Robot dexterous hand and robot

Abstract

The invention provides a robot dexterous hand and a robot. The robot dexterous hand comprises a palm part; the first transmission part is arranged at the front edge of the palm part; the first finger assembly is in transmission connection with the first transmission part; the first finger assembly comprises at least two first finger sections which are rotatably connected; the second transmission part is arranged on one side of the root part of the palm part; the second finger assembly is in transmission connection with the second transmission part; the first transmission part is configured to drive the first finger assembly to swing around a first axis parallel to the palm part relative to the palm part, or drive at least two adjacent first finger sections in the first finger assembly to relatively rotate so as to enable the first finger assembly to bend or stretch; the second transmission part is configured to drive the second finger assembly to swing around at least one of the second axis and the third axis relative to the palm part; the second axis is perpendicular to the third axis. The dexterous hand of the robot is improved in dexterous performance.

Description

Technical Field

[0001] The present application relates to the technical field of robots or mechanical actuators, and more specifically, to a robot dexterous hand and a robot. Background Art

[0002] With the development of science and technology, robots have become more popular in daily life, industrial production and other scenarios, and the industry has put forward higher requirements on the dexterity of robot end effectors (such as dexterous hands). However, the dexterity of existing humanoid dexterous hands is generally insufficient. Summary of the invention

[0003] In view of the shortcomings of the existing methods, the present application proposes a robotic dexterous hand and a robot to solve the technical problem of insufficient dexterity of dexterous hands in related technologies.

[0004] In a first aspect, an embodiment of the present application provides a robot dexterous hand, comprising: Palm; A first transmission part, arranged at the front edge of the palm; A first finger assembly is transmission-connected to the first transmission part; the first finger assembly comprises at least two first finger segments rotatably connected; The second transmission part is arranged at one side of the palm root; A second finger assembly is transmission-connected to the second transmission part; The first transmission part is configured to drive the first finger assembly to swing relative to the palm around a first axis parallel to the palm, or to drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other so as to bend or stretch the first finger assembly; The second transmission part is configured to drive the second finger assembly to swing relative to the palm around at least one of the second axis and the third axis; the second axis and the third axis are perpendicular.

[0005] Optionally, the first finger assembly comprises a first proximal finger segment, a first middle finger segment and a first distal finger segment which are rotatably connected in sequence; the palm portion has a palmar surface; The first transmission unit comprises: The first base comprises a bottom plate arranged at the front edge of the palm and two first ears arranged opposite to each other on both sides of the bottom plate; The first bevel gear and the second bevel gear are rotatably stacked on the bottom plate around a fourth axis; the fourth axis is perpendicular to the palm portion; The third bevel gear and the fourth bevel gear are rotatably arranged on the two first ears relative to each other around the first axis; the third bevel gear is meshed with the first bevel gear, and the fourth bevel gear is meshed with the second bevel gear; When the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear and the fourth bevel gear are driven to rotate in the same direction, so that the first middle finger segment and the first proximal finger segment are relatively fixed, so as to drive the first proximal finger segment to rotate around the first axis; When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear and the fourth bevel gear are driven to rotate in the opposite direction, so that the first middle finger segment and the first distal finger segment both rotate relative to the first proximal finger segment.

[0006] Optionally, the first transmission part further includes: The first transmission wheel and the second transmission wheel are rotatably arranged around the fifth axis and are fixedly connected to the first middle finger segment; A first flexible transmission member is fixedly connected to the third bevel gear and fixed on the first transmission wheel; A second flexible transmission member is fixedly connected to the fourth bevel gear and fixed on the second transmission wheel; One of the first flexible transmission member and the second flexible transmission member is in a O-shape, and the other is in an 8-shape; When the third bevel gear and the fourth bevel gear rotate in opposite directions, the first transmission wheel and the second transmission wheel rotate in the same direction to drive the first middle finger segment to rotate relative to the first proximal finger segment around the fifth axis.

[0007] Optionally, the first transmission part further includes: A third transmission wheel is fixed on the first proximal finger section and is arranged concentrically with the first transmission wheel and the second transmission wheel; a fourth transmission wheel, rotatably arranged around a sixth axis and fixedly connected to the first distal finger section; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape, so that the first distal finger segment rotates relative to the first middle finger segment around the sixth axis under the drive of the third transmission wheel.

[0008] Optionally, the robot dexterous hand includes at least one of the following: The palm portion also has a palm back side opposite to the palm center side; the robot dexterous hand also includes a first driver and a second driver arranged on the palm back side; the first transmission part also includes a first worm gear mechanism and a second worm gear mechanism; the first driver, the first worm gear mechanism and the first bevel gear are sequentially connected in transmission; the second driver, the second worm gear mechanism and the second bevel gear are sequentially connected in transmission; The first base is rotatably arranged relative to the palm in the plane where the palm is located; the robot dexterous hand also includes a third driver and a third worm gear mechanism, and the third driver, the third worm gear mechanism and the first base are sequentially connected in transmission.

[0009] Optionally, the second finger assembly comprises at least two second finger segments rotatably connected; The second transmission unit comprises: The fifth bevel gear and the sixth bevel gear are rotatably arranged relative to each other around the third axis; A seventh bevel gear is meshed with the fifth bevel gear and the sixth bevel gear respectively, the seventh bevel gear is rotatably arranged around the second axis and the third axis respectively, and is connected to the first second finger segment close to the palm; When the fifth bevel gear and the sixth bevel gear rotate in opposite directions, the seventh bevel gear and the first second finger segment are driven to rotate around the second axis; When the fifth bevel gear and the sixth bevel gear rotate in the same direction, the seventh bevel gear and the first second finger segment are driven to rotate around the third axis.

[0010] Optionally, the robot dexterous hand includes at least one of the following: The second transmission part also includes: two second lugs arranged oppositely at the side edge of the palm root, a first rotating shaft rotatably connected to at least one of the second lugs, and a second rotating shaft fixedly connected to the first rotating shaft, a fifth bevel gear and a sixth bevel gear arranged oppositely on the two second lugs, the first rotating shaft extends along the third axis, the second rotating shaft extends along the second axis, and the seventh bevel gear is rotatably arranged on the second rotating shaft; The robot dexterous hand also includes a fourth driver and a fifth driver arranged on the back of the palm, the fourth driver is connected to the fifth bevel gear in a transmission manner, and the fifth driver is connected to the sixth bevel gear in a transmission manner; The robot dexterous hand also includes a third transmission part transmission-connected to the second finger assembly, and the third transmission part is configured to drive at least two adjacent second finger segments in the second finger assembly to rotate relative to each other so as to bend or stretch the second finger assembly.

[0011] Optionally, the second finger assembly comprises a second proximal finger segment, a second middle finger segment and a second distal finger segment which are rotatably connected in sequence; The robot dexterous hand also includes a third transmission part, and the third transmission part includes: The first bevel gear and the second bevel gear are rotatably arranged on the second proximal finger segment relative to each other around the seventh axis; A third bevel gear is disposed on the second middle finger segment and is meshed with the first bevel gear and the second bevel gear respectively; When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear and the second middle finger segment are driven to rotate relative to the second proximal finger segment around the seventh axis.

[0012] Optionally, the third transmission unit further includes: A fourth bevel gear is arranged on the second middle finger segment so as to be rotatable synchronously with the third bevel gear; a fifth bevel gear meshing with the fourth bevel gear and rotatably arranged around the eighth axis, the fifth bevel gear being fixedly connected to the second distal finger section; When the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear and the fourth bevel gear rotate synchronously, driving the fifth bevel gear and the second distal finger segment to rotate relative to the second middle finger segment around the eighth axis.

[0013] Optionally, the third transmission unit further includes: The first gear and the second gear are rotatably arranged on the second proximal finger segment, the first gear rotates synchronously with the first bevel gear, and the second gear rotates synchronously with the second bevel gear; A first sector gear and a second sector gear are rotatably arranged on the second proximal finger segment, the first sector gear is meshed with the first gear, and the second sector gear is meshed with the second gear; Furthermore, the robot dexterous hand further comprises a sixth driver and a seventh driver, wherein the output end of the sixth driver is abutted or pivotally connected to the first sector gear, and the output end of the seventh driver is abutted or pivotally connected to the second sector gear.

[0014] Optionally, the second finger assembly comprises a second proximal finger segment, a second middle finger segment and a second distal finger segment which are rotatably connected in sequence; The robot dexterous hand also includes a third transmission part, a sixth driver and a seventh driver; The third transmission unit includes: a seventh transmission wheel, rotatably arranged around a seventh axis and fixedly connected to the second middle finger segment; A first lasso, one end of which is drivingly connected to the sixth driver and the other end of which is fixedly connected to the seventh transmission wheel, and is configured to drive the seventh transmission wheel and the second middle finger segment to rotate relative to the second proximal finger segment under the drive of the sixth driver; an eighth transmission wheel, rotatably arranged around an eighth axis and fixedly connected to the second distal finger section; The second lasso has one end drivingly connected to the seventh driver and the other end fixedly connected to the eighth transmission wheel, and is constructed to drive the eighth transmission wheel and the second distal finger segment to rotate relative to the second middle finger segment under the drive of the seventh driver.

[0015] Optionally, the third transmission unit further includes: The first reset member is fixedly connected to the seventh transmission wheel and is limitedly matched with the second proximal finger section, and is configured to apply a force to the seventh transmission wheel in a direction opposite to the force applied by the first lasso to the seventh transmission wheel; The second reset member is fixedly connected to the eighth transmission wheel and cooperates with the second middle finger segment to apply a force to the eighth transmission wheel in the opposite direction to the force applied by the second lasso to the eighth transmission wheel.

[0016] Optionally, the number of the first transmission part and the number of the first finger assembly are at least two respectively; At least two first finger assemblies are arranged in sequence at the front edge of the palm in the plane where the palm is located; The at least two first transmission parts and the at least two first finger assemblies are transmission connected in a one-to-one correspondence.

[0017] Optionally, the robot dexterous hand further comprises a fourth transmission part, which is transmission-connected to at least two first finger assemblies; The fourth transmission part is configured to drive at least two first finger assemblies to shake respectively within the plane where the palm is located.

[0018] Optionally, the fourth transmission unit includes: a first worm gear rotatably disposed on the palm portion; A third sector gear is rotatably disposed on the palm portion and meshes with the first worm gear; The connecting rod mechanism has an input end pivotally connected to the third sector gear, and at least two output ends pivotally connected to at least two first finger assemblies in a one-to-one correspondence.

[0019] Optionally, the first finger assembly comprises a first proximal finger segment, a first middle finger segment and a first distal finger segment which are rotatably connected in sequence; The first transmission unit comprises: First Pedestal; A first bevel gear is rotatably disposed on the first base around a fourth axis; A third bevel gear is rotatably arranged around the first axis and is fixedly connected to the first proximal finger segment. The third bevel gear is meshed with the first bevel gear to drive the first proximal finger segment to rotate around the first axis relative to the palm portion. A sixth transmission wheel is fixed on the first base and is arranged concentrically with the third bevel gear; A second transmission wheel is rotatably arranged around a fifth axis and is fixedly connected to the first middle finger segment; The second flexible transmission member is fixed on the sixth transmission wheel and the second transmission wheel respectively and is in an 8-shape, so that the first middle finger segment rotates relative to the first proximal finger segment around the fifth axis under the drive of the sixth transmission wheel; A third transmission wheel is fixed on the first proximal finger section and is arranged concentrically with the second transmission wheel; a fourth transmission wheel, rotatably arranged around a sixth axis and fixedly connected to the first distal finger section; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape, so that the first distal finger segment rotates relative to the first middle finger segment around the sixth axis under the drive of the third transmission wheel.

[0020] In a second aspect, an embodiment of the present application provides a robot, comprising the dexterous robot hand as described above.

