Bionic dexterous hand

Abstract

The utility model relates to the technical field of intelligent robot three fingers deft hand, disclose a bionic deft hand. Among them bionic deft hand includes palm mechanism and sets up in the thumb mechanism and a plurality of finger mechanism of palm mechanism, first drive assembly sets up in palm mechanism, first drive assembly is used for driving second drive assembly rotates around first axis, and first axis is perpendicular to palm mechanism, second drive assembly is used for driving first near finger joint swing movement around second axis, and second axis is perpendicular to first axis, third drive assembly is used for driving first middle finger joint flexion and extension movement, fourth drive assembly is used for driving first far finger joint flexion and extension movement, fifth drive assembly sets up in palm mechanism, and fifth drive assembly is used for driving second near finger joint swing movement around fifth axis, and fifth axis is perpendicular to palm mechanism, sixth drive assembly drives second middle finger joint flexion and extension movement, seventh drive assembly drives second far finger joint flexion and extension movement, has improved the degree of freedom number of bionic deft hand.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot three-finger dexterity hand technology, and in particular to a bionic dexterity hand. Background Technology

[0002] Three-fingered bionic dexterous hands, as key actuation components in the field of robotics, are widely used in various robot application scenarios. However, current designs of three-fingered bionic dexterous hands generally face the bottleneck of insufficient flexibility. Traditional three-fingered structures typically employ a configuration of 6 to 8 degrees of freedom, with each finger equipped with only 2 to 3 actively driven joints, resulting in limited end-effector posture adjustment capabilities.

[0003] Therefore, there is an urgent need for a bionic dexterous hand to solve the aforementioned problems. Utility Model Content

[0004] Based on the above, the purpose of this utility model is to provide a bionic dexterous hand that increases the number of degrees of freedom and flexibility of the bionic dexterous hand, thereby meeting the needs of use.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A bionic dexterous hand includes a palm mechanism and a thumb mechanism and multiple finger mechanisms disposed in the palm mechanism;

[0007] The thumb mechanism includes a first driving component, a second driving component, a first proximal phalanx, a third driving component, a first middle phalanx, a fourth driving component, and a first distal phalanx connected in sequence. The first driving component and the second driving component are disposed within the palm mechanism. The first driving component drives the second driving component to rotate about a first axis, which is perpendicular to the palm mechanism. The second driving component drives the first proximal phalanx to laterally swing about a second axis, which is perpendicular to the first axis. The third driving component drives the first middle phalanx to flex and extend. The fourth driving component drives the first distal phalanx to flex and extend.

[0008] The finger mechanism includes a fifth driving component, a second proximal phalanx, a sixth driving component, a second middle phalanx, a seventh driving component, and a second distal phalanx connected in sequence. The fifth driving component is disposed within the palm mechanism and is used to drive the second proximal phalanx to laterally swing around a fifth axis, which is perpendicular to the palm mechanism. The sixth driving component is used to drive the second middle phalanx to flex and extend. The seventh driving component is used to drive the second distal phalanx to flex and extend.

[0009] As a preferred technical solution for a bionic dexterous hand, the first driving component includes a first driving motor, a first gear, a second gear, and a rotary connector. The rotary connector is rotatably connected to the palm mechanism. The second gear and the second driving component are connected to the rotary connector. The first driving motor and the first gear are located on one side of the second driving component. The first driving motor is driven and connected to the first gear, and the first gear is meshed with the second gear.

[0010] As a preferred technical solution for a bionic dexterous hand, the first driving component further includes a first bearing, a first connector, and an end plate. The first connector is provided with a pressing part and a threaded post. The palm mechanism includes a palm connecting block, which is provided with a threaded hole. The threaded post is threadedly connected to the threaded hole. The pressing part and the palm connecting block clamp the inner ring of the first bearing. The end plate is connected to the rotating connector, and the end plate and the rotating connector clamp the outer ring of the first bearing.

[0011] As a preferred technical solution for a bionic dexterous hand, the second drive assembly includes a second dual-axis motor connected to the rotary connector. The first proximal phalanx includes a first proximal phalanx support. The end of the first proximal phalanx near the second dual-axis motor is provided with a second transmission hole and a second drive hole at intervals. The second dual-axis motor is provided with a second drive shaft extending along the second axis. One end of the second drive shaft is rotatably connected to the second transmission hole, and the other end is drivenly connected to the second drive hole.

