Finger joint module, dexterous hand and robot

Abstract

The application discloses a finger knuckle module, a dexterous hand and a robot. The finger knuckle module comprises a first knuckle and a second knuckle. The first knuckle comprises a first connecting piece and a second connecting piece, and the second connecting piece is arranged at intervals with the first connecting piece along a first direction. The second knuckle comprises a third connecting piece and a palm connecting piece. The third connecting piece is provided with a cavity extending along the first direction and is arranged between the first connecting piece and the second connecting piece. The cavity is used for placing a driving module. The palm connecting piece is used for fixedly connecting with a palm of the dexterous hand. The first knuckle is arranged to rotate relative to the second knuckle under the driving of the driving module. In the above manner, the size of the finger knuckle module can be reduced.

Description

Technical Field

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

[0002] Dexterous hands, as a key product combining robotics technology with human fine motor skills, have shown enormous application potential in fields such as industrial automation, medical rehabilitation, and service robots. Dexterous hands can be divided into two categories: underactuated and fully actuated. Underactuated dexterous hands have a relatively simple structure and lower cost, but their degrees of freedom are limited. Fully actuated dexterous hands, by providing independent actuation capabilities to each finger joint, can more realistically simulate human hand movements and are capable of a wider range of fine manipulations. Current solutions for fully actuated dexterous hands include direct-drive motors, chord drives, linkage drives, and gear drives. Direct-drive motors install the motor within the knuckles, resulting in a larger finger structure. Therefore, reducing the size of the finger joints has become a pressing issue. Utility Model Content

[0003] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can reduce the size of the finger joint module.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a finger joint module, including: a first joint, including a first connector and a second connector, the second connector and the first connector being spaced apart along a first direction; a second joint, including a third connector and a palm connector, the third connector having a cavity extending along the first direction and disposed between the first connector and the second connector, the cavity being used to house a driving module, the palm connector being used to be fixedly connected to the palm of a dexterous hand; wherein, the first joint is configured to rotate relative to the second joint under the drive of the driving module.

[0005] Preferably, the palm connector includes a connecting plate, which is fixedly connected to the palm.

[0006] Preferably, the connecting plate has a first opening, which is used to align with a second opening on the palm, and is used to fix the second knuckle to the palm by passing a first locking member through the first opening and the second opening.

[0007] Preferably, the palm connector includes a plurality of connecting plates arranged at intervals along the first direction, and each connecting plate is provided with the first opening.

[0008] Preferably, the third connector is provided with a first through hole, and the second phalanx further includes a second locking member, which is used to pass through the first through hole and connect to the drive module so that the drive module is fixed in the cavity.

[0009] Preferably, the first knuckle further includes a first knuckle body, the first connector and the second connector are disposed at a first end of the first knuckle body, and the second connector is detachably mounted on the first knuckle body.

[0010] Preferably, the third connector has a first surface and a second surface disposed opposite to each other, and the finger joint module further includes a first limiting member connected to the third connector and located on the first surface of the third connector.

[0011] Preferably, the finger joint module further includes: a second limiting member connected to the first connecting member and located on the first side of the first connecting member; wherein the first connecting member and the second connecting member are both rotatably connected to the third connecting member, and when the first joint rotates relative to the second joint to a certain angle, the first limiting member overlaps with the second limiting member.

[0012] 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; the fingers include multiple drive modules and multiple finger joint modules as described in any of the above technical solutions, each drive module is installed in each cavity, and the fingers are fixedly connected to the palm through the finger joint modules.

[0013] 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.

[0014] The beneficial effects of this application are as follows: Unlike the prior art, in this application, the first and second connectors of the first phalanx rotate relative to the third connector of the second phalanx, and the palm connector of the second phalanx is connected to the palm to realize the rotation of the first phalanx relative to the palm. The cavity of the third connector can house the drive module, and the cavity integrates the necessary drive and transmission components. The drive module drives the first phalanx to rotate relative to the palm. By optimizing the overall structure of the finger phalanx module, the space of the finger phalanx module is made more compact, which not only reduces the size of the finger phalanx module, but also helps to reduce the size of the fingers of the dexterous hand, making the entire dexterous hand lighter and more flexible. Attached Figure Description

[0015] 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:

[0016] Figure 1 This is a structural schematic diagram of one embodiment of the dexterous hand of this application;

[0017] Figure 2 This is a schematic diagram of one embodiment of the finger joint module of this application;

[0018] Figure 3 yes Figure 2 A schematic diagram of the structure of the first phalanx of the middle finger;

[0019] Figure 4 yes Figure 2 A schematic diagram of the structure of the second phalanx of the middle finger from a certain perspective;

[0020] Figure 5 yes Figure 4 A structural diagram of the second phalanx of the middle finger from another perspective;

[0021] Figure 6 This is a schematic diagram of the drive module. Detailed Implementation

[0022] 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.

