Side swing mechanism, dexterous hand and robot

Abstract

The application relates to the technical field of robots, in particular to a side swing mechanism, a dexterous hand and a robot, which solve the problems that the side swing movement of each finger of the dexterous hand needs a side swing mechanism to drive, leading to the problems of complex structure and large size of the dexterous hand. The side swing mechanism comprises a driving assembly, a first connecting rod and a second connecting rod. The driving assembly is connected with a first phalanx and drives the first phalanx to rotate to realize the side swing of the first phalanx; the first phalanx drives a second phalanx to rotate through the first connecting rod to realize the side swing of the second phalanx; and the first phalanx or the second phalanx drives a third phalanx to rotate through the second connecting rod to realize the side swing of the third phalanx. Therefore, the side swing mechanism realizes the side swing of multiple phalanges through one driving assembly, reduces the complexity of the side swing mechanism, reduces the size of the side swing mechanism, thereby reducing the size of the dexterous hand and making the size of the dexterous hand closer to that of a human hand.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a side swing mechanism, a dexterous hand and a robot. BACKGROUND

[0002] A robot is an intelligent machine capable of semi-autonomous or autonomous work, which can perform tasks such as movement and grasping through programming and automatic control. A dexterous hand is an end effector of a robot. The fingers of the dexterous hand are an important part of the dexterous hand, and the side swing mechanism is a driving mechanism for driving the fingers of the dexterous hand to swing. The dexterous hand generally has multiple fingers. At present, the side swing of each finger of the dexterous hand needs to be driven by a side swing mechanism, which leads to a complex structure and a large size of the dexterous hand. SUMMARY

[0003] Therefore, the embodiments of the present application provide a side swing mechanism, a dexterous hand and a robot, which solve the problem that the side swing of each finger of the dexterous hand needs to be driven by a side swing mechanism, which leads to a complex structure and a large size of the dexterous hand.

[0004] In a first aspect, the embodiments of the present application provide a side swing mechanism applied to a dexterous hand, the dexterous hand comprising a palm base plate and at least three finger joints, the at least three finger joints being rotatably connected with the palm base plate, the axes of rotation of the at least three finger joints about the palm base plate all intersecting the palm base plate, the at least three finger joints comprising a first finger joint, a second finger joint and a third finger joint; wherein the side swing mechanism comprises: a driving assembly provided on the palm base plate, connected with the first finger joint and configured to drive the first finger joint to rotate to realize side swing of the first finger joint; a first connecting rod, a first end of the first connecting rod being rotatably connected with the first finger joint, and a second end of the first connecting rod being rotatably connected with the second finger joint; and a second connecting rod, a first end of the second connecting rod being rotatably connected with the third finger joint, and a second end of the second connecting rod being rotatably connected with the first finger joint or the second finger joint.

[0005] In some embodiments, the driving assembly comprises: a first side swing driving wheel connected with the first finger joint; a side swing driving rod, a first end of the side swing driving rod being rotatably connected with the first side swing driving wheel; and a driving source assembly comprising a fixed part and a movable part connected with each other, the movable part performing linear reciprocating motion under the driving of the fixed part, the fixed part being connected with the palm base plate, and the movable part being rotatably and slidably connected with a second end of the side swing driving rod.

[0006] In some embodiments, the fixing member comprises: a driving source connected with the palm base plate; a screw rod connected with the driving source and rotating under the driving of the driving source; the movable member comprises: a screw rod nut threadedly connected with the screw rod and moving along the extension direction of the screw rod under the driving of the screw rod, the screw rod nut being rotatably and slidably connected with the second end of the side swing driving rod, wherein the screw rod nut has a limiting portion; the side swing mechanism further comprises: a guide assembly abutting against the limiting portion of the screw rod nut and configured to limit the rotation of the screw rod nut.

[0007] In some embodiments, the second end of the side swing driving rod has an elongated hole arranged along the extension direction of the side swing driving rod; wherein the driving assembly further comprises: a connecting shaft connected with the screw rod nut; a roller rotatably connected with the connecting shaft; wherein the roller extends into the elongated hole and can slide in the elongated hole along the extension direction of the elongated hole.

