Finger module, dexterous hand, gripper and robot

Abstract

The application relates to the technical field of robots, in particular to a finger module, a dexterous hand, a clamping jaw and a robot, and solves the problem that the finger structure of a dexterous hand or a clamping jaw is poor in universality and cannot be adapted to various dexterous hands or clamping jaws. The finger module comprises a first phalanx, a first driving assembly, a second phalanx and a second driving assembly. The first driving assembly is connected with the first phalanx and is configured to drive the first phalanx to rotate around a first axis, the second phalanx is rotatably connected with the first phalanx around a second axis, the second driving assembly is arranged on the first phalanx and is connected with the second phalanx and is configured to drive the second phalanx to rotate around the second axis, that is, the second driving assembly is built-in the first phalanx and does not need to be installed on a palm, the modularity of the finger module is realized, the finger module can be conveniently installed on various dexterous hands or clamping jaws, and the finger module can be flexibly configured and arranged according to different application conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a finger module, a dexterous hand, a gripper and a robot. BACKGROUND

[0002] The dexterous hand or the gripper is necessary hardware for robots to realize complex operations. The mechanical finger is the end effector of the dexterous hand or the gripper. With the wide application of artificial intelligence, the mechanical finger plays an important role in production and life and becomes an indispensable device. The dexterous hand or the gripper in the related art mainly adopts a whole structure, for example, coupling exists between multiple mechanical fingers, the mechanical finger needs to be designed according to the palm, and the like.

[0003] Therefore, the finger structure of the dexterous hand or the gripper in the related art has poor universality and cannot adapt to multiple dexterous hands or grippers. CONTENT OF THE INVENTION

[0004] Therefore, the finger structure of the dexterous hand or the gripper in the related art has poor universality and cannot adapt to multiple dexterous hands or grippers.

[0005] In a first aspect, the embodiments of the present application provide a finger module, comprising: a first phalanx; a first driving assembly connected with the first phalanx and configured to drive the first phalanx to rotate around a first axis; a second phalanx rotatably connected with the first phalanx around a second axis, the second axis being parallel to the first axis; and a second driving assembly arranged on the first phalanx and connected with the second phalanx and configured to drive the second phalanx to rotate around the second axis.

[0006] In some embodiments, the first driving assembly comprises: a first driving source comprising a first fixed part and a first movable part, the first fixed part being configured to drive the first movable part to rotate; a first worm rotatably connected with the first movable part and rotating under the drive of the first movable part; and a first worm wheel rotatably connected with the first fixed part around the first axis and connected with the first phalanx, the first worm wheel being engaged with the first worm and rotating around the first axis under the drive of the first worm to drive the first phalanx to rotate around the first axis; and / or, the second driving assembly comprises: a second driving source comprising a second fixed part and a second movable part, the second fixed part being arranged on the first phalanx, the second fixed part being configured to drive the second movable part to rotate; a second worm rotatably connected with the second movable part and rotating under the drive of the second movable part; and a second worm wheel connected with the second phalanx, the second worm wheel being engaged with the second worm and rotating around the second axis under the drive of the second worm to drive the second phalanx to rotate around the second axis.

[0007] In some embodiments, the first phalange includes a first component having a first end with a first shaft hole and a second end with a second shaft hole, and a second component disposed opposite to and connected with the first component, the second component having a first end with a third shaft hole and a second end with a fourth shaft hole, wherein the third shaft hole is coaxially disposed with the first shaft hole, and the fourth shaft hole is coaxially disposed with the second shaft hole; when the first driving assembly includes the first worm gear and the second driving assembly includes the second worm gear, the finger module further includes a first core shaft having a first end extending into the first shaft hole and a second end extending into the third shaft hole, the first core shaft being coaxially disposed with the first shaft hole and coaxially connected with the first worm gear; and the second phalange includes a shaft portion having a first end extending into the second shaft hole and a second end extending into the fourth shaft hole, the shaft portion being coaxially disposed with the second shaft hole and coaxially connected with the second worm gear.

[0008] In some embodiments, the first component has a first recess coaxially disposed with the first shaft hole and a second recess coaxially disposed with the second shaft hole; the second phalange has a wire routing hole extending from one end of the second phalange close to the first phalange to the other end of the second phalange away from the first phalange; wherein the finger module further includes a first magnetic member connected with and coaxially disposed with the first core shaft, a first sensor disposed in the first recess and configured to detect an absolute position of the first magnetic member, a second magnetic member connected with and coaxially disposed with the shaft portion, and a second sensor disposed in the second recess and configured to detect an absolute position of the second magnetic member; and a position sensing wire harness is electrically connected with the second sensor and passes through the wire routing hole and is led out from the other end of the wire routing hole away from the first phalange.

