Under-drive-all-drive dual-mode robot multi-fingered dexterous hand

Abstract

The invention discloses an under-drive-all-drive dual-mode robot multi-fingered dexterous hand, and belongs to the technical field of robots. The dexterous hand comprises a palm and a plurality of fingers; each finger is provided with a tendon rope transmission system, a second driving assembly, a third driving assembly, a fourth driving assembly and a fifth driving assembly; each finger comprises a base, a base joint, a near-end knuckle, a middle knuckle and a far-end knuckle which are connected in sequence; the base is fixed on a palm; a two-degree-of-freedom finger base joint and a face gear-based mode switching mechanism are designed, so that the dexterous hand can be allowed to work in a full-drive mode or an under-drive mode, and the control complexity of dual-mode coupling is reduced through a mechanical structure. The double modes of the rigid dexterous hand are proposed and realized for the first time, the humanoid dexterous property of the dexterous hand is ensured, the highly integrated design of the dexterous hand is realized, and the universality of the dexterous hand is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-fingered dexterous hand of an underactuated-full actuated dual-mode robot. Background Art

[0002] Whether it is a robotic arm or a humanoid robot, an end effector is required to interact with the outside world to complete various tasks. Common end effectors include two-finger parallel grippers, welding torches, grinding heads, etc. However, most of these end effectors are designed for specific tasks and cannot complete various complex tasks in different scenarios such as industrial automation, home service, and special tasks.

[0003] The human hand has 21 degrees of freedom, including 5 for the thumb and 4 for each of the four front fingers from the index finger to the little finger. Taking the four front fingers as an example, from near to far, the metacarpophalangeal joint (MCP) has two degrees of freedom of flexion / extension and adduction / abduction, and the proximal interphalangeal joint (PIP) and the distal interphalangeal joint (DIP) each have one degree of freedom of flexion / extension; the numerous degrees of freedom endow the human hand with powerful operating capabilities.

[0004] A dexterous hand is a general-purpose robot end effector designed to imitate the human hand in terms of appearance, structure, and function. Currently, common dexterous hands are either underactuated hands, that is, hands with the number of actuators less than the number of degrees of freedom; or fully actuated hands, that is, hands with the number of actuators equal to the number of degrees of freedom. The advantages of underactuated hands are simple structure and control, shape self-adaptability when grasping objects, and can be made light, small, and low-cost in terms of weight and volume; the disadvantages are weak functionality and difficulty in adapting to complex tasks such as dexterous operation. The advantages of fully actuated hands are powerful functions, and each joint can be actively controlled, and theoretically can imitate all the actions of the human hand; the disadvantages are that they are slightly bulky and large in terms of weight and volume compared to underactuated hands, with complex control and high cost. Underactuated dexterous hands and fully actuated dexterous hands are respectively suitable for different tasks, and there is no clear distinction between advantages and disadvantages; currently, there is no dexterous hand that can incorporate both of these modes, allowing users or robots to autonomously select the working mode according to the task. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-fingered dexterous hand of an underactuated-full actuated dual-mode robot aiming at the deficiencies of the prior art, integrating the underactuated mode and the fully actuated mode on one dexterous hand, thereby improving the task adaptability of the dexterous hand.

[0006] The purpose of the present invention is achieved through the following technical solutions: A multi-fingered dexterous hand of an underactuated-full actuated dual-mode robot includes a palm and a plurality of fingers; each finger is provided with a tendon rope transmission system, a third driving component, a fourth driving component, and a fifth driving component; the finger includes a base, a base joint, a proximal phalanx, an intermediate phalanx, and a distal phalanx, which are connected in sequence; the base is fixed on the palm.

[0007] Between the base joint and the proximal phalanx, between the proximal phalanx and the middle phalanx, and between the middle phalanx and the distal phalanx, they rotate around the MCP joint secondary axis, PIP joint axis, and DIP joint axis in sequence. A face gear clutch assembly is provided at each joint axis; each face gear clutch assembly includes a micro driver, a fork, a movable face gear, and a fixed face gear. The movable face gear and the fixed face gear are both sleeved on the joint axis, and the fork is fixedly connected to the movable face gear; the micro driver drives the fork to move linearly along the axial direction, thereby driving the movable face gear to move linearly along the axial direction, so as to realize the engagement and separation between the movable face gear and the fixed face gear; the fixed face gear on the MCP joint secondary axis is fixed to the proximal phalanx, the fixed face gear on the PIP joint axis is fixed to the middle phalanx, and the fixed face gear on the DIP joint axis is fixed to the distal phalanx;

[0008] When the movable face gear and the fixed face gear are engaged, the third drive assembly, the fourth drive assembly, and the fifth drive assembly are used to drive the respective movable face gears to rotate, thereby driving the fixed face gears to rotate, realizing the bending and stretching movements of the fingers;

[0009] When the movable face gear and the fixed face gear are separated, the bending and stretching movements of the fingers are realized through the tendon rope transmission system.

[0010] Furthermore, the tendon rope transmission system includes a first drive assembly, a first tendon rope pulley, a second tendon rope pulley, a third tendon rope pulley, a fourth tendon rope pulley, a fifth tendon rope pulley, a sixth tendon rope pulley, a seventh tendon rope pulley, a first tendon rope tube, a second tendon rope tube, a third tendon rope tube, and a corner shaft sleeve;

[0011] The first tendon rope pulley is arranged on the base;

[0012] The second tendon rope pulley, the third tendon rope pulley, and the corner shaft sleeve are arranged on the base joint;

[0013] The fourth tendon rope pulley, the fifth tendon rope pulley, and the first tendon rope tube are arranged on the proximal phalanx;

[0014] The sixth tendon rope pulley, the seventh tendon rope pulley, and the second tendon rope tube are arranged on the middle phalanx;

[0015] The third tendon rope tube is arranged on the distal phalanx;

[0016] The distal end of the bending tendon rope is fixed to the distal phalanx, passes through the third tendon rope tube, the second tendon rope tube, and the first tendon rope tube in sequence, then winds around the third tendon rope pulley and is reversed by the corner shaft sleeve, and then winds around the second tendon rope pulley and reaches the first tendon rope pulley;

[0017] The distal end of the extensor tendon is fixed to the distal phalanx, and successively bypasses the seventh tendon pulley, the sixth tendon pulley, the fifth tendon pulley, the fourth tendon pulley, the third tendon pulley and is reversed by the corner bushing, and then reaches the first tendon pulley after passing around the second tendon pulley;

[0018] When the movable face gear and the fixed face gear are separated, the first driving assembly is used to drive the first tendon pulley to rotate, realizing the bending and stretching movements of the finger.

