WO2022199002A1 - 手指结构及机器人 - Google Patents

手指结构及机器人 Download PDF

Info

Publication number
WO2022199002A1
WO2022199002A1 PCT/CN2021/125044 CN2021125044W WO2022199002A1 WO 2022199002 A1 WO2022199002 A1 WO 2022199002A1 CN 2021125044 W CN2021125044 W CN 2021125044W WO 2022199002 A1 WO2022199002 A1 WO 2022199002A1
Authority
WO
WIPO (PCT)
Prior art keywords
phalanx
proximal
proximal phalanx
finger structure
output shaft
Prior art date
Application number
PCT/CN2021/125044
Other languages
English (en)
French (fr)
Inventor
黄忠葵
罗琪翔
陈明
丁宏钰
谢铮
Original Assignee
深圳市优必选科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市优必选科技股份有限公司 filed Critical 深圳市优必选科技股份有限公司
Publication of WO2022199002A1 publication Critical patent/WO2022199002A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints

Definitions

  • the present application belongs to the technical field of human-like service robots, and more particularly, relates to a finger structure and a robot.
  • the fingers of the current dexterous hand have multiple knuckles, each knuckle can be rotated, and each knuckle is controlled by a steering gear, which leads to a large number of steering gears, a complex finger structure, and the entire dexterous hand driver.
  • the volume required is large, and the anthropomorphic appearance cannot be achieved.
  • the purpose of the embodiments of the present application is to provide a finger structure and a robot, so as to solve the technical problems in the prior art that the finger structure of a dexterous hand is complicated and the volume is relatively large.
  • a finger structure including:
  • the proximal phalanx is rotatably connected to the fixing seat;
  • a middle phalanx rotatably connected to the proximal phalanx
  • a distal phalanx rotatably connected to the middle phalanx
  • a connecting rod two ends of the connecting rod are respectively rotatably connected to the proximal phalanx and the distal phalanx;
  • a first drive assembly for driving the proximal phalanx to swing in the direction of the first degree of freedom
  • the second driving component is used for driving the middle finger to swing in the direction of the second degree of freedom, and a predetermined angle is formed between the center line in the direction of the first degree of freedom and the center line in the direction of the second degree of freedom.
  • the first drive assembly includes a first linear drive member having a first output shaft, and a first transmission rod rotatably connected to the first output shaft and the proximal phalanx at both ends respectively.
  • the second drive assembly includes a second linear drive member with a second output shaft, and a second transmission rod rotatably connected at both ends to the second output shaft and the middle knuckle, respectively.
  • the axis forms a predetermined angle with the axis of the second output shaft.
  • first end of the first transmission rod is pivotally connected to the first output shaft, and the second end of the first transmission rod is pivotally connected to the first end of the proximal phalanx;
  • the first end of the second transmission rod is spherically connected to the second output shaft, and the second end of the first transmission rod is pivotally connected to the middle knuckle.
  • the proximal phalanx is pivotally connected to the fixing seat
  • the middle phalanx is pivotally connected to the second end of the proximal phalanx
  • the proximal phalanx is pivotally connected to the fixing seat between the first and second ends of the proximal phalanx.
  • the middle phalanx is provided with a channel for the connecting rod to pass through, the first end of the connecting rod is pivotally connected to the second end of the proximal phalanx, and the second end of the connecting rod is pivoted to the second end of the proximal phalanx. After passing through the channel, it is pivotally connected to the distal phalanx.
  • the pivot joint of the link and the proximal phalanx is disposed near the back of the proximal phalanx, and the pivot joint of the middle phalanx and the proximal phalanx is close to the proximal phalanx front setting.
  • the pivot joint between the second end of the connecting rod and the distal phalanx is disposed close to the front of the distal phalanx.
  • the fixing base is provided with a bracket, and the proximal phalanx is pivotally connected to the bracket.
  • the finger structure further includes a fingertip cover disposed on the front face of the distal phalanx.
  • the present application also provides a robot including the finger structure as described above.
  • the proximal phalanx is rotatably connected to the fixing seat
  • the middle phalanx is rotatably connected to the proximal phalanx
  • the distal phalanx is rotatably connected to the middle finger
  • the two ends of the connecting rod are rotatably connected to the proximal phalanx and the distal phalanx, respectively, and the proximal phalanx is driven to swing in the direction of the first degree of freedom by the first driving component, so that the middle and distal phalanx can follow the proximal phalanx in the first degree of freedom.
  • Swinging in the direction of one degree of freedom can simulate the movement of the finger swinging left and right;
  • the second driving component drives the middle phalanx to swing in the direction of the second degree of freedom, and is used with the connecting rod, so that the proximal phalanx and the distal phalanx can follow the middle phalanx in the second Swing in the direction of the degree of freedom can simulate the bending and straightening of fingers, that is, two driving components are used to drive the proximal phalangeal movement in parallel, and the driving effects of the two driving components do not interfere with each other.
  • the finger structure of the present application has the advantages of simple structure and small volume, which is favorable for simulating the appearance of a human hand.
  • FIG. 1 is a schematic three-dimensional structural diagram of a thumb structure provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an exploded structure of a thumb structure provided in an embodiment of the present application.
  • FIG. 3 is a schematic cross-sectional structural diagram 1 of a thumb structure provided by an embodiment of the present application.
  • FIG. 4 is a second schematic cross-sectional structural diagram of a thumb structure provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the proximal phalanx of the thumb structure swinging in the direction of the first degree of freedom according to an embodiment of the present application;
  • FIG. 6 is a schematic diagram of the middle phalanx of the thumb structure swinging in the direction of the second degree of freedom according to an embodiment of the present application.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the front 100a and the back 100b are based on the palm of the hand after the finger structure is assembled and in a straight state, and the side on the same side as the palm is the front 100a, and the back The side on the same side is the back side 100b.
  • the front 100a of the proximal phalanx 300, the middle phalanx 400, and the distal phalanx 500 shown in FIG. 1 is the side on the same side as the palm when the thumb structure is in a straight state.
  • the back surface 100b of the 500 is disposed opposite to the front surface 100a of the proximal phalanx 300 , the middle phalanx 400 , and the distal phalanx 500 .
  • an embodiment of the present application provides a finger structure, including a fixing base 200 , a proximal phalanx 300 , a middle phalanx 400 , a distal phalanx 500 , a connecting rod 700 , a first drive assembly, and a second drive assembly 900.