[0009] In some embodiments, the second phalange has a wire routing hole extending from one end of the second phalange close to the first phalange to the other end of the second phalange away from the first phalange; wherein the finger module further includes a tactile sensor detachably connected with the first phalange, and a tactile sensing wire harness electrically connected with the tactile sensor and passing through the wire routing hole and led out from the other end of the wire routing hole away from the first phalange.

[0010] In some embodiments, the finger module further comprises: a first gear connected with the first driving source, disposed at an end of the first driving source away from the second knuckle, the first gear rotating around a third axis under the driving of the first driving source, the third axis being perpendicular to the first axis; a second gear coaxially connected with an end of the first worm away from the second knuckle and engaged with the first gear; and a third gear connected with the first fixed member and coaxially disposed with the first gear.

[0011] In a second aspect, embodiments of the present application provide a dexterous hand, comprising: a palm substrate; a third driving assembly connected with the palm substrate; at least one finger module of the first aspect, the first driving assembly of the finger module being connected with the third driving assembly so that the third driving assembly drives the first driving assembly to rotate around a third axis.

[0012] In a third aspect, embodiments of the present application provide a gripper, comprising: a base; a plurality of finger modules of the first aspect, the finger modules being rotatably connected with the base around a third axis; and a fourth driving assembly connected with the base and in transmission connection with the first driving assemblies of the plurality of finger modules.

[0013] In some embodiments, the plurality of finger modules are disposed around the fourth driving assembly; wherein the plurality of finger modules are evenly distributed around the circumference of the fourth driving assembly; or the number of the finger modules is three, the angle between two of the three finger modules is 180 degrees, and the angle between the other one of the three finger modules and each of the two finger modules is 90 degrees; or the number of the finger modules is three, two of the three finger modules are disposed side by side, and the other one of the three finger modules is disposed opposite to the two finger modules.

[0014] In a fourth aspect, embodiments of the present application provide a robot, comprising: a main body; at least one dexterous hand of the second aspect and / or at least one gripper of the third aspect connected with the main body.

[0015] The finger module provided by the embodiment of the present application comprises a first phalanx, a first driving assembly, a second phalanx and a second driving assembly. The first driving assembly is connected with the first phalanx and is configured to drive the first phalanx to rotate around a first axis. The second phalanx is rotatably connected with the first phalanx around a second axis. The second driving assembly is arranged on the first phalanx and connected with the second phalanx and is configured to drive the second phalanx to rotate around the second axis. That is, the second driving assembly is built in the first phalanx and does not need to be installed on the palm, thereby realizing the modularization of the finger module, facilitating the installation of the finger module on various dexterous hands or grippers, and enabling the flexible configuration and layout of the finger module according to different application conditions. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0017] Figure 1 Fig. 1 shows a structural schematic diagram of a finger module provided by an embodiment of the present application.

[0018] Figure 2 Fig. 2 shows a side view of the finger module provided by the embodiment of the present application.

[0019] Figure 3 Fig. 3 shows a front view of the finger module provided by the embodiment of the present application. Figure 2 Fig. 4 shows a sectional view of the finger module provided by the embodiment of the present application in the A-A direction.

[0020] Figure 4 Fig. 5 shows a sectional view of the finger module provided by the embodiment of the present application in the B-B direction.

[0021] Figure 5 Fig. 6 shows a sectional view of the finger module provided by the embodiment of the present application in the C region. Figure 4 Fig. 7 shows a sectional view of the finger module provided by the embodiment of the present application in the D region.

[0022] Figure 6 Fig. 8 shows a sectional view of the finger module provided by the embodiment of the present application in the E region. Figure 5 Fig. 9 shows a partial enlarged view of the finger module provided by the embodiment of the present application in the C region.

[0023] Figure 7 Fig. 10 shows a partial enlarged view of the finger module provided by the embodiment of the present application in the D region. Figure 5 Fig. 11 shows a partial enlarged view of the finger module provided by the embodiment of the present application in the E region.