[0019] Further, the first driving assembly includes a first driver, a first bevel gear, a second bevel gear, a first worm, a first worm shaft, a first worm gear and a first worm gear shaft;

[0020] The first driver is fixed on the base and is used to drive the first bevel gear to rotate; the first bevel gear and the second bevel gear are meshed and connected, the second bevel gear is fixedly connected with the first worm, and the first worm and the first worm gear are meshed and connected; the first worm shaft and the first worm gear shaft are both fixed on the base, the first worm is installed on the first worm shaft, and the first worm gear is installed on the first worm gear shaft; the first tendon pulley is fixed on the first worm gear;

[0021] The second tendon pulley and the third tendon pulley are arranged at 90°.

[0022] Further, each finger is also provided with a second driving assembly, and the second driving assembly is used to realize the adduction and abduction movements of the finger;

[0023] The second driving assembly includes a second driver, a third bevel gear, a fourth bevel gear, a second worm, a second worm shaft, a second worm gear, a second worm gear shaft, a rocker and a side swing link;

[0024] The second driver is fixed on the base and is used to drive the third bevel gear to rotate; the third bevel gear and the fourth bevel gear are meshed and connected, the fourth bevel gear is fixedly connected with the second worm, and the second worm and the second worm gear are meshed and connected; the second worm shaft and the second worm gear shaft are both fixed on the base, the second worm is installed on the second worm shaft, and the second worm gear is installed on the second worm gear shaft; the second worm gear is fixedly connected with the rocker, and the rocker is connected with the side swing link;

[0025] The base joint includes an arcuate rod, a side swing rocker, and an MCP joint main shaft;

[0026] The arcuate rod is sleeved on the MCP joint main shaft; the side swing rocker is fixed on the arcuate rod and is connected with the side swing link; the length of the side swing rocker is equal to that of the rocker, and the side swing rocker, the side swing link and the rocker form a parallelogram mechanism;

[0027] An angle sensor is also provided on the main axis of the MCP joint, which is used to measure the angle of rotation of the bow-shaped rod around the main axis of the MCP joint.

[0028] Further, the third driving assembly includes a third driver, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, an eighth bevel gear, a third worm, a third worm shaft, a third worm gear, a third worm gear shaft, a first idler gear, and a flange cylindrical gear;

[0029] The third driver is fixed on the base and is used to drive the fifth bevel gear to rotate; the fifth bevel gear and the sixth bevel gear are meshed and connected, the sixth bevel gear is fixedly connected to the third worm, and the third worm and the third worm gear are meshed and connected; the third worm shaft and the third worm gear shaft are both fixed on the base, the third worm is installed on the worm shaft, and the third worm gear is installed on the worm gear shaft; the third worm gear is fixedly connected to the flange cylindrical gear, and the first idler gear and the flange cylindrical gear are meshed and connected; the seventh bevel gear includes a bevel gear part and a cylindrical gear part, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated, the first idler gear is meshed with the cylindrical gear of the seventh bevel gear, and the bevel gear of the seventh bevel gear is meshed with the eighth bevel gear; the eighth bevel gear is connected to the movable surface gear on the MCP joint secondary axis by a key.

[0030] Further, the fourth driving assembly includes a fourth driver, a first gear, a second idler gear, a first small bevel gear, a first large bevel gear, a fourth worm, a fourth worm gear, and a fourth worm shaft;

[0031] The fourth driver is fixed on the proximal phalanx and is used to drive the first gear to rotate; the first gear and the second idler gear are meshed and connected; the first small bevel gear includes a bevel gear part and a cylindrical gear part, its cylindrical gear part is meshed with the second idler gear, its bevel gear part is meshed with the first large bevel gear, and its bevel gear part and cylindrical gear part are fixedly connected or integrated; the first large bevel gear is fixedly connected to the fourth worm, and the fourth worm and the fourth worm gear are meshed and connected; the fourth worm shaft and the fourth worm gear shaft are both fixed on the proximal phalanx, the fourth worm is installed on the fourth worm shaft, and the fourth worm gear is installed on the fourth worm gear shaft; the fourth worm gear is connected to the movable surface gear on the PIP joint axis by a key.

[0032] Further, the fifth driving assembly includes a fifth driver, a second gear, a third idler gear, a second small bevel gear, a second large bevel gear, a fifth worm, a fifth worm gear, and a fifth worm shaft;

[0033] The fifth driver is fixed on the middle phalanx and is used to drive the second gear to rotate; the second gear is meshed with the third idler gear; the second small bevel gear includes a bevel gear part and a cylindrical gear part, the cylindrical gear part of which is meshed with the third idler gear, the bevel gear part of which is meshed with the second large bevel gear, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; the second large bevel gear is fixedly connected with the fifth worm, and the fifth worm is meshed with the fifth worm gear; both the fifth worm shaft and the fifth worm gear shaft are fixed on the middle phalanx, the fifth worm is installed on the fifth worm shaft, and the fifth worm gear is installed on the fifth worm gear shaft; the fifth worm gear is connected with the movable surface gear on the DIP joint shaft by a key.

[0034] Further, angle sensors are arranged on the MCP joint secondary shaft, the PIP joint shaft and the DIP joint shaft for measuring the bending angles at each joint of the finger.

[0035] Further, the movable surface gear is sleeved on the joint shaft, and further includes: ball bushings are arranged on the MCP joint secondary shaft, the PIP joint shaft and the DIP joint shaft; the movable surface gear is sleeved on the ball bushings.

[0036] Further, the distal phalanx is provided with a fingertip force sensor for sensing the magnitude of the grasping force of the dexterous hand.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1. Integrate the underactuated mode and the fully actuated mode on one dexterous hand, thereby improving the task adaptability of the dexterous hand.

[0039] 2. Design a novel two-degree-of-freedom finger base joint, and arrange the driver away from the joint through bevel gear pairs, idler gears and parallelogram mechanisms; the second tendon pulley and the third tendon pulley are arranged at 90° on the base joint and are respectively installed on the MCP joint main shaft and the MCP joint secondary shaft, which can reduce the complexity of dual-mode motion coupling.

