Metacarpal skeleton, mechanical hand, mechanical hand and robot

Abstract

This application provides a hand frame, a robotic hand, a robotic arm, and a robot. The hand frame includes: a finger mounting section for mounting fingers; and a circuit board mounting section for mounting a circuit board. A communication port is provided between the finger mounting section and the circuit board mounting section for wiring between the fingers and the circuit board, facilitating plug-in connections between the fingers (with finger wiring interfaces) and the circuit board (with circuit board wiring interfaces). By dividing the hand frame into a finger mounting section and a circuit board mounting section, and providing a communication port between these two parts to facilitate wiring between the fingers and the circuit board, this application ensures spatial isolation between the fingers and the circuit board while allowing for plug-in connections between the fingers and the circuit board. This facilitates independent attachment and detachment of fingers on the hand, enabling a modular design for the robotic arm.

Description

Technical Field

[0001] This application relates to the field of embodied robot technology, and more particularly to a hand skeleton, a mechanical hand, a robotic hand, and a robot. Background Technology

[0002] With the development of embodied intelligence technology, various dexterous hands have emerged for application in embodied intelligent robots. Dexterous hands typically include components such as fingers, circuit boards, and the palm. In related technologies, the fingers and circuit boards are installed in the same physical space of the palm. This leads to mutual interference between the installation of the fingers and the circuit boards, a messy internal structure, complex disassembly and assembly, and problems affecting the working stability of the dexterous hand. Utility Model Content

[0003] To address at least one technical problem existing in the prior art, this application proposes a hand skeleton, a mechanical hand, a robotic hand, and a robot.

[0004] In a first aspect, this application provides a hand frame for a robotic hand, the hand frame including: a finger mounting portion for mounting fingers;

[0005] Circuit board mounting section, used to mount circuit boards;

[0006] A communication port is provided between the finger mounting part and the circuit board mounting part for wiring between the finger and the circuit board.

[0007] In these embodiments, by dividing the palm skeleton into two parts, a finger mounting part and a circuit board mounting part, and setting a connection between the two parts to realize the wiring between the finger and the circuit board, it is possible to ensure spatial isolation between the finger and the circuit board (which can effectively avoid physical damage to the circuit board when the finger is installed or moves instably when the two are in the same space), and at the same time realize the wiring connection (communication connection and power supply connection) between the finger and the circuit board.

[0008] In some embodiments, the communication port is used for the finger circuit interface of the finger and / or the circuit board circuit interface of the circuit board to pass through for plug-in connection.

[0009] For example, a finger is provided with a finger circuit interface, and a circuit board is provided with a circuit board circuit interface. The connection port is used for connection between the finger circuit interface and the circuit board circuit interface of the circuit board. The finger circuit interface and the circuit board circuit interface can be connectors used for connecting circuits of small electronic devices or electronic components, such as plugs / sockets.

[0010] In these embodiments, by dividing the palm frame into two parts, a finger mounting part and a circuit board mounting part, and setting a connection between these two parts to realize the plug-in connection between the finger circuit interface and the circuit board circuit interface, it is possible to ensure spatial isolation between the finger and the circuit board (which can effectively avoid physical damage to the circuit board when the finger is installed or moves instably when they are in the same space), and at the same time realize the plug-in connection (communication connection and power supply connection) between the finger and the circuit board, which facilitates the independent mounting and detachment of the finger on the palm and realizes modular design.

[0011] In some embodiments, the communication port includes a finger mounting portion communication port and a circuit board mounting portion communication port;

[0012] A finger mounting portion communication port is provided at the end of the finger mounting portion; for example, the finger mounting portion communication port is a communication port provided at the end of the finger mounting portion;

[0013] The circuit board mounting portion communication port is provided on the circuit board mounting portion; for example, the circuit board mounting portion communication port is a communication port provided on the circuit board mounting portion.

[0014] In these embodiments, the connection ports are set as a finger mounting part connection port located at the end of the finger mounting part and a circuit board mounting part connection port located on the circuit board mounting part. By setting two independent connection ports, flexible connection and configuration of the circuit between the finger and the circuit board is realized.

[0015] In some embodiments, the communication port of the finger mounting portion is less than or equal to the end port of the finger mounting portion; exemplarily, the finger mounting portion includes a first end and a second end, wherein the first end is the end where the finger is inserted, the second end (i.e., the end of the finger mounting portion) is the end where the finger end is located when the finger is in the inserted state, and the end port of the finger mounting portion is the port when the end of the finger mounting portion is fully open;

[0016] When the connecting port of the finger mounting portion is smaller than the end port of the finger mounting portion, a stop for blocking the finger end is formed between the connecting port of the finger mounting portion and the end of the finger mounting portion.

[0017] In these embodiments, by setting the communication port of the finger mounting portion to be smaller than the end port of the finger mounting portion, it is possible to ensure that the finger can achieve a circuit connection with the circuit board through the communication port when it is installed to the finger mounting portion. Furthermore, the stop member can abut against the finger tip, providing support along the length of the finger (i.e., the finger axis, the finger length direction, the finger mounting portion axis, etc.). Therefore, when the finger is subjected to axial force, the impact on the finger fixing structure is reduced, preventing the fixing structure from loosening.

[0018] In some embodiments, the finger mounting portion includes a four-finger mounting portion and / or a thumb mounting portion; the four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, and little finger, and the thumb mounting portion is used to mount the thumb.

[0019] In these embodiments, the four-finger mounting portion can be a portion that can only accommodate one index, middle, ring, or little finger, or it can be a portion that can accommodate two, three, or four fingers but leaves some space for accommodating a small number of fingers. If the four-finger mounting portion can only accommodate one finger, it can be understood as the minimum structural model of a palm support consisting of a four-finger mounting portion that can only accommodate one finger and a circuit board mounting portion for mounting a circuit board. In this case, since the four-finger mounting portion is only suitable for accommodating one finger, the circuit board used to drive the movement of that finger can naturally be made smaller. Therefore, this small structural model can be applied to various scenarios, such as constructing two-finger or three-finger grippers.

[0020] In some embodiments, the four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers or along the thickness direction of the robotic arm;

[0021] The thumb mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the thumb or along the thickness direction of the robotic arm.

[0022] In these embodiments, there are actually four combination schemes, namely:

[0023] The four-finger mounting portion and the circuit board mounting portion are sequentially distributed along the length of the four fingers and / or the thumb mounting portion and the circuit board mounting portion are sequentially distributed along the length of the thumb. This design can reduce the thickness of the portion of the robotic hand's palm near the fingers and increase the length and width of the palm, thereby expanding the internal accommodating space of the palm.

[0024] The four-finger mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robot hand, and / or the thumb mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robot hand. This solution helps to save space occupied by the palm length, and can maintain the length of the fingers by reducing the length and width of the palm in scenarios with limited length.

[0025] The four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length of the four fingers and / or the thumb mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robotic hand. This solution reduces the thickness of the palm portion of the robotic hand near the fingers (i.e., if the base of the fingers is too close to the inside of the palm, the length of the palm skeleton along the finger direction will be too short, resulting in too little space for the circuit board mounting portion of the palm skeleton, causing the circuit board to overlap with the finger mounting portion, thus making the palm portion too thick), and increases the length of the palm. Furthermore, the distribution of the thumb along the thickness direction of the robotic hand reduces the width of the palm and increases the thickness of the palm portion where the thumb is located, making the robotic hand closer to the shape of a real human hand and improving the simulation degree.

[0026] The four-finger mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robotic hand, and / or the thumb mounting portion and the circuit board mounting portion are sequentially distributed along the length direction of the thumb. This design reduces the length of the robotic hand's palm while maintaining the thumb's length due to the sequential distribution of the thumb along its length direction and reducing the thickness of the palm portion near the thumb. This facilitates expanding the application scenarios of the robotic hand, such as suitable scenarios requiring a robotic hand with a long thumb and a short palm.

[0027] In some embodiments, the thumb mounting portion is disposed on the lower surface of the circuit board mounting portion, and the lower surface of the circuit board mounting portion is the side of the circuit board mounting portion facing the palm of the robotic hand.

[0028] In these embodiments, by providing the thumb mounting portion on the lower surface of the circuit board mounting portion, the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the robot hand, increasing the thickness of the part of the palm where the thumb is located, making this part of the robot hand closer to the shape of a real human hand.