[0024] Figure 8 Fig. 12 shows an installation schematic diagram of a first sensor and a first magnetic member provided by the embodiment of the present application.

[0025] Figure 9An installation diagram of a second sensor and a second magnetic member is shown.

[0026] Figure 10 A structural diagram of a dexterous hand is shown.

[0027] Figure 11 A structural diagram of a gripper is shown.

[0028] Figure 12 A top view diagram of a gripper is shown.

[0029] Figure 13 A top view diagram of a gripper is shown.

[0030] Figure 14 A top view diagram of a gripper is shown.

[0031] Figure 15 A structural diagram of a robot is shown.

[0032] Reference signs:

[0033] 1, robot; 2, main body; 3, dexterous hand; 31, index finger; 32, middle finger; 33, ring finger; 34, little finger; 4, gripper; 10, finger module; 100, first phalanx; 110, first constituent part; 111, first shaft hole; 112, second shaft hole; 113, first groove; 114, second groove; 120, second constituent part; 121, third shaft hole; 122, fourth shaft hole; 200, first driving assembly; 210, first driving source; 211, first fixed part; 212, first movable part; 220, first worm; 230, first worm wheel; 300, second phalanx; 310, shaft part; 320, wire through hole; 400, second driving assembly; 410, second driving source; 411, second fixed part; 412, second movable part; 420, second worm; 430, second worm wheel; 510, first mandrel; 610, first magnetic member; 620, first sensor; 630, second magnetic member; 640, second sensor; 650, position sensing wire harness; 660, tactile sensor; 670, tactile sensing wire harness; 710, first gear; 720, second gear; 730, third gear; 810, palm base plate; 820, third driving assembly; 821, first motor; 822, fourth gear; 830, base; 840, fourth driving assembly; 841, second motor; 842, fifth gear; L1, first axis; L2, first axis; L3, third axis. DETAILED DESCRIPTION

[0034] With reference to the drawings and the embodiments disclosed herein, it will be obvious to those skilled in the art that the embodiments described herein are only a part of the embodiments of the present application, and are not all the embodiments. Based on the embodiments disclosed herein, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.

[0035] Figure 1 Fig. 1 shows a structural schematic diagram of a finger module provided by an embodiment of the present application. Figure 2 Fig. 2 shows a side view of the finger module provided by an embodiment of the present application. Figure 3 Fig. 3 shows a front view of the finger module provided by an embodiment of the present application. Figure 2 Fig. 4 shows a sectional view of the finger module in the A-A direction. Figure 4 Fig. 5 shows a front view of the finger module provided by an embodiment of the present application. Figure 5 Fig. 6 shows a sectional view of the finger module in the B-B direction. Figure 4 Fig. 7 shows a sectional view of the finger module in the C region. Figure 6 Fig. 8 shows a sectional view of the finger module in the D region. Figure 5 Fig. 9 shows a partial enlarged view of the finger module in the C region. Fig. 10 shows a partial enlarged view of the finger module in the D region.

[0036] Fig. 11 shows a partial enlarged view of the finger module in the D region. Figure 7 Fig. 12 shows a partial enlarged view of the finger module in the D region. Figure 5 Fig. 13 shows a partial enlarged view of the finger module in the D region. Figure 8 Fig. 14 shows a schematic diagram of installation of a first sensor and a first magnetic member provided by an embodiment of the present application. Figure 9 Fig. 15 shows a schematic diagram of installation of a second sensor and a second magnetic member provided by an embodiment of the present application. Figure 10 Fig. 16 shows a structural schematic diagram of a dexterous hand provided by an embodiment of the present application. Figure 11 Fig. 17 shows a structural schematic diagram of a gripper provided by an embodiment of the present application. Figure 12 Fig. 18 shows a top view of the gripper provided by an embodiment of the present application. Figure 13 Fig. 19 shows a top view of the gripper provided by another embodiment of the present application. Figure 14 Fig. 20 shows a top view of the gripper provided by another embodiment of the present application. Figure 15 Fig. 21 shows a structural schematic diagram of a robot provided by an embodiment of the present application. As shown in Figures 1 to 3 Fig. 22 shows a structural schematic diagram of a finger module provided by an embodiment of the present application.

