Knuckle module and dexterous hand

Abstract

This invention provides a knuckle module and a dexterous hand. The knuckle module includes a first finger segment, a second finger segment rotatably connected to the first finger segment, and a motor, a control circuit board, and a reducer disposed within the first finger segment. The motor and reducer are coaxial, and the output axes of the motor and reducer are parallel to the rotation axis of the second finger segment. Electrical connection interfaces are provided at the ends of the first and second finger segments that are far apart from each other. The motor is electrically connected to the control circuit board. The electrical connection interface of the first finger segment is electrically connected to the electrical connection interface of the second finger segment through an electrical connector. Receiving channels for accommodating the electrical connectors are provided within both the first and second finger segments. The knuckle module provided by this invention is dustproof and waterproof, easy to protect, and also modular.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a knuckle module and a dexterous hand. Background Technology

[0002] In recent years, with the rapid development of robotics technology, dexterous hands, as end effectors of robots, have been widely used in fields such as industrial automation, medical assistance, service robots, humanoid robots, and embodied intelligent robots.

[0003] Currently, the cables of the finger joints in dexterity hands on the market are exposed, making them unable to achieve dust and water resistance. In addition, the existing finger joints require complex on-site wiring when assembling into a dexterity hand, which cannot achieve true modularity and is detrimental to production and maintenance. Summary of the Invention

[0004] The purpose of this invention is to provide a knuckle module and a dexterous hand to solve the technical problems in the prior art where the knuckle module cannot achieve dustproof and waterproof functions and cannot be modularized.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a finger joint module is provided, including a first finger joint segment, a second finger joint segment rotatably connected to the first finger joint segment, and a motor, a control circuit board, and a reducer disposed within the first finger joint segment. The motor and the reducer are coaxial, and the output axes of the motor and the reducer are parallel to the rotation axis of the second finger joint segment. Electrical connection interfaces are provided at opposite ends of the first and second finger joint segments. The motor is electrically connected to the control circuit board. The electrical connection interface of the first finger joint segment is electrically connected to the electrical connection interface of the second finger joint segment via an electrical connector. Receiving channels for accommodating the electrical connectors are provided within both the first and second finger joint segments.

[0006] Optionally, the first finger segment has a first groove along the length of the finger, the control circuit board is disposed in the first groove, the end of the first finger segment away from the first groove has a first through hole along the width of the finger, the motor and the reducer are disposed in the first through hole, and the first finger segment also has a first receiving channel for connecting the first groove and the first through hole, the first receiving channel for receiving the electrical connector.

[0007] Optionally, the first finger segment has an arc-shaped second receiving channel along the inner wall of the first through hole for accommodating the electrical connector, and the inner wall of the second finger segment has a third receiving channel for accommodating the electrical connector. The electrical connector passes through the first receiving channel, the second receiving channel, and the third receiving channel in sequence, and both ends of the electrical connector are electrically connected to the electrical connection interfaces of the first finger segment and the second finger segment, respectively.

[0008] Optionally, the knuckle module further includes an encoder disposed on the side of the motor away from the reducer, the encoder being electrically connected to the control circuit board via an electrical connector.

[0009] Optionally, the width of the knuckle module is less than 19mm, the thickness of the knuckle module is less than 20mm, and the length of the knuckle module is less than 30mm.

[0010] Optionally, the reducer includes a wave generator, a flexible wheel sleeved outside the wave generator, and a rigid wheel sleeved outside the flexible wheel and cooperating with the flexible wheel, wherein the rigid wheel is integrally formed on the inner wall of the first through hole; the wave generator is integrally formed with the output shaft of the motor.

[0011] Optionally, the second finger segment includes a side bracket disposed on the outside of the motor and an L-shaped bracket disposed on the outside of the reducer. The flexible wheel is fixedly connected to the L-shaped bracket. The side bracket extends with a mounting protrusion at one end away from the first finger segment. The second finger segment has a mounting groove at one end away from the first finger segment. The mounting protrusion matches the mounting groove.

