Micro-joint module, finger module and dexterous hand

Abstract

The embodiment of the utility model relates to the technical field of dexterous hands, in particular to a micro-joint module, a finger module and a dexterous hand. The micro-joint module comprises a shell, a transmission mechanism and a driving mechanism. The shell is provided with a first transmission cavity and a second transmission cavity which communicate with each other, and the first transmission cavity and the second transmission cavity are stacked in the first direction. The transmission mechanism comprises a worm gear and a worm, the worm gear is contained in the first transmission cavity and can rotate in the second direction, the worm is contained in the second transmission cavity, a rod body of the worm is arranged in the third direction, the worm gear and the worm are meshed at the communication position of the first transmission cavity and the second transmission cavity, and the worm gear is used for driving the worm to rotate in the third direction. The driving mechanism is connected with the worm gear in the third direction and used for driving the worm gear to rotate around the third direction. Wherein the shell is contained in the knuckles of the finger module, through the structure, the purpose of outputting power is achieved, the current situation of tooth surface stress concentration is further improved, and the transmission efficiency and the transmission reliability are improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of dexterous hand, in particular to a micro joint module, a finger module and a dexterous hand. BACKGROUND

[0002] The dexterous hand is a high degree of freedom bionic mechanical device which imitates the function of human hand, and its core goal is to adapt to complex tasks in unstructured environment through multi-finger cooperation and fine operation ability, and has key application value in medical surgery, precision assembly and dangerous environment operation fields.

[0003] In the dexterous hand, the joint transmission system is mostly used as the main driving scheme, and its core design goal is to realize the dual requirements of high power density driving and precise force-position hybrid control, which requires the joint transmission system to simultaneously meet the characteristics of low back gap, high rigidity and dynamic response in millimeter level space. CONTENT OF THE UTILITY MODEL

[0004] In some joint transmission systems, the driving structure is arranged on the palm of the dexterous hand, but since the dexterous hand still needs to be provided with various electronic elements to realize precise operation, the layout space inside the palm is very limited.

[0005] Based on this, the embodiment of the present application provides a micro joint module, a finger module and a dexterous hand, which can improve the above-mentioned status.

[0006] To solve the above technical problems, one technical scheme adopted by the present application is to provide a micro joint module. The micro joint module comprises a shell, a transmission mechanism and a driving mechanism. The shell is provided with a first transmission cavity and a second transmission cavity which are communicated, and the first transmission cavity and the second transmission cavity are stacked along a first direction. The transmission mechanism comprises a worm gear and a worm, the worm gear is accommodated in the first transmission cavity and can rotate around a second direction, the worm is accommodated in the second transmission cavity, and the rod body of the worm is arranged along a third direction, the worm gear and the worm are engaged at the communication part of the first transmission cavity and the second transmission cavity, and the worm gear is used to drive the worm to rotate around the third direction. The driving mechanism is connected with the worm gear along the third direction, and the driving mechanism is used to drive the worm gear to rotate around the third direction. Wherein, the shell is accommodated in the finger joint of the finger module; any two directions of the first direction, the second direction and the third direction are perpendicular to each other.

[0007] In some preferred embodiments, the transmission mechanism further comprises two output end heads, and the two output end heads are respectively arranged at two ends of the worm in the third direction. The output end head is concavely provided with an output groove, the output groove penetrates at least part of the output end head perpendicularly to the third direction, and the output groove is used for clamping and matching with parts outside the micro joint module.

[0008] In some preferred embodiments, the housing comprises a first shell and a second shell. The first shell is provided with a sealing protrusion protruding in the third direction. The second shell is provided with a sealing recess recessed in the third direction. The first shell and the second shell are fixed to each other in the third direction to form the first transmission cavity and the second transmission cavity separated from the external environment, and the sealing protrusion is inserted into the sealing recess.

[0009] In some preferred embodiments, the second shell comprises a first shell part, a second shell part and a third shell part. The first shell part and the second shell part are oppositely arranged in the second direction. The first shell part is provided with a first opening in the second transmission cavity, and the second shell part is provided with a second opening in the second transmission cavity. The two output ends of the worm are respectively arranged on the first opening and the second opening. The third shell part is oppositely arranged with the first shell in the third direction, and the two ends of the worm gear are respectively arranged on the first shell and the third shell part.

