Robotic Dexterous Hand and Robot

Abstract

The present invention discloses a robot dexterous hand and a robot. The robot dexterous hand comprises a palm main board, a plurality of first fingers and a first driving assembly; the plurality of first fingers are respectively rotatably connected to the palm main board; the first driving assembly comprises a first driving member and a plurality of first transmission assemblies, the first driving member is installed on the palm main board, the output end of each first transmission assembly is transmission-connected to a first finger, and the input end of the first transmission assembly is transmission-connected to the first driving member; wherein the first driving member can drive a plurality of first fingers to swing through a plurality of first transmission assemblies. The robot dexterous hand proposed in the present application can drive a plurality of fingers to swing at the same time through a first drive, thereby saving space occupation and being conducive to improving the compactness of the structure of the robot dexterous hand.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and more specifically, to a robot dexterous hand and a robot. Background Art

[0002] In the related art, the robot dexterous hand is usually installed at the end of the mechanical arm of a humanoid robot, and can grasp tools designed for humans in different scenarios like human hands. The robot palm mainboard is generally connected to multiple dexterous fingers, which has a high degree of freedom and a certain grasping ability. However, each finger of the current dexterous hand needs to be driven by a corresponding set of driving parts, which takes up a large space and is not conducive to improving the compactness of the dexterous hand structure.

[0003] Therefore, it is necessary to provide a new technical solution to solve the above technical problems. Summary of the invention

[0004] An object of the present invention is to provide a new technical solution for a robot dexterous hand.

[0005] According to the first aspect of the present invention, a robot dexterous hand is provided. The robot dexterous hand comprises: a palm main board, a plurality of first fingers and a first driving assembly; a plurality of first fingers, wherein the plurality of first fingers are respectively rotatably connected to the palm main board; the first driving assembly comprises a first driving member and a plurality of first transmission assemblies, wherein the first driving member is mounted on the palm main board, the output end of each first transmission assembly is transmission-connected to one of the first fingers, and the input end of the first transmission assembly is transmission-connected to the first driving member; wherein the first driving member can drive the plurality of first fingers to swing through the plurality of first transmission assemblies.

[0006] Optionally, the first transmission assembly includes a first rotating member, which is rotatably mounted on the palm main board, and the first rotating member is connected to the first finger and can drive the first finger to swing.

[0007] Optionally, the first transmission assembly further includes a plurality of first linkage rods, which are rotatably connected in sequence, wherein the first linkage rod at one end is connected to the first rotating member, and the first linkage rod at the other end is connected to the first driving member.

[0008] Optionally, two first linkage rods are provided, wherein one end of one of the first linkage rods is connected to the first rotating member, and the other end is connected to another first linkage rod, and the other first linkage rod is also connected to the first driving member.

[0009] Optionally, the first driving member includes an output shaft and a second linkage rod, one end of the second linkage rod is connected to the output shaft, and the other end of the second linkage rod is connected to the first linkage rod.

[0010] Optionally, the first transmission assembly further includes a transmission belt, and the transmission belt is respectively sleeved on the output shafts of the first rotating member and the first driving member.

[0011] Optionally, the first transmission assembly further includes a transmission wheel, the transmission wheel is rotatably mounted on the palm main board, a plurality of transmission belts are provided, and the transmission is transmitted between the plurality of transmission belts through the transmission wheel.

[0012] Optionally, a plurality of the first fingers are connected to the palm main board at intervals, and the first driving member is located in the middle of the palm main board along the arrangement direction of the plurality of the first fingers; or the first driving member is located in the middle of the palm main board.

[0013] Optionally, the first rotating member is provided with a clamping portion, and the clamping portion is clamped on the first finger.

[0014] Optionally, the robot dexterous hand further includes a second driving component, the first finger is connected to the palm main board via a joint bearing, and the second driving component can drive the first finger to rotate around the central axis of the joint bearing.

