Joint module, finger, dexterous robot hand, and robot

Abstract

The present application provides a joint module, a finger, a dexterous robot hand, and a robot. The joint module comprises a driving mechanism and a transmission mechanism, wherein an output end of the driving mechanism is connected to an input portion of the transmission mechanism, and an output portion of the transmission mechanism serves as an output portion of the joint module to transmit power. Since each joint module comprises a driving mechanism, the joint movement of each knuckle can be controlled independently to output torque, thereby increasing the response speed, precision, and torque of each joint movement. When multiple joint modules are applied to a finger, the strength of the entire finger and the coordination precision and flexibility of a finger action can be improved, and the wiring between the joint modules and the wiring between the joint modules and a fingertip module in the finger are more convenient.

Description

Joint module, finger, robot dexterous hand and robot TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a joint module, a finger, a robot dexterous hand and a robot. BACKGROUND

[0002] Humanoid robots have received extensive social attention in recent years, and their scientific and technological level has also been greatly improved. Bionic dexterous hand is the end effector of humanoid robot, and its design goal is to create a robot hand that can simulate the complex movement and fine operation ability of human hand. As an important end execution part of the robot, the dexterous hand is indispensable in the daily work and future development of the robot, and the performance of the dexterous hand, especially the number and mode of degrees of freedom of each finger, such as left and right swing (to achieve clamping), up and down swing (to grasp), oblique swing (to achieve twisting and pinching), etc., will directly affect the use of the whole robot.

[0003] According to the different driving forms of the dexterous hand fingers, the existing dexterous hands can be roughly divided into link driving, tendon driving, servo driving and fixed shaft gear driving.

[0004] 1. Link driving

[0005] As shown in FIG. 16, the working principle is as follows: taking a finger as an example, the fingertip 71, the second knuckle 72 and the third knuckle 73 of the hand are triangular links of different shapes, the links (including the driving link 74 and the coupling link 77) are in straight line form, the first reset component 75 and the second reset component 76 are reset springs, when the driving link at the first reset component 75 rotates clockwise / counterclockwise, the finger makes flexion / extension movement.

[0006] Disadvantages: the transmission mechanism is relatively complex, and the manufacturing precision of the parts is high. The flexibility is poor, and the enveloping property and adaptability of the dexterous hand when grasping irregularly shaped objects are poor.

[0007] 2. Tendon driving

[0008] As shown in FIG. 17, the working principle is as follows: the motor (such as brushless motor 81) placed in the forearm of the dexterous hand drives the ball screw 82 through the gear box, and the rotation is converted into translation through the nut on the ball screw. The tendon 83 forms a tendon ring around the nut, and the nut pulls the tendon connected to the phalanx of the finger of the dexterous hand, realizing the rotary motion of the finger around the joint axis.

[0009] Disadvantages: the strength and stiffness of the tendon material are relatively low, and it may not be able to withstand a large load or torque.

[0010] 3. Servo driving

[0011] As shown in FIG. 18, the working principle is as follows: for example, the first driving steering engine 91 directly drives the bionic little finger to rotate 92, or indirectly drives the bionic ring finger 97, the bionic middle finger 98, and the bionic index finger to rotate through the crank 93, the first connecting rod 94, and the rocker (for example, the little finger rocker 95 and the ring finger rocker 96) in sequence.

[0012] Disadvantages: the deceleration is relatively high, resulting in limited response speed. SUMMARY

[0013] The embodiment of the present application provides a joint module, a finger, a dexterous hand of a robot, and a robot. By installing a plurality of joint modules of the present application in each finger, the fingers can be flexibly driven through cooperation of the joint modules, thereby solving at least one of the problems of slow response speed, inability to bear a large load or torque, and the like in the existing dexterous hand, and improving the flexibility and accuracy of motion control.

[0014] According to a first aspect of the present application, a joint module is provided, comprising: a driving mechanism, a transmission mechanism; the output end of the driving mechanism is connected with the input part of the transmission mechanism, and the output part of the transmission mechanism serves as the output part of the joint module for transmitting power.

[0015] The joint module of the present application can independently form a section of a finger joint, and the transmission mechanism of the joint module as the output part can be connected with other external structures to transmit power, and a finger structure with multiple finger joints can be formed by assembling a plurality of joint modules of the present application. Since each joint module has a driving mechanism, each finger joint can be independently controlled and independently output torque, thereby realizing independent rotation control of the joints between adjacent finger joints. This independent control enables two adjacent fingers to be kept straight and the third finger to be directly bent on a finger with three finger joints (i.e. composed of three joint modules or composed of two joint modules and one fingertip module), thereby making the finger formed by assembling a plurality of joint modules of the present application more flexible, the strength of the whole finger greater, and the rotation accuracy higher. In addition, the finger formed by the joint module of the present application can avoid the loss of kinetic energy between multiple finger joints when the kinetic energy is transmitted, and thus is not affected by the decrease of kinetic energy caused by multi-stage transmission. At the same time, since the size of the joint module of the present application is mainly determined by the size of the driving mechanism, the load or torque of the joint module can be controlled by reducing or increasing the size of the driving mechanism, so that the rated load or rated torque of the whole finger of the robot formed thereby can be more flexibly adjusted.

[0016] In some embodiments, the joint module further comprises a shell for packaging the driving mechanism and the transmission mechanism; the shell has one of a cylindrical shape and a prism shape.

[0017] Or, the joint module is configured to not include the shell; and the drive mechanism has a cylindrical or prismatic shape.

[0018] Through the above-mentioned implementation, the shell can realize the installation and fixation of the drive mechanism to realize integrated packaging. However, the addition of the shell will cause the increase of the volume of the overall joint module and reduce the heat dissipation effect. Therefore, another idea is to maximize the reduction of the volume of the joint module and the volume of the fingers of the manipulator to make it closer to the size of the human hand. The shell can be discarded, and the shape of the drive mechanism is set to correspond to the shape of the shell, thereby obtaining an implementation without the shell but with the shell. This way does not need to consider the installation and fixation of the drive mechanism. At the same time, due to the removal of the shell, the overall heat dissipation effect is also improved, and the overall structure can be more compact, so that the joint module has the advantages of miniaturization, compactness, integration, and heat dissipation effect. In addition, when there is no shell, the drive mechanism has a prismatic shape due to the existence of the plane, so that the drive mechanism can be placed flat and will not roll, thereby facilitating the installation and stability of the joint module.

[0019] In some embodiments, the drive mechanism includes a motor and a reduction box, the output end of the motor is connected with the input end of the reduction box, and the output end of the reduction box serves as the output end of the drive mechanism.

[0020] Through the above-mentioned implementation, the drive mechanism of the joint module adopts the form of motor driving, which utilizes the advantages of motor driving to improve the precision control, precision consistency under multiple controls, response sensitivity, and maintenance convenience of the drive mechanism. Moreover, the motor-driven drive mechanism combines the reduction box, so that each independently arranged joint module can match the motor to achieve the required reduction ratio through the design of the reduction box. Compared with the rope driving and crank transmission in the prior art, the combination of the reduction box and the motor can better freely adjust the rated load and rated torque of each part of the formed fingers, so that the performance of the formed fingers or dexterous hand of the robot during work can be guaranteed, and the robot can be applied to more different working environments.

[0021] In some embodiments, the drive mechanism includes a motor and a reduction box, and when the joint module is configured to not include the shell, the gear ring of the reduction box is configured as the shell of the reduction box.

[0022] Through the arrangement of the above-mentioned embodiments, the variable design of the gear ring of the speed reducer can be effectively reduced to adapt to the case without the joint module shell, so as to achieve the purpose of small size of the joint module, so as to adapt to the use requirements of the small finger manipulator. Adapted to the case that the shape of the driving mechanism is designed as one of a cylinder and a prism, when the gear ring of the speed reducer is used as the shell of the speed reducer, it can also be one of a cylinder and a prism. At this time, the shape of the motor should be consistent with the shape of the gear ring. When the gear ring of the speed reducer is designed as a prism, the shape of the motor is also consistent with the prism of the gear ring, and the entire driving mechanism is prismatic, thereby achieving the effect disclosed above, that is, when there is no shell, the driving mechanism is designed as a prism, and due to the existence of the plane, the driving mechanism can be placed flat and will not roll, thereby facilitating the installation and stability of the joint module.

[0023] In some embodiments, a driving board module is further included, which is connected with the driving mechanism and is used for controlling the operation of the driving mechanism.

[0024] Through the arrangement of the above-mentioned embodiments, the driving board module can be added to each joint module to realize the individual driving of each joint module. Since the multiple joint modules are used on the dexterous hand, the specific positions of each joint are different, the connection structure and the module can also be different, and the required torque during work is also different. The independent driving of the single joint module can effectively improve the control accuracy and strength of the formed finger.

[0025] Through the arrangement of the above-mentioned embodiments, the connection design of the plug-in structure can realize the relative independence and convenience of connection between the joint modules and other external structures (such as the palm), and form a convenient integrated joint module to improve the disassembly and assembly efficiency.

[0026] In some embodiments, the driving board module is arranged on the driving mechanism.

[0027] Alternatively, the joint module further includes a shell for encapsulating the driving mechanism and the transmission mechanism, and the driving board module is arranged in a mounting groove arranged on the shell.

[0028] Alternatively, the driving board module is arranged on an external device, and the external device includes the palm of the manipulator.

[0029] Through the arrangement of the above-mentioned embodiments, the driving plate module is arranged on the driving mechanism, so that the control part of the joint module is integrated with the working part to form a completely independent unit, and the driving plate module is arranged on the external device, so that the volume of the joint module itself can be reduced, and when a plurality of joint modules are connected on the palm, the driving plate modules of the plurality of joint modules can be arranged on the palm individually or integrated into one driving plate module to be arranged on the palm, so that unified control between the plurality of joint modules is realized, and the volume of the whole robotic hand is reduced. In addition, each joint module is provided with a driving plate module, which has the following advantages:

[0030] (1) In the development process of the dexterous hand, sensors for detecting the output angle of the output end and sensors for detecting the tactile sensation (such as a pressure sensor) will be added to the joint module in the finger. Among them, the angle sensor generally has 3 wires (i.e. power line, at least 1 signal line, ground wire), the pressure sensor generally has about 3 wires (i.e. power line, 1 signal line, ground wire), plus the motor generally has 3 wires (i.e. power line, 1 signal line, ground wire), so the angle sensor and the motor of a single joint module have 6 wires (or more, because the signal line may increase due to control requirements), and if the tactile sensor is added, there will be 9 wires. Therefore, if the joint module does not integrate the control module to concentrate the connection of these wires, the wires will be scattered, which is difficult to achieve reasonable wiring at the degree of freedom without affecting the movement (such as rotation) at the degree of freedom and the wiring on the joint module for the design requirement of the miniaturization of the dexterous hand. Therefore, the joint module integrates the control module, which can concentrate the wires of the driving mechanism, i.e. the wires are concentrated for wiring, which realizes efficient wire harness management, otherwise in the case of non-concentrated wiring, the wiring between the joint modules in the finger and the wiring from the joint modules to the palm will be a serious problem. For example, a complete finger (i.e. index finger, middle finger, ring finger, little finger) has 3 joint modules (placed at the finger root knuckle, near the finger knuckle, middle finger knuckle), a total of 18 wires, and if 3 wires of the tactile sensor of the finger tip module are added, there will be 21 wires for one finger. If a board is not placed on the joint module to concentrate and rewire, it will be extremely difficult to complete so many wires on the finger without affecting the movement of the finger, therefore, the present application adds a driving plate module to the joint module, which realizes both the concentration and re-wiring and the independent driving control of each joint module.

[0031] (2) Avoiding the problem of integrating each driving board of each finger into the palm, making the palm too thick. Since each joint (i.e., each degree of freedom) is independently driven by a joint module, and each joint module is configured with a driving board module, this makes a five-fingered manipulator have 19 driving board modules. If these 19 driving board modules are integrated into the palm, the thickness of the palm will increase, deviating from the product demand of small size and thinness of the palm design.

[0032] (3) Can improve the reliability and stability of the overall system. Since the driving board module of each joint module works independently, the entire dexterous hand system has a high degree of modularity. This modular design facilitates maintenance and replacement. If a joint module has a problem, only the driving board module of the module needs to be replaced, without the need for major repairs to the entire system. At the same time, independent driving board modules reduce the risk of failure spreading between different joint modules. Even if the driving board module of a joint module fails, it will not affect the normal operation of other joint modules.

[0033] (4) Can enhance the flexibility and scalability of the system. Since each joint module is independently provided with a driving board module, such a modular design can make the dexterous hand system more convenient to upgrade and expand. For example, the driving board module of a certain joint module can be upgraded individually to improve its performance, without the need for major modifications to the entire system. And the independent driving capability of each joint module enables the dexterous hand to adapt to a variety of different task requirements. For example, when high-precision grasping is required, the motion parameters of certain joints can be adjusted individually.

[0034] In some embodiments, the transmission mechanism includes at least one of a gear transmission, a linkage transmission, a synchronous belt transmission, and a chain transmission.

