Drive module, dexterous hand and robot

Abstract

The application discloses a driving module, a dexterous hand and a robot, and relates to the technical field of intelligent robots. The driving module comprises a speed reducer and a knuckle rotating mechanism. The speed reducer comprises a shell, a planetary speed reduction assembly arranged in the shell and an output piece. The first end of the output piece is inserted into the shell and connected with the planetary speed reduction assembly. The end face of the second end of the output piece is formed with a first bevel gear. The knuckle rotating mechanism comprises a shell and a driving shaft. The shell is connected with the shell. An installation cavity is formed in the shell. The shell is further provided with a first through hole, a second through hole and a third through hole which are communicated with the installation cavity. The output piece is inserted into the installation cavity through the third through hole. The two ends of the driving shaft can be inserted outside the installation cavity through the first through hole and the second through hole. The side wall surface of the driving shaft is provided with a second bevel gear which is engaged with the first bevel gear. The technical scheme of the application aims to realize the power-off reverse driving of the dexterous hand and reduce the volume of the whole driving module, which is beneficial to the miniaturization design of the dexterous hand.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a drive module, a dexterous hand, and a robot. Background Technology

[0002] With the rapid development of robotics technology, dexterous hands, as humanoid robots, possess multi-degree-of-freedom and high-precision manipulation capabilities, and are widely used in various fields such as industrial assembly, medical rehabilitation, and space exploration. Each finger joint unit of a dexterous hand is equipped with a drive module, which provides power for the rotation of the finger joint unit.

[0003] In related technologies, most dexterous hand drive modules use worm gear mechanisms for transmission. However, worm gear drives have a one-way self-locking function, meaning the dexterous hand cannot reverse drive in case of unexpected shutdown or power failure. Furthermore, in a worm gear mechanism, power can only be transmitted from the worm to the turbine, which means the reducer in the drive module must be a worm. This structural design not only results in a large axial dimension for the entire drive module, but also hinders its miniaturization. Summary of the Invention

[0004] The main objective of this invention is to provide a drive module that enables reverse drive of the dexterous hand when power is off while reducing the overall size of the drive module, which is beneficial for the miniaturization design of the dexterous hand.

[0005] To achieve the above objectives, the driving module proposed in this invention includes: A speed reducer includes a housing, a planetary speed reduction assembly disposed within the housing, and an output component. The output component has a first end and a second end disposed opposite to each other. The first end extends into the housing and is connected to the planetary speed reduction assembly, and the end face of the second end forms a first bevel gear. A knuckle rotation mechanism includes a housing and a drive shaft. The housing is connected to the casing. An installation cavity is formed inside the housing. The housing is also provided with a first through hole, a second through hole, and a third through hole communicating with the installation cavity. The output component extends into the installation cavity through the third through hole. The drive shaft is located in the installation cavity. Both ends of the drive shaft can extend out of the outside of the installation cavity through the first through hole and the second through hole. A second bevel gear is provided on the side wall of the drive shaft to mesh with the first bevel gear.

[0006] In one embodiment of the present invention, a clearance groove is also formed on the outer peripheral surface of the drive shaft. The clearance groove is located on one side of the second bevel gear. The cross-sectional area of ​​the clearance groove gradually decreases and then gradually increases from one end of the second bevel gear to the end away from the second bevel gear. The first bevel gear is provided corresponding to the clearance groove.

[0007] In one embodiment of the present invention, the knuckle rotation mechanism further includes: Two sets of backlash adjustment mechanisms are respectively disposed in the first through hole and the second through hole. Each backlash adjustment mechanism is provided with a clearance hole. The end of the drive shaft extends out of the outside of the mounting cavity through the clearance hole. At least one set of the backlash adjustment mechanisms can move relative to the housing under the action of external force and drive the drive shaft to move in the axial direction to adjust the backlash between the first bevel gear and the second bevel gear.

[0008] In one embodiment of the present invention, the backlash adjustment mechanism includes: An end cap is threadedly connected to the outer shell. The end cap is provided with the clearance hole, and the surface of the end cap is also provided with a plurality of spaced force-bearing holes. The first bearing has an outer ring fixed to the housing, an inner ring fixed to the drive shaft, an end of the outer ring of the first bearing abutting against the end cap, and an inner ring of the first bearing abutting against a limiting contact on the drive shaft. Under the action of external force, the end cap drives the drive shaft to move axially through the first bearing.

[0009] In one embodiment of the present invention, the end cap is recessed with a mounting groove on the end face facing the first bearing, and the outer ring of the first bearing abuts against the side wall of the mounting groove. Alternatively, the outer ring of the first bearing may directly abut against the sidewall of the first through hole / second through hole.