[0015] Optionally, the second driving assembly includes a second rotating member, which is mounted on the palm main board and passes through the first finger.

[0016] Optionally, the robot dexterous hand further includes a second driving component and a second finger, the second finger is rotatably mounted on the palm main board, and the second driving component can drive the second finger to rotate.

[0017] Optionally, a plurality of the first fingers can swing in the same direction or in different directions.

[0018] According to a second aspect of the present invention, a robot is provided, comprising the robot dexterous hand of the above embodiment.

[0019] A technical effect of the present application is that the robot dexterous hand includes a palm mainboard, a plurality of first fingers and a first drive assembly, the plurality of first fingers are respectively rotatably connected to the palm mainboard, the first drive assembly includes a first drive member and a plurality of first transmission members, the first drive member is installed on the palm mainboard, the output end of each first transmission assembly is transmission-connected to a first finger, and the input end of the first transmission assembly is transmission-connected to the first drive member. The robot dexterous hand proposed in the present application can drive a plurality of fingers to swing at the same time through a first drive, thereby saving space occupation and being conducive to improving the compactness of the structure of the robot dexterous hand.

[0020] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0022] Figure 1 It is a schematic diagram of the structure of the dexterous robot hand of an embodiment of the present application.

[0023] Figure 2 yes Figure 1 A schematic diagram of the partial structure of the first finger is shown.

[0024] Figure 3 It is a schematic structural diagram of a dexterous robot hand according to another embodiment of the present application.

[0025] Figure 4 It is a schematic diagram of the partial structural decomposition of the robot dexterous hand according to an embodiment of the present application.

[0026] Figure 5 It is a schematic diagram of the partial structural decomposition of the first finger of an embodiment of the present application.

[0027] Figure 6 It is a partial structural cross-sectional view of the dexterous robot hand according to an embodiment of the present application.

[0028] Figure 7 It is a schematic structural diagram of the first rotating member of an embodiment of the present application.

[0029] Figure 8 It is a schematic structural diagram of the first rotating member of an embodiment of the present application.

[0030] Fig. 9 It is a schematic diagram of the partial structure of a dexterous robot hand according to another embodiment of the present application.

[0031] Reference numerals:

[0032] 10. Robot dexterous hand; 1. First finger; 11. Base; 12. Finger joint assembly; 121. Connector; 1211. Hollow portion; 1212. First avoidance position; 122. Joint bearing; 123. Finger joint; 13. Second drive assembly; 131. Second rotating member; 132. First support member; 133. Second drive member; 1331. First drive shaft; 137. Transmission shaft; 134. Transmission gear; 1341. Connector; 135. First rolling bearing; 136. Second potentiometer; 14. First drive group Component; 141, first transmission component; 1411, first linkage rod; 1412, first rotating component; 14121, clamping part; 14122, clamping wall; 1413, transmission belt; 1414, transmission wheel; 142, first driving component; 1421, second linkage rod; 1422, output shaft; 143, second rolling bearing; 15, middle finger joint; 151, first middle finger joint; 152, second middle finger joint; 153, first potentiometer; 16, fingertip joint; 161, tactile sensor; 2, palm main board; 3, second finger. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] According to one embodiment of the present application, a robot dexterous hand 10 is provided. Figure 1The robot dexterous hand 10 of the present application includes: a palm main board 2, multiple first fingers 1 and a first driving component 14; multiple first fingers 1, multiple first fingers 1 are respectively rotatably connected to the palm main board 2; the first driving component 14 includes a first driving member 142 and multiple first transmission components 141, the first driving member 142 is installed on the palm main board 2, the output end of each first transmission component 141 is transmission-connected to one of the first fingers 1, and the input end of the first transmission component 141 is transmission-connected to the first driving member 142, wherein the first driving member 142 can drive the multiple first fingers 1 to swing through the multiple first transmission components 141.