  • the proximal phalanx 300 is rotatably connected to the fixing seat 200
  • the middle phalanx 400 is rotatably connected to the proximal phalanx 300
  • the distal phalanx 500 is rotatably connected to the middle phalanx 400, that is, the distal phalanx 500 , the middle phalanx 400 , the proximal phalanx 300 and the fixing seat 200 are connected in turn by rotation.
  • Both ends of the connecting rod 700 are rotatably connected to the proximal phalanx 300 and the distal phalanx 500 respectively.
  • the first driving assembly is used to drive the proximal phalanx 300 to swing in the direction A of the first degree of freedom
  • the second driving assembly 900 is used to drive the middle phalanx 400 to swing in the direction B of the second degree of freedom.
  • the center lines b in the direction of the second degree of freedom form a predetermined angle.
  • the first drive assembly and the second drive assembly 900 are provided on the fixing base 200.
  • the fixing positions of the first drive assembly and the second drive assembly 900 can be appropriately modified according to the actual selection and specific requirements. , which is not uniquely limited here.
  • the working principle of the finger structure in the embodiment of the present application is as follows: the proximal phalanx 300 is driven to swing in the first degree of freedom direction A by the first driving component, so that the middle phalanx 400 and the distal phalanx 500 can follow the proximal phalanx 300 in the first freedom
  • the swinging in the direction A can simulate the movement of the finger swinging left and right;
  • the middle phalanx 400 is driven by the second drive assembly 900 to swing in the direction B of the second degree of freedom, and is used in conjunction with the connecting rod 700, so that the proximal phalanx 300 and the distal phalanx 500 can follow
  • the middle knuckle 400 swings in the direction B of the second degree of freedom, which can simulate the action of bending and straightening of a finger.
  • the finger structure of the embodiment of the present application uses two driving components to drive the proximal phalanx 300 to move in parallel, and the driving actions of the two driving components do not interfere with each other.
  • the finger structure of the embodiment of the present application has a small number of drivers, and has the advantages of simple structure and small volume, which is conducive to simulating the appearance of a human hand;
  • the steering gear is arranged between two adjacent knuckles. Since the steering gear itself has a certain weight, the steering gear will increase the resistance torque of the knuckles.
  • the two driving components 900 are not arranged between two adjacent knuckles, therefore, the finger structure does not need to overcome the resistance torque to perform additional work, and the required power consumption is lower, so that the driving components can provide a larger output force, thereby making the finger Construction provides greater grip.
  • the angle between the center line a in the direction of the first degree of freedom and the center line b in the direction of the second degree of freedom may be 80°, 90°, 95°, etc.
  • the angle between the centerline a in the first degree of freedom direction and the centerline b in the second degree of freedom direction can be modified appropriately, as long as the centerline a in the first degree of freedom direction and the second degree of freedom direction are guaranteed. It is only necessary that the center lines b in the degree direction intersect and do not completely coincide, which is not uniquely limited here.
  • the first driving assembly can be used to drive the proximal phalanx 300 to swing left and right. Since the middle phalanx 400 and the distal phalanx 500 are connected to the proximal phalanx 300 , the middle phalanx 400 and the distal phalanx 500 can follow the proximal phalanx 300 to swing left and right. Driven by the first drive assembly, as shown in FIG. 5( a ), the proximal phalanx 300 swings to the left, and the middle phalanx 400 and the distal phalanx 500 follow the proximal phalanx 300 to swing to the left; as shown in FIG.
  • the proximal phalanx 300 swings to the right, and the middle phalanx 400 and the distal phalanx 500 follow the proximal phalanx 300 to swing to the right, thereby simulating the action of shaking a finger.
  • the first drive assembly can be used to drive the middle phalanx 400 to swing inward and outward. Since the proximal phalanx 300 and the distal phalanx 500 are connected to the middle phalanx 400 , the proximal phalanx 300 and the distal phalanx 500 can follow the middle phalanx 400 to swing inward and outward. Under the driving of the second driving assembly 900, as shown in FIG.
  • the middle phalanx 400 swings to the outside, that is, the position further away from the palm, and the proximal phalanx 300 and the distal phalanx 500 follow the middle phalanx 400 to swing to the outside, Simulate the action of straightening the finger; as shown in Figure 6(b), the middle phalanx 400 swings to the inside, that is, closer to the palm of the hand, and the proximal phalanx 300 and the distal phalanx 500 follow the middle phalanx 400 and swing to the inside, simulating the bending of the finger Actions.
  • the first drive assembly includes a first linear drive member 810 having a first output shaft 811 , and two ends are respectively rotatably connected to the first linear drive member 810 .
  • the output shaft 811 is connected to the first transmission rod 820 of the proximal phalanx 300 .
  • the second driving assembly 900 includes a second linear driving member 910 having a second output shaft 911 , and two ends are respectively rotatably connected to the second linear driving member 910 .
  • a predetermined angle is formed between the output shaft 911 and the second transmission rod 920 of the middle finger 400 , the axis of the first output shaft 811 and the axis of the second output shaft 911 .
  • first linear driving member 810 and the second linear driving member 910 may be linear electric cylinders, so as to accurately output displacement, so as to control the proximal phalanx 300 and the middle phalangeal 400 respectively in the first free position
  • first linear driving member 810 and the second linear driving member 910 can also be other driving members according to actual selection and specific requirements, which are not limited here.
  • the angle between the axis of the first output shaft 811 and the axis of the second output shaft 911 may be 80°, 90°, 95°, etc.
  • the selection and For specific requirements, the angle between the axis of the first output shaft 811 and the axis of the second output shaft 911 can be appropriately modified, as long as the axis of the first output shaft 811 and the axis of the second output shaft 911 intersect and do not completely coincide. Yes, there is no unique limitation here.
  • the first end of the first transmission rod 820 is pivotally connected to the first output shaft 811
  • the second end of the first transmission rod 820 is pivotally connected to the first output shaft 811
  • the two ends of the first transmission rod 820 are rotatably connected to the first output shaft 811 and the proximal phalanx 300 respectively.
  • the first end of the first transmission rod 820 is provided with a first pivot hole 821
  • the first output shaft 811 is provided with a first pivot hole 821 .
