anthropomorphic fingers

Abstract

The application discloses a humanoid finger, which comprises a plurality of finger knuckles and finger joints. Each finger knuckle comprises a knuckle body, one of two adjacent finger knuckles further comprises a rotating connection end connected to one end of the knuckle body, and the other further comprises a fixed connection end connected to one end of the knuckle body, the rotating connection end has a first accommodating cavity, the fixed connection end is movably connected in the first accommodating cavity of the adjacent finger knuckle, and the fixed connection end has a second accommodating cavity. The finger joint is arranged in each second accommodating cavity, and the finger joint comprises a driving motor and a speed reducer, the speed reducer is connected with the output end of the driving motor, the output end of the speed reducer is connected with the rotating connection end as the output end of the finger joint, and the output end of the finger joint is used for outputting a rotating driving force to drive the relative rotation of the two adjacent finger knuckles. The technical scheme makes the humanoid finger small in size, meets the size requirement of human fingers, and enables the dexterous hand to have higher flexibility.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to an anthropomorphic finger. Background Technology

[0002] Dexterous hands are a new type of end effector for robots. As the final link and execution component in the interaction between the robot and the environment, they play an extremely important role in improving the flexibility and ease of use of robots. Their performance largely determines the overall working performance of the robot.

[0003] Humanoid robots' dexterous hands mimic the structure and function of the human hand, needing to meet human-scale requirements and constrained by practical needs such as space and weight. However, to precisely simulate the movement of the bones and joints of human fingers, dexterous hands need more flexible joints and more degrees of freedom. Each additional degree of freedom requires an additional actuation structure, thus increasing the size of the dexterous hand. Therefore, current technology struggles to simultaneously guarantee a highly human-like balance between the size and dexterity of a dexterous hand. Utility Model Content

[0004] The main technical problem this application addresses is to provide an anthropomorphic finger that is small in size, conforms to the size requirements of human fingers, and enables dexterous hands to have greater flexibility.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing an anthropomorphic finger, including multiple finger joints and finger phalanges. Each finger joint includes a phalanx body, and one of two adjacent finger joints further includes a rotating connecting end connected to one end of the phalanx body, and the other further includes a fixed connecting end connected to one end of the phalanx body. The rotating connecting end has a first accommodating cavity, and the fixed connecting end is movably connected to the first accommodating cavity in the adjacent finger joint. The fixed connecting end has a second accommodating cavity. The finger joint is disposed in each of the second accommodating cavities. The finger joint includes a drive motor and a reducer. The reducer is connected to the output end of the drive motor, and the output end of the reducer serves as the output end of the finger joint and is connected to the rotating connecting end. The output end of the finger joint is used to output rotational driving force to drive the two adjacent finger joints to rotate relative to each other.

[0006] Preferably, the rotating connection end includes a first connector and a second connector, the second connector and the first connector are spaced apart along a first direction, the first connector, the second connector and the finger joint body together form the first receiving cavity, the axial direction of the finger joint extends along the first direction, and the output end of the reducer is connected to the first connector.

[0007] Preferably, the first connector is provided with a first through hole extending along the first direction, the first through hole being used for transmission engagement with the output end of the finger joint.

[0008] Preferably, the output end of the finger joint includes an output gear, and the inner wall of the first through hole has internal teeth, with the output gear meshing with the internal teeth.

[0009] Preferably, the second connector has a groove on the side facing the first connector, the groove being used to receive the first end of the finger joint, and the second connector is configured to rotate around the first end of the finger joint; the bottom of the groove has a second through hole extending along the first direction, and the second through hole communicates with the groove.

[0010] Preferably, the first connector is integrally formed with the knuckle body, and the second connector is detachably connected to the knuckle body.

[0011] Preferably, the plurality of finger joints includes a distal phalanx, a first middle phalanx, a second middle phalanx, a proximal phalanx, and a fixed phalanx connected in sequence. The fixed phalanx is used for fixed connection with the palm. The finger joints between the distal phalanx and the first middle phalanx, between the first middle phalanx and the second middle phalanx, and between the second middle phalanx and the proximal phalanx are all first finger joints. The finger joint between the proximal phalanx and the fixed phalanx is a second finger joint. The axial direction of the first finger joint is perpendicular to the axial direction of the second finger joint, and the axial directions of the plurality of first finger joints are all parallel.

[0012] Preferably, the size of the finger joint ranges from 7.2 mm to 27 mm in the axial and / or radial direction.