[0023] See Figure 1 , Figure 2 and Figure 6 This application provides a dexterous hand 3 for use in robots. The dexterous hand 3 includes a palm 30 and fingers. Each finger includes multiple drive modules 2 and multiple finger joint modules 1. Each drive module 2 is installed in the cavity 211 of each finger joint module 1. The fingers are fixedly connected to the palm 30 through the finger joint modules 1.

[0024] Continue reading Figure 2 , Figure 3 , Figure 4 and Figure 6The finger joint module 1 includes a first joint 10 and a second joint 20. The first joint 10 includes a first connector 110 and a second connector 120. The second joint 20 includes a third connector 210 and a palm connector 220. The second connector 120 and the first connector 110 are spaced apart along a first direction X. The third connector 210 has a cavity 211 extending along the first direction X and is disposed between the first connector 110 and the second connector 120. The cavity 211 is used to place the drive module 2. The palm connector 220 is used to be fixedly connected to the palm 30 of the dexterous hand 3. The first joint 10 is configured to rotate relative to the second joint 20 under the drive of the drive module 2.

[0025] Specifically, the first connector 110 and the second connector 120 are located on both sides of the third connector 210 of the second phalanx 20. The cavity 211 of the third connector 210 extending along the first direction X is located between the first connector 110 and the second connector 120. The drive module 2 can be placed in the cavity 211. The drive module 2 can be a motor, servo motor, or the like. This application does not limit the specific type of the drive module 2. The palm connector 220 of the second phalanx 20 is fixedly connected to the palm 30 of the dexterous hand 3. The second phalanx 20 is fixedly connected to the palm 30. The drive module 2 can drive the first connector 110 or the second connector 120 alone, or it can drive the first connector 110 and the second connector 120 simultaneously, so that the first connector 110 and the second connector 120 rotate relative to the third connector 210, so that the first phalanx 10 rotates relative to the second phalanx 20, thereby realizing the rotation of the first phalanx 10 relative to the palm 30.

[0026] In this application, the first connector 110 and the second connector 120 of the first phalanx 10 rotate relative to the third connector 210 of the second phalanx 20. The palm connector 220 of the second phalanx 20 is connected to the palm 30 to enable the first phalanx 10 to rotate relative to the palm 30. The cavity 211 of the third connector 210 can house the drive module 2. The cavity 211 integrates the required drive and transmission components. The drive module 2 drives the first phalanx 10 to rotate relative to the palm 30. By optimizing the overall structure of the finger phalanx module 1, the space of the finger phalanx module 1 is made more compact, which not only reduces the size of the finger phalanx module 1, but also helps to reduce the finger size of the dexterous hand 3, making the dexterous hand 3 lightweight and flexible.

[0027] See Figure 4 and Figure 5 The palm connector 220 includes a connecting plate 2210, which is fixedly connected to the palm 30.

[0028] Specifically, the connecting plate 2210 provides support for the third connecting member 210. The connecting plate 2210 is fixedly connected to the palm 30, so that the second phalanx 20 can be fixedly connected to the palm 30. When the first phalanx 10 rotates, the connecting plate 2210 provides stable support for the first phalanx 10.

[0029] In one embodiment, the connecting plate 2210 is inserted into the gap of the connecting part on the palm 30. The connecting part is used to connect the palm 30 and the second phalanx 20. The connecting plate 2210 and the palm 30 are fixedly connected by an interference fit. The interference fit is achieved by the connecting plate 2210 being slightly larger than the connecting part on the palm 30. When the two are forcibly joined, an outward pressure is generated, which presses the connecting plate 2210 tightly into the connecting part of the palm 30. The interference fit connection method allows the connecting plate 2210 and the palm 30 to form a firm, stable and non-loose connection.

[0030] Continue reading Figure 1 and Figure 4 The connecting plate 2210 is provided with a first opening 2211, which is used to align with the second opening 31 on the palm 30 and to fix the second finger joint 20 to the palm 30 by passing a first locking member (not shown) through the first opening 2211 and the second opening 31.

[0031] Specifically, the first opening 2211 on the connecting plate 2210 is aligned with the second opening 31 on the palm 30. The first locking member passes through the first opening 2211 and the second opening 31 in sequence, or the first locking member passes through the second opening 31 and the first opening 2211 in sequence. Tightening the first locking member fixes the connecting plate 2210 on the palm 30, thereby fixing the second knuckle 20 on the palm 30.