  • the first pivot shaft 8111 is rotatably inserted into the first pivot hole 821, so that the first transmission rod 820 is rotatably connected to the first output shaft 811; the second end of the first transmission rod 820 is provided with a Two pivot shafts 822, the first end of the proximal phalanx 300 is provided with a second pivot hole 310, the second pivot shaft 822 can be rotatably inserted into the second pivot hole 310, so that the first transmission rod 820 is rotatably connected at the first end of the proximal phalanx 300. It can be understood that, according to the actual selection and specific requirements, other ways may be used to make the two ends of the first transmission rod 820 rotatably connect to the first output shaft 811 and the proximal phalanx 300 respectively, which is not limited here.
  • the first end of the second transmission rod 920 is pivotally connected to the second output shaft 911
  • the second end of the first transmission rod 820 is pivotally connected
  • the two ends of the second transmission rod 920 are rotatably connected to the second output shaft 911 and the middle phalanx 400 respectively.
  • the first end of the second transmission rod 920 is provided with a spherical groove 921
  • the second output shaft 911 is provided with a ball head 9111 .
  • the 9111 is inserted into the rotatable earth surface groove 921, so that the second transmission rod 920 is rotatably connected to the second output shaft 911; the second end of the second transmission rod 920 is provided with a third pivot shaft 922, and the middle finger joint 400 is provided with a There are three pivot holes 410 , and the third pivot shaft 922 is rotatably inserted into the third pivot hole 410 , so that the second transmission rod 920 is rotatably connected to the middle knuckle 400 . It can be understood that, according to the actual selection and specific requirements, other methods may be used to make the two ends of the second transmission rod 920 rotatably connect to the second output shaft 911 and the middle knuckle 400 respectively, which is not limited here.
  • the middle phalanx 400 drives the proximal phalanx 300 in the first free position in the first drive assembly. During the movement in the direction A, it can move freely and will not be disturbed by the output of the first drive assembly.
  • the proximal phalanx 300 is pivotally connected to the fixing seat 200
  • the middle phalanx 400 is pivotally connected to the second end of the proximal phalanx 300 , so that the proximal phalanx 300 is pivotally connected to the second end of the proximal phalanx 300 .
  • the two ends of the proximal phalanx 300 are respectively connected to the middle phalanx 400 and the fixing seat 200 in rotation;
  • the pivot joint of the seat 200 is near the middle of the knuckle 300 .
  • the middle phalanx 400 is provided with a fourth pivot shaft 420
  • the proximal phalanx 300 is provided with a fourth pivot hole 320
  • the fourth pivot shaft 420 is rotatably inserted, so that the middle phalanx 400 is pivotally connected to the second end of the proximal phalanx 300 . It can be understood that, according to actual selection and specific requirements, other ways may be used to make the middle phalanx 400 rotatably connect to the second end of the proximal phalanx 300, which is not limited herein.
  • the distal phalanx 500 is pivotally connected to the middle phalanx 400 .
  • There is a fifth pivot hole 430 and the fifth pivot shaft 510 is rotatably inserted into the fifth pivot hole 430 , so that the distal phalanx 500 is rotatably connected to the middle phalanx 400 .
  • the distal phalanx 500 is rotatably connect to the middle phalanx 400 .
  • the middle phalanx 400 is provided with a channel 440 for the connecting rod 700 to pass through.
  • the first end of the connecting rod 700 is pivotally connected to the second end of the proximal phalanx 300
  • the second end of the connecting rod 700 is pivotally connected to the distal phalanx 500 after passing through the channel 440 .
  • the connecting rod 700 is hidden in the channel 440, which can make the finger structure more beautiful.
  • the structure of the finger structure can also be made more compact, which is beneficial to the miniaturization of the finger structure.
  • the first end of the connecting rod 700 is provided with a sixth pivot shaft 710
  • the proximal phalanx 300 is provided with a sixth pivot hole 330
  • the sixth The pivot shaft 710 is rotatably inserted into the sixth pivot hole 330, so that the first end of the connecting rod 700 is rotatably connected to the second end of the proximal phalanx 300
  • the second end of the connecting rod 700 is provided with a seventh pivot shaft 800720
  • the distal phalanx 500 is provided with a seventh pivot hole 520
  • the seventh pivot shaft 800720 is rotatably inserted into the seventh pivot hole 520, so that the second end of the connecting rod 700 is rotatably connected to the distal phalanx 500.
  • the pivot joint (the sixth pivot shaft 710 and the sixth pivot hole 330 ) of the connecting rod 700 and the proximal phalanx 300 is close to the proximal phalanx 300 .
  • the backside 100b of the phalanx 300 is disposed, and the pivot point (the fourth pivot shaft 420 and the fourth pivot hole 320 ) between the middle phalanx 400 and the proximal phalanx 300 is disposed close to the front surface 100a of the proximal phalanx 300 .
  • the proximal phalanx 300 and the distal phalanx 500 can be bent together with the middle phalanx 400 to facilitate grasping the object; when the second driving assembly 900 drives the middle phalanx When 400 is straightened, the proximal phalanx 300 and the distal phalanx 500 can be straightened together with the middle phalanx 400 to facilitate loosening of the object.
  • the second end of the link 700 and the pivot joint of the distal phalanx 500 are disposed close to the front face 100a of the distal phalanx 500.
  • the proximal phalanx 300 and the distal phalanx 500 can be bent together with the middle phalanx 400 to facilitate grasping the object; when the second driving assembly 900 drives the middle phalanx When 400 is straightened, the proximal phalanx 300 and the distal phalanx 500 can be straightened together with the middle phalanx 400 to facilitate loosening of the object.
  • the fixing base 200 is provided with a bracket 210 , and the proximal phalanx 300 is pivotally connected to the bracket 210 , so that the proximal phalanx 300 is pivotally connected to the fixing base 200 .
  • the pivotal connection between the proximal phalanx 300 and the bracket 210 is between the first end and the second end of the proximal phalanx 300 , that is, the pivotal connection between the proximal phalanx 300 and the bracket 210 is at the proximal phalanx 300 the middle of.
  • the bracket 210 is provided with an eighth pivot shaft 211
  • the proximal phalanx 300 is provided with an eighth pivot hole 340
  • the second pivot shaft 822 can The eighth pivot hole 340 is rotatably inserted, so that the proximal phalanx 300 is pivotally connected to the fixing seat 200 .
  • the pivot point between the proximal phalanx 300 and the bracket 210 (the eighth pivot shaft 211 and the eighth pivot hole 340 ) is between the first end and the second end of the proximal phalanx 300 , that is, near the
  • the pivotal connection between the phalanx 300 and the bracket 210 is near the middle of the phalanx 300 .
  • the finger structure further includes a fingertip cover 600 disposed on the front surface 100 a of the distal phalanx 500 .
  • the front face 100a of the distal phalanx 500 is attached or fixed in other ways.
  • the surface of the fingertip cover 600 may be provided with protrusions 610, and the protrusions 610 may be, but not limited to, linear, so as to improve friction and facilitate pressing or clamping objects.
  • Embodiments of the present application also provide a robot, including the finger structure as described above. Since the robot of the embodiment of the present application adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