[0012] As a preferred technical solution for a bionic dexterous hand, the inner wall of the second drive hole is polygonal, the outer wall shape of the end of the second drive shaft near the second drive hole matches the inner wall shape of the second drive hole, and the end of the second drive shaft is inserted into the second drive hole.

[0013] As a preferred technical solution for a bionic dexterous hand, the second drive assembly further includes a second bearing, a pressure plate, and a fastening screw. The end of the second drive shaft near the second transmission hole is provided with a threaded hole. The pressure plate is provided with a through hole. The fastening screw passes through the through hole and the second bearing and is threadedly connected to the threaded hole. The end faces of the pressure plate and the second drive shaft clamp the inner ring of the second bearing. The outer ring of the second bearing is interference-fitted with the second transmission hole.

[0014] As a preferred technical solution for a bionic dexterous hand, the third drive component includes a third dual-axis motor. The first middle finger joint is provided with a first middle finger support. The third dual-axis motor is disposed within the first middle finger support. The first proximal finger support is provided with a third transmission hole and a third drive hole at intervals at one end near the third dual-axis motor. The third dual-axis motor is provided with a third drive shaft. One end of the third drive shaft is rotatably connected to the third transmission hole, and the other end is drivenly connected to the third drive hole. The centerline of the third drive shaft is a third axis, and the third axis is perpendicular to the second axis.

[0015] As a preferred technical solution for a bionic dexterous hand, the fifth drive component includes a fifth dual-axis motor, the second proximal phalanx includes a second proximal phalanx support, the fifth dual-axis motor is disposed within the palm mechanism, the second transmission member is provided with a fifth transmission hole and a fifth drive hole at a distance from one end near the fifth dual-axis motor, the fifth dual-axis motor is provided with a fifth drive shaft extending along the extension direction of the fifth axis, one end of the fifth drive shaft is rotatably connected to the fifth transmission hole, and the other end is drivenly connected to the fifth drive hole.

[0016] As a preferred technical solution for a bionic dexterous hand, silicone is attached to the side of the first proximal phalanx, the first middle phalanx, the first distal phalanx, the second proximal phalanx, the second middle phalanx, and the second distal phalanx near the palm.

[0017] As a preferred technical solution for a bionic dexterous hand, the bionic dexterous hand further includes a wrist portion connected to the hand mechanism, and the wrist portion is provided with a camera connector for mounting a camera.

[0018] As a preferred technical solution for a bionic dexterous hand, when the finger mechanism and the thumb mechanism are in an extended state, and the thumb mechanism is perpendicular to the finger mechanism (at the 0° position), the second driving component rotates around the first axis in an angle range of -20° to 80°; the first proximal phalanx laterally swings around the second axis in an angle range of 0° to 90°; the first middle phalanx flexes and extends in an angle range of 0° to 90°; the first distal phalanx flexes and extends in an angle range of 0° to 90°; the second proximal phalanx laterally swings around the fifth axis in an angle range of -20° to 20°; the second middle phalanx flexes and extends in an angle range of 0° to 90°; and the second distal phalanx flexes and extends in an angle range of 0° to 90°.

[0019] The beneficial effects of this utility model are as follows:

[0020] This invention provides a bionic dexterous hand. In the thumb mechanism, a first driving component drives a second driving component to rotate around a first axis; the second driving component drives a first proximal phalanx to laterally swing around a second axis; a third driving component drives a first middle phalanx to flex and extend; and a fourth driving component drives a first distal phalanx to flex and extend. Therefore, the thumb mechanism has four degrees of freedom. In the finger mechanism, a fifth driving component drives a second proximal phalanx to laterally swing around a fifth axis; a sixth driving component drives a second middle phalanx to flex and extend; and a seventh driving component drives a second distal phalanx to flex and extend. Therefore, the finger mechanism has three degrees of freedom. When the bionic dexterous hand is a three-finger dexterous hand, there are two finger mechanisms, each with three degrees of freedom, and the thumb mechanism has four degrees of freedom. Therefore, the three-finger dexterous hand has ten degrees of freedom, which increases the number of degrees of freedom and flexibility of the bionic dexterous hand compared to existing technologies, meeting usage requirements. Furthermore, the first drive component, the second drive component, and the fifth drive component are all located within the palm mechanism, reducing the space occupied by the finger and thumb mechanisms and lowering the design difficulty of the finger and thumb mechanisms. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the bionic dexterous hand provided in a specific embodiment of this utility model;