[0012] Optionally, the first finger segment has a finger pad and a finger back that are disposed opposite to each other. A second groove is formed on the surface of the finger pad. The second groove is used to install a tactile sensor or a decorative soft rubber shell. A second through hole is formed in the second groove that communicates with the interior of the first finger segment. The second through hole is used for wiring when installing the tactile sensor. The tactile sensor or the soft rubber shell is provided with a sealing structure after installation.

[0013] Optionally, the control circuit board is provided with a connector for connecting the tactile sensor.

[0014] The present invention also provides a dexterous hand, including a palm module and a plurality of fingers sequentially connected to one side of the palm module, each of the fingers including at least one knuckle module as described above.

[0015] The beneficial effects of the knuckle module provided by this invention are as follows: Compared with the prior art, the knuckle module of this invention has receiving channels for accommodating electrical connectors in both the first and second knuckle segments. The motor and the control circuit board are electrically connected, and the electrical connection interface of the first knuckle segment is electrically connected to the electrical connection interface of the second knuckle segment through the electrical connector. This ensures that the electrical connectors of the knuckle module are not exposed, achieving dust and water resistance and facilitating protection. At the same time, electrical connection interfaces are provided at the ends of the first and second knuckle segments that are far apart from each other. When the two knuckle modules are connected, the first knuckle segment of one knuckle module is mechanically connected to the second knuckle segment of the other knuckle module, and the electrical connection interface of the first knuckle segment of one knuckle module is electrically connected to the electrical connection interface of the second knuckle segment of the other knuckle module. In this way, the modularity of the knuckle module can be realized. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A three-dimensional structural diagram of a knuckle module provided in one embodiment of the present invention. Figure 1 ; Figure 2 A three-dimensional structural diagram of a knuckle module provided in one embodiment of the present invention. Figure 2 ; Figure 3 A three-dimensional structural diagram of the first finger segment provided in an embodiment of the present invention. Figure 1 ; Figure 4 A three-dimensional structural diagram of the first finger segment provided in an embodiment of the present invention. Figure 2 ; Figure 5 This is a cross-sectional view of a knuckle module provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of a two-joint module after assembly, according to an embodiment of the present invention.

[0018] The following are the labeling elements in the figure: 100-Finger module; 10-First finger segment; 101-First groove; 102-First through hole; 103-Mounting groove; 104-Second groove; 105-Second receiving channel; 106-Second through hole; 20-Second finger segment; 21-Side bracket; 22-L-shaped bracket; 201-Mounting protrusion; 30-Motor; 31-High-speed shaft; 32-Magnetic ring; 33-Stator; 34-Rotor; 40-Control circuit board; 50-Reducer; 51-Wave generator; 52-Flexible wheel; 53-Rigid wheel; 60-Electrical connection interface; 70-Tactile sensor; 80-Encoder; 90-End cap. Detailed Implementation

[0019] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0020] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0021] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] Please refer to the following: Figures 1 to 6The finger joint module 100 provided in this embodiment of the invention will now be described. The finger joint module 100 includes a first finger joint segment 10, a second finger joint segment 20, a motor 30, a control circuit board 40, and a reducer 50. The second finger joint segment 20 is rotatably connected to the first finger joint segment 10, thereby enabling bending and rotation of the finger joint. The motor 30, control circuit board 40, and reducer 50 are all disposed within the first finger joint segment 10. The motor 30 and reducer 50 are coaxial, meaning the output shaft of the motor 30 is coaxial with the input shaft of the reducer 50. The output axes of the motor 30 and reducer 50 are parallel to the rotation axis of the second finger joint segment 20, meaning the output axes of the motor 30 and reducer 50 are perpendicular to the length direction of the finger. Electrical connection interfaces 60 are provided at the ends of the first phalanx segment 10 and the second phalanx segment 20 that are far apart from each other. These interfaces 60 are used to electrically connect adjacent phalanx modules 100. Furthermore, the motor 30 can be electrically connected to the control circuit board 40 via electrical connectors. Within the same phalanx module 100, the electrical connection interface 60 of the first phalanx segment 10 is electrically connected to the electrical connection interface 60 of the second phalanx segment 20 via electrical connectors. Receiving channels for accommodating electrical connectors are provided within both the first phalanx segment 10 and the second phalanx segment 20. These channels allow the electrical connectors to pass through, facilitating their concealment within the phalanx module 100.

