Robot finger joint, robot hand and robot

Abstract

The embodiment of the utility model belongs to the technical field of robot hands, and relates to a robot finger joint which comprises a first joint, a second joint, a driving connecting rod assembly, a first linear driving piece and a mounting piece. The driving connecting rod assembly comprises a limiting connecting rod and a transmission connecting rod; the first linear driving part is mounted on the mounting part; the output end of the first linear driving part is connected with the first joint and the second joint through the driving connecting rod assembly so as to drive the first joint and the second joint to move through the driving connecting rod assembly. The utility model further relates to a robot hand and a robot. According to the technical scheme, the adaptability of the robot fingers can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot hand, more particularly, to a robot finger joint, a robot hand and a robot. BACKGROUND

[0002] With the development of science and technology, robots such as humanoid robots and industrial manipulators are gradually popularized in various industries, and therefore new higher requirements on dexterity operation are put forward for robots.

[0003] In order to achieve the above-mentioned purpose, people try to develop dexterous hands, but the existing conventional bionic link dexterous hand and other finger joints have defects in flexibility and / or interactivity, etc., which makes the adaptability of the finger low in many cases. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the embodiments of the present application provide a robot finger joint, a robot hand and a robot to improve the adaptability of the robot finger.

[0005] In a first aspect, the embodiments of the present application provide a robot finger joint, which adopts the technical scheme as follows:

[0006] A robot finger joint, the joint comprising: a first joint, a second joint, a driving link assembly, a first linear driving member and a mounting member; the driving link assembly comprising a limiting link and a transmission link;

[0007] The first linear driving member is installed on the mounting member;

[0008] The output end of the first linear driving member is connected with the first joint and the second joint through the driving link assembly, respectively, so as to drive the first joint and the second joint to move through the driving link assembly.

[0009] Further, the driving link assembly comprises: a transmission link assembly and a limiting link;

[0010] The limiting link is fixed to the second joint;

[0011] The limiting link comprises a first end corresponding to the first joint and a second end corresponding to the mounting member; the first end of the limiting link forms an eleventh hinged hole; the second end of the limiting link forms a thirteenth hinged hole;

[0012] The limit link is hinged with the mounting member through the eleventh hinging hole to define the rotation of the second end of the second joint around the eleventh hinging hole; the limit link is hinged with a fifth transmission link in the transmission link assembly through the thirteenth hinging hole, and the fifth transmission link is fixedly connected with the first joint to define the rotation of the first joint around the thirteenth hinging hole;

[0013] The eleventh hinging hole and the thirteenth hinging hole are respectively located at or near the second interaction surface of the second joint; and / or,

[0014] The finger joint further comprises a support member; the bottom of the support member is fixedly connected with the mounting member, and the top of the support member is connected with the opposite end of the output end of the first linear driving member to support the opposite end of the first linear driving member through the support member.

[0015] Further, the output end of the first linear driving member is connected with the first joint and the second joint through the driving link assembly respectively by the following structure:

[0016] The driving link assembly comprises a limit link, a first transmission link, a second transmission link, a third transmission link, a fourth transmission link and a fifth transmission link; the limit link comprises a first hinging part, a second hinging part, a third hinging part and a fourth hinging part;

[0017] The limit link is fixed to the second joint; and the first hinging part, the second hinging part, the third hinging part and the fourth hinging part are fixedly connected;

[0018] The first hinging part is hinged with the output end of the first linear driving member through a tenth hinging hole; the second hinging part is hinged with the first end of the mounting member through an eleventh hinging hole; the third hinging part is hinged with the middle part of the third transmission link through a twelfth hinging hole; and the fourth hinging part is hinged with the fifth transmission link through a thirteenth hinging hole;

[0019] The first end of the first transmission link is fixedly connected with the mounting member, and the second end of the first transmission link is hinged with the first end of the second transmission link through a fifth hinging hole; the second end of the second transmission link is hinged with the first end of the third transmission link through a sixth hinging hole; the second end of the third transmission link is hinged with the first end of the fourth transmission link through a seventh hinging hole; the second end of the fourth transmission link is hinged with the eighth hinging hole of the fifth transmission link; and the fifth transmission link is fixedly connected with the first joint; wherein,

[0020] The eleventh hinging hole, the fifth hinging hole, the sixth hinging hole and the twelfth hinging hole form a cross four-bar linkage arrangement; the seventh hinging hole, the twelfth hinging hole, the thirteenth hinging hole and the eighth hinging hole form a parallel four-bar linkage arrangement.

[0021] The eleventh hinging hole and the thirteenth hinging hole are respectively located at or near the second interaction surface of the second joint.

