A slider output type joint module, a dexterous hand and a robot

Abstract

The utility model discloses a slider output formula joint module, deft hand and robot relates deft hand joint module technical field, the utility model discloses a slider output formula joint module includes casing and drive block, and one end of casing is equipped with first connecting part and second connecting part, and the other end of casing is equipped with third connecting part, and drive block is located in casing along the adjustable position of first direction, be equipped with fourth connecting part on drive block, the third connecting part of casing is used for with the pivot connection of adjacent casing's first connecting part or second connecting part, and the fourth connecting part of casing is used for with the pivot connection of adjacent casing's second connecting part or first connecting part through connecting piece. The utility model discloses a slider output formula joint module through the simple structure and modularization design, is convenient for the joint part of deft hand to assemble and maintain replacement, reduces the unit volume of joint module, and the control difficulty of deft hand is reduced, and the control precision is improved.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand joint module technology, specifically to a slider output joint module, a dexterous hand, and a robot. Background Technology

[0002] In many fields such as medical rehabilitation, industrial production, aerospace, and service robots, bionic hands have become an indispensable part. However, in related technologies, there is no unified standard for the drive joint structure. Due to different design structures, each drive joint is different and is assembled from scattered parts. The degree of modularity is low, the cost is high, and after the dexterous hand is assembled, there are problems such as the large overall size of the drive structure, large installation space, and complex structure, which increases the difficulty of controlling the bionic hand, reduces the control accuracy, and brings great inconvenience to assembly, maintenance and replacement. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, this utility model proposes a slider output type joint module. Through its simplified structure and modular design, the slider output type joint module facilitates the assembly, repair, and replacement of the joint parts of the dexterous hand, reduces the unit volume of the joint module, lowers the control difficulty of the dexterous hand, and improves the control accuracy.

[0005] This utility model embodiment also proposes a dexterous hand.

[0006] This utility model embodiment also proposes a robot.

[0007] The slider output joint module of this utility model embodiment includes:

[0008] A housing extending along a first direction, with a first connecting portion and a second connecting portion spaced apart at one end of the housing, and a third connecting portion at the other end of the housing;

[0009] A driving block, the driving block being adjustable in position along a first direction and disposed on the housing, the driving block being provided with a fourth connecting part;

[0010] The third connecting portion of the housing is used for pivotal connection with the first or second connecting portion of the adjacent housing, and the fourth connecting portion of the housing is used for pivotal connection with the second or first connecting portion of the adjacent housing via a connector.

[0011] The slider output joint module of this utility model, through its simplified structure and modular design, facilitates the assembly, repair, and replacement of the joint parts of the dexterous hand, reduces the unit volume of the joint module, lowers the control difficulty of the dexterous hand, and improves control accuracy.

[0012] In some embodiments, an adjusting rod is included. The housing includes a detachably connected upper shell and a lower shell. The upper shell has a first elongated hole, and the lower shell has a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole define an adjusting cavity for the drive block to move along the first direction. The adjusting rod is rotatably disposed in the adjusting cavity and threadedly engaged with the drive block.

[0013] In some embodiments, the upper shell is provided with a first groove, and the lower shell is provided with a corresponding second groove, wherein a positioning pin is inserted into the first groove and the second groove.

[0014] In some embodiments, a drive motor and a reducer are included. A receiving cavity is provided between the upper shell and the lower shell. The drive motor and the reducer are spaced apart in the receiving cavity along a first direction. The reducer is located at the output end of the drive motor, and the output end of the reducer is tractively connected to the adjusting rod.

[0015] In some embodiments, the end of the reducer is provided with a drive gear, the adjusting rod is provided with a transmission gear that meshes with the drive gear, and bearings are respectively supported on both sides of the transmission gear along its axial direction.

[0016] In some embodiments, an adjusting shim is provided on the side of the support bearing away from the drive block, corresponding to the adjusting rod.

[0017] In some embodiments, a drive plate is included, and the upper shell is provided with a removable cover plate corresponding to the accommodating cavity. The drive plate is detachable from the cover plate and electrically connected to the drive motor.

