Knuckle module and dexterous hand

Abstract

The utility model provides a kind of knuckle module and dexterous hand, the knuckle module includes first knuckle segment, motor and control circuit board being arranged in first knuckle segment, and commutating mechanism and speed reducer being arranged in the end of one end of first knuckle segment;The direction of the output shaft of motor is parallel with the length direction of first knuckle segment, the direction of the output shaft of speed reducer is perpendicular to the direction of the output shaft of motor, commutating mechanism is arranged between motor and speed reducer and is used to convert the rotation of the output shaft of motor into the rotation of the input shaft of speed reducer, control circuit board is arranged at the end of motor away from the commutating mechanism and is electrically connected with motor.The knuckle module provided by the utility model can meet the use demand of finger joint light weight and miniaturization, greatly improve the motion control precision of finger joint, simultaneously realize modularization, and multiple knuckle modules can be connected into finger by stacking, it is convenient to disassemble and assemble, and easy to repair.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a knuckle module and a dexterous hand. Background Technology

[0002] In recent years, with the rapid development of robotics technology, dexterous hands, as end effectors of robots, have been widely used in fields such as industrial automation, medical assistance, service robots, humanoid robots, and embodied intelligent robots.

[0003] Currently, deceleration mechanisms for dexterous hand joints on the market typically use a motor directly connected to a harmonic reducer. The output axes of the motor and the harmonic reducer are both perpendicular to the rotation axis of the joint. The bevel gears mounted on the output shaft of the harmonic reducer and the bevel gears mounted on the rotation axis of the joint then work together to reverse direction, thereby achieving the effect of driving the finger joint to rotate and bend.

[0004] However, in practical applications, the motor and harmonic reducer are installed within the finger segments of a dexterous hand, resulting in fingers that are much longer than those of an average person. This makes it impossible to meet the requirements for lightweight and miniaturized finger joints. Furthermore, the relatively large clearance in the bevel gear set used for reversing leads to lower precision in the bending movements of the finger joints. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a finger joint module and a dexterous hand to solve the technical problems in the prior art where the fingers of the dexterous hand cannot be lightweight or miniaturized, and the bending motion precision of the finger joints is low.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a finger joint module is provided, including a first finger joint segment, a motor and a control circuit board disposed within the first finger joint segment, and a commutation mechanism and a reducer disposed within one end of the first finger joint segment; the direction of the output shaft of the motor is parallel to the length direction of the first finger joint segment, the direction of the output shaft of the reducer is perpendicular to the direction of the output shaft of the motor, the commutation mechanism is disposed between the motor and the reducer and is used to convert the rotation of the output shaft of the motor into the rotation of the input shaft of the reducer, and the control circuit board is disposed at the end of the motor away from the commutation mechanism and is electrically connected to the motor.

[0007] Optionally, it also includes a second finger segment, the output shaft of the reducer being connected to the second finger segment to drive the second finger segment to rotate.

[0008] Optionally, the reversing mechanism includes a first gear and a second gear that mesh with each other, the first gear being fixedly sleeved on the output shaft of the motor, and the second gear being fixedly sleeved on the input shaft of the reducer.

[0009] Optionally, the second finger segment includes a first side plate and a second side plate disposed opposite to each other, and an end plate perpendicularly connected between the first side plate and the second side plate, wherein the first side plate and the second side plate are respectively rotatably connected to the two sides of the end of the first finger segment away from the motor; or,

[0010] The second finger segment includes a first side plate and an end plate vertically connected to one end of the first side plate, the first side plate being connected to the output end of the reducer.

[0011] Optionally, an annular boss is provided on the side surface of the end plate away from the first side plate and the second side plate. The annular boss is used for positioning and fitting when two adjacent finger modules are assembled, and is inserted into the first finger segment of the adjacent finger module.

