A finger structure, dexterous hand and robot

Abstract

The application provides a finger structure, a dexterous hand and a robot, and belongs to the technical field of robots. The finger structure comprises a first phalanx part, a second phalanx part, a second transmission assembly and a driving device. The first phalanx part comprises a first shell and a first transmission assembly. The second phalanx part comprises a second shell and a first driving motor, and the output end of the first driving motor is in transmission connection with the first transmission assembly. The second transmission assembly is in movable connection with one end of the first phalanx part away from the second phalanx part. The output end of the driving device is in transmission connection with one end of the second transmission assembly away from the second phalanx part. The finger structure provided by the application controls the first transmission assembly through the first driving motor and drives the first phalanx part to swing relative to the second phalanx part along a first degree of freedom direction, and drives the second phalanx part to swing along the first degree of freedom direction and a second degree of freedom direction through the second transmission assembly, so as to realize the swinging of the finger structure in multiple degrees of freedom directions, thereby improving the flexibility of the activity of the finger structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a finger structure, a dexterous hand, and a robot. Background Technology

[0002] With the continuous development of technology, ordinary manual methods can no longer meet the demands of productivity, and industrial development is increasingly inseparable from the application of robots. Driven by robotics technology, the types of robots are becoming more and more diversified. Among them, service robots used in restaurants, shopping malls, and other similar settings require high dexterity in their hands, and dexterous hands are gradually becoming a development trend. Their humanoid appearance and grasping methods will give people a more approachable impression.

[0003] Modern dexterous hands have multiple knuckles. Although each knuckle can rotate, the fingers can only swing in one direction, resulting in limited finger dexterity. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a finger structure, a dexterous hand, and a robot.

[0005] This application provides the following technical solution: a finger structure, comprising: The first finger joint includes a first housing and a first transmission assembly, wherein the first transmission assembly is disposed within the first housing; The second finger joint includes a second housing and a first drive motor. The first drive motor is disposed inside the second housing, and the output end of the first drive motor is connected to the first transmission assembly. The second transmission component is movably connected to the end of the second phalanx that is opposite to the first phalanx; A driving device, wherein the output end of the driving device is connected to the end of the second transmission assembly that is away from the second finger joint.

[0006] In some embodiments, the first transmission component includes a turbine, a worm gear, and a first drive shaft; The worm gear is disposed inside the first housing and is connected to the output end of the first drive motor. The turbine meshes with the worm gear, and the first drive shaft passes through the turbine and is connected to the second housing.

[0007] In some embodiments, the driving device includes a first motor and a second motor, wherein the output ends of the first motor and the second motor are respectively connected to the second knuckle via the second transmission assembly.

[0008] In some embodiments, the second transmission assembly includes a first lead screw, a first nut, a second lead screw, a second nut, and a transmission structure; The first lead screw is connected to the output end of the first motor, the first nut is rotatably connected to the first lead screw, the second lead screw is connected to the output end of the second motor, and the second nut is rotatably connected to the second lead screw; The first nut and the second nut are respectively connected to the second finger joint via a transmission structure.

[0009] In some embodiments, the transmission structure includes a first bearing, a first oscillating member, a second bearing, a second oscillating member, a third bearing, a fourth bearing, a third oscillating member, and a connecting member; The first bearing is disposed at the end of the first nut away from the first motor, one end of the first swing member is rotatably connected to the first bearing, the other end of the first swing member is connected to the third bearing, and the third bearing is rotatably connected to one end of the third swing member; The second bearing is located at the end of the second nut away from the second motor. One end of the second swing member is rotatably connected to the second bearing, and the other end of the second swing member is rotatably connected to the fourth bearing. The fourth bearing is rotatably connected to one end of the third swing member. The connector passes through the third bearing and is rotatably connected to the third swing member. The end of the third swing member facing away from the first motor is connected to the second finger joint.

[0010] In some embodiments, the third swing member includes a first connecting end, a second connecting end, and a third connecting end, the second connecting end being connected to the fourth bearing, one end of the connecting member passing through the first connecting end and being connected to the third bearing, and the other end of the connecting member being connected to the third connecting end.

[0011] In some embodiments, the dexterous hand includes a first position detection circuit board and a second position detection circuit board, wherein the first position detection circuit board is disposed on one side of the first nut and the second position detection circuit board is disposed on one side of the second nut.