[0018] In some embodiments, a displacement sensor and a sensor brush electrically connected to the drive board are included. The displacement sensor is disposed in the housing corresponding to the adjustment cavity, and the sensor brush is disposed in the drive block and abuts against the displacement sensor.

[0019] In some embodiments, the fourth connecting part is a first rotating rod disposed on both sides of the driving block, the upper shell is provided with a first clearance part corresponding to the first rotating rod, and the lower shell is provided with a second clearance part corresponding to the first rotating rod.

[0020] In some embodiments, the first connecting part is a second rotating rod provided on the housing, the second connecting part is a connecting lug provided on the housing, and the third connecting part is a third rotating rod provided on the housing.

[0021] The dexterous hand of this utility model embodiment includes multiple finger assemblies, each finger assembly including multiple slider output joint modules of any of the above embodiments. In two adjacent joint modules, a connector is pivotally connected to the third connecting part of the housing, and the other end of the connector is pivotally connected to the first or second connecting part of the adjacent housing. The fourth connecting part of the housing is pivotally connected to the second or first connecting part of the adjacent housing.

[0022] The robot of this utility model embodiment includes the dexterous hand described in the above embodiment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the slider output joint module according to an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram showing the connection between the lower shell and the adjusting rod in the slider output joint module of this utility model embodiment.

[0025] Figure 3 This is a schematic diagram showing the connection between the drive motor and the adjusting rod in the slider output joint module of this utility model embodiment.

[0026] Figure 4 This is a schematic diagram showing the connection between the drive block and the adjusting rod in the slider output joint module of this utility model embodiment.

[0027] Figure label:

[0028] Housing 1; First connecting part 11; Second connecting part 12; Third connecting part 13; Upper housing 14; Lower housing 15; Adjustment cavity 16; Cover plate 17; First clearance part 18; Second clearance part 19;

[0029] Drive block 2; Fourth connecting part 21;

[0030] Adjusting rod 3; transmission gear 31; support bearing 32; adjusting shim 33;

[0031] Positioning pin 4;

[0032] Drive motor 5;

[0033] Reducer 6; Drive gear 61;

[0034] Driver board 7;

[0035] Displacement sensor 8; sensor brush 81. Detailed Implementation

[0036] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] like Figure 1 , Figure 2 and Figure 3 As shown, the slider output joint module of this utility model embodiment includes a housing 1 and a drive block 2.

[0038] The length direction of housing 1 is defined as the first direction. Housing 1 extends along the first direction. One end of housing 1 is provided with a first connecting part 11 and a second connecting part 12 at intervals. The other end of housing 1 is provided with a third connecting part 13. The driving block 2 is provided on housing 1 in an adjustable position along the first direction. The driving block 2 is provided with a fourth connecting part 21. The third connecting part 13 of housing 1 is used to pivotally connect with the first connecting part 11 or the second connecting part 12 of the adjacent housing 1. The fourth connecting part 21 of housing 1 is used to pivotally connect with the second connecting part 12 or the first connecting part 11 of the adjacent housing 1 through a connector.

[0039] In use, the slider output joint module of this utility model embodiment can be rotatably connected to the second connecting part 12 of the adjacent housing 1, and the fourth connecting part 21 can be connected to the first connecting part 11 through a connector. The moving drive block 2 drives the connector to move and rotates the connector relative to the drive block 2. The other end of the connector rotates relative to the first connecting part 11 and drives the corresponding housing 1 to rotate around the rotation axis of the third connecting part 13 and the second connecting part 12. Alternatively, the third connecting part 13 can be rotatably connected to the first connecting part 11 of the adjacent housing 1, and the fourth connecting part 21 can be connected to the second connecting part 12 through a connector. The moving drive block 2 drives the connector to move and rotates the connector relative to the drive block 2. The other end of the connector rotates relative to the second connecting part 12 and drives the corresponding housing 1 to rotate around the rotation axis of the third connecting part 13 and the first connecting part 11.

[0040] The slider output joint module of this utility model realizes the rotation adjustment between two connected joint modules by moving the drive block 2. It is easy to operate. The drive block 2 is set on the housing 1, which simplifies the structure. Through modular design, the industrialization investment cost of the drive joint is reduced. It is convenient to assemble, repair and replace the joint parts of the dexterous hand. The unit volume of the joint module is reduced, the control difficulty of the dexterous hand is reduced and the control accuracy is improved.

