Palm module, dexterous hand and robot

Abstract

The application discloses a palm module, a dexterous hand and a robot, and the palm module comprises a backhand plate, a connecting plate and a palm plate. The backhand plate comprises an inner side surface. The connecting plate comprises a first surface and a second surface opposite to each other, and the second surface of the connecting plate is matched and attached to one side of the inner side surface of the backhand plate. The first surface of the connecting plate is provided with a finger connecting piece and a circuit board connecting piece, the finger connecting piece is used for connecting the fingers of the robot, and the circuit board connecting piece is used for connecting a circuit board. The palm plate surrounds the connecting plate together with the backhand plate, and is connected with the backhand plate and the connecting plate. In the above manner, the application can improve the protection, stability and integration of the palm module.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a hand module, a dexterous hand, and a robot. Background Technology

[0002] As a high-performance robotic manipulator that simulates the functions of the human hand, the dexterous hand places high demands on the flexibility, precision, and versatility of its structure. To achieve complex and precise motion control and force transmission in a dexterous hand, the palm module, its core component, needs a highly rigid support structure, flexible and adaptable joint interfaces, and a reliable and convenient finger connection mechanism. The palm module needs to meet corresponding requirements in terms of supporting multiple fingers, coordinating movements, integrating sensors, providing standardized modular interfaces, and adapting to complex grasping and manipulation tasks. During its long-term research and development process, the applicant of this application discovered that current palm modules suffer from insufficient protection and inadequate stability. Utility Model Content

[0003] This application provides a hand module, a dexterous hand, and a robot that can improve the protection, stability, and integration of the hand module.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a hand module for a robot, the hand module comprising: a back plate, including an inner surface; a connecting plate, including a first surface and a second surface opposite to each other, one side of the second surface of the connecting plate matching and fitting one side of the inner surface of the back plate, one side of the first surface of the connecting plate being provided with a finger connector and a circuit board connector, the finger connector being used to connect the robot's fingers, and the circuit board connector being used to connect a circuit board; and a palm plate, surrounding the connecting plate with the back plate and connected to the back plate and the connecting plate.

[0005] Preferably, the palm plate includes a palm plate body and a first connecting ring, the first connecting ring being located at one end of the palm plate body.

[0006] Preferably, the palm module further includes: a wrist base, comprising a second connecting ring and a disc-shaped body, wherein the second connecting ring is nested and connected to the first connecting ring of the palm plate, and the disc-shaped body is used to be mounted on a support surface.

[0007] Preferably, the circuit board connector includes a connecting post that extends from the first surface toward the palm plate for connecting to the circuit board to fix the circuit board on the connecting plate.

[0008] Preferably, the palm module further includes a first locking member, which passes through the back of the hand plate, the connecting plate and the palm plate in sequence to connect the back of the hand plate, the connecting plate and the palm plate.

[0009] Preferably, the finger connector includes: a mounting plate located on one side of the first surface; and a plurality of protrusions located on one side of the mounting plate, each of the protrusions having an opening for a second locking member to pass through and connect the finger to the protrusion.

[0010] Preferably, the second locking member passes through the back of the hand plate, the connecting plate, the opening, and the palm plate in sequence to connect the back of the hand plate, the connecting plate, the palm plate, and the fingers.

[0011] Preferably, the protrusions include a first protrusion and a second protrusion arranged at intervals along a first direction. The first protrusion has a first opening, and the second protrusion has a second opening. One end of the finger is located between the first protrusion and the second protrusion, and between the second protrusion and the connecting plate. The second locking member passes through the first opening, the finger, and the second opening in sequence to fix the finger on the connecting plate. The first direction is from the first surface to the second surface.

[0012] Preferably, the outer surface of the back of the hand plate is curved.

[0013] Preferably, the thickness of the back of the hand plate is greater than the thickness of the connecting plate.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for robots, including a palm and fingers, wherein the fingers are fixedly connected to the palm; the palm includes a palm module as described in any of the above technical solutions, and the palm module is connected to multiple fingers.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot, including the dexterous hand described in the above technical solution.

