Finger joint unit and robot

Abstract

The utility model discloses a finger joint unit and robot relates to robot technical field, wherein the finger joint unit includes shell, drive piece, enveloping worm and rotating shaft, the shell is equipped with the accommodation cavity that has first opening, drive piece cover is provided in the first opening of shell, the output shaft of drive piece extends into the accommodation cavity, and drive piece is equipped with the rotation shaft. The enveloping ring surface worm is arranged on the output shaft and located in the containing cavity, the rotating shaft is rotationally arranged on the shell and provided with a transmission part, the transmission part is in meshing transmission with the enveloping ring surface worm, and at least one end of the rotating shaft is exposed to the outer side of the shell; according to the technical scheme, due to the multi-tooth meshing and double-line contact characteristics of the enveloping ring surface worm, higher transmission precision and stability are provided, fine operation actions can be achieved, in addition, through worm driving, noise and size of the robot can be reduced, and the overall integration degree of the robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a finger joint unit and robot. BACKGROUND

[0002] Humanoid robots are robots that mimic the appearance and movements of humans, possessing high flexibility and adaptability. They are usually equipped with multiple joints and sensors, enabling them to perform complex tasks such as walking, grasping objects, and performing delicate operations. The design of humanoid robots aims to work and interact with humans in the same environment, thus they have wide application prospects in industries, medical care, services, and education. Through advanced sensors and artificial intelligence technology, humanoid robots can autonomously perceive the environment, make decisions, and perform tasks, providing assistance and support to humans, while also driving the continuous development and innovation of robot technology.

[0003] The robot finger joint unit is an important component of the robot dexterous hand, with precise and complex design, and simplified functions according to specific scenarios. The main function of the finger joint unit is to provide a certain degree of freedom, enabling the robot to complete flexion / extension, lateral swing, and other movements, thereby improving the flexibility and operation capability of the dexterous hand. For example, the distal phalanx joint and the middle phalanx joint each have 1 degree of freedom, enabling flexion / extension movement; while the metacarpal joint has 2 degrees of freedom, enabling flexion / extension and lateral swing movements. The design of these joint units not only determines the application scenarios of the robot, but also affects the performance of the robot in various tasks such as grasping, manipulation, and delicate movements.

[0004] In related technologies, the finger joint of the dexterous hand is driven by a rope drive mechanism or a planetary roller screw drive mechanism. However, the rope drive mechanism has low precision and short service life, making it difficult to meet actual application requirements. The planetary roller screw drive mechanism has high noise and large volume, making it inconvenient to integrate. UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide a robot finger joint unit driven by an envelope torus worm, thereby improving driving precision and reducing noise.

[0006] To achieve the above purpose, the finger joint unit according to the utility model is applied to a robot, and the finger joint unit comprises:

[0007] A housing is provided with a containing cavity having a first opening;

[0008] A driving member is provided on the first opening of the housing, and the output shaft of the driving member extends into the containing cavity;

[0009] An enveloping torus worm is arranged on the output shaft and located in the accommodating cavity; and

[0010] A rotating shaft is arranged on the shell, the rotating shaft is provided with a transmission member, the transmission member is engaged with the enveloping torus worm for transmission, and at least one end of the rotating shaft is exposed outside the shell.

[0011] In an embodiment, the shell is provided with mounting holes on both sides of the axial direction of the driving member, the two mounting holes are oppositely arranged, the two ends of the rotating shaft are rotatably arranged in the two mounting holes, and part of the structure of the rotating shaft is exposed outside the shell.

[0012] In an embodiment, the transmission member is a helical gear, and the helical gear is engaged with the enveloping torus worm.

[0013] The helical gear and the rotating shaft are integrally formed.

[0014] In an embodiment, the rotating shaft is formed with two ring grooves, the two ring grooves are sleeved with flexible sealing members, and the outer peripheral wall of the flexible sealing member is sealingly abutted against the inner peripheral wall of the mounting hole.