[0032] In one embodiment, the first locking element is a bolt, stud, nut, or rivet. That is, the bolt passes through the first opening 2211 and the second opening 31 and is screwed into the nut for locking; or, the stud passes through the first opening 2211 and the second opening 31 and is screwed into the nut for locking, thus fixing the second knuckle 20 to the palm 30. In other embodiments, the bolt passes through the first opening 2211 and the second opening 31, and the bolt's threads match the threads of the first opening 2211 and the second opening 31, achieving a fixed connection between the second knuckle 20 and the palm 30.

[0033] See Figure 5 The palm connector 220 includes a plurality of connecting plates 2210 arranged at intervals along the first direction X, and each connecting plate 2210 is provided with a first opening 2211.

[0034] Specifically, the first locking member passes through the first opening 2211 on each connecting plate 2210 and the second opening 31 on the palm 30. Through the fixed connection of multiple connecting plates 2210 with the palm 30, the connection strength between the palm connector 220 and the palm 30 is improved, thereby enhancing the stability of the connection between the second knuckle 20 and the palm 30.

[0035] In one embodiment, the first opening 2211 is a threaded hole. The thread provides a tighter and more secure connection, and the threaded hole engages with the first locking element to achieve a stable connection between the second knuckle 20 and the palm 30.

[0036] See Figure 4 The third connector 210 is provided with a first through hole 212, and the second finger joint 20 also includes a second locking member (not shown). The second locking member is used to pass through the first through hole 212 and connect to the drive module 2 so that the drive module 2 is fixed in the cavity 211.

[0037] Specifically, the drive module 2 is first placed inside the cavity 211. One end of the second locking member passes through the first through hole 212 and is fixedly connected to the drive module 2. The connection can be achieved by the second locking member pressing against the outer surface of the drive module 2, or by the second locking member being screwed into the through hole opened on the outer surface of the drive module 2. This fixes the drive module 2 inside the cavity 211, preventing the drive module 2 from moving inside the cavity 211 and ensuring the stability of the drive module 2.

[0038] In one embodiment, the second locking element is a bolt or a stud, that is, one end of the bolt is fixedly connected to the drive module 2, or one end of the stud is fixedly connected to the drive module 2, thereby fixing the drive module 2 inside the cavity 211.

[0039] In one embodiment, the first through hole 212 is a threaded hole. Specifically, the thread can provide a tighter and more secure connection. The threaded hole cooperates with the second locking member and is tightened by rotating the second locking member. The second locking member can be fixedly connected to the third connector 210 and the drive module 2, so that the drive module 2 is fixed in the cavity 211.

[0040] In one embodiment, the third connector 210 is provided with a plurality of first through holes 212, and each second locking member passes through the corresponding first through hole 212 and is connected to the drive module 2. Since the first through holes 212 are arranged circumferentially, they can be arranged with uniform spacing or non-uniform spacing. The second locking members are also arranged circumferentially accordingly and are connected to the drive module 2, fixing the drive module 2 in the cavity 211 from multiple directions, preventing the drive module 2 from rotating or tilting, thereby improving the stability of the drive module 2 and improving the accuracy of the finger joint module.

[0041] See Figure 3The first phalanx 10 also includes a first phalanx body 130, a first connector 110 and a second connector 120 disposed at the first end of the first phalanx body 130, and the second connector 120 is detachably mounted on the first phalanx body 130.

[0042] Specifically, the first connector 110 and the second connector 120 are located at the first end of the first knuckle body 130. When the drive module 2 needs to be installed, the drive module 2 is placed inside the cavity 211, and the second connector 120 is installed on the first knuckle body 130, confining the drive module 2 within the cavity 211. When the drive module 2 needs to be removed, the second connector 120 is removed from the first knuckle body 130, and the drive module 2 is taken out for replacement or removal. The second connector 120 is detachably installed on the first knuckle body 130, improving the convenience and flexibility of maintaining the drive module 2.

[0043] Continue reading Figure 3 and Figure 4 In one embodiment, the second end of the first phalanx body 130 is provided with a fourth connector 140, which is the same as the third connector 210. The second phalanx 20 also includes a second phalanx body 230. The third connector 210 is disposed at the first end of the second phalanx body 230. The second end of the second phalanx body 230 is provided with a palm connector 220. The first connector 110 and the second connector 120 of the first phalanx 10 are correspondingly disposed with the third connector 210 of the second phalanx 20, so that the drive module 2 drives the first phalanx 10 to rotate relative to the palm 30. Similarly, the connectors of other phalanxes are matched with the fourth connector 140 of the first phalanx 10, so that the drive module 2 drives the other phalanxes to rotate relative to the first phalanx 10.

[0044] Furthermore, in one embodiment, the cavity 141 of the fourth connector 140 may extend along the first direction X, or the cavity 141 of the fourth connector 140 may extend along a direction perpendicular to the first direction X.