[0010] In one embodiment of the present invention, the end cover is recessed with a relief groove on the end face facing the first bearing. The relief groove is arranged around the outside of the relief hole. The outer diameter of the relief groove is larger than the outer diameter of the inner ring of the first bearing. The relief groove creates a gap between the inner ring of the first bearing and the end cover.

[0011] In one embodiment of the present invention, the reducer further includes a locking mechanism, the locking mechanism comprising: The second bearing has its inner ring fitted between the second end and the first end of the output component, and its outer ring is fixed to the housing or the outer shell. A locking element is sleeved on the surface of the output element and located at the end of the second bearing away from the first bevel gear. The locking element is used to restrict the axial movement of the second bearing.

[0012] In one embodiment of the present invention, the locking member and the output member are connected by a threaded locking connection; or, the locking member and the housing are connected by a threaded locking connection.

[0013] The present invention also proposes a dexterous hand, which includes the drive module.

[0014] The present invention also proposes a robot, the robot including the dexterous hand.

[0015] In the drive module of this invention, a first bevel gear is directly machined onto the output component of the reducer, and a second bevel gear is directly machined onto the drive shaft of the knuckle rotation mechanism. The direct meshing of the first and second bevel gears enables transmission between the reducer and the knuckle rotation mechanism. Compared to the traditional worm gear unidirectional transmission scheme, this solution allows for both forward and reverse rotation of the first and second bevel gears. This means the drive module can achieve reverse drive even in the event of a power outage. Thus, even if a power outage occurs while the dexterous hand is gripping, the grasped object can be easily removed. Furthermore, since the output component of the drive module is directly formed as the first bevel gear, the need for shaft components at the reducer's output end and gears mounted on these components is avoided. This eliminates the need for intermediate gear sets and their mounting structures between the reducer and the knuckle rotation mechanism. This not only reduces the number of parts, lowering material and assembly costs, but also reduces the axial and radial space of the drive module, resulting in a smaller overall size and facilitating miniaturization of the dexterous hand. Furthermore, it shortens the power transmission path from the reducer to the knuckle rotation mechanism, reduces transmission errors, improves transmission efficiency and motion control precision, and thus enhances the reliability of the entire drive module. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the drive module of the present invention; Figure 2 for Figure 1 Exploded view of the motor section in the drive module; Figure 3 This is a cross-sectional view of an embodiment of the drive module of the present invention; Figure 4 This is a cross-sectional view of another embodiment of the drive module of the present invention; Figure 5 for Figure 3 A cross-sectional diagram showing the disassembled state of the drive module; Figure 6 for Figure 4 A cross-sectional view of an embodiment of the drive module in its decomposed state; Figure 7 for Figure 4 A cross-sectional diagram of another decomposed state of the drive module; Figure 8 for Figure 3 A cross-sectional view of the housing of the drive module; Figure 9 for Figure 3 A schematic diagram of the end cap structure of the drive module; Figure 10 for Figure 4 A schematic diagram of the end cap structure of the drive module; Figure 11 This is a schematic diagram of the drive shaft in the drive module of the present invention; Figure 12 for Figure 3 A schematic diagram of the output components in the drive module; Figure 13 This is a schematic diagram of the structure of an embodiment of the dexterous hand of the present invention.

[0018] Explanation of icon numbers: 100. Drive module; 10. Reducer; 11. Housing; 111. Cylinder; 113. Sealing cover; 115. Receiving cavity; 13. Planetary reducer assembly; 15. Output component; 151. First bevel gear; 153. Chamfered surface; 17. Locking mechanism; 171. Second bearing; 173. Locking element; 175. Adjustment hole; 30. Knuckle rotation mechanism; 31. Outer shell; 311. Mounting cavity; 312. First through hole; 313. Second through hole; 314. Third through hole; 33. Drive shaft; 331. Clearance groove; 332. Second bevel gear; 333. Limiting structure; 35. Backlash adjustment mechanism; 351. End cover; 3511. Force-bearing hole; 3512. Clearance hole; 3513. Mounting groove; 3514. Avoidance groove; 353. First bearing; 40. Motor; 41. Drive plate; 411. Fixing part; 412. Connecting part; 413. Main body; 42. Housing; 421. Fixing groove; 422. Wire guide groove; 1000. Dexterous hand.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] This invention proposes a drive module 100.

