Finger joint of robot, robot hand and robot

Abstract

The embodiment of the invention belongs to the technical field of robot hands, and relates to a finger joint of a robot. The first output end of the first linear driving piece is hinged to the first end of the first joint connecting rod through a first cross shaft assembly; the second output end of the second linear driving piece is hinged to the first end of the first joint connecting rod through a second cross shaft assembly; the first joint connecting rod is driven to achieve first-degree-of-freedom movement and / or second-degree-of-freedom movement through synchronous movement and / or asynchronous movement of the first linear driving part and the second linear driving part. The invention further relates to a robot hand and a robot. According to the technical scheme, the degree of freedom of the fingers of the robot can be improved.

Description

Technical Field

[0001] This application relates to the field of robotic hand technology, and more specifically, to a robot's finger joint, a robotic hand, and a robot. Background Technology

[0002] With the development of technology, humanoid robots, industrial robotic arms and other robots are gradually being used in various industries, which has put forward new and higher requirements for robots in terms of dexterity.

[0003] Currently, the fingers of dexterous hands generally have limited degrees of freedom. Taking the thumb as an example, most dexterous hands today have thumbs with low degrees of freedom or complex structures. However, the dexterity of the thumb has a significant impact on hand operation during use, and a thumb structure with low degrees of freedom is not effective in use. Summary of the Invention

[0004] Based on this, embodiments of this application provide a robot finger joint, a robot hand, and a robot to improve the degree of freedom of the robot's fingers.

[0005] In a first aspect, embodiments of this application provide a finger joint for a robot, employing the technical solution described below:

[0006] A finger joint for a robot, the finger joint comprising: a first joint link, a first linear actuator, a second linear actuator, a mounting component, a first cross-axis assembly, and a second cross-axis assembly; the first linear actuator includes a first output end and a first connecting end opposite to the first output end; the second linear actuator includes a second output end and a second connecting end opposite to the second output end;

[0007] The first linear drive and the second linear drive are arranged side by side on the mounting member;

[0008] The first output end of the first linear drive is hinged to one side of the first end of the first joint link via the first cross shaft assembly; the second output end of the second linear drive is hinged to the other side of the first end of the first joint link via the second cross shaft assembly.

[0009] The first joint link is driven to achieve a first degree of freedom and / or a second degree of freedom by synchronous or asynchronous movement of the first linear drive and the second linear drive.

[0010] Furthermore, a second connecting hole is also provided at the first end of the first joint link;

[0011] The second connecting hole is close to the first interaction surface of the first joint link; wherein, the first interaction surface is the surface on which the first joint link interacts with the outside world;

[0012] The second connecting hole of the first joint link is hinged to the corresponding end of the mounting component via a third cross shaft assembly.

[0013] Furthermore, the second connecting hole of the first joint link is hinged to the corresponding end of the mounting component via the third cross shaft assembly through the following structure:

[0014] The third cross axis assembly includes: the vertical axis of the third cross axis assembly and the horizontal axis of the third cross axis assembly;

[0015] The first end of the longitudinal axis of the third cross axis assembly passes through the through hole provided in the transverse axis of the third cross axis assembly and is fixedly connected to the mounting member; and the longitudinal axis of the third cross axis assembly is clearance-fitted with the through hole so that the longitudinal axis of the third cross axis assembly and the transverse axis of the third cross axis assembly can rotate relative to each other; the two ends of the transverse axis of the third cross axis assembly are respectively hinged to the second connecting hole of the first joint link.

[0016] Furthermore, the finger joint also includes: a second joint link, a third joint link, a third linear drive, and a fourth linear drive; the third linear drive includes a third output end and a third connecting end opposite to the third output end; the fourth linear drive includes a fourth output end and a fourth connecting end opposite to the fourth output end.

[0017] The third linear drive and the fourth linear drive are respectively disposed on the second joint link; wherein, the output end of the third linear drive and the output end of the fourth linear drive are disposed in opposite directions; the third output end is hinged to the second end of the first joint link through a first shaft; the fourth linear output end is hinged to the first end of the third joint link through a second shaft;

[0018] The second end of the first joint link is also hinged to the first end of the second joint link via a third axis; the first end of the third joint link is also hinged to the second end of the second joint link via a fourth axis.

[0019] The third linear drive member drives the second joint link to achieve a third degree of freedom motion around the third axis; the fourth linear drive member drives the third joint link to achieve a fourth degree of freedom motion around the fourth axis.