[0012] In some embodiments, the axis of the first bearing is parallel to the axis of the fourth bearing, and the axis of the second bearing is parallel to the axis of the third bearing.

[0013] Secondly, this application provides a dexterous hand, including a palm portion and the aforementioned finger structure, wherein the finger structure is movably connected to the palm portion.

[0014] Thirdly, this application provides a robot, including the described finger structure or the described dexterous hand.

[0015] The embodiments of this application have the following advantages: by controlling the first transmission component through the first drive motor and driving the first phalanx to swing relative to the second phalanx along the first degree of freedom direction, by connecting the second transmission component to the end of the second phalanx away from the first phalanx through transmission, and by controlling the movement of the second transmission component through the drive device, the second phalanx is driven to swing along the first degree of freedom direction and the second degree of freedom direction through the second transmission component, so as to realize the swinging of the finger structure in multiple degrees of freedom direction, thereby improving the flexibility of the finger structure movement.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This application provides a schematic diagram of a finger structure from one perspective, illustrating some embodiments thereof. Figure 2 It shows Figure 1 Enlarged view of section A; Figure 3 A cross-sectional view of a finger structure provided by some embodiments of this application is shown; Figure 4 The diagram shows a structural schematic from one perspective of a dexterous hand provided by some embodiments of this application.

[0019] Explanation of key component symbols: 100 - First finger joint; 110 - First housing; 120 - First transmission assembly; 200 - Second finger joint; 210 - Second housing; 220 - First drive motor; 300 - Second transmission assembly; 400 - Drive device; 121 - Turbine; 122 - Worm gear; 123 - First drive shaft; 410 - First motor; 420 - Second motor; 310 - First lead screw; 320 - First nut; 330 - Second lead screw; 340 - Second... Nut; 350 - Transmission structure; 351 - First bearing; 352 - First swinging component; 353 - Second bearing; 354 ​​- Second swinging component; 355 - Third bearing; 356 - Fourth bearing; 357 - Third swinging component; 358 - Connector; 3571 - First connecting end; 3572 - Second connecting end; 3573 - Third connecting end; 500 - First position detection circuit board; 600 - Second position detection circuit board; 700 - Palm part. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly on" another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection 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 application according to the specific circumstances.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] like Figures 1 to 3 As shown, this application provides a finger structure, mainly used in robots, which improves the flexibility of the finger structure by increasing the degree of freedom of movement.

[0026] The finger structure includes a first phalanx 100, a second phalanx 200, a second transmission assembly 300, and a drive device 400.

[0027] The first finger joint 100 includes a first housing 110 and a first transmission assembly 120. The first transmission assembly 120 is disposed inside the first housing 110, and the connection between the first transmission assembly 120 and the first housing 110 includes any one of threaded connection, snap-fit, and bolted connection.

[0028] The second finger joint 200 includes a second housing 210 and a first drive motor 220. The first drive motor 220 is disposed inside the second housing 210, and the connection between the first drive motor 220 and the second housing 210 includes any one of threaded connection, snap-fit, and bolt connection.

[0029] The output end of the first drive motor 220 is connected to the first transmission component 120 so that the first drive motor 220 can drive the output shaft to rotate during operation, and drive the first transmission component 120 to move synchronously through the output shaft, so that the first phalanx 100 can swing relative to the second phalanx 200 in the first degree of freedom direction through the first transmission component 120.

[0030] In this embodiment, the second transmission component 300 is movably connected to the end of the second knuckle opposite to the first knuckle, and the output end of the drive device 400 is connected to the end of the transmission component opposite to the second knuckle, so that the drive device 400 can drive the output end to rotate during operation, and drive the second transmission component 300 to move synchronously through the output end of the drive device 400, so that the first knuckle 100 and the second knuckle 200 can swing along the first degree of freedom direction or the second degree of freedom direction through the second transmission component 300.

[0031] It should be noted that in this embodiment, the directions of the first degree of freedom and the second degree of freedom intersect.

