Dexterous hand and robot

Abstract

The invention relates to the technical field of robots, and discloses a dexterous hand and a robotic.The dexterous hand comprises a palm base, a multi-connecting-rod mechanism, at least one connecting frame and at least one first finger assembly, the multi-connecting-rod mechanism is arranged on the palm base, and the first finger assemblies are correspondingly arranged on the connecting frames; the first finger assembly comprises a telescopic driving mechanism, a thumb assembly and a side swing assembly, the palm near end of the thumb assembly is rotatably connected with the side swing assembly around a first axis, the palm far end of the connecting frame is rotatably connected with the side swing assembly around a second axis, and the first axis and the second axis are spatially crossed. The connecting frame is arranged on the multi-connecting-rod mechanism, the telescopic driving mechanism is arranged on the connecting frame, lateral swinging of the thumb assembly can be achieved through cooperation of the telescopic driving mechanism and the lateral swinging assembly, then the dexterous hand with the multi-connecting-rod mechanism can achieve finger lateral swinging movement, the operation flexibility of the dexterous hand is improved, and the application range of the dexterous hand is widened.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a dexterous hand and a robot. Background Art

[0002] In the existing technology, in order to improve the flexibility of dexterous hands, dexterous hands using a spherical five-link metamorphic structure (i.e., a variable structure palm) have emerged. Compared with conventional dexterous hands using a rigid structure palm, this metamorphic structure can change the shape of the palm, thereby making the dexterous hand have higher overall flexibility and adaptability.

[0003] However, the existing dexterous hand with a spherical five-link metamorphic structure does not have the side-swing movement function of the fingers, which limits the flexibility of the dexterous hand during operation, especially when it is necessary to adjust the lateral posture of the fingers or grasp special-shaped objects, resulting in its application scope being greatly restricted. Summary of the Invention

[0004] In view of this, the present application provides a dexterous hand and a robot to solve the problem that the existing dexterous hand with a spherical five-link metamorphic structure cannot achieve side-swing movement of the fingers.

[0005] In a first aspect, the present application provides a dexterous hand, comprising:

[0006] Palm base;

[0007] A multi-link mechanism is provided on the palm base, the multi-link mechanism comprising a plurality of links connected in rotation in sequence, and the multi-link mechanism is provided with at least one connecting frame;

[0008] at least one first finger assembly, each of the first finger assemblies being correspondingly arranged on each of the connecting frames;

[0009] The first finger assembly comprises:

[0010] a telescopic drive mechanism, wherein a proximal palm end of the telescopic drive mechanism is rotatably connected to the proximal palm end of the connecting frame, and a distal palm end of the telescopic drive mechanism is rotatably connected to the distal palm end of the connecting frame;

[0011] A thumb assembly is provided at the distal palm end of the telescopic drive mechanism, wherein the proximal palm end of the thumb assembly is rotatably connected to the distal palm end of the telescopic drive mechanism;

[0012] A side swing assembly, wherein the proximal palm end of the thumb assembly is rotatably connected to the side swing assembly around a first axis, the distal palm end of the connecting frame is rotatably connected to the side swing assembly around a second axis, and the first axis and the second axis intersect in space.

[0013] Beneficial effects: A connecting frame is provided on the multi-link mechanism, and a telescopic drive mechanism is provided on the connecting frame. By cooperating with the side-swing assembly through the telescopic drive mechanism, the thumb assembly can be swung sideways, thereby enabling the dexterous hand with the multi-link mechanism to realize side-swing movement of the fingers, thereby increasing the operational flexibility and application range of the dexterous hand.

[0014] In an optional embodiment, the distal palm end of the telescopic drive mechanism is provided with a connecting member, and the connecting member includes:

[0015] a first connecting seat, disposed at the distal palm end of the telescopic drive mechanism, wherein the first connecting seat is provided with a first ball shaft;

[0016] a first connecting arm and a second connecting arm, wherein the first end of the first connecting arm is rotatably connected to the first ball shaft, the first end of the second connecting arm is hinged to the first connecting seat, and the second end of the second connecting arm is hinged to the distal palm end of the connecting frame;

[0017] The second connecting seat is connected to the proximal palm end of the thumb assembly. A second ball shaft is provided on the second connecting seat. The second end of the first connecting arm is rotatably connected to the second ball shaft.

[0018] Beneficial effects: The two ends of the first connecting arm are rotatably connected to the first ball shaft and the second ball shaft respectively, so that the first connecting arm has spatial universal rotation freedom, and the two ends of the second connecting arm are hinged to the first connecting seat and the connecting frame respectively, so that the multi-link mechanism can drive the first finger assembly to bend, and at the same time, the telescopic drive mechanism drives the thumb assembly to swing through the side swing assembly.

[0019] In an optional embodiment, the first connecting seat includes a first connecting portion and a second connecting portion connected to each other, the first connecting portion is connected to the distal palm end of the telescopic drive mechanism, and the first end of the first ball shaft and the second connecting arm are respectively connected to both sides of the second connecting portion.

