Middle knuckle module, robotic dexterous hand and intelligent prosthesis

Abstract

This utility model belongs to the field of bionic dexterous hand technology, specifically relating to a mid-phalangeal joint module, a robotic dexterous hand, and an intelligent prosthesis. The mid-phalangeal joint module includes an outer shell assembly (1), a first rotating component (21), a second rotating component (22), a first drive mechanism (31), and a second drive mechanism (32). The outer shell assembly (1) serves as the support and mounting base, and its interior forms a chamber for accommodating the first drive mechanism (31) and the second drive mechanism (32). Its external ends form structural interfaces for rotating connection with adjacent phalanges. By integrating the first drive mechanism (31) and the second drive mechanism (32) for driving the proximal phalanges and the mid-phalanges themselves within the same mid-phalangeal joint module, a high degree of integration and modularity of a single finger is achieved, thereby reducing the number of drive units scattered between phalanges, improving space utilization, and facilitating the miniaturization design of the robotic dexterous hand and the intelligent prosthesis as a whole.

Description

Technical Field

[0001] This utility model belongs to the field of bionic dexterous hand technology, specifically relating to a middle finger joint module, a robotic dexterous hand, and an intelligent prosthesis. Background Technology

[0002] With the continuous development of robotics and intelligent prosthetics, robotic dexterous hands and bionic prostheses are increasingly widely used in industrial operations, service robots, and medical rehabilitation. As key actuators for precise manipulation and flexible grasping in these devices, the structural design and driving method of the fingers directly affect the overall system's flexibility, reliability, and integration.

[0003] In existing technologies, robot fingers are typically composed of a proximal phalanx, a middle phalanx, and a distal phalanx connected in sequence. The middle phalanx generally serves to connect the proximal and distal phalanxes. To achieve multi-degree-of-freedom motion, existing finger structures usually provide each phalanx with an independent drive motor and transmission mechanism.

[0004] However, the drive components for the proximal and distal phalanges are usually independent and scattered, which is not conducive to modular design and integration of the whole hand, and thus not conducive to the miniaturization and biomimetic design of the fingers. Utility Model Content

[0005] In view of this, this utility model proposes a middle finger joint module, a robotic dexterous hand, and an intelligent prosthesis, aiming to achieve a high degree of integration of bionic fingers.

[0006] In a first aspect, the present invention provides a mid-knuckle module, which includes a housing assembly, a first rotating member, a second rotating member, a first driving mechanism, a second driving mechanism, a first transmission assembly, and a second transmission assembly. The first rotating member is disposed at one axial end on the outer side of the housing assembly and is used to connect to the proximal knuckle; the second rotating member is disposed at the other axial end on the outer side of the housing assembly and is used to connect to the distal knuckle; the first driving mechanism is disposed inside the housing assembly and is connected to the first rotating member by a first transmission assembly; the second driving mechanism is disposed inside the housing assembly and is connected to the second rotating member by a second transmission assembly.

[0007] In a preferred embodiment of the above-mentioned middle knuckle module provided by this utility model, the driver of the first drive mechanism and the driver of the second drive mechanism are located in the same chamber of the housing assembly.

[0008] In a preferred embodiment of the middle knuckle module provided by this utility model, the outer shell assembly is provided with a cable outlet, and the cables on the driver of the first drive mechanism and the driver of the second drive mechanism share the cable outlet.

[0009] In a preferred embodiment of the middle knuckle module provided by this utility model, the diameter of the motor of the first drive mechanism is larger than the diameter of the motor of the second drive mechanism.

[0010] In a preferred embodiment of the middle knuckle module provided by this utility model, the axial thickness of the reducer in the first drive mechanism is greater than the axial thickness of the reducer in the second drive mechanism.

[0011] In a preferred embodiment of the middle knuckle module provided by this utility model, the diameter of the end of the outer shell assembly near the distal knuckle is less than or equal to the diameter of the end near the proximal knuckle.

[0012] In a preferred embodiment of the middle knuckle module provided by this utility model, the first transmission component or the second transmission component includes: a worm gear assembly or two bevel gears.

[0013] In a preferred embodiment of the middle knuckle module provided by this utility model, the outer shell assembly includes a first end seat, a first middle seat, and a first top cover; a motor is disposed between the first end seat and the first middle seat, and a speed reducer is disposed between the first middle seat and the first top cover.

[0014] In a preferred embodiment of the middle knuckle module provided by this utility model, the first end seat and the first middle seat each have a boss extending into the motor, and a bearing is provided on the inner side of the end of each of the two bosses, and the motor shaft is connected to the two bearings.

[0015] In a preferred embodiment of the middle knuckle module provided by this utility model, a magnetic bead is connected to one end of the rotating shaft extending out of the first end seat, and the magnetic bead cooperates with the Hall element provided on the driver to form an encoder.