[0013] Preferably, the dimension of the finger joint in the axial direction is greater than or equal to the dimension of the finger joint in the radial direction.

[0014] Preferably, the ratio of the axial dimension of the finger joint to the radial dimension of the finger joint is in the range of 1-1.2.

[0015] Preferably, the drive motor includes a stator, an outer rotor disposed around the stator, and a mounting bracket fixedly connected to the outer rotor, at least a portion of the mounting bracket being located on a first side of the stator; the reducer includes a sun gear and at least one planetary gear set, the sun gear being disposed on the first side of the stator along the axial direction of the drive motor, the at least one planetary gear set being rotatably disposed on the mounting bracket and meshing with the sun gear, the at least one planetary gear set being configured to rotate with the mounting bracket and drive the sun gear to rotate; an output gear is fixedly connected to the side of the sun gear away from the stator along the axial direction, the output gear serving as the output end of the finger joint.

[0016] The beneficial effects of this application are as follows: Unlike existing technologies, the anthropomorphic finger provided in this application includes multiple finger joints and multiple finger phalanges, so that each finger joint corresponds to a finger joint, and each finger joint can be driven independently, realizing full finger actuation, thereby improving the freedom and flexibility of the dexterous hand. At the same time, the finger joints of this application can be completely accommodated within the second accommodating cavity of the finger joint. On the one hand, this prevents the finger joints from protruding from the finger joint; the small size of the finger joint makes the finger shape closer to the shape of a human hand. On the other hand, it prevents the finger joints from extending into the finger joint body, thus allowing more space in the finger joint body to accommodate circuit boards and other structures, and making the finger joint body and finger joint independent structures, ensuring its flexibility. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the anthropomorphic finger of this application;

[0018] Figure 2 This is a perspective view of an embodiment of the finger joint of this application;

[0019] Figure 3 This is a perspective view of another embodiment of the finger joint of this application;

[0020] Figure 4 This is a perspective view of an embodiment of a finger joint with finger joints installed according to this application;

[0021] Figure 5 This is a perspective view of an embodiment of the finger joint of this application;

[0022] Figure 6 yes Figure 5 A frontal view of a finger joint is shown;

[0023] Figure 7 This is a schematic diagram of the internal structure of an embodiment of the finger joint of this application;

[0024] Figure 8 This is another internal structure diagram of an embodiment of the finger joint of this application;

[0025] Figure 9 yes Figure 5 A cross-sectional view of the finger joint shown.

[0026] Figure 10 This is a perspective view of an embodiment of the mounting bracket of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] See Figures 1-3 , Figure 1 This is a three-dimensional schematic diagram of an embodiment of the anthropomorphic finger of this application. Figure 2 This is a perspective view of an embodiment of the finger joint of this application. Figure 3 This is a perspective view of another embodiment of the finger joint of this application. The anthropomorphic finger 2 provided in this application is used in the dexterous hand of a robot. The anthropomorphic finger 2 includes a plurality of finger joints 20. Each finger joint 20 includes a joint body 21. One of two adjacent finger joints 20 also includes a rotatable connecting end 22 connected to one end of the joint body 21, and the other includes a fixed connecting end 23 connected to one end of the joint body 21.

[0029] Specifically, see Figure 2 , Figure 2 The finger joint 20 shown is the distal joint of the finger, that is, the finger joint 20 furthest from the palm. This finger joint 20 has a rotating connection end 22 only at its proximal end (that is, the end closer to the palm). This rotating connection end 22 is used to install the finger joint 10 and to rotately connect with the distal end (that is, the end furthest from the palm) of the adjacent finger joint 20. The rotating connection end 22 has a first receiving cavity 210.

[0030] Specifically, see Figure 3 , Figure 3The finger joints 20 shown are the proximal or middle joints of the fingers, that is, the joints 20 excluding those furthest from the palm. In addition to a rotatable connecting end 22 at the proximal end, each finger joint 20 has a fixed connecting end 23 at the distal end. The fixed connecting end 23 is specifically annular, with its axis extending along a first direction X. The interior of the annular structure is a second accommodating cavity 230. The fixed connecting end 23 of the finger joint 20 is rotatably connected to the rotatable connecting end 22 of the adjacent distal finger joint 20. Specifically, the fixed connecting end 23 is rotatably disposed within the first accommodating cavity 210 of the rotatable connecting end 22 of the adjacent distal finger joint 20.

