. Driven by the index finger yaw module (the tip of the index finger is connected to the power output of the yaw module), the index finger can yaw within the palm plane.

[0113] Continue to refer to Figure 3 The circuit board 2500 is mounted above the palm cover 2120. Three communication ports 2121 are provided on the palm cover 2120 at locations corresponding to the finger mounting slots. These ports connect the circuit board interface of the circuit board 2500 to the finger circuit interfaces of the middle, ring, and pinky fingers. Furthermore, a thumb communication port 2121 is provided on the palm cover 2120 at a location corresponding to the thumb mounting slot 2112.

[0114] When the finger is inserted into the corresponding finger installation slot, the finger circuit interface at the end of the finger is located at the corresponding communication port, so as to be connected with the circuit interface of the circuit board. Figure 3As shown, the tip of pinky finger 2450 is provided with a finger circuit interface 2451 (for example, it can be in the form of a connector for quick insertion). When assembled, pinky finger 2450 is located between base limit A and base limit B (i.e., the two side walls of the pinky finger mounting slot). This finger circuit interface 2451 corresponds to the connecting port 2121 above it, allowing for quick disassembly and assembly of the circuit board circuit interface and finger circuit interface 2451 through this connecting port 2121 without removing the palm cover 2120. Furthermore, simply remove the screw d securing pinky finger 2450 to remove it from the corresponding finger mounting slot for removal. Similarly, the ring finger, middle finger, and thumb can also achieve the same quick disassembly and assembly.

[0115] Example 5: Palm skeleton (index finger cannot be tilted) This embodiment and Figure 3 The embodiment shown is basically the same, except that the index finger on the palm of the robot in this embodiment cannot be deflected. Specifically: In this embodiment, the palm cover 2120 is provided with five communication ports 2121 ( Figure 3 The embodiment does not include a communication port corresponding to the index finger), finger mounting slots corresponding to the four fingers (thumb, index finger, middle finger, ring finger and little finger), and an index finger fixing hole is provided at the position corresponding to the index finger mounting slot on the palm cover 2120 for fixing the index finger ( Figure 3 The middle and index fingers can be swiveled, and are movably mounted. Furthermore, since the index finger in this embodiment is fixedly mounted, there is no need to provide an index finger sway module mounting slot in the palm base 2110 of this embodiment for mounting the index finger sway module. There is also no need to provide a lower protruding shaft 2421 at a position corresponding to the index finger mounting slot on the palm base 2110, nor is there a need to provide an upper protruding shaft at a corresponding position on the palm cover 2120.

[0116] Example 6: Robotic Hand (Index Finger Can Swing) like Figure 4 The figure shows a schematic diagram of the structure of another embodiment of the manipulator in this application. Figure 4 As shown, in some embodiments, the robotic palm includes a palm skeleton 2100, a back shell 2200, and a palm shell 2300, and the back shell 2200 and the palm shell 2300 are installed in conjunction with the palm skeleton. Figure 3The palm skeleton in the illustrated embodiment (i.e., the palm skeleton described in Example 4, the specific structure of which is referred to the aforementioned related embodiments and will not be described in detail here). The index finger on the robotic palm in this embodiment can be deflected, and correspondingly, the index finger in the robotic hand using the robotic palm of Example 7 can be deflected. In some embodiments, the palm shell 2300 and the palm skeleton 2100 are integrally formed. The back of the hand shell 1200 and the palm skeleton 1100 are detachably assembled. The installation method between the back of the hand shell 1200 and the palm skeleton 1100 can refer to Example 2 and will not be described in detail here.

[0117] Example 7: Robotic Hand (Index Finger Cannot Swing) The present application also provides another form of robotic palm, which differs from the robotic palm in Example 6 only in that the palm skeleton described in Example 5 is adopted, and the index finger on the robotic palm in this embodiment cannot deflect.

[0118] Example 8: Robotic Hand (Index Finger Can Swing) This application also provides another form of manipulator, which is as follows Figure 4 FIG2 is a schematic diagram of another embodiment of a robotic hand in the present application. The robotic hand in this embodiment includes a palm, fingers, and a circuit board. The palm can be the robotic palm described in Example 6; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and pinky finger; and the circuit board includes a drive board and a control board.