[0029] In some embodiments, the four-finger mounting portion is provided with a four-finger mounting groove; the end of the four-finger mounting groove serves as the end of the four-finger mounting portion. The four-finger mounting groove is mainly adapted to various situations of the four-finger mounting portion in the aforementioned embodiments. Furthermore, by way of example, the four-finger mounting groove can be configured with a separate mounting groove for each of the four fingers, or it can be configured with a shared mounting groove for all four fingers, etc.

[0030] In these embodiments, with each of the four fingers having its own independent mounting slot, it is easy to achieve independence between multiple fingers so that they can be independently installed and removed.

[0031] In some embodiments, the thumb mounting portion is provided with a thumb mounting groove; the end of the thumb mounting groove serves as the end of the thumb mounting portion.

[0032] In some embodiments, the mounting groove has a hollowed-out area in its groove wall. The mounting groove includes a four-finger mounting groove and / or a thumb mounting groove.

[0033] In this embodiment, by setting a hollow area in the wall of the mounting groove, the rigidity of the hand skeleton is ensured while the weight of the hand skeleton is reduced. Furthermore, the hollow hole setting also helps to dissipate the heat generated during the finger drive process (the joint module of the finger contains a motor, and the motor generates heat during the finger movement process).

[0034] In some embodiments, the wall of the mounting groove includes two side walls and a top wall; or it includes two side walls and a bottom wall; or it includes two side walls, a top wall, and a bottom wall.

[0035] In some embodiments, when the mounting groove includes two side walls and a top wall, the mounting groove is an inverted U-shaped groove; the opening of the inverted U-shaped groove faces the palm of the robotic hand, and the top wall is provided with mounting holes for fixing the fingers and facilitating the removal of the fingers from the palm shell direction. In this embodiment, the use of U-shaped wrapping and mounting hole fixation not only enables independent installation and removal of the fingers but also improves the stability of the finger installation.

[0036] In some embodiments, when the mounting groove includes two side walls and a bottom wall, the mounting groove is a U-shaped groove with the opening (which may be called the groove opening) facing the back of the hand, making it easy to remove the fingers from the back of the hand; when the mounting groove includes two side walls, a top wall, and a bottom wall, the mounting groove is a tubular groove, which allows the fingers to be pulled out directly from the length of the fingers without disassembling the palm shell and the back shell, simply by unscrewing the screws used to fix the fingers on the palm shell and the back shell.

[0037] In some embodiments, when the four-finger mounting slot includes at least two of the index finger mounting slot, middle finger mounting slot, ring finger mounting slot, and little finger mounting slot, two adjacent finger mounting slots share a single slot wall.

[0038] In some embodiments, the four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers, and the thumb mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robot hand, wherein the four-finger mounting portion and the circuit board mounting portion are integrally formed; the thumb mounting portion and the circuit board mounting portion are integrally formed or detachably connected separately.

[0039] In these embodiments, when the circuit board mounting portion and the finger mounting portion are sequentially distributed along the length of the robotic hand, the four-finger mounting portion and the thumb mounting portion are integrally formed with the circuit board mounting portion. This helps to improve the overall integrity and structural strength of the hand skeleton. In this case, an area can be directly designated on the circuit board mounting portion as the thumb mounting portion, and the fingers can be fixed with screws. There is no need to add extra parts for the thumb mounting, reducing the number of parts, improving simplicity and installation efficiency, and reducing the weight of the hand support. Furthermore, the thumb mounting portion and the circuit board mounting portion adopt a detachable and separate connection scheme, mainly to adapt to situations where specific needs / technical limitations require the separate design of the thumb mounting portion.

[0040] In some embodiments, the upper surface of the circuit board mounting portion is provided with a groove for mounting the circuit board, and the upper surface of the circuit board mounting portion is the side of the circuit board mounting portion facing the back of the robotic arm.

[0041] In this embodiment, the recessed groove on the upper surface of the circuit board mounting part expands the accommodating space, allowing the circuit board mounting part to accommodate more circuit boards (because the drive boards of each joint module are integrated into the palm skeleton).

[0042] In some embodiments, the circuit board mounting port is a port located at the bottom of the sink.

[0043] In some embodiments, when the four-finger mounting portion and the circuit board mounting portion are distributed in the thickness direction of the robot hand, and when the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the robot hand, the finger mounting portion is integrally formed by the four-finger mounting portion and the thumb mounting portion; the finger mounting portion and the circuit board mounting portion are integrally formed or detachably connected separately.

[0044] In these embodiments, when the finger mounting portions (i.e., the four-finger and thumb mounting portions) and the circuit board mounting portions are distributed along the thickness direction of the robot arm, the four-finger mounting portions and the thumb mounting portions are integrally formed to improve the stability of the finger mounting portions. Furthermore, the integral forming of the finger mounting portions and the circuit board mounting portions allows for adaptation to improved solutions involving direct finger plug-in connections. This eliminates the need for disassembly and assembly of the finger mounting portions and the circuit board mounting portions during finger and circuit board loading and unloading, improving the efficiency of finger and circuit board loading and unloading. Of course, the detachable and separate connection of the finger mounting portions and the circuit board mounting portions is primarily to facilitate the disassembly and assembly of fingers when adapting to improved solutions involving non-direct finger plug-in connections (where, under certain special requirements / working conditions / technical limitations, the fingers are not installed straight, typically with an angle between the first and second phalanges, i.e., not straight).

[0045] In some embodiments, the circuit board mounting portion and the finger mounting portion are detachably connected, allowing the finger to be detachably mounted within the finger mounting portion for lateral movement. The detachable connection between the circuit board mounting portion and the finger mounting portion in the aforementioned embodiments is demonstrated here, facilitating finger mounting when increasing the finger's lateral movement freedom. In this embodiment, the finger's lateral movement within the finger mounting portion achieves the finger's lateral movement freedom.

[0046] In some embodiments, the circuit board mounting portion includes a finger assembly component and a circuit board mounting portion body, wherein the finger assembly component and the circuit board mounting portion body are detachably connected separately or integrally formed;

[0047] The lower surface of the finger assembly is provided with a first hinge, and the upper surface of the bottom wall of the finger mounting groove is provided with a second hinge;

[0048] The first hinge and the second hinge constitute a movable mounting mechanism for positioning the finger within the finger mounting portion and allowing it to swing.

[0049] In these embodiments, the finger assembly component is introduced as a partial component of the circuit board mounting portion, primarily to facilitate the attachment and removal of a finger with yaw motion (i.e., yaw degree of freedom). Exemplarily, the finger assembly component can be a separate unit, allowing for independent attachment and removal of the finger. Alternatively, the finger assembly component and the main body of the circuit board mounting portion can be integrally formed to allow for the overall attachment and removal of the circuit board mounting portion, adapting to specific needs / technical limitations.

[0050] In some embodiments, the finger mounting slot is an index finger mounting slot.

[0051] Secondly, this application provides a mechanical hand, which includes the hand skeleton described in any embodiment of this application.

[0052] In some embodiments, a palm shell is also included, which is integrally formed with the hand skeleton.

[0053] In some embodiments, a palm shell detachably mounted to the palm skeleton is also included, wherein the palm shell is provided with a support boss at a position relative to the finger mounting slot for assisting in supporting the fingers in the finger mounting slot.

[0054] The detachable design of the palm shell facilitates the installation and removal of fingers from the palm direction. Additionally, the protrusions on the palm shell are designed to accommodate hand supports with finger mounting slots that have only two or three walls facing the palm. The protrusions can be made of non-metallic materials or the same material as the palm shell (usually non-metallic, such as a plastic material that balances strength and heat dissipation, or a lightweight metal material that balances strength and heat dissipation), thus achieving a degree of weight reduction.

[0055] In some embodiments, a gap is formed between two adjacent support bosses, and the gap corresponds to a sidewall shared by two adjacent finger mounting slots. When the sidewall is embedded in the gap, it can provide a certain degree of stability to the palm shell in the left-right direction, preventing it from loosening or shifting in the left-right direction.

[0056] In some embodiments, a back-of-hand housing is also included, which is detachably assembled with the palm skeleton. This detachable assembly facilitates the insertion and removal of fingers and circuit boards from the back of the hand.

