Direct drive dexterous finger and humanoid robot

Abstract

The utility model belongs to humanoid robot technical field discloses direct drive type deft finger and humanoid robot, this direct drive type deft finger includes drive motor, gear assembly, screw nut subassembly and finger joint subassembly, gear assembly can adjust the rotational speed and the torque of drive motor reasonably, ensure that the power that transmits to ball bearing and screw rod is stable and appropriate, guide bush is located in end cover, screw rod is connected in planet carrier, the inner ring of nut is connected with screw rod transmission, the outer ring of nut is rotatably connected with guide bush, and nut can move along the axial direction of guide bush, finger root joint is rotatably arranged in nut, finger palm joint is connected with finger root joint through first connecting rod, finger tip joint is connected with finger root joint through second connecting rod, under the action of drive motor, drive planetary gear and planet carrier rotate, drive screw rod to rotate, nut can move along the axial direction of screw rod, thereby drive finger root joint, finger palm joint and finger tip joint to do rotary motion, utilize double connecting rod to realize the bending and opening function of finger.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to direct-drive dexterous fingers and humanoid robots. Background Technology

[0002] With the rapid development of the robotics industry, more and more robots are being used in daily life and work to replace manual labor. Humanoid hands are often used to replace human hands in tasks such as grasping and manipulating, and are characterized by precision and flexibility. As an important component of humanoid hands, their finger components can achieve flexion and extension functions similar to human fingers.

[0003] In related technologies, the bending and self-locking of finger components are generally achieved through a built-in motor and a transmission mechanism. The transmission mechanism often uses a unidirectional power transmission mechanism such as a worm gear for self-locking. However, the transmission efficiency of this type of transmission mechanism is low, resulting in extremely unstable power transmitted to the ball screw.

[0004] Therefore, there is an urgent need for a direct-drive dexterous finger and humanoid robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a direct-drive dexterous finger that enables the finger to bend and open, ensuring the flexibility and stability of the dexterous finger's movement. Furthermore, the gear assembly can reasonably adjust the speed and torque of the drive motor to ensure that the power transmitted to the ball bearings and lead screw is stable and appropriate.

[0006] To address the aforementioned problems in the existing technology, this utility model adopts the following technical solution:

[0007] Direct-drive dexterity fingers include:

[0008] The drive motor is located in the palm of the hand;

[0009] A gear assembly includes an end cover, planetary gears, and a planet carrier. The planetary gears are connected to the output end of the drive motor and are also connected to the internal gears of the end cover. The planet carrier is connected to the planetary gears.

[0010] A lead screw and nut assembly includes a guide sleeve, a lead screw, and a nut. The guide sleeve is disposed on the end cap, the lead screw is connected to the planetary carrier, the inner ring of the nut is drivenly connected to the lead screw, the outer ring of the nut is rotatably connected to the guide sleeve, and the nut is capable of moving along the axial direction of the guide sleeve.

[0011] The finger joint assembly includes a first link and a second link, and a root joint, a pad joint, and a tip joint that are rotatably connected in sequence. The root joint is rotatably mounted on the nut. The pad joint is connected to the root joint via the first link, and the tip joint is connected to the root joint via the second link.

[0012] Preferably, the gear assembly further includes a fixed shaft, the two ends of which are respectively fixedly inserted into the planetary gear and the planet carrier.

[0013] Preferably, there are multiple planetary gears, which are spaced apart along the rotation direction of the output end of the drive motor.

[0014] Preferably, the lead screw and nut assembly further includes ball bearings, the guide sleeve is provided with a fixing hole, and the ball bearings are rotatably disposed in the fixing hole and rotatably fit against the outer ring of the nut.

[0015] Preferably, the finger root joint includes a finger root shell and a finger root support. The finger root support is fixedly disposed on the palm, and the finger root support is rotatably connected to the finger root shell and has a first rotation center L1. Along the axial direction of the lead screw, under the extension and retraction action of the nut relative to the guide sleeve, the finger root shell can rotate around the first rotation center L1.

[0016] Preferably, the fingertip segment is rotatably connected to the finger root support via the first connecting rod, and there is a second rotation center L2 between the fingertip segment and the finger root shell, so that the fingertip segment can rotate around the second rotation center L2.