[0041] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the housing 1 includes an adjusting rod 3 and a housing 1 including an upper shell 14 and a lower shell 15 that are detachably connected. The upper shell 14 is provided with a first elongated hole, and the lower shell 15 is provided with a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole restrict the adjustment cavity 16 for the drive block 2 to move in a first direction. The adjusting rod 3 is rotatably disposed in the adjustment cavity 16 and is threadedly engaged with the drive block 2.

[0042] Specifically, the upper shell 14 has a first semi-groove corresponding to the first elongated hole for the adjustment rod 3 to pass through, and the lower shell 15 has a second semi-groove corresponding to the second elongated hole for the adjustment rod 3 to pass through. The adjustment rod 3 is fixed by the first and second semi-grooves. Part of the adjustment rod 3 is located in the adjustment cavity 16 defined by the first and second elongated holes. The drive block 2 is threadedly connected to the adjustment rod 3. The distance between the drive block 2 and the side wall of the adjustment cavity 16 is less than the circumcircle corresponding to the cross section of the drive block 2. Preferably, one side of the drive block 2 abuts against the side wall of the adjustment cavity 16 to limit the drive block 2. When the adjustment rod 3 rotates, it is ensured that the drive block 2 can move in the first direction under the action of the adjustment cavity 16, thereby driving the fourth connecting part 21 to move, making adjustment convenient.

[0043] In some embodiments, such as Figure 2 and Figure 3 As shown, the upper shell 14 is provided with a first groove, and the lower shell 15 is provided with a corresponding second groove. A positioning pin 4 is inserted and fitted into the first and second grooves. By setting the first and second grooves, when the upper shell 14 and the lower shell 15 are assembled, the positioning pin 4 can be inserted and fitted into the first and second grooves. When the upper shell 14 and the lower shell 15 are engaged, the positioning pin 4 fixes the position of the upper shell 14 and the lower shell 15, preventing the upper shell 14 and the lower shell 15 from being misaligned or offset. It is also convenient to further fix the upper shell 14 and the lower shell 15 with screws or bolts and other accessories, and to facilitate the disassembly and assembly of the joint module.

[0044] In some embodiments, such as Figure 3 As shown, it includes a drive motor 5 and a reducer 6. A receiving cavity is provided between the upper shell 14 and the lower shell 15. The drive motor 5 and the reducer 6 are spaced apart in the receiving cavity along the first direction. The reducer 6 is located at the output end of the drive motor 5, and the output end of the reducer 6 is connected to the adjusting rod 3 in a transmission manner.

[0045] By setting up a drive motor 5 and a reducer 6, the purpose of speed reduction and torque increase is achieved. The transmission connection between the reducer 6 and the adjusting rod 3 ensures the power output on the adjusting rod 3, which facilitates the adjustment of the position of the drive block 2. At the same time, by setting the drive motor 5 and the adjusting rod 3 in parallel, the length of the housing 1 can be effectively shortened, which facilitates the optimization of the overall volume of the joint module, further reduces the unit volume of the joint module, reduces the control difficulty of the dexterous hand, and improves the control accuracy.

[0046] Optionally, the drive motor 5 and the reducer 6 are fixedly connected, and a fixing bolt is threaded onto the housing 1. The fixing bolt abuts against the drive motor 5 or the reducer 6 to fix the drive motor 5.

[0047] In some embodiments, such as Figure 2 and Figure 3 As shown, the end of the reducer 6 is provided with a drive gear 61, and the adjusting rod 3 is provided with a transmission gear 31 that meshes with the drive gear 61. The transmission gear 31 is supported by bearings 32 on both sides of its axial direction.

[0048] Specifically, a drive gear 61 is fixedly provided at the output end of the reducer 6, and a transmission gear 31 is fixedly provided on the adjusting rod 3. Both the drive gear 61 and the transmission gear 31 are located between the upper shell 14 and the lower shell 15. The upper shell 14 and the lower shell 15 protect the meshing transmission of the drive gear 61 and the transmission gear 31. At the same time, the transmission between the drive motor 5 and the adjusting rod 3 is realized through gear transmission, which ensures the torque transmission efficiency and solves the problem of small transmission torque of the joint module. Support bearings 32 are provided on both sides of the transmission gear 31 to fix the adjusting rod 3, ensuring the stability and reliability of the transmission gear 31 and the adjusting rod 3 during rotation.