[0012] Optionally, the first finger segment includes a columnar portion and an arc-shaped portion connected to each other. A first through hole is formed in the columnar portion along its length direction, and a second through hole is formed in the arc-shaped portion along its thickness direction. The axial direction of the second through hole is perpendicular to the axial direction of the first through hole. A wiring hole is also formed in the columnar portion along its length direction. An arc-shaped groove is formed on the side of the arc-shaped portion along the edge of the second through hole. A wiring groove is formed on the surface of the first side plate near the second side plate. The wiring hole, the arc-shaped groove, and the wiring groove are connected in sequence. The wiring hole penetrates the columnar portion, and the wiring groove extends to the side of the end plate away from the first side plate. The wiring hole and the wiring groove are provided with a sealing structure after wiring.

[0013] Optionally, the first finger segment includes a columnar portion and an arcuate portion connected to each other, and a first side plate and a second side plate connected to the end of the columnar portion away from the arcuate portion and disposed opposite to each other. A first through hole is formed in the columnar portion along its length direction, and a second through hole is formed in the arcuate portion along its thickness direction. The axial direction of the second through hole is perpendicular to the axial direction of the first through hole. A wiring hole is also formed in the columnar portion along its length direction. An arcuate groove is formed on the side of the arcuate portion along the edge of the second through hole. A wiring groove is formed on the surface of the first side plate near the second side plate. The wiring hole, the arcuate groove, and the wiring groove are connected in sequence. The wiring hole penetrates the columnar portion. A sealing structure is provided for the wiring hole and the wiring groove after wiring.

[0014] Optionally, the reducer includes a wave generator, a flexible wheel sleeved outside one end of the wave generator, a rigid wheel sleeved outside the flexible wheel and cooperating with the flexible wheel, a plurality of balls arranged circumferentially between the wave generator and the flexible wheel, a bracket sleeved outside the balls, a first bearing sleeved outside the end of the wave generator away from the flexible wheel, and a second bearing sleeved outside the output end of the flexible wheel, wherein the second gear is sleeved outside the wave generator and located between the flexible wheel and the first bearing.

[0015] Optionally, the first finger segment has a finger pad and a finger back that are disposed opposite to each other. A groove is formed on the surface of the finger pad, and the groove is used to install a tactile sensor or a decorative soft rubber shell. A third through hole communicating with the interior of the first finger segment is formed in the groove, and the third through hole is used for wiring when installing the tactile sensor. The tactile sensor or the soft rubber shell is provided with a sealing structure after installation.

[0016] This utility model also provides a dexterous hand, including a palm module and a plurality of fingers connected sequentially to one side of the palm module, each of the fingers including at least one knuckle module as described above.

[0017] The beneficial effects of the knuckle module provided by this utility model are as follows: Compared with the prior art, the knuckle module of this utility model sets the motor and control circuit board inside the first knuckle segment, and sets the reversing mechanism and reducer at one end of the first knuckle segment. The output shaft direction of the reducer is perpendicular to the output shaft direction of the motor, which greatly reduces the radial and axial dimensions of the first knuckle segment. When the knuckle modules are stacked to form a finger, they can meet the requirements of lightweight and miniaturized finger joints. At the same time, the reversing mechanism is set between the motor and the reducer and is used to convert the rotation of the motor's output shaft into the rotation of the reducer's input shaft. This allows the reducer to be located at the end and directly connected to the load. The reducer has a small clearance, which greatly improves the motion control accuracy of the finger joint. In addition, the knuckle module of this utility model is modular. Multiple knuckle modules can be stacked to form a finger. It is easy to assemble and disassemble and is easy to maintain. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural diagram of a knuckle module provided in one embodiment of this utility model. Figure 1 ;

[0020] Figure 2 A three-dimensional structural diagram of a knuckle module provided in one embodiment of this utility model. Figure 2 ;

[0021] Figure 3 This is an exploded structural diagram of a knuckle module provided in one embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the front view structure of a knuckle module provided in one embodiment of the present invention;

[0023] Figure 5 For along Figure 4 Cross-sectional view of line AA in the middle;

[0024] Figure 6 This is a side view of a knuckle module provided in one embodiment of the present invention;

[0025] Figure 7 For along Figure 6 Cross-sectional view of the middle BB line;

[0026] Figure 8 A three-dimensional structural diagram of the first finger segment provided in one embodiment of the present utility model;

[0027] Figure 9 A three-dimensional structural diagram of the second finger segment provided in one embodiment of the present invention;

[0028] Figure 10 A three-dimensional structural diagram of the second output section provided in one embodiment of the present invention;

[0029] Figure 11 A three-dimensional structural schematic diagram of a knuckle module provided in another embodiment of this utility model;

[0030] Figure 12 A three-dimensional structural diagram of the first finger segment provided for another embodiment of this utility model. Figure 1 ;

[0031] Figure 13 A three-dimensional structural diagram of the first finger segment provided for another embodiment of this utility model. Figure 2 .