[0024] In a specific embodiment, the electrical connection interface 60 can be a connector. The electrical connection interface 60 of the first finger segment 10 and the electrical connection interface 60 in the second finger segment 20 are male and female connectors to each other and can be plugged into each other. The electrical connector can be FFC, FPC, or various cables such as wires. The accommodating channel is provided in the first finger segment 10 and the second finger segment 20, and can be in the form of a groove or a through hole.

[0025] In this embodiment of the invention, the knuckle module 100 is applied to the humanoid finger. The humanoid finger may include multiple knuckle modules 100. The connection between the first finger segment 10 and the second finger segment 20 is set as the finger joint. The motor 30 and the reducer 50 are set inside the finger joint.

[0026] The knuckle module 100 provided in this embodiment of the invention has the following advantages compared with the prior art: Receiving channels for accommodating electrical connectors are provided in both the first knuckle segment 10 and the second knuckle segment 20. The motor 30, control circuit board 40, and reducer 50 are all electrically connected to the electrical connection interface 60 through electrical connectors, ensuring that the electrical connectors of the knuckle module 100 are not exposed, achieving dust and water resistance and facilitating protection; simultaneously, the first knuckle segment 10 and the second knuckle segment 20 are far apart from each other. Each of the two knuckle modules 100 is provided with an electrical connection interface 60. When the two knuckle modules 100 are connected, the first knuckle segment 10 of one knuckle module 100 is mechanically connected to the second knuckle segment 20 of the other knuckle module 100. In addition, the electrical connection interface 60 of the first knuckle segment 10 of one knuckle module 100 is electrically connected to the electrical connection interface 60 of the second knuckle segment 20 of the other knuckle module 100. In this way, the knuckle module 100 can be modularized, which is convenient to disassemble and assemble and easy to maintain.

[0027] In this embodiment, the central shafts of the motor 30 and the reducer 50 are changed from perpendicular to coaxial, thus eliminating the need for bevel gears for conversion. This reduces the width of the knuckles and lowers the assembly and processing costs associated with bevel gear transmissions. Bevel gear processing is inherently costly, and ensuring 90-degree perpendicularity during assembly is difficult. Deviations can cause resistance between the fixed and low-speed modules, leading to uneven rotation and jamming. Coaxial transmissions, on the other hand, only require careful control of concentricity, reducing overall costs. Furthermore, the knuckle module 100 in this embodiment can be made shorter, reduced from approximately 35mm to 27.75mm, a reduction of about 20%, while maintaining the same width.

[0028] In one embodiment of the present invention, the knuckle module 100 has a width of less than 19 mm, a thickness of less than 20 mm, and a length of less than 30 mm. In this case, the knuckle module 100 has achieved miniaturization and simulates the fingers of a human hand to the greatest extent possible. Preferably, the knuckle module 100 has a width of 15 mm-19 mm, a thickness of 18 mm-20 mm, and a length of 26 mm-30 mm.

[0029] In a specific embodiment, the width of the knuckle module 100 can be 14mm, 15mm, 16mm, 17mm, 18mm, or 19mm, etc.; the thickness of the knuckle module 100 can be 16mm, 17mm, 18mm, 19mm, or 20mm, etc.; and the length of the knuckle module 100 can be 24mm, 25mm, 26mm, 27mm, 28mm, 29mm, or 30mm, etc. The thickness of the knuckle module 100 refers to the distance between the fingertip and the back of the finger.

