Dexterous fingers, dexterous hands and robots

Abstract

The present invention discloses a dexterous hand finger, a dexterous hand and a robot. The dexterous hand finger comprises a base, a finger root joint assembly, a first driving assembly and a second driving assembly. The finger root joint assembly comprises a connecting piece and a joint bearing, and the connecting piece is rotatably connected to the base through the joint bearing; the first driving assembly comprises a first rotating piece, which is rotatably connected to the base; the second driving assembly comprises a second rotating piece, and the second rotating piece is rotatably connected to the base. The connecting piece of the finger root joint assembly is rotatably connected to the base through the joint bearing, the first rotating piece can drive the connecting piece to rotate in a first direction, thereby driving the finger to rotate in the first direction, so that the finger can bend, the second rotating piece can drive the connecting piece to rotate in a second direction, thereby driving the finger to rotate in the second direction, so that the finger can swing sideways, and the dexterous hand finger of the present application has a high degree of freedom, so that the finger has high flexibility.

Description

Technical Field

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

[0002] In related technologies, a robot dexterous hand is usually installed at the end of the manipulator arm of a humanoid robot, and can grasp tools designed for humans in different scenarios, just like human hands. It needs to have a high degree of freedom, a certain grasping ability, and a balance of size. The current dexterous hand has a side swing function, but the solution has a large structure and a complex mechanism.

[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 dexterous hand fingers.

[0005] According to a first aspect of the present invention, a dexterous hand finger is provided. The dexterous hand finger comprises:

[0006] Pedestal;

[0007] The finger root joint assembly comprises a connecting piece and a joint bearing, wherein the connecting piece is connected to the joint bearing, and the joint bearing is connected to the base, so as to rotatably connect the connecting piece to the base;

[0008] A first driving assembly includes a first rotating member, wherein the first rotating member is rotatably connected to the base;

[0009] A second driving assembly includes a second rotating member, wherein the second rotating member is rotatably connected to the base;

[0010] The first rotating member can drive the connecting member to rotate along a first direction, and the second rotating member can drive the connecting member to rotate along a second direction.

[0011] Optionally, the connecting member is provided with a hollow portion, the first rotating member is passed through the hollow portion, and the hollow portion is provided with a first avoidance position so that the connecting member can avoid the first rotating member when rotating along the second direction.

[0012] Optionally, two ends of the first rotating member along the first direction are in contact with inner walls on opposite sides of the hollow portion.

[0013] Optionally, the first driving assembly further includes a first supporting member, the first supporting member is rotatably connected to the base, and one end of the first rotating member is passed through the hollow portion and connected to the first supporting member.

[0014] Optionally, the first driving assembly further includes a first driving member and a first transmission group, and the first driving member can drive the first rotating member to rotate through the first transmission group.

[0015] Optionally, the first transmission group includes a transmission shaft, the transmission shaft is rotatably connected to the base, the first rotating member is connected to the transmission shaft, and the spherical bearing is sleeved on the transmission shaft.

[0016] Optionally, the first transmission group further includes a transmission gear, which is sleeved on the transmission shaft and can drive the transmission shaft to rotate.

[0017] Optionally, a connecting portion is provided at one axial end of the transmission gear, and the connecting portion is rotatably connected to the base via a first rolling bearing.

[0018] Optionally, the second rotating member is provided with a clamping portion, and the clamping portion is clamped on the connecting member.

[0019] Optionally, the clamping portion is provided with a second avoidance position so that the connecting member can avoid the second rotating member when rotating along the first direction.

[0020] Optionally, the clamping portion is provided with two clamping walls opposite to each other, and the two clamping walls are respectively in contact with two opposite sides of the connecting member.

[0021] Optionally, the second driving assembly further includes a second driving member and a second transmission group, and the second driving member can drive the second rotating member to rotate through the second transmission group.

[0022] Optionally, the second transmission group includes a first transmission member, a second transmission member and a third transmission member, both ends of the second transmission member are respectively connected to the first transmission member and the third transmission member, the first transmission member is connected to the second driving member, and the third transmission member is connected to the second rotating member.