[0020] Beneficial Effects: The second connecting portion is connected to the distal palm end of the telescopic drive mechanism via the first connecting portion, and the first ball shaft is separated from the first end of the second connecting arm by the second connecting portion, preventing structural interference between the first and second connecting arms. This arrangement also optimizes the force path of the first connecting seat, ensuring efficient transmission of the output power of the telescopic drive mechanism.

[0021] In an optional embodiment, the side swing assembly includes:

[0022] a first mounting seat connected to the proximal palm end of the thumb assembly;

[0023] a first connector, connected to the first mounting seat so as to be rotatable about the first axis;

[0024] The second connecting head is rotatably connected to the first connecting head around the second axis, and the second connecting head is connected to the distal palm end of the connecting frame.

[0025] Beneficial effects: The first connecting head is rotatably connected to the first mounting seat around the first axis, thereby realizing independent rotation of the thumb assembly around the first axis, providing freedom for bending movement of the thumb assembly; the second connecting head is rotatably connected to the first connecting head around the second axis, providing freedom for lateral swing movement of the thumb assembly; through the spatial cross arrangement of the first axis and the second axis, interference between bending movement and lateral swing movement is avoided, thereby further improving the adaptability of the dexterous hand to grasping objects in different postures.

[0026] In an optional embodiment, the multi-link mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link that are sequentially connected end to end and can rotate relative to each other, and the connecting frame is provided on the second link and / or the third link;

[0027] The first connecting rod is connected to the palm base, and a first rotating driving member and a second rotating driving member are provided on the palm base. The output end of the first rotating driving member is connected to the connection between the first connecting rod and the second connecting rod, and the output end of the second rotating driving member is connected to the end of the fifth connecting rod away from the fourth connecting rod.

[0028] Beneficial effects: The first link, the second link, the third link, the fourth link and the fifth link form a closed motion chain, and multi-degree-of-freedom motion transmission is realized through the relative rotation of each link. The output end of the first rotary drive member is connected to the intersection of the first link and the second link, so that the first rotary drive member and the second link are linked, and the output end of the second rotary drive member is connected to the end of the fifth link. The fifth link is independently driven by the second rotary drive member to form a regional drive design, thereby decoupling the front and rear sections of the multi-link mechanism and expanding the overall motion range of the dexterous hand.

[0029] In an optional embodiment, the thumb assembly includes at least three knuckles, the at least three knuckles including a first knuckle, a second knuckle, and a third knuckle arranged in sequence in a direction away from the palm base, and a proximal palm end of the first knuckle is rotatably connected to a distal palm end of the telescopic drive mechanism and a distal palm end of the connecting frame;

[0030] Wherein, a first joint driving component is provided between the first finger joint and the second finger joint;

[0031] And / or, a first joint driving component is provided between the second knuckle and the third knuckle.

[0032] Beneficial effect: The thumb assembly is configured as three knuckles arranged in sequence, and independent first joint driving parts are provided between adjacent knuckles to form a multi-level independently controllable joint structure, so that the thumb assembly can bend and stretch in segments to adapt to the grasping needs of objects of different shapes.

[0033] In an optional embodiment, the first joint driving component includes:

[0034] A first support seat is provided at the distal palm end of one of the knuckles, a first driver is provided on the first support seat, and an output end of the first driver is connected to a first bevel gear;

[0035] The second support seat is arranged at the palm-proximal end of the other knuckle, and a first rotating rod is passed through the second support seat. Both ends of the first rotating rod are passed through the first support seat, and the first rotating rod is rotatably connected to the first support seat. A second bevel gear is provided on the first rotating rod, and the second bevel gear is engaged with the first bevel gear.

[0036] Beneficial effects: The first joint driving member adopts a transmission mode of cooperation between a bevel gear and a first rotating rod, which can realize the conversion of power direction in a limited space, making the overall structure of the thumb assembly compact and having high transmission accuracy and stability.

[0037] In an optional embodiment, two telescopic drive mechanisms are provided, and the two telescopic drive mechanisms are arranged side by side and driven independently of each other.

[0038] Beneficial effects: Two telescopic drive mechanisms are arranged side by side, and both telescopic drive mechanisms are connected to the connecting frame and the thumb assembly, thereby improving the support effect of the thumb assembly, and the two telescopic drive mechanisms cooperate to improve the stability of the thumb assembly during the side swing movement.

[0039] In an optional embodiment, a second finger assembly is further included, the second finger assembly serving as the thumb of the dexterous hand, the second finger assembly including a fourth knuckle and a fifth knuckle sequentially arranged in a direction away from the palm base;

[0040] Wherein, a second joint driving component is provided between the fourth finger joint and the fourth connecting rod, and the palm-proximal end of the second joint driving component is connected to the fourth connecting rod;

[0041] And / or, a second joint driving component is provided between the fourth knuckle and the fifth knuckle.