[0031] See Figure 1 and combined Figure 4 , Figure 4 yes Figure 3 The diagram shows a three-dimensional representation of a finger joint after installation. The finger joint 10 and the finger knuckle 20 constitute the anthropomorphic finger joint module 1 of this application. The finger joint 10 is disposed within each second receiving cavity 230, and the finger joint 10 includes a drive motor (see...). Figure 8 The drive motor 11) and the reducer (see Figure 8 The reducer 12 is connected to the output end of the drive motor 11. The output end of the reducer 12 is connected to the rotational connection end 22 as the output end of the finger joint 10. The output end of the finger joint 10 is used to output rotational driving force to drive the finger knuckle 20 to rotate. Specifically, the finger joint 10 is adapted to the cylindrical body and is housed and fixed in the second accommodating cavity 230. This finger joint 10 is used to drive the adjacent distal finger knuckle 20 to rotate, while the finger joint 20 located in the first accommodating cavity 210 is used to drive the rotation of this finger joint 20. Specifically, the fixed connection end 23 and the finger joint 10 are respectively provided with fixing holes 312. The finger knuckle 20 and the finger joint 10 are fixedly connected by bolts passing radially through the two fixing holes. Multiple sets of fixing holes 312 can be provided along the circumference of the fixed connection end 23, specifically three sets can be evenly distributed along the circumference.

[0032] The anthropomorphic finger 2 of this application includes multiple finger joints 20 and multiple finger joints 10, such that each finger joint 20 corresponds to one finger joint 10, and each finger joint 20 can be independently driven, realizing full finger actuation, thereby improving the freedom and flexibility of the dexterous hand. At the same time, the finger joints 10 of this application can be completely accommodated within the second receiving cavity 230 of the finger joint 20, ensuring that the finger joints 10 are not exposed outside the finger joint 20 (for ease of demonstration). Figure 1The portion of the finger joint 20 that protrudes from the finger knuckle 20 is an angle sensor (encoder) connected to the outside of the finger joint 10. The small size of the finger knuckle 20 makes the finger shape closer to the shape of a human hand. On the other hand, it prevents the finger joint 10 from extending into the knuckle body 21 of the finger knuckle 20, thereby allowing more space in the knuckle body 21 to accommodate other structures such as circuit boards. It also makes the knuckle body 21 and the finger joint 10 independent structures, ensuring its flexibility.

[0033] For details, please refer to [link / reference]. Figure 1 The plurality of finger joints 20 include a distal joint 20a, a first middle joint 20b, a second middle joint 20c, a proximal joint 20d, and a fixed joint 20e connected sequentially. The distal joint 20a consists only of a joint body 21 and a rotating connecting end 22. The first middle joint 20b, the second middle joint 20c, and the proximal joint 20d have similar structures, each including a joint body 21, a rotating connecting end 22, and a fixed connecting end 23. The only difference between the first middle joint 20b and the second middle joint 20c is the length of their joint bodies 21. The axial direction of the fixed connecting end 23 of both the first and second middle joints 20b and 20c is parallel to the axial direction of the rotating connecting end 22, extending parallel to the first direction X. The axial direction of the fixed connecting end 23 of the proximal joint 20d is perpendicular to the axial direction of the rotating connecting end 22, meaning the axial direction of the fixed connecting end 23 of the proximal joint 20d extends along the second direction Y. The above configuration ensures that the finger joints 10 between the distal phalanx 20a and the first middle phalanx 20b, between the first middle phalanx 20b and the second middle phalanx 20c, and between the second middle phalanx 20c and the proximal phalanx 20d are all first finger joints (not shown), while the finger joint between the proximal phalanx 20d and the fixed phalanx 20e is a second finger joint. It should be noted that the structures of the first and second finger joints can be completely identical, differing only in their extension direction. Their axes are perpendicular, and the axes of multiple first finger joints are parallel. The fixed phalanx 20e consists only of the phalanx body 21 and the fixed connecting end 23. The phalanx body 21 is used for fixed connection with the palm.

[0034] The anthropomorphic finger 2 described above mimics a human finger. The distal phalanx 20a, the first middle phalanx 20b, and the second middle phalanx 20c can complete flexion and extension movements under the drive of the first finger joint, and the proximal phalanx 20d can complete lateral swing movements under the drive of the second finger joint. Furthermore, since the structure of this application is a fully driven structure, each phalanx can move independently, making it more flexible than a human finger and capable of performing movements that surpass those of a human finger.

[0035] The anthropomorphic finger 2 of this application can be applied to any finger of a dexterous hand, such as the thumb, index finger, middle finger, ring finger, and little finger.

