A finger

Abstract

This application discloses a finger, relating to the field of robotics. One side of the drive assembly along a first direction is the working side for placing the object to be picked up. Both ends of the drive assembly along a second direction are provided with first output shafts. A first phalanx on one end of the first output shaft has a rotation center around the corresponding first output shaft, which is called the first rotation center. A second phalanx on the other end of the first output shaft has a rotation center around the corresponding first output shaft, which is called the second rotation center. The first rotation center is located on the side of the second rotation center along the first direction opposite to the working side. The second output shaft of the drive assembly is located on the second phalanx. Because the first rotation center is located on the side of the second rotation center along the first direction opposite to the working side, and the second rotation center is close to the working side, the rotation radius of the drive assembly within the second phalanx is relatively short. This reduces interference between the drive assembly and the drive assembly, saves clearance space within the second phalanx, and makes the finger structure more compact.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a finger. Background Technology

[0002] Robots have been widely used in industry. Robotic arms are often used to replace human hands in tasks such as grasping and manipulating, and are characterized by precision and flexibility. The performance of a robotic arm directly determines the robot's working capabilities, and the design of robotic arms typically imposes strict requirements on their size.

[0003] In related technologies, the fingers of robotic arms are relatively large. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides a finger to reduce its size.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a finger, including:

[0007] A drive assembly includes a drive device, the drive device including a first output shaft, one side of the drive assembly along a first direction is a working side for placing the object to be picked up, the first direction is arranged to intersect the axial direction of the first output shaft, and the drive assembly is provided with the first output shaft at both ends along a second direction, the second direction being arranged to intersect the axial direction of the first direction and the first output shaft respectively.

[0008] The finger joint is a first finger joint provided on the first output shaft at one end of the drive assembly, and the rotation center of the first finger joint rotating around the first output shaft is a first rotation center. The finger joint provided on the first output shaft at the other end of the drive assembly is a second finger joint, and the rotation center of the second finger joint rotating around the first output shaft is a second rotation center. The first rotation center is located on the side of the second rotation center that is opposite to the working side along the first direction.

[0009] The drive assembly includes a second output shaft disposed on the second knuckle.

[0010] In some embodiments, the number of drive devices is N, and each drive device includes a bracket rotatably connected to the first output shaft, a driver mounted on the bracket, and a transmission assembly disposed on the first output shaft. The driver includes a third output shaft, which drives the transmission assembly to rotate and cause the first output shaft to rotate. The axial direction of the third output shaft is arranged along the second direction.

[0011] In the M adjacent drive devices along the first direction, the first output shaft of at least one of the drive devices is located on the side of the driver corresponding to the third output shaft along the first direction toward the driver of the corresponding other drive device;

[0012] Where N is an integer greater than or equal to 2, and M equals 2.

[0013] In some embodiments, the transmission assembly includes:

[0014] The first worm gear is connected to the third output shaft;

[0015] The first worm gear meshes with the first worm, and the first worm gear is connected to the first output shaft;

[0016] In this configuration, the first worm gear of at least one of the drive devices is located on the side of the corresponding first worm gear facing the driver of the corresponding other drive device along the first direction.

[0017] In some embodiments, the transmission assembly further includes a bearing, the inner ring of which is sleeved on the first worm, and the outer ring of which is mounted on the bracket. The bearing is provided at both ends of the first worm, and the number of bearings corresponding to the end of the first worm facing the first phalanx of the driving device is less than the number of bearings corresponding to the end of the first worm facing the second phalanx of the driving device.

[0018] In some embodiments, the bracket located on the side of the driver facing the second phalanx has a receiving boss and a clearance area located outside the bracket. The receiving boss protrudes from the side corresponding to the driver along the axial direction of the third output shaft, opposite to the first worm gear. The bearing is disposed within the receiving boss. The clearance area and the first worm gear are both located on the receiving boss facing the working side along the first direction. The first worm gear is located on the side of the clearance area facing the driver along the axial direction of the third output shaft.

[0019] In some embodiments, the first output shafts of the M drive devices are located on the side of the driver corresponding to the third output shaft along the first direction toward the driver of the corresponding other drive device.

[0020] In some embodiments, the drive device further includes a housing, the bracket is connected to one end of the housing along the axial direction of the third output shaft, the drive portion is located inside the housing, the housing has a stop end face at one end opposite to the bracket along the axial direction of the third output shaft, and the stop end faces of M drive devices abut against the bracket of the corresponding other drive device along the axial direction of the third output shaft.

