Robot dexterous hand

Abstract

A dexterous robot hand comprises at least two modular fingers and a palm base body. The modular finger comprises a finger body and a driving base for driving the finger body. The palm base body comprises mounting holes with the same number as the modular fingers, and the mounting holes are matched with the driving base and used for being combined with screw locking or buckle structures to position and mount the modular fingers. The side wall of the mounting hole is further provided with a hollowed-out structure, so that the driving base of the modular finger in the mounting state is partially exposed out of the palm base body. According to the robot dexterous hand, the disassembly and assembly convenience is high, the size and the weight can be reduced while the stability is ensured, and therefore local maintenance or replacement is facilitated.

Description

Technical Field

[0001] This application relates to the field of robotics, and particularly to a robotic dexterous hand. Background Art

[0002] A robotic dexterous hand is a highly integrated mechanical device with multiple joints and fingers for fine operations. It can simulate the complex movements of the human hand and perform various tasks such as grasping, operating, and sensing. It is widely used in industrial manufacturing, medical services, scientific research, and other fields.

[0003] In related technologies, in terms of structure, robotic dexterous hands usually adopt an integrated design and tend to be large in size and weight, making it difficult to perform local maintenance or replacement. Therefore, how to design a robotic dexterous hand that is convenient for local maintenance or replacement has become an urgent problem in the industry. Summary of the Invention

[0004] To solve at least one problem in the prior art, the purpose of this application is to provide a robotic dexterous hand that is not only highly convenient for disassembly and assembly, but also can reduce the volume and weight while ensuring stability, thus facilitating local maintenance or replacement.

[0005] To achieve the above purpose, the robotic dexterous hand provided by this application includes at least two modular fingers and a palm base.

[0006] The modular finger includes a finger body and a drive base for driving the finger body.

[0007] The palm base includes mounting holes equal in number to the modular fingers. The mounting holes are adapted to the drive bases and are used to position and install the modular fingers by screwing or snap-fastening structures. The side walls of the mounting holes are also provided with a hollow structure so that part of the drive base of the modular finger in the installed state is exposed outside the palm base.

[0008] Optionally, a palm-end electrical connection interface is provided in the mounting hole; a corresponding finger-end electrical connection interface is provided on the modular finger; when the modular finger is positioned and installed in the mounting hole, the palm-end electrical connection interface and the finger-end electrical connection interface are also connected in alignment.

[0009] Optionally, the finger-end electrical connection interface is configured as a spring probe; the palm-end electrical connection interface is configured as a probe socket.

[0010] Optionally, the finger-end electrical connection interface is configured as a hot-swappable plug; the palm-end electrical connection interface is configured as a hot-swappable socket.

[0011] Optionally, in the installed state, the ratio of the lateral surface area of the drive base exposed to the lateral surface area of the hollow structure is not greater than 0.5.

[0012] Optionally, the aperture diameter of the orifice of the mounting hole is greater than the aperture diameter of the bottom of the mounting hole, and the aperture diameter of the bottom of the mounting hole is adapted to the outer diameter of the drive base. When the modular finger is positioned and installed in the mounting hole, the drive base is in non-gap contact with the bottom of the mounting hole.

[0013] Optionally, the robotic dexterous hand further includes a guiding key and a keyway adapted to the guiding key. The guiding key and the keyway are respectively provided on the side wall of the drive base of the modular finger and the corresponding side wall of the mounting hole, and the extending directions of both ends of the guiding key are consistent with the installation direction of the modular finger.

[0014] Optionally, the palm base further includes at least one weight-reducing hole, which communicates with any number of mounting holes or is located between two adjacent mounting holes, and the central axis of any weight-reducing hole is parallel to the central axis of any mounting hole.

