Dexterous Hand and Robot

Abstract

The present application discloses a dexterous hand and a robot, relating to the technical field of dexterous hands. The dexterous hand includes a palm skeleton, a thumb, and a driving mechanism. The palm skeleton includes a fixing frame. The driving mechanism includes a driving source, a first bracket, and a second bracket. The driving source is arranged on the fixing frame, and its output shaft is rotatably connected to the first end of the first bracket, and the second end is rotatably connected to the thumb. The first end of the second bracket is rotatably connected to the fixing frame, and the second end is rotatably connected to the first bracket. When the second bracket is in limit cooperation with the fixing frame, the driving source can drive the first bracket to rotate around the first axis, so that the thumb rotates around the first axis; when the second bracket is in limit cooperation with the first bracket, the driving source can drive both the first bracket and the second bracket to rotate around the second axis, so that the thumb rotates around the second axis, wherein the first axis and the second axis intersect or are skew. This solution can solve the problem that the flexibility and operation stability of the thumb of the current dexterous hand are relatively poor.

Description

Technical Field

[0001] This application belongs to the technical field of dexterous hands, and particularly relates to a dexterous hand and a robot. Background Art

[0002] The human hand is one of the most complex and flexible organs of the human body. Dexterous hands that imitate human hands have currently received extensive attention and have become a research hotspot. The functions of a dexterous hand are mainly determined by its fingers. Flexible fingers can greatly improve the application range and user experience of the dexterous hand.

[0003] In practical applications, the metacarpophalangeal joints of the thumb of a dexterous hand are usually driven by two driving mechanisms respectively to achieve the bending function and the lateral swing function of the thumb. However, during the lateral swing of the thumb, the pulp of the thumb gradually deviates from the palm, and only lateral pinching can be achieved, resulting in poor flexibility and operation stability of the dexterous hand. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a dexterous hand and a robot, which can solve the problem of poor flexibility and operation stability of the thumb of the current dexterous hand.

[0005] To solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, the embodiments of this application provide a dexterous hand, including a palm skeleton, a thumb, and a driving mechanism. The palm skeleton includes a fixing frame. The driving mechanism includes a driving source, a first bracket, and a second bracket. The driving source is arranged on the fixing frame. The output shaft of the driving source is rotationally connected to the first end of the first bracket. The second end of the first bracket is rotationally connected to the thumb. The first end of the second bracket is rotationally connected to the fixing frame. The second end of the second bracket is rotationally connected to the first bracket.

[0007] When the second bracket is in limit fit with the fixing frame, the driving source can drive the first bracket to rotate around a first axis relative to the second bracket, so that the thumb rotates around the first axis. When the second bracket is in limit fit with the first bracket, the driving source can drive both the first bracket and the second bracket to rotate around a second axis, so that the thumb rotates around the second axis.

[0008] Wherein, the first axis and the second axis intersect or are skew.

[0009] In a second aspect, the embodiments of this application provide a robot, including a device main body and the above-mentioned dexterous hand. The dexterous hand is arranged on the device main body.

[0010] In the embodiment of the present application, when the second bracket is in limit fit with the fixed bracket, the second bracket is fixed, and the driving source can drive the first bracket to rotate around the first axis relative to the second bracket. At this time, the first bracket drives the thumb to rotate around the first axis, that is, the thumb swings from one side of the palm skeleton to the side facing the palm skeleton; when the second rotating bracket is in limit fit with the first bracket, the first bracket is fixed relative to the second bracket, and the driving source can drive the first bracket and the second bracket to rotate around the second axis together. At this time, the thumb rotates around the second axis, where the first axis and the second axis intersect or are skew. During the rotation of the thumb around the second axis, the pulp of the thumb can swing from the relative position with the pulp of the index finger of the dexterous hand to the relative position with the pulp of the little finger of the dexterous hand, thereby increasing the rotation range of the thumb and improving the flexibility of the thumb; and when the thumb rotates around the second axis, the contact area between the pulp of the thumb and the object is relatively large, which is beneficial to improving the operation stability of the thumb. Therefore, the embodiment of the present application can solve the problem that the flexibility and operation stability of the thumb of the current dexterous hand are relatively poor. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is an exploded view of a part of the structure of the dexterous hand disclosed in the embodiment of the present application;

[0012] Figures 2 to 3 is a schematic structural diagram of a part of the structure of the dexterous hand disclosed in the embodiment of the present application from different perspectives when the thumb is in the first position;

