Double-output-shaft joint module, dexterous hand and robot

Abstract

The utility model discloses a double-output-shaft joint module, a dexterous hand and a robot, and relates to the technical field of dexterous hand joint modules. The double-output-shaft joint module comprises a base, an upper cover, a first output shaft and a second output shaft, a containing cavity is limited by the base and the upper cover, the first output shaft and the second output shaft are arranged in a spaced mode, part of the first output shaft is arranged in the containing cavity, the axial position of the first output shaft is adjustable, and the second output shaft is arranged in the containing cavity. The other end of the first output shaft is used for being rotationally connected with a finger or a joint, part of the second output shaft is arranged in the containing cavity and can be adjusted in the axial direction of the containing cavity, the other end of the second output shaft is used for being rotationally connected with the finger or the joint, and the first output shaft and the second output shaft are connected to the same finger or the same joint. According to the double-output-shaft joint module, through a simplified structure and modular design, under the condition that side-sway control over the connected joints or fingers is achieved, the installation space is reduced, the input cost is reduced, operation is easy, and control is accurate.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand joint module technology, specifically to a dual-output-axis joint module, a dexterous hand, and a robot. Background Technology

[0002] With advancements in technology, bionic hands have demonstrated enormous application potential in numerous fields, including medical rehabilitation, industrial production, aerospace, and service robotics. By mimicking the structure and function of the human hand, bionic hands provide users with a more natural and flexible operating experience.

[0003] However, in related technologies, no unified standard is adopted for the drive joint structure. Due to different design structures, each drive joint is different and is assembled from scattered parts, resulting in a low degree of modularity. In terms of the control of the lateral swing degree of freedom of the dexterous hand's fingers, it is driven independently by two drive modules. The overall drive structure is large, requires a large installation space, and is complex and costly. This brings great inconvenience to assembly, maintenance and replacement, increases the difficulty of controlling the bionic hand and reduces the control accuracy. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, this utility model embodiment proposes a dual-output shaft joint module. Through simplified structure and modular design, the dual-output shaft joint module reduces the installation space and investment cost while achieving lateral control of connected joints or fingers. It is simple to operate and precise in control.

[0006] This utility model embodiment also proposes a dexterous hand.

[0007] This utility model embodiment also proposes a robot.

[0008] The dual-output shaft joint module of this utility model embodiment includes:

[0009] A base and a top cover, wherein the base and the top cover are detachably connected, and a receiving cavity is defined between the base and the top cover;

[0010] A first output shaft and a second output shaft are arranged parallel to each other and spaced apart. A portion of the first output shaft is disposed in the receiving cavity. The other end of the first output shaft is used for rotatable connection with a finger or joint, and the position of the first output shaft relative to the receiving cavity is adjustable along its axial direction. A portion of the second output shaft is disposed in the receiving cavity, and the position of the second output shaft relative to the receiving cavity is adjustable along its axial direction. The other end of the second output shaft is used for rotatable connection with a finger or joint. The first output shaft and the second output shaft are connected to the same finger or joint.

[0011] The dual-output shaft joint module of this utility model, through its simplified structure and modular design, reduces installation space and investment costs while achieving lateral control of connected joints or fingers. It is simple to operate and provides precise control.

[0012] In some embodiments, a drive assembly is included, the drive assembly including a first screw and a second screw, the first output shaft and the second output shaft respectively being anti-rotatingly engaged with the receiving cavity, the first screw being rotatably disposed in the receiving cavity and helically engaged with the first output shaft, and the second screw being rotatably disposed in the receiving cavity and helically engaged with the second output shaft.

[0013] In some embodiments, the driving assembly includes a driving motor disposed in the accommodating cavity, the driving motor being drivenly connected to the first screw and the second screw respectively, and the driving motor being used to drive the first screw and the second screw to move simultaneously in the same or opposite directions relative to the accommodating cavity.

[0014] In some embodiments, the output end of the drive motor is provided with a drive gear, the first screw is provided with a first transmission gear that meshes with the drive gear, the second screw is provided with a second transmission gear that meshes with the drive gear, the thread direction of the first screw and the thread direction of the second screw are opposite, and / or, there is a set difference between the thread direction of the first screw and the thread direction of the second screw.