[0015] In an embodiment, the finger joint unit further comprises two longitudinal bearings, each of the longitudinal bearings comprises a rotatably connected inner ring and an outer ring, the outer ring is clamped with a clamping groove of the accommodating cavity, and the inner ring is sleeved with the rotating shaft.

[0016] In an embodiment, the distance between the axis of the enveloping torus worm and the axis of the rotating shaft is 3mm to 9mm.

[0017] In an embodiment, the finger joint unit further comprises an eccentric sleeve, the eccentric sleeve is rotatably arranged in the accommodating cavity, the eccentric sleeve is formed with an eccentric hole, the enveloping torus worm is rotatably arranged in the eccentric hole, the eccentric sleeve is formed with a lateral connecting port towards the rotating shaft, and the lateral connecting port and the eccentric hole are in communication.

[0018] In an embodiment, the shell is further formed with a second opening, the second opening is oppositely arranged with the first opening, and one end of the eccentric sleeve is exposed to the second opening.

[0019] In an embodiment, the finger joint unit further comprises a transverse bearing, the transverse bearing is arranged in the eccentric hole, and the enveloping torus worm is rotatably arranged in the eccentric hole through the transverse bearing.

[0020] The utility model also provides a robot, the robot includes the finger joint unit as described above.

[0021] The utility model discloses a technical scheme proposes a kind of finger joint unit and the robot using the finger joint unit, wherein, finger joint unit includes shell, driving part, envelope torus worm and pivot, shell is equipped with the cavity of having first opening, driving part cover is equipped in the first opening of shell, the output shaft of driving part enters cavity, envelope torus worm is equipped in output shaft and is engaged with pivot to realize transmission, pivot is used to drive robot proximal phalanx or middle phalanx or distal phalanx activity. Envelope torus worm has high bearing capacity and high transmission efficiency, can effectively promote the load capacity of finger joint, make robot finger more stable when executing complex task. Secondly, the multiple teeth engagement and double-line contact characteristics of envelope torus worm, provide higher transmission accuracy and stability, help to realize fine operation action. In addition, its compact structure, small volume feature makes that finger joint design is more flexible, can realize more function in limited space. Finally, the self-locking performance of envelope torus worm is good, can keep joint angle without consuming additional energy, which is very advantageous for energy saving and long-time stable operation of robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings from the structure shown in the drawings without creating labor.

[0023] Figure 1 The internal structure schematic diagram of the finger joint unit embodiment provided by the utility model is shown in the figure.

[0024] Figure 2 The structure schematic diagram of the finger joint unit embodiment is shown in the figure.

[0025] Figure 3 The three-dimensional structure schematic diagram of the finger joint unit is shown in the figure.

[0026] Figure 4 The explosion structure schematic diagram of the finger joint unit is shown in the figure.

[0027] Figure 5 The structure schematic diagram of envelope torus worm and bevel gear engagement is shown in the figure.

[0028] Figure 6 The structure schematic diagram of eccentric sleeve is shown in the figure. Figure 1 The structure schematic diagram of eccentric sleeve is shown in the figure.

[0029] Figure 7 The structure schematic diagram of eccentric sleeve is shown in the figure. Figure 6 The structure schematic diagram of eccentric sleeve is shown in the figure.

[0030] Figure 8A sectional view of the enveloping toroidal worm and the helical gear in mesh.

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] 100, knuckle unit; 1, housing; 11, first opening; 12, second opening; 13, mounting hole; 2, driving member; 21, output shaft; 3, enveloping toroidal worm; 4, rotating shaft; 41, ring groove; 5, helical gear; 6, flexible sealing member; 7, longitudinal bearing; 8, eccentric sleeve; 81, first sleeve body; 811, adjusting end; 812, lateral connecting port; 82, second sleeve body; 821, eccentric hole; 9, transverse bearing.