[0025] Reference Figures 1 to 6 ,as well as Figure 12In one embodiment of the present invention, the drive module 100 includes a reducer 10 and a knuckle rotation mechanism 30. The reducer 10 includes a housing 11, a planetary reduction assembly 13 disposed within the housing 11, and an output component 15. The output component 15 has a first end and a second end disposed opposite to each other. The first end extends into the housing 11 and is connected to the planetary reduction assembly 13, and the end face of the second end forms a first bevel gear 151. The knuckle rotation mechanism 30 includes a housing 31 and a drive shaft 33. The housing 31 is connected to the housing 11. The housing 31 has an internal mounting cavity 311. The housing 31 also has a first through hole 312, a second through hole 313 and a third through hole 314 communicating with the mounting cavity 311. The output member 15 extends into the mounting cavity 311 through the third through hole 314. The drive shaft 33 is located in the mounting cavity 311. Both ends of the drive shaft 33 can extend out of the outside of the mounting cavity 311 through the first through hole 312 and the second through hole 313. The side wall of the drive shaft 33 is provided with a second bevel gear 332 that meshes with the first bevel gear 151.

[0026] The drive module 100 includes a reducer 10 and a knuckle rotation mechanism 30, which are connected by transmission, as well as a motor 40. The motor 40 is connected to the reducer 10 and provides driving force. Optionally, the motor 40 can be a brushless motor. The drive board 41 of the brushless motor 40 can also be a flexible circuit board, which is placed on the outside of the motor 40 housing. This reduces the axial dimension of the motor 40. Since the drive board 41 is located on the outside of the motor 40 housing, its area is no longer limited by the internal space of the motor 40 housing, and the area of ​​the drive board 41 can be increased to meet the requirements of integrating an RS-485 chip. Through the RS-485 chip, the communication needs of the touch sensor, torque sensor, position sensor and the motor 40 can be met. This achieves the advantages of long-distance communication, multi-node networking and simplified wiring of the dexterous hand 1000 without increasing the size of the motor 40, which is conducive to the miniaturization and refinement of the dexterous hand 1000.

[0027] Reference Figure 2Specifically, the drive plate 41 of the motor 40 includes a fixing part 411 that extends into the housing of the motor 40 and is electrically connected to the conductors of the stator winding. The fixing part 411 is adapted to the cross-section of the fixing groove 421 formed at the end of the housing 42 of the motor 40. The housing 42 is also provided with a wire passage groove 422. The drive plate 41 of the motor 40 also includes a connecting part 412 and a main body 413 that are connected to the fixing part 411 and extend out of the housing of the motor 40. The main body 413 is used to integrate an RS-chip, a driver chip, a control chip, and other components. The connecting part 412 is used to connect the middle part of the fixing part 411 and the main body 413. The connecting part 412 can be configured as a flexible, elongated strip structure to facilitate passing through the wire passage groove 422. In one possible embodiment, the main body 413 and the connecting part 412 are flexible circuit boards; or, the fixing part 411, the main body 413, and the connecting part 412 are all flexible circuit boards.

[0028] Reference Figure 2 and Figure 3 ,as well as Figure 12 The housing 11 of the reducer 10 provides support, protection, and positioning for the internal components, forming a closed receiving cavity 115. The receiving cavity 115 houses the planetary reduction assembly 13 and lubricating oil, etc. A shaft hole is provided on the surface of the housing 11, communicating with the receiving cavity 115, allowing the first end of the output component 15 to extend from outside the receiving cavity 115 into the cavity and connect with the planetary reduction assembly 13. Understandably, the output component 15 needs to cooperate with bearings for support and sealing. The housing 11 of the reducer 10 includes a detachably connected cylindrical body 111 and a sealing cover 113. The shaft hole is located on the sealing cover 113, which also serves to connect to the outer shell 31 of the knuckle rotation mechanism 30. The output component 15 is the power output component of the reducer 10, used to transmit the torque generated by the reducer 10. The output component 15 has a first end and a second end in the axial direction. The first end is connected to the planetary reduction assembly 13, and the second end is directly machined to form a first bevel gear 151, so that the output component 15 can directly mesh with the second bevel gear 332 on the drive shaft 33 in the knuckle rotation mechanism 30, realizing the transmission between the reducer 10 and the knuckle rotation mechanism 30. By directly designing the second end of the output component 15 of the reducer 10 as the first bevel gear 151, it is also possible to avoid setting a separate shaft component at the output end of the reducer 10, and also to avoid the shaft component needing to cooperate with the drive shaft 33 through gears. This reduces the number of parts and shortens the axial dimension between the reducer 10 and the knuckle rotation mechanism 30. Only a small radial space is needed to realize the reducer 10 and the knuckle rotation mechanism 30, thus reducing the overall volume of the drive module 100.