Abstract

本申请提供了一种手指结构及机器人，手指结构包括固定座、近指节、中指节、远指节、连杆、第一驱动组件以及第二驱动组件，近指节转动连接于固定座，中指节转动连接于近指节，远指节转动连接于中指节，连杆的两端分别转动连接于近指节和远指节，第一驱动组件用于驱动近指节在第一自由度方向摆动，第二驱动组件用于驱动中指节在第二自由度方向摆动，第一自由度方向的中心线与第二自由度方向的中心线之间呈预定角度。相比于传统的采用舵机控制相邻指节转动的方案而言，本申请的手指结构具有结构简单和体积小的优点，有利于模拟人手的外观。

Description

手指结构及机器人
本申请要求于2021年03月26日在中国专利局提交的、申请号为202110330583.4的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于类人型服务机器人技术领域，更具体地说，是涉及一种手指结构及机器人。
背景技术
随着科技的不断发展，普通的人工模式已经满足不了生产力的需求，工业的发展越来越离不开机器人的应用。在机器人技术的推动下，机器人的种类越来越多样化。其中，用于餐厅、商场等服务类的机器人对其手部的灵活性要求较高，灵巧手逐渐成为发展趋势，其仿人的外观和抓握方式会给人更加亲切的印象。
目前的灵巧手的手指具有多个指节，每个指节均可以转动，每个指节通过舵机来控制，这就导致了舵机数量较多，手指的结构复杂，整个灵巧手驱动器所需的体积较大，无法实现拟人型的外观。
技术问题
本申请实施例的目的在于提供一种手指结构及机器人，以解决现有技术中存在的灵巧手的手指结构复杂和体积较大的技术问题。
技术解决方案
为实现上述目的，本申请采用的技术方案是：提供一种手指结构，包括：
固定座；
近指节，转动连接于所述固定座；
中指节，转动连接于所述近指节；
远指节，转动连接于所述中指节；
连杆，所述连杆的两端分别转动连接于所述近指节和所述远指节；
第一驱动组件，用于驱动所述近指节在第一自由度方向摆动；以及
第二驱动组件，用于驱动所述中指节在第二自由度方向摆动，所述第一自由度方向的中心线与所述第二自由度方向的中心线之间呈预定角度。
在一个实施例中，所述第一驱动组件包括具有第一输出轴的第一直线驱动件，以及两端分别转动连接于所述第一输出轴与所述近指节的第一传动杆；
所述第二驱动组件包括具有第二输出轴的第二直线驱动件，以及两端分别转动连接于所述第二输出轴与所述中指节的第二传动杆，所述第一输出轴的轴线与所述第二输出轴的轴线之间呈预定角度。
在一个实施例中，所述第一传动杆的第一端枢接于所述第一输出轴，所述第一传动杆的第二端枢接于所述近指节的第一端；
所述第二传动杆的第一端球铰接于所述第二输出轴，所述第一传动杆的第二端枢接于所述中指节。
在一个实施例中，所述近指节枢接于所述固定座，所述中指节枢接于所述近指节的第二端，所述近指节与所述固定座的枢接处在所述近指节的第一端和第二端之间。
在一个实施例中，所述中指节设有供所述连杆通过的通道，所述连杆的第一端枢接于所述近指节的第二端，所述连杆的第二端穿过所述通道后枢接于所述远指节。
在一个实施例中，所述连杆和所述近指节的枢接处靠近所述近指节的背面设置，所述中指节和所述近指节的枢接处靠近所述近指节的正面设置。
在一个实施例中，于所述手指结构呈伸直状态下，所述连杆的第二端和所述远指节的枢接处靠近所述远指节的正面设置。
在一个实施例中，所述固定座设有支架，所述近指节枢接于所述支架。
在一个实施例中，所述手指结构还包括设于所述远指节的正面的指尖盖。
本申请还提供一种机器人，包括如上所述的手指结构。
有益效果
本申请提供的上述一个或多个技术方案至少具有如下技术效果之一：在该手指结构中，近指节转动连接于固定座，中指节转动连接于近指节，远指节转动连接于中指节，连杆的两端分别转动连接于近指节和远指节，通过第一驱动组件驱动近指节在第一自由度方向摆动，使得中指节和远指节可以随近指节在第一自由度方向摆动，可以模拟手指左右摆动的动作；通过第二驱动组件驱动中指节在第二自由度方向摆动，配合连杆使用，使得近指节和远指节可以随中指节在第二自由度方向摆动，可以模拟手指弯曲和伸直的动作，即采用两个驱动组件以并联的方式去驱动近指节运动，且两个驱动组件的驱动作用相互不干扰，相比于传统的采用舵机控制相邻指节转动的方案而言，本申请的手指结构具有结构简单和体积小的优点，有利于模拟人手的外观。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的拇指结构的立体结构示意图；
图2为本申请实施例提供的拇指结构的分解结构示意图；
图3为本申请实施例提供的拇指结构的剖视结构示意图一；
图4为本申请实施例提供的拇指结构的剖视结构示意图二；
图5为本申请实施例提供的拇指结构的近指节在第一自由度方向摆动的示意图；
图6为本申请实施例提供的拇指结构的中指节在第二自由度方向摆动的示意图。
其中，图中各附图标记：