[0013] Figures 4 to 5 is a schematic structural diagram of a part of the structure of the dexterous hand disclosed in the embodiment of the present application from different perspectives when the thumb is in the second position;

[0014] Figures 6 to 7 is a schematic structural diagram of a part of the structure of the dexterous hand disclosed in the embodiment of the present application from different perspectives when the thumb is in the third position;

[0015] Figure 8 is a schematic structural diagram of the driving mechanism disclosed in the embodiment of the present application;

[0016] Figure 9 is a schematic structural diagram of the fixed bracket and the second bracket disclosed in the embodiment of the present application;

[0017] Figure 10 is a partial schematic structural diagram of the first bracket disclosed in the embodiment of the present application;

[0018] Figure 11 is a partial schematic structural diagram of the second bracket disclosed in the embodiment of the present application;

[0019] Figure 12Exploded view of the thumb disclosed in the embodiments of the present application;

[0020] Figures 13 to 21 Structural schematic diagrams of the dexterous hand in different states disclosed in the embodiments of the present application.

[0021] Explanation of reference numerals:

[0022] 100 - Palm skeleton, 110 - Fixing frame, 111 - Accommodating groove, 112 - Limiting groove, 113 - Protective sleeve, 120 - Bearing set;

[0023] 200 - Thumb, 210 - First phalanx, 220 - Second phalanx, 230 - Third phalanx, 240 - First driving member, 250 - Second driving member, 260 - Third driving member;

[0024] 300 - Driving mechanism, 310 - Driving source, 311 - Output shaft, 311a - Push rod, 311b - Second connecting shaft, 312 - Driving part, 320 - First bracket, 321 - Frame body, 321a - First plate segment, 321b - Second plate segment, 321c - Third plate segment, 321d - Fourth plate segment, 321e - Fifth plate segment, 322 - First connecting shaft, 330 - Second bracket, 331 - Rotating shaft, 331a - Limiting flange, 332 - Torsion spring, 333 - First limiting part, 334 - Second limiting part, 335 - Third limiting part;

[0025] 400 - Ball bearing;

[0026] 500 - Index finger;

[0027] 600 - Middle finger;

[0028] 700 - Ring finger;

[0029] 800 - Little finger;

[0030] 900 - Object. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0032] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0033] The following will combine the accompanying drawings to elaborate in detail on the dexterous hand and the robot provided by the embodiments of this application through specific embodiments and their application scenarios.

[0034] Referring to Figures 1 to 21 , an embodiment of this application discloses a dexterous hand, including a palm skeleton 100, a thumb 200, and a driving mechanism 300. Optionally, the dexterous hand may further include an index finger 500, a middle finger 600, a ring finger 700, and a little finger 800. At this time, the dexterous hand is similar to a human hand, so as to grasp an object 900 and increase the contact area, thereby improving the operation stability of the dexterous hand. Of course, the dexterous hand may also only include some of the fingers of the index finger 500, the middle finger 600, the ring finger 700, and the little finger 800, which can be specifically set according to actual needs, and the embodiments of this application do not make specific limitations on this. The palm skeleton 100 includes a fixing frame 110, and the driving mechanism 300 includes a driving source 310, a first bracket 320, and a second bracket 330. Optionally, the driving source 310 may be a motor, a cylinder, etc., and no specific limitations are made here. The driving source 310 is disposed on the fixing frame 110, and the output shaft 311 of the driving source 310 is rotatably connected to the first end of the first bracket 320. The second end of the first bracket 320 is rotatably connected to the thumb 200. That is, during the rotation of the thumb 200 relative to the first bracket 320, the finger pad of the thumb 200 can gradually approach or move away from the palm skeleton 100 to adapt to the size of different objects 900. The first end of the second bracket 330 is rotatably connected to the fixing frame 110, and the second end of the second bracket 330 is rotatably connected to the first bracket 320.

[0035] When the second bracket 330 is in limit fit with the fixed bracket 110, the second bracket 330 is fixed, and the driving source 310 can drive the first bracket 320 to rotate relative to the second bracket 330 around the first axis A1, so that the thumb 200 rotates around the first axis A1. At this time, the thumb 200 rotates from the first position to the second position, that is, the thumb 200 swings from one side of the palm skeleton 100 to the side facing the palm skeleton 100; when the second bracket 330 is in limit fit with the first bracket 320, the first bracket 320 is fixed relative to the second bracket 330, and the driving source 310 can drive both the first bracket 320 and the second bracket 330 to rotate around the second axis A2, so that the thumb 200 rotates around the second axis A2. At this time, the thumb 200 rotates from the second position to the third position, wherein the first axis A1 and the second axis A2 intersect or are skew.