[0010] In some preferred embodiments, the housing is further provided with a clearance groove in the second transmission cavity. The clearance groove extends in an arc shape around the third direction, and is used for avoiding at least part of the worm.

[0011] In some preferred embodiments, the transmission mechanism further comprises a shaft sleeve, and the shaft sleeve and the driving mechanism are arranged together to support the worm gear. The housing is provided with a first mounting opening and a second mounting opening opposite to each other in the third direction. The shaft sleeve is accommodated in the first mounting opening, and the end of the worm gear away from the shaft sleeve is close to the second mounting opening and is mounted on the driving mechanism.

[0012] In some preferred embodiments, the driving mechanism comprises a driving motor and a planetary reducer. In the third direction, the driving motor is connected to the planetary reducer, the worm gear is at least partially inserted into the planetary reducer, and the planetary reducer is mounted on the outer side of the housing close to the first transmission cavity. The driving motor drives the planetary reducer to rotate, the planetary reducer drives the worm gear to rotate, and the worm gear drives the worm to rotate. The axis direction of the rotation of the worm gear and the axis direction of the rotation of the worm have a preset included angle.

[0013] In some preferred embodiments, the micro-joint module further comprises a control mechanism. The control mechanism comprises a control circuit board and a sensor. The sensor comprises a magnetic ring arranged at the two ends of the worm. The magnetic ring is used to convert the rotation of the worm into a measurable magnetic field signal and feed back the magnetic field signal to the control circuit board.

[0014] To solve the above technical problems, another technical scheme adopted by the present application is to provide a finger module. The finger module comprises the micro joint module group.

[0015] To solve the above technical problems, another technical scheme adopted by the present application is to provide a finger module. The finger module comprises the micro joint module group.

[0016] The beneficial effects of the embodiments of the present application are that, unlike the prior art, the embodiments of the present application provide a micro joint module group. The micro joint module group comprises a housing, a transmission mechanism and a driving mechanism. The housing is provided with a first transmission cavity and a second transmission cavity in communication, and the first transmission cavity and the second transmission cavity are stacked along a first direction. The transmission mechanism comprises a worm gear and a worm, the worm gear is accommodated in the first transmission cavity and can rotate around a second direction, the worm is accommodated in the second transmission cavity, and the rod body of the worm is arranged along a third direction, the worm gear and the worm are engaged at the communication of the first transmission cavity and the second transmission cavity, and the worm gear is used to drive the worm to rotate around the third direction. The driving mechanism is connected with the worm gear along the third direction, and the driving mechanism is used to drive the worm gear to rotate around the third direction. Among them, the housing is accommodated in the knuckle of the finger module; any two directions of the first direction, the second direction and the third direction are perpendicular to each other. Through the above structure, the driving mechanism can drive the worm gear in the first transmission cavity to rotate, and the meshing worm gear and worm can make the worm gear drive the worm to rotate, so as to achieve the purpose of output power, further improve the present situation of tooth surface stress concentration, and improve the transmission efficiency and transmission reliability. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by the drawings without creative labor for those skilled in the art.

[0018] Figure 1 is a perspective view of the micro joint module group provided by one of the embodiments of the present application;

[0019] Figure 2 is the A sectional view of Figure 1 provided by the present application;

[0020] Figure 3 is an exploded view of the micro joint module group provided by one of the embodiments of the present application;

[0021] Figure 4 is an electrical connection schematic diagram of the micro joint module group provided by one of the embodiments of the present application.

[0022] Reference signs are as follows:

[0023] Micro- joint module 1 Transmission mechanism 200 Housing 100 Worm wheel 201 First transmission cavity 101 Worm 202 Second transmission cavity 102 Output end head 203 First shell 103 Output groove 2031 Second shell 104 Shaft sleeve 204 First shell part 1041 Driving mechanism 300 First opening 1041a Driving motor 301 Second shell part 1042 Planetary reducer 302 Second opening 1042a Control mechanism 400 Third shell part 1043 Control circuit board 401 Avoidance groove 105 Sensor 402 First mounting port 106 Magnetic ring 4021 Second mounting port 107 Second direction Y First direction X Third direction Z DETAILED DESCRIPTION

[0024] For the convenience of understanding the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the present specification are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used in the present specification are the same as those commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present specification includes any and all combinations of one or more of the related listed items.