[0037] Fig. 23 shows a structural schematic diagram of a finger module provided by an embodiment of the present application. Figures 10 to 15As shown, the finger module 10 is applied to the dexterous hand 3 or the gripper 4. The dexterous hand 3 or the gripper 4 is applied to the robot 1. Exemplarily, the robot 1 comprises the main body 2 and the dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. Exemplarily, the robot 1 comprises the main body 2 and the gripper 4, and the gripper 4 is arranged on the main body 2. Exemplarily, the robot 1 comprises the main body 2, the dexterous hand 3 and the gripper 4, and the dexterous hand 3 and the gripper 4 are arranged on the main body 2. The main body 2 can be a structure of a body part of a humanoid robot or a structure of an arm part of an industrial robot, which is not limited in the present application.

[0038] The first driving assembly 200 is connected with the first phalanx 100 and is configured to drive the first phalanx 100 to rotate around the first axis L1. Exemplarily, the first driving assembly 200 can comprise a first fixed member and a first movable member, and the first fixed member drives the first movable member to rotate. The connection of the first driving assembly 200 with the first phalanx 100 can be understood as the connection of the first movable member of the first driving assembly 200 with the first phalanx 100, so that the first movable member drives the first phalanx 100 to rotate. Exemplarily, the first driving assembly 200 can be a motor, i.e. directly driving the first phalanx 100 to rotate around the first axis L1 by using the motor. The first driving assembly 200 can also be a combination of a motor and a belt transmission or a combination of a motor and a gear transmission. Exemplarily, the first phalanx 100 can be a cylindrical structure, a rod-shaped structure or a special-shaped structure.

[0039] The second phalanx 300 is rotatably connected with the first phalanx 100 around the second axis L2. The second axis L2 is parallel to the first axis L1. Exemplarily, the second phalanx 300 can be a cylindrical structure, a rod-shaped structure or a special-shaped structure.

[0040] The second driving assembly 400 is arranged on the first phalanx 100 and is connected with the second phalanx 300 and is configured to drive the second phalanx 300 to rotate around the second axis L2. Exemplarily, the second driving assembly 400 can comprise a second fixed member and a second movable member, and the second fixed member drives the second movable member to rotate. The arrangement of the second driving assembly 400 on the first phalanx 100 can be understood as the fixed connection or detachable connection of the second fixed member on the first phalanx 100. The connection of the second driving assembly 400 with the second phalanx 300 can be understood as the connection of the second movable member with the second phalanx 300 to drive the second phalanx 300 to rotate. Exemplarily, the second driving assembly 400 can be a motor, i.e. directly driving the second phalanx 300 to rotate around the second axis L2 by using the motor. The second driving assembly 400 can also be a combination of a motor and a belt transmission or a combination of a motor and a gear transmission.

[0041] By embedding the second driving assembly 400 in the first phalange 100, the installation on the palm is not needed, the modularization of the finger module 10 is realized, the finger module 10 is facilitated to be installed in various dexterous hands 3 or clamping jaws 4, and the finger module 10 can be flexibly configured and laid out according to different application conditions.

[0042] In some embodiments, the first driving assembly 200 includes a first driving source 210, a first worm 220 and a first worm wheel 230. The first driving source 210 includes a first fixed part 211 and a first movable part 212, and the first fixed part 211 is configured to drive the first movable part 212 to rotate. Exemplarily, the first driving source 210 can be a motor, an electric cylinder or the like device that can provide a rotating force, which is not specifically limited in the present application. The first worm 220 is in driving connection with the first movable part 212 and rotates under the driving of the first movable part 212. The first worm wheel 230 is rotatably connected with the first fixed part 211 about a first axis L1 and is connected with the first phalange 100. The first worm wheel 230 is in engagement with the first worm 220 and rotates about the first axis L1 under the driving of the first worm 220, so as to drive the first phalange 100 to rotate about the first axis L1.

[0043] Since the worm wheel and worm have a self-locking function, the self-locking of the first phalange 100 can be realized by the transmission of the first worm 220 and the first worm wheel 230, and then the large force grasping is realized.

[0044] In some embodiments, the second driving assembly 400 includes a second driving source 410, a second worm 420 and a second worm wheel 430. The second driving source 410 includes a second fixed part 411 and a second movable part 412. The second fixed part 411 is arranged in the first phalange 100. The second fixed part 411 is configured to drive the second movable part 412 to rotate. Exemplarily, the second driving source 410 can be a motor, an electric cylinder or the like device that can provide a rotating force, which is not specifically limited in the present application. The second worm 420 is in driving connection with the second movable part 412 and rotates under the driving of the second movable part 412. The second worm wheel 430 is connected with the second phalange 300. The second worm wheel 430 is in engagement with the second worm 420 and rotates about a second axis L2 under the driving of the second worm 420, so as to drive the second phalange 300 to rotate about the second axis L2.