[0057] Thirdly, this application provides a robotic hand, which includes a palm, fingers, and a circuit board;

[0058] The hand includes the mechanical hand described in any embodiment of this application;

[0059] The fingers can be independently detached and installed on the mechanical hand. The circuit board is electrically connected to the fingers and is used to control and drive the movement of the fingers. The independent detachable installation of the fingers facilitates the replacement of the fingers. For example, if a finger malfunctions, it can be independently removed for repair.

[0060] The fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger.

[0061] In some embodiments, the circuit board includes a circuit board wiring interface; the finger includes a finger wiring interface;

[0062] The circuit board wiring interface passes through the circuit board mounting part connection port and the finger mounting part connection port, and is plugged into and disconnected with the finger wiring interface disposed at the end of the finger; or the finger wiring interface passes through the finger mounting part connection port and the circuit board mounting part connection port, and is plugged into and disconnected with the circuit board wiring interface disposed on the circuit board.

[0063] For example, the finger circuit interface is located at the fingertip, which can be the upper surface of the joint module near the end or the end face.

[0064] The challenge of independently detaching a finger lies in severing the wiring between the finger and the palm. This challenge arises because both the finger and palm contain hardware components, such as circuit boards. This solution addresses this problem by establishing circuit board wiring interfaces on the circuit board and finger wiring interfaces on the finger itself, thereby improving the modularity and scalability of the robotic hand.

[0065] In some embodiments, the circuit board includes a control board and a drive board; the control board and the drive board are electrically connected; the control board and the drive board are integrated on a single circuit board or separately configured as two circuit boards; when the control board and the drive board are separately configured as two circuit boards, the electrical connection between the control board and the drive board includes a plug-in connection. In this embodiment, regardless of whether the control board and the drive board are simultaneously mounted on the circuit board mounting portion or separately mounted on the palm and fingers, the plug-in connection method of the control board and the drive board further enhances the modular design of the robotic arm.

[0066] In some embodiments, the control board and the driver board are mounted on the circuit board mounting portion; the driver board line interface at the output end of the driver board serves as the circuit board line interface and is pluggably connected to the finger line interface. This embodiment mounts the control board and the driver board simultaneously on the circuit board mounting portion, which is suitable for solutions where the palm has a large accommodating space. This also reduces the size of the fingers (because the driver board does not need to be mounted on the fingers), making their size more human-like.

[0067] In some embodiments, the control board is mounted on the circuit board mounting portion, and the drive board is mounted on the finger. The drive board circuit interface at the input end of the drive board serves as the finger circuit interface, and the control board circuit interface at the output end of the control board serves as the circuit board circuit interface. The finger circuit interface and the circuit board circuit interface are plugged and detached. This embodiment separates the control board and the drive board, mounting them separately on the circuit board mounting portion and the finger. This is suitable for solutions where the palm has limited space, typically requiring a fully drive system. Full drive refers to a system where each joint degree of freedom requires a joint module (including a motor and other power mechanism) placed within the finger joint.

[0068] In some embodiments, the drive plate includes at least one finger drive plate for driving the movement of the corresponding finger.

[0069] In this embodiment, whether there is one driver board per finger (i.e., underdriven solution) or multiple driver boards (i.e., fully driven solution), placing the driver board on the finger can reduce the thickness of the palm. In some implementation scenarios, it is necessary to reduce the thickness of the palm or the palm storage space is limited, so it is necessary to place the driver board on the finger. On the other hand, when the driver board is placed on the finger, the cables of the motor, angle sensor, tactile sensor, etc. on the finger can be integrated and then routed through the driver board, which can solve the problem of incompatibility between finger cable hiding / routing and joint rotation. Especially in the following embodiment, where each finger joint is equipped with an independent driver board, the effect is more obvious.

[0070] In some embodiments, the finger drive plate includes at least one joint drive plate, which is disposed on the knuckle of the finger and is used to independently drive the rotation of the joint corresponding to the knuckle;

[0071] The phalanx includes at least one of a first phalanx, a middle phalanx, and a fingertip phalanx. The first phalanx is the phalanx closest to the mechanical hand, and the middle phalanx is the phalanx between the first phalanx and the fingertip phalanx. The first phalanx is also called the root phalanx, which is the phalanx closest to the palm.

[0072] This implementation, by independently configuring drive boards for each finger joint, enables independent control of the joints, improving control precision and enhancing the overall power output and movement flexibility of the fingers and even the robotic hand. Based on this scheme of independent joint drive, each joint has its own independent drive board, greatly improving the ease of wiring and solving wiring problems. For example, in the development trend of dexterous hands, finger joints will inevitably employ sensors for detecting joint rotation angles and sensors for detecting tactile sensation (such as pressure sensors). Angle sensors typically have three wires (power line, at least one signal line, and ground), while tactile sensors (such as pressure sensors) typically have about three wires (power line, one signal line, and ground). Adding the power output mechanism for driving joint rotation—the motor (typically with three wires: power line, one signal line, and ground)—a single joint requires six wires for the angle sensor and motor. If the tactile sensor is included, there are nine wires. If only one complete... Each finger (index, middle, ring, and little finger) has three joint modules (the base of the finger, the proximal joint, and the middle joint, all located in the palm), totaling 18 wires. If we add the three wires from the fingertip tactile sensor module, each finger has 21 wires. Therefore, if the joint drive board doesn't centrally connect these wires, they will be scattered. For the miniaturized design requirements of dexterous hands, achieving reasonable wire routing at the degrees of freedom without affecting movement (such as rotation) and within the joints is very difficult. Each joint has an independent joint drive board, which not only achieves independent control of the degrees of freedom but also solves the wire routing problem.

[0073] In some embodiments, the driver board circuit interface at the input end of the joint driver board of the first phalanx serves as the finger circuit interface and is pluggably connected to the circuit board circuit interface. Thus, by resolving the pluggable connection issue between the joint driver board of the first phalanx and the circuit board located in the palm, independent finger attachment and detachment are achieved.

[0074] In some embodiments, the electrical connection between the joint drive plates of adjacent phalanges includes a plug-in connection to enable independent loading and unloading of the phalanges and their joint modules.

[0075] In some embodiments, the circuit board further includes a fingertip control board for controlling the fingertip tactile sensor. The fingertip control board is disposed on the fingertip knuckle of the finger, and the electrical connection between the fingertip control board and the drive board of the adjacent knuckle includes a pluggable connection. This allows for independent installation and removal of the fingertip knuckle. In the above embodiments, the wiring between the joint drive board of the first knuckle and the circuit board, the wiring between the joint drive boards of adjacent knuckles, and the wiring between the fingertip control board and the drive board of adjacent knuckles are all electrically connected by pluggable connectors. This facilitates the independent installation and removal of the drive board, solving the problem of inconvenient disassembly of wiring between drive boards during the independent installation and removal of a single knuckle. This improves installation and removal efficiency while reducing costs, and avoids the problem of bloated finger structure and complex wiring caused by setting multiple sets of parallel wiring.

[0076] Fourthly, this application provides a robot that includes the robotic arm described in any embodiment of this application.

[0077] This application divides the palm frame into two parts: a finger mounting section and a circuit board mounting section. A connection port is provided between these two parts to realize the wiring between the fingers and the palm. This facilitates the plug-in connection between the fingers when setting the finger wiring interface and the circuit board when setting the circuit board wiring interface. This ensures spatial isolation between the fingers and the circuit board (effectively avoiding physical damage to the circuit board when the fingers are in the same space and the installation is unstable), while also enabling the plug-in connection between the fingers and the circuit board. This allows for the independent mounting and detaching of the fingers on the palm, improving or realizing modular design. Attached Figure Description

[0078] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is a three-dimensional structural diagram of an embodiment of the hand skeleton of this application;

[0080] Figure 2 This is a schematic diagram of another embodiment of the robotic arm of this application;

[0081] Figure 3 This is a schematic diagram of the structure of one embodiment of the hand skeleton of this application;

[0082] Figure 4 This is a schematic diagram of another embodiment of the robotic arm in this application;

[0083] Figure 5This is a schematic diagram of another embodiment of the hand skeleton of this application;

[0084] Figure 6 This is a schematic diagram of another embodiment of the robotic arm of this application. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0086] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, 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, and therefore should not be construed as a limitation of this application.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0088] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, an electrical connection, or a communication 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 application according to the specific circumstances.