[0021] In some embodiments, the second phalanx has a first limiting boss and a second limiting boss arranged circumferentially at intervals along the first output shaft. The drive assembly rotates about the first output shaft along a preset rotation direction so that the working side of the drive assembly is close to the second phalanx. The second limiting boss is located on the side of the first limiting boss facing the preset rotation direction. The working side of the drive assembly rotates about the first output shaft along the preset rotation direction until it abuts against the first limiting boss to limit the angle of rotation of the drive assembly along the preset rotation direction. The end of the drive assembly facing the second phalanx along the second direction has a limiting end face. The drive assembly rotates away from the preset rotation direction about the first output shaft until the limiting end face abuts against the second limiting boss to limit the angle of rotation of the drive assembly away from the preset rotation direction.

[0022] In some embodiments, the second phalanx includes:

[0023] A first connector is disposed on the first output shaft at the corresponding end of the drive assembly;

[0024] The second connector is disposed on the side of the drive assembly opposite to the first connector along the axial direction of the first output shaft;

[0025] The third connector is connected to the first connector and the second connector respectively, and the first limiting boss is formed in the third connector;

[0026] The fourth connector is located on the side of the third connector facing the preset rotation direction. The fourth connector is connected to the first connector and the second connector respectively. The second limiting boss is formed on the fourth connector. The second output shaft is disposed on the third connector and / or the fourth connector.

[0027] In some embodiments, the axial direction of the second output shaft is arranged along the arrangement direction of the third connector and the fourth connector, the third connector is disposed on the second output shaft, and the fourth connector is disposed on the side of the drive assembly opposite to the third connector along the axial direction of the second output shaft.

[0028] The finger provided in this application embodiment has a drive assembly with a first output shaft at both ends along a second direction. The second direction is arranged to intersect the first direction and the axial direction of the first output shaft. A first phalanx is provided on the first output shaft at one end of the drive assembly, and the drive assembly drives the first phalanx to rotate relative to the drive assembly around a first rotation center. A second phalanx is provided on the first output shaft at the other end of the drive assembly, and the drive assembly and the first phalanx can rotate relative to the second phalanx around a second rotation center. The second output shaft of the drive component is provided on the second phalanx, and one end of the second phalanx is provided on the corresponding first output shaft. One end of the second phalanx is connected to the second output shaft. The drive component drives the second phalanx to rotate, thereby causing the drive assembly and the first phalanx to rotate together. The drive assembly and the drive component enable the finger to have three degrees of freedom. The first rotation center is located on the side opposite to the working side along the first direction of the second rotation center. The second rotation center of the second phalanx is close to the working side. During the process of the working side of the drive assembly rotating towards the second phalanx, the distance from the outline of the drive assembly rotating within the second phalanx to the second rotation center is relatively short. That is, the rotation radius of the drive assembly within the second phalanx is correspondingly shorter. While minimizing the interference between the drive assembly and the drive components, it is beneficial to save clearance space within the second phalanx, making the finger structure more compact and reducing the size of the finger. Attached Figure Description

[0029] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0030] Figure 1 This is a schematic diagram of the structure of a finger according to an embodiment of this application;

[0031] Figure 2 for Figure 1 Sectional view at point AA;

[0032] Figure 3 This is an axonometric schematic diagram of the structure of a finger according to an embodiment of this application;

[0033] Figure 4 This is a schematic diagram of the structure of the second phalanx according to an embodiment of this application, showing the first output shaft and the second output shaft;

[0034] Figure 5 This is a schematic diagram of the drive assembly according to an embodiment of this application;

[0035] Figure 6 for Figure 5 Sectional view at point BB.

[0036] Explanation of reference numerals in the attached figures

[0037] 1. Knuckle; 11. First knuckle; 12. Second knuckle; 121. First limiting boss; 122. Second limiting boss; 123. First connector; 124. Second connector; 125. Third connector; 126. Fourth connector; 13. First rotation center; 14. Second rotation center; 2. Drive assembly; 21. Drive device; 211. First output shaft; 212. Bracket; 2121. Accommodating boss; 2122. Clearance area; 213. Driver; 2131, Third output shaft; 214, Transmission assembly; 2141, First worm gear; 2142, First worm wheel; 2143, Bearing; 215, Housing; 2151, Stop end face; 22, Working side; 23, Limiting end face; 3, Drive assembly; 31, Second output shaft; 32, Transmission mechanism; 33, Mounting bracket; 34, Power source; 35, Fourth output shaft; R1, First direction; R2, Second direction; R3, Axial direction of the first output shaft; R4, Preset rotation direction. Detailed Implementation

[0038] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0040] In the description of the embodiments of this application, the technical terms "first," "second," "third," "fourth," "fifth," "sixth," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0043] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0044] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "linking," "communication," and "fixing" 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0045] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" refers to direct contact or indirect contact, which can be contact between two parties without interaction force or contact between two parties with interaction force.