[0033] The realization, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0035] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0036] In addition, if the present application embodiments involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously satisfy the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0037] The utility model provides a kind of finger joint unit and robot, to provide a kind of robot finger joint unit of envelope torus worm realizes drive, to improve driving accuracy, reduce noise, Figures 1 to 8 It is a structure schematic view of the embodiment provided by the finger joint unit of the utility model.

[0038] Please refer to Figures 1 to 8 The utility model provides a kind of finger joint unit 100, including shell 1, driving part 2, envelope torus worm 3 and pivot 4, shell 1 is equipped with the cavity of having first opening 11, driving part 2 covers and is located in the first opening 11 of shell 1, the output shaft 21 of driving part 2 enters the cavity, envelope torus worm 3 is located in output shaft 21 and is located in the cavity, pivot 4 is rotationally arranged in shell 1, pivot 4 is equipped with transmission part, transmission part is engaged with envelope torus worm 3 and drives, at least one end of pivot 4 is exposed to the outside of shell 1.

[0039] It needs to be explained that driving part 2 can be driving motor, can also be rotary cylinder, the utility model does not make limitation to this, in an embodiment of the utility model, driving part 2 is driving motor, the output shaft 21 of driving motor is engaged with envelope torus worm 3, to realize the drive of envelope torus worm 3.

[0040] The technical scheme of the utility model provides a kind of finger joint unit 100 and robot using the finger joint unit 100, wherein, finger joint unit 100 includes shell 1, driving part 2, envelope torus worm 3 and pivot 4, shell 1 is equipped with the cavity of having first opening 11, driving part 2 covers and is located in the first opening 11 of shell 1, the output shaft 21 of driving part 2 enters the cavity, envelope torus worm 3 is located in output shaft 21 and is engaged with pivot 4 and realizes drive, pivot 4 is used to drive robot proximal phalanx or middle phalanx or distal phalanx to move. Envelope torus worm 3 has high bearing capacity and high transmission efficiency, can effectively improve the load capacity of finger joint, make robot finger more stable when executing complex task.Secondly, the multiple-tooth engagement and double-line contact characteristics of envelope torus worm 3 provide higher transmission accuracy and stability, which helps to realize fine operation action. In addition, its compact structure, small volume feature makes finger joint design more flexible, can realize more functions in limited space. Finally, the self-locking performance of envelope torus worm 3 is good, can keep joint angle without consuming additional energy, which is very beneficial to the energy saving and long-time stable operation of robot.

[0041] In an embodiment of the utility model, to make pivot 4 and envelope torus can form effective engagement drive, and the rotation torque output of pivot 4 can be output to the phalanx of robot, to drive phalanx movement, shell 1 is equipped with mounting hole 13 along the circumferential two sides of driving part 2, two mounting holes 13 are oppositely arranged, specifically, please further refer toFigure 3 And Figure 4 Two ends of the rotating shaft 4 are rotatably arranged at the mounting holes 13 at the two ends and extend out of the housing 1 through the two mounting holes 13, so as to be connected to the to-be-driven knuckle joints, so that the power of the rotating shaft 4 can be output to the to-be-driven knuckle joints. It should be noted that the end structure of the rotating shaft 4 and the connection mode of the rotating shaft 4 and the to-be-driven knuckle joints are not limited in the utility model, and in an embodiment of the utility model, the two ends of the rotating shaft 4 are provided with blind holes and cross clamping claws, so that the installation of the to-be-driven knuckle joints can be realized, so that the knuckle joints and the rotating shaft 4 can rotate coaxially.

[0042] Based on the above embodiment, in order to reduce the friction between the rotating shaft 4 and the inner wall of the housing 1, avoid a series of problems such as loss and heating caused by friction, and the like, two longitudinal bearings 7 are arranged in the accommodating cavity of the housing 1, two mounting positions are reserved on the two sides of the accommodating cavity close to the mounting holes 13, for mounting of the two longitudinal bearings 7, the longitudinal bearing 7 comprises an inner ring and an outer ring rotatably connected, the outer ring is fixedly connected with the clamping groove of the accommodating cavity, and the inner ring is sleeved on the rotating shaft 4, so that the rotating shaft 4 and the housing 1 are in rolling connection, the friction is reduced, the wear speed of the parts is reduced, the service life of the mechanical equipment is prolonged, and the maintenance cost is reduced.

