Dexterous hand of robot and robot

Abstract

The utility model discloses a dexterous hand of a robot and the robot. The dexterous hand of the robot comprises a palm, a plurality of finger assemblies and a flow guide fan. The palm comprises a hollow shell and a circuit board located in an inner cavity of the shell and used for installing electronic devices, an air inlet hole and a plurality of installing holes are formed in the shell, and the installing holes are located in the front side of the shell and arranged in the width direction of the shell. The finger assemblies are located on the front side of the palm and correspond to the mounting holes one to one, the rear ends of the finger assemblies penetrate through the mounting holes and then are connected to the shell, and air outlet gaps are formed between the finger assemblies and the peripheries of the mounting holes; the flow guide fan is arranged in the inner cavity of the shell, an air inlet of the flow guide fan faces the air inlet hole in the shell, and an air outlet of the flow guide fan faces the air outlet gap. According to the utility model, the temperature rise in the shell is reduced, and electronic devices on the circuit board can be always kept in a normal working state.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a dexterous hand for a robot and the robot itself. Background Technology

[0002] Dexterous hands in humanoid robots typically mimic human hands, featuring a palm and multiple finger components. They usually incorporate numerous movable joints to enable complex and precise tasks. To achieve accurate control of these joints, the dexterous hand requires internal electronic components for functions such as pressure detection at the distal ends of the finger components, joint rotation angle control, and power supply to the drive mechanisms. Due to limited space on the finger components, these electronic components are usually housed within the palm of the dexterous hand. As the precision of dexterous hands continues to improve and their application scenarios expand, a greater number of electronic components are needed within them. Some of these components generate heat during operation, and a denser arrangement can lead to significant temperature increases within the palm, affecting their normal operation and causing instability or even functional failure. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the purpose of the present invention is to provide a dexterous hand for a robot and a robot, so as to solve the problem of excessive temperature rise inside the palm of the dexterous hand in the prior art.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] The robot's dexterous hand includes a palm, multiple finger components, and a flow-guiding fan;

[0006] The palm includes a hollow shell, a circuit board located in the inner cavity of the shell for mounting electronic devices, an air inlet hole communicating with the inner cavity of the shell, and multiple mounting holes communicating with the inner cavity of the shell. The multiple mounting holes are located on the front side of the shell and are arranged along the width direction of the shell.

[0007] Multiple finger components are located on the front side of the palm and correspond one-to-one with multiple mounting holes. The rear end of the finger component passes through its corresponding mounting hole and is connected to the housing. An air outlet gap is formed between the finger component and the periphery of the mounting hole.

[0008] The air guide fan is placed inside the housing, with its air inlet facing the air inlet hole on the housing and its air outlet facing the air outlet gap. This allows the air guide fan to draw air from outside the housing into the housing through the air inlet hole and to allow air from inside the housing to flow out of the housing through the air outlet gap.

[0009] According to the robot's dexterous hand in this embodiment of the invention, a guide fan introduces low-temperature air from outside into the inner cavity of the housing through the air inlet. The low-temperature air exchanges heat with the heat-generating electronic components on the circuit board inside the housing. At the same time, the guide fan sends the hot air inside the housing to the outside of the housing through the air outlet gap at the mounting hole, reducing the temperature rise inside the housing and keeping the internal environment of the housing at a relatively low temperature, ensuring that the electronic components on the circuit board can always maintain normal operation. In addition, since the air outlet gap is formed by the mounting hole assembled between the finger assembly and the housing, there is no need to open other air outlet channels on the housing, making the structure of the housing relatively simple.

[0010] In a preferred embodiment, the housing includes an upper shell and a lower shell located below the upper shell, the upper shell and the lower shell being detachably fixed together. The upper shell and the lower shell are detachably fixed together by a snap-fit ​​mechanism. The detachable fixing of the upper shell and the lower shell facilitates the installation of a flow-guiding fan and circuit board inside the housing, and also facilitates the assembly of the finger assembly with the housing.

