A mechanical thumb, a mechanical hand and a robot

Abstract

The application provides a mechanical thumb, a mechanical hand and a robot, the mechanical thumb comprising: a rotary joint comprising a rotary shell, a mounting bracket and a power module, the mounting bracket being arranged at least partially in the rotary shell, the power module being arranged at least partially in the rotary shell, the rotary shell being provided with an opening at one end of a rotor rotation axis of the power module, the mounting bracket being configured to be fixedly connected with a mechanical palm via the opening, an output end of the power module being configured to be directly or indirectly fixedly connected with the mechanical palm via the opening, the power module further comprising a power module shell, the power module shell being rotatably supported on the mounting bracket, and the power module shell being fixedly connected with the rotary shell; a thumb body being connected with the rotary shell; and the power module being capable of driving the rotary shell to rotate relative to the mechanical palm about the rotor rotation axis. The technical problem of the internal structure of the rotary joint being exposed when the rotary joint rotates at a large angle is solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a mechanical thumb, a mechanical hand, and a robot. Background Technology

[0002] In related technologies, a mechanical thumb is connected to a mechanical hand via a rotary joint. The rotary joint generally includes a rotary housing and a power module housed within the rotary housing. An opening is usually provided on the outer circumferential surface of the rotary housing. The outer shell of the power module is fixedly connected to the mechanical hand through the opening. The output end of the power module is connected to the rotary housing, thereby driving the rotary housing to rotate relative to the mechanical hand. When the rotary joint rotates at a large angle relative to the mechanical hand, the opening on the outer circumferential surface of the rotary housing is easily exposed as the housing rotates, causing internal structural components to be exposed through the opening, affecting the overall aesthetic appearance of the mechanical thumb.

[0003] There is currently no good solution to the technical problem of the internal structure of rotary joints being exposed when rotating at large angles. Summary of the Invention

[0004] The main objective of this invention is to provide a mechanical thumb, a mechanical hand, and a robot to solve the technical problem of exposed internal structure when a rotary joint rotates at a large angle.

[0005] To achieve the above objectives, according to one aspect of the present invention, a mechanical thumb is provided, comprising: a rotary joint including a rotary housing, a mounting bracket, and a power module, the mounting bracket being at least partially disposed within the rotary housing, the power module being at least partially disposed within the rotary housing, the rotary housing having an opening at one end along the rotor rotation axis of the power module, the mounting bracket being configured to be fixedly connected to a mechanical hand via the opening, the output end of the power module being configured to be fixedly connected to the mechanical hand directly or indirectly via the opening, the power module further including a power module housing rotatably supported on the mounting bracket, and the power module housing being fixedly connected to the rotary housing; and a thumb body connected to the rotary housing; the power module being capable of driving the rotary housing to rotate relative to the mechanical hand about the rotor rotation axis.

[0006] Furthermore, the output end of the power module is directly connected to the robotic hand via an opening, or the output end of the power module is fixedly connected to the mounting bracket; the rotary joint also includes a motor bracket, which is disposed inside the rotary housing. The motor bracket includes a fixing part and a connecting base. The fixing part is fixedly connected to the power module housing, the connecting base is connected to the fixing part, and the connecting base is fixedly connected to the rotary housing.

[0007] Furthermore, the power module includes a rotor assembly, a stator assembly, and a reducer assembly; the power module housing includes a first housing segment and a second housing segment, which are connected to each other along the rotor rotation axis. The inner diameter of the first housing segment is larger than the inner diameter of the second housing segment, and the outer diameter of the first housing segment is larger than the outer diameter of the second housing segment. The stator assembly and the rotor assembly are at least partially disposed within the first housing segment, and the reducer assembly is at least partially disposed within the second housing segment. A fixing part is sleeved on the second housing segment, and the inner circumferential surface of the fixing part abuts against the outer circumferential surface of the second housing segment.

[0008] Furthermore, the rotary joint also includes a circuit board bracket, which is fixedly connected to the connecting base; the rotary joint also includes a circuit board assembly, which is disposed inside the rotary housing and mounted on the circuit board bracket. The circuit board assembly is electrically connected to the power module via wiring, and the circuit board assembly is used to drive the power module.

[0009] Furthermore, the rotary joint also includes a first bearing, which is sleeved on the power module housing and located on one side of the fixed part along the rotor rotation axis. The mounting bracket includes a first bracket, which includes a first bracket body. The first bracket body includes a first connecting part, a first supporting part, and a palm connecting part. The first supporting part and the palm connecting part are respectively connected to the first connecting part. The first connecting part is connected to the output end of the power module. The inner ring of the first bearing is supported radially on the power module housing, and the outer ring of the first bearing is supported radially on the first supporting part. The palm connecting part is used for fixed connection with the mechanical palm.

[0010] Furthermore, the first shell segment and the second shell segment are connected by a first connecting wall, the first bearing is sleeved on the second shell segment, the fixing part is clamped and fixed between the first connecting wall and the first bearing in the direction of the rotor rotation axis, and the first bearing is clamped and fixed between the fixing part and the first connecting part in the direction of the rotor rotation axis.

[0011] Furthermore, the power module housing includes a first end and a second end at both ends along the rotor rotation axis. The first bearing is sleeved on the first end of the power module housing. The rotating joint also includes a second bearing disposed within the rotating housing. The second bearing is sleeved on the second end of the power module housing and is located on the other side of the fixed part along the rotor rotation axis. The mounting bracket also includes a second bracket fixedly connected to the first bracket. The second bracket includes a second bracket body. The inner ring of the second bearing is supported radially on the power module housing, and the outer ring of the second bearing is supported radially on the second bracket body.

[0012] Furthermore, the power module housing also includes a third housing segment, which is disposed on the side of the first housing segment away from the second housing segment along the rotor rotation axis. The outer diameter of the first housing segment is larger than the outer diameter of the third housing segment, and the inner diameter of the first housing segment is larger than the inner diameter of the third housing segment. The first housing segment and the third housing segment are connected by a second connecting wall. The second bearing is sleeved on the third housing segment. The second bracket body includes a second connecting part and a second supporting part. The second connecting part and the first connecting part are spaced apart along the rotor rotation axis. The second supporting part is connected to the second connecting part. The outer ring of the second bearing is supported radially on the second supporting part. The second bearing is clamped and fixed between the second connecting part and the second connecting wall in the rotor rotation axis direction.

[0013] Furthermore, the first support portion is sleeved on the first bearing, and the outer ring of the first bearing is supported radially on the inner surface of the first support portion; the second support portion is sleeved on the second bearing, and the outer ring of the second bearing is supported radially on the inner surface of the second support portion.

[0014] Furthermore, the first support also includes a first extension portion connected to the first support body, and the second support also includes a second extension portion connected to the second support body. The first extension portion and the second extension portion extend toward each other and are detachably connected to each other.

[0015] Furthermore, the rotary joint also includes a circuit board assembly and a ribbon cable. The circuit board assembly is disposed inside the rotary housing. The closest distance between the circuit board assembly and the opening is greater than the farthest distance between the power module and the opening. One end of the ribbon cable is disposed inside the rotary housing and is electrically connected to the circuit board assembly, while the other end of the ribbon cable extends outside the rotary housing.

[0016] Furthermore, the gap between the second extension and the power module housing forms a first wiring channel, and a second wiring channel is provided on the outer peripheral surface of the first extension. The second wiring channel extends in the direction of the opening. One end of the ribbon cable is electrically connected to the circuit board assembly and extends into the robotic hand through the first wiring channel, the second wiring channel, and the opening.

[0017] Furthermore, the ribbon cable before entering the first wiring channel is at least partially fixed to the connecting base, and the ribbon cable after exiting the first wiring channel is at least partially fixed in the second wiring channel on the first extension.