[0017] Preferably, the fingertip joint is rotatably connected to the finger root shell via the second connecting rod, and there is a third rotation center L3 between the fingertip joint and the finger pad joint, and the fingertip joint can rotate around the third rotation center L3.

[0018] Preferably, the direct-drive dexterous finger further includes a connector, one end of which is connected to the nut, and the other end of which is rotatably connected to the base of the finger.

[0019] Preferably, the direct-drive dexterous finger further includes a root sleeve, a pad sleeve, and a tip sleeve, wherein the root sleeve is fixedly connected to the root joint, the pad sleeve is fixedly connected to the pad joint, and the tip sleeve is fixedly connected to the tip joint.

[0020] To achieve the above objectives, this utility model also provides a humanoid robot, including a palm and the aforementioned direct-drive dexterous fingers, wherein the direct-drive dexterous fingers are disposed on the palm.

[0021] The beneficial effects of this utility model are as follows:

[0022] This invention provides a direct-drive dexterous finger, with the drive motor mounted on the palm. Planetary gears are connected to the output of the drive motor and are also connected to the internal gears of the end cap. The planetary carrier is connected to the planetary gears. The gear assembly has a precise transmission ratio, allowing for reasonable adjustment of the drive motor's speed and torque, ensuring stable and appropriate power transmission to the balls and lead screw. A guide sleeve is mounted on the end cap, the lead screw is connected to the planetary carrier, the inner ring of the nut is connected to the lead screw, and the outer ring of the nut is rotatably connected to the guide sleeve, allowing the nut to move along the guide sleeve's axis. The base of the finger is rotatably mounted on the nut, the pad of the finger is connected to the base of the finger via a first connecting rod, and the tip of the finger is connected to the base of the finger via a second connecting rod. Under the action of the drive motor, the planetary gears rotate and revolve, causing the planetary carrier to rotate. The planetary carrier drives the lead screw to rotate, and the nut can move along the lead screw's axis, thereby causing the base, pad, and tip of the finger to rotate. The force generated by the drive motor is directly applied to the base of the finger, and the double connecting rod converts the linear motion of the drive motor into the rotational motion of the finger. This enables the fingers to bend and open, ensuring the flexibility and stability of dexterous finger movements.

[0023] This utility model provides a humanoid robot, including a palm and the aforementioned direct-drive dexterous fingers, with the direct-drive dexterous fingers positioned within the palm. The drive motor is a coreless brushless motor, which has advantages such as small size, light weight, high efficiency, and fast response speed, providing a highly efficient power source for the humanoid robot's finger actuation. The gear assembly has a precise transmission ratio, enabling reasonable adjustment of the drive motor's speed and torque, ensuring stable and appropriate power transmission to the ball bearings and lead screw. When the drive motor drives the nut in linear motion, the finger joints rotate accordingly through the double-link transmission, thereby realizing the humanoid robot's finger bending and opening functions, ensuring the flexibility and stability of the humanoid robot's finger movements. Attached Figure Description

[0024] Figure 1 A schematic diagram of the structure of the direct-drive dexterous finger provided in an embodiment of this utility model;

[0025] Figure 2 A cross-sectional view of a direct-drive dexterous finger provided in an embodiment of this utility model;

[0026] Figure 3 for Figure 2 A magnified view of a section at point I;

[0027] Figure 4 for Figure 2 A magnified view of section II in the middle.

[0028] Figure label:

[0029] 1. Drive motor;

[0030] 2. Gear assembly; 21. End cover; 22. Planetary gear; 23. Planetary carrier; 24. Fixed shaft;

[0031] 3. Lead screw and nut assembly; 31. Guide sleeve; 32. Lead screw; 33. Nut; 34. Ball bearing;

[0032] 4. Knuckle assembly; 41. First link; 42. Second link; 43. Knuckle root joint; 431. Knuckle root shell; 432. Knuckle root support; 44. Finger pad joint; 45. Finger tip joint;

[0033] 5. Connectors;

[0034] 6. Finger base sleeve;

[0035] 7. Finger pad cover;