[0040] 3. Design a face gear clutch assembly, which can be flexibly switched between the underactuated mode and the fully actuated mode. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a schematic diagram of the whole dexterous hand.

[0043] Figure 2 This is a schematic diagram of the degrees of freedom of the dexterous hand's movement.

[0044] Figure 3 This is a schematic diagram of a single finger of the dexterous hand.

[0045] Figure 4 This is a schematic diagram of the palm part of the dexterous hand.

[0046] Figure 5 This is a schematic diagram of the base of a single finger of the dexterous hand.

[0047] Figure 6 This is a schematic diagram of the base joint part of a single finger of the dexterous hand.

[0048] Figure 7 This is a schematic diagram of the proximal phalanx part of a single finger of the dexterous hand.

[0049] Figure 8 This is a schematic diagram of the middle phalanx part of a single finger of the dexterous hand.

[0050] Figure 9 This is a schematic diagram of the distal phalanx part of a single finger of the dexterous hand.

[0051] Figure 10 This is a schematic diagram for explaining the working principle of the under-actuated mode of the dexterous hand.

[0052] Figure 11 This is a schematic diagram for explaining the working principle of the fully-actuated mode of the dexterous hand.

[0053] Figure 12 This is a schematic diagram for explaining the working principle of the face gear clutch mechanism of the dexterous hand.

[0054] Figure 13 This is a schematic diagram for explaining the advantages of the base joint of the finger of the dexterous hand. Specific implementation manners

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. It should be understood that the specific description of the implementation manners is only used to teach those skilled in the art how to implement the present invention, rather than to exhaust all feasible manners of the present invention, let alone to limit the specific implementation scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0056] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0057] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a bolt connection, a glue connection, or a rivet connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The present invention provides an underactuated - fully actuated dual - mode robot multi - finger dexterous hand. Referring to Figures 1 to 3 , the dexterous hand includes a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, and a palm 5. The thumb 1, index finger 2, middle finger 3, and ring finger 4 are completely the same in structure. Therefore, only the thumb 1 is selected for description in the present invention. This embodiment takes four fingers as an example and is not restrictive. Those skilled in the art can also design dexterous hands with three fingers, five fingers, or other numbers of fingers.

[0059] The thumb 1 includes a base 11, a finger base joint 12, a proximal phalanx 13, an intermediate phalanx 14, and a distal phalanx 15.

[0060] Referring to Figure 2 , each finger has 4 degrees of freedom, including: two rotational degrees of freedom where the axes of the finger base joint 12 intersect; one rotational degree of freedom at the PIP joint where the proximal phalanx 13 and the intermediate phalanx 14 are connected; one rotational degree of freedom at the DIP joint where the intermediate phalanx 14 and the distal phalanx 15 are connected. The whole hand has a total of 16 degrees of freedom, which is 4×4. Figure 2 The curved arrow marked with a "+" in

[0061] The tendon rope drive system includes a first drive assembly 113, a first tendon rope pulley 1138, a second tendon rope pulley 1232, a third tendon rope pulley 1231, a fourth tendon rope pulley 137, a fifth tendon rope pulley 136, a sixth tendon rope pulley 146, a seventh tendon rope pulley 145, a first tendon rope tube 139, a second tendon rope tube 148, a third tendon rope tube 154, and a corner shaft sleeve 1233;

[0062] The first tendon rope pulley 1138 is arranged on the base 11;

[0063] The second tendon rope pulley 1232, the third tendon rope pulley 1231, and the corner shaft sleeve 1233 are arranged on the base joint 12;

[0064] The fourth tendon rope pulley 137, the fifth tendon rope pulley 136, and the first tendon rope tube 139 are arranged on the proximal phalanx 13;

[0065] The sixth tendon rope pulley 146, the seventh tendon rope pulley 145, and the second tendon rope tube 148 are arranged on the middle phalanx 14;

[0066] The third tendon rope tube 154 is arranged on the distal phalanx 15;

[0067] The distal end of the bending tendon rope B is fixed on the distal phalanx 15, passes through the third tendon rope tube 154, the second tendon rope tube 148, and the first tendon rope tube 139 in sequence, then winds around the third tendon rope pulley 1231 and is reversed by the corner shaft sleeve 1233, and then winds around the second tendon rope pulley 1232 and then reaches the first tendon rope pulley 1138;

[0068] The distal end of the extension tendon rope E is fixed on the distal phalanx 15, winds around the seventh tendon rope pulley 145, the sixth tendon rope pulley 146, the fifth tendon rope pulley 136, the fourth tendon rope pulley 137, and the third tendon rope pulley 1231 in sequence and is reversed by the corner shaft sleeve 1233, and then winds around the second tendon rope pulley 1232 and then reaches the first tendon rope pulley 1238;

[0069] When the movable face gear and the fixed face gear are separated, the first drive assembly 113 is used to drive the first tendon rope pulley 1138 to rotate, so as to realize the bending and extension movements of the finger.

[0070] In one embodiment, referring to Figure 3 、 Figure 5 , the base 11 includes a front plate 111, a back plate 112, a first drive assembly 113, a second drive assembly 114, and a third drive assembly 115.

[0071] The front plate 111 and the back plate 112 are connected.

[0072] In one embodiment, the first driving assembly 113 includes a first driver 1131, a first bevel gear 1132, a second bevel gear 1133, a first worm 1134, a first worm shaft 1135, a first worm gear 1136, and a first worm gear shaft 1137.

[0073] The first driver 1131 is fixed on the front plate 111.

[0074] According to an embodiment of the present invention, the first driver 1131 may be an external rotor brushless DC motor.

[0075] The first bevel gear 1132 is fixed on the external rotor of the first driver 1131 and rotates together with the first driver 1131.

[0076] The second bevel gear 1133 meshes with the first bevel gear 1132 for a 90° transmission. The second bevel gear 1133 is fixedly connected to the first worm 1134, and the first worm 1134 rotates together with the second bevel gear 1133.

[0077] The first worm 1134 is mounted on the first worm shaft 1135.