[0018] Furthermore, the second bracket also includes a connecting flange, and the second extension is detachably connected to the first extension through the connecting flange; the thickness of the first extension in the radial direction of the power module is greater than the thickness of the second extension in the radial direction of the power module, and a receiving space is formed between the second extension and the inner wall surface of the rotating housing. During the rotation of the rotating housing relative to the robotic hand, the receiving space can be used to accommodate redundant cables.

[0019] Furthermore, the rotating housing includes a first housing and a second housing assembled and fitted together. The inner wall of the first housing is provided with a first protrusion, and the inner wall of the second housing is provided with a second protrusion. The connecting base is at least partially located between the first protrusion and the second protrusion. The first housing is fixedly connected to the connecting base via the first protrusion, and the second housing is fixedly connected to the connecting base via the second protrusion. When the rotating housing rotates relative to the robotic hand, the first extension rotates between the first protrusion and the second protrusion. When one end of the first extension abuts against the first protrusion, the rotating housing is in a first extreme position relative to the robotic hand. When the other end of the first extension abuts against the second protrusion, the rotating housing is in a second extreme position relative to the robotic hand. When the rotating housing rotates from the first extreme position to the second extreme position relative to the robotic hand, the angle rotated is greater than or equal to 60 degrees.

[0020] Furthermore, on a first reference plane perpendicular to the rotor rotation axis and passing through the first extension, the rotor rotation axis intersects the first reference plane at a first point. With the first point as the center, the central angles corresponding to the two ends of the first extension on the first reference plane are 60°~180°.

[0021] According to another aspect of the present invention, a robotic hand is provided, the robotic hand including the aforementioned robotic thumb; the robotic hand further includes: a robotic palm, a mounting bracket fixedly connected to the robotic palm, the robotic palm being provided with a communication board, the communication board being electrically connected to the circuit board assembly of the robotic thumb via a ribbon cable.

[0022] According to another aspect of the present invention, a robot is provided, which includes the aforementioned robotic arm.

[0023] Applying the technical solution of this invention, on the one hand, an opening is provided at one end of the rotating housing along the rotor rotation axis. The output end of the power module is directly or indirectly fixedly connected to the robotic hand through the opening. The outer shell of the power module (i.e., the power module housing) is fixedly connected to the rotating housing, so that the power module drives the rotating housing to rotate relative to the robotic hand in the opposite direction. Since the opening is located at one end of the rotating housing along the rotor rotation axis, the opening is not easily exposed when the rotating joint rotates at a large angle relative to the robotic hand, thereby reducing the possibility of the internal structure being exposed through the opening, which is beneficial to improving the appearance of the robotic thumb. On the other hand, the rotating joint also includes a mounting bracket, which is fixedly connected to the robotic hand. The power module housing is rotatably supported on the mounting bracket, which is beneficial to reducing the possibility of the power module shifting during operation. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 A schematic diagram of the robotic arm in the first embodiment of this application is shown;

[0026] Figure 2 A schematic diagram of the robotic arm in the second embodiment of this application is shown;

[0027] Figure 3 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the first embodiment of this application is shown;

[0028] Figure 4 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the second embodiment of this application is shown;

[0029] Figure 5 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the third embodiment of this application is shown;

[0030] Figure 6 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the fourth embodiment of this application is shown;

[0031] Figure 7 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the fifth embodiment of this application is shown;

[0032] Figure 8 A schematic diagram of the assembly of the rotary joint and the mechanical hand in the sixth embodiment of this application is shown;

[0033] Figure 9 An exploded view of the rotary joint in the first embodiment of this application is shown;

[0034] Figure 10 An exploded view of the rotary joint in the second embodiment of this application is shown;

[0035] Figure 11 An exploded view of the rotary joint in the third embodiment of this application is shown;

[0036] Figure 12 An exploded view of the rotary joint in the fourth embodiment of this application is shown;

[0037] Figure 13 A front view of the rotary joint in the fifth embodiment of this application is shown;

[0038] Figure 14 It shows Figure 13 A cross-sectional view along the AA direction;

[0039] Figure 15 It shows Figure 13 A cross-sectional view along the AA direction;

[0040] Figure 16 A cross-sectional view of the rotary joint in the sixth embodiment of this application is shown;

[0041] Figure 17 A schematic diagram of the rotating housing structure of this application is shown;

[0042] Figure 18 An exploded view of the rotary joint in the seventh embodiment of this application is shown;

[0043] Figure 19 An exploded view of the rotary joint in the eighth embodiment of this application is shown;

[0044] Figure 20 An exploded view of the rotary joint in the ninth embodiment of this application is shown;

[0045] Figure 21 An exploded view of the rotary joint in the tenth embodiment of this application is shown;

[0046] Figure 22 An assembly diagram of the rotary joint in the first embodiment of this application is shown;

[0047] Figure 23 An assembly diagram of the rotary joint in the second embodiment of this application is shown;

[0048] Figure 24 An exploded view of the rotary joint in the eleventh embodiment of this application is shown;

[0049] Figure 25 An exploded view of the rotary joint in the twelfth embodiment of this application is shown;

[0050] Figure 26 An exploded view of the mounting bracket in this application is shown;

[0051] Figure 27 A front view of the rotary joint in the thirteenth embodiment of this application is shown;

[0052] Figure 28 It shows Figure 27 Cross-sectional view along the BB direction;

[0053] Figure 29 It shows Figure 27 A cross-sectional view along the CC direction;

[0054] Figure 30 A front view of the rotary joint in the fourteenth embodiment of this application is shown;

[0055] Figure 31 It shows Figure 27 A cross-sectional view along the DD direction;

[0056] Figure 32 A cross-sectional view of the rotary joint in the fifteenth embodiment of this application is shown.

[0057] The above figures include the following reference numerals:

[0058] 1. Rotational joint;

[0059] 11. Rotating housing; 111. First housing; 1111. First mounting part; 112. Second housing; 1121. Second mounting part; 113. Mounting cavity; 114. U-shaped groove; 115. First protrusion; 116. Second protrusion; 117. Receiving space; 118. Opening;

[0060] 12. Install the bracket;

[0061] 121. First bracket; 1210. First bracket body; 1211. First connecting part; 12111. Mounting hole; 1212. First support part; 1213. Palm connecting part; 1214. First extension part;

[0062] 122. Second bracket; 1220. Second bracket body; 1221. Second support part; 1222. Second connecting part; 1223. Second extension part; 1224. Connecting flange; 1225. Notch;

[0063] 123. First cabling channel;

[0064] 124. Second cabling channel;

[0065] 13. Power module; 131. Power module housing; 1311. First housing segment; 1312. Second housing segment; 1313. Third housing segment; 1314. First connecting wall; 1315. Second connecting wall; 132. Motor body; 133. Reducer assembly; 134. Rotor rotation axis;

[0066] 14. Circuit board assembly;

[0067] 15. Ribbon cable;

[0068] 16. First bearing;

[0069] 17. Second bearing;

[0070] 18. Circuit board bracket;

[0071] 19. Motor bracket; 191. Fixing part; 1911. Annular protrusion; 192. Connecting base;

[0072] 2. The thumb itself;

[0073] 3. Mechanical hand;

[0074] 31. Communication board; 32. Palm mounting board. Detailed Implementation

[0075] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0076] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0077] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0078] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0079] Combination Figures 1 to 32 As shown, according to a specific embodiment of this application, a mechanical thumb is provided.