[0023] Optionally, the fingers of the dexterous hand further include a middle finger joint and a fingertip joint, the finger base joint assembly includes a finger base joint, one end of the middle finger joint is rotatably connected to the finger base joint, and the other end is rotatably connected to the fingertip joint.

[0024] Optionally, the middle finger joint includes a first middle finger segment and a second middle finger segment, and the two ends of the first middle finger segment and the second middle finger segment are respectively rotatably connected to the base joint and the fingertip joint, and there is an angle between the first middle finger segment and the second middle finger segment, and the angle is greater than 0° and less than 180°.

[0025] According to a second aspect of the present invention, a dexterous hand is provided, which comprises the dexterous hand fingers of the above-mentioned first aspect embodiment.

[0026] According to a third aspect of the present invention, a robot is provided, comprising the dexterous hand according to the embodiment of the second aspect.

[0027] A technical effect of the present application is that the connecting member of the finger root joint assembly is rotatably connected to the base via a joint bearing, the first rotating member can drive the connecting member to rotate along a first direction, thereby driving the finger to rotate along the first direction so that the finger can bend, and the second rotating member can drive the connecting member to rotate along a second direction, thereby driving the finger to rotate along the second direction so that the finger can swing sideways. The fingers of the dexterous hand of the present application have a high degree of freedom, so that the fingers are more flexible, and the structure is simple, which is conducive to the miniaturized design of the fingers of the dexterous hand.

[0028] 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

[0029] 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.

[0030] Figure 1 It is a schematic diagram of the structural decomposition of the dexterous hand according to an embodiment of the present application.

[0031] Figure 2 This is a schematic diagram of the structure of the dexterous hand from another perspective of the embodiment of the present application.

[0032] Figure 3 It is a schematic diagram of the partial structure of the dexterous hand of an embodiment of the present application.

[0033] Figure 4 It is a schematic structural diagram of the finger root joint assembly of the dexterous hand fingers of an embodiment of the present application.

[0034] Figure 5 It is a partial cross-sectional view of the fingers of the dexterous hand according to an embodiment of the present application.

[0035] Figure 6 It is a schematic diagram of the partial structure of the second drive component of an embodiment of the present application.

[0036] Figure 7 It is a schematic diagram of the structure of the fingers of the dexterous hand according to an embodiment of the present application.

[0037] Figure 8 It is a schematic diagram of the structure of the fingers of the dexterous hand according to an embodiment of the present application.

[0038] Fig. 9 It is a schematic diagram of the partial structure of the dexterous hand of an embodiment of the present application.

[0039] Fig.10It is a schematic diagram of the partial structure of the dexterous hand of an embodiment of the present application.

[0040] Reference numerals:

[0041] 1. Dexterous fingers;

[0042] 11. Base;

[0043] 12. Finger root joint assembly; 121. Connector; 1211. Hollow portion; 1212. First avoidance position; 122. Joint bearing; 123. Finger root joint;

[0044] 13. First driving assembly; 131. First rotating member; 132. First supporting member; 133. First driving member; 1331. First driving shaft; 137. Transmission shaft; 134. Transmission gear; 1341. Connecting part; 135. First rolling bearing; 136. Second potentiometer;

[0045] 14. second driving assembly; 141. second rotating member; 1411. clamping portion; 14111. clamping wall; 142. second driving member; 143. second transmission group; 1431. first transmission member; 1432. second transmission member; 1433. third transmission member; 145. second rolling bearing;

[0046] 15, middle finger joint; 151, first middle finger joint; 152, second middle finger joint; 153, first potentiometer;

[0047] 16. Fingertip joints; 161. Tactile sensors;

[0048] 2. Palm motherboard. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0053] 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.

[0054] According to one embodiment of the present application, a dexterous finger 1 is provided. Figures 1 to 4 The dexterous finger 1 includes: a base 11, a finger root joint assembly 12, a first drive assembly 13 and a second drive assembly 14. The finger root joint assembly 12 includes a connecting member 121 and a joint bearing 122, wherein the connecting member 121 is connected to the joint bearing 122, that is, the joint bearing 122 is fixed to the connecting member 121 through a bearing pressure plate, and the joint bearing 122 is connected to the base 11 by a transmission shaft 137; the first drive assembly 13 includes a first rotating member 131, and the first rotating member 131 is connected to the base 11; the second drive assembly 14 includes a second rotating member 141, and the second rotating member 141 is connected to the base 11; wherein the first rotating member 131 can drive the connecting member 121 to rotate in a first direction, and the second rotating member 141 can drive the connecting member 121 to rotate in a second direction.