[0008] In some embodiments, the first knuckle comprises any one of the following knuckles: an index finger knuckle, a ring finger knuckle and a little finger knuckle, wherein the index finger knuckle, the ring finger knuckle and the little finger knuckle are arranged in sequence; the second knuckle comprises any one of the following knuckles except the first knuckle: the index finger knuckle, the ring finger knuckle and the little finger knuckle; the third knuckle comprises one of the following knuckles except the first knuckle and the second knuckle: the index finger knuckle, the ring finger knuckle and the little finger knuckle.

[0009] In some embodiments, the dexterous hand further comprises: a middle finger knuckle between the index finger knuckle and the ring finger knuckle.

[0010] In some embodiments, the first knuckle is the index finger knuckle, the second knuckle is the ring finger knuckle, and the third knuckle is the little finger knuckle; wherein the second end of the second connecting rod is connected with the ring finger knuckle.

[0011] In some embodiments, the index finger knuckle is rotatably connected to the palm base plate about a first axis, the ring finger knuckle is rotatably connected to the palm base plate about a second axis, and the little finger knuckle is rotatably connected to the palm base plate about a third axis; a first end of the first connecting rod is rotatably connected to the index finger knuckle about a fourth axis, and a second end of the first connecting rod is rotatably connected to the ring finger knuckle about a fifth axis; a first end of the second connecting rod is rotatably connected to the little finger knuckle about a sixth axis, and a second end of the first connecting rod is rotatably connected to the ring finger knuckle about a seventh axis; wherein the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis are parallel; wherein, in a plane perpendicular to the first axis, the orthographic projections of the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis are A point, B point, C point, D point, E point, F point and G point respectively, wherein a first line between A point and B point intersects a second line between D point and E point, and a third line between B point and C point does not intersect a fourth line between F point and G point.

[0012] In some embodiments, the dexterous hand further comprises a middle finger knuckle between the index finger knuckle and the ring finger knuckle; wherein the first connecting rod comprises a first curved segment, and a bending direction of the first curved segment is towards the middle finger knuckle.

[0013] In a second aspect, embodiments of the present application provide a dexterous hand, comprising: a palm base plate; at least three finger knuckles, each of the at least three finger knuckles being rotatably connected to the palm base plate, and an axis about which each of the at least three finger knuckles rotates relative to the palm base plate intersects the palm base plate, and the at least three finger knuckles comprise a first finger knuckle, a second finger knuckle and a third finger knuckle; and the side swing mechanism of the first aspect, disposed on the palm base plate, configured to drive the at least three finger knuckles to swing sideways.

[0014] In a third aspect, embodiments of the present application provide a robot, comprising: a main body; and at least one dexterous hand of the second aspect, connected to the main body.

[0015] The side swing mechanism provided by the embodiment of the present application is applied to a dexterous hand. The side swing mechanism comprises a driving assembly, a first connecting rod and a second connecting rod. Specifically, the driving assembly is arranged on a palm substrate and connected with a first knuckle, and is configured to drive the first knuckle to rotate, so as to realize side swing of the first knuckle. A first end of the first connecting rod is rotatably connected with the first knuckle, and a second end of the first connecting rod is rotatably connected with a second knuckle, so that the first knuckle drives the second knuckle to rotate through the first connecting rod, and side swing of the second knuckle is realized. A first end of the second connecting rod is rotatably connected with a third knuckle, and a second end of the second connecting rod is rotatably connected with the first knuckle or the second knuckle, so that the first knuckle or the second knuckle drives the third knuckle to rotate through the second connecting rod, and side swing of the third knuckle is realized. Therefore, the embodiment of the present application realizes side swing of the first knuckle, the second knuckle and the third knuckle by making the side swing mechanism comprise the driving assembly, the first connecting rod and the second connecting rod. In other words, the side swing mechanism provided by the embodiment of the present application realizes side swing of multiple knuckles through one driving assembly, reduces the complexity of the side swing mechanism, reduces the size of the side swing mechanism, thereby reducing the size of the dexterous hand, and making the size of the dexterous hand closer to that of a human hand. That is, the side swing mechanism realizes side swing of multiple knuckles and reduces the size of the side swing mechanism, and ensures the compactness of the dexterous hand.

[0016] In addition, the side swing mechanism provided by the embodiment of the present application realizes side swing of multiple knuckles through one driving assembly without using a larger transmission mechanism such as a gear and a rack, and further reduces the size of the side swing mechanism, thereby further reducing the size of the dexterous hand. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures. The accompanying drawings provide further understanding of the present application and form a part of the specification, illustrate embodiments of the present application and together with the description serve to explain the present application. The present application is not limited to the embodiments of the present application shown in the drawings.