[0036] 8. Fingertip sleeves. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0038] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0041] like Figures 1-4 As shown, in this embodiment, the direct-drive dexterous finger includes a drive motor 1, a gear assembly 2, a lead screw and nut assembly 3, and a knuckle assembly 4. The drive motor 1 is mounted on the palm. The gear assembly 2 includes an end cap 21, planetary gears 22, and a planet carrier 23. The planetary gears 22 are connected to the output end of the drive motor 1 and are also connected to the internal gears of the end cap 21. The planet carrier 23 is connected to the planetary gears 22. The lead screw and nut assembly 3 includes a guide sleeve 31, a lead screw 32, and a nut 33. The guide sleeve 31 is mounted on the end cap 21. The lead screw 32 is connected to the planet carrier 23. The inner ring of the nut 33 is connected to the lead screw 32, and the outer ring of the nut 33 is rotatably connected to the guide sleeve 31. The nut 33 can move along the axial direction of the guide sleeve 31. The finger joint assembly 4 includes a first link 41 and a second link 42, and a root joint 43, a pad joint 44 and a tip joint 45 that are rotatably connected in sequence. The root joint 43 is rotatably mounted on the nut 33. The pad joint 44 is connected to the root joint 43 through the first link 41, and the tip joint 45 is connected to the root joint 43 through the second link 42.

[0042] The drive motor 1 is a coreless brushless motor. Its bottom connects to the palm shell, offering advantages such as small size, light weight, high efficiency, and fast response, providing a highly efficient power source for the entire dexterous finger movement. The drive shaft of the drive motor 1 is connected to a planetary gear via motor gears. The inner wall of the end cap 21 has internal teeth, and the planetary gears 22 mesh with these internal teeth. The planetary carrier 23 is fixedly mounted on one end of the lead screw 32, and the planetary carrier 23 and planetary gears 22 are fixedly connected and rotate synchronously. The gear assembly 2 has a precise transmission ratio, enabling reasonable adjustment of the drive motor 1's speed and torque, ensuring stable and appropriate power transmission to the ball bearings 34 and the lead screw 32. The guide sleeve 31 is fixedly installed above the end cap 21. A bearing is located between the lead screw 32 and the guide sleeve 31. The inner ring of the bearing is fixedly connected to the lead screw 32, and the outer ring is fixedly connected to the guide sleeve 31, allowing the lead screw 32 to rotate relative to the guide sleeve 31. Along the circumferential direction of the guide sleeve 31, the nut 33 is positioned between the guide sleeve 31 and the lead screw 32. That is, the nut 33 is sleeved on the lead screw 32 and threadedly connected to it. The outer ring of the nut 33 is rotatably engaged with the guide sleeve 31. With the threaded engagement between the nut 33 and the lead screw 32, the nut 33 can move along the axial direction of the lead screw 32. Using the drive motor 1, the high-precision micro gear assembly 2, and the micro-precision lead screw and nut assembly 3 greatly reduces the friction of the dexterous fingers, thereby reducing their counter-drive force. The nut 33 is connected to the base of the finger 43. The base of the finger 43 is rotatably connected to the fingertip 44 via a rotating shaft, and the fingertip 44 is rotatably connected to the fingertip 45 via a rotating shaft, thus forming their respective rotation centers. The two ends of the first connecting rod 41 are rotatably connected to the base of the finger 43 and the fingertip 44 via bearings and an optical shaft, respectively. The two ends of the second connecting rod 42 are rotatably connected to the fingertip 45 and the base of the finger 43 via bearings and an optical shaft, respectively.

[0043] Under the action of drive motor 1, planetary gear 22 is driven to rotate and revolve, which in turn drives planet carrier 23 to rotate. Planet carrier 23 drives lead screw 32 to rotate. Under the action of lead screw 32, nut 33 can move along the axis of lead screw 32, thereby driving the root joint 43 to rotate around the rotation center L1. The fingertip joint 44 can rotate around the rotation center L2 under the action of first link 41 and root joint 43. The fingertip joint 45 can rotate around the rotation center L3 under the action of root joint 43 and second link 42. The force generated by drive motor 1 is directly applied to root joint 43, and the double link is used to convert the linear motion of drive motor 1 into the rotational motion of the finger. When drive motor 1 drives nut 33 to move linearly, the finger joints are rotated accordingly through the transmission of double link, thereby realizing the bending and opening functions of the finger, ensuring the flexibility and stability of dexterous finger movement. The bending and opening of the finger is achieved by controlling the forward and reverse directions of drive motor 1.