[0055] In this example, refer to Figures 3 to 7 The connecting member 121 of the finger root joint assembly 12 is rotatably connected to the base 11 through the joint bearing 122. The first rotating member 131 can drive the connecting member 121 to rotate along the first direction, thereby driving the finger to rotate along the first direction, that is, the finger can be bent. The second rotating member 141 can drive the connecting member 121 to rotate along the second direction, thereby driving the finger to rotate along the second direction, that is, the finger can be swung sideways. The dexterous hand finger 1 of the embodiment of the present application has a high degree of freedom, so that the finger has high flexibility.

[0056] In this example, as the main load-bearing member, it can withstand large impact loads, ensuring that the dexterous hand fingers 1 can grasp heavy objects, ensuring the strength of the dexterous hand fingers 1, and taking into account flexibility and durability.

[0057] In this example, refer to Figure 3 and Figure 4 The dexterous finger 1 includes a base 11, a finger joint assembly 12, a first drive assembly 13, and a second drive assembly 14. The finger joint assembly 12 includes a connecting member 121 and a joint bearing 122. One end of the connecting member 121 is sleeved on the bearing pressure plate of the outer ring of the joint bearing 122, and can be rotatably connected to the base 11 through the joint bearing 122. The other end of the connecting member 121 is fixedly connected to the finger joint 123, so that when the connecting member 121 rotates around the joint bearing 122, the finger joint 123 can be driven to rotate.

[0058] In this example, refer to Figures 3 to 5 The first driving assembly 13 includes a first rotating member 131, and the first rotating member 131 is rotatably connected to the base 11. The first rotating member 131 can rotate along a first direction, that is, the first direction can be a direction in which the finger bends forward and backward. The first rotating member 131 is connected to the connecting member 121, and when the first rotating member 131 rotates along the first direction, it can drive the connecting member 121 to rotate along the first direction, that is, it can drive the finger to bend.

[0059] In this example, refer to Figures 1 to 9 The second driving member 142 includes a second rotating member 141, which is rotatably mounted on the base 11. The second rotating member 141 is connected to the connecting member 121. When the second rotating member 141 rotates along the second direction, it can drive the connecting member 121 to rotate along the second direction, that is, the second direction can be the direction in which the finger swings left and right. The second rotating member 141 is connected to the connecting member 121. When the second rotating member 141 rotates along the second direction, it can drive the connecting member 121 to rotate along the second direction, that is, it can drive the finger to swing sideways.

[0060] In one example, referring to Figure 4 and Figure 5 The connecting member 121 is provided with a hollow portion 1211, the first rotating member 131 is passed through the hollow portion 1211, and the hollow portion 1211 is provided with a first avoidance position 1212, so that the connecting member 121 can avoid the first rotating member 131 when rotating along the second direction.

[0061] In this example, refer to Figure 4 and Figure 5 The connecting member 121 is provided with a hollow portion 1211. The first rotating member 131 can be inserted into the hollow portion 1211. When the first rotating member 131 rotates along the first direction, it can abut against the inner wall of the hollow portion 1211, thereby driving the connecting member 121 to rotate. Figure 5 The hollow portion 1211 is provided with a first avoidance position 1212 so that when the connecting member 121 rotates along the second direction, it can avoid the first rotating member 131, so that the connecting member 121 can rotate smoothly.

[0062] In this example, refer to Figure 5 There is a gap between the upper inner wall of the hollow portion 1211 and the first 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 131, 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 131 can be determined by those skilled in the art according to actual conditions, and is not specifically limited here.

[0063] In an example, two ends of the first rotating member 131 along the first direction are in contact with inner walls of opposite sides of the hollow portion 1211 .