[0015] In some embodiments, the drive assembly includes a reduction unit located at the output end of the drive motor, and the drive gear is located at the output end of the reduction unit.

[0016] In some embodiments, a first limiting portion is provided at one end of the first output shaft located within the accommodating cavity, and a first sliding groove is provided within the accommodating cavity corresponding to the first output shaft, wherein the first limiting portion is slidably fitted into the first sliding groove.

[0017] In some embodiments, the system includes a position measuring unit and an integrated board. The position measuring unit is provided in two units and is respectively configured to correspond to the first output shaft and the second output shaft. The two position measuring units are respectively used to measure the distance from the first output shaft to the corresponding position measuring unit and the distance from the second output shaft to the corresponding position measuring unit. The integrated board is electrically connected to the measuring unit and the drive motor respectively.

[0018] The dexterous hand of this utility model embodiment includes a finger assembly and a joint module of any of the above embodiments. The finger assembly is rotatably connected to the first output shaft and the second output shaft respectively, and the joint module is used to drive the corresponding finger assembly to swing.

[0019] In some embodiments, the finger assembly includes a plurality of joint units, and a joint module is provided between two adjacent joint units, the joint module being used to drive one of the two joint units to rotate relative to the other.

[0020] The robot of this utility model embodiment includes the dexterous hand of any of the above embodiments. Attached Figure Description

[0021] Figure 1 This is a first-view structural schematic diagram of the dual-output shaft joint module according to an embodiment of the present invention.

[0022] Figure 2 This is a structural schematic diagram of the dual-output shaft joint module from a second perspective according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram showing the connection between the finger component and the joint module in the dexterous hand according to an embodiment of this utility model.

[0024] Figure 4 This is a schematic diagram of the structure of the finger component in the dexterous hand according to an embodiment of the present invention.

[0025] Figure label:

[0026] Joint module 100;

[0027] Finger component 200;

[0028] Base 1;

[0029] Top cover 2;

[0030] First output shaft 3; First limiting part 301;

[0031] Second output shaft 4;

[0032] 5-cell cavity;

[0033] Drive assembly 6; first screw 601; second screw 602; drive motor 603; drive gear 604; first transmission gear 605; second transmission gear 606; reduction unit 607;

[0034] Measurement unit 7;

[0035] Integrated board 8;

[0036] Connecting shaft 9;

[0037] First connector 10;

[0038] Second connector 11;

[0039] Joint unit 12;

[0040] First drive lug 13; long hole 1301;

[0041] Second drive lug 14. Detailed Implementation

[0042] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] like Figure 1 and Figure 2 As shown, the dual output shaft joint module 100 of this utility model embodiment includes a base 1, an upper cover 2, a first output shaft 3, and a second output shaft 4.

[0044] The base 1 has a first cavity, and the top cover 2 has a second cavity. The base 1 and the top cover 2 are connected and fixed by positioning pins and bolts to facilitate the initial disassembly and installation of the base 1 and the top cover 2, and to ensure the reliability of the connection between the base 1 and the top cover 2. When the base 1 and the top cover 2 are assembled together, the first cavity and the second cavity together restrict the accommodating cavity 5.

[0045] The first output shaft 3 and the second output shaft 4 are arranged in parallel, and there is a set gap between the first output shaft 3 and the second output shaft 4. Part of the first output shaft 3 is assembled in the receiving cavity 5, and the position of the first output shaft 3 relative to the receiving cavity 5 along its axial direction is adjustable. The length of the first output shaft 3 extending out of the receiving cavity 5 can be adjusted according to the operation requirements. The other end of the first output shaft 3 is used for rotational connection with a finger or joint. Part of the second output shaft 4 is assembled in the receiving cavity 5, and the position of the second output shaft 4 relative to the receiving cavity 5 along its axial direction is adjustable. The length of the second output shaft 4 extending out of the receiving cavity 5 can be adjusted according to the operation requirements. The other end of the second output shaft 4 is used for rotational connection with a finger or joint. The first output shaft 3 and the second output shaft 4 are connected to the same finger or joint.