[0044] Reference Figure 1 The gear assembly 2 also includes a fixed shaft 24, with both ends of the fixed shaft 24 fixedly inserted into the planetary gears 22 and the planet carrier 23, respectively. The planetary gears 22 have a first connecting hole, and the planet carrier 23 has a second connecting hole. The two ends of the fixed shaft 24 are fixedly inserted into the first and second connecting holes, respectively, to fix the planetary gears 22 and the planet carrier 23 to each other. There are multiple planetary gears 22, spaced apart along the rotation direction of the output end of the drive motor 1. Multiple planetary gears 22 are fixedly connected to the same planet carrier 23 via corresponding fixed shafts 24. The gear assembly 2 has a precise transmission ratio, enabling reasonable adjustment of the speed and torque of the drive motor 1, ensuring stable and appropriate power transmission to the balls 34 and the lead screw 32.

[0045] Reference Figure 4 The lead screw and nut assembly 3 also includes ball bearings 34. The guide sleeve 31 is provided with fixing holes, and the ball bearings 34 are rolled in the fixing holes and roll against the outer ring of the nut 33. There are multiple ball bearings 34 and multiple fixing holes in the guide sleeve 31. The multiple fixing holes are spaced apart along the length of the guide sleeve 31, and the multiple ball bearings 34 are rolled in the corresponding fixing holes. Under the rotation of the lead screw 32, the nut 33 can move along the axis of the lead screw 32. The ball bearings 34 can play an auxiliary role in the nut 33, ensuring that the nut 33 moves smoothly in the guide sleeve 31.

[0046] like Figures 1-2 As shown, the root segment 43 includes a root shell 431 and a root support 432. The root support 432 is fixedly mounted on the palm, and is rotatably connected to the root shell 431, having a first rotation center L1. Along the axis of the lead screw 32, under the extension and retraction of the nut 33 relative to the guide sleeve 31, the root shell 431 can rotate around the first rotation center L1. The fingertip segment 44 is rotatably connected to the root support 432 via a first connecting rod 41, and has a second rotation center L2 between it and the root shell 431. The fingertip segment 44 can rotate around the second rotation center L2. The fingertip segment 45 is rotatably connected to the root shell 431 via a second connecting rod 42, and has a third rotation center L3 between it and the fingertip segment 44. The fingertip segment 45 can rotate around the third rotation center L3. Nut 33 is connected to the finger root housing 431. The finger root support 432 is rotatably connected to the fingertip joint 44 via a pivot, and the fingertip joint 44 is rotatably connected to the fingertip joint 45 via a pivot, thus each forming a center of rotation. The two ends of the first connecting rod 41 are rotatably connected to the finger root support 432 and the fingertip joint 44 respectively via bearings and a shaft. The two ends of the second connecting rod 42 are rotatably connected to the fingertip joint 45 and the finger root joint 43 respectively via bearings and a shaft. Through the transmission of the double connecting rods, the finger joints are driven to rotate accordingly, thereby realizing the bending and opening functions of the fingers and ensuring the flexibility and stability of dexterous finger movements.

[0047] Continue to refer to Figure 1 The direct-drive dexterous finger also includes a connector 5, one end of which is connected to a nut 33, and the other end of which is rotatably connected to the base of the finger 43. The connector 5 and the nut 33 are fixed together by an interference fit, and the connector 5 is rotatably connected to the base of the finger housing 431 by a bearing and a shaft. Under the action of the lead screw 32, the nut 33 can move along the axis of the lead screw 32, thereby driving the base of the finger 43 to rotate around the rotation center L1 through the connector 5.

[0048] Continue to refer to Figures 1-2 The direct-drive dexterous finger also includes a root sleeve 6, a pad sleeve 7, and a tip sleeve 8. The root sleeve 6 is fixedly connected to the root joint 43, the pad sleeve 7 is fixedly connected to the pad joint 44, and the tip sleeve 8 is fixedly connected to the tip joint 45. The root sleeve 6, pad sleeve 7, and tip sleeve 8 are made of rubber and have a certain friction, which can well simulate the human finger to pick up objects.