[0022] Further, the limiting connecting rod is fixed to the second joint by the following structure:

[0023] The second joint comprises a second interaction surface and a second bottom surface; the second interaction surface and the second bottom surface are oppositely arranged; the limiting bottom surface of the limiting connecting rod cooperates with the second bottom surface and is fixed to the second bottom surface.

[0024] Further, the fifth transmission connecting rod is fixedly connected to the first joint by the following structure:

[0025] The first joint comprises a first interaction surface, a first bottom surface and a side surface facing the second joint; the first interaction surface and the first bottom surface are oppositely arranged;

[0026] The fifth transmission connecting rod is L-shaped, and the first bottom surface and the side surface of the first joint are respectively fixedly connected to the butt joint surface of the L-shaped fifth transmission connecting rod.

[0027] Further, the finger joint further comprises a third joint and a second driving member;

[0028] The mounting member is arranged at the third joint;

[0029] The output end of the second driving member is connected to the second end of the mounting member or the third joint to drive the third joint to move.

[0030] Further, the output end of the second driving member is connected to the second end of the mounting member by the following structure:

[0031] The second driving member comprises two linear driving parts and two bidirectional switching parts; the two linear driving parts are arranged side by side;

[0032] The output end of each linear driving part is respectively hinged to the second end of the mounting member through one bidirectional switching part.

[0033] Further, the finger joint further comprises a fixing member;

[0034] The second driving member is arranged at the fixing member; and / or,

[0035] One end of the fastener that mates with the mounting component is connected to the second end of the mounting component via a multi-directional shaft structure; and / or,

[0036] The multi-axis structure is located on or near the third interaction surface; the third interaction surface is the surface on which the third joint interacts with the outside.

[0037] Thirdly, embodiments of this application provide a robotic hand, which includes the robotic finger joints and robotic palm described above;

[0038] The robot's finger joints are fixed to the robot's hand by fasteners.

[0039] Secondly, embodiments of this application provide a robot, including a robot body and the robot hand described in the above embodiments.

[0040] Compared with the prior art, the embodiments of this application have the following main advantages:

[0041] In this embodiment, a first linear drive is mounted on a mounting component. The output end of the first linear drive is connected to the first joint and the second joint respectively through a drive linkage assembly, so as to drive the first joint and the second joint to move respectively through the drive linkage assembly, thereby achieving flexion and extension movements by driving the first joint and the second joint through a simple structure. Attached Figure Description

[0042] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A schematic diagram of the overall structure of an embodiment of the robot finger in a straightened state provided in this application;

[0044] Figure 2 for Figure 1 A schematic diagram of the partial explosion structure of the provided robotic finger;

[0045] Figure 3 for Figure 1 A schematic diagram of the overall structure of the robot's finger in flexion and extension states is provided.

[0046] Figure 4 A schematic diagram of the overall structure of another embodiment of the robot finger in the extended state provided in this application;

[0047] Figure 5 for Figure 4 A schematic diagram of the partial explosion structure of the provided robotic finger;

[0048] Figure 6 Fig. 1 shows a schematic diagram of the overall structure of a robot finger in a flexion state according to an embodiment of the present application; Figure 4 Fig. 2 shows a schematic diagram of the overall structure of a robot finger in an abduction / adduction state according to an embodiment of the present application;

[0049] Figure 7 Fig. 3 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application; Figure 4 Fig. 4 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application;

[0050] Figure 8 Fig. 5 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application; Figure 4 Fig. 6 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application;

[0051] Figure 9 Fig. 7 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application; Figure 4 Fig. 8 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application;

[0052] Figure 10 Fig. 9 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application; Figure 1 Fig. 10 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application;

[0053] Figure 11 Fig. 11 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application. Figure 1 Fig. 12 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application.

[0054] Fig. 13 shows a schematic diagram of the overall structure of a robot finger in an extension state according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The terms "comprises", "comprising", "includes", "including", "has", "having" and their variants are intended to be inclusive and allow for items not listed to be present.

[0056] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all referring to a common embodiment, or an embodiment that is independent of other embodiments. It will be explicitly understood that the embodiments described herein can be combined with other embodiments in various ways.

[0057] Unless otherwise defined, reference herein to one structure being "fixed to", "fixedly connected to" or similar descriptions in relation to another structure includes the structure being fixed to the other structure by any means, whether pre-manufactured or by a central member.

[0058] In order to make the technical personnel in the art better understand the scheme of the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings.