[0119] like Figure 4 As shown, the robotic palm includes a palm skeleton 2100, a circuit board 2500, a back shell 2200, a palm shell 2300, five fingers 2400 (including the thumb 2410, index finger 2420, middle finger 2430, ring finger 3440 and little finger 2450) and a wrist structure 2600. Figure 3 The palm skeleton in the illustrated embodiment (i.e., the palm skeleton described in Example 4).

[0120] The four fingers 2400 (including the index finger 2420, middle finger 2430, ring finger 3440, and pinky finger 2450) are inserted into the palm frame through the four finger mounting slots at the front end of the palm frame. The middle finger 2430, ring finger 3440, and pinky finger 2450 are fixedly mounted as described in the previous embodiment, while the index finger 2420 is movable and swingable as described in the previous embodiment. The thumb 2410 is fixedly mounted in the thumb mounting slot 2112 and extends through the thumb through-hole 2320 on the side of the palm frame. The circuit board 2500 is mounted on the upper surface of the palm cover 2120, and the back of the hand housing 2200 and the palm of the hand housing 2300 are mounted in conjunction with the palm frame.

[0121] In some embodiments, the circuit board 2500 includes a control board 1520 and a driving board 1510; the control board 1520 and the driving board 1510 can be integrated on one circuit board or separately set into two circuit boards; when the control board 1520 and the driving board 1510 are separately set into two circuit boards, the connection between the control board 1520 and the driving board 1510 includes a pluggable electrical connection.

[0122] In some embodiments, the control board 1520 and the driving board 1510 are both set on the palm, and a driving board circuit interface is set on the driving board 1510, and the driving board circuit interface is connected to the finger circuit interface through a connecting port.

[0123] In some embodiments, the control panel 1520 is disposed on the palm; the driving panel 1510 includes at least one finger driving panel, which is disposed on a corresponding finger to drive the movement of the corresponding finger.

[0124] In some embodiments, the drive board 1510 includes at least one joint drive board; the joint drive board is arranged on the knuckle of the finger and is pluggable electrically connected to the control board 1520, and is used to independently drive the rotation of the joint corresponding to the knuckle; the knuckle includes at least one of the first knuckle, the middle knuckle, and the fingertip knuckle; the first knuckle is the knuckle closest to the palm, and the middle knuckle is the knuckle between the first knuckle and the fingertip knuckle.

[0125] In some embodiments, the joint drive board of a first phalanx is electrically connected to the control board 1520 in a pluggable manner; and / or the joint drive boards of adjacent phalanxes are electrically connected to each other in a pluggable manner; and / or, if a fingertip phalanx has no drive board but only a fingertip control board, the fingertip control board is electrically connected to the drive board of the adjacent phalanx. The fingertip control board is used to process information from the fingertip tactile sensor or control the operation of the tactile sensor.

[0126] Example 9: Robotic Hand (Index Finger Cannot Swing) The present application also provides another form of robotic arm, which differs from the robotic palm in Example 8 only in that it adopts the palm skeleton described in Example 5.

[0127] Example 10: Palm Skeleton (Index Finger Can Swing - Palm Cover Separate Design) In some embodiments, the circuit board mounting portion includes a finger assembly component and a circuit board mounting portion body, and the finger assembly component and the circuit board mounting portion body are detachably connected or integrally formed (the integrally formed solution corresponds to the palm skeleton in Example 4 of the present application). Figure 5The figure shows a schematic structural diagram of another embodiment of the palm skeleton of the present application, in which the finger assembly component of this embodiment is detachably connected to the main body of the circuit board mounting portion. The palm skeleton of this embodiment includes a palm base 2110, a palm cover 2120, and an index finger assembly component 2122. The palm cover 2120 corresponds to the main body of the circuit board mounting portion, and the index finger assembly component 2122 corresponds to the finger assembly component. Finger mounting holes are provided on the palm cover 2120 at positions corresponding to the middle finger mounting slot, the ring finger mounting slot, and the pinky finger mounting slot, for fixing the middle finger, ring finger, and pinky finger. Three connecting ports 21211 are provided on the palm cover 2120 at positions corresponding to the ends of the middle finger, ring finger, and pinky finger. A movable mounting mechanism is provided on the index finger assembly component 2122 and the palm base 2110 at positions corresponding to the index finger mounting slot, for enabling movable mounting of the index finger.

