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 body and a first connector. The first joint body has a hollow structure and has a first end and a second end opposite to each other. The first connector is disposed at the first end of the first joint body and has a cavity extending along a first direction for housing a drive module. The first connector is annular and has a first surface and a second surface opposite to each other, with the first direction being from the first surface to the second surface. 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 rapid advancement of robotics technology, the application scenarios of robots are becoming increasingly widespread, from industrial automated assembly to complex and precise operations, and even unstructured environments such as service, healthcare, and exploration. Robots are playing an increasingly important role. To achieve near-human hand-like operational performance, the concept of fully actuated fingers has emerged. Fully actuated fingers mean that each phalanx is equipped with an independent drive unit, enabling it to perform independent rotational or extensional movements. This design allows the fingers to achieve complex three-dimensional spatial posture adjustments, precise grasping force and position control, and the ability to adapt to deformations of objects of different shapes. It is precisely this pursuit of high flexibility and dexterity that makes the phalanx structure of fully actuated fingers exceptionally complex. Therefore, how to reduce the complexity and size of finger phalanxes 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: to provide a finger joint module for a robot, comprising: a first joint body having a hollow structure and having a first end and a second end opposite to each other; a first connector disposed at the first end of the first joint body, having a cavity extending along a first direction, the cavity being used to place a drive module; wherein, the first connector is annular, the first connector having a first surface and a second surface disposed opposite to each other, the first direction being the first surface pointing towards the second surface.

[0005] Preferably, the first connector has a first through hole, and the finger joint module further includes a locking member, which is used to pass through the first through hole and connect to the drive module so that the drive module is fixed in the cavity.

[0006] Preferably, the cavity is cylindrical and is used to house the cylindrical drive module.

[0007] Preferably, it further includes: a first limiting member, connected to the first connecting member, located on the first surface of the first connecting member.

[0008] Preferably, the first phalanx body and the first connector form a first phalanx; the finger phalanx module further includes: a second phalanx, including a second connector and a third connector; the third connector and the second connector are spaced apart along the first direction, and the first connector is disposed between the second connector and the third connector; wherein, the second phalanx is configured to rotate relative to the first phalanx under the drive of the drive module.

[0009] Preferably, it further includes: a second limiting member, connected to the second connecting member, located on the first side of the second connecting member; wherein, both the second connecting member and the third connecting member are rotatably connected to the first connecting member, and when the second phalanx rotates relative to the first phalanx to a certain angle, the second limiting member overlaps with the first limiting member.

[0010] Preferably, the rotation angle of the second knuckle relative to the first knuckle ranges from 0 degrees to 90 degrees.

[0011] Preferably, the first limiting member includes a protrusion, and / or the second limiting member includes a protrusion.

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

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

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for robots, 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 technical solutions, and each drive module is installed in each cavity.

[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 in the above technical solution.

[0016] The beneficial effects of this application are as follows: Unlike the prior art, the first connector in this application is annular, and a cylindrical drive module can be placed inside the cavity of the first connector. The hollow structure of the first phalanx body can hold circuits electrically connected to the drive module. On the one hand, the annular structure of the first connector matches the shape of the drive module, allowing the drive module to be stably and firmly installed on the finger joint, while reducing the size of the finger joint module. On the other hand, the internal space of the first phalanx body can be used to place the lines or control circuits connected to the drive module, avoiding wear and damage caused by long-term exposure of the lines, while making the appearance of the finger joint module neat and beautiful. Furthermore, the direct transmission method of the drive module drives the first phalanx, 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. 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 This is a schematic diagram of the drive module.

[0020] Figure 3 This is a schematic diagram of another embodiment of the finger joint module of this application;

[0021] Figure 4 This is a schematic diagram of the structure of the dexterous hand in this application. Detailed Implementation

[0022] 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.

[0023] See Figure 1 and Figure 2 The finger joint module 1 provided in one embodiment of this application includes a first joint body 110 and a first connector 120.

[0024] The first knuckle body 110 has a hollow structure and has a first end 111 and a second end 112 opposite to each other. The first connector 120 is disposed at the first end 111 of the first knuckle body 110 and has a cavity 121 extending along the first direction X. The cavity 121 is used to place the drive module 2. The first connector 120 is annular and has a first surface 122 and a second surface 123 opposite to each other. The first direction X is from the first surface 122 to the second surface 123.

[0025] Specifically, the first connector 120 is annular and has a cavity 121 extending along the first direction X. The drive module 2 can be placed inside the cavity 121 of the first connector 120, and the drive module 2 is adapted to the annular shape of the first connector 120. The drive module 2 is entirely placed within the cavity 121 of the first connector 120 and is not located within the first connector 120 or the first knuckle body 110; thus, the cavity 121 of the first connector 120 can be configured not to communicate with the first knuckle body 110. Therefore, compared to placing the drive module 2 simultaneously within the first knuckle body 110 and the first connector 120, the volume occupied by the drive module 2 is reduced, facilitating a reduction in the size of the finger knuckle module 1. The hollowness of the first knuckle body 110 reduces its weight and can also be used to house the control circuit electrically connected to the drive module 2.