[0015] Optionally, the finger body includes:

[0016] A base phalanx unit, including a base phalanx body, a first worm gear, and a second worm gear; the first worm gear is fixedly arranged at the base of the base phalanx body, and the second worm gear is rotatably arranged at the base of the base phalanx body; the first worm gear and the second worm gear are coaxial;

[0017] A distal phalanx unit, including a distal phalanx body and a distal link; the distal phalanx body is rotatably connected to the end of the base phalanx body; one end of the distal link is connected to the link rotating shaft eccentrically arranged on the second worm gear, and the other end is rotatably connected to the distal phalanx body;

[0018] The drive base includes,

[0019] A first drive module, the output end of which has a first worm, for driving the base phalanx body to rotate around the base rotating shaft;

[0020] A second drive module, the output end of which has a second worm, for driving the distal phalanx body to rotate;

[0021] A third drive module, for driving the base phalanx unit, the distal phalanx unit, the first drive module, and the second drive module to rotate integrally.

[0022] Optionally, at least one of the distal phalanx body, the base phalanx body, and the palm base is provided with a tactile sensor for collecting force control information.

[0023] A dexterous hand of a robot according to the present application is provided with the same number of mounting holes as the modular fingers on the palm base body and adapted to the drive base, and the modular fingers can be positioned and installed by combining screw locking or snap structures, thus effectively improving the disassembly and assembly convenience; and by providing a hollow structure on the side wall of the mounting hole, a part of the drive base of the modular finger in the installed state is exposed outside the palm base body, so that while ensuring stability, the weight and volume can be reduced. That is, by taking into account the realization of high disassembly and assembly convenience, light weight and small volume, the convenience of finger local maintenance or replacement is greatly improved.

[0024] Other features and advantages of the present application will be described in the following description, and in part, will be apparent from the description, or will be understood by implementing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the present application, and constitute a part of the description, and together with the embodiments of the present application, are used to explain the present application, and do not constitute a limitation to the present application. In the drawings:

[0026] Figure 1 is a schematic structural diagram of a dexterous hand of a robot according to an embodiment of the present application;

[0027] Figure 2 is a schematic structural diagram of a modular finger according to an embodiment of the present application;

[0028] Figure 3 is Figure 2 a schematic internal structure diagram of the robot modular finger in;

[0029] Figure 4 is Figure 2 another schematic internal structure diagram of the robot modular finger in;

[0030] Figure 5 is a schematic structural diagram of a palm base body according to an embodiment of the present application;

[0031] Figure 6 is a schematic structural diagram of a palm base body according to another embodiment of the present application.

[0032] Among them, specifically, the following reference numerals are included:

[0033] Robot dexterous hand - 1000;

[0034] Modular finger - 100; drive base - 101; finger - end electrical connection interface - 102; base phalanx body - 103; first worm gear - 104; second worm gear - 105; distal phalanx body - 106; distal link - 107; first distal rotating shaft - 108; second distal rotating shaft - 109; link rotating shaft - 110; first worm - 111; base rotating shaft - 112; second worm - 113; first motor - 114; second motor - 115; third motor - 116;

[0035] Palm base - 200; mounting hole - 201; palm - end electrical connection interface - 202; cable interface - 203; weight - reduction hole - 204. Detailed implementation mode

[0036] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0037] The term "including" and its variations used herein are open - ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0038] Next, embodiments of the present application will be described in detail with reference to the drawings.

[0039] As Figures 1 to 5 shown, the robotic dexterous hand 1000 includes at least two modular fingers 100 and a palm base 200.

[0040] Among them, the modular finger 100 includes a finger body and a drive base 101 for driving the finger body.

[0041] The palm base 200 includes mounting holes 201 having the same number as the modular fingers 100. The mounting holes 201 are adapted to the drive bases 101 to position and install the modular fingers 100 by screwing or snap - fit structures. The side walls of the mounting holes 201 are also provided with a hollowed - out structure so that a part of the drive base 101 of the modular finger 100 in the installed state is exposed outside the palm base 200.

[0042] It should be noted that the above - mentioned hollowed - out structure can be an opening structure on the side wall of the mounting hole, such as Figure 5As shown, the opening chord C of the opening structure is smaller than the diameter of the driving base 101 of the finger body.

[0043] Preferably, the structures of the at least two modular fingers 100 are the same and can be replaced and arranged as independent individuals, so as to flexibly adjust the positions and quantities of the modular fingers 100 to improve applicability.