[0018] Figure 1 Fig. 1 shows an application scenario of a side swing mechanism provided by an embodiment of the present application.

[0019] Figure 2 Fig. 2 shows an application scenario of a side swing mechanism provided by another embodiment of the present application.

[0020] Figure 3 Fig. 3 shows a top view of a dexterous hand provided by an embodiment of the present application.

[0021] Figure 4 Fig. 4 shows a side view of a dexterous hand provided by an embodiment of the present application. Figure 3A cross-sectional view of the dexterous hand in the M-M direction.

[0022] Figure 5 A top view of a dexterous hand provided by another embodiment of the application is shown.

[0023] Figure 6 A top view of a dexterous hand provided by another embodiment of the application is shown. Figure 5 A cross-sectional view of the dexterous hand in the N-N direction is shown.

[0024] Figure 7 A top view of a dexterous hand provided by another embodiment of the application is shown. Figure 6 A partial enlarged view of the dexterous hand in the P region is shown.

[0025] Figure 8 A front view of a dexterous hand provided by an embodiment of the application is shown.

[0026] Figure 9 A front view of a dexterous hand provided by an embodiment of the application is shown. Figure 8 A partial enlarged view of the dexterous hand in the Q region is shown.

[0027] Figure 10 A structural schematic view of a robot provided by an embodiment of the application is shown.

[0028] Reference signs:

[0029] 1, robot; 2, main body; 3, dexterous hand; 10, side swing mechanism; 100, driving assembly;

[0030] 110, first side swing driving wheel; 111, second side swing driving wheel; 112, third side swing driving wheel;

[0031] 120, side swing driving rod; 121, first end of side swing driving rod; 122, second end of side swing driving rod; 1220, long hole; 130, driving source assembly; 131, fixed part; 1311, driving source; 1312, screw rod; 132, movable part; 1321, screw rod nut; 13210, limiting part; 140, connecting shaft; 150, roller; 200, first connecting rod; 201, first end of first connecting rod; 202, second end of first connecting rod; 210, first curved section; 300, second connecting rod; 301, first end of second connecting rod; 302, second end of second connecting rod; 400, guide assembly; 20, palm base plate; 30, knuckle; 31, first knuckle; 310, index finger knuckle; 32, second knuckle; 320, ring finger knuckle; 33, third knuckle; 330, little finger knuckle; 340, middle finger knuckle; 35, movable shaft; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis. DETAILED DESCRIPTION

[0032] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0033] Robots are intelligent machines capable of semi-autonomous or fully autonomous work, and can perform tasks such as movement and grasping through programming and automatic control. Dexterous hands are end effectors of robots. Fingers of the dexterous hand are important components of the dexterous hand. Side swing movement of the fingers of the dexterous hand is an important function of the dexterous hand for grasping and dexterous operation, such as twisting a bottle cap and grasping a ball, which requires the side swing function of the fingers. Side swing mechanism is a driving mechanism for driving the fingers of the dexterous hand to swing.

[0034] At present, there are many low-degree-of-freedom robot dexterous hands without finger side swing function, such as Vincent hand of Germany, Michelangelo Hand of China, and Shiheng dexterous hand of China. Some medium and high degree of freedom dexterous hands are provided with side swing function at each finger root joint, such as shadow Hand of the United Kingdom, and HIT-HIT2 dexterous hand developed by Harbin Institute of Technology of China and German aerospace. By providing each finger with independent side swing function, more complex and delicate operation can be achieved, but each finger side swing function needs a corresponding driver to achieve, which increases the number of drivers, increases the overall size and weight of the dexterous hand, and reduces the anthropomorphism and bionics. In addition, some dexterous hands use gear and rack, worm and worm gear transmission to realize the side swing of multiple fingers. Due to the large volume and weight of gear and rack or worm and worm gear, the overall size and weight of the dexterous hand are also increased, and the anthropomorphism and bionics are reduced.