[0026] Dexterous Hand refers to a mechanical device that mimics the structure and function of human hands, capable of performing fine operations and complex tasks, and is an important form of robot end-effector (End-Effector). Its core goal is to achieve similar grasping, operation and perception functions as human hands through high degree of freedom, high flexibility and precise control ability. The core design of the dexterous hand revolves around the following technical dimensions: degree of freedom, transmission mode, drive system, sensor integration.

[0027] At present, the mainstream solutions of transmission mode include gear transmission, tendon transmission and linkage transmission. Among them, tendon transmission is suitable for long-distance power transmission, but the tendon life and assembly complexity affect its transmission effect; in linkage transmission, the main driver often needs to be placed in the palm of the dexterous hand, occupying a large amount of palm space, which is not conducive to the installation and arrangement of other electronic components; and in gear transmission, cone gear transmission is often used, the surface stress concentration phenomenon is obvious, and the torque is small, the output power requirement of the driver is large, and the driver with large output power cannot be designed to be miniaturized, the transmission efficiency is low and the reliability is low.

[0028] Based on this, the present application provides a micro-joint module 1, a finger module (not shown in the figure) and a dexterous hand (not shown in the figure), wherein, please refer to Figure 1 and Figure 2The micro-joint module 1 comprises a shell 100, a transmission mechanism 200 and a driving mechanism 300. The shell 100 is provided with a first transmission cavity 101 and a second transmission cavity 102 which are communicated, and the first transmission cavity 101 and the second transmission cavity 102 are stacked along a first direction X. The transmission mechanism 200 comprises a worm wheel 201 and a worm 202, the worm wheel 201 is accommodated in the first transmission cavity 101 and can rotate around a second direction Y, the worm 202 is accommodated in the second transmission cavity 102, and the rod body of the worm 202 is arranged along a third direction Z, the worm wheel 201 and the worm 202 are engaged at the communication position of the first transmission cavity 101 and the second transmission cavity 102, and the worm wheel 201 is used to drive the worm 202 to rotate around the third direction Z. The driving mechanism 300 is connected with the worm wheel 201 along the third direction Z, and the driving mechanism 300 is used to drive the worm wheel 201 to rotate around the third direction Z. Wherein, the shell 100 is accommodated in the finger joint of the finger module; any two directions of the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0029] For the above technical solution, first, in the transmission scheme of the worm wheel 201 and the worm 202, the worm wheel 201 and the worm 202 are transmitted through line contact, compared with the point contact transmission of the above-mentioned bevel gear transmission scheme, the stress concentration phenomenon in the current gear transmission scheme is solved, the transmission process has no impact vibration, the noise is lower than that of the point contact engagement of the bevel gear, the worm wheel 201 and the worm 202 transmission scheme makes the load distribution more uniform, improves the reliability of the transmission mechanism 200; secondly, the worm wheel 201 and the worm 202 transmission structure can have a larger transmission ratio, improve the transmission efficiency; and the worm wheel 201 provided by the application is located in the first transmission cavity 101 and rotates around the second direction Y, the worm 202 is located in the second transmission cavity 102 and rotates around the third direction Z, the two rotation axes are perpendicular and cross, occupy less space, which is beneficial to the compact layout of the transmission mechanism 200 and facilitates the miniaturization design of the micro-joint module 1; finally, the transmission scheme of the worm wheel 201 and the worm 202 has self-locking characteristics, when the lead angle of the worm 202 is less than the friction angle, the transmission has self-locking function, which can prevent reverse driving.

[0030] Through the above structure, the driving mechanism 300 can drive the worm wheel 201 in the first transmission cavity 101 to rotate, and the meshing worm wheel 201 and the worm 202 can drive the worm wheel 201 to rotate, so as to achieve the purpose of output power, further improve the status of tooth surface stress concentration, and improve the transmission efficiency and transmission reliability.

[0031] In some embodiments, please refer to Figure 3 and Figure 4 , and combine with other drawings. The transmission mechanism 200 further comprises two output end heads 203.

[0032] In some embodiments, two output heads 203 are respectively arranged at two ends of the worm 202 in the third direction Z.