[0039] In this example, a plurality of first fingers 1 are rotatably connected to the palm main board 2, and the first driving assembly 14 includes a first driving member 142 and a plurality of first transmission assemblies 141. The first driving member 142 is installed on the palm main board 2, and the output end of each first transmission assembly 141 is transmission-connected to a first finger 1, and the input end of the first transmission assembly 141 is transmission-connected to the first driving member 142. The robot dexterous hand 10 proposed in the present application can drive a plurality of fingers to swing at the same time through a first driving, thereby saving space occupation and facilitating improving the compactness of the structure of the robot dexterous hand 10.

[0040] In this example, there are multiple first fingers 1, and the first drive assembly 14 is provided with the same number of first transmission assemblies 141 as the first fingers 1. The input end of each first transmission assembly 141 is transmission-connected to the first drive member 142, and the output end is connected to a first finger 1. The first drive member 142 can simultaneously drive multiple first fingers 1 to swing left and right through the first transmission assembly 141. Among them, the first fingers 1 can be provided with two, three or four, etc., and the first drive assembly 14 is also provided with a corresponding number of first transmission assemblies 141. Of course, the number of first fingers 1 is not limited to the above embodiment, and those skilled in the art can determine it according to actual conditions, and no specific limitation is made here.

[0041] In one example, refer to Figures 4 to 8 The first transmission component 141 includes a first rotating member 1412, which can be rotatably installed on the palm main board 2. The first rotating member 1412 is connected to the first finger 1 and can drive the first finger 1 to swing.

[0042] In this example, the first transmission assembly 141 includes a first rotating member 1412, and the first rotating member 1412 is rotatably mounted on the palm main board 2. The first driving member 142 can drive the first rotating member 1412 to rotate, thereby driving the first finger 1 to swing.

[0043] The palm main board 2 is provided with a base 11, and the base end of the first finger 1 is rotatably connected to the base 11. The first rotating member 1412 can be rotatably installed on the base 11 through the second rolling bearing 143. One end of the first rotating member 1412 is transmission-connected to the base end of the first finger 1. When the first rotating member 1412 rotates, it can drive the first finger 1 to swing.

[0044] Reference Figures 2 to 4 The first finger 1 includes a finger root joint assembly 12, and the finger root joint assembly 12 includes a finger root joint 123 and a connecting member 121. One end of the connecting member 121 is fixedly connected to the finger root joint 123. The base 11 is installed with a transmission shaft 137, and one end of the connecting member 121 away from the finger root joint 123 is connected to the transmission shaft 137 through a joint bearing 122. The opposite ends of the base 11 are provided with a first mounting plate and a second mounting plate, and one end of the transmission shaft 137 is rotatably connected to the first mounting plate, and the other end is rotatably mounted on the second mounting plate. The two ends of the transmission shaft 137 can be connected to the first mounting plate and the second mounting plate of the base 11 respectively through rolling bearings, so that the rotation of the transmission shaft 137 is smoother. The joint bearing 122 is fixed to the connecting member 121 through a bearing pressure plate, and the joint bearing 122 is used to rotatably connect the connecting member 121 to the base 11 through the transmission shaft 137.

[0045] In this example, refer to Figure 7 and Figure 8 The first rotating member 1412 is provided with a clamping portion 14121, and the clamping portion 14121 is clamped on the connecting member 121. When the first rotating member 1412 rotates, it can drive the connecting member 121 to swing. The first rotating member 1412 can rotate forward or reverse, thereby driving the first finger 1 to swing left and right. Among them, the rotation center of the outer ring of the joint bearing 122 can coincide with the rotation center of the first rotating member 1412, so that the first rotating member 1412 can drive the connecting member 121 to rotate around the inner ring of the joint bearing 122.

[0046] The clamping portion 14121 can be composed of two oppositely arranged clamping walls. The two clamping walls 14122 are respectively in contact with the two opposite ends of the connecting member 121, so that when the first rotating member 1412 rotates, the connecting member 121 can be driven to rotate in time to improve the accuracy of finger control. In addition, the first rotating member 1412 can also limit the connecting member 121 to prevent the first finger 1 from shaking.