[0032] It is understood that by controlling the first transmission assembly 120 through the first drive motor 220 and driving the first knuckle 100 to swing relative to the second knuckle 200 in the first degree of freedom direction, and by connecting the second transmission assembly 300 to the end of the second knuckle 200 away from the first knuckle 100 through transmission, and by controlling the movement of the second transmission assembly 300 through the drive device 400, the second knuckle 200 is driven to swing in the first degree of freedom direction and the second degree of freedom direction through the second transmission assembly 300, so as to realize the swinging of the finger structure in multiple degree of freedom directions, thereby improving the flexibility of the finger structure movement.

[0033] like Figure 3 As shown, in some embodiments of this application, the first transmission assembly 120 includes a turbine 121, a worm gear 122, and a first transmission shaft 123.

[0034] The worm gear 122 and the turbine 121 are respectively disposed in the first housing 110, and the worm gear 122 is connected to the output end of the first drive motor 220 so that the worm gear 122 can be driven to rotate coaxially during the rotation of the output end of the first drive motor 220.

[0035] In this embodiment, the turbine 121 meshes with the worm gear 122 so that the worm gear 122 can drive the turbine 121 to rotate synchronously during rotation.

[0036] It should be noted that the first drive shaft 123 passes through the turbine 121 and connects the first drive shaft 123 to the second finger joint 200, so that the turbine 121 can drive the second finger joint 200 to rotate relative to the first finger joint 100 in the first degree of freedom direction during the rotation of the turbine 121.

[0037] like Figure 1 and Figure 2As shown, in some embodiments of this application, the driving device 400 includes a first motor 410 and a second motor 420. The output ends of the first motor 410 and the second motor 420 are respectively connected to the second finger joint 200 through the second transmission component, so that the second transmission component 300 can be driven to swing along the second degree of freedom direction during the operation of the first motor 410, thereby driving the second finger joint and the first finger joint to swing simultaneously along the second degree of freedom direction through the second transmission component 300.

[0038] In addition, during the operation of the second motor 420, the second transmission component 300 can be driven to swing along the first degree of freedom direction. Thus, the second transmission component 300 drives the second finger and the first finger to swing simultaneously along the first degree of freedom direction, thereby enabling the first finger and the second finger to swing along the first degree of freedom direction and the second degree of freedom direction respectively, thereby improving the flexibility of the swing of the first finger and the second finger.

[0039] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the second transmission assembly 300 includes a first lead screw 310, a first nut 320, a second lead screw 330, a second nut 340, and a transmission structure 350.

[0040] Wherein, the first lead screw 310 is connected to the output end of the first motor 410, the first nut 320 is rotatably connected to the first lead screw 310, the second lead screw 330 is connected to the output end of the second motor 420, and the second nut 340 is rotatably connected to the second lead screw 330. The first nut 320 and the second nut 340 are respectively connected to the second finger joint 200 through the transmission structure 350.

[0041] like Figure 2 As shown, in some embodiments of this application, the transmission structure 350 includes a first bearing 351, a first swing member 352, a second bearing 353, a second swing member 354, a third bearing 355, a fourth bearing 356, a third swing member 357, and a connecting member 358.

[0042] The first bearing 351 is disposed at the end of the first nut 320 away from the first motor 410, and the outer ring of the first bearing 351 is connected to the first nut 320.

[0043] In addition, one end of the first swing member 352 is rotatably connected to the first bearing 351. Specifically, the end of the first swing member 352 near the first nut 320 is connected to the inner ring of the first bearing 351, thereby rotatably connecting the first swing member 352 to the first nut 320 through the first bearing 351, so that the first swing member 352 can swing relative to the first nut 320 in the direction of the second degree of freedom.

[0044] In this embodiment, the other end of the first swing member 352 is connected to the third bearing 355. That is, the end of the first swing member 352 facing away from the first bearing 351 is connected to the third bearing 355, specifically, the end of the first swing member 352 facing away from the first bearing 351 is connected to the outer ring of the third bearing 355. The third bearing 355 is rotatably connected to one end of the third swing member 357. Specifically, the inner ring of the third bearing 355 is connected to the third swing member 357 via a connector 358, thereby allowing the third swing member 357 to be rotatably connected to the first swing member 352 along the first degree of freedom direction via the third bearing 355.

[0045] In this embodiment, the second bearing 353 is disposed at the end of the second nut 340 away from the second motor 420, and the outer ring of the second bearing 353 is connected to the second nut 340.