[0011] In a preferred embodiment, the air inlet is located on the upper shell, and the inner surface of the upper shell is provided with annular ribs surrounding the air inlet. The guide fan includes a housing and blades installed inside the housing. The edge of the housing is abutted against the lower end face of the annular ribs and is detachably fixed to the annular ribs. The air inlet of the guide fan is located at the top of the housing and is connected to the air inlet through the air guide channel formed by the annular ribs. The air outlet of the guide fan is located on the front side of the housing. During assembly, the guide fan can be pre-assembled onto the upper shell, and then the upper and lower shells are assembled, which facilitates the installation of the guide fan. Furthermore, the guide fan is directly abutted against the annular ribs, and the air guide channel formed by the annular ribs connects the air inlet to the air inlet of the guide fan, eliminating the need for additional piping for the guide fan and simplifying the internal structure of the housing.

[0012] In a preferred embodiment, the air inlet consists of multiple through holes on the upper shell, all located within the area enclosed by the annular ribs. By designing the air inlet as multiple small through holes, larger particles of impurities can be prevented from entering the fan, thus protecting the fan and the electronic components inside the housing.

[0013] In a preferred embodiment, a downwardly extending positioning post is provided on the bottom surface of the annular rib, and a positioning groove is provided on the housing of the air guide fan. The positioning post is embedded in the positioning groove, and the positioning post and the housing of the air guide fan are fixedly connected together by screws. The positioning post and the positioning groove can position and prevent the air guide fan from being mistakenly inserted, ensuring that the air inlet of the air guide fan faces upward and the air outlet faces forward, which facilitates the quick assembly of the air guide fan with the upper shell.

[0014] In a preferred embodiment, the finger assembly includes a proximal phalanx, a distal phalanx, a connecting arm, and a drive assembly. The distal phalanx is connected to the front end of the proximal phalanx. The connecting arm is located within the inner cavity of the housing. The front end of the connecting arm extends through a mounting hole and connects to the rear end of the proximal phalanx. The drive assembly is mounted on the connecting arm to drive the proximal phalanx to swing up and down relative to the connecting arm. The air outlet gap is located between the outer peripheral surface of the connecting arm and the periphery of the mounting hole. Connecting the proximal phalanx to the housing via the connecting arm of the finger assembly facilitates the assembly of the finger assembly and the housing. Furthermore, the connecting arm, after passing through the mounting hole, forms an air outlet gap on the front side of the housing. The relatively flat surface of the connecting arm can guide airflow, ensuring that air can flow smoothly from the inside of the housing to the outside.

[0015] In a preferred embodiment, an air guide plate is disposed inside the housing between any two adjacent finger assemblies, and the air guide plate is arranged between the air outlet of the air guide fan and the air outlet gap. The air guide plate can guide the airflow, allowing the hot air inside the housing cavity to flow smoothly through the side of the air guide plate to the air outlet gap.

[0016] In a preferred embodiment, an air guide surface is formed on each side of the air guide plate. The two air guide surfaces intersect at the ends near the air outlet of the guide fan. The distance between the two air guide surfaces gradually increases in the direction of the guide fan towards the air outlet gap. By setting the air guide plate in a conical shape, the air guide surfaces guide the airflow from both sides of the air guide plate to two adjacent mounting holes, thereby accelerating the airflow and the exchange of air inside and outside the housing, and improving the heat dissipation efficiency.

[0017] In a preferred embodiment, the system includes two or more airflow guiding fans arranged along the width of the housing. Arranging multiple airflow guiding fans side-by-side inside the housing further accelerates the air exchange rate between the inside and outside of the housing, thereby improving heat dissipation efficiency.

[0018] Robots, including the dexterous hands of the robots mentioned above.

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Attached Figure Description

[0020] Figure 1 This is an assembly diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of this utility model;

[0022] Figure 3 for Figure 1 A schematic diagram of the assembly of the middle finger component and the outer shell;

[0023] Figure 4 This is a top view of the present invention;

[0024] Figure 5 for Figure 1 Schematic diagram of the structure of the central guide fan;

[0025] Figure 6 for Figure 1 A schematic diagram of the upper and middle shell.