[0047] The connecting member 121 may be a connecting plate structure or a connecting rod structure, etc. Those skilled in the art may determine the structure based on actual conditions, and no specific limitation is made herein.

[0048] In one example, referring to Figure 1The first transmission assembly 141 also includes a plurality of first linkage rods 1411, which are rotatably connected in sequence. The first linkage rod 1411 at one end is connected to the first rotating member 1412, and the first linkage rod 1411 at the other end is connected to the first driving member 142.

[0049] In this example, the first transmission assembly 141 includes a plurality of first linkage rods 1411, which are rotatably connected in sequence. The first linkage rod 1411 at one end is also fixedly connected to the first rotating member 1412, and the first linkage rod 1411 at the other end is transmission-connected to the first driving member 142. The first driving member 142 can drive the first rotating member 1412 to rotate through the plurality of first linkage rods 1411, thereby driving the first finger 1 to swing.

[0050] In one example, refer to Figure 1 There are two first linkage rods 1411, one end of one of the first linkage rods 1411 is connected to the first rotating member 1412, and the other end is connected to another first linkage rod 1411, and the other first linkage rod 1411 is also connected to the first driving member 142.

[0051] Reference Figure 1 In this example, each first transmission assembly 141 has two first linkage rods 1411, one end of one first linkage rod 1411 is fixedly connected to the first rotating member 1412, and the other end is rotationally connected to one end of another first linkage rod 1411. One end of the other first linkage rod 1411 is also transmission-connected to the first driving member 142. The first driving member 142 can drive the first rotating member 1412 to rotate through the two first linkage rods 1411.

[0052] Of course, the number of the first linkage rods 1411 is not limited to the above embodiments, and those skilled in the art may determine the number according to actual conditions.

[0053] In one example, refer to Figure 1 The first driving member 142 includes an output shaft and a second linkage rod 1421 , one end of the second linkage rod 1421 is connected to the output shaft, and the other end is connected to the first linkage rod 1411 .

[0054] Reference Figure 1In this example, the first driving member 142 further includes an output shaft and a second linkage rod 1421. One end of the second linkage rod 1421 is connected to the output shaft, and the first linkage rod 1411 at one end of each first transmission assembly 141 is rotatably connected to the end of the second linkage rod 1421 away from the output shaft. The rotation of the output shaft can drive the second linkage rod 1421 to rotate, thereby driving each first linkage rod 1411 connected to the second linkage rod 1421 to rotate.

[0055] In this example, the first driving member 142 may be a driving motor. The output shaft of the driving motor rotates to drive the second linkage rod 1421 to rotate. The driving motor may also drive the output shaft to rotate through a gear assembly to make the layout of the first driving member 142 more compact and reasonable.

[0056] In one example, referring to Fig. 9 The first transmission assembly 141 further includes a transmission belt 1413 , and the transmission belt 1413 is respectively sleeved on the first rotating member 1412 and the output shaft 1422 of the first driving member 142 .

[0057] In this example, the first driving assembly 14 includes a transmission belt 1413, and the first driving member 142 can drive the first rotating member 1412 to rotate through the transmission belt 1413. That is, the transmission belt 1413 is respectively sleeved on the output shaft 1422 of the first driving member 142 and the first rotating member 1412, and the output shaft 1422 rotates and drives the first rotating member 1412 to rotate through the transmission belt 1413.

[0058] There are multiple first transmission groups, and the output shaft 1422 is provided with multiple installation grooves along the axial direction, and each transmission belt 1413 can be sleeved in a installation groove. Among them, the transmission belt 1413 can be a belt.

[0059] The transmission belt 1413 may also be a transmission chain structure, and the first rotating member 1412 and the output shaft 1422 are provided with a sprocket structure that matches the transmission chain.