[0032] The following are the labeling elements in the figure:

[0033] 100 - Finger joint module; 101 - First mounting hole; 102 - Second mounting hole; 103 - Third mounting hole; 10 - First finger joint segment; 11 - Columnar part; 111 - First through hole; 112 - Wiring hole; 12 - Arc-shaped part; 121 - Second through hole; 122 - Arc-shaped groove; 13 - Finger pad; 131 - Groove; 132 - Third through hole; 14 - Finger back; 20 - Motor; 30 - Control circuit board; 41 - First gear ; 42-Second gear; 51-Wave generator; 52-Flexible wheel; 521-First output section; 522-Second output section; 523-Limiting protrusion; 53-Rigid wheel; 54-Ball bearing; 55-First bearing; 56-Second bearing; 57-Bracket; 60-Second finger segment; 61-First side plate; 611-Way trough; 62-Second side plate; 63-End plate; 631-Annular boss; 70-Bearing seat; 80-Connector. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0035] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0036] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, 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.

[0037] 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] Please refer to the following: Figures 1 to 3 and Figure 11The following describes the knuckle module 100 provided in this embodiment of the present invention. The knuckle module 100 includes a first knuckle segment 10, a motor 20, a control circuit board 30, a commutation mechanism, and a reducer. The motor 20 and control circuit board 30 are disposed within the first knuckle segment 10. The commutation mechanism and reducer are disposed within one end of the first knuckle segment 10. The output shaft of the motor 20 is parallel to the length direction (axial direction) of the first knuckle segment 10, and the output shaft of the reducer is perpendicular to the output shaft of the motor 20. The commutation mechanism is disposed between the motor 20 and the reducer, and is used to convert the rotation of the output shaft of the motor 20 into the rotation of the output shaft of the reducer; that is, the commutation mechanism is used to convert the output direction of the motor 20 into the output direction of the reducer, which is perpendicular to it. The motor 20 and control circuit board 30 are disposed at the end of the first knuckle segment 10 away from the commutation mechanism and the reducer. The control circuit board 30 is disposed at the end of the motor 20 away from the commutation mechanism and is electrically connected to the motor 20. When the control circuit board 30 drives the motor 20 to rotate, the output direction is changed through the reversing mechanism, causing the reducer at the end to rotate, thereby realizing the bending and rotation of the finger joint.

[0039] In this embodiment of the invention, the knuckle module 100 is applied to the humanoid finger. The humanoid finger may include multiple knuckle modules 100. The connection between two knuckles is set as the finger joint. The motor 20 and the control circuit board 30 are set inside the knuckle, while the reducer and the reversing mechanism are set inside the finger joint. The output end of the reducer is connected to the next knuckle, thereby enabling bending and rotation between adjacent knuckles.

[0040] Compared with the prior art, the knuckle module 100 provided in this embodiment of the utility model has the following beneficial effects: First, the knuckle module 100 sets the motor 20 and the control circuit board 30 inside the first knuckle segment 10, and sets the reversing mechanism and the reducer at one end of the first knuckle segment 10. The output shaft direction of the reducer is perpendicular to the output shaft direction of the motor 20, which greatly reduces the radial and axial dimensions of the first knuckle segment 10. When the knuckle modules 100 are stacked to form a finger, they can meet the requirements of lightweight and miniaturized finger joints. Second, the reversing mechanism is set between the motor 20 and the reducer and is used to convert the rotation of the output shaft of the motor 20 into the rotation of the input shaft of the reducer. The reducer is located at the end and directly connected to the load. The fit clearance of the reducer is small, which greatly improves the motion control accuracy of the finger joint. Third, the knuckle module 100 of this embodiment of the utility model is modular. Multiple knuckle modules 100 can be stacked to form a finger. It is easy to assemble and disassemble and is easy to maintain.