[0030] In one embodiment of the present invention, please refer to Figure 3 and Figure 4 A first groove 101 is provided inward along the length of the finger in the first finger segment 10, and a control circuit board 40 is disposed within the first groove 101. In a specific embodiment, the first groove 101 is circular and has a certain depth along the length of the finger. A first through hole 102 is provided at the end of the first finger segment 10 away from the first groove 101 along the width of the finger, and a motor 30 and a reducer 50 are disposed within the first through hole 102. In a specific embodiment, the end of the first finger segment 10 away from the first groove 101 is arc-shaped, and the first through hole 102 is circular.

[0031] In this embodiment, a first receiving channel is also provided in the first finger segment 10 for connecting the first groove 101 and the first through hole 102, and the first receiving channel is used to receive the electrical connector. In a specific embodiment, the first receiving channel is in the form of a through hole.

[0032] In one embodiment of the present invention, a second receiving channel 105 for accommodating an electrical connector is provided along the inner wall of the first through hole 102. The second receiving channel 105 is arc-shaped and communicates with the first receiving channel. A third receiving channel for accommodating an electrical connector is provided on the inner wall of the second receiving segment 20, and the third receiving channel communicates with the second receiving channel 105. The electrical connector passes through the first receiving channel, the second receiving channel 105, and the third receiving channel in sequence, and both ends of the electrical connector are electrically connected to the electrical connection interfaces 60 of the first receiving segment 10 and the second receiving segment 20, respectively. The two ends of the electrical connector refer to the input end and the output end of the knuckle module 100, respectively. In a specific embodiment, both the second receiving channel 105 and the third receiving channel are recessed. In this embodiment, by providing the power supply connector through the receiving channels in the first receiving segment 10 and the second receiving segment 20, the electrical connector can be hidden inside the knuckle module 100, achieving dustproof and waterproof functions.

[0033] In one embodiment of the present invention, please refer to Figure 5The knuckle module 100 also includes an encoder 80 disposed on the side of the motor 30 away from the reducer 50. The encoder 80 is coaxial with the magnetic ring 32 of the motor 30 and is electrically connected to the control circuit board 40 via an electrical connector. In a specific embodiment, the motor 30 includes a stator 33 disposed in a first through hole 102, a rotor 34 sleeved on the stator 33, a high-speed shaft 31 fixedly sleeved in the rotor 34, and a magnetic ring 32 sleeved in the end of the high-speed shaft 31 away from the reducer 50. The high-speed shaft 31 serves as the output shaft of the motor 30 and is connected to the reducer 50. A fourth receiving channel is provided in the first knuckle segment 10, through which the electrical connector electrically connects the encoder 80 to the control circuit board 40. This fourth receiving channel is a through hole. It is understood that the motor 30 may also include other commonly used structures, which will not be described in detail here.

[0034] In this embodiment, the encoder 80 is separated from the control circuit board 40 and is coaxial with the magnetic ring 32. While ensuring the accuracy of the motor 30 rotation position sensing, the width of the knuckles can be reduced.

[0035] In one embodiment of the present invention, please refer to Figure 4 The knuckle module 100 also includes an end cap 90 for fixing the encoder 80, and the end cap 90 is connected to the first knuckle segment 10. In a specific embodiment, the end cap 90 is fixed to the first knuckle segment 10 by dispensing adhesive.

[0036] In one embodiment of the present invention, please refer to Figure 5 The reducer 50 is a harmonic reducer, which mainly includes a wave generator 51, a flexible wheel 52, and a rigid wheel 53. The flexible wheel 52 is sleeved around one end of the wave generator 51, and the rigid wheel 53 is sleeved around and cooperates with the flexible wheel 52. It is understood that the reducer 50 may also include other commonly used structures, which will not be described in detail here.