[0059] As shown in Figures 1 to 3 , Fig. 1 is a schematic diagram of the overall structure of an embodiment of the robot finger in a straightened state provided by the application; Figure 1 Fig. 2 is a schematic diagram of the partial exploded structure of the robot finger provided by the application; Figure 2 Fig. 3 is a schematic diagram of the overall structure of the robot finger in a flexed state provided by the application. Figure 1 Fig. 4 is a schematic diagram of the partial exploded structure of the robot finger provided by the application. Figure 3 Fig. 5 is a schematic diagram of the overall structure of the robot finger in a flexed state provided by the application. Figure 1 Fig. 6 is a schematic diagram of the overall structure of the robot finger in a straightened state provided by the application.

[0060] The embodiment of the application provides a robot finger joint 10, which comprises a first joint 11, a second joint 12, a driving linkage assembly 13, a first linear driving member 14 and a mounting member 15.

[0061] The first linear driving member 14 is mounted to the mounting member 15.

[0062] Specifically, the mounting member 15 can be arranged at any desired position as required, such as other joints of the finger, the palm, etc. For example, as shown in Figure 1 Fig. 5, the mounting member 15 is fixed to the third bottom surface of the third joint 16 described in the following embodiment.

[0063] The output end of the first linear driving member 14 is connected with the first joint 11 and the second joint 12 through the driving link assembly 13 respectively, so as to drive the first joint 11 and the second joint 12 to move through the driving link assembly 13 respectively.

[0064] In an optional embodiment, the second joint 12 comprises a second interaction surface and a second bottom surface, wherein the second interaction surface is arranged opposite to the second bottom surface.

[0065] The second interaction surface refers to the surface of the second joint interacting with the outside.

[0066] Specifically, the second interaction surface, the third joint interaction surface and the interaction surfaces of other joints can be provided with various sensors (such as force / tactile sensors, temperature sensors) and friction pads and other objects that can assist interaction according to needs, so as to realize the interaction between the finger joints and the outside world, thereby better realizing the function of human-like operation.

[0067] In the embodiment of the application, the second joint and the first joint can be any two adjacent joints of the finger according to needs. For example, Figure 4 As shown in the figure, the embodiment of the application takes a robot finger comprising three finger joints as an example, and the second joint 12 can be the interphalangeal joint of the finger, and the first joint 11 can be the distal phalanx joint of the finger.

[0068] Specifically, the first linear driving member can adopt various linear driving structural assemblies that exist now or will be developed in the future according to needs, such as assemblies comprising linear motors, air cylinders or hydraulic cylinders and other linear driving structures. For example, Figure 2 As shown in the figure, the first linear driving member 14 can comprise a linear driving structure, a speed reduction gear and a screw structure, the screw structure is arranged in parallel with the linear motor, and the ends thereof are connected through the speed reduction gear. The output end of the screw structure (i.e. the output end of the first linear driving member in the embodiment of the application) is driven to move back and forth through the linear driving structure. In addition, when the linear driving structure is a high-torque motor, the speed reduction gear can be omitted, that is, the output end of the linear driving structure can be directly connected with the screw structure; or the output end of the linear driving structure can be directly connected with the driving link assembly, etc., as long as the corresponding driving function can be realized, which all belong to the protection scope of the application.

[0069] In the embodiment of the application, the first linear driving member is installed on the mounting member, and the output end of the first linear driving member is connected with the first joint and the second joint through the driving link assembly respectively, so as to drive the first joint and the second joint to move through the driving link assembly respectively, thereby realizing the flexion and extension movement of the first joint and the second joint through a simple structure.

[0070] Continuing from Figure 1 ,2 As shown in 3 and 9, Figure 9 for Figure 4 The provided diagram shows the localized planar structure of a robot finger in an extended state.

[0071] In an optional embodiment, the drive link assembly 13 includes a transmission link assembly and a limiting link 136.

[0072] The motion-limiting link 136 is fixed to the second joint 12.

[0073] For example, such as Figure 2 As shown, the limiting bottom surface of the limiting link 136 is engaged and fixedly connected with the first bottom surface opposite the first interaction surface of the second joint 12, which can prevent the limiting link from interfering with the first interaction surface.

[0074] Furthermore, the limiting link is hinged to at least a portion of the mounting component and the aforementioned transmission link assembly to limit the hinged transmission link during transmission as needed.

[0075] Specifically, the limiting link 136 includes a first end corresponding to the first joint 11 and a second end corresponding to the mounting member 15; the first end of the limiting link 136 forms an eleventh hinge hole 1362, and the second end of the limiting link 136 forms a thirteenth hinge hole 1364. It is hinged to the mounting member 15 through the eleventh hinge hole 1362; it is hinged to the fifth transmission link 135 in the transmission link assembly, which is fixedly connected to the first joint, through the thirteenth hinge hole 1364, and the eleventh hinge hole 1362 and the thirteenth hinge hole 1364 are located on or near the second interaction surface of the second joint 12.