[0060] The first transmission assembly 141 further includes a transmission wheel 1414 , which is rotatably mounted on the palm main board 2 . A plurality of transmission belts 1413 are provided, and the transmission belts 1413 are transmitted through the transmission wheel 1414 .

[0061] In this example, refer to Fig. 9The first transmission assembly 141 further includes a transmission wheel 1414, which is rotatably mounted on the palm main board 2, and a plurality of transmission belts 1413 are provided, and the transmission belts 1413 can be transmitted through the transmission wheel 1414. For example, there are two transmission belts 1413, one of which is respectively sleeved on the output shaft 1422 and the transmission wheel 1414, and the other transmission belt 1413 is respectively sleeved on the transmission wheel 1414 and the first rotating member 1412.

[0062] In one example, referring to Figure 1 , a plurality of the first fingers 1 are connected to the palm main board 2 at intervals, and the first driving member 142 is located in the middle of the palm main board 2 along the arrangement direction of the plurality of the first fingers 1 .

[0063] In this example, there are multiple first fingers 1, and the multiple first fingers 1 are installed at intervals on the palm main board 2. The first driving member 142 can be arranged in the middle of the palm main board 2 along the arrangement direction of the multiple first fingers 1, so that the arrangement of the first driving component 14 is more reasonable.

[0064] Alternatively, the first driving member 142 may be disposed in the middle of the palm main board 2 to make the arrangement of the first driving assembly 14 more reasonable. Of course, those skilled in the art may determine the position of the driving member according to actual conditions, and no specific limitation is made here.

[0065] In one example, referring to Figures 3 to 6 The robot dexterous hand 10 also includes a second driving component 13. The first finger 1 is connected to the palm main board 2 through a joint bearing 122. The second driving component 13 can drive the first finger 1 to rotate around the central axis of the joint bearing 122.

[0066] In this example, one end of the first finger 1 is rotatably connected to the palm main board 2 through the joint bearing 122, and the second driving member 133 assembly can drive the first finger 1 to rotate around the central axis of the joint bearing 122. That is, the second driving member 133 can drive the first finger 1 to rotate along the bending direction of the finger to achieve bending of the first finger 1. The first driving assembly 14 can drive the first finger 1 to swing left and right.

[0067] Reference Figure 4 and Figure 6 The second driving assembly 13 includes a second rotating member 131, which is mounted on the palm main board 2 and penetrates the first finger 1. The second rotating member 131 rotates and can drive the first finger 1 to rotate.

[0068] In this example, the connecting member 121 is provided with a hollow portion 1211. The second rotating member 131 can be inserted into the hollow portion 1211. When the second rotating member 131 rotates, it can abut against the inner wall of the hollow portion 1211, thereby driving the connecting member 121 to rotate. Figure 6 The hollow portion 1211 is provided with a first avoidance position 1212 so that when the connecting member 121 swings, it can avoid the second rotating member 131, so that the connecting member 121 can rotate smoothly.

[0069] In this example, refer to Figure 6 There is a gap between the upper inner wall of the hollow portion 1211 and the second rotating member 131, and the gap constitutes the first avoidance position 1212. There is also a gap between the lower inner wall of the hollow portion 1211 and the first rotating member 1412, and the gap constitutes the first avoidance position 1212. Of course, the size of the gap between the upper inner wall and the lower inner wall of the hollow portion 1211 and the first rotating member 1412 can be determined by those skilled in the art according to actual conditions, and is not specifically limited here.

[0070] The clamping portion 14121 of the first rotating member 1412 is provided with a second avoidance position so that the connecting member 121 can avoid the first rotating member 1412 when rotating along the bending direction. Figure 7 and Figure 8 One end of the clamping portion 14121 is open, and the opening can constitute a second avoidance position. There is a gap between the bottom wall of the clamping portion 14121 and the connecting member 121, and the gap can constitute a second avoidance position.