[0035] In some embodiments, the transmission mechanism includes a first gear or a first coupling; the first gear includes a bevel gear; the first gear or the first coupling is both an input of the transmission mechanism and an output of the transmission mechanism. The transmission mechanism only uses a first gear or a first coupling, forming a minimalist transmission mechanism, which facilitates the adaptability and scalability of the joint module, and allows the external components connected thereto to spin, which may, for example, be another joint module.

[0036] In some embodiments, the transmission mechanism further includes a second gear; the second gear includes a bevel gear; the second gear is meshed with the first gear, the first gear is an input of the transmission mechanism, and the second gear replaces the first gear as an output of the transmission mechanism.

[0037] By the arrangement of the above-mentioned embodiments, the transmission mechanism adds the second gear as the output part of the transmission mechanism, which facilitates the adjustment of the output direction. In addition, by the taper tooth engagement between the first gear and the second gear, the input part and the output part of the transmission mechanism form two directions perpendicular to each other, so as to change the output direction of the driving mechanism.

[0038] In some embodiments, the transmission mechanism further comprises an output shaft and a support structure; the output shaft replaces the second gear as the output part of the transmission mechanism; the output shaft is rotatably arranged on the support structure, and the output shaft is arranged to rotate along its own axis under the driving of the second gear.

[0039] By the arrangement of the above-mentioned embodiments, the transmission mechanism adds the output shaft as the output part of the transmission mechanism, which facilitates the adjustment of the output direction again. The use of the support structure facilitates the stability of the output shaft and the stability of the engagement between the second gear and the first gear. In addition, the arrangement of the output shaft can better connect the output part of the transmission mechanism with other external structures. Of course, the output directions of the first gear and the second gear can be arranged at other different angles in addition to the general perpendicular to each other. Specifically, the target function of the current joint module can be adapted to modify adaptively.

[0040] In some embodiments, the output shaft is provided with an angle sensor.

[0041] By the arrangement of the above-mentioned embodiments, the angle sensor can feed back the rotation parameters of the output shaft, so as to realize the monitoring of the output of the joint module, thereby improving the accuracy of the output control.

[0042] In some embodiments, the joint module further comprises a housing for packaging the driving mechanism and the transmission mechanism, the support structure is fixedly connected with the housing, and the output shaft is rotatably arranged in the housing.

[0043] By the arrangement of the above-mentioned embodiments, in the design scheme containing the joint housing, the support structure can be fixed by the housing to better support the rotation of the output shaft. In addition, the design of the housing can integrally package all the components of the driving mechanism and the transmission mechanism, so as to avoid the exposure of the structure and protect the electrical elements and the connecting structure.

[0044] In some embodiments, the housing comprises a first half shell and a second half shell, the first half shell is provided with a first groove for bearing a first end of the output shaft, and the second half shell is provided with a second groove for bearing a second end of the output shaft.

[0045] Through the arrangement of the above-mentioned embodiments, the shell can be divided into a first half shell and a second half shell, so that the assembly is more convenient, and the first groove and the second groove can be used to assist in supporting the output shaft, thereby improving the stability of the overall joint module when connected with the external structure.

[0046] In some embodiments, the support structure comprises a first support plate and a second support plate arranged in the shell, and an extension is arranged between the first support plate and the second support plate, the first support plate and the second support plate are connected through the extension, and the first support plate and the second support plate are both provided with a through hole through which the output shaft passes.

[0047] Through the arrangement of the above-mentioned embodiments, the through holes arranged on the first support plate and the second support plate can support the output shaft, and the extension of the first support plate and the second support plate bracket can strengthen the stability of the first support plate and the second support plate, thereby improving the structural stability of the support structure.

[0048] In some embodiments, the shell is provided with an opening, the opening and the first support plate, the second support plate, and the extension form a connecting port that exposes part of the output shaft, and the two ends of the extension form a first limit rotation position and a second limit rotation position of the component connected with the output shaft.

[0049] Through the arrangement of the above-mentioned embodiments, part of the output shaft exposed by the formed connecting port can be connected with the external component, and the extension plate forms the limit rotation position of the component, thereby realizing the connection of the component.

[0050] In some embodiments, the support structure is connected with the driving mechanism.

[0051] Through the arrangement of the above-mentioned embodiments, in the embodiment without the shell, the support structure is directly connected with the driving mechanism to fix the position of the support structure, thereby ensuring the supporting effect of the output shaft. In addition, the support structure is arranged on the driving mechanism, thereby also encapsulating and protecting part of the first gear and the second gear.

[0052] In some embodiments, the support structure is provided with a through hole through which the output shaft passes.

[0053] Through the arrangement of the above-mentioned embodiments, the through hole can be used to support the output shaft, thereby ensuring the stability of the output shaft.

[0054] In some embodiments, the output shaft comprises a first output shaft and a second output shaft, the second gear is arranged on the first output shaft, and the first output shaft and the second output shaft are both provided with a protrusion to avoid the first output shaft and the second output shaft from passing through the through hole.

[0055] Through the arrangement of the above-mentioned embodiments, the output shaft can be divided into the first output shaft connected with the second gear and the second output shaft for assisting rotation, and the protrusions arranged on the first output shaft and the second output shaft can avoid the movement of the whole output shaft in the through hole along the axial direction, thereby improving the stability of the output shaft during transmission.

[0056] In some embodiments, the through hole is provided with two bearings respectively rotating synchronously with the first output shaft and the second output shaft, and the first output shaft and the second output shaft are respectively inserted into the bearings to rotate synchronously with the inner rings of the bearings, and the protrusions abut against the bearings.

[0057] Through the arrangement of the above-mentioned embodiments, the bearings can be used to improve the rotation fluency between the first output shaft and the second output shaft and the supporting structure, and relieve the inflexible output activity caused by friction.

[0058] According to a second aspect of the present application, a finger is provided, comprising at least one joint module, wherein the at least one joint module is any joint module provided in the first aspect.

[0059] The finger of the present application is formed by using the above-mentioned joint module, so that the joints of each phalanx can be controlled and designed independently. The load and torque of each joint can be designed independently, and the load or torque of each part of the formed finger can be adjusted freely, so that the performance of the formed finger or robot hand during work can be guaranteed, and the finger can be applied to more different working environments. At the same time, the size of the joint module of the present application is mainly determined by the size of the driving mechanism, and the load or torque of the joint module can be controlled by reducing or increasing the size of the driving mechanism, and a single phalanx can be formed by multiple joint modules, so that the control of the formed finger can be more flexible. Since the joints of each phalanx of the finger of the present application can be controlled independently without structural transmission, the response speed of each joint during control can be improved, the flexibility can be improved, and the accuracy of the control of each part of the formed finger can be improved.

[0060] In some embodiments, the output part of the joint module is configured to generate a degree of freedom; the degree of freedom includes at least one of a yawing degree of freedom, a flexing degree of freedom, and a spinning degree of freedom; the yawing degree of freedom is a degree of freedom of the whole or part of the finger to yaw parallel to a palm for mounting the finger; the flexing degree of freedom is a degree of freedom of the whole or part of the finger to flex relative to the palm, wherein movement of the whole or part of the finger towards the palm center of the palm is a flexion in the flexing movement; the spinning degree of freedom is a degree of freedom of the whole or part of the finger to spin relative to the palm. The above-mentioned palm is not a strict sense of humanoid palm, which mainly serves as a mounting seat for the finger, and can also be referred to as a mounting seat, that is, the palm refers to a mounting seat on which the finger can be mounted.

[0061] Through the above-mentioned embodiments, the finger can realize the yawing degree of freedom, the flexing degree of freedom, and the spinning degree of freedom of the whole finger or part of the finger (i.e., at least one finger joint). The flexing degree of freedom of the finger can realize the bending of the human finger, which can be the bending of the whole finger towards the palm center or the bending of part of the finger towards the palm center (when the finger has only one joint module, the finger can realize the underdrive of the joint module scheme, and the underdrive refers to the degree of freedom being greater than the number of joint modules). Thus, the gripping action is formed, and the activity of the finger is more flexible. The yawing degree of freedom of the finger can simulate the yawing direction activity of the human finger, and even can extend the partial yawing ability of the human finger, i.e., the yawing ability of the distal finger joint of the finger. The spinning degree of freedom of the finger makes the whole or part of the finger spin, which can extend the whole or part spinning ability of the human finger, and thus expands the boundary of the operation action of the robot, i.e., the diversity of the operation action, and is suitable for more scenes. The superposition of at least two of the flexing degree of freedom, the yawing degree of freedom, and the spinning degree of freedom can make the finger form a more diverse working state, and make the activity of the dexterous hand of the robot more flexible. It can be understood that the finger with at least one of the yawing degree of freedom, the flexing degree of freedom, and the spinning degree of freedom mentioned above can be any one of the thumb, the index finger, the middle finger, the ring finger, and the little finger. The finger formed by the joint module can have the corresponding activity degree of freedom, so as to make the dexterous hand of the robot more flexible.

[0062] In some embodiments, the spinning degree of freedom can be generated by the joint module with the first gear or the first coupling of the above-mentioned transmission mechanism.

[0063] Through the arrangement of the above-mentioned embodiments, the joint module can be connected with external parts through the first gear or the first shaft, so that the external parts connected with the transmission mechanism can form self-rotation around the axis of the output part of the first joint module. These external parts can be a fingertip module, or other joint modules, or a palm connected with the current finger, so that the current finger joint can realize self-rotation. When the finger joint self-rotates by 180°, the flexion and extension movement of the finger will become the flexion and extension movement of the reverse joint, and when the finger joint self-rotates by 90°, the flexion and extension movement of the finger will become flexion and extension similar to the yaw movement, so that the finger can form a more diverse working state, and the movement of the robot dexterous hand with the finger is more flexible.

[0064] In some embodiments, the joint module can include a first joint module and a second joint module; the first joint module is connected with the second joint module; the movement direction of the output part of the first joint module is out-of-plane perpendicular to the movement direction of the output part of the second joint module, so as to realize the yaw degree of freedom of the finger or simultaneously realize the yaw degree of freedom and the first flexion and extension degree of freedom of the finger.

[0065] Through the arrangement of the above-mentioned embodiments, the position and connection of the joint modules can be combined to make the finger have at least a yaw degree of freedom, so as to be used to form the index finger and the thumb or each finger of the robot dexterous hand. The out-of-plane perpendicularity mentioned above is not limited to strict geometric out-of-plane perpendicularity, but is a description that in actual application scenarios or engineering implementation, a certain angle deviation is allowed instead of strict out-of-plane perpendicularity.

[0066] In some embodiments, the joint module can further include a third joint module; the output part of the second joint module is connected with the end of the third joint module, so that the movement direction of the output part of the third joint module is parallel to the movement direction of the output part of the second joint module, so as to realize the second flexion and extension degree of freedom of the finger.

[0067] Through the arrangement of the above-mentioned embodiments, the finger joint formed by the third joint module has an independent flexion and extension degree of freedom without interference.

[0068] In some embodiments, the output part of the second joint module and the output part of the first joint module are relatively fixedly arranged through at least one output member, so that the movement direction of the output part of the second joint module is out-of-plane perpendicular to the movement direction of the output part of the first joint module, so as to simultaneously realize the yaw degree of freedom and the first flexion and extension degree of freedom of the finger.

[0069] Through the arrangement of the above-mentioned embodiments, two different activity directions, i.e., the yawing degree of freedom and the first flexing and extending degree of freedom, can be realized on the joint formed between the first joint module and the second joint module. When only one output member is used, the output member can be an integrated output member having two mounting portions (i.e., two ends) for being connected with the joint modules.

[0070] In some embodiments, the third joint module is arranged reversely and side by side with the second joint module.

[0071] Through the arrangement of the above-mentioned embodiments, the third joint module and the second joint module can be combined to form a finger joint, and the fingertip is connected to the transmission mechanism of the third joint module, thereby improving the flexibility of the control of the finger joint. The reversely and side by side arrangement of the third joint module and the second joint module can make the width of the formed finger joint larger, the output force larger, and the appearance more similar to the shape of a finger, such as a thumb.

[0072] In some embodiments, the first joint module and the second joint module are arranged in the same direction and side by side; the output portion of the first joint module is arranged reversely and fixedly with the second joint module through an output member, and the movement direction of the output portion of the second joint module is perpendicular to the movement direction of the output portion of the first joint module, so as to realize the yawing degree of freedom of the finger.

[0073] Through the arrangement of the above-mentioned embodiments, the first joint module can be arranged on the side of the second joint module to form a finger joint. Since the movement direction of the output portion of the first joint module is perpendicular to the movement direction of the output portion of the second joint module, the two can form different activities, so that the single finger joint can have the yawing degree of freedom and the first flexing and extending degree of freedom.

[0074] In some embodiments, the output portion of the first joint module and the end of the second joint module are connected through a connecting rod, and the movement direction of the output portion of the second joint module is perpendicular to the movement direction of the output portion of the first joint module, so as to realize the yawing degree of freedom of the finger.

[0075] Through the arrangement of the above-mentioned embodiments, a single finger joint can be formed by a single joint module. The combination of the first joint module and the second joint module having different movement directions can make the whole finger have the yawing degree of freedom and the flexing and extending degree of freedom. Such a design does not need to arrange the joint modules in a stacked manner, and can effectively reduce the volume of a single finger joint or a palm. For a finger, such as an index finger, the volume can be effectively reduced.

