Output assembly of joint module of robot

Abstract

The utility model provides an output assembly for a joint module of a robot, which comprises a gear driving group with a first gear and a second gear, the first gear is used for being connected with a driving rotating shaft of a motor assembly of the joint module, the second gear is in transmission fit with the first gear, the first gear has a first rotating direction rotating around the driving rotating shaft, and the second gear has a second rotating direction rotating around the driving rotating shaft. The second gear has a second rotation direction different from the first rotation direction; and the output shaft is used for supporting the output piece, the output shaft is fixedly connected with the second gear so as to transmit power from the second gear to the output piece, and a clamping device for limiting axial displacement of the output piece is arranged on the output shaft. The original power rotation direction and load of the motor assembly are changed through the gear driving set, when the joint module is assembled, the structural arrangement in the module is more flexible, the overall space is smaller, and the clamping device facilitates more stable driving rotation of the output piece and more accurate control.

Description

Technical Field

[0001] The present application relates to a robot, and in particular to an output component for a joint module of a robot. Background Art

[0002] Humanoid robots have received extensive social attention in recent years, and their scientific and technological levels have also been greatly improved. The bionic dexterous hand is the end effector of the humanoid robot, and its design goal is to create a robot hand that can simulate the complex movements and fine manipulation capabilities of the human hand. As an important end effector of the robot, the dexterous hand is indispensable in the daily work and future development of the robot. The performance of the dexterous hand, especially the number and mode of degrees of freedom of each finger, such as left-right swing (to achieve clamping), up-and-down swing (to grasp), and tilt swing (to achieve twisting), will directly affect the use of the entire robot.

[0003] According to the different driving forms of the fingers of the dexterous hand, the existing dexterous hands can be roughly divided into connecting rod drive, tendon rope drive and steering gear drive.

[0004] 1. Connecting rod drive

[0005] Its working principle is: taking one finger as an example, the fingertip, second knuckle and third knuckle of the hand are triangular connecting rods of different shapes, the connecting rods are in a straight line form, K1 and K2 are return springs, when the driving connecting rod at K1 rotates clockwise / counterclockwise, the finger performs flexion / extension movement.

[0006] Disadvantages: The transmission mechanism is relatively complex, and the manufacturing precision of parts is required to be high. The flexibility is poor, and the dexterous hand has poor envelopment and adaptability when grasping irregular shaped objects.

[0007] 2. Tendon rope drive

[0008] Its working principle is: the motor placed in the forearm of the dexterous hand drives the ball screw through the gear box, and the rotation is converted into translation through the nut on the ball screw. The tendon rope forms a tendon ring and is sleeved on the nut. The nut pulls the tendon rope connected to the phalanges of the dexterous hand's fingers, thereby realizing the rotational movement of the fingers around the joint axis.

[0009] Disadvantages: The strength and stiffness of the tendon material are relatively low and may not be able to withstand large loads or torques.

[0010] 3.Servo drive

[0011] The working principle is as follows: for example, the first driving servo directly drives the bionic little finger to rotate, and indirectly drives the bionic ring finger, bionic middle finger, and bionic index finger to rotate through the connecting rod and the rocker.

[0012] Disadvantages: The deceleration is relatively high, resulting in limited response speed. Utility Model Content

[0013] In order to solve at least one of the above-mentioned defects in the prior art, on the one hand, the present application proposes an output component for a joint module of a robot used in conjunction with a motor component, comprising:

[0014] A gear drive group having a first gear and a second gear, the first gear being used to connect with the driving shaft of the motor assembly of the joint module to receive power from the motor assembly, the second gear being matched with the first gear in transmission, the first gear having a first rotation direction rotating around the driving shaft, and the second gear having a second rotation direction different from the first rotation direction;

[0015] The output shaft is used to support the output member, and the output shaft is fixedly connected to the second gear to transmit power from the second gear to the output member to drive the output member to rotate along the second rotation direction. The output shaft is provided with a clamping device to limit the axial displacement of the output member.