[0071] Reference Figure 3 , Figure 4 and Figure 6 In this example, the second rotating member 131 is fixedly connected to the transmission shaft 137, so that the transmission shaft 137 can drive the first rotating member 1412 to rotate. The second driving assembly 13 includes a first supporting member 132, one end of which is rotatably connected to one end of the transmission shaft 137. One end of the second rotating member 131 is inserted into the hollow portion 1211 and connected to the first supporting member 132. The first supporting member 132 can support the second rotating member 131, thereby improving the stability of the rotation of the second rotating member 131.

[0072] The first support member 132 may be a support plate, one end of which is rotatably connected to the transmission shaft 137, and the other end of which is fixedly connected to the second rotating member 131 by means of fasteners such as screws or bolts. Of course, the structure of the first support member 132 is not limited to the above embodiment, and may also be a support plate, etc., which may be determined by those skilled in the art according to actual conditions and is not specifically limited herein.

[0073] Reference Figure 3 , Figure 4 and Figure 6In this example, the second driving assembly 13 further includes a second driving member 133 and a second transmission assembly, and the second driving member 133 can drive the second rotating member 131 to rotate through the second transmission assembly. That is, the output end of the second driving member 133 is connected to the second transmission group, and the second rotating member 131 is driven to rotate through the transmission of the second transmission assembly.

[0074] The second driving member 133 may be a driving motor, and the second transmission group may be a gear group or a gear and a rotating shaft. Those skilled in the art may determine the method according to actual conditions, and no specific limitation is made here.

[0075] Reference Figure 4 and Figure 6 The second transmission assembly further includes a transmission gear 134, which is fixedly sleeved on the outer periphery of the transmission shaft 137. The transmission gear 134 can drive the transmission shaft 137 to rotate.

[0076] In this example, a connecting portion 1341 is provided at one end of the transmission gear 134 in the axial direction. The inner ring of the first rolling bearing 135 is sleeved on the connecting portion 1341, and the outer ring of the first rolling bearing 135 is fixed to the base 11. The transmission gear 134 is connected to the base 11 through the first rolling bearing 135. The transmission gear 134 is connected to the base 11 by providing the first rolling bearing 135, so that the transmission gear 134 can rotate more smoothly.

[0077] The transmission gear 134 may be a bevel gear, and the output end of the second driving member 133 is connected to the first driving shaft 1331. One end of the first driving shaft 1331 is provided with a bevel tooth matched with the bevel gear, and the bevel tooth of the first driving shaft 1331 meshes with the bevel gear, and the rotation of the first driving shaft 1331 can drive the transmission gear 134 to rotate.

[0078] Of course, the transmission gear 134 may also be a spur gear, and the first driving shaft 1331 is correspondingly connected with a spur gear. Those skilled in the art may determine according to actual conditions, and no specific limitation is made here.

[0079] Reference Figure 4 and Figure 6 The second driving assembly 13 further includes a second potentiometer 136. The potentiometer is a typical contact type absolute angle sensor. The second potentiometer 136 can detect the rotation angle of the transmission shaft 137 and can convert it into an electrical signal and transmit it to the second driving member 133. By setting the second potentiometer 136, the rotation angle of the transmission shaft 137 can be accurately controlled, thereby controlling the rotation angle of the second rotating member 131 to control the rotation angle of the finger, that is, the bending degree of the finger can be controlled.

[0080] In this example, each component is connected to the transmission shaft 137 with an E-type retaining ring. That is, the E-type retaining ring is a kind of fastener, which is installed in the shaft groove of the machine or equipment to prevent the axial movement of the parts on the shaft, thereby improving the stability of each component.

[0081] In one example, refer to Figure 1 The robot dexterous hand 10 also includes a second driving component 13 and a second finger. The second finger is rotatably mounted on the palm main board 2, and the second driving component 13 can drive the second finger to rotate.

[0082] In this example, refer to Figure 1 The robot dexterous hand 10 further includes a second finger. The second finger is driven by the second driving member 133 to rotate toward the bending direction. The second finger has the same structure as the first finger 1. The second finger can be rotatably mounted on the palm main board 2 through the joint bearing 122, and the second finger can be driven to rotate only by the second driving member 133.