[0042] Beneficial effect: The second finger assembly is connected to the fourth connecting rod, and the movement of the fourth connecting rod is used to transmit the driving force, so that the second finger assembly cooperates with the first finger assembly, ensuring the movement coordination of the thumb and other parts of the dexterous hand, thereby further improving the dexterous hand's adaptability to grasping objects in different postures.

[0043] In a second aspect, the present application provides a robot comprising at least one dexterous hand as described above.

[0044] Beneficial effects: The robot has the above-mentioned dexterous hand, and the dexterous hand has a multi-link mechanism, a telescopic drive mechanism and a side-swing component. Through the above structure, the dexterous hand has the palm shape change function, the finger component bending function and the finger component side-swing function, thereby improving the flexibility of the robot during operation and expanding the application range of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 This is a structural diagram of the connection relationship between the multi-link mechanism and the palm base of an embodiment of the present application;

[0047] Figure 2 This is a structural diagram of the connection relationship between the telescopic drive mechanism and the thumb assembly of an embodiment of the present application;

[0048] Figure 3 This is a structural diagram of the connection relationship between the side swing assembly and the thumb assembly of an embodiment of the present application;

[0049] Figure 4 This is a structural diagram of the connection relationship between the side swing assembly and the connecting frame of an embodiment of the present application;

[0050] Figure 5 For the embodiment of this application Figure 4 A partial enlarged view of point A in the middle;

[0051] Figure 6 This is a structural schematic diagram of the connection relationship between the first connecting seat and the first connecting arm of an embodiment of the present application;

[0052] Figure 7 This is a schematic structural diagram of a thumb assembly according to an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the structure of the second driver according to an embodiment of the present application.

[0054] Description of reference numerals:

[0055] 1. Palm base;

[0056] 2. Multi-link mechanism; 21. First link; 22. Second link; 23. Third link; 24. Fourth link; 25. Fifth link; 26. First rotary drive member; 27. Second rotary drive member;

[0057] 3. Connecting frame;

[0058] 4. First finger assembly;

[0059] 41. Telescopic drive mechanism; 411. Fixed portion; 412. Movable portion;

[0060] 42. Thumb assembly; 421. First knuckle; 422. Second knuckle; 423. Third knuckle; 424. First joint driver; 4241. First support base; 4242. First driver; 4243. First bevel gear; 4244. Second support base; 4245. First rotating rod; 4246. Second bevel gear;

[0061] 43, side swing assembly; 431, first mounting seat; 432, first connector; 433, second connector; 43a, first axis; 43b, second axis;

[0062] 44. Connecting member; 441. First connecting seat; 4411. First connecting portion; 4412. Second connecting portion; 442. First ball shaft; 443. First connecting arm; 444. Second connecting arm; 445. Second connecting seat; 446. Second ball shaft;

[0063] 5. Second finger assembly; 51. Fourth finger joint; 52. Fifth finger joint; 53. Second joint driving component; 531. First fixing seat; 532. Second fixing seat; 533. Second driver; 534. Third bevel gear; 535. Second rotating rod; 536. Fourth bevel gear. DETAILED DESCRIPTION

[0064] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0065] Please refer to Figures 1-8In a first aspect, embodiments of the present application provide a dexterous hand, comprising a palm base 1, a multi-link mechanism 2, at least one connecting frame 3, and at least one first finger assembly 4. The multi-link mechanism 2 is disposed on the palm base 1 and includes a plurality of connecting rods that are rotatably connected in sequence. The multi-link mechanism 2 is provided with at least one connecting frame 3, and each first finger assembly 4 is correspondingly disposed on each connecting frame 3.

[0066] It is understandable that the palm base 1 serves as an integral support foundation and provides a fixed fulcrum for the multi-link mechanism 2. The multi-link mechanism 2 refers to a variable structure palm composed of multiple links connected in sequence and rotating. In one embodiment, the multi-link mechanism 2 is configured as a spherical five-link mechanism. By changing the relative angles between the links, the palm shape can be adjusted, thereby providing a basis for the movement of the first finger assembly 4. The connecting frame 3 is fixed to the multi-link mechanism 2. The connecting frame 3 can be made of materials such as metal or plastic. The number of first finger assemblies 4 matches the number of connecting frames 3. The first finger assemblies 4 are connected to the connecting frame 3, and the movement of the multi-link mechanism 2 can be transmitted to the first finger assemblies 4 through the connecting frame 3.

[0067] Optionally, refer to Figure 1 、 Figure 2 、 Figure 3 The number of the first finger assemblies 4 is set to four, and the four first finger assemblies 4 are used as the index finger, middle finger, ring finger and little finger of the dexterous hand respectively. Of course, the number of the first finger assemblies 4 can also be adaptively adjusted according to actual needs to meet the needs of different working conditions.