[0046] In use, the dual-output shaft joint module of this utility model has the base 1 and the top cover 2 connected together. The lengths of the first output shaft 3 and the second output shaft 4 extending out of the receiving cavity 5 are adjusted. When the length of the first output shaft 3 extending out of the receiving cavity 5 is greater than the length of the second output shaft 4 extending out of the receiving cavity 5, the joint or finger connected to the first output shaft 3 and the second output shaft 4 rotates to the side away from the first output shaft 3, thereby realizing the lateral adjustment of the finger or the bending control of the joint. When the length of the first output shaft 3 extending out of the receiving cavity 5 is less than the length of the second output shaft 4 extending out of the receiving cavity 5, the joint or finger connected to the first output shaft 3 and the second output shaft 4 rotates to the side away from the second output shaft 4, thereby realizing the lateral adjustment of the finger or the bending control of the joint. The adjustment is convenient, safe and reliable, and the control precision is high.

[0047] The dual-output shaft joint module of this utility model, through its simplified structure and modular design, enables precise lateral control of connected joints or fingers. It is simple to operate and highly accurate in control. The joint module 100 has a small overall size, reducing installation space. Furthermore, the modular components facilitate unified production and rapid replacement, thus reducing investment costs.

[0048] In some embodiments, a drive assembly 6 is included, which includes a first screw 601 and a second screw 602. A first output shaft 3 and a second output shaft 4 are respectively anti-rotationally engaged with a receiving cavity 5. The first screw 601 is rotatably disposed in the receiving cavity 5 and helically engaged with the first output shaft 3. The second screw 602 is rotatably disposed in the receiving cavity 5 and helically engaged with the second output shaft 4.

[0049] Specifically, such as Figure 1 and Figure 2 As shown, the drive assembly 6 includes a first screw 601 and a second screw 602. A first rotary bearing and a second rotary bearing are respectively fixed in the accommodating cavity 5. The first screw 601 is assembled in the accommodating cavity 5 through the first rotary bearing. The other end of the first screw 601 is screwed into the first output shaft 3. The second screw 602 is assembled in the accommodating cavity 5 through the second rotary bearing. The other end of the second screw 602 is screwed into the second output shaft 4. The first screw 601 and the second screw 602 are respectively fixed in the accommodating cavity 5. By controlling the rotation direction of the first screw 601, the movement direction of the first output shaft 3 can be controlled. By controlling the rotation direction of the second screw 602, the movement direction of the first output shaft 3 can be controlled. The operation is convenient.

[0050] Optionally, the first rotary bearing is disposed on the side of the first screw 601 away from the first output shaft 3, and the second rotary bearing is disposed on the side of the second screw 602 away from the second output shaft 4. Under the condition that the lengths of the first screw 601 and the second screw 602 are limited, the thread length on the first screw 601 and the second screw 602 is increased, thereby increasing the effective adjustment range of the first screw 601 on the first output shaft 3 and the effective adjustment range of the second screw 602 on the second output shaft 4.

[0051] By setting the first screw 601 and the second screw 602, the first output shaft 3 and the second output shaft 4 can be supported and installed while driving them to move. This facilitates the adjustment of the positions of the first output shaft 3 and the second output shaft 4, and the screw engagement allows for precise control of the distance the first output shaft 3 and the second output shaft 4 move.

[0052] In some embodiments, such as Figure 1 and Figure 2 As shown, the drive assembly 6 includes a drive motor 603 disposed in the accommodating cavity 5. The drive motor 603 is connected to the first screw 601 and the second screw 602 respectively. The drive motor 603 is used to drive the first screw 601 and the second screw 602 to move simultaneously in the same or opposite directions relative to the accommodating cavity 5.

[0053] By setting the drive motor 603 to simultaneously drive the first screw 601 and the second screw 602, the transmission components required for driving the first screw 601 and the second screw 602 are simplified, the module material cost is reduced, and the linkage drive of the first screw 601 and the second screw 602 is realized. The lateral swing angle of the corresponding joint or finger can be quickly realized, and the operation is convenient and reliable.

[0054] Optionally, the base 1 and the top cover 2 are provided with ventilation holes.

[0055] In some embodiments, the output end of the drive motor 603 is provided with a drive gear 604, the first screw 601 is provided with a first transmission gear 605 that meshes with the drive gear 604, the second screw 602 is provided with a second transmission gear 606 that meshes with the drive gear 604, the thread direction of the first screw 601 and the thread direction of the second screw 602 are opposite, and / or, there is a set difference between the thread direction of the first screw 601 and the thread direction of the second screw 602.