[0020] Furthermore, the third axis is closer to the first and second interaction surfaces relative to the first axis; the fourth axis is closer to both the second and third interaction surfaces relative to the second axis; wherein, the first interaction surface is the surface through which the first joint link interacts with the outside world; the second interaction surface is the surface through which the second joint link interacts with the outside world; the third interaction surface is the surface through which the third joint link interacts with the outside world; and / or,

[0021] The first axis, the second axis, the third axis, and the fourth axis are arranged in parallel; and / or,

[0022] The third linear drive member and the fourth linear drive member are disposed on the opposite side of the second interaction surface of the second link.

[0023] Furthermore, the finger is the thumb; and / or,

[0024] The longitudinal axis of the third cross axis assembly is set perpendicular to the palm of the robot hand.

[0025] Furthermore, the first cross axis assembly includes: a horizontal axis of the first cross axis assembly and a vertical axis of the first cross axis assembly; the second cross axis assembly includes: a horizontal axis of the second cross axis assembly and a vertical axis of the second cross axis assembly.

[0026] The first output end of the first linear drive is hinged to one side of the first end of the first joint link via the first cross shaft assembly, which is achieved through the following structure:

[0027] The first linear drive member extends along the linear motion direction toward the first joint link to form a first connecting portion and a second connecting portion; the first connecting portion and the second connecting portion are respectively hinged to both ends of the transverse axis of the first cross-axis assembly; the longitudinal axis of the first cross-axis assembly is hinged to a first connecting hole on one side of the first end of the first joint link; and / or,

[0028] The second output end of the second linear drive is hinged to the other side of the first end of the first joint rod via the second cross shaft assembly through the following structure:

[0029] The second linear drive extends along the linear motion direction toward the first joint link to form a third connecting portion and a fourth connecting portion; the third connecting portion and the fourth connecting portion are respectively hinged to both ends of the transverse axis of the second cross axis assembly; the longitudinal axis of the second cross axis assembly is hinged to the first connecting hole on the other side of the first end of the first joint link; and / or,

[0030] The longitudinal axis of the first cross-axis assembly and the longitudinal axis of the second cross-axis assembly are located in the same linear direction; and / or,

[0031] The longitudinal axis of the first cross axis assembly and the longitudinal axis of the second cross axis assembly are fixedly connected by a coupling.

[0032] Secondly, embodiments of this application provide a robotic hand, which includes the finger joints of the robot described above.

[0033] Furthermore, the mounting component is fixed to the palm of the robot hand.

[0034] Thirdly, embodiments of this application provide a robot, which includes the robotic hand described above.

[0035] Compared with the prior art, the embodiments of this application have the following main advantages:

[0036] In this embodiment, the first output end of the first linear actuator is hinged to one side of the first end of the first joint link via a first cross-axis assembly; the second output end of the second linear actuator is hinged to the other side of the first end of the first joint link via a second cross-axis assembly; the first joint link achieves a first degree of freedom and / or a second degree of freedom through synchronous and asynchronous movements of the first and second linear actuators. This simple structure enables two degrees of freedom movement of the first joint link, thereby helping to improve the degree of freedom of the robot's fingers. Attached Figure Description

[0037] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the overall structure of an embodiment of the robot finger joint provided in this application;

[0039] Figure 2 for Figure 1 A schematic diagram of a partial explosion of a finger joint is provided.

[0040] Figure 3 for Figure 1 A schematic diagram of the planar structure of the first joint link of the robot finger in the first rotational state;

[0041] Figure 4 for Figure 1 A schematic diagram of the planar structure of the first joint link of the robot finger in the second rotational state;

[0042] Figure 5 for Figure 1A schematic diagram of the planar structure of the first and second joint links of the robot finger in a rotating state.

[0043] Figure 6 for Figure 1 A schematic diagram of the planar structure of the second joint link of the robot finger in a rotating state;

[0044] Figure 7 for Figure 1 A schematic diagram of the planar structure of the third joint link of the robot finger in its rotational state.

[0045] Reference numerals: 10 Joint, 11 First joint link, 12 Second joint link, 13 Third joint link, 14 First linear drive, 15 Second linear drive, 16 Third linear drive, 17 Fourth linear drive, 18 Mounting component, 19 First cross-axis assembly, 20 Second cross-axis assembly, 21 Third cross-axis assembly, 24 Connecting shaft, 111 First connecting hole, 112 Second connecting hole, 141 First output end, 142 First connecting end, 151 Second output end, 152 Second connecting end, 161 Third output end, 162 Third connecting end, 171 Fourth output end, 172 Fourth connecting end, 181 Mounting part, 191 Longitudinal axis of the first cross-axis assembly, 192 Transverse axis of the first cross-axis assembly, 201 Longitudinal axis of the second cross-axis assembly, 202 Transverse axis of the second cross-axis assembly, 211 Longitudinal axis of the third cross-axis assembly, 212 Transverse axis of the third cross-axis assembly. Detailed Implementation

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0047] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0048] Unless otherwise defined, any description in this document of a structural component being "fixed to" or "fixedly connected to" another structural component includes methods of fixing such as prefabricating two structural components as a single unit or fixing them together via a centering member.