[0076] It should be noted that the embodiments of this application may adopt various transmission link assembly structures that can realize the driving transmission of the first joint and the second joint as needed. As long as the eleventh hinge hole 1362 and the thirteenth hinge hole 1364 of the above-mentioned limiting link are located at or near the second interaction surface of the second joint 12, and the second joint 12 rotates around the eleventh hinge hole 1362 and the first joint rotates around the thirteenth hinge hole 1364, thereby maximizing the relative static area of ​​the fingertip area of ​​the second joint and the second joint during finger movement, they all fall within the scope of protection of this application.

[0077] This embodiment of the application achieves a relatively larger static area of ​​the fingertip (i.e., the second interaction surface) of the finger joint during finger movement by adopting the above-described structure. By setting a limiting linkage, the changes in the fingertip area of ​​the second joint 12 and the first joint 11 are reduced during the movement of the linear drive member driving the second joint 12 and the first joint 11. Therefore, it can be ensured that the tactile sensor, friction pad, and other attachments attached to the fingertip can cover a larger area on the fingertip.

[0078] As shown in Figure 9 the output end of the first linear driving member is connected with the first joint and the second joint through the driving link assembly respectively, in an alternative embodiment, can be realized by the following structure:

[0079] The driving link assembly 13 comprises a transmission link assembly and a limiting link 136.

[0080] The transmission link assembly comprises a first transmission link 131, a second transmission link 132, a third transmission link 133, a fourth transmission link 134 and a fifth transmission link 135.

[0081] The limiting link 136 comprises a first hinged part 1365, a second hinged part 1366, a third hinged part 1367 and a fourth hinged part 1368.

[0082] Specifically, the first hinged part 1365, the second hinged part 1366, the third hinged part 1367 and the fourth hinged part 1368 are fixedly connected with each other.

[0083] It should be noted that the first hinged part 1365, the second hinged part 1366, the third hinged part 1367 and the fourth hinged part 1368 can be arranged in any manner and form any shape as needed, as long as the position of each transmission link can be limited as needed, it belongs to the protection scope of the present application.

[0084] The tenth hinged hole 1361 of the first hinged part 1365 of the limiting link 136 is hinged with the first hinged hole 141 of the output end of the first linear driving member 14, so as to drive the limiting link 136 as a whole by the first linear driving member 14.

[0085] As shown in Figure 1 , the limiting link 136 extends from the bottom to the direction of the mounting member 15 to form the second hinged part 1366; one end of the second hinged part 1366 extends to the direction of the first linear driving member 14 to form the first hinged part 1365; the other end of the second hinged part 1366 extends to the direction of the first joint 11 to form the fourth hinged part 1368; the limiting link 136 extends from the bottom to the direction of the third transmission link 133 to form the third hinged part 1367.

[0086] The eleventh hinged hole 1362 of the second hinged part 1366 is hinged with the second hinged hole 151 of the first end of the mounting member 15.

[0087] The twelfth hinged hole 1363 of the third hinged part 1367 is hinged with the third hinged hole 1332 of the middle part of the third transmission link 133.

[0088] The thirteenth hinge hole 1364 of the fourth hinge 1368 is hingedly connected with the fourth hinge hole 1352 of the fifth transmission link 135.

[0089] The first end of the first transmission link 131 is fixedly connected with the first end of the mounting 15 (for example, can be pre-fabricated as a whole or fixedly connected through a centering member), and the second end of the first transmission link 131 is hingedly connected with the first end of the second transmission link 132 through the fifth hinge hole 1311.

[0090] The second end of the second transmission link 132 is hingedly connected with the first end of the third transmission link 133 through the sixth hinge hole 1333.

[0091] The second end of the third transmission link 133 is hingedly connected with the first end of the fourth transmission link 134 through the seventh hinge hole 1331.

[0092] The second end of the fourth transmission link 134 is hingedly connected with the eighth hinge hole 1351 of the fifth transmission link 135.

[0093] For example, the first transmission link 131 is a parallel double link, the second ends of the double link are respectively hingedly connected with the two sides of the first end of the second transmission link 132 of the single link; the third transmission link 133 is a parallel double link, the first ends of the double link are respectively hingedly connected with the two sides of the second end of the second transmission link 132 of the single link, the second ends of the double link of the third transmission link 133 are respectively hingedly connected with the two sides of the first end of the fourth transmission link 132 of the single link, and the second ends of the fourth transmission link 132 of the single link are respectively hingedly connected with the connecting ends of the first joint 11.

[0094] The fifth transmission link 135 is fixedly connected with the first joint 11.