[0056] Specifically, such as Figure 1 and Figure 2As shown, the drive motor 603 is fixedly mounted in the receiving groove and is located between the first screw 601 and the second screw 602. The output end of the drive motor 603 is provided with a drive gear 604. The first screw 601 is provided with a first transmission gear 605, and the second screw 602 is provided with a second transmission gear 606. When the drive motor 603 is working, the drive gear 604 drives the first transmission gear 605 and the second transmission gear 606 to rotate through meshing, thereby driving the first screw 601 and the second screw 602 to rotate. The transmission is achieved through gear meshing, which ensures reliable connection, avoids transmission failure, and guarantees the stability of transmission output.

[0057] It should be noted that there are three possible scenarios when selecting the first screw 601 and the second screw 602:

[0058] In the first scenario: the threads of the first screw 601 and the second screw 602 have opposite directions of rotation, while the threads of the first screw 601 and the second screw 602 have the same direction of rotation. When the drive motor 603 drives the drive gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction, which is opposite to the first direction. That is, at this time, the rotation directions of the first screw 601 and the second screw 602 are the same. Since the threads of the first screw 601 and the second screw 602 have opposite directions of rotation, the first output shaft 3 and the second output shaft 4 move in opposite directions. And since the threads of the first screw 601 and the second screw 602 have the same direction of rotation, the moving speeds of the first output shaft 3 and the second output shaft 4 are the same, thereby achieving the adjustment of the length of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5.

[0059] In the second scenario: the threads of the first screw 601 and the second screw 602 have the same direction of rotation, and there is a set difference between the thread direction of the first screw 601 and the thread direction of the second screw 602. When the drive motor 603 drives the drive gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction opposite to the first direction. That is, the rotation directions of the first screw 601 and the second screw 602 are the same. Since the threads of the first screw 601 and the second screw 602 have the same direction of rotation, the first output shaft 3 and the second output shaft 4 move in the same direction. However, there is a set difference between the thread direction of the first screw 601 and the thread direction of the second screw 602. That is, there is a difference in the moving speed of the first output shaft 3 and the second output shaft 4. After the drive motor 603 rotates for a set time, the difference in the extension length of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5 is further increased, thereby realizing the adjustment of the length of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5.

[0060] The third scenario: The threads of the first screw 601 and the second screw 602 have opposite directions of rotation, and there is a set difference between the thread direction of the first screw 601 and the thread direction of the second screw 602. When the drive motor 603 drives the drive gear 604 to rotate in the first direction, both the first gear and the second gear rotate in the second direction opposite to the first direction. That is, at this time, the rotation directions of the first screw 601 and the second screw 602 are the same. Since the threads of the first screw 601 and the second screw 602 have opposite directions of rotation, the first output shaft 3 and the second output shaft 4 move in opposite directions. There is a set difference between the thread direction of the first screw 601 and the thread direction of the second screw 602, that is, there is a difference in the moving speed of the first output shaft 3 and the second output shaft 4. After the drive motor 603 rotates for a set time, the difference in the extension length of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5 is further increased, thereby realizing the adjustment of the length of the first output shaft 3 and the second output shaft 4 outside the accommodating cavity 5.

[0061] In some embodiments, such as Figure 1 and Figure 2 As shown, the drive assembly 6 includes a reduction unit 607, which is located at the output end of the drive motor 603, and a drive gear 604 is located at the output end of the reduction unit 607.

[0062] By setting a reduction unit 607 to control the speed of the drive motor 603 transmitting to the drive gear 604, the rotational speed of the first screw 601 and the second screw 602 is reduced, thereby reducing the moving speed of the first output shaft 3 and the second output shaft 4, which facilitates precise control of the position of the first output shaft 3 and the second output shaft 4 and improves control accuracy.

[0063] Optionally, the reduction unit 607 is a speed reducer.

[0064] In some embodiments, such as Figure 1 and Figure 2 As shown, the first output shaft 3 is provided with a first limiting part 301 at one end located in the accommodating cavity 5, and a first sliding groove is provided in the accommodating cavity 5 corresponding to the first output shaft 3, and the first limiting part 301 is slidably assembled in the first sliding groove.