[0049] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0050] like Figure 1 and Figure 2 As shown, Figure 1 A schematic diagram of the overall structure of an embodiment of the robot finger joint provided in this application; Figure 2 for Figure 1 A schematic diagram of a partial explosion of a finger joint is provided.

[0051] This application provides a robot finger 10, which includes: a first joint link 11, a first linear drive 14, a second linear drive 15, and a mounting component 18.

[0052] It should be noted that the first joint link described in the embodiments of this application, as well as the second and third joint links described in the following embodiments, can be designed into any shape as needed. The first joint link, the second joint link, and / or the third joint link can each be a single component or composed of multiple parts, all of which fall within the scope of protection of this application.

[0053] For example, continue as follows Figure 1 and Figure 2 As shown, the first joint link 11 is arched. By designing the first joint link 11 as arched in this embodiment, when the first joint link serves as the base of the thumb, it can better mimic the shape of the base of the human thumb, thereby enabling the fingers to better mimic the operation of human fingers.

[0054] In addition to the structures shown in the figures, the first joint link, as well as the second and third joint links described in the following embodiments, can also be equipped with other auxiliary structures as needed. For example, the first joint link can also be equipped with a joint shell, a skeleton, and / or interactive auxiliary devices (such as force / tactile sensors, friction pads), etc., as needed.

[0055] The first linear drive 11 and the second linear drive 12 are arranged side by side on the mounting member 18.

[0056] It should be noted that the first linear drive unit 11 and the second linear drive unit 12 may adopt various structural components that can realize linear drive as needed, such as structural components including linear motors, hydraulic cylinders or air cylinders and other linear drive units.

[0057] Specifically, the first linear drive 11 and the second linear drive 12 can be installed on the mounting component in any manner as needed.

[0058] In one optional embodiment, the first connecting end of the first linear drive and the second connecting end of the second linear drive are respectively hinged to the mounting member. For example, the first connecting end of the first linear drive is hinged to the mounting member via a fourth cross-axis assembly, and the second connecting end of the second linear drive is hinged to the mounting member via a fifth cross-axis assembly. By hinged the first connecting end of the first linear drive to the mounting member via the fourth cross-axis assembly and the second connecting end of the second linear drive to the mounting member via the fifth cross-axis assembly, the first and second connecting ends can follow the finger movement driven by the first and second linear drives, without any impact on the drive due to their connection to the mounting member. Alternatively, in another optional embodiment, the first linear drive 11 and the second linear drive 12 are respectively fixedly disposed on the mounting member 18, and the output structure (e.g., a lead screw) of the first and second linear drives and the drive unit (e.g., the output end of a linear motor) are respectively hinged to each other via cross-axis structures. This also accommodates the two-degree-of-freedom drive of the first joint link by the first and second linear drives. Other similar structures can also be used, all of which fall within the scope of protection of this application.

[0059] Furthermore, the first linear drive member 11 and the second linear drive member 12 can be arranged side-by-side on the mounting member 18 in any orientation as needed. For example, the first linear drive member 11 and the second linear drive member 12 are arranged side-by-side on the mounting member in a parallel configuration.

[0060] The first linear drive 14 includes a first output terminal 141 and a first connection terminal 142 opposite to the first output terminal 141; the second linear drive 15 includes a second output terminal 151 and a second connection terminal 152 opposite to the second output terminal 151.

[0061] The first output end 141 of the first linear drive 14 is hinged to one side of the first end 111 of the first joint link 11 via the first cross shaft assembly 19; the second output end 151 of the second linear drive 15 is hinged to the other side of the first end 11 of the first joint link 11 via the second cross shaft assembly 20.

[0062] The first cross-axis assembly 19 includes a longitudinal axis 191 and a transverse axis 192. The second cross-axis assembly 20 includes a longitudinal axis 201 and a transverse axis 202.