[0128] Reference Figure 5 A thumb connection port 21213 is provided on the palm cover 2120 at a position corresponding to the thumb mounting slot 2112, for connecting the circuit board 2500 above the palm cover 2120 to the thumb below. An index finger connection port 21212 is provided on the palm cover 2120 at a position corresponding to the index finger yaw module mounting slot, for connecting the circuit board 2500 above the palm cover 2120 to the index finger yaw module below.

[0129] Furthermore, the movable mounting mechanism includes a first hinged member disposed on the lower surface of the index finger mounting component and a second hinged member disposed on the upper surface of the bottom wall of the index finger mounting groove, configured to allow the finger to be positioned within the finger mounting portion for oscillatory movement. Exemplarily, the first and second hinged members may be opposed upper and lower protruding shafts, configured to engage corresponding axial holes in the index finger to enable oscillation of the index finger within the palm plane. In this embodiment, the circuit board 2500 is mounted on the palm cover 2120, and the wrist structure 2600 may be disposed on the end of the palm base 2110 away from the finger.

[0130] The palm base 2110 used in this embodiment is Figure 3 and Figure 4 The palm base is the same as shown in the , and the relevant content of the palm base can be referred to Figure 3 and Figure 4 As well as the aforementioned related embodiments, they will not be described in detail here.

[0131] like Figure 6The figure shows a schematic diagram of the structure of another embodiment of the manipulator of the present application. In this embodiment, three communication openings 21211 are provided on the palm cover 2120 at positions corresponding to the middle finger mounting slot, the ring finger mounting slot and the pinky finger mounting slot. Finger fixing holes are also provided on the palm cover 2120 at positions corresponding to the middle finger, the ring finger and the pinky finger for fixing the middle finger, the ring finger and the pinky finger. Figure 6 The middle view shows the status view of the little finger 2450 being installed in the little finger mounting slot.

[0132] Furthermore, a main body mounting hole is provided on the palm cover 2120 for fixing the palm cover 2120 on the palm base 2110 .

[0133] Continue to refer to Figure 5 The palm cover 2120 is also provided with an inductor sink S for dissipating heat from the inductor on the control board 2500. Furthermore, a thermally conductive material is provided between the inductor and the inductor sink S, ensuring full contact between the inductor and the inductor sink S and improving the heat dissipation efficiency of the inductor.

[0134] Continue to refer to Figure 5 The index finger assembly component 2122 includes a first assembly end 1 and a second assembly end 2 along the width direction of the palm. The first assembly end 1 and the second assembly end 2 are respectively fixedly connected to the two side walls of the index finger mounting groove to confine the index finger in the index finger mounting groove.

[0135] In this embodiment, the palm cover 2120 is configured as an independently detachable palm cover 2120 and an index finger assembly part 2122, so that the five fingers can be independently disassembled and assembled. In particular, when disassembling and assembling the index finger, there is no need to remove the entire palm cover, and only the independent index finger assembly part 2122 needs to be removed.

[0136] Example 11: Robotic Hand (Index Finger Can Swing - Separate Palm Cover Design) like Figure 6 FIG. 1 is a schematic structural diagram of another embodiment of the manipulator of the present application. Figure 6 In another embodiment of the robotic palm provided by the present application, the palm skeleton 2100, the back shell 2200, and the palm shell 2300 are included. Figure 5 The palm frame of the embodiment shown (ie, embodiment 10) is not described in detail here. The back of the hand shell 2200, the palm shell 2300 and the palm frame 2100 cooperate with each other to complete the assembly (the specific assembly method is not limited in this application).

[0137] In some embodiments, the palm shell 2300 is integrally formed with the palm frame 2100. The back of the hand shell 1200 and the palm frame 1100 are detachably assembled. The assembly method between the back of the hand shell 1200 and the palm frame 1100 can refer to Example 2 and will not be repeated here.

[0138] Example 12: Robotic Hand (Index Finger Can Swing - Palm and Cover Separate Design) In some embodiments, the manipulator includes a palm, fingers, and a circuit board; wherein the palm is the manipulator palm described in Example 11; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger; and the circuit board includes a drive board and a control board. Figure 6 As shown, the manipulator in this embodiment includes a palm skeleton 2100, a back shell 2200, a palm shell 2300, five fingers, a circuit board 2500 and a wrist structure 2600. Figure 5 The palm skeleton of the illustrated embodiment (i.e., Embodiment 10) will not be further described here. The five fingers include the thumb 2410, index finger 2420, middle finger 2430, ring finger 2440, and pinky finger 2450. The circuit board 2500 is mounted on the palm cover 2120. The back of the hand housing 2200, palm housing 2300, and palm skeleton 2100 cooperate to complete the assembly (this application does not limit the specific assembly method).