[0026] In the diagram: 10. Housing; 11. Upper housing; 110. Air inlet; 111. Annular rib; 112. Air guide channel; 113. Positioning post; 12. Lower housing; 121. Mounting hole; 13. Air guide plate; 131. Air guide surface; 132. Air guide surface; 20. Finger assembly; 21. Proximal phalanx; 22. Distal phalanx; 23. Connecting arm; 24. Drive assembly; 30. Guide fan; 31. Cover; 311. Positioning groove; 32. Blade; 33. Air inlet; 34. Air outlet. Detailed Implementation

[0027] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are all commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0028] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0031] Please refer to Figure 1-6 As shown, this utility model discloses a dexterous hand for a robot, comprising a palm, multiple finger assemblies 20, and a guide fan 30. The palm includes a hollow shell 10 and a circuit board, which is located within the inner cavity of the shell 10. The electronic components of the dexterous hand are mounted on the circuit board. The shell 10 has an air inlet 110 communicating with the inner cavity of the shell 10, and multiple mounting holes 121 communicating with the inner cavity of the shell 10. The mounting holes 121 are arranged along the width direction of the shell 10. The multiple finger assemblies 20 are located on the front side of the palm, and each finger assembly 20 corresponds to one of the mounting holes 121. The rear end of each finger assembly 20 passes through the corresponding mounting hole 121 and connects to the shell 10 within the inner cavity of the shell 10. Thus, the finger assemblies 20... The finger assembly 20, which is connected to the palm, forms an air outlet gap between the portion inside the mounting hole 121 and the periphery of the mounting hole 121. The air guide fan 30 is installed in the inner cavity of the housing 10. The air inlet 33 of the air guide fan 30 faces the air inlet hole 110 of the housing 10, and the air outlet 34 of the air guide fan 30 faces the air outlet gap. In this way, the air guide fan 30 can be used to introduce air from outside the housing 10 into the inner cavity of the housing 10 through the air inlet hole 110, and at the same time blow the air in the inner cavity of the housing 10 out to the outside of the housing 10 through the air outlet gap. That is to say, by guiding the air through the air guide fan 30, the low temperature air outside the housing 10 can enter the inner cavity of the housing 10, and the hot air in the inner cavity of the housing 10 can be discharged to the outside of the housing 10.

[0032] When the dexterous hand of this robot is working, the guide fan 30 introduces low-temperature air from outside into the inner cavity of the housing 10 through the air inlet 110. The low-temperature air exchanges heat with the heat-generating electronic components on the circuit board inside the housing 10. At the same time, the guide fan 30 sends the hot air inside the housing 10 to the outside of the housing 10 through the air outlet gap at the mounting hole 121, reducing the temperature rise inside the housing 10 and keeping the internal environment of the housing 10 at a relatively low temperature, ensuring that the electronic components on the circuit board can always maintain normal operation. In addition, since the air outlet gap is formed by the mounting hole 121 assembled with the finger assembly 20 and the housing 10, there is no need to open other air outlet channels on the housing 10, making the structure of the housing 10 relatively simple.

[0033] In a preferred embodiment, the housing 10 includes an upper housing 11 and a lower housing 12, with the lower housing 12 located below the upper housing 11. The two can be detachably fixed together by screws, or they can be detachably fixed together by matching snap-fit ​​fasteners on the upper housing 11 and lower housing 12. This detachable fixing of the upper housing 11 and lower housing 12 facilitates the installation of the airflow fan 30 and circuit board inside the housing 10, and also facilitates the assembly of the finger assembly 20 with the housing 10.

[0034] An air inlet 110 is provided on the upper shell 11. The inner surface of the upper shell 11 is provided with an annular rib 111 surrounding the air inlet 110. The annular rib 111 forms an air guide channel 112. The air guide fan 30 includes a housing 31 and blades 32 installed inside the housing 31. The air inlet 33 of the air guide fan 30 is located on the top surface of the housing 31, and the air outlet 34 is located on the front side of the housing 31. The edge of the housing 31 is abutted against the lower end surface of the annular rib 111 and is detachably fixed together with the annular rib 111. The air inlet 110 and the air inlet 33 of the air guide fan 30 are connected by the air guide channel 112 formed by the annular rib 111. The air outlet 34 located on the front side of the housing 31 is set to face forward, so that the air outlet 34 faces the air outlet gap at the mounting hole 121. The air guide fan 30 is mounted on the upper shell 11. During assembly, the air guide fan 30 can be pre-assembled onto the upper shell 11, and then the upper shell 11 and the lower shell 12 can be assembled, which facilitates the installation of the air guide fan 30. The air guide fan 30 is directly connected to the annular rib 111. The air guide channel 112 formed by the annular rib 111 connects the air inlet 110 and the air inlet 33 of the air guide fan 30. There is no need to arrange pipelines for the air guide fan 30, which simplifies the internal structure of the shell 10.