[0045] Since the worm wheel and worm have a self-locking function, the self-locking of the second phalange 300 can be realized by the transmission of the second worm 420 and the second worm wheel 430, and then the large force grasping is realized.

[0046] In some embodiments, the first phalange 100 comprises a first component 110 and a second component 120. The first end of the first component 110 has a first shaft hole 111, and the second end of the first component 110 has a second shaft hole 112. The second component 120 is oppositely arranged and connected with the first component 110. The first end of the second component 120 has a third shaft hole 121, and the second end of the second component 120 has a fourth shaft hole 122. The third shaft hole 121 is coaxially arranged with the first shaft hole 111, and the fourth shaft hole 122 is coaxially arranged with the second shaft hole 112.

[0047] In the case that the first driving assembly 200 comprises a first worm gear 230, and the second driving assembly 400 comprises a second worm gear 430, the finger module 10 further comprises a first mandrel 510. The first end of the first mandrel 510 extends into the first shaft hole 111, and the second end of the first mandrel 510 extends into the third shaft hole 121. The first mandrel 510 is coaxially arranged with the first shaft hole 111, and the first mandrel 510 is coaxially connected with the first worm gear 230. The second phalange 300 comprises a shaft portion 310. The first end of the shaft portion 310 extends into the second shaft hole 112, and the second end of the shaft portion 310 extends into the fourth shaft hole 122. The shaft portion 310 is coaxially arranged with the second shaft hole 112, and the shaft portion 310 is coaxially connected with the second worm gear 430.

[0048] By making the first phalange 100 comprise the first component 110 and the second component 120, the installation and disassembly of the first phalange 100 are facilitated.

[0049] In some embodiments, the first component 110 has a first recess 113 and a second recess 114. The first recess 113 is coaxially arranged with the first shaft hole 111, and the second recess 114 is coaxially arranged with the second shaft hole 112. The second phalange 300 has a wire passing hole 320 extending from the end of the second phalange 300 close to the first phalange 100 to the end of the second phalange 300 away from the first phalange 100.

[0050] The finger module 10 further comprises a first magnetic member 610, a first sensor 620, a second magnetic member 630, a second sensor 640, and a position sensing wire harness 650. The first magnetic member 610 is connected with and coaxially arranged with the first mandrel 510. The first sensor 620 is arranged in the first recess 113 and configured to detect the absolute position of the first magnetic member 610. The second magnetic member 630 is connected with and coaxially arranged with the shaft portion 310. The second sensor 640 is arranged in the second recess 114 and configured to detect the absolute position of the second magnetic member 630. The position sensing wire harness 650 is electrically connected with the second sensor 640 and passes through the wire passing hole 320 and is led out from the end of the wire passing hole 320 away from the first phalange 100.

[0051] The first sensor 620 can detect the absolute position of the first magnetic member 610 by Hall principle, and the detection is accurate and the first sensor 620 is easy to install. In other words, the first sensor 620 can be an absolute position sensor. The second sensor 640 can also detect the absolute position of the second magnetic member 630 by Hall principle, and the detection is accurate and the second magnetic member 630 is easy to install. In other words, the second sensor 640 can be an absolute position sensor.

[0052] The position sensing wire harness 650 passes through the wire passing hole 320 and is led out from the end of the wire passing hole 320 away from the first phalanx 100, realizing internal wiring of the finger module 10.

[0053] In some embodiments, the second phalanx 300 has a wire passing hole 320 extending from the end of the second phalanx 300 close to the first phalanx 100 to the end of the second phalanx 300 away from the first phalanx 100.

[0054] The finger module 10 further comprises a tactile sensor 660 and a tactile sensing wire harness 670. The tactile sensor 660 is detachably connected with the first phalanx 100. The tactile sensing wire harness 670 is electrically connected with the tactile sensor 660 and passes through the wire passing hole 320 and is led out from the end of the wire passing hole 320 away from the first phalanx 100.

[0055] Exemplarily, the tactile sensor 660 can be a surface array tactile sensor to improve the tactile ability of the finger module 10. The tactile sensing wire harness 670 passes through the wire passing hole 320 and is led out from the end of the wire passing hole 320 away from the first phalanx 100, realizing internal wiring of the finger module 10.