[0068] Reference Figure 1 、 Figure 2 、 Figure 3 The above-mentioned first finger assembly 4 includes a telescopic drive mechanism 41, a thumb assembly 42 and a side swing assembly 43, wherein the proximal palm end of the telescopic drive mechanism 41 is rotatably connected to the proximal palm end of the connecting frame 3, the distal palm end of the telescopic drive mechanism 41 is rotatably connected to the distal palm end of the connecting frame 3, the thumb assembly 42 is arranged at the distal palm end of the telescopic drive mechanism 41, the proximal palm end of the thumb assembly 42 is rotatably connected to the distal palm end of the telescopic drive mechanism 41, the proximal palm end of the thumb assembly 42 is rotatably connected to the side swing assembly 43 around a first axis 43a, the distal palm end of the connecting frame 3 is rotatably connected to the side swing assembly 43 around a second axis 43b, and the first axis 43a and the second axis 43b intersect in space.

[0069] In this embodiment, the proximal palm end and the distal palm end of the telescopic drive mechanism 41 are rotatably connected to the proximal palm end and the distal palm end of the connecting frame 3 respectively. The telescopic drive mechanism 41 is configured as a linear transmission device, so that the telescopic drive mechanism 41 cooperates with the connecting frame 3 to form a four-bar linkage mechanism. During the extension and retraction process of the telescopic drive mechanism 41, the four-bar linkage mechanism can maintain the posture stability of the thumb assembly 42.

[0070] A thumb assembly 42 is provided at the distal palm end of the telescopic drive mechanism 41. The thumb assembly 42 serves as a bionic finger structure for performing a grasping action at the end. The proximal palm end of the thumb assembly 42 and the distal palm end of the telescopic drive mechanism 41 form a revolute pair, thereby providing the thumb assembly 42 with pitch freedom, enabling the thumb assembly 42 to perform bending movement.

[0071] Optionally, refer to Figure 6 The telescopic drive mechanism 41 can be an electric push rod or a pneumatic telescopic rod. In a specific embodiment, the telescopic drive mechanism 41 includes a fixed portion 411 and a movable portion 412 mounted on the fixed portion 411. The fixed portion 411 and the movable portion 412 have ends that are separated from each other, and one end is set as the proximal end of the telescopic drive mechanism 41, and the other end is set as the distal end of the telescopic drive mechanism 41. The following example uses the example in which the end of the fixed portion 411 is set as the proximal end of the telescopic drive mechanism 41 and the end of the movable portion 412 is set as the distal end of the telescopic drive mechanism 41.

[0072] In this embodiment, the side-swing assembly 43 connects the thumb assembly 42 and the connecting frame 3. This assembly can utilize a cross-axis universal joint structure, with a first axis 43a and a second axis 43b arranged in space to intersect, enabling the thumb assembly 42 to rotate about axes in different directions. When the telescopic drive mechanism 41 extends or contracts, the presence of the side-swing assembly 43 enables the thumb assembly 42 to simultaneously rotate about the first axis 43a and the second axis 43b, thereby enabling the first finger assembly 4 to perform a side-swing function. This, in turn, enables the dexterous hand with the multi-link mechanism 2 to achieve side-swing motion of the fingers, improving the adaptability and operational flexibility of grasping unusually shaped objects.

[0073] In one embodiment, referring to Figure 4 、 Figure 6 The distal palm end of the telescopic drive mechanism 41 is provided with a connecting member 44, which includes a first connecting seat 441, a first ball shaft 442, a first connecting arm 443, a second connecting arm 444, a second connecting seat 445, and a second ball shaft 446. The first connecting seat 441 is provided at the distal palm end of the telescopic drive mechanism 41, and the first ball shaft 442 is provided on the first connecting seat 441. The first end of the first connecting arm 443 is rotatably connected to the first ball shaft 442. The first end of the second connecting arm 444 is hinged to the first connecting seat 441, and the second end of the second connecting arm 444 is hinged to the distal palm end of the connecting frame 3. The second connecting seat 445 is connected to the proximal palm end of the thumb assembly 42. The second connecting seat 445 is provided with a second ball shaft 446, and the second end of the first connecting arm 443 is rotatably connected to the second ball shaft 446.

[0074] In this embodiment, a first connecting seat 441 is fixedly connected to the movable portion 412 of the telescopic drive mechanism 41. A first ball shaft 442 is disposed on the first connecting seat 441. A second connecting seat 445 is fixedly connected to the proximal palm end of the thumb assembly 42. A second ball shaft 446 is disposed on the second connecting seat 445. A first and second ends of the first connecting arm 443 are each provided with a ball-and-socket structure. One of the ball-and-socket structures allows the first end of the first connecting arm 443 to enclose the first ball shaft 442, while the other ball-and-socket structure allows the second end of the first connecting arm 443 to enclose the second ball shaft 446. The ends of the second connecting arm 444 are hingedly connected to the movable portion 412 and the distal palm end of the connecting frame 3, respectively. The second connecting arm 444 is used to constrain the relative displacement between the telescopic drive mechanism 41 and the connecting frame 3.