[0041] Please refer to one embodiment of this utility model as well. Figures 1 to 3The knuckle module 100 includes a first finger segment 10 and a second finger segment 60 that are rotatably connected to each other. The output shaft of the reducer is connected to the second finger segment 60 to drive the second finger segment 60 to rotate and bend relative to the first finger segment 10, thereby realizing the rotation and bending at the finger joint.

[0042] In this embodiment, portions of two adjacent phalanges are combined to form a module. During assembly of the phalange module 100, it is only necessary to fix the second phalange segment 60 of the preceding phalange module 100 to the first phalange segment 10 of the following phalange module 100. In specific applications, multiple second mounting holes 102 are provided on the end face of the first phalange segment 10 away from the second phalange segment 60. Correspondingly, multiple first mounting holes 101 are provided on the second phalange segment 60. During installation, fasteners pass through the first mounting holes 101 and are locked within the second mounting holes 102, thereby achieving the assembly of two adjacent phalange modules 100. In this embodiment, combining portions of two adjacent phalanges to form a phalange module 100 facilitates the assembly between adjacent phalange modules 100 and also promotes the modularity of the phalange module 100.

[0043] In one embodiment, the length of the first phalanx 10 is greater than the length of the second phalanx 60. This design can save the axial length of the phalanx module 100, so that when the phalanx module 100 is stacked into a finger, it can meet the requirements of lightweight and miniaturization.

[0044] In another embodiment of this utility model, please refer to Figure 11 The knuckle module 100 includes only the first knuckle segment 10. In this embodiment, the first knuckle segment 10 is equivalent to the length of a knuckle. During assembly, the first knuckle segments 10 of two adjacent knuckle modules 100 are connected end to end.

[0045] In one embodiment of this utility model, please refer to Figures 3 to 7 The reversing mechanism includes a first gear 41 and a second gear 42 that mesh with each other and are perpendicular to each other. The first gear 41 is fixedly sleeved on the output shaft of the motor 20, and the second gear 42 is fixedly sleeved on the input shaft of the reducer. The motor 20 drives the first gear 41 to rotate, which in turn drives the second gear 42 to rotate, thereby driving the reducer to operate. In this embodiment, the reversing mechanism uses gears to achieve reversing, which saves installation space and facilitates the lightweighting and miniaturization of the knuckle module 100.

[0046] In one embodiment, both the first gear 41 and the second gear 42 are bevel gears, and the gear ratio between the second gear 42 and the first gear 41 is 1.5:1 to 3:1. It is understood that a larger gear ratio between the second gear 42 and the first gear 41 results in a larger subtraction ratio, leading to a greater output torque of the knuckle module 100. However, a larger gear ratio also results in a larger size for the second gear 42, which in turn leads to a larger finger joint, hindering the lightweight and miniaturization of the knuckle module 100. In a specific embodiment, the gear ratio between the second gear 42 and the first gear 41 is 2:1, which satisfies the required output torque while also contributing to the lightweight and miniaturization of the knuckle module 100.

[0047] In other embodiments of this utility model, the reversing mechanism may also be a worm gear structure or a synchronous belt structure.

[0048] In one embodiment of this utility model, please refer to Figure 9 The second finger segment 60 includes a first side plate 61 and a second side plate 62 disposed opposite to each other, and an end plate 63 perpendicularly connected between the first side plate 61 and the second side plate 62. The first side plate 61 and the second side plate 62 are rotatably connected to the two sides of the end of the first finger segment 10 away from the motor 20. The first side plate 61 is connected to the output end of a reducer, which drives the first side plate 61 to bend and rotate relative to the first finger segment 10. In this embodiment, the second finger segment 60 is U-shaped, which saves the axial length of the finger module, facilitating the lightweighting and miniaturization of the finger module 100. Simultaneously, the U-shaped design of the second finger segment 60, as a double-sided support structure, provides better rigidity. The thickness of the end plate 63 should be as thin as possible while still achieving sufficient assembly strength.