100a-正面；100b-背面；A-第一自由度方向；a-第一自由度方向的中心线；B-第二自由度方向；b-第二自由度方向的中心线；200-固定座；210-支架；211-第八枢接轴；300-近指节；310-第二枢接孔；320-第四枢接孔；330-第六枢接孔；340-第八枢接孔；400-中指节；410-第三枢接孔；420-第四枢接轴；430-第五枢接孔；440-通道；500-远指节；510-第五枢接轴；520-第七枢接孔；600-指尖盖；610-凸起；700-连杆；710-第六枢接轴；720-第七枢接轴800-第一驱动组件；810-第一直线驱动件；811-第一输出轴；8111-第一枢接轴；820-第一传动杆；821-第一枢接孔；822-第二枢接轴；900-第二驱动组件；910-第二直线驱动件；911-第二输出轴；9111-球头；920-第二传动杆；921-球面槽；922-第三枢接轴。
本发明的实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请实施例的手指结构中，参阅图1，正面100a与背面100b是以手指结构组装好后且处于伸直状态时手掌作为参照物的，与手心同侧的一面为正面100a，与手背同侧的 一面为背面100b。比如，图1所示近指节300、中指节400、远指节500的正面100a就是在拇指结构处于伸直状态时与手心同侧的一面，近指节300、中指节400、远指节500的背面100b与近指节300、中指节400、远指节500的正面100a相背对设置。
请参阅图1与图2，本申请实施例提供一种手指结构，包括固定座200、近指节300、中指节400、远指节500、连杆700、第一驱动组件以及第二驱动组件900。请一并结合图3与图4，近指节300转动连接于所述固定座200，中指节400转动连接于近指节300，远指节500转动连接于中指节400，即远指节500、中指节400、近指节300和固定座200依次转动连接。连杆700的两端分别转动连接于近指节300和远指节500。第一驱动组件用于驱动近指节300在第一自由度方向A摆动，第二驱动组件900用于驱动中指节400在第二自由度方向B摆动，第一自由度方向的中心线a与第二自由度方向的中心线b之间呈预定角度。在该实施例中，第一驱动组件和第二驱动组件900设于固定座200，当然，根据实际情况的选择和具体需求，第一驱动组件和第二驱动组件900的固定位置可以作适当修改，在此不作唯一限定。
本申请实施例的手指结构的工作原理为：通过第一驱动组件驱动近指节300在第一自由度方向A摆动，使得中指节400和远指节500可以随近指节300在第一自由度方向A摆动，可以模拟手指左右摆动的动作；通过第二驱动组件900驱动中指节400在第二自由度方向B摆动，配合连杆700使用，使得近指节300和远指节500可以随中指节400在第二自由度方向B摆动，可以模拟手指弯曲和伸直的动作。与相关技术相比，本申请实施例的手指结构是采用两个驱动组件以并联的方式去驱动近指节300运动，且两个驱动组件的驱动作用相互不干扰，相比于传统的采用舵机控制相邻指节转动的方案而言，本申请实施例的手指结构的驱动器的数量少，具有结构简单和体积小的优点，有利于模拟人手的外观；此外，传统的采用舵机控制相邻指节转动的方案中，舵机设置于相邻两个指节之间，由于舵机本身具有一定重量，舵机会增加指节的阻力矩，而本申请实施例的第一驱动组件和第二驱动组件900并非设置在相邻两个指节之间，因此，手指结构不需要克服的阻力矩而额外做功，所需功耗更低，使驱动组件能提供较大的出力，进而使手指结构能提供较大的握力。
作为本申请的一个可选实施方式，第一自由度方向的中心线a与第二自由度方向的中心线b之间的角度可以是80°、90°、95°等等，当然，根据实际情况的选择和具体需求，第一自由度方向的中心线a与第二自由度方向的中心线b之间的角度可以作适当修改，只要保证第一自由度方向的中心线a与第二自由度方向的中心线b相交且不完全重合即可，在此不作唯一限定。
具体的，第一驱动组件可用于驱动近指节300左右摆动，由于中指节400和远指节500 连接于近指节300，中指节400和远指节500可以跟随近指节300左右摆动。在第一驱动组件的驱动下，如图5(a)所示，近指节300摆向左侧，中指节400和远指节500跟随近指节300摆向左侧；如图5(b)所示，近指节300摆向右侧，中指节400和远指节500跟随近指节300摆向右侧，从而模拟摇手指的动作。
具体的，第一驱动组件可用于驱动中指节400内外摆动，由于近指节300和远指节500连接于中指节400，近指节300和远指节500可以跟随中指节400内外摆动。在第二驱动组件900的驱动下，如图6(a)所示，中指节400摆向外侧，即更远离手心的位置，近指节300和远指节500跟随中指节400摆向外侧，模拟手指伸直的动作；如图6(b)所示，中指节400摆向内侧，即更靠近手心的位置，近指节300和远指节500跟随中指节400摆向内侧，模拟手指弯曲的动作。
作为本申请的一个具体实施方式，如图2、图3和图5所示，第一驱动组件包括具有第一输出轴811的第一直线驱动件810，以及两端分别转动连接于第一输出轴811与近指节300的第一传动杆820。采用这个方案，能够控制近指节300在第一自由度方向A摆动，而且第一直线驱动件810能精确输出位移，以控制近指节300在第一自由度方向A的姿态。
作为本申请的一个具体实施方式，如图2、图4和图6所示，第二驱动组件900包括具有第二输出轴911的第二直线驱动件910，以及两端分别转动连接于第二输出轴911与中指节400的第二传动杆920，第一输出轴811的轴线与第二输出轴911的轴线之间呈预定角度。采用这个方案，能够控制近指节300在第二自由度方向B摆动，而且第二直线驱动件910能精确输出位移，以控制近指节300在第二自由度方向B的姿态。