[0036] In this application, during the rotation of the thumb 200 around the second axis A2, the pulp of the thumb 200 can swing from the position opposite to the pulp of the index finger 500 of the dexterous hand to the position opposite to the pulp of the little finger 800 of the dexterous hand, thereby increasing the rotation range of the thumb 200 and improving the flexibility of the thumb 200; moreover, when the thumb 200 rotates around the second axis A2, the contact area between the pulp of the thumb 200 and the object 900 is relatively large, which is beneficial to improving the operation stability of the thumb 200. Therefore, the embodiment of this application can solve the problems of poor flexibility and operation stability of the thumb 200 of the current dexterous hand.

[0037] Optionally, the pulp of the thumb 200 can be made of rubber or silica gel, and the embodiment of this application does not make specific restrictions on this.

[0038] In an alternative embodiment, the first bracket 320 includes a frame body 321 and a first connecting shaft 322. The frame body 321 is rotatably connected between the thumb 200 and the output shaft 311, that is, both the output shaft 311 and the thumb 200 are connected to the frame body 321 and are distributed on opposite sides of the frame body 321. Both ends of the first connecting shaft 322 are connected to the frame body 321. Optionally, both ends of the first connecting shaft 322 can be fixed to the frame body 321. The second end of the second bracket 330 is rotatably connected to the first connecting shaft 322. The first axis A1 is the central axis of the first connecting shaft 322, and the driving source 310 can drive the frame body 321 to rotate around the first connecting shaft 322. At this time, the frame body 321 drives the thumb 200 to rotate together. In this solution, the thumb 200 and the driving source 310 are both connected to the frame body 321, which is convenient for the arrangement of the two and avoids mutual influence.

[0039] Optionally, the frame 321 may include a first plate segment 321a, a second plate segment 321b, and a third plate segment 321c. The second plate segment 321b and the third plate segment 321c are disposed opposite to each other. One end of the second plate segment 321b and one end of the third plate segment 321c are both connected to the first plate segment 321a, and the second plate segment 321b and the third plate segment 321c are bent relative to the first plate segment 321a. Both ends of the first connecting shaft 322 are respectively connected to the second plate segment 321b and the third plate segment 321c. The second end of the second bracket 330 is sleeved on the first connecting shaft 322 to increase the contact area between the second bracket 330 and the first connecting shaft 322. At this time, the thumb 200 is rotatably connected to the first plate segment 321a, and the thumb 200 is located on the side of the first plate segment 321a away from the second plate segment 321b and the third plate segment 321c to avoid hindering the rotation of the thumb 200.

[0040] In a further alternative embodiment, the drive source 310 may include a drive portion 312 and an output shaft 311. One end of the output shaft 311 is connected to the drive portion 312. The drive portion 312 can drive the output shaft 311 to extend or contract, thereby driving the frame 321 to rotate. During the process that the drive source 310 drives the output shaft 311 to extend along its central axis A8, the thumb 200 rotates from the first position to the second position, and then rotates from the second position to the third position; during the process that the drive source 310 drives the output shaft 311 to contract along its central axis A8, the thumb 200 rotates from the third position to the second position, and then rotates from the second position to the first position.

[0041] Optionally, the output shaft 311 can be hinged to the frame 321; or, the output shaft 311 includes a push rod 311a and a second connecting shaft 311b, one end of the push rod 311a is rotatably connected to the second connecting shaft 311b, and both ends of the second connecting shaft 311b are rotatably connected to the frame 321, and the central axis A7 of the second connecting shaft 311b is parallel to the central axis of the first connecting shaft 322. At this time, there is a certain distance between the central axis A7 of the second connecting shaft 311b and the central axis of the first connecting shaft 322, so that the frame 321 has a certain lever arm. When the second bracket 330 is limited and matched with the fixing frame 110, that is, during the rotation of the thumb 200 between the first position and the second position, the push rod 311a and the second connecting shaft 311b rotate relative to the frame body 321; when the second bracket 330 is limited and matched with the first bracket 320, that is, during the rotation of the thumb 200 between the second position and the third position, the push rod 311a rotates relative to the second connecting shaft 311b around the third axis A3, wherein the third axis A3 is perpendicular to the central axis A7 of the second connecting shaft 311b. In this solution, when the second bracket 330 is limitedly matched with the fixed frame 110, the driving source 310 drives the frame body 321 to rotate around the first connecting shaft 322, and at the same time, the push rod 311a and the second connecting shaft 311b rotate relative to the frame body 321, thereby making the rotation of the frame body 321 more flexible; when the second bracket 330 is limitedly matched with the first bracket 320, the push rod 311a rotates around the third axis A3 relative to the second connecting shaft 311b, and the push rod 311a pushes the first bracket 320 and the second bracket 330 to rotate around the second axis A2 through the second connecting shaft 311b. At this time, the frame body 321 drives the thumb 200 to swing around the second axis A2, thereby further improving the rotation flexibility of the thumb 200.

