fingers

Abstract

This application discloses a finger, relating to the field of robotics. The finger includes a drive device and a phalanx. The drive device includes a bracket, a first output shaft, a driver, and a transmission assembly. The first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, and the driver includes a second output shaft. The transmission assembly spans the first and second output shafts. A phalanx is provided on the first output shaft to drive the phalanx to rotate around the first output shaft. The transmission assembly is disengaged from the phalanx. The phalanx provided on the first output shaft is the first phalanx. The first phalanx is positioned outside the bracket of the drive device so that it can be removed from the drive device without disassembling it. This reduces the difficulty and time required for finger repair.

Description

Technical Field

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

[0002] With the continuous development of technology, ordinary manual methods can no longer meet the demands of productivity, and industrial development is increasingly inseparable from the application of robots. Driven by robotics technology, the types of robots are becoming increasingly diverse. Among them, repairing the fingers of robots is particularly difficult and time-consuming. Utility Model Content

[0003] To address the aforementioned technical problems, this application provides a finger to reduce the difficulty and time required for finger repair.

[0004] The embodiments of this application are implemented through the following technical solutions.

[0005] The first aspect of this application provides a finger, comprising: a drive device including a bracket, a first output shaft, a driver, and a transmission assembly, wherein the first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, the driver includes a second output shaft, and the transmission assembly spans the first and second output shafts; and a phalanx, wherein the first output shaft is provided with a phalanx to drive the phalanx to rotate around the first output shaft, the transmission assembly is disengaged from the phalanx, the phalanx provided on the first output shaft is a first phalanx, and the first phalanx is located outside the bracket of the drive device so that the first phalanx can be removed from the drive device without disassembling the drive device.

[0006] In some embodiments, the first phalanx includes: a first sub-phalanx disposed on the first output shaft, the first sub-phalanx being disposed on one side of the bracket along the axial direction of the first output shaft; and a second sub-phalanx disposed on the other side of the bracket along the axial direction of the first output shaft, the first sub-phalanx and the second sub-phalanx being arranged along the axial direction of the first output shaft, and the first sub-phalanx and the second sub-phalanx being detachably connected.

[0007] In some embodiments, the second sub-finger is rotatably connected to the bracket, and the position where the second sub-finger is rotatably connected to the bracket is located on the other side of the bracket along the axial direction of the first output shaft.

[0008] In some embodiments, the drive device further includes an encoder located within a bracket, the encoder being partially mounted on the bracket, the encoder being located at one end of the first output shaft axially toward the second sub-finger and rotatably connected to the bracket.

[0009] In some embodiments, the first sub-knuckle and the second sub-knuckle form a locking cavity located outside the first knuckle. The first knuckle also includes a locking member filled in the locking cavity, the locking member being detachably connected to the first sub-knuckle and the second sub-knuckle, respectively.

[0010] In some embodiments, the first sub-finger has a first positioning hole, the axial direction of which is arranged intersecting the axial direction of the first output shaft and the extension direction of the first finger, respectively. The second sub-finger has a second positioning hole, the axial direction of which is arranged intersecting the axial direction of the first output shaft and the extension direction of the first finger, respectively. The locking member has a positioning shaft, and a positioning shaft is provided in both the first positioning hole and the second positioning hole. The first finger also includes a first connecting member. The locking member is connected to the first sub-finger through the first connecting member, and the locking member and the second sub-finger are connected through the first connecting member.

[0011] In some embodiments, the first sub-fingertip has first limiting walls located on opposite sides of the locking cavity along the extension direction of the first sub-fingertip, and the locking member located in the locking cavity abuts against at least the first limiting walls on both sides. The second sub-fingertip has second limiting walls located on opposite sides of the locking cavity along the extension direction of the second sub-fingertip, and the locking member located in the locking cavity abuts against at least the second limiting walls on both sides.

[0012] In some embodiments, the drive unit further includes a controller, which is at least partially mounted on the bracket.

[0013] In some embodiments, the drive unit further includes a housing mounted on the bracket, a controller connected to the bracket and the housing respectively, and the drive being located at least partially within the space enclosed by the housing and the controller.

[0014] In some embodiments, the drive device further includes a protective cover and a second connector, wherein the protective cover is connected to the housing and to the bracket via the second connector, and the second connector passes through the controller.

[0015] The beneficial effects of this application include: since the driver, transmission components and the first output shaft are all integrated on the bracket to form a whole, and the position of the knuckle on the drive device is outside the bracket, the impact on the drive device during the disassembly of the knuckle is small, and there is almost no need to disassemble the drive device. The drive device can be disassembled and assembled with the knuckle as a whole, which is conducive to the modular disassembly and assembly of the drive device, thereby reducing the difficulty of finger repair and reducing repair time. Attached Figure Description

[0016] 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:

[0017] Figure 1 A three-dimensional structural diagram of a finger provided for some embodiments of this application;

[0018] Figure 2 A three-dimensional structural schematic diagram of the driving device provided for some embodiments of this application;

[0019] Figure 3 A three-dimensional structural diagram of the drive device after removing the bracket, provided for some embodiments of this application;

[0020] Figure 4 Exploded view of a portion of the structure of a finger provided for some embodiments of this application;

[0021] Figure 5 Schematic diagrams of the structure of a finger provided for some embodiments of this application;

[0022] Figure 6 Provided for some embodiments of this application Figure 5 A schematic diagram of the AA cross-section;

[0023] Figure 7 A structural schematic diagram of a finger at another angle provided for some embodiments of this application;

[0024] Figure 8 Provided for some embodiments of this application Figure 5 A top-down view;

[0025] Figure 9 Provided for some embodiments of this application Figure 8 A schematic diagram of the BB cross-section.