[0043] In order to improve the transmission efficiency of the device, the transmission member is a helical gear 5, and the helical gear 5 and the rotating shaft 4 are an integral structure, which is arranged at the middle segment of the rotating shaft 4. Specifically, please further refer to Figure 5 The engagement of the helical gear 5 and the enveloping torus worm 3 can provide high load capacity and high transmission efficiency, ensure the stability and reliability of the knuckle joint when performing complex tasks. Secondly, the multi-tooth engagement and double-line contact characteristics make the transmission more stable, reduce vibration and noise, and improve the operation precision of the robot. In addition, this transmission structure has low sensitivity to manufacturing and assembly errors, which reduces the production cost and maintenance difficulty. Finally, through the modified design, the transmission performance can be further optimized, the load capacity under high load can be maintained, and it is suitable for heavy-load robot rotary joints and other application scenarios.

[0044] In the embodiment of the utility model, the enveloping torus worm 3 and the helical gear 5 are arranged in the accommodating cavity of the housing 1, in order to avoid oxidation and rust caused by contact with external air, the rotating shaft 4 is formed with two ring grooves 41, specifically, please further refer to Figure 4 And Figure 5 The flexible sealing element 6 is a silica gel sealing ring, which is sleeved on the ring groove 41, and the outer peripheral wall thereof is sealingly abutted with the inner peripheral wall of the mounting hole 13, so as to ensure that the accommodating cavity is isolated from the outside, and the external air and water vapor are prevented from entering the inside of the accommodating cavity from the mounting hole 13, thereby avoiding interference and influence on the internal driving and transmission components. In addition, the existence of the sealing ring also avoids the leakage of the oil liquid for lubrication in the accommodating cavity.

[0045] In order to be suitable for different sizes of robot fingers, in an embodiment of the present application, the distance between the axis of the enveloping torus worm 3 and the axis of the rotating shaft 4 is 3mm to 9mm. That is, the center distance of the enveloping torus worm 3 and the rotating shaft 4 is 3mm to 9mm, so that by changing the center distance of the enveloping torus worm 3 and the rotating shaft 4, the enveloping torus worm 3 helical gear 5 transmission mechanism can be suitable for different sizes of robot fingers.

[0046] In order to realize the adjustment of the center distance between the enveloping torus worm 3 and the rotating shaft 4, the finger joint unit 100 further comprises an eccentric sleeve 8, and specifically, please further refer to Figure 4 、 Figure 6 and Figure 7 , the eccentric sleeve 8 is rotationally arranged in the accommodating cavity, the eccentric sleeve 8 is formed with an eccentric hole 821, the enveloping torus worm 3 is rotationally arranged in the eccentric hole 821, the eccentric sleeve 8 is formed with a lateral connecting port 812 towards the rotating shaft 4, the lateral connecting port 812 and the eccentric hole 821 are in communication, so that by rotationally arranging the two ends of the enveloping torus worm 3 in an eccentric hole 821 respectively, the enveloping torus worm 3 will rotate around the axis of the eccentric sleeve 8 under the limitation of the eccentric hole 821 when the eccentric sleeve 8 is rotated, that is, the distance between the axis of the enveloping torus worm 3 and the axis of the rotating shaft 4 can be changed, thereby being suitable for different sizes of robot fingers. In order to facilitate the installation and rotation of the eccentric sleeve 8, the eccentric sleeve 8 comprises a first sleeve body 81 and a second sleeve body 82, the first sleeve body 81 and the second sleeve body 82 are spliced to form the eccentric sleeve 8, the first sleeve body 81 and the second sleeve body 82 are exposed to the shell 1 through the first opening 11 and the second opening 12 respectively, the output shaft 21 of the driving member 2, that is, the driving motor, is connected with the enveloping torus worm 3 through the second sleeve body 82, and the first sleeve body 81 is exposed to the position of the second opening 12 of the shell 1, so that the adjustment end 811 of the first sleeve body 81 can be adjusted by inserting a tool into the second opening 12 to drive the rotation of the eccentric sleeve 8, and then drive the rotation of the enveloping torus worm 3 in the eccentric sleeve 8, thereby achieving the purpose of changing the distance between the axis of the enveloping torus worm 3 and the axis of the rotating shaft 4.