[0089] In this application, unless otherwise expressly 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 being 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 being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0090] Example 1: Hand skeleton

[0091] like Figure 1 The diagram shown is a three-dimensional structural schematic of an embodiment of the hand skeleton of this application, using the right hand skeleton as an example. This hand skeleton can be used in a robotic hand, which can serve as a dexterous hand for a robot. Figure 1 As shown, in this embodiment, the hand skeleton 1100 includes a finger mounting portion 1110 and a circuit board mounting portion 1120, which are sequentially distributed along the length direction of the robotic hand, with the palm of the robotic hand facing the fingers. A communication port is provided between the finger mounting portion 1110 and the circuit board mounting portion 1120 for wiring between the fingers and the circuit board. Exemplarily, the communication port includes a communication port 11211 on the circuit board mounting portion; additionally, the communication port may also include a communication port (not shown) on the finger mounting portion 1110 near the circuit board mounting portion. In some embodiments, the hand skeleton 1100 formed by the finger mounting portion 1110 and the circuit board mounting portion 1120 is integrally formed.

[0092] In some embodiments, the finger mounting portion 1110 includes a four-finger mounting portion and / or a thumb mounting portion; the four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, and little finger, and the thumb mounting portion is used to mount the thumb. The four-finger mounting portion and the circuit board mounting portion 1120 are sequentially distributed along the length direction of the four fingers (i.e., the length direction of the robotic arm). The thumb mounting portion and the circuit board mounting portion 1120 are sequentially distributed along the length direction of the thumb or along the thickness direction of the robotic arm.

[0093] In some embodiments, the four-finger mounting portion and the circuit board mounting portion 1120 are distributed sequentially along the length direction of the four fingers, and the thumb mounting portion and the circuit board mounting portion 1120 are distributed along the thickness direction of the robot hand. The four-finger mounting portion and the circuit board mounting portion 1120 are integrally formed; the thumb mounting portion and the circuit board mounting portion 1120 are integrally formed or detachably connected separately.

[0094] like Figure 1 The four-finger mounting section shown includes four finger mounting slots 1111, respectively for mounting the index, middle, ring, and little fingers of the robotic arm. Of course, the number of fingers can be less than four; the specific number can be determined according to the specific implementation scenario and requirements. Each finger mounting slot includes a top wall and two side walls. The top wall and side walls form an inverted U-shaped groove, with the opening of the inverted U-shaped groove facing the palm of the robotic arm. The top wall is provided with mounting holes 11112 for fixing the corresponding finger. Typically, the root knuckle of the finger is located in the finger mounting slot, and this root knuckle usually contains components such as a motor, a reduction mechanism, and / or a drive plate. For example, threaded holes are provided at the corresponding positions of the fingers, allowing the fingers to be fixedly mounted in the finger mounting slots using screws. In actual use, the finger tip is inserted into the inverted U-shaped groove and fixed in place by screws.

[0095] In this embodiment, the finger mounting groove 1111 is configured as an inverted U-shape including a top wall and two side walls, which can achieve stable clamping of the finger tip and improve the stability and reliability of the finger installation in the finger mounting groove 1111.

[0096] Furthermore, the four finger mounting slots 1111, from right to left, are the index finger mounting slot, middle finger mounting slot, ring finger mounting slot, and little finger mounting slot. By providing an independent finger mounting slot 1111 for each of the index, middle, ring, and little fingers, independent installation and removal of each of the four fingers is achieved. In some embodiments, all four fingers may share one finger mounting slot; or at least two adjacent fingers may share one finger mounting slot, etc.

[0097] In addition, rectangular perforations 11111 (or other perforations of other shapes, which are not limited in this application) are provided on the top and side walls to reduce the weight of the hand frame while ensuring its strength, and to facilitate heat dissipation of the finger parts (e.g., motors) located in the finger mounting slots.

[0098] In some embodiments, the finger mounting groove 1111 may also be configured to include two side walls and a bottom wall; or include two side walls, a top wall, a bottom wall, etc., which are not limited in this application.

[0099] like Figure 1 The upper surface of the circuit board mounting portion 1120 shown is provided with a recess 1121 for mounting the circuit board. The upper surface of the circuit board mounting portion 1120 faces the back of the robot hand. A communication port 11211 is also provided in the recess 1121, which enables communication between the finger mounting portion 1110 and the circuit board mounting portion 1120, and can be used for connection between the finger circuitry of the finger and the circuit board circuitry of the circuit board.

[0100] Furthermore, the settling tank 1121 is also provided with a circuit board mounting base 11212, which has threaded holes for fixing and mounting the circuit board. There are four circuit board mounting bases 11212, which are used to fix the circuit board to the four corners of the circuit board.

[0101] In some embodiments, the connection port 11211 is configured in a T-shape. The connection port 11211 serves two purposes: firstly, it allows for the connection between the circuit board and the finger circuit interface (not shown) in the space below the recess 1121, making full use of the space below the recess 1121; secondly, it allows for the avoidance of taller components on the circuit board. For example, if a taller component is positioned corresponding to the connection port 11211, it can be positioned so that the taller component faces the connection port 11211 during circuit board installation, fully utilizing the thickness of the hand frame. Exemplarily, the taller component on the circuit board can be a circuit interface on the circuit board (e.g., a driver board circuit interface on a driver board) or other components; this application does not limit this.

[0102] In some embodiments, the inverted U-shaped groove includes a first end and a second end opposite to each other (the first end is the end away from the upper part of the robotic hand, and the second end is the end close to the upper part of the robotic hand). The first end is used for finger insertion for installation, and the second end is provided with a communication port for connecting to the recess 1121 and / or the space facing the lower surface of the recess, so as to realize the connection of the finger circuit interface of the finger tip with the circuit board circuit interface of the control board in the recess 1121 and / or to realize the connection of the finger circuit interface with the circuit board circuit interface of the drive board in the space facing the lower surface of the recess.

[0103] In some embodiments, the communication port includes an opening on the end wall of the second end of the inverted U-shaped groove. This embodiment provides the communication port by creating an opening on the end wall of the second end of the inverted U-shaped groove (rather than leaving the entire end wall of the second end open, thus making the communication port smaller than the port size when the entire end wall of the second end is open, i.e., smaller than the fingertip size). This allows the end wall of the second end of the inverted U-shaped groove to support the finger (along the finger axis) when the finger is in place. Therefore, this embodiment can both facilitate finger routing through the communication port and provide limiting support for the fingertip through the end wall. This reduces the impact on the fixing structure between the top wall of the inverted U-shaped groove and the finger (e.g., using screws to fix the finger through the top wall) when the finger is subjected to axial force, preventing the fixing structure from loosening.

[0104] In some embodiments, the lower surface of the circuit board mounting portion 1120 is further provided with a thumb mounting portion, and the lower surface of the circuit board mounting portion 1120 is the side facing the palm of the robotic hand. This embodiment makes the thumb and fingers (e.g., four fingers) on different sides or not in the same plane, making the shape of the robotic hand using this palm skeleton closer to a real human hand. That is, the thumb is installed below the groove, so that the thumb and fingers (e.g., four fingers) are arranged in a staggered manner within the palm, with a protrusion within the palm, improving the simulation of the human hand.

[0105] Further reference Figure 1 The recess 1121 also includes multiple thumb fixing holes 11213, which can be used to mate with the threaded holes on the thumb for threaded fixing connection. In use, the thumb is placed on the lower surface of the circuit board mounting part 1120, so that the threaded hole on the thumb aligns with the corresponding thumb fixing hole 11213, and the thumb is fixed in place with screws. The thumb's finger circuit interface is also connected to the circuit board circuit interface on the circuit board through a connecting port. For example, the connecting port is T-shaped, and the thumb's finger circuit interface and the circuit board circuit interface on the circuit board are connected in the through hole portion extending downward from the T-shape. For example, a plug (or socket) is provided on the circuit board at the position corresponding to the through hole portion extending downward from the T-shape, and the corresponding thumb's finger circuit interface adopts a socket (or plug) to realize the connection between the two.

[0106] In this embodiment, by mounting the thumb on the lower surface of the circuit board mounting portion 1120, the thumb and four fingers are not in the same plane, thus making the shape of the robotic hand using this hand frame closer to a real human hand. That is, by mounting the thumb on the lower surface of the groove 1121, the thumb and four fingers are arranged in a staggered manner within the palm, and the palm protrudes, which can improve the simulation of the human hand.