[0046] In related technologies, a finger includes a drive assembly, a knuckle, and a drive component. The knuckle includes a first knuckle and a second knuckle. The first output shaft of the drive assembly at one end along a second direction drives the first knuckle to rotate. The first output shaft of the drive assembly at the other end along the second direction rotates the drive assembly relative to the second knuckle. The drive component drives the second knuckle to rotate, giving the finger multiple degrees of freedom. The part of the drive assembly near the working side rotates within the second knuckle. The distance from the part of the drive assembly near the working side within the second knuckle to the second rotation center is relatively large, resulting in a relatively large rotation radius. A large clearance space needs to be left within the second knuckle to reduce the possibility of interference between the structure of the drive assembly within the second knuckle and the structure of the drive component within the second knuckle. The large clearance space required within the second knuckle results in a larger finger volume.

[0047] This application provides a finger in its embodiment; please refer to [link / reference]. Figures 1-3 The finger includes a drive assembly 2, a knuckle 1, and a drive component 3. The drive assembly 2 includes a drive device 21, which includes a first output shaft 211. One side of the drive assembly 2 along the first direction R1 is a working side 22 for placing the object to be picked up. The first direction R1 intersects the axial direction R3 of the first output shaft. The drive assembly 2 has a first output shaft 211 at both ends along the second direction R2. The second direction R2 intersects the first direction R1 and the axial direction R3 of the first output shaft, respectively. The first output shaft 211 at one end of the drive assembly 2 has... The set finger joint 1 is the first finger joint 11, and the rotation center of the first finger joint 11 around the corresponding first output shaft 211 is the first rotation center 13. The finger joint 1 set on the first output shaft 211 at the other end of the drive assembly 2 is the second finger joint 12, and the rotation center of the second finger joint 12 around the corresponding first output shaft 211 is the second rotation center 14. The first rotation center 13 is located on the side of the second rotation center 14 that is opposite to the working side 22 along the first direction R1. The drive assembly 3 includes a second output shaft 31, which is set on the second finger joint 12.

[0048] It should be noted that the rotation of the second knuckle 12 around the first output shaft 211 is the rotation of the drive assembly 2 relative to the second knuckle 12. When the first output shaft 211 of the second knuckle 12 is set to output driving force, the drive assembly 2 and the first knuckle 11 rotate around the second rotation center 14, while the second knuckle 12 and the drive assembly 3 remain stationary.

[0049] For example, another first output shaft 211 is fixedly connected to the first phalanx 11 so that the first output shaft 211 drives the first phalanx 11 to rotate.

[0050] For example, the second output shaft 31 is fixedly connected to the second phalanx 12 so that the second output shaft 31 drives the second phalanx 12 to rotate.

[0051] In this embodiment, the drive assembly 2 has a first output shaft 211 at both ends along the second direction R2. The second direction R2 is arranged to intersect the first direction R1 and the axial direction R3 of the first output shaft. A first phalanx 11 is provided on the first output shaft 211 at one end of the drive assembly 2. The drive assembly 2 drives the first phalanx 11 to rotate relative to the drive assembly 2 around the first rotation center 13. A second phalanx 12 is provided on the first output shaft 211 at the other end of the drive assembly 2. The drive assembly 2 and the first phalanx 11 can rotate relative to the second phalanx 12 around the second rotation center 14. The second output shaft 31 of the drive component 3 is provided on the second phalanx 12. One end of the second phalanx 12 is provided on the corresponding first output shaft 211, and the other end of the second phalanx 12 is provided on the second output shaft 31. The drive component 3 drives the second phalanx 12 to rotate, thereby causing the drive assembly 2 and the first phalanx 11 to rotate together. The drive assembly 2 and the drive component 3 enable the finger to have three degrees of freedom. The first rotation center 13 is located on the side of the second rotation center 14 that is opposite to the working side 22 along the first direction R1. The second rotation center 14 of the second phalanx 12 is close to the working side 22. During the process of the working side 22 of the drive assembly 2 rotating towards the second phalanx 12, the distance from the outline of the drive assembly 2 rotating within the second phalanx 12 to the second rotation center 14 is relatively short. That is, the rotation radius of the drive assembly 2 within the second phalanx 12 is correspondingly shorter. While minimizing the interference between the drive assembly 2 and the drive component 3, it is beneficial to save the clearance space within the second phalanx 12, making the finger structure more compact and reducing the size of the finger.

[0052] In some embodiments, the axial direction of the second output shaft 31 is arranged to intersect the axial direction R3 of the first output shaft.

[0053] For example, the axial direction of the second output shaft 31 is perpendicular to the axial direction R3 of the first output shaft.