[0049] In another embodiment of this utility model, the second finger segment 60 includes a first side plate 61 and an end plate 63 perpendicularly connected to one end of the first side plate 61. The first side plate 61 is connected to the output end of a reducer, which drives the first side plate 61 to bend and rotate relative to the first finger segment 10. In this embodiment, the second finger segment 60 is designed in an L-shape, which saves the axial length of the finger module, facilitating the lightweighting and miniaturization of the finger module 100. Furthermore, the L-shape of the second finger segment 60 facilitates processing and assembly.

[0050] In one embodiment, the first side plate 61, the second side plate 62, and the end plate 63 are all metal parts, and the first side plate 61, the second side plate 62, and the end plate 63 are integrally formed to simplify the process and save costs.

[0051] In one embodiment of this utility model, please refer to Figure 1An annular boss 631 is provided on the surface of the end plate 63 away from the first side plate 61 and the second side plate 62. That is, an annular boss 631 is provided on the surface of the end plate 63 that assembles with the first finger segment 10. The annular boss 631 is used for positioning and engagement when assembling two adjacent finger modules 100 and is inserted into the first finger segment 10 of the adjacent finger module 100. In other words, the annular boss 631 is used for axial positioning of the assembly of the first finger segment 10 and the second finger segment 60 to improve assembly accuracy. At the same time, when the annular boss 631 is inserted into the first finger segment 10, the control circuit board 30 is at least partially accommodated within the annular boss 631 to save the axial length of the first finger segment 10, thereby achieving the weight reduction and miniaturization of the finger module 100.

[0052] Please refer to one embodiment of this utility model as well. Figure 1 , Figure 2 , Figure 8 and Figure 9 The first finger segment 10 includes a columnar portion 11 and an arc-shaped portion 12 connected to each other. A first through hole 111 is formed in the columnar portion 11 along its length direction, and a second through hole 121 is formed in the arc-shaped portion 12 along its thickness direction. The axial direction of the second through hole 121 is perpendicular to the axial direction of the first through hole 111, and the first and second through holes 111 are interconnected. The motor 20 and the control circuit board 30 are assembled in the first through hole 111, the first gear 41 of the reversing mechanism is assembled in the first through hole 111, and the second gear 42 of the reversing mechanism and the reducer are assembled in the second through hole 121.

[0053] In this embodiment, a wiring hole 112 is also provided along the length of the columnar portion 11. The wiring hole 112 is located at the edge of the columnar portion 11 and penetrates the columnar portion 11, and its axis is parallel to the axis of the first through hole 111. An arc-shaped groove 122 is provided on the side of the arc-shaped portion 12 along the edge of the second through hole 121. The arc-shaped groove 122 is located on the side where the arc-shaped portion 12 connects to the first side plate 61. When the cable passes through the arc-shaped groove 122, it bends into a U-shape to prevent the knuckle module 100 from pulling the cable during rotation, causing the cable to break or disconnect. A wiring groove 611 is provided on the surface of the first side plate 61 near the second side plate 62. The wiring groove 611 extends to the side of the end plate 63 away from the first side plate 61. The wiring hole 112, the arc groove 122 and the wiring groove 611 are connected in sequence to allow cables to pass through, so that the control circuit boards 30 of two adjacent knuckle modules 100 can communicate. This wiring method facilitates the modularization of the knuckle module 100 and also facilitates circuit maintenance.

[0054] In one embodiment, the wiring hole 112 and the wiring groove 611 are provided with a sealing structure after wiring to achieve waterproof and dustproof protection. Specifically, after wiring is completed in the wiring hole 112 and the wiring groove 611, adhesive is applied or a sealant is provided at both ends of the wiring hole 112 and at the opening of the wiring groove 611.

[0055] In one embodiment, both the columnar portion 11 and the arc-shaped portion 12 are metal parts, and the columnar portion 11 and the arc-shaped portion 12 are integrally formed to simplify the process and save costs.

