Output part and output assembly

Abstract

The utility model provides an output piece and an output assembly. Wherein the output piece mainly comprises a driving output piece and a driven output piece, and a clamping part and a power output part are formed between the driving output piece and the driven output piece. When the joint module adopts the output piece, the clamping part of the output piece is connected with a transmission mechanism in the joint module so as to drive the output piece to rotate relative to the joint module. The clamping part is arranged at one end of the output piece, the output piece is connected with the power output component of the transmission mechanism through the clamping part, and reliability and stability of connection between the output piece and the transmission mechanism are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of embodied robots, and in particular to an output member and an output assembly. 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 robot 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. However, the inventor found in the process of realizing this application that the connection stability between the joints of the fingers on the robot hand in the prior art is poor, and there is a shaking problem between the two interconnected joints. Utility Model Content

[0003] In order to solve at least one technical problem existing in the prior art, the present application proposes an output member and an output assembly for a joint module.

[0004] In a first aspect, the present application provides an output member, characterized in that the output member comprises: an active output member and a driven output member; wherein,

[0005] A clamping portion is formed between the first end of the active output member and the first end of the driven output member, and the clamping portion is used to connect with the transmission mechanism;

[0006] The second end of the active output member and the second end of the driven output member form a power output portion.

[0007] In some embodiments, a groove or a boss is provided at the first end of the active output member, and a through hole is provided at the first end of the driven output member; the groove or the boss and the through hole are connected to the power output component in the transmission mechanism.

[0008] In some embodiments, the second end of the active output member and the second end of the driven output member are both U-shaped bayonet-like; the second end of the active output member and the second end of the driven output member cooperate to form a power output portion of the U-shaped bayonet-like.

[0009] In some embodiments, another clamping portion is formed between the second end of the active output member and the second end of the driven output member as a power output portion of the output member for connecting to an external mechanism to be driven.

[0010] In some embodiments, the second end of the active output member forms a first extension portion toward the driven output member, the second end of the driven output member forms a second extension portion toward the active output member, and the first extension portion and the second extension portion combine to form the power output portion of the output member.

[0011] In some embodiments, the power output portion of the second output member is fixedly connected to the power output portion of the third output member.

[0012] In some embodiments, the second end of the active output member and the second end of the driven output member form a movable connection portion as a power output portion of the output member, which is used for movable connection with an external mechanism to be driven.

[0013] In some embodiments, the length of the power output portion of the output member matches the length of the fingertip.

[0014] In some embodiments, a first transition connection portion is provided between the first end of the driven output member and the second end of the driven output member, the first end of the first transition connection portion is connected to the first end of the driven output member, the second end of the first transition connection portion is connected to the second end of the driven output member, and the distance from the first end of the first transition connection portion to the active output member is greater than the distance from the second end of the first transition connection portion to the active output member.

[0015] In some embodiments, a second transition connection portion is provided between the first end of the active output member and the second end of the active output member, and the second transition connection portion is symmetrical to the first transition connection portion; the second end of the active output member is symmetrical to the second end of the driven output member.

[0016] In a second aspect, the present application also provides an output assembly, comprising an output member and a transmission mechanism, wherein the output member is the output member described in any embodiment of the present application, the power output component of the transmission mechanism is connected to the clamping portion of the output member, the power input component of the transmission mechanism is used for driving connection with the power output end of the driving mechanism, and the power input component is transmission-connected to the power output component.

[0017] In some embodiments, the power input component includes a first bevel gear; the first bevel gear is used to connect to the power output end of the driving mechanism.

[0018] In some embodiments, the power output component includes a second bevel gear; the power input component is transmission-connected with the power output component, including: the first bevel gear is meshing with the second bevel gear.

[0019] In some embodiments, the power output component also includes an output shaft; one end of the output shaft is fixedly connected to the second bevel gear; the power output component of the transmission mechanism is connected to the clamping portion of the output member, including: the second bevel gear is fixed to the groove or boss of the first end of the active output member in the clamping portion, and the other end of the output shaft is inserted into the through hole of the first end of the driven output member in the clamping portion.

[0020] In some embodiments, the transmission mechanism further includes an angle sensor; the angle sensor is mounted on the output shaft, close to the inner side of the first end of the driven output member in the clamping portion.

[0021] In some embodiments, the transmission mechanism further includes an output support frame; the output support frame is provided with a through hole, the output shaft passes through the through hole of the output support frame, and is connected to the through hole of the output support frame via a bearing.

[0022] In some embodiments, the output shaft includes a gear output shaft and a sensor output shaft; both the gear output shaft and the sensor output shaft are provided with protrusions; one end of the gear output shaft is connected to one end of the sensor output shaft; the bearing is clamped between the protrusion of the gear output shaft and the protrusion of the sensor output shaft.

[0023] In some embodiments, the transmission mechanism further includes an angle sensor; the second bevel gear is mounted on the other end of the gear output shaft, and the angle sensor is mounted on the sensor output shaft, close to the inner side of the first end of the driven output member in the clamping portion.

[0024] In a third aspect, the present application further provides a joint module, comprising an output component and a driving mechanism, wherein the output component is the output component described in any embodiment of the present application; the power input component of the output component is connected to the power output end of the driving mechanism.

[0025] In some embodiments, the driving mechanism includes a motor and a reduction gearbox, the output end of the motor is connected to the input end of the reduction gearbox; the output end of the reduction gearbox serves as the power output end of the driving mechanism and is connected to the power input component of the output assembly; the shape of the motor and / or the reduction gearbox is a prism or a chamfered prism.

[0026] In some embodiments, the ring gear of the reduction gear box serves as the outer shell of the reduction gear box.

[0027] In some embodiments, the gear ring of the reduction gear box has a shape of a prism or a chamfered prism.

[0028] In some embodiments, the joint module also includes an end connection member, which includes a first connection part and a second connection part, the first connection part is fixedly connected to the motor, the second connection part is connected to the output part of another joint module, or the second connection part is connected to the palm body of the robot hand.

[0029] In some embodiments, the joint module also includes a drive plate module; the drive plate module is mounted on the motor and / or the reduction box.

[0030] In a fourth aspect, the present application also provides a robot finger, comprising at least one joint module, wherein the at least one joint module is the joint module described in any embodiment of the present application.

[0031] In some embodiments, the output component of at least one joint module is used to connect with the fingertip module of the finger.

[0032] In some embodiments, at least one joint module includes a first joint module and a second joint module; the first joint module is connected to the second joint module.

[0033] In some embodiments, the output axis of the first joint module is skewed and perpendicular to the output axis of the second joint module.

[0034] In some embodiments, the output component of the first joint module is fixedly connected to the output component of the second joint module.

[0035] In some embodiments, the robot finger further includes a third joint module; wherein the third joint module and the second joint module are installed in opposite directions and side by side.

[0036] In some embodiments, the active output member of the output member of the third joint module is connected to the transmission mechanism of the third joint module, and the driven output member of the output member of the third joint module is connected to the end connection member of the second joint module.

[0037] In some embodiments, the first joint module adopts the third output component, the second joint module adopts the second output component, and the third joint module adopts the fifth output component or the sixth output component.

[0038] In some embodiments, a third terminal connector is disposed at the end of the first joint module, a second terminal connector is disposed at the end of the second joint module, and a second terminal connector is disposed at the end of the third joint module.

[0039] In some embodiments, the robot finger in the above embodiments is a thumb.

[0040] In some embodiments, the output member of the first joint module is connected to the end of the second joint module.

[0041] In some embodiments, the robot finger further includes a third joint module; the output component of the second joint module is transmission-connected to the end of the third joint module.

[0042] In some embodiments, the first joint module adopts the fourth output component, the second joint module adopts the first output component, and the third joint module adopts the fifth output component or the sixth output component.

[0043] In some embodiments, a third terminal connector is disposed at the end of the first joint module, a fifth terminal connector is disposed at the end of the second joint module, and a first terminal connector is disposed at the end of the third joint module.

[0044] In some embodiments, the robot finger in the above embodiments is an index finger.

[0045] In some embodiments, the output axis of the first joint module is parallel to the output axis of the second joint module.

[0046] In some embodiments, the output member of the first joint module is connected to the end of the second joint module.

[0047] In some embodiments, the first joint module adopts a first output component, and the second joint module adopts a sixth output component.

[0048] In some embodiments, the robot finger in the above embodiments is at least one of the middle finger, the ring finger, and the little finger.

[0049] In some embodiments, a first terminal connection piece is disposed at the end of the second joint module;

[0050] When the robot finger is a middle finger, a sixth terminal connecting piece is provided at the end of the first joint module;

[0051] When the robot finger is a ring finger, a third terminal connecting piece is provided at the end of the first joint module;

[0052] When the robot finger is a little finger, a fourth terminal connecting piece is provided at the end of the first joint module.