[0021] The beneficial technical effects brought about by the technical solution provided by the embodiment of the present application include: In an embodiment of the present application, the first transmission portion can drive the first finger assembly to swing around the first axis relative to the palm, so that the first finger assembly can be close to the palm surface of the palm to facilitate pinching, grasping, clamping and other functions, or the first finger assembly can be away from the palm surface to be unfolded relative to the palm; the first transmission portion can also drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other, so that the first finger assembly can bend to facilitate pinching, grasping, clamping and other functions, or the first finger assembly can be stretched.

[0022] The first transmission part can drive the first finger assembly to swing around the first axis relative to the palm, and bend or stretch, so that the first finger assembly has multiple degrees of freedom, which improves the flexibility of the first finger assembly, and improves the dexterity and adaptability of the robot's dexterous hand, which can better meet the needs of application scenarios. The first transmission part can drive the first finger segment of the first finger assembly to move, making the control of the robot's dexterous hand more precise and specific, and highly operable.

[0023] In an embodiment of the present application, the second transmission portion can drive the second finger assembly to swing around the second axis relative to the palm, so that the second finger assembly can be close to the palm surface to facilitate pinching, grasping, clamping and other functions, or the second finger assembly can be away from the palm surface to be unfolded relative to the palm; the second transmission portion can also drive the second finger assembly to swing around the third axis relative to the palm, so that the second finger assembly can be close to the first finger assembly, so that the second finger assembly and the first finger assembly can cooperate to achieve pinching, grasping, clamping and other functions, or the second finger assembly can be away from the first finger assembly to release the cooperation between the second finger assembly and the first finger assembly.

[0024] The second transmission part can drive the second finger assembly to swing around the second axis and around the third axis relative to the palm, so that the second finger assembly has multiple degrees of freedom, which improves the flexibility of the second finger assembly, further improves the dexterity and adaptability of the robot's dexterous hand, and can improve the adaptability to meet the needs of application scenarios.

[0025] In the embodiment of the present application, the first transmission part is used to drive the first finger assembly to swing around the swing axis and the first finger segments to rotate relatively, and the second transmission part is used to drive the second finger assembly to swing around the swing axis, so that the first finger assembly and the second finger assembly each have multiple degrees of freedom, so that the robot dexterous hand has at least a grasping state in which the first finger assembly and the second finger assembly cooperate to grasp (including pinching, grasping or clamping, etc.) a target object, and a releasing state in which the first finger assembly and the second finger assembly are released from cooperation to release the target object.

[0026] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A front view structural schematic diagram of a specific example of a robot dexterous hand provided in an embodiment of the present application (the robot dexterous hand is open); Figure 2 for Figure 1 The back view of the robot's dexterous hand; Figure 3 for Figure 1 Another front view schematic diagram of the robot's dexterous hand; Figure 4 for Figure 3 The back view of the robot's dexterous hand; Figure 5 for Figure 1 Another front view structural diagram of the robot's dexterous hand (the robot's dexterous hand is closed or together); Figure 6 for Figure 5 The back view of the robot's dexterous hand; Figure 7 A schematic structural diagram of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application from one perspective; Figure 8 A schematic structural diagram of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application from another perspective; Fig. 9 A schematic front view of the structure of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application; Fig.10 A schematic cross-sectional view of a partial structure of a first transmission part of a robot dexterous hand provided in an embodiment of the present application; Fig.11 for Figure 3 A schematic diagram of the structure of the first transmission part and two first finger assemblies (specifically the index finger assembly and the middle finger assembly) of the robot's dexterous hand; Fig.12 for Figure 3 A schematic structural diagram of a second transmission part, a third transmission part and a second finger assembly (specifically a thumb assembly) of the robot's dexterous hand from one perspective; Fig.13 for Fig.12A schematic structural diagram of the second transmission part, the third transmission part and the second finger assembly of the robot's dexterous hand from another perspective; Fig.14 for Figure 3 A schematic diagram of the structure of the fourth transmission part and two first finger assemblies (specifically the ring finger assembly and the little finger assembly) of the robot's dexterous hand; Fig.15 for Figure 3 A schematic diagram of the structure of the first transmission part and two first finger assemblies (specifically the ring finger assembly and the little finger assembly) of the robot's dexterous hand; Fig.16 A front view structural schematic diagram of another specific example of a robot dexterous hand provided in an embodiment of the present application (the robot dexterous hand is open); Fig.17 for Fig.16 Another front view schematic diagram of the robot's dexterous hand; Fig.18 for Fig.17 The back view of the robot's dexterous hand; Fig.19 for Fig.17 A schematic structural diagram of a second transmission part, a third transmission part and a second finger assembly (specifically a thumb assembly) of the robot's dexterous hand from one perspective; Fig. 20 for Fig.19 A schematic structural diagram of the second transmission part, the third transmission part and the second finger assembly of the robot's dexterous hand from another perspective.

[0028] Reference numerals: 100-Dexterous Robot Hand; 10-palm; 11- palm side; 12- palm back side; 13- first shell; 14- second shell; 20- first transmission part; 21-first base; 211-bottom plate; 212-first ear; 221-first bevel gear; 222-second bevel gear; 231-third bevel gear; 232-fourth bevel gear; 241-first transmission wheel; 242-second transmission wheel; 251-first flexible transmission member; 252-second flexible transmission member; 253-third flexible transmission member; 261 - third transmission wheel; 262 - fourth transmission wheel; 263 - fifth transmission wheel; 264 - sixth transmission wheel; 27-first worm gear mechanism; 271-second worm; 272-first worm gear; 28-second worm gear mechanism; 281-third worm; 282-second worm wheel; 29-third worm gear mechanism; 291-fourth worm; 292-third worm gear; 30-first finger assembly; 31- first proximal finger segment; 32- first middle finger segment; 33- first distal finger segment; 40- second transmission part; 411-fifth bevel gear; 412-sixth bevel gear; 413-seventh bevel gear; 421-second ear; 431-first rotating shaft; 432-second rotating shaft; 44- second base; 50 - second finger assembly; 51- second proximal finger segment; 52- second middle finger segment; 53- second distal finger segment; 61-first driver; 62-second driver; 63-third driver; 64-fourth driver; 65-fifth driver; 66-sixth driver; 67-seventh driver; 68-eighth driver; 70- third transmission part; 71-seventh transmission wheel; 72-first lasso; 73-eighth transmission wheel; 74-second lasso; 75-first reset member; 76-second reset member; 711-first bevel gear; 712-second bevel gear; 721-third bevel gear; 722-fourth bevel gear; 731-fifth bevel gear; 741-first gear; 742-second gear; 751-first sector gear; 752-second sector gear; 80- fourth transmission unit; 81-first worm; 82-third sector gear; 83-connecting rod mechanism; 831-first rod; 832-second rod; 91-first tensioning device; 911-first adjusting hole; 912-first tensioning wheel; 913-first tensioning mechanism; 914-first tensioning seat; 915-adjusting slot; 92-second tensioning device; 921-second adjustment hole; 922-second tensioning wheel; 923-second tensioning mechanism; 93-third tensioning mechanism; 931-second tensioning seat; 932-adjusting head; 933-second tensioning head; 110-Silica gel; L1-first axis; L2-second axis; L3-third axis; L4-fourth axis; L5-fifth axis; L6-sixth axis; L7-seventh axis; L8-eighth axis. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0030] Those skilled in the art will appreciate that, unless specifically stated, the "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present application refers to the presence of the features, integers and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. The term "and / or" used herein refers to at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0032] With the development of science and technology, robots are becoming more popular in daily life, industrial production and other scenarios. The industry has put forward higher requirements for the dexterity of robot end effectors, especially for humanoid dexterous hands. However, the existing humanoid dexterous hands are relatively small in size because they use the degrees of freedom and ID (Identity Document) of human hands as reference objects. At the same time, due to the large number of degrees of freedom, it is necessary to stack more motors in the dexterous hands, resulting in a small volume occupied by a single motor, which makes the torque that a single motor can provide very limited, causing the fingertip force and speed of a single finger to lag behind the performance of human hands, and the dexterity is generally insufficient.

[0033] The dexterous robotic hand and robot provided in this application are intended to solve the above technical problems of related technologies.

[0034] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above technical problems with specific embodiments. It should be noted that the following implementations can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different implementations will not be described repeatedly.

[0035] The embodiment of the present application provides a robot dexterous hand 100, and the structural schematic diagram of the robot dexterous hand 100 is as follows Figures 1 to 6 ,as well as Figures 16 to 18 As shown, it includes: a palm 10, a first transmission part 20, a first finger assembly 30, a second transmission part 40 and a second finger assembly 50.

[0036] The first transmission part 20 is arranged at the front edge of the palm 10. The first finger assembly 30 is transmission-connected to the first transmission part 20; the first finger assembly 30 includes at least two first finger segments that are rotatably connected. The second transmission part 40 is arranged at one side of the base of the palm 10. The second finger assembly 50 is transmission-connected to the second transmission part 40.

[0037] The first transmission part 20 is configured to drive the first finger assembly 30 to swing relative to the palm 10 around a first axis L1 parallel to the palm 10, or to drive at least two adjacent first finger segments in the first finger assembly 30 to rotate relative to each other so as to bend or stretch the first finger assembly 30. The second transmission part 40 is configured to drive the second finger assembly 50 to swing relative to the palm 10 around at least one of a second axis L2 and a third axis L3, wherein the second axis L2 and the third axis L3 are perpendicular to each other.

[0038] In the embodiment of the present application, the palm portion 10 is used to carry the first transmission portion 20 , the first finger assembly 30 , the second transmission portion 40 , the second finger assembly 50 , and the like.

[0039] In the embodiment of the present application, the first transmission part 20 is arranged at the front edge of the palm 10, and the first finger assembly 30 includes at least two first finger segments that are rotatably connected. The first transmission part 20 is transmission-connected to the first finger assembly 30, and the first transmission part 20 can drive the first finger assembly 30 to swing around the first axis L1 relative to the palm 10, so that the first finger assembly 30 can be close to the palm surface 11 of the palm 10 to facilitate pinching, grasping, clamping and other functions, or enable the first finger assembly 30 to be away from the palm surface 11 to be unfolded relative to the palm 10; the first transmission part 20 can also drive at least two adjacent first finger segments in the first finger assembly 30 to rotate relative to each other, so that the first finger assembly 30 can bend to facilitate pinching, grasping, clamping and other functions, or enable the first finger assembly 30 to stretch.

[0040] In the embodiment of the present application, the first transmission part 20 can drive the first finger assembly 30 to swing around the first axis L1 relative to the palm 10, and bend or stretch, so that the first finger assembly 30 has multiple degrees of freedom, which improves the flexibility of the first finger assembly 30, so that the dexterity and adaptability of the robot dexterous hand 100 are improved, and it can better meet the requirements of application scenarios. The first transmission part 20 can drive the first finger segment of the first finger assembly 30 to move, so that the control of the robot dexterous hand 100 is more precise and specific, and the operability is strong.

[0041] In the embodiment of the present application, the second transmission part 40 is arranged at one side of the root of the palm 10, and the second transmission part 40 is transmission-connected with the second finger assembly 50. The second transmission part 40 can drive the second finger assembly 50 to swing around the second axis L2 relative to the palm 10, so that the second finger assembly 50 can be close to the palm surface 11 to facilitate the realization of pinching, grasping, clamping and other functions, or the second finger assembly 50 can be away from the palm surface 11 to be unfolded relative to the palm 10; the second transmission part 40 can also drive the second finger assembly 50 to swing around the third axis L3 relative to the palm 10, so that the second finger assembly 50 can be close to the first finger assembly 30, so that the second finger assembly 50 and the first finger assembly 30 cooperate to realize pinching, grasping, clamping and other functions, or the second finger assembly 50 can be away from the first finger assembly 30 to release the cooperation between the second finger assembly 50 and the first finger assembly 30.