[0056] Please refer to another embodiment of this utility model as well. Figures 11 to 13 The first finger segment 10 includes a columnar portion 11 and an arc-shaped portion 12 connected to each other, and a first side plate 61 and a second side plate 62 connected to the end of the columnar portion 11 away from the arc-shaped portion 12 and disposed opposite to each other. A first through hole 111 is formed in the columnar portion 11 along its length direction, and a second through hole 121 is formed in the arc-shaped portion 12 along its thickness direction. The axial direction of the second through hole 121 is perpendicular to the axial direction of the first through hole 111, and the first through hole 111 and the second through hole 121 are interconnected. The motor 20 and the control circuit board 30 are assembled in the first through hole 111, the first gear 41 of the reversing mechanism is assembled in the first through hole 111, and the second gear 42 of the reversing mechanism and the reducer are assembled in the second through hole 121.

[0057] In this embodiment, a wiring hole 112 is also provided along the length of the columnar portion 11. The wiring hole 112 is located at the edge of the columnar portion 11 and penetrates the columnar portion 11, and its axis is parallel to the axis of the first through hole 111. An arc-shaped groove 122 is provided on the side of the arc-shaped portion 12 along the edge of the second through hole 121. The arc-shaped groove 122 is located on the side where the arc-shaped portion 12 connects to the first side plate 61. A wiring groove 611 is provided on the surface of the first side plate 61 near the second side plate 62. The wiring groove 611 is approximately L-shaped. The wiring hole 112, the arc-shaped groove 122, and the wiring groove 611 are connected in sequence to allow cables to pass through, enabling communication between the control circuit boards 30 of adjacent knuckle modules 100. This wiring method facilitates the modularization of the knuckle module 100 and also facilitates circuit maintenance.

[0058] In one embodiment, the wiring hole 112 and the wiring groove 611 are provided with a sealing structure after wiring to achieve waterproof and dustproof protection. Specifically, after wiring is completed in the wiring hole 112 and the wiring groove 611, adhesive is applied or a sealant is provided at both ends of the wiring hole 112 and at the opening of the wiring groove 611.

[0059] In one embodiment, the columnar portion 11, the arc-shaped portion 12, the first side plate 61, and the second side plate 62 are all metal parts, and the columnar portion 11, the arc-shaped portion 12, the first side plate 61, and the second side plate 62 are integrally formed to simplify the process and save costs.

[0060] In one embodiment of this utility model, please refer to the following: Figures 3 to 7 The reducer is a harmonic reducer, which mainly includes a wave generator 51, a flexible gear 52, a rigid gear 53, ball bearings 54, a first bearing 55, and a second bearing 56. The wave generator 51 is roughly elongated. The flexible gear 52 is sleeved around one end of the wave generator 51. Several ball bearings 54 and a support 57 are arranged between the wave generator 51 and the flexible gear 52. The ball bearings 54 are arranged circumferentially around the wave generator 51, and the support 57 is sleeved around the ball bearings 54. Two first bearings 55 are provided, arranged side-by-side and sleeved around the end of the wave generator 51 furthest from the flexible gear 52, to prevent the shaft of the wave generator 51 from shaking during rotation. The second bearing 56 is fixedly sleeved around the output end of the flexible gear 52. The second gear 42 is fixedly sleeved around the wave generator 51 and located between the flexible gear 52 and the first bearing 55.

[0061] In this embodiment, the rigid wheel 53 is integrally formed inside the end of the first finger segment 10. Specifically, the rigid wheel 53 is integrally formed on the inner wall of the second through hole 121 to save space and facilitate the lightweighting and miniaturization of the finger module 100.

[0062] In other embodiments of this utility model, the reducer may also be a cycloidal pinwheel reducer, a planetary gear reducer, or an RV reducer, etc.