[0035] In response to the above problems, an embodiment of the present application provides a side-swing mechanism for use in dexterous hands. The side-swing mechanism includes a drive assembly, a first connecting rod, and a second connecting rod. The drive assembly is disposed on the palm base plate, connected to the first knuckle, and is configured to drive the first knuckle to rotate to achieve side-swing of the first knuckle. The first end of the first connecting rod is rotatably connected to the first knuckle, and the second end of the first connecting rod is rotatably connected to the second knuckle, so that the first knuckle drives the second knuckle to rotate through the first connecting rod, thereby achieving side-swing of the second knuckle. The first end of the second connecting rod is rotatably connected to the third knuckle, and the second end of the second connecting rod is rotatably connected to the first knuckle or the second knuckle, so that the first knuckle or the second knuckle drives the third knuckle to rotate through the second connecting rod, thereby achieving side-swing of the third knuckle. Therefore, the embodiment of the present application achieves side-swing of the first knuckle, the second knuckle, and the third knuckle by making the side-swing mechanism include a drive assembly, a first connecting rod, and a second connecting rod. In other words, the side-swing mechanism provided in the embodiments of the present application achieves side-swing of multiple knuckles through a single drive assembly, reducing the complexity and size of the side-swing mechanism, thereby reducing the size of the dexterous hand and bringing the size and weight of the dexterous hand closer to that of a human hand. In other words, the side-swing mechanism provided in the embodiments of the present application achieves side-swing of multiple knuckles 30 while reducing the size of the side-swing mechanism, ensuring the compactness of the dexterous hand.

[0036] In addition, the side-swing mechanism provided in the embodiment of the present application realizes the side-swing of multiple knuckles through a single drive assembly without using larger transmission mechanisms such as gear racks and worm gears, thereby further reducing the size of the side-swing mechanism, thereby further reducing the size of the dexterous hand, reducing the weight of the dexterous hand, and improving the anthropomorphism and bionics of the dexterous hand.

[0037] The specific structure of the side swing mechanism and the robot will be described below with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 Shown is a schematic diagram of an application scenario of the side swing mechanism provided in one embodiment of the present application. Figure 2 Shown is a schematic diagram of an application scenario of a side swing mechanism provided in another embodiment of the present application. Figure 3 Shown is a top view of a dexterous hand provided in accordance with an embodiment of the present application. Figure 4 Shown Figure 3 Schematic cross-section of the dexterous hand in the MM direction. Figure 5 Shown is a top view of a dexterous hand provided in another embodiment of the present application. Figure 6 Shown Figure 5 Schematic diagram of the cross section of the dexterous hand in the NN direction. Figure 7 Shown Figure 6 A partial enlarged view of the dexterous hand in area P is shown. Figure 8 Shown is a front view of the dexterous hand provided by one embodiment of the present application.Figure 9 A partial enlarged view of the dexterous hand in the Q region is shown. Figure 8 A partial enlarged view of the dexterous hand in the Q region is shown. Figure 10 A schematic structural diagram of a robot is shown. As shown in the figure, Figures 1 to 10 As shown, the side swing mechanism 10 includes a driving assembly 100, a first connecting rod 200, and a second connecting rod 300.

[0039] The side swing mechanism 10 is applied to the dexterous hand 3. The dexterous hand 3 is applied to the robot 1. Exemplarily, the robot 1 includes a main body 2 and at least one dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. The main body 2 can be a structure of a body part of a humanoid robot, or a structure of an arm part of an industrial robot, which is not specifically limited in the present application.

[0040] The dexterous hand 3 includes a palm base plate 20, at least three finger joints 30, and a side swing mechanism 10. The side swing mechanism 10 is arranged on the palm base plate 20. The palm base plate 20 can be connected with the main body 2. The palm base plate 20 can be a plate-like structure similar to a palm.

[0041] The at least three finger joints 30 are respectively rotatably connected with the palm base plate 20. Axes of rotation of the at least three finger joints 30 around the palm base plate 20 all cross the palm base plate 20, and the at least three finger joints 30 include a first finger joint 31, a second finger joint 32, and a third finger joint 33. The finger joint 30 can be a mounting base of a finger of the dexterous hand 3, or at least a part of a structure of the finger of the dexterous hand 3. The rotatable connection of the finger joint 30 with the palm base plate 20 can be that the finger joint 30 is first rotatably connected with a side swing base, and then the side swing base is fixed on the palm base plate 20.

[0042] Exemplarily, as shown, Figure 4 The dexterous hand 30 can include a movable shaft 35. The finger joint 30 can have a first shaft hole, the palm base plate 20 has a second shaft hole, and the movable shaft 35 can pass through the first shaft hole and the second shaft hole to rotatably connect the finger joint 30 with the palm base plate 20. An axis of the movable shaft 35 can be a first axis L1, i.e., the finger joint 30 is rotatably connected with the palm base plate 20 around the first axis L1.