[0080] Specifically, the mechanical thumb includes a rotary joint 1 and a thumb body 2. The rotary joint 1 includes a rotary housing 11, a mounting bracket 12, and a power module 13. The mounting bracket 12 is at least partially disposed within the rotary housing 11, and the power module 13 is at least partially disposed within the rotary housing 11. The power module 13 includes a rotor assembly capable of rotating about a rotor rotation axis 134. The rotary housing 11 has an opening 118 at one end along the rotor rotation axis. The mounting bracket 12 is configured to be fixedly connected to the mechanical hand 3 via the opening 118. The output end of the power module 13 is configured to be fixedly connected to the mechanical hand 3 directly or indirectly via the opening 118. The power module 13 also includes a power module housing 131, which is rotatably supported on the mounting bracket 12 and fixedly connected to the rotary housing 11. The thumb body 2 is connected to the rotary housing 11; the power module 13 can drive the rotary housing 11 to rotate relative to the mechanical hand 3 about the rotor rotation axis 134.

[0081] In the description of this application, when referring to "component A and component B are fixedly connected," it includes both cases where component A is directly fixedly connected to component B and cases where component A is indirectly fixedly connected to component B; when referring to "component A and component B are connected," it includes both cases where component A is directly connected to component B and cases where component A is indirectly connected to component B; when referring to "component A is rotatably supported on component B," it includes both cases where component A is directly rotatably supported on component B and cases where component A is indirectly rotatably supported on component B. In short, unless otherwise specified, in the description of this application, the connection relationship between component A and component B includes both direct and indirect cases.

[0082] In the embodiments of this application, on the one hand, an opening 118 is provided at one end of the rotating housing 11 along the rotor rotation axis 134. The output end of the power module 13 is directly or indirectly fixedly connected to the robotic hand 3 through the opening 118. The outer shell of the power module 13 (i.e., the power module housing 131) is fixedly connected to the rotating housing 11, so that the power module 13 drives the rotating housing 11 to rotate relative to the robotic hand 3 in the opposite direction. Since the opening 118 is provided at one end of the rotating housing 11 along the rotor rotation axis 134, when the rotating joint 1 rotates at a large angle relative to the robotic hand 3, the opening 118 is not easily exposed, thereby reducing the possibility of the internal structure being exposed through the opening 118, which is beneficial to improving the appearance of the robotic thumb. On the other hand, the rotating joint 1 also includes a mounting bracket 12, which is fixedly connected to the robotic hand 3. The power module housing 131 is rotatably supported on the mounting bracket 12, which is beneficial to reducing the possibility of the power module 13 shifting during operation.

[0083] Specifically, the movements of the output end of the power module 13, the mounting bracket 12, and the mechanical hand 3 are basically synchronized, and there is no relative rotation between them; the movements of the power module housing 131 and the rotating housing 11 are basically synchronized, and there is no relative rotation between them.

[0084] In some embodiments of this application, such as Figure 3 , Figure 4 , Figure 14 As shown, the rotating housing 11 has an opening 118 at one end along the rotor's rotation axis. A portion of the mounting bracket 12 extends outward through this opening 118 and connects to the robotic hand 3. The power module 13 is housed within the rotating housing 11, and its output end is fixedly connected to the mounting bracket 12. In other words, the output end of the power module 13 is fixedly connected to the robotic hand 3 via the mounting bracket 12. The mounting bracket 12 provides rotational support for the power module housing 131 and also connects the output end of the power module 13 to the robotic hand 3. The mounting bracket 12 integrates multiple functions, simplifying the structure of the robotic thumb and improving space utilization. The thumb body 2 is connected to the rotating housing 11. The power module 13 drives the rotating housing 11 to rotate relative to the robotic hand 3 around the rotor's rotation axis, thereby enabling the power module housing 131, the thumb body 2, and the rotating housing 11 to rotate relative to the robotic hand 3.

[0085] In some embodiments of this application, the rotating housing 11 has an opening 118 at one end along the rotor rotation axis. Part of the power module 13 is disposed inside the rotating housing 11. The output end of the power module 13 extends out through the opening 118 and is directly fixedly connected to the robotic hand 3. Part of the mounting bracket 12 extends outward through the opening 118 and is fixedly connected to the robotic hand 3. That is, the output end of the power module 13 and the mounting bracket 12 are fixed relative to the robotic hand 3.

[0086] In some embodiments of this application, the rotating housing 11 has an opening 118 at one end along the rotor rotation axis, the power module 13 is disposed inside the rotating housing 11, the output end of the power module 13 is connected to the adapter through the opening 118, and further fixedly connected to the robotic hand 3 through the adapter, and part of the mounting bracket 12 extends to the outside through the opening 118 and is connected to the robotic hand 3, that is, the output end of the power module 13 and the mounting bracket 12 are fixed relative to the robotic hand 3.

[0087] In one exemplary embodiment of this application, the rotary joint 1 further includes a motor bracket 19, and the power module housing 131 is fixedly connected to the rotary housing 11 via the motor bracket 19. The motor bracket 19 is disposed inside the rotary housing 11, and includes a fixing part 191 and a connecting base 192. The fixing part 191 is fixedly connected to the power module housing 131, the connecting base 192 is connected to the fixing part 191, and the connecting base 192 is fixedly connected to the rotary housing 11.

[0088] Furthermore, the power module 13 also includes a stator assembly and a reducer assembly 133; the power module housing 131 includes a first housing segment 1311 and a second housing segment 1312, the first housing segment 1311 and the second housing segment 1312 are connected to each other along the rotor rotation axis, the inner diameter of the first housing segment 1311 is larger than the inner diameter of the second housing segment 1312, the outer diameter of the first housing segment 1311 is larger than the outer diameter of the second housing segment 1312, the stator assembly and the rotor assembly are at least partially disposed in the first housing segment 1311, and the reducer assembly 133 is at least partially disposed in the second housing segment 1312; the fixing part 191 is sleeved on the second housing segment 1312, and the inner peripheral surface of the fixing part 191 abuts against the outer peripheral surface of the second housing segment 1312.

[0089] In the embodiments of this application, the inner diameter of the first housing segment 1311 is larger than the inner diameter of the second housing segment 1312. The stator assembly and rotor assembly are at least partially disposed within the first housing segment 1311, and the reducer assembly 133 is at least partially disposed within the second housing segment 1312. That is, the first housing segment 1311 can accommodate stator and rotor assemblies with larger diameters, thereby effectively increasing the torque radius of the motor body 132 and improving the output torque and power density. The outer diameter of the first housing segment 1311 is larger than the outer diameter of the second housing segment 1312. The fixing part 191 is sleeved on the second housing segment 1312 with a smaller outer diameter, that is, the circumferential annular space of the second housing segment 1312 is fully utilized to accommodate the fixing part 191 of the motor bracket 19, so that the internal components of the rotating housing 11 are compactly arranged, further improving the space utilization rate.

[0090] When the first shell segment 1311 has an irregular shape, its outer diameter can refer to the inner diameter of the smallest cylinder that can house it, and its inner diameter can refer to the diameter of the largest cylinder that can be housed within it. Similarly, when the second shell segment 1312 has an irregular shape, its outer diameter can refer to the inner diameter of the smallest cylinder that can house it, and its inner diameter can refer to the diameter of the largest cylinder that can be housed within it.

[0091] Furthermore, the rotary joint 1 also includes a circuit board bracket 18, which is fixedly connected to the connecting base 192; the rotary joint 1 also includes a circuit board assembly 14, which is disposed inside the rotary housing 11 and mounted on the circuit board bracket 18. The circuit board assembly 14 is electrically connected to the power module 13 via a circuit and is used to drive the power module 13.

[0092] In the embodiments of this application, the connecting base 192 can be used to connect the fixing part 191 to the rotating housing 11 and to fix the circuit board bracket 18, integrating at least two functions. This helps to simplify the structure of the rotating joint 1 and reduce the overall size of the rotating joint 1. In other words, the circuit board bracket 18 is rationally arranged within the rotating housing 11 based on the existing motor bracket 19. This installation method helps to simplify the structure of the rotating joint 1.

