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CN-224209959-U - Double-output-shaft joint module, dexterous hand and robot

CN224209959UCN 224209959 UCN224209959 UCN 224209959UCN-224209959-U

Abstract

The utility model discloses a double-output-shaft joint module, a dexterous hand and a robot, and relates to the technical field of dexterous hand joint modules. The double-output-shaft joint module comprises a base, an upper cover, a first output shaft and a second output shaft, wherein the base and the upper cover limit a containing cavity, the first output shaft and the second output shaft are arranged at intervals, part of the first output shaft is arranged in the containing cavity and is adjustable in axial position along the containing cavity, the other end of the first output shaft is used for being rotationally connected with a finger or a joint, the other end of the second output shaft is arranged in the containing cavity and is adjustable in axial position along the containing cavity, the other end of the second output shaft is used for being rotationally connected with the finger or the joint, and the first output shaft and the second output shaft are connected with the same finger or joint. The double-output-shaft joint module has the advantages that through the simplified structure and the modularized design, under the control of the lateral swing of the connected joints or fingers, the installation space is reduced, the input cost is reduced, and the operation is simple and the control is accurate.

Inventors

  • DU WEI
  • WANG JINCHENG
  • CHENG ERTING

Assignees

  • 万拿机器人(北京)有限公司

Dates

Publication Date
20260508
Application Date
20250428

Claims (10)

  1. 1. A dual output shaft joint module, comprising: The base is detachably connected with the upper cover, and an accommodating cavity is defined between the base and the upper cover; The first output shaft and the second output shaft are parallel and are arranged at intervals, part of the first output shaft is arranged in the accommodating cavity, the other end of the first output shaft is connected with a finger or a joint in a rotating mode, the position of the first output shaft along the axial direction of the first output shaft is adjustable relative to the position of the accommodating cavity, part of the second output shaft is arranged in the accommodating cavity, the position of the second output shaft along the axial direction of the second output shaft is adjustable relative to the position of the accommodating cavity, the other end of the second output shaft is connected with the finger or the joint in a rotating mode, and the first output shaft and the second output shaft are connected with the same finger or joint.
  2. 2. The dual output shaft joint module of claim 1, comprising a drive assembly comprising a first screw and a second screw, wherein the first output shaft and the second output shaft are respectively in anti-rotation fit with the accommodating cavity, the first screw is rotatably arranged in the accommodating cavity and is in screw fit with the first output shaft, and the second screw is rotatably arranged in the accommodating cavity and is in screw fit with the second output shaft.
  3. 3. The dual output shaft joint module of claim 2, wherein the driving assembly comprises a driving motor disposed in the accommodating cavity, the driving motor is in transmission connection with the first screw and the second screw respectively, and the driving motor is used for driving the first screw and the second screw to move in the same or opposite directions relative to the accommodating cavity at the same time.
  4. 4. A dual output shaft joint module according to claim 3, wherein the output end of the driving motor is provided with a driving gear, the first screw is provided with a first transmission gear meshed with the driving gear, the second screw is provided with a second transmission gear meshed with the driving gear, the thread rotation direction of the first screw is opposite to the thread rotation direction of the second screw, and/or a set difference exists between the thread of the first screw and the thread of the second screw.
  5. 5. The dual output shaft joint module of claim 4, wherein the drive assembly comprises a reduction unit, the reduction unit is disposed at an output end of the drive motor, and the drive gear is disposed at an output end of the reduction unit.
  6. 6. The dual-output shaft joint module set according to claim 2, wherein a first limiting portion is arranged at one end of the first output shaft, which is located in the accommodating cavity, a first sliding groove is arranged in the accommodating cavity corresponding to the first output shaft, and the first limiting portion is assembled in the first sliding groove in a sliding manner.
  7. 7. A dual output shaft joint module according to claim 3, comprising a position measuring unit and an integrated board, wherein the position measuring unit is provided with two position measuring units and is respectively arranged corresponding to the first output shaft and the second output shaft, the two position measuring units are respectively used for measuring the distance from the first output shaft to the corresponding position measuring unit and the distance from the second output shaft to the corresponding position measuring unit, and the integrated board is respectively electrically connected with the measuring unit and the driving motor.
  8. 8. A smart hand comprising a finger assembly and a joint module according to any one of claims 1-7, wherein the finger assembly is rotatably connected to the first output shaft and the second output shaft, respectively, and the joint module is configured to drive the corresponding finger assembly to swing.
  9. 9. The dexterous hand according to claim 8, wherein the finger assembly comprises a plurality of articulation units, wherein the articulation module is disposed between two adjacent articulation units, and wherein the articulation module is configured to drive one of the two articulation units to rotate relative to the other.
  10. 10. A robot comprising the dexterous hand of claim 8 or 9.