[0016] In a preferred embodiment of the middle knuckle module provided by this utility model, a gear portion is formed at one end of the rotating shaft that protrudes from the first middle seat, and the gear portion meshes with the planetary gear of the reducer.

[0017] Secondly, in a robot dexterous hand provided by this utility model, the robot dexterous hand includes the middle knuckle module described in any embodiment of the first aspect.

[0018] Thirdly, in an intelligent prosthesis provided by this utility model, the intelligent prosthesis includes the middle phalanx module described in any embodiment of the first aspect.

[0019] In the mid-phalangeal joint module, robotic dexterous hand, and intelligent prosthesis proposed in this utility model, by integrating a first driving mechanism and a second driving mechanism for driving the proximal phalanges and the mid-phalanges themselves within the same mid-phalangeal joint module, a high degree of integration and modularization of a single finger is achieved, thereby reducing the number of driving units scattered between phalanges, improving space utilization, and facilitating the miniaturization design of the robotic dexterous hand and intelligent prosthesis as a whole. Attached Figure Description

[0020] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the external structure of a preferred embodiment of the middle knuckle module in this example.

[0022] Figure 2 This is a cross-sectional structural diagram of a preferred embodiment of the middle knuckle module in this example.

[0023] Figure 3 This is a schematic diagram showing the arrangement of the first and second drive mechanisms in a preferred embodiment of the middle knuckle module of this example.

[0024] Figure 4 This is a schematic diagram of the assembly structure of the first drive mechanism in the middle knuckle module of this embodiment.

[0025] The accompanying figure is labeled as follows:

[0026] 1-Outer shell assembly; 101-Cable outlet; 11-First end mount; 12-First middle mount; 13-First top cover;

[0027] 21-First rotating component; 22-Second rotating component;

[0028] 31-First drive mechanism; 32-Second drive mechanism;

[0029] 41-First transmission assembly; 42-Second transmission assembly; 401-Worm gear; 402-Worm;

[0030] 51-Motor; 511-Shaft; 5111-Gear section; 5112-Magnetic bead; 52-Reducer; 53-Driver;

[0031] 6-Bearing. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "setup" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0035] The middle knuckle module provided in this embodiment has an overall slender structure, such as... Figure 1 As shown, it is suitable for placement in the middle segment of a robot finger or a bionic prosthetic finger, for connecting the proximal phalanx and the distal phalanx at both ends of the axial direction, respectively.

[0036] In one embodiment, the middle knuckle module of this embodiment is applied to a robot dexterous hand. Multiple middle knuckle modules are combined with proximal and distal knuckles respectively to form a multi-finger, multi-degree-of-freedom dexterous hand structure. By centrally arranging the drive mechanism in the middle knuckle modules, high integration and high reliability of the dexterous hand are achieved.

[0037] In another embodiment, the middle phalanx module of this embodiment is applied to a smart prosthesis. Due to its compact size, biomimetic structure, and high driving precision, it can significantly improve the mobility and comfort of the prosthetic fingers, meeting the needs of rehabilitation and daily life operations.

[0038] In the middle knuckle module provided in this embodiment, combined with Figure 2 and Figure 3The central knuckle module comprises a housing assembly 1, a first rotating component 21, a second rotating component 22, a first driving mechanism 31, and a second driving mechanism 32. The housing assembly 1 serves as the support and mounting base, and its interior has a cavity for accommodating the first driving mechanism 31 and the second driving mechanism 32. Its external ends form structural interfaces for rotatable connection with adjacent knuckles.

[0039] In a preferred embodiment, the first rotating member 21 is disposed at one axial end of the housing assembly 1 and on the side close to the proximal phalanx. The first rotating member 21 can be a rotating rod. A pair of connecting ears can be provided on the end face of the housing assembly 1. The rotating rod can be connected to the pair of connecting ears respectively through bearings 6. The proximal phalanx is also connected to the rotating rod, so that the middle phalanx module can drive itself to flex, extend or swing relative to the proximal phalanx.

[0040] The second rotating component 22 is located at the other axial end of the outer shell assembly 1 and near the distal phalanx. Its structure can be the same as or similar to that of the first rotating component 21, and it also forms a rotating pair with the distal phalanx through a rotating rod. Through the arrangement of the first rotating component 21 and the second rotating component 22, the middle phalanx module plays a connecting role in the mechanical structure.

[0041] This embodiment integrates a first drive mechanism 31 and a second drive mechanism 32 for driving the proximal phalanx and the middle phalanx itself within the same middle phalanx module, thereby achieving a high degree of integration and modularity of a single finger. This reduces the number of drive units that are scattered between phalanges, improves space utilization, and facilitates the miniaturization design of the robot's dexterous hand and intelligent prosthesis as a whole.