[0078] The first worm gear 1136 is mounted on the first worm gear shaft 1137. The first worm gear 1136 meshes with the first worm 1134 to form a worm and worm gear pair, which has the effect of force amplification. The torque output by the first driver 1131 is finally transmitted to the first worm gear 1136 for amplified output.

[0079] The first tendon pulley 1138 is fixed on the first worm gear 1136 and rotates together with the first worm gear 1136.

[0080] The first worm shaft 1135 and the first worm gear shaft 1137 are mounted on the back plate 112.

[0081] In one embodiment, the second driving assembly 114 includes a second driver 1141, a third bevel gear 1142, a fourth bevel gear 1143, a second worm 1144, a second worm shaft 1145, a second worm gear 1146, a second worm gear shaft 1147, a rocker 1148, and a side swing link 1149.

[0082] The second driver 1141 is fixed on the front plate 111.

[0083] According to an embodiment of the present invention, the second driver 1141 may be an external rotor brushless DC motor.

[0084] The third bevel gear 1142 is fixed on the external rotor of the second driver 1141 and rotates together with the second driver 1141.

[0085] The fourth bevel gear 1143 meshes with the third bevel gear 1142 and transmits power at a 90° angle.

[0086] The second worm 1144 is mounted on the second worm shaft 1145 and fixed to the fourth bevel gear 1143, rotating together with the fourth bevel gear 1143.

[0087] The second worm 1144 meshes with the second worm gear 1146 to form a worm and worm gear pair, which has the effect of force amplification. The torque output by the second driver 1141 is transmitted to the second worm gear 1146 for amplified output.

[0088] The second worm gear 1146 is connected to the second worm gear shaft 1147.

[0089] The rocker 1148 is fixed to the second worm gear 1146 and rotates together with the second worm gear 1146.

[0090] The side swing link 1149 is connected to the rocker 1148.

[0091] The second worm shaft 1145 and the second worm gear shaft 1147 are mounted on the back plate 112.

[0092] In one embodiment, referring to Figure 5 、 Figure 6 , the third drive assembly 115 includes a third driver 11501, a fifth bevel gear 11502, a sixth bevel gear 11503, a third worm 11504, a third worm shaft 11505, a third worm gear 11506, a third worm gear shaft 11507, a flange spur gear 11508, a first idler gear 11509, a seventh bevel gear 11510, and an eighth bevel gear 11511.

[0093] The third driver 11501 is fixed to the front plate 111.

[0094] According to an embodiment of the present invention, the third driver 11501 can be an outer rotor brushless DC motor.

[0095] The fifth bevel gear 11502 is fixed to the outer rotor of the third driver 11501 and rotates together with the third driver 11501.

[0096] The sixth bevel gear 11503 meshes with the fifth bevel gear 11502 and transmits power at a 90° angle.

[0097] The third worm 11504 is mounted on the third worm shaft 11505 and fixed to the sixth bevel gear 11503, rotating together with the sixth bevel gear 11503.

[0098] The third worm 11504 meshes with the third worm gear 11506 to form a worm and worm gear pair, which has the function of force amplification. The torque output by the third driver 11501 is transmitted to the third worm gear 11506 for amplified output.

[0099] The flange spur gear 11508 is fixed on the third worm gear 11506 and rotates together with the third worm gear 11506. The third worm gear 11506 is connected to the third worm gear shaft 11507.

[0100] The third worm shaft 11505 and the third worm gear shaft 11507 are installed on the back plate 112.

[0101] The first idler gear 11509 is installed on the front plate 111 and the back plate 112. The first idler gear 11509 meshes with the flange spur gear 11508 to form a spur gear drive.

[0102] The seventh bevel gear 11510 includes a bevel gear part and a spur gear part, and the two parts are integrally connected or fixedly connected. The seventh bevel gear 11510 is connected to the MCP joint main shaft 126, and its spur gear part meshes with the first idler gear 11509 to form a spur gear pair.

[0103] The eighth bevel gear 11511 is connected to the MCP joint secondary shaft 127 and meshes with the bevel gear part in the seventh bevel gear 111510 for a 90° drive.

[0104] In one embodiment, referring to Figure 6 , the finger base joint 12 includes an arcuate rod 121, a first face gear clutch assembly 122, a third tendon pulley 1231, a second tendon pulley 1232, a corner bushing 1233, a first angle sensor 1241, a second angle sensor 1242, a side swing rocker 125, an MCP joint main shaft 126, and an MCP joint secondary shaft 127.

[0105] Both the MCP joint main shaft 126 and the MCP joint secondary shaft 127 are arranged on the arcuate rod 121 in a "T" shape.

[0106] The arcuate rod 121 is connected to the MCP joint main shaft 126 and can rotate around the MCP joint main shaft 126. This movement is the adduction / abduction movement of the MCP joint of the dexterous hand finger, which can also be called the side swing movement.

[0107] The first face gear clutch assembly 122 includes a first micro driver 1221, a first fork 1222, a first movable face gear 1223, a first fixed face gear 1224, and a first ball bushing 1225.

[0108] The eighth bevel gear 11511 is provided with a spline groove.

[0109] The first movable face gear 1223 is provided with a spline shaft, and the outer wall of the spline shaft is connected to the eighth bevel gear 11511, and can rotate together with the eighth bevel gear 11511, but can also move linearly along the direction of the MCP joint pair shaft 127. The inner wall of the first movable face gear 1223 is connected to the first ball bushing 1225, and the first ball bushing 1225 can reduce the frictional force received when the first movable face gear 1223 moves linearly.

[0110] The first ball bushing 1225 is connected to the MCP joint pair shaft 127.

[0111] The first fixed face gear 1224 is fixed on the gantry rod 131 and is connected to the MCP joint pair shaft 127. When the first fixed face gear 1224 rotates around the MCP joint pair shaft 127, the gantry rod 131 also rotates around the MCP joint pair shaft 127, and this movement is the bending / extension movement of the finger MCP joint.

[0112] The first micro driver 1221 is fixed on the bow-shaped rod 121. According to an embodiment of the present invention, the first micro driver 1221 can be a micro slide table stepping motor.

[0113] The first fork 1222 is fixed on the first micro driver 1221 and can move linearly back and forth along the lead screw shaft of the first micro driver 1221 together with the slide table of the first micro driver 1221.