[0036] In some embodiments, the knuckle body 21 can be a hollow structure, and a control circuit board or wiring can be disposed inside the knuckle body 21.

[0037] Optionally, continue reading Figure 2 The rotating connection end 22 includes a first connector 221 and a second connector 222. The second connector 222 and the first connector 221 are spaced apart along the first direction X. The first connector 221, the second connector 222 and the finger joint body 21 together form a first accommodating cavity 210. The axial direction of the finger joint 10 extends along the first direction X. The output end of the reducer 12 is connected to the first connector 221.

[0038] Specifically, both the first connector 221 and the second connector 222 are plate-shaped structures. The ends of the first connector 221 and the second connector 222 away from the knuckle body 21 are arc-shaped, so that when the finger knuckle 20 rotates, the ends of the first connector 221 and the second connector 222 will not interfere with adjacent finger knuckles 20. The space formed by the first connector 221, the second connector 222, and the end faces of the knuckle body 21 facing the rotating connection end 22 is the first accommodating cavity 210, which is used to accommodate the finger joint 10. The first connector 221 and the second connector 222 are used to limit the finger joint 10, while the finger joint 10 directly drives the first connector 221 to rotate. Since the first connector 221 and the second connector 222 are spaced apart along the first direction X, and the axis of the finger joint 10 is also in the first direction X, the finger joint 10 can drive the finger knuckle 20 to perform flexion and extension movements. Specifically, the drive motor 11 in the finger joint 10 provides driving force to drive the reducer 12 to rotate. After the reducer 12 decelerates, the output end of the reducer 12 directly drives the first connector 221 to rotate as the output end of the finger joint 10, thereby driving the finger knuckle 20 to rotate.

[0039] Optionally, in one embodiment, the first connector 221 is provided with a first through hole 2211 extending along a first direction X. The first through hole 2211 is used for transmission engagement with the output end of the finger joint 10. When the finger joint 10 is inserted into the first through hole 2211, the finger joint 10 can drive the finger knuckle 20 to rotate. In one embodiment, see [reference needed]. Figure 2 The output end of the finger joint 10 includes an output gear (see...). Figure 5 The output gear 13), the inner wall of the first through hole 2211 has internal teeth, the output gear 13 meshes with the internal teeth, and the finger joint 10 drives the finger knuckle 20 to rotate through the meshing of the external teeth and the internal teeth.

[0040] In another embodiment, the output end of the reducer 12 can be a D-shaped shaft, and the first through hole 2211 is a D-shaped hole. Through the cooperation of the D-shaped shaft and the D-shaped hole, the finger joint 10 can drive the finger knuckle 20 to rotate.

[0041] Optionally, continue reading Figure 2 The second connector 222 has a groove 2221 on the side facing the first connector 221. The groove 2221 is used to receive the first end of the finger joint 10. The second connector 222 is configured to rotate around the first end of the finger joint 10. Specifically, the first end is the end that is axially away from the output end. The groove 2221 is connected to the first receiving cavity 210. The bottom of the groove 2221 has a second through hole 2222 extending in the first direction X. The second through hole 2222 is connected to the groove 2221. The second through hole 2222 can connect the groove 2221 and the outside of the finger joint 20, and can be used for wiring or installing sensors and other structures. The bottom of the groove 2221 can limit the axial movement of the finger joint 10, and the wall of the groove 2221 can limit the radial movement of the finger joint 10.

[0042] In other embodiments, a limiting member may also be provided on the side of the second connector 222 facing the first connector 221, and the limiting member and the second connector 222 together form a cavity for receiving the first end of the finger joint 10.

[0043] Optionally, the first connector 221 is integrally formed with the knuckle body 21, and the second connector 222 is detachably connected to the knuckle body 21. Since the first connector 221 is driven by the output end of the knuckle body 21, when the first connector 221 is integrally formed with the knuckle body 21, it ensures precise engagement between the first connector 221 and the finger joint 10. The detachable second connector 222 facilitates the installation and removal of the finger joint 10. Specifically, the second connector 222 can be connected to the knuckle body 21 after the finger joint 10 has been engaged with the first connector 221, or the second connector 222 can be removed to replace or repair the finger joint 10 in the first receiving cavity 210.

