A dexterous finger joint module

Abstract

This utility model belongs to the field of drive structure technology and discloses a dexterous finger joint module, including: a drive box, comprising a middle shell, an upper shell, and a lower shell. The middle shell has a first cavity and a second cavity. The upper shell covers the first cavity, and the lower shell covers the second cavity and encloses the middle shell to form a third cavity, which communicates with the second cavity; a drive motor, a reduction gear set, and a first control board. The reduction gear set is at least partially installed in the first cavity, the drive motor is installed in the second cavity, and the first control board is installed in the third cavity. The first cavity and the second cavity are horizontally offset, and their openings face opposite directions. The dexterous finger joint module provided by this utility model adopts an integrated design, reducing the overall volume of the module, which is beneficial for the miniaturization and lightweight design of the dexterous hand, reducing assembly difficulty, and improving product stability and precision.

Description

Technical Field

[0001] This utility model relates to the field of drive structure technology, and in particular to a dexterous finger joint module. Background Technology

[0002] With the continuous development of robotics technology, humanoid mechanical dexterous hands, as an important execution component of robots, have broad application prospects in fields such as industrial production, medical rehabilitation, and service robots.

[0003] As the core component of a dexterous hand, the performance of the dexterous finger joint module directly affects the overall functionality and usability of the dexterous hand. Currently, the motor, gearbox, and control board in dexterous finger joint modules are designed separately, resulting in low integration and large size. This hinders the miniaturization and lightweight design of the dexterous hand, and the numerous assembly steps increase the risk of assembly errors, affecting product stability and precision.

[0004] Therefore, there is an urgent need for a dexterous finger joint module to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this utility model is to provide a dexterous finger joint module, which adopts an integrated design to reduce the overall size of the module, which is conducive to the miniaturization and lightweight design of dexterous hands, reduces assembly difficulty, and improves product stability and precision.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A dexterous finger joint module is provided, including:

[0008] A drive housing includes an intermediate shell, an upper shell, and a lower shell. The intermediate shell has a first cavity and a second cavity. The upper shell covers the first cavity, and the lower shell covers the second cavity and encloses the intermediate shell to form a third cavity. The third cavity communicates with the second cavity.

[0009] The system includes a drive motor, a reduction gear set, and a first control board, wherein the reduction gear set is at least partially installed in the first cavity, the drive motor is installed in the second cavity, and the first control board is installed in the third cavity.

[0010] The first cavity and the second cavity are offset in the horizontal direction, and the openings of the first cavity and the second cavity face opposite directions.

[0011] As an optional technical solution, a motor gear is mounted on the motor shaft of the drive motor. The reduction gear set includes a first double gear, a second double gear, a third double gear, a fourth double gear, a fifth double gear, and an output gear that are sequentially meshed and connected. The motor gear is meshed and connected to the first double gear. An output shaft is coaxially provided on the output gear and extends out of the upper housing.

[0012] As an optional technical solution, the output shaft passes through the central through hole of the output gear, and the output shaft is keyed to the output gear; or

[0013] The output shaft and the output gear are integrally formed.

[0014] As an optional technical solution, the intermediate housing is provided with a first connecting hole, which penetrates through the top wall of the second cavity. The first connecting hole allows the motor shaft of the drive motor to pass through upward, and the motor gear is installed at one end of the motor shaft that passes through the first connecting hole.

[0015] As an optional technical solution, the intermediate housing includes a platform portion and a boss portion, the height of the boss portion being higher than the height of the platform portion, the first cavity being formed in the platform portion, the first connecting hole being formed in the boss portion, and the first double gear being mounted on the boss portion.

[0016] As an optional technical solution, the first cavity includes a stepped portion and a sunken portion, the stepped portion and the sunken portion are offset in the height direction, the stepped portion and the sunken portion are respectively provided with mounting holes for connecting the gear shaft of the reduction gear set, the second double gear is mounted on the stepped portion, and the third double gear, the fourth double gear and the fifth double gear are all mounted on the sunken portion.