[0016] When the output assembly of the present application is used in conjunction with the motor assembly, the rotation direction of the original motor assembly is changed through the gear drive group. When assembling the joint module, the structural arrangement within the module is more flexible, the overall space is smaller, and the transmission of the gear drive group further consumes kinetic energy, achieving a part of the speed reduction and load bearing function. On this basis, by arranging a clamping device on the output shaft, the output assembly drives the output member to rotate more stably and the operation is more precise.

[0017] As an embodiment of the present application, the first gear is a small bevel gear, the second gear is a large bevel gear, the small bevel gear and the large bevel gear are meshed with each other, the rotation plane of the second rotation direction is perpendicular to the rotation plane of the first rotation direction, and the large bevel gear is installed on the output shaft. This combination of a large and a small bevel gear and a design with a vertical rotation direction is more conducive to the consideration of the three factors of transmission efficiency, load strength and space utilization in the joint module. As an example, the gear ratio of the small bevel gear and the large bevel gear is, for example, 15:40.

[0018] As an embodiment of the present application, the clamping device includes a first clamping plate and a second clamping plate arranged at a relative interval, and the first clamping plate and the second clamping plate are both provided with an axial hole for the output shaft to pass through, and are used to clamp the output member supported on the output shaft between the first clamping plate and the second clamping plate. The reasonable design of the clamping plate limits the axial displacement of the output member, so that the output member can be stably controlled when operating.

[0019] As an embodiment of the present application, a fixing portion is provided on the output shaft to limit the rotation of the output member relative to the output shaft. Thus, through a simple configuration of the output shaft, the power output by the output shaft is basically applied to the output member, so that the output member rotates synchronously with the output shaft, and the operation is more precise.

[0020] As an embodiment of the present application, the output assembly also includes an output member, and the output member includes a mounting portion and an external element attachment portion, the mounting portion is an arm with a fixing hole, the shape of the fixing hole corresponds to the fixing portion, and the fixing portion cannot rotate in the fixing hole. By a simple method of inserting the fixing portion into the fixing hole to achieve fixation without being able to rotate, the introduction of other mechanical fixing structures can be reduced, and the overall processing and manufacturing are simpler and the cost is lower. The matching of the fixing hole and the fixing portion, such as a non-circular hole and a non-circular fixing portion, the non-circular shape is, for example, a hexagonal, square, star-shaped, drum-shaped or other special-shaped shapes with similar functions.

[0021] As an embodiment of the present application, the external component attachment portion has a configuration suitable for connection with the housing of other joint modules and / or suitable for connection with the external component attachment portion of other output parts. Specifically, the housing of the joint module includes a side and a tail end. When facing different parts of the housing, the configuration of the external component attachment portion can be different. When combined with the connection with the external component attachment portion of other output parts, the overall configuration can be adaptively changed. In general, the common configuration of the external component attachment portion is a flat plate with an attachment hole, or at least one attachment arm with a mounting hole is additionally added on this basis. The diversity of the attachment portion allows various types of joint modules to be assembled, making it easy to select and build a multi-module combination solution suitable for the corresponding fingers.

[0022] As an embodiment of the present application, the clamping device also includes an extension portion extending between the first clamp plate and the second clamp plate, and the two ends of the extension portion respectively form a first extreme rotation position and a second extreme rotation position of the arm to cope with the activity requirements and safety configurations of different joint modules.

[0023] As an embodiment of the present application, a rotation angle sensor is provided on the output shaft to provide accurate feedback and reference when providing power to the motor assembly.

[0024] On the other hand, the present application provides a joint module for a robot, comprising:

[0025] Motor components;

[0026] The output assembly mentioned above, wherein the first gear of the output assembly is connected to the driving shaft of the motor assembly;

[0027] The housing that encloses the motor assembly and output assembly.

[0028] As an embodiment of the present application, the head end of the housing is the output end, the tail end is the fixed end, an opening is provided on the output end, and the mounting portion of the output member extends into the housing through the opening and is mounted on the output shaft. By reasonably setting the structure of the housing, the requirements of miniaturization, compactness, and convenient operation are met.