[0044] See Figure 5 and Figure 6 , Figure 5 This is a three-dimensional schematic diagram of the first embodiment of the finger joint of this application. Figure 6 yes Figure 5 The diagram shows a frontal view of a finger joint. In this embodiment, the finger joint 10 is cylindrical, with its axial direction aligned with the axis of the drive motor and its radial direction aligned with the axis of the drive motor. The length (i.e., the axial dimension D) and diameter (i.e., the radial dimension d) of the cylinder are both within the range of 7.2 mm to 27 mm, and more specifically, both are between 18 mm and 20 mm. The finger joint 10 of these dimensions can be accommodated in the first receiving cavity 210.

[0045] Specifically, see Figure 7 and Figure 8The finger joint 10 includes a drive motor 11, a reducer 12, an output gear 13, and a mounting bracket 15.

[0046] The drive motor 11 includes a stator 111 and an outer rotor 112 disposed around the stator 111. Specifically, the drive motor 11 can be a brushless motor.

[0047] Mounting bracket 15 is fixedly connected to the outer rotor 112, and at least a portion of mounting bracket 15 is located on the first side of stator 111. Figure 7 In the orientation shown, the right side of the stator 111 is defined as the first side, that is, part of the mounting bracket 15 is located on the right side of the stator 111.

[0048] The reducer 12 includes a sun gear 122 and at least one planetary gear set 123. The sun gear 122 is disposed on the first side of the stator 111 along the axial direction of the drive motor 11, and the at least one planetary gear set 123 is rotatably disposed on the mounting frame 15 and meshes with the sun gear 122. The at least one planetary gear set 123 is configured to rotate with the mounting frame 15 and drive the sun gear 122 to rotate.

[0049] The output gear 13 is axially fixed on the side of the sun gear 122 away from the stator 111, and serves as the output end. Optionally, the output gear 13 is coaxially arranged with the sun gear 122, and is used to connect with the knuckle.

[0050] Specifically, the drive motor 11 provides driving force, and the outer rotor 112 rotates around the stator 111. The outer rotor 112 drives the planetary gear set 123 to revolve around the axis of the drive motor 11 while simultaneously rotating on its own axis. At the same time, the rotation of the planetary gear set 123 drives the sun gear 122 to rotate, ultimately driving the output gear 13 to rotate, thereby achieving deceleration and torque increase. This application provides a mounting bracket 15 connecting the outer rotor 112 and the planetary gear set 123, thus integrating the drive motor 11 and the reducer 12 into a single unit. This ensures a stable connection between the reducer 12 and the drive motor 11, and because the drive motor 11 and the reducer 12 are integrated into a single structure, the overall size of the finger joint 10 is compressed, making it conform to the size of a human hand. Simultaneously, this application distributes and connects the drive motor 11 and the reducer 12 along the axial direction, reducing the radial dimension of the finger joint 10. This finger joint 10 can be applied to the finger joints of a robot's dexterous hand, achieving a small size while ensuring a large torque output.

[0051] Optionally, the number of planetary gear sets 123 may be one or more sets. In this embodiment, there are three sets of planetary gear sets 123, which are distributed circumferentially. The three sets of planetary gears result in more even force distribution on the gears. Further, the three sets of planetary gear sets 123 are evenly distributed circumferentially. In other embodiments, the number of planetary gear sets 123 may also be two or more sets, provided that the gear matching conditions are met.

[0052] See Figure 8 The planetary gear set 123 is a double gear set, comprising a planetary gear shaft 1233 and a first planetary gear 1231 and a second planetary gear 1232 fixed on the planetary gear shaft 1233. The reducer 12 also includes a center fixed gear 121, which is fixed to the first side of the stator 111, meaning it is fixed and cannot rotate. Specifically, the center fixed gear 121 is arranged along the axial direction of the stator 111 on one side of the stator 111, and can be coaxially arranged with the stator 111. The sun gear 122 is rotatably arranged on the side of the center fixed gear 121 opposite to the stator 111. Specifically, the sun gear 122 is coaxially arranged with the center fixed gear 121, and the sun gear 122 can rotate relative to the center fixed gear 121. The planetary gear shaft 1233 extends axially along the drive motor 11 and is rotatably connected to the first side of the outer rotor 112. The first planetary gear 1231 meshes with the central fixed gear 121, and the second planetary gear 1232 meshes with the sun gear 122 and drives the sun gear 122 to rotate. Specifically, the first planetary gear 1231 meshes outside the central fixed gear 121, and the second planetary gear 1232 meshes outside the sun gear 122. The first planetary gear 1231 and the second planetary gear 1232 are coaxially fixed through the planetary gear shaft 1233, that is, the first planetary gear 1231 and the second planetary gear 1232 rotate at the same speed.