[0033] In some embodiments, please refer to Figure 4 , and other drawings. The output head 203 is concave, and an output groove 2031 is arranged therein, which penetrates at least part of the output head 203 in a direction perpendicular to the third direction Z, and is used for clamping and matching with other parts of the micro joint module 1.

[0034] In some embodiments, please refer to 4, and other drawings. The penetration directions of the two output grooves 2031 are the same.

[0035] It should be noted that by arranging two output heads 203, the power can be output from both ends of the worm 202, which reduces the moment of the worm 202, improves the torque of the transmission of the worm 202, and improves the transmission stability and transmission efficiency. The output groove 2031 can be clamped and matched with another knuckle to drive the knuckle and achieve precise control of the rotation of the knuckle. The penetration directions of the two output grooves 2031 are the same, which means that the opening directions of the two output grooves 2031 are consistent when viewed in a direction perpendicular to the extension direction of the worm 202, thereby improving the transmission efficiency.

[0036] It should be added that please refer to Figure 3 and Figure 4 , and other drawings. A sealing member 500 can be arranged at the output head 203, such as a sealing member 500 and / or a bearing arranged at the part of the output head 203 protruding from the shell 100, which can improve the sealing effect and also maintain the rotation of the output head 203, thereby improving the transmission efficiency.

[0037] For the above-mentioned shell 100, please refer to Figure 3 , and other drawings. The shell 100 includes a first shell 103 and a second shell 104.

[0038] In some embodiments, the first shell 103 is provided with a sealing protrusion (not shown in the figure) protruding in the third direction Z.

[0039] In some embodiments, the second shell 104 is provided with a sealing recess (not shown in the figure) concave in the third direction Z.

[0040] The first shell 103 and the second shell 104 are fixed to each other in the third direction Z, forming a first transmission cavity 101 and a second transmission cavity 102 separated from the external environment, and the sealing protrusion and the sealing recess can be arranged around the outer periphery of the first shell and the second shell, or multiple spaced arrangements, and the sealing protrusion is inserted into the sealing recess.

[0041] It can be understood that the first shell 103 and the second shell 104 jointly enclose the first transmission cavity 101 and the second transmission cavity 102 in communication, the inner contour of the first transmission cavity 101 and the second transmission cavity 102 is matched with the outer contour of the worm wheel 201 and the worm 202, and the shell provided with the sealing groove and the sealing protrusion is buckled, so that the first transmission cavity 101 and the second transmission cavity 102 are separated from the external environment, thereby achieving the protection purpose of dustproof and waterproof inside, and further improving the service life and transmission efficiency of the worm wheel 201 and the worm 202.

[0042] It should be added that the first shell 103 and the second shell 104 are mutually installed and fixed by a locking piece (not shown in the figure). Alternatively, please refer to Figure 3 , and in combination with other drawings, the locking piece includes bolts, the number of the bolts can be multiple, preferably, the number of the bolts can be four, two bolts are arranged around the first transmission cavity 101, and two bolts are arranged around the second transmission cavity 102, thereby further improving the sealing and fixing of the first transmission cavity 101 and the second transmission cavity 102.

[0043] It still needs to be explained that a sealing structure can also be arranged between the first shell 103 and the second shell 104, for example, a sealing piece 500 is additionally arranged, or a sealing coating and sealing oil are coated, thereby improving the sealing effect of the first transmission cavity 101 and the second transmission cavity 102, and reducing the falling of dust and other impurities.

[0044] Further, the second shell 104 includes a first shell portion 1041, a second shell portion 1042, and a third shell portion 1043.

[0045] In some embodiments, the first shell portion 1041 and the second shell portion 1042 are relatively arranged along a second direction Y, the first shell portion 1041 is provided with a first opening 1041a located at the second transmission cavity 102, the second shell portion 1042 is provided with a second opening 1042a located at the second transmission cavity 102, and two output ends 203 of the worm 202 are respectively arranged on the first opening 1041a and the second opening 1042a.

[0046] In some embodiments, the third shell portion 1043 is relatively arranged with the first shell 103 along a third direction Z, and two ends of the worm wheel 201 are respectively arranged on the first shell 103 and the third shell portion 1043. Specifically, the first mounting port 106 and the second mounting port 107 are mounted. By designing the shell 100 in a split type, the production is facilitated, and the assembly difficulty is simplified in the assembly process, and the assembly efficiency is improved.