[0114] The first fork 1222 is connected to the first movable face gear 1223, and the reciprocating linear movement of the first fork 1222 can drive the first movable face gear 1223 to move linearly back and forth on the MCP joint pair shaft 127. It can be understood that the first movable face gear 1223 can be separated from or engaged with the first fixed face gear 1224. Further, the fork, the face gear and the micro driver can be regarded as a micro clutch.

[0115] The first angle sensor 1241 is connected to the MCP joint pair shaft 127 and can indicate the angle of rotation of the gantry rod 131 around the MCP joint pair shaft 127, that is, the angle of bending / extension of the finger MCP joint.

[0116] The second angle sensor 1242 is connected to the MCP joint main shaft 126 and can indicate the angle of rotation of the bow-shaped rod 121 around the MCP joint main shaft 126, that is, the angle of adduction / abduction of the finger MCP joint.

[0117] The third tendon rope pulley 1231 is connected to the MCP joint pair shaft 127.

[0118] The corner shaft sleeve 1233 is installed on the bow-shaped rod 121 and can rotate about its axis. It can be understood that the corner shaft sleeve 1233 can be regarded as a micro fixed pulley to realize the change of the movement direction of the tendon rope.

[0119] The second tendon rope pulley 1232 is connected to the MCP joint main shaft 126 and is paired with the first tendon rope pulley 1138. It can be understood that the tendon rope starts from the second tendon rope pulley 1232 and forms a closed loop with the lower first tendon rope pulley 1138.

[0120] The side swing rocker 125 is fixed on the bow-shaped rod 121 and can rotate around the MCP joint main shaft 126 together with the bow-shaped rod 121.

[0121] The side swing rocker 125 is connected to the side swing link 1149; the length of the side swing rocker 125 is equal to that of the rocker 1148, and the side swing rocker 125, the side swing link 1149, and the rocker 1148 form a parallelogram mechanism. During the movement, the side swing rocker 125 and the rocker 1148 are always parallel, and the side swing link 1149 is always parallel to the central connection line of the side swing rocker 125 and the rocker 1148. It can be understood that this parallelogram mechanism can convert the movement of the second driver 1141 into the rotational movement of the bow-shaped rod 121 around the MCP joint main shaft 126, that is, the adduction / abduction movement of the MCP joint.

[0122] In one embodiment, referring to Figure 7 , the proximal phalanx 13 includes a gantry rod 131, a proximal phalanx bone 132, a fourth drive assembly 133, a second face gear clutch assembly 134, a third angle sensor 135, a fifth tendon rope pulley 136, a fourth tendon rope pulley 137, a PIP joint shaft 138, and a first tendon rope tube 139.

[0123] The gantry rod 131 is connected to the bow-shaped rod 121 and can rotate around the MCP joint secondary shaft 127, and this movement is the bending / extension movement of the MCP joint of the dexterous hand finger.

[0124] The proximal phalanx bone 132 is fixed on the gantry rod 131 and can rotate around the MCP joint secondary shaft 127 together with the gantry rod 131.

[0125] In one embodiment, the fourth drive assembly 133 includes a fourth driver 1331, a first gear 1332, a second idler gear 1333, a first small bevel gear 1334, a first large bevel gear 1335, a fourth worm 1336, a fourth worm gear 1337, and a fourth worm shaft 1338.

[0126] The fourth driver 1331 is fixed on the proximal phalanx bone 132.

[0127] According to an embodiment of the present invention, the fourth driver 1331 may be an outer rotor brushless DC motor.

[0128] The first gear 1332 is fixed on the fourth driver 1331 and rotates with the outer rotor to transmit torque.

[0129] The first gear 1332 is meshed with the second idler gear 1333; the first small bevel gear 1334 includes a bevel gear portion and a cylindrical gear portion. Its cylindrical gear portion is meshed with the second idler gear 1333, and its bevel gear portion is meshed with the first large bevel gear 1335. Its bevel gear portion and cylindrical gear portion are fixedly connected or integrated; it can be understood that torque is transmitted to the first large bevel gear 1335 through the second idler gear 1333 and the first small bevel gear 1334.

[0130] The fourth worm 1336 is fixed on the first large bevel gear 1335 and rotates with the first large bevel gear 1335.

[0131] The fourth worm 1336 is connected to the fourth worm shaft 1338 and meshed with the fourth worm gear 1337 to form a worm and worm gear pair.

[0132] It can be understood that torque is transmitted from the first large bevel gear 1335 to the fourth worm gear 1337 through the fourth worm 1336. Due to the high reduction ratio of the worm and worm gear mechanism, the torque output by the fourth worm gear 1337 is amplified compared to the original torque output by the fourth driver 1331.

[0133] The second face gear clutch assembly 134 includes a second micro driver 1341, a second fork 1342, a second movable face gear 1343, a second fixed face gear 1344, and a second ball bushing 1345.

[0134] The second micro driver 1341 is fixed on the proximal phalanx 132.

[0135] According to an embodiment of the present invention, the second micro driver 1341 may be a micro slide table stepping motor.

[0136] The second fork 1342 is fixed on the slide table of the second micro driver 1341 and can reciprocate linearly along the lead screw axis direction with the slide table.

[0137] The second movable face gear 1343 is connected to the second ball bushing 1345 and is also connected to the fourth worm gear 1337. The fourth worm gear 1337 is provided with a spline sliding groove. The second movable face gear 1343 can rotate with the fourth worm gear 1337 and can also reciprocate linearly along the axial direction of the PIP joint shaft 138. The second ball bushing 1345 can reduce the friction when the second movable face gear 1343 makes a linear motion.

[0138] The second ball bushing 1345 is connected to the PIP joint shaft 138.

[0139] The second movable face gear 1343 is connected to the second fork 1342. The second fork 1342 drives the second movable face gear 1343 to make a reciprocating linear motion along the spline sliding groove, so that the second movable face gear 1343 can be engaged with or separated from the second fixed face gear 1344.

[0140] The second fixed face gear 1344 is connected to the PIP joint shaft 138 and fixed on the middle phalanx 141. When the second movable face gear 1343 can be engaged with the second fixed face gear 1344, the rotation of the fourth driver 1331 can achieve the rotation of the middle phalanx 141.

[0141] The third angle sensor 135 and the fifth tendon pulley 136 are connected to the PIP joint shaft 138. The third angle sensor 135 can indicate the angle of rotation of the middle phalanx 141 relative to the proximal phalanx 132, that is, the PIP joint angle.