[0029] As an embodiment of the present application, a groove is provided on one of the shell surfaces of the housing, and a drive board for controlling the motor assembly is placed in the groove. The drive board is arranged on the shell surface, which reduces the difficulty of arrangement compared to being arranged inside the housing, and is also convenient for subsequent maintenance and upgrades.

[0030] As an embodiment of the present application, the housing includes a first half shell and a second half shell, the first half shell and the second half shell are arranged opposite to each other along the axial direction of the output shaft of the output assembly, a first groove for carrying the first end of the output shaft is provided in the first half shell, a second groove for carrying the second end of the output shaft is provided in the second half shell, and a rotating bearing is provided in each of the first groove and the second groove, so that the output shaft can rotate freely relative to the first clamping plate and the second clamping plate. The reasonable design of the half shell assembly and the rotating bearing facilitates assembly while ensuring smooth rotation of the output shaft, so that the output member can be easily controlled when operating.

[0031] As an embodiment of the present application, the motor assembly includes a motor and a reduction box coupled to the motor, the drive shaft of the reduction box serves as the drive shaft of the motor assembly, and the first gear of the gear drive group is connected to the drive shaft of the reduction box. At present, the rotation speed of common motors is too high and difficult to control. Since the movement of the fingers of a humanoid robot is a small-amplitude and high-precision movement, in order to improve the response speed and movement accuracy of the fingers, this joint module adopts a reduction box. Exemplarily, the reduction ratio of the reduction box of the present application can be determined according to the purpose of the robot (the purpose determines the type of robot). When the joint module is used to operate a robot with a lighter weight (for example, grasping a teacup, an egg, an apple), a low reduction ratio can be used, for example, a reduction ratio of less than 50. When the robot is a robot used to operate a heavier weight object (for example, an industrial robot for moving heavy objects), a high reduction ratio can be used, for example, a reduction ratio of more than 200.

[0032] On the other hand, the present application provides a robot finger, including at least one of the aforementioned joint modules, wherein the output member of one of the joint modules is used to drive and connect with the fingertip module of the robot finger, thereby providing the rotation flexibility of the fingertip. The fingertip module is, for example, a shell that wraps the output member or a simple extension that is self-attached to the output member. When the shell and the extension are actually used, various sensors such as pressure sensors, visual sensors, etc. can be installed according to needs. The shell and the extension can also play a protective or aesthetic role by being wrapped in a plastic layer.

[0033] As an embodiment of the present application, at least one joint module includes two joint modules that are driven and connected to each other, wherein the output component of one joint module is used to be driven and connected to the fingertip module of the robot finger, and on the basis of providing rotational flexibility of the fingertips, the joint modules also have rotational flexibility.

[0034] As an embodiment of the present application, two joint modules include: a first joint module having a first output member and a first output shaft; a second joint module having a second output member and a second output shaft; the second joint module and the first joint module are arranged in the same direction from head to tail, the second output shaft is parallel to the first output shaft, the first output member is fixedly connected to the tail end of the second joint module, and the second output member is used for driving connection with the fingertip module of the finger. With this arrangement, the rotation of the joint module and the fingertip module are in the same rotation plane. As an embodiment of the present application, this robot finger is a middle finger, a ring finger or a little finger.

[0035] As an embodiment of the present application, at least one joint module includes three joint modules, and the connection relationship between the three joint modules is configured as: having a pair of drive connection relationships and another pair of drive connection or fixed connection relationships, wherein the output member of one joint module is used for driving connection with the fingertip module of the robot finger. On the basis of providing the rotational flexibility of the fingertip, the three joint modules also have rotational flexibility through direct drive or fixed connection or transmission.

[0036] As an embodiment of the present application, the robot finger includes: a first joint module having a first output member and a first output shaft; a second joint module having a second output member and a second output shaft; a third joint module having a third output member and a third output shaft, the first output member is fixedly connected to the second output member, and the first output shaft is perpendicular to the second output shaft; the second joint module and the third joint module are arranged side by side in reverse order, and are fixed to each other through a connecting member, and the second output shaft is parallel to the third output shaft; the third output member is used for driving connection with the fingertip module. With this arrangement, the rotation planes of the first joint module and the second joint module are perpendicular to each other and driven by each other, the second joint module can rotate in two directions, and combined with the rotation of the fingertips, a better gripping effect can be achieved. As an embodiment of the present application, the robot finger is a thumb.