[0139] In some embodiments, the present application also provides a robot comprising the manipulator described in any of the aforementioned embodiments.

[0140] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 understood as a limitation on the present application.

[0141] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0142] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0143] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0144] The disclosure above provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A palm skeleton for a robotic arm, characterized in that: The palm skeleton comprises: A finger mounting portion, used for mounting fingers; A circuit board mounting portion, used for mounting a circuit board; Wherein, a communication port is provided between the finger mounting portion and the circuit board mounting portion for routing the wires between the finger and the circuit board.

2. The palm skeleton according to claim 1, characterized in that: The communication port is used for the finger circuit interface of the finger and / or the circuit board circuit interface of the circuit board to pass through for plug-in connection.

3. The palm skeleton according to claim 1, wherein: The communication port includes a finger mounting portion communication port and a circuit board mounting portion communication port; The finger mounting portion communication port is provided at the end of the finger mounting portion; The circuit board mounting portion communication port is provided on the circuit board mounting portion.

4. The palm skeleton according to claim 3, characterized in that: The communication port of the finger mounting portion is smaller than or equal to the terminal port of the finger mounting portion; In a case where the finger mounting portion communication port is smaller than the terminal end port of the finger mounting portion, a stopper for resisting the terminal end of a finger is formed between the finger mounting portion communication port and the terminal end of the finger mounting portion.

5. The palm skeleton according to claim 1, characterized in that: The finger mounting portion includes a four-finger mounting portion and / or a thumb mounting portion; the four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, and little finger, and the thumb mounting portion is used to mount the thumb.

6. The palm skeleton according to claim 5, characterized in that: The four-finger mounting portions and the circuit board mounting portions are sequentially distributed along the length direction of the four fingers or distributed in the thickness direction of the manipulator; The thumb mounting portion and the circuit board mounting portion are sequentially distributed along the length direction of the thumb or distributed in the thickness direction of the manipulator.

7. The palm skeleton according to claim 6, characterized in that: The thumb mounting portion is arranged on the lower surface of the circuit board mounting portion, and the lower surface of the circuit board mounting portion is the surface of the circuit board mounting portion facing the palm of the manipulator.

8. The palm skeleton according to claim 5, characterized in that: The four-finger mounting portion is provided with a four-finger mounting groove; the end of the four-finger mounting groove serves as the end of the four-finger mounting portion.

9. The palm skeleton according to claim 5, characterized in that: The thumb mounting portion is provided with a thumb mounting groove; the end of the thumb mounting groove serves as the end of the thumb mounting portion.

10. The palm skeleton according to claim 8 or 9, characterized in that: The groove wall of the installation groove is provided with a hollow area.

11. The palm skeleton according to claim 8 or 9, characterized in that: The groove wall of the installation groove includes two side walls and a top wall; or includes two side walls and a bottom wall; or includes two side walls, a top wall, and a bottom wall.

12. The palm skeleton according to claim 8, wherein: When the four-finger mounting slots include at least two of the index finger mounting slot, the middle finger mounting slot, the ring finger mounting slot, and the little finger mounting slot, two adjacent finger mounting slots share a slot wall.

13. The palm skeleton according to claim 6, wherein: The four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers, and when the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, the four-finger mounting portion and the circuit board mounting portion are integrally formed; the thumb mounting portion and the circuit board mounting portion are integrally formed or detachably connected.

14. The palm skeleton according to claim 13, wherein: The upper surface of the circuit board mounting portion is provided with a recessed groove for mounting the circuit board. The upper surface of the circuit board mounting portion is the surface of the circuit board mounting portion facing the back of the manipulator.

15. The palm skeleton according to claim 6, characterized in that: When the four-finger mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, and when the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the manipulator, the finger mounting portion is integrally formed by the four-finger mounting portion and the thumb mounting portion; the finger mounting portion and the circuit board mounting portion are integrally formed or detachably connected.

16. The palm skeleton according to claim 15, characterized in that: The circuit board mounting portion and the finger mounting portion are detachably connected, so that the finger can be detachably mounted in the finger mounting portion for swinging movement.