[0107] Example 2: Robotic Hand

[0108] like Figure 2 As shown, the robotic hand includes a hand skeleton 1100, a back-of-hand shell 1200, and a palm shell 1300. The hand skeleton 1100 is the hand skeleton described in Embodiment 1. The back-of-hand shell 1200 is mounted on the back-of-hand side of the hand skeleton 1100, and the palm shell 1300 is mounted on the palm-of-hand side of the hand skeleton 1100. Furthermore, the robotic hand also includes a wrist structure 1600, which is fixedly mounted on the end of the hand skeleton 1100 away from the fingers, specifically on the end of the circuit board mounting portion 1120 away from the finger mounting portion 1100.

[0109] In some embodiments, the palm shell 1300 and the palm skeleton 1100 are integrally formed; the back of the hand shell 1200 and the palm skeleton 1100 are detachably assembled.

[0110] In some embodiments, to facilitate the independent insertion and removal of fingers, the method of fixing the back of the hand shell 1200 and the palm frame 1100 can be as follows:

[0111] (1) The back of the hand shell 1200 is snapped into the palm frame 1100. This method makes it easy to remove the back of the hand shell 1200. Then, the screw in the mounting hole 11112 on the top wall of the finger mounting groove can be unscrewed with a screwdriver, and the finger can be pulled out. This solution is even better when combined with the circuit board interface being directly fixed to the wiring hole 1411 at the second end of the finger mounting groove in Embodiment 1.

[0112] (2) A back-of-hand shell mounting hole corresponding to the mounting hole 11112 on the top wall of the finger mounting slot is provided in the back-of-hand shell 1200. The back-of-hand shell 1200 and the finger are fixed together by screws passing through the back-of-hand shell mounting hole and the mounting hole 11112 on the top wall. When a finger is removed, the screws used to fix the finger cover in the back-of-hand shell mounting hole and the mounting hole 11112 on the top wall are unscrewed, and then the finger is pulled out. Similarly, this solution is even better when combined with the circuit board circuit interface directly fixed to the wiring hole 1411 at the second end of the finger mounting slot in Embodiment 1.

[0113] (3) such as Figure 2 As shown, screw holes are provided on the side of the back of the hand shell 1200, and the back of the hand shell 1200 is fixed to the palm frame 1100 by screws.

[0114] Similarly, the above three fixing methods can also be used analogously to fix the palm shell 1300 and the palm skeleton 1100, so as to facilitate the independent insertion and removal of fingers.

[0115] Continue to refer to Figure 2 Supporting bosses 1310 are provided on the palm shell 1300 at positions corresponding to the multiple finger mounting slots 1111, with one supporting boss 1310 for each finger mounting slot 1111. The supporting bosses 1310 provide support for the corresponding fingers, improving the stability of the fingers within the corresponding finger mounting slots. In addition, a gap is formed between adjacent supporting bosses 1310, which corresponds to a sidewall shared by two adjacent finger mounting slots 1111. That is, the sidewall can be inserted into the gap, thereby strengthening the connection between the palm shell 1300 and the palm skeleton 1100.

[0116] Continue to refer to Figure 2The palm shell 1300 has a thumb through hole 1320 on its side for thumb mounting. A palm support portion is provided on the portion of the palm shell 1300 corresponding to the recess 1121. This palm support portion can be configured as a support column 1330, with its bottom end connected to the palm shell 1300. The top end of the support column 1330 abuts against the lower surface of the recess 1121, thus supporting the palm shell 1300, reducing deformation of the palm shell 1300 caused by compression, and protecting the components in the space formed between the palm shell 1300 and the palm frame 1100.

[0117] In some embodiments, the palm shell 1300 is integrally formed with the palm skeleton 1100. In this case, the inverted U-shaped top wall, side walls, and corresponding support bosses 1310 (i.e., bottom wall) form a tubular groove. In this embodiment, since the palm shell 1300 is integrally formed with the palm skeleton 1100, fingers can be directly inserted into or pulled out of the tubular groove without removing the palm shell and taking it out from the palm side.

[0118] Example 3: Robotic Arm

[0119] like Figure 2 The diagram shown is a structural schematic of one embodiment of the robotic hand of this application. In this embodiment, the robotic hand includes a palm, fingers, and a circuit board. A wrist structure 1600 is provided at the end of the palm away from the fingers. The palm can be any of the robotic palms described in any embodiment of this application; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger; the circuit board includes a drive board and a control board.

[0120] Furthermore, the palm includes a back-of-hand shell 1200, a circuit board 1500, a palm frame 1100, and a palm shell 1300, which are distributed sequentially from the back of the hand to the palm. The palm frame 1100 adopts the palm frame described in any embodiment of this application.

[0121] like Figure 2 As shown, the thumb 1410 is installed into the mechanical hand through the thumb through hole 1320 on one side of the palm shell 1300, and the four fingers (index finger 1420, middle finger 1430, ring finger 1440 and little finger 1450) are inserted into the mechanical hand through the four finger mounting slots 1111 arranged side by side.

[0122] In this embodiment, disassembling the four fingers only requires removing the back of the hand housing 1200, then removing the fixing screws of the finger to be disassembled, disconnecting the wiring connection between the finger and the circuit board, and then pulling the finger out of the finger mounting slot (the corresponding installation steps are the reverse of the disassembly steps).

[0123] Continue to refer to Figure 2The circuit board 1500 includes a drive board 1510 and a control board 1520. The drive board 1510 is located below the control board 1520, and the control board 1520 is mounted on the drive board 1510. The drive board 1510 is fixedly mounted by engaging with four circuit board mounting bases 11212 in the recess 1121 through fixing holes at its four corners. The drive board 1510 has circuit board lines, which are connected to the finger circuitry of the finger through a communication port 11211. The drive board 1510 is used to drive finger movement. The control board 1520 is connected to the drive board 1510 and is used to send control signals to the drive board 1510 to achieve drive control of the finger.

[0124] In some embodiments, the driver board 1510 is an integrated driver board. For example, the integrated driver board integrates the driver boards for each finger. The driver board for each finger can be a finger driver board or a joint driver board for the finger. That is, the driver boards for these fingers can be integrated on a single circuit board and placed on the palm as a whole integrated driver board.

[0125] In some embodiments, the finger drive plates can also be independently distributed and disposed on the palm. Here, the finger drive plate refers to the one used in underactuated robotic hands / dexterous hands to drive the movement of the entire finger. Generally, controlling the movement of the first phalanx is sufficient to drive the movement of the other phalanges. This application... Figures 1-2 The embodiment is such a solution; the joint drive plate refers to the joint movement of a finger joint independently driven by a single joint drive plate when applied to a fully driven robotic hand / dexterous hand, thereby realizing the movement of each joint on the finger. Of course, in this case, the drive plates can be distributed on the finger, as follows. Figures 3-6 The solution of the embodiment of the robot arm.

[0126] In some embodiments, the circuit board lines of the drive board 1510 can extend through the communication port 11211 into the space below the recess 1121, and connect with the finger lines of the finger in the space below.

[0127] For example, the circuit board wiring of the driver board 1510 includes a circuit board wiring interface, and the finger wiring includes a finger wiring interface. The circuit board wiring interface of the driver board 1510 is a socket, and the finger wiring interface is a plug, or the circuit board wiring interface of the driver board 1510 is a plug, and the finger wiring interface is a socket (e.g.) Figure 3 The finger circuit interface 2451 is a socket. The circuit board circuit interface is connected to the circuit board 1500 via a ribbon cable, and the finger circuit interface is connected to the finger via a ribbon cable.

[0128] In some embodiments, the fingertip may be a portion of the upper surface of the joint module near the tip or the distal end face. Multiple fingers include four fingers: the index finger, middle finger, ring finger, and little finger.

[0129] Example 4: Hand skeleton (index finger can be tilted)

[0130] In some embodiments, the finger mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robot hand, which is the direction from the palm of the robot hand to the back of the robot hand. This embodiment, by distributing the finger mounting portion and the circuit board mounting portion along the thickness direction of the robot hand, helps to save space occupied by the length of the palm, reserving sufficient space for the installation of other mechanisms in the palm.