[0029] Reference Figures 5 to 8The knuckle rotation mechanism 30 is used to connect adjacent joints. It converts the output motion of the motor 40 and the reducer 10 into rotational motion along the axis of the adjacent joint, thus enabling joint movement. The housing 31 is the carrier within the knuckle rotation mechanism 30 that provides basic support for the drive shaft 33 and also protects components such as the drive shaft 33. The housing 31 can be made of metal or engineering plastic to ensure its structural strength. The housing 31 contains a mounting cavity 311 that can accommodate not only the drive shaft 33 and the first bevel gear 151, but also lubricating oil. The first through hole 312, the second through hole 313, and the third through hole 314 are respectively provided on different surfaces of the housing 31. The first through hole 312 and the second through hole 313 are located on two opposite surfaces of the housing 31 and are coaxially arranged so that the two ends of the drive shaft 33 can pass through the first through hole 312 and the second through hole 313 and extend out of the outer side of the mounting cavity 311 to connect and drive the movement of adjacent joint connectors, thereby realizing the movement of adjacent joints. The central axis of the third through hole 314 is perpendicular to the extension line of the central axis of the first through hole 312 and the second through hole 313. The hole wall of the third through hole 314 is also provided with a threaded structure. The outer side of the housing 11 of the reducer 10 is correspondingly provided with threads, which allows the housing 31 and the housing 11 of the reducer 10 to be sealed together by threads. This not only connects the reducer 10 and the knuckle rotation mechanism 30 into an integral structure, but also facilitates the sealing of the third through hole 314.

[0030] The drive shaft 33 is a component that can pass through the housing 31 and rotate relative to the housing 31. The second bevel gear 332 disposed on the drive shaft 33 is used to receive power from the first bevel gear 151 and transmit rotational motion and torque to the external load. It should be noted that the drive shaft 33 includes the second bevel gear 332 and the gear shaft. The second bevel gear 332 and the gear shaft can be an integral structure to improve the structural strength and transmission accuracy of the drive shaft 33 itself. Of course, the second bevel gear 332 and the gear shaft can also be separate structures, which is not limited here.

[0031] In the drive module 100 of this invention, a first bevel gear 151 is directly machined on the output component 15 of the reducer 10, and a second bevel gear 332 is directly machined on the drive shaft 33 of the knuckle rotation mechanism 30. The direct meshing of the first bevel gear 151 and the second bevel gear 332 realizes the transmission between the reducer 10 and the knuckle rotation mechanism. Compared with the traditional worm gear unidirectional transmission scheme, the first bevel gear 151 and the second bevel gear 332 can achieve forward and reverse rotation. That is, the drive module 100 can achieve reverse drive in the power-off state. Thus, when the dexterous hand 1000 loses power in the grasping state, the grasped object can be easily removed from the dexterous hand 1000. Furthermore, since the output component 15 of the drive module 100 is directly formed as a bevel gear, the scheme of setting a shaft-like component at the output end of the reducer 10 and fitting a gear on the shaft-like component can be avoided. This saves the intermediate gear set and its mounting structure between the reducer 10 and the knuckle rotation mechanism 30. In this way, not only is the number of parts reduced, lowering material and assembly costs, but the axial and radial space of the drive module 100 is also reduced, resulting in a smaller overall size of the drive module 100, which is conducive to the miniaturization of the dexterous hand 1000. Moreover, the power transmission path from the reducer 10 to the knuckle rotation mechanism 30 is shorter, reducing transmission errors, improving transmission efficiency and motion control accuracy, and thus enhancing the reliability of the entire drive module 100.

[0032] Reference Figure 5 , Figure 6 as well as Figure 11 In one embodiment of the present invention, a clearance groove 331 is also formed on the outer peripheral surface of the drive shaft 33. The clearance groove 331 is located on one side of the second bevel gear 332. The cross-sectional area of ​​the clearance groove 331 gradually decreases and then gradually increases from one end of the second bevel gear 332 to the end away from the second bevel gear 332. The first bevel gear 151 is provided corresponding to the clearance groove 331.

[0033] In one embodiment of the present invention, the clearance groove 331 is a recessed area or notch formed on the surface of the drive shaft 33 by machining, providing additional space for the first bevel gear 151 to prevent interference between the first bevel gear 151 and the drive shaft 33, thus ensuring motion safety and reliability. By providing the clearance groove 331, the first bevel gear 151 and the drive shaft 33 can mesh within a smaller space, reducing the volume occupied by the entire drive module 100 while ensuring motion transmission.