[0047] In some embodiments, please refer to Figure 3 , and in combination with other drawings, the shell 100 is further provided with an avoiding groove 105.

[0048] In some embodiments, the shell 100 is provided with a clearance groove 105 in the second transmission cavity 102, the clearance groove 105 extending arcuately around the third direction Z. The clearance groove 105 is used to avoid at least part of the worm 202, on the one hand for installing the worm, on the other hand can reduce the internal space of the second transmission cavity 102, so that the micro joint module 1000 is compact in structure, facilitating miniaturization design.

[0049] In some embodiments, referring to Figure 3 , and in combination with other drawings, the transmission mechanism 200 further comprises a shaft sleeve 204.

[0050] In some embodiments, the shaft sleeve 204 and the driving mechanism 300 jointly support the two ends of the worm gear 201. Specifically, the planetary reducer 302 of the driving mechanism 300 and the shaft sleeve 204 jointly support the worm gear 201.

[0051] In some embodiments, the shell 100 is provided with opposite first and second mounting openings 106 and 107 along the third direction Z, the shaft sleeve 204 is accommodated in the first mounting opening 106, and the end of the worm gear 201 away from the shaft sleeve 204 is close to the second mounting opening 107 and is installed in the driving mechanism 300.

[0052] Through the above structure, the shaft sleeve 204 can support the worm gear 201, and the friction and wear of the worm gear 201 are reduced, the vibration generated by the worm gear 201 during rotation is buffered and absorbed, and the axial deviation of the worm gear 201 is reduced. Secondly, the shaft sleeve 204 can be opened separately to install, disassemble and maintain the worm gear 201.

[0053] For the above-mentioned driving mechanism 300, please refer to Figure 2 and Figure 3 , and in combination with other drawings, the driving mechanism 300 comprises a driving motor 301 and a planetary reducer 302. Wherein, the planetary reducer 302 can refer to the attached Figure 3 , the planetary reducer is a single-stage planetary reducer, thereby further reducing the volume of the driving mechanism 300, and further making the micro joint module 1000 compact in structure.

[0054] In some embodiments, along the third direction Z, the driving motor 301 is connected to the planetary reducer 302, the worm gear 201 is at least partially inserted into the planetary reducer 302, and the planetary reducer 302 is installed on the outer side of the shell 100 close to the first transmission cavity 101. Wherein, the shaft sleeve 204 accommodated in the second mounting opening 107 is installed in the planetary reducer 302.

[0055] The driving motor 301 drives the planetary reducer 302 to rotate, the planetary reducer 302 drives the worm wheel 201 to rotate, and the worm wheel 201 drives the worm 202 to rotate. The axis direction of the worm wheel 201 is at a preset angle with the axis direction of the worm 202.

[0056] It can be understood that the planetary reducer 302 is at least partially mounted on the shell 100, thereby being held together with the shaft sleeve 204 to hold the worm wheel 201. It should be noted that the power of the driving motor 301 is changed by arranging the planetary reducer 302, thereby facilitating accurate adjustment of the transmission. The worm wheel 201, the planetary reducer 302, and the driving motor 301 are arranged along the second direction Y, so that the transmission among them is along the same axis, thereby improving the transmission efficiency. At the same time, the structure design of the micro joint module 1 is facilitated, so that the micro joint module 1 is mounted on the finger joint of the finger module.

[0057] Optionally, the driving motor 301 includes a servo motor, a hollow cup motor, etc.

[0058] Preferably, the driving motor 301 is a brushless motor, so that the driving motor 301 has a long service life, reduces the operation noise of the motor, improves the driving power of the driving motor 301, and the structure of the brushless motor is compact, thereby facilitating the miniaturization design and modularization design of the micro joint module 1.

[0059] Optionally, the planetary reducer 302 includes a harmonic planetary reducer, an RV planetary reducer, and a micro cycloid planetary reducer.

[0060] Preferably, the planetary reducer 302 includes a planetary reducer, which converts the high-speed and low-torque output of the driving motor 301 into low-speed and high-torque output through gear meshing, thereby improving the transmission accuracy, reducing the overall size of the planetary reducer 302, improving the transmission efficiency, and adapting to complex working conditions. Thus, efficient, high-precision, and high-load transmission can be achieved in a limited space.

