Finger joint module, dexterous hand and robot

Abstract

This application discloses a finger joint module, a dexterous hand, and a robot. The finger joint module includes a first joint and a second joint. The first joint includes a first connector and a second connector, with the second connector spaced apart from the first connector along a first direction. The second joint includes a third connector, which has a cavity extending along the first direction and disposed between the first and second connectors. The cavity is used to house a driving module. The first joint is configured to rotate relative to the second joint under the drive of the driving module. Through this method, this application can reduce the size and complexity of the finger joint module.

Description

Technical Field

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

[0002] With the accelerating pace of global automation and intelligentization, robotics, as a core support for achieving efficient, precise, and flexible automated operations, is becoming increasingly important. Dexterous hands in robots aim to mimic the structure and function of human hands, possessing high flexibility, dexterity, excellent perception, and fine maneuverability. They typically consist of multiple phalanges and joints, capable of mimicking the independent movement patterns of human fingers, such as bending, extending, rotating, and coordinated interphalangeal movements. The emergence of dexterous hands enables robots to perform more complex and precise tasks, such as picking up fragile items, assembling complex components, and performing microsurgical operations, greatly expanding the application potential of robots. However, the pursuit of highly flexible and biomimetic fully driven designs has also made the structure of finger phalanges exceptionally complex. Therefore, reducing the complexity and size of finger phalanges has become an urgent problem to be solved. Utility Model Content

[0003] This application provides a finger joint module, a dexterous hand, and a robot that can reduce the size and complexity of the finger joint module.

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

[0005] Preferably, the first connector is provided with a first through hole extending along the first direction, the first through hole being used for transmission engagement with the output end of the drive module.

[0006] Preferably, the inner wall of the first through hole is provided with a gear ring, which is used to mesh with the output end of the drive module in the form of an output gear.

[0007] Preferably, the cavity is cylindrical and is used to house the cylindrical drive module.

[0008] Preferably, the second connector has a groove facing the cavity, the groove being used to receive the first end of the drive module, and the second connector is configured to rotate around the first end of the drive module.

[0009] Preferably, the bottom of the groove is provided with a second through hole extending along the first direction.

[0010] Preferably, the third connector has a third through hole, and the second phalanx further includes a locking member, which is used to pass through the third through hole and connect to the drive module so that the drive module is fixed in the cavity.

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

[0012] Preferably, the first phalanx further includes a first phalanx body, the first connector and the second connector are disposed at a first end of the first phalanx body, and a fourth connector identical to the third connector is disposed at a second end of the first phalanx body; the second phalanx further includes a second phalanx body, the third connector is disposed at a first end of the second phalanx body, and a fifth connector and a sixth connector identical to the first connector and the second connector are disposed at a second end of the second phalanx body.

[0013] Preferably, the second connector is detachably mounted on the first knuckle body.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for a robot, including a palm and fingers, wherein the fingers are fixedly connected to the palm; the fingers include multiple drive modules and multiple finger joint modules as described in any of the above claims, each drive module is installed in each cavity, and each drive module is used to drive the first joint in each finger joint module to rotate relative to the second joint.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot, including the dexterous hand described above.

[0016] The beneficial effects of this application are as follows: Unlike the prior art, the third connector of the second phalanx of this application is located between the first connector and the second connector of the first phalanx. The first and second connectors rotate relative to the third connector. The cavity of the third connector can hold a drive module. The drive module drives the first phalanx to rotate relative to the second phalanx. The cavity can hold the necessary drive and transmission components. On the one hand, this optimizes the overall structure of the finger phalanx module, making the space of the finger joint more compact and the entire finger lighter and more flexible, while reducing the size of the finger phalanx module. On the other hand, the direct transmission method of the drive module drives the first phalanx, reducing the length or complexity of the transmission chain, which is conducive to improving transmission efficiency and reducing the complexity of the finger phalanx module. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0018] Figure 1 This is a schematic diagram of one embodiment of the finger joint module of this application;

[0019] Figure 2 yes Figure 1 A schematic diagram of the structure of the first phalanx of the middle finger;

[0020] Figure 3 yes Figure 1 A schematic diagram of the structure of the second phalanx of the middle finger;

[0021] Figure 4 This is a schematic diagram of the drive module.