[0093] In some embodiments of this application, such as Figure 5 , Figure 6 , Figure 15 As shown, the motor bracket 19 includes a fixing part 191 and a connecting base 192. The fixing part 191 and the connecting base 192 can be assembled or integrally formed. The fixing part 191 has a ring structure and is sleeved on the second shell section 1312 of the power module housing 131. The inner circumferential surface of the fixing part 191 abuts against the outer circumferential surface of the second shell section 1312. The connecting base 192 is connected to the fixing part 191. The connecting base 192 extends along the axial direction of the power module housing 131 (i.e., the direction of the rotor rotation axis 134) in a direction away from the opening 118 of the rotating housing 11. The circuit board bracket 18 is connected to the end of the connecting base 192 away from the opening 118. The circuit board bracket 18 is disposed on one side of the power module housing 131 in the axial direction.

[0094] In some embodiments of this application, the connecting base 192 may extend along the axial direction of the power module 13 toward the opening 118 of the rotating housing 11, and the circuit board bracket 18 is connected to one end of the connecting base 192 near the opening 118.

[0095] In some embodiments of this application, the motor bracket 19 may also be disposed in the gap between the outer peripheral surface of the power module housing 131 and the inner peripheral surface of the rotating housing 11.

[0096] In another exemplary embodiment of this application, the rotary joint 1 further includes a first bearing 16, which is sleeved on the power module housing 131 and located on one side of the fixing part 191 along the rotor rotation axis. The mounting bracket 12 includes a first bracket 121, which includes a first bracket body 1210. The first bracket body 1210 includes a first connecting part 1211, a first support part 1212, and a palm connecting part 1213. The first support part 1212 and the palm connecting part 1213 are respectively connected to the first connecting part 1211. The first connecting part 1211 is connected to the output end of the power module 13. The inner ring of the first bearing 16 is supported radially on the power module housing 131, and the outer ring of the first bearing 16 is supported radially on the first support part 1212. The palm connecting part 1213 is used for fixed connection with the robotic hand 3.

[0097] In related technologies, in order to reduce the axial movement of the output end of the reducer assembly 133 in the radial direction (which is perpendicular to the rotor rotation axis) of the power module 13, a bearing is usually fitted on the output end of the reducer assembly 133. The inner ring of the bearing is supported on the output end of the reducer assembly 133 along its own radial direction, and the outer ring of the bearing is supported on the inner circumferential surface of the power module housing 131 along its own radial direction. In this design, the bearing needs to occupy a certain space in the direction of the rotor rotation axis, which makes it difficult to further reduce the size of the power module 13 in the direction of the rotor rotation axis.

[0098] In the embodiments of this application, the inner ring of the first bearing 16 is supported radially on the power module housing 131, and the outer ring of the first bearing 16 is supported radially on the first support portion 1212 of the first bracket body 1210. The first connecting portion 1211 of the first bracket body 1210 is connected to the output end of the power module 13. That is, the output end of the power module 13 is supported on the outer peripheral surface of the power module housing 131 via the first connecting portion 1211 and the first support portion 1212. By utilizing the space in the radial direction of the power module 13 to set the first bearing 16, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module 13 in the direction of the rotor rotation axis.

[0099] The output end of the power module 13 is supported on the outer peripheral surface of the power module housing 131 via the first connecting part 1211 and the first supporting part 1212. Therefore, the first bracket body 1210 can assist in supporting the output end of the power module 13. The power module housing 131 is rotatably supported on the first supporting part 1212 via the first bearing 16. Therefore, the first bracket body 1210 can assist in supporting the power module housing 131 and reduce the possibility of the power module housing 131 shifting. In addition, the output end of the power module 13 is fixedly connected to the robotic hand 3 via the first bracket body 1210, which also plays a role in power transmission. Thus, the first bracket body 1210 integrates multiple functions, which helps to simplify the overall structure of the rotary joint 1 and reduce the overall size of the rotary joint 1.

[0100] Furthermore, since the radial dimension of the first shell segment 1311 is larger than the radial dimension of the second shell segment 1312, the first shell segment 1311 and the second shell segment 1312 are connected by the first connecting wall 1314. The first bearing 16 is sleeved on the second shell segment 1312. The fixing part 191 is clamped and fixed between the first connecting wall 1314 and the first bearing 16 in the direction of the rotor rotation axis. The first bearing 16 is clamped and fixed between the fixing part 191 and the first connecting part 1211 in the direction of the rotor rotation axis. In some embodiments, the first connecting wall 1314 may be approximately perpendicular to the rotor rotation axis. For example, the angle between the first connecting wall 1314 and the rotor rotation axis 134 may be between 75° and 105°.

[0101] In the embodiments of this application, the fixing part 191 is clamped and fixed between the first connecting wall 1314 and the first bearing 16 in the direction of the rotor rotation axis, and the first bearing 16 is clamped and fixed between the fixing part 191 and the first connecting part 1211 in the direction of the rotor rotation axis. The fixing part 191 and the first bearing 16 are held and fixed between the first connecting wall 1314 and the first connecting part 1211. The axial limitation of the fixing part 191 and the first bearing 16 is achieved by utilizing the difference in radial dimensions of the first shell section 1311 and the second shell section 1312. The structure is compact and helps to reduce the overall size of the rotating joint 1.

[0102] like Figure 14 , Figure 15 , Figure 16 , Figure 26As shown, the mounting bracket 12 includes a first bracket 121, which includes a first bracket body 1210. The first bracket body 1210 includes a first connecting part 1211, a first support part 1212, and a palm connecting part 1213. The first connecting part 1211 is connected to the output end of the power module 13 through a mounting hole 12111. The first support part 1212 has a ring structure. The first support part 1212 and the palm connecting part 1213 are respectively connected to the first connecting part 1211. The first support part 1212 and the palm connecting part 1213 are respectively disposed on both sides of the first connecting part 1211 along the axial direction of the power module 13. The palm connecting part 1213 is located outside the rotating housing 11 to be fixedly connected to the palm mounting plate 32 on the mechanical hand 3.

[0103] like Figure 14 , Figure 15 , Figure 16 As shown, the first bearing 16 is sleeved on the power module housing 131, and the first bearing 16 is located on one side of the fixing part 191 along the rotor rotation axis. The inner ring of the first bearing 16 is supported radially on the power module housing 131, and the outer ring of the first bearing 16 is supported radially on the first support portion 1212. One end of the inner ring of the first bearing 16 is not in contact with the first connecting portion 1211, and the other end of the inner ring of the first bearing 16 abuts against the annular protrusion 1911 on the end face of the fixing portion 191. One end of the outer ring of the first bearing 16 is not in contact with the fixing portion 191. A gap is provided between the end face of the outer ring of the first bearing 16 and the end face of the fixing portion 191 to avoid friction between the outer ring of the first bearing 16 and the fixing portion 191 during rotation. The other end of the outer ring of the first bearing 16 abuts against the inner side of the first connecting portion 1211. That is, the first bearing 16 is restricted between the fixing portion 191 of the motor bracket 19 and the first connecting portion 1211 of the first bracket 121 to achieve axial positioning and prevent axial movement.

[0104] like Figure 14 , Figure 15 , Figure 16 As shown, the outer diameter of the first shell section 1311 is larger than the outer diameter of the second shell section 1312, meaning the power module housing 131 has a stepped structure. The end face of the first shell section 1311 near the second shell section 1312 serves as the first connecting wall 1314. The second shell section 1312 is connected to the first connecting wall 1314, which serves as the limiting surface of the fixing part 191. One end of the fixing part 191 abuts against the inner ring end face of the first bearing 16 via an annular protrusion, and the other end of the fixing part 191 abuts against the first connecting wall 1314. In other words, the fixing part 191 is clamped and fixed between the first connecting wall 1314 and the first bearing 16 in the direction of the rotor rotation axis, thereby restricting the axial movement of the fixing part 191.