[0044] Preferably, in the installed state, the ratio between the lateral surface area of the driving base 101 exposed by the hollow structure and the lateral surface area of the driving base 101 is not greater than 0.5. That is, the lateral surface area of the driving base 101 exposed by the hollow structure is less than or equal to the lateral surface area of the driving base 101 not exposed, so as to improve the stability of the finger driving base.

[0045] For the dexterous hand of the robot according to the embodiment of the present application, by providing mounting holes on the palm base that are the same in number as the modular fingers and adapted to the driving base, the modular fingers can be positioned and installed by combining screw locking or snap structures, thereby effectively improving the disassembly and assembly convenience; and, by providing a hollow structure on the side wall of the mounting hole, the driving base of the modular finger in the installed state is partially exposed outside the palm base, so that while ensuring stability, the weight and volume can be reduced. That is, by taking into account high disassembly and assembly convenience, light weight and small volume, the convenience of finger local maintenance or replacement is greatly improved.

[0046] It can be understood that the present application does not specifically limit the type of the electrical connection interface.

[0047] In the embodiment of the present application, as Figure 3 and Figure 4 shown, a palm-end electrical connection interface 202 is provided in the mounting hole 201; a corresponding finger-end electrical connection interface 102 is provided on the modular finger 100; when the modular finger 100 is positioned and installed in the mounting hole 201, the palm-end electrical connection interface 202 and the finger-end electrical connection interface 102 are also connected in alignment.

[0048] In one example, the finger-end electrical connection interface 102 is configured as a spring probe; the palm-end electrical connection interface 202 is configured as a probe socket for transmitting control information in the plugged state.

[0049] In another example, the finger-end electrical connection interface 102 is configured as a hot-pluggable plug, and the palm-end electrical connection interface 202 is configured as a hot-pluggable socket. That is, during the process of replacing the current modular finger 100, the device does not need to be powered off, and other modular fingers can continue to work normally. And after installing a new modular finger 100, it can directly enter the use state without operations such as calibration. Thus, the convenience and flexibility of application are further improved.

[0050] In the embodiments of the present application, the robotic dexterous hand 1000 further includes a guiding key and a key groove adapted to the guiding key. The guiding key and the key groove are respectively arranged on the side walls of the driving base 101 of the modular finger 100 and the corresponding mounting hole 201, and the extending directions of both ends of the guiding key are consistent with the mounting direction of the modular finger 100. Specifically, as an example, a guiding key is arranged on the side wall of the finger-end electrical connection interface 102, and a key groove matching the guiding key is arranged on the side wall of the corresponding palm-end electrical connection interface 202. As another example, a guiding key is arranged on the side wall of the palm-end electrical connection interface 202, and a key groove matching the guiding key is arranged on the side wall of the corresponding finger-end electrical connection interface 102. Through this guiding structure, positioning and guiding of the modular finger 100 are provided, further improving the convenience of disassembly and assembly.

[0051] Preferably, the structure of the mounting hole 201 is larger at the top and smaller at the bottom, that is, the aperture of its hole opening is larger than the aperture of the hole bottom, and the aperture of the hole bottom of the mounting hole 201 is adapted to the outer diameter of the driving base 101. When the modular finger 100 is positioned and installed in the mounting hole 201, the driving base 101 is in non-gap contact with the hole bottom of the mounting hole 201 to improve the convenience and stability of installation.

[0052] In the embodiments of the present application, as Figure 1 shown, on the outer wall of the palm base 200, a cable interface 203 can be provided; the cable interface 203 is electrically connected to the circuit board of the palm base 200.

[0053] In the embodiments of the present application, as Figure 6 shown, on the outer wall of the palm base 200, there may also be included at least one weight-reducing hole 204. The weight-reducing hole 204 communicates with any number of mounting holes 201, or is located between two adjacent mounting holes 201. The central axis of any weight-reducing hole 204 is parallel to the central axis of any mounting hole 201. To further reduce the weight of the palm base.