[0017] As an optional technical solution, the intermediate housing is provided with a mounting protrusion, which protrudes from the bottom of the intermediate housing. The mounting protrusion has a mounting blind hole that communicates with the recessed part. The mounting blind hole is used to rotatably mount the output shaft.

[0018] As an optional technical solution, a second control board is also included. The second control board is electrically connected to the first control board. A limiting wall is provided in the first cavity, and an auxiliary mounting position is formed between the limiting wall and the inner side wall of the first cavity. The auxiliary mounting position is used to install the second control board.

[0019] As an optional technical solution, the intermediate housing is provided with a second connecting hole, which penetrates the bottom wall of the first cavity. The upper end of the second connecting hole is connected to the auxiliary mounting position, and the lower end of the second connecting hole is connected to the third cavity. The second connecting hole is for cables connecting the first control board and the second control board to pass through.

[0020] As an optional technical solution, the upper shell is provided with a positioning post, which protrudes from the bottom of the upper shell and can extend into the first cavity and abut against the inner wall of the first cavity in the horizontal direction.

[0021] The beneficial effects of this utility model are:

[0022] The dexterous finger joint module provided by this utility model includes a drive box, a drive motor, a reduction gear set, and a first control board. The drive motor, reduction gear set, and first control board are all installed in the drive box. The drive box consists of a middle shell, an upper shell, and a lower shell. The upper and lower shells respectively cover the upper and lower sides of the middle shell. The middle shell has a first cavity and a second cavity that are horizontally offset to house the drive motor and reduction gear set in the two separate cavities. Additionally, the lower shell and the middle shell enclose a third cavity for installing the first control board. In summary, the dexterous finger joint module provided by this utility model adopts an integrated design, making full use of the internal space of the drive box to simultaneously house the drive motor, reduction gear set, and first control board. This high degree of integration reduces the overall size of the module, which is beneficial for the miniaturization and lightweight design of dexterous hands. Furthermore, the horizontally offset and separate first and second cavities of the drive box reduce assembly difficulty and improve product stability and precision. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the dexterous finger joint module provided by this utility model;

[0024] Figure 2 This is an exploded structural diagram of the dexterous finger joint module provided by this utility model;

[0025] Figure 3 This is a partial structural diagram of the dexterous finger joint module provided by this utility model. Figure 1 ;

[0026] Figure 4 This is a partial structural diagram of the dexterous finger joint module provided by this utility model. Figure 2 ;

[0027] Figure 5 This is a cross-sectional view of the drive box provided by this utility model;

[0028] Figure 6This is an exploded structural diagram of the drive box provided by this utility model;

[0029] Figure 7 This is a schematic diagram of the structure of the intermediate shell provided by this utility model. Figure 1 ;

[0030] Figure 8 This is a schematic diagram of the structure of the intermediate shell provided by this utility model. Figure 2 .

[0031] In the picture:

[0032] 1. Intermediate shell; 11. Platform section; 12. Boss section; 13. First connecting hole; 14. Limiting wall; 15. Auxiliary mounting position; 16. Second connecting hole; 17. Mounting hole; 18. Mounting protrusion; 181. Mounting blind hole; 19. Mounting part;

[0033] 2. Upper shell; 21. Positioning post; 22. Clearance groove; 23. Output hole;

[0034] 3. Lower shell; 31. Clearance notch; 4. Fastening screws;

[0035] 5. Drive motor; 51. Motor gear; 6. Reduction gear set; 61. First double gear; 62. Second double gear; 63. Third double gear; 64. Fourth double gear; 65. Fifth double gear; 66. Output gear; 67. Output shaft; 7. Bearing; 8. First control board; 9. Second control board;

[0036] 10. First cavity; 101. Stepped section; 102. Sinking section; 20. Second cavity; 30. Third cavity. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0038] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0041] Please refer to Figures 1-8 This embodiment provides a dexterous finger joint module, including a drive box, a drive motor 5, a reduction gear set 6, a first control board 8, and a second control board 9. The drive motor 5 is connected to the reduction gear set 6 to output torque-increasing and speed-reducing rotational power. The first control board 8 is the main control board and is electrically connected to the drive motor 5. The second control board 9 is a sub-control board and is electrically connected to the first control board 8 via a cable. The drive box includes a middle shell 1, an upper shell 2, and a lower shell 3. The middle shell 1 has a first cavity 10 and a second cavity 20. The first cavity 10 is used to install the reduction gear set 6, and the second cavity 20 is used to install the drive motor 5. The lower shell 3, together with the middle shell 1, forms a third cavity 30, which communicates with the second cavity 20 and is used to install the first control board 8.