[0049] This embodiment also provides a humanoid robot, including a hand and the aforementioned direct-drive dexterous fingers, with the direct-drive dexterous fingers positioned in the hand. The drive motor 1 is a coreless brushless motor, which has advantages such as small size, light weight, high efficiency, and fast response speed, providing an efficient power source for driving the humanoid robot's fingers. The gear assembly 2 has a precise transmission ratio, enabling reasonable adjustment of the speed and torque of the drive motor 1 to ensure stable and appropriate power transmission to the ball bearings 34 and the lead screw 32. The use of the drive motor 1, the high-precision micro-gear assembly 2, and the micro-precision lead screw and nut assembly 3 greatly reduces the friction of the humanoid robot's fingers, thereby reducing their counter-drive force. When the drive motor 1 drives the nut 33 in linear motion, the finger joints rotate accordingly through the double-link transmission, thus realizing the bending and opening functions of the humanoid robot's fingers and ensuring the flexibility and stability of the humanoid robot's finger movements.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A direct-drive dexterous finger, characterized in that, include: A drive motor (1) is mounted on the palm of the hand; The gear assembly (2) includes an end cover (21), planetary gears (22) and a planet carrier (23). The planetary gears (22) are connected to the output end of the drive motor (1) and are connected to the internal gears of the end cover (21). The planet carrier (23) is connected to the planetary gears (22). The lead screw and nut assembly (3) includes a guide sleeve (31), a lead screw (32) and a nut (33). The guide sleeve (31) is disposed on the end cap (21). The lead screw (32) is connected to the planetary carrier (23). The inner ring of the nut (33) is connected to the lead screw (32) in a driving connection. The outer ring of the nut (33) is rotatably connected to the guide sleeve (31). The nut (33) can move along the axial direction of the guide sleeve (31). The finger joint assembly (4) includes a first link (41) and a second link (42), and a root joint (43), a pad joint (44) and a tip joint (45) that are rotatably connected in sequence. The root joint (43) is rotatably mounted on the nut (33). The pad joint (44) is connected to the root joint (43) through the first link (41), and the tip joint (45) is connected to the root joint (43) through the second link (42).

2. The direct-drive dexterous finger according to claim 1, characterized in that, The gear assembly (2) also includes a fixed shaft (24), the two ends of which are fixedly inserted into the planetary gear (22) and the planet carrier (23), respectively.

3. The direct-drive dexterous finger according to claim 1, characterized in that, There are multiple planetary gears (22), and the multiple planetary gears (22) are arranged at intervals along the rotation direction of the output end of the drive motor (1).

4. The direct-drive dexterous finger according to claim 1, characterized in that, The lead screw nut assembly (3) also includes a ball (34), the guide sleeve (31) is provided with a fixing hole, and the ball (34) is rolled in the fixing hole and rolls against the outer ring of the nut (33).

5. The direct-drive dexterous finger according to claim 1, characterized in that, The finger root segment (43) includes a finger root shell (431) and a finger root support (432). The finger root support (432) is fixedly disposed on the palm, and the finger root support (432) is rotatably connected to the finger root shell (431) and has a first rotation center L1. Along the axial direction of the lead screw (32), under the extension and retraction action of the nut (33) relative to the guide sleeve (31), the finger root shell (431) can rotate around the first rotation center L1.

6. The direct-drive dexterous finger according to claim 5, characterized in that, The fingertip segment (44) is rotatably connected to the finger root support (432) via the first connecting rod (41). There is a second rotation center L2 between the fingertip segment (44) and the finger root shell (431). The fingertip segment (44) can rotate around the second rotation center L2.

7. The direct-drive dexterous finger according to claim 5, characterized in that, The fingertip segment (45) is rotatably connected to the finger root shell (431) via the second connecting rod (42). There is a third rotation center L3 between the fingertip segment (45) and the finger pad segment (44). The fingertip segment (45) can rotate around the third rotation center L3.

8. The direct-drive dexterous finger according to claim 1, characterized in that, The direct-drive dexterous finger also includes a connector (5), one end of which is connected to the nut (33), and the other end of which is rotatably connected to the finger root joint (43).

9. The direct-drive dexterous finger according to claim 1, characterized in that, The direct-drive dexterous finger also includes a root sleeve (6), a pad sleeve (7), and a tip sleeve (8). The root sleeve (6) is fixedly connected to the root joint (43), the pad sleeve (7) is fixedly connected to the pad joint (44), and the tip sleeve (8) is fixedly connected to the tip joint (45).

10. A humanoid robot, characterized in that, Includes a palm and a direct-drive dexterous finger as described in any one of claims 1-9, wherein the direct-drive dexterous finger is disposed on the palm.

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