[0022] Figure 5 This is a structural schematic diagram of one embodiment of the dexterous hand of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] See Figures 1 to 4The finger joint module 1 includes a first joint 10 and a second joint 20. The first joint 10 includes a first connector 110 and a second connector 120. The second connector 120 and the first connector 110 are spaced apart along a first direction X. The second joint 20 includes a third connector 210. The third connector 210 has a cavity 211 extending along the first direction X and is disposed between the first connector 110 and the second connector 120. The cavity 211 is used to house the drive module 2. The first joint 10 is configured to rotate relative to the second joint 20 under the drive of the drive module 2.

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

[0026] The third connector 210 of the second phalanx 20 of this application is located between the first connector 110 and the second connector 120 of the first phalanx 10. The first connector 110 and the second connector 120 rotate relative to the third connector 210. The cavity 211 of the third connector 210 can hold the drive module 2. The drive module 2 drives the first phalanx 10 to rotate relative to the second phalanx 20. The cavity 211 houses the necessary drive and transmission components. On the one hand, it optimizes the overall structure of the finger joint module 1, making the space of the finger joint more compact, and the entire finger joint module 1 lighter and more flexible, while reducing the size of the finger joint module 1. On the other hand, the direct transmission method of the drive module 2 drives the first phalanx 10, reducing the length or complexity of the transmission chain, which is beneficial to improving transmission efficiency and reducing the complexity of the finger joint module 1.

[0027] See Figure 2 In one embodiment, the first connector 110 is provided with a first through hole 111 extending along the first direction X, and the first through hole 111 is used for transmission cooperation with the output end 21 of the drive module 2.

[0028] Specifically, the drive module 2 is placed inside the cavity 211, and the output end 21 of the drive module 2 passes through the first through hole 111, so that the first connector 110 and the drive module 2 are in transmission cooperation. The drive module 2 can be a motor or a servo motor. The output end 21 of the drive module 2 is the output shaft of the motor or the output shaft of the servo motor. The output shaft of the motor or the servo motor drives the first connector 110 to rotate, that is, the output end 21 of the drive module 2 drives the first connector 110 to rotate.

[0029] Continue reading Figure 2 In one embodiment, the inner wall of the first through hole 111 is provided with a gear ring, which is used to drive the output end 21 of the module 2 in the form of an output gear to mesh.

[0030] Specifically, the output end 21 of the drive module 2 is in the form of an output gear. Alternatively, the output end 21 of the drive module 2 may include an output gear. The output end 21 passes through the first through hole 111 of the first connector 110. The gear ring in the first through hole 111 is sleeved on the output end 21 and meshes with the gear of the output end 21. When the output end 21 rotates, the output end 21 drives the gear ring to rotate synchronously, thereby driving the first connector 110 to rotate. Through the precise meshing of the output end 21 and the gear ring, the accuracy of motion transmission between the drive module 2 and the first connector is improved.

[0031] See Figure 3 In one embodiment, the cavity 211 is cylindrical and is used to house the cylindrical drive module 2.

[0032] Specifically, the outer shell of the drive module 2 is usually cylindrical. For example, the outer shell of the motor is cylindrical, and the cavity 211 is set to be cylindrical, so that the cavity 211 of the third connector 210 can be matched with the drive module 2, reducing the redundant space in the cavity 211, improving the space utilization of the cavity 211, and at the same time reducing the size of the third connector 210, thereby reducing the overall size of the finger joint module 1.

[0033] In other embodiments, the cavity 211 may also be a cuboid, a cube, or other shapes, as long as the drive module 2 can be placed inside the cavity 211.

[0034] Continue reading Figure 2 In one embodiment, the second connector 120 is provided with a groove 121 facing the cavity 211, the groove 121 is used to receive the first end 22 of the drive module 2, and the second connector 120 is configured to be rotatable around the first end 22 of the drive module 2.

[0035] Specifically, a portion of the drive module 2 is located within the cavity 211, and another portion of the drive module 2 is located within the groove 121. The groove 121 limits the first end 22 of the drive module 2. The groove 121 matches the shape of the first end 22 of the drive module 2, reducing the shaking of the drive module 2. When the drive module 2 drives the first knuckle 10 to rotate relative to the second knuckle 20, it reduces the error caused by the shaking of the drive module 2, thereby improving the control accuracy of the finger knuckle module 1. When the drive module 2 drives the first phalanx 10 to rotate relative to the second phalanx 20, the drive module 2 drives the first connector 110 to rotate synchronously. The second connector 120 is configured to rotate around the first end 22 of the drive module 2. The second connector 120 rotates synchronously with the first connector 110 to maintain the limit on both ends of the drive module 2. At the same time, the axes of the first connector 110, the second connector 12 and the drive module 2 are located on the same axis during the rotation. That is, the first connector 110, the second connector 12 and the drive module 2 maintain coaxiality to avoid the position of the drive module 2 from moving.