[0053] In a fifth aspect, the present application also provides a robot hand, comprising a palm body and a robot finger as described in at least one of the embodiments of the present application; the robot finger is connected to the palm body.

[0054] In some embodiments, the robot finger includes the thumb described in the embodiments of the present application; the first joint module of the thumb is arranged along the width direction of the palm body, and the first joint module of the thumb is fixedly mounted on the palm body through a third end connecting piece.

[0055] In some embodiments, the third end connection piece is fixedly connected to the end of the first joint module of the thumb in a first direction, and the third end connection piece is fixedly connected to the palm body in a second direction, and the first direction is perpendicular to the second direction.

[0056] In some embodiments, a second terminal connector is provided at the end of the second joint module of the thumb, and a second terminal connector is provided at the end of the third joint module of the thumb; the thumb also includes a joint module connector, and the joint module connector connects the second joint module and the third joint module side by side and in reverse through two of the second terminal connectors.

[0057] In some embodiments, the robot finger includes the index finger described in the embodiment of the present application; the first joint module of the index finger is arranged along the width direction of the palm body.

[0058] In some embodiments, a fifth terminal connector is provided at the end of the second joint module of the index finger, and the fifth terminal connector includes a connector body connected to the second joint module of the index finger and an output connector connecting part connected to the output connector of the first joint module of the index finger.

[0059] In some embodiments, the robot finger includes at least one of the middle finger, ring finger, and little finger described in the embodiments of the present application.

[0060] In some embodiments, a fourth terminal connector is provided at the end of the first joint module of the little finger, and the fourth terminal connector is an L-shaped connector, which is fixedly mounted in cooperation with the terminal connector of the first joint module of the index finger and the end of the first joint module of the little finger.

[0061] In a sixth aspect, the present application also provides a robot, comprising the robot hand described in any of the preceding embodiments.

[0062] One end of the output member provided in the embodiment of the present application is a clamping portion, and is connected to the power output component of the transmission mechanism through the clamping portion, thereby ensuring the reliability and stability of the connection between the output member and the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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.

[0064] Figure 1 It is a schematic diagram of the structure of various output components in this application;

[0065] Figure 2 It is a structural schematic diagram of an embodiment of an output component in the present application;

[0066] Figure 3 This is a schematic diagram of the exploded structure of an embodiment of the joint module in the present application;

[0067] Figure 4 Schematic diagram of the outer profile of cross section of various reduction gearboxes in this application;

[0068] Figure 5 It is a schematic diagram of the structure of various terminal connectors in this application;

[0069] Figure 6 This is a schematic diagram of the assembly structure of an embodiment of the thumb in the present application;

[0070] Figure 7 This is a schematic structural diagram of an embodiment of the index finger, middle finger, ring finger and little finger in the present application. DETAILED DESCRIPTION

[0071] 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.

[0072] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0074] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0075] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0076]

Output

[0077] like Figure 1 As shown, it is a schematic diagram of the structure of various output members (71, 72, 73, 74, 75, 76) provided in the embodiment of the present application. For the convenience of reference, the corresponding relationship of the output member names is set as follows: output member 71 corresponds to the first output member, output member 72 corresponds to the second output member, output member 73 corresponds to the third output member, output member 74 corresponds to the fourth output member, output member 75 corresponds to the fifth output member, and output member 76 corresponds to the sixth output member. An output member provided in the present application, in general, includes: an active output member 701 and a driven output member 702; wherein a clamping portion is formed between the first end of the active output member 701 and the first end of the driven output member 702, and the clamping portion is used to connect with the transmission mechanism; the second end of the active output member 701 and the second end of the driven output member 702 form a power output portion.

[0078] In this embodiment, the clamping portion enhances the connection stability between the output member and the transmission mechanism, thereby preventing the output member from loosening and shaking left and right when outputting power.

[0079] like Figure 1As shown, the output members include output members 71, 72, 73, 74, 75 and 76. The active output members include active output members 711, 721, 731, 741, 751 and 761; the driven output members include driven output members 712, 722, 732, 742, 752 and 762.

[0080] In some embodiments, the first end of the active output member is provided with a groove 703 or a boss 703' for fixing and installing the power output component in the transmission mechanism. In this embodiment, by providing a groove 703 or a boss 703' at the first end of the active output member to cooperate with the installation of the power output component in the transmission mechanism, the stability of the connection between the first end of the active output member and the power output component of the transmission mechanism is improved. In addition, the output member of this embodiment is composed of an active output member and a driven output member in order to allow the active output member and the driven output member to form a clamping portion to enhance the connection stability between the output member and the transmission mechanism, while facilitating the installation of the clamping portion on both sides of the power output component of the transmission mechanism, so as to further improve the stability and reliability of the connection.

[0081] In some embodiments, a plurality of fixing holes 7031 are provided in the groove 703 or on the boss 703' for fixing the power output component in the transmission mechanism. In this embodiment, by providing a plurality of fixing holes 7031 in the groove 703 or on the boss 703', a multi-point fixed connection between the power output component of the transmission mechanism and the first end of the active output member is achieved, further improving the stability of the connection between the first end of the active output member and the power output component of the transmission mechanism.

[0082] In some embodiments, the first end of the driven output member is provided with a through hole 704 for cooperating with the output shaft and allowing the output shaft to pass through. For example, the output shaft may be an output shaft in a transmission mechanism (see below) or an output shaft of another mechanical device other than the transmission mechanism, and the output shaft may cooperate with the through hole 704 provided at the first end of the driven output member, thereby improving the stability of the connection between the first end of the driven output member and the output shaft of the transmission mechanism.

[0083] The output member in the above embodiment is provided with a groove 703 or a boss 703' on the first end of the active output member and a through hole 704 on the first end of the driven output member, so that when the first end of the active output member and the first end of the driven output member form a clamping portion, the power output component and the output shaft of the transmission mechanism can be stably clamped, so that the transmission mechanism is more stable when outputting power, and there will be no looseness or shaking left and right.

[0084] The following is a description of an embodiment of the second ends of the master-slave output components of the output members 71-76. The main difference between the output members 71-76 lies in the difference in the second ends of the master-slave output components. The reason why the second ends of the master-slave output components are designed to be different ends is that when joint modules are used to construct the fingers of a dexterous hand, different fingers require different drive connection relationships between the joint modules for adaptation, and the difference in the second ends of the master-slave output components of the output members can just achieve the adaptation of such drive connection relationships.

[0085] [Description of the embodiment of the output member 71]:

[0086] like Figure 1 and Figure 2 As shown, the output member 71 includes an active output member 711 and a driven output member 712. A clamping portion is formed between the first end of the active output member 711 and the first end of the driven output member 712. The output member 71 is connected to an external driving mechanism (e.g., a joint module) through the clamping portion. For example, the output member 71 is connected to a transmission mechanism of the joint module through the clamping portion, and under the drive of the transmission mechanism, the output member 71 moves relative to the joint module.

[0087] The output member 71 in this embodiment is connected to the joint module by a clamping portion, which improves the stability of the connection relationship between the output member 71 and the joint module. In addition, a power output portion is formed between the second end of the active output member 711 and the second end of the driven output member 712, and the power output portion is used to be fixedly connected to the output member of another joint module (for example, the output member 72, including the active output member 721 and the driven output member 722), or the power output portion is used to be fixedly connected to the end of another joint module (directly connected, or connected through an end connector).

[0088] In some embodiments, the second end of the active output member 711 and the second end of the driven output member 711 are both shaped like a bayonet. The second end of the active output member 711 and the second end of the driven output member 711 are both shaped like a bayonet to form a power output portion similar to a bayonet of a Chinese character. The purpose of this bayonet is to cooperate with Figure 5 The protrusion L11 of the first end connection member L1 is shown. After the protrusion L11 of the first end connection member L1 is inserted into the bayonet, a screw is passed through the screw hole on the side of the output member 71 and the screw hole on the protrusion L11 to fix the two.

[0089] [Description of the embodiment of the output member 72]:

[0090] The output member 72 includes an active output member 721 and a driven output member 722. A clamping portion is formed between the first end of the active output member 721 and the first end of the driven output member 722. The output member 72 is connected to an external driving mechanism (e.g., a joint module) through the clamping portion. For example, the output member 72 is connected to a transmission mechanism of the joint module through the clamping portion, and under the drive of the transmission mechanism, the output member 72 moves relative to the joint module.

[0091] The output member 72 in this embodiment is connected to the joint module by a clamping portion, which improves the stability of the connection relationship between the output member 72 and the joint module. In addition, a power output portion is formed between the second end of the active output member 721 and the second end of the driven output member 722, and the power output portion is used to be fixedly connected to the output member of another joint module (for example, the output member 71 and the output member 73), or the power output portion is used to be fixedly connected to the end of another joint module (directly connected, or connected through an end connector).