[0075] Specifically, the first connecting seat 441 forms a ball-and-spindle rotational pair with the first connecting arm 443 via the first ball-and-spindle 442, allowing the first connecting arm 443 to rotate freely in multiple directions, satisfying the spatial motion requirements between the telescopic drive mechanism 41 and the thumb assembly 42. When the telescopic drive mechanism 41 telescopes, the first ball-and-spindle 442 allows the first connecting arm 443 to rotate about the first ball-and-spindle 442, while the second ball-and-spindle 446 compensates for angular deviations during sideways swing of the thumb assembly 42. The ball-and-spindle rotational pair of the first connecting arm 443 and the articulated rotational pair of the second connecting arm 444 form a compound kinematic pair. By providing the connector 44, spatial motion transmission between the telescopic drive mechanism 41, the thumb assembly 42, and the connecting frame 3 can be achieved, ensuring connection stability and motion accuracy.

[0076] Optionally, the first connecting seat 441 , the first connecting arm 443 , the second connecting arm 444 and the second connecting seat 445 may be made of metal or carbon fiber composite materials.

[0077] In one embodiment, referring to Figure 6 The first connecting seat 441 includes a first connecting part 4411 and a second connecting part 4412 connected to each other. The first connecting part 4411 is connected to the distal end of the telescopic driving mechanism 41, and the first end of the first ball shaft 442 and the second connecting arm 444 are respectively connected to both sides of the second connecting part 4412.

[0078] In this embodiment, the first connecting part 4411 and the second connecting part 4412 are arranged perpendicular to each other, and the first ball shaft 442 and the second connecting arm 444 are respectively located on both sides of the second connecting part 4412, so that the first ball shaft 442 and the second connecting arm 444 are separated in space. This not only prevents the swinging planes of the first connecting arm 443 and the second connecting arm 444 from interfering with each other, but also improves the force path of the first connecting seat 441, thereby improving the coordination and stability of the overall movement of the dexterous hand.

[0079] Optionally, the first connecting seat 441 is configured as a U-shaped seat, which includes a first connecting portion 4411 and two second connecting portions 4412 , the first ball shaft 442 is disposed between the two second connecting portions 4412 , and the second connecting arm 444 is disposed outside the two second connecting portions 4412 .

[0080] In one embodiment, referring to Figure 5 The side swing assembly 43 includes a first mounting seat 431, a first connector 432, and a second connector 433. The first mounting seat 431 is connected to the proximal palm end of the thumb assembly 42, the first connector 432 is rotatably connected to the first mounting seat 431 about a first axis 43a, and the second connector 433 is rotatably connected to the first connector 432 about a second axis 43b. The second connector 433 is connected to the distal palm end of the connecting frame 3.

[0081] In this embodiment, the first mounting seat 431 is fixed to the proximal palm end of the thumb assembly 42, and the independent rotation setting of the first connecting head 432 and the second connecting head 433 ensures that the side swing assembly 43 has two independent rotational degrees of freedom, realizing the flexible rotation of the thumb assembly 42 around two spatial intersecting axes while avoiding motion interference, thereby improving the adaptability of the dexterous hand to grasping objects of different postures and shapes.

[0082] Specifically, when the thumb assembly 42 performs a bending motion, the first mounting seat 431 and the first connecting head 432 can rotate around the first axis 43a. When the telescopic drive mechanism 41 drives the thumb assembly 42 to perform a side swing motion, the first mounting seat 431 serves as a basic support structure, transmitting the movement of the thumb assembly 42 to the first connecting head 432, so that the first connecting head 432 can rotate around the second axis 43b.

[0083] In one embodiment, referring to Figure 4 The multi-link mechanism 2 includes a first link 21, a second link 22, a third link 23, a fourth link 24 and a fifth link 25 which are connected end to end and can rotate relative to each other. The connecting frame 3 is arranged on the second link 22 and / or the third link 23; the first link 21 is connected to the palm base 1, and a first rotary driving member 26 and a second rotary driving member 27 are provided on the palm base 1. The output end of the first rotary driving member 26 is connected to the connection between the first link 21 and the second link 22, and the output end of the second rotary driving member 27 is connected to the end of the fifth link 25 away from the fourth link 24.

[0084] In this embodiment, the links are connected by hinges or rotating shafts. When the first rotary drive member 26 is activated, it drives the second link 22 to swing relative to the first link 21. At this time, the third link 23 is pulled by the second link 22 and displaced, causing the third link 23 to follow the movement of the second link 22. When the second rotary drive member 27 is activated, it drives the fifth link 25 to rotate. The fifth link 25 drives the fourth link 24 to displace, and the fourth link 24 drives the third link 23 to displace. Through the cooperation of the first rotary drive member 26 and the second rotary drive member 27, the multi-link mechanism 2 drives the connecting frame 3 to move in space.

[0085] Such an arrangement enables the first link 21, the second link 22, the third link 23, the fourth link 24 and the fifth link 25 to form a closed motion chain, and multi-degree-of-freedom motion transmission is realized through the relative rotation of each link. The output end of the first rotary drive member 26 is connected to the intersection of the first link 21 and the second link 22, so that the first rotary drive member 26 and the second link 22 are linked, and the output end of the second rotary drive member 27 is connected to the end of the fifth link 25, and the fifth link 25 is independently driven by the second rotary drive member 27, forming a regional drive design, thereby decoupling the front and rear section motions of the multi-link mechanism 2 and expanding the overall motion range of the dexterous hand.