[0076] In some embodiments, the finger comprises a first joint module and a second joint module; the first joint module is connected to the second joint module; the movement direction of the output of the first joint module is parallel to the movement direction of the output of the second joint module, so as to realize the first flexion and extension degree of freedom of the finger.

[0077] In some embodiments, the finger further comprises a third joint module; the output of the second joint module is connected to the end of the third joint module, so that the movement direction of the output of the third joint module is parallel to the movement direction of the output of the second joint module, so as to realize the second flexion and extension degree of freedom of the finger.

[0078] Through the above-mentioned embodiments, the formed fingers can have flexion and extension degrees of freedom, and these fingers can be used as middle fingers, ring fingers or little fingers. Some fingers have low requirements for yawing degrees of freedom, so that only flexion and extension degrees of freedom are provided to meet the requirements, and the overall volume of these fingers can be effectively reduced, and the volume of the overall robot dexterous hand can be reduced.

[0079] In some embodiments, the finger further comprises a fingertip module;

[0080] In the case where the finger only comprises the first joint module, the output of the first joint module is connected to the fingertip module;

[0081] In the case where the finger only comprises the first joint module and the second joint module, the output of the second joint module is connected to the fingertip module;

[0082] In the case where the finger only comprises the first joint module, the second joint module and the third joint module, the output of the third joint module is connected to the fingertip module.

[0083] Through the above-mentioned embodiments, the finger can have a fingertip, and for different fingers with different numbers of phalanges, the fingertip can be arranged at the end position of the finger. The tactile sensor can be arranged on the fingertip module, so that the farthest end of the finger can first contact an object, so as to control the activities of other joint modules according to the feedback.

[0084] In some embodiments, the fingertip module is provided with a control board module for controlling the tactile sensor of the fingertip module.

[0085] Through the above-mentioned embodiments, the fingertip module can transmit the signal of the tactile sensor to the master control through the control board module, so as to adjust and control the activities of the fingertip module and other joint modules.

[0086] In some embodiments, the connection between the fingertip module and the first, second or third joint module includes a cable connection between the control board module and the drive board module of the first, second or third joint module.

[0087] Through the above-mentioned embodiments, the signal transmission between the joint modules and between the joint modules and the fingertip module can be achieved through the cable, and the cable of the tactile sensor is connected to the drive board module after being concentrated by the control board module of the fingertip module, thereby realizing concentrated wiring and avoiding excessively long or scattered cables, which affects the normal activity and appearance of the finger joints.

[0088] In some embodiments, the control board module is provided with a plug structure for plugging and unplugging the cable.

[0089] Through the above-mentioned embodiments, the drive board module of the fingertip module can be plugged and unplugged with the drive board module of the joint module, thereby improving the disassembly and assembly efficiency.

[0090] According to a third aspect of the present application, a robot dexterous hand is provided, which comprises a palm main body and the finger of the above-mentioned at least one second aspect, and the finger is connected to the palm main body.

[0091] The robot dexterous hand of the present application adopts the finger of the above-mentioned second aspect, and the thumb and the index finger can both complete the flexion and extension and the swing, thereby making the simulation performance of the whole robot dexterous hand better and the control more flexible. Since the joints of the finger in the robot dexterous hand of the present application can be independently controlled without structural transmission, the response speed of the joints in the control can be improved, the flexibility can be improved, and the accuracy of the control of each part of the finger is improved.

[0092] In some embodiments, the finger and the palm main body are detachably connected through a screw.

[0093] Therefore, through such design, the finger and the palm main body can be detachably connected, thereby facilitating the connection between the finger and the palm main body. In addition, through the unified detachable connection, different fingers can be replaced more conveniently, thereby improving the customization.

[0094] According to a fourth aspect of the present application, a robot is provided, which comprises the robot dexterous hand of the above-mentioned third aspect. BRIEF DESCRIPTION OF DRAWINGS

[0095] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0096] Fig. 1 is an overall structure explosion schematic diagram of the joint module provided with the shell according to an embodiment of the present application;

[0097] Fig. 2 is an overall structure schematic diagram of the joint module provided with the shell according to an embodiment of the present application;

[0098] Fig. 3 is an overall structure explosion schematic diagram of the joint module not provided with the shell according to an embodiment of the present application;

[0099] Fig. 4 is an overall structure schematic diagram of the joint module not provided with the shell according to an embodiment of the present application;

[0100] Fig. 5 is an overall structure schematic diagram of the output member installed on the joint module according to an embodiment of the present application;

[0101] Fig. 6 is an overall structure schematic diagram of the output member installed on the joint module according to another embodiment of the present application;

[0102] Fig. 7 is a configuration display schematic diagram of the output member installed on the joint module according to an embodiment of the present application, in which the mounting part is a clamping structure;

[0103] Fig. 8 is a configuration display schematic diagram of the output member installed on the joint module according to an embodiment of the present application, in which the mounting part is a single plate structure;

[0104] Fig. 9 is a configuration display schematic diagram of the end connecting structure installed on the joint module according to an embodiment of the present application;

[0105] Fig. 10 is a structure schematic diagram of the finger formed by the joint module not provided with the shell according to an embodiment of the present application;

[0106] Fig. 11 is a structure display diagram of the fingers formed by the joint module not provided with the shell according to an embodiment of the present application, in which the fingers are the index finger, the middle finger, the ring finger and the little finger;

[0107] Fig. 12 is a structure schematic diagram of the finger formed by the joint module provided with the shell according to an embodiment of the present application, in which the finger is the thumb;

[0108] Fig. 13 is a structure schematic diagram of the finger formed by the joint module provided with the shell according to an embodiment of the present application, in which the finger is the index finger;

[0109] Figure 14 is a structural diagram of a finger formed by the joint module with a shell according to an embodiment of the present application;

[0110] Figure 15 is a structural diagram of the connection between the adjacent joint module and the tip module according to an embodiment of the present application;

[0111] Figure 16 is a structural diagram of a dexterous hand driven by a connecting rod according to the prior art;

[0112] Figure 17 is a structural diagram of a dexterous hand driven by a tendon according to the prior art;

[0113] Figure 18 is a structural diagram of a dexterous hand driven by a steering engine according to the prior art.

[0114] Legend: 1, driving mechanism; 11, motor; 12, speed reducer; 2, shell; 21, first half shell; 22, second half shell; 23, mounting groove; 24, opening; 25, connection port; 3, driving plate module; 31, control plate module; 41, first bevel gear; 42, second bevel gear; 43, output shaft; 431, first output shaft; 432, second output shaft; 44, angle sensor; 451, first recess; 46, bearing; 47, mounting connector; 481, first gasket; 482, second gasket; 5, end connection structure; 51, first connection part; 52, second connection part; 6, output; 61, first output; 62, second output; 631, inner recess; 632, through hole; 633, clamping block; 634, clamping groove; 635, protruding block; 64, mounting part; 641, first clamping plate; 642, second clamping plate; 643, mounting hole; 65, external element attachment part; 651, bayonet structure; 652, clamping part; 653, first extension part; 654, second extension part; 655, movable connection part; 656, first transition connection part; 657, second transition connection part; 66, support structure; 661, first support plate; 662, second support plate; 663, extension part; 664, through hole; 71, first fixed plate; 72, second fixed plate; 73, back bone; 731, sliding groove; 74, back shell; 75, connecting rod; 76, palm bone; 771, first fixed connector; 772, second fixed connector; 781, first pin-shaped connector; 782, second pin-shaped connector; m1, first thumb joint module; m2, second thumb joint module; m3, third thumb joint module; s1, first index joint module; s2, second index joint module; s3, third index joint module; z1, first middle joint module; z2, second middle joint module; w1, first ring joint module; w2, second ring joint module; x1, first little joint module; x2, second little joint module; 81, cable; 82, plug-in structure. DETAILED DESCRIPTION

[0115] The technical solutions and advantages of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0116] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0117] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The features defined as "first" and "second" are used to distinguish feature names, and do not have special meanings, and in addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0118] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0119] It should also be noted that in this document, the terms "including", "containing", not only include those elements, but also include other elements not explicitly listed, or include elements inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "including" do not exclude the presence of other identical elements in the process, method, article or device including the described elements. The terms used in this document are generally the terms commonly used by those skilled in the art, and if they are inconsistent with the commonly used terms, the terms in this document shall prevail.

[0120] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0121] The present application will be described in further detail below with reference to the drawings.

[0122] Figs. 1 to 4 schematically show the overall structures of the joint modules of two embodiments of the present application. Referring to Figs. 1 to 4, the joint module of the present application comprises a driving mechanism 1 and a transmission mechanism. The driving mechanism 1 is used as the part of the joint module core to output driving force. The input part of the transmission mechanism is connected with the output end of the driving mechanism 1, and the output part of the transmission mechanism is used as the output part of the joint module to be connected with other structures, so as to transmit the output driving force of the driving mechanism 1 to the other structures connected with the transmission mechanism, and to realize the movement of the other structures. Figs. 1 and 2, and Figs. 3 and 4 are respectively the overall structure schematic diagrams of the joint modules of two embodiments provided as illustrations of the present application. Referring to Figs. 1 and 2, in the joint modules shown in Figs. 1 and 2, the joint modules further comprise a shell 2, which is used to encapsulate the driving mechanism 1 and the transmission mechanism. The shell 2 can better encapsulate and protect the elements of the joint module, and at the same time, the shape of the shell 2 can be processed to be the external shape of the joint module, but such an embodiment will still cause the volume of the overall joint module to increase, even if the size of the shell 2 is reduced as much as possible, because the shell 2 is provided. Therefore, in order to maximize the reduction of the volume of the joint module and the volume of the fingers of the robot hand, the shell 2 is removed on the basis of the joint modules shown in Figs. 1 and 2, to form the joint modules without the shell 2. Referring to Figs. 3 and 4, in the embodiments shown in Figs. 3 and 4, the external shape of the driving mechanism 1 is directly set to be the external shape of the joint module, so that the shell 2 can be omitted, and the volume of the joint module can be reduced. Specifically, in the embodiments shown in Figs. 1 and 2, the shape of the shell can be set to be one of a cylindrical shape and a prism shape, and in the embodiments shown in Figs. 3 and 4, the external shape of the driving mechanism 1 can also be set to be one of a cylindrical shape and a prism shape. Specifically, in Figs. 1 and 2, the external shape of the shell 2 is set to be a quadrangular prism shape, and a circular arc structure is provided on one side of the output end of the driving mechanism 1. In Figs. 3 and 4, the external shape of the driving mechanism 1 is set to be a quadrangular prism shape as a whole.

[0123] Next, the specific components of the joint module will be described in detail in the two different embodiments shown in Figs. 1 and 3.

[0124]

Drive mechanism

[0125] For the drive mechanism 1 of the joint module, it can be realized by electric drive, cylinder drive or hydraulic cylinder drive structure, and in the embodiment shown in the present application, the drive mechanism 1 is realized by motor drive. Specifically, the drive mechanism 1 of the present application includes a motor 11 and a reduction box 12. Referring to FIG. 1 and FIG. 3, the input part of the reduction box 12 is connected with the output end of the motor 11, and the output part of the reduction box 12 is connected with the input part of the transmission mechanism, so as to realize the output driving force and transmission power. In this embodiment, the output torque of the drive mechanism 1 can be adjusted by the motor 11 output and the reduction ratio adjustment of the reduction box 12. Specifically, the reduction ratio of the reduction box 12 can be adjusted according to the application scene in actual application. For example, when the joint module is used for a robot that operates light-weight objects (such as holding a tea cup, an egg, an apple), a low reduction ratio can be used, for example, the reduction ratio can be less than 50; when the robot is used for a robot that operates heavy objects (such as an industrial robot that lifts heavy objects), a high reduction ratio can be used, for example, the reduction ratio can be higher than 200. It can be understood that in some embodiments in which the output rotation angle of the joint module is monitored by the angle sensor 44, the response speed of the overall joint module in control can be effectively improved by adjusting the reduction ratio of the drive mechanism 1. In addition, in order to ensure the stability of the connection between the output end of the motor 11 and the input part of the reduction box 12, a protrusion can be provided on the surface of the side where the output end of the motor 11 is located, a groove can be provided on the surface of the side where the input end of the reduction box 12 is located, and the protrusion and the groove are matched for limiting, and / or matching screw holes are provided on the edges of the motor 11 and the reduction box 12, and the motor 11 and the reduction box 12 are fixed together by screws, so as to realize the connection and fixation between the motor 11 and the reduction box 12.

[0126] Referring to FIG. 1 and FIG. 2, in the embodiment shown in FIG. 1 and FIG. 2, the outside of the drive mechanism 1 is provided with a shell 2, so as to encapsulate the drive mechanism 1 and the transmission mechanism, which can protect the drive mechanism 1 and form a finger joint shape for the joint module, forming an integrated joint module. Referring to FIG. 1 and FIG. 2, the shell 2 can be formed by combining a first half shell 21 and a second half shell 22 to cover the outside of the motor 11 and the reduction box 12. The first half shell 21 and the second half shell 22 can be centrally symmetrically arranged along the axis of the output shaft of the motor 11 to cover the motor 11 and the reduction box 12. At this time, in this embodiment, part of the transmission mechanism can be arranged together in the shell 2 to protect the part of the transmission mechanism connected with the drive mechanism 1.