[0043] The driving assembly 100 is arranged on the palm base plate 20 and connected with the first finger joint 31, and is configured to drive the first finger joint 31 to rotate to realize side swing of the first finger joint 31. The driving assembly 100 can be a motor, a rotary electric cylinder, a pneumatic cylinder, etc., as long as it can drive the first finger joint 31 to rotate, and the structure of the driving assembly 100 is not specifically limited in the present application.

[0044] The first end 201 of the first connecting rod is rotatably connected with the first knuckle 31, and the second end 202 of the first connecting rod is rotatably connected with the second knuckle 32. The first end 301 of the second connecting rod is rotatably connected with the third knuckle 33, and the second end 302 of the second connecting rod is rotatably connected with the first knuckle 31 or the second knuckle 32.

[0045] The first connecting rod 200 and the second connecting rod 300 can be straight rods, can be curved rods, or can be rods of other irregular shapes, and the application does not make specific limitations. In actual application, the first connecting rod 200 can be curved or have a void structure according to the available space, so as to make full use of the space and improve the compactness of the dexterous hand 3. Exemplarily, since there can be other knuckles between the first knuckle 31 and the second knuckle 32, the first connecting rod 200 connecting the first knuckle 31 and the second knuckle 32 can be provided as a curved rod to avoid the knuckles between the first knuckle 31 and the second knuckle 32. As shown in the figure, the first knuckle 31 is the index finger knuckle 310, the second knuckle 32 is the ring finger knuckle 320, and there is a middle finger knuckle 340 between the index finger knuckle 310 and the ring finger knuckle 320. In order to avoid the middle finger knuckle 340, the first connecting rod 200 is provided as a curved rod to avoid interference between the first connecting rod 200 and the middle finger knuckle 340. Figure 3

[0046] Exemplarily, the lengths of the first connecting rod 200 and the second connecting rod 300 can be adjusted according to actual needs. By adjusting the lengths of the first connecting rod 200 and the second connecting rod 300, the rotational coupling proportional relationship of the side swing angles of the plurality of knuckles 30 can be adjusted. The rotational coupling proportional relationship is the ratio of the angles of the simultaneous swings of different knuckles 30. For example, the first knuckle 31 swings by 20 degrees, the first knuckle 31 drives the second knuckle 32 to swing by 10 degrees through the first connecting rod 200, and the second knuckle 32 drives the third knuckle 33 to swing by 20 degrees through the second connecting rod 300. Then, the rotational coupling proportional relationship of the side swing angle of the first knuckle 31 and the side swing angle of the second knuckle 32 is 2, and the rotational coupling proportional relationship of the side swing angle of the first knuckle 31 and the side swing angle of the third knuckle 33 is 1.

[0047] The relative rotation between the components mentioned in the application can be realized by hinging or by other structures, as long as it can realize rotation around the corresponding axis, and the application does not limit the specific rotation mode. Exemplarily, the two components that relatively rotate can each be provided with an axle hole, and then an activity axle is inserted into the axle holes of the two components that relatively rotate, so as to realize the relative rotation of the two components. Exemplarily, a bearing can be further arranged between the activity axle and the two components to improve the flexibility of rotation.

[0048] ​The side swing mechanism 10 provided by the embodiments of the present application realizes the side swing of the plurality of knuckles 30 through one driving assembly 100 and linkage transmission, reduces the complexity of the side swing mechanism 10, reduces the size of the side swing mechanism 10, thereby reducing the size of the dexterous hand 3, and makes the size and weight of the dexterous hand 3 closer to human hands. In other words, the side swing mechanism 10 provided by the embodiments of the present application not only realizes the side swing of the plurality of knuckles 30, but also reduces the size of the side swing mechanism 10, thereby ensuring the compactness of the dexterous hand 3.

[0049] In addition, the side swing mechanism 10 provided by the embodiments of the present application realizes the side swing of the plurality of knuckles 30 through one driving assembly 100 without using a large-size transmission mechanism such as a gear rack, a worm gear, and the like, further reduces the size of the side swing mechanism 10, thereby further reducing the size of the dexterous hand 3, reducing the weight of the dexterous hand 3, and improving the anthropomorphism and bionics of the dexterous hand 3.

[0050] In addition, the adoption of one driving assembly 100 and linkage transmission to realize the side swing of the plurality of knuckles 30 can also improve the transmission efficiency.