[0086] Optionally, the first rotary drive member 26 and the second rotary drive member 27 can be selected from servo motors or stepper motors. The output shaft of the first rotary drive member 26 is directly connected to the connection between the first connecting rod 21 and the second connecting rod 22 through a coupling, and the output shaft of the second rotary drive member 27 is connected to the fifth connecting rod 25 through another coupling.

[0087] In this embodiment, the connecting frame 3 can be installed on the second connecting rod 22 and / or the third connecting rod 23. The installation position and number of the connecting frame 3 can be adjusted according to actual needs. In one embodiment, four first finger assemblies 4 are provided, serving as the index finger, middle finger, ring finger, and pinky finger of the dexterous hand. The first finger assemblies 4 serving as the middle finger, ring finger, and pinky finger of the dexterous hand are installed on the second connecting rod 22, and the first finger assemblies 4 serving as the index finger of the dexterous hand are installed on the third connecting rod 23.

[0088] In one embodiment, referring to Figure 1 、 Figure 2 、 Figure 3 、 Figure 7The thumb assembly 42 includes at least three knuckles, and the at least three knuckles include a first knuckle 421, a second knuckle 422 and a third knuckle 423 arranged in sequence along the direction away from the palm base 1, and the proximal palm end of the first knuckle 421 is rotatably connected to the distal palm end of the telescopic drive mechanism 41 and the distal palm end of the connecting frame 3; wherein a first joint driving component 424 is provided between the first knuckle 421 and the second knuckle 422; and / or, a first joint driving component 424 is provided between the second knuckle 422 and the third knuckle 423.

[0089] In this embodiment, the thumb assembly 42 is composed of multiple independently driven knuckles connected in series, with adjacent knuckles connected by a first joint driver 424. For example, a first joint driver 424 is provided between the first knuckle 421 and the second knuckle 422, and another first joint driver 424 is provided between the second knuckle 422 and the third knuckle 423. Operation of the first joint driver 424 between the first knuckle 421 and the second knuckle 422 drives the second knuckle 422 to bend relative to the first knuckle 421, and operation of the first joint driver 424 between the second knuckle 422 and the third knuckle 423 drives the third knuckle 423 to bend relative to the second knuckle 422. This arrangement allows the bending angle of each knuckle to be independently adjusted. Through the coordinated movement of multiple knuckles, the distal end of the thumb assembly 42 forms a spatial curved trajectory, enabling the grasping of objects with cylindrical, prismatic, or concave-convex surfaces, as well as objects with irregular surfaces.

[0090] Furthermore, a tactile sensor (not shown) can be provided on the third phalanx 423. This tactile sensor, in conjunction with the telescopic drive mechanism 41, the first rotary drive member 26, and the second rotary drive member 27, can enhance the precision of dexterous hand manipulation. Similarly, a tactile sensor can also be provided on the fifth phalanx 52, described below, to further enhance the precision of dexterous hand manipulation.

[0091] In one embodiment, referring to Figure 7 The first joint driving component 424 includes a first support seat 4241, which is arranged at the distal palm end of one of the knuckles, and a first driver 4242 is arranged on the first support seat 4241, and the output end of the first driver 4242 is connected to the first bevel gear 4243, and the second support seat 4244 is arranged at the proximal palm end of the other knuckle, and a first rotating rod 4245 is passed through the second support seat 4244, and both ends of the first rotating rod 4245 are passed through the first support seat 4241, and the first rotating rod 4245 is rotatably connected to the first support seat 4241, and a second bevel gear 4246 is provided on the first rotating rod 4245, and the second bevel gear 4246 is meshed with the first bevel gear 4243.

[0092] In this embodiment, the first support base 4241 is mounted on the distal palm end of the first knuckle 421, and the second support base 4244 is mounted on the proximal palm end of the second knuckle 422. Both the first support base 4241 and the second support base 4244 are configured as U-shaped frames, with the first support base 4241 fixed to the distal palm end of the first knuckle 421, and the second support base 4244 fixed to the proximal palm end of the second knuckle 422. A first rotating rod 4245 extends through the first and second support bases 4241 and 4244, enabling the second support base 4244 to rotate relative to the first support base 4241. The first driver 4242 is coaxially connected to the first bevel gear 4243, which meshes with the second bevel gear 4246. When the first driver 4242 is working, the output shaft of the first driver 4242 drives the first bevel gear 4243 to rotate, and through the meshing action with the second bevel gear 4246, the rotational power is transmitted to the first rotating rod 4245, and the first rotating rod 4245 drives the second support seat 4244 to rotate relative to the first support seat 4241, thereby realizing relative bending movement of adjacent knuckles around the joint axis.