[0037] As an embodiment of the present application, the robot finger includes: a first joint module with a first output member and a first output shaft; a second joint module with a second output member and a second output shaft; a yaw joint module with a third output member and a third output shaft, the yaw joint module and the first joint module are arranged side by side in the same direction, the third output shaft is perpendicular to the first output shaft, and the third output member is fixed to the shell of the first joint module; the second joint module and the first joint module are arranged in the same direction, the second output shaft is parallel to the first output shaft, the first output member is fixedly connected to the tail end of the second joint module, and the second output member is used to drive and connect with the fingertip module. With this arrangement, the first joint module is driven by the yaw joint module to rotate in one direction, and the second joint module is also driven by the first joint module to rotate in another direction. Combined with the flexibility of the fingertip in one direction of rotation, a better effect of swinging and rotating the finger can be achieved. As an embodiment of the present application, the robot finger is an index finger.

[0038] On the other hand, the present application provides a dexterous robot hand, comprising the aforementioned robot finger.

[0039] As an embodiment of the present application, a robot dexterous hand includes a palm, a thumb of the aforementioned embodiment, the tail end of the first joint module of the thumb is fixed in the palm; and / or an index finger of the aforementioned embodiment, the tail end of the swing joint module of the index finger is fixed in the palm, and the tail end of the first joint module of the index finger is fixed in a slide groove of the palm; and / or a middle finger of the aforementioned embodiment, the tail end of the first joint module of the middle finger is fixed in the palm; and / or a ring finger of the aforementioned embodiment, the tail end of the first joint module of the ring finger is fixed in the palm; and / or a little finger of the aforementioned embodiment, the tail end of the first joint module of the little finger is fixed in the palm. As an example, the slide groove is designed to allow the swing angle of the first joint module to be 15 degrees. Considering the durability of the slide groove, the slide groove can be made of steel.

[0040] As an embodiment of the present application, the tail end of the first joint module of the middle finger, the tail end of the first joint module of the ring finger, and the tail end of the first joint module of the little finger are fixed in the palm through an integrally formed step connector. By setting the step connector, a height difference can be achieved between the middle finger, the ring finger, and the little finger, which is closer to the form of a bionic hand. With the setting of the integral step connector, the size of the connector itself is relatively larger, and under the same conditions, the rigidity strength is higher.

[0041] As an embodiment of the present application, the tail end of the first joint module of the middle finger, the tail end of the first joint module of the ring finger, and the tail end of the first joint module of the little finger are arranged in a staggered manner in the palm through their respective connecting pieces. The configuration of separate connecting pieces is more flexible and convenient during installation and maintenance.

[0042] The output component of the present application can solve the problems of the joints in existing dexterous hands being prone to friction, slow response speed, and unable to withstand large loads or torques.

[0043] This application modularizes the drive system into joint modules, which can simultaneously meet the requirements of the dexterous hand with strong grasping ability, high stability and accuracy, and good flexibility and simulation. Each joint module is independent of each other and can be controlled separately. By inputting different signals, the dexterous hand can be controlled to make various movements, thereby accurately simulating the complex movements of the human hand and achieving fine operation; the modular design of the joints can be independently replaced and upgraded according to needs, making the upgrade and maintenance of the dexterous hand simpler and improving the applicability of the dexterous hand.