[0037] In this embodiment, the rigid wheel 53 is integrally formed within the first finger segment 10. Specifically, the rigid wheel 53 is integrally formed on the inner wall of the first through hole 102 to save space, thereby facilitating the lightweighting and miniaturization of the finger module 100, and also saving costs.

[0038] In another embodiment of the present invention, the first finger segment 10 and the rigid wheel 53 can also be formed separately. The first finger segment 10 is made of aluminum and the rigid wheel 53 is made of steel. After forming, they are fixed by glue, which is beneficial to the overall heat dissipation of the finger module 100.

[0039] In other embodiments of the present invention, the reducer 50 may also be a cycloidal pinwheel reducer, a planetary gear reducer, or an RV reducer, etc.

[0040] In one embodiment of the present invention, please refer to Figure 5 The wave generator 51 of the reducer 50 is integrally formed with the output shaft of the motor 30, that is, the wave generator 51 and the high-speed shaft 31 are integrally formed. In this embodiment, the irregular arc cylindrical surfaces of the high-speed shaft 31 of the motor 30 and the wave generator 51 are combined, which can reduce the axial dimensions of the reducer 50 and the motor 30, thereby reducing the width of the finger joint.

[0041] In one embodiment of the present invention, please refer to the following: Figures 1 to 6 The second finger segment 20 includes a side bracket 21 disposed outside the motor 30 and an L-shaped bracket 22 disposed outside the reducer 50. The flexible wheel 52 is fixedly connected to the L-shaped bracket 22, and a mounting protrusion 201 extends from the end of the side bracket 21 away from the first finger segment 10. Correspondingly, a mounting groove 103 is formed at the end of the second finger segment 20 away from the first finger segment 10, and this mounting groove 103 matches the mounting protrusion 201. In a specific embodiment, the mounting protrusion 201 and the mounting groove 103 are fixedly connected together by fasteners. When the two finger modules 100 are connected, the mounting protrusion 201 of one finger module 100 is fixedly connected to the mounting groove 103 of the other finger module 100, thereby realizing the connection of the two finger modules 100.

[0042] In one embodiment of the present invention, the first finger segment 10 has a finger pad and a finger back disposed opposite to each other. A second groove 104 is formed on the surface of the finger pad, and a second through hole 106 communicating with the interior of the first finger segment 10 is formed in the second groove 104. In this embodiment, the second groove 104 is used to install a tactile sensor 70, and the second through hole 106 is used for wiring when installing the tactile sensor 70, so that the sensor is electrically connected to the control circuit board 40 in the first groove 101. The shape and size of the second groove 104 can be selected according to actual needs.

[0043] In one embodiment of the present invention, a removable decorative soft rubber shell is installed in the second groove 104. The surface of the soft rubber shell is flush with the surface of the fingertip, so that the surface of the fingertip remains flat and beautiful.

[0044] In one embodiment, a sealing structure is provided after the tactile sensor 70 or the soft rubber housing is installed to achieve waterproofing and dustproofing. Specifically, after the tactile sensor 70 or the soft rubber housing is installed, adhesive is applied or a sealant is provided around the second groove 104.

[0045] In one embodiment of the present invention, a connector is provided on the control circuit board 40. This connector is an electrical connection connector used to connect the tactile sensor 70. That is, the tactile sensor 70 is electrically connected to the connector via an electrical connector. The connector is used to connect the tactile sensor 70 to the control board of the palm. When assembling the knuckle module 100, no additional wiring is required for the tactile sensor 70; only the connector on the control circuit board 40 needs to be connected, thus increasing the modularity of the knuckle module 100. In a specific embodiment, both the connector and the electrical connection interface 60 are provided on the control circuit board 40. The connector can be integrated with the electrical connection interface 60 or can be independent of the electrical connection interface 60.