[0042] The embodiment of the present application can drive the second finger assembly 50 to swing around the second axis L2 and the third axis L3 relative to the palm 10 through the second transmission part 40, so that the second finger assembly 50 has multiple degrees of freedom, thereby improving the flexibility of the second finger assembly 50, further improving the dexterity and adaptability of the robot dexterous hand 100, and improving the adaptability to meet the needs of application scenarios.

[0043] In the embodiment of the present application, the first finger assembly 30 is located at the front edge of the palm 10, and the second finger assembly 50 is located at the root side of the palm 10. The first transmission part 20 is used to drive the first finger assembly 30 to swing around the swing axis and the first finger segments to rotate relatively, and the second transmission part 40 is used to drive the second finger assembly 50 to swing around the swing axis, so that the first finger assembly 30 and the second finger assembly 50 each have multiple degrees of freedom, so that the robot dexterous hand 100 has at least a grasping state in which the first finger assembly 30 and the second finger assembly 50 cooperate to grasp (including pinching, grasping or clamping, etc.) a target object, and a releasing state in which the first finger assembly 30 and the second finger assembly 50 are released from cooperation to release the target object, and the releasing state includes an unfolding state in which the first finger assembly 30 and the second finger assembly 50 are each unfolded in a direction parallel to the palm 10.

[0044] Optionally, in an embodiment of the present application, the dexterous robotic hand includes but is not limited to a humanoid manipulator (or also called a bionic manipulator), including but not limited to a manipulator designed to imitate the appearance and behavior of a human hand, and further may be a manipulator that imitates the fingers of a human hand and the freedom of movement of each finger, etc.

[0045] Alternatively, if Figure 1 , Figure 3 , Figure 5 , Fig.16 and Fig.17As shown, in the embodiment of the present application, the third axis L3 is parallel to the plane where the palm 10 is located. Of course, in other optional embodiments of the present application, the third axis L3 can also be set to intersect with the plane where the palm 10 is located according to actual needs, for example, the third axis L3 is set to be inclined relative to the plane where the palm 10 is located.

[0046] Alternatively, if Figures 1 to 10 , Fig.17 and Fig.18 As shown, in the embodiment of the present application, the first finger assembly 30 includes a first proximal finger segment 31, a first middle finger segment 32 and a first distal finger segment 33 which are rotatably connected in sequence. The palm 10 has a palm surface 11. The first transmission part 20 includes: a first base 21, a first bevel gear 221, a second bevel gear 222, a third bevel gear 231 and a fourth bevel gear 232.

[0047] The first base 21 includes a bottom plate 211 disposed at the front edge of the palm surface 11 and two first ears 212 disposed oppositely on both sides of the bottom plate 211. The first bevel gear 221 and the second bevel gear 222 are rotatably stacked on the bottom plate 211 around the fourth axis L4; the fourth axis L4 is perpendicular to the palm 10. The third bevel gear 231 and the fourth bevel gear 232 are rotatably disposed on the two first ears 212 around the first axis L1; the third bevel gear 231 is meshed with the first bevel gear 221, and the fourth bevel gear 232 is meshed with the second bevel gear 222.

[0048] When the first bevel gear 221 and the second bevel gear 222 rotate in opposite directions, the third bevel gear 231 and the fourth bevel gear 232 are driven to rotate in the same direction, so that the first middle finger segment 32 and the first proximal finger segment 31 are relatively fixed, thereby driving the first proximal finger segment 31 to rotate around the first axis L1.

[0049] When the first bevel gear 221 and the second bevel gear 222 rotate in the same direction, the third bevel gear 231 and the fourth bevel gear 232 are driven to rotate in the opposite direction, so that the first middle finger segment 32 and the first distal finger segment 33 both rotate relative to the first proximal finger segment 31 .

[0050] In the embodiment of the present application, the bottom plate 211 is arranged at the front edge of the palm surface 11, and the first bevel gear 221 and the second bevel gear 222 are stacked on the bottom plate 211 and are respectively arranged rotatably around the fourth axis L4. Two first ears 212 are arranged on the bottom plate 211, and there is a gap between the two first ears 212. One end of the first proximal finger section 31 close to the palm 10 is rotatably arranged on the two first ears 212 around the first axis L1.

[0051] The third bevel gear 231 is rotatably disposed on one of the first lugs 212 around the first axis L1 and meshes with the first bevel gear 221. The rotation of the first bevel gear 221 drives the third bevel gear 231 to rotate. The fourth bevel gear 232 is rotatably disposed on the other first lug 212 around the first axis L1 and meshes with the second bevel gear 222. The rotation of the second bevel gear 222 drives the fourth bevel gear 232 to rotate.

[0052] The third bevel gear 231 and the fourth bevel gear 232 are arranged opposite to each other. When the first bevel gear 221 and the second bevel gear 222 rotate in opposite directions, the first bevel gear 221 and the second bevel gear 222 drive the corresponding third bevel gear 231 and the fourth bevel gear 232 to rotate in the same direction. The third bevel gear 231 and the fourth bevel gear 232 drive the first proximal finger segment 31 to rotate around the first axis L1 relative to the palm 10, thereby realizing the first finger assembly 30 to swing around the first axis L1 relative to the palm 10 to approach or move away from the palm surface 11.

[0053] When the first bevel gear 221 and the second bevel gear 222 rotate in the same direction, the first bevel gear 221 and the second bevel gear 222 drive the corresponding third bevel gear 231 and the fourth bevel gear 232 to rotate in the opposite direction, and the third bevel gear 231 and the fourth bevel gear 232 drive the first middle finger segment 32 to rotate relative to the first proximal finger segment 31, and drive the first distal finger segment 33 to rotate relative to the first middle finger segment 32, thereby realizing the bending or extension of the first finger assembly 30.

[0054] Alternatively, if Figures 7 to 10 As shown, in the embodiment of the present application, the second bevel gear 222 is located on the bottom plate 211, and the first bevel gear 221 is located on the second bevel gear 222. The second bevel gear 222 and the first bevel gear 221 are coaxially rotatably arranged around the fourth axis L4. The outer diameter of the first bevel gear 221 is smaller than the outer diameter of the second bevel gear 222.

[0055] It should be noted that, in the embodiment of the present application, the relative arrangement of the third bevel gear 231 and the fourth bevel gear 232 means that the gear side of the third bevel gear 231 faces the fourth bevel gear 232, and the gear side of the fourth bevel gear 232 faces the third bevel gear 231. Of course, in other optional embodiments of the present application, the third bevel gear 231 and the fourth bevel gear 232 can also be arranged opposite to each other according to actual needs, that is, the gear side of the third bevel gear 231 faces away from the fourth bevel gear 232, and the gear side of the fourth bevel gear 232 faces away from the third bevel gear 231.

[0056] Optionally, in the embodiment of the present application, the transmission shafts of the first bevel gear 221 and the second bevel gear 222 are concentrically arranged and meshed with the third bevel gear 231 and the fourth bevel gear 232, respectively. A differential transmission structure is formed by two sets of bevel gear sets (the meshing first bevel gear 221 and the third bevel gear 231, and the meshing second bevel gear 222 and the fourth bevel gear 232), which can realize the swing of the first finger assembly 30 around the first axis L1, the rotation of the first middle finger segment 32 relative to the first proximal finger segment 31, and the rotation of the first distal finger segment 33 relative to the first middle finger segment 32, so that the first finger assembly 30 has multiple degrees of freedom and the dexterity is improved.

[0057] Alternatively, if Fig.10 As shown, in the embodiment of the present application, the third bevel gear 231 and the fourth bevel gear 232 are coaxially rotatably arranged around the first axis L1. The transmission shafts of the third bevel gear 231 and the fourth bevel gear 232 are coaxially arranged. The third bevel gear 231, the fourth bevel gear 232 and the first proximal finger section 31 are rotatably connected to the first lug 212 respectively.

[0058] It should be noted that, in the embodiment of the present application, "reverse rotation" means that the rotation directions of the two rotating parts are opposite when observed from the same side of the two rotating parts. For example, the reverse rotation of the first bevel gear 221 and the second bevel gear 222 means that the rotation directions of the first bevel gear 221 and the second bevel gear 222 are opposite when observed from the same side of the first bevel gear 221 and the second bevel gear 222.

[0059] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the first transmission part 20 further includes: a first transmission wheel 241 , a second transmission wheel 242 , a first flexible transmission member 251 and a second flexible transmission member 252 .

[0060] The first transmission wheel 241 and the second transmission wheel 242 are rotatably arranged around the fifth axis L5, and are fixedly connected to the first middle finger segment 32. The first flexible transmission member 251 is fixedly connected to the third bevel gear 231 and fixed to the first transmission wheel 241. The second flexible transmission member 252 is connected to the fourth bevel gear 232 and fixed to the second transmission wheel 242. One of the first flexible transmission member 251 and the second flexible transmission member 252 is in a O-shape, and the other is in an 8-shape.

[0061] When the third bevel gear 231 and the fourth bevel gear 232 rotate in opposite directions, the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction to drive the first middle finger segment 32 to rotate relative to the first proximal finger segment 31 around the fifth axis L5.

[0062] In the embodiment of the present application, the first flexible transmission member 251 is respectively fixedly connected to the third bevel gear 231 and the first transmission wheel 241, so that the third bevel gear 231 is transmission-connected to the first transmission wheel 241 through the first flexible transmission member 251, and the first transmission wheel 241 is fixedly connected to the first middle finger segment 32. When the third bevel gear 231 rotates, the rotational force can be transmitted to the first transmission wheel 241 through the first flexible transmission member 251, so that the first transmission wheel 241 and the first middle finger segment 32 have a tendency to rotate in the same direction as the rotation direction of the third bevel gear 231.

[0063] The second flexible transmission member 252 is respectively fixedly connected to the fourth bevel gear 232 and the second transmission wheel 242. The fourth bevel gear 232 is connected to the second transmission wheel 242 through the second flexible transmission member 252. The second transmission wheel 242 is fixedly connected to the first middle finger segment 32. When the fourth bevel gear 232 rotates, the rotational force can be transmitted to the second transmission wheel 242 through the second flexible transmission member 252, so that the second transmission wheel 242 and the first middle finger segment 32 have a tendency to rotate in the opposite direction to the rotation direction of the fourth bevel gear 232.

[0064] Alternatively, if Figure 7 and Figure 8 As shown, in the embodiment of the present application, the first flexible transmission member 251 is in the shape of a letter O. The second flexible transmission member 252 is in the shape of a letter 8. Of course, in other optional embodiments of the present application, the first flexible transmission member 251 can be in the shape of a letter 8 and the second flexible transmission member 252 can be in the shape of a letter O according to actual needs.

[0065] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the first transmission wheel 241, the second transmission wheel 242 and the first middle finger segment 32 are rotatably arranged around the fifth axis L5 relative to the first proximal finger segment 31.

[0066] In the embodiment of the present application, when the third bevel gear 231 and the fourth bevel gear 232 rotate in opposite directions, the direction of the rotational force transmitted to the first transmission wheel 241 by the third bevel gear 231 is the same as the direction of the rotational force transmitted to the second transmission wheel 242 by the fourth bevel gear 232, so that the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction, thereby driving the first middle finger segment 32 to rotate around the fifth axis L5 relative to the first proximal finger segment 31, so that the first finger assembly 30 bends or stretches.

[0067] When the third bevel gear 231 and the fourth bevel gear 232 rotate in the same direction, the rotation direction transmitted to the first transmission wheel 241 by the third bevel gear 231 is opposite to the rotation direction transmitted to the second transmission wheel 242 by the fourth bevel gear 232, so that the first transmission wheel 241 and the second transmission wheel 242 have a tendency to rotate in opposite directions, clamping the first middle finger segment 32 and the first proximal finger segment 31, and fixing the relative positions of the first middle finger segment 32 and the first proximal finger segment 31, so that the force of the third bevel gear 231 and the fourth bevel gear 232 rotating in the same direction drives the first proximal finger segment 31 to rotate around the first axis L1, thereby realizing the swing of the first finger assembly 30 relative to the palm 10 around the first axis L1.