[0026] Explanation of reference numerals in the attached figures

[0027] 10. Finger; 1. Drive unit; 11. Bracket; 111. Mounting component; 12. First output shaft; 121. Output spindle; 1211. First mounting shaft section; 1212. First limiting shaft section; 124. First mating part; 126. Measuring shaft; 1261. Second mounting shaft section; 1262. Second limiting shaft section; 127. Locking component; 13. Driver; 131. Second output shaft; 132. Motor; 133. Reducer; 14. Transmission assembly; 141. Worm gear; 1411. Groove; 142. Worm wheel; 1421. Through hole; 15. Encoder; 151. Code disk; 152. Signal converter; 16. Controller; 17. Housing; 18. Protective cover; 19. Second connector; 21. First finger joint; 211. First sub-finger joint; 2111. First positioning hole; 2112. First limiting wall; 212. Second sub-finger joint; 2121. Second positioning hole; 2122. Second limiting wall; 213. Clearance groove; 214. Second mating part; 22a. First locking cavity; 22b. Second locking cavity; 23. Locking member; 231. First connector; 232. Positioning shaft; 24. Second finger joint; 241. Mounting sleeve; 4. Torsion spring; 5. Hinge shaft; 51. First stop end; 6. Constraint member; 61. Second stop end. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The following is a detailed description of this application.

[0037] In related technologies, when a finger requires repair, such as replacing the drive unit or knuckle, the drive unit must be disassembled to detach the knuckle, which is difficult and time-consuming. Research has shown that the transmission component and knuckle can be designed as detachable structures. The first knuckle is positioned outside the support of the drive unit, allowing it to be detached without disassembling the drive unit. This allows the drive unit to be assembled and disassembled as a single unit with the knuckle, facilitating modular assembly and disassembly, reducing the difficulty and time required for finger repair.

[0038] Based on this design concept, this application provides a finger, which includes a driving device and a phalanx. The driving device includes a bracket, a first output shaft, a driver, and a transmission assembly. The first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, and the driver includes a second output shaft. The transmission assembly spans the first and second output shafts. A phalanx is provided on the first output shaft to drive the phalanx to rotate around the first output shaft. The transmission assembly is disengaged from the phalanx. The phalanx provided on the first output shaft is the first phalanx. The first phalanx is positioned outside the bracket of the driving device so that it can be detached from the driving device without disassembling the driving device.

[0039] Since the driver, transmission components, and first output shaft are all integrated on the bracket to form a whole, and the knuckle is located outside the bracket in the position of the drive device, the impact on the drive device during the disassembly of the knuckle is minimal, and there is almost no need to disassemble the drive device. The drive device can be disassembled and assembled with the knuckle as a whole, which is conducive to the modular disassembly and assembly of the drive device, thereby reducing the difficulty of finger repair and reducing repair time.

[0040] Below, refer to Figures 1 to 9 Some embodiments of this application will be described in detail.

[0041] In some embodiments, such as Figure 1 As shown, finger 10 includes a drive mechanism 1 and a knuckle. (As illustrated...) Figure 4 , Figure 6 and Figure 9 As shown, the drive device 1 includes a bracket 11, a first output shaft 12, a driver 13, and a transmission assembly 14. The first output shaft 12 is rotatably connected to the bracket 11. The driver 13 is mounted on the bracket 11 and includes a second output shaft 131. The transmission assembly 14 spans between the first output shaft 12 and the second output shaft 131. The first output shaft 12 is provided with a knuckle to drive the knuckle to rotate around the first output shaft 12. The transmission assembly 14 is disengaged from the knuckle. The knuckle provided on the first output shaft 12 is a first knuckle 21. The first knuckle 21 is positioned outside the bracket 11 in the drive device 1 so that the first knuckle 21 can be removed from the drive device 1 without disassembling the drive device 1.

[0042] Disassembling drive unit 1 means breaking down at least a portion of the structure of drive unit 1 into N parts, where N is an integer greater than or equal to 2.

[0043] Drive device 1 drives the knuckle to rotate.

[0044] The first output shaft 12, the driver 13, and the transmission assembly 14 are mounted on the bracket 11, which provides support for at least some of the components in the drive unit 1.

[0045] The driver 13 provides power and includes a second output shaft 131. The second output shaft 131 outputs the power provided by the driver 13. The transmission assembly 14 transmits the power provided by the driver 13 to the first output shaft 12. The first output shaft 12 is connected to the knuckle and the knuckle rotates under the drive of the first output shaft 12.

[0046] For example, such as Figure 1 As shown, finger 10 can be the thumb, index finger, middle finger, ring finger, or little finger of the robot's hand.

[0047] For example, such as Figure 4 or Figure 9 As shown, the driver 13 may include a motor 132, and the output end of the motor is provided with an output shaft, which is a second output shaft 131.

[0048] For example, such as Figure 4 or Figure 9 As shown, the driver 13 may include a motor 132 and a reducer 133. The reducer 133 is connected to the output end of the motor 132 to rotate with the output shaft of the motor. The output end of the reducer is provided with an output shaft, which is a second output shaft 131.