[0105] Furthermore, such as Figure 14 , Figure 15 , Figure 16 As shown, the power module housing 131 has a first end and a second end at both ends along the rotor rotation axis. The first bearing 16 is sleeved on the first end of the power module housing 131. The rotating joint 1 also includes a second bearing 17 disposed in the rotating housing 11. The second bearing 17 is sleeved on the second end of the power module housing 131. The second bearing 17 is located on the other side of the fixing part 191 along the rotor rotation axis. The mounting bracket 12 also includes a second bracket 122 fixedly connected to the first bracket 121. The second bracket 122 includes a second bracket body 1220. The inner ring of the second bearing 17 is supported radially on the power module housing 131, and the outer ring of the second bearing 17 is supported radially on the second bracket body 1220.

[0106] In the embodiments of this application, the first end of the power module housing 131 is rotatably connected to the mounting bracket 12 via the first bearing 16, and the second end of the power module housing 131 is rotatably connected to the mounting bracket 12 via the second bearing 17. That is, the power module housing 131 is supported by two bearings spaced apart, which improves the installation stability of the power module 13 in the rotating joint 1, effectively limits the radial displacement of the power module housing 131, and ensures the smoothness of power transmission and the reliability of the overall structure when the mechanical thumb rotates the joint.

[0107] Furthermore, the power module housing 131 also includes a third housing section 1313, which is disposed along the rotor rotation axis on the side of the first housing section 1311 opposite to the second housing section 1312. The outer diameter of the first housing section 1311 is larger than the outer diameter of the third housing section 1313, and the inner diameter of the first housing section 1311 is larger than the inner diameter of the third housing section 1313. The first housing section 1311 and the third housing section 1313 are connected by a second connecting wall 1315. The second bearing 17 is sleeved on the third housing section 131. 3. The second support body 1220 includes a second connecting part 1222 and a second support part 1221. The second connecting part 1222 and the first connecting part 1211 are spaced apart along the rotor rotation axis. The second support part 1221 is connected to the second connecting part 1222. The outer ring of the second bearing 17 is supported on the second support part 1221 along the radial direction of the second bearing 17. The second bearing 17 is clamped and fixed between the second connecting part 1222 and the second connecting wall 1315 in the direction of the rotor rotation axis.

[0108] In the embodiments of this application, the outer diameter of the first shell section 1311 is larger than the outer diameter of the third shell section 1313. The first shell section 1311 and the third shell section 1313 are connected by the second connecting wall 1315. The second bearing 17 is sleeved on the third shell section 1313, and the second bearing 17 is clamped and fixed between the second connecting part 1222 and the second connecting wall 1315 in the direction of the rotor rotation axis. The second bearing 17 is not only arranged using the circumferential space of the third shell section 1313, but also axially limited using the stepped structure of the power module housing 131. The layout is compact and helps to reduce the overall size of the rotating joint 1.

[0109] like Figure 14 , Figure 15 , Figure 16 As shown, the mounting bracket 12 includes a first bracket 121 and a second bracket 122. The second bracket 122 is fixedly connected to the first bracket 121 along the axial direction of the power module housing 131. The second bracket 122 includes a second connecting part 1222 and a second supporting part 1221. The second supporting part 1221 has a ring structure.

[0110] like Figure 14 , Figure 15 , Figure 16 , Figure 24 , Figure 25 As shown, the outer diameter of the first shell segment 1311 is larger than the outer diameter of the third shell segment 1313, meaning the power module housing 131 has a stepped structure. The end face of the first shell segment 1311 near the third shell segment 1313 serves as the second connecting wall 1315. The third shell segment 1313 is connected to the second connecting wall 1315, which serves as the limiting surface for the second bearing 17. A portion of the third shell segment 1313 extends into the second support portion 1221, forming an annular space between the inner circumferential surface of the third shell segment 1313 and the outer circumferential surface of the second support portion 1221. The second bearing 17 is disposed within this annular space, with its inner ring fitted onto the third shell segment 1313. The outer ring of the second bearing 17 is radially supported by the second support portion 1221. One end of the inner ring of the second bearing 17 abuts against the second connecting wall 1315, and the other end of the inner ring... There is no contact between the second connecting part 1222 and the second connecting part 1222, and there is a gap. One end of the outer ring of the second bearing 17 abuts against the second connecting part 1222, and the other end of the outer ring of the second bearing 17 has no contact with the second connecting wall 1315 and there is a gap. That is, the second bearing 17 is clamped and fixed between the second connecting part 1222 and the second connecting wall 1315 in the direction of the rotor rotation axis, and there will be no friction between the second bearing 17 and the second connecting wall 1315 and the second connecting part 1222 during the rotation of the second bearing 17.

[0111] Furthermore, the first support portion 1212 is sleeved on the first bearing 16, and the outer ring of the first bearing 16 is supported radially on the inner surface of the first support portion 1212; the second support portion 1221 is sleeved on the second bearing 17, and the outer ring of the second bearing 17 is supported radially on the inner surface of the second support portion 1221.

[0112] In the embodiments of this application, the first support part 1212 is a ring structure and wraps around and supports the outer ring of the first bearing 16, and the second support part 1221 is a ring structure and wraps around and supports the outer ring of the second bearing 17, providing a stable radial support surface for the outer ring of the bearing, avoiding the structural stability of the rotary joint 1 due to insufficient support stability, and ensuring the structural stability of the mechanical thumb during large-angle rotation.

[0113] In another exemplary embodiment of this application, the first support 121 further includes a first extension 1214 connected to the first support body 1210, and the second support 122 further includes a second extension 1223 connected to the second support body 1220. The first extension 1214 and the second extension 1223 extend toward each other and are detachably connected to each other.

[0114] In the embodiments of this application, the first extension 1214 and the second extension 1223 are provided to realize the detachable connection between the first bracket 121 and the second bracket 122. When internal component maintenance or adjustment is required, the first bracket 121 or the second bracket 122 can be removed separately, which improves the convenience and efficiency of mechanical thumb assembly and subsequent maintenance. It also makes it easier to adjust the relative position of the mounting bracket 12 and the internal components of the rotating housing 11.

[0115] Furthermore, the rotating joint 1 also includes a circuit board assembly 14 and a ribbon cable 15. The circuit board assembly 14 is disposed inside the rotating housing 11. The closest distance between the circuit board assembly 14 and the opening 118 is greater than the farthest distance between the power module 13 and the opening 118. One end of the ribbon cable 15 is disposed inside the rotating housing 11 and is electrically connected to the circuit board assembly 14. The other end of the ribbon cable 15 extends outside the rotating housing 11.

[0116] In the embodiments of this application, the above layout design places the circuit board assembly 14 deeper within the rotating housing 11 relative to the opening 118, thereby reducing structural interference or component damage caused by large-angle rotation when the rotating joint 1 rotates.

[0117] like Figure 5 , Figure 6 , Figure 15As shown, the motor bracket 19 includes a fixing part 191 and a connecting base 192. The fixing part 191 has an annular structure and is sleeved on the second shell section 1312 of the power module housing 131. The inner circumferential surface of the fixing part 191 abuts against the outer circumferential surface of the second shell section 1312. The connecting base 192 is connected to the fixing part 191 and extends along the axial direction of the power module housing 131 in a direction away from the opening 118 of the rotating housing 11. The circuit board bracket 18 is connected to the end of the connecting base 192 away from the opening 118, and the circuit board bracket 18 is disposed on one side of the power module 131 along the axial direction.

[0118] Furthermore, the gap between the second extension 1223 and the power module housing 131 forms a first wiring channel 123, and a second wiring channel 124 is provided on the outer peripheral surface of the first extension 1214. The second wiring channel 124 extends in the direction of the opening 118. One end of the ribbon cable 15 is electrically connected to the circuit board assembly 14 and extends into the mechanical hand 3 through the first wiring channel 123, the second wiring channel 124, and the opening 118.