[0051] In some embodiments, the driving assembly 100 includes a first side swing driving wheel 110, a side swing driving rod 120, and a driving source assembly 130. The first side swing driving wheel 110 is connected with the first knuckle 31. The first end 121 of the side swing driving rod is rotatably connected with the first side swing driving wheel 110.

[0052] Exemplarily, as shown in Figure 3 The driving assembly 100 can further include a second side swing driving wheel 111 and a third side swing driving wheel 112. The second side swing driving wheel 111 can be connected with the second knuckle 32, and the third side swing driving wheel 112 can be connected with the third knuckle 33. The first end 201 of the first linkage can be rotatably connected with the first knuckle 31 through the first side swing driving wheel 110. The second end 202 of the first linkage can be rotatably connected with the second knuckle 32 through the second side swing driving wheel 111. The first end 301 of the second linkage can be rotatably connected with the third knuckle 33 through the third side swing driving wheel 112. The second end 302 of the second linkage can be rotatably connected with the second knuckle 32 through the second side swing driving wheel 111, or the second end 302 of the second linkage can be rotatably connected with the first knuckle 31 through the first side swing driving wheel 110.

[0053] Exemplarily, the shapes of the first side swing driving wheel 110, the second side swing driving wheel 111, and the third side swing driving wheel 112 can be disc-shaped, or can be disc-shaped with some protruding structures added, or can be other shapes. The shapes of the first side swing driving wheel 110, the second side swing driving wheel 111, and the third side swing driving wheel 112 can be set according to actual needs, which are not limited in the present application. Exemplarily, as shown inFigure 3 As shown, the second side swing driving wheel 111 is a disc-shaped structure with two protruding structures arranged oppositely, so as to connect the second side swing driving wheel 111 with the first connecting rod 200 and the second connecting rod 300.

[0054] Exemplarily, as shown in the figure, Figure 4 Exemplarily, the first side swing driving wheel 110 and the first knuckle 31 can be connected by screws. Exemplarily, the first side swing driving wheel 110 and the first knuckle 31 can also be connected by bolts and nuts, clamping, bonding, welding or other ways to achieve detachable connection or non-detachable connection.

[0055] The driving source assembly 130 includes a fixed part 131 and a movable part 132 connected with each other. The movable part 132 does linear reciprocating motion under the driving of the fixed part 131. The fixed part 131 is connected with the palm base plate 20, and the movable part 132 is rotatably and slidably connected with the second end 122 of the side swing driving rod.

[0056] Exemplarily, as shown in the figure, Figures 1 to 3 The first side swing driving wheel 110, the side swing driving rod 120, the fixed part 131 and the movable part 132 form a crank slider mechanism. The first side swing driving wheel 110 corresponds to the crank of the crank slider mechanism, the side swing driving rod 120 corresponds to the connecting rod of the crank slider mechanism, and the movable part 132 corresponds to the slider of the crank slider mechanism. The axis of relative rotation between the first side swing driving wheel 110 and the index knuckle 310 is the axis of the crank of the crank slider mechanism. The axis of relative rotation between the first end 121 of the side swing driving rod 120 and the first side swing driving wheel 110 is the axis of the hinge between the crank and the connecting rod of the crank slider mechanism. The axis of relative rotation between the movable part 132 and the second end 122 of the side swing driving rod is the axis of the slider of the crank slider mechanism.

[0057] By including the first side swing driving wheel 110, the side swing driving rod 120 and the driving source assembly 130 in the driving assembly 100, the transmission mode of gear rack or worm does not need to be used, the volume of the gear rack or worm is not limited, a smaller space can be occupied, and the size of the side swing mechanism 10 is further reduced.

[0058] In some embodiments, the fixed part 131 includes a driving source 1311 and a lead screw 1312. The movable part 132 includes a lead screw nut 1321. The side swing mechanism 10 further includes a guide assembly 400.

[0059] The driving source 1311 is connected with the palm base plate 20. The lead screw 1312 is connected with the driving source 1311 and rotates under the driving of the driving source 1311. Exemplarily, the driving source 1311 can be an electric motor or a rotary electric cylinder, as long as it is a structure capable of providing rotary force, which is not limited in the present application.

[0060] The screw nut 1321 is screwed with the screw rod 1312, and moves along the extension direction of the screw rod 1312 under the driving of the screw rod 1312. The screw nut 1321 is rotatably and slidably connected with the second end 122 of the side swing driving rod. The screw nut 1321 has a limiting portion 13210. The guiding assembly 400 abuts against the limiting portion 13210 of the screw nut 1321, and is configured to limit the rotation of the screw nut 1321.