[0127] Referring to FIG. 3 and FIG. 4, in the embodiments shown in FIG. 3 and FIG. 4, the exterior of the driving mechanism 1 is provided without the shell 2, so as to expose the motor 11 and the speed reducer 12 in the driving mechanism 1. The motor 11 can be a hollow cup brush motor, and the speed reducer 12 can be a planetary speed reducer. In this way, the shell 2 can be omitted, so as to reduce the volume of the overall joint module and improve the heat dissipation effect of the motor, making it more suitable for various robot dexterous hands. It can be understood that this is very necessary in the field of robot dexterous hands, because the degree of freedom of the current humanoid robot hand / robot dexterous hand is greatly affected by the volume of the components, and the larger the volume of the robot dexterous hand and other components, the more difficult it is to design a robot dexterous hand with multiple degrees of freedom. In this embodiment, the motor 11 and the gear ring 121 of the speed reducer 12 combine to form the overall shape of the joint module.

[0128]

Driving board module

[0129] For the control of the driving mechanism 1 of the joint module, the joint module can be provided with a driving board module 3 for controlling the operation of the driving mechanism 1. Referring to FIG. 17, the driving board module 3 is connected to the driving mechanism 1, and the driving board module 3 is provided with a plug structure 82 for plugging the wiring, so that the driving board module 3 can be directly connected to other modules through the plug connection of the cable to transmit the driving signal to drive the driving mechanism 1 to operate.

[0130] For the installation method of the driving board module 3, the driving board module 3 can be directly arranged on the driving mechanism 1, for example, directly arranged on the motor 11, that is, in the manner shown in the embodiments shown in FIG. 3 and FIG. 4. In this embodiment, the driving mechanism 1 is provided in a prismatic shape, so that the driving board module 3 can be arranged on the side surface of the driving mechanism 1. Of course, the driving mechanism 1 can also be provided in a cylindrical shape, and at this time, a structure for mounting and fixing the driving board module 3 needs to be additionally provided on the side surface of the driving mechanism 1.

[0131] When the driving mechanism 1 is provided with the shell 2, the driving board module 3 can also be arranged in or on the shell 2, as shown in the embodiments shown in FIG. 1 and FIG. 2. The mounting groove 23 is provided on the shell 2 to mount the driving board module 3 on the mounting groove 23. Of course, the driving board module 3 can also be arranged inside the shell 2, so as to completely hide the driving board module 3 and avoid the exposure of the driving board module 3. Due to the existence of the shell 2, the shape of the driving mechanism 1 can be arbitrarily arranged without affecting the arrangement of the driving board module 3.

[0132] The driving board module 3 can also be arranged on an external device, in which case the driving board module 3 needs to be connected with the driving mechanism 1 through a wire or the like for signal transmission. In this way, the driving board module 3 can be arranged on the palm of a mechanical hand, thereby reducing the volume of a single joint module. It can be understood that the driving board module 3 can be a module arranged separately for each joint module, or a module arranged for multiple joint modules, so that when the driving board module 3 is arranged on the palm of the mechanical hand, multiple joint modules can be integrated into one driving board module 3 arranged on the palm, thereby reducing the volume of the overall dexterous hand.

[0133]

Transmission mechanism

[0134] The transmission mechanism can be arranged to include at least one of a gear transmission, a connecting rod transmission, a synchronous belt transmission, and a chain transmission, and can be designed according to the specific structure of the driving mechanism 1 and the performance required by the output part of the joint module. Specifically, in the embodiments of the present application, the transmission mechanism is specifically arranged as a gear transmission. In some possible embodiments, the transmission mechanism can include a first gear 41 or a first coupling, in which case the first gear 41 is both the input part and the output part of the transmission mechanism. When the transmission mechanism is the first gear 41 or the first coupling, the output of the overall joint module can be formed as self-rotation around the axis of the output part of the joint module, which can be used to form a self-rotation degree of freedom. The first gear 41 can be arranged as a bevel gear, so that the direction of the input part and the output part of the transmission mechanism can be changed. In other possible embodiments, the transmission mechanism can also include a second gear 42, which is also a bevel gear. The second gear 42 is in meshing relationship with the first gear 41, in which case the first gear 41 is the input part of the transmission mechanism and the second gear 42 is the output part of the transmission mechanism. Specifically, the first gear 41 can be arranged as a small bevel gear and the second gear 42 can be arranged as a large bevel gear. The combination of such a large and small bevel gear and the design of the perpendicular rotation direction are more conducive to the balance of the transmission efficiency, the load strength, and the space utilization rate in the joint module. The transmission ratio between the small bevel gear and the large bevel gear can be designed according to the actual use environment. As an example, the tooth ratio of the small bevel gear and the large bevel gear can be arranged as 15:40. In yet other possible embodiments, the transmission mechanism can also include an output shaft 43 and a support structure 66. The output shaft 43 is arranged in synchronous rotation with the second gear 42, and the output shaft 43 is rotationally arranged on the support structure 66, in which case the output shaft 43 is the output part of the transmission mechanism. The output shaft 43 is also provided with an angle sensor 44 to enable real-time monitoring of the rotation amplitude of the output shaft 43.

[0135] Referring to FIG. 1 and FIG. 2, the transmission mechanism comprises a first gear 41 and a second gear 42 which are engaged with each other, and an output shaft 43 which is coaxially arranged with the second gear 42 and is rotatably arranged on the support structure 66. In this embodiment, the housing 2 is provided, and the support structure 66 is fixedly arranged in the housing 2, while the housing 2 can be combined by the first half shell 21 and the second half shell 22, the first recess 451 which bears the first end of the output shaft 43 is arranged in the first half shell 21, and the second recess which bears the second end of the output shaft 43 is arranged in the second half shell 22, and bearings can be arranged in the first recess 451 and the second recess to make the rotation of the output shaft 43 smoother, so as to achieve auxiliary bearing of the output shaft 43. Specifically, the support structure 66 comprises a support and a mounting connecting piece 47. The support comprises a first support plate 661 and a second support plate 662 which are arranged in the housing 2, and an extension 663 is arranged between the first support plate 661 and the second support plate 662, and the first support plate 661 and the second support plate 662 are connected through the extension 663, and the first support plate 661 and the second support plate 662 are both provided with a through hole 664 through which the output shaft 43 passes, so that the output shaft 43 can be supported by the support structure 66 and the housing 2 at the same time. The mounting connecting piece 47 is arranged on the side of the support close to the driving mechanism 1, and connects the reduction box 12 and the support. Referring to FIG. 1, the mounting connecting piece 47 is arranged in a square shape, and is connected with the support through a buckle structure, the first gear 61 is arranged between the support and the mounting connecting piece 47, and a first gasket 481 is arranged between the first gear 61 and the mounting connecting piece 47. The support is provided with a buckle structure for mounting on the housing 2, so as to realize mounting of the overall transmission mechanism and the driving mechanism 1 in the housing 2. In addition, the housing 2 is also provided with an opening 24, and the opening 24 forms a connecting port 25 which exposes the output shaft 43 together with the first support plate 661, the second support plate 662 and the extension 663, and the two ends of the extension 663 form a first limit rotation position and a second limit rotation position of the member connected with the output shaft 43, so as to limit the rotation amplitude of the structure connected with the joint module. The second gear 62 is arranged at one end of the output shaft 43, and the angle sensor 44 is arranged at the other end of the output shaft 43, and they are covered in the interior of the housing 2 together.

[0136] Referring to FIG. 3 and FIG. 4, the transmission mechanism also includes a first gear 41 and a second gear 42 that are engaged with each other, and an output shaft 43 is coaxially arranged with the second gear 42 and is rotatably arranged on the support structure 66. In this embodiment, there is no housing 2, and the support structure 66 is directly fixed on the driving mechanism 1. Specifically, the support structure 66 also includes a support and a mounting connector 47, the mounting connector 47 is fixedly connected with the reduction box 12, and the support is mounted on the mounting connector 47. The first gear 61 is arranged between the support and the mounting connector 47, the support is provided with a through hole 664, and the output shaft 43 is arranged on the through hole 664. The output shaft 43 includes a first output shaft 431 and a second output shaft 432, the second gear 62 is synchronously rotated with the first output shaft 431, so that the first output shaft 431 serves as a driving output shaft, and the angle sensor 44 is arranged on the second output shaft 432. At this time, when the first output shaft 431 and the second output shaft 432 are connected with the external structure as output parts, both of them need to be connected with the external structure to ensure that the first output shaft 431 and the second output shaft 432 are synchronously rotated. The first output shaft 431 and the second output shaft 432 are both provided with protrusions and are mounted on the through hole 664, so that the first output shaft 431 and the second output shaft 432 can pass through the through hole 664. At the same time, the first output shaft 431 and the second output shaft 432 are both provided with bearings, the first output shaft 431 and the second output shaft 432 are synchronously rotated with the inner rings of the bearings, and the protrusions are abutted with the bearings, the outer rings of the bearings are connected with the through hole 664, and the support and rotation of the output shaft 43 are realized. In this embodiment, the single output shaft 43 is divided into two segments, and both of them are provided with protrusions, so that the problem of moving along the axis direction of the output shaft 43 that may occur when the single output shaft 43 moves in the through hole 664 can be avoided, and the stability of the joint module during transmission can be improved.

[0137] The joint module of the present application can form a single phalanx of a finger. The transmission mechanism of the joint module can be connected to other external structures as an output to transmit power. By assembling multiple joint modules of the present application, a structure with multiple phalanges can be formed. Each phalanx can be independently controlled to move the driving mechanism, thereby making the movement of the structure formed by the joint modules more flexible. The finger formed by the joint modules of the present application can avoid the transmission of kinetic energy between multiple phalanges, thereby greatly reducing the load or torque of the driving mechanism at the root of the finger as a whole. Since the movement of multiple phalanges is independent of each other, it is not affected by the decrease in kinetic energy caused by multi-stage transmission. The reduction ratio of each phalanx can be designed independently, thereby better adjusting the load or torque of each part of the formed finger. The performance of the formed finger or robotic hand during work can be guaranteed, and it can be applied to more different working environments. At the same time, the size of the joint module of the present application is mainly determined by the size of the driving mechanism, thereby the load or torque of the joint module can be controlled by reducing or increasing the size of the driving mechanism, and a single joint can be formed by multiple joint modules, making the control of the formed finger more flexible. Since the joints of the finger formed by the joint modules of the present application can be independently controlled, there is no need for structural transmission, thereby improving the response speed and flexibility of each joint during control, and improving the accuracy of the control of each part of the formed finger.

[0138] FIGS. 10-14 schematically show the overall structure of a finger according to an embodiment of the present application. As shown in FIGS. 10-14, the finger of the present application is provided with at least one joint module of any of the above embodiments, so that the finger has the advantages of the joint module. The output of the joint module can be connected to an output member 6.

[0139]

Output member

[0140] The output member 6 can be one of the external component structures to which the output part of the joint module of any embodiment of the present application is connected in any application. For example, the output member 6 can be used to connect with another joint module, can be used to connect with a fingertip module, and can be used to form a fingertip module. Referring to FIGS. 5 to 8, the output member 6 includes a mounting part 64 for connecting with the output part of the joint module and an external component attachment part 65 for connecting with other structures that need to be connected with the joint module. The output part of the joint module can achieve more different forms of output by connecting with different output members, so that the connection between the joint modules can have more different implementation manners. The output member 6 can be integrally formed or formed in parts. In some embodiments, the output member 6 can include a first output member 61 and a second output member 62 combined with each other, a first end of the first output member 61 and a first end of the second output member 62 form the external component attachment part 65, and a second end of the first output member 61 and a second end of the second output member 62 form the mounting part 64.

[0141] For the mounting part 64 provided on the output member 6 for connecting with the output part, taking the embodiments shown in FIGS. 1 to 4 as an example, since the output parts thereof are all output shafts 43, the mounting part 64 is described herein by taking the mounting part 64 for connecting with the output shaft 43 as an example. It can be understood that the mounting part 64 can be provided in other different structures for different output parts, which is not limited in the present embodiment.

[0142] Referring to FIGS. 3 and 4, the mounting part 64 can be provided in a clamping structure including a first clamping plate 641 and a second clamping plate 642, the first clamping plate 641 is connected with the second gear 62 to achieve connection with the output part of the joint module. Specifically, the first clamping plate 641 and the second gear 62 can be fixed by bolt mounting to achieve synchronous rotation. The second clamping plate 642 can be provided with a through hole 632, so that the output shaft 43 can be inserted into the through hole 632, so that the clamping structure forms one clamping plate for controlling synchronous rotation, and the other clamping plate passes through the output shaft 43 to ensure the form of connection stability. In addition, in order to further improve the connection stability between the first clamping plate 641 and the second gear 62, a protrusion 635 (referring to the output member 6e in FIG. 7) or an inner recess 631 (referring to the output member 6a in FIG. 7) can be provided on the inner side of the first clamping plate 641. When the first clamping plate 641 is provided with the inner recess 634, it can be wrapped on the second gear 62, and when the first clamping plate 641 is provided with the protrusion 635, it can be clamped into the back of the second gear 62, thereby improving the connection stability between the mounting part 64 and the output part of the joint module. In this embodiment, the mounting part 64 wraps around both ends of the output shaft 43, which can also wrap the transmission mechanism, thereby also enhancing the mounting stability of the parts of the transmission mechanism.