[0053] Specifically, the outer rotor 112 drives the planetary gear shaft 1233 to revolve around the axis of the drive motor 11, causing the first planetary gear 1231, fixed on the planetary gear shaft 1233, to revolve around the central fixed gear 121. Since the first planetary gear 1231 meshes with the central fixed gear 121, the first planetary gear 1231 rotates on its own axis while revolving. At this time, the second planetary gear 1232 rotates synchronously with the first planetary gear 1231, driving the sun gear 122 to rotate, ultimately driving the output gear 13 to rotate. The reducer 12 in this embodiment includes two stages of gears distributed along the axial direction. The first stage of gears includes the central fixed gear 121 and the first planetary gear 1231, and the second stage of gears includes the sun gear 122 and the second planetary gear 1232, so as to achieve a significant reduction in speed and an increase in torque.

[0054] Specifically, the number of teeth Z1 of the central fixed gear 121, the number of teeth Z2 of the first planetary gear 1231, the number of teeth Z3 of the sun gear 122, and the number of teeth Z4 of the second planetary gear 1232 satisfy the following condition: (Z1*Z4)<(Z2*Z3), thus achieving a reduction effect. The aforementioned reducer 12 can achieve a large reduction ratio with a small size, thereby enabling a large torque output.

[0055] Continue reading Figure 8 and combined Figure 9 , Figure 9 yes Figure 5 The diagram shows a cross-sectional view of a finger joint. The finger joint 10 also includes a central shaft 14, which passes through the stator 111 and the central fixed gear 121. The output gear 13 is configured to rotate around the central shaft 14. This application uses the central shaft 14 to make the drive motor 11 and the central fixed gear 121 coaxial. It should be noted that the central shaft 14 only serves to limit their coaxiality and is not fixed to the drive motor 11 and the central fixed gear 121; that is, the central shaft 14 can rotate relative to the stator 111 and the central fixed gear 121. Furthermore, bearings are provided between the central shaft 14 and the sun gear 122, and between the central shaft 14 and the central fixed gear 121, to reduce friction.

[0056] Optionally, continue reading Figure 7 and Figure 9 In some embodiments, the mounting bracket 15 is provided with at least one mounting hole 151, the central shaft 14 is fixedly connected to the mounting bracket 15, the planetary gear shaft 1233 is rotatably disposed in the mounting hole 151, the first planetary gear 1231 is located between the mounting bracket 15 and the stator 111, and the second planetary gear 1232 is located on the side of the mounting bracket 15 away from the stator 111.

[0057] Specifically, see Figure 9 and combined Figure 10 , Figure 10This is a perspective view of an embodiment of the mounting bracket of this application. In one embodiment, the mounting bracket 15 includes a first sidewall 152 and a mounting plate 153. The first sidewall 152 surrounds one side of the mounting plate 153 circumferentially, and the first sidewall 152 is cylindrical in shape. The mounting plate 153 is circular in shape. Optionally, the mounting plate 153 may be disposed at the top of the first sidewall 152 away from the drive motor 11. The first sidewall 152 surrounds the outer rotor 112 and is fixedly connected to the outer rotor 112. The first sidewall 152 may include a first sub-part 1521 and a second sub-part 1522 that are axially distributed and integrally formed, both of which are cylindrical. The first sub-part 1521 is the portion of the first sidewall 152 close to the drive motor 11. The first sub-part 1521 surrounds the outer rotor 112 and is fixed to the outer rotor 112, specifically, it may be bonded to the outer rotor 112 to ensure a stable connection between the outer rotor 112 and the mounting bracket 15. The second sub-part 1522 extends towards the first side, and its first sidewall 152, together with the mounting plate 153, forms a receiving groove 154 for accommodating the first planetary gear 1231. Furthermore, the outer peripheral surfaces of the first sub-part 1521 and the second sub-part 1522 are flush, ensuring that the radial dimensions of the mounting bracket 15 remain consistent. Furthermore, the radial thickness of the second sub-part 1522 is greater than the radial thickness of the first sub-part 1521, meaning that a stepped surface is formed at the connection between the inner walls of the first and second sub-parts 1521. This stepped surface can act as a limiting surface to fit against the end face of the outer rotor 112, ensuring the installation accuracy of the mounting bracket 15 and the outer rotor 112, providing sufficient installation space for the first planetary gear 1231, and improving installation efficiency. Mounting holes 151 are provided on mounting plate 153, allowing planetary gear shaft 1233 to rotatably pass through mounting plate 153 via mounting holes 151. Mounting plate 153 overlaps with reducer 12 axially, without increasing the axial length of reducer 12, and can drive planetary gear set 123 to rotate stably. This mounting bracket 15 can be used in finished external rotor 112 motors without modifying drive motor 11, improving manufacturing efficiency.