[0061] Exemplarily, the limiting portion 13210 can be a plane. The side of the guiding assembly 400 close to the screw nut 1321 can have a plane abutting or abutting against the limiting portion 13210, so as to prevent the screw nut 1321 from rotating along with the screw rod 1312. Exemplarily, the guiding assembly 400 can be a housing sleeved outside the screw nut 1321. Exemplarily, the guiding assembly 400 can be a bent structure of the screw nut 1321 having a connecting portion and an abutting portion. The abutting portion abuts against the limiting portion 13210, and the connecting portion connects the abutting portion and the palm base plate 20.

[0062] In some embodiments, the second end 122 of the side swing driving rod has an elongated hole 1220 arranged along the extension direction of the side swing driving rod. The driving assembly 100 further includes a connecting shaft 140 and a roller 150. The connecting shaft 140 is connected with the screw nut 1321. The roller 150 is rotatably connected with the connecting shaft 140. The roller 150 extends into the elongated hole 1220 and can slide in the elongated hole 1220 along the extension direction of the elongated hole 1220, so as to realize the rotatable and slidable connection between the screw nut 1321 and the second end 122 of the side swing driving rod, and further reduce the size of the side swing mechanism 10.

[0063] Exemplarily, since the roller 150 is rotatably connected with the connecting shaft 140, when the roller 150 slides in the elongated hole 1220, the roller 150 can roll along the sidewall of the elongated hole 1220, so as to reduce the friction between the roller 150 and the elongated hole 1220.

[0064] The elongated hole 1220 can be a through hole penetrating through the side swing driving rod 120, or can be a blind hole, as long as the roller 150 can extend into the elongated hole 1220 and slide in the elongated hole 1220 along the extension direction of the elongated hole 1220.

[0065] In some embodiments, the first finger joint 31 includes any one of the following finger joints: an index finger joint 310, a ring finger joint 320, and a little finger joint 330. The index finger joint 310, the ring finger joint 320, and the little finger joint 330 are arranged in sequence.

[0066] The second knuckle 32 comprises any one of the following knuckles except the first knuckle 31: the index knuckle 310, the ring knuckle 320 and the little knuckle 330. The third knuckle 33 comprises any one of the following knuckles except the first knuckle 31 and the second knuckle 32: the index knuckle 310, the ring knuckle 320 and the little knuckle 330.

[0067] Exemplarily, the first knuckle 31 can be the index knuckle 310, the second knuckle 32 can be the ring knuckle 320, and the third knuckle can be the little knuckle 330. Exemplarily, the first knuckle 31 can be the index knuckle 310, the second knuckle 32 can be the little knuckle 330, and the third knuckle can be the ring knuckle 320. Exemplarily, the first knuckle 31 can be the ring knuckle 320, the second knuckle 32 can be the index knuckle 310, and the third knuckle can be the little knuckle 330. Exemplarily, the first knuckle 31 can be the ring knuckle 320, the second knuckle 32 can be the little knuckle 330, and the third knuckle can be the index knuckle 310.

[0068] In some embodiments, the dexterous hand 3 further comprises: a middle knuckle 340. The middle knuckle 340 is located between the index knuckle 310 and the ring knuckle 320.

[0069] When a human hand performs a side swing action, the middle finger generally does not swing sideways, therefore, the side swing mechanism 10 of the present application can not drive the middle knuckle 340 to move, so as to make the side swing function of the dexterous hand 3 closer to the human hand, and improve the anthropomorphism of the dexterous hand 3.

[0070] In some embodiments, the first knuckle 31 is the index knuckle 310, the second knuckle 32 is the ring knuckle 320, and the third knuckle 33 is the little knuckle 330. The second end 302 of the second connecting rod is connected with the ring knuckle 320.

[0071] Since the index knuckle 310, the ring knuckle 320 and the little knuckle 330 are arranged in sequence, the first connecting rod 200 is rotatably connected with the index knuckle 310 and the ring knuckle 320 respectively, and the second connecting rod 300 is rotatably connected with the ring knuckle 320 and the little knuckle 330 respectively, that is, the first connecting rod 200 and the second connecting rod 300 are connected with two knuckles 30 closest to each other as far as possible, which can reduce the size of the first connecting rod 200 and the second connecting rod 300, thereby further reducing the size of the side swing mechanism 10.