[0119] In the embodiments of this application, after one end of the ribbon cable 15 is electrically connected to the circuit board assembly 14, it extends sequentially through the first wiring channel 123 and the second wiring channel 124 to the opening 118 and enters the mechanical hand 3. When the rotating joint 1 rotates, the ribbon cable 15 can be confined within a specific channel space, effectively avoiding the entanglement, interference or loosening of the ribbon cable 15 caused by movement. This not only achieves the orderliness of the internal wiring, but also reduces the risk of friction and wear between the ribbon cable 15 and the rotating components, thereby improving the electrical connection stability and overall service life of the mechanical thumb under complex movement conditions.

[0120] like Figures 17 to 28As shown, the mounting bracket 12, the power module housing 131, and the motor bracket 19 are all housed within the rotating housing 11. The power module housing 131 includes a second housing segment 1312, a first housing segment 1311, and a third housing segment 1313 arranged sequentially along the circumference of the power module 13. The mounting bracket 12 includes a first bracket 121 and a second bracket 122 connected axially along the power module 13. The fixing part 191 of the motor bracket 19 is fitted onto the second housing segment 1312, and the connecting base 192 of the motor bracket 19 extends axially along the power module 13 to the third housing segment 1313. The connecting base 192 partially obstructs the circumference of the power module housing 131. The first support part 1212 of the first bracket 121 is fitted onto the second housing segment 1312 via a first bearing 16, and the second support part 1221 of the second bracket 122 is fitted onto the third housing segment 1313 via a second bearing 17. The first extension 1214 of the first bracket 121 is connected to the second extension 1223 of the second bracket 122. The first extension 1214 and the second extension 1223 partially cover the circumference of the power module housing 131.

[0121] like Figures 17 to 32 As shown, the gap between the second extension 1223 and the power module housing 131 forms a first wiring channel 123. A second wiring channel 124 is provided on the outer peripheral surface of the first extension 1214, and the second wiring channel 124 extends in the direction of the opening 118. After one end of the ribbon cable 15 is electrically connected to the circuit board assembly 14, the ribbon cable 15 extends into the first wiring channel 123. The portion of the ribbon cable 15 extending out of the first wiring channel 123 is wound around the outer peripheral surface of the second extension 1223 and extends along the axial direction of the power module housing 131 into the second wiring channel 124. The ribbon cable 15 extending through the second wiring channel 124 extends into the robotic hand 3.

[0122] Furthermore, the ribbon cable 15 before entering the first wiring channel 123 is at least partially fixed on the connecting base 192, and the ribbon cable 15 after exiting the first wiring channel 123 is at least partially fixed in the second wiring channel 124 on the first extension 1214.

[0123] In the embodiments of this application, the ribbon cable 15 before entering the first wiring channel 123 is at least partially fixed on the connecting base 192, and the ribbon cable 15 after exiting the first wiring channel 123 is at least partially fixed on the second wiring channel 124 on the first extension 1214. That is, the length of the ribbon cable 15 located in the first wiring channel 123 is approximately fixed, ensuring that the ribbon cable 15 can be released or contained relatively orderly during the rotation of the mechanical thumb, thereby effectively avoiding excessive bending, tangling and interference with moving parts of the ribbon cable 15.

[0124] like Figure 28 , Figure 30 , Figure 31 , Figure 32 As shown, the fixing part 191 of the motor bracket 19 is sleeved on the second shell section 1312. The connecting base 192 of the motor bracket 19 extends along the axial direction of the power module 13 to the third shell section 1313. The connecting base 192 is set to partially block the circumference of the power module shell 131. The part of the ribbon cable 15 before entering the first wiring channel 123 is fixed on the side wall of the connecting base 192, and the part of the ribbon cable 15 after passing through the first wiring channel 123 is fixed on the inner wall of the second wiring channel 124.

[0125] Furthermore, the second bracket 122 also includes a connecting flange 1224, and the second extension 1223 is detachably connected to the first extension 1214 through the connecting flange 1224; the thickness of the first extension 1214 in the radial direction of the power module 13 is greater than the thickness of the second extension 1223 in the radial direction of the power module 13, and a receiving space 117 is formed between the second extension 1223 and the inner wall surface of the rotating housing 11. During the rotation of the rotating housing 11 relative to the robotic hand 3, the receiving space 117 can be used to receive redundant cables 15.

[0126] In the embodiments of this application, the thickness difference between the first extension 1214 and the second extension 1223 in the radial direction of the power module 13 is used to form a receiving space 117 on the inner wall surface of the second extension 1223 and the rotating housing 11. When the rotating housing 11 rotates relative to the robotic hand 3, the redundant ribbon cable 15 can be received in the receiving space 117, avoiding wear between the ribbon cable 15 and other components, and ensuring the reliability and service life of the transmission connection.

[0127] like Figure 14 , Figure 15 , Figure 16 , Figure 22 , Figure 23 , Figure 26 As shown, the second bracket 122 includes a second connecting portion 1222, a second supporting portion 1221, and a second extension portion 1223. One end of the second supporting portion 1221 is connected to the second connecting portion 1222, and the other end of the second supporting portion 1221 is connected to the second extension portion 1223. The second extension portion 1223 extends axially along the power module 13, and a connecting flange 1224 is provided at the end of the second extension portion 1223 away from the second supporting portion 1221. The second extension portion 1223 is connected to the first extension portion 1214 of the first bracket 121 through the connecting flange 1224. The connecting flange 1224 has a notch 1225 communicating with the second wiring channel 124. The thickness of the first extension portion 1214 in the radial direction of the power module 13 is greater than the thickness of the second extension portion 1223 in the radial direction of the power module 13. A receiving space 117 is formed between the second extension portion 1223 and the inner wall surface of the rotating housing 11. Figure 14 It can be seen that the thickness of the first extension 1214 in the radial direction of the power module 13 is t1, and the thickness of the second extension 1223 in the radial direction of the power module 13 is t2, and t1 is greater than t2.

[0128] In another exemplary embodiment of this application, the rotating housing 11 includes a first housing 111 and a second housing 112 that are assembled and fitted together. A first protrusion 115 is provided on the inner wall of the first housing 111, and a second protrusion 116 is provided on the inner wall of the second housing 112. A connecting base 192 is at least partially located between the first protrusion 115 and the second protrusion 116. The first housing 111 is fixedly connected to the connecting base 192 via the first protrusion 115, and the second housing 112 is fixedly connected to the connecting base 192 via the second protrusion 116. When the mechanical hand 3 rotates, the first extension 1214 rotates between the first protrusion 115 and the second protrusion 116. When one end of the first extension 1214 abuts against the first protrusion 115, the rotating housing 11 is in the first extreme position relative to the mechanical hand 3. When the other end of the first extension 1214 abuts against the second protrusion 116, the rotating housing 11 is in the second extreme position relative to the mechanical hand 3. When the rotating housing 11 rotates from the first extreme position to the second extreme position relative to the mechanical hand 3, the angle it rotates through is greater than or equal to 60 degrees.

[0129] In the embodiments of this application, the first protrusion 115 and the second protrusion 116 not only serve as connectors connecting the rotating housing 11 and the motor bracket 19, but also as rotation limiting components for the rotating housing 11. This achieves precise limiting of the rotation range of the rotating housing 11, effectively preventing structural interference or damage caused by excessive joint rotation, and preventing the ribbon cable 15 from being excessively pulled, thus protecting the ribbon cable 15. The angle through which the rotating housing 11 rotates from the first limit position to the second limit position is greater than or equal to 60 degrees, ensuring that the rotating joint 1 has sufficient effective working stroke to meet the rotation amplitude requirements of the mechanical thumb in actual grasping operations. While providing reliable limiting protection, this also optimizes space utilization and improves the overall appearance.