[0049] In some embodiments, such as Figure 4 As shown, an adjusting shim 33 is provided on the side of the support bearing 32 away from the drive block 2, corresponding to the adjusting rod 3. By setting the adjusting shim 33, the axial clearance between the adjusting shaft and the housing 1 can be adjusted, thereby ensuring the stability of the adjusting shaft during use.

[0050] In some embodiments, such as Figure 2 As shown, the device includes a drive plate 7 and a removable cover plate 17 corresponding to the accommodating cavity of the upper shell 14. The drive plate 7 can be detached from the cover plate 17 and is electrically connected to the drive motor 5.

[0051] The drive board 7 is provided to facilitate individual control of each joint module, so that after the dexterous hand is assembled, full drive control of multiple joints can be achieved, improving the dexterous hand's flexibility and control precision. The detachable cover plate 17 is provided to facilitate the installation and maintenance of the drive board 7, making operation convenient.

[0052] Optionally, the drive motor 5 is provided with a flexible circuit board, and the drive motor 5 is electrically connected to the drive board 7 through the flexible circuit board.

[0053] In some embodiments, such as Figure 3 As shown, it includes a displacement sensor 8 and a sensor brush 81 electrically connected to the drive board 7. The displacement sensor 8 is located in the housing 1 corresponding to the adjustment cavity 16, and the sensor brush 81 is located in the drive block 2 and abuts against the displacement sensor 8.

[0054] Specifically, a sensor base is detachably provided between the upper shell 14 and the lower shell 15. One side of the sensor base is provided with an adjustment groove, and the sensor base is provided with a receiving groove. The displacement sensor 8 is located in the receiving groove. The sensor brush 81 is fixedly installed on the drive block 2, and the other end of the sensor brush 81 abuts against the displacement sensor 8. When the drive block 2 moves, it drives the sensor brush 81 to move relative to the displacement sensor 8. The position of the drive block 2 is determined by the movement of the sensor brush relative to the displacement sensor 8, so as to facilitate the control of the displacement of the drive block 2 and ensure the control accuracy of the joint module during use.

[0055] Optionally, the displacement sensor 8 and the sensor brush 81 are electrically connected to a flexible circuit board and are electrically connected to the driver board 7 via the flexible circuit board.

[0056] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the fourth connecting part 21 is a first rotating rod provided on both sides of the driving block 2. The upper shell 14 is provided with a first clearance part 18 corresponding to the first rotating rod, and the lower shell 15 is provided with a second clearance part 19 corresponding to the first rotating rod.

[0057] Specifically, the first clearance part 18 is a groove corresponding to the first elongated hole, and the second clearance part 19 is a groove corresponding to the second elongated hole. The first rotating rods on both sides of the drive block 2 are respectively located in the two grooves. By setting a connector on the first rotating rod, the connection between two adjacent joint modules can be realized. By setting the groove, the unit volume of the joint module can be reduced while keeping the maximum thickness of the housing 1 unchanged, and the influence of the connector on the thickness of the joint module after installation can be reduced, thereby reducing the volume of the dexterous hand and improving the dexterity and control accuracy of the dexterous hand.

[0058] In some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the first connecting part 11 is a second rotating rod provided on the housing 1, the second connecting part 12 is a connecting lug provided on the housing 1, and the third connecting part 13 is a third rotating rod provided on the housing 1.

[0059] Specifically, the upper shell 14 and the lower shell 15 are respectively provided with first support lugs and are spliced ​​together. A second rotating rod is slidably mounted on the first support lug. The two ends of the second rotating rod are provided with retaining springs. A connecting piece is rotatably mounted on the second rotating rod. The other end of the connecting piece is rotatably connected to a first rotating rod on an adjacent joint module. The upper shell 14 and the lower shell 15 are respectively provided with connecting lugs, and there is a set gap between the two connecting lugs. The upper shell 14 and the lower shell 15 are provided with second support lugs and are spliced ​​together. A third rotating rod is slidably mounted on the second support lug. The third rotating rod is used to rotate and cooperate with the connecting lug. The two ends of the third rotating rod are detachably provided with retaining springs. The structure is simple and easy to install and connect.