[0023] Figure 2 This is a partial structural schematic diagram of the bionic dexterous hand provided in a specific embodiment of this utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the first driving component provided in a specific embodiment of the present invention;

[0025] Figure 4 This is an exploded view of the thumb mechanism provided in a specific embodiment of this utility model;

[0026] Figure 5 This is an exploded view of the finger mechanism provided in a specific embodiment of this utility model.

[0027] The markings in the image are as follows:

[0028] 1. Hand mechanism; 11. Hand connecting block; 12. Outer shell; 13. Inner shell;

[0029] 2. Thumb mechanism; 21. First drive assembly; 211. First drive motor; 212. First gear; 213. Second gear; 214. Rotary connector; 215. First bearing; 216. First connector; 2161. Pressing part; 2162. Threaded post; 217. End plate; 22. Second drive assembly; 221. Second dual-axis motor; 2211. Second drive shaft; 222. Second bearing; 223. Pressure plate; 224. Fastening screw 23. First proximal phalanx; 231. First proximal phalanx support; 2311. Second transmission hole; 2312. Second drive hole; 2313. Third transmission hole; 2314. Third drive hole; 24. Third drive assembly; 241. Third dual-axis motor; 25. First middle phalanx; 251. First middle phalanx support; 26. Fourth drive assembly; 261. Fourth dual-axis motor; 27. First distal phalanx; 271. First distal phalanx support; 272. First fingertip;

[0030] 3. Finger mechanism; 31. Fifth drive assembly; 311. Fifth dual-axis motor; 32. Second proximal phalanx; 321. Second proximal phalanx support; 33. Sixth drive assembly; 331. Sixth dual-axis motor; 34. Second middle phalanx; 341. Second middle phalanx support; 35. Seventh drive assembly; 351. Seventh dual-axis motor; 36. Second distal phalanx; 361. Second distal phalanx support; 362. Second fingertip;

[0031] 4. Silicone;

[0032] 5. Camera connectors;

[0033] 1a, First axis; 2a, Second axis; 3a, Third axis; 4a, Fourth axis; 5a, Fifth axis; 6a, Sixth axis; 7a, Seventh axis. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0038] like Figure 1 and Figure 2 As shown, this embodiment provides a bionic dexterous hand, which includes a palm mechanism 1, a thumb mechanism 2, and multiple finger mechanisms 3 disposed on the palm mechanism 1. The thumb mechanism 2 includes a first driving component 21, a second driving component 22, a first proximal phalanx 23, a third driving component 24, a first middle phalanx 25, a fourth driving component 26, and a first distal phalanx 27 connected in sequence. The first driving component 21 is disposed within the palm mechanism 1 and is used to drive the second driving component 22 to rotate around a first axis 1a, which is perpendicular to the palm mechanism 1. The second driving component 22 is used to drive the first proximal phalanx 23 to laterally swing around a second axis 2a, which is perpendicular to the second axis 27. The first axis 1a; the third drive assembly 24 is used to drive the flexion and extension movement of the first middle phalanx 25; the fourth drive assembly 26 is used to drive the flexion and extension movement of the first distal phalanx 27; the finger mechanism 3 includes a fifth drive assembly 31, a second proximal phalanx 32, a sixth drive assembly 33, a second middle phalanx 34, a seventh drive assembly 35, and a second distal phalanx 36 connected in sequence. The fifth drive assembly 31 is disposed in the palm mechanism 1 and is used to drive the second proximal phalanx 32 to laterally swing around the fifth axis 5a, which is perpendicular to the palm mechanism 1. The sixth drive assembly 33 is used to drive the flexion and extension movement of the second middle phalanx 34; the seventh drive assembly 35 is used to drive the flexion and extension movement of the second distal phalanx 36.