[0042] Optionally, the second connecting shaft 311b and the first connecting shaft 322 can be arranged side by side, and the two ends of the second connecting shaft 311b are respectively connected to the second plate segment and the third plate segment. At this time, the second bracket 330 is easy to interfere with the output shaft 311, and the rotation range of the two is relatively limited; therefore, in other embodiments, the second connecting shaft 311b is located below the first connecting shaft 322, and the center axis A7 of the second connecting shaft 311b is staggered with the center axis of the first connecting shaft 322, so as to avoid mutual interference between the second bracket 330 and the output shaft 311, thereby increasing the rotation range of the two, so as to further improve the rotation flexibility of the thumb 200.

[0043] Optionally, in an embodiment where the frame 321 includes a first plate segment 321a, a second plate segment 321b, and a third plate segment 321c, the frame 321 may further include a connected fourth plate segment 321d and a fifth plate segment 321e. The fifth plate segment 321e is bent relative to the fourth plate segment 321d. The fourth plate segment 321d is sequentially connected to the first plate segment 321a. The fifth plate segment 321e is disposed opposite to the third plate segment 321c. At this time, both ends of the second connecting shaft 311b are connected to the third plate segment 321c and the fifth plate segment 321e respectively, thereby providing a larger movement space for the push rod 311a.

[0044] Optionally, the push rod 311a has a connecting portion, which includes a first connecting segment, a second connecting segment, and a third connecting segment. The first connecting segment is disposed opposite to the second connecting segment. The third connecting segment is connected between the first connecting segment and the second connecting segment. The third connecting segment is provided with a connecting hole. The third connecting segment is sleeved on the second connecting shaft 311b through the connecting hole. The central axis of the third connecting segment is perpendicular to the central axis A7 of the second connecting shaft 311b. At this time, the connecting portion and the second connecting shaft 311b form a cross shaft, which not only has good rotational flexibility but also has a relatively stable structure.

[0045] In another optional embodiment, the second bracket 330 includes a rotating shaft 331, a torsion spring 332, a first limiting portion 333 and a second limiting portion 334, and the rotating shaft 331 is rotatably connected to the fixed frame 110. Optionally, the fixed frame 110 can be provided with a through hole, and the first end of the rotating shaft 331 passes through the through hole. At this time, the outer circumferential surface of the rotating shaft 331 is rotatably matched with the inner surface of the through hole, and the second end of the rotating shaft 331 is rotatably connected to the first bracket 320. Optionally, the second end of the rotating shaft 331 is provided with a matching hole, and the rotating shaft 331 is sleeved on the first connecting shaft 322 of the first bracket 320 through the matching hole, which is beneficial to increase the connection area between the rotating shaft 331 and the first bracket 320 and improve the connection stability between the two. The second axis A2 is the central axis of the rotating shaft 331. The first limiting portion 333 and the second limiting portion 334 are both arranged on the rotating shaft 331, and the first limiting portion 333 and the second limiting portion 334 are staggered along the circumference of the rotating shaft 331, so as to limit the rotating shaft 331 respectively when the rotating shaft 331 rotates to different angles. The torsion spring 332 is sleeved on the first end of the rotating shaft 331. Optionally, the fixing frame 110 has a protective sleeve 113, and the central axis of the protective sleeve 113 coincides with the central axis of the through hole. At this time, the first end of the rotating shaft 331 passes through the through hole and the protective sleeve 113 in sequence, thereby increasing the contact area between the rotating shaft 331 and the fixing frame 110; the torsion spring 332 is sleeved on the outer surface of the protective sleeve 113, so that the torsion spring 332 is indirectly sleeved on the first end of the rotating shaft 331, thereby avoiding the torsion spring 332 from wearing the rotating shaft 331 during the deformation process, thereby playing a role in protecting the rotating shaft 331. The first end of the torsion spring 332 is pressed against the first limiting portion 333, and the second end of the torsion spring 332 is pressed against the fixing frame 110, that is, the torsion spring 332 is always in a deformed state to apply a certain force to the first limiting portion 333 and the fixing frame 110. The first limiting portion 333 can be located between the fixing frame 110 and the first end of the torsion spring 332. At this time, the first limiting portion 333 is clamped between the fixing frame 110 and the torsion spring 332, so that the second bracket 330 is limitedly matched with the fixing frame 110 to limit the rotation of the second bracket 330 around the second axis A2; the second limiting portion 334 can be limitedly matched with the first bracket 320 to limit the rotation of the first bracket 320 around the first axis A1.