17. The palm skeleton according to claim 16, wherein: The circuit board mounting portion includes a finger assembly component and a circuit board mounting portion body, wherein the finger assembly component and the circuit board mounting portion body are detachably connected or integrally formed; A first hinge is provided on the lower surface of the finger assembly part, and a second hinge is provided on the upper surface of the bottom wall of the finger mounting groove; The first hinge and the second hinge constitute a movable mounting mechanism for arranging the finger in the finger mounting portion for swinging movement.

18. The palm skeleton according to claim 17, characterized in that: The finger mounting groove is an index finger mounting groove.

19. A robotic hand, characterized in that: The palm skeleton comprises the palm skeleton according to any one of claims 1-18.

20. The robotic palm according to claim 19, characterized in that: It also includes a palm shell, which is integrally formed with the palm skeleton.

21. The robotic palm according to claim 19, characterized in that: It also includes a palm shell that is detachably mounted on the palm frame. A support boss is provided on the palm shell at a position opposite to the finger mounting slot for supporting the fingers in the finger mounting slot.

22. The robotic palm according to claim 21, characterized in that: A gap is formed between two adjacent supporting bosses, and the gap corresponds to a side wall shared by two adjacent finger mounting grooves.

23. The robotic palm according to claim 19, characterized in that: It also includes a back-of-hand shell, which is detachably assembled with the palm skeleton.

24. A robot, characterized in that: including palms, fingers and circuit boards; The palm comprises a robotic palm according to any one of claims 19 to 23; The fingers can be independently detachably mounted on the robotic palm, and the circuit board is electrically connected to the fingers for controlling and driving the movement of the fingers; the fingers include at least one of the thumb, index finger, middle finger, ring finger and little finger.

25. The robot according to claim 24, characterized in that: The circuit board includes a circuit board circuit interface; the finger includes a finger circuit interface; The circuit board circuit interface passes through the connecting port of the circuit board mounting portion and the connecting port of the finger mounting portion, and is plugged and unplugged connected to the finger circuit interface arranged at the end of the finger; or the finger circuit interface passes through the connecting port of the finger mounting portion and the connecting port of the circuit board mounting portion, and is plugged and unplugged connected to the circuit board circuit interface arranged on the circuit board.

26. The robot according to claim 25, characterized in that The circuit board includes a control board and a drive board; the control board and the drive board are electrically connected; the control board and the drive board are integrated on one circuit board or separately arranged into two circuit boards; when the control board and the drive board are separately arranged into two circuit boards, the electrical connection between the control board and the drive board includes a plug-in connection.

27. The robot according to claim 26, characterized in that The control board and the driving board are mounted on the circuit board mounting portion; the driving board circuit interface at the output end of the driving board serves as the circuit board circuit interface and is pluggably connected to the finger circuit interface.

28. The robot according to claim 26, characterized in that The control board is installed on the circuit board mounting part, and the drive board is installed on the finger. The drive board circuit interface at the input end of the drive board serves as the finger circuit interface, and the control board circuit interface at the output end of the control board serves as the circuit board circuit interface. The finger circuit interface is pluggable connected to the circuit board circuit interface.

29. The manipulator according to any one of claims 26 to 28, characterized in that: The driving plate includes at least one finger driving plate, which is used to drive the movement of the finger corresponding thereto.

30. The robot according to claim 29, characterized in that The finger drive plate includes at least one joint drive plate, which is arranged on the knuckles of the fingers and is used to independently drive the rotation of the joints corresponding to the knuckles; the knuckles include at least one of the first knuckle, the middle knuckle, and the fingertip knuckle, the first knuckle is the knuckle closest to the robotic palm, and the middle knuckle is the knuckle between the first knuckle and the fingertip knuckle.

31. The robot according to claim 30, characterized in that The driving board circuit interface at the input end of the joint driving board of the first finger joint serves as the finger circuit interface and is plug-and-unplug connected to the circuit board circuit interface.

32. The robot according to claim 30, characterized in that The electrical connection between the joint drive plates of adjacent knuckles includes a plug-in connection.

33. The robot according to claim 25, characterized in that The circuit board also includes a fingertip control board for controlling the fingertip tactile sensor. The fingertip control board is arranged on the fingertip joint of the finger, and the electrical connection between the fingertip control board and the driving board of the adjacent joint includes a plug-in connection.

34. A robot, characterized in that: A robot comprising the manipulator described in any one of claims 24-33.

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