[0049] For example, the motor can be a coreless motor.

[0050] For example, the reducer can be a planetary gear reducer, which can reduce the speed and increase the torque.

[0051] For example, the first output shaft 12 and the second output shaft 131 are arranged in an intersecting manner. For instance, the axial direction of the second output shaft 131 is substantially the same as the extension direction of the knuckle, and the axial direction of the first output shaft 12 intersects the extension direction of the knuckle.

[0052] For example, such as Figure 4 , Figure 6 or Figure 9As shown, the transmission assembly 14 includes a worm 141 and a worm wheel 142. The worm 141 is connected to the second output shaft 131 to rotate with the second output shaft 131. The worm wheel 142 meshes with the worm 141 and is connected to the first output shaft 12 so that the first output shaft 12 rotates with the worm wheel.

[0053] For example, such as Figure 4 As shown, along the axial direction of the worm 141, one end of the worm 141 is provided with a groove 1411, which is engaged with the output end of the second output shaft 131. Thus, the worm can rotate around the worm's axial direction under the drive of the second output shaft 131.

[0054] For example, such as Figures 3 to 6 As shown, the first output shaft 12 includes an output main shaft 121, which includes a first mounting shaft section 1211 and a first limiting shaft section 1212 connected to each other. The diameter of the first limiting shaft section 1212 is larger than the diameter of the first mounting shaft section 1211.

[0055] For example, the first mounting shaft segment 1211 is connected to the worm gear 142, and the first limiting shaft segment 1212 is connected to the first finger joint 21.

[0056] For example, the worm gear 142 has a through hole 1421 extending through itself along the axial direction of the worm gear 142. The first mounting shaft section 1211 passes through the through hole 1421 and engages with the worm gear 142, thereby enabling the first mounting shaft section 1211 to rotate with the rotation of the worm gear 142. The first limiting shaft section 1212 abuts against the worm gear 142 on one side along the axial direction of the first limiting shaft section 1212 to reduce the probability of the worm gear 142 wobbling along the axial direction of the worm gear 142. The other side of the first limiting shaft section 1212 abuts against the first finger joint 21. Due to the interaction force between the first limiting shaft section 1212 and the first finger joint 21, the first finger joint 21 can rotate under the push of the first limiting shaft section 1212.

[0057] Exemplarily, along the axial direction of the second output shaft 131, the transmission assembly 14 is connected to the first output shaft 12 and the second output shaft 131 respectively. Exemplarily, the knuckle can be the knuckle located at the base of the finger 10, the knuckle located in the middle of the finger, or the knuckle located at the tip of the finger. In a specific embodiment, the knuckle is the knuckle located at the base of the finger. The driving device drives the base of the finger to rotate, and the knuckle of the knuckle located at the tip of the finger is connected to the base of the finger via a connecting rod. Thus, driven by the rotation of the base of the finger, the knuckle located at the tip of the finger can bend or rotate according to the rotation of the knuckle located at the base of the finger, thereby improving finger flexibility.

[0058] For example, the first phalanx 21 is outside the bracket 11.

[0059] For example, the transmission assembly 14 is located inside the bracket, and the first output shaft connects the transmission assembly 14 and the first phalanx 21 located outside the bracket.

[0060] For example, such as Figure 4 As shown, the first phalanx 21 is partially inside the bracket 11, and the projection of the portion of the first phalanx 21 inside the bracket 11 along the axial direction of the first output shaft 12 is offset from the projection of the bracket 11 along the axial direction of the first output shaft 12. This facilitates the removal of the first phalanx 21 along the axial direction of the first output shaft 12.

[0061] In the embodiments of this application, since the driver 13, the transmission component 14 and the first output shaft 12 are all integrated on the bracket 11 to form a whole, and the position of the knuckle on the drive device 1 is outside the bracket 11, the impact on the drive device 1 during the disassembly of the knuckle is small, and it is almost unnecessary to disassemble the drive device 1. Furthermore, the transmission component is detached from the knuckle, and it is not necessary to separate the transmission component from the knuckle separately. The drive device 1 can be disassembled and assembled with the knuckle as a whole, which is conducive to the modular disassembly and assembly of the drive device 1, thereby reducing the maintenance difficulty of the finger 10 and reducing the maintenance time.

[0062] In some embodiments, such as Figure 4 As shown, the first phalanx 21 includes a first sub-phalanx 211 and a second sub-phalanx 212. The first sub-phalanx 211 is disposed on the first output shaft 12, and its position on the first output shaft 12 is located on one side of the bracket 11 along the axial direction of the first output shaft 12. The second sub-phalanx 212 is disposed on the drive device 1, located on the other side of the bracket 11 along the axial direction of the first output shaft 12. The first sub-phalanx 211 and the second sub-phalanx 212 are arranged along the axial direction of the first output shaft 12 and are detachably connected.

[0063] For example, along the axial direction of the first output shaft 12, the first sub-finger 211 and the second sub-finger 212 are respectively located on both sides of the first output shaft 12. The first sub-finger 211 is connected to the first output shaft 12 and rotates under the drive of the first output shaft 12. The second sub-finger 212 is detachably connected to the first sub-finger 211 and rotates under the drive of the first sub-finger 211.

[0064] Optionally, the second sub-joint 212 may not be connected to the first output shaft 12, or the second sub-joint 212 may be connected to the first output shaft 12.