[0095] In an optional embodiment, the fifth transmission link 135 can be L-shaped, and the first joint 11 further includes a side surface facing the second joint 12 in addition to the first interaction surface and the first bottom surface mentioned in the above embodiment; the first bottom surface and the side surface of the first joint 11 are fixedly connected with the abutting surfaces of the L-shaped fifth transmission link 135, so as to fixedly connect the first joint 11 with the fifth transmission link 135; in addition, in an optional embodiment, the fourth link can be hingedly connected with the corner of the L-shaped fifth transmission link 135.

[0096] The embodiment of the present application realizes the driving of the first joint and the second joint by the two series four-bar links. Figure 10 As shown in the figure, Figure 10 The first joint 11 is driven by the first transmission link 131 and the second transmission link 132. Figure 1The structure schematic diagram of the first four-bar linkage formed in the robot finger is provided. The first four-bar linkage is a crossed four-bar linkage, the second hinge hole 151 is hinged with the eleventh hinge hole 1362, the third hinge hole 1332 is hinged with the twelfth hinge hole 1363, and thus the first crossed four-bar linkage is formed between the eleventh hinge hole 1362, the fifth hinge hole 1311, the sixth hinge hole 1333 and the twelfth hinge hole 1363, and a virtual linkage is formed between the eleventh hinge hole 1362 and the twelfth hinge hole 1363. As shown in Figure 11 Figure 11 Figure 1 The structure schematic diagram of the second four-bar linkage formed in the robot finger is provided. The fourth hinge hole 1352 is hinged with the thirteenth hinge hole 1364, the seventh hinge hole 1331, the twelfth hinge hole 1363, the thirteenth hinge hole 1364 and the eighth hinge hole 1351 form the second parallel four-bar linkage, the virtual linkage is formed between the twelfth hinge hole 1363 and the thirteenth hinge hole 1364, and the first hinge hole 1331, the third hinge hole 1332 and the sixth hinge hole 1333 are fixed on the third transmission linkage 133 to form two four-bar linkages in series. When the first linear driving member 14 drives the first hinge part 1365 to rotate the second joint 12 around the eleventh hinge hole 1362, the angle between the virtual linkage between the eleventh hinge hole 1362 and the twelfth hinge hole 1363 and the first transmission linkage 131 changes, the third transmission linkage 133 is driven to rotate around the twelfth hinge hole 1363 by the transmission of the crossed four-bar linkage, and the seventh hinge hole 1331 is driven to rotate around the eleventh hinge hole 1362, thereby transmitting the input to the second four-bar linkage, and the sixth hinge hole 1333 is driven to rotate around the thirteenth hinge hole 1364 by the action of the parallel four-bar linkage, so as to drive the second joint 12 and the first joint 11 to move.

[0097] In an optional embodiment, based on the above embodiment, the eleventh hinge hole 1362 and the thirteenth hinge hole 1364 are located on or near the second interaction surface of the second joint 12.

[0098] By locating the eleventh hinge hole 1362 and the thirteenth hinge hole 1364 on or near the second interaction surface of the second joint 12, the embodiment of the application realizes that the area of the finger pad (i.e., the interaction surface) of the finger joint is relatively larger during the movement of the finger, so that the area of the finger pad of the second joint 12 and the area of the finger pad of the first joint 11 change during the movement of the second joint 12 and the first joint 11 driven by the linear driving member, and thus the area of the touch sensor, the friction pad and other attachments attached to the finger pad can be larger.

[0099] ​​In this embodiment, the limiting linkage cooperates with the first, second, third, fourth, and fifth transmission linkages to form a cross linkage and a four-bar linkage, thereby driving the first and second joints to achieve flexion and extension movements through a simple structure.

[0100] Continue as Figure 9 As shown, in an optional embodiment, the finger joint described in this application embodiment further includes a support member 20. The bottom of the support member is fixedly connected to the mounting member 15 (e.g., by screws), and the top of the support member 20 is connected to the opposite end of the output end of the first linear drive member 14 (e.g., by the ninth hinge hole 21), so that the support member 20 can support the bottom of the first linear drive member 14.

[0101] Specifically, the support member 20 can be provided on one side of the opposite end of the first linear drive member 14 or on both sides of the opposite end of the first linear drive member 14, both of which fall within the scope of protection of this application.

[0102] In this embodiment, the support member supports the first linear drive member, allowing the first linear drive member to be set at a certain tilt angle relative to the mounting member, thereby reducing the length space occupied by the first linear drive member in the axial direction.

[0103] like Figures 4 to 8 As shown, Figure 4 A schematic diagram of the overall structure of another embodiment of the robot finger in the extended state provided in this application; Figure 5 for Figure 4 A schematic diagram of the partial explosion structure of the provided robotic finger; Figure 6 for Figure 4 A schematic diagram of the overall structure of the robot's finger in flexion and extension states is provided. Figure 7 for Figure 4 A schematic diagram of the overall structure of the robot's fingers in abduction / adduction states is provided. Figure 8 for Figure 4 A schematic diagram of the robot's planar structure with its fingers extended.