[0042] For further details, please refer to Figure 2 , Figure 3 , Figures 5-8 The first cavity 10 and the second cavity 20 are offset in the horizontal direction, and the openings of the first cavity 10 and the second cavity 20 face opposite directions. The upper shell 2 covers the first cavity 10, and the lower shell 3 covers the second cavity 20. Both the upper shell 2 and the lower shell 3 are fastened to the middle shell 1 by fastening screws 4.

[0043] Specifically, the dexterous finger joint module provided in this embodiment includes a drive box, a drive motor 5, a reduction gear set 6, and a first control board 8. The drive motor 5, the reduction gear set 6, and the first control board 8 are all installed in the drive box. The drive box is composed of an intermediate shell 1, an upper shell 2, and a lower shell 3. The upper shell 2 and the lower shell 3 cover the upper and lower sides of the intermediate shell 1, respectively. The intermediate shell 1 has a first cavity 10 and a second cavity 20 that are horizontally offset to install the drive motor 5 and the reduction gear set 6 in the two mutually separated cavities. In addition, the lower shell 3 and the intermediate shell 1 enclose a third cavity 30 to install the first control board 8. In summary, the dexterous finger joint module provided in this embodiment adopts an integrated design, making full use of the internal space of the drive box to simultaneously install the drive motor 5, the reduction gear set 6, and the first control board 8. This high degree of integration reduces the overall size of the module, which is beneficial for the miniaturization and lightweight design of the dexterous hand. Furthermore, the drive box forms a horizontally staggered and mutually separated first cavity 10 and second cavity 20, reducing assembly difficulty and improving the stability and precision of the product.

[0044] For example, please refer to Figures 2-4 A motor gear 51 is mounted on the motor shaft of the drive motor 5. The reduction gear set 6 includes a first double gear 61, a second double gear 62, a third double gear 63, a fourth double gear 64, a fifth double gear 65, and an output gear 66 that are sequentially meshed and connected. The motor gear 51 is meshed and connected to the first double gear 61. An output shaft 67 is coaxially mounted on the output gear 66 and extends out of the upper housing 2. The first double gear 61, the second double gear 62, the third double gear 63, the fourth double gear 64, and the fifth double gear 65 are all conventional double gears in the prior art, which are composed of two gears with different numbers of teeth and modules combined on the same gear shaft. One gear meshes with the upstream gear, and the other gear meshes with the downstream gear, thereby realizing multi-stage speed change. The more specific structure and principle are not described in detail here.

[0045] In this embodiment, the output shaft 67 passes through the central through hole of the output gear 66, and the output shaft 67 and the output gear 66 are keyed together. The separate structural design of the output shaft 67 and the output gear 66 helps to reduce the manufacturing cost of the parts. Of course, in other embodiments, the output shaft 67 can also be integrally formed with the output gear 66 to improve the structural strength and stability.

[0046] For example, please refer to Figures 5-8 In order to connect the first cavity 10 and the second cavity 20, the intermediate housing 1 is provided with a first connecting hole 13. The first connecting hole 13 penetrates the top wall of the second cavity 20. The input end of the reduction gear set 6 extends to the upper end of the first connecting hole 13. The motor gear 51 is installed on the end of the motor shaft that passes through the first connecting hole 13.