[0092] like Figure 1 As shown, in the output member 72, another clamping portion is formed between the second end of the active output member 721 and the second end of the driven output member 722, and the other clamping portion can be used as the power output portion of the output member for connecting with an external mechanism to be driven. The second end of the active output member 721 and the second end of the driven output member 722 are both provided with an assembly hole (e.g., a threaded hole) for fixed connection with the external mechanism to be driven by bolts or screws.

[0093] In addition, the width of the active output member 721 and the driven output member 722 near the middle is smaller than the width at the two ends. On the one hand, this design ensures that the two ends of the active output member 721 and the driven output member 722 can have a wider and larger contact surface when connected to the external mechanism, which is conducive to improving the connection stability; on the other hand, the narrower design near the middle position also makes it easier for the output member 72 to reserve a larger activity space for the external active mechanism in the assembly environment (for example, when applied to the output member of the joint module, it can facilitate the joint module to have a larger bending activity space).

[0094] [Description of the embodiment of the output member 73]:

[0095] The output member 73 includes an active output member 731 and a driven output member 732. A clamping portion is formed between the first end of the active output member 731 and the first end of the driven output member 732. The output member 73 is connected to an external driving mechanism (e.g., a joint module) through the clamping portion. For example, the output member 73 is connected to a transmission mechanism of the joint module through the clamping portion, and under the drive of the transmission mechanism, the output member 73 moves relative to the joint module.

[0096] In this embodiment, since the clamping part is used to connect the output part 73 to the joint module, the stability of the connection relationship between the output part 73 and the joint module is improved. In addition, a power output part is formed between the second end of the active output part 731 and the second end of the driven output part 732. This power output part is used to be fixedly connected to the output part of another joint module (for example, the output part 72, including the active output part 721 and the driven output part 722), or this power output part is used to be fixedly connected to the end of another joint module (directly connected, or connected through an end connector).

[0097] As Figure 1 shown, in the output part 73, the second end of its active output part 731 forms a first extension part facing the driven output part 732, and the second end of the driven output part 732 forms a second extension part facing the second extension part of the active output part 731. The first extension part and the second extension part are combined to form a power output part, so that the overall output part is in a shape similar to a "匚".

[0098] Among them, the first extension part and the second extension part are both provided with assembly holes (for example, threaded holes) in the same direction, which are used to be fixedly connected to an external mechanism to be driven through bolts or screws. In addition, the dimension of the first extension part in the width direction of the active output part 731 is smaller than the width of the active output part 731, forming a step with the active output part 731; the dimension of the second extension part in the width direction of the driven output part 732 is smaller than the width of the driven output part 732, forming a step with the driven output part 732.

[0099] When the external mechanism to be driven is installed in cooperation with the first extension part and the second extension part, this stepped structure makes at least the connection part flush after installation.

[0100] In some embodiments, the output part 73 and the output part 72 can be used in combination. When used in combination, the power output part of the output part 73 is fixedly connected to the power output part of the output part 72, so that the output shaft corresponding to the output part 73 is skew perpendicular to the output shaft corresponding to the output part 72.

[0101] Exemplarily, the output shaft corresponding to the output part 73 is the output shaft of the transmission mechanism connected to the output part 73, and the output shaft corresponding to the output part 72 is the output shaft of the transmission mechanism connected to the output part 72. These two output shafts are skew perpendicular, so that when the output part 72 and the output part 73 respectively output the power from two different transmission mechanisms, the output part 72 and the output part 73 can swing in two perpendicular planes respectively. Furthermore, only one connection between the power output part of the output part 73 and the power output part of the output part 72 can achieve two degrees of freedom, thereby improving the degrees of freedom of the swing of the output part. This will be specifically reflected in the finger embodiment later.

[0102] [Description of the embodiment of the output member 74]:

[0103] The output member 74 includes an active output member 741 and a driven output member 742. A clamping portion is formed between the first end of the active output member 741 and the first end of the driven output member 742. The output member 74 is connected to an external driving mechanism (e.g., a joint module) through the clamping portion. For example, the output member 74 is connected to a transmission mechanism of the joint module through the clamping portion, and under the drive of the transmission mechanism, the output member 74 moves relative to the joint module.

[0104] The output member 74 in this embodiment is connected to the joint module by a clamping portion, which improves the stability of the connection between the output member 74 and the joint module. In addition, a power output portion is formed between the second end of the active output member 741 and the second end of the driven output member 742, and the power output portion is used to be fixedly connected to the end of another joint module (directly connected, or connected through an end connector).

[0105] like Figure 1 and Figure 7 As shown, in the output member 74, the second end of the active output member 741 and the second end of the driven output member 742 form a movable connection portion as the power output portion of the output member, which is used to be movably connected with the external mechanism to be driven. Exemplarily, the power output portion of the output member 74 is a movable connection portion, which is provided with a mounting hole 743 for movably connecting with the external mechanism to be driven. Exemplarily, the power output portion of the output member 74 realizes a movable connection with the external mechanism to be driven through the provided mounting hole 743, and the external mechanism to be driven is a mechanism to be driven such as an external joint module or an external fingertip module, which is not limited in this application.

[0106] [Description of the embodiment of the output member 75 and the output member 76]:

[0107] like Figure 1 As shown, the length of the power output part of the output member 75 and the output member 76 matches the length of the fingertip. In this embodiment, the length of the power output part of the output member 75 and the output member 76 is set to match the length of the fingertip, so that when the output member 75 and the output member 76 are used in the end joint module of the finger, the output member 75 and the output member 76 can be directly used as the skeleton of the fingertip module to connect the fingertip module. In this way, there is no need to set up a fingertip module with a complex structure separately, and the output member 75 and the output member 76 of the joint module can be directly reused, which simplifies the finger structure.

[0108] [Description of the embodiment of the output member 75]:

[0109] The output member 75 includes an active output member 751 and a driven output member 752. A clamping portion is formed between the first end of the active output member 751 and the first end of the driven output member 752. The output member 75 is connected to an external driving mechanism (e.g., a joint module) through the clamping portion. For example, the output member 75 is connected to a transmission mechanism of the joint module through the clamping portion, and under the drive of the transmission mechanism, the output member 75 moves relative to the joint module.

[0110] The output member 75 in this embodiment uses a clamping part to connect with the joint module, which improves the stability of the connection relationship between the output member 75 and the joint module. In addition, the length of the output member 75 is configured to match the length of the fingertip knuckle, and cooperates with the fingertip module to form the fingertip knuckle, wherein the output member acts as a fingertip skeleton, and the fingertip module is an accessory (e.g., fingertip rubber) attached to the fingertip skeleton. The output member 75 in this embodiment can be used as the fingertip knuckle of the finger, and the output member 75 is directly used as the fingertip skeleton, without the need for an independent fingertip knuckle structure, eliminating the connection structure between the joint module and the independent fingertip knuckle fingertip, and simplifying the fingertip structure.

[0111] Further, a clamping portion is formed between the first end of the active output member 751 and the first end of the driven output member 752, and the width of the clamping portion matches the two joint modules side by side, so as to achieve a common connection with the two joint modules. For example, a joint module and another joint module are installed side by side in reverse (for example, the knuckles of the thumb adopt this configuration), the first end of the active output member 751 is connected to the transmission mechanism of one joint module, and the first end of the driven output member 752 is connected to the end of the other joint module. The output member 75 can be used for the fingertip knuckle of the thumb, which ensures the stability of the connection between the output member 75 and the joint module on the one hand, and takes into account the appearance characteristics of the wider width of the thumb on the other hand.

[0112] like Figure 1 As shown, a transition connection portion 753 is provided between the first end of the driven output member 752 and the second end of the driven output member 752, serving as the first transition connection portion of the output member 75. The first end of the transition connection portion 753 is connected to the first end of the driven output member, the second end of the transition connection portion 753 is connected to the second end of the driven output member, and the distance from the first end of the transition connection portion 753 to the active output member is greater than the distance from the second end of the transition connection portion 753 to the active output member.

[0113] In some embodiments, a boss 703' is provided at the first end of the active output member 751, and a transition connection portion 753 is provided between the first end of the driven output member 752 and the second end of the driven output member 752. In this embodiment, the outer contour of the clamping portion of the output member 75 is widened by the transition connection portion 753, thereby adapting to the situation where the thumb is wider. In addition, through the design of the boss 703', the clamping space of the clamping portion of the output member 75 remains unchanged, which is adapted to the size of the transmission mechanism of a single joint module.