[0054] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 There are N drive devices 21. Each drive device 21 includes a bracket 212 rotatably connected to the first output shaft 211, a driver 213 mounted on the bracket 212, and a transmission assembly 214 disposed on the first output shaft 211. The driver 213 includes a third output shaft 2131. The third output shaft 2131 drives the transmission assembly 214 to rotate the first output shaft 211. The axial direction of the third output shaft 2131 is arranged along the second direction R2. Among the M adjacent drive devices 21 along the first direction R1, the first output shaft 211 of at least one drive device 21 is located on the side of the corresponding third output shaft 2131 facing the driver 213 of the corresponding other drive device 21 along the first direction R1. Wherein, N is an integer greater than or equal to 2, and M is equal to 2.

[0055] For example, N equals 2.

[0056] For example, N is equal to 3 or 4.

[0057] For example, the first output shafts 211 of both drive devices 21 are located on the side of the corresponding third output shaft 2131 facing the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0058] For example, the first direction R1 is arranged to intersect the axial direction R3 of the first output shaft and the axial direction of the third output shaft 2131.

[0059] In this embodiment, the drive assembly 2 integrates N drive devices 21, with adjacent drive devices 21 arranged along a first direction R1. The first output shaft 211 of at least one drive device 21 is located on the side of the driver 213 corresponding to the second output shaft 31 along the first direction R1 towards the driver 213 of the corresponding other drive device 21. Utilizing the space along the arrangement direction of the two drive devices 21 to arrange at least a portion of the transmission assembly 214 and the first output shaft 211 helps save space occupied by the drive assembly 2 in the first direction R1, making the finger structure more compact and further reducing the finger's volume. While saving finger space, the first rotation center 13 is positioned on the side of the second rotation center 14 opposite to the working side 22 along the first direction R1.

[0060] It is understood that the first output shaft 211 of at least one of the drive devices 21 is not limited to the side of the corresponding third output shaft 2131 facing the driver 213 of the corresponding other drive device 21 along the first direction R1. For example, the first output shafts 211 of the M drive devices 21 are all located on the side of the corresponding third output shaft 2131 away from the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0061] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The transmission assembly 214 includes a first worm 2141 and a first worm wheel 2142. The first worm 2141 is connected to the third output shaft 2131. The first worm wheel 2142 meshes with the first worm 2141 and is connected to the first output shaft 211. The first worm wheel 2142 of at least one drive device 21 is located on the side of the corresponding first worm 2141 facing the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0062] For example, in two adjacent drive devices 21, the first worm gears 2142 of both drive devices 21 are located on the side of the corresponding first worm 2141 facing the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0063] In this embodiment, two drive units 21 are integrated together. The first worm gear 2142 of at least one drive unit 21 is located on the side of the corresponding first worm 2141 facing the driver 213 of the other drive unit 21 along the first direction R1. The first worm gear 2142 and the first output shaft 211 are arranged in the space of the arrangement direction of the two adjacent drivers 213, which helps to save the space occupied by the turbine and the first output shaft 211 in the first direction R1, and reduces the space occupied by the drive assembly 2 in the first direction R1. The meshing transmission of the first worm gear 2142 and the first worm 2141 reduces the loss in the power transmission process and improves the power transmission efficiency.

[0064] For example, the power transmission efficiency of the meshing transmission of the first worm gear 2142 and the first worm 2141 is improved by 40% compared to the linkage transmission.

[0065] It is understood that the first worm gear 2142 of at least one drive device 21 is not limited to the side of the corresponding first worm 2141 facing the driver 213 of the corresponding other drive device 21 along the first direction R1. For example, the first worm gears 2142 of M drive devices 21 are located on the side of the corresponding first worm 2141 away from the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0066] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The transmission assembly 214 also includes a bearing 2143. The inner ring of the bearing 2143 is sleeved on the first worm 2141, and the outer ring of the bearing 2143 is mounted on the bracket 212. Bearings 2143 are provided at both ends of the first worm 2141. The number of bearings 2143 provided on the first worm 2141 at the end of the drive device 21 facing the first finger joint 11 is less than the number of bearings 2143 provided on the first worm 2141 at the end of the drive device 21 facing the second finger joint 12.

[0067] For example, there are two bearings 2143 on the first worm 2141 at the end of the drive device 21 facing the first finger joint 11, and one bearing 2143 is provided at each end of the first worm 2141. There are three bearings 2143 on the first worm 2141 at the end of the drive device 21 facing the second finger joint 12, with one bearing 2143 at one end of the first worm 2141 and two bearings 2143 at the other end of the first worm 2141.

[0068] For example, the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the first finger joint 11 is 3, and the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the second finger joint 12 is 4.

[0069] For example, the first phalanx 11 is the fingertip of the finger.