[0143] Referring to FIG. 1 and FIG. 2, the mounting portion 64 can be provided as a connecting rod extending into a connecting port of the joint module, and a clamping groove 634 is provided on the end of the connecting rod away from the output member 6, and a clamping block 633 is provided on the output shaft 43 exposed in the connecting port, so that the mounting portion 64 and the output shaft 43 can rotate synchronously. Among them, the second gasket 482 can be provided between the clamping block 633 and the clamping groove 634, and the shape of the clamping block 633 and the clamping groove 634 can be designed as needed, which can be hexagonal, square, star-shaped, etc., as long as it can ensure that the output shaft 43 and the mounting portion 64 rotate synchronously. Exemplarily, if the clamping block 633 is a spherical or cylindrical structure with the axis of the output shaft 43 as the center, it cannot realize synchronous rotation of the output shaft 43 and the mounting portion 64. When the output member 6 is installed to the connecting port, the rotation of the output member 6 will be limited by the first and second limit rotation positions, and at the same time the output member 6 will be limited by the first and second support plates 661 and 662, so as to be unable to move along the axis direction of the output shaft 43.

[0144] For the external element attachment portion 65 provided on the output member 6, the external element attachment portion 65 is used to connect with other structures that need to be connected with the joint module, which can include other joint modules, and can also include a fingertip module, etc. Among them, when the external element attachment portion 65 is used to connect with other joint modules, the external element attachment portion 65 can need to be connected with the external element attachment portion 65 on the output member 6 connected with the output portion of another joint module, so as to realize two different degrees of freedom of movement between the two connected joint modules. In addition, when the joint module is used as different fingers, different joint modules in different fingers will have different driving connection relationships. In order to adapt to these connection relationships, the present application provides a plurality of different embodiments for the structure of the external element attachment portion 65, and the structures of different embodiments are described in detail.

[0145] As a first possible embodiment

[0146] The external element attachment portion 65 can include a type of mouth-shaped connector provided on the end of the output member 6 away from the mounting portion 64. Referring to FIG. 7, the output member 6a in FIG. 7 schematically shows the structure of the external element attachment portion 65 of this embodiment. Specifically, since the output member 6a can be formed by combining the first output member 61a and the second output member 62a, in this embodiment, the first end of the first output member 61a and the first end of the second output member 62a can form a type of mouth-shaped connector, respectively, so that when the first output member 61a and the second output member 62a are combined, the two mouth-shaped connectors are combined to form a type of mouth-shaped connector structure 651.

[0147] As a second possible implementation

[0148] The external element attachment portion 65 can include a clamping portion 652 provided to clamp and mount with other structures. Referring to FIG. 7, the output member 6b schematically shows the structural configuration of the external element attachment portion 65 of this implementation. Specifically, since the output member 6b can be formed by combining the first output member 61b and the second output member 62b, in this implementation, the first end portion of the first output member 61b and the first end portion of the second output member 62b can form two plate structures for clamping of the clamping portion 652, respectively, so that the first output member 61b and the second output member 62b are combined to form the clamping portion 652.

[0149] The main purpose of the structure of the external element attachment portion 65 of the above implementation is to connect with the external element attachment portion 65 on another joint module. Of course, this structure can also be used independently to connect and mount with other external structures. Specifically, referring to FIG. 7, the two plate structures of the clamping portion 652 are each provided with a mounting hole (such as a threaded hole) to enable connection and fixation with other external structures by bolts or screws.

[0150] In addition, the width of the first output member 61b and the second output member 62b near the middle portion is smaller than the width of the two end portions. This design, on the one hand, ensures that the two ends of the first output member 61b and the second output member 62b have a wider and larger contact surface when connected with other external structures, which is beneficial to improve the connection stability; on the other hand, the narrower design near the middle portion also facilitates the output member 6b to reserve more movement space for other external structures in the assembly environment.

[0151] As a third possible implementation

[0152] The external element attachment portion 65 can include a connecting portion provided to connect with other structures. Referring to FIG. 7, the output member 6c schematically shows the structural configuration of the external element attachment portion 65 of this implementation. Specifically, since the output member 6c can be formed by combining the first output member 61c and the second output member 62c, in this implementation, the first end portion of the first output member 61c can form a first extension portion 653 facing the second output member 62c, and the first end portion of the second output member 62c can form a second extension portion 654 facing the first output member 61c, so that the first extension portion 653 and the second extension portion 654 combine to form the connecting portion when the first output member 61c and the second output member 62c are combined.

[0153] The main purpose of the structure of the external element attachment part 65 of the above embodiment is to cooperate with the clamping part 652 in the second possible embodiment, of course, this structure can also be used independently to connect and install with other external structures. Specifically, referring to Figure 7, the first end of the first output member 61c is extended and bent to form a first extension 653, and the first end of the second output member 62c is extended and bent to form a second extension 654, so that the whole of the first output member 61c and the second output member 62c are in a similar shape of a character. And the first extension 653 and the second extension 654 are provided with assembly holes (such as threaded holes) in the same direction, for fixed connection with other external structures by bolts or screws. In addition, the size of the first extension 653 in the width direction of the first output member 61c is smaller than the width of the first output member 61c, forming a stepped shape with the first output member 61c; the size of the second extension 654 in the width direction of the second output member 62c is smaller than the width of the second output member 62c, forming a stepped shape with the second output member 62c.

[0154] For the external element attachment part 65 of the second possible embodiment and the external element attachment part 65 of the third possible embodiment, both can be used in combination to connect the output members 6 of two different joint modules. Exemplarily, when used in combination, the two plate structures forming the clamping part 652 in the output member 6b provided with the second external element attachment part 65 are clamped on both sides of the first extension 653 and the second extension 654 of the output member 6c provided with the third external element attachment part 65, and a single plate structure simultaneously connects the two extensions 663, and the two external element attachment parts 65 are fixed by bolts or screws passing through the assembly holes of both, so that the output shafts 43 of the two connected joint modules form a mutually out-of-plane perpendicular state, and the structure formed by the two connected joint modules can have two different directions of freedom of movement.

[0155] As a fourth possible embodiment

[0156] The external element attachment part 65 can include an active connection part 655 provided for active connection with external driving structures. Referring to the output member 6d shown in Figure 7, the output member 6B and the output member 6C shown in Figure 8, the external element attachment part 65 forms an active connection part 655 for active connection with other external structures. Among them, the active connection part 655 is provided with an opening for active connection with other external structures, which can be other joint modules or finger modules and other mechanisms that need to be driven.

[0157] As a fifth possible embodiment

[0158] The external element attachment portion 65 can be designed to have a length matching the length between the two. This design can directly use the output member 6 as the skeleton of the fingertip module when the output member 6 is installed on the joint module for the end of the finger, and connect the fingertip module. Further, it is not necessary to separately provide a complex fingertip module structure, but directly reuse the output member 6 of the joint module, simplifying the finger structure. At this time, the fingertip module can be formed by coating a structure such as a fingertip rubber on the output member 6.

[0159] Referring to the output member 6e and the output member 6f shown in FIG. 7, the external element attachment portion 65 has a transition connection portion. Among them, taking the output member 6e as an example, the output member 6e includes a first output member 61e and a second output member 62e, and a first transition connection portion 656 is provided between the first end portion of the second output member 62e and the second end portion of the second output member 62e, the first transition connection portion 656 is connected with the first end portion of the second output member 62e, the second end of the first transition connection portion 656 is connected with the second end portion of the second output member 62e, and the distance from the second end of the first transition connection portion 656 to the first output member 61e is greater than the distance from the first end of the first transition connection portion 656 to the first output member 61e. Specifically, referring to FIG. 7, the first transition connection portion 656 is provided on the second output member 62e, which makes the distance between the second output member 62e and the first output member 61e wider than the width of the external element attachment portion 65 itself, so that the mounting portion 64 of the output member 6e can be adapted to be installed on two joint modules, and can form the skeleton of the fingertip module of the thumb, and adapt to the case where the thumb is wider. At the same time, in the output member 6e, a protrusion is formed on the first output member 61e, a groove is formed on the protrusion, and the design of the protrusion can make the clamping structure of the output member 6e also adapt to the installation of a single joint module. If an inner recess 631 is formed on the first output member 61e, the clamping structure of the output member 6e has a larger span, which is not limited to being connected with the output portion of the joint module, but can also be used to span to other external structures.

[0160] Referring to the output member 6f shown in FIG. 7, the external element attachment portion 65 differs from the output member 6e described above mainly in that the first output member 61f is also provided with a transition connection portion. The first end portion of the first output member 61f is provided with a second transition connection portion 657 between the first end portion and the second end portion of the first output member 61f, the second transition connection portion 657 is symmetrical to the first transition connection portion 656, and the first end portion of the first output member 61f is symmetrical to the first end portion of the second output member 62f. The first end of the second transition connection portion 657 is connected to the first end portion of the first output member 61f, and the second end of the second transition connection portion 657 is connected to the second end portion of the first output member 61f. Specifically, referring to FIG. 7, the first end portion of the first output member 61f and the first end portion of the second output member 62f are combined with each other to form the skeleton of the finger tip.

[0161] As a sixth possible implementation

[0162] The external element attachment portion 65 can be provided to be directly used for connecting with the driving mechanism 1 of another joint module. Specifically, referring to the output member 6A, the output member 6D, the output member 6E and the output member 6F shown in FIG. 8, the external element attachment portion 65 is formed as a flat connection plate provided with a plurality of assembly holes (such as threaded holes) to be used for directly connecting with the driving mechanism 1 of another joint module, or for connecting with the external element attachment portion 65 on another joint module.

[0163] The driving mechanism 1 or the housing 2 of these joint modules can also be connected with an end connection structure 5, which is a structure used for connecting with other structures to realize the mounting and fixing of the overall joint module on other structures, or to accept the driving of other structures (such as another joint module) to realize the driven movement.

[0164]

End connection structure

[0165] The end connecting structure 5 can be an end connecting piece arranged on the driving mechanism 1, which comprises a first connecting part 51 and a second connecting part 52. The first connecting part 51 is used for connecting with the driving mechanism 1, and the second connecting part 52 is used for connecting with the transmission mechanism of other joint module (such as connecting with the output piece 6) or connecting with the palm body of the robot hand. In the joint module embodiment without the shell 2, the end connecting piece can be directly installed on the end of the driving mechanism 1 (such as the end of the motor 11). In the joint module embodiment with the shell 2, the end connecting piece can be directly installed on the end of the driving mechanism 1, and at this time, the structure for exposing the second connecting part 52 of the end connecting piece can be arranged on the shell 2. The end connecting piece can also be directly installed on or formed on the shell 2, that is, the first connecting part 51 of the end connecting piece is installed on or formed on the shell 2 to indirectly connect with the driving mechanism 1, so that the second connecting part 52 can also be exposed to realize connection with other structures. Since the structure of the second connecting part 52 of the end connecting piece needs to be matched with the connecting structure arranged on the structure connected therewith (such as the structure configuration of the external element attachment part 65 on the output piece 6), the structure of the second connecting part 52 of the end connecting piece can have various different configurations, as shown in FIG. 9.

[0166] Referring to FIG. 9, the first end connecting pieces L1 and R1 can be used as the end connecting pieces of the joint module located in the middle of the index finger, the middle finger, the ring finger and the little finger; the second end connecting pieces L2 and R2 can be used as the end connecting pieces of the joint module located in the middle of the thumb; the third end connecting pieces L3 and R3 can be used as the end connecting pieces of the joint module for connecting with the palm body of the thumb, the index finger and the ring finger; the fourth end connecting pieces L4 and R4 can be used as the end connecting pieces of the joint module for connecting with the palm body of the little finger; the fifth end connecting pieces L5 and R5 can be used as the end connecting pieces of the joint module for controlling the yaw of the index finger; and the sixth end connecting pieces L6 and R6 can be used as the end connecting pieces of the joint module for connecting with the palm body of the middle finger.

[0167] The first connecting part 51 of the first end connecting pieces L1 and R1 is used for fixedly connecting with the end of the driving mechanism 1 in the joint module located in the middle of the index finger, the middle finger, the ring finger and the little finger, and the second connecting part 52 is used for connecting with the output part of other joint module or the output piece 6 connected with the output part. Exemplarily, the first connecting part 51 is a plate connecting part, which can be fixedly connected with the end of the driving mechanism 1 through a screw, and the second connecting part 52 is a convex structure, which can be fixedly connected with the output part of other joint module or the output piece 6 connected with the output part through a screw.

[0168] The first connecting part 51 of the second end connecting piece L2 and R2 can be fixedly connected with the end of the driving mechanism 1 of the two middle joint modules on the thumb, and the second connecting part 52 can be used to connect with the output 6 of other joint modules. As shown in FIG. 10, the two middle joint modules on the thumb can be reversely and side-by-side fixedly connected, so that the end of one joint module is provided with a second end connecting piece L2 or R2, and the end of the other joint module is also provided with a second end connecting piece L2 or R2.