[0034] Understandably, the cross-sectional area of ​​the clearance groove 331 is the area of ​​the cross-section obtained by cutting perpendicular to the central axis of the drive shaft 33. The groove surface of the clearance groove 331 is arc-shaped, and the axial direction of the first bevel gear 151 passes through the position where the cross-sectional area of ​​the clearance groove 331 is the smallest. The arc-shaped groove surface can form a smooth curve transition. The cross-sectional profile of the clearance groove 331 gradually decreases and then gradually increases from the end near the second bevel gear 332 to the end away from the second bevel gear 332, making the clearance groove 331 form a cross-section similar to an hourglass. This shape is designed to maximize the strength and rigidity of the drive shaft 33 while ensuring the clearance function. When the drive shaft 33 is under force, the load is distributed more evenly to the remaining material, improving the fatigue strength and life of the parts. A chamfered surface 153 is formed on the side of the first bevel gear 151 away from the drive shaft 33. Understandably, a chamfered surface 153 is also formed on the tooth tip edge of the first bevel gear 151. The chamfered surface 153 can be an inclined plane or a curved surface, used to remove sharp edges. By providing a chamfered surface 153 on the first bevel gear 151, collisions or scratches between the edge of the first bevel gear 151 and other components can be reduced. During assembly, the chamfered surface 153 can also avoid interference with the bearing, reducing assembly difficulty. (First bevel gear 151)

[0035] Reference Figure 3 and Figure 6 In one embodiment of the present invention, the knuckle rotation mechanism 30 further includes: Two sets of backlash adjustment mechanisms 35 are respectively disposed within the first through hole 312 and the second through hole 313. Each backlash adjustment mechanism 35 has a clearance hole 3512. The end of the drive shaft 33 extends outward from the mounting cavity 311 through the clearance hole 3512. At least one set of the backlash adjustment mechanisms 35 can move relative to the housing 31 under the action of an external force, driving the drive shaft 33 to move axially, thereby adjusting the backlash between the first bevel gear 151 and the second bevel gear 332. In one embodiment of the present invention, the backlash adjustment mechanism 35 is used to adjust the backlash between the first bevel gear 151 and the second bevel gear 332, so that the clearance between the second bevel gear 332 and the first bevel gear 151 can be controlled. For example, by applying an external force to one set of backlash adjustment mechanisms 35, the drive shaft 33 can move axially to adjust the backlash between the first bevel gear 151 and the second bevel gear 332. Since the backlash adjustment mechanism 35 is directly located in the first through hole 312 or the second through hole 313, external force can be applied directly to the backlash adjustment mechanism 35 from the outside of the housing 31. This adjustment method can be achieved without disassembling any parts, making operation extremely convenient. Furthermore, the movement of the drive shaft 33 can be controlled, precisely compressing or eliminating tooth backlash, ultimately achieving a zero-backlash transmission state. This fundamentally eliminates the forward and reverse rotation impact, noise, and tooth surface wear caused by backlash. At the same time, zero backlash also eliminates the backlash in power transmission, significantly improving the response speed and position control accuracy of the drive module 100. For the robot dexterous hand 1000 joint, which requires frequent forward and reverse rotation and high dynamic response, this significantly improves its operational sensitivity and trajectory tracking accuracy.

[0036] Reference Figures 3 to 6 In one embodiment of the present invention, the backlash adjustment mechanism 35 includes: End cap 351, which is threadedly connected to the outer shell 31, the end cap 351 is provided with the clearance hole 3512, and the surface of the end cap 351 is also provided with a plurality of spaced force holes 3511; A first bearing 353 has its outer ring fixed to the outer casing 31 and its inner ring fixed to the drive shaft 33. The end of the outer ring of the first bearing 353 abuts against the end cover 351, and the inner ring of the first bearing 353 abuts against a limiting contact on the drive shaft 33. Under the action of external force, the end cover 351 drives the drive shaft 33 to move axially through the first bearing 353.

[0037] In one embodiment of the present invention, the end cap 351 is a sealing structure installed at the first through hole 312 and the second through hole 313 of the outer casing 31. The end cap 351 serves as a support and seal, and the clearance hole 3512 provided on the end cap 351 allows the drive shaft 33 to pass through and extend out of the mounting cavity 311. Understandably, the end cap 351 and the outer casing 31 are connected by threads. The thread engagement provides reliable self-locking performance, preventing the end cap 351 from accidentally loosening under vibration and impact during the operation of the drive module 100. This ensures that the end cap 351 maintains its adjusted position for a long time, ensuring that the first bevel gear 151 and the second bevel gear 332 maintain their adjusted backlash. Furthermore, the movement of the end cap 351 relative to the outer casing 31 must be under sufficient external force, and the amount of movement of the end cap 351 is controllable and small enough to adjust the backlash between the first bevel gear 151 and the second bevel gear 332.