[0016] The beneficial effects of this application are as follows: Unlike existing technologies, in this application, the palm plate, connecting plate, and back plate are connected together. The connecting plate is provided with finger connectors and circuit board connectors. On the one hand, by matching and fitting the back plate with the connecting plate, the gap between the back plate and the connecting plate is reduced, making the connection between the back plate and the connecting plate tight, avoiding shaking caused by gaps, improving the stability of the palm module, and improving the sealing effect at the joint between the back plate and the connecting plate, which can resist the intrusion of dust, moisture, or other external environments. On the other hand, the finger connectors are located on the first surface of the connecting plate, and the fingers form a stable connection with the finger connectors, reducing the loosening of the connection due to impact. Furthermore, the circuit board connectors are located on the first surface of the connecting plate, installing the circuit board in the palm module, so that the circuit is integrated into the palm module, making the entire palm module more integrated. At the same time, the palm plate and the back plate provide protection for the circuit board, which can reduce the risk of damage caused by accidental collisions or bending. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of the palm module of this application;

[0019] Figure 2 yes Figure 1 A schematic diagram of the backplate structure;

[0020] Figure 3 yes Figure 1 Schematic diagram of the middle connecting plate;

[0021] Figure 4 yes Figure 1 Schematic diagram of the center plate;

[0022] Figure 5 yes Figure 1 A schematic diagram of the structure of the wrist rest;

[0023] Figure 6 This is a schematic diagram of the structure of an embodiment of the dexterous hand of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] See Figures 1 to 4 The palm module 1 provided in one embodiment of this application includes a back plate 10, a connecting plate 20, and a palm plate 30.

[0026] The back of the hand plate 10 includes an inner surface 11, and the connecting plate 20 includes a first surface 21 and a second surface 22 facing away from each other. One side of the second surface 22 of the connecting plate 20 matches and fits with one side of the inner surface 11 of the back of the hand plate 10. One side of the first surface 21 of the connecting plate 20 is provided with a finger connector 210 and a circuit board connector 220. The finger connector 210 is used to connect the robot's fingers, and the circuit board connector 220 is used to connect the circuit board. The palm plate 30 and the back of the hand plate 10 surround the connecting plate 20 and are connected to the back of the hand plate 10 and the connecting plate 20.

[0027] Specifically, the second surface 22 of the connecting plate 20 matches the shape of one side of the inner surface 11 of the back of the hand plate 10. For example, the second surface 22 is flat and the inner surface 11 is also flat, so the two can match and fit together. Or, the second surface 22 is convex and the inner surface 11 is concave, so the two can also match and fit together. Alternatively, the second surface 22 can be concave and the inner surface 11 can be convex. This application does not impose specific restrictions on the shapes of the second surface 22 and the inner surface 11, as long as the two can match and fit together. A finger connector 210 is provided on one side of the first surface 21 of the connecting plate 20. The finger connector 210 is connected to the robot's finger, so that the connecting plate 20 is connected to the robot's finger. The connecting plate 20 is provided with a circuit board connector 220. The circuit board connector 220 is connected to the circuit board, so that the circuit board is mounted on the connecting plate 20. The circuit board can control the movement of the robot's finger. The palm plate 30 and the back plate 10 surround the circuit board connector 220 and the finger connector 210 on the connecting plate 20. The palm plate 30, the connecting plate 20 and the back plate 10 are connected together.

[0028] In this application, the palm plate 30, the connecting plate 20, and the back plate 10 are connected together. The connecting plate 20 is provided with a finger connector 210 and a circuit board connector 220. On the one hand, by matching and fitting the back plate 10 with the connecting plate 20, the gap between the back plate 10 and the connecting plate 20 is reduced, making the connection between the back plate 10 and the connecting plate 20 tight, avoiding shaking caused by gaps, improving the stability of the palm module 1, and improving the sealing effect at the joint between the back plate 10 and the connecting plate 20, which can resist the intrusion of dust, moisture, or other external environments. On the other hand, the finger connector 210 is located on the first surface 21 of the connecting plate 20, and the finger and the finger connector 210 form a stable connection, reducing the loosening of the connection due to impact. On the other hand, the circuit connector is located on the first surface 21 of the connecting plate 20, and the circuit board is installed in the palm module 1, so that the circuit is integrated in the palm module 1, making the entire palm module 1 more integrated. At the same time, the palm plate 30 and the back plate 10 provide protection for the circuit board, which can reduce the risk of damage caused by accidental collision or bending.