[0044] Each joint module on each finger is connected by selecting the corresponding output component type, so that the connection method of each joint module on each finger is most suitable for the finger. The joint modules on each finger can independently and actively output power and can cooperate with each other to achieve the flexibility and precision of a single finger. According to the differences of each finger of the robot bionic dexterous hand, different joint types are combined to achieve the optimal adaptation of the joint module to different fingers, thereby maximizing the flexibility of each finger. The combination of multiple such fingers can realize multi-degree-of-freedom and high-precision finger movement of the whole dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 is a structural schematic diagram of a joint module according to an embodiment of the present application;

[0047] Figure 2 is a structural schematic diagram of a thumb according to an embodiment of the present application;

[0048] Figure 3 is a schematic structural diagram of an index finger according to an embodiment of the present application;

[0049] Figure 4 It is a schematic structural diagram of the middle finger, ring finger and little finger of an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] Reference Figure 1 , an embodiment of the present application provides a joint module for a robot, including: a motor assembly consisting of a motor 1 and a reduction gearbox 2 coupled thereto, a motor mounting plate 3, gaskets 4 and 10, a left half shell (i.e., a first half shell) 7, a right half shell (i.e., a second half shell) 14, and an output assembly. Among them, the output assembly includes: a gear drive assembly having a small bevel gear 5 and a large bevel gear 6, an output shaft 13 for carrying an output member 81, a clamping device 9 mounted on the output shaft 13, and an angle sensor 12. Obviously, in this embodiment, the output shaft 13 serves as both the output shaft of the output assembly and the output shaft of the joint module. Among them, the small bevel gear 5 is connected to the driving shaft of the reduction gearbox 2, and the large bevel gear 6 is fixedly mounted on the output shaft 13 and meshed with the small bevel gear 5. When the driving shaft of the reduction gearbox 2 rotates, the small bevel gear 5 is driven to rotate around the first rotation direction, thereby driving the meshed large bevel gear 6 to rotate around the second rotation direction. In the figure, the rotation plane of the second rotation direction is perpendicular to the rotation plane of the first rotation direction.

[0052] Since the output shaft 13 is fixed to the large bevel gear 6, when the large bevel gear 6 rotates, the output shaft 13 is driven to rotate, thereby driving the output member 81 on the output shaft 13 to rotate. In order to limit the axial displacement of the output member 81 on the output shaft 13 when rotating, the clamping device 9 clamps the output member 81. Specifically, the clamping device 9 includes a first clamping plate and a second clamping plate arranged relatively spaced apart, the first clamping plate is provided with a first axial hole for the output shaft 13 to pass through, the second clamping plate is provided with a second axial hole for the output shaft 13 to pass through, and is used to clamp the output member 81 supported on the output shaft 13 between the first clamping plate and the second clamping plate. The left half shell 7 and the right half shell 14 are arranged oppositely along the axial direction of the output shaft 13, the left half shell 7 is provided with a first groove 701 for carrying the first end of the output shaft 13, and the right half shell 14 is provided with a corresponding second groove for carrying the second end of the output shaft 13, and the first groove 701 and the second groove are both provided with a rotating bearing 11, so that the output shaft 13 can rotate freely relative to the first clamping plate and the second clamping plate. The output shaft 13 is provided with a fixing portion 130 between the first clamping plate and the second clamping plate to limit the rotation of the output member 81 relative to the output shaft 13. The fixing portion 130 shown in the figure is, for example, a drum-shaped with flat upper and lower end faces and curved surfaces on both sides. Accordingly, the output member 81 includes a mounting portion 810 and an external element attachment portion 820. The mounting portion 810 is an arm with a fixing hole 811. The shape of the fixing hole 811 corresponds to the fixing portion 130, so that the fixing portion 130 cannot rotate in the fixing hole 811. Therefore, the rotation of the output shaft 13 drives the output member 81 fixed thereon to rotate.

[0053] Continue to refer to Figure 1 The clamping device 9 further includes an extension portion extending between the first clamping plate and the second clamping plate, and two ends of the extension portion respectively form a first limit rotation position and a second limit rotation position of the mounting portion 810.

[0054] exist Figure 1 On the left side of the figure, various forms of output members are shown, which correspond to the configurations connected to different parts of the housing of the joint module and / or to the external component attachment parts of other output members, for example, the illustrated T-shaped output members 81, 82, Π-shaped output members 83, L-shaped output members 84, C-shaped output members 85, 86. The use scenarios of these output members will be described in the following Figure 2-4 It is described in detail in.