[0083] In this example, there can be multiple second fingers, and multiple second drive components 13 are also provided, each second drive component 13 can drive a second finger to rotate. In addition, each first finger 1 is also correspondingly provided with a second drive component 13 to drive the rotation.

[0084] In one example, refer to Figure 1 , multiple first fingers 1 can swing in the same direction or in different directions.

[0085] In this example, the first driving assembly 14 can drive the plurality of first fingers 1 to swing in the same direction or in different directions. Figure 1 When the second linkage rod 1421 rotates clockwise, it can drive the two first fingers 1 on the right to rotate counterclockwise, while the first finger 1 on the leftmost side rotates clockwise.

[0086] Of course, the direction in which the first driving component 14 drives the first finger 1 to rotate can be adjusted according to actual conditions, for example, by adjusting factors such as the position of the second linkage rod 1421 or the number of the first linkage rods 1411, which is not specifically limited here.

[0087] Reference Figures 2 to 4 The first finger 1 also includes a middle finger joint 15 and a fingertip joint 16. The base joint assembly 12 includes a base joint 123, one end of which is fixedly connected to the connecting member 121 by a fastener such as a screw or a bolt. One end of the middle finger joint 15 is rotatably connected to the base joint 123, and the other end is rotatably connected to the fingertip joint 16.

[0088] In this example, the base joint 123 can drive the middle joint 15 to rotate. The middle joint 15 can rotate relative to the base joint 123, so that the middle joint 15 can bend relative to the base joint 123. The fingertip joint 16 can also rotate relative to the middle joint 15, so that the first finger 1 can bend and grasp an object.

[0089] The middle finger joint 15 includes a first middle finger joint 151 and a second middle finger joint 152, and the two ends of the first middle finger joint 151 and the second middle finger joint 152 are rotatably connected to the base joint 123 and the fingertip joint 16 respectively. There is an angle between the first middle finger joint 151 and the second middle finger joint 152, and the angle is greater than 0° and less than 180°. That is, the first middle finger joint 15 and the second middle finger joint 15 are non-coaxially arranged. The two ends of the first middle finger joint 151 and the second middle finger joint 152 are rotatably connected to the base joint 123 and the fingertip joint 16 respectively. The end of the first middle finger joint 151 away from the fingertip joint 16 is connected to the drive motor. The driving motor can drive the first middle joint 151 to rotate, and can drive the fingertip joint 16 to rotate. When the first middle joint 151 rotates a certain angle, the first middle joint 151 continues to rotate, which can make the fingertip joint 16 rotate relative to the middle joint 15, thereby achieving secondary bending of the fingertip joint 16 to facilitate the operation of grasping objects with fingers.

[0090] Reference Figures 2 to 4 In this example, the driving motor is connected to a first potentiometer 153, which can detect the angle of the output shaft of the driving motor, thereby detecting the rotation angle of the first middle segment 151 of the finger.

[0091] In this example, referring to the figure, the fingertip joint 16 is further provided with a tactile sensor 161. The tactile sensor 161 is a sensor used in the robot to imitate a tactile function.

[0092] According to a second aspect of the present invention, a robot is provided, comprising the robot dexterous hand 10 of the above embodiment.

[0093] In this example, the robot of the embodiment of the present application includes the robot dexterous hand 10 of the above embodiment. The robot dexterous hand 10 includes a palm main board 2, a plurality of first fingers 1 and a first drive assembly 14, wherein the plurality of first fingers 1 are respectively rotatably connected to the palm main board 2, the first drive assembly 14 includes a first drive member 142 and a plurality of first transmission assemblies 141, the first drive member 142 is mounted on the palm main board 2, the output end of each first transmission assembly 141 is transmission-connected to a first finger 1, and the input end of the first transmission assembly 141 is transmission-connected to the first drive member 142. The robot dexterous hand 10 proposed in the present application can drive a plurality of fingers to swing at the same time through a first drive, thereby saving space occupation and facilitating improving the compactness of the structure of the robot dexterous hand 10.