[0064] In this example, refer to Figure 5 , the two ends of the first rotating member 131 along the first direction are in contact with the inner walls of the opposite sides of the hollow portion 1211. That is, the front and rear ends of the first rotating member 131 are respectively in contact with the two inner walls of the hollow portion 1211, so that when the first rotating member 131 rotates, it can drive the connecting member 121 to rotate in time to improve the accuracy of finger control. In addition, the first rotating member 131 can also limit the connecting member 121 to prevent the connecting member 121 from shaking.

[0065] In one example, referring to Figures 3 to 5 The first driving assembly 13 also includes a first supporting member 132 , which is rotatably connected to the base 11 , and one end of the first rotating member 131 is passed through the hollow portion 1211 and connected to the first supporting member 132 .

[0066] In this example, the first driving assembly 13 includes a first support member 132, one end of which is rotatably connected to the base 11. One end of the first rotating member 131 is inserted into the hollow portion 1211 and connected to the first support member 132. The first support member 132 can support the first rotating member 131, thereby improving the stability of the rotation of the first rotating member 131.

[0067] In this example, the first support member 132 may be a support plate, one end of which is rotatably connected to the base 11, and the other end of which is fixedly connected to the first 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 here.

[0068] In one example, the first driving assembly 13 further includes a first driving member 133 and a first transmission group, and the first driving member 133 can drive the first rotating member 131 to rotate through the first transmission group.

[0069] In this example, refer to Figures 3 to 5 The first driving assembly 13 further includes a first driving member 133 and a first transmission group, and the first driving member 133 can drive the first rotating member 131 to rotate through the first transmission group. That is, the output end of the first driving member 133 is connected to the first transmission group, and the first rotating member 131 is driven to rotate along the first direction through the transmission of the first transmission group.

[0070] In this example, the first driving member 133 may be a driving motor, and the first 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.

[0071] In one example, the first transmission group includes a transmission shaft 137 , the rotation of the transmission shaft 137 is connected to the base 11 , the first rotating member 131 is connected to the transmission shaft 137 , and the spherical bearing 122 is sleeved on the transmission shaft 137 .

[0072] In this example, refer to Figures 4 to 5 The first transmission group includes a transmission shaft 137. A first mounting plate and a second mounting plate are provided at opposite ends of the base 11. One end of the transmission shaft 137 is rotatably connected to the first mounting plate, and the other end is rotatably mounted to the second mounting plate. The first rotating member 131 is fixedly connected to the transmission shaft 137, so that the transmission shaft 137 can drive the first rotating member 131 to rotate.

[0073] In this example, the inner ring of the joint bearing 122 can also be directly sleeved on the transmission shaft 137 to make the structure of the dexterous hand finger 1 more compact.

[0074] Both 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 transmission shaft 137 can rotate more smoothly.

[0075] Reference Figure 5 The first support member 132 can be connected to one end of the transmission shaft 137. When the transmission shaft 137 rotates, the first support member 132 and the first rotating member 131 can be driven to rotate at the same time.

[0076] 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.

[0077] In this example, refer to Figures 3 to 5 The first driving component 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 first 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 first rotating member 131, so as to control the rotation angle of the finger, that is, the bending degree of the finger can be controlled.

[0078] In one example, the first transmission group further includes a transmission gear 134 , and the transmission gear 134 is sleeved on the transmission shaft 137 and can drive the transmission shaft 137 to rotate.

[0079] In this example, refer to Figures 3 to 5 The first transmission group further includes a transmission gear 134, and the transmission gear 134 is fixedly sleeved on the outer periphery of the transmission shaft 137. The transmission gear 134 can drive the transmission shaft 137 to rotate along the first direction.

[0080] In this example, refer to Figure 4 and Figure 5 The transmission gear 134 may be a bevel gear, and the output end of the first 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.

[0081] 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.

[0082] In an example, a connecting portion 1341 is provided at one end of the transmission gear 134 along the axial direction, and the connecting portion 1341 is rotatably connected to the base 11 through a first rolling bearing 135 .

[0083] In this example, refer to Figure 4 and Figure 5 , 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.

[0084] In one example, referring to Figure 4 and Figure 6 Therefore, the second rotating member 141 is provided with a clamping portion 1411 , and the clamping portion 1411 is clamped on the connecting member 121 .