[0035] The air inlet 110 consists of multiple through holes on the upper shell 11, all located within the area enclosed by the annular rib 111. By designing the air inlet 110 as multiple small through holes, larger particles of impurities can be prevented from entering the air guide fan 30, thus protecting the air guide fan 30 and the electronic components inside the shell 10. Alternatively, a notch with an inner diameter equivalent to that of the annular rib 111 can be opened on the upper shell 11, and a dust filter can be installed on the notch, with multiple small holes in the dust filter forming the air inlet.

[0036] A downwardly extending positioning post 113 is provided on the bottom surface of the annular rib 111, and a positioning groove 311 is provided on the housing 31 of the air guide fan 30. The positioning post 113 is embedded in the positioning groove 311, and the positioning post 113 and the housing 31 of the air guide fan 30 are fixedly connected together by screws. The positioning post 113 and the positioning groove 311 can position and prevent the air guide fan 30 from being mistaken, ensuring that the air inlet 33 of the air guide fan 30 faces upward and the air outlet 34 faces forward, which facilitates the quick assembly of the air guide fan 30 with the upper housing 11.

[0037] The finger assembly 20 includes a proximal phalanx 21, a distal phalanx 22, a connecting arm 23, and a drive assembly 24. The distal phalanx 22 is connected to the front end of the proximal phalanx 21. The connecting arm 23 is located in the inner cavity of the housing 10. The front end of the connecting arm 23 protrudes from the front side of the housing 10 after passing through the mounting hole 121. The rear end of the proximal phalanx 21 is connected to the front end of the connecting arm 23. The drive assembly 24 is mounted on the connecting arm 23 and is used to drive the proximal phalanx 21 to swing up and down relative to the connecting arm 23, thereby enabling the proximal phalanx 21 and the distal phalanx 22 to move up and down relative to the palm. The connecting arm 23, after being inserted into the mounting hole 121, forms the aforementioned air outlet gap between the outer peripheral surface of the connecting arm 23 and the periphery of the mounting hole 121. For example, the height of the mounting hole 121 can be set to be greater than the thickness of the connecting arm 23, so that after the connecting arm 23 is fixed to the housing 10 against the lower edge of the mounting hole 121, the air outlet gap is located between the lower edge of the mounting hole 121 and the upper surface of the connecting arm 23. Alternatively, the width of the mounting hole 121 can be set to be greater than the width of the connecting arm 23, so that the air outlet gap is located on one or both sides of the connecting arm 23. Connecting the proximal phalanx 21 to the housing 10 via the connecting arm 23 of the finger assembly 20 facilitates the assembly of the finger assembly 20 and the housing 10. Furthermore, the connecting arm 23, after passing through the mounting hole 121, forms an air outlet gap on the front side of the housing 10. The relatively flat surface of the connecting arm 23 can guide airflow, ensuring that air can flow smoothly from the inside of the housing 10 to the outside.

[0038] Inside the housing 10, an air guide plate 13 is provided between any two adjacent finger assemblies 20. The air guide plate 13 is arranged between the air outlet 34 of the air guide fan 30 and the air outlet gap. The air guide plate 13 can guide the airflow, allowing the hot air inside the housing 10 to flow smoothly through the side of the air guide plate 13 to the air outlet gap. The air guide plate 13 can be integrally formed and connected to the inner wall surface of the upper housing 11.

[0039] A guide surface 131 and a guide surface 132 are formed on both sides of the air guide plate 13. The guide surfaces 131 and 132 intersect at the end near the air outlet 34 of the air guide fan 30. The distance between the guide surfaces 131 and 132 gradually increases in the direction of the air guide fan 30 toward the air outlet gap. The air guide plate 13 is set into a cone shape. The air guide surfaces 131 and 132 guide the airflow from both sides of the air guide plate 13 to the two adjacent mounting holes 121, thereby accelerating the airflow and the air exchange between the inside and outside of the housing 10, and improving the heat dissipation efficiency.