[0047] In order to reduce the friction between the enveloping torus worm 3 and the inner wall of the eccentric sleeve 8, the finger joint unit 100 further comprises a transverse bearing 9, the transverse bearing 9 is arranged in the eccentric hole 821, and the enveloping torus worm 3 is rotationally arranged in the eccentric hole 821 through the transverse bearing 9. The transverse bearing 9 can support and reduce the friction, thereby making the movement of the robot finger more flexible.

[0048] The present application also provides a robot, which comprises the finger joint unit 100, and the specific structure of the finger joint unit 100 is referred to the above embodiments. Since the robot adopts all the technical solutions of the above embodiments, it has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0049] The above merely illustrates the embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation or direct / indirect application in other related technical fields within the technical concept of the present application and the content of the present application are included in the patent protection scope of the present application.

Claims

1. A knuckle unit applied to a robot, characterized by, The finger joint unit comprises: a housing provided with a receiving cavity with a first opening; a driving member covering the first opening of the housing, an output shaft of the driving member extending into the receiving cavity; an enveloping toroidal worm provided on the output shaft and located in the receiving cavity; and a rotating shaft rotatably provided in the housing, the rotating shaft being provided with a transmission member engaged with the enveloping toroidal worm for transmission, at least one end of the rotating shaft being exposed outside the housing.

2. The knuckle unit of claim 1, wherein, The housing is provided with mounting holes on both sides in the axial direction of the driving member, the two mounting holes being oppositely arranged, both ends of the rotating shaft being rotatably provided in the two mounting holes, and part of the structure of the rotating shaft being exposed outside the housing.

3. The knuckle unit of claim 2, wherein, The transmission member is a helical gear engaged with the enveloping toroidal worm. The helical gear and the rotating shaft are integrally formed.

4. The knuckle unit of claim 2, wherein, The rotating shaft is formed with two ring grooves, the two ring grooves being sleeved with flexible sealing members, and the outer peripheral wall of the flexible sealing members being sealingly abutted against the inner peripheral wall of the mounting holes.

5. The knuckle unit of claim 4, wherein, The finger joint unit further comprises two longitudinal bearings, each of the longitudinal bearings comprising an inner ring and an outer ring rotatably connected, the outer ring being clamped with a clamping groove of the receiving cavity, and the inner ring being sleeved with the rotating shaft.

6. The knuckle unit according to any one of claims 1 to 5, characterized in that, The distance between the axis of the enveloping toroidal worm and the axis of the rotating shaft is 3-9 mm.

7. The knuckle unit according to any one of claims 1 to 5, characterized in that, The finger joint unit further comprises an eccentric sleeve rotatably provided in the receiving cavity, the eccentric sleeve being formed with an eccentric hole, the enveloping toroidal worm being rotatably provided in the eccentric hole, the eccentric sleeve being formed with a lateral connecting port facing the rotating shaft, the lateral connecting port and the eccentric hole being in communication.

8. The knuckle unit of claim 7, wherein, The housing is further formed with a second opening oppositely arranged with the first opening, one end of the eccentric sleeve being exposed in the second opening.

9. The knuckle unit of claim 8, wherein, The finger joint unit further comprises a transverse bearing provided in the eccentric hole, the enveloping toroidal worm being rotatably provided in the eccentric hole through the transverse bearing.

10. A robot, characterized in that The finger joint unit as claimed in any one of claims 1-9.

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