[0063] In one embodiment of this utility model, please refer to Figure 3 The knuckle module 100 also includes a bearing housing 70. The bearing housing 70 is sleeved on the first bearing 55 and is fixedly connected to the second side plate 62 of the second knuckle segment 60. Specifically, the second side plate 62 has a through hole matching the size of the second through hole 121. One end of the bearing housing 70 has a sleeve that is sleeved on the first bearing 55, and the other end has a connecting flange. The connecting flange has a third mounting hole 103. Fasteners pass through the third mounting hole 103 and are fastened to the second side plate 62, thereby realizing the fixed connection between the bearing housing 70 and the second knuckle segment 60.

[0064] In one embodiment of this utility model, please refer to the following: Figures 1 to 3 and Figure 11 The finger module 100 also includes a connector 80. The connector 80 is fixedly connected to the output end of the flexure 52. The connector 80 can be a connecting flange. A through hole matching the size of the second through hole 121 is opened on the first side plate 61. Fasteners pass through the connector 80 and are fastened to the first side plate 61. Through the connection between the connector 80 and the output end of the flexure 52, the output end of the reducer is connected to the second finger segment 60, thereby driving the second finger segment 60 to bend and rotate in accordance with the first finger segment.

[0065] In one embodiment of this utility model, please refer to the following: Figure 3 and Figure 10 The output end of the flexible wheel 52 is axially divided into a first output portion 521 and a second output portion 522. The output shaft of the flexible wheel 52 is fixedly sleeved within the first output portion 521 and the second output portion 522. The second bearing 56 is sleeved outside the first output portion 521 and the second output portion 522. Both the first output portion 521 and the second output portion 522 are provided with limiting protrusions 523 for axially limiting the second bearing 56, thus preventing the second bearing 56 from sliding. In this embodiment, the limiting protrusion 523 is an annular protrusion arranged along the circumferential direction of the second output portion 522. The second output portion 522 is fixedly connected to the connecting member 80, and the output shaft of the flexible wheel 52 passes through the connecting member 80. Specifically, the second output portion 522 and the connecting member 80 are fixedly connected together by fasteners.

[0066] In one embodiment of this utility model, please refer to the following: Figure 1 , Figure 2 , Figure 8 , Figures 11 to 13 The first finger segment 10 has a finger pad 13 and a finger back 14 disposed opposite to each other. The finger pad 13 and finger back 14 are located in the columnar portion 11 of the first finger segment 10. A groove 131 is formed on the surface of the finger pad 13, and a third through hole 132 communicating with the interior of the first finger segment 10 is formed in the groove 131. In this embodiment, the groove 131 is used to install a tactile sensor, and the third through hole 132 is used for wiring when installing the tactile sensor, so that the sensor is electrically connected to the control circuit board 30 in the first through hole 111. The shape and size of the groove 131 can be selected according to actual needs.

[0067] In one embodiment of the present invention, a detachable decorative soft rubber shell is installed in the groove 131. The surface of the soft rubber shell is flush with the surface of the fingertip 13, so that the surface of the fingertip 13 remains flat and beautiful.

[0068] In one embodiment, a sealing structure is provided after the tactile sensor or soft rubber housing is installed to achieve waterproofing and dustproofing. Specifically, after the tactile sensor or soft rubber housing is installed, adhesive is applied or a sealant is provided around the groove 131.

[0069] This utility model embodiment also provides a dexterous hand, which includes a palm module and multiple fingers connected sequentially to one side of the palm module, each finger including at least one knuckle module 100 as provided in this utility model embodiment.

[0070] The dexterous hand provided in this embodiment of the utility model adopts the above-mentioned knuckle module 100, which can meet the needs of lightweight and miniaturized finger joints, greatly improve the motion control accuracy of finger joints, and realize modularity. Multiple knuckle modules 100 can be stacked to connect to form a finger, which is convenient to assemble and disassemble and easy to maintain.

[0071] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A knuckle module, characterized in that: The device includes a first finger segment, a motor and a control circuit board disposed within the first finger segment, and a commutation mechanism and a reducer disposed at one end of the first finger segment. The output shaft of the motor is parallel to the length direction of the first finger segment, and the output shaft of the reducer is perpendicular to the output shaft of the motor. The commutation mechanism is disposed between the motor and the reducer and is used to convert the rotation of the output shaft of the motor into the rotation of the input shaft of the reducer. The control circuit board is disposed at the end of the motor away from the commutation mechanism and is electrically connected to the motor.