[0169] The third end connecting piece L3 and R3 is a plate-shaped connecting piece with a certain thickness, a threaded hole is arranged in the thickness direction and fixedly connected with the end of the driving mechanism 1 in the joint module through a screw, and a threaded hole is arranged in the height or width direction to be fixedly connected with the palm body through a screw.

[0170] The fourth end connecting piece L4 and R4 is an "L"-shaped connecting piece, the fourth end connecting piece L4 or R4 is fixedly connected with the end of the driving mechanism 1 of the joint module on the little finger for connecting with the palm body through one side (corresponding to the vertical side of the "L"-shape), and is fixedly connected with the palm body through the other side (corresponding to the horizontal side of the "L"-shape), so that the interference with the end connecting piece of the joint module of other fingers is avoided. As shown in FIG. 11, the end connecting piece of the joint module on the index finger for connecting with the palm body is pressed on the other side (corresponding to the horizontal side of the "L"-shape) of the fourth end connecting piece L4 in the assembled state, and the space of the palm body can be saved in this matched manner.

[0171] The fifth end connecting piece L5 and R5 is used to realize the swing of the joint module on the index finger in the plane parallel to the palm body. Specifically, the first connecting part 51 of the fifth end connecting piece L5 or R5 extends a flat plate structure, and the flat plate structure is located on the side of the driving mechanism 1 after the fifth end connecting piece L5 or R5 is installed on the driving mechanism 1. Meanwhile, a rotating hole is arranged on the flat plate structure, so that the whole joint module can swing in the plane parallel to the palm body. The second connecting part 52 can be used to connect with the output 6 of other joint modules, or a sliding shaft is connected to slide relative to the palm body.

[0172] The sixth end connecting piece L6 and R6 is a plate-shaped connecting piece with a certain thickness, a threaded hole is arranged in the thickness direction and fixedly connected with the end of the driving mechanism 1 of the joint module on the middle finger for connecting with the palm body through a screw, and a threaded hole is arranged in the height or width direction and fixedly connected with the palm body through a screw.

[0173] The degrees of freedom of the finger formed by the combination of the joint modules can include at least one of a yawing degree of freedom, a flexing degree of freedom and a spinning degree of freedom. The three degrees of freedom can be applied to any of the thumb, the index finger, the middle finger, the ring finger and the little finger. The yawing degree of freedom is a degree of freedom of the finger to yaw parallel to the palm for mounting the finger. The flexing degree of freedom is a degree of freedom of the finger to flex relative to the palm. For the flexing degree of freedom, the movement of the finger towards the palm center is a flexion movement. The spinning degree of freedom is a degree of freedom of the finger to spin relative to the palm.

[0174] Specifically, the at least one joint module can include a first joint module. For the spinning degree of freedom, a transmission mechanism can be provided with the first gear 61 or the first coupling as the output. At this time, the external part connected to the first joint module can spin around the axis of the output of the first joint module under the driving of the first joint module, to realize the spinning degree of freedom. The external part can be a fingertip module, or other joint module, or the palm connected to the joint module. The at least one joint module can also include a first joint module and a second joint module. The first joint module is connected to the second joint module, and the movement direction of the output of the first joint module is perpendicular to the movement direction of the output of the second joint module, to realize the yawing degree of freedom of the finger or the yawing degree of freedom and the first flexing degree of freedom of the finger. In another possible embodiment, the finger further includes a third joint module, and the output of the second joint module is connected to the end of the third joint module, so that the movement direction of the output of the third joint module is parallel to the movement direction of the output of the second joint module, to realize the second flexing degree of freedom of the finger.

[0175] For the above-mentioned embodiment of the finger, the fingertip module can be connected to the output of the joint module at the end of the finger, to form the end of the finger away from the palm body. The fingertip module is a structural assembly or a combination sensor assembly for representing or simulating the fingertip of the finger, which can be a shell wrapping the output 6 as a skeleton or an extension connected to the output 6. The shell or the extension can be provided with a pressure sensor and / or a plastic material layer.

[0176]

Thumb finger

[0177] Fig. 10 and Fig. 12 respectively show the structure of the thumb finger formed by the two joint modules of the present application with different embodiments. The thumb finger includes three joint modules, including a thumb first joint module m1, a thumb second joint module m2 and a thumb third joint module m3. Among them, the thumb first joint module m1 is used to be connected with the palm body, the output part of the output member 6 of the thumb first joint module m1 is fixedly connected with the output part of the output member 6 of the thumb second joint module m2, and the output shaft 43 of the thumb first joint module m1 and the output shaft 43 of the thumb second joint module m2 are mutually out-of-plane perpendicular, so that the thumb first joint module m1 and the thumb second joint module m2 can have both the deflection degree of freedom and the first flexion and extension degree of freedom. The thumb third joint module m3 is reversely and side-by-side installed with the thumb second joint module m2 to form a single knuckle, the output part of the thumb third joint module m3 is connected with the fingertip module to form a second flexion and extension degree of freedom, so as to form an overall thumb finger with two knuckles and one fingertip module.

[0178] Specifically, referring to Fig. 10, it is an embodiment of the thumb finger formed by the joint module without the shell 2 shown in Fig. 3 and Fig. 4. The thumb first joint module m1 adopts the output member 6b shown in Fig. 7 and the third end connecting member L3 shown in Fig. 9, and the thumb first joint module m1 is fixed on the back shell 73 of the palm body by the third end connecting member L3; the thumb second joint module m2 adopts the output member 6c shown in Fig. 7 and the second end connecting member L2 shown in Fig. 9; the thumb third joint module m3 adopts the output member 6e shown in Fig. 7 and the second end connecting member L2 shown in Fig. 9. Among them, the output member 6b of the thumb first joint module m1 and the output member 6c of the thumb second joint module m2 are fixedly connected by bolt fastening, which ensures that the output shafts 43 of the thumb first joint module m1 and the thumb second joint module m2 are out-of-plane perpendicular.

[0179] The reverse and side-by-side installation between the thumb second joint module m2 and the thumb third joint module m3 can be achieved by: the thumb second joint module m2 and the thumb third joint module m3 are reversely and side-by-side arranged; the end of the thumb second joint module m2 is fixed on the first fixed plate member 71 and the second fixed plate member 72 by the second end connecting member L2, and the end of the thumb third joint module m3 is fixed on the first fixed plate member 71 and the second fixed plate member 72 by the second end connecting member L2, so as to realize the reverse and side-by-side fixed installation of the thumb second joint module m2 and the thumb third joint module m3.

[0180] The third joint module m3 of the thumb is provided with an output member 6e as a framework of the fingertip module. The first output member 61 of the output member 6 of the third joint module m3 of the thumb is connected with the transmission mechanism of the third joint module m3 of the thumb, and the second output member 62 of the output member 6 of the third joint module m3 of the thumb is connected with the second end connecting member L2 of the second joint module m2 of the thumb.

[0181] Fig. 12 shows the structure of the thumb finger formed by the joint modules provided with the shell 2 shown in Figs. 1 and 2, which is basically the same as the connection mode of the thumb finger formed by the joint modules without the shell 2 shown in Fig. 10, only the configuration of the end connecting member is different from the configuration of the output member 6, and the embodiment will not be described here.

[0182]

Index finger

[0183] Figs. 11 and 13 respectively show the structure of the index finger formed by the joint modules of two different embodiments of the present application. The index finger includes three joint modules, including an index first joint module s1, an index second joint module s2 and an index third joint module s3.

[0184] Referring to Fig. 11, it is an embodiment of the index finger formed by the joint modules without the shell 2 shown in Figs. 3 and 4. Among them, the index first joint module s1 is used to be connected with the palm body, the output member 6 installed on the output part of the index first joint module s1 is connected with the end connecting structure 5 on the index second joint module s2, and the output shaft 43 of the index first joint module s1 and the output shaft 43 of the index second joint module s2 are mutually perpendicular. The index second joint module s2 is movably installed on the palm body, so as to be movable relative to the palm body under the drive of the index first joint module s1, so that the index first joint module s1 and the index second joint module s2 form a biasing degree of freedom. At this time, the index first joint module s1 and the index second joint module s2 form an independent finger joint respectively. The output member 6 installed on the output part of the index second joint module s2 is connected with the end connecting structure 5 of the index third joint module s3, and the output part of the index third joint module s3 is connected with the fingertip module, so as to form an overall index finger with three finger joints and one fingertip module.

[0185] Specifically, the first joint module s1 of the index finger adopts the output member 6d as shown in FIG. 7, adopts the third end connecting member L3 as shown in FIG. 9, and is fixed on the back shell 73 of the palm body through the third end connecting member L3; the second joint module s2 of the index finger adopts the output member 6a as shown in FIG. 7, adopts the fifth end connecting member L5 as shown in FIG. 9, and is rotatably installed on the back shell 73 of the palm body through the fifth end connecting member L5; the third joint module s3 of the index finger adopts the output member 6f as shown in FIG. 7, and adopts the first end connecting member L1 as shown in FIG. 9.

[0186] The output shaft 43 of the first joint module s1 of the index finger is perpendicular to the second joint module, and the first joint module s1 of the index finger is movably connected with the second connecting part 52 of the fifth end connecting member L5 of the second joint module s2 through the output member 6d thereof, so that the second joint module s2 of the index finger can be driven by the first joint module s1 of the index finger to move on the palm body. As shown in FIG. 11, the output member 6d of the first joint module s1 of the index finger is movably connected with one end of the connecting rod 75 through a pin, and the other end of the connecting rod 75 is movably connected with the second connecting part 52 of the fifth end connecting member L5 of the second joint module s2 through a pin. The second joint module s2 of the index finger is installed on the rotating shaft arranged on the back shell 73 through the fifth end connecting member L5, so as to be rotatably installed on the back shell 73 of the palm body. When the first joint module s1 of the index finger works, the end of the second joint module s2 of the index finger is driven by the connecting rod 75 to rotate on the back shell 73 of the palm body, so as to realize the yawing function of the index finger. A bearing 46 can be arranged between the fifth end connecting member L5 and the rotating shaft of the palm body, so as to improve the stability and avoid looseness and unstable rotation.

[0187] Referring to Fig. 13, it is an embodiment of the index finger formed by the joint module provided with the shell 2 shown in Fig. 1 and Fig. 2. Among them, the output part of the index finger second joint module s2 is connected with the output part 6 of the index finger third joint module s3, the index finger second joint module s2 is used to connect with the palm body and is movably installed on the palm body; the index finger first joint module s1 is commonly installed on the palm body, the output shaft 43 of the index finger first joint module s1 is perpendicular to the output shaft 43 of the index finger second joint module s2, the index finger first joint module s1 and the index finger second joint module s2 are arranged in the same direction and side by side to form a finger joint, and the output part 6 of the index finger first joint module s1 is fixedly connected with the index finger second joint module s2, so that the index finger second joint module s2 can move relative to the palm body under the drive of the index finger first joint module s1, the degree of freedom of the index finger is increased, and the flexibility is improved. The output part of the index finger third joint module s3 is connected with the fingertip module to form an overall index finger with two finger joints and a fingertip module.

[0188] Specifically, the output part 6A of the index finger second joint module s2 is connected with the driving mechanism 1 of the index finger third joint module s3 as shown in Fig. 8, the fifth end connecting part R5 of the index finger second joint module s2 is used to rotatably install the index finger second joint module s2 on the back shell 73 of the palm body as shown in Fig. 9; the output part 6B of the index finger third joint module s3 is used to connect with the end of the fingertip module as shown in Fig. 8; the output part 6E of the index finger first joint module s1 is used to connect and fix the index finger second joint module s2 as shown in Fig. 8, and the index finger first joint module s1 is fixedly installed on the back shell 73 of the palm body.

[0189] As shown in FIG. 13, the second joint module s2 of the index finger is perpendicular to the output shaft 43 of the first joint module s1 of the index finger, and the tail end of the first joint module s1 of the index finger is fixedly connected to the palm body through the first fixed connecting piece 771, and the side of the first joint module s1 of the index finger is fixedly connected to the palm body through the second fixed connecting piece 772, so as to fix the position of the first joint module s1 of the index finger. The first joint module s1 of the index finger is arranged in the same direction and side by side with the second joint module s2 of the index finger, and the output shaft 43 of the first joint module s1 of the index finger is perpendicular to the output shaft 43 of the second joint module s2 of the index finger. The output piece 6E installed on the first joint module s1 of the index finger is fixed to the shell 2 of the second joint module s2 of the index finger, and the shell 2 of the second joint module s2 of the index finger is rotatably connected to the back shell 73 of the palm body through the first pin-shaped connecting piece 781 and the second pin-shaped connecting piece 782, and the first pin-shaped connecting piece 781 and the second pin-shaped connecting piece 782 are collinear with the output shaft 43 of the first joint module s1 of the index finger on the axis, and the first pin-shaped connecting piece 781 and the second pin-shaped connecting piece 782 simultaneously serve as the rotation shaft of the second joint module s2 of the index finger, so that the second joint module s2 of the index finger is driven to rotate around the rotation shaft by the output piece 6 installed on the first joint module s1 of the index finger. The second connecting part 52 of the fifth end connecting piece R5 installed on the second joint module s2 of the index finger can be provided with a sliding shaft to be fixed in the sliding groove 731 on the back shell 73, so as to limit the swing amplitude of the second joint module s2 of the index finger on the back shell 73 of the palm body. As a possible implementation, the sliding groove 731 can be designed to allow the swing angle of the second joint module s2 of the index finger to be 15 degrees, and considering the durability of the sliding shaft and the sliding groove 731, the sliding shaft can be made of steel, and the palm body formed with the sliding groove 731 can be made of aluminum.