作为本申请的一个可选实施方式，第一直线驱动件810和第二直线驱动件910可以为直线电缸，以精确输出位移，从而控制近指节300和中指节400分别在第一自由度方向A和第二自由度方向B运动，当然，根据实际情况的选择和具体需求，第一直线驱动件810和第二直线驱动件910也可以为其他驱动件，在此不作唯一限定。
作为本申请的一个可选实施方式，第一输出轴811的轴线与第二输出轴911的轴线之间的角度可以为80°、90°、95°等等，当然，根据实际情况的选择和具体需求，第一输出轴811的轴线与第二输出轴911的轴线之间的角度可以作适当修改，只要保证第一输出轴811的轴线与第二输出轴911的轴线相交且不完全重合即可，在此不作唯一限定。
作为本申请的一个具体实施方式，如图2、图3和图5所示，第一传动杆820的第一端枢接于第一输出轴811，第一传动杆820的第二端枢接于近指节300的第一端，从而使得第一传动杆820的两端分别转动连接于第一输出轴811和近指节300。
作为本申请的一个可选实施方式，如图2、图3和图5所示，第一传动杆820的第一端设有第一枢接孔821，第一输出轴811设有第一枢接轴8111，第一枢接轴8111能转动地 插入第一枢接孔821内，从而使得第一传动杆820转动连接于第一输出轴811；第一传动杆820的第二端设有第二枢接轴822，近指节300的第一端设有第二枢接孔310，第二枢接轴822能转动地插入第二枢接孔310内，从而使得第一传动杆820转动连接于近指节300的第一端。可以理解的是，根据实际情况的选择和具体需求，可以采用其他方式使得第一传动杆820的两端分别转动连接于第一输出轴811和近指节300，在此不作唯一限定。
作为本申请的一个具体实施方式，如图2、图4和图6所示，第二传动杆920的第一端球铰接于第二输出轴911，第一传动杆820的第二端枢接于中指节400，从而使得第二传动杆920的两端分别转动连接于第二输出轴911和中指节400。
作为本申请的一个可选实施方式，如图2、图4和图6所示，第二传动杆920的第一端设有球面槽921，第二输出轴911设有球头9111，球头9111插入能转动地球面槽921内，从而使得第二传动杆920转动连接于第二输出轴911；第二传动杆920的第二端设有第三枢接轴922，中指节400设有第三枢接孔410，第三枢接轴922能转动地插入第三枢接孔410，从而使得第二传动杆920转动连接于中指节400。可以理解的是，根据实际情况的选择和具体需求，可以采用其他方式使得第二传动杆920的两端分别转动连接于第二输出轴911和中指节400，在此不作唯一限定。
本申请实施例的手指结构中，由于第二传动杆920的第一端与第二输出轴911之间采用球铰连接，使得中指节400在第一驱动组件驱动近指节300在第一自由度方向A运动的过程中能够自由运动，不会受到第一驱动组件输出的干扰。
作为本申请的一个具体实施方式，如图2至图4所示，近指节300枢接于固定座200，中指节400枢接于近指节300的第二端，从而使得近指节300的两端分别转动连接于中指节400和固定座200；近指节300与固定座200的枢接处在近指节300的第一端和第二端之间，即近指节300与固定座200的枢接处在近指节300的中部。
作为本申请的一个可选实施方式，如图2至图4所示，中指节400设有第四枢接轴420，近指节300设有第四枢接孔320，第四枢接轴420能转动地插入第四枢接孔320，从而使得中指节400枢接于近指节300的第二端。可以理解的是，根据实际情况的选择和具体需求，可以采用其他方式使得中指节400转动连接于近指节300的第二端，在此不作唯一限定。
作为本申请的一个具体实施方式，如图2至图4所示，远指节500枢接于中指节400，具体来说，远指节500设有第五枢接轴510，中指节400设有第五枢接孔430，第五枢接轴510能转动地插入第五枢接孔430，从而使得远指节500转动连接于中指节400。可以理解的是，根据实际情况的选择和具体需求，可以采用其他方式使得远指节500转动连接于中指节400，在此不作唯一限定。
作为本申请的一个具体实施方式，如图2至图4所示，中指节400设有供连杆700通 过的通道440，连杆700的第一端枢接于近指节300的第二端，连杆700的第二端穿过通道440后枢接于远指节500。此结构下，一方面，连杆700隐藏于通道440内，可以使得手指结构更加美观。另一方面，还可以使得手指结构的结构更加紧凑，有利于手指结构的小型化。
作为本申请的一个可选实施方式，如图2至图4所示，连杆700的第一端设有第六枢接轴710，近指节300设有第六枢接孔330，第六枢接轴710能转动地插入第六枢接孔330，从而使得连杆700的第一端转动连接于近指节300的第二端；连杆700的第二端设有第七枢接轴800720，远指节500设有第七枢接孔520，第七枢接轴800720能转动地插入第七枢接孔520，从而使得连杆700的第二端转动连接于远指节500。可以理解的是，根据实际情况的选择和具体需求，可以采用其他方式使得连杆700的两端分别转动连接于近指节300和远指节500，在此不作唯一限定。