[0104] In an optional embodiment, the finger joint described in this application may further include a third joint 16 and a second drive member 17.

[0105] Mounting component 15 is located on the third joint 16.

[0106] In an optional embodiment, the mounting member 15 is fixed to the third bottom surface of the third joint 16.

[0107] Specifically, the third joint 16 comprises a third interaction surface and a third bottom surface; the third interaction surface and the third bottom surface are oppositely arranged; the mounting bottom surface of the mounting member is matched with the third bottom surface, and the mounting bottom surface is fixed to the third bottom surface.

[0108] In addition, the mounting member can also be fixed to other positions of the third joint as required, which belongs to the protection scope of the present application.

[0109] The output end of the second driving member 17 is connected with the second end of the mounting member 15 or the third joint, so as to drive the third joint 16 to move.

[0110] It should be noted that the second driving member described in the embodiments of the present application can be various driving members which can realize the connection with the mounting member and drive the third joint to move according to the requirements.

[0111] In the embodiments of the present application, the output end of the second driving member can be directly connected with the third joint, so as to directly drive the third joint to move through the second driving member, and further drive the mounting member to move; or the output end of the second driving member can also be connected with the second end of the mounting member, so as to drive the third joint to move through the mounting member, which all belong to the protection scope of the present application. For the convenience of understanding, the embodiments of the present application mainly take the output end of the second driving member 17 connected with the second end of the mounting member 15, so as to drive the third joint 16 to move through the mounting member 15 as an example to be described in detail.

[0112] In the embodiments of the present application, the first joint 11, the second joint 12 and the third joint 16 can constitute all or part of the fingers of the robot. For example, the first joint 11, the second joint 12 and the third joint 16 can constitute a three-joint robot finger, and then the third joint 16, the second joint 12 and the first joint 11 are sequentially arranged to form a metacarpophalangeal joint (i.e. the joint closest to the palm), an interphalangeal joint and a distal interphalangeal joint of the finger.

[0113] In the embodiments of the present application, the first joint, the second joint and the first linear driving member and the transmission assembly thereof are taken as a driving module of a single finger joint; in addition, the third joint and the second driving member thereof are taken as a driving module of another finger joint, so that the two independent finger driving modules can be conveniently disassembled and assembled; in addition, the two independent finger driving modules can be assembled to realize more flexible driving control of the entire finger.

[0114] In an optional embodiment, the finger joint can further comprise a fixing member 18; the second driving member 17 is arranged on the fixing member 18.

[0115] It should be noted that the connecting end of the second driving member (i.e. the opposite end of the output end of the second driving member) can be hinged to the fixing member through the cross shaft assembly, and the connecting end of the second driving member can be hinged to the mounting member through the cross shaft assembly, so that the connecting end can follow the movement during the movement of the fingers driven by the second driving member, and the driving effect will not be affected due to being arranged on the fixing member. Alternatively, in another optional embodiment, the second driving member is fixed to the fixing member, and the output structure (such as a lead screw) of the second driving member is hinged to the output end of the linear driving structure (such as a linear motor) through a cross shaft structure, so that the second driving member can also drive the third joint in two degrees of freedom. In addition, other similar structures can also be used, which are within the scope of protection of the present application.

[0116] It should be noted that the fixing member can be arranged at any required position. For example, the fixing member can be arranged on the palm of the robot hand (omitted in the figure).

[0117] According to the embodiment of the present application, the finger joint can be arranged at any required position through the fixing member.

[0118] In an optional embodiment, the second driving member 17 can include a linear driving part 171 and an adapter part 172.

[0119] Specifically, the linear driving part 171 can adopt various structure assemblies capable of achieving linear driving according to requirements, such as a structure assembly including a linear motor, a pneumatic cylinder or a hydraulic cylinder, etc. For example, as shown in FIG. 2, the linear driving part 171 can include two linear driving structures, two groups of speed reduction gears and two lead screw structures. Figure 4 Specifically, the linear driving part 171 can adopt various structure assemblies capable of achieving linear driving according to requirements, such as a structure assembly including a linear motor, a pneumatic cylinder or a hydraulic cylinder, etc. For example, as shown in FIG. 2, the linear driving part 171 can include two linear driving structures, two groups of speed reduction gears and two lead screw structures.

[0120] The output end of the linear driving part 171 is connected to the adapter part 172 to drive the mounting member 15 to move through the adapter part 172, and then drive the third joint 16 to move.