[0055] The joint module structure is described as follows:

[0056] Assemble the large bevel gear 6 and the output shaft 13 together, place a gasket 10 at the rear end of the large bevel gear 6, put the rotating bearing 11 into the second groove of the right half shell 14, and pass the second end of the output shaft 13 supporting the large bevel gear 6 and the gasket 10 through the rotating bearing 11 and accommodate it in the second groove, thereby installing the combination of the large bevel gear 6, the gasket 10 and the rotating bearing 11 into the right half shell 14;

[0057] The motor 1 (which can be a hollow cup brush motor) is coupled with the reduction box 2 (which can be a planetary reduction box) to form a reduction motor assembly; the reduction motor assembly is assembled with the motor mounting plate 3 using bolts; a gasket 4 is placed on the shaft of the reduction motor assembly, and then the small bevel gear 5 is assembled with the shaft of the reduction motor assembly; the assembled reduction motor assembly is installed into the right half shell 14 to complete the meshing of the small bevel gear 5 and the large bevel gear 6;

[0058] Install the mounting portion 810 of the output member 81 and the clamping device 9 together on the output shaft 13; connect the angle sensor 12 and put it on the output shaft 13; put the rotating bearing 11 into the first groove 701 in the left half shell 7; pass the first end of the output shaft 13 through the rotating bearing 11 and place it in the first groove in the left half shell 7;

[0059] Assemble the left half shell 7 and the right half shell 14 to assemble the entire joint module into a whole. It can be found that the top surface of the assembled housing shown in the figure is provided with a groove, and the groove is used to accommodate the drive plate 15 for controlling the reduction motor assembly.

[0060] Continue to refer to Figure 1 The head end of the casing encapsulated by the left half shell 7 and the right half shell 14 is the output end, and the tail end is the fixed end. An opening (not shown) is provided on the output end. The mounting portion 810 of the output member 81 extends into the interior of the casing through the opening and is mounted on the output shaft 13 and is clamped between the clamping devices 9.

[0061] Combination Figure 1 It can be seen that when the output assembly of the present application is used in conjunction with the motor 1 and the reduction gear box 2, the gear drive group formed by the combination of a large and a small bevel gear 5 and 6 whose rotation directions are perpendicular to each other changes the original driving rotation direction. When assembling the joint module, the structural arrangement within the module is more flexible and the overall space is more slender. On this basis, the cooperation between the clamping device 9 and the rotating bearing 11 ensures the efficient rotation of the output shaft 13 while limiting the axial displacement of the output members 81-86, so that a quick response can be achieved when operating the output members 81-86. The setting of the angle sensor 12 provides accurate feedback and reference when providing power to the motor 1. The drive plate 15 is arranged in a groove on the shell surface, which takes into account the size on the one hand and facilitates subsequent maintenance and upgrades on the other. Figure 1In the example shown, the size of the overall housing 7, 14 is close to the diameter of the large bevel gear 6. For example, the diameter of the large bevel gear 6 is about 16 mm, and the housing is controlled to be about 19 mm. The size of the joint module is minimized as much as possible, so that the fingers of the bionic hand are less bulky.

[0062] like Figure 2 As shown, the thumb of an embodiment of the present application is shown. The tail end of the first joint module 50 of the thumb is fixed between the middle shell 12 and the palm shell 13 by the connecting part 21. The first output member 84 of the first joint module 50 of the thumb and the second output member 83 of the second joint module 60 are fastened and connected by bolts, and the first output shaft of the first joint module 50 and the output shaft of the second joint module 60 are perpendicular to each other. The second joint module 60 and the third joint module 70 are arranged side by side in reverse order; the second output member 83 and the tail end of the third joint module 70 are fastened and connected by bolts, and the second joint module 60 and the third joint module 70 are fixed together by connecting members 24 and connecting members 25; the third output member 86 of the third joint module 70 drives and connects the thumb fingertip module.

[0063] With the thumb arranged as above, the second joint module 60 together with the third joint module 70 fixed together can rotate in two directions around the first output shaft and the second output shaft, so the second joint module 60 and the third joint module 70 can flexibly rotate toward the palm, and then cooperate with the fingertip module driven to rotate by the third output member 86 of the third joint module 70, so as to achieve a better gripping effect. In addition, the second joint module 60 and the third joint module 70 are arranged side by side in reverse order, which reduces the length of the entire finger while increasing the width of the finger, and is closer to the bionic form of the thumb.