[0046] In this solution, when the second bracket 330 is in position-limiting cooperation with the fixing bracket 110, the thumb 200 rotates from the first position to the second position, and the first position-limiting portion 333 is always located between the fixing bracket 110 and the first end of the torsion spring 332. After the first bracket 320 rotates around the first axis A1 until it is in position-limiting cooperation with the second position-limiting portion 334 of the second bracket 330, the thumb 200 is located in the second position, and the second position-limiting portion 334 will prevent the first bracket 320 from further rotating. When the second bracket 330 is in position-limiting cooperation with the first bracket 320, during the process of the thumb 200 rotating from the second position to the third position, the first position-limiting portion 333 is released from the fixing bracket 110, and the rotating shaft 331 rotates counterclockwise. At this time, the first position-limiting portion 333 pushes the first end of the torsion spring 332 to rotate together, so that the torsion spring 332 is further deformed. When the thumb 200 rotates to the third position, the driving source 310 stops working, so that the rotating shaft 331 stops rotating. During the process of the thumb 200 rotating from the third position to the second position, the driving source 310 can output a smaller driving force to retract the output shaft 311. At this time, the torsion spring 332 can provide a certain elastic force to drive the rotating shaft 331 to rotate clockwise until the first limiting portion 333 is limited to the fixing frame 110, thereby saving the energy consumption of the driving source 310; during the process of the thumb 200 rotating from the second position to the first position, the second limiting portion 334 is released from the first bracket 320, and the output shaft 311 continues to retract.

[0047] It should be noted that the above-mentioned torsion spring 332 can also be replaced by a gas spring with a ball bearing, or a swingable slider mechanism (a compression spring is arranged in the slider mechanism), but the manufacturing cost of this structure is not as low as the cost of the torsion spring 332.

[0048] Optionally, the distance between the second limiting portion 334 and the first bracket 320 can be smaller than the distance between the first limiting portion 333 and the first bracket 320 to facilitate the limiting cooperation between the second limiting portion 334 and the first bracket 320; and mutual influence between the second limiting portion 334 and the fixing frame 110 can be avoided.

[0049] Optionally, the torsion spring 332 can be located on the side of the fixing frame 110 facing the first bracket 320; or, the torsion spring 332 can be located on the side of the fixing frame 110 facing away from the first bracket 320. In this case, the distance between the first bracket 320 and the fixing frame 110 is smaller, which is beneficial to increase the distance between the thumb 200 and the palm skeleton 100, thereby improving the structural compactness of the dexterous hand.

[0050] Optionally, the fixing bracket 110 may be provided with a limiting groove 112. When the first limiting portion 333 is in limiting cooperation with the fixing bracket 110, at least a part of the first limiting portion 333 is located in the limiting groove 112, thereby increasing the contact area between the two and improving the limiting stability. Further optionally, the first limiting portion 333 may include a connected first portion and a second portion. The second portion is bent relative to the first portion. The first portion is connected between the rotating shaft 331 and the second portion. The second portion may be a limiting rod, and the extending direction of the limiting rod is parallel to the extending direction of the rotating shaft 331. The first limiting portion 333 with such a structure has a certain lever arm. When a relatively small resistance is applied to the second portion, a good limiting effect on the rotating shaft 331 can be achieved, and at the same time, the first limiting portion 333 can be protected.

[0051] Optionally, the second limiting portion 334 may be provided with a groove. The extending direction of the groove is parallel to the second axis A2. The side wall of the groove is in limiting cooperation with the first bracket 320 to prevent the first bracket 320 from continuing to rotate.