[0036] Further, see Figure 2 In one embodiment, the bottom of the groove 121 is provided with a second through hole 122 extending along the first direction X.

[0037] Specifically, the bottom of the groove 121 of the second connector 120 is provided with a second through hole 122, through which the drive module 2 can be observed, facilitating the inspection of the operating status of the drive module 2. At the same time, the second through hole 122 reduces the weight of the second connector 120, thereby reducing the weight of the finger joint module 1. Since reducing weight can reduce inertia, it can improve the movement efficiency of the first joint 10, thereby improving the control precision of the finger joint module 1.

[0038] See Figure 3 In one embodiment, the third connector 210 is provided with a third through hole 212, and the second finger joint 20 also includes a locking member (not shown). The locking member is used to pass through the third through hole 212 and connect to the drive module 2 so that the drive module 2 is fixed in the cavity 211.

[0039] Specifically, the drive module 2 is first placed inside the cavity 211. One end of the locking member passes through the third through hole 212 and is fixedly connected to the drive module 2. The connection can be achieved by the locking member pressing against the outer surface of the drive module 2, or by the locking member being screwed into the through hole opened on the outer surface of the drive module 2. This fixes the drive module 2 inside the cavity 211, preventing the drive module 2 from moving inside the cavity 211 and ensuring the stability of the drive module 2.

[0040] In one embodiment, the locking element is a bolt or a stud, that is, one end of the bolt is fixedly connected to the drive module 2, or one end of the stud is fixedly connected to the drive module 2, thereby fixing the drive module 2 inside the cavity 211.

[0041] In one embodiment, the third through hole 212 is a threaded hole. Specifically, the thread can provide a tighter and more secure connection. The threaded hole cooperates with the locking member and is tightened by rotating the locking member. The locking member can be fixedly connected to the third connector 210 and the drive module 2, so that the drive module 2 is fixed in the cavity 211.

[0042] In one embodiment, the third connector 210 is provided with a plurality of third through holes 212 arranged circumferentially, and each locking member passes through the corresponding third through hole 212 to connect with the drive module 2.

[0043] Specifically, the third connector 210 is provided with multiple third through holes 212. Each locking member passes through the corresponding third through hole 212 and connects to the drive module 2. Since the third through holes 212 are arranged circumferentially, they can be arranged with uniform spacing or non-uniform spacing. The locking members are also arranged circumferentially and connected to the drive module 2. The drive module 2 is fixed in the cavity 211 from multiple directions, preventing the drive module 2 from rotating or tilting, thereby improving the stability of the drive module 2 and improving the precision of the finger joint module.

[0044] See Figure 1 , Figure 2 and Figure 3 The first phalanx 10 also includes a first phalanx body 130, a first connector 110 and a second connector 120 disposed at the first end of the first phalanx body 130, and a fourth connector 140 identical to the third connector 210 disposed at the second end of the first phalanx body 130. The second phalanx 20 also includes a second phalanx body 220, a third connector 210 disposed at the first end of the second phalanx body 220, and a fifth connector 230 and a sixth connector 240 identical to the first connector 110 and the second connector 120 disposed at the second end of the second phalanx body 220.

[0045] Specifically, the first phalanx body 130 has a first end and a second end, the first end of the first phalanx body 130 is provided with a first connector 110 and a second connector 120, and the second end of the first phalanx body 130 is provided with a fourth connector 140. The second phalanx body 220 has a first end and a second end, the first end of the second phalanx body 220 is provided with a third connector 210, and the second end of the second phalanx body 220 is provided with a fifth connector 230 and a sixth connector 240. The first connector 110 of the first phalanx 10... The second connector 120 is correspondingly configured with the third connector 210 of the second phalanx 20 so that the drive module 2 drives the first phalanx 10 to rotate relative to the second phalanx 20. Similarly, the fifth connector 230 and the sixth connector 240 of the second phalanx 20 are correspondingly configured with the connectors of other phalanxes so that the drive module 2 can drive the second phalanx 20 to rotate relative to other phalanxes. Alternatively, the connectors of other phalanxes can be matched with the fourth connector 140 of the first phalanx 10 so that the drive module 2 can drive other phalanxes to rotate relative to the first phalanx 10.