[0093] This arrangement allows for an efficient joint drive structure to be arranged within the limited inter-knuckle space. The bevel gear transmission mechanism enables right-angle power transmission within a small space, improving transmission efficiency. Furthermore, the first rotating rod 4245 extends through and connects the first support base 4241 and the second support base 4244, enhancing the stability and rigidity of the transmission system and reducing backlash and vibration during transmission.

[0094] Furthermore, a receiving cavity is provided in the knuckle, and the first actuator 4242 is disposed in the receiving cavity. In this way, the first knuckle 421 and the second knuckle 422 can respectively accommodate different first actuators 4242, thereby further improving the overall compactness of the thumb assembly 42, reducing the volume of the first finger assembly 4, and improving the flexibility and operational precision of the dexterous hand.

[0095] In one embodiment, referring to Figure 6 There are two telescopic drive mechanisms 41, which are arranged side by side and driven independently of each other.

[0096] In this embodiment, two telescopic drive mechanisms 41 are provided. Their side-by-side arrangement enhances the support stability of the thumb assembly 42, effectively distributing the load at the joint and reducing the risk of mechanism jamming. Furthermore, the two telescopic drive mechanisms 41 are independently driven, allowing each to receive a different control signal. This independent control of the two telescopic drive mechanisms 41 enables lateral swinging motion of the thumb assembly 42. When grasping objects with asymmetrical contours, the two telescopic drive mechanisms 41 can each perform different telescopic movements, allowing the thumb assembly 42 to adjust its posture upon contact with the surface, effectively grasping objects with asymmetrical contours.

[0097] In one embodiment, referring to Figure 8 , and also includes a second finger assembly 5, the second finger assembly 5 serves as the thumb of the dexterous hand, and the second finger assembly 5 includes a fourth finger joint 51 and a fifth finger joint 52 arranged in sequence along the direction away from the palm base 1; wherein, a second joint driving component 53 is provided between the fourth finger joint 51 and the fourth connecting rod 24, and the proximal palm end of the second joint driving component 53 is connected to the fourth connecting rod 24; and / or, a second joint driving component 53 is provided between the fourth finger joint 51 and the fifth finger joint 52.

[0098] In this embodiment, based on the multi-link mechanism 2 and the first finger assembly 4 cooperating to realize the finger movement function, the dexterous hand also includes a second finger assembly 5, which serves as the thumb of the dexterous hand and is used in conjunction with other first finger assemblies 4.

[0099] Specifically, when the multi-link mechanism 2 is in operation, the fourth link 24 swings, and the rotational torque is transmitted to the fourth knuckle 51 via the second joint driver 53. This allows the swing of the fourth link 24 to be directly converted into a flexion and extension movement of the fourth knuckle 51, thereby controlling the fourth knuckle 51. Simultaneously, the second joint driver 53, disposed between the fourth knuckle 51 and the fifth knuckle 52, drives the fifth knuckle 52 to rotate relative to the fourth knuckle 51.

[0100] In a specific embodiment, the structure of the second joint driving member 53 is similar to that of the first joint driving member 424. Figure 8The second joint driver 53 is disposed between the fourth connecting rod 24 and the fourth phalanx 51 as an example for description. The second joint driver 53 includes a first fixing base 531 fixed to the fourth connecting rod 24, and a second fixing base 532 fixed to the palm-proximal end of the fourth phalanx 51. A second driver 533 is disposed on the second fixing base 532, and a third bevel gear 534 is connected to the output end of the second driver 533. A second rotating rod 535 is provided through the first fixing base 531 and the second fixing base 532. A fourth bevel gear 536 is mounted and fixed on the second rotating rod 535, and the third bevel gear 534 meshes with the fourth bevel gear 536. Thus, the second driver 533 drives the second fixing base 532 to rotate relative to the first fixing base 531.

[0101] Furthermore, the second driver 533 is accommodated in the cavity inside the fourth finger joint 51, further improving the overall structural compactness of the second finger assembly 5.

[0102] In a second aspect, the present application provides a robot comprising at least one dexterous hand according to any one of the above items.

[0103] In this embodiment, the robot has the above-mentioned dexterous hand, and the dexterous hand has a multi-link mechanism 2, a telescopic drive mechanism 41 and a side swing component 43. Through the above structure, the dexterous hand has the palm shape change function, the finger component bending function and the finger component side swing function, thereby improving the flexibility of the robot during operation and increasing the application range of the robot.

[0104] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A dexterous hand, characterized in that: include: Palm base (1); A multi-link mechanism (2) is provided on the palm base (1), the multi-link mechanism (2) comprising a plurality of links connected in rotation in sequence, and at least one connecting frame (3) is provided on the multi-link mechanism (2); at least one first finger assembly (4), each first finger assembly (4) being correspondingly arranged on each of the connecting frames (3); The first finger assembly (4) comprises: a telescopic drive mechanism (41), wherein the proximal palm end of the telescopic drive mechanism (41) is rotatably connected to the proximal palm end of the connecting frame (3), and the distal palm end of the telescopic drive mechanism (41) is rotatably connected to the distal palm end of the connecting frame (3); A thumb assembly (42) is provided at the distal palm end of the telescopic drive mechanism (41), wherein the proximal palm end of the thumb assembly (42) is rotatably connected to the distal palm end of the telescopic drive mechanism (41); A side swing assembly (43) is provided, wherein the proximal palm end of the thumb assembly (42) is rotatably connected to the side swing assembly (43) around a first axis (43a), and the distal palm end of the connecting frame (3) is rotatably connected to the side swing assembly (43) around a second axis (43b), and the first axis (43a) and the second axis (43b) intersect in space.