[0142] The first tendon tube 139 is fixed on the proximal phalanx 132. A tendon is threaded through the tendon tube, and tightening the tendon can achieve finger bending.

[0143] In one embodiment, referring to Figure 8 , the middle finger joint 14 includes a middle phalanx 141, a fifth drive assembly 142, a third face gear clutch assembly 143, a fourth angle sensor 144, a seventh tendon pulley 145, a sixth tendon pulley 146, a DIP joint shaft 147, and a second tendon tube 148.

[0144] The fifth drive assembly 142 includes a fifth driver 1421, a second gear 1422, a third idler gear 1423, a second small bevel gear 1424, a second large bevel gear 1425, a fifth worm 1426, a fifth worm gear 1427, and a fifth worm shaft 1428.

[0145] The fifth driver 1421 is fixed on the middle phalanx 141.

[0146] According to an embodiment of the present invention, the fifth driver 1421 may be an outer rotor brushless DC motor.

[0147] The second gear 1422 is fixed on the fifth driver 1421 and rotates with the outer rotor to transmit torque.

[0148] There is an engagement connection between the second gear 1422 and the third idler gear 1423; the second bevel pinion 1424 includes a bevel gear portion and a cylindrical gear portion, the cylindrical gear portion of which meshes with the third idler gear 1423, the bevel gear portion of which meshes with the large bevel gear, and the bevel gear portion and the cylindrical gear portion are fixedly connected or integrated as a whole; it can be understood that the torque is transmitted to the second large bevel gear 1425 through the third idler gear 1423 and the second bevel pinion 1424. The fifth worm 1426 is fixed on the second large bevel gear 1425 and rotates together with the second large bevel gear 1425.

[0149] The fifth worm 1426 is fixed on the fifth worm shaft 1428.

[0150] It can be understood that the torque is transmitted from the second large bevel gear 1425 to the fifth worm gear 1427 through the fifth worm 1426. Due to the high reduction ratio of the worm and worm gear mechanism, the torque output by the fifth worm gear 1427 is amplified compared with the original torque output by the fifth driver 1421.

[0151] In one embodiment, the third face gear clutch assembly 143 includes a third micro driver 1431, a third fork 1432, a third movable face gear 1433, a third fixed face gear 1434, and a third ball bushing 1435.

[0152] The third micro driver 1431 is fixed on the middle phalanx 141.

[0153] According to an embodiment of the present invention, the third micro driver 1431 can be a micro slide table stepping motor.

[0154] The third fork 1432 is fixed on the slide table of the third micro driver 1431 and can move back and forth linearly along the lead screw axis together with the slide table.

[0155] The third movable face gear 1433 is connected to the DIP joint shaft 147 and is connected to the fifth worm gear 1427. A spline sliding groove is formed on the fifth worm gear 1427, and the third movable face gear 1433 can rotate together with the fifth worm gear 1427.

[0156] The third movable face gear 1433 is connected to the third fork 1432, and the third fork 1432 drives the third movable face gear 1433 to move back and forth linearly along the spline sliding groove, so that the third movable face gear 1433 can mesh with or disengage from the third fixed face gear 1434.

[0157] The third fixed face gear 1434 is connected to the DIP joint shaft 147 and is fixed on the distal phalanx 151 and can move together with the distal phalanx 151.

[0158] The fourth angle sensor 144 is connected to the DIP joint axis 147 and can indicate the angle of rotation of the distal phalanx 151 relative to the middle phalanx 141, that is, the DIP joint angle of the finger.

[0159] Referring to Figure 9 , the distal phalanx 15 includes a distal phalanx 151, a sensor base 152, a fingertip force sensor 153, and a third tendon rope tube 154.

[0160] The distal phalanx 151 is connected to the DIP joint axis 147.

[0161] The fingertip force sensor 153 is fixed on the sensor base 152, and the purpose of setting this fingertip force sensor is to enable the dexterous hand to sense the magnitude of the grasping force.

[0162] Both the sensor base 152 and the third tendon rope tube 154 are fixed on the distal phalanx 151.

[0163] Referring to Figure 1 , Figure 4 , the palm 5 includes a palm U-shaped plate 51, a palm side protection shell 52, a dorsal hand shell 53, a palm side shell 54, and a palm side protection shell 55.

[0164] The thumb 1, index finger 2, middle finger 3, and ring finger 4 are all fixed on the palm U-shaped plate 51.

[0165] The palm side protection shell 52, dorsal hand shell 53, palm side shell 54, and palm side protection shell 55 are all fixedly connected to the palm U-shaped plate 51, and the specific connection method is bonding. The purpose of setting the above-mentioned shells or protection shells is to decorate or protect the circuit board.

[0166] Referring to Figure 10 , according to the first embodiment of the present invention, the dexterous hand works in an underactuated mode. The first micro driver 1221, the second micro driver 1341, and the third micro driver 1431 all move to the left extreme position, and the first fork 1222, the second fork 1342, and the third fork 1432 respectively drive the first movable face gear 1223, the second movable face gear 1343, and the third movable face gear 1433 to perform linear motion, so as to separate from the first fixed face gear 1224, the second fixed face gear 1344, and the third fixed face gear 1434 respectively. In this case, the torques output by the third driver 1151, the fourth driver 1331, and the fifth driver 1421 cannot drive the joints to bend / extend. The distal end of the finger bending tendon rope B is fixed on the distal phalanx 151, and sequentially passes through the third tendon rope tube 154, the second tendon rope tube 148, and the first tendon rope tube 139 to reach the finger base joint 12. At the finger base joint 12, the bending tendon rope B is in Figure 10Wrap around the third tendon pulley 1231 for a quarter turn in the manner shown and reverse the direction through the corner bushing 1233. After the second tendon pulley 1232 wraps around three - quarters of a turn, it reaches the first tendon pulley 1138. The distal end of the extension tendon E is fixed to the distal phalanx 151, and in the Figure 10 manner shown, it successively passes around the seventh tendon pulley 145, the sixth tendon pulley 146, the fifth tendon pulley 136, the fourth tendon pulley 137, and the third tendon pulley 1231 to reach the finger base joint 12. At the finger base joint 12, the extension tendon E wraps around the third tendon pulley 1231 for approximately three - quarters of a turn in the Figure 10 manner shown and reverses the direction through the corner bushing 1233. After the second tendon pulley 1232 wraps around approximately one - quarter of a turn, it reaches the first tendon pulley 1138. At the first tendon pulley 1138, the bending tendon B and the extension tendon E merge (the bending tendon B and the extension tendon E cannot be on the same side of the first tendon pulley 1138). It can be understood that the first actuator 1131 indirectly drives the first tendon pulley 1138 to rotate clockwise or counterclockwise, thereby causing under - actuated bending or extension of the finger.