[0065] For example, the first sub-knuckle 211 and the second sub-knuckle 212 are both outside the bracket 11.

[0066] For example, the first sub-knuckle 211 is partially inside the bracket 11, and the projection of the portion of the first sub-knuckle 211 inside the bracket 11 along the axial direction of the first output shaft 12 is offset from the projection of the bracket 11 along the axial direction of the first output shaft 12, so as to facilitate the removal of the first sub-knuckle 211 along the axial direction of the first output shaft 12.

[0067] For example, the second sub-knuckle 212 is partially inside the bracket 11, and the projection of the portion of the second sub-knuckle 212 inside the bracket 11 along the axial direction of the first output shaft 12 is offset from the projection of the bracket 11 along the axial direction of the first output shaft 12, so as to facilitate the removal of the second sub-knuckle 212 along the axial direction of the first output shaft 12.

[0068] For example, such as Figure 4 As shown, a first mating part 124 is provided on the first limiting shaft segment 1212, and the first sub-finger 211 has a second mating part 214 and a clearance groove 213. The second mating part 214 and the clearance groove 213 are arranged circumferentially along the first output shaft 12. The first mating part 124 is at least partially located in the clearance groove 213 and moves relative to the corresponding first sub-finger 211 along the circumferential direction of the first output shaft 12 to contact or disengage from the second mating part 214.

[0069] For example, such as Figure 4 and Figure 6 As shown, the finger also includes a torsion spring 4, which is connected to a part of the drive device 1 and the first sub-knuckle 211. When the force acting on the first knuckle or the drive device to disengage the first mating part 124 from the second mating part 214 is removed, the second mating part 214 contacts the first mating part 124 under the action of the torsion spring 4.

[0070] For example, such as Figure 1 , Figure 5 , Figure 7 , Figure 8 and Figure 9 As shown, at least one phalanx is a second phalanx 24, which has a mounting sleeve 241 located between a first sub-phalanx 211 and a second sub-phalanx 212 along the axial direction of the mounting sleeve 241. The finger 10 also includes a hinge 5 and a constraint 6. The hinge 5 passes through the mounting sleeve 241, the first sub-phalanx 211 and the second sub-phalanx 212. The hinge 5 and the constraint 6 are detachably connected. The hinge 5 has a first stop end 51, and the constraint 6 has a second stop end 61. The first sub-phalanx 211 and the second sub-phalanx 212 are located between the first stop end 51 and the second stop end 61.

[0071] For example, such as Figure 5 and Figure 9 As shown, one side of the first stop end 51 along the axial direction of the hinge shaft 5 abuts against the first sub-finger joint 211.

[0072] For example, such as Figure 7 and Figure 9 As shown, the second stop end 61 abuts against the second sub-finger 212 on one side along the axial direction of the hinge shaft 5.

[0073] For example, the hinge 5 can be sleeve-shaped, and the constraint 6 can be a bolt, with the constraint 6 at least partially passing through the hinge 5.

[0074] For example, along the axial direction of the hinge shaft 5, the outer peripheral surface of the end of the hinge shaft 5 opposite to the second sub-finger joint 212 has a first stop end 51, which abuts against the first sub-finger joint 211.

[0075] For example, along the axial direction of the hinge shaft 5, the constraint member 6 has a second stop end 61 on the outer peripheral surface of one end opposite to the first sub-finger 211, and the second stop end 61 abuts against the second sub-finger 212.

[0076] In the embodiments of this application, the positioning of the first sub-knuckle 211 and the second sub-knuckle 212 allows both ends of the first knuckle 21 to be well supported, enabling the first knuckle 21 to bear weight effectively. Since the first sub-knuckle 211 and the second sub-knuckle 212 are detachable, when the first knuckle 21 is well supported, the first sub-knuckle 211 and the second sub-knuckle 212 can be removed from the drive device 1 without disassembling it, facilitating modular installation of the drive device 1.

[0077] It is understood that the specific structure of the first phalanx is not limited. For example, the first sub-phalanx 211 and the second sub-phalanx 212 can be a non-detachable connection. Alternatively, the first phalanx may consist of only the first sub-phalanx.

[0078] In some embodiments, the second sub-finger 212 is rotatably connected to the bracket 11, and the position where the second sub-finger 212 is rotatably connected to the bracket 11 is located on the other side of the bracket 11 along the axial direction of the first output shaft 12.

[0079] For example, the second sub-knuckle 212 is rotatably connected to the bracket 11, and the second sub-knuckle 212 can rotate relative to the bracket 11 under the drive of the first sub-knuckle 211.

[0080] In the embodiments of this application, since the second sub-finger 212 is rotatably connected to the bracket 11, the bracket supports the second sub-finger 212. The first sub-finger 211 is disposed on the first output shaft 12, and the first sub-finger 211 is supported by one end of the first output shaft 12. The support of the second sub-finger 212 is not constrained by the position of the end of the first output shaft 12 away from the first sub-finger relative to the bracket. Both ends of the first finger 21 are well supported, which is beneficial for the first finger 21 to bear the load better.

[0081] It is understood that the installation method of the second sub-joint is not limited. For example, the second sub-joint 212 can be connected to the first output shaft 12.

[0082] In some embodiments, such as Figures 2 to 4 As shown, the drive device 1 also includes an encoder 15 located in the bracket 11. The encoder 15 is partially mounted on the bracket 11 and is located at one end of the first output shaft 12 along the axial direction of the first output shaft 12 toward the second sub-finger 212 and the bracket 11 in a position where the encoder 15 is rotatably connected.