[0029] See Figure 4 The palm board 30 includes a palm board body 310 and a first connecting ring 320, with the first connecting ring 320 located at one end of the palm board body 310.

[0030] Specifically, the palm plate body 310 and the back of the hand plate 10 surround the connecting plate 20, and the palm plate body 310, the connecting plate 20, and the back of the hand plate 10 are connected. The first connecting ring 320 is connected to the palm plate body 310. The first connecting ring 320 can be used to support the palm plate body 310. The first connecting ring 320 is ring-shaped, which facilitates connection with external components.

[0031] See Figure 5 The palm module 1 also includes a wrist base 40. The wrist base 40 includes a second connecting ring 410 and a disc-shaped body 420. The second connecting ring 410 is nested and connected to the first connecting ring 320 of the palm plate 30, and the disc-shaped body 420 is used to be mounted on a support surface.

[0032] Specifically, the wrist base 40 is used to support the palm plate 30, the second connecting ring 410 is sleeved outside the first connecting ring 320 and fixedly connected to the first connecting ring 320, the disc-shaped body 420 is connected to the second connecting ring 410, the disc-shaped body 420 is disc-shaped and has load-bearing capacity, providing stable support for the second connecting ring 410 and the first connecting ring 320, thereby stably supporting the palm plate 30, the connecting plate 20 and the back of the hand plate 10, so that the palm module 1 can be placed stably on the support surface.

[0033] In one embodiment, the first connecting ring 320 and the second connecting ring 410 are connected by bolts or studs, and the first connecting ring 320 is fixed inside the second connecting ring 410.

[0034] In one embodiment, the second connecting ring 410 may also be located inside the first connecting ring 320, and the two may be fixedly connected by bolts or studs.

[0035] See Figure 3 The circuit board connector 220 includes a connecting post 2210 that extends from the first surface 21 toward the palm plate 30 for connecting to the circuit board to fix the circuit board on the connecting plate 20.

[0036] Specifically, the connecting post 2210 protrudes from the first surface 21 of the connecting plate 20 and is connected to the connecting plate 20. The connecting post 2210 extends from the first surface 21 toward the palm plate 30 and is connected to the circuit board, thus stably fixing the circuit board on the connecting plate 20.

[0037] In one embodiment, a stud passes through the circuit board and the connecting post 2210 to fix the circuit board to the connecting plate 20; or, a bolt passes through the circuit board and the connecting post 2210 to fix the circuit board to the connecting plate 20.

[0038] In one embodiment, the circuit board connector 220 includes a plurality of connecting posts 2210, which are connected to the circuit board to stably fix the circuit board on the connecting plate 20, thereby improving the stability of the connection between the circuit board and the connecting plate 20.

[0039] In one embodiment, the palm module 1 further includes a first locking member (not shown), which passes through the back of the hand plate 10, the connecting plate 20 and the palm plate 30 in sequence to connect the back of the hand plate 10, the connecting plate 20 and the palm plate 30.

[0040] Specifically, the first locking member passes through the back of the hand plate 10, the connecting plate 20, and the palm plate 30, and fixes the three together. The beginning part of the first locking member is fixedly connected to the back of the hand plate 10, the middle part of the first locking member is fixedly connected to the connecting plate 20, and the end part of the first locking member is fixedly connected to the palm plate 30. This application does not limit the length of the beginning part, the middle part, and the end part of the first locking member, but can adapt them according to the corresponding lengths of the three parts connected to the palm module 1 in actual applications.

[0041] The first locking element includes a long bolt or a long stud. The long bolt passes through the back plate 10, the connecting plate 20, and the palm plate 30 to fix the three together. Alternatively, the long stud passes through the back plate 10, the connecting plate 20, and the palm plate 30 to fix the three together.