[0054] Further, the weight-reducing hole 204 spreads outwards from the central axis of the palm base 200 until it completely communicates with all the mounting holes 201, so that the side wall of the palm base 200 is separated into multiple independent thin walls by the mounting holes 201, used to shield the circuits and mechanical structures inside the palm base 200. A cover body covering the opening of the weight-reducing hole 204 is also provided above the palm base 200. Still further, at least one reinforcing rib perpendicular to the palm base 200 is provided on the inner side of the thin wall of the palm base 200 to enhance the strength of the side wall of the palm base 200.

[0055] In the embodiments of the present application, as Figures 2 - 4 shown, the finger body includes a base phalanx unit and a distal phalanx unit; the driving base 101 includes a first driving module, a second driving module and a third driving module.

[0056] Among them, the proximal phalanx unit includes a proximal phalanx body 103, a first worm gear 104, and a second worm gear 105. The first worm gear 104 is fixedly arranged at the base of the proximal phalanx body 103, and the second worm gear 105 is rotatably arranged at the base of the proximal phalanx body 103; the first worm gear 104 and the second worm gear 105 are coaxial. The distal phalanx unit includes a distal phalanx body 106 and a distal link 107; the distal phalanx body 106 is rotatably connected to the end of the proximal phalanx body 103 and can swing around a first end shaft 108; one end of the distal link 107 is connected to a link shaft 110 eccentrically arranged on the second worm gear 105, and the other end is rotatably connected to the distal phalanx body 106 through a second end shaft 109. The output end of the first drive module has a first worm 111 for driving the proximal phalanx body 103 to rotate around a base shaft 112. The output end of the second drive module has a second worm 113 for driving the distal phalanx body 106 to rotate. The third drive module is used to drive the proximal phalanx unit, the distal phalanx unit, the first drive module, and the second drive module to rotate as a whole. Specifically, the above-mentioned first worm gear assembly includes a first worm gear 104 and a first worm 111; the above-mentioned second worm gear assembly includes a second worm gear 105 and a second worm 113.

[0057] It should be noted that for the mechanism formed by the worm gear and the link, the cooperation of the motor is required to complete specific actions. Specifically, when the first motor 114 of the first drive module moves and the second motor 115 of the second drive module is stationary, the proximal phalanx body 103 swings and the distal phalanx body 106 is stationary relative to the proximal phalanx body 103; when the first motor 114 is stationary and the second motor 115 moves, both the proximal phalanx body 103 and the distal phalanx body 106 move; when the first motor 114 moves and the second motor 115 moves, that is, in the case of differential motion, the proximal phalanx body 103 can be stationary relative to the frame and the distal phalanx body 106 swings.

[0058] During specific operation, the first driving module matches the structure of the base phalanx unit, causing the first motor 114 to rotate and drive the first worm 111 to rotate. The rotation of the first worm 111 drives the first worm gear 104 to rotate, and the rotation of the first worm gear 104 drives the base phalanx body 103 to rotate. The second driving module matches the structure of the end phalanx unit, causing the second motor 115 to rotate and drive the second worm 113 to rotate. The rotation of the second worm 113 drives the second worm gear 105 to rotate, and the rotation of the second worm gear 105 drives the end link 107 to rotate. The rotation of the end link 107 drives the base phalanx body 103 to swing around the end rotating shaft. In addition, the third motor 116 of the third driving module drives the base phalanx unit, the end phalanx unit, the first driving module, and the second driving module to rotate as a whole. Thus, while achieving mechanism self-locking and improving operation stability, it is ensured that each modular finger has three degrees of freedom. Through the individual or coordinated actions of the corresponding motors, not only can the individual and simultaneous movements of the base phalanx body and the end phalanx body be achieved, but also the modular finger as a whole can rotate around its central axis, greatly increasing the movement flexibility of the modular finger.

[0059] Optionally, at least one of the end phalanx body 106, the base phalanx body 103, and the palm base 200 is provided with a tactile sensor for collecting force control information to improve the reliability of operation.