[0083] The encoder 15 reads the rotation angle and rotation speed of the first output shaft 12, and transmits the read rotation angle and rotation speed of the first output shaft 12 to the drive device 1. The drive device 1 adjusts the output power according to the data transmitted by the encoder 15, thereby adjusting the rotation speed of the first output shaft 12 and controlling the rotation angle of the knuckle.

[0084] For example, encoder 15 can be a commercially available encoder 15 used in robotic hands, such as a magnetic encoder.

[0085] For example, the encoder 15 includes a code disk 151 and a signal converter 152, the code disk 151 being connected to a first output shaft 12 and the signal converter 152 being mounted on a bracket 11.

[0086] For example, such as Figure 4 As shown, along the axial direction of the first output shaft, the bracket 11 has a mounting member 111 at one end opposite to the first sub-finger 211, and the signal converter 152 is connected to the mounting member 111.

[0087] For example, such as Figure 4 As shown, the second sub-finger 212 is sleeved on the mounting member 111, and under the drive of external force, the second sub-finger 212 can rotate relative to the mounting member 111.

[0088] For example, the code disk 151 is connected to one end of the first output shaft 12 along the axial direction of the first output shaft 12 toward the second sub-fin 212. The code disk rotates around the axial direction of the first output shaft 12. The signal converter 152 is fixedly connected to the bracket 11. The rotation of the code disk 151 causes a change in the surrounding magnetic field. The signal converter 152 converts the mechanical displacement of the first output shaft 12 into an electrical signal through electromagnetic induction, and then into a digital signal, so as to realize the precise measurement and control of position or speed.

[0089] For example, the signal converter 152 can be a Hall sensor.

[0090] For example, the first output shaft 12 has an encoding connection portion at one end along the axial direction of the first output shaft 12 toward the second sub-finger 212, and the code disk 151 is sleeved on the encoding connection portion.

[0091] For example, the code disk 151 and the signal converter 152 are connected at an axial distance along the first output shaft 12.

[0092] For example, such as Figure 4 and Figure 6 As shown, the first output shaft 12 includes an output main shaft 121 and a metering shaft 126. The output main shaft 121 includes a first mounting shaft section 1211 and a first limiting shaft section 1212 connected to each other, the diameter of the first limiting shaft section 1212 being larger than the diameter of the first mounting shaft section 1211. The metering shaft 126 includes a second mounting shaft section 1261 and a second limiting shaft section 1262 connected to each other, the diameter of the second limiting shaft section 1262 being larger than the diameter of the second mounting shaft section 1261. A worm gear 142 is straddling the first mounting shaft section 1211 and the second mounting shaft section 1261 along the axial direction of the worm gear, and the worm gear 142 abuts between the first limiting shaft section 1212 and the second limiting shaft section 1262 along the axial direction of the worm gear. The encoder 15 is at least partially disposed on the metering shaft 126.

[0093] For example, encoder 15 is at least partially disposed on the second limiting shaft segment 1262.

[0094] For example, at least a portion of the second limiting shaft segment 1262 forms an coded connection portion.

[0095] For example, the output spindle 121 and the metering spindle 126 are arranged at intervals.

[0096] For example, such as Figure 4 and Figure 6 As shown, the first output shaft 12 includes a locking member 127, which is connected to the output main shaft 121 and the metering shaft 126 respectively.

[0097] In the embodiments of this application, the second sub-finger joint 212 is rotatably connected to the bracket 11. The axial end of the first output shaft 12 facing the position where the second sub-finger joint 212 is rotatably connected to the bracket 11 can be located inside the bracket 11 and does not extend out of the bracket 11. The axial end of the first output shaft 12 facing the second sub-finger joint 212 can not extend out of the shaft, which facilitates the installation of the encoder 15. The encoder 15 on the first output shaft 12 can directly measure the rotation parameters of the first finger joint 21, which is beneficial to improving the measurement accuracy.

[0098] It is understandable that the drive unit 1 may not have an encoder 15.

[0099] In some embodiments, such as Figure 1 and Figure 4As shown, the first sub-knuckle 211 and the second sub-knuckle 212 form a locking cavity, which is located outside the first sub-knuckle 21. The first sub-knuckle 21 also includes a locking member 23 filled in the locking cavity, and the locking member 23 is detachably connected to the first sub-knuckle 211 and the second sub-knuckle 212 respectively.

[0100] For example, the locking cavity includes a first locking cavity 22a and a second locking cavity 22b. At least a portion of the first sub-knuckle 211 is recessed to form the first locking cavity 22a, and at least a portion of the second sub-knuckle 212 is recessed to form the second locking cavity 22b. The locking member 23 is projected onto the same projection plane along the connection direction between the locking member 23 and the first sub-knuckle 211. The projection of the locking member 23 at least partially overlaps with the projection of the first locking cavity 22a, and the projection of the locking member 23 at least partially overlaps with the projection of the second locking cavity 22b. Thus, it is convenient for the locking member 23 to be connected to the first sub-knuckle 211 and the second sub-knuckle 212 respectively, and the first sub-knuckle 211 and the second sub-knuckle 212 can be connected through the locking member 23.