[0070] In this embodiment, the second phalanx 12 is close to the base of the finger. When the first phalanx 11 rotates, the driver 213, the bracket 212, and the housing do not rotate. The first phalanx has a short radius of rotation around the first rotation center. When the drive assembly 2 rotates relative to the second phalanx 12, the drive assembly 2 and the first phalanx 11 rotate together around the second rotation axis. The cantilever of the drive assembly 2 relative to the second phalanx 12 is relatively long. The end of the drive device 21 facing the second phalanx 12 needs to bear a larger load. The number of bearings 2143 corresponding to the first worm 2141 at the end of the drive device 21 facing the first phalanx 11 is less than the number of bearings 2143 corresponding to the first worm 2141 at the end of the drive device 21 facing the second phalanx 12. The first worm 2141 has more bearings 2143 at the second phalanx 12, which is beneficial to improve the load-bearing capacity of the drive device 21 near the second phalanx 12.

[0071] It is understood that the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the first phalanx 11 is not necessarily less than the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the second phalanx 12. For example, the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the first phalanx 11 is equal to the number of bearings 2143 correspondingly provided on the first worm 2141 at the end of the drive device 21 facing the second phalanx 12.

[0072] In some embodiments, please refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 The bracket 212 located on the side of the driver 213 facing the second phalanx 12 has a receiving boss 2121 and a clearance area 2122 located outside the bracket 212. The receiving boss 2121 protrudes from the side of the driver 213 away from the corresponding first worm gear 2142 along the axial direction of the corresponding third output shaft 2131. A bearing 2143 is provided inside the receiving boss 2121. The clearance area 2122 and the first worm gear 2142 are both located on the side of the receiving boss 2121 facing the working side 22 along the first direction R1. The first worm gear 2142 is located on the side of the clearance area 2122 facing the driver 213 along the axial direction of the third output shaft 2131.

[0073] For example, the receiving boss 2121 is used to mount the first worm gear 2141.

[0074] In this embodiment, the drive assembly 2 rotates mainly within the second phalanx 12 at the position corresponding to the bracket 212 facing the working side 22. The clearance area 2122 and the first worm gear 2142 are both located on the receiving boss 2121 facing the working side 22 along the first direction R1. The clearance area 2122 is arranged at the position of the receiving boss facing the working side 22. The clearance area 2122 avoids the receiving boss 2121 and the first worm gear 2142. On the basis of making the finger structure more compact, it is beneficial to reduce the interference between the drive device 21 and the drive assembly 3, increase the finger's activity space, and improve the finger's flexibility.

[0075] It is understood that the clearance area 2122 and the first worm gear 2142 are not limited to both being located on the receiving boss 2121 facing the working side 22 along the first direction R1. Exemplarily, the first worm gear 2142 is located on the receiving boss 2121 away from the working side 22 along the first direction R1.

[0076] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The first output shaft 211 of the M drive devices 21 is located on the side of the corresponding third output shaft 2131 along the first direction R1 toward the driver 213 of the corresponding other drive device 21.

[0077] It should be noted that, among the M drive devices 21, the first output shaft 211 of each drive device 21 is located on the side of the driver 213 of the corresponding third output shaft 2131 along the first direction R1 toward the driver 213 of the corresponding other drive device 21.

[0078] In this embodiment, the first output shaft 211 of the M drive devices 21 is located on the side of the driver 213 corresponding to the third output shaft 2131 along the first direction R1 towards the driver 213 of the other drive device 21. The first output shaft 211 of the two drive devices 21 is arranged in the space of the arrangement direction of the two drive devices 21, which further saves the space occupied by the two first output shafts 211 in the first direction R1, reduces the space occupied by the drive assembly 2 in the first direction R1, makes the structure of the finger more compact, and reduces the size of the finger.

[0079] It is understood that the first output shaft 211 of the M drive devices 21 is not limited to being located on the side of the corresponding third output shaft 2131 facing the driver 213 of the corresponding other drive device 21 along the first direction R1. For example, the first output shaft 211 of one drive device 21 is located on the side of the corresponding third output shaft 2131 facing away from the driver 213 of the corresponding other drive device 21 along the first direction R1, and the first output shaft 211 of another drive device 21 is located on the side of the corresponding third output shaft 2131 facing the driver 213 of the corresponding other drive device 21 along the first direction R1.

[0080] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The drive unit 21 also includes a housing 215, a bracket 212 connected to one end of the housing 215 along the axial direction of the third output shaft 2131, a driver 213 partially located inside the housing 215, and a stop end face 2151 at one end of the housing 215 away from the bracket 212 along the axial direction of the third output shaft 2131. The stop end faces 2151 of the M drive units 21 abut against the bracket 212 of the corresponding other drive unit 21 along the axial direction of the third output shaft 2131.

[0081] It should be noted that, among the M drive devices 21, the stop end face 2151 of each drive device 21 abuts against the bracket 212 of the corresponding other drive device 21 along the axial direction of the third output shaft 2131.