Description

Double-output-shaft joint module, dexterous hand and robot Technical Field The utility model relates to the technical field of dexterous hand joint modules, in particular to a double-output-shaft joint module, a dexterous hand and a robot. Background Along with the progress of science and technology, bionic hands have great application potential in the fields of medical rehabilitation, industrial production, aerospace, service robots and the like. The bionic hand provides a more natural and flexible operation experience for a user by simulating the structure and the function of the hand of a human. However, in the related art, the driving joint structure is not uniformly standardized, and is limited by different design structures, so that each driving joint is different and is formed by assembling scattered parts, the modularization degree is lower, the driving joint structure is independently driven by two driving modules in the control of the lateral swinging freedom degree of the smart finger, the whole driving structure is large in size, large in installation space, complex in structure and high in cost input, great inconvenience is brought to assembly, maintenance and replacement, the control difficulty of a bionic hand is improved, and the control precision is reduced. Disclosure of utility model The present utility model aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the utility model provides the double-output-shaft joint module, which reduces the installation space and reduces the input cost under the control of the lateral swing of the connected joints or fingers through the simplified structure and the modularized design, and is simple to operate and accurate to control. The embodiment of the utility model also provides a dexterous hand. The embodiment of the utility model also provides a robot. The dual output shaft joint module of the embodiment of the utility model comprises: The base is detachably connected with the upper cover, and an accommodating cavity is defined between the base and the upper cover; The first output shaft and the second output shaft are parallel and are arranged at intervals, part of the first output shaft is arranged in the accommodating cavity, the other end of the first output shaft is connected with a finger or a joint in a rotating mode, the position of the first output shaft along the axial direction of the first output shaft is adjustable relative to the position of the accommodating cavity, part of the second output shaft is arranged in the accommodating cavity, the position of the second output shaft along the axial direction of the second output shaft is adjustable relative to the position of the accommodating cavity, the other end of the second output shaft is connected with the finger or the joint in a rotating mode, and the first output shaft and the second output shaft are connected with the same finger or joint. According to the dual-output shaft joint module, through the simplified structure and the modularized design, under the condition of realizing the lateral swing control of the connected joints or fingers, the installation space is reduced, the input cost is reduced, and the operation is simple and the control is accurate. In some embodiments, the device comprises a driving assembly, wherein the driving assembly comprises a first screw and a second screw, the first output shaft and the second output shaft are respectively in anti-rotation fit with the accommodating cavity, the first screw is rotationally arranged in the accommodating cavity and in spiral fit with the first output shaft, and the second screw is rotationally arranged in the accommodating cavity and in spiral fit with the second output shaft. In some embodiments, the driving assembly comprises a driving motor arranged in the accommodating cavity, the driving motor is respectively in transmission connection with the first screw rod and the second screw rod, and the driving motor is used for driving the first screw rod and the second screw rod to simultaneously move along the same or opposite directions relative to the accommodating cavity. In some embodiments, the output end of the driving motor is provided with a driving gear, the first screw is provided with a first transmission gear meshed with the driving gear, the second screw is provided with a second transmission gear meshed with the driving gear, the screw thread rotation direction of the first screw is opposite to the screw thread rotation direction of the second screw, and/or a set difference exists between the screw thread of the first screw and the screw thread of the second screw. In some embodiments, the driving assembly includes a reduction unit, the reduction unit is disposed at an output end of the driving motor, and the driving gear is disposed at an output end of the reduction unit. In some embodiments, a first limiting portion is disposed at one en