作为本申请的一个具体实施方式，如图1、图2和图4所示，连杆700和近指节300的枢接处(第六枢接轴710和第六枢接孔330)靠近近指节300的背面100b设置，中指节400和近指节300的枢接处(第四枢接轴420和第四枢接孔320)靠近近指节300的正面100a设置。此结构下，当第二驱动组件900驱动中指节400弯曲时，使得近指节300和远指节500可以随中指节400一起弯曲，以便于握持物体；当第二驱动组件900驱动中指节400伸直时，使得近指节300和远指节500可以随中指节400一起伸直，以便于松开物体。
作为本申请的一个具体实施方式，如图1、图2和图4所示，于手指结构呈伸直状态下，连杆700的第二端和远指节500的枢接处(第七枢接轴800720和第七枢接孔520)靠近远指节500的正面100a设置。此结构下，当第二驱动组件900驱动中指节400弯曲时，使得近指节300和远指节500可以随中指节400一起弯曲，以便于握持物体；当第二驱动组件900驱动中指节400伸直时，使得近指节300和远指节500可以随中指节400一起伸直，以便于松开物体。
作为本申请的一个具体实施方式，如图2至图4所示，固定座200设有支架210，近指节300枢接于支架210，从而使得近指节300枢接于固定座200。在该实施例中，近指节300与支架210的枢接处在近指节300的第一端和第二端之间，即近指节300与支架210的枢接处在近指节300的中部。
作为本申请的一个可选实施方式，如图2至图4所示，支架210设有第八枢接轴211，近指节300设有第八枢接孔340，第二枢接轴822能转动地插入第八枢接孔340，从而使得近指节300枢接于固定座200。在该实施例中，近指节300与支架210的枢接处(第八枢接轴211和第八枢接孔340)在近指节300的第一端和第二端之间，即近指节300与支架210的枢接处在近指节300的中部。
作为本申请的一个具体实施方式，如图1、图2和图4所示，手指结构还包括设于远指节500的正面100a的指尖盖600，指尖盖600可以通过卡接、螺接或者其他方式固定在远指节500的正面100a。在该实施例中，指尖盖600的表面可以设有凸起610，凸起610可以但不限于为线状，以便于提高摩擦力，有利于按压或者夹持物体。
本申请实施例还提供一种机器人，包括如上所述的手指结构。由于本申请实施例的机器人采用了上述所有实施例的全部技术方案，因此同样具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种手指结构，其特征在于，包括：
    固定座；
    近指节，转动连接于所述固定座；
    中指节，转动连接于所述近指节；
    远指节，转动连接于所述中指节；
    连杆，所述连杆的两端分别转动连接于所述近指节和所述远指节；
    第一驱动组件，用于驱动所述近指节在第一自由度方向摆动；以及
    第二驱动组件，用于驱动所述中指节在第二自由度方向摆动，所述第一自由度方向的中心线与所述第二自由度方向的中心线之间呈预定角度。
  2. 如权利要求1所述的手指结构，其特征在于，所述第一驱动组件包括具有第一输出轴的第一直线驱动件，以及两端分别转动连接于所述第一输出轴与所述近指节的第一传动杆；
    所述第二驱动组件包括具有第二输出轴的第二直线驱动件，以及两端分别转动连接于所述第二输出轴与所述中指节的第二传动杆，所述第一输出轴的轴线与所述第二输出轴的轴线之间呈预定角度。
  3. 如权利要求2所述的手指结构，其特征在于，所述第一传动杆的第一端枢接于所述第一输出轴，所述第一传动杆的第二端枢接于所述近指节的第一端；
    所述第二传动杆的第一端球铰接于所述第二输出轴，所述第一传动杆的第二端枢接于所述中指节。
  4. 如权利要求3所述的手指结构，其特征在于，所述近指节枢接于所述固定座，所述中指节枢接于所述近指节的第二端，所述近指节与所述固定座的枢接处在所述近指节的第一端和第二端之间。
  5. 如权利要求4所述的手指结构，其特征在于，所述中指节设有供所述连杆通过的通道，所述连杆的第一端枢接于所述近指节的第二端，所述连杆的第二端穿过所述通道后枢接于所述远指节。
  6. 如权利要求5所述的手指结构，其特征在于，所述连杆和所述近指节的枢接处靠近所述近指节的背面设置，所述中指节和所述近指节的枢接处靠近所述近指节的正面设置。
  7. 如权利要求5所述的手指结构，其特征在于，于所述手指结构呈伸直状态下，所述连杆的第二端和所述远指节的枢接处靠近所述远指节的正面设置。
  8. 如权利要求1至6任一项所述的手指结构，其特征在于，所述固定座设有支架，所述近指节枢接于所述支架。
  9. 如权利要求1至6任一项所述的手指结构，其特征在于，所述手指结构还包括设于所述远指节的正面的指尖盖。
  10. 一种机器人，其特征在于，包括如权利要求1至9任一项所述的手指结构。
PCT/CN2021/125044 2021-03-26 2021-10-20 手指结构及机器人 WO2022199002A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110330583.4A CN113119153B (zh) 2021-03-26 2021-03-26 手指结构及机器人
CN202110330583.4 2021-03-26