[0039] In the thumb mechanism 2, the first drive component 21 can drive the second drive component 22 to rotate around the first axis 1a; the second drive component 22 can drive the first proximal phalanx 23 to laterally swing around the second axis 2a; the third drive component 24 can drive the first middle phalanx 25 to flex and extend; and the fourth drive component 26 can drive the first distal phalanx 27 to flex and extend. Therefore, the thumb mechanism 2 has four degrees of freedom. In the finger mechanism 3, the fifth drive component 31 can drive the second proximal phalanx 32 to laterally swing around the fifth axis 5a; the sixth drive component 33 can drive the second middle phalanx 34 to flex and extend; and the seventh drive component 35 can drive the second distal phalanx 36 to flex and extend. Therefore, the finger mechanism 3 has three degrees of freedom. When the bionic dexterous hand is a three-finger dexterous hand, there are two finger mechanisms 3, which simulate the movements of the index and middle fingers respectively. Each finger mechanism 3 has three degrees of freedom, and the thumb mechanism 2 has four degrees of freedom. Therefore, the three-finger dexterous hand has ten degrees of freedom, which increases the number of degrees of freedom compared to existing technologies, improving the dexterity and meeting usage requirements. Furthermore, the first drive component 21, the second drive component 22, and the fifth drive component 31 are all housed within the palm mechanism 1, reducing the space occupied by the finger mechanisms 3 and the thumb mechanism 2, and lowering the design complexity of the finger mechanisms 3 and the thumb mechanism 2. In other embodiments, the finger mechanisms 3 can also be four or six, etc.

[0040] In this embodiment, the palm mechanism 1 includes a palm connecting block 11, an outer shell 12 and an inner shell 13. The outer shell 12 is detachably connected to the inner shell 13 by screws to form a receiving cavity. The inner shell 13 is located on one side of the palm, the outer shell 12 is located on one side of the back of the hand, and the palm connecting block 11 is located inside the receiving cavity.

[0041] In this embodiment, as Figure 2 and Figure 3As shown, the first drive assembly 21 includes a first drive motor 211, a first gear 212, a second gear 213, and a rotary connector 214. The rotary connector 214 is rotatably connected to the palm mechanism 1. The second gear 213 and the second drive assembly 22 are connected to the rotary connector 214. The first drive motor 211 and the first gear 212 are located on one side of the second drive assembly 22. The first drive motor 211 is driven by the first gear 212, and the first gear 212 is meshed with the second gear 213. In this embodiment, the first drive motor 211 and the first gear 212 are positioned on one side of the second drive assembly 22. This provides clearance for the installation of the second drive assembly 22, making full and efficient use of the space in the hand mechanism 1. Furthermore, it reduces the thickness of the hand mechanism 1. When the first drive motor 211 drives the first gear 212 to rotate, it can simultaneously drive the second gear 213, the rotating connector 214, the second drive assembly 22, the first proximal phalanx 23, the third drive assembly 24, the first middle phalanx 25, the fourth drive assembly 26, and the first distal phalanx 27 to rotate around the first axis 1a. In this embodiment, the first drive motor 211 is located on the side of the first gear 212 closest to the hand, and is connected to the inner wall of the inner shell 13 by screws. The second drive assembly 22 is located on the side of the second gear 213 closest to the hand.

[0042] Furthermore, the first drive assembly 21 also includes a first bearing 215, a first connector 216, and an end plate 217. The first connector 216 is provided with a crimping part 2161 and a threaded post 2162. The palm connecting block 11 is provided with a threaded hole. The threaded post 2162 is threadedly connected to the threaded hole. The crimping part 2161 and the palm connecting block 11 clamp the inner ring of the first bearing 215. The end plate 217 is connected to the rotating connector 214. The end plate 217 and the rotating connector 214 clamp the outer ring of the first bearing 215. This realizes that the rotating connector 214 is rotatably connected to the palm mechanism 1 through the first bearing 215, thereby improving the rotational reliability and stability of the rotating connector 214.

