Finger joint module, dexterous hand and robot

Abstract

The application discloses a finger joint module, a dexterous hand and a robot, the finger joint module comprising a first joint and a second joint, the first joint comprising a first connecting piece and a second connecting piece, the first connecting piece and the second connecting piece being arranged in a first direction and being rotationally connected, the first connecting piece and the second connecting piece surrounding a first cavity for placing a driving module, the first connecting piece being fixedly connected with the second joint, and the second connecting piece being used for connecting with a palm, the second joint being rotationally connected with the palm, the axis direction of the first joint being perpendicular to the axis direction of the second joint, and the first joint and the second joint being located outside a second cavity of the palm. Through the above manner, the layout of the dexterous hand can be optimized.

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] With the rapid development of robotics technology, especially in fields such as human-robot collaboration, precision assembly, complex environment exploration, and medical rehabilitation, the demand for dexterous hands—the actuators of robot manipulators—is increasing daily. As a key carrier of a robot's perception and execution functions, the performance of the dexterous hand directly determines the robot's ability and flexibility to complete tasks. An ideal dexterous hand should possess functions similar to or exceeding those of a human hand, including but not limited to grasping objects of different shapes, sizes, and materials, performing precise point-to-point operations, and making agile movements in confined or complex spaces.

[0003] To achieve these advanced functions, modern dexterous hands are typically designed with finger structures containing multiple degrees of freedom. Each finger may also have multiple joints, such as finger joints and metacarpophalangeal joints. These joints are connected by rotation, enabling the fingers to perform complex three-dimensional movements, thereby simulating human finger bending, extension, grasping, and touching actions. The design of the joints is key to achieving these movements, and they typically employ precision mechanical components such as servos, motors, and linkage structures. During its long-term research and development process, the applicant of this application discovered that in existing dexterous hand designs, the joint structure occupies a large portion of the internal volume of the palm, leading to problems such as crowded internal space or excessively large palm size. Therefore, optimizing the internal space of the palm has become an urgent problem to be solved. Utility Model Content

[0004] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can optimize the layout of the dexterous hand.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a finger joint module for a robot, the finger joint module including: a first joint and a second joint, the first joint including a first connector and a second connector, the first connector and the second connector being spaced apart along a first direction and rotatably connected, the first connector and the second connector surrounding a first cavity, the first cavity being used to place a drive module, the first connector being fixedly connected to the second joint, the second connector being used to connect to the palm, the second joint being rotatably connected to the palm, the axial direction of the first joint being perpendicular to the axial direction of the second joint, and the first joint and the second joint being located outside the second cavity of the palm.

[0006] Preferably, the second joint includes: a third connector located at one end of the second joint near the first joint, fixedly connected to the first connector, wherein the axes of the third connector, the first connector, and the second connector are on the same axis.

[0007] Preferably, the first connector is sleeved outside the third connector.

[0008] Preferably, the first connector has a first opening, the third connector has a second opening, and the first locking member passes through the first opening and the second opening in sequence to connect the first connector and the third connector.

[0009] Preferably, the third connector has a first shaft extending along the first direction, and a first bearing is located inside the opening of the palm, with the first bearing sleeved on the first shaft.

[0010] Preferably, the second connector has a first mounting plate extending in a second direction, the first mounting plate has a third opening extending in the first direction, and the second locking member passes through the third opening and connects to the palm, wherein the second direction is perpendicular to the first direction.

[0011] Preferably, the third opening is a threaded hole.

[0012] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for robots, the dexterous hand 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 of the first cavities, and the fingers are fixedly connected to the palm through the finger joint modules; wherein, the palm is provided with a second cavity for placing a circuit board, and the finger joint modules are located outside the second cavity.

[0013] Preferably, the palm includes a cover plate that covers the second cavity.

[0014] 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.

[0015] The beneficial effects of this application are as follows: Unlike the prior art, in this application, the first connector of the first joint and the third connector of the second joint are fixedly connected. A driving module is placed in the cavity jointly enclosed by the first connector and the second connector. The driving module drives the first connector and the third connector to rotate. The second joint is rotatably connected to the palm, realizing the lateral swing function of the finger joint module relative to the palm. On the one hand, the first joint and the second joint are both placed outside the second cavity of the palm, avoiding the first joint from occupying the space inside the palm, reducing the volume of the palm, optimizing the structural layout of the dexterous hand, and improving the dexterity of the dexterous hand. On the other hand, by fixing the first joint to the palm and rotatably connecting the second joint to the palm, the palm simultaneously supports the first joint and the second joint, improving the stability and flexibility of the first joint and the second joint. Attached Figure Description

