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 joint body, an air bladder, and a pressure sensor. The joint body has a first surface and a second surface disposed opposite to each other, and a first through groove connecting the first surface and the second surface. The air bladder is located on one side of the first surface and is connected to the joint body. The pressure sensor is located in the first through groove and is connected to the joint body. The gas in the air bladder is in communication with the pressure sensor, which is used to measure the air pressure value of the air bladder. Through the above method, this application can improve the accuracy of pressure measurement.

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 development of robotics technology, the performance and functionality of robotic fingers, as key components for achieving precision operations, are becoming increasingly important. However, in existing robotic finger designs, especially in applications involving finger joint grasping, the accuracy of measuring the pressure applied to the grasped object plays a crucial role. Insufficient accuracy directly affects the gripping stability, flexibility, and adaptability of the robotic finger, limiting its application capabilities in complex environments. Therefore, improving the accuracy of pressure measurement in finger joint modules has become an urgent problem to be solved. Utility Model Content

[0003] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can improve the accuracy of pressure measurement.

[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, the finger joint module comprising: a joint body having a first surface and a second surface disposed opposite to each other, and having a first through groove connecting the first surface and the second surface; an air bladder located on one side of the first surface and connected to the joint body; and a pressure sensor located in the first through groove and connected to the joint body, wherein the gas in the air bladder is connected to the pressure sensor, and the pressure sensor is used to measure the pressure value of the air bladder.

[0005] Preferably, the airbag is bonded to the knuckle body.

[0006] Preferably, the first surface is provided with a first through hole, and the finger joint module further includes a pipe located in the first through hole, one end of the pipe being connected to the airbag and the other end being connected to the air pressure sensor.

[0007] Preferably, a protrusion is provided on one side of the first surface of the knuckle body, and the third surface of the protrusion away from the first surface is a concave surface.

[0008] Preferably, the first end of the airbag is provided with a protrusion, the knuckle body is provided with a first groove, and the protrusion passes through the first groove along a first direction.

[0009] Preferably, the knuckle body includes a first sub-knuckle body and a second sub-knuckle body, the second sub-knuckle body being sleeved on the first sub-knuckle body and detachably connected to the first sub-knuckle body.

[0010] Preferably, the finger joint module further includes: a first housing located on one side of the second surface and connected to the joint body to seal the pressure sensor.

[0011] Preferably, the first housing is provided with a second through hole, and the locking member passes through the second through hole to connect the first housing and the knuckle body.

[0012] Preferably, the material of the airbag includes silicone, rubber, or thermoplastic elastomer.

[0013] Preferably, the side of the airbag opposite to the first surface includes an arched curved surface.

[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 the finger joint module described in any of the above-mentioned claims.

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

[0016] The beneficial effects of this application are as follows: Unlike existing technologies, in this application, the airbag and pressure sensor are fixed to the knuckle body, with the pressure sensor positioned within the first through groove of the knuckle body. On one hand, by embedding the airbag into the knuckle body, the size of the finger knuckle module is reduced, achieving compactness and integration. On the other hand, during the movement of the finger knuckle module, because the pressure sensor and airbag are fixed to the knuckle body, their relative positions remain unchanged, improving the stability and accuracy of the pressure sensor measurement and avoiding measurement deviations caused by the movement of the airbag and pressure sensor. Furthermore, the airbag is positioned on the first surface of the knuckle body, and its placement more closely resembles the contact state between the finger knuckle module and the object when actually picking it up, increasing the contact area between the airbag and the object. Moreover, by measuring the gas pressure inside the airbag using the pressure sensor, the accuracy of the pressure measurement is improved. 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 the structure of an embodiment of the finger joint module of this application;

[0019] Figure 2 yes Figure 1A cross-sectional structural diagram of the middle finger knuckle module;

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

[0021] Figure 4 This is a schematic diagram of another embodiment of the finger joint module of this application;

[0022] Figure 5 yes Figure 4 A schematic diagram of the structure of the middle phalanx from one perspective;

[0023] Figure 6 yes Figure 4 A schematic diagram of the structure of the middle phalanx from another perspective;

[0024] Figure 7 This is a schematic diagram of the structure of an embodiment of the dexterous hand of this application. Detailed Implementation

[0025] 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.