[0058] Continue reading Figure 10 To further reduce the weight of the mounting bracket 15 and the finger joint 10, weight reduction holes 155 can be provided at other locations on the mounting plate 153. Specifically, they can be provided between adjacent mounting holes 151. Multiple weight reduction holes 155 and multiple mounting holes 151 should be evenly distributed circumferentially to ensure that the rotational center of gravity is located on the rotational axis, avoiding vibration and swaying, thereby avoiding unnecessary energy consumption and noise.

[0059] Continue reading Figure 10 and combined Figure 9The mounting bracket 15 also has a through hole 156 through which the central shaft 14 extends away from the central fixed gear 121 and inserts into the sun gear 122. The central shaft 14 is fixedly connected to the mounting plate 153, and the sun gear 122 is rotatably connected to the central shaft 14. In this embodiment, the central shaft 14 can simultaneously constrain the drive motor 11, the central fixed gear 121, the sun gear 122, and the output gear 13 to be coaxial. When the mounting bracket 15 rotates with the outer rotor 112, it can drive the central shaft 14 to rotate synchronously, ensuring that the mounting plate 153 and the reducer 12 on it can rotate coaxially. At this time, the rotational speeds of the outer rotor 112, the mounting bracket 15, and the central shaft 14 are all the same.

[0060] Continue reading Figure 8 The planetary gear set 123 also includes a first bearing 1234, which is fixedly connected to the outside of the planetary gear shaft 1233 and located between the first planetary gear 1231 and the second planetary gear 1232. The first bearing 1234 is disposed within the mounting hole 151. The first bearing 1234 is used to reduce the frictional force when the planetary gear set 123 rotates relative to the mounting bracket 15, and can also limit the distance between the first planetary gear 1231 and the second planetary gear 1232.

[0061] Continue reading Figure 5 and Figure 9 The finger joint 10 also includes a housing 16, which has a mounting cavity (not shown) within it. The drive motor 11 and reducer 12 are housed within the mounting cavity. Specifically, the housing 16 is a closed hollow cylindrical structure to protect the internal drive motor 11 and reducer 12. The housing 16 has an output hole 161, and an output gear 13 is located outside the housing 16 for connecting to and driving the rotation of an external finger joint. (See reference...) Figure 7 The output gear 13 is fixedly connected to the sun gear 122 via a connecting shaft 131, which passes through the output hole 161. The housing 16 is fixedly connected to the stator 111. The sun gear 122 is located in the mounting cavity within the housing 16, and the connecting shaft 131 connects the two gears inside and outside the housing 16. Optionally, to further reduce the weight of the reducer 12, through holes can be provided at the centers of the connecting shaft 131, the sun gear 122, and the output gear 13. Furthermore, the sun gear 122, the connecting shaft 131, and the output gear 13 are an integral structure and are coaxially arranged. In other embodiments, the output gear 13 can also be detachably connected to the sun gear 122 and the connecting shaft 131.

[0062] Further, the outer casing 16 includes an outer casing body 162 and an outer casing end cap 163. The outer casing body 162 includes a second side wall 1621 and a base plate 1622. The second side wall 1621 surrounds the drive motor 11 circumferentially and is integrally connected to the base plate 1622. The second side wall 1621 is cylindrical in shape and covers the first side wall 152. The base plate 1622 is axially disposed on the side of the drive motor 11 away from the reducer 12. The base plate 1622 is circular in shape and is fixedly connected to the stator 111, thereby fixing the stator 111 relative to the outer casing 16. The outer casing end cap 163 is fixedly connected to the side of the second side wall 1621 away from the base plate 1622. An output hole 161 is disposed on the outer casing end cap 163, and a second bearing 132 is disposed in the output hole 161. The connecting shaft 131 passes through the second bearing 132. The base plate 1622 and the outer casing end cap 163 are used to seal both ends of the second side wall 1621, respectively. The outer casing end cap 163 is detachably connected to the outer casing body 162 for easy installation and disassembly. Specifically, a threaded hole can be provided at the connection between the outer casing end cap 163 and the second side wall 1621, and a bolt can be installed in the threaded hole for locking. The second bearing 132 can reduce the frictional force of the connecting shaft 131 when it rotates relative to the outer casing end cap 163.