[0082] In this embodiment, the stop end face 2151 of the M drive devices 21 abuts against the bracket 212 of the corresponding other drive device 21 along the axial direction of the third output shaft 2131. The two drive devices 21 are integrated together, and the bracket 212 of each drive device 21 abuts against the stop end face 2151 of the housing 215 of the other drive device 21. This reduces the space occupied by the drive assembly 2 in the axial direction of the third output shaft 2131, making the structure of the finger more compact and reducing the size of the finger.

[0083] It is understood that the stop end faces 2151 of the M drive devices 21 are not limited to abutting against the bracket 212 of the corresponding other drive device 21 along the axial direction of the third output shaft 2131. Exemplarily, the stop end faces 2151 of the M drive devices 21 are isolated from the bracket 212 of the corresponding other drive device 21 along the axial direction of the third output shaft 2131.

[0084] In some embodiments, please refer to Figures 2-4The second phalanx 12 has a first limiting boss 121 and a second limiting boss 122 arranged circumferentially at intervals along the corresponding first output shaft 211. The drive assembly 2 rotates around the corresponding first output shaft 211 along a preset rotation direction R4 so that the working side 22 of the drive assembly 2 approaches the second phalanx 12. The second limiting boss 122 is located on the side of the first limiting boss 121 facing the preset rotation direction R4. The working side 22 of the drive assembly 2 rotates around the corresponding first output shaft 211 along the preset rotation direction R4 until it abuts against the first limiting boss 121 to limit the angle of rotation of the drive assembly 2 along the preset rotation direction R4. The end of the drive assembly 2 facing the second phalanx 12 along the second direction R2 has a limiting end face 23. The drive assembly 2 rotates away from the preset rotation direction R4 around the corresponding first output shaft 211 until the limiting end face 23 abuts against the second limiting boss 122 to limit the angle of rotation of the drive assembly 2 away from the preset rotation direction R4.

[0085] In this embodiment, the working side 22 of the drive assembly 2 rotates along a preset rotation direction R4 around the corresponding first output shaft 211 until it abuts against the first limiting boss 121 to limit the angle of rotation of the drive assembly 2 along the preset rotation direction R4. When the drive assembly 2 abuts against the first limiting boss 121, the drive assembly 2 is at the extreme position of rotation along the preset rotation direction R4. The end of the drive assembly 2 facing the second finger joint 12 along the second direction R2 has a limiting end face 23. The drive assembly 2 rotates away from the preset rotation direction R4 around the corresponding first output shaft 211. The drive assembly 2 moves to the limit end face 23 and abuts against the second limit boss 122 to limit the angle of rotation of the drive assembly 2 away from the preset rotation direction R4. When the limit end face 23 of the drive assembly 2 abuts against the second limit boss 122, the drive assembly 2 is at the extreme position of rotation away from the preset rotation direction R4. The first limit boss 121 and the second limit boss 122 are set to limit the angle of rotation of the drive assembly 2 around the first output shaft 211, reducing the possibility of excessive bending and damage to the fingers due to excessive rotation angle of the drive assembly 2, and improving the life of the fingers.

[0086] It is understandable that the second phalanx 12 may not have a first limiting protrusion 121 and a second limiting protrusion 122.

[0087] In some embodiments, please refer to Figures 2-4The second phalanx 12 includes a first connector 123, a second connector 124, a third connector 125, and a fourth connector 126. The first connector 123 is disposed on the first output shaft 211 at the corresponding end of the drive assembly 2. The second connector 124 is disposed on the side of the drive assembly 2 away from the first connector 123 along the axial direction R3 of the first output shaft. The third connector 125 is connected to the first connector 123 and the second connector 124 respectively, and a first limiting boss 121 is formed on the third connector 125. The fourth connector 126 is located on the side of the third connector 125 facing the preset rotation direction R4. The fourth connector 126 is connected to the first connector 123 and the second connector 124 respectively, and a second limiting boss 122 is formed on the fourth connector 126. The second output shaft 31 is disposed on the third connector 125 and / or the fourth connector 126.

[0088] It should be noted that the first connector 123 and the second connector 124 are arranged along the axial direction R3 of the first output shaft. The fourth connector 126 and the third connector 125 are arranged at intervals, and the third connector 125 is located on the working side 22 of the drive assembly 2.

[0089] It should be noted that the preset rotation direction R4 is the direction in which the drive assembly 2 rotates about the first output shaft 211 connected to the second phalanx 12. The rotation directions of the drive assembly 2 at both ends of the first output shaft 211 along the second direction R2 are different. The preset rotation direction R4 of the drive assembly 2 towards the second phalanx 12 along the second direction R2 is opposite to the preset rotation direction R4 of the drive assembly 2 away from the second phalanx 12 along the second direction R2. The preset rotation direction R4 shown in the figure is the preset rotation direction R4 of the drive assembly 2 towards the second phalanx 12 along the second direction R2.