[0068] Optionally, in the embodiment of the present application, the first flexible transmission member 251 includes but is not limited to a transmission rope. The second flexible transmission member 252 includes but is not limited to a transmission rope.

[0069] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the first transmission part 20 further includes a fifth transmission wheel 263 and a sixth transmission wheel 264. The fifth transmission wheel 263 is fixedly connected to the third bevel gear 231 and is rotatably mounted on one first lug 212 around the first axis L1. The sixth transmission wheel 264 is fixedly connected to the fourth bevel gear 232 and is rotatably mounted on the other first lug 212 around the first axis L1. The first flexible transmission member 251 is respectively fixed to the periphery of the fifth transmission wheel 263 and the first transmission wheel 241, and the second flexible transmission member 252 is respectively fixed to the periphery of the sixth transmission wheel 264 and the second transmission wheel 242. The third bevel gear 231 drives the fifth transmission wheel 263 to rotate synchronously, and drives the first transmission wheel 241 to rotate through the first flexible transmission member 251. The fourth bevel gear 232 drives the sixth transmission wheel 264 to rotate synchronously, and drives the second transmission wheel 242 to rotate through the second flexible transmission member 252.

[0070] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the robot dexterous hand 100 also includes a first tensioning device 91 for adjusting the tension of the first flexible transmission member 251 and a second tensioning device 92 for adjusting the tension of the second flexible transmission member 252 .

[0071] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the first tensioning device 91 includes a first adjustment hole 911 opened on the side wall of the first proximal finger segment 31 , a first tensioning wheel 912 , and a first tensioning mechanism 913 installed on the first middle finger segment 32 .

[0072] The first adjustment hole 911 is an elongated hole, the extension direction of which intersects with the extension direction of the first proximal finger section 31, the rotating shaft of the first tensioning wheel 912 is clamped in the elongated hole and can move along the elongated hole, the first tensioning wheel 912 is pressed on the first flexible transmission member 251, and the tensioning amount of the first flexible transmission member 251 is adjusted by the movement of the rotating shaft of the first tensioning wheel 912 in the elongated hole. The first flexible transmission member 251 can be pre-tensioned by the first tensioning wheel 912.

[0073] The first tensioning mechanism 913 includes a first tensioning seat 914 fixed on the first middle finger section 32, an adjustment slot 915 provided in the first tensioning seat 914, and a first tensioning head bolted in the adjustment slot 915. One end of the first flexible transmission member 251 is fixed on the fifth transmission wheel 263, and the other end is fixedly connected to the first tensioning head after passing through the fifth transmission wheel 263 and the first transmission wheel 241. The first tensioning head can be screwed in the adjustment slot 915 to adjust the position of the first tensioning head extending into the adjustment slot 915, thereby driving the first flexible transmission member 251 to be tensioned. The first tensioning mechanism 913 can be used to make a final tensioning adjustment on the first flexible transmission member 251.

[0074] In the embodiment of the present application, the first flexible transmission member 251 can be tensioned simultaneously by the first tensioning wheel 912 and the first tensioning mechanism 913 .

[0075] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the second tensioning device 92 includes at least one second adjustment hole 921 opened on the side wall of the first proximal finger segment 31, at least one second tensioning wheel 922 arranged in a one-to-one correspondence with the at least one second adjustment hole 921, and a second tensioning mechanism 923 installed on the first middle finger segment 32.

[0076] Alternatively, if Fig.11 As shown, in the embodiment of the present application, the number of the second adjustment holes 921 is two. Since the second flexible transmission member 252 is fixed in an 8-shape on the periphery of the sixth transmission wheel 264 and the second transmission wheel 242 respectively, the two second adjustment holes 921 are adaptively distributed on both sides of the intersection of the second flexible transmission member 252 to adjust the tension of the second flexible transmission member 252 through the two second tensioning wheels 922.

[0077] Optionally, in the embodiment of the present application, the structure and matching relationship between the second adjustment hole 921 and the second tensioning wheel 922 may be the same as or similar to the structure and matching relationship between the first adjustment hole 911 and the first tensioning wheel 912, and will not be repeated here.

[0078] Alternatively, if Figure 7 , Figure 8 and Fig.11As shown, in the embodiment of the present application, the extension direction of the first adjustment hole 911 is perpendicular to the extension direction of the first proximal finger segment 31 , and the extension direction of the second adjustment hole 921 has an acute angle with the first proximal finger segment 31 .

[0079] Optionally, in the embodiment of the present application, the structure of the second tensioning mechanism 923 and the connection method with the second flexible transmission member 252 may be the same as or similar to the structure of the first tensioning mechanism 913 and the connection method with the first flexible transmission member 251, and will not be repeated here.

[0080] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the first transmission part 20 further includes: a third transmission wheel 261 , a fourth transmission wheel 262 and a third flexible transmission member 253 .

[0081] The third transmission wheel 261 is fixed on the first proximal finger segment 31 and is arranged concentrically with the first transmission wheel 241 and the second transmission wheel 242. The fourth transmission wheel 262 is rotatably arranged around the sixth axis L6 and is fixedly connected to the first distal finger segment 33. The third flexible transmission member 253 is respectively fixed on the third transmission wheel 261 and the fourth transmission wheel 262 and is in an 8-shape, so that the first distal finger segment 33 is driven by the third transmission wheel 261 to rotate relative to the first middle finger segment 32 around the sixth axis L6.

[0082] In the embodiment of the present application, when the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction, the first middle finger segment 32 is driven to rotate relative to the first proximal finger segment 31, and the first distal finger segment 33 is installed on the first middle finger segment 32, so that the first middle finger segment 32 rotates with the first distal finger segment 33 and the fourth transmission wheel 262 fixed on the first distal finger segment 33 relative to the first proximal finger segment 31 around the fifth axis L5.

[0083] Since the third transmission wheel 261 is fixed on the first proximal finger segment 31, when the first middle finger segment 32 rotates relative to the first proximal finger segment 31, the third transmission wheel 261 and the first middle finger segment 32 rotate relative to each other, and the third flexible transmission member 253 is respectively fixed to the periphery of the third transmission wheel 261 and the fourth transmission wheel 262, so that the third transmission wheel 261 is transmission-connected with the fourth transmission wheel 262 through the third flexible transmission member 253. When the third transmission wheel 261 rotates relative to the first middle finger segment 32, the fourth transmission wheel 262 and the first distal finger segment 33 can be driven to rotate relative to the first middle finger segment 32 around the sixth axis L6 through the third flexible transmission member 253.

[0084] Therefore, the first middle finger segment 32 rotates relative to the first proximal finger segment 31 about the fifth axis L5, and the first distal finger segment 33 rotates relative to the first middle finger segment 32 about the sixth axis L6, so that the first finger assembly 30 is bent or stretched.

[0085] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the fourth transmission wheel 262 and the first distal finger segment 33 are rotatably arranged around the sixth axis L6 relative to the first middle finger segment 32 .

[0086] Optionally, in the embodiment of the present application, the third flexible transmission member 253 includes but is not limited to a transmission rope.

[0087] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a third tensioning mechanism 93 installed on the first distal finger section 33 , and the third tensioning mechanism 93 is used to tension the third flexible transmission member 253 .

[0088] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the third tensioning mechanism 93 includes a second tensioning seat 931 fixed on the first distal finger section 33, an adjusting head 932 and a second tensioning head 933. The second tensioning seat 931 is provided with a through hole, one end of the adjusting head 932 passes through the through hole, and the outer diameter of the other end is larger than the through hole to prevent the adjusting head 932 from escaping from the through hole. The second tensioning head 933 is arranged in the second tensioning seat 931, and the second tensioning head 933 is threadedly connected to the adjusting head 932. One end of the third flexible transmission member 253 is fixed on the third transmission wheel 261 or the fourth transmission wheel 262, and the other end is fixedly connected to the second tensioning head 933 after bypassing the third transmission wheel 261 and the fourth transmission wheel 262. By screwing the adjusting head 932, the position of the second tensioning head 933 in the second tensioning seat 931 is adjusted, thereby driving the third flexible transmission member 253 to be tensioned.

[0089] Alternatively, if Figure 3 , Figure 4 , Fig.17 and Fig.18 As shown, in the embodiment of the present application, the palm 10 also has a palm back surface 12 opposite to the palm center surface 11. The robot dexterous hand 100 also includes a first driver 61 and a second driver 62 arranged on the palm back surface 12. The first transmission part 20 also includes a first worm gear mechanism 27 and a second worm gear mechanism 28. The first driver 61, the first worm gear mechanism 27 and the first bevel gear 221 are sequentially connected in transmission. The second driver 62, the second worm gear mechanism 28 and the second bevel gear 222 are sequentially connected in transmission.

[0090] In the embodiment of the present application, the palm portion 10 is used to carry the first driver 61 and the second driver 62. The first driver 61 provides power to the first worm gear mechanism 27, and the first worm gear mechanism 27 transmits power to the first bevel gear 221, drives the first bevel gear 221 to rotate, and can adjust the rotation direction of the first bevel gear 221 (for example, the first bevel gear 221 and the second bevel gear 222 rotate in the same direction or in the opposite direction). The second driver 62 provides power to the second worm gear mechanism 28, and the second worm gear mechanism 28 transmits power to the second bevel gear 222, drives the second bevel gear 222 to rotate, and can adjust the rotation direction of the second bevel gear 222.

[0091] The first driver 61 and the second driver 62 can control the rotation and rotation direction of the first bevel gear 221 and the second bevel gear 222, thereby controlling the rotation and rotation direction of the third bevel gear 231 and the fourth bevel gear 232, thereby controlling the swing or bending of the first finger assembly 30. The first finger assembly 30 uses a differential transmission structure to use two drivers (the first driver 61 and the second driver 62) to simultaneously control the two degrees of freedom of a single finger, which can double the torque of a single joint at the same speed.

[0092] Optionally, in the embodiment of the present application, the first driver 61 includes but is not limited to a motor. The second driver 62 includes but is not limited to a motor.

[0093] Alternatively, if Figure 4 , Figures 7 to 10 as well as Fig.18 As shown, in the embodiment of the present application, the first worm gear mechanism 27 includes a second worm 271 and a first worm wheel 272, the first driver 61 is drivingly connected to the second worm 271, so that the second worm 271 rotates, the second worm 271 and the first worm wheel 272 are drivingly connected, driving the first worm wheel 272 to rotate around the fourth axis L4, and the first worm wheel 272 is fixedly connected to the first bevel gear 221, driving the first bevel gear 221 to rotate around the fourth axis L4.

[0094] Alternatively, if Figure 4 , Figures 7 to 10 as well as Fig.18 As shown, in the embodiment of the present application, the second worm gear mechanism 28 includes a third worm 281 and a second worm wheel 282, and the second driver 62, the third worm 281, the second worm wheel 282 and the second bevel gear 222 are connected in sequence, driving the second bevel gear 222 to rotate around the fourth axis L4.

[0095] Alternatively, if Figures 1 to 6 , Fig.11 , Figures 15 to 18As shown, in the embodiment of the present application, the number of the first transmission parts 20 and the number of the first finger assemblies 30 are at least two. The at least two first finger assemblies 30 are arranged in sequence at the front edge of the palm 10 in the plane where the palm 10 is located. The at least two first transmission parts 20 and the at least two first finger assemblies 30 are in one-to-one transmission connection.

[0096] In the embodiment of the present application, the first finger assembly 30 and the second finger assembly 50 cooperate to grasp the target object. Providing at least two first finger assemblies 30 can improve the grasping effect and stability.