[0042] See Figure 3The finger connector 210 includes a mounting plate 2110 and a plurality of protrusions 2120. The mounting plate 2110 is located on one side of the first surface 21, and the plurality of protrusions 2120 are located on one side of the mounting plate 2110. Each protrusion 2120 is provided with an opening 2121 for a second locking member (not shown) to pass through and connect the finger to the protrusion 2120.

[0043] Specifically, the mounting plate 2110 is used to place the protrusions 2120. The mounting plate 2110 is connected to the protrusions 2120. Each protrusion 2120 is fixedly connected to the corresponding finger of the robot. The mounting plate 2110 plays the role of supporting the robot's finger. The protrusions 2120 are provided with openings 2121. The second locking member passes through the openings 2121 and is fixedly connected to the finger.

[0044] In one embodiment, the second locking member includes a bolt, stud, or rivet. The rivet passes through the opening 2121 on the protrusion 2120 and is fixedly connected to the finger, or the bolt passes through the opening 2121 and is fixedly connected to the finger. The protrusion 2120 and the finger are fixed by the second locking member, which facilitates the replacement and maintenance of the finger.

[0045] In one embodiment, the opening 2121 is a threaded hole, which provides a tighter and more secure connection. The threaded hole cooperates with the second locking member to achieve a stable connection between the protrusion 2120 and the finger.

[0046] In one embodiment, the second locking member passes through the back of the hand plate 10, the connecting plate 20, the opening 2121 and the palm plate 30 in sequence to connect the back of the hand plate 10, the connecting plate 20, the palm plate 30 and the fingers.

[0047] Specifically, the second locking component passes through the back of the hand plate 10, the connecting plate 20, the protruding post 2120 and the palm plate 30, connecting the four components simultaneously. This optimizes the installation process, reduces the number of parts and steps involved in the installation, and makes the overall installation simpler.

[0048] Continue reading Figure 3 The protrusion 2120 includes a first protrusion 2122 and a second protrusion 2123 arranged at intervals along a first direction. The first protrusion 2122 is provided with a first opening 2124, and the second protrusion 2123 is provided with a second opening 2125. One end of the finger is located between the first protrusion 2122 and the second protrusion 2123, and between the second protrusion 2123 and the connecting plate 20. The second locking member passes through the first opening 2124, the finger and the second opening 2125 in sequence to fix the finger on the connecting plate 20. The first direction is from the first surface 21 to the second surface 22.

[0049] Specifically, when installing the finger, the finger is first placed in the gap between the first protrusion 2122 and the second protrusion 2123, and in the gap between the second protrusion 2123 and the connecting plate 20. The first protrusion 2122, the second protrusion 2123, and the connecting plate 20 limit the finger's position. Then, the second locking member passes through the first opening 2124, the finger, the second opening 2125, and the connecting plate 20 in sequence, fixing the finger to the connecting plate 20, thus achieving the installation of the finger. The first protrusion 2122 and the second protrusion 2123 facilitate the alignment and installation of the finger with the finger connector 210.

[0050] In one embodiment, a finger is inserted into the gap between the first protrusion 2122 and the second protrusion 2123, and the finger and the finger connector 210 are fixedly connected by an interference fit. The interference fit is achieved by the finger being slightly larger than the gap between the first protrusion 2122 and the second protrusion 2123. When the two are forcibly joined, the finger will generate outward pressure, pressing the finger tightly into the finger connector 210. The interference fit connection method allows a firm, stable and non-loose connection to be formed between the finger and the finger connector 210.

[0051] See Figure 2 The outer surface 12 of the back of the hand plate 10 is curved.

[0052] Specifically, the lines of the back of a human hand are smooth and rounded. The outer surface 12 of the back of the hand plate 10 is designed as an arc surface to mimic the natural shape of the back of a human hand, making the appearance of the back of the hand plate 10 closer to that of a human hand and enhancing the biomimetic feel. At the same time, the arc surface helps to distribute pressure, which can improve the structural stability and durability of the palm module 1 when bearing objects. It should be noted that the outer surface 12 can be a single arc surface, or multiple smoothly connected arc surfaces, or it can be an arc surface with concave or convex shapes. It can be a symmetrical arc surface or an asymmetrical arc surface, as long as the outer surface 12 is close to the surface of the back of the hand.