[0190]

Middle finger

[0191] FIGS. 11 and 14 respectively show the structure of the middle finger formed by two joint modules in different embodiments of the present application. The middle finger includes two joint modules, including a first joint module z1 of the middle finger and a second joint module z2 of the middle finger. Among them, the first joint module z1 of the middle finger is used to be connected with the palm body, the output piece 6 installed on the first joint module z1 of the middle finger is connected with the second joint module z2 of the middle finger, and the output part of the second joint module z2 of the middle finger is connected with the fingertip module to form the whole middle finger.

[0192] Specifically, referring to FIG. 11, which is a structural diagram of a middle finger formed by the joint module without the shell 2 shown in FIGS. 3 and 4. The middle finger first joint module z1 adopts the output member 6a shown in FIG. 7 and the third end connecting member L3 shown in FIG. 9 to be fixed on the palm body by bolts; the middle finger second joint module z2 adopts the output member 6f shown in FIG. 7 and the first end connecting member L1 shown in FIG. 9, and the output member 6f is connected to the middle finger fingertip module as a skeleton of the middle finger fingertip module.

[0193] Referring to FIG. 13, which is a structural diagram of a middle finger formed by the joint module with the shell 2 shown in FIGS. 1 and 2. The middle finger first joint module z1 adopts the output member 6A shown in FIG. 8 to be directly connected to the driving mechanism 1 of the middle finger second joint module z2, and the tail end of the middle finger first joint module z1 is connected to the palm body; the middle finger second joint module z2 adopts the output member 6B shown in FIG. 8 to be connected to the end of the fingertip module.

[0194]

Ring Finger

[0195] FIGS. 11 and 14 respectively show structural diagrams of a ring finger formed by two joint modules of different embodiments of the present application. The ring finger includes two joint modules, including a ring finger first joint module w1 and a ring finger second joint module w2. The ring finger first joint module w1 is used to be connected to the palm body, the output member 6 mounted on the ring finger first joint module w1 is connected to the ring finger second joint module w2, and the transmission mechanism of the ring finger second joint module w2 is connected to the fingertip module to form the whole ring finger.

[0196] Specifically, referring to FIG. 11, which is a structural diagram of a ring finger formed by the joint module without the shell 2 shown in FIGS. 3 and 4. The ring finger first joint module w1 adopts the output member 6a shown in FIG. 7 and the third end connecting member L3 shown in FIG. 9 to be fixed on the palm body by bolts; the ring finger second joint module w2 adopts the output member 6f shown in FIG. 7 and the first end connecting member L1 shown in FIG. 9, and the output member 6f is connected to the ring finger fingertip module as a skeleton of the ring finger fingertip module.

[0197] Referring to FIG. 14, which is a structural diagram of a ring finger formed by the joint module with the shell 2 shown in FIGS. 1 and 2. The ring finger first joint module w1 adopts the output member 6A shown in FIG. 8 to be directly connected to the driving mechanism 1 of the ring finger second joint module w2, and the tail end of the ring finger first joint module w1 is connected to the palm body; the ring finger second joint module w2 adopts the output member 6B shown in FIG. 8 to be connected to the end of the fingertip module.

[0198]

Little Finger

[0199] Fig. 11 and Fig. 14 respectively show the structure of the little finger formed by the two joint modules of the present application with different embodiments. The little finger includes two joint modules, including the little finger first joint module x1 and the little finger second joint module x2. The little finger first joint module x1 is used to connect with the palm body, the output member 6 installed on the little finger first joint module x1 is connected with the little finger second joint module x2, and the transmission mechanism of the little finger second joint module x2 is connected with the fingertip module to form the overall little finger.

[0200] Specifically, referring to Fig. 11, it is the structure of the little finger formed by the joint module without the shell 2 shown in Fig. 3 and Fig. 4. The little finger first joint module x1 adopts the output member 6a shown in Fig. 7 and the fourth end connecting member L4 shown in Fig. 9 to be fixed on the palm body by bolts; the little finger second joint module x2 adopts the output member 6f shown in Fig. 7 and the first end connecting member L1 shown in Fig. 9, and the output member 6f is connected with the little finger fingertip module as the skeleton of the little finger fingertip module.

[0201] Referring to Fig. 14, it is the structure of the little finger formed by the joint module with the shell 2 shown in Fig. 1 and Fig. 2. The little finger first joint module x1 adopts the output member 6A shown in Fig. 8 to be directly connected with the driving mechanism 1 of the little finger second joint module x2, the tail end of the little finger first joint module x1 is connected with the palm body, and the little finger second joint module x2 adopts the output member 6B shown in Fig. 8 to be connected with the end of the fingertip module.

[0202] Wherein, when the tail ends of the middle finger, the ring finger and the little finger with the shell 2 are connected with the palm body, the end connecting structure 5 between the palm body and the tail ends of the three fingers can form a stepped shape, so that the length difference is formed between the three fingers, and the appearance of the formed robot dexterous hand is more simulated, and the function can be more close to the real person.

[0203] It can be understood that the structures of the five different fingers of the thumb, the index finger, the middle finger, the ring finger and the little finger described above can not be limited to the corresponding forms described above. For example, the thumb, the index finger, the middle finger, the ring finger and the little finger can be connected in the structure of the thumb finger described above, or in the structure of the index finger described above, so that each finger of the robot dexterous hand provided with the five fingers can have the deflection degree of freedom and the flexion and extension degree of freedom at the same time. The setting mode of the five fingers described above is only illustrative in the embodiment, and is not a limitation on the structure setting of the thumb, the index finger, the middle finger, the ring finger and the little finger.

[0204] Cable connection structure between knuckles

[0205] For the joint module provided with the driving board module 3, it is inevitable to realize signal transmission with each joint module through the cable 81 to control the movement of the joint module in working. As some possible embodiments, two adjacent joint modules or the joint module and the fingertip module can be provided with the cable 81 to realize signal transmission. Specifically, referring to FIG. 15, for two adjacent joint modules, the driving board modules 3 of the two joint modules can be connected through the cable 81 to realize signal transmission, so that it is not necessary to connect the cable 81 with each joint module to control the movement of each joint module, avoiding too many and too long cables 81 affecting the overall structure movement. For the connection between the joint module and the fingertip module, the fingertip module can be provided with a pressure sensor or other tactile sensor for sensing external information, and the fingertip module can be provided with a control board module 31, and then the driving board module 3 on the joint module and the control board module 31 on the fingertip module can be connected through the cable 81 to realize the transmission of the signal sensed by the fingertip module. In the above embodiment of connecting two driving board modules 3 through the cable 81 or connecting the control board module 31 and the driving board module 3 through the cable 81, the cable 81 can be provided with a plug structure 82 which is plug-ably arranged on the driving board module 3 and / or the control board module 31, so as to be convenient to disassemble and adjust the setting position of each joint module on the formed finger according to the actual situation. Specifically, the cable 81 can be provided as a wire harness, and the plug structure 82 can be realized by a commonly used cable 81 plug such as an RJ45 plug.

[0206] FIGS. 10-11 and 12-14 schematically show the overall structure of the robot dexterous hand of two embodiments in the present application. Specifically, the robot dexterous hand of the present application comprises a palm body and at least one of the fingers of any one of the above-described embodiments, and the fingers are connected to the palm body and each joint module in each finger can be independently driven. For example, the robot dexterous hand can comprise a palm body, a thumb, an index finger, a middle finger, a ring finger and a little finger, and the thumb, the index finger, the middle finger, the ring finger and the little finger are mounted on the palm body to form the robot dexterous hand.

[0207] In some embodiments, the palm body can include a palm rubber, a palm shell 2, a palm skeleton 76, a back skeleton 73, a back shell 742, a wrist adapter and a palm middle shell 2. The palm rubber can be bonded together with the palm shell 2 by glue; the palm shell 2 and the palm skeleton 76 can be connected by bolts; the palm skeleton 76 and the back skeleton 73 are connected by a skeleton connector; the back shell 742 close to the wrist part can be connected with the back skeleton 73 by bolts; the back shell 742 away from the wrist part can be connected with the palm shell 2 by bolts; the wrist adapter can be connected with the palm skeleton 76 and the back skeleton 73 by bolts; the palm middle shell 2 can be connected with the palm shell 2 by bolts and pins. Wherein each finger is mainly installed on the back skeleton 73 or the palm skeleton 76.

[0208] Referring to FIGS. 10-11, in this embodiment, the robot dexterous hand includes a palm body, a thumb, an index finger, a middle finger, a ring finger and a little finger, wherein the thumb first joint module m1, the index finger first joint module s1, the middle finger first joint module z1, the ring finger first joint module w1 and the little finger first joint module x1 are fixed on the back skeleton 73 by bolts.

[0209] Specifically, referring to FIGS. 10 and 12, since the installation mode of the thumb finger on the palm body in FIGS. 10 and 12 is consistent, the embodiment shown in FIG. 10 is taken as an example to illustrate this. For the thumb finger installed on the palm body, the thumb first joint module m1 is arranged along the width direction of the palm body, and the thumb first joint module m1 is fixedly installed on the back skeleton 73 through a third end connector L3. Wherein the third end connector L3 is fixedly connected with the end of the thumb first joint module m1 in a first direction, the third end connector L3 is fixedly connected with the back skeleton 73 in a second direction, and the first direction is perpendicular to the second direction.

[0210] Exemplarily, the third end connector L3 is a plate-shaped connector with a certain thickness, the corresponding first direction is the thickness direction of the plate-shaped connector, and the thickness direction is provided with an opening, so that the plate-shaped connector is installed on the end of the thumb first joint module m1 by passing through the opening in the thickness direction through bolts or the like; the second direction is the vertical direction of the third end connector L3 shown in FIG. 10, and the vertical direction of the third end connector L3 is provided with an opening, so that the third end connector is installed on the back skeleton 73 by passing through the opening in the vertical direction through bolts or the like.

[0211] The end of the second joint module m2 of the thumb is provided with a second end connecting piece L2, and the end of the third joint module m3 of the thumb is also provided with a second end connecting piece L2; the end of the third joint module m3 of the thumb is also provided with a second end connecting piece L2; the thumb further comprises a first fixed plate piece 71 and a second fixed plate piece 72, and the second joint module m2 and the third joint module m3 of the thumb are reversely and side by side arranged, so that the two second end connecting pieces L2 arranged on the ends of the second joint module m2 and the third joint module m3 of the thumb are fixedly arranged at the two ends of the first fixed plate piece 71 and the second fixed plate piece 72.

[0212] Specifically, referring to FIG. 11, as one possible implementation, for the index finger mounted on the palm body, in this implementation, the first joint module s1 of the index finger is arranged along the width direction of the back skeleton 73, and the first joint module s1 of the index finger is fixedly mounted on the back skeleton 73 through the third end connecting piece L3. The specific mounting manner is consistent with the mounting manner of the third end connecting piece L3 in the first joint module m1 of the thumb, and thus will not be expanded. The end of the second joint module s2 of the index finger is provided with a fifth end connecting piece L5, the first connecting part 51 of the fifth end connecting piece L5 is connected with the main body of the second joint module s2 of the index finger, and the second connecting part 52 of the fifth end connecting piece L5 is connected with the output piece 6d mounted on the first joint module s1 of the index finger through the connecting rod 75.

[0213] Referring to FIG. 13, as another possible implementation, for the index finger mounted on the palm body, in this implementation, the first joint module s1 of the index finger is arranged along the length direction of the back skeleton 73, and is mounted on the back skeleton 73 through the fifth end connecting piece R5. The first connecting part 51 on the fifth end connecting piece R5 is connected with the main body of the first joint module s1 of the index finger, and the second connecting part 52 is mounted with a sliding shaft to be fixed in the sliding groove 731 on the back skeleton 73. The third joint module s3 is mounted on the palm body through the first fixed connecting piece 771 and the second fixed connecting piece 772, and the output piece 6E mounted on the third joint module s3 is connected with the main body of the first joint module s1 of the index finger.

[0214] Specifically, referring to FIGS. 11 and 14, since the installation manners of the middle fingers in FIGS. 11 and 14 on the palm body are consistent, the embodiment shown in FIG. 11 is taken as an example to describe this. For the middle finger installed on the palm body, in this embodiment, the middle finger is fixedly connected with the back skeleton 73 through the end connecting structure 5 of the middle finger first joint module z1. The end of the middle finger first joint module z1 is provided with a sixth end connecting piece L6 as shown in FIG. 9. Exemplarily, the sixth end connecting piece L6 is a plate-shaped connecting piece with a certain thickness, a threaded hole is arranged in the thickness direction and fixedly connected with the end of the driving mechanism 1 in the middle finger first joint module z1 through a screw, and a threaded hole is arranged in the height or width direction and fixedly connected with the back skeleton 73 through a screw.