[0114] In some embodiments, a groove is provided at the first end of the active output member 751 (corresponding to Figure 1 The position of the middle boss 703' replaces the ungrooved structure), and the distance between the first end of the active output member 751 and the first end of the driven output member 752 is increased by the transition connection portion 753. This makes the clamping space of the clamping portion of the output member in this embodiment wider, at least wider than the power output portion of the output member, so that the output member can have a larger span when connected to the transmission mechanism, and is not limited to being connected only to the corresponding transmission mechanism. It can also be connected to an external mechanism (for example, the end connection member in other joint modules), thereby improving the connection stability of the output member.

[0115] [Description of the embodiment of the output member 76]

[0116] The output member 76 includes an active output member 761 and a driven output member 762. A clamping portion is formed between the first end of the active output member 761 and the first end of the driven output member 762. The output member 76 is connected to the joint module through the clamping portion. For example, the output member 76 is connected to the transmission mechanism of the joint module through the clamping portion. Under the drive of the transmission mechanism, the output member 76 moves relative to the joint module.

[0117] The output member 76 in this embodiment uses a clamping portion to connect with the joint module, which improves the stability of the connection relationship between the output member 76 and the joint module. In addition, the length of the output member 76 is configured to match the length of the fingertip knuckle, and cooperates with the fingertip module to form the fingertip knuckle, wherein the output member acts as a fingertip skeleton, and the fingertip module is an accessory (e.g., fingertip rubber) attached to the fingertip skeleton. The output member 76 in this embodiment can be used as the fingertip knuckle of the finger, and the output member 76 is directly used as the fingertip skeleton, without the need for an independent fingertip knuckle structure, eliminating the connection structure between the joint module and the independent fingertip knuckle, and simplifying the fingertip structure.

[0118] like Figure 1As shown, the output member 76 includes an active output member 761 and a passive output member 762. The structures of the active output member 761 and the passive output member 762 are symmetrical. A clamping portion is formed between the first end of the active output member 761 and the first end of the passive output member 762. The second end of the active output member 761 and the second end of the passive output member 762 are buckled together and can serve as the skeleton of the fingertip.

[0119] In addition, a first transition connection portion 7631 is provided between the first end of the driven output member 762 and the second end of the driven output member 762, and a second transition connection portion 7632 is provided between the first end of the active output member 761 and the second end of the active output member 761, and the first transition connection portion 7631 is symmetrical to the second transition connection portion 7632; the second end of the active output member 761 is symmetrical to the second end of the driven output member 762. The first end of the first transition connection portion 7631 is connected to the first end of the driven output member, and the second end of the first transition connection portion 7631 is connected to the second end of the driven output member; the first end of the second transition connection portion 7632 is connected to the first end of the active output member, and the second end of the second transition connection portion 7632 is connected to the second end of the active output member.

[0120] Output components

[0121] In some embodiments, the present application also provides an output assembly, which includes an output member and a transmission mechanism, wherein the output member is the output member described in any of the aforementioned embodiments, the transmission mechanism includes a power input component and a power output component, the power output component is connected to the clamping portion of the output member, the power input component is drivingly connected to the driving mechanism, and the power input component is transmission-connected to the power output component.

[0122] In the output assembly provided in the embodiment of the present application, the clamping characteristics of the clamping portion of the output member are utilized to connect with the power output component of the transmission mechanism, thereby ensuring the reliability and stability of the connection between the output member and the transmission mechanism.

[0123] like Figure 2 As shown, in some embodiments, the power input component includes a first bevel gear 4, and the first bevel gear 4 is used to connect with the power output end of the driving mechanism.

[0124] Continue to refer to Figure 2 In some embodiments, the power output component includes a second bevel gear 6; the power input component is transmission-connected to the power output component, including: the first bevel gear 4 is meshing with the second bevel gear 6.

[0125] In some embodiments, the power input component is connected between the driving mechanism and the power output component to transmit the driving force of the driving mechanism to the power output component;

[0126] The power output component is connected to the first end of the active output member and the first end of the driven output member in the clamping part of the output member, and the second end of the active output member and the second end of the driven output member in the power output part of the output member are fixedly connected to the external mechanism to be driven to drive the external mechanism to be driven to rotate (for example, the external mechanism to be driven can be a joint module or a fingertip module to be driven). The power input component includes a first bevel gear (for example Figure 2 and Figure 3 The power output component includes a second bevel gear (eg Figure 2 and Figure 3 The first end of the active output member is provided with a groove matching the second bevel gear for accommodating the second bevel gear; or the first end of the active output member is provided with a boss matching the second bevel gear for fixing and mounting the second bevel gear; the first end of the active output member and the second bevel gear are fixedly connected at multiple points.

[0127] In some embodiments, the power output component of the transmission mechanism also includes an output shaft (for example, composed of a gear output shaft 5 and a sensor output shaft 10), which can be used as the output shaft of the output assembly. When the output assembly is used in a joint module, the output shaft can also be used as the output shaft of the joint module. One end of the output shaft is fixedly connected to the second bevel gear 6; the power output component of the transmission mechanism is connected to the clamping portion of the output member, including: the second bevel gear 6 is fixed to the groove 703 or the boss 703' of the first end of the active output member in the clamping portion, and the other end of the output shaft is inserted into the through hole 704 of the first end of the driven output member in the clamping portion.

[0128] In this embodiment, the output force of the driving mechanism is transmitted to the clamping part of the output member through the cooperation of the first bevel gear, the second bevel gear and the output shaft, so that the output member can be driven to control the output member to swing. When the joint module or the fingertip module is installed on the power output part of the output member, the independent bending drive and control of the joint module or the fingertip module can be realized.

[0129] Furthermore, by adopting a multi-point fixed connection between the first end of the active output member and the second gear, and connecting the first end of the driven output member to one end of the output shaft, the reliability of the fixed connection between the output member and the power output component of the transmission mechanism is improved, thereby achieving the purpose of improving the stable connection between the output member and the joint module.

[0130] In some embodiments, the transmission mechanism further includes: an output support frame 8. The output support frame 8 is provided with a through hole, and the output shaft passes through the through hole of the output support frame 8 and is connected to the through hole of the output support frame 8 via a bearing.

[0131] In some embodiments, a through hole 704 is provided at the first end of the driven output member for the output shaft to pass through. In the embodiment of the present application, the output member is limited as a whole by passing the through hole 704 of the driven output member through the output shaft, further improving the connection stability between the output member and the joint module.

[0132] In some embodiments, the transmission mechanism further includes an angle sensor 9, which is mounted on the output shaft, close to the inner side of the first end of the driven output member in the clamping portion. The output shaft includes a gear output shaft 5 and a sensor output shaft 10, the second bevel gear 6 is mounted on the gear output shaft 10, and the angle sensor 9 is mounted on the sensor output shaft 5. In the embodiment of the present application, by setting a sensor output shaft and configuring an angle sensor on the sensor output shaft, the detection of the rotation angle of the output member is realized, so that the bending angle of the joint module or fingertip module connected to the output member can be accurately controlled.

[0133] In some embodiments, both the gear output shaft 5 and the sensor output shaft 10 are provided with protrusions; one end of the gear output shaft 5 is connected to one end of the sensor output shaft 10; and the bearing is clamped between the protrusion of the gear output shaft 5 and the protrusion of the sensor output shaft 10. In this embodiment, by providing protrusions on the gear output shaft 5 and the sensor output shaft 10, and arranging the bearing between the protrusion of the gear output shaft 5 and the protrusion of the sensor output shaft 10, the bearing can be effectively prevented from sliding on the output shaft, thereby ensuring the stability of the bearing installation.

[0134] like Figure 2 As shown, it is a schematic diagram of the structure of the output component provided in the embodiment of the present application. In this embodiment, the output component includes an output member and a transmission mechanism, wherein the output member can be any one of the aforementioned embodiments, and in this embodiment, only the output member 71 is used as an example for introduction. The transmission mechanism includes: a small bevel gear 4, a large bevel gear output shaft 5, a large bevel gear 6, an output member 71, an output support frame 8, an angle sensor 9, a sensor output shaft 10, and a bearing 11. Among them, the small bevel gear 4 is installed on the output end of the reduction box 3; the large bevel gear 6 is meshed with the small bevel gear 4; the large bevel gear 6 is installed on the large bevel gear output shaft 5; the angle sensor 9 is installed at the end of the sensor output shaft 10; the bearing 11 is installed in the output support frame 8; the large bevel gear output shaft 5 and the sensor output shaft 10 are connected via the bearing 11; the output support frame 8 is connected to the output member 7.