[0131] like Figure 3 The diagram shows a structural schematic of one embodiment of the hand frame of this application. In this embodiment, the hand frame 2100 includes a hand base 2110 and a hand cover 2120. A finger mounting portion is provided on the side of the hand base 2110 opposite to the hand cover 2120 for mounting fingers; a circuit board mounting portion is provided on the upper surface of the hand cover 2120 for mounting a circuit board 2500. A communication opening 2121 is provided on the hand cover 2120 for routing traces between the fingers and the circuit board.

[0132] In some embodiments, the palm frame is designed as a split palm base 2110 and palm cover 2120 to facilitate the assembly and disassembly of the fingers mounted on the finger mounting portion and the circuit board mounted on the circuit board mounting portion.

[0133] In some embodiments, the palm base 2110 and the palm cover 2120 can also be designed as a single piece, reducing the number of parts in the palm skeleton and improving the overall structural stability.

[0134] In some embodiments, the finger mounting portion includes a four-finger mounting portion. For example... Figure 3 As shown, in this embodiment, a four-finger mounting portion is provided at the end of the palm base 2110 away from the wrist structure 2600. The four-finger mounting portion includes multiple finger mounting slots 2111 for mounting multiple fingers (exemplarily, four finger mounting slots 2111 arranged side by side are used to mount the index finger, middle finger, ring finger, and little finger, respectively). Exemplarily, the finger mounting slots 2111 are U-shaped slots including a bottom wall and two side walls.

[0135] In some embodiments, when the palm base 2110 and the palm cover 2120 are designed to be integrally formed, the lower surface (i.e., the top wall) of the palm cover 2120 and the U-shaped groove form a tubular groove. In this case, fingers can be directly inserted into or pulled out of the tubular groove without disassembling the back of the hand shell.

[0136] In some embodiments, the finger mounting portion further includes a thumb mounting portion. (Continue to refer to...) Figure 4 A thumb mounting groove 2112 is provided laterally (i.e., along the width of the palm or along a direction forming an acute angle with the width of the palm) at one end of the palm base 2110 near the wrist structure 2600. An index finger oscillation module mounting groove 2113 is provided above the thumb mounting groove 2112 for mounting the index finger oscillation module. The index finger oscillation module is used to drive the index finger to oscillate within the palm plane. In this embodiment, the thumb mounting groove 2112 is located below the palm cover 2120, and the upper surface of the palm cover 2120 forms a circuit board mounting portion, thus achieving the distribution of the thumb mounting groove 2112 and the circuit board mounting portion in the thickness direction of the robotic hand. Alternatively, the thumb mounting groove 2112 and the circuit board mounting portion can also be distributed along the length direction of the thumb (i.e., the extension direction of the thumb when straightened).

[0137] In some embodiments, when the palm base 2110 and the palm cover 2120 are integrally formed, the thumb mounting groove and the circuit board mounting part are also integrally formed; when the palm base 2110 and the palm cover 2120 are detachably connected, the thumb mounting groove and the circuit board mounting part are also detachably connected.

[0138] Continue to refer to Figure 3 A lower convex shaft 2421 is provided on the palm base 2110 at the position corresponding to the index finger mounting slot, and an upper convex shaft (not shown in the figure) is provided at the corresponding position on the palm cover 2120. The upper and lower convex shafts 2421 are coaxial and cooperate with the shaft hole provided on the index finger. Driven by the index finger swing module (the end of the index finger is connected to the power output end of the index finger swing module), the index finger can swing in the palm plane.

[0139] Continue to refer to Figure 3 A circuit board 2500 is mounted on the top of the palm cover 2120. Three connection ports 2121 are provided on the palm cover 2120 corresponding to the finger mounting slots, for connecting the circuit board interface of the circuit board 2500 to the finger interface of the middle, ring, and little fingers. Additionally, a thumb connection port 2121 is also provided on the palm cover 2120 corresponding to the thumb mounting slot 2112.

[0140] When a finger is inserted into the corresponding finger mounting slot, the finger circuit interface at the fingertip is positioned at the corresponding connection port to facilitate connection with the circuit board circuit interface. For example... Figure 3As shown, the tip of the little finger 2450 is provided with a finger wiring interface 2451 (for example, it can be in the form of a connector for quick insertion). In the assembled state, the little finger 2450 is located between base limit A and base limit B (i.e., the two side walls of the little finger mounting slot). The finger wiring interface 2451 corresponds to the communication port 2121 above it, allowing for quick assembly and disassembly of the circuit board wiring interface and the finger wiring interface 2451 through the communication port 2121 without removing the palm cover 2120. Furthermore, simply removing the screw d securing the little finger 2450 allows the little finger to be pulled out of the corresponding finger mounting slot for disassembly. Similarly, the ring finger, middle finger, and thumb can also be quickly assembled and disassembled in the same way.

[0141] Example 5: Hand skeleton (index finger must not be tilted)

[0142] This embodiment and Figure 3 The embodiments shown are basically the same, except that the index finger on the mechanical hand in this embodiment cannot be deflected. Specifically: the palm cover 2120 in this embodiment is provided with 5 communication ports 2121 ( Figure 3 The embodiment does not include a connecting port corresponding to the index finger), and finger mounting slots corresponding to the four fingers (thumb, index finger, middle finger, ring finger, and little finger) are provided respectively. Furthermore, an index finger fixing hole is provided on the palm cover 2120 at the position corresponding to the index finger mounting slot for fixing the index finger. Figure 3 The index finger can be tilted (it is a movable installation). Furthermore, since the index finger in this embodiment is fixedly installed, there is no need to provide an index finger tilting module mounting slot in the palm base 2110 to install the index finger tilting module, nor is it necessary to provide a lower convex shaft 2421 on the palm base 2110 corresponding to the index finger mounting slot, nor is it necessary to provide an upper convex shaft at the corresponding position on the palm cover 2120.

[0143] Example 6: Mechanical hand (index finger can swing)

[0144] like Figure 4 The diagram shown is a structural schematic of another embodiment of the robotic arm in this application. Figure 4 As shown, in some embodiments, the robotic hand includes a hand frame 2100, a back-of-hand shell 2200, and a palm shell 2300, which are fitted together with the hand frame. The hand frame utilizes... Figure 3The hand skeleton in the illustrated embodiment (i.e., the hand skeleton described in Embodiment 4, the specific structure of which is referred to in the aforementioned related embodiments and will not be repeated here). The index finger on the mechanical hand in this embodiment can deflect; correspondingly, the index finger on the mechanical hand using the mechanical hand of Embodiment 7 can deflect. In some embodiments, the palm shell 2300 and the hand skeleton 2100 are integrally formed. The back of the hand shell 1200 and the hand skeleton 1100 are detachably assembled. The installation method between the back of the hand shell 1200 and the hand skeleton 1100 can refer to Embodiment 2 and will not be repeated here.

[0145] Example 7: Mechanical hand (index finger cannot be tilted)

[0146] This application also provides another form of mechanical hand, which differs from the mechanical hand in Embodiment 6 only in that it adopts the hand skeleton described in Embodiment 5, and the index finger on the mechanical hand in this embodiment cannot be deflected.

[0147] Example 8: Robotic arm (index finger can swing)

[0148] This application also provides another form of robotic arm, which is as follows: Figure 4 The diagram shown is a structural schematic of another embodiment of the robotic hand in this application. The robotic hand in this embodiment includes a palm, fingers, and a circuit board. The palm can be the robotic hand described in Embodiment 6; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger; the circuit board includes a drive board and a control board.

[0149] like Figure 4 As shown, the robotic hand includes a hand skeleton 2100, a circuit board 2500, a back of the hand shell 2200, a palm shell 2300, five fingers 2400 (including the thumb 2410, index finger 2420, middle finger 2430, ring finger 2440, and little finger 2450), and a wrist structure 2600. The hand skeleton adopts... Figure 3 The hand skeleton in the illustrated embodiment (i.e., the hand skeleton described in embodiment 4).

[0150] Four fingers 2400 (including index finger 2420, middle finger 2430, ring finger 3440, and little finger 2450) are inserted into the palm frame through four finger mounting slots at the front end of the palm frame. The middle finger 2430, ring finger 3440, and little finger 2450 are fixedly mounted as described in the previous embodiments, while the index finger 2420 is movable and can be tilted as shown in the previous embodiments. The thumb 2410 is fixedly mounted in the thumb mounting slot 2112 and protrudes through the thumb through hole 2320 on the side of the palm frame. The circuit board 2500 is mounted on the upper surface of the palm cover 2120, and the back of the hand shell 2200 and the palm shell 2300 are fitted and installed with the palm frame.