[0097] Alternatively, if Figures 1 to 6 , Fig.11 , Figures 16 to 18 As shown, in the embodiment of the present application, the index finger assembly and the middle finger assembly of the robot dexterous hand 100 can adopt the above-mentioned first transmission part 20 (including the first base 21, the first bevel gear 221, the second bevel gear 222, the third bevel gear 231, the fourth bevel gear 232, the first transmission wheel 241, the second transmission wheel 242, the first flexible transmission member 251, the second flexible transmission member 252, the fifth transmission wheel 263, the sixth transmission wheel 264, the third transmission wheel 261, the fourth transmission wheel 262 and the third flexible transmission member 253, etc.) and the first finger assembly 30. The structures of the index finger assembly and the middle finger assembly are the same or similar.

[0098] It should be noted that, in the embodiment of the present application, the extension directions of the first axes L1 corresponding to different first finger assemblies 30 may be the same or different.

[0099] Alternatively, if Figure 3 , Fig.11 and Fig.17 As shown, in the embodiment of the present application, the first base 21 is rotatably arranged relative to the palm 10 in the plane where the palm 10 is located; the robotic dexterous hand 100 also includes a third driver 63 and a third worm gear mechanism 29, and the third driver 63, the third worm gear mechanism 29 and the first base 21 are sequentially connected in transmission, so that the first base 21 drives the first proximal finger segment 31 to shake in the plane where the palm 10 is located.

[0100] In the embodiment of the present application, the third driver 63 provides power for the third worm gear mechanism 29, and the third worm gear mechanism 29 transmits the power to the first base 21, driving the first base 21 to shake within the plane where the palm 10 is located, thereby driving the first finger assembly 30 to shake within the plane where the palm 10 is located, realizing the action of shaking the first finger assembly 30 and adjusting the shaking angle of the first finger assembly 30 relative to the palm 10 within the plane where the palm 10 is located, so that the first finger assembly 30 can flexibly adapt to the application scenario.

[0101] It should be noted that, in the embodiment of the present application, "shaking" refers to the rotation of the first proximal finger segment 31 in the plane where the palm 10 is located, with the center of the rotation of the first base 21 relative to the palm 10 in the plane where the palm 10 is located as the rotation axis. "Swinging" refers to the rotation of the first finger assembly 30 with the first axis L1 as the rotation axis, or the second finger assembly 50 with the second axis L2 as the rotation axis, in the direction of approaching or moving away from the palm surface 11 of the palm 10. In the present application, the "shaking" action of the first finger assembly 30 relative to the palm 10 is similar to the "waving" action, and the "swinging" action of the first finger assembly 30 or the second finger assembly 50 relative to the palm 10 is similar to the "clenching a fist" and "opening a fist" actions.

[0102] Alternatively, if Fig.11 As shown, in the embodiment of the present application, the third worm gear mechanism 29 includes a fourth worm 291 connected to the third driver 63 and a third worm wheel 292 meshing with the fourth worm 291, and the third worm wheel 292 is fixedly connected to the bottom plate 211 of the first base 21. The third driver 63 provides power to drive the fourth worm 291 and the third worm wheel 292 to rotate, thereby driving the first base 21 and the first finger assembly 30 to rotate.

[0103] Alternatively, if Figure 3 , Fig.11 and Fig.17 As shown, in the embodiment of the present application, the first base 21 corresponding to the index finger assembly of the robot dexterous hand 100 is rotatably arranged in the plane where the palm 10 is located, so that the index finger assembly can swing in the plane where the palm 10 is located. The first base 21 corresponding to the middle finger assembly of the robot dexterous hand 100 is fixed on the palm 10. Of course, in other optional embodiments of the present application, the first base 21 corresponding to the middle finger assembly of the robot dexterous hand 100 can also be rotatably arranged in the plane where the palm 10 is located according to actual needs, so that the middle finger assembly can swing in the plane where the palm 10 is located.

[0104] Alternatively, if Fig.12 , Fig.13 , Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the second finger assembly 50 includes at least two second finger segments that are rotatably connected. The second transmission part 40 includes: a fifth bevel gear 411 , a sixth bevel gear 412 and a seventh bevel gear 413 .

[0105] The fifth bevel gear 411 and the sixth bevel gear 412 are rotatably arranged relative to each other around the third axis L3. The seventh bevel gear 413 is meshed with the fifth bevel gear 411 and the sixth bevel gear 412 respectively, and the seventh bevel gear 413 is rotatably arranged around the second axis L2 and the third axis L3 respectively, and is connected to the first second finger segment close to the palm 10.

[0106] When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in opposite directions, the seventh bevel gear 413 and the first second finger segment are driven to rotate around the second axis L2.

[0107] When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in the same direction, the seventh bevel gear 413 and the first second finger segment are driven to rotate around the third axis L3.

[0108] In the embodiment of the present application, the fifth bevel gear 411 is rotatably arranged around the third axis L3 and meshes with the seventh bevel gear 413. The rotation of the fifth bevel gear 411 drives the seventh bevel gear 413 to rotate. The sixth bevel gear 412 is rotatably arranged around the third axis L3 and meshes with the seventh bevel gear 413. The sixth bevel gear 412 drives the seventh bevel gear 413 to rotate. The seventh bevel gear 413 is connected to the first second straight segment (i.e., the second proximal finger segment 51), thereby connecting to the second finger assembly 50.

[0109] The fifth bevel gear 411 and the sixth bevel gear 412 are arranged opposite to each other. When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in opposite directions, the fifth bevel gear 411 and the sixth bevel gear 412 simultaneously drive the seventh bevel gear 413 to rotate, thereby driving the second finger assembly 50 to rotate around the second axis L2, so that the second finger assembly 50 can be close to or away from the palm 10. When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in the same direction, the direction in which the fifth bevel gear 411 drives the seventh bevel gear 413 to rotate is opposite to the direction in which the sixth bevel gear 412 drives the seventh bevel gear 413 to rotate, so that the seventh bevel gear 413 rotates around the third axis L3, thereby driving the second finger assembly 50 to rotate around the third axis L3, so that the second finger assembly 50 can be close to or away from the first finger assembly 30.

[0110] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the extension direction of the second axis L2 is the same as the extension direction of the axis of the seventh bevel gear 413. The seventh bevel gear 413 "rotates" around the second axis L2 and "revolves" around the third axis L3.

[0111] Optionally, in the embodiment of the present application, the fifth bevel gear 411 and the sixth bevel gear 412 are respectively meshed with the seventh bevel gear 413, and two sets of bevel gear sets (the meshing fifth bevel gear 411 and the seventh bevel gear 413, the meshing sixth bevel gear 412 and the seventh bevel gear 413) are used to form a differential transmission structure, which can realize the swing of the second finger assembly 50 around the second axis L2 and the swing around the third axis L3, so that the second finger assembly 50 has multiple degrees of freedom and improved dexterity.

[0112] Alternatively, if Fig.12 , Fig.13, Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the second transmission part 40 also includes: two second support ears 421 relatively arranged on the side edges of the root of the palm 10, a first rotating shaft 431 rotatably connected to at least one second support ear 421, and a second rotating shaft 432 fixedly connected to the first rotating shaft 431, the fifth bevel gear 411 and the sixth bevel gear 412 are relatively arranged on the two second support ears 421, the first rotating shaft 431 extends along the third axis L3, the second rotating shaft 432 extends along the second axis L2, and the seventh bevel gear 413 is rotatably arranged on the second rotating shaft 432.

[0113] In the embodiment of the present application, two second lugs 421 are arranged at the side edge of the root of the palm 10, and there is a gap between the two second lugs 421. The first rotating shaft 431 is rotatably connected to at least one second lug 421, and the first rotating shaft 431 extends along the third rotating axis L3. The first rotating shaft 431 can rotate relative to the second lug 421 around the third axis L3. The second rotating shaft 432 is fixedly connected to the first rotating shaft 431 and can rotate around the third rotating axis L3 together with the first rotating shaft 431. The fifth bevel gear 411 is rotatably arranged on one of the second lugs 421 around the third axis L3, and the sixth bevel gear 412 is rotatably arranged on the other second lug 421 around the third axis L3 and is opposite to the fifth bevel gear 411. The seventh bevel gear 413 is rotatably disposed on the second rotating shaft 432. The second rotating shaft 432 extends along the second axis L2. The seventh bevel gear 413 can rotate around the second axis L2 relative to the second rotating shaft 432. The second rotating shaft 432 can rotate around the second axis L2 with the first rotating shaft 431 along with the seventh bevel gear 413.

[0114] Alternatively, if Figure 3 , Figure 4 , Fig.11 , Fig.12 , Figures 17 to 20 As shown, in the embodiment of the present application, the robot dexterous hand 100 also includes a fourth driver 64 and a fifth driver 65 arranged on the back of the palm 12, the fourth driver 64 is transmission connected to the fifth bevel gear 411, and the fifth driver 65 is transmission connected to the sixth bevel gear 412.

[0115] In the embodiment of the present application, the palm portion 10 is used to carry the fourth driver 64 and the fifth driver 65. The fourth driver 64 provides power to the fifth bevel gear 411 to rotate the fifth bevel gear 411, and the fifth driver 65 provides power to the sixth bevel gear 412 to rotate the sixth bevel gear 412, thereby driving the seventh bevel gear 413 to rotate around the second axis L2 and around the third axis L3.

[0116] The fourth driver 64 and the fifth driver 65 can control the rotation and rotation direction of the fifth bevel gear 411 and the sixth bevel gear 412, thereby controlling the seventh bevel gear 413 to rotate around the second axis L2 and around the third axis L3, thereby controlling the second finger assembly 50 to approach or move away from the palm surface 11, and approach or move away from the first finger assembly 30. The second finger assembly 50 uses a differential transmission structure to use two drivers (the fourth driver 64 and the fifth driver 65) to simultaneously control the two degrees of freedom of a single finger, which can double the torque of a single joint at the same speed.

[0117] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the second transmission part 40 further includes: a second base 44, one end of the second base 44 is fixedly connected to the seventh bevel gear 413, and the other end is connected to the second proximal finger segment 51. The second base 44 and the second proximal finger segment 51 can be driven by the seventh bevel gear 413 to rotate around the second axis L2 and the third axis L3.

[0118] Alternatively, if Figure 1 , Figures 3 to 5 , Fig.12 and Fig.13 , Figures 16 to 20 As shown, in the embodiment of the present application, the robot dexterous hand 100 also includes a third transmission part 70 which is transmission-connected to the second finger assembly 50, and the third transmission part 70 is constructed to drive at least two adjacent second finger segments in the second finger assembly 50 to rotate relative to each other so that the second finger assembly 50 is bent or stretched.

[0119] Alternatively, if Figure 3 and Figure 4 , Fig.12 and Fig.13 ,as well as Figures 16 to 20 As shown, in the embodiment of the present application, the second finger assembly 50 includes a second proximal finger segment 51, a second middle finger segment 52 and a second distal finger segment 53 which are rotatably connected in sequence. The robot dexterous hand 100 also includes a sixth driver 66 and a seventh driver 67.

[0120] In some optional embodiments of the present application, such as Fig.12 and Fig.13 As shown, the third transmission part 70 includes: a seventh transmission wheel 71 , a first lasso 72 , an eighth transmission wheel 73 and a second lasso 74 .

[0121] The seventh transmission wheel 71 is rotatably arranged around the seventh axis and is fixedly connected to the second middle finger segment 52. One end of the first lasso 72 is drivingly connected to the sixth driver 66, and the other end is fixedly connected to the seventh transmission wheel 71, and is configured to drive the seventh transmission wheel 71 and the second middle finger segment 52 to rotate relative to the second proximal finger segment 51 under the drive of the sixth driver 66.