[0056] In some embodiments, the finger module 10 further comprises a first gear 710, a second gear 720 and a third gear 730. The first gear 710 is connected with the first driving source 210 and is arranged at the end of the first driving source 210 away from the second phalanx 300, and the first gear 710 rotates around the third axis L3 under the drive of the first driving source 210. The second gear 720 is coaxially connected with the end of the first worm 220 away from the second phalanx 300 and is engaged with the first gear 710. The third gear 730 is connected with the first fixed member 211 and is coaxially arranged with the first gear 710.

[0057] Exemplarily, the third gear 730 can be a sector gear or a straight-tooth cylindrical gear. Exemplarily, as shown in Figure 1 The third gear 730 is a sector gear, which occupies small space and facilitates integration of the finger module 10 on the dexterous hand 3 or the gripper 4.

[0058] In some embodiments, the finger module 10 can further comprise a fifth driving assembly in transmission connection with the third gear 730 to drive the first driving assembly 200 to rotate through the third gear 730. Exemplarily, the fifth driving assembly can be a combination of a motor and a fourth gear, i.e. the fourth gear is driven to rotate by the motor, and the fourth gear is engaged with the third gear 730 to drive the first driving assembly 200 to rotate around the third axis L3.

[0059] Exemplarily, the finger module 10 further comprises a base 830. The base 830 can be a special-shaped support structure, and the specific shape of the base 830 can be set according to actual needs, which is not limited in the present application. The third gear 730 is rotatably connected to the base 830 around the third axis L3.

[0060] The embodiments of the present application also provide a dexterous hand 3 applied to the robot 1. As shown in the figure, Figure 10 The dexterous hand 3 comprises a palm base plate 810, a third driving assembly 820 and the finger module 10 mentioned in the above embodiments.

[0061] The third driving assembly 820 is connected to the palm base plate 810. The first driving assembly 200 of the finger module 10 is connected to the third driving assembly 820, so that the third driving assembly 820 drives the first driving assembly 200 to rotate around the third axis L3.

[0062] Exemplarily, the palm base plate 810 can be a plate-like structure similar to a palm. Exemplarily, the third driving assembly 820 can comprise a third fixed member and a third movable member, and the third fixed member drives the third movable member to rotate.

[0063] The connection of the first driving assembly 200 to the third driving assembly 820 can be understood as the connection of the first driving assembly 200 to the third movable member, so that the third movable member drives the first driving assembly 200 to rotate around the third axis L3, and further drives the entire finger module 10 to rotate around the third axis L3. Exemplarily, the third driving assembly 820 can be a motor, i.e. the motor directly drives the first driving assembly 200 to rotate around the fourth axis L4. The third driving assembly 820 can also be a combination of a motor and a belt drive, or a combination of a motor and a gear drive. Exemplarily, as shown in the figure, Figure 11 The third driving assembly 820 can be a combination of a first motor 821 and a fourth gear 822, i.e. the fourth gear 822 is driven to rotate by the first motor 821, and the fourth gear 822 is engaged with the third gear 730 to drive the first driving assembly 200 to rotate around the third axis L3.

[0064] Exemplarily, the finger module 10 can serve as the thumb of the dexterous hand 3. The dexterous hand 3 can further include an index finger 31, a middle finger 32, a ring finger 33, and a little finger 34. The index finger 31, the middle finger 32, the ring finger 33, and the little finger 34 are all connected with the palm base plate 810.

[0065] Since the dexterous hand 3 includes the finger module 10, the dexterous hand 3 also has all the technical features and technical effects of the finger module 10, which will not be repeated here.

[0066] Embodiments of the present application also provide a gripper 4. As shown in the drawings, the gripper 4 includes a base 830, a plurality of finger modules 10 mentioned in the above embodiments, and a fourth driving assembly 840. Figure 11

[0067] Exemplarily, the base 830 can be a special-shaped support structure, and the specific shape of the base 830 can be set according to actual needs, which is not limited in the present application. The finger module 10 is rotatably connected with the base 830 about the third axis L3. The fourth driving assembly 840 is connected with the base 830 and is in transmission connection with the first driving assembly 200 of the plurality of finger modules 10.

[0068] Exemplarily, the fourth driving assembly 840 can include a fourth fixed member and a fourth movable member, and the fourth fixed member drives the fourth movable member to rotate.