[0045] See Figure 4 The third connector 210 has a first surface 213 and a second surface 214 that are disposed opposite to each other. The finger joint module 1 also includes a first limiting member 240, which is connected to the third connector 210 and is located on the first surface 213 of the third connector 210.

[0046] Specifically, the first limiting member 240 is used to limit the rotation range of the first phalanx 10. The first limiting member 240 is connected to the third connecting member 210. The first phalanx 10 rotates relative to the third connecting member 210. The first limiting member 240 limits the maximum range of motion of the first phalanx 10 relative to the second phalanx 20, ensuring that the finger does not bend excessively when bent, avoiding mechanical damage or instability caused by the first phalanx 10 exceeding the range allowed by its structure or function, and making the rotation of the first phalanx 10 controllable and safe.

[0047] In one embodiment, the first limiting member 240 and the third connecting member 210 are integrally formed, and the first limiting member 240 and the third connecting member 210 form a whole, which reduces the stress concentration that may exist at the connection between the two and improves the overall strength and rigidity.

[0048] See Figure 3 and Figure 4 The finger joint module 1 also includes a second limiting member 150. The second limiting member 150 is connected to the first connecting member 110 and is located on the first side 111 of the first connecting member 110. The first connecting member 110 and the second connecting member 120 are both rotatably connected to the third connecting member 210. When the first joint 10 rotates relative to the second joint 20 to a certain angle, the first limiting member 240 overlaps with the second limiting member 150.

[0049] Specifically, the first limiting member 240 is located on the first surface 213 of the third connector 210, and the second limiting member 150 is located on the first side 111 of the first connector 110. When the first phalanx 10 rotates relative to the second phalanx 20, the first connector 110 rotates relative to the third connector 210. When the first connector 110 rotates relative to the third connector 210 to a certain angle, the first limiting member 240 contacts and overlaps with the second limiting member 150, preventing the first connector 110 from continuing to rotate, thereby limiting the rotation range of the first phalanx 10 and avoiding mechanical damage caused by excessive rotation angle of the finger phalanx module 1.

[0050] In one embodiment, the second limiting member 150 is integrally formed with the first connecting member 110, and the second limiting member 150 and the first connecting member 110 form a whole, which reduces the stress concentration that may exist at the connection between the two and improves the overall strength and rigidity.

[0051] This application also provides a robot, including the dexterous hand 3 in any of the above embodiments. The 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.

[0052] 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 finger joint module, characterized in that, include: The first finger joint includes a first connector and a second connector, wherein the second connector and the first connector are spaced apart along a first direction; The second finger joint includes a third connector and a palm connector. The third connector has a cavity extending along the first direction and is disposed between the first connector and the second connector. The cavity is used to house the drive module. The palm connector is used to be fixedly connected to the palm of the dexterous hand. The first phalanx is configured to rotate relative to the second phalanx under the drive of the drive module.

2. The finger joint module according to claim 1, characterized in that, The palm connector includes a connecting plate, which is fixedly connected to the palm.

3. The finger joint module according to claim 2, characterized in that, The connecting plate is provided with a first opening, which is used to align with a second opening on the palm and to fix the second knuckle to the palm by passing a first locking member through the first opening and the second opening.

4. The finger joint module according to claim 3, characterized in that, The palm connector includes a plurality of connecting plates arranged at intervals along the first direction, and each connecting plate is provided with the first opening.

5. The finger joint module according to claim 1, characterized in that, The third connector is provided with a first through hole, and the second finger joint also includes a second locking member. The second locking member is used to pass through the first through hole and connect to the drive module so that the drive module is fixed in the cavity.

6. The finger joint module according to claim 1, characterized in that, The first phalanx also includes a first phalanx body, the first connector and the second connector are disposed at a first end of the first phalanx body, and the second connector is detachably mounted on the first phalanx body.

7. The finger joint module according to any one of claims 1 to 6, characterized in that, The third connector has a first surface and a second surface disposed opposite to each other, and the finger joint module further includes: The first limiting member is connected to the third connecting member and is located on the first surface of the third connecting member.

8. The finger joint module according to claim 7, characterized in that, The finger joint module also includes: The second limiting member is connected to the first connecting member and is located on the first side of the first connecting member; The first connector and the second connector are rotatably connected to the third connector. When the first phalanx rotates relative to the second phalanx to a certain angle, the first limiting member overlaps with the second limiting member.

9. A dexterous hand for use in a robot, characterized in that, Including the palm and fingers; The finger includes multiple drive modules and multiple finger joint modules as described in any one of claims 1 to 8, each drive module being installed in each of the cavities, and the finger being fixedly connected to the palm via the finger joint modules.

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

Images