[0090] For example, the first connector 123 and the second connector 124 are arranged at intervals, and the clearance area 2122 is located between the first connector 123 and the second connector 124.

[0091] For example, the second output shaft 31 is disposed on the third connector 125.

[0092] For example, the second output shaft 31 is disposed on the fourth connector 126.

[0093] For example, one end of the second output shaft 31 is disposed on the fourth connector 126, and the other end of the second output shaft 31 is disposed on the third connector 125.

[0094] For example, the second connector 124 is rotatably connected to the bracket 212 connected to the first output shaft 211 at the corresponding end, and the first output shaft 211 at the corresponding end is the first output shaft 211 on which the first connector 123 is provided.

[0095] In this embodiment, the first connector 123 is disposed on the first output shaft 211 at the corresponding end of the drive assembly 2; the second connector 124 is disposed on the side of the drive assembly 2 away from the first connector 123 along the axial direction R3 of the first output shaft; the third connector 125 is connected to the first connector 123 and the second connector 124 respectively; the fourth connector 126 is located on the side of the third connector 125 facing the preset rotation direction R4; the fourth connector 126 is connected to the first connector 123 and the second connector 124 respectively; and the second output shaft 31 is disposed on the third connector 125 and / or the fourth connector 126, so that the first connector 123, the second connector 124, the third connector 125 and the fourth connector 126 each have two connection points, the structure of the second knuckle 12 is relatively stable, and the first output shaft 211 and the second output shaft 31 will not interfere with each other on the second knuckle 12.

[0096] It is understood that the third connector 125 is not limited to being connected to the first connector 123 and the second connector 124 respectively, and the fourth connector 126 is not limited to being connected to the first connector 123 and the second connector 124 respectively. For example, the third connector 125 is connected to the first connector 123, the fourth connector 126 is connected to the second connector 124, and the second output shaft 31 is disposed on the third connector 125 and the fourth connector 126.

[0097] In some embodiments, please refer to Figures 2-4 The axial direction of the second output shaft 31 is arranged along the arrangement direction of the third connector 125 and the fourth connector 126. The third connector 125 is disposed on the second output shaft 31, and the fourth connector 126 is disposed on the side of the drive assembly 3 away from the third connector 125 along the axial direction of the second output shaft 31.

[0098] In this embodiment, the axial direction of the second output shaft 31 is arranged along the arrangement direction of the third connector 125 and the fourth connector 126. The third connector 125 is disposed on the second output shaft 31, and the fourth connector 126 is disposed on the side of the drive assembly 3 away from the third connector 125 along the axial direction of the second output shaft 31. When the drive assembly 3 drives the second phalanx 12 to rotate around the second output shaft 31, the finger can achieve the lateral swing function.

[0099] It is understood that the axial direction of the second output shaft 31 is not limited to the arrangement direction along the third connector 125 and the fourth connector 126. Exemplarily, the axial direction of the second output shaft 31 intersects the arrangement direction of the third connector 125 and the fourth connector 126.

[0100] In some embodiments, please refer to Figure 2The drive assembly 3 includes a mounting bracket 33 rotatably connected to the second output shaft 31, a power source 34 disposed on the mounting bracket 33, and a transmission mechanism 32 disposed on the second output shaft 31. The power source 34 includes a fourth output shaft 35, which is arranged crosswise with the first output shaft 211 and the second output shaft 31.

[0101] For example, the fourth connector 126 is connected to the mounting bracket 33.

[0102] In some embodiments, the transmission mechanism 32 includes a second worm and a second worm wheel, the second worm being connected to a fourth output shaft 35, the second worm wheel meshing with the second worm, and the second worm wheel being connected to a second output shaft 31.

[0103] In some embodiments, the drive device further includes an encoder and a cover plate, the encoder being partially disposed on the cover plate and the cover plate being disposed on a bracket.

[0104] In some embodiments, the drive assembly 2 is externally wrapped with rubber.

[0105] This application provides a robotic hand, which includes a palm, fingers, and a working finger. The driving component 3 of the fingers is disposed on the palm, and the working finger is disposed on the palm. The working finger is located on the working side 22 of the fingers, and the working side 22 of the fingers pinches against the working finger to pick up objects.

[0106] For example, the number of working fingers is at least one.

[0107] In some embodiments, the number of working fingers is at least two, all of which are located on the working side 22 of the fingers, and each working finger can pinch against the fingers respectively.

[0108] For example, the thumb is the finger and there are four working fingers: the index finger, middle finger, ring finger, and little finger.

[0109] For example, all working fingers can pinch against each other simultaneously.

[0110] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of this application.