[0052] When the thumb 200 rotates to the third position, the rotation of the rotating shaft 331 can be stopped by stopping the operation of the driving source 310. Or, in a further optional embodiment, the second bracket 330 further includes a third limiting portion 335. The third limiting portion 335 is provided on the rotating shaft 331. Here, the third limiting portion 335 may have the same or similar structure as the first limiting portion 333, and will not be described repeatedly here. The third limiting portion 335 and the first limiting portion 333 are arranged at intervals along the circumferential direction of the rotating shaft 331. The third limiting portion 335 and the second limiting portion 334 are arranged staggeredly along the circumferential direction of the rotating shaft 331. The third limiting portion 335 can be in limiting cooperation with the fixing bracket 110. Specifically, when the rotating shaft 331 rotates to the position where the third limiting portion 335 is in limiting cooperation with the fixing bracket 110, the fixing bracket 110 prevents the rotating shaft 331 from continuing to rotate. At this time, the driving source 310 stops working, indicating that the thumb 200 has rotated to the third position.

[0053] It should be noted that in the above solution, in the counterclockwise rotation direction of the rotating shaft 331, the first limiting portion 333, the second limiting portion 334, and the third limiting portion 335 are arranged in sequence, so that after the rotating shaft 331 rotates a certain angle, each limiting portion performs limiting cooperation respectively.

[0054] Optionally, a blocking member may be provided on the fixing bracket 110 to block the rotation shaft 331 from moving along the second axis A2; alternatively, in another embodiment, the rotation shaft 331 has a limiting flange 331a, the second axis A2 is the central axis of the rotation shaft 331, and the limiting flange 331a is in limiting cooperation with the fixing bracket 110 in the axial direction of the rotation shaft 331. Specifically, the side surface of the limiting flange 331a is in limiting cooperation with the fixing bracket 110 in the extending direction of the central axis of the rotation shaft 331 to block the rotation shaft 331 from moving along the second axis A2; the first limiting portion 333 is provided on the limiting flange 331a, and at this time, the lever arm length of the first limiting portion 333 will be increased, thereby further saving the energy consumption of the driving source 310 and protecting the first limiting portion 333.

[0055] Optionally, the palm bone frame 100 further includes a bearing group 120. The bearing group 120 is sleeved on the rotation shaft 331, and the rotation shaft 331 is rotatably connected to the fixing bracket 110 through the bearing group 120. At this time, when the rotation shaft 331 rotates relative to the fixing bracket 110, the bearing group 120 can play a good supporting role, and the friction between the rotation shaft 331 and the bearing group 120 is small, which is beneficial to improving the rotation flexibility of the rotation shaft 331; in addition, the rotation shaft 331 is rotatably connected to the fixing bracket 110 through the bearing group 120, which can prevent the rotation shaft 331 from directly contacting the fixing bracket 110 and wearing the fixing bracket 110.

[0056] Further optionally, the bearing group 120 includes a first bearing and a second bearing. The limiting flange 331a, the first bearing, and the second bearing are sequentially arranged along the central axis direction of the rotation shaft 331. The first bearing is located in the receiving groove 111 of the fixing bracket 110, and the side surface of the limiting flange 331a is in limiting cooperation with the side surface of the first bearing in the axial direction of the rotation shaft 331, that is, the limiting flange 331a is in limiting cooperation with the fixing bracket 110 through the first bearing. The second bearing is located in the protective sleeve 113 of the fixing bracket 110, and the rotation shaft 331 is rotatably connected to the protective sleeve 113 through the second bearing, thereby further increasing the contact area between the rotation shaft 331 and the fixing bracket 110, providing more stable support for the rotation shaft 331, and further enabling the rotation shaft 331 to rotate more flexibly.

[0057] In another alternative embodiment, the first axis A1 is perpendicular to the second axis A2, so that when the thumb 200 rotates around the first axis A1 and the second axis A2 respectively, the fingertip of the thumb 200 can move within a larger range, thereby further improving the flexibility and operation stability of the thumb 200. Of course, the angle between the first axis A1 and the second axis A2 can be any angle, such as 30°, 45°, 60°, etc., and no specific limitation is made here.

[0058] Optionally, the driving source 310 can be fixed to the fixing frame 110. At this time, while the push rod 311a rotates relative to the second connecting shaft 311b, it can also slide. Alternatively, in other embodiments, the dexterous hand further includes a ball bearing 400, which has the characteristics of small frictional resistance, convenient installation and disassembly, high precision, and small wear. Optionally, the ball bearing 400 can be a universal ball bearing, which has the characteristics of self-lubrication and high space utilization rate. The ball bearing 400 is connected between the fixing frame 110 and the driving source 310. The ball bearing 400 is fixed to the fixing frame 110, and the driving source 310 can make a spherical motion relative to the ball bearing 400. When the driving source 310 outputs a driving force and the output shaft 311 drives the first bracket 320 to rotate, the first bracket 320 drives the entire driving source 310 to move relative to the ball bearing 400, so as to facilitate the flexible rotation of the first bracket 320.