[0060] The following describes a dexterous hand according to an embodiment of the present invention.

[0061] The dexterous hand of this utility model embodiment includes multiple finger components, and the finger components include multiple slider output joint modules of any of the above embodiments. In two adjacent joint modules, the third connecting part of the housing is pivotally connected to a connector, the other end of the connector is pivotally connected to the first connecting part or the second connecting part of the adjacent housing, and the fourth connecting part of the housing is pivotally connected to the second connecting part or the first connecting part of the adjacent housing.

[0062] The dexterous hand in this embodiment of the invention reduces the production cost of the dexterous hand by adopting a modular joint module, facilitates the assembly, repair and replacement of the dexterous hand, reduces the size of the dexterous hand, reduces the control difficulty of the dexterous hand, and improves the control accuracy of the dexterous hand.

[0063] The robot according to an embodiment of the present invention is described below.

[0064] The robot of this utility model embodiment includes the dexterous hand of the above embodiment.

[0065] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "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 are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0066] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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 connection that allows communication between them; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0068] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0070] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A slider-output joint module, characterized in that, include: A housing extending along a first direction, with a first connecting portion and a second connecting portion spaced apart at one end of the housing, and a third connecting portion at the other end of the housing; A driving block, the driving block being adjustable in position along a first direction and disposed on the housing, the driving block being provided with a fourth connecting part; The third connecting portion of the housing is used for pivotal connection with the first or second connecting portion of the adjacent housing, and the fourth connecting portion of the housing is used for pivotal connection with the second or first connecting portion of the adjacent housing via a connector.

2. The slider output joint module according to claim 1, characterized in that, The housing includes an adjusting rod and consists of a detachably connected upper shell and a lower shell. The upper shell has a first elongated hole, and the lower shell has a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole define an adjusting cavity for the drive block to move along the first direction. The adjusting rod is rotatably disposed in the adjusting cavity and threadedly engaged with the drive block.

3. The slider output joint module according to claim 2, characterized in that, The device includes a drive motor and a reducer. A receiving cavity is provided between the upper shell and the lower shell. The drive motor and the reducer are spaced apart in the receiving cavity along a first direction. The reducer is located at the output end of the drive motor, and the output end of the reducer is connected to the adjusting rod in a transmission manner.

4. The slider output joint module according to claim 3, characterized in that, The reducer is provided with a drive gear at its end, and the adjusting rod is provided with a transmission gear that meshes with the drive gear. The transmission gear is supported by bearings on both sides of its axial direction.

5. The slider output joint module according to claim 3, characterized in that, Includes a drive plate, and the upper shell is provided with a detachable cover plate corresponding to the accommodating cavity. The drive plate is detachable from the cover plate and electrically connected to the drive motor.

6. The slider output joint module according to claim 5, characterized in that, It includes a displacement sensor and a sensor brush that are electrically connected to the drive board. The displacement sensor is disposed in the housing corresponding to the adjustment cavity, and the sensor brush is disposed in the drive block and abuts against the displacement sensor.

7. The slider output joint module according to claim 2, characterized in that, The fourth connecting part is a first rotating rod located on both sides of the driving block. The upper shell has a first clearance part corresponding to the first rotating rod, and the lower shell has a second clearance part corresponding to the first rotating rod.

8. The slider output joint module according to claim 1, characterized in that, The first connecting part is a second rotating rod provided on the housing, the second connecting part is a connecting lug provided on the housing, and the third connecting part is a third rotating rod provided on the housing.

9. A dexterous hand, characterized in that, The device includes multiple finger assemblies, each comprising multiple slider output joint modules as described in any one of claims 1-8. In two adjacent joint modules, a connector is pivotally connected to a third connecting portion of the housing, the other end of which is pivotally connected to a first or second connecting portion of an adjacent housing, and a fourth connecting portion of the housing is pivotally connected to a second or first connecting portion of an adjacent housing.

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

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