[0063] In an optional embodiment, the first output end 141 of the first linear drive 14 can be hinged to one side of the first end 111 of the first joint link 11 via the first cross shaft assembly 19, which can be achieved by the following structure:

[0064] The first output end 141 of the first linear drive 14 is hinged to the transverse axis 192 of the first cross axis assembly; the longitudinal axis 191 of the first cross axis assembly is hinged to the first connecting hole 111 on one side of the first end of the first joint link 11.

[0065] The embodiments of this application can effectively realize that the first output end of the first linear drive is hinged to one side of the first end of the first joint rod through the first cross shaft assembly.

[0066] In an optional embodiment, the second output end 151 of the second linear drive 15 can be hinged to the other side of the first end 11 of the first joint link 11 via the second cross shaft assembly 20 through the following structure:

[0067] The second output end 151 of the second linear drive 15 is hinged to the transverse axis 202 of the second cross axis assembly; the longitudinal axis 201 of the second cross axis assembly is hinged to the first connecting hole 111 on the other side of the first end of the first joint link 11.

[0068] The embodiments of this application can effectively realize that the second output end of the second linear drive is hinged to the other side of the first end of the first joint rod through the second cross shaft assembly via the above structure.

[0069] In an optional embodiment, the longitudinal axis 191 of the first cross-axis assembly and the longitudinal axis 201 of the second cross-axis assembly are located in the same linear direction.

[0070] By placing the longitudinal axis of the first cross-axis assembly and the longitudinal axis of the second cross-axis assembly in the same linear direction, it can be better ensured that the first linear drive and the second linear drive can effectively achieve synchronous drive during synchronous movement.

[0071] It should be noted that the first cross-axis assembly 19, the second cross-axis assembly 20 described in the above embodiments, and the third cross-axis assembly mentioned in later embodiments can adopt any structural component including at least two cross axes, such as a cross shaft, a ball joint, or other structural components with similar structures, as needed. For example, ... Figure 2 As shown, the first output end of the first linear drive 14 is hinged to the horizontal axis 192 of the cross shaft (i.e., the first cross shaft assembly); the second output end of the second linear drive 14 is hinged to the horizontal axis 202 of the cross shaft (i.e., the second cross shaft assembly).

[0072] The first joint link 11 is driven to achieve the first degree of freedom and / or the second degree of freedom by the synchronous and / or asynchronous movement of the first linear drive member 14 and the second linear drive member 15.

[0073] Specifically, such as Figure 4 As shown, Figure 4 for Figure 1 The provided diagram shows the planar structure of the first joint link of the robot finger in the second rotational state. By controlling the synchronous movement of the first linear drive 14 and the second linear drive 15, the first joint link is driven to achieve the first degree of freedom. For example, taking the thumb as an example, the root joint (i.e., the first joint link 11) can be driven to swing laterally.

[0074] like Figure 3 and Figure 5 As shown, Figure 3 for Figure 1 A schematic diagram of the planar structure of the first joint link of the robot finger in the first rotational state; Figure 5 for Figure 1 The provided diagram shows the planar structure of the first and second joint links of the robot finger in a rotated state. By controlling the asynchronous movement of the first linear drive 14 and the second linear drive 15, the first joint link 11 can be driven to achieve a second degree of freedom, or to achieve both the first and second degrees of freedom. For example, continuing with the thumb as an example, the root joint (i.e., the first joint link 11) can be driven to move closer to or away from the index finger, or simultaneously achieve lateral swinging and movement closer to or away from the index finger.

[0075] In this embodiment, the mounting component can be fixed to any other structure as needed, such as the robotic hand, so that the entire finger joint is fixed in the required position by the mounting component.

[0076] In this embodiment, the first output end of the first linear actuator is hinged to one side of the first end of the first joint link via a first cross-axis assembly; the second output end of the second linear actuator is hinged to the other side of the first end of the first joint link via a second cross-axis assembly; the first joint link achieves a first degree of freedom and / or a second degree of freedom through synchronous and asynchronous movements of the first and second linear actuators. This simple structure enables two degrees of freedom movement of the first joint link, thereby helping to improve the degree of freedom of the robot's fingers.

[0077] In an optional embodiment, a second connecting hole 112 is also provided at the first end of the first joint link 11;

[0078] The second connecting hole 112 is close to the first interaction surface of the first joint link 11; wherein, the first interaction surface is the surface on which the first joint link interacts with the outside world.

[0079] The second connecting hole 112 of the first joint link 11 is hinged to the mounting piece 18 via the third cross shaft assembly 21.

[0080] In an optional embodiment, the third cross axis assembly 21 includes a longitudinal axis 211 and a transverse axis 212 of the third cross axis assembly.