[0047] For example, please refer to Figure 7 and Figure 8 The intermediate housing 1 includes a platform portion 11 and a boss portion 12, with the boss portion 12 being higher than the platform portion 11. A first cavity 10 is formed in the platform portion 11, a first connecting hole 13 is formed in the boss portion 12, a first double gear 61 is mounted on the boss portion 12, and a second double gear 62, a third double gear 63, a fourth double gear 64, a fifth double gear 65, and an output gear 66 are all mounted in the platform portion 11. This staggered height arrangement fully utilizes the space above the second cavity 20 to accommodate a portion of the reduction gear set 6, improving the space utilization rate inside the drive housing.

[0048] For example, please refer to Figure 5 , Figure 7 and Figure 8 The first cavity 10 includes a stepped portion 101 and a recessed portion 102. The stepped portion 101 and the recessed portion 102 are offset in the height direction. The stepped portion 101 and the recessed portion 102 are respectively provided with mounting holes 17 for connecting the gear shafts of the reduction gear set 6, thereby adapting to the mounting height of different gear shafts and installing each gear in an offset manner in the height direction to improve space utilization. Specifically, the second double gear 62 is installed in the stepped portion 101, and the third double gear 63, the fourth double gear 64 and the fifth double gear 65 are all installed in the recessed portion 102.

[0049] For example, please refer to Figure 3 , Figure 4 , Figure 5 , Figure 7 and Figure 8 The intermediate housing 1 is provided with a mounting protrusion 18, which protrudes from the bottom of the intermediate housing 1. The mounting protrusion 18 has a mounting blind hole 181 communicating with the recessed portion 102. The mounting blind hole 181 is used for rotatably mounting the output shaft 67. Specifically, the mounting blind hole 181 can be used to mount the bearing 7 connected to the output shaft 67. The mounting protrusion 18 extends the accommodating space of the first cavity 10 downwards. Correspondingly, please refer to... Figure 1 and Figure 6 The lower shell 3 is provided with a clearance notch 31, which is used to avoid the installation protrusion 18. The upper shell 2 is provided with a clearance groove 22, which is provided with an output hole 23 that penetrates the upper shell 2 along the height direction. The output hole 23 allows the output shaft 67 of the reduction gear set 6 to pass through.

[0050] For instructions on installing the second control board 9, please refer to... Figure 5 and Figure 7The first cavity 10 is provided with a limiting wall 14, and an auxiliary mounting position 15 is formed between the limiting wall 14 and the inner sidewall of the first cavity 10. The auxiliary mounting position 15 is located at the bottom edge of the platform part 11 and is used to install the second control board 9. The second control board 9 is locked to the auxiliary mounting position 15 by fastening screws 4. That is to say, the second control board 9 and the reduction gear set 6 are installed together in the first cavity 10, making full use of the edge space in the first cavity 10, and installing the second control board 9 above the first control board 8, reducing the lateral size of the dexterous finger joint module, and further improving space utilization and structural compactness.

[0051] For example, please refer to Figure 5 , Figure 7 and Figure 8 The intermediate housing 1 is provided with a second connecting hole 16, which is located at the bottom of the auxiliary mounting position 15. The second connecting hole 16 penetrates the bottom wall of the first cavity 10. The upper end of the second connecting hole 16 is connected to the auxiliary mounting position 15, and the lower end of the second connecting hole 16 is connected to the third cavity 30. The second connecting hole 16 is for the cables connecting the first control board 8 and the second control board 9 to pass through.

[0052] For example, please refer to Figure 5 and Figure 6 The upper shell 2 is provided with a positioning post 21, which protrudes from the bottom of the upper shell 2. The positioning post 21 has a rectangular cross-sectional shape and can extend vertically downward into the first cavity 10 and abut against the inner wall of the first cavity 10 in the horizontal direction, so as to define the installation position between the upper shell 2 and the intermediate shell 1 in the horizontal direction.

[0053] For example, please refer to Figure 8 The bottom of the intermediate housing 1 is provided with multiple mounting parts 19, each mounting part 19 having threaded holes. The multiple mounting parts 19 are used to support the first control plate 8. The first control plate 8 is fastened to the mounting parts 19 by fastening screws 4 threaded to the threaded holes.