[0215] Specifically, referring to FIGS. 11 and 14, since the installation manners of the middle fingers in FIGS. 11 and 14 on the palm body are consistent, the embodiment shown in FIG. 11 is taken as an example to describe this. For the middle finger installed on the palm body, in this embodiment, the middle finger is fixedly connected with the back skeleton 73 through the end connecting structure 5 of the middle finger first joint module z1. The end of the middle finger first joint module z1 is provided with a sixth end connecting piece L6 as shown in FIG. 9. Exemplarily, the sixth end connecting piece L6 is a plate-shaped connecting piece with a certain thickness, a threaded hole is arranged in the thickness direction and fixedly connected with the end of the driving mechanism 1 in the middle finger first joint module z1 through a screw, and a threaded hole is arranged in the height or width direction and fixedly connected with the back skeleton 73 through a screw.

[0216] Specifically, referring to FIGS. 11 and 14, since the installation manners of the middle fingers in FIGS. 11 and 14 on the palm body are consistent, the embodiment shown in FIG. 11 is taken as an example to describe this. For the middle finger installed on the palm body, in this embodiment, the middle finger is fixedly connected with the back skeleton 73 through the end connecting structure 5 of the middle finger first joint module z1. The end of the middle finger first joint module z1 is provided with a sixth end connecting piece L6 as shown in FIG. 9. Exemplarily, the sixth end connecting piece L6 is a plate-shaped connecting piece with a certain thickness, a threaded hole is arranged in the thickness direction and fixedly connected with the end of the driving mechanism 1 in the middle finger first joint module z1 through a screw, and a threaded hole is arranged in the height or width direction and fixedly connected with the back skeleton 73 through a screw.

[0217] The application integrates a driving system (for example, motor 11, reduction box 12, first bevel gear 41, second bevel gear 42, etc.) in the joint module, so that the driving system is modularized, and the reliability of the driving system is improved. The modularization of the driving system allows each joint module to be operated, tested and verified independently, can simultaneously meet the requirements of the dexterous hand having stronger gripping ability, higher stability and accuracy, and better flexibility and simulation, ensures the reliability of the single module, and thus improves the reliability of the whole dexterous hand. The joint modules are independent of each other and can be controlled respectively, different signals can be input to control the dexterous hand to make various actions, so as to accurately simulate the complex actions of the human hand and realize fine operation. The modular design of the joint can make the upgrading and maintenance of the dexterous hand simpler. The modular design of the joint can also realize independent replacement and upgrading of different joint modules according to requirements, and improve the applicability of the dexterous hand.

[0218] In some embodiments, the application also provides a robot comprising the robot hand according to any one of the preceding embodiments.

[0219] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A joint module, characterized in that: The joint module comprises a driving mechanism (1) and a transmission mechanism; the output end of the driving mechanism (1) is connected with the input part of the transmission mechanism, and the output part of the transmission mechanism is used as the output part of the joint module to transmit power. The joint module further comprises a shell (2) for encapsulating the driving mechanism (1) and the transmission mechanism; the shell (2) has one of a cylindrical shape and a prismatic shape.

2. The joint module according to claim 1, characterized in that Alternatively, the joint module is provided without the shell (2); the driving mechanism (1) has one of a cylindrical shape and a prismatic shape. The driving mechanism (1) comprises a motor (11) and a reduction gearbox (12); the output end of the motor (11) is connected with the input end of the reduction gearbox (12), and the output end of the reduction gearbox (12) is used as the output end of the driving mechanism (1).

3. The joint module of claim 1, wherein The driving mechanism (1) comprises a motor (11) and a reduction gearbox (12); when the joint module is provided without the shell (2), the gear ring (121) of the reduction gearbox (12) is arranged as the housing of the reduction gearbox (12).

4. The joint module of claim 2, wherein Further comprising a driving board module (3) connected with the driving mechanism (1) to control the operation of the driving mechanism (1).

5. The joint module of claim 1, wherein, The driving board module (3) is provided with a plug structure (82) for plugging and unplugging a wire.

6. The joint module of claim 5, wherein, The driving board module (3) is arranged on the driving mechanism (1).

7. The joint module of claim 5, wherein, Alternatively, the joint module further comprises a shell (2) for encapsulating the driving mechanism (1) and the transmission mechanism; the driving board module (3) is arranged in a mounting groove (23) arranged on the shell (2). Alternatively, the driving board module (3) is arranged on an external device, and the external device comprises a palm of a mechanical hand. The transmission mechanism comprises at least one of a gear transmission, a connecting rod transmission, a synchronous belt transmission and a chain transmission.

8. The joint module of claim 1, wherein, The transmission mechanism comprises a first gear (41) or a first coupling; the first gear (41) comprises a bevel gear; the first gear (41) or the first coupling is both the input part of the transmission mechanism and the output part of the transmission mechanism.

9. The joint module of claim 1, wherein, The transmission mechanism further comprises a second gear (42); the second gear (42) comprises a bevel gear; the second gear (42) is engaged with the first gear (41); the first gear (41) is the input part of the transmission mechanism, and the second gear (42) replaces the first gear (41) as the output part of the transmission mechanism.

10. The joint module of claim 9, wherein, The transmission mechanism further comprises an output shaft (43) and a support structure (66); the output shaft (43) replaces the second gear (42) as the output part of the transmission mechanism; the output shaft (43) is rotationally arranged on the support structure (66); the output shaft (43) is arranged to rotate along its own axis under the driving of the second gear (42).

11. The joint module of claim 10, wherein, The output shaft (43) is provided with an angle sensor (44).

12. The joint module of claim 11, wherein, The joint module further comprises a shell (2) for encapsulating the driving mechanism and the transmission mechanism; the support structure (66) is fixedly connected with the shell (2); the output shaft (43) is rotationally arranged in the shell (2).

13. The joint module of claim 12, wherein, ​ 14. The joint module of claim 13, wherein, The shell (2) comprises a first half shell (21) and a second half shell (22), the first half shell (21) is provided with a first groove (451) for bearing a first end of the output shaft (43), and the second half shell (22) is provided with a second groove for bearing a second end of the output shaft (43).

15. The joint module of claim 13, wherein, The support structure (66) comprises a first support plate (661) and a second support plate (662) arranged in the shell (2), and an extension (663) is arranged between the first support plate (661) and the second support plate (662), the first support plate (661) and the second support plate (662) are connected through the extension (663), and the first support plate (661) and the second support plate (662) are both provided with a through hole (664) through which the output shaft (43) passes.

16. The joint module of claim 15, wherein, The shell (2) is provided with an opening (24), the opening (24) forms a connecting port (25) exposing the output shaft (43) with the first support plate (661), the second support plate (662), and the extension (663), and the two ends of the extension (663) form a first limit rotation position and a second limit rotation position of the component connected with the output shaft (43).

17. The articulating module of claim 11, wherein, The support structure (66) is connected with the driving mechanism (1).

18. The joint module of claim 17, wherein, The support structure (66) is provided with a through hole (664) through which the output shaft (43) passes.

19. The joint module of claim 18, wherein, The output shaft (43) comprises a first output shaft (431) and a second output shaft (432), the second gear (62) is arranged on the first output shaft (431), and the first output shaft (431) and the second output shaft (432) are both provided with protrusions to avoid the first output shaft (431) and the second output shaft (432) from passing through the through hole (664).

20. The joint module of claim 19, wherein, The through hole (664) is provided with two bearings that rotate synchronously with the first output shaft (431) and the second output shaft (432) respectively, the first output shaft (431) and the second output shaft (432) are respectively inserted into the bearings to rotate synchronously with the inner rings of the bearings, and the protrusions abut against the bearings.

21. A finger, characterized in that The joint module comprises at least one joint module according to any one of claims 1 to 20.

22. The finger of claim 21, wherein, The output part of the joint module is used to generate a degree of freedom; the degree of freedom includes at least one of a yawing degree of freedom, a flexing degree of freedom, and a spinning degree of freedom; the yawing degree of freedom is a degree of freedom of the finger for yawing parallel to the palm for mounting the finger; the flexing degree of freedom is a degree of freedom of the finger for flexing relative to the palm, wherein the movement of the finger towards the palm center of the palm is a flexing movement in the flexing movement; and the spinning degree of freedom is a degree of freedom of the finger for spinning relative to the palm.

23. The finger of claim 22, wherein, The spinning degree of freedom is generated by the joint module according to claim 9.

24. The finger of claim 22, wherein, The joint module includes a first joint module and a second joint module; the first joint module is connected with the second joint module; the movement direction of the output part of the first joint module is perpendicular to the movement direction of the output part of the second joint module, so as to realize the yawing degree of freedom of the finger or simultaneously realize the yawing degree of freedom and the first flexing and extending degree of freedom of the finger.

25. The finger of claim 24, wherein, The joint module further includes a third joint module; the output part of the second joint module is connected with the end of the third joint module, so that the movement direction of the output part of the third joint module is parallel to the movement direction of the output part of the second joint module, so as to realize the second flexing and extending degree of freedom of the finger.

26. The finger according to claim 24 or 25, characterized in that The output part of the second joint module is relatively fixedly arranged with the output part of the first joint module through at least one output piece (6), so that the movement direction of the output part of the second joint module is perpendicular to the movement direction of the output part of the first joint module, so as to simultaneously realize the yawing degree of freedom and the first flexing and extending degree of freedom of the finger.

27. The finger of claim 25, wherein, The third joint module is reversely arranged side by side with the second joint module.

28. The finger according to any one of claims 24 to 27, characterized in that The finger is a thumb.

29. The finger according to claim 24 or 25, characterized in that The first joint module and the second joint module are arranged side by side in the same direction; the output part of the first joint module is relatively fixedly arranged with the second joint module through an output piece (6), so that the movement direction of the output part of the second joint module is perpendicular to the movement direction of the output part of the first joint module, so as to realize the yawing degree of freedom of the finger.

30. The finger according to claim 24 or 25, characterized in that The output part of the first joint module is drivingly connected with the end of the second joint module through a connecting rod (75), so that the movement direction of the output part of the second joint module is perpendicular to the movement direction of the output part of the first joint module, so as to realize the yawing degree of freedom of the finger.

31. The finger according to claim 29 or 30, characterized in that The finger is an index finger.

32. The finger of claim 22, wherein, The joint module includes a first joint module and a second joint module; the first joint module is connected with the second joint module; the movement direction of the output part of the first joint module is parallel to the movement direction of the output part of the second joint module, so as to realize the first flexing and extending degree of freedom of the finger.

33. The finger of claim 32, wherein, The joint module further includes a third joint module; the output part of the second joint module is connected with the end of the third joint module, so that the movement direction of the output part of the third joint module is parallel to the movement direction of the output part of the second joint module, so as to realize the second flexing and extending degree of freedom of the finger.

34. The finger according to any one of claims 21 to 33, characterized in that The finger further includes a fingertip module; In the case that the finger only includes the first joint module, the output part of the first joint module is connected with the fingertip module; In the case that the finger only includes the first joint module and the second joint module, the output part of the second joint module is connected with the fingertip module; In the case that the finger only includes the first joint module, the second joint module and the third joint module, the output part of the third joint module is connected with the fingertip module.

35. The finger of claim 34, wherein, The fingertip module is provided with a control board module (31) for controlling a fingertip module tactile sensor.

36. The finger of claim 35, wherein, The connection between the fingertip module and the first joint module or the second joint module or the third joint module includes a cable connection between the control board module (31) and the drive board module (3) of the first joint module or the second joint module or the third joint module.

37. The finger of claim 36, wherein, The control board module (31) is provided with a plug structure (82) for plugging and unplugging a wire.

38. A robotic dexterous hand, comprising: The hand includes a palm body and at least one finger, the finger being the finger according to any one of claims 21 to 37, and the finger being connected to the palm body.

39. The robotic hand of claim 38, wherein, The finger includes a thumb formed by the finger according to claim 28; a first joint module of the thumb is arranged along a width direction of the palm body, and an end of the first joint module of the thumb is provided with an end connecting structure (5) and is fixedly installed on the palm body through the end connecting structure (5).

40. The robotic hand of claim 38, wherein, The end connecting structure (5) is fixedly connected with the end of the first joint module of the thumb in a first direction and is fixedly connected with the palm body in a second direction, and the first direction is perpendicular to the second direction.

41. The robotic hand of claim 38, wherein, The finger includes an index finger formed by the finger according to claim 31.

42. The robotic hand of claim 41, wherein, The index finger is the finger according to claim 30, and a first joint module of the index finger is arranged along a width direction of the palm body.

43. The robotic hand of claim 41, wherein, The index finger is the finger according to claim 29, and a first joint module of the index finger is arranged along a length direction of the palm body.

44. The robotic hand of claim 43, wherein, The palm body is provided with a sliding groove (731) for limiting an amplitude of a second joint module of the finger to be deflected under the driving of the first joint module.

45. The robotic hand of claim 38, wherein, The finger includes at least one of a middle finger, a ring finger, and a little finger formed by the finger according to any one of claims 32 or 33.

46. The robotic hand of claim 45, wherein, The finger is connected to the palm body through a stepped fixing member.

47. The robotic hand of any one of claims 38 to 46, wherein, The finger and the palm body are detachably connected through a screw.

48. A robot characterized by The robot hand includes the robot hand according to any one of claims 38 to 47.

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