[0122] The eighth transmission wheel 73 is rotatably arranged around the eighth axis and is fixedly connected to the second distal finger section 53. One end of the second lasso 74 is drivingly connected to the seventh driver 67, and the other end is fixedly connected to the eighth transmission wheel 73, and is configured to drive the eighth transmission wheel 73 and the second distal finger section 53 to rotate relative to the second middle finger section 52 under the drive of the seventh driver 67.

[0123] In the embodiment of the present application, the sixth driver 66, the first lasso 72, the seventh transmission wheel 71 and the second middle finger segment 52 are sequentially connected in transmission. Under the drive of the sixth driver 66, the first lasso 72 can drive the seventh transmission wheel 71 and the second middle finger segment 52 to rotate relative to the second proximal finger segment 51 around the seventh axis. The seventh driver 67, the second lasso 74, the eighth transmission wheel 73 and the second distal finger segment 53 are sequentially connected in transmission. Under the drive of the seventh driver 67, the second lasso 74 can drive the eighth transmission wheel 73 and the second distal finger segment 53 to rotate relative to the second middle finger segment 52 around the eighth axis. Thus, the second finger assembly 50 is bent or stretched.

[0124] Optionally, in the embodiment of the present application, the sixth driver 66 includes but is not limited to a servo electric cylinder. The seventh driver 67 includes but is not limited to a servo electric cylinder. The first lasso 72 includes but is not limited to a brake line. The second lasso 74 includes but is not limited to a brake line.

[0125] In the embodiment of the present application, a servo electric cylinder is used as the power source, and the servo electric cylinder is a linear motion. A lasso transmission is used, and a steel wire rope is inside the lasso. The power is transmitted by pulling the steel wire rope to drive the second finger assembly 50 to bend or extend. Two servo electric cylinders respectively drive the second middle finger segment 52 and the second distal finger segment 53 of the second finger assembly 50 to rotate.

[0126] Alternatively, if Fig.12 and Fig.13 As shown, in the embodiment of the present application, the sixth driver 66 is arranged on the palm surface 11, and the seventh driver 67 is arranged on the palm back surface 12. The palm 10, the second base 44 and the second finger assembly 50 are respectively provided with avoidance holes for the first lasso 72 and the second lasso 74 to pass through.

[0127] Alternatively, if Fig.12 As shown, in the embodiment of the present application, the third transmission part further includes: a first restoring member 75 and a second restoring member 76 .

[0128] The first reset member 75 is fixedly connected to the seventh transmission wheel 71 and is limitedly matched with the second proximal finger segment 51, and is configured to apply a force to the seventh transmission wheel 71 in a direction opposite to the force applied by the first lasso 72 to the seventh transmission wheel 71. The second reset member 76 is fixedly connected to the eighth transmission wheel 73 and is limitedly matched with the second middle finger segment 52, and is configured to apply a force to the eighth transmission wheel 73 in a direction opposite to the force applied by the second lasso 74 to the eighth transmission wheel 73.

[0129] In the embodiment of the present application, the first lasso 72 pulls the seventh transmission wheel 71, driving the second middle finger segment 52 to rotate and bend relative to the second proximal finger segment 51, and the second lasso 74 pulls the eighth transmission wheel 73, driving the second distal finger segment 53 to rotate and bend relative to the second middle finger segment 52. The first reset member 75 cooperates with the second proximal finger segment 51 and is fixedly connected to the seventh transmission wheel 71, and can apply a force to the seventh transmission wheel 71 in the opposite direction to the force applied to the seventh transmission wheel 71 by the first lasso 72. When the second finger assembly 50 needs to be extended, the force applied to the seventh transmission wheel 71 by the first lasso 72 is released, so that the seventh transmission wheel 71 can rebound under the force applied by the first reset member 75, and the first reset member 75 drives the seventh transmission wheel 71 and the second middle finger segment 52 to rotate and extend relative to the second proximal finger segment 51.

[0130] The second restoring member 76 cooperates with the second middle finger segment 52 and is fixedly connected to the eighth transmission wheel 73, and can apply a force to the eighth transmission wheel 73 in the opposite direction to the force applied to the eighth transmission wheel 73 by the second lasso 74. When the second finger assembly 50 needs to be extended, the force applied to the eighth transmission wheel 73 by the second lasso 74 is released, so that the eighth transmission wheel 73 can rebound under the force applied by the second restoring member 76, and the second restoring member 76 drives the eighth transmission wheel 73 and the second distal finger segment 53 to rotate and extend relative to the second middle finger segment 52.

[0131] Under the action of the first restoring member 75 and the second restoring member 76 , the second finger assembly 50 can be extended.

[0132] Alternatively, if Fig.12 As shown, in the embodiment of the present application, the first reset member 75 includes but is not limited to a torsion spring. The second reset member 76 includes but is not limited to a torsion spring. The torsion spring stores energy during the bending of the second finger assembly 50 and releases energy during the extension of the second finger assembly 50.

[0133] Optionally, in the embodiment of the present application, one end of the first reset member 75 is fixed in the first assembly hole on the seventh transmission wheel 71, and the other end is passed through the first limiting hole on the second proximal finger segment 51. Optionally, the first limiting hole includes but is not limited to a long hole, and the extension direction of the long hole is parallel to the seventh axis.

[0134] Optionally, in the embodiment of the present application, one end of the second reset member 76 is fixed in the second assembly hole on the eighth transmission wheel 73, and the other end is passed through the second limiting hole on the second middle finger segment 52. Optionally, the second limiting hole includes but is not limited to a long hole, and the extension direction of the long hole is parallel to the eighth axis.

[0135] Alternatively, if Fig.13 As shown, in the embodiment of the present application, the second base 44 is fixedly connected to the second proximal finger section 51 .

[0136] In some other optional embodiments of the present application, Fig.19 and Fig. 20 As shown, the third transmission part 70 includes: a first bevel gear 711 , a second bevel gear 712 and a third bevel gear 721 .

[0137] The first bevel gear 711 and the second bevel gear 712 are rotatably disposed on the second proximal finger segment 51 around the seventh axis L7. The third bevel gear 721 is disposed on the second middle finger segment 52 and meshes with the first bevel gear 711 and the second bevel gear 712 respectively.

[0138] When the first bevel gear 711 and the second bevel gear 712 rotate in the same direction, the third bevel gear 721 and the second middle finger segment 52 are driven to rotate relative to the second proximal finger segment 51 around the seventh axis L7.

[0139] In the embodiment of the present application, the second proximal finger segment 51 is connected to the seventh bevel gear 413 , and the seventh bevel gear 413 can drive the second proximal finger segment 51 to rotate around the second axis L2 and the third axis L3 .

[0140] The first bevel gear 711 is meshed with the third bevel gear 721, and the rotation of the first bevel gear 711 can drive the third bevel gear 721 to rotate. The second bevel gear 712 is meshed with the third bevel gear 721, and the rotation of the second bevel gear 712 can drive the third bevel gear 721 to rotate. The first bevel gear 711 and the second bevel gear 712 are arranged opposite to each other. When the first bevel gear 711 and the second bevel gear 712 rotate in the same direction, the direction in which the first bevel gear 711 drives the third bevel gear 721 to rotate is opposite to the direction in which the second bevel gear 712 drives the third bevel gear 721 to rotate, and the third bevel gear 721 is stuck, so that the third bevel gear 721 rotates with the second middle finger segment 52 around the seventh axis L7 relative to the second proximal finger segment 51, thereby causing the second finger assembly 50 to bend or extend.

[0141] Alternatively, if Fig.19 and Fig. 20As shown, in the embodiment of the present application, the third transmission part 70 further includes: a fourth bevel gear 722 and a fifth bevel gear 731. The fourth bevel gear 722 and the third bevel gear 721 are synchronously rotatably arranged on the second middle finger segment 52. The fifth bevel gear 731 is meshed with the fourth bevel gear 722 and rotatably arranged around the eighth axis L8, and the fifth bevel gear 731 is fixedly connected to the second distal finger segment 53.

[0142] When the first bevel gear 711 and the second bevel gear 712 rotate in opposite directions, the third bevel gear 721 and the fourth bevel gear 722 rotate synchronously, driving the fifth bevel gear 731 and the second distal finger segment 53 to rotate around the eighth axis L8 relative to the second middle finger segment 52 .

[0143] In the embodiment of the present application, when the first bevel gear 711 and the second bevel gear 712 rotate in opposite directions, the direction in which the third bevel gear 721 is driven to rotate by the first bevel gear 711 is the same as the direction in which the third bevel gear 721 is driven to rotate by the second bevel gear 712, so that the third bevel gear 721 rotates around its own axis, driving the fourth bevel gear 722 to rotate synchronously, the fourth bevel gear 722 is meshed with the fifth bevel gear 731, driving the fifth bevel gear 731 to rotate, and the fifth bevel gear 731 is fixedly connected to the second distal finger segment 53, thereby driving the second distal finger segment 53 to rotate around the eighth axis L8 relative to the second middle finger segment 52, so that the second finger assembly 50 is bent or extended.

[0144] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the fifth bevel gear 731 and the second distal finger segment 53 are rotatably connected to the second middle finger segment 52 around the eighth axis L8.

[0145] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the third transmission part 70 also includes: a first gear 741 , a second gear 742 , a first sector gear 751 and a second sector gear 752 .

[0146] The first gear 741 and the second gear 742 are rotatably disposed on the second proximal finger section 51, respectively. The first gear 741 rotates synchronously with the first bevel gear 711, and the second gear 742 rotates synchronously with the second bevel gear 712. The first sector gear 751 and the second sector gear 752 are rotatably disposed on the second proximal finger section 51, respectively. The first sector gear 751 meshes with the first gear 741, and the second sector gear 752 meshes with the second gear 742. The output end of the sixth driver 66 is abutted or pivotally connected to the first sector gear 751, and the output end of the seventh driver 67 is abutted or pivotally connected to the second sector gear 752.

[0147] In the embodiment of the present application, the sixth driver 66, the first sector gear 751, and the first gear 741 are sequentially connected in transmission. The sixth driver 66 provides power, which is transmitted to the first gear 741 through the first sector gear 751, so that the first gear 741 rotates, driving the first bevel gear 711 to rotate synchronously. The seventh driver 67, the second sector gear 752, and the second gear 742 are sequentially connected in transmission. The seventh driver 67 provides power, which is transmitted to the second gear 742 through the second sector gear 752, so that the second gear 742 rotates, driving the second bevel gear 712 to rotate synchronously. The sixth driver 66 and the seventh driver 67 can each drive the first bevel gear 711 and the second bevel gear 712 to rotate, and adjust the rotation direction of the first bevel gear 711 and the second bevel gear 712, so that the second finger assembly 50 is bent or stretched. The second finger assembly 50 uses a differential transmission structure (including a first bevel gear 711, a second bevel gear 712, a third bevel gear 721, a fourth bevel gear 722 and a fifth bevel gear 731) and two drivers (a sixth driver 66 and a seventh driver 67) to simultaneously control two degrees of freedom of a single finger (rotation of the second middle finger segment 52 relative to the second proximal finger segment 51, and rotation of the second distal finger segment 53 relative to the second middle finger segment 52), which can double the torque of a single joint at the same speed.

[0148] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the thumb assembly of the robot dexterous hand 100 can adopt the above-mentioned second finger assembly 50, second transmission part 40 and third transmission part 70.

[0149] Alternatively, if Fig.19 and Fig. 20 As shown, in the embodiment of the present application, the second base 44 is pivotally connected to the second proximal finger segment 51. The second proximal finger segment 51 can rotate around the pivot axis between the second proximal finger segment 51 and the second base 44 relative to the second base 44 and the seventh bevel gear 413.

[0150] Optionally, the axis of the pivot shaft between the second proximal finger segment 51 and the second base 44 intersects the second axis L2. Optionally, the axis of the pivot shaft between the second proximal finger segment 51 and the second base 44 is perpendicular to the second axis L2.