[0081] like Figure 2 As shown, in an optional embodiment, the aforementioned "second connecting hole 112 of the first joint link 11 is hinged to the mounting member 18 via the third cross shaft assembly 21" is achieved through the following structure:

[0082] The first end of the longitudinal shaft 211 of the third cross shaft assembly passes through the through hole (e.g., the through hole at the center of the horizontal shaft) of the third cross shaft assembly and is fixedly connected to the mounting part 181 of the mounting member 18. The longitudinal shaft 211 of the third cross shaft assembly is clearance-fitted with the through hole so that the horizontal shaft and the longitudinal shaft can rotate relative to each other. The two ends of the horizontal shaft 212 of the third cross shaft assembly are respectively hinged to the first end of the first joint connecting rod 11 through the second connecting hole 112.

[0083] like Figure 4 As shown, by controlling the synchronous movement of the first linear drive member 14 and the second linear drive member 15, the first joint link is driven to move around the transverse axis 212 of the third cross axis assembly to achieve the first degree of freedom. Figure 3 and Figure 5 As shown, by controlling the asynchronous movement of the first linear drive 14 and the second linear drive 15, the first joint link 11 can be driven to achieve a second degree of freedom movement around the longitudinal axis 211 of the third cross axis assembly 21, or to achieve a first degree of freedom and a second degree of freedom movement around the transverse axis 212 and the longitudinal axis 211 of the third cross axis assembly 21, respectively.

[0084] In this embodiment, the second connecting hole 112 of the first end 111 of the first joint link 11 is hinged to the mounting member 18 through the third cross shaft assembly 21, and the second connecting hole 112 is positioned closer to the first interaction surface of the first link. Therefore, the interference of the first interaction surface to the first joint link during its movement can be reduced, thereby effectively increasing the area of ​​the interaction surface. Thus, when interactive auxiliary devices (such as force / tactile sensors, friction pads, etc.) are set on the interaction surface, the area of ​​the interactive auxiliary devices can be effectively increased, thereby effectively improving the corresponding functions of the fingers.

[0085] Continue as Figure 1 and Figure 2 As shown, in an optional embodiment, the finger joint described in this application embodiment may further include: a second joint link 12, a third joint link 13, a third linear drive 16, and a fourth linear drive 17.

[0086] It should be noted that the second joint link and the third joint link described in the embodiments of this application can be designed into any shape as needed.

[0087] For example, such as Figure 1 and Figure 2 As shown, the second joint link is a rectangular plane. The third joint link 13 is L-shaped, which can embed the auxiliary structures of the robot's third joint (such as shell, skeleton and / or interactive aids) into the L-shaped groove of the third joint link 13.

[0088] In an optional embodiment, the second axis L2 and the fourth axis L4 described in the later embodiments can be disposed on one side of the corresponding second joint link 12 of the L-shaped third joint link 13.

[0089] In this embodiment, by designing the third joint link as an L-shape, the auxiliary components of the third joint can be easily embedded into the L-shaped groove of the third joint link 13, while the second shaft L2 and the fourth shaft L4 are set on one side of the corresponding second joint link 12 of the L-shaped third link 13, thereby saving more space.

[0090] The third linear drive 16 includes a third output terminal 161 and a third connection terminal 162 opposite to the third output terminal 161; the fourth linear drive 17 includes a fourth output terminal 171 and a fourth connection terminal 172 opposite to the fourth output terminal 171.

[0091] The third linear drive 16 and the fourth linear drive 17 are disposed on the second joint link 12; wherein, the third output end 161 of the third linear drive 16 and the fourth output end 171 of the fourth linear drive 17 are arranged in opposite directions; the third output end 161 of the third linear drive 16 is hinged to the second end of the first joint link 11 through the first shaft L1; the fourth output end 171 of the fourth linear drive 17 is hinged to the first end of the third joint link 13 through the second shaft L2.

[0092] The second end of the first joint link is also hinged to the first end of the second joint link via a third axis L3; the first end of the third joint link 13 is also hinged to the second end of the second joint link 12 via a fourth axis L4.

[0093] The third linear drive 16 drives the second joint link 12 to move around the third axis L3 to achieve the third degree of freedom; the fourth linear drive 17 drives the third joint link 13 to move around the fourth axis L4 to achieve the fourth degree of freedom.

[0094] Specifically, such as Figure 6 As shown, Figure 6 for Figure 1A schematic diagram of the planar structure of the second joint link of the robot finger in a rotating state. In this embodiment, the second joint link 12 is driven to rotate around the third axis L3 by a third linear drive 16.