[0043] Furthermore, such as Figures 2-4 As shown, the second drive assembly 22 includes a second dual-axis motor 221, which is connected to the rotary connector 214. The first proximal phalanx 23 includes a first proximal phalanx support 231. A second transmission hole 2311 and a second drive hole 2312 are spaced apart at one end of the first proximal phalanx support near the second dual-axis motor 221. The second dual-axis motor 221 has a second drive shaft 2211 extending along the second axis 2a. One end of the second drive shaft 2211 is rotatably connected to the second transmission hole 2311, and the other end is drivenly connected to the second drive hole 2312. When the second dual-axis motor 221 drives the second drive shaft 2211 to rotate, it can drive the thumb mechanism 2 to perform a lateral swinging motion around the second axis 2a.

[0044] Specifically, the inner wall of the second drive hole 2312 is polygonal, and the outer wall shape of the end of the second drive shaft 2211 near the second drive hole 2312 matches the inner wall shape of the second drive hole 2312. The end of the second drive shaft 2211 is inserted into the second drive hole 2312, realizing the drive connection of the second drive shaft 2211 to the second drive hole 2312, and preventing slippage between the second drive shaft 2211 and the second drive hole 2312 when the second drive shaft 2211 rotates.

[0045] Furthermore, the second drive assembly 22 also includes a second bearing 222, a pressure plate 223, and a fastening screw 224. The second drive shaft 2211 has a threaded hole at one end near the second transmission hole 2311, the pressure plate 223 has a through hole, the fastening screw 224 passes through the through hole, the second bearing 222 is threaded into the threaded hole, the pressure plate 223 and the end face of the second drive shaft 2211 clamp the inner ring of the second bearing 222, and the outer ring of the second bearing 222 is interference-fitted with the second transmission hole 2311. This enables the second drive shaft 2211 to be rotatably connected to the second transmission hole 2311 through the second bearing 222. Both ends of the second drive shaft 2211 are supported, which improves the stability of the second dual-axis motor 221 and enables the first proximal finger support 231 to perform lateral swinging motion with high torque.

[0046] More preferably, the third drive assembly 24 includes a third dual-axis motor 241. The first middle finger joint 25 is provided with a first middle finger support 251. The third dual-axis motor 241 is disposed within the first middle finger support 251. The first proximal finger support 231 has a third transmission hole 2313 and a third drive hole 2314 spaced apart at one end near the third dual-axis motor 241. The third dual-axis motor 241 is provided with a third drive shaft. One end of the third drive shaft is rotatably connected to the third transmission hole 2313, and the other end is drivenly connected to the third drive hole 2314. The centerline of the third drive shaft is the third axis 3a, which is perpendicular to the second axis 2a. When the third dual-axis motor 241 drives the third drive shaft to rotate, it can drive the first middle finger joint 25 to perform flexion and extension movements. Furthermore, in this embodiment, no drive mechanism is provided between the second axis 2a and the third axis 3a. Therefore, the distance between the second axis 2a and the third axis 3a is reduced. In this embodiment, the distance between the first axis 1a, the second axis 2a, and the third axis 3a is small, improving the flexibility of the thumb mechanism 2.

[0047] Furthermore, the fourth drive assembly 26 includes a fourth dual-axis motor 261. The first distal phalanx 27 is provided with a first distal phalanx support 271. The fourth dual-axis motor 261 is disposed within the first distal phalanx support 271. The first middle finger support 251 has a fourth transmission hole and a fourth drive hole spaced apart at one end near the fourth dual-axis motor 261. The fourth dual-axis motor 261 is provided with a fourth drive shaft. One end of the fourth drive shaft is rotatably connected to the fourth transmission hole, and the other end is drivenly connected to the fourth drive hole. The centerline of the fourth drive shaft is the fourth axis 4a, which is perpendicular to the second axis 2a. When the fourth dual-axis motor 261 drives the fourth drive shaft to rotate, it can drive the first distal phalanx 27 to perform flexion and extension movements. In this embodiment, the first distal phalanx 27 also includes a first fingertip 272, which is connected to the first distal phalanx support 271 by screws.