Claims

1. A finger, characterized in that, include: A drive assembly includes a drive device, the drive device including a first output shaft, one side of the drive assembly along a first direction is a working side for placing the object to be picked up, the first direction is arranged to intersect the axial direction of the first output shaft, and the drive assembly is provided with the first output shaft at both ends along a second direction, the second direction being arranged to intersect the axial direction of the first direction and the first output shaft respectively. The finger joint is a first finger joint provided on the first output shaft at one end of the drive assembly, and the rotation center of the first finger joint rotating around the first output shaft is a first rotation center. The finger joint provided on the first output shaft at the other end of the drive assembly is a second finger joint, and the rotation center of the second finger joint rotating around the first output shaft is a second rotation center. The first rotation center is located on the side of the second rotation center that is opposite to the working side along the first direction. The drive assembly includes a second output shaft disposed on the second knuckle.

2. The finger according to claim 1, characterized in that, The number of drive devices is N. Each drive device includes a bracket rotatably connected to the first output shaft, a driver mounted on the bracket, and a transmission assembly disposed on the first output shaft. The driver includes a third output shaft, which drives the transmission assembly to rotate the first output shaft. The axial direction of the third output shaft is arranged along the second direction. In the M adjacent drive devices along the first direction, the first output shaft of at least one of the drive devices is located on the side of the driver corresponding to the third output shaft along the first direction toward the driver of the corresponding other drive device; Where N is an integer greater than or equal to 2, and M equals 2.

3. The finger according to claim 2, characterized in that, The transmission assembly includes: The first worm gear is connected to the third output shaft; The first worm gear meshes with the first worm, and the first worm gear is connected to the first output shaft; In this configuration, the first worm gear of at least one of the drive devices is located on the side of the corresponding first worm gear facing the driver of the corresponding other drive device along the first direction.

4. The finger according to claim 3, characterized in that, The transmission assembly further includes bearings, with the inner ring of the bearing sleeved on the first worm and the outer ring of the bearing mounted on the bracket. Bearings are provided at both ends of the first worm. The number of bearings corresponding to the end of the first worm facing the first phalanx of the driving device is less than the number of bearings corresponding to the end of the first worm facing the second phalanx of the driving device.

5. The finger according to claim 4, characterized in that, The bracket located on the side of the driver facing the second phalanx has a receiving boss and a clearance area located outside the bracket. The receiving boss protrudes from the side corresponding to the driver along the axial direction of the third output shaft and is located opposite to the first worm gear. The bearing is disposed in the receiving boss. The clearance area and the first worm gear are both located on the receiving boss facing the working side along the first direction. The first worm gear is located on the side of the clearance area facing the driver along the axial direction of the third output shaft.

6. The finger according to claim 2, characterized in that, The first output shaft of each of the M drive devices is located on the side of the driver corresponding to the third output shaft along the first direction toward the driver of the corresponding other drive device.

7. The finger according to claim 6, characterized in that, The drive device further includes a housing, the bracket is connected to one end of the housing along the axial direction of the third output shaft, the drive portion is located inside the housing, the housing has a stop end face at one end opposite to the bracket along the axial direction of the third output shaft, and the stop end faces of M drive devices abut against the bracket of the corresponding other drive device along the axial direction of the third output shaft.

8. The finger according to any one of claims 1 to 7, characterized in that, The second phalanx has a first limiting boss and a second limiting boss arranged circumferentially at intervals along the first output shaft. The drive assembly rotates about the first output shaft along a preset rotation direction so that the working side of the drive assembly is close to the second phalanx. The second limiting boss is located on the side of the first limiting boss facing the preset rotation direction. The working side of the drive assembly rotates about the first output shaft along the preset rotation direction until it abuts against the first limiting boss to limit the angle of rotation of the drive assembly along the preset rotation direction. The end of the drive assembly facing the second phalanx along the second direction has a limiting end face. The drive assembly rotates about the first output shaft away from the preset rotation direction until the limiting end face abuts against the second limiting boss to limit the angle of rotation of the drive assembly away from the preset rotation direction.

9. The finger according to claim 8, characterized in that, The second phalanx includes: A first connector is disposed on the first output shaft at the corresponding end of the drive assembly; The second connector is disposed on the side of the drive assembly opposite to the first connector along the axial direction of the first output shaft; The third connector is connected to the first connector and the second connector respectively, and the first limiting boss is formed in the third connector; The fourth connector is located on the side of the third connector facing the preset rotation direction. The fourth connector is connected to the first connector and the second connector respectively. The second limiting boss is formed on the fourth connector. The second output shaft is disposed on the third connector and / or the fourth connector.

10. The finger according to claim 9, characterized in that, The second output shaft is arranged along the axial direction of the third connector and the fourth connector. The third connector is disposed on the second output shaft, and the fourth connector is disposed on the side of the drive assembly opposite to the third connector along the axial direction of the second output shaft.

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