[0016] 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:

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand of this application;

[0018] Figure 2 This is a schematic diagram of another embodiment of the dexterous hand of this application;

[0019] Figure 3 yes Figure 2 A schematic diagram of the explosive structure of the middle palm;

[0020] Figure 4 This is a schematic diagram of the structure of an embodiment of the finger joint module of this application;

[0021] Figure 5 yes Figure 4 A schematic diagram of the exploded structure of the middle finger joint module from a single perspective;

[0022] Figure 6 yes Figure 4 A schematic diagram of the exploded structure of the middle finger joint module from another perspective. Detailed Implementation

[0023] 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.

[0024] See Figure 1 and Figure 5 This application provides a dexterous hand 2 for use in robots, the dexterous hand 2 including a palm 3 and fingers 4.

[0025] The finger 4 includes multiple finger joint modules 1 and multiple drive modules (not shown). Each drive module is installed in the first cavity 11 of each finger joint module 1. The finger 4 is fixedly connected to the palm 3 through the finger joint modules 1. The palm 3 has a second cavity 31 for placing a circuit board, and the finger joint modules 1 are located outside the second cavity 31. By placing the finger joint modules 1 outside the palm 3, the space occupied by the second cavity 31 of the palm 3 is reduced, effectively reducing the volume of the second cavity 31 and the overall size of the dexterous hand 2. The first joint 10 is fixedly connected to the palm 3, and the second joint 20 is rotatably connected to the palm 3. The palm 3 supports both the first joint 10 and the second joint 20 simultaneously, improving the stability of the dexterous hand 2. The specific structure of the finger joint module 1 is described below.

[0026] See Figure 2 and Figure 3 In one embodiment, the palm 3 includes a cover plate 310 that covers the second cavity 31. That is, the cover plate 310 seals the second cavity 31, preventing dust and moisture from entering and contaminating the circuit board, thus improving the reliability of the dexterous hand 2. The cover plate 310 can also extend to cover part of the finger joint module 1. When the dexterous hand 2 is impacted, the cover plate 310 provides protection for the finger joint module 1, preventing direct impact that could cause it to fail.

[0027] Combination Figure 1 , Figure 4 and Figure 5 The 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 first connector 110 and the second connector 120 are spaced apart along a first direction X and are rotatably connected. The first connector 110 and the second connector 120 surround a first cavity 11 for placing a drive module. The first connector 110 is fixedly connected to the second joint 20, and the second connector 120 is used to connect to the palm 3. The second joint 20 is rotatably connected to the palm 3. The axial direction of the first joint 10 is perpendicular to the axial direction of the second joint 20, and the first joint 10 and the second joint 20 are located outside the second cavity 31 of the palm 3.

[0028] Specifically, the first connector 110 and the second connector 120 of the first joint 10 surround a first cavity 11. A drive module is placed inside the first cavity 11. The drive module drives the first connector 110 to rotate. Since the first connector 110 is fixedly connected to the second joint 20, the first connector 110 drives the second joint 20 to rotate. The second connector 120 of the first joint 10 is fixedly connected to the palm 3, thus realizing the fixed connection between the first joint 10 and the palm 3. The axial direction of the first joint 10 is perpendicular to the axial direction of the second joint 20. The second joint 20 is rotatably connected to the palm 3. When the drive module in the first joint 10 drives the second joint 20 to rotate, the second joint 20 rotates relative to the palm 3, thereby realizing the lateral swing function of the dexterous hand 2. In this application, the first joint 10 is located outside the second cavity 31 of the palm 3. In the prior art, the first joint 10 is usually located inside the palm 3, that is, inside the second cavity 31. This placement method occupies the internal space of the palm 3, which greatly compresses the space inside the palm 3 that can be used to accommodate other functional modules. Therefore, in order to accommodate the dense joint structure, the palm 3 part often needs to be designed to be more complex, which increases the overall weight and volume of the dexterous hand 2 and may reduce the movement speed, energy efficiency and dynamic response of the fingers. In this application, the first joint 10 is placed outside the second cavity 31 of the palm 3, which frees up the internal space of the palm 3, reduces the overall volume of the dexterous hand 2, and is fixedly connected to the palm 3 through the first joint 10 and the second joint 20 is rotatably connected to the palm 3. The palm 3 can support the first joint 10 and the second joint 20 at the same time, which reduces the shaking and displacement of the first joint 10 and the second joint 20 during the operation of the dexterous hand 2, improves the stability and flexibility of the first joint 10 and the second joint 20, and thus improves the stability of the fingers 4.