[0085] In this example, refer to Figure 4 and Figure 6 The second rotating member 141 is provided with a clamping portion 1411, and the clamping portion 1411 is clamped on the connecting member 121. When the second rotating member 141 rotates along the second direction, it can drive the connecting member 121 to rotate, so that the finger can swing sideways.

[0086] In this example, the rotation center of the outer ring of the spherical bearing 122 can coincide with the rotation center of the second rotating member 141 , so that the second rotating member 141 can drive the connecting member 121 to rotate around the inner ring of the spherical bearing 122 .

[0087] In one example, referring to Figure 6 The clamping portion 1411 is oppositely provided with two clamping walls 14111 , and the two clamping walls 14111 are respectively in contact with two opposite sides of the connecting member 121 .

[0088] In this example, refer to Figure 4 and Figure 5 The clamping portion 1411 can be composed of two oppositely arranged clamping walls. The two clamping walls 14111 are in contact with the two opposite ends of the connecting member 121, so that when the second rotating member 141 rotates, the connecting member 121 can be driven to rotate in time to improve the accuracy of finger control. In addition, the second rotating member 141 can also limit the connecting member 121 to prevent the connecting member 121 from shaking.

[0089] In one example, the clamping portion 1411 is provided with a second avoidance position, so that when the connecting member 121 rotates along the first direction, it can avoid the second rotating member 141 .

[0090] In this example, refer to Figure 4 The clamping portion 1411 is provided with a second avoidance position so that when the connecting member 121 rotates along the first direction, it can avoid the second rotating member 141. One end of the clamping portion 1411 is open, and the opening can constitute the second avoidance position. There is a gap between the bottom wall of the clamping portion 1411 and the connecting member 121, and the gap can constitute the second avoidance position.

[0091] In this example, refer to Figure 4 The second transmission member 1432 can be installed on the base 11 through the second rolling bearing 145 to make the second rotating member 141 rotate more smoothly.

[0092] In an example, the second driving assembly 14 further includes a second driving member 142 and a second transmission group 143 , and the second driving member 142 can drive the second rotating member 141 to rotate through the second transmission group 143 .

[0093] In this example, refer to Figures 8 to 10 The second driving assembly 14 also includes a second driving member 142 and a second transmission group 143. The second driving member 142 can drive the second rotating member 141 to rotate through the second transmission group 143. The second driving member 142 can be a driving motor, and the second transmission group 143 can be composed of a transmission rod group and or a gear and a rotating shaft. Those skilled in the art can determine according to actual conditions, and no specific limitation is made here.

[0094] In an example, the second transmission group 143 includes a first transmission member 1431, a second transmission member 1432 and a third transmission member 1433, the two ends of the second transmission member 1432 are respectively connected to the first transmission member 1431 and the third transmission member 1433, the first transmission member 1431 is connected to the second driving member 142, and the third transmission member 1433 is connected to the second rotating member 141.

[0095] In this example, refer to Fig. 9 The second transmission group 143 includes a first transmission member 1431, a second transmission member 1432 and a third transmission member 1433. One end of the first transmission member 1431 is connected to the output end of the second driving member 142, and the other end is connected to the second transmission member 1432. The second driving member 142 can drive the first transmission member 1431 to rotate, so as to drive the second transmission member 1432 to rotate. The other end of the second transmission member 1432 is connected to the third transmission member 1433, and can drive the third transmission member 1433 to rotate. The third transmission member 1433 is connected to the second rotating member 141, and can drive the second rotating member 141 to rotate.

[0096] In this example, the second driving assembly 14 is provided with a third potentiometer. The third potentiometer has the same function as the second potentiometer 136, and the third potentiometer can detect the angle of the second rotating member 141 to control the swing angle of the finger.

[0097] In one example, the dexterous finger 1 also includes a middle finger joint 15 and a fingertip joint 16, and the base joint assembly 12 includes a base joint 123, 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.

[0098] In this example, refer to Figures 7 to 10 The dexterous 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.

[0099] 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 finger 1 of the dexterous hand can bend and grasp an object.