[0121] Specifically, the second driving member can adopt one or more linear driving parts and adapter parts according to requirements. In an optional embodiment, the adapter part is a multi-directional adapter part to realize the adapter of movement in multiple directions, such as a two-way adapter part, a three-way adapter part, etc.

[0122] For the convenience of understanding, the embodiments of the present application are mainly described by taking the bidirectional adapter as an example.

[0123] In an alternative embodiment, the second driving member comprises two linear driving parts 171 arranged in parallel, and the output end of each linear driving part 171 is connected with a bidirectional adapter 172, so that the movement of the third joint in two degrees of freedom can be realized.

[0124] Specifically, the bidirectional adapter described above can adopt various structural components that can realize bidirectional rotation according to the needs, such as cross shafts and spherical hinges.

[0125] For the convenience of understanding, the embodiments of the present application are mainly described by taking the bidirectional adapter 172 as a cross shaft as an example.

[0126] The output end of each linear driving part 171 is hingedly connected with the two ends of the first shaft of the cross shaft 172, and the two ends of the second shaft of the cross shaft 172 are hingedly connected with the mounting part 152 extending from the second end of the mounting member 15 to the cross shaft, so as to drive the mounting member 15 and further drive each joint (such as the third joint, the second joint and the first joint) of the whole finger to realize the movement in multiple degrees of freedom.

[0127] In an alternative embodiment, the second end of the mounting member 15 is further connected with the fixing member 18 through a multi-directional shaft structure (such as a universal shaft 19), so that the third joint is rotated around the multi-directional shaft structure under the driving of the second driving member.

[0128] Further, in an alternative embodiment, the multi-directional shaft structure is located at or near the third interaction surface of the third joint, so as to realize the relatively larger area of the finger pulp (i.e. the interaction surface) of the finger joint during the movement of the finger.

[0129] In the embodiments of the present application, as shown in FIG. 2, when the two linear driving parts 171 of the first driving member 17 are synchronously linearly moved, the first rotational movement of the third joint 16 can be realized, i.e. the flexion / extension movement of the finger joint is realized. Figure 6 Figure 7 As shown in FIG. 3, when the two linear driving parts 171 are differentially moved, the second rotational movement of the third joint 16 can be realized, i.e. the abduction / adduction movement of the finger is realized.

[0130] ​The third joint, the second joint and the first joint are sequentially arranged, and the first linear driving assembly drives the second joint and the first joint, and the second linear driving assembly drives the third joint, so that more degrees of freedom are realized, and the decoupling of the degrees of freedom at the third joint, the second joint and the first joint is realized, so that the fingers can be more flexibly controlled in multiple degrees of freedom according to actual conditions.

[0131] Based on the robot finger joint described in the above embodiment, the robot hand (omitted in the drawings) is provided in the embodiment of the application.

[0132] In an optional embodiment, the robot hand comprises the robot finger joint described in the above embodiment and a robot palm.

[0133] Further, in an optional embodiment, the robot finger joint can be arranged on the robot palm through the fixing member described in the above embodiment, so as to connect the robot finger joint to the robot palm.

[0134] Based on the robot hand described in the above embodiment, the robot (omitted in the drawings) is provided in the embodiment of the application, which comprises a robot body and the robot hand described in the above embodiment. The robot hand is arranged at an execution end of the robot body, and is used to execute actions such as grabbing and moving a target object.

[0135] It should be noted that the robot described above can be any robot that has been developed or will be developed in the future, such as a humanoid robot or an industrial robot, and the application is not limited thereto.

[0136] The description of the robot hand is described in the above embodiment, and will not be repeated here.

[0137] Obviously, the above-described embodiments are only some embodiments of the application, but not all the embodiments of the application. The preferred embodiments of the application are given in the drawings, but the patent scope of the application is not limited thereto. The application can be realized in many different forms, and contrary, the purpose of providing these embodiments is to make the disclosure of the application more thorough and comprehensive. Although the application is described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some technical features. Any equivalent structure made by using the content of the specification and the drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the application.

Claims

1. A robotic finger joint, characterized in that, The joint includes: a first joint, a second joint, a drive linkage assembly, a first linear drive component, and a mounting component; the drive linkage assembly includes a limiting link and a transmission link; The first linear drive is mounted on the mounting component; The output end of the first linear drive is connected to the first joint and the second joint respectively through the drive linkage assembly, so as to drive the first joint and the second joint to move respectively through the drive linkage assembly.