[0101] In some embodiments, along the axial direction of the first output shaft, a first connecting portion is provided on the side of the first sub-finger 211 facing the second sub-finger 212, and a second connecting portion is provided on the side of the second sub-finger 212 facing the first sub-finger 211. The first sub-finger 211 and the second sub-finger 212 overlap and are connected together through the first connecting portion and the second connecting portion. For example, the first connecting portion and the second connecting portion can be snapped together.

[0102] For example, with Figure 4 As illustrated in the diagram, at least a portion of the upper edge of the first sub-knuckle 211 is recessed to form a first locking cavity 22a, and at least a portion of the upper edge of the second sub-knuckle 212 is recessed to form a second locking cavity 22b. The locking member 23 is at least partially located within the locking cavity and connects the first sub-knuckle 211 and the second sub-knuckle 212.

[0103] For example, the locking member 23 can be snapped onto the first sub-knuckle 211 or can be connected via a connector. In one specific embodiment, the locking member 23 is connected to the first sub-knuckle 211 via a first connector 231.

[0104] For example, the locking member 23 can be snapped onto the second sub-knuckle 212 or can be connected via a connector. In one specific embodiment, the locking member 23 is connected to the second sub-knuckle 212 via a first connector 231.

[0105] In the embodiments of this application, the locking member 23 fills the locking cavity, which helps to keep the outline of the first phalanx 21 relatively neat. The locking member 23 filled in the locking cavity can securely lock the first sub-phalanx 211 and the second sub-phalanx 212 together. Moreover, the locking member 23 is detachably connected to the first sub-phalanx 211 and the second sub-phalanx 212 respectively, which facilitates the disassembly of the first sub-phalanx 211 and the second sub-phalanx 212.

[0106] It is understandable that the first finger joint 21 may not include the locking element 23, and the first sub-finger joint 211 and the second sub-finger joint 212 may be connected by bolts or screws.

[0107] In some embodiments, the first sub-finger joint 211 has a first positioning hole 2111, the axial direction of the first positioning hole 2111 being arranged intersecting the axial direction of the first output shaft 12 and the extension direction of the first finger joint 21, respectively. The second sub-finger joint 212 has a second positioning hole 2121, the axial direction of the second positioning hole 2121 being arranged intersecting the axial direction of the first output shaft 12 and the extension direction of the first finger joint 21, respectively. The locking member 23 has a positioning shaft 232, and the positioning shaft 232 is provided in both the first positioning hole 2111 and the second positioning hole 2121. The first finger joint 21 also includes a first connecting member 231. The locking member 23 is connected to the first sub-finger joint 211 through the first connecting member 231, and the locking member 23 is connected to the second sub-finger joint 212 through the first connecting member 231.

[0108] For example, at least one positioning axis 232 is a first positioning axis. Figure 4 As shown, the locking cavity is an open structure on the side opposite to the first positioning hole along the axial direction of the first positioning hole. The locking member moves into or out of the locking cavity through the open structure along the axial direction of the first positioning hole. The first positioning shaft extends along the axial direction of the first positioning hole and is located in the first positioning hole 2111. Thus, the relative position of the locking member 23 and the first sub-finger 211 can be basically fixed, which is beneficial to the connection between the locking member 23 and the first sub-finger 211.

[0109] For example, the locking member 23 has a first connecting hole through which the locking member 23 passes, and the first sub-finger joint 211 has a second connecting hole. The first connecting member 231 passes through the first connecting hole and the second connecting hole in sequence, thereby connecting the locking member 23 to the first sub-finger joint 211.

[0110] For example, the first connector 231 may be a bolt, screw, etc.

[0111] For example, there may be multiple first connecting holes, which are located on both sides of the first positioning shaft. Further, the multiple first connecting holes are located on both sides of the first positioning shaft along the extending direction of the first sub-fin 211.

[0112] For example, there may be multiple second connecting holes, which are located on both sides of the first positioning hole 2111. Further, the multiple second connecting holes are located on both sides of the first positioning hole 2111 along the extending direction of the first sub-finger 211.

[0113] For example, at least one positioning axis 232 is a second positioning axis. Figure 4 As shown, the second positioning shaft extends axially along the second positioning hole 2121 and is located in the second positioning hole 2121. Thus, the relative position of the locking member 23 and the second sub-finger 212 can be basically fixed, thereby facilitating the connection between the locking member 23 and the second sub-finger 212.

[0114] For example, the locking member 23 has a third connecting hole through which the locking member 23 passes, and the second sub-finger joint 212 has a fourth connecting hole. The first connecting member 231 passes through the third connecting hole and the fourth connecting hole in sequence, thereby connecting the locking member 23 to the second sub-finger joint 212.

[0115] For example, there may be multiple third connecting holes, which are located on both sides of the second positioning shaft. Further, the multiple third connecting holes are located on both sides of the second positioning shaft along the extending direction of the second sub-fin 212.

[0116] For example, there may be multiple fourth connecting holes, which are located on both sides of the second positioning hole 2121. Further, the multiple fourth connecting holes are located on both sides of the second positioning hole 2121 along the extending direction of the second sub-finger 212.

[0117] In the embodiments of this application, since the locking member 23 has a positioning shaft 232 and the first finger joint 21 has a first positioning hole and a second positioning hole, during the connection process between the locking member 23 and the first finger joint 21, the locking member 23 and the first finger joint 21 can be positioned first through the positioning shaft 232 and the first positioning hole, and then connected through the first connecting member 231. This makes it easier for the first connecting member 231 to be aligned with the corresponding position during installation, which is convenient for installation.