[0100] In an example, the middle finger joint 15 includes a first middle finger segment 151 and a second middle finger segment 152, and the two ends of the first middle finger segment 151 and the second middle finger segment 152 are respectively rotatably connected to the base joint 123 and the fingertip joint 16, and there is an angle between the first middle finger segment 151 and the second middle finger segment 152, and the angle is greater than 0° and less than 180°.

[0101] In this example, refer to Figure 7 and Figure 8 , there is an angle between the first middle joint 151 and the second middle joint 152, and the angle between the first middle joint 151 and the second middle joint 152 is greater than 0° and less than 180°. That is, the first middle joint 15 and the second middle joint 15 are non-coaxially arranged. The two ends of the first middle joint 151 and the second middle joint 152 are rotatably connected to the base joint 123 and the fingertip joint 16 respectively. One end of the first middle joint 151 away from the fingertip joint 16 is connected to the driving 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 realizing the secondary bending of the fingertip joint 16, so as to facilitate the operation of grasping objects with fingers.

[0102] 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, and thus can detect the rotation angle of the first middle segment 151 .

[0103] In this example, refer to Figure 7 The fingertip joint 16 is also provided with a tactile sensor 161. The tactile sensor 161 is a sensor used in the robot to imitate the tactile function.

[0104] According to a second aspect of the present invention, a dexterous hand is provided, which comprises the dexterous hand finger 1 of the embodiment of the first aspect.

[0105] In this example, the dexterous finger 1 includes a base 11, a finger joint assembly 12, a first drive assembly 13 and a second drive assembly 14. The finger joint assembly 12 includes a connecting member 121 and a joint bearing 122, the connecting member 121 is connected to the joint bearing 122, and the joint bearing 122 is connected to the base 11 to rotatably connect the connecting member 121 to the base 11; the first drive assembly 13 includes a first rotating member 131, and the first rotating member 131 is rotatably connected to the base 11; the second drive assembly 14 includes a second rotating member 141, and the second rotating member 141 is rotatably connected to the base 11. The connecting member 121 of the finger root joint assembly 12 is rotatably connected to the base 11 via the joint bearing 122. The first rotating member 131 can drive the connecting member 121 to rotate along the first direction, thereby driving the finger to rotate along the first direction, that is, the finger can be bent. The second rotating member 141 can drive the connecting member 121 to rotate along the second direction, thereby driving the finger to rotate along the second direction, that is, the finger can be swung sideways. The dexterous hand finger 1 of the embodiment of the present application has a high degree of freedom, thereby making the finger more flexible.

[0106] In this example, refer to Figure 3 The dexterous hand comprises a palm main board, and the dexterous hand fingers 1 are mounted on the palm main board. The dexterous hand fingers 1 can be bent and swung sideways, thereby improving the flexibility of the dexterous hand.

[0107] In this example, the palm main board can be installed with multiple dexterous hand fingers 1, for example, five dexterous hand fingers 1, to realize the function of the hand.

[0108] In this example, the dexterous hand also includes at least all the beneficial effects of the above-mentioned embodiments, which will not be described in detail here.

[0109] According to a third aspect of the present invention, a robot is provided, comprising the dexterous hand according to the embodiment of the second aspect.

[0110] In this example, the robot of the embodiment of the present application includes the dexterous hand of the above-mentioned embodiment. The dexterous hand has high flexibility. The base joint assembly 12 of the finger of the dexterous hand is rotatably connected to the base 11 through the joint bearing 122, and the first rotating member 131 can drive the connecting member 121 to rotate in the first direction, thereby driving the finger to rotate in the first direction, that is, the finger can be bent, and the second rotating member 141 can drive the connecting member 121 to rotate in the second direction, thereby driving the finger to rotate in the second direction, that is, the finger can be swung sideways. The dexterous hand finger 1 of the embodiment of the present application has a high degree of freedom, so that the finger has high flexibility.

[0111] Of course, the robot also includes at least all the beneficial effects of the above embodiments, which will not be repeated here.

[0112] 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.