[0069] The fourth driving assembly 840 being connected with the base 830 and being in transmission connection with the first driving assembly 200 of the plurality of finger modules 10 can be understood as that the fourth fixed member is connected with the base 830, and the fourth movable member is in transmission connection with the first driving assembly 200 of the plurality of finger modules 10, so that the fourth movable member drives the first driving assembly 200 to rotate about the third axis L3, and further drives the entire finger module 10 to rotate about the third axis L3. Exemplarily, the fourth driving assembly 840 can be a motor, i.e., directly driving the first driving assembly 200 to rotate about the third axis L3 by using the motor. The fourth driving assembly 840 can also be a combination of a motor and a belt transmission, or a combination of a motor and a gear transmission. Exemplarily, as shown in the drawings, the fourth driving assembly 840 can be a combination of a second motor 841 and a fifth gear 842, i.e., driving the fifth gear 842 to rotate by using the second motor 841, and the fifth gear 842 is engaged with the third gear 730, so as to drive the first driving assembly 200 to rotate about the third axis L3. Figure 10

[0070] In some embodiments, as shown in the drawings, the plurality of finger modules 10 are arranged around the fourth driving assembly 840. Figures 11 to 14

[0071] Exemplarily, as shown in the drawings, the plurality of finger modules 10 are arranged around the fourth driving assembly 840. Figure 11 Figure 12 ​​​​As shown, the plurality of finger modules 10 are evenly distributed around the circumference of the fourth driving assembly 840.

[0072] Exemplarily, as shown in Figure 13 the number of finger modules 10 is three, the angle between two of the three finger modules 10 is 180 degrees, and the angle between the other one of the three finger modules 10 and each of the two finger modules 10 is 90 degrees.

[0073] Exemplarily, as shown in Figure 14 the number of finger modules 10 is three, two of the three finger modules 10 are arranged side by side, and the other one of the three finger modules 10 is arranged opposite to the two finger modules 10.

[0074] Exemplarily, the number of finger modules 10 can also be four, five or more. The angle between the finger modules 10 can also be 30 degrees, 60 degrees or other angles, and the user can configure and arrange according to actual needs.

[0075] Embodiments of the present application also provide a robot 1. As shown in Figure 15 the robot 1 comprises a main body 2 and the dexterous hand 3 and / or the gripper 4 mentioned in the above embodiments. The dexterous hand 3 is connected with the main body 2.

[0076] Since the robot 1 comprises the dexterous hand 3 and / or the gripper 4 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the dexterous hand 3 and / or the gripper 4, which will not be described here again.

[0077] In the embodiments of the present application, if the form of connection is not explicitly limited, the form of connection can be detachable connection forms such as bolts and nuts, screws, buckles, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved by welding, bonding, etc.

[0078] In the description, "an embodiment", "embodiments" and the like indicate that the described embodiments can include a specific feature, structure or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure or characteristic in connection with other embodiments that are explicitly or implicitly described.

[0079] It should be understood that "on," "above," and "on top of" in the disclosure should be interpreted in the broadest context possible so that "on" means not only "directly on" but also includes the meaning of "on" with intervening features or layers therebetween, and "above" or "on top of" includes not only the meaning of "above" or "on top of" but also the meaning of "above" or "on top of" with no intervening features or layers therebetween (i.e., directly on).

[0080] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0081] It should be noted that, in the present document, the terms "comprising", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0082] The above description is merely illustrative of the application, and not restrictive. Since the application can be modified in arrangement and details known to those skilled in the art, it should be understood that it is intended to encompass any such modifications within the spirit and scope of the application, as described in the appended claims.

Claims

1. A finger module, characterized by Comprise: A first phalanx; A first driving assembly connected with the first phalanx and configured to drive the first phalanx to rotate around a first axis; A second phalanx rotatably connected with the first phalanx around a second axis, the second axis being parallel to the first axis; A second driving assembly arranged on the first phalanx and connected with the second phalanx and configured to drive the second phalanx to rotate around the second axis.