[0065] Specifically, the accommodating cavity 5 is provided with a first slide groove and a second slide groove. The first slide groove and the second slide groove have the same cross-sectional shape. The cross-section of the first slide groove can be, but is not limited to, a triangle, a rectangle, a pentagon, or a hexagon. The first output shaft 3 is provided with a first limiting part 301, and the second output shaft 4 is provided with a second limiting part. Both the first limiting part 301 and the second limiting part are limiting blocks. The cross-section of the limiting block is adapted to the cross-sectional size of the first slide groove. When the first screw 601 drives the first output shaft 3 to rotate, the first slide groove restricts the limiting block from rotating, thereby driving the first output shaft 3 to move along the first slide groove. The structure is simple and easy to process.

[0066] In some embodiments, such as Figure 1 and Figure 2 As shown, it includes a position measurement unit 7 and an integrated board 8. There are two position measurement units 7, which are respectively set to the first output shaft 3 and the second output shaft 4. The two position measurement units 7 are used to measure the distance from the first output shaft 3 to the corresponding position measurement unit 7 and the distance from the second output shaft 4 to the corresponding position measurement unit 7. The integrated board 8 is electrically connected to the measurement unit 7 and the drive motor 603.

[0067] Specifically, the position measurement unit 7 measures the positions of the first output shaft 3 and the second output shaft 4, and transmits the measured array to the integrated board 8. The integrated board 8 then transmits the data to the data processing component, thereby achieving unified collection and processing of data. When the first output shaft 3 and the second output shaft 4 move to the set position or the limit position, the integrated board 8 transmits a stop signal to the drive motor 603, making the control more precise and reducing the use of cables in the joint module 100, simplifying the wiring and making it easier to reduce the overall size of the joint module 100.

[0068] Optionally, the position measurement unit 7 includes a position detection brush and a position detection brush electrode. The position detection brush is set corresponding to the first screw 601 and the second screw 602, and the position detection brush electrode is set corresponding to the position detection brush on the base 1 or the upper cover 2. The position detection brush and the position detection brush electrode are used together to form a position measurement sensor to realize real-time detection of the positions of the first output shaft 3 and the second output shaft 4.

[0069] Optionally, the position measurement unit 7 may employ a laser rangefinder.

[0070] The following describes a dexterous hand according to an embodiment of the present invention.

[0071] The dexterous hand of this utility model embodiment includes a finger assembly 200 and a joint module 100 of any of the above embodiments. The finger assembly 200 is rotatably connected to the first output shaft 3 and the second output shaft 4 respectively. The joint module 100 is used to drive the corresponding finger assembly 200 to swing.

[0072] Specifically, such as Figure 3As shown, the dexterous hand includes a palm, a joint module 100 is disposed on the palm, a first output shaft 3 and a second output shaft 4 are disposed on the side of the joint module 100 away from the palm, and a connecting shaft 9 is provided on the finger assembly 200 via a supporting lug. A first connector 10 is fixedly disposed on the connecting shaft 9, and the other end of the first connector 10 is rotatably connected to the first output shaft 3. A second connector 11 is slidably disposed on the connecting shaft 9, and the other end of the second connector 11 is rotatably connected to the second output shaft 4. When adjusting the length of the first output shaft 3 and the second output shaft 4 extending out of the receiving groove, the first connector 10 and the first output shaft 3 rotate. While the second connector 11 and the second output shaft 4 rotate in opposite directions, the end of the second connector 11 connected to the connecting shaft 9 slides relative to the connecting shaft 9, thereby realizing the distance adjustment between the first connector 10 and the second connector 11 to adapt to the change in the distance between the ends of the first output shaft 3 and the second output shaft 4, thereby realizing the lateral adjustment of the finger assembly 200. The operation is convenient and the control is precise.

[0073] The dexterous hand in this embodiment of the utility model achieves lateral control of the finger component 200 by using a modular joint module 100, which reduces the installation space, solves the problem of high mass production cost, facilitates assembly, reduces the control difficulty of the finger component 200, and improves the control accuracy of the finger component 200.

[0074] In some embodiments, the finger assembly 200 includes a plurality of joint units 12, and a joint module 100 is provided between two adjacent joint units 12. The joint module 100 is used to drive one of the two joint units 12 to rotate relative to the other.