[0026] In this application, the first connector 120 is annular. The cylindrical drive module 2 can be placed inside the cavity 121 of the first connector 120, and the circuit electrically connected to the drive module 2 can be placed inside the hollow structure of the first knuckle body 110. On the one hand, the annular structure of the first connector 120 matches the shape of the drive module 2, so the drive module 2 can be stably and firmly installed on the finger joint, while reducing the size of the finger joint module 1. On the other hand, the internal space of the first knuckle body 110 can be used to place the lines or control circuits connected to the drive module 2, avoiding long-term exposure of the lines and causing wear and damage, while making the appearance of the finger joint module 1 neat and beautiful. Furthermore, the direct transmission method of the drive module 2 drives the first knuckle 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] Continue reading Figure 1 The first connector 120 is provided with a first through hole 124. The finger joint module 1 also includes a locking member (not shown in the figure), which is used to pass through the first through hole 124 and connect to the drive module 2 so that the drive module 2 is fixed in the cavity 121.

[0028] Specifically, the first through hole 124 of the first connector 120 connects to the cavity 121. When it is necessary to fix the drive module 2, the locking member passes through the first through hole 124 and enters the cavity 121 to connect the locking member and 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, thereby fixing the drive module 2 in the cavity 121.

[0029] In one embodiment, the first connector 120 is provided with a plurality of first through holes 124, and each locking member passes through the corresponding first through hole 124 and is connected to the drive module 2. Since the first through holes 124 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, fixing the drive module 2 in the cavity 121 from multiple directions, preventing the drive module 2 from rotating or tilting, thereby improving the stability of the drive module 2 and improving the accuracy of the finger joint module.

[0030] 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 121.

[0031] In one embodiment, the first through hole 124 is a threaded hole. The locking member passes through the first through hole 124 and the through hole opened on the outer surface of the drive module 2. The external thread of the locking member is thread-matched with the internal thread of the first through hole 124, and the external thread of the locking member is thread-matched with the internal thread of the through hole on the drive module 2, thereby fixing the drive module 2 in the cavity 121.

[0032] Continue reading Figure 1 The cavity 121 is cylindrical and is used to house the cylindrical drive module 2.

[0033] 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 121 is set to be cylindrical, so that the cavity 121 of the first connector 120 can be matched with the drive module 2, reducing the redundant space in the cavity 121, improving the space utilization of the cavity 121, and at the same time reducing the size of the first connector 120, thereby reducing the size of the finger joint module 1.

[0034] In other embodiments, the cavity 121 may also be a cuboid, a cube, or other shapes, as long as the drive module 2 can be placed inside the cavity 121.

[0035] Continue reading Figure 1 The finger joint module 1 also includes a first limiting member 130, which is connected to the first connecting member 120 and located on the first surface 122 of the first connecting member 120.

[0036] Specifically, the first limiting member 130 is used to limit the rotation range of adjacent phalanges of the first phalanx body 110. The first limiting member 130 is connected to the first connecting member 120. Other phalanges rotate relative to the first connecting member 120. The first limiting member 130 limits the maximum range of motion of the phalanges relative to the joint, ensuring that the fingers will not bend excessively when bent, avoiding mechanical damage or instability caused by other phalanges exceeding the range allowed by their structure or function, and making the rotation of the phalanges controllable and safe.

[0037] In one embodiment, the first limiting member 130 and the first connecting member 120 are integrally formed, and the first limiting member 130 and the first connecting member 120 form a whole, which reduces the stress concentration that may exist at the connection between the two and improves the overall strength and rigidity.

[0038] See Figure 3 In the finger joint module 1 provided in one embodiment of this application, a first joint body 110 and a first connector 120 form a first joint 10. The finger joint module 1 also includes a second joint 20, which includes a second connector 210 and a third connector 220. The third connector 220 and the second connector 210 are spaced apart along a first direction X. The first connector 120 is disposed between the second connector 210 and the third connector 220. The second joint 20 is configured to rotate relative to the first joint 10 under the drive of the drive module 2.