[0046] In one embodiment, the first end of the first phalanx body 130 is provided with a first connector 110 and a second connector 120, the first end of the second phalanx body 220 is provided with a third connector 210, and the second end of the second phalanx body 220 is provided with a fifth connector 230 and a sixth connector 240. That is, in this embodiment, the second end of the first phalanx body 130 is not provided with a fourth connector 140, so that the first phalanx 10 can be used as the distal phalanx of the dexterous hand 3, and the second phalanx 20 can be used as the middle phalanx of the dexterous hand 3.

[0047] In one embodiment, the first knuckle body 130 has a hollow structure, which facilitates the arrangement of the wiring of the drive module 2 within the first knuckle body 130; or the second knuckle body 220 has a hollow structure, which facilitates the arrangement of the wiring of the drive module 2 within the second knuckle body 220.

[0048] Of course, in other embodiments, the first phalanx body 130 may also be a solid structure, or the second phalanx body 220 may be a solid structure.

[0049] See Figure 2 The second connector 120 is detachably mounted on the first phalanx body 130.

[0050] Specifically, when the drive module 2 needs to be installed, it is placed inside the cavity 211, and the second connector 120 is installed on the first knuckle body 130, confining the drive module 2 within the cavity 211. When the drive module 2 needs to be removed, the second connector 120 is removed from the first knuckle body 130, and the drive module 2 is taken out for replacement or removal. The second connector 120 is detachably installed on the first knuckle body 130, improving the convenience and flexibility of maintaining the drive module 2.

[0051] In one embodiment, the drive module 2 first passes through the cavity 211, then passes through the groove 121 of the second connector 120, and then the second connector 120 is fixed to the first knuckle body 130, thus confining the drive module 2 within the groove 121 and the cavity 211, thereby completing the installation of the drive module 2.

[0052] See Figure 5 This application also protects a dexterous hand 3 for use in a robot. The dexterous hand 3 includes a palm and fingers, with the fingers fixedly connected to the palm. Each finger includes multiple drive modules 2 and multiple finger joint modules 1. Each drive module 2 is installed in a cavity 211. Each drive module 2 is used to drive the first joint 10 in each finger joint module 1 to rotate relative to the second joint 20.

[0053] This application also protects a robot, including the dexterous hand 3 in any of the above embodiments. The other structures of the robot are the same as those in the prior art and will not be described in detail here. The types of robots include industrial robots, collaborative robots, service robots, medical robots, or special-purpose robots. It should be noted that this application does not limit the types of robots.

[0054] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A finger joint module for use in a robot, characterized in that, The finger joint module includes: The first finger joint includes a first connector and a second connector, wherein the second connector and the first connector are spaced apart along a first direction; The second joint includes a third connector, the third connector having a cavity extending along the first direction and disposed between the first connector and the second connector, the cavity being used to house the drive module; The first phalanx is configured to rotate relative to the second phalanx under the drive of the drive module.

2. The finger joint module of claim 1, wherein The first connector is provided with a first through hole extending along the first direction, and the first through hole is used for transmission engagement with the output end of the drive module.

3. The finger joint module of claim 2, wherein, The inner wall of the first through hole is provided with a gear ring, which is used to mesh with the output end of the drive module in the form of an output gear.

4. The finger joint module of claim 1, wherein, The cavity is cylindrical and is used to house the cylindrical drive module.

5. The finger joint module of claim 1, wherein, The second connector has a groove facing the cavity, the groove being used to receive the first end of the drive module, and the second connector is configured to rotate around the first end of the drive module.

6. The finger joint module of claim 5, wherein, The bottom of the groove is provided with a second through hole extending along the first direction.

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

8. The finger joint module of claim 7, wherein, The third through hole is a threaded hole.

9. The finger joint module of claim 1, wherein, The first phalanx also includes a first phalanx body, the first connector and the second connector are disposed at the first end of the first phalanx body, and the second end of the first phalanx body is provided with a fourth connector that is the same as the third connector; The second phalanx also includes a second phalanx body, the third connector is disposed at the first end of the second phalanx body, and the second end of the second phalanx body is provided with a fifth connector and a sixth connector that are the same as the first connector and the second connector.

10. The finger joint module of claim 9, wherein, The second connector is detachably mounted on the first knuckle body.

11. A dexterous hand for use in a robot, characterized in that, Includes a palm and fingers, with the fingers fixedly connected to the palm; The finger includes multiple drive modules and multiple finger joint modules as described in any one of claims 1 to 10, each drive module being installed in each of the cavities, and each drive module being used to drive the first joint in each of the finger joint modules to rotate relative to the second joint.

12. A robot, characterized in that, Including the dexterous hand as described in claim 11.

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