2. The robotic finger joint according to claim 1, characterized in that, The drive linkage assembly includes: a transmission linkage assembly and a limiting linkage; The motion-limiting linkage is fixed to the second joint; The limiting linkage includes a first end corresponding to the first joint and a second end corresponding to the mounting member; the first end of the limiting linkage forms an eleventh hinge hole; the second end of the limiting linkage forms a thirteenth hinge hole. The limiting link is hinged to the mounting component through the eleventh hinge hole to limit the second end of the second joint to rotate around the eleventh hinge hole; the limiting link is hinged to the fifth transmission link in the transmission link assembly through the thirteenth hinge hole, and the fifth transmission link is fixedly connected to the first joint to limit the first joint to rotate around the thirteenth hinge hole. The eleventh hinge hole and the thirteenth hinge hole are respectively located on or near the second interaction surface of the second joint; and / or, The finger joint also includes a support member; the bottom of the support member is fixedly connected to the mounting member, and the top of the support member is connected to the opposite end of the output end of the first linear drive member, so as to support the opposite end of the first linear drive member through the support member.

3. The robotic finger joint according to claim 1, characterized in that, The output end of the first linear drive unit is connected to the first joint and the second joint respectively through the drive linkage assembly, which is achieved through the following structure: The drive linkage assembly includes a limiting linkage, a first transmission linkage, a second transmission linkage, a third transmission linkage, a fourth transmission linkage, and a fifth transmission linkage; the limiting linkage includes a first hinge portion, a second hinge portion, a third hinge portion, and a fourth hinge portion; The limiting linkage is fixed to the second joint; and the first hinge, the second hinge, the third hinge, and the fourth hinge are fixedly connected. The first hinge portion is hinged to the output end of the first linear drive member through the tenth hinge hole; the second hinge portion is hinged to the first end of the mounting member through the eleventh hinge hole; the third hinge portion is hinged to the middle part of the third transmission link through the twelfth hinge hole; and the fourth hinge portion is hinged to the fifth transmission link through the thirteenth hinge hole. The first end of the first transmission link is fixedly connected to the mounting component; the second end of the first transmission link is hinged to the first end of the second transmission link through a fifth hinge hole; the second end of the second transmission link is hinged to the first end of the third transmission link through a sixth hinge hole; the second end of the third transmission link is hinged to the first end of the fourth transmission link through a seventh hinge hole; the second end of the fourth transmission link is hinged to the eighth hinge hole of the fifth transmission link; the fifth transmission link is fixedly connected to the first joint; wherein... The eleventh hinge hole, the fifth hinge hole, the sixth hinge hole, and the twelfth hinge hole form a cross four-bar linkage; the seventh hinge hole, the twelfth hinge hole, the thirteenth hinge hole, and the eighth hinge hole form a parallel four-bar linkage. The eleventh hinge hole and the thirteenth hinge hole are respectively located on or near the second interaction surface of the second joint.

4. The robotic finger joint according to claim 2 or 3, characterized in that, The limiting linkage is fixed to the second joint by the following structure: The second joint includes a second interactive surface and a second bottom surface; the second interactive surface and the second bottom surface are arranged opposite to each other; the limiting bottom surface of the limiting linkage cooperates with the second bottom surface and is fixed to the second bottom surface.

5. The robotic finger joint according to claim 3, characterized in that, The fifth transmission link is fixedly connected to the first joint through the following structure: The first joint includes a first interaction surface, a first bottom surface, and a side surface facing the second joint; the first interaction surface and the first bottom surface are disposed opposite to each other; The fifth transmission link is L-shaped, and the first bottom surface and the side surface of the first joint are fixedly connected to the mating surface of the L-shaped fifth transmission link.

6. The robotic finger joint according to any one of claims 1 to 3, characterized in that, The finger joint also includes: a third joint and a second drive element; The mounting component is disposed on the third joint; The output end of the second drive member is connected to the second end of the mounting member or the third joint to drive the third joint to move.

7. The robotic finger joint according to claim 6, characterized in that, The connection between the output end of the second driving component and the second end of the mounting component is achieved through the following structure: The second driving component includes two linear driving sections and two bidirectional adapter sections; the two linear driving sections are arranged side by side. The output end of each of the linear drive units is hinged to the second end of the mounting member via a bidirectional adapter.

8. The robotic finger joint according to claim 6, characterized in that, The finger joint also includes: a fixing element; The second driving member is disposed on the fixing member; and / or, One end of the fastener that mates with the mounting component is connected to the second end of the mounting component via a multi-directional shaft structure; and / or The multi-axis structure is located on or near the third interaction surface; the third interaction surface is the surface on which the third joint interacts with the outside.

9. A robotic hand, characterized in that, The robotic hand includes robotic finger joints and a robotic palm according to any one of claims 1 to 8; The robot's finger joints are fixed to the robot's hand by fasteners.

10. A robot, characterized in that, It includes the robot body and the robot hand as described in claim 9.

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