[0118] It is understood that the locking member 23 may not have a positioning shaft, the first finger joint 21 may not have a first positioning hole and / or a second positioning hole, and the locking member 23 and the first finger joint 21 may be directly connected through the first connector 231.

[0119] In some embodiments, the first sub-finger joint 211 has first limiting walls 2112 located on opposite sides of the locking cavity along the extending direction of the first sub-finger joint 211, and the locking member 23 located in the locking cavity abuts against at least the first limiting walls 2112 on both sides. The second sub-finger joint 212 has second limiting walls 2122 located on opposite sides of the locking cavity along the extending direction of the second sub-finger joint 212, and the locking member 23 located in the locking cavity abuts against at least the second limiting walls 2122 on both sides.

[0120] For example, the side of the first limiting wall 2112 facing the locking member 23 is generally flat, and the side of the locking member 23 facing the first limiting wall 2112 is also generally flat. This facilitates the limiting of the locking member 23 by the first limiting wall 2112, making it easier for the locking member 23 to connect with the first sub-finger 211. Of course, the side of the first limiting wall 2112 facing the locking member 23 can also be curved, and the side of the locking member 23 facing the first limiting wall 2112 can also be curved, as long as the first limiting wall 2112 can abut against the locking member 23.

[0121] For example, the side of the second limiting wall 2122 facing the locking member 23 is generally flat, and the side of the locking member 23 facing the second limiting wall 2122 is also generally flat. This facilitates the limiting of the locking member 23 by the second limiting wall 2122, making it easier for the locking member 23 to connect with the second sub-finger 212. Of course, the side of the second limiting wall 2122 facing the locking member 23 can also be curved, and the side of the locking member 23 facing the second limiting wall 2122 can also be curved, as long as the second limiting wall 2122 can abut against the locking member 23.

[0122] In the embodiments of this application, the locking member 23 located in the locking cavity abuts against at least the limiting walls on both sides. Therefore, it can suppress the shaking of the locking member 23 along the extension direction of the first sub-finger joint 211 and the extension direction of the second sub-finger joint 212, which is conducive to a more stable connection between the first sub-finger joint 211 and the second sub-finger joint 212.

[0123] It is understandable that the locking member 23 located in the locking cavity may not abut against the first limiting wall 2112, and / or the locking member 23 located in the locking cavity may not abut against the second limiting walls 2122 on both sides.

[0124] In some embodiments, the drive unit 1 further includes a controller 16, which is at least partially mounted on the bracket 11.

[0125] The controller 16 controls the output power of the drive unit 1.

[0126] For example, the controller 16 receives the electrical signal emitted by the encoder 15 and adjusts the output power of the drive device 1 according to the electrical signal.

[0127] For example, the controller 16 may be partially or wholly mounted on the bracket 11.

[0128] For example, controller 16 can be a driver board.

[0129] For example, the adjustment of some parameters of the drive device is related to the rotational inertia of the drive device. For example, the relevant parameters of the PID (Proportional Integral Derivative) control of the rotation angle or speed of the first output shaft of the drive device are affected by the rotational inertia to a certain extent.

[0130] In the embodiments of this application, the controller 16, driver 13, first output shaft 12, and transmission assembly 14 are all integrated on the bracket 11. The entire transmission assembly 14 from the driver 13 to the first output shaft 12 is integrated on the drive device 1. The rotational inertia of the drive device 1 is the rotational inertia of the driver 13, transmission assembly 14, and first output shaft 12 as a whole transmission. Thus, the drive device 1 can be adjusted more accurately by the controller 16. After the adjustment is completed, when the robot needs to replace the drive device 1, the adjusted drive device 1 can be replaced as a whole, saving the adjustment time after replacement and making maintenance quick and convenient.

[0131] Understandably, the controller 16 may not be mounted on the bracket 11.

[0132] In some embodiments, such as Figures 2 to 4 As shown, the drive unit 1 also includes a housing 17 mounted on the bracket 11, a controller 16 connected to the bracket 11 and the housing 17 respectively, and the driver 13 located at least partially within the space enclosed by the housing 17 and the controller 16.

[0133] For example, the controller 16 is formed in the shape of a plate.

[0134] In one specific embodiment, along the connection direction of the transmission assembly 14 to the drive device 1, the bracket 11 is connected to the housing 17, the housing 17 has an opening facing the first direction, the controller 16 is connected to both the bracket 11 and the housing 17, and the controller 16 is disposed in the opening, and a protrusion is provided on the inner surface of the housing 17 parallel to the first direction, the protrusion supporting the controller 16. The first direction intersects both the axial direction of the first output shaft 12 and the axial direction of the second output shaft 131.

[0135] In the embodiments of this application, the controller 16 is connected to the bracket 11 and the housing 17 respectively. The controller 16 occupies part of the space of the housing 17 and the bracket 11, thus providing sufficient space for the controller 16. The controller 16 is used to constrain the axial movement between the housing 17 and the bracket 11 along the second output shaft 131 of the driver 13.

[0136] Understandably, the controller 16 may also be located only inside the housing 17.

[0137] In some embodiments, the drive device 1 further includes a protective cover 18 and a second connector 19, the protective cover 18 being connected to the housing 17 and the support 11 via the second connector 19, the second connector 19 passing through the controller 16.