[0029] Continue reading Figure 4 In one embodiment, the second joint 20 includes a third connector 210 located at one end of the second joint 20 near the first joint 10 and fixedly connected to the first connector 110. The axes of the third connector 210, the first connector 110, and the second connector 120 are on the same axis.

[0030] Specifically, the third connector 210 is fixedly connected to the first connector 110. The axes of the third connector 210, the first connector 110, and the second connector 120 are located on the same axis. When the first connector 110 rotates relative to the second connector 120, the third connector 210 rotates together with the first connector 110, thereby realizing the rotation of the third connector 210 relative to the second connector 120 and the rotation of the third connector 210 relative to the palm 3, thus realizing the side swing function of the dexterous hand 2.

[0031] See Figure 4In one embodiment, the first connector 110 is sleeved on the third connector 210 to form a tight enclosing structure, so that the first connector 110 and the third connector 210 are seamlessly connected. When the first connector 110 drives the third connector 210 to rotate, the synchronization of the rotation of the third connector 210 and the first connector 110 is improved, ensuring the smoothness of the rotational motion, reducing the motion resistance, and avoiding loosening of the connection, noise or structural damage caused by friction or jamming.

[0032] See Figure 5 In one embodiment, the first connector 110 is provided with a mounting portion 111 extending along the first direction X, and the third connector 210 is provided with a protrusion along the first direction X. The mounting portion 111 is sleeved on the protrusion of the third connector 210, and the mounting portion 111 fits against the side wall of the third connector 210, thereby achieving a seamless connection between the first connector 110 and the third connector 210 and reducing the jamming when the third connector 210 rotates.

[0033] See Figure 5 and Figure 6 In one embodiment, the first connector 110 is provided with a first opening 112, the third connector 210 is provided with a second opening 211, and the first locking member (not shown) passes through the first opening 112 and the second opening 211 in sequence to connect the first connector 110 and the third connector 210.

[0034] Specifically, when installing the first joint 10 and the second joint 20, the first connector 110 is sleeved on the third connector 210. The first opening 112 of the first connector 110 is aligned with the second opening 211 of the third connector 210. The first locking member passes through the first opening 112 and the second opening 211 in sequence, thereby fixing the first connector 110 and the third connector 210 together. The first locking member is mechanically connected to the first connector 110 and the third connector 210, which improves the stability and reliability of the connection, prevents the first joint 10 and the second joint 20 from loosening during movement, and improves the durability of the finger joint module 1.

[0035] See Figure 5 In one embodiment, the first mounting portion 111 of the first connector 110 is provided with a first opening 112, and the first locking member passes through the first opening 112 of the first mounting portion 111 and the second opening 211 of the third connector 210 in sequence to fix the first connector 110 and the third connector 210 together.

[0036] In one embodiment, the first opening 112 is a threaded hole, the second opening 211 is a threaded hole, and the first locking member is a bolt, stud, or screw. The bolt passes through the first opening 112 and the second opening 211 and is threadedly matched with the first opening 112 and the second opening 211, thereby realizing the bolt fixing connection between the first connector 110 and the third connector 210. Alternatively, the stud passes through the first opening 112 and the second opening 211 and is threadedly matched with the first opening 112 and the second opening 211. The screw can also pass through the first opening 112 and the second opening 211 and be threadedly matched with the first opening 112 and the second opening 211.

[0037] In one embodiment, the second opening 211 can be a through hole or a blind hole. A blind hole is a hole whose depth is less than the thickness of the third connector 210, while a through hole is a hole that passes through the third connector 210. In one application scenario, the second opening 211 is a blind hole to prevent the first locking member from damaging the drive module placed in the third connector 210. In other application scenarios, the second opening 211 can also be an opening.

[0038] See Figure 3 , Figure 4 and Figure 5 In one embodiment, the third connector 210 is provided with a first shaft 212 extending along the first direction X, and a first bearing 30 is located in the opening 32 of the palm 3 and is sleeved on the first shaft 212.