[0151] In some embodiments, the circuit board 2500 includes a control board 1520 and a drive board 1510; the control board 1520 and the drive board 1510 may be integrated on one circuit board or separately configured as two circuit boards; when the control board 1520 and the drive board 1510 are separately configured as two circuit boards, the connection between the control board 1520 and the drive board 1510 includes a pluggable electrical connection.

[0152] In some embodiments, both the control board 1520 and the drive board 1510 are disposed on the palm of the hand. The drive board 1510 is provided with a drive board circuit interface, which is connected to the finger circuit interface through a communication port.

[0153] In some embodiments, the control board 1520 is disposed on the palm; the drive board 1510 includes at least one finger drive board, which is disposed on a corresponding finger and is used to drive the movement of the corresponding finger.

[0154] In some embodiments, the drive plate 1510 includes at least one joint drive plate; the joint drive plate is disposed on the knuckle of the finger and is pluggably electrically connected to the control plate 1520 for independently driving the rotation of the joint corresponding to the knuckle; the knuckle includes at least one of a first knuckle, an intermediate knuckle, and a fingertip knuckle; the first knuckle is the knuckle closest to the palm, and the intermediate knuckle is the knuckle at the tip of the first knuckle and the fingertip knuckle.

[0155] In some embodiments, the joint drive board of the first phalanx is pluggably electrically connected to the control board 1520; and / or the joint drive boards of adjacent phalanxes are pluggably electrically connected; and / or in the case where the fingertip phalanx has no drive board but only a fingertip control board, the fingertip control board is pluggably electrically connected to the drive board of the adjacent phalanx of the fingertip. The fingertip control board is used to process information from the fingertip tactile sensor or control the operation of the tactile sensor.

[0156] Example 9: Robotic arm (index finger cannot be tilted)

[0157] This application also provides another form of robotic hand, which differs from the robotic hand in Embodiment 8 only in that it adopts the hand skeleton described in Embodiment 5.

[0158] Example 10: Hand frame (index finger can deflect - separate design of upper hand cover)

[0159] In some embodiments, the circuit board mounting portion includes a finger assembly component and a circuit board mounting portion body. The finger assembly component and the circuit board mounting portion body are either detachably connected or integrally formed (wherein the integrally formed solution corresponds to the palm skeleton in Embodiment 4 of this application). Figure 5The diagram shows a structural schematic of another embodiment of the hand frame of this application. In this embodiment, the finger assembly component and the main body of the circuit board mounting part are detachably connected. The hand frame of this embodiment includes a hand base 2110, a hand cover 2120, and an index finger assembly component 2122. The hand cover 2120 corresponds to the main body of the circuit board mounting part, and the index finger assembly component 2122 corresponds to the finger assembly component. The hand cover 2120 has finger mounting holes at positions corresponding to the middle finger mounting slot, ring finger mounting slot, and little finger mounting slot for fixing the middle finger, ring finger, and little finger. The hand cover 2120 has three connecting ports 21211 at positions corresponding to the ends of the middle finger, ring finger, and little finger. The index finger assembly component 2122 and the hand base 2110 have movable mounting mechanisms at positions corresponding to the index finger mounting slots for movable mounting of the index finger.

[0160] Reference Figure 5 A thumb connection port 21213 is provided on the palm cover 2120 at the position corresponding to the thumb mounting slot 2112, for connecting the circuit board 2500 above the palm cover 2120 with the thumb below. An index finger connection port 21212 is provided on the palm cover 2120 at the position corresponding to the index finger oscillation module mounting slot, for connecting the circuit board 2500 above the palm cover 2120 with the index finger oscillation module below.

[0161] Furthermore, the movable mounting mechanism includes a first hinge member disposed on the lower surface of the index finger mounting component and a second hinge member disposed on the upper surface of the bottom wall of the index finger mounting groove, for oscillating the finger within the finger mounting portion. Exemplarily, the first and second hinge members can be opposing upper and lower convex shafts, used to engage with corresponding shaft holes on the index finger to achieve oscillation of the index finger within the palm plane. In this embodiment, the circuit board 2500 is mounted on the palm cover 2120, and a wrist structure 2600 can be disposed at the end of the palm base 2110 away from the fingers.

[0162] The palm base 2110 used in this embodiment and Figure 3 and Figure 4 The hand base shown is the same; for details about the hand base, please refer to [link / reference]. Figure 3 and Figure 4 The aforementioned related embodiments will not be repeated here.

[0163] like Figure 6The diagram shown is a structural schematic of another embodiment of the robotic hand of this application. In this embodiment, the palm cover 2120 has three connecting openings 21211 at positions corresponding to the middle finger mounting slot, ring finger mounting slot, and little finger mounting slot. The palm cover 2120 also has finger fixing holes at positions corresponding to the middle finger, ring finger, and little finger for fixing and mounting the middle finger, ring finger, and little finger. Figure 6 CCTV showed a view of the Little Finger 2450 being installed in the Little Finger mounting slot.

[0164] Furthermore, the palm cover 2120 is also provided with a main body mounting hole for fixing the palm cover 2120 onto the palm base 2110.

[0165] Continue to refer to Figure 5 The palm cover 2120 is also provided with an inductor recess S for heat dissipation of the inductor devices on the control board 2500. Furthermore, a thermally conductive material is provided between the inductor devices and the inductor recess S to ensure full contact between the inductor devices and the inductor recess S and to improve the heat dissipation efficiency of the inductor devices.

[0166] Continue to refer to Figure 5 The index finger mounting component 2122 includes a first mounting end 1 and a second mounting end 2 along the width direction of the palm. The first mounting end 1 and the second mounting end 2 are respectively fixedly connected to the two side walls of the index finger mounting groove to confine the index finger in the index finger mounting groove.

[0167] In this embodiment, by setting the palm cover 2120 as a palm cover 2120 and the index finger assembly part 2122 that can be detached and assembled independently, it is possible to detach and assemble the five fingers independently. In particular, when detaching and assembling the index finger, it is not necessary to remove the entire palm cover, but only the independent index finger assembly part 2122 needs to be removed.

[0168] Example 11: Mechanical Hand (Index finger can deflect - separate design of upper hand cover)

[0169] like Figure 6 The diagram shown is a structural schematic of another embodiment of the robotic arm of this application. (Refer to...) Figure 6 Another embodiment of the robotic hand provided in this application includes a hand skeleton 2100, a back of hand shell 2200, and a palm shell 2300. The hand skeleton 2100 adopts... Figure 5 The hand skeleton of the embodiment shown (i.e., embodiment 10) will not be described in detail here. The back of the hand shell 2200, the palm shell 2300 and the hand skeleton 2100 are assembled together (this application does not limit the specific assembly method).

[0170] In some embodiments, the palm shell 2300 and the palm skeleton 2100 are integrally formed. The back of the hand shell 1200 and the palm skeleton 1100 are detachably assembled. The installation method between the back of the hand shell 1200 and the palm skeleton 1100 can be referred to Embodiment 2, and will not be repeated here.

[0171] Example 12: Robotic Hand (Index Finger Can Swing - Separate Palm Cover Design)

[0172] In some embodiments, the robotic hand includes a palm, fingers, and a circuit board; wherein the palm is the robotic hand described in Embodiment 11; the fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger; and the circuit board includes a drive board and a control board. Figure 6 As shown, the robotic hand in this embodiment includes a hand skeleton 2100, a back of hand shell 2200, a palm shell 2300, five fingers, a circuit board 2500, and a wrist structure 2600. The hand skeleton 2100 adopts... Figure 5 The hand skeleton of the illustrated embodiment (i.e., Embodiment 10) will not be described in detail here. The five fingers include the thumb 2410, index finger 2420, middle finger 2430, ring finger 2440, and little finger 2450. The circuit board 2500 is mounted on the palm cover 2120, and the back of the hand shell 2200, the palm shell 2300, and the hand skeleton 2100 are assembled together (this application does not limit the specific assembly method).

[0173] In some embodiments, this application also provides a robot that includes the robotic arm described in any of the foregoing embodiments.

[0174] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, 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, and therefore should not be construed as a limitation of this application.

[0175] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0176] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, an electrical connection, or a communication 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 application according to the specific circumstances.