2. The finger module according to claim 1, wherein: The first driving assembly comprises: A first driving source comprising a first fixed part and a first movable part, the first fixed part being configured to drive the first movable part to rotate; A first worm rotatably connected with the first movable part and rotating under the drive of the first movable part; A first worm wheel rotatably connected with the first fixed part around the first axis and connected with the first phalanx, the first worm wheel being meshed with the first worm and rotating around the first axis under the drive of the first worm to drive the first phalanx to rotate around the first axis; and / or The second driving assembly comprises: A second driving source comprising a second fixed part and a second movable part, the second fixed part being arranged on the first phalanx, the second fixed part being configured to drive the second movable part to rotate; A second worm rotatably connected with the second movable part and rotating under the drive of the second movable part; A second worm wheel connected with the second phalanx, the second worm wheel being meshed with the second worm and rotating around the second axis under the drive of the second worm to drive the second phalanx to rotate around the second axis. The first phalanx comprises:

3. The finger module of claim 2, wherein, A first component, a first end of the first component having a first shaft hole, and a second end of the first component having a second shaft hole; A second component oppositely arranged and connected with the first component, a first end of the second component having a third shaft hole, and a second end of the second component having a fourth shaft hole, wherein the third shaft hole is coaxially arranged with the first shaft hole, and the fourth shaft hole is coaxially arranged with the second shaft hole; In the case that the first driving assembly comprises the first worm wheel and the second driving assembly comprises the second worm wheel, the finger module further comprises: A first core shaft, a first end of the first core shaft extending into the first shaft hole, and a second end of the first core shaft extending into the third shaft hole, the first core shaft being coaxially arranged with the first shaft hole and coaxially connected with the first worm wheel; The second phalanx comprises: A shaft part, a first end of the shaft part extending into the second shaft hole, and a second end of the shaft part extending into the fourth shaft hole, the shaft part being coaxially arranged with the second shaft hole and coaxially connected with the second worm wheel. The first component has a first recess and a second recess, the first recess being coaxially arranged with the first shaft hole, and the second recess being coaxially arranged with the second shaft hole; the second phalanx has a wire passing hole extending from one end of the second phalanx close to the first phalanx to the other end of the second phalanx away from the first phalanx; 4. The finger module of claim 3, wherein, The finger module further comprises: ​ A first magnetic member is connected to the first core shaft and coaxially arranged with the first core shaft; A first sensor is arranged in the first groove and configured to detect the absolute position of the first magnetic member; A second magnetic member is connected to the shaft portion and coaxially arranged with the shaft portion; A second sensor is arranged in the second groove and configured to detect the absolute position of the second magnetic member; A position sensing wire harness is electrically connected to the second sensor and passes through the wire passing hole and is led out from the end of the wire passing hole away from the first finger.

5. The finger module according to any one of claims 1 to 4, characterized in that The second finger has a wire passing hole extending from the end of the second finger close to the first finger to the end of the second finger away from the first finger; The finger module further comprises: A tactile sensor is detachably connected to the first finger; A tactile sensing wire harness is electrically connected to the tactile sensor and passes through the wire passing hole and is led out from the end of the wire passing hole away from the first finger.

6. The finger module according to any one of claims 2 to 4, characterized in that Further comprising: A first gear is connected to the first drive source and arranged at the end of the first drive source away from the second finger, the first gear rotates around a third axis under the drive of the first drive source, and the third axis is perpendicular to the first axis; A second gear is coaxially connected to the end of the first worm away from the second finger and engaged with the first gear; A third gear is connected to the first fixed member and coaxially arranged with the first gear.

7. A dexterous hand characterized by, Comprising: A palm substrate; A third driving assembly is connected to the palm substrate; The finger module of any one of claims 1 to 6, the first driving assembly of the finger module is connected to the third driving assembly, so that the third driving assembly drives the first driving assembly to rotate around a third axis.

8. A gripper characterized by, Comprising: A base; A plurality of finger modules of any one of claims 1 to 6, the finger modules are rotatably connected to the base around a third axis; A fourth driving assembly is connected to the base and drivingly connected to the first driving assemblies of the plurality of finger modules.

9. The jaw of claim 8, wherein, The plurality of finger modules are arranged around the fourth driving assembly; wherein The plurality of finger modules are evenly distributed around the circumference of the fourth driving assembly; or The number of finger modules is three, the angle between two of the three finger modules is 180 degrees, and the angle between the other finger module and the two finger modules is 90 degrees; or The number of finger modules is three, two of the three finger modules are arranged side by side, and the other finger module is arranged opposite to the two finger modules.

10. A robot, characterized in that Comprising: A main body; At least one of the dexterous hand of claim 7 and / or the gripper of claim 8 or 9 is connected to the main body.

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