[0048] In some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the fifth drive assembly 31 includes a fifth dual-axis motor 311, and the second proximal phalanx 32 includes a second proximal phalanx support 321. The fifth dual-axis motor 311 is disposed within the palm mechanism 1. The second proximal phalanx support 321 has a fifth transmission hole and a fifth drive hole spaced apart at one end near the fifth dual-axis motor 311. The fifth dual-axis motor 311 has a fifth drive shaft extending along the fifth axis 5a. One end of the fifth drive shaft is rotatably connected to the fifth transmission hole, and the other end is drivenly connected to the fifth drive hole. When the fifth dual-axis motor 311 drives the fifth drive shaft to rotate, it can drive the finger mechanism 3 to perform a lateral swinging motion around the fifth axis 5a.

[0049] In some embodiments, the sixth drive assembly 33 includes a sixth dual-axis motor 331, a second middle finger support 341 is provided on the second middle finger joint 34, the sixth dual-axis motor 331 is disposed within the second middle finger support 341, a sixth transmission hole and a sixth drive hole are provided at a distance from one end of the second proximal finger support 321 near the sixth dual-axis motor 331, the sixth dual-axis motor 331 is provided with a sixth drive shaft, one end of the sixth drive shaft is rotatably connected to the sixth transmission hole, and the other end is drivenly connected to the sixth drive hole, the center line of the sixth drive shaft is the sixth axis 6a, and the sixth axis 6a is perpendicular to the fifth axis 5a. When the sixth dual-axis motor 331 drives the sixth drive shaft to rotate, it can drive the second middle finger joint 34 to perform flexion and extension movements. Furthermore, in this embodiment, the second proximal finger support 321 does not have a drive mechanism, thus reducing the distance between the fifth axis 5a and the sixth axis 6a. In this embodiment, the distance between the fifth axis 5a and the sixth axis 6a is small, improving the flexibility of the finger mechanism 3.

[0050] In some embodiments, the seventh drive assembly 35 includes a seventh dual-axis motor 351, a second distal phalanx 36 is provided with a second distal phalanx support 361, the seventh dual-axis motor 351 is disposed within the second distal phalanx support 361, a seventh transmission hole and a seventh drive hole are provided at a distance from one end of the second middle finger support 341 near the seventh dual-axis motor 351, the seventh dual-axis motor 351 is provided with a seventh drive shaft, one end of the seventh drive shaft is rotatably connected to the seventh transmission hole, and the other end is drivenly connected to the seventh drive hole, the center line of the seventh drive shaft is the seventh axis 7a, the seventh axis 7a is perpendicular to the fifth axis 5a and parallel to the sixth axis 6a. When the seventh dual-axis motor 351 drives the seventh drive shaft to rotate, it can drive the second distal phalanx 36 to perform flexion and extension movements. In this embodiment, the second distal phalanx 36 also includes a second fingertip 362, the second fingertip 362 is connected to the second distal phalanx support 361 by screws.

[0051] In this embodiment, the third drive assembly 24, the fourth drive assembly 26, the fifth drive assembly 31, the sixth drive assembly 33, and the seventh drive assembly 35 have the same structure. The structures of the second drive shaft 2211 driven and connected to the second drive hole 2312, the third drive shaft driven and connected to the third drive hole 2314, the fourth drive shaft driven and connected to the fourth drive hole, the fifth drive shaft driven and connected to the fifth drive hole, the sixth drive shaft driven and connected to the sixth drive hole, and the seventh drive shaft driven and connected to the seventh drive hole are all the same. The structures of the second drive shaft 2211 rotatably connected to the second transmission hole 2311, the third drive shaft rotatably connected to the third transmission hole 2313, the fourth drive shaft rotatably connected to the fourth transmission hole, the fifth drive shaft rotatably connected to the fifth transmission hole, the sixth drive shaft rotatably connected to the sixth transmission hole, and the seventh drive shaft rotatably connected to the seventh transmission hole are all the same.

[0052] Preferably, silicone 4 is attached to the side of the first proximal phalanx 23, the first middle phalanx 25, the first distal phalanx 27, the second proximal phalanx 32, the second middle phalanx 34, and the second distal phalanx 36 near the palm. The silicone 4 can increase the friction between the finger mechanism 3 and the thumb mechanism 2 and the object, and can also reduce the wear between the finger mechanism 3 and the thumb mechanism 2 and the object.