[0063] Further reading Figure 9 The base plate 1622 has a central hole 1623 at its center. The wall of the central hole 1623 extends toward the stator 111 and a third bearing 141 is provided inside the central hole 1623. The central shaft 14 passes through the third bearing 141 and extends to the outside of the housing 16. The third bearing 141 can reduce the friction of the central shaft 14 when it rotates relative to the stator 111. The central hole 1623 allows the central shaft 14 to extend to the outside of the housing 16.

[0064] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes 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 scope of patent protection of this application.

Claims

1. An anthropomorphic finger, characterized in that, The anthropomorphic fingers include: Multiple finger joints, each finger joint including a joint body, one of two adjacent finger joints further including a rotatable connecting end connected to one end of the joint body, and the other further including a fixed connecting end connected to one end of the joint body, the rotatable connecting end having a first accommodating cavity, the fixed connecting end being movably connected to the first accommodating cavity in the adjacent finger joint, and the fixed connecting end having a second accommodating cavity; A finger joint is disposed within each of the second accommodating cavities. The finger joint includes a drive motor and a reducer. The reducer is connected to the output end of the drive motor, and the output end of the reducer serves as the output end of the finger joint and is connected to the rotational connection end. The output end of the finger joint is used to output rotational driving force to drive two adjacent finger joints to rotate relative to each other.

2. The anthropomorphic finger according to claim 1, characterized in that, The rotating connection end includes a first connector and a second connector. The second connector and the first connector are spaced apart along a first direction. The first connector, the second connector, and the finger joint body together form the first receiving cavity. The axial direction of the finger joint extends along the first direction. The output end of the reducer is connected to the first connector.

3. The anthropomorphic finger according to claim 2, characterized in that, The first connector is provided with a first through hole extending along the first direction, and the first through hole is used for transmission engagement with the output end of the finger joint.

4. The anthropomorphic finger according to claim 3, characterized in that, The output end of the finger joint includes an output gear, and the inner wall of the first through hole has internal teeth, with the output gear meshing with the internal teeth.

5. The anthropomorphic finger according to claim 4, characterized in that, The second connector has a groove on the side facing the first connector, the groove being used to receive the first end of the finger joint, and the second connector is configured to rotate around the first end of the finger joint; the bottom of the groove has a second through hole extending along the first direction, and the second through hole communicates with the groove.

6. The anthropomorphic finger according to claim 2, characterized in that, The first connector is integrally formed with the knuckle body, and the second connector is detachably connected to the knuckle body.

7. The anthropomorphic finger according to any one of claims 1-6, characterized in that, The plurality of finger joints includes a distal phalanx, a first middle phalanx, a second middle phalanx, a proximal phalanx, and a fixed phalanx connected in sequence. The fixed phalanx is used for fixed connection with the palm. The finger joints between the distal phalanx and the first middle phalanx, between the first middle phalanx and the second middle phalanx, and between the second middle phalanx and the proximal phalanx are all first finger joints. The finger joint between the proximal phalanx and the fixed phalanx is a second finger joint. The axial direction of the first finger joint is perpendicular to the axial direction of the second finger joint, and the axial directions of the plurality of first finger joints are all parallel.

8. The anthropomorphic finger according to any one of claims 1-6, characterized in that, The size of the finger joint ranges from 7.2 mm to 27 mm in the axial and / or radial directions.

9. The anthropomorphic finger according to claim 8, characterized in that, The dimension of the finger joint in the axial direction is greater than or equal to the dimension of the finger joint in the radial direction.

10. The anthropomorphic finger according to claim 8, characterized in that, The ratio of the axial dimension of the finger joint to the radial dimension of the finger joint is in the range of 1-1.

2.

11. The anthropomorphic finger according to any one of claims 1-6, characterized in that, The drive motor includes a stator, an outer rotor disposed around the stator, and a mounting bracket fixedly connected to the outer rotor, with at least a portion of the mounting bracket located on a first side of the stator; The reducer includes a sun gear and at least one planetary gear set. The sun gear is disposed on the first side of the stator along the axial direction of the drive motor. The at least one planetary gear set is rotatably disposed on the mounting bracket and meshes with the sun gear. The at least one planetary gear set is configured to rotate with the mounting bracket and drive the sun gear to rotate. The sun gear is fixedly connected to an output gear on the side away from the stator along the axial direction, and the output gear serves as the output end of the finger joint.

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