[0046] In addition, one end of the second swing member 354 is rotatably connected to the second bearing 353. Specifically, the end of the second swing member 354 near the second nut 340 is connected to the inner ring of the second bearing 353, thereby rotatably connecting the second swing member 354 to the second nut 340 through the second bearing 353, so that the second swing member 354 can swing relative to the second nut 340 in the direction of the first degree of freedom.

[0047] It should be noted that the other end of the second swing member 354 is connected to the fourth bearing 356. That is, the end of the second swing member 354 facing away from the second bearing 353 is connected to the fourth bearing 356, specifically, the end of the second swing member 354 facing away from the second bearing 353 is connected to the outer ring of the fourth bearing 356. The fourth bearing 356 is rotatably connected to one end of the third swing member 357, meaning the third swing member 357 can swing relative to the second swing member 354 along the second degree of freedom direction.

[0048] In this embodiment, the connector 358 passes through the third bearing 355, that is, the connector 358 is connected to the inner ring of the third bearing 355, and the end of the connector 358 away from the third bearing 355 is rotatably connected to the third swing member 357, so as to improve the stability of the third swing member 357 swinging relative to the first swing member 352 and the second swing member 354 in the first degree of freedom direction and the second degree of freedom direction.

[0049] It should be noted that the end of the third swing member 357 that is away from the first motor 410 is connected to the second knuckle portion 200, so that when the third swing member 357 swings along the first degree of freedom direction, it can drive the second knuckle portion 200 and the first knuckle portion 100 to swing synchronously along the first degree of freedom direction. When the third swing member 357 swings along the second degree of freedom direction, it can drive the second knuckle portion 200 and the first knuckle portion 100 to swing synchronously along the second degree of freedom direction, so as to achieve flexibility and stability in controlling the degree of freedom of the second knuckle portion 200 and the first knuckle portion 100.

[0050] like Figure 2 As shown, in some embodiments of this application, the third swing member 357 includes a first connecting end 3571, a second connecting end 3572 and a third connecting end 3573, wherein the first connecting end 3571 and the third connecting end 3573 are disposed opposite to each other, and the second connecting end 3572 is connected to the inner ring of the fourth bearing 356, thereby enabling the second connecting end 3572 to swing relative to the second swing member 354 in the direction of the second degree of freedom.

[0051] In addition, one end of the connector 358 passes through the first connecting end 3571 and is connected to the inner ring of the third bearing 355, and the other end of the connector 358 is connected to the third connecting end 3573, so that the first connecting end 3571 and the third connecting end 3573 can swing relative to the first swing member 352 in the first degree of freedom direction, thereby improving the stability and smoothness of the transmission structure 350 driving the first knuckle 100 and the second knuckle 200 to swing in the first degree of freedom direction and the second degree of freedom direction respectively, and improving the flexibility of finger structure movement.

[0052] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the finger structure includes a first position detection circuit board 500 and a second position detection circuit board 600. The first position detection circuit board 500 is disposed on one side of the first nut 320 to detect the distance the first nut 320 moves along the axial direction of the first lead screw 310, and to detect the position and moving distance of the first nut 320 along the axial direction of the first lead screw 310, thereby realizing the detection of the swing angle of the first swing member 352 along the second degree of freedom, so as to improve the accuracy of controlling the swing angle of the first finger and the second finger along the second degree of freedom.

[0053] In addition, the second position detection circuit board 600 is disposed on one side of the second nut 340 to detect the distance the second nut 340 moves along the axial direction of the second lead screw 330, as well as the position and moving distance of the second nut 340 along the axial direction of the second lead screw 330. This enables the detection of the swing angle of the second swing member 354 along the first degree of freedom, thereby improving the accuracy of controlling the swing angle of the first finger and the second finger along the first degree of freedom.

[0054] In some embodiments of this application, the axis of the first bearing 351 is parallel to the axis of the fourth bearing 356, so that when the first motor 410 is running, it can push the first swing member 352 and the third swing member 357 to swing synchronously along the second degree of freedom direction through the first nut 320, thereby driving the first finger and the second finger to swing along the second degree of freedom direction.