[0064] Figure 3The index finger of an embodiment of the present application is shown. The tail end of the index finger yaw joint module 700 is fixedly connected to the connecting piece 38 on the housing 12 in the hand, and the side of the yaw joint module 700 is connected to the connecting piece 36 on the housing 12 in the hand, so as to achieve the position fixation of the yaw joint module 700. The yaw joint module 700 and the first joint module 500 are arranged side by side in the same direction head to tail, the third output shaft of the yaw joint module 700 is perpendicular to the first output shaft of the first joint module 500, and the third output component 85 of the yaw joint module 700 is fixed together with the outer shell of the first joint module 500 of the index finger through pin-shaped connectors 34 and 35; wherein, the pin-shaped connectors 34 and 35 are colinear with the third output shaft of the yaw joint module 700 on the axis, and the pin-shaped connectors 34 and 35 also serve as the rotation axis of the first joint module 500, and are driven by the third output component 85 to rotate around the rotation axis, wherein a sliding shaft is installed at the tail end of the first joint module 500, which is fixed in the sliding groove 37 of the shell 12 in the hand, so as to realize the restricted swinging of the index finger in the sliding groove 37. The second joint module 600 and the first joint module 500 are arranged in the same direction head to tail, the second output axis of the second joint module 600 is parallel to the first output axis of the first joint module 500, the first output component 81 of the first joint module 500 is connected to the tail end of the second joint module 600, and the second output component 82 of the second joint module 600 is connected to the index finger tip module.

[0065] With the index finger arranged as above, the first joint module 500 is driven by the yaw joint module 700 to rotate around the third output shaft, and the rotation is limited by the chute 37, which is manifested as the limited swing state of the first joint module 500. As an example, the chute 37 is designed to allow the swing angle of the first joint module 500 to be 15 degrees. Considering the durability of the sliding shaft and the chute 37, the sliding shaft can be made of steel, and the housing 12 formed with the chute 37 can be made of aluminum. On this basis, the second joint module 600 is also driven by the output member 81 of the first joint module 500 to rotate around the first output shaft, and then the fingertip module is driven by the output member 82 of the second joint module 600 to rotate around the second output shaft, so that the effect of preferably swinging the finger and rotating the finger can be achieved. Because the index finger yaw module is placed in the palm of the hand, the first joint module of the index finger is driven to swing, the structure is compact, and the waste of large area space is reduced, thereby reducing the volume of the whole dexterous hand.

[0066] like Figure 4As shown, the middle finger, ring finger and little finger of an embodiment of the present application are shown. In the figure, the ends of the first joint modules 5000 of the middle finger, ring finger and little finger are fixed to the housing 12 in the hand via the connecting member 43 using bolts. The connecting member 43 is a stepped ladder connecting member, so that there is a height difference between the middle finger, ring finger and little finger. The effect achieved is as shown in the figure: the middle finger, ring finger and little finger are arranged in descending order according to height, and the middle finger, ring finger and little finger are installed with height difference dislocation, which is closer to the form of bionic dexterous hand.

[0067] The second joint modules 6000 of the middle finger, ring finger and little finger are arranged in the same direction as the first joint modules 5000, the second output shaft is parallel to the first output shaft, and the output member 81 of each first joint module 5000 is connected to the tail end of the second joint module 6000 of the corresponding middle finger, ring finger and little finger. The second output member 82 of the second joint module 6000 of the middle finger, ring finger and little finger is connected to the respective fingertip modules.

[0068] In the above embodiment, for the purpose of being close to a bionic hand, the middle finger, ring finger and little finger of a human hand are relatively less flexible, so the matching of the joint modules of the middle finger, ring finger and little finger is relatively simple.