[0095] like Figure 7 As shown, Figure 7 for Figure 1 The provided diagram shows the planar structure of the third joint link of the robot finger in its rotational state. The third joint link 13 is driven to rotate around the fourth axis L4 by the fourth linear actuator 17.

[0096] In this embodiment, the third linear drive and the fourth linear drive are uniformly arranged on the second joint link, which saves space. In addition, by setting the third output end of the third linear drive and the fourth output end of the fourth linear drive in opposite directions, the second joint link can be driven by the third linear drive and the third joint link can be driven by the fourth linear drive.

[0097] In addition, by combining the two degrees of freedom of the first joint link driven by the first linear drive and the second linear drive as described in the previous embodiment, the entire finger has four degrees of freedom, which further improves the overall degree of freedom of the finger.

[0098] In an optional embodiment, the above-mentioned "third linear drive member and fourth linear drive member are disposed on the second joint link" can be achieved by the following structure:

[0099] The third connecting end 162 of the third linear drive 16 is hinged to the second joint link 12; the fourth connecting end 172 of the fourth linear drive 17 is hinged to the second joint link.

[0100] In this embodiment, the third connecting end 162 of the third linear drive member 16 is hinged to the second joint link 12; the fourth connecting end 172 of the fourth linear drive member 17 is hinged to the second joint link. In this way, during the process of the third linear drive member driving the second joint link to move and the fourth linear drive member driving the third joint link to move, they can rotate accordingly to adjust their positions without hindering the movement of each joint link.

[0101] In an optional embodiment, the third axis L3 is closer to the first interaction surface of the first joint link 11 and the second interaction surface of the second joint link 12 than the first axis L1. The second interaction surface is the surface on which the second joint link 12 interacts with the external environment.

[0102] In an optional embodiment, the fourth axis L4 is closer to the second interaction surface of the second joint link 12 and the third interaction surface of the third joint link 13 than the second axis L2; ​​wherein, the third interaction surface is the surface on which the third joint link 13 interacts with the outside world.

[0103] In this embodiment, since the first joint link and the second joint link can move around the third axis based on the drive of the third linear drive, by setting the third axis closer to the first and second interaction surfaces, the interference of the interaction surfaces on the joints during joint rotation can be reduced, thereby effectively increasing the area of ​​the interaction surfaces. Similarly, by making the fourth axis closer to the second and third interaction surfaces relative to the second axis, the area of ​​the interaction surfaces can also be effectively increased. Therefore, when interaction aids (such as force / tactile sensors, friction pads, etc.) are set on the interaction surfaces, the area of ​​the interaction aids can be effectively increased, thereby effectively improving the corresponding functions of the fingers.

[0104] In one optional embodiment, the first axis L1, the second axis L2, the third axis L3, and the fourth axis L4 are typically arranged in parallel. Alternatively, other arrangements may be used as needed.

[0105] It should be noted that the fingers described in the embodiments of this application can be set to any finger of the robot as needed.

[0106] In an alternative embodiment, the finger is the thumb of a robotic hand.

[0107] In an optional embodiment, the longitudinal axis 211 of the third cross axis assembly 21 is set perpendicular to the palm of the robot hand.

[0108] The thumb structure in this embodiment has four active degrees of freedom, making it more flexible. In addition, it also includes the bending of the two phalanges of the second and third joint links, enabling the dexterous hand with this thumb to perform more complex movements and more precise operations in actual use.

[0109] like Figure 2 As shown, in an optional embodiment, the above-mentioned "output end of the first linear drive member is hinged to the transverse axis of the first cross-axis assembly" can be achieved by the following structure:

[0110] The first output end 141 of the first linear drive member 14 extends along the linear motion direction toward the first joint link 11 to form a first connecting part and a second connecting part; the first connecting part and the second connecting part are respectively hinged to the two ends of the transverse axis 192 of the first cross axis assembly.

[0111] Continue as Figure 2 As shown, in an optional embodiment, the above-mentioned "output end of the second linear drive is hinged to the transverse axis of the second cross-axis assembly" can be achieved by the following structure:

[0112] The second output end 152 of the second linear drive 15 extends along the linear motion direction toward the first joint link 11 to form a third connecting part and a fourth connecting part; the third connecting part and the fourth connecting part are respectively hinged to the two ends of the transverse axis 202 of the second cross axis assembly.