[0053] See Figure 1 The thickness of the back of the hand plate 10 is greater than the thickness of the connecting plate 20. Specifically, the greater thickness of the back of the hand plate 10 significantly improves the compressive and bending resistance of the back of the hand plate 10, enhancing the overall structural strength and rigidity of the entire palm module 1. This not only strengthens the load-bearing capacity and stability of the palm module 1 but also makes it more reliable and durable when operating in complex environments.

[0054] See Figure 6 This application provides a dexterous hand 2 for use in robots. The dexterous hand 2 includes a palm and fingers, with the fingers fixedly connected to the palm. The palm includes a palm module 1 in any of the above embodiments, and the palm module 1 is connected to multiple fingers.

[0055] This application also provides a robot, which includes the dexterous hand 2 in any of the above embodiments. Other structures of the robot are the same as those in the prior art and will not be described in detail here. The types of robots include industrial robots, collaborative robots, service robots, medical robots, or special-purpose robots. It should be noted that this application does not limit the types of robots.

[0056] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A hand module for use in a robot, characterized in that, The hand module includes: Back of hand, including the inner surface; The connecting plate includes a first surface and a second surface facing away from each other. One side of the second surface of the connecting plate matches and fits with one side of the inner surface of the back of the hand plate. One side of the first surface of the connecting plate is provided with a finger connector and a circuit board connector. The finger connector is used to connect the robot's fingers, and the circuit board connector is used to connect the circuit board. The palm plate and the back of the hand plate surround the connecting plate and are connected to the back of the hand plate and the connecting plate.

2. The hand module according to claim 1, characterized in that, The palm plate includes a palm plate body and a first connecting ring, the first connecting ring being located at one end of the palm plate body.

3. The hand module according to claim 2, characterized in that, The hand module also includes: The wrist base includes a second connecting ring and a disc-shaped body, the second connecting ring being nested and connected to the first connecting ring of the palm plate, and the disc-shaped body being used to mount on a support surface.

4. The hand module according to claim 1, characterized in that, The circuit board connector includes a connecting post that extends from the first surface toward the palm plate for connecting to the circuit board to fix the circuit board on the connecting plate.

5. The hand module according to claim 1, characterized in that, The palm module also includes a first locking member, which passes through the back of the hand plate, the connecting plate and the palm plate in sequence to connect the back of the hand plate, the connecting plate and the palm plate.

6. The hand module according to claim 1, characterized in that, The finger connector includes: The mounting plate is located on one side of the first surface; Multiple protrusions are located on one side of the mounting plate, and each protrusion has an opening for a second locking member to pass through to connect the finger to the protrusion.

7. The hand module according to claim 6, characterized in that, The second locking member passes through the back of the hand plate, the connecting plate, the opening and the palm plate in sequence to connect the back of the hand plate, the connecting plate, the palm plate and the fingers.

8. The hand module according to claim 6, characterized in that, The protrusions include a first protrusion and a second protrusion arranged at intervals along a first direction. The first protrusion has a first opening, and the second protrusion has a second opening. One end of the finger is located between the first protrusion and the second protrusion, and between the second protrusion and the connecting plate. The second locking member passes through the first opening, the finger, and the second opening in sequence to fix the finger on the connecting plate. The first direction is from the first surface to the second surface.

9. The hand module according to any one of claims 1 to 8, characterized in that, The outer surface of the back of the hand plate is curved.

10. The hand module according to any one of claims 1 to 8, characterized in that, The thickness of the back of the hand plate is greater than the thickness of the connecting plate.

11. A dexterous hand for use in a robot, characterized in that, Includes a palm and fingers, with the fingers fixedly connected to the palm; The palm includes a palm module as described in any one of claims 1 to 10, the palm module being connected to a plurality of fingers.

12. A robot, characterized in that, Including the dexterous hand as described in claim 11.

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