[0113] 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 dexterous finger, characterized in that: include: Base (11); A finger root joint assembly (12), comprising a connecting member (121) and a joint bearing (122), wherein the connecting member (121) is connected to the joint bearing (122), and the joint bearing (122) is connected to the base (11), so that the connecting member (121) is rotatably connected to the base (11); A first driving assembly (13), comprising a first rotating member (131), wherein the first rotating member (131) is rotatably connected to the base (11); A second driving assembly (14) comprising a second rotating member (141), wherein the second rotating member (141) is rotatably connected to the base (11); The first rotating member (131) can drive the connecting member (121) to rotate along a first direction, the second rotating member (141) can drive the connecting member (121) to rotate along a second direction, the connecting member (121) is provided with a hollow portion (1211), the first rotating member (131) is inserted into the hollow portion (1211), and the hollow portion (1211) is provided with a first avoidance position (1212), so that the connecting member (121) can avoid the first rotating member (131) when rotating along the second direction.

2. The dexterous hand finger according to claim 1, characterized in that: Two ends of the first rotating member (131) along the first direction are in contact with inner walls on opposite sides of the hollow portion (1211).

3. The dexterous hand finger according to claim 1, characterized in that: The first driving assembly (13) further comprises a first supporting member (132), wherein the first supporting member (132) is rotatably connected to the base (11), and one end of the first rotating member (131) is passed through the hollow portion (1211) and connected to the first supporting member (132).

4. The dexterous hand finger according to claim 1, characterized in that: The first driving assembly (13) further comprises a first driving member (133) and a first transmission group, and the first driving member (133) can drive the first rotating member (131) to rotate through the first transmission group.

5. The dexterous hand finger according to claim 4, characterized in that: The first transmission group comprises a transmission shaft (137), the transmission shaft (137) is rotatably connected to the base (11), the first rotating member (131) is connected to the transmission shaft (137), and the joint bearing (122) is sleeved on the transmission shaft (137).

6. The dexterous hand finger according to claim 5, characterized in that: The first transmission group further comprises a transmission gear (134), wherein the transmission gear (134) is sleeved on the transmission shaft (137) and is capable of driving the transmission shaft (137) to rotate.

7. The dexterous hand finger according to claim 6, characterized in that: A connecting portion (1341) is provided at one axial end of the transmission gear (134), and the connecting portion (1341) is rotatably connected to the base (11) via a first rolling bearing (135).

8. The dexterous hand finger according to claim 1, characterized in that: The second rotating member (141) is provided with a clamping portion (1411), and the clamping portion (1411) is clamped on the connecting member (121).

9. The dexterous hand finger according to claim 8, characterized in that: The clamping portion (1411) is provided with a second avoidance position so that the connecting member (121) can avoid the second rotating member (141) when rotating along the first direction.

10. The dexterous hand finger according to claim 8, characterized in that: The clamping portion (1411) is provided with two clamping walls opposite to each other, and the two clamping walls are respectively in contact with two opposite sides of the connecting member (121).

11. The dexterous hand finger according to claim 1, characterized in that: The second driving assembly (14) further comprises a second driving member (142) and a second transmission group (143); the second driving member (142) can drive the second rotating member (141) to rotate via the second transmission group (143).

12. The dexterous hand finger according to claim 11, characterized in that: The second transmission group (143) comprises a first transmission member (1431), a second transmission member (1432) and a third transmission member (1433), the two ends of the second transmission member (1432) are respectively connected to the first transmission member (1431) and the third transmission member (1433), the first transmission member (1431) is connected to the second driving member, and the third transmission member (1433) is connected to the second rotating member (141).

13. The dexterous hand finger according to claim 1, characterized in that: The fingers of the dexterous hand further include a middle finger joint (15) and a fingertip joint (16); the finger base joint assembly (12) includes a finger base joint (123); one end of the middle finger joint (15) is rotatably connected to the finger base joint (123), and the other end is rotatably connected to the fingertip joint (16).

14. The dexterous hand finger according to claim 13, characterized in that: The middle finger joint (15) comprises 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, and 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°.

15. A dexterous hand, characterized in that: Comprising a dexterous hand finger as described in any one of claims 1 to 14.

16. A robot, characterized in that: Comprising the dexterous hand as claimed in claim 15.

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