[0039] Specifically, the third connector 210 has a first shaft 212 at its end opposite to the first connector 110, and a first bearing 30 is sleeved on the first shaft 212. The first bearing 30 is located inside the opening 32 of the palm 3. The axis of the first shaft 212 is on the same axis as the axis of the first joint 10. When the third connector 210 rotates relative to the second connector 120, that is, when the third connector 210 rotates relative to the palm 3, the first bearing 30 reduces the friction between the third connector 210 and the palm 3, ensuring the flexibility and low noise of the rotation of the third connector 210. It also avoids wear, jamming, or even structural damage caused by excessive friction or hard contact between the third connector 210 and the palm 3, improving the accuracy, durability, and reliability of the rotation of the third connector 210, and extending the service life of the second joint 20. The palm 3 supports the first bearing 30 to simultaneously support the first joint 10 and the second joint 20, improving the stability of the dexterous hand 2.

[0040] See Figure 5 In one embodiment, the second connector 120 is provided with a first mounting plate 1210 extending along the second direction Y, the first mounting plate 1210 is provided with a third opening 1211 extending along the first direction X, and the second locking member (not shown) passes through the third opening 1211 and is connected to the palm 3, wherein the second direction Y is perpendicular to the first direction X.

[0041] Specifically, when installing the first joint 10 and the palm 3, the first mounting plate 1210 of the second connector 120 is placed on the surface of the palm 3, and the second locking member passes through the third opening 1211 of the first mounting plate 1210 and the opening on the surface of the palm 3 to fix the second connector 120 and the palm 3 in a fixed connection, thereby improving the stability of the connection between the second connector 120 and the palm 3.

[0042] In one embodiment, the third opening 1211 is a threaded hole. The external thread of the second locking member is threadedly matched with the internal thread of the third opening 1211 to fix the first mounting plate 1210 to the palm 3. The threaded connection not only improves the connection strength and fastening force between the second connecting member 120 and the palm 3, preventing the first mounting plate 1210 from loosening with the palm 3, but also allows for convenient disassembly and reassembly when needed, facilitating maintenance or replacement of components.

[0043] In one embodiment, the second locking element is a bolt, stud, or screw. The bolt passes through the third opening 1211 and the opening on the surface of the palm 3 to fix the second connector 120 and the palm 3. Alternatively, the screw passes through the third opening 1211 and the opening on the surface of the palm 3 to fix the second connector 120 and the palm 3.

[0044] This application provides a robot, which includes the dexterous hand 2 in any of the above embodiments. Other structures of the robot may be 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.

[0045] 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 for use in a robot, characterized in that, The finger joint module includes: A first joint and a second joint, wherein the first joint includes a first connector and a second connector, the first connector and the second connector are spaced apart along a first direction and are rotatably connected, the first connector and the second connector surround a first cavity, the first cavity is used to place a drive module, the first connector is fixedly connected to the second joint, the second connector is used to connect to the palm, the second joint is rotatably connected to the palm, the axial direction of the first joint is perpendicular to the axial direction of the second joint, and the first joint and the second joint are located outside the second cavity of the palm.

2. The finger joint module according to claim 1, characterized in that, The second joint includes: The third connector is located at the end of the second joint near the first joint and is fixedly connected to the first connector. The axes of the third connector, the first connector, and the second connector are on the same axis.

3. The finger joint module according to claim 2, characterized in that, The first connector is sleeved outside the third connector.

4. The finger joint module according to claim 3, characterized in that, The first connector has a first opening, the third connector has a second opening, and the first locking member passes through the first opening and the second opening in sequence to connect the first connector and the third connector.

5. The finger joint module according to claim 2, characterized in that, The third connector is provided with a first shaft extending along the first direction, and a first bearing is located inside the opening of the palm, with the first bearing sleeved on the first shaft.

6. The finger joint module according to any one of claims 1 to 5, characterized in that, The second connector is provided with a first mounting plate extending in a second direction, the first mounting plate is provided with a third opening extending in the first direction, and the second locking member passes through the third opening and connects to the palm, wherein the second direction is perpendicular to the first direction.

7. The finger joint module according to claim 6, characterized in that, The third opening is a threaded hole.

8. A dexterous hand for use in a robot, characterized in that, The dexterous hand includes: Palm and fingers; The finger includes multiple drive modules and multiple finger joint modules as described in any one of claims 1 to 7, each drive module is installed in each of the first cavities, and the finger is fixedly connected to the palm through the finger joint modules; The palm has a second cavity for placing a circuit board, and the finger joint module is located outside the second cavity.

9. The dexterous hand according to claim 8, characterized in that, The palm includes a cover plate that covers the second cavity.

10. A robot, characterized in that, Including the dexterous hand as described in claim 8 or 9.

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