[0038] The first bearing 353 is limited and abutted by the end cover 351 and the limiting structure 333 on the drive shaft 33, thereby axially positioning the end cover 351. Both ends of the drive shaft 33 are axially supported by the first bearing 353, ensuring low-friction, high-precision rotation of the drive shaft 33 within the end cover 351. This achieves axial pre-tightening and precise limiting of the drive shaft 33. When it is necessary to adjust the backlash between the first bevel gear 151 and the second bevel gear 332, a force is applied to the end cover 351 from the outside using a special wrench. The end cover 351 can then move axially relative to the outer shell 31. The axial movement force is transmitted to the drive shaft 33 through the outer ring of the first bearing 353, the bearing rolling elements, the inner ring of the first bearing 353, and the limiting structure 333, enabling precise axial movement of the drive shaft 33, thus achieving both precision and convenience in adjustment.

[0039] Understandably, the end cap 351 has multiple spaced force-receiving holes 3511 on its surface away from the first bearing 353. The shape of the force-receiving holes 3511 can be square, round, or irregularly shaped. The protrusion of the special wrench must cooperate with the force-receiving holes 3511 to transmit torque. The number of force-receiving holes 3511 can be two, three, or four, etc. By providing multiple spaced force-receiving holes 3511 on the outer end face of the end cap 351, an efficient and stable torque application point is provided for the operator. Furthermore, the adjusting special wrench also has multiple spaced force-receiving protrusions, which ensures the strength of the special wrench. Compared with traditional methods such as setting hexagonal heads or slots on the circular end cap 351, the structure of multiple force-receiving holes 3511 allows the body of the end cap 351 to maintain a regular cylindrical shape, which facilitates sealing and installation within the housing 31. At the same time, the multi-point force application also ensures that the end cap 351 is subjected to uniform circumferential force, avoiding the deformation of the end cap 351 or excessive local wear of the threaded pair that may be caused by single-point force application, thus ensuring the smoothness of the adjustment process and the repeatability of the positioning accuracy.

[0040] Furthermore, the force-receiving hole 3511 is arc-shaped and extends along the rotation direction of the end cap 351. This not only increases the structural strength of the protruding part of the wrench, but also, when the protruding part of the wrench is inserted into the arc-shaped force-receiving hole 3511 and a rotational force is applied, the arc-shaped structure allows for a longer line or surface contact between the pin and the hole wall, greatly reducing contact stress and preventing damage to the edge of the force-receiving hole 3511 due to stress concentration. Simultaneously, this design allows for a longer lever arm than a circular hole within the limited end face area of ​​the end cap 351, thus requiring less force from the operator to apply the same torque. This improves operational convenience and makes fine backlash adjustment easier and more controllable.

[0041] Reference Figure 5 and Figure 7 In one embodiment of the present invention, the end cap 351 is recessed with a mounting groove 3513 on the end face facing the first bearing 353, and the outer ring of the first bearing 353 abuts against the side wall of the mounting groove 3513. Alternatively, the outer ring of the first bearing 353 may directly abut against the side wall of the first through hole 312 / the second through hole 313.

[0042] Reference Figure 5 and Figure 9 In one possible embodiment, the end cap 351 has a recessed mounting groove 3513 at one end facing the mounting cavity 311. The mounting groove 3513 is used to accommodate and position the first bearing 353, that is, the outer ring of the first bearing 353 abuts against the side wall and bottom wall of the mounting groove 3513. However, this structure results in a large axial dimension of the end cap 351 and a relatively complex structure, making it inconvenient to manufacture. It also leads to a smaller outer diameter of the first bearing 353, resulting in limited load-bearing capacity.

[0043] Reference Figure 6 and Figure 10 In another possible embodiment, the end cap 351 does not need to be provided with a mounting groove 3513 for accommodating the first bearing 353. The outer ring of the first bearing 353 is directly fixed to the outer shell 31, that is, the outer ring of the first bearing 353 directly abuts and is fixed to the hole wall of the first through hole 312 / second through hole 313. In this way, the outer diameter of the first bearing 353 can be increased, thereby improving the load-bearing capacity of the first bearing 353; and the axial dimension of the end cap 351 can be reduced, making the structure of the end cap 351 relatively simple and easy to process.

[0044] Reference Figures 5 to 7 ,as well as Figure 9 and Figure 10In one embodiment of the present invention, the end cap 351 is recessed with a relief groove 3514 on the end face facing the first bearing 353. The relief groove 3514 is arranged around the outside of the relief hole 3512. The outer diameter of the relief groove 3514 is larger than the outer diameter of the inner ring of the first bearing 353. The relief groove 3514 creates a gap between the inner ring of the first bearing 353 and the end cap 351.