[0113] In this embodiment, the first linear drive extends along the linear motion direction toward the first joint link to form a first connecting part and a second connecting part. The first connecting part and the second connecting part are respectively hinged to both ends of the transverse axis of the first cross axis assembly, which can effectively realize the hinge connection between the output end of the first linear drive and the transverse axis of the first cross axis assembly. Similarly, the output end of the second linear drive is effectively hinged to the transverse axis of the second cross axis assembly.

[0114] Continue as Figure 1 and Figure 2 As shown, in an optional embodiment, the longitudinal axis 191 of the first cross axis assembly and the longitudinal axis 202 of the second cross axis assembly are fixedly connected by a coupling 24.

[0115] In this embodiment, the longitudinal axis 191 of the first cross axis assembly and the longitudinal axis 202 of the second cross axis assembly are connected by a coupling 24, which can better realize the synchronous driving of the first joint link by the first linear drive and the second linear drive.

[0116] like Figure 6 and Figure 7 As shown, in an optional embodiment, the above-mentioned "third linear drive member and fourth linear drive member are respectively disposed on the second joint link" is achieved by the following structure:

[0117] The third linear drive member 16 and the fourth linear drive member 17 are arranged side by side on the opposite surfaces of the corresponding interaction surfaces of the second link 12.

[0118] In this embodiment, by arranging the third linear drive member 16 and the fourth linear drive member 17 side by side, a compact structural arrangement can be achieved, enabling the third linear drive member to drive the second joint link and the fourth linear drive member to drive the third joint link. In addition, by setting the third and fourth linear drive members on the opposite surfaces of the corresponding interaction surfaces of the second joint link, the interference of the third and fourth linear drive members on the interaction surfaces of the second joint link can be reduced, thereby allowing the second joint to have the necessary structures, such as sensors and friction pads, on the interaction surfaces.

[0119] Based on the robot fingers described in the above embodiments, this application provides a robot hand (figures omitted).

[0120] In an optional embodiment, the mounting member 18 mentioned in the above embodiment can be fixed to the palm of the robot hand, thereby connecting the robot's finger joints to the robot hand through the mounting member 18.

[0121] In this embodiment, the first output end of the first linear actuator is hinged to one side of the first end of the first joint link via a first cross-axis assembly; the second output end of the second linear actuator is hinged to the other side of the first end of the first joint link via a second cross-axis assembly; the first joint link achieves a first degree of freedom and / or a second degree of freedom through synchronous and asynchronous movements of the first and second linear actuators. This simple structure enables two degrees of freedom movement of the first joint link, thereby improving the degree of freedom of the robot finger and allowing the robot hand with this finger to perform more complex movements and more precise operations.

[0122] Based on the robotic hand described in the above embodiments, this application provides a robot (figures omitted), which includes a robot body and the robotic hand described in the above embodiments. The robotic hand is disposed at the execution end of the robot body and is used to perform actions such as grasping and moving target objects.

[0123] It should be noted that the aforementioned robot can be any robot that is currently in use or will be developed in the future, such as a humanoid robot or an industrial robotic arm; this application does not impose any limitations.

[0124] In this embodiment, the first output end of the first linear actuator is hinged to one side of the first end of the first joint link via a first cross-axis assembly; the second output end of the second linear actuator is hinged to the other side of the first end of the first joint link via a second cross-axis assembly; the first joint link achieves a first degree of freedom and / or a second degree of freedom through synchronous and asynchronous movements of the first and second linear actuators. This simple structure enables two degrees of freedom movement of the first joint link, thereby improving the degree of freedom of the robot's fingers and allowing the robot with this hand to perform more complex actions and more precise operations.

[0125] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A finger joint for a robot, characterized in that, The finger joint includes: a first joint link, a first linear drive, a second linear drive, a mounting component, a first cross-axis assembly, and a second cross-axis assembly; the first linear drive includes a first output end and a first connecting end opposite to the first output end; the second linear drive includes a second output end and a second connecting end opposite to the second output end; The first linear drive and the second linear drive are arranged side by side on the mounting member; The first output end of the first linear drive is hinged to one side of the first end of the first joint link via the first cross shaft assembly; the second output end of the second linear drive is hinged to the other side of the first end of the first joint link via the second cross shaft assembly. The first joint link is driven to achieve a first degree of freedom and / or a second degree of freedom by synchronous or asynchronous movement of the first linear drive and the second linear drive.

2. The finger joint of the robot according to claim 1, characterized in that, The first end of the first joint link is also provided with a second connecting hole; The second connecting hole is close to the first interaction surface of the first joint link; wherein, the first interaction surface is the surface on which the first joint link interacts with the outside world; The second connecting hole of the first joint link is hinged to the corresponding end of the mounting component via a third cross shaft assembly.