2. The dexterous hand according to claim 1, characterized in that: The distal palm end of the telescopic drive mechanism (41) is provided with a connecting member (44), and the connecting member (44) comprises: A first connecting seat (441) is provided at the distal end of the telescopic drive mechanism (41), and a first ball shaft (442) is provided on the first connecting seat (441); a first connecting arm (443) and a second connecting arm (444), wherein the first end of the first connecting arm (443) is rotatably connected to the first ball shaft (442), the first end of the second connecting arm (444) is hinged to the first connecting seat (441), and the second end of the second connecting arm (444) is hinged to the distal palm end of the connecting frame (3); The second connecting seat (445) is connected to the proximal palm end of the thumb assembly (42). A second ball shaft (446) is provided on the second connecting seat (445). The second end of the first connecting arm (443) is rotatably connected to the second ball shaft (446).

3. The dexterous hand according to claim 2, characterized in that: The first connecting seat (441) includes a first connecting portion (4411) and a second connecting portion (4412) connected to each other, the first connecting portion (4411) is connected to the distal palm end of the telescopic drive mechanism (41), and the first ends of the first ball shaft (442) and the second connecting arm (444) are respectively connected to both sides of the second connecting portion (4412).

4. The dexterous hand according to claim 1, characterized in that: The side swing assembly (43) comprises: A first mounting seat (431) connected to the proximal palm end of the thumb assembly (42); A first connector (432) is rotatably connected to the first mounting seat (431) about the first axis (43a); The second connecting head (433) is rotatably connected to the first connecting head (432) around the second axis (43b), and the second connecting head (433) is connected to the distal palm end of the connecting frame (3).

5. The dexterous hand according to claim 1, characterized in that: The multi-link mechanism (2) comprises a first link (21), a second link (22), a third link (23), a fourth link (24) and a fifth link (25) which are sequentially connected end to end and can rotate relative to each other, and the connecting frame (3) is arranged on the second link (22) and / or the third link (23); The first connecting rod (21) is connected to the palm base (1), and a first rotating driving member (26) and a second rotating driving member (27) are provided on the palm base (1). The output end of the first rotating driving member (26) is connected to the connection between the first connecting rod (21) and the second connecting rod (22), and the output end of the second rotating driving member (27) is connected to the end of the fifth connecting rod (25) away from the fourth connecting rod (24).

6. The dexterous hand according to claim 1, characterized in that: The thumb assembly (42) includes at least three finger joints, and the at least three finger joints include a first finger joint (421), a second finger joint (422), and a third finger joint (423) arranged in sequence in a direction away from the palm base (1), and the proximal palm end of the first finger joint (421) is rotatably connected to the distal palm end of the telescopic drive mechanism (41) and the distal palm end of the connecting frame (3); Wherein, a first joint driving component (424) is provided between the first finger joint (421) and the second finger joint (422); And / or, a first joint driving component (424) is provided between the second finger joint (422) and the third finger joint (423).

7. The dexterous hand according to claim 6, characterized in that: The first joint driving member (424) comprises: A first support seat (4241) is provided at the distal palm end of one of the knuckles, a first driver (4242) is provided on the first support seat (4241), and an output end of the first driver (4242) is connected to a first bevel gear (4243); The second support seat (4244) is arranged at the palm-proximal end of the other knuckle, and a first rotating rod (4245) is passed through the second support seat (4244). Both ends of the first rotating rod (4245) are passed through the first support seat (4241), and the first rotating rod (4245) is rotatably connected to the first support seat (4241). A second bevel gear (4246) is provided on the first rotating rod (4245), and the second bevel gear (4246) is engaged with the first bevel gear (4243).

8. The dexterous hand according to any one of claims 1 to 7, characterized in that: Two telescopic drive mechanisms (41) are provided, and the two telescopic drive mechanisms (41) are arranged side by side and driven independently of each other.

9. The dexterous hand according to claim 5, characterized in that: The invention also includes a second finger assembly (5), the second finger assembly (5) serving as the thumb of the dexterous hand, the second finger assembly (5) including a fourth finger joint (51) and a fifth finger joint (52) sequentially arranged in a direction away from the palm base (1); wherein, A second joint driving member (53) is provided between the fourth finger joint (51) and the fourth connecting rod (24), and a palm-proximal end of the second joint driving member (53) is connected to the fourth connecting rod (24); And / or, a second joint driving component (53) is provided between the fourth finger joint (51) and the fifth finger joint (52).

10. A robot, characterized in that: The method comprises at least one dexterous hand according to any one of claims 1 to 9.

Images