[0135] In some embodiments, the output member and output assembly of the embodiment of the present application can be used for a joint module. The joint module is used for the knuckles of a robot finger, and the robot finger includes at least one joint module. The output member includes a first end and a second end relative to each other. Among them, the first end of the output member is a clamping portion for connecting the transmission mechanism of the joint module, the second end of the output member is used to connect the end of another joint module, or the second end of the output member is used to connect the second end of the output assembly of another joint module, or the second end of the output member is used to connect the fingertip module. Exemplarily, the clamping portion at the first end of the output member is in a "concave" shape, which enhances the connection stability of the output member of the joint module, and avoids the situation where the output member appears loose and shakes left and right when the joint module outputs power through the output member, especially when the joint module is used for the finger of a robot hand, this point is particularly to be avoided, otherwise the finger of the robot hand will appear unnecessary loose and shake left and right when it moves.

[0136]

Joint module

[0137] The present application also provides a joint module. Figure 3 As shown, it is a structural schematic diagram of an embodiment of a joint module of the present application. In this embodiment, the joint module includes an output component, a driving mechanism (motor 2 and reduction box 3), an end connector 1 and a driving plate module 12. Among them, the output component is the output component described in any of the aforementioned embodiments of the present application, and the power input component of the output component is connected to the power output end of the driving mechanism. The output end of the motor 2 is connected to the input end of the reduction box 3; the output end of the reduction box 3 serves as the power output end of the driving mechanism and is connected to the power input component of the output component; the shape of the motor 2 and / or the reduction box 3 is a prism or a chamfered prism. Among them, prisms include but are not limited to triangular prisms, quadrilateral prisms and other polygonal prisms. Chamfered prism refers to a prism formed by rounding the edges of triangular prisms, quadrilateral prisms and other polygonal prisms.

[0138] Optional, such as Figure 4 Shown is a schematic diagram of the outer contour of the cross section of the reduction gearbox in the present application, including but not limited to, the outer contours of the cross sections of triangular prisms, quadrilateral prisms, hexagonal prisms and other polygonal prisms are triangles, quadrilaterals, hexagons or other polygons, etc., and the outer contours of the cross sections of the corresponding chamfered prisms are rounded triangles, rounded quadrilaterals, rounded hexagons or other rounded polygons with rounded corners.

[0139] In some embodiments, the gear ring of the reduction box 3 is used as the outer shell of the reduction box. In the embodiment of the present application, the gear ring of the reduction box 3 is directly used as the outer shell of the reduction box, and there is no need to set up an outer shell separately, which simplifies the structure of the reduction box 3, reduces the volume of the joint module, and further reduces the volume of the dexterous hand. Reducing the volume of the joint module is very necessary in the field of humanoid manipulators / dexterous hands. This is because the degree of freedom of humanoid manipulators / dexterous hands is mainly affected by the volume of components. The larger the volume of components such as humanoid manipulators / dexterous hands, the more difficult it is to design a humanoid manipulator / dexterous hand with multiple degrees of freedom.

[0140] In some embodiments, the gear ring of the reduction box 3 has an outer shape of a prism or a chamfered prism. In the embodiment of the present application, the gear ring of the reduction box 3 is directly made into a prism or a chamfered prism, and the flat feature of the prism is used to increase the stability of the reduction box after installation. In the prior art, the gear ring of the reduction box is often cylindrical. In order to make it stable during installation, it is necessary to design a quadrangular prism shell for installation, but this method increases the volume of the joint module. In this embodiment, the gear ring is directly designed as a prism / chamfered prism and used as the outer shell of the reduction box, which not only reduces the volume of the joint module, but also ensures the stability of the installation, which plays a vital role in the field of robot dexterous hands.

[0141] Optionally, the end connection member includes a first connection part and a second connection part, the first connection part is fixedly connected to the motor 2, and the second connection part is used to connect to the output part of another joint module, or to connect the second connection part to the palm body of the robot hand.

[0142] Optionally, the drive board module 12 is a control circuit board installed on the motor 2 and / or the reducer 3. The control circuit board is electrically connected to the motor 2 and / or the reducer 3 and installed on the motor 2 and / or the reducer 3 for controlling the motor 2 and / or the reducer 3.

[0143] For example, the reduction ratio N of the reduction box 3 can be set according to the purpose of the robot. When the robot is used to operate a heavy object (for example, an industrial robot for lifting heavy objects), a high reduction ratio can be used, for example, a reduction ratio higher than 200. When the joint module is used to operate a light object (for example, grasping a teacup, an egg, an apple), a low reduction ratio can be used, for example, a reduction ratio lower than 50.

[0144] In order to make the assembly relationship of the various components in the joint module in the embodiment of the present application clearer, Figure 3 Further description is as follows:

[0145] Install the angle sensor 9 into the sensor output shaft 10; install a first bearing (for example, Figure 3The sensor output shaft 10 is then installed into the through hole of the output support frame 8 through the first bearing; the large bevel gear output shaft 5 and the sensor output shaft 10 are assembled together; then a second bearing (for example, Figure 3 The bearing 11' in the large bevel gear 6 is then installed into the large bevel gear output shaft 5; in this embodiment, the sensor output shaft 10 and the large bevel gear output shaft 5 are independently installed by the first bearing and the second bearing, and the stability of the output assembly and the output member when outputting power is further improved;

[0146] The motor 2 (which may be a hollow cup brush motor) is connected to the reduction box 3 (which may be a planetary reduction box) to form a reduction motor (2, 3); a small bevel gear 4 is installed at the output end of the reduction motor (2, 3); the assembled reduction motor (2, 3) is connected to the output support frame 8 to complete the meshing of the small bevel gear 4 and the large bevel gear 6; the output shaft of the small bevel gear 4 and the output shaft of the large bevel gear 6 are skewed and perpendicular to each other;

[0147] Assemble the active output member 711 (fixed with the large bevel gear 6 through the mounting hole in the groove at the first end of the active output member 711, and the hole on the large bevel gear 6 penetrates the large bevel gear output shaft 5 to prevent the large bevel gear from being subjected to too much external force) and the large bevel gear 6 together, and install the driven output member 712 on the sensor output shaft 10; then assemble the active output member 711 and the driven output member 712 together;

[0148] Install the end connector 1 at the end of the motor;

[0149] The driving plate module 12 is installed on the motor 2 and / or the reduction box 3 to form the entire joint module.

[0150] It should be noted that the assembly relationship of the various components in the above joint module is only an example provided by this application, and this application does not limit this.

[0151] like Figure 5 , which is a schematic diagram of the structure of various terminal connectors provided in the embodiments of the present application. Different terminal connectors are used at the ends of different joint modules of different fingers. Specifically:

[0152] The first terminal connection component L1 can be used as the terminal connection component of the second joint module of the middle finger, ring finger and little finger, and can also be used as the terminal connection component of the third joint module of the index finger; the second terminal connection component L2 can be used as the terminal connection component of the second and third joint modules of the thumb; the third terminal connection component L3 can be used as the terminal connection component of the first joint module of the thumb, the first joint module of the index finger, and the first joint module of the ring finger; the fourth terminal connection component L4 can be used as the terminal connection component of the first joint module of the little finger; the fifth terminal connection component L5 can be used as the terminal connection component of the second joint module of the index finger; the sixth terminal connection component L6 can be used as the terminal connection component of the first joint module of the middle finger.

[0153] Among them, the first end connecting part L1 includes a first connecting part and a second connecting part, wherein the first connecting part is used to be fixedly connected to the end of the motor 2 in the second joint module of three fingers (middle finger, ring finger and little finger) (or the third joint module of the index finger), and the second connecting part is used to be fixedly connected to the output part of the first joint module of three fingers (middle finger, ring finger and little finger) (or the second joint module of the index finger); exemplarily, the first connecting part is a plate connecting part, which can be fixedly connected to the end of the motor 2 by screws, and the second connecting part is a protruding part, which can be fixedly connected to the output part of the first joint module of three fingers (middle finger, ring finger and little finger) (or the second joint module of the index finger) by screws.

[0154] The second terminal connector L2 can be used as the terminal connector of the second joint module and the third joint module of the thumb. Specifically, the second terminal connector L2 includes a first connecting portion and a second connecting portion, wherein. When used as the terminal connector of the second joint module and the third joint module joint module, the first connecting portion can be fixedly connected to the end of the motor 2 in the second joint module and the third joint module of the thumb, and the second connecting portion can be used to connect to the output of other joint modules. The reverse side-by-side fixed connection of the second joint module and the third joint module of the thumb refers to that a second terminal connector L2 is provided at the end of the second joint module of the thumb, and a second terminal connector L2 is also provided at the end of the third joint module of the thumb. The first connecting portion of the terminal connector of the second joint module of the thumb is fixedly connected to one end of the plate 34 and one end of the connector 35, and the first connecting portion of the terminal connector of the third joint module of the thumb is fixedly connected to the other end of the plate 34 and the other end of the connector 35, so as to realize the reverse side-by-side fixed connection of the second joint module and the third joint module of the thumb.