[0130] like Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 17 , Figure 28 , Figure 29As shown, the rotating housing 11 includes a first housing 111 and a second housing 112. A first protrusion 115 is provided on the inner wall of the first housing 111, and a second protrusion 116 is provided on the inner wall of the second housing 112. The connecting base 192 of the motor bracket 19 is disposed within the rotating housing 11 and located between the first protrusion 115 and the second protrusion 116. The first housing 111 is connected to one side wall of the connecting base 192 via the first protrusion 115, and the second housing 112 is connected to the other side wall of the connecting base 192 via the second protrusion 116. The first housing 111 and the second housing 112 enclose a mounting cavity 113, within which the power module 13 and the motor bracket 19 are disposed. Figure 29 As shown, at this time, the rotating housing 11 is in the second extreme position relative to the mechanical hand 3.

[0131] like Figure 29 As shown, the cross-section of the first protrusion 115 and the second protrusion 116 along the axial direction of the power module 13 is triangular. The first protrusion 115 and the second protrusion 116 are both provided with a connecting surface that connects to the connecting base 192 and a limiting surface that cooperates with the first extension 1214. The connecting surface and the limiting surface can be approximately perpendicular.

[0132] like Figure 29 As shown, the first extension 1214 rotates between the first protrusion 115 and the second protrusion 116. When one end of the first extension 1214 abuts against the first protrusion 115, the rotating housing 11 is in a first extreme position relative to the robotic hand 3. When the other end of the first extension 1214 abuts against the second protrusion 116, the rotating housing 11 is in a second extreme position relative to the robotic hand 3. When the rotating housing 11 rotates relative to the robotic hand 3 from the first extreme position to the second extreme position, the angle rotated is greater than or equal to 60 degrees. The angle rotated can be 60 degrees, 70 degrees, 80 degrees, 90 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 140 degrees, or 150 degrees.

[0133] Furthermore, such as Figure 26 , Figure 27 , Figure 29 As shown, on the first reference plane perpendicular to the rotor rotation axis 134 and passing through the first extension 1214, the rotor rotation axis 134 intersects the first reference plane at a first point. With the first point as the center, the central angles corresponding to the two ends of the first extension 1214 on the first reference plane are 60°~180°.

[0134] The central angles at both ends of the first extension 1214 on the first reference plane reflect the coverage area of ​​the first extension in the circumferential direction of the power module housing 131. Figure 29 The point marked O1 is the first point. Figure 29The α symbol is used as the central angle corresponding to the two ends of the first extension 1214 on the first reference plane.

[0135] In the embodiments of this application, when the first extension 1214 is used to cooperate with the first protrusion 115 and the second protrusion 116 for rotational limiting, the central angles corresponding to the two ends of the first extension 1214 on the first reference plane are 60°~180°, so that the rotating housing 11 can have a relatively large rotation angle; at the same time, it ensures that the power module housing 131 has a sufficiently large exposed area, thereby ensuring the heat dissipation effect.

[0136] Furthermore, such as Figure 26 , Figure 27 , Figure 29 As shown, on the second reference plane perpendicular to the rotor rotation axis 134 and passing through the second extension 1223, the rotor rotation axis 134 intersects the second reference plane at a second point. With the second point as the center, the central angles corresponding to the two ends of the second extension 1223 on the second reference plane are 60°~180°.

[0137] The central angles at both ends of the second extension 1223 on the second reference plane reflect the coverage area of ​​the second extension in the circumferential direction of the power module housing 131. Figure 28 The O2 marked in the middle is the second point. Figure 28 The β symbol is used as the central angle corresponding to the two ends of the second extension 1223 on the second reference plane.

[0138] In the embodiments of this application, by limiting the range of the central angles corresponding to the two ends of the second extension 1223 on the second reference plane, a receiving area for the redundant cabling 15 is formed between the second extension 1223 and the inner wall surface of the rotating housing 11, thereby avoiding the cabling 15 from tangling or becoming too loose due to excessive or insufficient rotation angle, and improving the rationality of the layout of the cabling 15 in the rotating joint 1 and the rotational stability.

[0139] like Figure 17 As shown, the first housing 111 has a first mounting portion 1111, and the second housing 112 has a second mounting portion 1121. The first mounting portion 1111 and the second mounting portion 1121 are located outside the mounting cavity 113. The first mounting portion 1111 and the second mounting portion 1121 are arranged opposite to each other and form a U-shaped groove 114. A portion of the thumb body 2 is disposed in the U-shaped groove 114 and connected to the first mounting portion 1111 and the second mounting portion 1121.

[0140] According to another specific embodiment of this application, a robotic arm is provided, such as... Figure 1 , Figure 2As shown, the robotic arm includes the robotic thumb and robotic palm 3 in the above embodiment. The mounting bracket 12 is fixedly connected to the robotic palm 3. The output end of the power module 13 is directly or indirectly fixedly connected to the robotic palm 3. The robotic palm 3 is provided with a communication board 31, which is electrically connected to the circuit board assembly 14 of the robotic thumb through a ribbon cable 15.

[0141] In some embodiments of this application, the output end of the power module 13 is connected to the palm mounting plate 32 of the robotic hand 3 via the first bracket 121 of the mounting bracket 12. The robotic hand 3 is provided with a communication board 31, which is fixed on the palm mounting plate 32. The communication board 31 is electrically connected to the circuit board assembly 14 of the robotic thumb via a ribbon cable 15.

[0142] According to another specific embodiment of this application, a robot is provided, which includes the robotic arm described in the above embodiments.

[0143] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0144] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0145] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0146] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanical thumb, characterized in that, include: A rotating joint (1) includes a rotating housing (11), a mounting bracket (12), and a power module (13). The mounting bracket (12) is at least partially disposed within the rotating housing (11), and the power module (13) is at least partially disposed within the rotating housing (11). The rotating housing (11) has an opening (118) at one end along the rotor rotation axis (134) of the power module (13). The mounting bracket (12) is configured to be fixedly connected to the robotic hand (3) via the opening (118). The output end of the power module (13) is configured to be fixedly connected to the robotic hand (3) directly or indirectly via the opening (118). The power module (13) also includes a power module housing (131), which is rotatably supported on the mounting bracket (12) and is fixedly connected to the rotating housing (11). Thumb body (2), the thumb body (2) is connected to the rotating shell (11); The power module (13) can drive the rotating housing (11) to rotate relative to the mechanical hand (3) about the rotor rotation axis (134).

2. The mechanical thumb according to claim 1, characterized in that, The output end of the power module (13) is directly connected to the mechanical hand (3) through the opening (118), or the output end of the power module (13) is fixedly connected to the mounting bracket (12). The rotating joint (1) also includes a motor bracket (19), which is disposed inside the rotating housing (11). The motor bracket includes a fixing part (191) and a connecting base (192). The fixing part (191) is fixedly connected to the power module housing (131), and the connecting base (192) is connected to the fixing part (191) and fixedly connected to the rotating housing (11).

3. The mechanical thumb according to claim 2, characterized in that, The power module (13) includes a rotor assembly, a stator assembly, and a reducer assembly (133). The power module housing (131) includes a first housing section (1311) and a second housing section (1312), the first housing section (1311) and the second housing section (1312) are connected to each other along the rotor rotation axis, the inner diameter of the first housing section (1311) is larger than the inner diameter of the second housing section (1312), the outer diameter of the first housing section (1311) is larger than the outer diameter of the second housing section (1312), the stator assembly and the rotor assembly are at least partially disposed in the first housing section (1311), and the reducer assembly (133) is at least partially disposed in the second housing section (1312); The fixing part (191) is sleeved on the second shell section (1312), and the inner peripheral surface of the fixing part (191) abuts against the outer peripheral surface of the second shell section (1312).