[0061] In some embodiments, please refer to Figure 3 and Figure 4 , and the other drawings. The micro joint module 1 further includes a control mechanism 400.

[0062] In some embodiments, please refer to Figure 4 , and the other drawings. The control mechanism 400 includes a control circuit board 401 and a sensor 402.

[0063] Optionally, the sensor 402 includes at least one of an angle sensor, a torque sensor, an encoder, a Hall sensor, etc.

[0064] In some embodiments, the sensor 402 includes a magnetic ring 4021. The magnetic ring 4021 is arranged at both ends of the worm 202, and is used to convert the rotation of the worm 202 into a measurable magnetic field signal and feed the magnetic field signal back to the control circuit board 401. Thus, the control circuit board 401 can calculate the current rotation speed, rotation angle and other information of the worm through the magnetic field signal. Optionally, the magnetic ring is a pair of pole magnetic rings.

[0065] Taking the angle sensor as an example, the planetary reducer, the brushless motor and the control circuit board 401 are further described. The brushless motor is electrically connected to the control circuit board 401, the brushless motor is connected to the planetary reducer 302, the planetary reducer 302 is connected to the worm wheel 201, the worm wheel 201 is engaged with the worm 202, the angle sensor is electrically connected to the control circuit board 401, and the magnetic ring 4021 of the angle sensor is sleeved on at least one end of the worm 202. The angle sensor collects the rotation data of the worm 202, such as the rotation angle and the rotation speed, through the magnetic ring 4021, and in combination with the output rotation speed of the brushless motor and the reduction ratio of the planetary reducer, the current output rotation speed and torque of the micro joint module 1 can be directly calculated, so as to realize the precise control of the driving system and the transmission system and improve the accuracy of the micro joint module 1.

[0066] In summary, based on the improvement of the transmission mechanism 200, the technical optimization of the driving mechanism 300 using the brushless motor, and the integration of the above-mentioned various sensors in the control circuit board 401 or the first transmission cavity 101 or the second transmission cavity 102, the micro joint module 1 is optimized and designed as a whole, and the degree of freedom of the micro joint module 1 is improved.

[0067] The application aims to provide a micro joint module 1. The micro joint module 1 comprises a shell 100, a transmission mechanism 200 and a driving mechanism 300. The shell 100 is provided with a first transmission cavity 101 and a second transmission cavity 102 which are communicated and are stacked along a first direction X. The transmission mechanism 200 comprises a worm wheel 201 and a worm 202. The worm wheel 201 is accommodated in the first transmission cavity 101 and can rotate around a second direction Y. The worm 202 is accommodated in the second transmission cavity 102, and the rod body of the worm 202 is arranged along a third direction Z. The worm wheel 201 and the worm 202 are engaged at the communication position of the first transmission cavity 101 and the second transmission cavity 102, and the worm wheel 201 is used to drive the worm 202 to rotate around the third direction Z. The driving mechanism 300 is connected with the worm wheel 201 along the third direction Z, and the driving mechanism 300 is used to drive the worm wheel 201 to rotate around the third direction Z. Wherein, the shell 100 is accommodated in the knuckle of the finger module; any two directions of the first direction X, the second direction Y and the third direction Z are perpendicular to each other. Through the above structure, the driving mechanism 300 can drive the worm wheel 201 in the first transmission cavity 101 to rotate, and the worm wheel 201 and the worm 202 which are engaged with each other can drive the worm 202 to rotate by the worm wheel 201, so as to achieve the purpose of output power, further improve the status of tooth surface stress concentration, and improve the transmission efficiency and transmission reliability.

[0068] Based on the same inventive concept, the application further provides a finger module, which comprises a knuckle and the micro joint module 1. The micro joint module 1 is accommodated in the knuckle and is used to drive direct movement. For the structure and function of the micro joint module 1 and the effects, reference can be made to the above, which will not be repeated here. Therefore, the finger module can also improve the above technical problems.

[0069] Based on the same inventive concept, the application further provides a dexterous hand, which comprises a palm module, the finger module and / or the micro joint module 1. The micro joint module 1 is not arranged in the palm module of the dexterous hand, so as to leave more installation space for the palm module and improve the structural design flexibility of the dexterous hand. For the structure and function of the micro joint module 1 and the effects, reference can be made to the above, which will not be repeated here. Therefore, the dexterous hand can also improve the above technical problems.