[0045] In one embodiment of the present invention, the clearance groove 3514 is an annular groove recessed in the bottom wall of the mounting groove 3513. The clearance groove 3514 is located outside the clearance hole 3512, and the outer diameter of the clearance groove 3514 is larger than the outer diameter of the inner ring of the first bearing 353. By providing the clearance groove 3514, a gap can be formed between the inner ring of the first bearing 353 and the surface of the end cover 351. Thus, during the rotation of the drive shaft 33, the inner ring of the first bearing 353 can avoid contact friction with the end cover 351, ensuring the accuracy of axial force transmission. Without this clearance groove 3514, the end face of the inner ring of the first bearing 353 may simultaneously contact the surface of the end cover 351, while the outer ring of the first bearing 353 may also contact the bottom wall, forming an uncertain support surface. By setting the clearance groove 3514, it can be ensured that only the outer ring end face of the first bearing 353 contacts the end cover 351, while there is a gap between the inner ring end face of the first bearing 353 and the end cover 351. This allows the axial force applied when adjusting the back clearance by operating the end cover 351 to be transmitted to the drive shaft 33 in sequence through the outer ring of the first bearing 353, the rolling element, the inner ring of the first bearing 353, and the limiting structure 333. This ensures the singularity and effectiveness of the adjustment force transmission, thereby achieving precise and reliable control of the back clearance.

[0046] Reference Figures 3 to 7 In one embodiment of the present invention, the reducer 10 further includes a locking mechanism 17, the locking mechanism 17 comprising: The second bearing 171 has its inner ring sleeved between the second end and the first end of the output component 15, and its outer ring is fixed to the housing 11 or the outer shell 31. A locking member 173 is sleeved on the surface of the output member 15 and located at the end of the second bearing 171 away from the first bevel gear 151. The locking member 173 is used to restrict the axial movement of the second bearing 171.

[0047] In one embodiment of the present invention, the locking mechanism 17 includes a second bearing 171 and a locking element 173. The second bearing 171 supports the output component 15, providing precise radial and axial positioning for the output component 15, ensuring stable rotation and minimal runout, thereby guaranteeing the meshing accuracy and reliability of the first bevel gear 151 and the second bevel gear 332. The locking element 173 can be a nut or a locking ring. By providing the locking element 173, axial backlash within the second bearing 171 and axial movement of the output component 15 can be eliminated, improving the axial stiffness of the entire transmission chain and making finger movement more precise and lag-free.

[0048] Reference Figure 3 and Figure 5 In one possible embodiment, the number of second bearings 171 can be one. In this case, the locking member 173 and the output member 15 are fixed by threads. At this time, the outer ring of the second bearing 171 is fixed to the housing 11 of the reducer 10. That is, the sealing cover 113 of the housing 11 of the reducer 10 is provided with external threads, and the inner wall surface of the first through hole 312 in the outer shell 31 of the knuckle rotation mechanism 30 is provided with internal threads. In this way, the housing 11 of the reducer 10 can fix the outer ring of the second bearing 171.

[0049] During the engagement of the output component 15 with the drive shaft 33, the drive shaft 33 is under a large load. When only one second bearing 171 is provided and the second bearing 171 is located close to the second end, the first end of the output component 15 lacks support, which may cause the first end of the output component 15 to tilt axially upward.

[0050] Reference Figure 4 , Figure 6 as well as Figure 7In another possible embodiment, the number of second bearings 171 can be set to two, with the two second bearings 171 sequentially sleeved on the surface of the output member 15. Thus, the two second bearings 171 can extend from the second end of the output member 15 to near the first end, providing a larger support range. When the reducer 10 engages with the knuckle rotation mechanism 30, even under heavy load, the output member 15 will not experience axial tilting, improving the reliability of the engagement between the reducer 10 and the knuckle rotation mechanism 30. In this case, due to the limited space on the output member 15, the locking member 173 is locked and fixed to the housing 31 of the knuckle rotation mechanism 30. Simultaneously, the outer rings of the two second bearings 171 also abut and are fixed to the housing 31. The locking member 173 is roughly ring-shaped, and the output member 15 passes through the inner ring surface of the locking member 173. The outer ring surface of the locking member 173 is provided with external threads, and its end face away from the second bearing 171 is provided with multiple adjustment holes 175 for cooperating with external adjustment tools. The inner wall surface of the outer shell 31 is also provided with internal threads. In this way, the locking member 173 and the outer shell 31 can be locked together by threads, ensuring the reliability of the connection between the locking member 173 and the outer shell 31. Thus, the ring-shaped end face of the locking member 173 abuts against the end face of the second bearing 171 assembly. Through the cooperation between the locking member 173 and the second bearing 171 assembly, the axial clearance inside the second bearing 171 assembly and the axial movement of the output member 15 can be eliminated, improving the axial stiffness of the entire transmission chain and making finger movement more precise and lag-free. Since the inner wall of the first through hole 312 of the housing 31 needs to be fixed with the second bearing 171 and the locking member 173, the housing 31 is provided with an external thread, and the sealing cover 113 of the reducer 10 is correspondingly provided with an internal thread to realize the threaded connection between the housing 31 and the housing 31.