[0039] Specifically, the second connector 210 and the third connector 220 of the second phalanx 20 are spaced apart along the first direction X. The second connector 210 and the third connector 220 are located on both sides of the first connector 120 of the first phalanx 10. The cavity 121 extending along the first direction X on the annular first connector 120 is located between the second connector 210 and the third connector 220. The hollow structure of the first phalanx body 110 can be used to place the wiring connected to the drive module 2. The second connector 210 and the third connector 220 rotate relative to the first connector 120. The drive module 2 can be placed in the cavity 121. The drive module 2 can drive the second connector 210 or the third connector 220 individually, or drive the second connector 210 and the third connector 220 simultaneously, so that the second phalanx 20 rotates relative to the first phalanx 10.

[0040] See Figure 1 The finger joint module 1 also includes a second limiting member 230, which is connected to the second connecting member 210 and located on the first side 211 of the second connecting member 210. The second connecting member 210 and the third connecting member 220 are rotatably connected to the first connecting member 120. When the second joint 20 rotates relative to the first joint 10 to a certain angle, the second limiting member 230 overlaps with the first limiting member 130.

[0041] Specifically, the first limiting member 130 is located on the first surface 122 of the first connecting member 120, and the second limiting member 230 (second knuckle 20) is located on the first side 211 of the second connecting member 210. When the second knuckle 20 rotates relative to the first knuckle 10, the second connecting member 210 rotates relative to the first connecting member 120. When the second connecting member 210 rotates relative to the first connecting member 120 to a certain angle, the first limiting member 130 contacts and overlaps with the second limiting member 230, preventing the second connecting member 210 from continuing to rotate, thereby limiting the rotation range of the second knuckle 20 and avoiding mechanical damage caused by excessive rotation angle of the finger knuckle module 1. In one application scenario, when the first limiting member 130 overlaps with the second limiting member 230, the fingers of the dexterous hand 3 are in a straight state, that is, the dexterous hand 3 is in its initial state. The initial state of the drive module 2 is calibrated by the overlap state of the first limiting member 130 and the second limiting member 230, thereby positioning the initial position of the drive module 2. The first limiting member 130 and the second limiting member 230 can not only quickly confirm the initial state of the drive module 2, but also facilitate calibration when the initial position of the drive module 2 drifts.

[0042] In one embodiment, the second limiting member 230 and the second connecting member 210 are integrally formed, and the second limiting member 230 and the second connecting member 210 form a whole, which reduces the stress concentration that may exist at the connection between the two and improves the overall strength and rigidity.

[0043] In one embodiment, the rotation angle of the second phalanx 20 relative to the first phalanx 10 ranges from 0 degrees to 90 degrees.

[0044] Specifically, the rotation angle of the second phalanx 20 relative to the first phalanx 10 can be 0 degrees, 10 degrees, 30 degrees, 60 degrees, 80 degrees, or 90 degrees. When the first phalanx 10 rotates to 90 degrees, the first limiting member 130 contacts the second phalanx 20, restricting the second phalanx 20 from continuing to rotate. It should be noted that the rotation angle of the second phalanx 20 relative to the first phalanx 10 can be any angle from 0 degrees to 90 degrees. This application does not limit the specific angle of rotation of the second phalanx 20 relative to the first phalanx 10.

[0045] See Figure 1 In one embodiment, the first limiting member 130 includes a protrusion. Specifically, the protrusion protrudes from the first surface 122 of the first connector 120. When the second phalanx 20 rotates relative to the first phalanx 10 to a certain angle, the second phalanx 20 contacts the protrusion on the first phalanx 10, and the protrusion prevents the second phalanx 20 from continuing to rotate, thereby keeping the rotation angle of the second phalanx 20 within a set range. In this embodiment, the second limiting member 230 is not restricted.

[0046] In one embodiment, the second limiting member 230 includes a protrusion. Specifically, the protrusion protrudes from the first side surface 211 of the second connector 210. When the second phalanx 20 rotates relative to the first phalanx 10 to a certain angle, the first phalanx 10 contacts the protrusion on the second phalanx 20, and the protrusion prevents the second phalanx 20 from continuing to rotate. In this embodiment, the first limiting member 130 is not used for restriction.

[0047] In one embodiment, both the first limiting member 130 and the second limiting member 230 include protrusions. Specifically, when the second phalanx 20 rotates relative to the first phalanx 10 to a certain angle, the protrusion on the first phalanx 10 contacts and overlaps with the protrusion on the second phalanx 20, thereby limiting the rotation range of the second phalanx 20.

[0048] In one embodiment, see Figure 1 The bump can be a cube. In other embodiments, the bump can also be a cylinder or an irregularly shaped polyhedron, as long as it can limit the range of motion of the second phalanx 20.

[0049] See Figure 3 The second phalanx 20 also includes a second phalanx body 240, a second connector 210 and a third connector 220 disposed at the first end of the second phalanx body 240, a fourth connector 250 identical to the first connector 120 disposed at the second end of the second phalanx body 240, and a fifth connector 140 and a sixth connector 150 identical to the second connector 210 and the third connector 220 disposed at the second end of the first phalanx body 110.