3. The finger joint of the robot according to claim 2, characterized in that, The second connecting hole of the first joint link is hinged to the corresponding end of the mounting component via the third cross shaft assembly through the following structure: The third cross axis assembly includes: the vertical axis of the third cross axis assembly and the horizontal axis of the third cross axis assembly; The first end of the longitudinal axis of the third cross axis assembly passes through the through hole provided in the transverse axis of the third cross axis assembly and is fixedly connected to the mounting member; and the longitudinal axis of the third cross axis assembly is clearance-fitted with the through hole so that the longitudinal axis of the third cross axis assembly and the transverse axis of the third cross axis assembly can rotate relative to each other; the two ends of the transverse axis of the third cross axis assembly are respectively hinged to the second connecting hole of the first joint link.

4. The finger joint of the robot according to any one of claims 1 to 3, characterized in that, The finger joint further includes: a second joint link, a third joint link, a third linear drive, and a fourth linear drive; the third linear drive includes a third output end and a third connecting end opposite to the third output end; the fourth linear drive includes a fourth output end and a fourth connecting end opposite to the fourth output end. The third linear drive and the fourth linear drive are respectively disposed on the second joint link; wherein, the output end of the third linear drive and the output end of the fourth linear drive are disposed in opposite directions; the third output end is hinged to the second end of the first joint link through a first shaft; the fourth output end is hinged to the first end of the third joint link through a second shaft; The second end of the first joint link is also hinged to the first end of the second joint link via a third axis; the first end of the third joint link is also hinged to the second end of the second joint link via a fourth axis. The third linear drive member drives the second joint link to achieve a third degree of freedom motion around the third axis; the fourth linear drive member drives the third joint link to achieve a fourth degree of freedom motion around the fourth axis.

5. The finger joint of the robot according to claim 4, characterized in that, The third axis is closer to the first and second interaction surfaces relative to the first axis; the fourth axis is closer to both the second and third interaction surfaces relative to the second axis; wherein, the first interaction surface is the surface through which the first joint link interacts with the outside world; the second interaction surface is the surface through which the second joint link interacts with the outside world; the third interaction surface is the surface through which the third joint link interacts with the outside world; and / or, The first axis, the second axis, the third axis, and the fourth axis are arranged in parallel; and / or, The third linear drive member and the fourth linear drive member are disposed on the opposite side of the second interaction surface of the second link.

6. The finger joint of the robot according to any one of claims 1 to 3, characterized in that, The finger is the thumb; and / or, The longitudinal axis of the third cross axis assembly is set perpendicular to the palm of the robot hand.

7. The finger joint of the robot according to any one of claims 1 to 3, characterized in that, The first cross axis assembly includes: a horizontal axis of the first cross axis assembly and a vertical axis of the first cross axis assembly; the second cross axis assembly includes: a horizontal axis of the second cross axis assembly and a vertical axis of the second cross axis assembly; The first output end of the first linear drive is hinged to one side of the first end of the first joint link via the first cross shaft assembly, which is achieved through the following structure: The first linear drive member extends along the linear motion direction toward the first joint link to form a first connecting portion and a second connecting portion; the first connecting portion and the second connecting portion are respectively hinged to both ends of the transverse axis of the first cross-axis assembly; the longitudinal axis of the first cross-axis assembly is hinged to a first connecting hole on one side of the first end of the first joint link; and / or, The second output end of the second linear drive is hinged to the other side of the first end of the first joint rod via the second cross shaft assembly through the following structure: The second linear drive extends along the linear motion direction toward the first joint link to form a third connecting portion and a fourth connecting portion; the third connecting portion and the fourth connecting portion are respectively hinged to both ends of the transverse axis of the second cross axis assembly; the longitudinal axis of the second cross axis assembly is hinged to the first connecting hole on the other side of the first end of the first joint link; and / or, The longitudinal axis of the first cross-axis assembly and the longitudinal axis of the second cross-axis assembly are located in the same linear direction; and / or, The longitudinal axis of the first cross axis assembly and the longitudinal axis of the second cross axis assembly are fixedly connected by a coupling.

8. A robotic hand, characterized in that, The robotic hand includes the finger joints of the robot according to any one of claims 1 to 7.

9. The robot's finger according to claim 8, characterized in that, The mounting component is fixed to the palm of the robot hand.

10. A robot, characterized in that, The robot includes the robotic hand as described in claim 8 or 9.

Images