[0155] The third terminal connection member L3 can be used as the terminal connection member of the first joint module of the thumb, the first joint module of the index finger, and the first joint module of the ring finger, and is used to realize the fixed connection between the first joint module of the thumb, the first joint module of the index finger, and the first joint module of the ring finger and the palm body. Exemplarily, the third terminal connection member L3 is a plate-shaped connection member with a certain thickness, a threaded hole is set in the thickness direction and is fixedly connected to the end of the motor 2 in the joint module by screws, and a threaded hole is set in the height or width direction and is fixedly connected to the palm body by screws.

[0156] The fourth terminal connector L4 can be used as the terminal connector of the first joint module of the little finger, and is used to realize the fixed connection between the first joint module of the little finger and the palm body. Exemplarily, the fourth terminal connector L4 is an "L"-shaped connector, and the fourth terminal connector L4 is fixedly connected to the motor end of the first joint module of the little finger through one side L41 (corresponding to the vertical side of the "L" shape), and is fixedly connected to the palm body through another side L42 (corresponding to the horizontal side of the "L" shape), and the "L"-shaped connector avoids interference with the terminal connector of the first joint module of the index finger. For example, in the assembled state, the terminal connector of the first joint module of the index finger is pressed against the other side L42 (corresponding to the horizontal side of the "L" shape) of the fourth terminal connector L4, and the occupation of the palm body space is saved by this matching method.

[0157] The fifth terminal connector L5 can be used as the terminal connector of the second joint module of the index finger, and is used for connecting the second joint module of the index finger with the output component of the first joint module of the index finger, so as to realize that the first joint module of the index finger drives the second joint module of the index finger to swing in a plane parallel to the main body of the palm. Exemplarily, the fifth terminal connector L5 includes a connector body L51, a joint module connecting portion L52 extending from the first end face of the connector body, and an output component connecting portion L53 extending from the second end face of the connector body, wherein the first end face and the second end face are opposite to each other, the connector body is fixedly connected to the motor end of the second joint module of the index finger, the joint module connecting portion is fixedly connected to the main body of the second joint module of the index finger, and the output component connecting portion is connected to the output component of the first joint module of the index finger.

[0158] The sixth terminal connection member L6 can be used as the terminal connection member of the first joint module of the middle finger, and is used to realize the fixed connection between the first joint module of the middle finger and the palm body. Exemplarily, the sixth terminal connection member L6 is a plate-shaped connection member with a certain thickness, a threaded hole is set in the thickness direction and is fixedly connected to the end of the motor 2 in the first joint module of the middle finger by screws, and a threaded hole is set in the height or width direction and is fixedly connected to the palm body by screws.

[0159]

finger

[0160] The present application also provides a robot finger, which includes at least one joint module, and the at least one joint module is the joint module described in any of the aforementioned embodiments.

[0161] Optionally, the output member of at least one joint module is used to connect with the fingertip module of the finger. The fingertip module may include some shells that wrap the output member as a skeleton or extensions connected to the output member. Pressure sensors and / or plastic material layers may be installed on these shells or extensions.

[0162] Optionally, at least one joint module includes a first joint module and a second joint module; the first joint module is connected to the second joint module.

[0163] In some embodiments, the output shaft of the first joint module is skewed and perpendicular to the output shaft of the second joint module. Figure 1 The output member 72 shown in FIG. 1 is used as the output member of the second joint module. Figure 1 or the output member of the first joint module adopts the output member 73 shown in Figure 1 The output member 72 shown in FIG. 1 is used as the output member of the second joint module. Figure 1 The output member 71 shown in FIG. In this embodiment, by setting the output axis of the first joint module and the output axis of the second joint module to be skewed and perpendicular, the second joint module can swing in two degrees of freedom, thereby increasing the degrees of freedom of the robot finger and improving flexibility.

[0164]

thumb

[0165] like Figure 6 The figure is a schematic diagram of the assembly structure of an embodiment of the thumb in the present application. The thumb comprises a first joint module m1, a second joint module m2 and a third joint module m3; wherein the output part of the first joint module m1 of the thumb is fixedly connected to the output part of the second joint module m2 of the thumb, and the second joint module m2 of the thumb and the third joint module m3 of the thumb are installed in opposite directions and side by side.

[0166] Combination Figure 1 , Figure 5 and Figure 6 Let’s see:

[0167] The first joint module m1 of the thumb adopts Figure 1 The output member 73 shown in FIG. Figure 5 The third terminal connecting member L3 is shown, and the first joint module m1 of the thumb is fixed on the back of the hand skeleton 14 by the third terminal connecting member L3; the second joint module m2 of the thumb is fixed on the back of the hand skeleton 14 by the third terminal connecting member L3; Figure 1 The output member 72 shown in FIG. Figure 5The second end connecting member L2 shown; the third joint module m3 of the thumb adopts Figure 1 The output member 75 shown in FIG. Figure 5 The second end connector L2 is shown.

[0168] Optionally, the first joint module m1 of the thumb is fixedly connected to the output member 72 of the second joint module m2 of the thumb through the output member 73. For example, the second end of the active output member 731 and the second end of the driven output member 732 of the output member 73 of the first joint module m1 of the thumb are both fastened and connected with the second end of the active output member 721 of the output member 72 of the second joint module m2 of the thumb by bolts, and the second end of the active output member 731 and the second end of the driven output member 732 of the output member 73 of the first joint module m1 of the thumb are both fastened and connected with the second end of the driven output member 722 of the output member 72 of the second joint module m2 of the thumb by bolts, so as to ensure that the output axes of the first joint module m1 of the thumb and the second joint module m2 of the thumb are not in the same plane and are perpendicular.

[0169] Optionally, the reverse side-by-side installation of the second joint module m2 and the third joint module m3 can be realized as follows: the thumb second joint module m2 and the thumb third joint module m3 are arranged in reverse side-by-side arrangement; the end of the thumb second joint module is fixed to the plates 34 and 35 through the second end connecting member L2, and the end of the thumb third joint module is fixed to the plates 34 and 35 through the second end connecting member L2, thereby realizing the reverse side-by-side fixed installation of the thumb second joint module m2 and the thumb third joint module m3.

[0170] Optionally, the output member 75 of the third joint module m3 of the thumb is used as the skeleton of the fingertip module. The active output member 751 of the output member of the third joint module m3 of the thumb is connected to the transmission mechanism inside the third joint module m3 of the thumb, and the driven output member of the output member 75 of the third joint module m3 of the thumb is installed in cooperation with the terminal connection member of the second joint module m2 of the thumb.

[0171]

index finger

[0172] like Figure 7 As shown, in some embodiments, the robot finger is an index finger, which includes a first joint module s1, a second joint module s2 and a third joint module s3, the output component of the first joint module s1 is connected to the end of the second joint module s2 of the index finger, the output component of the second joint module s2 of the index finger is connected to the end of the third joint module s3 of the index finger, and the output axis of the first joint module s1 of the index finger is skewed and perpendicular to the output axis of the second joint module s2.

[0173] In this embodiment, the output axis of the first joint module s1 of the index finger is arranged to be skewed and perpendicular to the output axis of the second joint module s2, so that the second joint module of the index finger can swing in two degrees of freedom, thereby increasing the degrees of freedom of the index finger and improving flexibility.

[0174] Combination Figure 1 , Figure 5 and Figure 7 Let’s see:

[0175] The first joint module s1 of the index finger adopts Figure 1 The output member 74 shown in FIG. Figure 5 The first joint module s1 of the index finger is connected and fixed to the middle position of the back of the hand skeleton 14 through the third terminal connecting member L3; the second joint module s2 of the index finger adopts the third terminal connecting member L3 as shown in FIG. Figure 1 The output member 71 shown in FIG. Figure 5 The fifth terminal connecting member L5 shown in FIG. 1; the third joint module s3 of the index finger adopts Figure 1 The output member 76 shown in FIG. Figure 5 The first end connection piece L1 is shown in FIG.

[0176] Optionally, the first joint module s1 of the index finger is movably connected to the fifth end connection component L5 of the second joint module s2 of the index finger through the output component 74.

[0177] like Figure 7 As shown, the output part (741, 742) of the first joint module s1 of the index finger is connected to one end of the connecting rod 43 by a pin; the other end of the connecting rod 43 is connected to the end connecting part of the second joint module of the index finger by a pin; the second joint module of the index finger adopts the fifth end connecting part L5 to be installed in cooperation with the index finger shaft of the back of the hand skeleton 14, so as to realize the swing of the index finger.