[0053] In this embodiment, with the finger mechanism 3 and thumb mechanism 2 of the bionic dexterous hand in an extended state, and the thumb mechanism 2 perpendicular to the finger mechanism 3 (at the 0° position), the second drive component 22 rotates around the first axis 1a in an angle range of -20° to 80°; the first proximal phalanx 23 laterally swings around the second axis 2a in an angle range of 0° to 90°; the first middle phalanx 25 flexes and extends in an angle range of 0° to 90°; the first distal phalanx 27 flexes and extends in an angle range of 0° to 90°; the second proximal phalanx 32 laterally swings around the fifth axis 5a in an angle range of -20° to 20°; the second middle phalanx 34 flexes and extends in an angle range of 0° to 90°; and the second distal phalanx 36 flexes and extends in an angle range of 0° to 90°. Within the above-mentioned rotation or lateral swing angle range of the joints, the bionic dexterous hand has a large grasping range for objects. In this embodiment, the bionic dexterous hand can grasp cylinders with a diameter range of 10mm to 150mm.

[0054] Preferably, the bionic dexterous hand also includes a wrist connected to the hand mechanism 1, and a camera connector 5 is provided on the wrist. The camera connector 5 is used to install a camera, which can record the working state of the bionic dexterous hand.

[0055] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A bionic dexterous hand, characterized in that, It includes a palm mechanism (1) and a thumb mechanism (2) and multiple finger mechanisms (3) disposed in the palm mechanism (1); The thumb mechanism (2) includes a first drive assembly (21), a second drive assembly (22), a first proximal phalanx (23), a third drive assembly (24), a first middle phalanx (25), a fourth drive assembly (26), and a first distal phalanx (27) connected in sequence. The first drive assembly (21) and the second drive assembly (22) are disposed within the palm mechanism (1). The first drive assembly (21) is used to drive the second drive assembly (22) to rotate around a first axis (1a), which is perpendicular to the palm mechanism (1). The second drive assembly (22) is used to drive the first proximal phalanx (23) to laterally swing around a second axis (2a), which is perpendicular to the first axis (1a). The third drive assembly (24) is used to drive the first middle phalanx (25) to flex and extend. The fourth drive assembly (26) is used to drive the first distal phalanx (27) to flex and extend. The finger mechanism (3) includes a fifth drive assembly (31), a second proximal phalanx (32), a sixth drive assembly (33), a second middle phalanx (34), a seventh drive assembly (35), and a second distal phalanx (36) connected in sequence. The fifth drive assembly (31) is disposed within the palm mechanism (1). The fifth drive assembly (31) is used to drive the second proximal phalanx (32) to laterally swing around a fifth axis (5a). The fifth axis (5a) is perpendicular to the palm mechanism (1). The sixth drive assembly (33) is used to drive the second middle phalanx (34) to flex and extend. The seventh drive assembly (35) is used to drive the second distal phalanx (36) to flex and extend.

2. The bionic dexterous hand according to claim 1, characterized in that, The first drive assembly (21) includes a first drive motor (211), a first gear (212), a second gear (213), and a rotary connector (214). The rotary connector (214) is rotatably connected to the palm mechanism (1). The second gear (213) and the second drive assembly (22) are connected to the rotary connector (214). The first drive motor (211) and the first gear (212) are located on one side of the second drive assembly (22). The first drive motor (211) is driven and connected to the first gear (212). The first gear (212) is meshed with the second gear (213).

3. The bionic dexterous hand according to claim 2, characterized in that, The first drive assembly (21) further includes a first bearing (215), a first connector (216), and an end plate (217). The first connector (216) is provided with a crimping part (2161) and a threaded post (2162). The palm mechanism (1) includes a palm connecting block (11). The palm connecting block (11) is provided with a threaded hole. The threaded post (2162) is threaded to the threaded hole. The crimping part (2161) and the palm connecting block (11) clamp the inner ring of the first bearing (215). The end plate (217) is connected to the rotating connector (214). The end plate (217) and the rotating connector (214) clamp the outer ring of the first bearing (215).