[0151] Alternatively, if Figure 3 , Fig.14 and Fig.17 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a fourth transmission part 80, which is in transmission connection with at least two first finger assemblies 30. The fourth transmission part 80 is configured to drive at least two first finger assemblies 30 to shake in the plane where the palm 10 is located.

[0152] In the embodiment of the present application, the palm 10 carries the fourth transmission part 80. The fourth transmission part 80 is in transmission connection with at least two first finger assemblies 30, and can drive the at least two first finger assemblies 30 to shake respectively in the plane where the palm 10 is located, so as to realize the action of shaking the at least two first finger assemblies 30 and adjust the shaking angle of the at least two first finger assemblies 30 relative to the palm 10 in the plane where the palm 10 is located, so as to improve the dexterity of the robot dexterous hand 100, so that the robot dexterous hand 100 can be more adapted to a variety of different application scenarios.

[0153] Alternatively, if Fig.14 As shown, in the embodiment of the present application, the fourth transmission part 80 includes: a first worm 81, a third sector gear 82 and a connecting rod mechanism 83. The first worm 81 is rotatably disposed on the palm 10. The third sector gear 82 is rotatably disposed on the palm 10 and meshes with the first worm 81. The input end of the connecting rod mechanism 83 is pivotally connected to the third sector gear 82, and at least two output ends are pivotally connected to at least two first finger assemblies 30 in a one-to-one correspondence.

[0154] In the embodiment of the present application, the first worm gear 81 rotates, driving the third sector gear 82 to rotate. The input end of the connecting rod mechanism 83 rotates along with the third sector gear 82, driving the connecting rod mechanism 83 to swing within the plane where the palm 10 is located, thereby driving at least two first finger assemblies 30 to swing within the plane where the palm 10 is located through at least two output ends of the connecting rod mechanism 83.

[0155] Alternatively, if Figure 3 , Fig.14 and Fig.17 As shown, in the embodiment of the present application, the robot dexterous hand 100 also includes an eighth driver 68, which is drivingly connected to the first worm 81 and is used to provide power to the first worm 81 to rotate the first worm 81.

[0156] Alternatively, if Fig.14 As shown, in the embodiment of the present application, the connecting rod mechanism 83 includes a first rod 831 and at least two second rods 832, the input end of the first rod 831 is pivotally connected to the third sector gear 82, the at least two second rods 832 correspond to at least two first finger assemblies 30, the input ends of the at least two second rods 832 are respectively pivotally connected to the output ends of the first rod 831, and the output ends of the at least two second rods 832 are respectively pivotally connected to the first transmission part 20 (for example, the first base 21) of the corresponding first finger assembly 30. The rotation of the third sector gear 82 drives the first rod 831 to swing, drives the at least two second rods 832 to swing, and thus drives the at least two first finger assemblies 30 to swing.

[0157] Of course, in other optional embodiments of the present application, the robot dexterous hand 100 may further include a ninth driver according to actual needs, the output end of the ninth driver is pivotally connected to the input end of at least two second rods 832, and the ninth driver drives the at least two second rods 832 to swing, thereby driving the at least two first finger assemblies 30 to swing. Optionally, the ninth driver includes but is not limited to a linear driver.

[0158] Alternatively, if Fig.15 As shown, in the embodiment of the present application, the first finger assembly 30 includes a first proximal finger segment 31, a first middle finger segment 32 and a first distal finger segment 33 which are rotatably connected in sequence. The first transmission part 20 includes: a first base 21, a first bevel gear 221, a third bevel gear 231, a sixth transmission wheel 264, a second transmission wheel 242, a second flexible transmission member 252, a third transmission wheel 261, a fourth transmission wheel 262 and a third flexible transmission member 253.

[0159] The first bevel gear 221 is rotatably disposed on the first base 21 around the fourth axis L4. The third bevel gear 231 is rotatably disposed around the first axis L1 and is fixedly connected to the first proximal finger segment 31. The third bevel gear 231 is meshed with the first bevel gear 221 to drive the first proximal finger segment 31 to rotate around the first axis L1 relative to the palm 10. The sixth transmission wheel 264 is fixed on the first base 21 and is concentrically disposed with the third bevel gear 231. The second transmission wheel 242 is rotatably disposed around the fifth axis and is fixedly connected to the first middle finger segment 32. The second flexible transmission member 252 is respectively fixed on the sixth transmission wheel 264 and the second transmission wheel 242, and is in an 8-shaped shape, so that the first middle finger segment 32 rotates around the fifth axis relative to the first proximal finger segment 31 under the drive of the sixth transmission wheel 264. The third transmission wheel 261 is fixed on the first proximal finger segment 31 and is concentrically disposed with the second transmission wheel 242. The fourth transmission wheel 262 is rotatably arranged around the sixth axis and is fixedly connected to the first distal finger section 33. The third flexible transmission member 253 is respectively fixed to the third transmission wheel 261 and the fourth transmission wheel 262 and is in an 8-shape, so that the first distal finger section 33 is driven by the third transmission wheel 261 to rotate relative to the first middle finger section 32 around the sixth axis.

[0160] In the embodiment of the present application, the first bevel gear 221 is meshed with the third bevel gear 231. The rotation of the first bevel gear 221 drives the third bevel gear 231 to rotate. The third bevel gear 231 is fixedly connected to the first proximal finger segment 31. The rotation of the third bevel gear 231 drives the first proximal finger segment 31 to rotate around the first axis L1 relative to the palm 10, so that the first finger assembly 30 swings relative to the palm 10, approaching or moving away from the palm surface 11.

[0161] The sixth transmission wheel 264 is fixed on the first base 21 and is arranged concentrically with the third bevel gear 231. When the first proximal finger segment 31 rotates relative to the palm 10, the sixth transmission wheel 264 and the first proximal finger segment 31 rotate relative to each other. Since the sixth transmission wheel 264 is connected to the second transmission wheel 242 through the second flexible transmission member 252, and the second transmission wheel 242 is fixedly connected to the first middle finger segment 32, the sixth transmission wheel 264 rotates relative to the first proximal finger segment 31, and the second transmission wheel 242 and the first middle finger segment 32 can be driven by the second flexible transmission member 252 to rotate relative to the first proximal finger segment 31 around the fifth axis.

[0162] The third transmission wheel 261 is fixed on the first proximal finger segment 31 and is arranged concentrically with the second transmission wheel 242. When the first middle finger segment 32 rotates relative to the first proximal finger segment 31, the third transmission wheel 261 and the first middle finger segment 32 rotate relative to each other. Since the third transmission wheel 261 is connected to the fourth transmission wheel 262 through the third flexible transmission member 253, and the fourth transmission wheel 262 is fixedly connected to the first distal finger segment 33, the third transmission wheel 261 rotates relative to the first middle finger segment 32, which can drive the fourth transmission wheel 262 and the first distal finger segment 33 to rotate relative to the first middle finger segment 32 around the sixth axis through the third flexible transmission member 253.

[0163] Therefore, the first middle finger segment 32 rotates relative to the first proximal finger segment 31 about the fifth axis L5, and the first distal finger segment 33 rotates relative to the first middle finger segment 32 about the sixth axis L6, so that the first finger assembly 30 is bent or stretched.

[0164] Optionally, in the embodiment of the present application, the sixth transmission wheel 264 is fixed on the first support ear 212 .

[0165] Alternatively, if Figure 4 and Fig.18 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a first driver 61 disposed on the back of the palm 12. The first transmission part 20 further includes a first worm gear mechanism 27. The first driver 61, the first worm gear mechanism 27 and the first bevel gear 221 are sequentially connected in transmission.

[0166] In the embodiment of the present application, the first driver 61 provides power for the first worm gear mechanism 27, and the first worm gear mechanism 27 transmits power to the first bevel gear 221, drives the first bevel gear 221 to rotate, and can adjust the rotation direction of the first bevel gear 221. The first driver 61 can control the rotation and rotation direction of the first bevel gear 221, thereby controlling the rotation and rotation direction of the third bevel gear 231, thereby controlling the swing or bending of the first finger assembly 30. The first finger assembly 30 uses the above-mentioned transmission structure (the first worm gear mechanism 27, the first bevel gear 221, the third bevel gear 231, the sixth transmission wheel 264, the second transmission wheel 242, the second flexible transmission member 252, the third transmission wheel 261, the fourth transmission wheel 262, the third flexible transmission member 253, etc.) to control the two degrees of freedom of a single finger using the first driver 61, and the torque of a single joint can be doubled at the same speed.

[0167] Alternatively, if Figures 1 to 6 , Figures 15 to 18 As shown, in the embodiment of the present application, the ring finger assembly and the little finger assembly of the robot dexterous hand 100 can adopt the above-mentioned first transmission part 20 (including the first base 21, the first bevel gear 221, the third bevel gear 231, the sixth transmission wheel 264, the second transmission wheel 242, the second flexible transmission member 252, the third transmission wheel 261, the fourth transmission wheel 262 and the third flexible transmission member 253) and the first finger assembly 30. The structures of the ring finger assembly and the little finger assembly are the same or similar.

[0168] Alternatively, if Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, in the embodiment of the present application, the palm portion 10 includes a first shell 13 and a second shell 14, the first shell 13 is mounted on the palm surface 11 side of the palm portion 10 and covers the palm surface 11, and the second shell 14 is mounted on the palm back side 12 side of the palm portion 10 and covers the palm back side 12. The first shell 13 and the second shell 14 are fixedly connected and enclose a cavity, enclosing the fourth transmission part 80, each driver, etc. in the cavity.

[0169] Alternatively, if Figure 1 and Figure 5 As shown, in the embodiment of the present application, the fingertips, joints and heels of the first finger assembly 30, and the fingertips and joints of the second finger assembly 50, are each provided with silicone 110.

[0170] Based on the same inventive concept, an embodiment of the present application provides a robot, which includes the robot dexterous hand 100 as described above.

[0171] It should be noted that, since the robot provided in the embodiment of the present application includes the robot dexterous hand provided in the embodiment of the present application, the robot provided in the embodiment of the present application also has the above-mentioned beneficial effects of the robot dexterous hand provided in the embodiment of the present application, which will not be repeated here.

[0172] Optionally, in the embodiment of the present application, the robot dexterous hand 100 is installed at the end effector of the robot as an end effector, and can perform actions such as pinching, grasping, and clamping. The robot can use the robot dexterous hand 100 to perform operations such as grasping, kneading, moving and transporting objects, or operating tools.

[0173] Optionally, in an embodiment of the present application, the robot includes but is not limited to a humanoid robot.

[0174] By applying the embodiments of the present application, at least the following beneficial effects can be achieved: In the embodiment of the present application, the palm is used to support the first transmission part, the first finger assembly, the second transmission part, the second finger assembly, etc.

[0175] In an embodiment of the present application, the first transmission part is arranged at the front edge of the palm, the first finger assembly includes at least two first finger segments that are rotatably connected, the first transmission part is transmission-connected to the first finger assembly, and the first transmission part can drive the first finger assembly to swing around a first axis relative to the palm, so that the first finger assembly can be close to the palm surface of the palm to facilitate pinching, grasping, clamping and other functions, or enable the first finger assembly to be away from the palm surface to unfold relative to the palm; the first transmission part can also drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other, so that the first finger assembly can bend to facilitate pinching, grasping, clamping and other functions, or enable the first finger assembly to stretch.

[0176] The embodiment of the present application can drive the first finger assembly to swing around the first axis relative to the palm, and bend or stretch through the first transmission part, so that the first finger assembly has multiple degrees of freedom, improves the flexibility of the first finger assembly, and improves the dexterity and adaptability of the robot's dexterous hand, which can better meet the needs of application scenarios. The first transmission part can drive the first finger segment of the first finger assembly to move, making the control of the robot's dexterous hand more precise and specific, and highly operable.