[0051] Reference Figure 13 The present invention also proposes a dexterous hand 1000, which includes a wrist, a palm and fingers, wherein each finger joint is provided with a drive module 100. The specific structure of the drive module 100 is as described in the above embodiments. Since the dexterous hand 1000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0052] The present invention also proposes a robot, which includes a torso and a dexterous hand 1000. The dexterous hand 1000 is provided with a plurality of drive modules 100. The specific structure of the drive module 100 is as described in the above embodiments. Since the robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0053] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A drive module, characterized in that, include: A speed reducer includes a housing, a planetary speed reduction assembly disposed within the housing, and an output component. The output component has a first end and a second end disposed opposite to each other. The first end extends into the housing and is connected to the planetary speed reduction assembly, and the end face of the second end forms a first bevel gear. A knuckle rotation mechanism includes a housing and a drive shaft. The housing is connected to the casing. An installation cavity is formed inside the housing. The housing is also provided with a first through hole, a second through hole, and a third through hole communicating with the installation cavity. The output component extends into the installation cavity through the third through hole. The drive shaft is located in the installation cavity. Both ends of the drive shaft can extend out of the outside of the installation cavity through the first through hole and the second through hole. A second bevel gear is provided on the side wall of the drive shaft to mesh with the first bevel gear.

2. The drive module as described in claim 1, characterized in that, The outer peripheral surface of the drive shaft is also formed with a relief groove, which is located on one side of the second bevel gear. The cross-sectional area of ​​the relief groove gradually decreases and then gradually increases from one end of the second bevel gear to the end away from the second bevel gear. The first bevel gear is provided corresponding to the relief groove.

3. The drive module as described in claim 1, characterized in that, The knuckle rotation mechanism further includes: Two sets of backlash adjustment mechanisms are respectively disposed in the first through hole and the second through hole. Each backlash adjustment mechanism is provided with a clearance hole. The end of the drive shaft extends out of the outside of the mounting cavity through the clearance hole. At least one set of the backlash adjustment mechanisms can move relative to the housing under the action of external force and drive the drive shaft to move in the axial direction to adjust the backlash between the first bevel gear and the second bevel gear.

4. The drive module as described in claim 3, characterized in that, The backlash adjustment mechanism includes: An end cap is threadedly connected to the outer shell. The end cap is provided with the clearance hole, and the surface of the end cap is also provided with a plurality of spaced force-bearing holes. The first bearing has an outer ring fixed to the housing, an inner ring fixed to the drive shaft, an end of the outer ring of the first bearing abutting against the end cap, and an inner ring of the first bearing abutting against a limiting contact on the drive shaft. Under the action of external force, the end cap drives the drive shaft to move axially through the first bearing.

5. The drive module as described in claim 4, characterized in that, The end cap has a recessed mounting groove on its end face facing the first bearing, and the outer ring of the first bearing abuts against the side wall of the mounting groove. Alternatively, the outer ring of the first bearing may directly abut against the sidewall of the first through hole / second through hole.

6. The drive module as described in claim 4, characterized in that, The end cap has a recessed relief groove on its end face facing the first bearing. The relief groove is arranged around the outside of the relief hole. The outer diameter of the relief groove is larger than the outer diameter of the inner ring of the first bearing. The relief groove creates a gap between the inner ring of the first bearing and the end cap.

7. The drive module as described in any one of claims 1 to 6, characterized in that, The speed reducer further includes a locking mechanism, which comprises: The second bearing has its inner ring fitted between the second end and the first end of the output component, and its outer ring is fixed to the housing or the outer shell. A locking element is sleeved on the surface of the output element and located at the end of the second bearing away from the first bevel gear. The locking element is used to restrict the axial movement of the second bearing.

8. The drive module as described in claim 7, characterized in that, The locking member is threadedly connected to the output member; or, the locking member is threadedly connected to the housing.

9. A dexterous hand, characterized in that, Includes the drive module as described in any one of claims 1 to 8.

10. A robot, characterized in that, Including the dexterous hand as described in claim 9.

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