[0055] In addition, the axis of the second bearing 353 is parallel to the axis of the third bearing 355, so that when the second motor 420 is running, it can push the second swing member 354 and the third swing member 357 to swing synchronously along the first degree of freedom direction through the second nut 340, thereby driving the first finger and the second finger to swing along the first degree of freedom direction.

[0056] like Figure 4 As shown, this application also provides a dexterous hand, including a palm portion 700 and the finger structure described in any of the above embodiments.

[0057] The number of finger structures on one side of the palm 700 can be any number of two or more, and can be set according to the actual situation. The multiple finger structures on the palm 700 are spaced apart to improve the dexterity of the hand.

[0058] It should be noted that the dexterous hand provided in this application has all the features of the finger structure described in any of the above embodiments and the beneficial effects thereof, which will not be repeated here.

[0059] This application also provides a robot, including the finger structure or dexterous hand described in any of the above embodiments.

[0060] It should be noted that the robot provided in this application has all the features of the finger structure or dexterous hand described in any of the above embodiments and the beneficial effects thereof, which will not be repeated here.

[0061] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0062] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0063] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A finger structure, characterized in that, include: The first finger joint includes a first housing and a first transmission assembly, wherein the first transmission assembly is disposed within the first housing; The second finger joint includes a second housing and a first drive motor. The first drive motor is disposed inside the second housing, and the output end of the first drive motor is connected to the first transmission assembly. The second transmission component is movably connected to the end of the second phalanx that is opposite to the first phalanx; A driving device, wherein the output end of the driving device is connected to the end of the second transmission assembly that is away from the second finger joint.

2. The finger structure according to claim 1, characterized in that The first transmission assembly includes a turbine, a worm gear, and a first drive shaft; The worm gear is disposed inside the first housing and is connected to the output end of the first drive motor. The turbine meshes with the worm gear, and the first drive shaft passes through the turbine and is connected to the second housing.

3. The finger structure according to claim 1, characterized in that, The driving device includes a first motor and a second motor, and the output ends of the first motor and the second motor are respectively connected to the second knuckle via the second transmission assembly.

4. The finger structure according to claim 3, characterized in that, The second transmission assembly includes a first lead screw, a first nut, a second lead screw, a second nut, and a transmission structure; The first lead screw is connected to the output end of the first motor, the first nut is rotatably connected to the first lead screw, the second lead screw is connected to the output end of the second motor, and the second nut is rotatably connected to the second lead screw; The first nut and the second nut are respectively connected to the second finger joint via a transmission structure.

5. The finger structure according to claim 4, characterized in that, The transmission structure includes a first bearing, a first oscillating component, a second bearing, a second oscillating component, a third bearing, a fourth bearing, a third oscillating component, and a connecting component; The first bearing is located at the end of the first nut away from the first motor. One end of the first swing member is rotatably connected to the first bearing, and the other end of the first swing member is connected to the third bearing. The third bearing is rotatably connected to one end of the third swing member. The second bearing is located at the end of the second nut away from the second motor. One end of the second swing member is rotatably connected to the second bearing, and the other end of the second swing member is rotatably connected to the fourth bearing. The fourth bearing is rotatably connected to one end of the third swing member. The connector passes through the third bearing and is rotatably connected to the third swing member. The end of the third swing member facing away from the first motor is connected to the second finger joint.

6. The finger structure according to claim 5, characterized in that, The third swing member includes a first connecting end, a second connecting end, and a third connecting end. The second connecting end is connected to the fourth bearing. One end of the connecting member passes through the first connecting end and is connected to the third bearing. The other end of the connecting member is connected to the third connecting end.

7. The finger structure according to claim 5, characterized in that, The finger structure includes a first position detection circuit board and a second position detection circuit board, wherein the first position detection circuit board is disposed on one side of the first nut and the second position detection circuit board is disposed on one side of the second nut.

8. The finger structure according to claim 5, characterized in that, The axis of the first bearing is parallel to the axis of the fourth bearing, and the axis of the second bearing is parallel to the axis of the third bearing.

9. A dexterous hand, characterized in that, It includes a palm portion and a finger structure according to any one of claims 1 to 8, wherein the finger structure is movably connected to the palm portion.

10. A robot, characterized in that, Includes the finger structure of any one of claims 1 to 8 or the dexterous hand of claim 9.

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