[0075] Specifically, such as Figure 4 As shown, the joint unit 12 is provided with two first drive lugs 13 parallel to the first output shaft 3. The first drive lugs 13 are provided with elongated holes 1301. The end of the first output shaft 3 is provided with a drive shaft, which is slidably disposed in the elongated holes 1301 and rotates with the elongated holes 1301. The joint unit 12 is provided with a second drive lug 14 corresponding to the second output shaft 4. The second drive lug 14 is rotatably connected to the second output shaft 4. When rotation occurs between two adjacent joint units 12, when the length of the first output shaft 3 and the second output shaft 4 extending out of the receiving groove is adjusted, the drive shaft and the elongated hole 1301 slide and rotate relative to each other. The second output shaft 4 and the second drive lug 14 rotate, thereby realizing the bending adjustment of the joint unit 12. The operation is convenient and the control is precise.

[0076] The robot according to an embodiment of the present invention is described below.

[0077] The robot of this utility model embodiment includes the dexterous hand of any of the above embodiments.

[0078] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 of this utility model.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0081] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dual-output-axis joint module, characterized in that, include: A base and a top cover, wherein the base and the top cover are detachably connected, and a receiving cavity is defined between the base and the top cover; A first output shaft and a second output shaft are arranged parallel to each other and spaced apart. A portion of the first output shaft is disposed in the receiving cavity. The other end of the first output shaft is used for rotatable connection with a finger or joint, and the position of the first output shaft relative to the receiving cavity is adjustable along its axial direction. A portion of the second output shaft is disposed in the receiving cavity, and the position of the second output shaft relative to the receiving cavity is adjustable along its axial direction. The other end of the second output shaft is used for rotatable connection with a finger or joint. The first output shaft and the second output shaft are connected to the same finger or joint.

2. The dual-output-axis joint module according to claim 1, characterized in that, The device includes a drive assembly comprising a first screw and a second screw, wherein the first output shaft and the second output shaft are respectively anti-rotationally engaged with the accommodating cavity, the first screw is rotatably disposed in the accommodating cavity and helically engaged with the first output shaft, and the second screw is rotatably disposed in the accommodating cavity and helically engaged with the second output shaft.

3. The dual-output-shaft joint module according to claim 2, characterized in that, The driving assembly includes a driving motor disposed in the accommodating cavity. The driving motor is connected to the first screw and the second screw respectively. The driving motor is used to drive the first screw and the second screw to move simultaneously in the same or opposite directions relative to the accommodating cavity.

4. The dual-output-shaft joint module according to claim 3, characterized in that, The output end of the drive motor is provided with a drive gear, the first screw is provided with a first transmission gear that meshes with the drive gear, the second screw is provided with a second transmission gear that meshes with the drive gear, the thread direction of the first screw and the thread direction of the second screw are opposite, and / or, there is a set difference between the thread direction of the first screw and the thread direction of the second screw.

5. The dual-output-shaft joint module according to claim 4, characterized in that, The drive assembly includes a reduction unit located at the output end of the drive motor, and the drive gear is located at the output end of the reduction unit.

6. The dual-output-shaft joint module according to claim 2, characterized in that, The first output shaft has a first limiting part at one end located in the accommodating cavity, and a first sliding groove is provided in the accommodating cavity corresponding to the first output shaft, and the first limiting part is slidably assembled in the first sliding groove.

7. The dual-output-shaft joint module according to claim 3, characterized in that, The device includes a position measurement unit and an integrated board. The position measurement unit is provided in two units and is respectively set to the first output shaft and the second output shaft. The two position measurement units are used to measure the distance from the first output shaft to the corresponding position measurement unit and the distance from the second output shaft to the corresponding position measurement unit. The integrated board is electrically connected to the measurement unit and the drive motor.

8. A dexterous hand, characterized in that, The device includes a finger assembly and a joint module as described in any one of claims 1-7, wherein the finger assembly is rotatably connected to the first output shaft and the second output shaft respectively, and the joint module is used to drive the corresponding finger assembly to swing.

9. The dexterous hand according to claim 8, characterized in that, The finger assembly includes multiple joint units, and a joint module is provided between two adjacent joint units. The joint module is used to drive one of the two joint units to rotate relative to the other.

10. A robot, characterized in that, Including the dexterous hand as described in claim 8 or 9.

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