2. The knuckle module as described in claim 1, characterized in that: It also includes a second finger segment, the output shaft of which is connected to the second finger segment to drive the second finger segment to rotate.

3. The knuckle module as described in claim 1 or 2, characterized in that: The reversing mechanism includes a first gear and a second gear that mesh with each other. The first gear is fixedly sleeved on the output shaft of the motor, and the second gear is fixedly sleeved on the input shaft of the reducer.

4. The knuckle module as described in claim 2, characterized in that: The second finger segment includes a first side plate and a second side plate disposed opposite to each other, and an end plate perpendicularly connected between the first side plate and the second side plate. The first side plate and the second side plate are respectively rotatably connected to the two sides of the end of the first finger segment away from the motor; or, The second finger segment includes a first side plate and an end plate vertically connected to one end of the first side plate, the first side plate being connected to the output end of the reducer.

5. The knuckle module as described in claim 4, characterized in that: An annular boss is provided on the side surface of the end plate away from the first side plate and the second side plate. The annular boss is used for positioning and fitting when two adjacent finger joint modules are assembled, and is inserted into the first finger joint segment of the adjacent finger joint module.

6. The knuckle module as described in claim 4, characterized in that: The first finger segment includes a columnar portion and an arc-shaped portion connected to each other. A first through hole is formed in the columnar portion along its length direction, and a second through hole is formed in the arc-shaped portion along its thickness direction. The axial direction of the second through hole is perpendicular to the axial direction of the first through hole. A wiring hole is also formed in the columnar portion along its length direction. An arc-shaped groove is formed on the side of the arc-shaped portion along the edge of the second through hole. A wiring groove is formed on the surface of the first side plate near the second side plate. The wiring hole, the arc-shaped groove, and the wiring groove are connected in sequence. The wiring hole penetrates the columnar portion, and the wiring groove extends to the side of the end plate away from the first side plate. A sealing structure is provided for the wiring hole and the wiring groove after wiring.

7. The knuckle module as described in claim 1, characterized in that: The first finger segment includes a columnar portion and an arc-shaped portion connected to each other, and a first side plate and a second side plate connected to the end of the columnar portion away from the arc-shaped portion and disposed opposite to each other. A first through hole is formed in the columnar portion along its length direction, and a second through hole is formed in the arc-shaped portion along its thickness direction. The axial direction of the second through hole is perpendicular to the axial direction of the first through hole. A wiring hole is also formed in the columnar portion along its length direction. An arc-shaped groove is formed on the side of the arc-shaped portion along the edge of the second through hole. A wiring groove is formed on the surface of the first side plate near the second side plate. The wiring hole, the arc-shaped groove, and the wiring groove are connected in sequence. The wiring hole penetrates the columnar portion. The wiring hole and the wiring groove are provided with a sealing structure after wiring.

8. The knuckle module as described in claim 3, characterized in that: The reducer includes a wave generator, a flexible wheel sleeved on one end of the wave generator, a rigid wheel sleeved on the flexible wheel and cooperating with the flexible wheel, a plurality of balls arranged circumferentially between the wave generator and the flexible wheel, a bracket sleeved on the balls, a first bearing sleeved on the end of the wave generator away from the flexible wheel, and a second bearing sleeved on the output end of the flexible wheel. The second gear is sleeved on the wave generator and located between the flexible wheel and the first bearing.

9. The knuckle module as described in claim 1 or 2, characterized in that: The first finger segment has a finger pad and a finger back that are arranged opposite to each other. A groove is formed on the surface of the finger pad. The groove is used to install a tactile sensor or a decorative soft rubber shell. A third through hole is formed in the groove and communicates with the interior of the first finger segment. The third through hole is used for wiring when installing the tactile sensor. The tactile sensor or the soft rubber shell is provided with a sealing structure after installation.

10. A dexterous hand, characterized in that: It includes a palm module and a plurality of fingers sequentially connected to one side of the palm module, each of the fingers including at least one knuckle module as described in any one of claims 1 to 9.

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