[0178] The second joint module of the index finger is fixedly connected to the first terminal connection member L1 of the third joint module of the index finger through the output member 71. The power output part of the output member 71 is in a square shape, which cooperates with the protrusion L11 of the first terminal connection member L1 to achieve fixed connection. The output member 76 of the third joint module of the index finger is used as the skeleton of the fingertip module to complete the assembly of the fingertip of the index finger.

[0179] Exemplarily, the specific implementation method of the active connection between the first joint module s1 output component 74 of the index finger and the fifth end connector L5 of the second joint module of the index finger is as follows: the fifth end connector L5 includes a connector body L51, a joint module connecting part L52 extending from the first end face of the connector body, an output component connecting part L53 extending from the second end face of the connector body, and a pivot hole L54 arranged on the joint module connecting part L52, wherein the first end face and the second end face are opposite to each other.

[0180] The output parts 741 and 742 of the first joint module s1 of the index finger are connected to one end of the connecting rod 43 by a pin; the other end of the connecting rod 43 is connected to the output part connection part L53 on the terminal connecting part L5 of the second joint module of the index finger by a pin, and the pivot hole L54 is installed in cooperation with the index finger pivot of the back of the hand skeleton 14, so that the index finger can swing around the index finger pivot.

[0181] Exemplarily, the cooperative installation of the rotating shaft hole L54 and the index finger rotating shaft of the back of hand skeleton 14 can be: the rotating shaft hole L54 of the fifth terminal connecting member L5 is used to be movably connected with the rotating shaft of the back of hand skeleton 14; for example, the rotating shaft on the back of hand skeleton 14 is inserted into the rotating shaft hole L54. Further, when implementing the above scheme, the inventor found that the cooperative installation mode of the rotating shaft on the back skeleton 14 and the rotating shaft hole L54 is easy to loosen and rotate unsteadily. The inventor further proposed to install a bearing in the rotating shaft hole L54, and insert the rotating shaft of the back of hand skeleton 14 into the bearing, so as to solve the above-mentioned problem of easy loosening and unsteady rotation.

[0182]

Middle finger

[0183] like Figure 7 As shown, in some embodiments, the robot finger is a middle finger, including a first joint module z1 and a second joint module z2. The output component of the first joint module z1 of the middle finger is connected to the end of the second joint module z2 of the middle finger, and the output component of the second joint module z2 of the middle finger is connected to the middle finger tip module as the skeleton of the middle finger tip module.

[0184] Optionally, the first joint module z1 of the middle finger adopts Figure 1 The output member 71 shown in FIG. Figure 5 The sixth terminal connection member L6 shown in FIG. 1; the second joint module z2 of the middle finger adopts Figure 1 The output member 76 shown in FIG. Figure 5 The first terminal connecting piece L1 shown in the figure and the sixth terminal connecting piece L6 of the middle finger first joint module z1 are fixed to the back of the hand skeleton 14 using bolts.

[0185] The first joint module z1 of the middle finger is fixedly connected to the first terminal connection member L1 of the second joint module z2 of the middle finger through the output member 71. The power output part of the output member 71 is in a mouth-like shape, which cooperates with the protrusion L11 of the first terminal connection member L1 to achieve fixed connection. The output member 76 of the second joint module z2 of the middle finger is used as the skeleton of the fingertip module.

[0186]

Ring finger

[0187] like Figure 7 As shown, the robot finger is a ring finger, including a first joint module w1 and a second joint module w2. The output component of the first joint module w1 of the ring finger is connected to the end of the second joint module w2 of the ring finger, and the output component of the second joint module w2 of the ring finger is connected to the fingertip module of the ring finger as the skeleton of the fingertip module of the ring finger.

[0188] Optionally, the first joint module w1 of the ring finger adopts Figure 1 The output member 71 shown in FIG. Figure 5 The third terminal connection member L3 shown in FIG. 1; the second joint module w2 of the ring finger adopts Figure 1 The output member 76 shown in FIG. Figure 5 As shown in the first terminal connecting piece L1 , the end of the first joint module w1 of the ring finger is connected to the third terminal connecting piece L3 using bolts and fixed on the back of the hand skeleton 14 .

[0189] The first joint module w1 of the ring finger is fixedly connected to the first terminal connection member L1 of the second joint module w2 of the ring finger through the output member 71. The power output part of the output member 71 is in a square shape, which cooperates with the protrusion of the first terminal connection member L1 to achieve fixed connection. The output member 76 of the second joint module w2 of the ring finger is used as the skeleton of the fingertip module.

[0190]

Little finger

[0191] like Figure 7 As shown, the robot finger is a little finger, including a first joint module x1 and a second joint module x2. The output component of the first joint module x1 of the little finger is connected to the end of the second joint module x2 of the little finger, and the output component of the second joint module x2 of the little finger is connected to the little finger fingertip module as the skeleton of the little finger fingertip module.

[0192] Optional, the first joint module of the little finger x1 adopts Figure 1 The output member 71 shown in FIG. Figure 5 The fourth terminal connection member L4 shown in FIG. 1; the second joint module x2 of the little finger adopts Figure 1 The output member 76 shown in FIG. Figure 5As shown in the first terminal connecting piece L1, the end of the little finger first joint module x1 is connected to the fourth terminal connecting piece L4 by bolts and fixed on the back of the hand skeleton 14.

[0193] The first joint module x1 of the little finger is fixedly connected to the first terminal connection member L1 of the second joint module of the little finger through the output member 71. The power output part of the output member 71 is in a square shape, which cooperates with the protrusion of the first terminal connection member L1 to achieve fixed connection. The output member 76 of the second joint module of the little finger is used as the skeleton of the fingertip module.

[0194] Combination Figure 6 and Figure 7 , and Figure 6 Taking the placement orientation of the middle back of the hand skeleton 14 as a reference, the first joint modules of the middle finger, ring finger and little finger are arranged in the middle and upper part of the back of the hand skeleton 14, the first joint module s1 of the index finger is arranged horizontally in the middle part of the back of the hand skeleton 14, and the first joint module m1 of the thumb is arranged horizontally in the lower part of the back of the hand skeleton 14.

[0195] In this embodiment, the first joint module of the index finger is placed in the middle position of the back of the hand skeleton 14, which fully utilizes the space of the palm body and uses a connecting rod mechanism to drive the index finger to swing. The structure is compact and reduces large-area space waste, thereby reducing the volume of the entire dexterous hand.

[0196]

Robot Hand

[0197] Figure 6-7 The robot hand of another embodiment of the present application is shown. Since each joint module of the robot hand can be driven independently, a dexterous hand is realized. The dexterous hand includes a palm body, a thumb, an index finger, a middle finger, a ring finger and a little finger.

[0198] In some embodiments, the present application further provides a robot hand, comprising a palm body and a robot finger according to at least one of the above embodiments. The robot finger comprises at least one of a thumb, an index finger, a middle finger, a ring finger, and a little finger.

[0199] Exemplarily, the palm body includes a palm rubber, a palm shell, a palm skeleton, a back of hand skeleton 14, a back of hand shell, a wrist adapter and a palm shell. The palm rubber is bonded to the palm shell by glue; the palm shell and the palm skeleton are connected by bolts; a skeleton connector is provided between the palm skeleton and the back of hand skeleton; the back of hand shell near the wrist is connected to the back of hand skeleton by bolts; the back of hand shell away from the wrist is connected to the palm shell by bolts; the wrist adapter is connected to the palm skeleton and the back of hand skeleton by bolts; the palm shell is connected to the palm shell by bolts and pins.

[0200] like Figure 6 and Figure 7As shown, the first joint module m1 of the thumb, the first joint module s1 of the index finger, the first joint module z1 of the middle finger, the first joint module w1 of the ring finger, and the first joint module x1 of the little finger are all fixed on the back of the hand skeleton 14 by bolt connection.

[0201] In some embodiments, the robot finger includes the thumb described in any embodiment of the present application. Exemplarily, the first joint module m1 of the thumb is arranged along the width direction of the palm body, and the first joint module m1 of the thumb is fixedly mounted on the palm body through the third terminal connection member L3. The third terminal connection member L3 is fixedly connected to the end of the first joint module m1 of the thumb in the first direction, and the third terminal connection member L3 is fixedly connected to the palm body in the second direction, and the first direction is perpendicular to the second direction.

[0202] Exemplarily, the third end connector L3 is a plate-like connector with a certain thickness, and the corresponding first direction is the thickness direction of the plate-like connector, and a hole is opened in the thickness direction so that the plate-like connector can be installed on the end of the first joint module m1 of the thumb by passing bolts or the like through the opening in the thickness direction; the second direction is the vertical direction of the third end connector L3 shown in the figure, and a hole is opened in the vertical direction of the third end connector L3 so that the plate-like connector can be installed on the palm body by passing bolts or the like through the opening in the vertical direction.