4. The mechanical thumb according to claim 2, characterized in that, The rotary joint (1) also includes a circuit board bracket (18), which is fixedly connected to the connecting base (192); The rotating joint (1) also includes a circuit board assembly (14), which is disposed inside the rotating housing (11) and mounted on the circuit board bracket (18). The circuit board assembly (14) is electrically connected to the power module (13) via a circuit and is used to drive the power module (13).

5. The mechanical thumb according to claim 3, characterized in that, The rotary joint (1) further includes a first bearing (16), which is sleeved on the power module housing (131) and is located on one side of the fixing part (191) along the rotor rotation axis. The mounting bracket (12) includes a first bracket (121), the first bracket (121) includes a first bracket body (1210), the first bracket body (1210) includes a first connecting part (1211), a first support part (1212) and a palm connecting part (1213), the first support part (1212) and the palm connecting part (1213) are respectively connected to the first connecting part (1211), the first connecting part (1211) is connected to the output end of the power module (13), the inner ring of the first bearing (16) is supported on the power module housing (131) along the radial direction of the first bearing (16), the outer ring of the first bearing (16) is supported on the first support part (1212) along the radial direction of the first bearing (16), and the palm connecting part (1213) is used to fixally connect with the mechanical palm (3).

6. The mechanical thumb according to claim 5, characterized in that, The first shell segment (1311) and the second shell segment (1312) are connected by a first connecting wall (1314). The first bearing (16) is sleeved on the second shell segment (1312). The fixing part (191) is clamped and fixed between the first connecting wall (1314) and the first bearing (16) in the direction of the rotor rotation axis. The first bearing (16) is clamped and fixed between the fixing part (191) and the first connecting part (1211) in the direction of the rotor rotation axis.

7. The mechanical thumb according to claim 5, characterized in that, The power module housing (131) has a first end and a second end at both ends along the rotor rotation axis. The first bearing (16) is sleeved on the first end of the power module housing (131). The rotating joint (1) also includes a second bearing (17) disposed in the rotating housing (11). The second bearing (17) is sleeved on the second end of the power module housing (131). The second bearing (17) is located on the other side of the fixing part (191) along the rotor rotation axis. The mounting bracket (12) further includes a second bracket (122) fixedly connected to the first bracket (121). The second bracket (122) includes a second bracket body (1220). The inner ring of the second bearing (17) is supported on the power module housing (131) along the radial direction of the second bearing (17), and the outer ring of the second bearing (17) is supported on the second bracket body (1220) along the radial direction of the second bearing (17).

8. The mechanical thumb according to claim 7, characterized in that, The power module housing (131) further includes a third housing section (1313), which is disposed on the side of the first housing section (1311) away from the second housing section (1312) along the direction of the rotor rotation axis. The outer diameter of the first housing section (1311) is larger than the outer diameter of the third housing section (1313), and the inner diameter of the first housing section (1311) is larger than the inner diameter of the third housing section (1313). The first housing section (1311) and the third housing section (1313) are connected by a second connecting wall (1315). The second bearing (17) is sleeved on the third shell section (1313). The second support body (1220) includes a second connecting part (1222) and a second support part (1221). The second connecting part (1222) and the first connecting part (1211) are spaced apart along the rotor rotation axis. The second support part (1221) is connected to the second connecting part (1222). The outer ring of the second bearing (17) is supported on the second support part (1221) along the radial direction of the second bearing (17). The second bearing (17) is clamped and fixed between the second connecting part (1222) and the second connecting wall (1315) in the direction of the rotor rotation axis.

9. The mechanical thumb according to claim 8, characterized in that, The first support part (1212) is sleeved on the first bearing (16), and the outer ring of the first bearing (16) is supported on the inner surface of the first support part (1212) along the radial direction of the first bearing (16); the second support part (1221) is sleeved on the second bearing (17), and the outer ring of the second bearing (17) is supported on the inner surface of the second support part (1221) along the radial direction of the second bearing (17).

10. The mechanical thumb according to claim 7, characterized in that, The first bracket (121) further includes a first extension (1214) connected to the first bracket body (1210). The second bracket (122) further includes a second extension (1223) connected to the second bracket body (1220). The first extension (1214) and the second extension (1223) extend toward each other and are detachably connected to each other.

11. The mechanical thumb according to claim 10, characterized in that, The rotating joint (1) also includes a circuit board assembly (14) and a ribbon cable (15). The circuit board assembly (14) is disposed inside the rotating housing (11). The closest distance between the circuit board assembly (14) and the opening (118) is greater than the farthest distance between the power module (13) and the opening (118). One end of the ribbon cable (15) is disposed inside the rotating housing and is electrically connected to the circuit board assembly (14). The other end of the ribbon cable (15) extends outside the rotating housing (11).

12. The mechanical thumb according to claim 11, characterized in that, The gap between the second extension (1223) and the power module housing (131) forms a first wiring channel (123). A second wiring channel (124) is provided on the outer peripheral surface of the first extension (1214). The second wiring channel (124) extends in the direction of the opening (118). One end of the ribbon cable (15) is electrically connected to the circuit board assembly (14) and extends into the mechanical hand (3) through the first wiring channel (123), the second wiring channel (124), and the opening (118).

13. The mechanical thumb according to claim 12, characterized in that, The ribbon cable (15) before entering the first wiring channel (123) is at least partially fixed on the connecting base (192), and the ribbon cable (15) after exiting the first wiring channel (123) is at least partially fixed in the second wiring channel (124) on the first extension (1214).

14. The mechanical thumb according to claim 12, characterized in that, The second bracket (122) further includes a connecting flange (1224), and the second extension (1223) is detachably connected to the first extension (1214) via the connecting flange (1224); The thickness of the first extension (1214) in the radial direction of the power module (13) is greater than the thickness of the second extension (1223) in the radial direction of the power module (13). The second extension (1223) forms a receiving space (117) between itself and the inner wall of the rotating housing (11). During the rotation of the rotating housing (11) relative to the mechanical hand (3), the receiving space (117) can be used to receive redundant cables (15).

15. The mechanical thumb according to claim 10, characterized in that, The rotating housing includes a first housing (111) and a second housing (112) assembled and fitted together. The inner wall of the first housing (111) is provided with a first protrusion (115), and the inner wall of the second housing (112) is provided with a second protrusion (116). The connecting base (192) is at least partially located between the first protrusion (115) and the second protrusion (116). The first housing (111) is fixedly connected to the connecting base (192) via the first protrusion (115), and the second housing (112) is fixedly connected to the connecting base (192) via the second protrusion (116). When the rotating housing (11) rotates relative to the mechanical hand (3), the first extension (1214) rotates between the first protrusion (115) and the second protrusion (116). When one end of the first extension (1214) abuts against the first protrusion (115), the rotating housing (11) is in a first extreme position relative to the mechanical hand (3). When the other end of the first extension (1214) abuts against the second protrusion (116), the rotating housing (11) is in a second extreme position relative to the mechanical hand (3). When the rotating housing (11) rotates from the first extreme position to the second extreme position relative to the mechanical hand (3), the angle rotated is greater than or equal to 60 degrees.

16. The mechanical thumb according to claim 15, characterized in that, On a first reference plane perpendicular to the rotor rotation axis and passing through the first extension (1214), the rotor rotation axis intersects the first reference plane at a first point. With the first point as the center, the central angles corresponding to the two ends of the first extension (1214) on the first reference plane are 60°~180°.

17. A robotic arm, characterized in that, The robotic arm includes the robotic thumb according to any one of claims 1-16; the robotic arm further includes: The mechanical hand (3) is fixedly connected to the mounting bracket (12), and the output end of the power module (13) is directly or indirectly fixedly connected to the mechanical hand (3). The mechanical hand is provided with a communication board (31), and the communication board (31) is electrically connected to the circuit board assembly (14) of the mechanical thumb through a ribbon cable (15).

18. A robot, characterized in that, The robot includes the robotic arm as described in claim 17.

Images