[0042] In a preferred embodiment, the first drive mechanism 31 is disposed inside the housing assembly 1, and includes a motor 51, a reducer 52, and a driver 53. The output end of the first drive mechanism 31 is connected to the first rotating member 21 via a first transmission assembly 41.

[0043] For example, the first drive mechanism 31 can use a brushless DC motor 51 as a power source. The motor 51 is preferably a frameless motor. The output end of the rotating shaft 511 of the motor 51 is connected to the input end of the reducer 52. The reducer 52 is used to reduce the speed and increase the output torque. The reduced output shaft transmits power to the first rotating member 21 through the first transmission assembly 41, causing the first rotating member 21 to rotate around its axis, thereby driving the middle phalanx to rotate relative to the proximal phalanx.

[0044] In one embodiment, the first transmission component 41 can be a worm gear 401 and worm 402 assembly, wherein the worm 402 is coaxial with or fixed to the output shaft of the reducer 52, and the worm gear 401 is coaxial with the first rotating member 21. Through the transmission via the worm gear 401 and worm 402, not only can a large reduction ratio be achieved, but a self-locking effect can also be achieved to a certain extent, which is beneficial for maintaining finger posture.

[0045] In another embodiment, the first transmission component 41 may consist of two meshing bevel gears, one of which is connected to the output shaft of the reducer 52 and the other is connected to the first rotating member 21, thereby realizing the transmission of power between different axial directions, which is suitable for structural arrangements with limited space or high steering requirements.

[0046] The second drive mechanism 32 is also located inside the housing assembly 1, and its structure is similar to that of the first drive mechanism 31, including a motor 51, a reducer 52, and a corresponding driver 53. The second drive mechanism 32 is connected to the second rotating member 22 through the second transmission assembly 42 and is used to drive the rotation of the distal phalanx.

[0047] In a preferred embodiment, the motor 51 of the second drive mechanism 32 can be a smaller motor with relatively lower output power to meet the characteristics of lower load on the distal phalanx and higher requirements for fine control. The second transmission component 42 can also adopt a worm gear 401 and worm 402 assembly or a bevel gear set, and its specific form can be the same as or different from that of the first transmission component 41.

[0048] In one modified embodiment, the first transmission component 41 adopts a worm gear 401 and worm 402 structure, while the second transmission component 42 adopts a bevel gear structure, thereby enabling targeted optimization design based on the different requirements of the proximal and distal phalanges in terms of load, stroke, and structural space.

[0049] In a preferred embodiment, the driver 53 of the first drive mechanism 31 and the driver 53 of the second drive mechanism 32 are disposed in the same chamber of the housing assembly 1. This chamber may be located in the middle of the housing assembly 1 or on the side near the proximal phalanx. By arranging the two drivers 53 in a concentrated manner, it is beneficial to reduce the number of internal chambers, simplify the housing structure, and reduce wiring complexity.

[0050] Based on this, a cable outlet 101 is provided on the housing assembly 1, through which the power lines and signal lines of the first drive mechanism 31 and the second drive mechanism 32 are led out. The cable outlet 101 can be configured with an anti-pull-out and anti-bending structure, such as by providing a rubber sheath or a stress-relieving structure, thereby improving overall reliability.

[0051] In a preferred embodiment, the diameter of the motor 51 of the first drive mechanism 31 is larger than the diameter of the motor 51 of the second drive mechanism 32. This configuration is suitable for applications where the proximal phalanx bears a larger torque and requires a larger output power, while the distal phalanx prioritizes lightweight and flexibility.

[0052] In another embodiment, the axial thickness of the reducer 52 in the first drive mechanism 31 is greater than the axial thickness of the reducer 52 in the second drive mechanism 32, thereby providing a higher reduction ratio and output torque for the proximal phalanx without significantly increasing the overall length, and adapting to the different force conditions of the two reducers 52.

[0053] In addition, the outer shell component 1 can also be designed such that the diameter of the end near the distal phalanx is less than or equal to the diameter of the end near the proximal phalanx, so that the middle phalanx module presents a biomimetic shape that gradually tapers from the proximal end to the distal end, which is more in line with the shape characteristics of human fingers and helps to improve aesthetics and biomimeticity.

[0054] In a preferred embodiment, combined with Figure 1 , Figure 2 and Figure 4 The housing assembly 1 may include a first end seat 11, a first middle seat 12, and a first top cover 13. A mounting cavity is formed between the first end seat 11 and the first middle seat 12 for mounting the motor 51; another mounting cavity is formed between the first middle seat 12 and the first top cover 13 for mounting the reducer 52.

[0055] This split structure facilitates the separate assembly and maintenance of the motor 51 and the reducer 52, and also allows for flexible configuration according to the dimensions of different drive mechanisms.