[0059] In yet another alternative embodiment, the thumb includes a first phalanx 210, a second phalanx 220, and a third phalanx 230 that are sequentially rotatably connected, as well as a first driving member 240, a second driving member 250, and a third driving member 260. The first phalanx 210 is rotatably connected to the second end of the first bracket 320. The first driving member 240 is connected to the first phalanx 210, and the first driving member 240 is used to drive the first phalanx 210 to rotate about the fourth axis A4. Optionally, the first driving member 240 can be disposed inside the first phalanx 210, so as to make full use of the internal space of the first phalanx 210. The second driving member 250 is connected to the second phalanx 220, and the second driving member 250 is used to drive the second phalanx 220 to rotate about the fifth axis A5. Optionally, the second driving member 250 can be disposed inside the second phalanx 220, or the second driving member 250 is disposed inside the first phalanx 210. Since the space inside the first phalanx 210 is relatively large, it is convenient to dispose the second driving member 250. The third driving member 260 is connected to the third phalanx 230, and the third driving member 260 is used to drive the third phalanx 230 to rotate about the sixth axis A6. Among them, the fourth axis A4, the fifth axis A5, and the sixth axis A6 are parallel to each other, and the fourth axis A4, the fifth axis A5, and the sixth axis A6 are all perpendicular to the first axis A1. Optionally, the third driving member 260 can be disposed inside the second phalanx 220 or the third phalanx 230. When the thumb 200 rotates to a certain position about the first axis A1 and / or the second axis A2 respectively, at least one of the first driving member 240, the second driving member 250, and the third driving member 260 can be used to drive the corresponding first phalanx 210, second phalanx 220, and third phalanx 230 to rotate, so as to meet the need of grasping the object 900.

[0060] Optionally, one of the first driving member 240, the second driving member 250, and the third driving member 260 can be a motor. Of course, it can also be other driving structures, and the embodiments of the present application do not make specific limitations thereto.

[0061] Based on the thumb provided by the embodiments of the present application, the present application further provides a robot, including a device main body and the dexterous hand described in any of the above embodiments, and the dexterous hand is arranged on the device main body.

[0062] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

Claims

1. A dexterous hand, characterized in that, It includes a palm skeleton (100), a thumb (200) and a driving mechanism (300). The palm skeleton (100) includes a fixing frame (110). The driving mechanism (300) includes a driving source (310), a first bracket (320) and a second bracket (330). The driving source (310) is arranged on the fixing frame (110). The driving source (310) includes a connected driving part (312) and an output shaft (311). The driving part (312) can drive the output shaft (311) to extend or shorten. The output shaft (311) is rotatably connected to the first end of the first bracket (320). The second end of the first bracket (320) is rotatably connected to the thumb (200). The first end of the second bracket (330) is rotatably connected to the fixing frame (110). The second end of the second bracket (330) is rotatably connected to the first bracket (320). When the second bracket (330) is in limit fit with the fixing frame (110), the driving source (310) can drive the first bracket (320) to rotate relative to the second bracket (330) around a first axis (A1), so that the thumb (200) rotates around the first axis (A1), and the thumb (200) swings from one side of the palm skeleton (100) to the side facing the palm skeleton (100). When the second bracket (330) is in limit fit with the first bracket (320), the driving source (310) can drive both the first bracket (320) and the second bracket (330) to rotate around a second axis (A2), so that the thumb (200) rotates around the second axis (A2). Wherein, the first axis (A1) intersects or is skew with the second axis (A2). During the process of the thumb (200) rotating around the second axis (A2), the pulp of the thumb (200) can swing within the range formed by the position opposite to the pulp of the index finger (500) of the dexterous hand and the position opposite to the pulp of the little finger (800) of the dexterous hand).

2. The dexterous hand according to claim 1, characterized in that The first bracket (320) includes a frame body (321) and a first connecting shaft (322). The frame body (321) is rotatably connected between the thumb (200) and the output shaft (311). Both ends of the first connecting shaft (322) are connected to the frame body (321). The second end of the second bracket (330) is rotatably connected to the first connecting shaft (322). The first axis (A1) is the central axis of the first connecting shaft (322). The driving source (310) can drive the frame body (321) to rotate around the first connecting shaft (322).