[0054] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A dexterous finger joint module, characterized by, include: The drive box includes an intermediate shell (1), an upper shell (2) and a lower shell (3). The intermediate shell (1) is provided with a first cavity (10) and a second cavity (20). The upper shell (2) covers the first cavity (10). The lower shell (3) covers the second cavity (20) and encloses the intermediate shell (1) to form a third cavity (30). The third cavity (30) communicates with the second cavity (20). The drive motor (5), the reduction gear set (6) and the first control board (8) are provided, wherein the reduction gear set (6) is at least partially installed in the first cavity (10), the drive motor (5) is installed in the second cavity (20), and the first control board (8) is installed in the third cavity (30). The first cavity (10) and the second cavity (20) are offset in the horizontal direction, and the openings of the first cavity (10) and the second cavity (20) face opposite directions.

2. The smart finger joint module of claim 1, wherein, The drive motor (5) has a motor gear (51) mounted on its motor shaft. The reduction gear set (6) includes a first double gear (61), a second double gear (62), a third double gear (63), a fourth double gear (64), a fifth double gear (65), and an output gear (66) that are meshed and connected in sequence. The motor gear (51) is meshed and connected to the first double gear (61). An output shaft (67) is coaxially arranged on the output gear (66) and extends out of the upper shell (2).

3. The smart finger joint module of claim 2, wherein, The output shaft (67) passes through the central through hole of the output gear (66), and the output shaft (67) is keyed to the output gear (66); or The output shaft (67) and the output gear (66) are integrally formed.

4. The smart finger joint module of claim 2, wherein, The intermediate housing (1) is provided with a first connecting hole (13), which penetrates the top wall of the second cavity (20). The first connecting hole (13) allows the motor shaft of the drive motor (5) to pass through upward. The motor gear (51) is installed at one end of the motor shaft that passes through the first connecting hole (13).

5. The smart finger joint module of claim 4, wherein, The intermediate housing (1) includes a platform portion (11) and a boss portion (12). The height of the boss portion (12) is higher than the height of the platform portion (11). The first cavity (10) is formed in the platform portion (11), the first connecting hole (13) is formed in the boss portion (12), and the first double gear (61) is mounted on the boss portion (12).

6. The smart finger joint module of claim 5, wherein, The first cavity (10) includes a stepped portion (101) and a recessed portion (102). The stepped portion (101) and the recessed portion (102) are offset in the height direction. The stepped portion (101) and the recessed portion (102) are respectively provided with mounting holes (17) for connecting the gear shaft of the reduction gear set (6). The second double gear (62) is installed on the stepped portion (101), and the third double gear (63), the fourth double gear (64) and the fifth double gear (65) are all installed on the recessed portion (102).

7. The smart finger joint module of claim 6, wherein, The intermediate housing (1) is provided with a mounting protrusion (18), which protrudes from the bottom of the intermediate housing (1). The mounting protrusion (18) is provided with a mounting blind hole (181) communicating with the recessed part (102). The mounting blind hole (181) is used to rotatably mount the output shaft (67).

8. The dexterous finger joint module of any one of claims 1-7, wherein, It also includes a second control board (9), which is electrically connected to the first control board (8). A limiting wall (14) is provided in the first cavity (10), and an auxiliary mounting position (15) is formed between the limiting wall (14) and the inner side wall of the first cavity (10). The auxiliary mounting position (15) is used to install the second control board (9).

9. The smart finger joint module of claim 8, wherein, The intermediate housing (1) is provided with a second connecting hole (16), which penetrates the bottom wall of the first cavity (10). The upper end of the second connecting hole (16) is connected to the auxiliary mounting position (15), and the lower end of the second connecting hole (16) is connected to the third cavity (30). The second connecting hole (16) is used for cables connecting the first control board (8) and the second control board (9) to pass through.

10. The dexterous finger joint module of any one of claims 1-7, wherein, The upper shell (2) is provided with a positioning post (21), which protrudes from the bottom of the upper shell (2). The positioning post (21) can extend into the first cavity (10) and abut against the inner wall of the first cavity (10) in the horizontal direction.

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