[0138] Part of the protective cover 18 covers the outer casing 17, and another part of the protective cover 18 covers the bracket 11.

[0139] For example, a portion of the second connector 19 passes through the protective cover 18, the controller 16, and the housing 17 in sequence, connecting the protective cover 18, the controller 16, and the housing 17 together; another portion of the second connector 19 passes through the protective cover 18, the controller 16, and the bracket 11 in sequence, connecting the protective cover 18, the controller 16, and the bracket 11 together.

[0140] For example, the second connector 19 can be a bolt or screw, etc.

[0141] For example, the number of second connectors 19 is at least four, wherein at least two second connectors 19 connect the protective cover 18, the controller 16 and the housing 17, and at least two second connectors 19 connect the protective cover 18, the controller 16 and the bracket 11.

[0142] The protective cover 18 protects the controller 16. The protective cover 18 is connected to the housing 17 and the bracket 11 respectively through the second connector 19, which further reduces the probability of the bracket 11 and the housing 17 moving axially along the second output shaft 131 of the driver 13.

[0143] It should be explained in this section that the drive unit 1 may not include the protective cover 18. Alternatively, the drive unit 1 may include the protective cover 18, which may be connected only to the bracket 11 or only to the housing 17.

[0144] In one specific embodiment, the output end of the worm gear 142 directly drives the finger root to rotate. An encoder is provided on the side of the first output shaft 12, which can improve the output accuracy of the first output shaft 12. The transmission of the entire driving process in the finger includes the motor passing through a planetary reducer for speed reduction. The planetary reducer is directly connected to the worm gear, and the output end of the worm gear is directly connected to the finger root. Compared with the traditional mobile phone drive, the transmission efficiency can be improved by 40%. The drive device 1 of this application has dimensions of 60.35mm x 23.16mm x 19.35mm and integrates components such as a planetary reducer, worm gear, encoder 15, and drive board. The output torque of the drive device 1 can reach 1.4N·m, which is suitable for scenarios with large loads and small spaces for dexterous hands. Moreover, the encoder 15 is installed on one side of the first output shaft 12 to form a closed-loop control, and the absolute positioning accuracy can reach ±0.1°. The overall structure is simple and reliable to install and is suitable for mass production.

[0145] 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 device includes a bracket, a first output shaft, a driver, and a transmission assembly. The first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, the driver includes a second output shaft, and the transmission assembly spans the first output shaft and the second output shaft. The first output shaft is provided with the finger joint to drive the finger joint to rotate around the first output shaft. The transmission component is disengaged from the finger joint. The finger joint provided on the first output shaft is the first finger joint. The first finger joint is located outside the bracket of the drive device so that the first finger joint can be removed from the drive device without disassembling the drive device.

2. The finger according to claim 1, characterized in that, The first phalanx includes: The first sub-finger joint is disposed on the first output shaft, and the position of the first sub-finger joint on the first output shaft is located on one side of the bracket along the axial direction of the first output shaft; The second sub-finger is located on the other side of the bracket along the axial direction of the first output shaft of the drive device. The first and second sub-fingers are arranged along the axial direction of the first output shaft and are detachably connected.

3. The finger according to claim 2, characterized in that, The second sub-knuckle is rotatably connected to the bracket, and the position where the second sub-knuckle is rotatably connected to the bracket is located on the other side of the bracket along the axial direction of the first output shaft.

4. The finger according to claim 3, characterized in that, The drive device also includes an encoder located within the bracket, the encoder being partially mounted on the bracket, and the encoder being located at one end of the first output shaft axially toward the second sub-finger and rotatably connected to the bracket.

5. The finger according to claim 2, characterized in that, The first sub-knuckle and the second sub-knuckle form a locking cavity, which is located outside the first knuckle. The first knuckle also includes a locking member filled in the locking cavity, which is detachably connected to the first sub-knuckle and the second sub-knuckle, respectively.

6. The finger according to claim 5, characterized in that, The first sub-finger joint has a first positioning hole, the axial direction of which is arranged intersecting the axial direction of the first output shaft and the extension direction of the first finger joint, respectively. The second sub-finger joint has a second positioning hole, the axial direction of which is arranged intersecting the axial direction of the first output shaft and the extension direction of the first finger joint, respectively. The locking member has a positioning shaft, and the positioning shaft is provided in both the first positioning hole and the second positioning hole. The first finger joint also includes a first connecting member. The locking member is connected to the first sub-finger joint through the first connecting member, and the locking member is connected to the second sub-finger joint through the first connecting member.

7. The finger according to claim 6, characterized in that, The first sub-finger has first limiting walls located on opposite sides of the locking cavity along the extension direction of the first sub-finger, and the locking member located in the locking cavity abuts against at least the first limiting walls on both sides. The second sub-finger has second limiting walls located on opposite sides of the locking cavity along the extension direction of the second sub-finger, and the locking member located in the locking cavity abuts against at least the second limiting walls on both sides.

8. The finger according to claim 6, characterized in that, The drive unit also includes a controller, which is at least partially mounted on the bracket.

9. The finger according to claim 8, characterized in that, The drive device also includes a housing mounted on the bracket, the controller is connected to the bracket and the housing respectively, and the drive is located at least partially within the space enclosed by the housing and the controller.

10. The finger according to claim 9, characterized in that, The drive device also includes a protective cover and a second connector. The protective cover is connected to the outer shell and to the bracket via the second connector, which passes through the controller.

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