[0070] It should be noted that the preferred embodiments of the present application are described in the specification and its attached drawings, but the present application can be implemented in many different forms and is not limited to the embodiments described in the specification, and these embodiments are not intended to be additional limitations on the content of the present application, and the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Furthermore, each of the above technical features continues to combine to form various embodiments not listed above, which are considered to be within the scope of the present application specification; further, for those skilled in the art, the above description can be improved or changed, and all these improvements and changes shall fall within the scope of protection of the claims of the present application.

Claims

1. A micro-joint module applied to a finger module, characterized in that, The utility model relates to a kind of micro joint module, including: Housing is provided with the first transmission cavity and the second transmission cavity being communicated, the first transmission cavity and the second transmission cavity are stacked along the first direction; Transmission mechanism includes worm wheel and worm, the worm wheel is housed in the first transmission cavity, and can rotate around the second direction, the worm is housed in the second transmission cavity, and the rod body of the worm is arranged along the third direction, the worm wheel and the worm are engaged at the communication of the first transmission cavity and the second transmission cavity, the worm wheel is used to drive the worm to rotate around the third direction; Driving mechanism is connected with the worm wheel along the third direction, and the driving mechanism is used to drive the worm wheel to rotate around the third direction; Wherein, the housing is housed in the knuckle of the finger module;Any two directions in the first direction, the second direction and the third direction are perpendicular to each other.

2. The micro-joint module of claim 1, wherein, The transmission mechanism further includes two output ends, and the two output ends are respectively arranged at two ends of the worm in the third direction; The output end is concavely provided with an output groove, the output groove is perpendicular to the third direction and penetrates at least part of the output end, and the output groove is used for clamping with parts outside the micro joint module.

3. The micro-joint module of claim 2, wherein, The housing includes: The first shell is provided with sealing protrusion arranged along the third direction protruding; The second shell is provided with sealing recess arranged along the third direction concave; Wherein, the first shell and the second shell are fixed in the third direction by mutual buckling, to form the first transmission cavity and the second transmission cavity separated from the external environment, and the sealing protrusion is inserted into the sealing recess.

4. The micro-joint module of claim 3, wherein, The second shell includes a first shell part, a second shell part and a third shell part; The first shell part and the second shell part are oppositely arranged along the second direction, the first shell part is provided with a first opening in the second transmission cavity, the second shell part is provided with a second opening in the second transmission cavity, and the two output ends of the worm are respectively arranged on the first opening and the second opening; The third shell part is oppositely arranged with the first shell along the third direction, and the two ends of the worm wheel are respectively arranged on the first shell and the third shell part.

5. The micro-joint module of claim 3, wherein, The housing is further provided with an avoiding groove, the avoiding groove is located in the second transmission cavity, the avoiding groove extends arcuately around the third direction, and the avoiding groove is used for avoiding at least part of the worm.

6. The micro-joint module of claim 2, wherein, The transmission mechanism further includes a shaft sleeve, and the shaft sleeve and the driving mechanism jointly arrange the worm wheel; The housing is provided with opposite first mounting port and second mounting port along the third direction, the shaft sleeve is housed in the first mounting port, and the end of the worm wheel away from the shaft sleeve is close to the second mounting port and is installed in the driving mechanism.

7. The micro-arthroplasty module of claim 1, wherein, The driving mechanism includes a driving motor and a planetary reducer, the driving motor is connected to the planetary reducer along the third direction, the worm wheel is at least partially inserted into the planetary reducer, and the planetary reducer is installed on the outer side of the housing close to the first transmission cavity. The driving motor drives the planetary reducer to rotate, the planetary reducer drives the worm gear to rotate, and the worm gear drives the worm to rotate.

8. The micro-joint module of claim 7, wherein, The micro-joint module further comprises a control mechanism, which comprises a control circuit board and a sensor, wherein the sensor comprises a magnetic ring arranged at both ends of the worm, the magnetic ring is used for converting the rotation of the worm into a measurable magnetic field signal and feeding back the magnetic field signal to the control circuit board.

9. A finger module, characterized by The micro-joint module as claimed in any one of claims 1-8.

10. A dexterous hand characterized by, The micro-joint module as claimed in any one of claims 1-8, and / or the finger module as claimed in claim 9.

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