[0167] Referring to Figure 11 , according to the second embodiment of the present invention, the dexterous hand operates in the full - drive mode. The first micro - actuator 1221, the second micro - actuator 1341, and the third micro - actuator 1431 all move to the right extreme position. The first fork 1222, the second fork 1342, and the third fork 1432 respectively drive the first movable face gear 1223, the second movable face gear 1343, and the third movable face gear 1433 to perform linear motion, thereby meshing with the first fixed face gear 1224, the second fixed face gear 1344, and the third fixed face gear 1434 respectively. In this case, the third actuator 1151, the fourth actuator 1331, and the fifth actuator 1421 can output torque through gears, worms, worm wheels, and face gears to drive the joint to bend / extend.

[0168] Referring to Figure 12, further explain the working principle of the present invention to achieve switching between dual modes. Taking the second face gear clutch assembly 134 as an example, the relative distance between the second fixed face gear 1344 and the fourth worm gear 1337 in the axial direction remains unchanged. Both the second movable face gear 1343 and the second fixed face gear 1344 are distributed with teeth and tooth grooves. Further, the second movable face gear 1343 is distributed with a spline shaft. The fourth worm gear 1337 is provided with a spline groove, which can not only drive the second movable face gear 1343 to rotate, but also allow the second movable face gear 1343 to slide linearly along the groove. The second fork 1342 can be engaged with the flange on the second movable face gear 1343, thereby driving the second movable face gear 1343 to perform reciprocating linear motion in the axial direction. In the full drive mode, the second fork 1342 drives the second movable face gear 1343 to engage with the second fixed face gear 1344, and the torque can be output from the fourth driver 1421, transmitted to the second fixed face gear 1344 through the fourth worm gear 1337, and further drive the joint to move; in the underdrive mode, the second fork 1342 drives the second movable face gear 1343 to separate from the second fixed face gear 1344, and the joint movement is only realized by driving the tendon rope movement by the first driver 1131.

[0169] Refer to Figure 13 , further explain the superiority of the finger base joint of the present invention in terms of dual-mode motion compatibility. To achieve underdrive, it is necessary to have the bending tendon rope B, the extending tendon rope E, the third tendon rope pulley 1231, the corner shaft sleeve 1233, the second tendon rope pulley 1232, and the first tendon rope pulley 1138. Due to the presence of bearings in the tendon rope pulleys, the movement of the joint in the full drive mode will not overly affect the displacement of the tendon ropes. To achieve the movement of two degrees of freedom, namely adduction / abduction and bending / extension, of the finger base joint in the full drive mode, it is necessary to have the second drive assembly 114, the third drive assembly 115, the bow-shaped rod 121, the side swing rocker 125, and the gantry rod 131. Similarly, in the underdrive mode, due to the presence of bearings in each gear, tendon rope pulley, and worm gear, the displacement of the tendon ropes will not overly affect the movement of the gear train. In summary, the finger base joint has superiority in terms of dual-mode motion compatibility, reducing the control complexity.

[0170] The above embodiments are only used to illustrate the design concept and characteristics of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications made according to the principles and design concepts disclosed by the present invention are within the protection scope of the present invention.

Claims

1. An underactuated-fully-actuated dual-mode robot multi-finger dexterous hand, characterized in that: It comprises a palm and several fingers; each finger is provided with a tendon rope transmission system, a third driving assembly, a fourth driving assembly and a fifth driving assembly; the finger comprises a base, a base joint, a proximal knuckle, an intermediate knuckle and a distal knuckle which are connected in sequence; the base is fixed on the palm; The base joint and the proximal knuckle, the proximal knuckle and the middle knuckle, and the middle knuckle and the distal knuckle rotate around the MCP joint secondary shaft, the PIP joint shaft, and the DIP joint shaft in turn, and a face gear clutch assembly is provided at each joint shaft; each face gear clutch assembly includes a micro-driver, a shift fork, a movable face gear and a fixed face gear, and the movable face gear and the fixed face gear are both sleeved on the joint shaft, and the shift fork and the movable face gear are fixedly connected; the micro-driver drives the shift fork to make a linear motion along the axial direction, thereby driving the movable face gear to make a linear motion along the axial direction, thereby realizing the engagement and separation between the movable face gear and the fixed face gear; the fixed face gear on the MCP joint secondary shaft is fixed to the proximal knuckle, the fixed face gear on the PIP joint shaft is fixed to the middle knuckle, and the fixed face gear on the DIP joint shaft is fixed to the distal knuckle; When the movable face gear and the fixed face gear are meshed, the third drive assembly, the fourth drive assembly and the fifth drive assembly are used to drive the corresponding movable face gears to rotate, thereby driving the fixed face gear to rotate, so as to realize the bending and stretching movement of the fingers; When the movable face gear and the fixed face gear are separated, the finger bending and stretching movements are realized through the tendon cable transmission system.

2. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The tendon rope transmission system includes a first driving assembly, a first tendon rope pulley, a second tendon rope pulley, a third tendon rope pulley, a fourth tendon rope pulley, a fifth tendon rope pulley, a sixth tendon rope pulley, a seventh tendon rope pulley, a first tendon rope tube, a second tendon rope tube, a third tendon rope tube and an angle sleeve; The first tendon pulley is arranged on the base; The second tendon rope pulley, the third tendon rope pulley, and the angle sleeve are arranged on the base joint; The fourth tendon pulley, the fifth tendon pulley and the first tendon tube are arranged on the proximal finger joint; The sixth tendon rope pulley, the seventh tendon rope pulley, and the second tendon rope tube are arranged on the middle finger joint; A third tendon tube is disposed on the distal knuckle; The distal end of the bent tendon is fixed on the distal finger joint, passes through the third tendon tube, the second tendon tube, and the first tendon tube in sequence, then goes around the third tendon pulley and changes direction through the angle sleeve, then goes around the second tendon pulley and reaches the first tendon pulley; The distal end of the stretch tendon rope is fixed on the distal finger joint, and passes through the seventh tendon rope pulley, the sixth tendon rope pulley, the fifth tendon rope pulley, the fourth tendon rope pulley, and the third tendon rope pulley in sequence, and changes direction through the angle shaft sleeve, and then passes through the second tendon rope pulley and reaches the first tendon rope pulley; When the movable face gear and the fixed face gear are separated, the first driving assembly is used to drive the first tendon pulley to rotate, thereby realizing the bending and stretching movements of the fingers.

3. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 2, characterized in that: The first drive assembly includes a first driver, a first bevel gear, a second bevel gear, a first worm, a first worm shaft, a first worm wheel, and a first worm wheel shaft; The first driver is fixed on the base and is used to drive the first bevel gear to rotate; the first bevel gear and the second bevel gear are meshed and connected, the second bevel gear is fixedly connected to the first worm, and the first worm and the first worm wheel are meshed and connected; the first worm shaft and the first worm wheel shaft are both fixed on the base, the first worm is mounted on the first worm shaft, and the first worm wheel is mounted on the first worm wheel shaft; the first tendon pulley is fixed on the first worm wheel; The second tendon pulley and the third tendon pulley are arranged at 90 degrees.

4. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: Each finger is also provided with a second drive assembly, which is used to achieve adduction and abduction movements of the finger; The second drive assembly includes a second driver, a third bevel gear, a fourth bevel gear, a second worm, a second worm shaft, a second worm wheel, a second worm wheel shaft, a rocker and a side swing link; The second driver is fixed on the base, and is used to drive the third bevel gear to rotate; the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is fixedly connected with the second worm, and the second worm and the second worm wheel are meshed with each other; the second worm shaft and the second worm wheel shaft are both fixed on the base, the second worm is mounted on the second worm shaft, and the second worm wheel is mounted on the second worm wheel shaft; the second worm wheel is fixedly connected with the rocker, and the rocker is connected with the side swing connecting rod; The base joint includes a bow rod, a side swing rocker, and an MCP joint spindle; The bow-shaped rod is sleeved on the MCP joint main shaft; the side-swing rocker is fixed on the bow-shaped rod and connected to the side-swing connecting rod; the side-swing rocker is equal to the rocker in length, and the side-swing rocker, the side-swing connecting rod and the rocker form a parallelogram mechanism; The MCP joint main shaft is also provided with an angle sensor for measuring the angle at which the bow rod rotates around the MCP joint main shaft.

5. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The third drive assembly includes a third driver, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, an eighth bevel gear, a third worm, a third worm shaft, a third worm wheel, a third worm wheel shaft, a first idler wheel and a flange cylindrical gear; The third driver is fixed on the base, and is used for driving the fifth bevel gear to rotate; the fifth bevel gear and the sixth bevel gear are meshingly connected, the sixth bevel gear is fixedly connected to the third worm, and the third worm and the third worm wheel are meshingly connected; the third worm shaft and the third worm wheel shaft are both fixed on the base, the third worm is mounted on the worm shaft, and the third worm wheel is mounted on the worm wheel shaft; the third worm wheel is fixedly connected to the flange cylindrical gear, and the first idler gear is meshingly connected to the flange cylindrical gear; the seventh bevel gear includes a bevel gear part and a cylindrical gear part, and the bevel gear part and the cylindrical gear part are fixedly connected or connected as one, the first idler gear is meshingly connected to the cylindrical gear part of the seventh bevel gear, and the bevel gear part of the seventh bevel gear is meshingly connected to the eighth bevel gear; The eighth bevel gear is connected to the movable face gear on the MCP joint countershaft via a key.

6. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The fourth drive assembly includes a fourth driver, a first gear, a second idler gear, a first small bevel gear, a first large bevel gear, a fourth worm, a fourth worm wheel, and a fourth worm shaft; The fourth driver is fixed on the proximal finger joint and is used to drive the first gear to rotate; the first gear is meshingly connected with the second idler gear; the first small bevel gear includes a bevel gear part and a cylindrical gear part, the cylindrical gear part is meshing with the second idler gear, the bevel gear part is meshing with the first large bevel gear, and the bevel gear part and the cylindrical gear are fixedly connected or integrated; the first large bevel gear is fixedly connected to the fourth worm, and the fourth worm and the fourth worm wheel are meshingly connected; the fourth worm shaft and the fourth worm wheel shaft are both fixed on the proximal finger joint, the fourth worm is mounted on the fourth worm shaft, and the fourth worm wheel is mounted on the fourth worm wheel shaft; the fourth worm wheel is connected to the movable face gear on the PIP joint shaft by a key.

7. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The fifth drive assembly includes a fifth driver, a second gear, a third idler gear, a second small bevel gear, a second large bevel gear, a fifth worm, a fifth worm wheel, and a fifth worm shaft; The fifth driver is fixed on the middle finger joint and is used to drive the second gear to rotate; the second gear is meshed with the third idler gear; the second small bevel gear includes a bevel gear part and a cylindrical gear part, the cylindrical gear part is meshed with the third idler gear, the bevel gear part is meshed with the second large bevel gear, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; the second large bevel gear is fixedly connected to the fifth worm, and the fifth worm and the fifth worm wheel are meshed; the fifth worm shaft and the fifth worm wheel shaft are both fixed on the middle finger joint, the fifth worm is mounted on the fifth worm shaft, and the fifth worm wheel is mounted on the fifth worm wheel shaft; the fifth worm wheel is connected to the movable face gear on the DIP joint shaft by a key.

8. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The MCP joint secondary axis, the PIP joint axis, and the DIP joint axis are all provided with angle sensors for measuring the bending angles of the various joints of the fingers.

9. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The movable face gear is sleeved on the joint shaft, and also includes: the MCP joint countershaft, the PIP joint shaft, and the DIP joint shaft are provided with ball guide sleeves; the movable face gear is sleeved on the ball guide sleeves.

10. The underactuated-fully-actuated dual-mode robot multi-finger dexterous hand according to claim 1, characterized in that: The distal knuckle is provided with a fingertip force sensor for sensing the magnitude of the grasping force of the dexterous hand.

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