[0177] In an embodiment of the present application, a second transmission portion is arranged on one side of the base of the palm, and the second transmission portion is transmission-connected to the second finger assembly. The second transmission portion can drive the second finger assembly to swing relative to the palm around a second axis, so that the second finger assembly can be close to the palm surface to facilitate pinching, grasping, clamping and other functions, or the second finger assembly can be away from the palm surface to be unfolded relative to the palm; the second transmission portion can also drive the second finger assembly to swing relative to the palm around a third axis, so that the second finger assembly can be close to the first finger assembly, so that the second finger assembly and the first finger assembly can cooperate to achieve pinching, grasping, clamping and other functions, or the second finger assembly can be away from the first finger assembly to release the cooperation between the second finger assembly and the first finger assembly.

[0178] The embodiment of the present application can drive the second finger assembly to swing around the second axis and around the third axis relative to the palm through the second transmission part, so that the second finger assembly has multiple degrees of freedom, thereby improving the flexibility of the second finger assembly, further improving the dexterity and adaptability of the robot's dexterous hand, and improving the adaptability to meet the needs of application scenarios.

[0179] In an embodiment of the present application, the first finger assembly is located at the front edge of the palm, and the second finger assembly is located on one side of the base of the palm. The first transmission part is used to drive the first finger assembly to swing around a swing axis and the first finger segments to rotate relatively, and the second transmission part is used to drive the second finger assembly to swing around the swing axis, so that the first finger assembly and the second finger assembly each have multiple degrees of freedom, so that the robot dexterous hand has at least a grasping state in which the first finger assembly and the second finger assembly cooperate to grasp (including pinching, grasping or clamping, etc.) a target object, and a releasing state in which the first finger assembly and the second finger assembly are released to release the target object, and the releasing state includes an unfolding state in which the first finger assembly and the second finger assembly are each unfolded in a direction parallel to the palm.

[0180] In the description of the present application, the directions or positional relationships indicated by words such as "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the exemplary directions or positional relationships shown in the accompanying drawings. They are for the convenience of describing or simplifying the description of the embodiments of the present application, and do not indicate or imply that the referred device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0181] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0182] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0183] The above is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A robot dexterous hand, characterized in that: include: Palm; A first transmission part, arranged at the front edge of the palm part; A first finger assembly is transmission-connected to the first transmission part; the first finger assembly comprises at least two first finger segments rotatably connected; A second transmission part is arranged at one side of the base of the palm; A second finger assembly is transmission-connected to the second transmission part; The first transmission part is configured to drive the first finger assembly to swing relative to the palm around a first axis parallel to the palm, or to drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other so as to bend or extend the first finger assembly; The second transmission part is configured to drive the second finger assembly to swing relative to the palm around at least one of a second axis and a third axis; the second axis is perpendicular to the third axis.

2. The dexterous robot hand according to claim 1, characterized in that: The first finger assembly comprises a first proximal finger segment, a first middle finger segment and a first distal finger segment which are rotatably connected in sequence; the palm portion has a palmar surface; The first transmission part comprises: A first base, comprising a bottom plate arranged at the front edge of the palm surface and two first ears arranged opposite to each other on both sides of the bottom plate; The first bevel gear and the second bevel gear are rotatably stacked on the bottom plate around a fourth axis; the fourth axis is perpendicular to the palm portion; A third bevel gear and a fourth bevel gear are rotatably arranged on the two first support ears relative to each other around the first axis; the third bevel gear is meshed with the first bevel gear, and the fourth bevel gear is meshed with the second bevel gear; When the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear and the fourth bevel gear are driven to rotate in the same direction, so that the first middle finger segment and the first proximal finger segment are relatively fixed, so as to drive the first proximal finger segment to rotate around the first axis; When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear and the fourth bevel gear are driven to rotate in the opposite directions, so that the first middle finger segment and the first distal finger segment both rotate relative to the first proximal finger segment.

3. The dexterous robot hand according to claim 2, characterized in that: The first transmission part further includes: A first transmission wheel and a second transmission wheel are rotatably arranged around a fifth axis and are fixedly connected to the first middle finger segment; A first flexible transmission member is fixedly connected to the third bevel gear and fixed on the first transmission wheel; A second flexible transmission member is fixedly connected to the fourth bevel gear and fixed on the second transmission wheel; One of the first flexible transmission member and the second flexible transmission member is in a O-shape, and the other is in an 8-shape; When the third bevel gear and the fourth bevel gear rotate in opposite directions, the first transmission wheel and the second transmission wheel rotate in the same direction to drive the first middle finger segment to rotate around the fifth axis relative to the first proximal finger segment.

4. The dexterous robot hand according to claim 3, characterized in that: The first transmission part further includes: A third transmission wheel, fixed on the first proximal finger section and arranged concentrically with the first transmission wheel and the second transmission wheel; a fourth transmission wheel, rotatably arranged around a sixth axis and fixedly connected to the first distal finger section; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape, so that the first distal finger segment rotates relative to the first middle finger segment around the sixth axis under the drive of the third transmission wheel.

5. The dexterous robot hand according to claim 2, characterized in that: Include at least one of the following: The palm portion also has a palm back side opposite to the palm center side; the robot dexterous hand also includes a first driver and a second driver arranged on the palm back side; the first transmission part also includes a first worm gear mechanism and a second worm gear mechanism; the first driver, the first worm gear mechanism and the first bevel gear are sequentially connected in transmission; the second driver, the second worm gear mechanism and the second bevel gear are sequentially connected in transmission; The first base is rotatably arranged relative to the palm within the plane where the palm is located; the robot dexterous hand also includes a third driver and a third worm gear mechanism, and the third driver, the third worm gear mechanism and the first base are sequentially connected in transmission.

6. The dexterous robot hand according to claim 1, characterized in that: The second finger assembly includes at least two second finger segments rotatably connected; The second transmission part comprises: The fifth bevel gear and the sixth bevel gear are rotatably arranged relative to each other around the third axis; The seventh bevel gear is meshed with the fifth bevel gear and the sixth bevel gear respectively. The seventh bevel gear is rotatably arranged around the second axis and the third axis respectively, and is connected to the first second finger segment close to the palm.

7. The dexterous robot hand according to claim 6, characterized in that: Include at least one of the following: The second transmission part further includes: two second ears arranged opposite to each other at the side edge of the palm root, a first rotating shaft rotatably connected to at least one of the second ears, and a second rotating shaft fixedly connected to the first rotating shaft, the fifth bevel gear and the sixth bevel gear are arranged opposite to each other on the two second ears, the first rotating shaft extends along the third axis, the second rotating shaft extends along the second axis, and the seventh bevel gear is rotatably arranged on the second rotating shaft; The robot dexterous hand further comprises a fourth driver and a fifth driver arranged on the back of the palm, the fourth driver is transmission-connected to the fifth bevel gear, and the fifth driver is transmission-connected to the sixth bevel gear; The robot dexterous hand also includes a third transmission part that is transmission-connected to the second finger assembly, and the third transmission part is configured to drive at least two adjacent second finger segments in the second finger assembly to rotate relative to each other so that the second finger assembly bends or stretches.

8. The dexterous robot hand according to claim 1, characterized in that: The second finger assembly comprises a second proximal finger segment, a second middle finger segment and a second distal finger segment which are rotatably connected in sequence; The robot dexterous hand further comprises a third transmission part, and the third transmission part comprises: A first bevel gear and a second bevel gear are rotatably arranged on the second proximal finger segment relative to each other around a seventh axis; The third bevel gear is arranged on the second middle finger segment and is respectively meshed with the first bevel gear and the second bevel gear.

9. The dexterous robot hand according to claim 8, characterized in that: The third transmission unit further includes: a fourth bevel gear, which is rotatably arranged on the second middle finger segment in synchronization with the third bevel gear; The fifth bevel gear is meshed with the fourth bevel gear and is rotatably arranged around an eighth axis. The fifth bevel gear is fixedly connected to the second distal finger section.

10. The dexterous robot hand according to claim 8, characterized in that: The third transmission unit further includes: A first gear and a second gear are rotatably arranged on the second proximal finger segment, respectively, the first gear rotates synchronously with the first bevel gear, and the second gear rotates synchronously with the second bevel gear; A first sector gear and a second sector gear are rotatably arranged on the second proximal finger segment, the first sector gear is meshed with the first gear, and the second sector gear is meshed with the second gear; Furthermore, the robot dexterous hand further includes a sixth driver and a seventh driver, wherein the output end of the sixth driver is abutted or pivotally connected to the first sector gear, and the output end of the seventh driver is abutted or pivotally connected to the second sector gear.

11. The dexterous robot hand according to claim 1, characterized in that: The second finger assembly comprises a second proximal finger segment, a second middle finger segment and a second distal finger segment which are rotatably connected in sequence; The robot dexterous hand also includes a third transmission part, a sixth driver and a seventh driver; The third transmission part comprises: a seventh transmission wheel, rotatably arranged around a seventh axis and fixedly connected to the second middle finger segment; A first lasso, one end of which is drivingly connected to the sixth driver and the other end of which is fixedly connected to the seventh transmission wheel; an eighth transmission wheel, rotatably arranged around an eighth axis and fixedly connected to the second distal finger section; The second lasso has one end drivingly connected to the seventh driver and the other end fixedly connected to the eighth transmission wheel.

12. The dexterous robot hand according to claim 11, characterized in that: The third transmission unit further includes: a first restoring member, fixedly connected to the seventh transmission wheel and limitedly matched with the second proximal finger section, and configured to apply a force to the seventh transmission wheel in a direction opposite to the force applied by the first lasso to the seventh transmission wheel; The second reset member is fixedly connected to the eighth transmission wheel and cooperates with the second middle finger segment to apply a force to the eighth transmission wheel in a direction opposite to the force applied by the second lasso to the eighth transmission wheel.

13. The dexterous robot hand according to claim 1, characterized in that: The number of the first transmission part and the number of the first finger assembly are at least two respectively; At least two of the first finger components are arranged in sequence at the front edge of the palm in the plane where the palm is located; At least two of the first transmission parts and at least two of the first finger assemblies are transmission connected in a one-to-one correspondence.

14. The dexterous robot hand according to claim 13, characterized in that: It also includes a fourth transmission part, wherein the fourth transmission part is transmission-connected to at least two of the first finger assemblies; The fourth transmission part is configured to drive at least two of the first finger assemblies to shake within the plane where the palm is located.

15. The dexterous robot hand according to claim 14, characterized in that: The fourth transmission part comprises: a first worm gear rotatably disposed on the palm portion; a third sector gear rotatably disposed on the palm portion and meshing with the first worm; The connecting rod mechanism has an input end pivotally connected to the third sector gear, and at least two output ends pivotally connected to at least two of the first finger assemblies in a one-to-one correspondence.

16. The dexterous robot hand according to claim 1, characterized in that: The first finger assembly comprises a first proximal finger segment, a first middle finger segment and a first distal finger segment which are rotatably connected in sequence; The first transmission part comprises: First Pedestal; a first bevel gear rotatably disposed on the first base around a fourth axis; a third bevel gear, rotatably arranged around the first axis and fixedly connected to the first proximal finger segment, the third bevel gear meshing with the first bevel gear to drive the first proximal finger segment to rotate around the first axis relative to the palm portion; a sixth transmission wheel, fixed on the first base and arranged concentrically with the third bevel gear; a second transmission wheel, rotatably arranged around a fifth axis and fixedly connected to the first middle finger segment; A second flexible transmission member is fixed to the sixth transmission wheel and the second transmission wheel respectively and is in an 8-shape, so that the first middle finger segment rotates relative to the first proximal finger segment around the fifth axis under the drive of the sixth transmission wheel; A third transmission wheel, fixed on the first proximal finger segment and arranged concentrically with the second transmission wheel; a fourth transmission wheel, rotatably arranged around a sixth axis and fixedly connected to the first distal finger section; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape.

17. A robot, characterized in that: Comprising the robotic dexterous hand as claimed in any one of claims 1 to 16.

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