4. The bionic dexterous hand according to claim 2, characterized in that, The second drive assembly (22) includes a second dual-axis motor (221), which is connected to the rotary connector (214). The first proximal phalanx (23) includes a first proximal phalanx support (231). The first proximal phalanx support (231) has a second transmission hole (2311) and a second drive hole (2312) spaced apart at one end near the second dual-axis motor (221). The second dual-axis motor (221) is provided with a second drive shaft (2211) extending along the second axis (2a). One end of the second drive shaft (2211) is rotatably connected to the second transmission hole (2311), and the other end is driven connected to the second drive hole (2312).

5. The bionic dexterous hand according to claim 4, characterized in that, The inner wall of the second drive hole (2312) is polygonal. The outer wall shape of the end of the second drive shaft (2211) near the second drive hole (2312) matches the inner wall shape of the second drive hole (2312). The end of the second drive shaft (2211) is inserted into the second drive hole (2312).

6. The bionic dexterous hand according to claim 4, characterized in that, The second drive assembly (22) further includes a second bearing (222), a pressure plate (223), and a fastening screw (224). The second drive shaft (2211) has a threaded hole at one end near the second transmission hole (2311). The pressure plate (223) has a through hole. The fastening screw (224) passes through the through hole. The second bearing (222) is threaded into the threaded hole. The end faces of the pressure plate (223) and the second drive shaft (2211) clamp the inner ring of the second bearing (222). The outer ring of the second bearing (222) is interference-fitted with the second transmission hole (2311).

7. The bionic dexterous hand according to claim 4, characterized in that, The third drive assembly (24) includes a third dual-axis motor (241). The first middle finger joint (25) is provided with a first middle finger support (251). The third dual-axis motor (241) is disposed inside the first middle finger support (251). The first proximal finger support (231) is provided with a third transmission hole (2313) and a third drive hole (2314) at a distance from one end of the first proximal finger support (231) near the third dual-axis motor (241). The third dual-axis motor (241) is provided with a third drive shaft. One end of the third drive shaft is rotatably connected to the third transmission hole (2313), and the other end is driven connected to the third drive hole (2314). The center line of the third drive shaft is the third axis (3a), and the third axis (3a) is perpendicular to the second axis (2a).

8. The bionic dexterous hand according to claim 1, characterized in that, The fifth drive assembly (31) includes a fifth dual-axis motor (311), and the second proximal phalanx (32) includes a second proximal phalanx support (321). The fifth dual-axis motor (311) is disposed within the palm mechanism (1). The second proximal phalanx support (321) is provided with a fifth transmission hole and a fifth drive hole at a distance from one end of the fifth dual-axis motor (311). The fifth dual-axis motor (311) is provided with a fifth drive shaft extending along the extension direction of the fifth axis (5a). One end of the fifth drive shaft is rotatably connected to the fifth transmission hole, and the other end is drivenly connected to the fifth drive hole.

9. The bionic dexterous hand according to any one of claims 1 to 8, characterized in that, Silicone (4) is attached to the side of the first proximal phalanx (23), the first middle phalanx (25), the first distal phalanx (27), the second proximal phalanx (32), the second middle phalanx (34), and the second distal phalanx (36) near the palm.

10. The bionic dexterous hand according to any one of claims 1 to 8, characterized in that, The bionic dexterous hand also includes a wrist connected to the palm mechanism (1), and the wrist is provided with a camera connector (5) for mounting a camera.

11. The bionic dexterous hand according to any one of claims 1 to 8, characterized in that, When the finger mechanism (3) and the thumb mechanism (2) are in an extended state, and the thumb mechanism (2) is perpendicular to the finger mechanism (3), at this time as the 0° position, the second drive component (22) rotates around the first axis (1a) in an angle range of -20° to 80°; the first proximal phalanx (23) swings laterally around the second axis (2a) in an angle range of 0° to 90°; the first middle phalanx (25) flexes and extends in an angle range of 0° to 90°; the first distal phalanx (27) flexes and extends in an angle range of 0° to 90°; the second proximal phalanx (32) swings laterally around the fifth axis (5a) in an angle range of -20° to 20°; the second middle phalanx (34) flexes and extends in an angle range of 0° to 90°; the second distal phalanx (36) flexes and extends in an angle range of 0° to 90°.

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