3. The dexterous hand according to claim 2, wherein The output shaft (311) includes a push rod (311a) and a second connecting shaft (311b). One end of the push rod (311a) is rotatably connected to the second connecting shaft (311b). Both ends of the second connecting shaft (311b) are respectively rotatably connected to the frame body (321). The central axis (A7) of the second connecting shaft (311b) is parallel to the central axis of the first connecting shaft (322). When the second bracket (330) is in limit fit with the fixed bracket (110), the push rod (311a) and the second connecting shaft (311b) rotate relative to the frame body (321). When the second bracket (330) is in limit fit with the first bracket (320), the push rod (311a) rotates around a third axis relative to the second connecting shaft (311b). Wherein, the third axis (A3) is perpendicular to the central axis (A7) of the second connecting shaft (311b).

4. The dexterous hand according to claim 3, characterized in that, The second connecting shaft (311b) is located below the first connecting shaft (322), and the central axis (A7) of the second connecting shaft (311b) is arranged offset from the central axis of the first connecting shaft (322).

5. The dexterous hand according to claim 1, characterized in that, The second bracket (330) includes a rotating shaft (331), a torsion spring (332), a first limiting part (333) and a second limiting part (334). The rotating shaft (331) is rotatably connected to the fixed bracket (110). The second end of the rotating shaft (331) is rotatably connected to the first bracket (320). Both the first limiting part (333) and the second limiting part (334) are arranged on the rotating shaft (331), and the first limiting part (333) and the second limiting part (334) are arranged offset in the circumferential direction of the rotating shaft (331). The torsion spring (332) is sleeved on the first end of the rotating shaft (331). The first end of the torsion spring (332) presses against the first limiting part (333), and the second end of the torsion spring (332) presses against the fixed bracket (110). The first limiting part (333) can be located between the fixed bracket (110) and the first end of the torsion spring (332), so that the second bracket (330) is in limit fit with the fixed bracket (110) to limit the rotation of the second bracket (330) around the second axis (A2). The second limiting part (334) can be in limit fit with the first bracket (320) to limit the rotation of the first bracket (320) around the first axis (A1).

6. The dexterous hand according to claim 5, characterized in that, The second bracket (330) further includes a third limiting part (335). The third limiting part (335) is arranged on the rotating shaft (331). The third limiting part (335) and the first limiting part (333) are arranged at intervals in the circumferential direction of the rotating shaft (331). The third limiting part (335) and the second limiting part (334) are arranged offset in the circumferential direction of the rotating shaft (331). The third limiting part (335) can be in limit fit with the fixed bracket (110).

7. The dexterous hand according to claim 5, wherein The rotating shaft (331) has a limiting flange (331a), and the limiting flange (331a) is in limiting cooperation with the fixing bracket (110) in the axial direction of the rotating shaft (331), and the first limiting portion (333) is arranged on the limiting flange (331a).

8. The dexterous hand according to claim 1, characterized in that, The first axis is perpendicular to the second axis (A2).

9. The dexterous hand according to claim 1, characterized in that, The dexterous hand further includes a ball bearing (400), and the ball bearing (400) is connected between the fixing bracket (110) and the driving source (310), and the driving source (310) can perform spherical motion relative to the ball bearing (400).

10. The dexterous hand according to claim 1, characterized in that, The thumb includes a first finger joint (210), a second finger joint (220), and a third finger joint (230) that are sequentially rotatably connected, as well as a first driving member (240), a second driving member (250), and a third driving member (260). The first finger joint (210) is rotatably connected to the second end of the first bracket (320). The first driving member (240) is connected to the first finger joint (210), and the first driving member (240) is used to drive the first finger joint (210) to rotate around the fourth axis (A4). The second driving member (250) is connected to the second finger joint (220), and the second driving member (250) is used to drive the second finger joint (220) to rotate around the fifth axis (A5). The third driving member (260) is connected to the third finger joint (230), and the third driving member (260) is used to drive the third finger joint (230) to rotate around the sixth axis (A6). Wherein, the fourth axis (A4), the fifth axis (A5), and the sixth axis (A6) are parallel to each other, and the fourth axis (A4), the fifth axis (A5), and the sixth axis (A6) are all perpendicular to the first axis (A1).

11. A robot, characterized in that, It includes a device body and the dexterous hand according to any one of claims 1 to 10, and the dexterous hand is arranged on the device body.

Images