[0026] See Figure 1 , Figure 2 and Figure 4 The finger joint module 1 includes a joint body 10, an airbag 20, and a pressure sensor 30.

[0027] The knuckle body 10 has a first surface 11 and a second surface 12 disposed opposite to each other, and a first through groove 13 connecting the first surface 11 and the second surface 12. An airbag 20 is located on one side of the first surface 11 and connected to the knuckle body 10. A pressure sensor 30 is located within the first through groove 13 and connected to the knuckle body 10. The gas in the airbag 20 is in communication with the pressure sensor 30, which measures the pressure value of the airbag 20.

[0028] Specifically, the knuckle body 10 serves to support the airbag 20 and the pressure sensor 30, and can also be used to connect with other finger knuckles. The airbag 20 is located on one side of the first surface 11 of the knuckle body 10 and is fixedly connected to the knuckle body 10. The pressure sensor 30 is located in the first through groove 13 of the knuckle body 10, and both the pressure sensor 30 and the airbag 20 are fixedly connected to the knuckle body 10. When the finger knuckle module 1 contacts an object, because the airbag 20 is made of flexible material and filled with gas, the contact and compression between the airbag 20 and the object causes a change in the volume of the airbag 20, resulting in a change in the air pressure inside the airbag 20. The pressure sensor 30 detects this change in air pressure and converts it into a voltage signal. According to the relationship between air pressure and voltage, the voltage generated by the pressure sensor 30 is proportional to the air pressure inside the airbag 20. When the air pressure inside the airbag 20 increases, the voltage generated by the sensor also increases accordingly; conversely, when the air pressure decreases, the voltage also decreases. The pressure exerted on the finger joint module 1 when it contacts an object is obtained by measuring the air pressure in the airbag 20.

[0029] In this application, the airbag 20 and the air pressure sensor 30 are fixed on the knuckle body 10. The air pressure sensor 30 is disposed in the first through groove 13 of the knuckle body 10. On the one hand, by embedding the air pressure sensor 30 into the knuckle body 10, the size of the finger knuckle module 1 is reduced, achieving compactness and integration of the finger knuckle module 1. On the other hand, during the movement of the finger knuckle module 1, since the air pressure sensor 30 and the airbag 20 are fixed on the knuckle body 10, their relative positions remain unchanged, improving the stability and accuracy of the air pressure sensor 30 measurement and avoiding measurement deviations caused by the shaking of the airbag 20 and the air pressure sensor 30. In addition, the airbag 20 is disposed on the first surface 11 of the knuckle body 10. The placement of the airbag 20 is closer to the contact state between the finger knuckle module 1 and the object when actually picking up an object, increasing the contact area between the airbag 20 and the object. Furthermore, by measuring the gas pressure inside the airbag 20 through the air pressure sensor 30, the accuracy of the measurement is improved.

[0030] In one embodiment, the pressure sensor 30 can be a piezoresistive sensor or a capacitive sensor.

[0031] See Figure 2 In one embodiment, the first end of the airbag 20 is provided with a protrusion 210, and the knuckle body 10 is provided with a first groove 42. The protrusion 210 passes through the first groove 42 along a first direction X. The first direction X can be the width direction of the knuckle body 10.

[0032] Specifically, the first groove 42 of the knuckle body 10 corresponds to the protrusion 210 of the airbag 20. The first groove 42 and the protrusion 210 cooperate to form a tight sealing structure. When the first end of the airbag 20 passes through the first groove 42 of the knuckle body 10, the shape of the protrusion 210 and the size of the first groove 42 are precisely matched, thereby ensuring a seamless connection between the airbag 20 and the knuckle body 10, preventing gas leakage from the airbag 20, and enhancing the sealing performance of the airbag 20. An adhesive can also be provided between the first groove 42 and the protrusion 210 to further enhance the strength and sealing performance of the connection between the two.