[0046] The present invention also provides a dexterous hand, which includes a palm module and a plurality of fingers connected sequentially to one side of the palm module, each finger including at least one knuckle module 100 as provided in the present invention.

[0047] The dexterous hand provided in this embodiment of the invention uses the aforementioned knuckle module 100, which can meet the requirements for lightweight and miniaturized finger joints, achieve dustproof and waterproof functions, and realize modularity. Multiple knuckle modules 100 can be stacked to connect to form a finger, which is convenient to assemble and disassemble and easy to maintain.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A knuckle module, characterized in that: The device includes a first finger segment, a second finger segment rotatably connected to the first finger segment, and a motor, a control circuit board, and a reducer disposed within the first finger segment. The motor and the reducer are coaxial, and the output axes of the motor and the reducer are parallel to the rotation axis of the second finger segment. Both the first and second finger segments have electrical connection interfaces at their ends that are far apart from each other. The motor is electrically connected to the control circuit board. The electrical connection interface of the first finger segment is electrically connected to the electrical connection interface of the second finger segment through an electrical connector. Both the first and second finger segments have receiving channels for accommodating the electrical connectors.

2. The knuckle module as described in claim 1, characterized in that: The first finger segment has a first groove along the length of the finger, and the control circuit board is disposed in the first groove. The end of the first finger segment away from the first groove has a first through hole along the width of the finger. The motor and the reducer are disposed in the first through hole. The first finger segment also has a first receiving channel for connecting the first groove and the first through hole. The first receiving channel is used to receive the electrical connector.

3. The knuckle module as described in claim 2, characterized in that: The first finger segment has an arc-shaped second receiving channel along the inner wall of the first through hole for accommodating the electrical connector, and the inner wall of the second finger segment has a third receiving channel for accommodating the electrical connector. The electrical connector passes through the first receiving channel, the second receiving channel and the third receiving channel in sequence, and both ends of the electrical connector are electrically connected to the electrical connection interfaces of the first finger segment and the second finger segment, respectively.

4. The knuckle module as described in claim 1, characterized in that: The knuckle module also includes an encoder located on the side of the motor away from the reducer, and the encoder is electrically connected to the control circuit board via an electrical connector.

5. The knuckle module as described in claim 1, characterized in that: The width of the knuckle module is less than 19mm, the thickness of the knuckle module is less than 20mm, and the length of the knuckle module is less than 30mm.

6. The knuckle module as described in claim 2, characterized in that: The reducer includes a wave generator, a flexible wheel sleeved outside the wave generator, and a rigid wheel sleeved outside the flexible wheel and cooperating with the flexible wheel. The rigid wheel is integrally formed on the inner wall of the first through hole. The wave generator is integrally formed with the output shaft of the motor.

7. The knuckle module as described in claim 6, characterized in that: The second finger segment includes a side bracket disposed on the outside of the motor and an L-shaped bracket disposed on the outside of the reducer. The flexible wheel is fixedly connected to the L-shaped bracket. The side bracket extends with a mounting protrusion at the end away from the first finger segment. The second finger segment has a mounting groove at the end away from the first finger segment. The mounting protrusion matches the mounting groove.

8. The knuckle module as described in any one of claims 1 to 7, characterized in that: The first finger segment has a finger pad and a finger back that are arranged opposite to each other. A second groove is formed on the surface of the finger pad. The second groove is used to install a tactile sensor or a decorative soft rubber shell. A second through hole is formed in the second groove and communicates with the interior of the first finger segment. The second through hole is used for wiring when installing the tactile sensor. The tactile sensor or the soft rubber shell is provided with a sealing structure after installation.

9. The knuckle module as described in claim 8, characterized in that: The control circuit board is equipped with a connector for connecting the tactile sensor.

10. A dexterous hand, characterized in that: It includes a palm module and a plurality of fingers sequentially connected to one side of the palm module, each of the fingers including at least one knuckle module as described in any one of claims 1 to 9.

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