[0069] Based on the above robot fingers, this embodiment provides a robot dexterous hand, which may include at least one of the palm, thumb, index finger, middle finger, ring finger, and little finger. The connection relationship between the thumb, index finger, middle finger, ring finger, little finger and the palm can be specifically referred to in the above-mentioned Figure 2-Figure 4 The detailed description will not be repeated here.

[0070] Combination Figure 2-4 It can be seen that the proximal phalanges of the index finger 300, the middle finger 400, the ring finger 500 and the little finger 600 of the dexterous hand are composed of a joint module, a finger pad rubber part, and related limiting parts and a shell.

[0071] Continue to combine Figure 2 The proximal phalanx of the thumb of the present application can be rotated toward the palm in two rotation directions because the output axes of the first thumb joint module and the second thumb joint module are perpendicular to each other, making it easier to grasp.

[0072] Continue to combine Figure 3 The proximal phalanx of the index finger of the present application places the index finger deflection module in the palm of the hand, driving the first joint module of the index finger to swing, and has a compact structure, which reduces large-area space waste, thereby reducing the volume of the entire dexterous hand.

[0073] Continue to combine Figure 4The middle finger, ring finger and little finger of the present application are installed with height difference dislocation, which is closer to the form of bionic dexterous hands.

[0074] The dexterous hand using the above-mentioned embodiment of the present application is closer to the bionic hand of the human body, taking into account the corresponding grasping and swinging functions of each finger, and combined with the output component to bring the advantages of fast response drive and independent control and flexible upgrading and maintenance of modular joint modules, it can accurately simulate the complex movements of the human hand and realize fine operation.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application. For example, in the illustrated exemplary embodiment, only to show that the combination of joint modules can achieve various forms close to human fingers, the combination of the joint modules of the five fingers can be adaptively adjusted according to the task requirements of the specific robot. After understanding several exemplary combinations of the joint modules of the present application, those skilled in the art can make any changes without departing from the protection scope of the present application.

Claims

1. An output component of a joint module of a robot, characterized in that: include: A gear drive group having a first gear and a second gear, wherein the first gear is used to connect to the driving shaft of the motor assembly of the joint module, the second gear is matched with the first gear, the first gear has a first rotation direction rotating around the driving shaft, and the second gear has a second rotation direction different from the first rotation direction; An output shaft (13) for supporting an output member, the output shaft (13) being fixedly connected to the second gear to transmit power from the second gear to the output member, and a clamping device (9) for limiting axial displacement of the output member being provided on the output shaft (13).

2. The output assembly according to claim 1, characterized in that: The first gear is a small bevel gear (5), and the second gear is a large bevel gear (6). The small bevel gear (5) and the large bevel gear (6) are meshed with each other. The rotation plane of the second rotation direction is perpendicular to the rotation plane of the first rotation direction. The large bevel gear (6) is mounted on the output shaft (13).

3. The output assembly according to claim 1, characterized in that: The clamping device (9) comprises a first clamping plate and a second clamping plate which are arranged relatively spaced apart, wherein the first clamping plate and the second clamping plate are both provided with an axial hole for the output shaft (13) to pass through, and are used to clamp the output member supported on the output shaft (13) between the first clamping plate and the second clamping plate.

4. The output assembly according to claim 3, characterized in that: The output shaft (13) is provided with a fixing portion for limiting the rotation of the output member relative to the output shaft.

5. The output assembly according to claim 4, characterized in that: The output assembly also includes an output member, which includes a mounting portion and an external element attachment portion. The mounting portion is an arm with a fixing hole, the shape of the fixing hole corresponds to the fixing portion, and the fixing portion cannot rotate in the fixing hole.

6. The output assembly according to claim 5, characterized in that: The external component attachment portion has a configuration suitable for connection with a housing of another joint module and / or suitable for connection with an external component attachment portion of another output member.

7. The output assembly according to claim 5, characterized in that: The clamping device (9) further comprises an extension portion extending between the first clamping plate and the second clamping plate, and two ends of the extension portion respectively form a first limit rotation position and a second limit rotation position of the arm.

8. The output assembly according to any one of claims 1 to 7, characterized in that: A rotation angle sensor (12) is arranged on the output shaft (13).

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