[0056] In a preferred embodiment, the first end seat 11 and the first middle seat 12 each form an inwardly extending boss, which extends into the interior of both ends of the motor 51. A bearing 6 is provided on the inner side of the end of each boss, and the two ends of the motor shaft 511 are respectively connected to the two bearings 6, thus providing double-end support for the shaft 511. This structure effectively improves the coaxiality and operational stability of the shaft 511, reduces vibration and noise, and extends the service life of the drive mechanism. Furthermore, since the two bearings 6 are at least partially or entirely located inside the motor 51, it helps to shorten the overall length of the middle knuckle module, making the middle knuckle module more compact.

[0057] In a preferred embodiment, a magnetic bead 5112 is connected to one end of the motor 51 shaft 511 extending out of the first end seat 11. The magnetic bead 5112 cooperates with the Hall element set on the driver 53 to form an encoder, which is used to detect the speed and rotation position of the motor 51, thereby realizing precise control of the knuckle movement.

[0058] In another embodiment, continue to refer to Figure 4 One end of the rotating shaft 511 extends out of the first intermediate seat 12 to form a gear section 5111. This gear section 5111 directly meshes with the planetary gears in the reducer 52, which is suitable for planetary reducer schemes and achieves efficient power transmission. This structure reduces the number of intermediate connecting parts and helps to shorten the axial dimension of the middle finger module.

[0059] Finally, this embodiment integrates dual drive mechanisms (first drive mechanism 31 and second drive mechanism 32) and dual transmission components (first transmission component 41 and second transmission component 42) within the middle phalanx module, achieving independent drive and coordinated control of the proximal and distal phalanges. It has the advantages of compact structure, high modularity, easy integration, and good biomimetic effect, and is applicable to various technical fields such as robot dexterous hands and intelligent prostheses.

[0060] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0061] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A middle knuckle module, characterized in that, include: Housing assembly (1); The first rotating member (21) is disposed on one axial end of the outer side of the housing assembly (1) for connecting the proximal phalanx; The second rotating member (22) is disposed on the other axial end of the outer side of the housing assembly (1) for connecting the distal phalanx; The first drive mechanism (31) is disposed inside the housing assembly (1), and a first transmission assembly (41) is disposed between it and the first rotating member (21). The second drive mechanism (32) is disposed inside the housing assembly (1), and a second transmission assembly (42) is disposed between it and the second rotating member (22).

2. The middle knuckle module according to claim 1, characterized in that, The driver (53) of the first drive mechanism (31) and the driver (53) of the second drive mechanism (32) are located in the same chamber of the housing assembly (1).

3. The middle knuckle module according to claim 2, characterized in that, The housing assembly (1) is provided with a cable outlet (101), and the cables on the driver (53) of the first drive mechanism (31) and the driver (53) of the second drive mechanism (32) share the cable outlet (101).

4. The middle knuckle module according to claim 1, characterized in that, The diameter of the motor (51) of the first drive mechanism (31) is larger than the diameter of the motor (51) of the second drive mechanism (32); or, The axial thickness of the reducer (52) in the first drive mechanism (31) is greater than the axial thickness of the reducer (52) in the second drive mechanism (32); or, The diameter of the end of the outer shell assembly (1) near the distal phalanx is less than or equal to the diameter of the end near the proximal phalanx.

5. The middle knuckle module according to claim 1, characterized in that, The first transmission assembly (41) or the second transmission assembly (42) includes: a worm gear (401) assembly, a worm (402) assembly, or two bevel gears.

6. The middle knuckle module according to claim 1, characterized in that, The outer casing assembly (1) includes a first end seat (11), a first middle seat (12) and a first top cover (13); a motor (51) is disposed between the first end seat (11) and the first middle seat (12), and a reducer (52) is disposed between the first middle seat (12) and the first top cover (13).

7. The middle knuckle module according to claim 6, characterized in that, The first end seat (11) and the first middle seat (12) each have a boss extending into the motor (51), and a bearing (6) is provided on the inner side of the end of each of the two bosses. The rotating shaft (511) of the motor (51) is connected to the two bearings (6).

8. The middle knuckle module according to claim 7, characterized in that, One end of the rotating shaft (511) extending out of the first end seat (11) is connected to a magnetic bead (5112), and the magnetic bead (5112) cooperates with the Hall element provided on the driver (53) to form an encoder; or, A gear portion (5111) is formed at one end of the shaft (511) that protrudes from the first intermediate seat (12), and the gear portion (5111) meshes with the planetary gear of the reducer (52).

9. A robotic dexterous hand, characterized in that, Includes the middle knuckle module as described in any one of claims 1 to 8.

10. An intelligent prosthesis, characterized in that, Includes the middle knuckle module as described in any one of claims 1 to 8.

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