[0050] Specifically, the finger joint module 1 includes a second joint 20 and a first joint 10. The first joint body 110 has a first end 111 and a second end 112. The first end 111 of the first joint body 110 is provided with a first connector 120, and the second end 112 of the first joint body 110 is provided with a fifth connector 140 and a sixth connector 150. The second joint body 240 has a first end and a second end. The first end of the second joint body 240 is provided with a second connector 210 and a third connector 220, and the second end of the second joint body 240 is provided with a fourth connector 210. 50. The second connector 210 and the third connector 220 of the second phalanx 20 are correspondingly arranged with the first connector 120 of the first phalanx 10 so that the drive module 2 drives the second phalanx 20 to rotate relative to the first phalanx 10. Similarly, the fifth connector 140 and the sixth connector 150 of the first phalanx 10 are correspondingly arranged with the connectors of other phalanxes so that the drive module 2 can drive the first phalanx 10 to rotate relative to the other phalanxes. Alternatively, the connectors of other phalanxes can be matched with the fourth connector 250 of the second phalanx 20 so that the drive module 2 can drive the other phalanxes to rotate relative to the second phalanx 20.

[0051] In one embodiment, the first end 111 of the first phalanx body 110 is provided with a first connector 120, the second end 112 of the first phalanx body 110 is provided with a fifth connector 140 and a sixth connector 150, and the first end of the second phalanx body 240 is provided with a second connector 210 and a third connector 220. That is, in this embodiment, the second end of the second phalanx body 240 is not provided with a fourth connector 250, so that the second phalanx 20 can be used in the distal phalanx.

[0052] See Figure 3 The third connector 220 is detachably mounted on the second phalanx body 240.

[0053] Specifically, when the drive module 2 needs to be installed, it is placed inside the cavity 121, and the third connector 220 is installed on the second knuckle body 240, confining the drive module 2 within the cavity 121. When the drive module 2 needs to be removed, the third connector 220 is removed from the second knuckle body 240, and the drive module 2 is taken out for replacement or removal. The third connector 220 is detachably installed on the second knuckle body 240, improving the convenience and flexibility of maintaining the drive module 2.

[0054] See Figure 4 This application also provides a dexterous hand 3 for use in robots. The dexterous hand 3 includes a palm and fingers, with the fingers fixedly connected to the palm. The fingers include multiple drive modules 2 and multiple finger joint modules 1, with each drive module 2 installed in a cavity 121.

[0055] This application also provides 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.

[0056] 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, include: The first phalanx is hollow and has a first end and a second end. A first connector is disposed at the first end of the first phalanx body and has a cavity extending in a first direction, the cavity being used to house the drive module; The first connector is annular and has a first surface and a second surface that are disposed opposite to each other. The first direction is that the first surface points to the second surface.

2. The finger joint module according to claim 1, characterized in that, The first connector has a first through hole, and the finger joint module also includes a locking member, which is used to pass through the first through hole and connect to the drive module so that the drive module is fixed in the cavity.

3. The finger joint module according to claim 1, characterized in that, The cavity is cylindrical and is used to house the cylindrical drive module.

4. The finger joint module according to any one of claims 1 to 3, characterized in that, The finger joint module also includes: The first limiting member is connected to the first connecting member and is located on the first surface of the first connecting member.

5. The finger joint module according to claim 4, characterized in that, The first phalanx body and the first connector form a first phalanx; the finger phalanx module further includes: The second finger joint includes a second connector and a third connector; the third connector and the second connector are spaced apart along the first direction, and the first connector is disposed between the second connector and the third connector; The second phalanx is configured to rotate relative to the first phalanx under the drive of the drive module.

6. The finger joint module according to claim 5, characterized in that, Also includes: The second limiting member is connected to the second connecting member and is located on the first side of the second connecting member; The second connector and the third connector are both rotatably connected to the first connector. When the second phalanx rotates relative to the first phalanx to a certain angle, the second limiting member overlaps with the first limiting member.

7. The finger joint module according to claim 6, characterized in that, The rotation angle of the second phalanx relative to the first phalanx ranges from 0 degrees to 90 degrees.

8. The finger joint module according to claim 6, characterized in that, The first limiting member includes a protrusion, and / or the second limiting member includes a protrusion.

9. The finger joint module according to claim 5, characterized in that, The second phalanx also includes a second phalanx body, the second connector and the third connector are disposed at the first end of the second phalanx body, and the second end of the second phalanx body is provided with a fourth connector identical to the first connector; The second end of the first phalanx body is provided with a fifth connector and a sixth connector, which are the same as the second connector and the third connector.

10. The finger joint module according to claim 9, characterized in that, The third connector is detachably mounted on the second 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.

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

Images