[0033] Continue reading Figure 2 In one embodiment, the knuckle body 10 is provided with a third through hole 15, and the airbag 20 is provided with a fourth through hole 21. The third through hole 15 and the fourth through hole 21 are coaxially arranged, and a screw or stud passes through the fourth through hole 21 and the third through hole 15 in sequence to achieve a fixed connection between the airbag 20 and the knuckle body 10. The extending direction of the third through hole 15 and the fourth through hole 21 is the first direction X.

[0034] Continue reading Figure 2 and Figure 3 In one embodiment, the knuckle body 10 includes a first sub-knuckle body 110 and a second sub-knuckle body 120. The second sub-knuckle body 120 is sleeved outside the first sub-knuckle body 110 and is detachably connected to the first sub-knuckle body 110.

[0035] Specifically, the first sub-knuckle body 110 is provided with a first through groove 13, the air pressure sensor 30 is installed in the first through groove 13, the second sub-knuckle body 120 is sleeved on the first sub-knuckle body 110, the first sub-knuckle body 110 and the second sub-knuckle body 120 are fixedly connected, and the second sub-knuckle body 120 can be fixed on the first sub-knuckle body 110 by screws, studs or bolts.

[0036] Continue reading Figure 2 In one embodiment, the second sub-knuckle body 120 is provided with a third through hole 15, and a screw passes through the fourth through hole 21 of the airbag 20 and the third through hole 15 of the second sub-knuckle body 120 to fix the airbag 20 on the second sub-knuckle body 120.

[0037] In one embodiment, the airbag 20 is bonded to the knuckle body 10.

[0038] Specifically, an adhesive layer (not shown) is provided on one side of the first surface 11 of the knuckle body 10. The adhesive layer fixes the airbag 20 and the knuckle body 10, so that the airbag 20 is attached to one side of the first surface 11 of the knuckle body 10. Alternatively, an adhesive layer is provided on one side of the airbag 20 to attach the airbag 20 to the knuckle body 10.

[0039] In one embodiment, the adhesive layer can be foam, which adheres to the knuckle body 10 and the airbag 20. Alternatively, the adhesive layer can be epoxy resin, which is applied to one side of the knuckle body 10 or the airbag 20 to bond the airbag 20 body and the knuckle body 10.

[0040] In one embodiment, the pressure sensor 30 is bonded to the knuckle body 10. The groove wall or part of the bottom of the first through groove 13 of the knuckle body 10 is provided with an adhesive layer, which is bonded to the pressure sensor 30, so that the pressure sensor 30 is fixed in the first through groove 13.

[0041] See Figure 5 In one embodiment, the first surface 11 is provided with a first through hole 14, and the finger joint module 1 also includes a pipe (not shown), which is located in the first through hole 14. One end of the pipe is connected to the airbag 20, and the other end is connected to the air pressure sensor 30.

[0042] Specifically, the first through hole 14 is connected to the first through groove 13. The air pressure sensor 30 located in the first through groove 13 is connected to the pipe located in the first through hole 14. The pipe is connected to the airbag 20. The airbag 20 and the air pressure sensor 30 are connected through the pipe. The diameters at both ends of the pipe can be adapted to the airbag 20 and the air pressure sensor 30 to facilitate the connection of airbags 20 and air pressure sensors 30 of different sizes.

[0043] In one embodiment, the airbag 20 is directly connected to the air pressure sensor 30, and the opening of the airbag 20 is connected to the monitoring end of the air pressure sensor 30, so that the air pressure sensor 30 can directly measure the air pressure of the airbag 20.

[0044] See Figure 6 In one embodiment, a protrusion 130 is provided on one side of the first surface 11 of the knuckle body 10, and the third surface 131 of the protrusion 130 away from the first surface 11 is concave.

[0045] Specifically, the airbag 20 is installed on one side of the first surface 11 of the knuckle body 10. The first surface 11 of the knuckle body 10 is flat and is used to install the airbag 20. The first surface 11 is in close contact with the airbag 20 to prevent the airbag 20 from leaking. It can be understood that the protrusion 130 has a certain height, and the airbag 20 can also be in contact with the side of the protrusion 130, further increasing the sealing between the airbag 20 and the knuckle body 10. The third surface 131 of the protrusion 130 is in contact with the gas in the airbag 20. The third surface 131 is concave, and the gas in the airbag 20 fills the concave surface, thus further increasing the volume of the airbag 20, improving the contact area and fit between the airbag 20 and the knuckle body 10, and improving the accuracy of the air pressure sensor 30 measurement.