Publications (1)

Publication Number Publication Date
WO2022199002A1 true WO2022199002A1 (zh) 2022-09-29

Family

ID=76773989

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/125044 WO2022199002A1 (zh) 2021-03-26 2021-10-20 手指结构及机器人

Country Status (2)

Country Link
CN (1) CN113119153B (zh)
WO (1) WO2022199002A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116119336A (zh) * 2023-01-29 2023-05-16 江苏理工学院 一种智能物料搬运机器人

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113119153B (zh) * 2021-03-26 2022-11-29 深圳市优必选科技股份有限公司 手指结构及机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5311456A (en) * 1976-07-15 1978-02-01 Agency Of Ind Science & Technol Thumb driving mechanism in artificial fingers
KR20090041705A (ko) * 2007-10-24 2009-04-29 재단법인 포항지능로봇연구소 로봇 핸드
US20110040408A1 (en) * 2009-07-22 2011-02-17 The Shadow Robot Company Limited Robotic hand
CN110604637A (zh) * 2019-10-22 2019-12-24 北京海益同展信息科技有限公司 仿生手指和机械手
WO2020142460A1 (en) * 2018-12-31 2020-07-09 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
CN111673779A (zh) * 2020-05-26 2020-09-18 深圳市优必选科技股份有限公司 拇指结构及机器人
CN113119153A (zh) * 2021-03-26 2021-07-16 深圳市优必选科技股份有限公司 手指结构及机器人
CN215093682U (zh) * 2021-03-26 2021-12-10 深圳市优必选科技股份有限公司 手指结构及机器人

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100553901C (zh) * 2004-11-17 2009-10-28 Thk株式会社 机器人关节结构和机器人手指
CN101190528A (zh) * 2007-12-12 2008-06-04 哈尔滨工业大学 欠驱动耦合传动式仿人手指机构
CN203510239U (zh) * 2013-10-12 2014-04-02 华南理工大学 一种多自由度机器仿生手
CN108673539B (zh) * 2018-08-01 2024-01-05 北京因时机器人科技有限公司 机械拇指和机械手
CN110640773A (zh) * 2019-10-22 2020-01-03 深圳市中安动力科技有限公司 电液驱动机器人灵巧手
CN112518780A (zh) * 2020-11-17 2021-03-19 深圳市优必选科技股份有限公司 灵巧手

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5311456A (en) * 1976-07-15 1978-02-01 Agency Of Ind Science & Technol Thumb driving mechanism in artificial fingers
KR20090041705A (ko) * 2007-10-24 2009-04-29 재단법인 포항지능로봇연구소 로봇 핸드
US20110040408A1 (en) * 2009-07-22 2011-02-17 The Shadow Robot Company Limited Robotic hand
WO2020142460A1 (en) * 2018-12-31 2020-07-09 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
CN110604637A (zh) * 2019-10-22 2019-12-24 北京海益同展信息科技有限公司 仿生手指和机械手
CN111673779A (zh) * 2020-05-26 2020-09-18 深圳市优必选科技股份有限公司 拇指结构及机器人
CN113119153A (zh) * 2021-03-26 2021-07-16 深圳市优必选科技股份有限公司 手指结构及机器人
CN215093682U (zh) * 2021-03-26 2021-12-10 深圳市优必选科技股份有限公司 手指结构及机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116119336A (zh) * 2023-01-29 2023-05-16 江苏理工学院 一种智能物料搬运机器人

Also Published As

Publication number Publication date
CN113119153A (zh) 2021-07-16
CN113119153B (zh) 2022-11-29

Similar Documents

Publication Publication Date Title
WO2022199002A1 (zh) 手指结构及机器人
WO2019128361A1 (zh) 一种七自由度仿人机械臂
JP5629484B2 (ja) 人間のような指を有するロボットハンド
CN208179590U (zh) 一种双臂拟人臂
WO2007088743A1 (ja) ロボットの関節構造
CN215093682U (zh) 手指结构及机器人
CN110934644A (zh) 一种7自由度串联微创手术机器人主操作手
CN110549355B (zh) 一种基于螺母丝杠和肌腱传动的触觉感知仿人手
CN101653941A (zh) 变抓力的滑块式直接欠驱动仿生手装置
CN110370305B (zh) 机械指及机械手
CN109591038B (zh) 一种具有被动旋转关节的仿人灵巧手及其操作方法
US20210370522A1 (en) Thumb structure and robot
US11331811B1 (en) Robotic palm and finger device thereof
KR20110080921A (ko) 로봇 핸드
CN206811988U (zh) 一种被动包络的欠驱动柔性灵巧手
CN101664930B (zh) 耦合欠驱动一体化双关节机器人手指装置
KR101603044B1 (ko) 6자유도 메커니즘 햅틱장치
KR20120013560A (ko) 물체의 형태에 따라 파지할 수 있는 로봇 핸드
CN215427308U (zh) 一种关节灵活的玩偶手部结构
CN108274483A (zh) 一种单驱动形状自适应机械手指
CN210551293U (zh) 基于齿轮及推拉杆组合驱动的并联式仿人机器手
CN210025311U (zh) 一种仿人机器人嘴部机构
CN218082745U (zh) 一种手掌结构及机器人
KR102033908B1 (ko) 역감제시장치
CN211512046U (zh) 一种7自由度串联微创手术机器人主操作手

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21932610

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21932610

Country of ref document: EP

Kind code of ref document: A1