[0203] Exemplarily, a second terminal connector L2 is provided at the end of the second joint module m2 of the thumb, and a second terminal connector L2 is provided at the end of the third joint module of the thumb); the thumb also includes a joint module connector 34 and a joint module connector 35, and the joint module connector connects the second joint module m2 and the third joint module m3 side by side through the second terminal connector L2 and the third terminal connector L3.

[0204] In some embodiments, the robot finger includes the index finger described in any embodiment of the present application. Exemplarily, the robot finger is an index finger, and the end of the second joint module s1 of the index finger is provided with a fifth end connection member L5. In some embodiments, the first joint module s1 of the index finger is provided along the width direction of the palm body. Figure 5 As shown, the fifth terminal connector L5 includes a connector body L51 connected to the second joint module s2 of the index finger and an output connector connecting portion L53 connected to the output connector of the first joint module s1 of the index finger.

[0205] In some embodiments, the robot finger includes the middle finger described in any embodiment of the present application.

[0206] Exemplarily, the middle finger is fixedly connected to the palm body through the terminal connecting piece of the first joint module z1. Figure 5The sixth terminal connector L6 shown in . Exemplarily, the sixth terminal connector L6 is a plate-shaped connector with a certain thickness, a threaded hole is set in the thickness direction and is fixedly connected to the end of the motor 2 in the first joint module of the middle finger by screws, and a threaded hole is set in the height or width direction and is fixedly connected to the palm body by screws.

[0207] In some embodiments, the robot finger includes the ring finger described in any embodiment of the present application.

[0208] Exemplarily, the ring finger is fixedly connected to the palm body through the terminal connecting piece of the first joint module w1. Figure 5 The third terminal connector L3 shown in . Exemplarily, the third terminal connector L3 is a plate-shaped connector with a certain thickness, a threaded hole is set in the thickness direction and is fixedly connected to the end of the motor 2 in the joint module by screws, and a threaded hole is set in the height or width direction and is fixedly connected to the palm body by screws.

[0209] In some embodiments, the robot finger includes the little finger described in any embodiment of the present application.

[0210] For example, the little finger is fixedly connected to the palm body through the end connection piece of the first joint module x1. The end of the first joint module x1 of the little finger is provided with a Figure 5 The fourth terminal connector L4 shown in . Exemplarily, the fourth terminal connector L4 is an "L"-shaped connector, which is fixedly connected to the motor end of the first joint module of the little finger through one side L41 (corresponding to the vertical side of the "L" shape), and is fixedly connected to the palm body through another side L42 (corresponding to the lateral side of the "L" shape), and the "L"-shaped connector avoids interference with the terminal connector of the first joint module of the index finger. For example, in the assembled state, the terminal connector of the first joint module of the index finger is pressed against the other side L42 (corresponding to the lateral side of the "L" shape) of the fourth terminal connector L4, and this matching method saves the space occupied by the palm body.

[0211] The present application integrates a drive system (e.g., motor 2, reduction box 3, large bevel gear 5, small bevel gear 4, etc.) in the joint module, so that the drive system is modularized, and the reliability of the drive system is improved. The modularization of the drive system allows each joint module to be operated, tested and verified separately, which can simultaneously meet the requirements that the dexterous hand has a strong grasping ability, high stability and accuracy, and good flexibility and simulation, to ensure the reliability of the single module, thereby improving the reliability of the entire dexterous hand. 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 realizing fine operation. The modular design of the joints can make the upgrade and maintenance of the dexterous hand simpler. The modular design of the joints can also realize that different joint modules can be replaced and upgraded independently according to demand, thereby improving the applicability of the dexterous hand.

[0212] In some embodiments, the present application also provides a robot, which includes the robot hand described in any of the aforementioned embodiments.

[0213] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0214] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0215] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0216] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0217] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0218] 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 it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, 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 embodiments of the present application.

Claims

1. An output member, characterized in that: The output member includes: a driving output member (701) and a driven output member (702); wherein, A clamping portion is formed between the first end portion of the driving output member (701) and the first end portion of the driven output member (702), and the clamping portion is used for connecting with a transmission mechanism; A power output portion is formed between the second end portion of the driving output member (701) and the second end portion of the driven output member (702); A groove (703) or a boss (703`) is provided at the first end portion of the driving output member, and a through hole (704) is provided at the first end portion of the driven output member; the groove (703) or the boss (703`) and the through hole (704) are connected with a power output component in the transmission mechanism.

2. The output member according to claim 1, characterized in that: The second end portions of the driving output member (701) and the driven output member (702) are both U-shaped bayonets; the second end portions of the driving output member (701) and the driven output member (702) cooperate to form a power output portion of a bayonet in the shape of a mouth.

3. The output member according to claim 1, characterized in that: Another clamping portion is formed between the second end portion of the driving output member (701) and the second end portion of the driven output member (702) as the power output portion of the output member, and is used for connecting with an external mechanism to be driven.

4. The output member according to claim 1, characterized in that: The second end portion of the driving output member (701) forms a first extension portion facing the driven output member (702), and the second end portion of the driven output member (702) forms a second extension portion facing the driving output member (701), and the first extension portion and the second extension portion are combined to form the power output portion of the output member.

5. The output member according to claim 3 or 4, characterized in that: The power output portion of the output member according to claim 3 is fixedly connected to the power output portion of the output member according to claim 4.

6. The output member according to claim 1, characterized in that: The second end of the driving output member (701) and the second end of the driven output member (702) form a movable connection portion as the power output portion of the output member, and are used for movably connecting with an external mechanism to be driven.

7. The output member according to claim 1, characterized in that: The length of the power output portion of the output member matches the length of a fingertip.

8. The output member according to claim 7, characterized in that: A first transition connection portion is provided between the first end portion and the second end portion of the driven output member (702), the first end of the first transition connection portion is connected to the first end portion of the driven output member (702), the second end of the first transition connection portion is connected to the second end portion of the driven output member (702), and the distance from the first end of the first transition connection portion to the driving output member (701) is greater than the distance from the second end of the first transition connection portion to the driving output member (701).

9. The output member according to claim 8, characterized in that: A second transition connection portion is provided between the first end portion and the second end portion of the driving output member (701), the second transition connection portion is symmetrical to the first transition connection portion; the second end portion of the driving output member (701) is symmetrical to the second end portion of the driven output member (702).

10. An output component, characterized in that: It comprises an output member and a transmission mechanism, wherein the output member is the output member described in any one of claims 1 to 9, the power output component of the transmission mechanism is connected to the clamping portion of the output member, the power input component of the transmission mechanism is used for driving connection with the power output end of the driving mechanism, and the power input component is drivingly connected to the power output component.

11. The output assembly according to claim 10, characterized in that: The power input component comprises a first bevel gear (4); the first bevel gear (4) is used to be connected to the power output end of the driving mechanism.

12. The output assembly according to claim 11, characterized in that: The power output component comprises a second bevel gear (6); The power input component is transmission-connected with the power output component, comprising: The first bevel gear (4) is meshed with the second bevel gear (6).

13. The output assembly according to claim 12, characterized in that: The power output component further comprises an output shaft; one end of the output shaft is fixedly connected to the second bevel gear (6); The power output component of the transmission mechanism is connected to the clamping portion of the output member, and includes: The second bevel gear (6) is fixed to the groove (703) or boss (703') of the first end of the active output member in the clamping portion, and the other end of the output shaft is inserted into the through hole (704) of the first end of the driven output member in the clamping portion.

14. The output assembly according to claim 13, characterized in that: The transmission mechanism further comprises an angle sensor (9); the angle sensor (9) is mounted on the output shaft, close to the inner side of the first end of the driven output member in the clamping portion.

15. The output assembly according to claim 13, characterized in that: The transmission mechanism further comprises an output support frame (8); a through hole is provided on the output support frame (8); the output shaft passes through the through hole of the output support frame (8) and is connected to the through hole of the output support frame (8) via a bearing.

16. The output assembly according to claim 15, characterized in that: The output shaft comprises a gear output shaft (5) and a sensor output shaft (10); both the gear output shaft (5) and the sensor output shaft (10) are provided with protrusions; one end of the gear output shaft (5) is connected to one end of the sensor output shaft (10); and the bearing is clamped between the protrusion of the gear output shaft (5) and the protrusion of the sensor output shaft (10).

17. The output assembly according to claim 16, characterized in that: The transmission mechanism also includes an angle sensor (9); the second bevel gear (6) is mounted on the other end of the gear output shaft (5), and the angle sensor (9) is mounted on the sensor output shaft (10) close to the inner side of the first end of the driven output member in the clamping portion.

Images