[0046] Continue reading Figure 6The protruding post 130 is provided with a first through hole 14, and the pipe located in the first through hole 14 is connected to the airbag 20.

[0047] See Figure 5 In one embodiment, the barometric pressure sensor 30 is generally square in shape, and the first through groove 13 is square in shape, so that the first through groove 13 can be adapted to the shape of the barometric pressure sensor 30, and the barometric pressure sensor 30 can be tightly fitted to the first through groove 13.

[0048] In one embodiment, the first through groove 13 is a trapezoidal groove, and the width of the first through groove 13 decreases with the extension direction of the first through groove 13, so as to facilitate the fixed installation of the air pressure sensor 30 in the first through groove 13.

[0049] In one embodiment, in the extending direction of the first through slot 13, the knuckle body 10 is provided with a second through slot (not shown) that communicates with the first through slot 13. The second through slot is used to place a circuit board, which is electrically connected to the air pressure sensor 30.

[0050] See Figure 1 and Figure 4 In one embodiment, the finger joint module 1 further includes a first housing 40 located on one side of the second surface 12 and connected to the joint body 10 to seal the air pressure sensor 30.

[0051] Specifically, the first housing 40 is fixedly connected to the knuckle body 10. The first housing 40 seals the opening of one end of the first through groove 13 of the knuckle body 10. The pressure sensor 30 is located at the other end of the first through groove 13. The first housing 40 forms a seal for the pressure sensor 30 to prevent dust and moisture from entering the first through groove 13 and contaminating the pressure sensor 30, and to prevent dust and moisture in the external environment from affecting the accuracy of the pressure sensor 30.

[0052] Continue reading Figure 1 and Figure 4 In one embodiment, the first housing 40 is provided with a second through hole 41, and the locking member 50 passes through the second through hole 41 to connect the first housing 40 and the knuckle body 10.

[0053] Specifically, the locking member 50 passes through the second through hole 41 on the first housing 40 and the through hole on the second surface 12 of the knuckle body 10 to fix the first housing 40 to the knuckle body 10, thereby improving the stability of the connection between the first housing 40 and the knuckle body 10.

[0054] In one embodiment, the second through hole 41 is a threaded hole, and the locking member 50 is a screw, bolt or stud. The first housing 40 and the knuckle body 10 can be connected by screws, bolts or studs. The mechanical connection between the two improves the stability of the connection between the first housing 40 and the knuckle body 10.

[0055] In one embodiment, the number of second through holes 41 is multiple, such as three, four, or five, to improve the stability of the connection between the first housing 40 and the finger body 10. It should be noted that this application does not impose a specific limitation on the number of second through holes 41.

[0056] In other embodiments, the first housing 40 and the knuckle body 10 are also bonded together by an adhesive layer, with the adhesive layer provided on one side of the second surface 12 of the knuckle body 10 to bond the first housing 40 to the knuckle body 10.

[0057] In one embodiment, the material of the airbag 20 includes silicone, rubber, or thermoplastic elastomer. The use of the above materials for the airbag 20 can not only meet the requirements of the airbag 20 for hardness, temperature resistance, chemical resistance and environmental protection, but also meet the requirements of the airbag 20 for wear resistance, processability and insulation, so that the finger joint module 1 can be applied to a variety of application scenarios.

[0058] Specifically, firstly, silicone has good flexibility and elasticity, which can adapt to the shape changes of the finger joint module 1 when it comes into contact with various objects, ensuring that the airbag 20 can fit tightly to the object surface and accurately transmit pressure to the airbag 20. Secondly, silicone has excellent high temperature and low temperature resistance, and can maintain its physical properties stable within a wide range of ambient temperatures, ensuring the reliability and stability of the finger joint module 1 in various working environments. In addition, silicone also has excellent biocompatibility and will not cause irritation or allergic reactions to human skin, so it can be used in applications that come into direct contact with the human body.