[0040] The housing 10 has two or more airflow guiding fans 30 arranged along the width of the housing 10. The arrangement of multiple parallel airflow guiding fans 30 inside the housing 10 further accelerates the air exchange rate between the inside and outside of the housing 10, thereby improving heat dissipation efficiency.

[0041] The robot of this utility model includes the dexterous hand of the robot described above. The other structures of the robot are the same as those in the prior art and will not be described in detail here.

[0042] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0043] The above embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of protection of the present utility model. Any non-substantial changes and substitutions made by those skilled in the art based on the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A robot's dexterous hand, characterized in that, Includes the palm, multiple finger components, and a flow-guiding fan; The palm includes a hollow shell, a circuit board located in the inner cavity of the shell for mounting electronic devices, an air inlet hole communicating with the inner cavity of the shell, and multiple mounting holes communicating with the inner cavity of the shell. The multiple mounting holes are located on the front side of the shell and are arranged along the width direction of the shell. Multiple finger components are located on the front side of the palm and correspond one-to-one with multiple mounting holes. The rear end of the finger component passes through its corresponding mounting hole and is connected to the housing. An air outlet gap is formed between the finger component and the periphery of the mounting hole. The air guide fan is placed inside the housing, with its air inlet facing the air inlet hole on the housing and its air outlet facing the air outlet gap. This allows the air guide fan to draw air from outside the housing into the housing through the air inlet hole and to allow air from inside the housing to flow out of the housing through the air outlet gap.

2. The dexterous hand of the robot as described in claim 1, characterized in that, The housing includes an upper shell and a lower shell located below the upper shell, and the upper and lower shells are detachably fixed together.

3. The dexterous hand of the robot as described in claim 2, characterized in that, The air inlet is located on the upper shell, and the inner surface of the upper shell is provided with annular ribs surrounding the air inlet. The guide fan includes a shroud and blades installed inside the shroud. The edge of the shroud is joined to the lower end face of the annular rib and is detachably fixed together with the annular rib. The air inlet of the guide fan is located at the top of the shroud and is connected to the air inlet through the air guide channel formed by the annular rib. The air outlet of the guide fan is located on the front side of the shroud.

4. The dexterous hand of the robot as described in claim 3, characterized in that, The air inlet consists of multiple through holes on the upper shell, all of which are located within the area enclosed by the annular ribs.

5. The dexterous hand of the robot as described in claim 3, characterized in that, A downwardly extending positioning post is provided on the bottom surface of the annular rib, and a positioning groove is provided on the cover of the air guide fan. The positioning post is embedded in the positioning groove, and the positioning post and the cover of the air guide fan are fixedly connected together by screws.

6. The dexterous hand of the robot as described in claim 3, characterized in that, The finger assembly includes a proximal phalanx, a distal phalanx, a connecting arm, and a drive assembly. The distal phalanx is connected to the front end of the proximal phalanx. The connecting arm is located in the inner cavity of the housing. The front end of the connecting arm passes through the mounting hole and is connected to the rear end of the proximal phalanx. The drive assembly is mounted on the connecting arm to drive the proximal phalanx to swing up and down relative to the connecting arm. The air outlet gap is located between the outer peripheral surface of the connecting arm and the periphery of the mounting hole.

7. The dexterous hand of the robot as described in claim 1, characterized in that, Inside the housing, between any two adjacent finger assemblies, there is a guide plate, which is arranged between the air outlet of the air guide fan and the air outlet gap.

8. The dexterous hand of the robot as described in claim 7, characterized in that, Two air guide surfaces are formed on both sides of the air guide plate. The two air guide surfaces intersect at the end near the air outlet of the air guide fan. The distance between the two air guide surfaces gradually increases in the direction of the air guide fan toward the air outlet gap.

9. The dexterous hand of the robot as described in claim 1, characterized in that, It includes two or more airflow fans arranged along the width of the housing.

10. A robot, characterized in that, Including the dexterous hand of the robot as described in any one of claims 1-9.

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