[0177] In this application, unless otherwise expressly 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 being 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 being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0178] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A palm skeleton for a robot hand, characterized by comprising: The hand skeleton includes: Finger mounting section, used for mounting fingers; Circuit board mounting section, used to mount circuit boards; A communication port is provided between the finger mounting part and the circuit board mounting part for wiring between the finger and the circuit board.

2. The metacarpal skeleton according to claim 1, wherein The connection port is used for the finger circuit interface of the finger and / or the circuit board circuit interface of the circuit board to pass through for plugging and unplugging connection.

3. The metacarpal skeleton according to claim 1, wherein The connection port includes a finger mounting part connection port and a circuit board mounting part connection port; The finger mounting portion communication port is located at the end of the finger mounting portion; The circuit board mounting portion has a communication port located on the circuit board mounting portion.

4. The metacarpal skeleton according to claim 3, wherein The finger mounting portion communication port is less than or equal to the end port of the finger mounting portion; When the connecting port of the finger mounting portion is smaller than the end port of the finger mounting portion, a stop for blocking the finger end is formed between the connecting port of the finger mounting portion and the end of the finger mounting portion.

5. The metacarpal skeleton according to claim 1, wherein The finger mounting portion includes a four-finger mounting portion and / or a thumb mounting portion; the four-finger mounting portion is used to mount at least one of the index finger, middle finger, ring finger, and little finger, and the thumb mounting portion is used to mount the thumb.

6. The hand skeleton according to claim 5, characterized in that, The four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers or along the thickness direction of the robotic arm. The thumb mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the thumb or along the thickness direction of the robotic arm.

7. The metacarpal skeleton according to claim 6, wherein The thumb mounting portion is disposed on the lower surface of the circuit board mounting portion, and the lower surface of the circuit board mounting portion is the side of the circuit board mounting portion facing the palm of the robotic hand.

8. The metacarpal skeleton according to claim 5, wherein The four-finger mounting part is provided with a four-finger mounting groove; the end of the four-finger mounting groove serves as the end of the four-finger mounting part.

9. The metacarpal skeleton according to claim 5, wherein The thumb mounting part is provided with a thumb mounting groove; the end of the thumb mounting groove serves as the end of the thumb mounting part.

10. The metacarpal skeleton according to claim 8 or 9, characterized in that The mounting groove has a hollowed-out area on its wall.

11. The metacarpal skeleton according to claim 8 or 9, characterized in that The groove wall of the mounting groove includes two side walls and a top wall; or it includes two side walls and a bottom wall; or it includes two side walls, a top wall, and a bottom wall.

12. The metacarpal skeleton according to claim 8, wherein, When the four-finger mounting slot includes at least two of the following: index finger mounting slot, middle finger mounting slot, ring finger mounting slot, and little finger mounting slot, two adjacent finger mounting slots share a single slot wall.

13. The hand skeleton according to claim 6, characterized in that, The four-finger mounting portion and the circuit board mounting portion are distributed sequentially along the length direction of the four fingers, and the thumb mounting portion and the circuit board mounting portion are distributed along the thickness direction of the robot hand. The four-finger mounting portion and the circuit board mounting portion are integrally formed; the thumb mounting portion and the circuit board mounting portion are integrally formed or detachably connected separately.

14. The hand skeleton according to claim 13, characterized in that, The upper surface of the circuit board mounting part is provided with a groove for mounting the circuit board, and the upper surface of the circuit board mounting part is the side of the circuit board mounting part facing the back of the robotic arm.

15. The hand skeleton according to claim 6, characterized in that, When the four-finger mounting portion and the circuit board mounting portion are distributed in the thickness direction of the robot hand, and when the thumb mounting portion and the circuit board mounting portion are distributed in the thickness direction of the robot hand, the finger mounting portion is integrally formed by the four-finger mounting portion and the thumb mounting portion; the finger mounting portion and the circuit board mounting portion are integrally formed or detachably connected separately.

16. The hand skeleton according to claim 15, characterized in that, The circuit board mounting part and the finger mounting part are detachably connected, allowing the finger to be detachably mounted in the finger mounting part and move around.

17. The hand skeleton according to claim 16, characterized in that, The circuit board mounting part includes a finger assembly component and a circuit board mounting part body. The finger assembly component and the circuit board mounting part body are either detachably connected separately or integrally formed. The lower surface of the finger assembly is provided with a first hinge, and the upper surface of the bottom wall of the finger mounting groove is provided with a second hinge. The first hinge and the second hinge constitute a movable mounting mechanism for positioning the finger within the finger mounting portion and allowing it to swing.

18. The hand skeleton according to claim 17, characterized in that, The finger mounting slot is an index finger mounting slot.

19. A mechanical hand, characterized in that, Includes the hand skeleton as described in any one of claims 1-18.

20. The robotic hand according to claim 19, characterized in that, It also includes a palm shell, which is integrally formed with the hand skeleton.

21. The robotic hand according to claim 19, characterized in that, It also includes a palm shell that can be detachably installed with the palm skeleton. The palm shell has a support boss at a position relative to the finger mounting slot for supporting the fingers in the finger mounting slot.

22. The robotic hand according to claim 21, characterized in that, A gap is formed between two adjacent support bosses, and the gap corresponds to a sidewall shared by two adjacent finger mounting slots.

23. The robotic hand according to claim 19, characterized in that, It also includes a back of hand shell, which is detachably assembled with the palm skeleton.

24. A robotic arm, characterized in that, Including the palm, fingers, and circuit board; The hand comprises the mechanical hand according to any one of claims 19-23; The fingers can be independently detached and installed on the mechanical hand. The circuit board is electrically connected to the fingers and is used to control and drive the movement of the fingers. The fingers include at least one of the thumb, index finger, middle finger, ring finger, and little finger.

25. The robotic arm according to claim 24, characterized in that, The circuit board includes a circuit board interface; the finger includes a finger interface. The circuit board wiring interface passes through the communication port of the circuit board mounting part and the communication port of the finger mounting part, and is plugged into and disconnected with the finger wiring interface disposed at the end of the finger; or the finger wiring interface passes through the communication port of the finger mounting part and the communication port of the circuit board mounting part, and is plugged into and disconnected with the circuit board wiring interface disposed on the circuit board.

26. The robotic arm according to claim 25, characterized in that, The circuit board includes a control board and a driver board; the control board and the driver board are electrically connected; the control board and the driver board are integrated on one circuit board or are separately configured as two circuit boards; when the control board and the driver board are separately configured as two circuit boards, the electrical connection between the control board and the driver board includes a plug-in connection.

27. The robotic arm according to claim 26, characterized in that, The control board and the driver board are mounted on the circuit board mounting part; the driver board line interface at the output end of the driver board serves as the circuit board line interface and is plugged into and plugged into the finger line interface.

28. The robotic arm according to claim 26, characterized in that, The control board is mounted on the circuit board mounting part, the drive board is mounted on the finger, the drive board circuit interface at the input end of the drive board serves as the finger circuit interface, and the control board circuit interface at the output end of the control board serves as the circuit board circuit interface. The finger circuit interface and the circuit board circuit interface are plugged and detached.

29. The robotic arm according to any one of claims 26-28, characterized in that, The drive plate includes at least one finger drive plate for driving the movement of its corresponding finger.

30. The robotic arm according to claim 29, characterized in that, The finger drive plate includes at least one joint drive plate, which is disposed on the knuckle of the finger and is used to independently drive the rotation of the joint corresponding to the knuckle; the knuckle includes at least one of a first knuckle, an intermediate knuckle, and a fingertip knuckle, wherein the first knuckle is the knuckle closest to the mechanical hand, and the intermediate knuckle is the knuckle between the first knuckle and the fingertip knuckle.

31. The robotic arm according to claim 30, characterized in that, The input end of the joint drive board of the first phalanx has a drive board circuit interface that serves as the finger circuit interface and is plugged into and plugged into the circuit board circuit interface.

32. The robotic arm according to claim 30, characterized in that, Electrical connections between joint drive plates of adjacent phalanges include plug-in connections.

33. The robotic arm according to claim 25, characterized in that, The circuit board also includes a fingertip control board for controlling the fingertip tactile sensor. The fingertip control board is disposed on the fingertip knuckle of the finger, and the electrical connection between the fingertip control board and the drive board of the adjacent knuckle includes a plug-in connection.

34. A robot, characterized in that, The robotic arm included in any one of claims 24-33.

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