[0059] In one embodiment, the airbag 20 can also be made of rubber. Rubber provides excellent elasticity and resilience, and its molecular structure allows it to deform rapidly under pressure and return to its original shape after the pressure is removed. Using rubber as the material for the airbag 20 can provide sensitive pressure sensing and feedback for the finger knuckle module 1.

[0060] In one embodiment, the airbag 20 can also be made of thermoplastic elastomer (TPE). Thermoplastic elastomers combine the properties of thermoplastic plastics and rubber, exhibiting good flexibility, resilience, and weather resistance. Using thermoplastic elastomers to make the airbag 20 allows it to exhibit excellent cushioning performance under compression, while also being easy to process and mold, meeting the requirements of the finger joint module 1 for complex curved surfaces. Furthermore, thermoplastic elastomers also possess certain abrasion resistance and chemical corrosion resistance, which can extend the service life of the airbag 20 and improve the reliability and durability of the finger joint module 1.

[0061] Continue reading Figure 2 In one embodiment, the side of the airbag 20 opposite to the first surface 11 includes an arched surface.

[0062] Specifically, when the finger joint module 1 comes into contact with an object, the arched surface of the airbag 20 comes into contact with the object, and the object squeezes the arched surface of the airbag 20. The arched surface can be any convex continuous surface such as a hemisphere, parabola, or elliptical arc. The arched surface is close to the natural surface of the human hand. When the finger joint module 1 squeezes the object, it can improve the accuracy of the measurement.

[0063] See Figure 1 and Figure 4 In one embodiment, one end of the knuckle body 10 is provided with a connector 60, which is used to connect with other finger knuckle modules 1.

[0064] See Figure 7 This application also provides a dexterous hand 2 for use in a robot. The dexterous hand 2 includes a palm and fingers, with the fingers fixedly connected to the palm. The fingers include the finger joint module 1 in any of the above embodiments.

[0065] This application also provides a robot, including the dexterous hand 2 in any of the above embodiments. Other structures of the robot may be 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.

[0066] 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 knuckle body has a first surface and a second surface disposed opposite to each other, and a first through groove connecting the first surface and the second surface; An air bladder is located on one side of the first surface and is connected to the knuckle body; A pressure sensor is located in the first through groove and connected to the knuckle body. The gas in the airbag is connected to the pressure sensor, which is used to measure the air pressure value of the airbag.

2. The finger joint module according to claim 1, characterized in that, The air bladder is bonded to the knuckle body.

3. The finger joint module according to claim 1, characterized in that, The first surface is provided with a first through hole, and the finger joint module further includes: A pipe is located inside the first through hole, with one end of the pipe connected to the airbag and the other end connected to the air pressure sensor.

4. The finger joint module according to claim 1, characterized in that, The first surface of the knuckle body is provided with a protruding post on one side, and the third surface of the protruding post away from the first surface is a concave surface.

5. The finger joint module according to claim 1, characterized in that, The first end of the airbag is provided with a protrusion, and the knuckle body is provided with a first groove, with the protrusion passing through the first groove along a first direction.

6. The finger joint module according to claim 5, characterized in that, The knuckle body includes a first sub-knuckle body and a second sub-knuckle body. The second sub-knuckle body is sleeved on the first sub-knuckle body and is detachably connected to the first sub-knuckle body.

7. The finger joint module according to claim 1, characterized in that, The finger joint module also includes: A first housing, located on one side of the second surface, is connected to the knuckle body to seal the pressure sensor.

8. The finger joint module according to claim 7, characterized in that, The first housing has a second through hole, and the locking member passes through the second through hole to connect the first housing and the knuckle body.

9. The finger joint module according to claim 1, characterized in that, The airbag is made of materials including silicone, rubber, or thermoplastic elastomer.

10. The finger joint module according to any one of claims 1 to 9, characterized in that, The side of the airbag opposite to the first surface includes an arched curved surface.

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 a finger joint module as described in any one of claims 1 to 10.

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

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