[0060] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different modules or structures, and are not used to limit the order of functions performed by these modules or structures, or their interdependent relationships or relative importance.

[0061] It should be noted that the modifications of "one" and "multiple" mentioned in this application are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more"; "multiple" should be understood as two or more.

[0062] In the description of this application, it should be noted that the relationships between structures should be understood in a broad sense. For example, the orientation or positional relationships indicated by "upper", "lower", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] Moreover, unless otherwise clearly specified and limited, the term "connection" can be a fixed connection, a detachable connection; it can be directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements.

[0064] Those of ordinary skill in the art will understand that the above are only the preferred embodiments of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A robotic dexterous hand, characterized in that, Comprising at least two modular fingers and a palm base; The modular finger includes a finger body and a driving base for driving the finger body; The palm base includes mounting holes having the same number as the modular fingers, the mounting holes being adapted to the driving bases for positioning and mounting the modular fingers by means of screw locking or snap structures; a hollow structure is further provided on the side wall of the mounting holes so that part of the driving base of the modular finger in the mounted state is exposed outside the palm base.

2. The robotic dexterous hand according to claim 1, characterized in that, A palm-end electrical connection interface is provided in the mounting hole; a corresponding finger-end electrical connection interface is provided on the modular finger; when the modular finger is positioned and mounted in the mounting hole, the palm-end electrical connection interface and the finger-end electrical connection interface are also connected in alignment.

3. The robotic dexterous hand according to claim 2, characterized in that, The finger-end electrical connection interface is configured as a spring probe; the palm-end electrical connection interface is configured as a probe socket.

4. The dexterous robot hand according to claim 2, characterized in that, The finger-end electrical connection interface is configured as a hot-pluggable plug; the palm-end electrical connection interface is configured as a hot-pluggable socket.

5. The robotic dexterous hand according to claim 1, wherein In the mounted state, the ratio of the side surface area of the driving base exposed outside the hollow structure to the side surface area of the driving base is not greater than 0.

5.

6. The dexterous robot hand according to claim 1, characterized in that, The aperture of the orifice of the mounting hole is larger than the aperture of the bottom of the mounting hole, and the aperture of the bottom of the mounting hole is adapted to the outer diameter of the driving base. When the modular finger is positioned and mounted in the mounting hole, the driving base is in non-gap contact with the bottom of the mounting hole.

7. The dexterous robot hand according to claim 1, wherein It further includes a guiding key and a key slot adapted to the guiding key. The guiding key and the key slot are respectively provided on the side wall of the driving base of the modular finger and the corresponding side wall of the mounting hole, and the extending directions of both ends of the guiding key are consistent with the mounting direction of the modular finger.

8. The dexterous robot hand according to claim 1, characterized in that, The palm base further includes at least one weight-reducing hole, the weight-reducing hole communicating with any number of mounting holes or being located between two adjacent mounting holes, and the central axis of any weight-reducing hole is parallel to the central axis of any mounting hole.

9. The dexterous robot hand according to claim 1, wherein The finger body includes A base phalanx unit including a base phalanx body, a first worm gear, and a second worm gear; the first worm gear is fixedly provided at the base of the base phalanx body, and the second worm gear is rotatably provided at the base of the base phalanx body; the first worm gear and the second worm gear are coaxial; A distal phalanx unit including a distal phalanx body and a distal link; the distal phalanx body is rotatably connected to the end of the base phalanx body; one end of the distal link is connected to a link rotating shaft eccentrically arranged on the second worm gear, and the other end is rotatably connected to the distal phalanx body; The driving base includes A first driving module having a first worm at its output end for driving the base phalanx body to rotate about a base rotating shaft; A second driving module having a second worm at its output end for driving the distal phalanx body to rotate; A third driving module for driving the base phalanx unit, the distal phalanx unit, the first driving module, and the second driving module to rotate integrally.

10. The robotic dexterous hand according to claim 9, characterized in that, At least one of the distal phalanx body, the proximal phalanx body, and the palm base body is provided with a tactile sensor for collecting force control information.

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