[0094] Of course, the robot also includes at least all the beneficial effects of the above embodiments, which will not be repeated here.

[0095] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0096] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot dexterous hand, characterized in that: include: Palm motherboard (2); A plurality of first fingers (1), wherein the plurality of first fingers (1) are rotatably connected to the palm main board (2) respectively; A first driving component (14), comprising a first driving member (142) and a plurality of first transmission components (141), wherein the first driving member (142) is mounted on the palm main board (2), the output end of each first transmission component (141) is transmission-connected to one of the first fingers, and the input end of the first transmission component (141) is transmission-connected to the first driving member (142); Wherein, the first driving member (142) can drive the plurality of first fingers (1) to swing through the plurality of first transmission components (141); The second driving assembly (13) comprises a second rotating member (131), the first finger (1) is connected to the palm main board (2) via a joint bearing (122), the first finger is provided with a hollow portion, the second rotating member (131) is mounted on the palm main board (2) and penetrates the hollow portion, the second rotating member is suitable for driving the first finger to rotate, the hollow portion is provided with a first avoidance position so that the first finger (1) can avoid the second rotating member when swinging.

2. The dexterous robot hand according to claim 1, characterized in that: The first transmission component (141) comprises a first rotating member (1412), the first rotating member (1412) being rotatably mounted on the palm main board (2), the first rotating member (1412) being connected to the first finger (1) and being able to drive the first finger (1) to swing.

3. The dexterous robot hand according to claim 2, characterized in that: The first transmission assembly (141) further comprises a plurality of first linkage rods (1411), wherein the plurality of first linkage rods (1411) are rotatably connected in sequence, wherein the first linkage rod at one end is connected to the first rotating member (1412), and the first linkage rod at the other end is connected to the first driving member (142).

4. The dexterous robot hand according to claim 3, characterized in that: Two first linkage rods (1411) are provided, one end of one of the first linkage rods is connected to the first rotating member (1412), and the other end is connected to another first linkage rod, and the other first linkage rod is also connected to the first driving member (142).

5. The dexterous robot hand according to claim 3, characterized in that: The first driving member (142) comprises an output shaft and a second linkage rod (1421), one end of the second linkage rod (1421) is connected to the output shaft, and the other end is connected to the first linkage rod (1411).

6. The dexterous robot hand according to claim 2, characterized in that: The first transmission assembly also includes a transmission belt, which is respectively sleeved on the output shaft of the first rotating member (1412) and the first driving member.

7. The dexterous robot hand according to claim 6, characterized in that: The first transmission assembly also includes a transmission wheel, which is rotatably mounted on the palm main board. A plurality of transmission belts are provided, and the transmission is transmitted between the plurality of transmission belts through the transmission wheel.

8. The dexterous robot hand according to claim 1, characterized in that: A plurality of the first fingers (1) are connected to the palm main board (2) at intervals, and the first driving member (142) is located in the middle of the palm main board (2) along the arrangement direction of the plurality of the first fingers (1); or, The first driving member is located in the middle of the palm main board.

9. The dexterous robot hand according to claim 2, characterized in that: The first rotating member (1412) is provided with a clamping portion (14121), and the clamping portion (14121) is clamped on the first finger (1).

10. The dexterous robot hand according to claim 1, characterized in that: The robot dexterous hand further comprises a second driving component (13) and a second finger (3); the second finger (3) is rotatably mounted on the palm main board (2); and the second driving component (13) can drive the second finger (3) to rotate.

11. The dexterous robot hand according to claim 1, characterized in that: The plurality of first fingers (1) can swing in the same direction or in different directions.

12. A robot, characterized in that: Comprising the dexterous robot hand as claimed in any one of claims 1 to 11.

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