[0072] In some embodiments, as shown in FIG. 2, the first connecting rod 200 is rotatably connected with the index knuckle 310 and the ring knuckle 320 respectively, and the second connecting rod 300 is rotatably connected with the ring knuckle 320 and the little knuckle 330 respectively. Figure 1As shown, the index finger knuckle 310 is rotatably connected to the palm base plate 20 about a first axis L1. The ring finger knuckle 320 is rotatably connected to the palm base plate 20 about a second axis L2. The pinky finger knuckle 330 is rotatably connected to the palm base plate 20 about a third axis L3. The first end 201 of the first connecting rod is rotatably connected to the index finger knuckle 310 about a fourth axis L4. The second end 202 of the first connecting rod is rotatably connected to the ring finger knuckle 320 about a fifth axis L5. The first end 301 of the second connecting rod is rotatably connected to the pinky finger knuckle 330 about a sixth axis L6. The second end 202 of the first connecting rod is rotatably connected to the ring finger knuckle 320 about a seventh axis L7.

[0073] like Figure 5 As shown, the first axis L1, second axis L2, third axis L3, fourth axis L4, fifth axis L5, sixth axis L6, and seventh axis L7 are all parallel. On a plane perpendicular to the first axis L1, the orthographic projections of the first axis L1, second axis L2, third axis L3, fourth axis L4, fifth axis L5, sixth axis L6, and seventh axis L7 are points A, B, C, D, E, F, and G, respectively. The first line between points A and B intersects the second line between points D and E, and the third line between points B and C does not intersect the fourth line between points F and G.

[0074] By intersecting the first line between points A and B and the second line between points D and E, the index finger knuckle 310 and the ring finger knuckle 320 can be caused to swing in opposite directions. For example, when the index finger knuckle 310 swings counterclockwise, the first connecting rod 200 can drive the ring finger knuckle 320 to swing clockwise. By preventing the third line between points B and C from intersecting the fourth line between points F and G, the ring finger knuckle 320 and the pinky finger knuckle 330 can be caused to swing in the same direction. For example, when the ring finger knuckle 320 swings clockwise, the second connecting rod 300 can drive the pinky finger knuckle 330 to swing clockwise.

[0075] Since the swinging mode of the human hand is generally that the index finger and the ring finger swing in opposite directions, while the ring finger and the little finger swing in the same direction, the anthropomorphism of the dexterous hand 3 can be further improved by making the index finger knuckle 310 and the ring finger knuckle 320 swing in opposite directions, while the ring finger knuckle 320 and the little finger knuckle 330 swing in the same direction.

[0076] In some embodiments, the dexterous hand 3 further includes a middle finger knuckle 340, which is located between the index finger knuckle 310 and the ring finger knuckle 320. The first connecting rod 200 includes a first curved section 210. The first curved section 210 is curved toward the middle finger knuckle 340 to prevent interference between the first connecting rod 200 and the middle finger knuckle 340.

[0077] In actual application, the first connecting rod 200 can further include a second curved section, which can be connected with the first curved section 210 and extend to the second end 202 of the first connecting rod, so as to facilitate the rotation connection between the second end 202 of the first connecting rod and the second side swing driving wheel 111.

[0078] Embodiments of the present application also provide a dexterous hand 3 applied to the robot 1. As shown in Figure 9 The dexterous hand 3 includes a palm base plate 20, at least three finger joints 30 and the side swing mechanism 10 mentioned in the above embodiments. The at least three finger joints 30 are respectively rotatably connected with the palm base plate 20. The axes of rotation of the at least three finger joints 30 around the palm base plate 20 all cross the palm base plate 20. The at least three finger joints 30 include a first finger joint 31, a second finger joint 32 and a third finger joint 33. The side swing mechanism 10 is arranged on the palm base plate 20 and is configured to drive the at least three finger joints 30 to swing.

[0079] Since the dexterous hand 3 includes the side swing mechanism 10, the dexterous hand 3 has all the technical features and technical effects of the side swing mechanism 10, which will not be described here.

[0080] Embodiments of the present application also provide a robot 1. As shown in Figure 9 The robot 1 includes the main body 2 and at least one dexterous hand 3 mentioned in the above embodiments. The dexterous hand 3 is connected with the main body 2.

[0081] Since the robot 1 includes the dexterous hand 3 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the dexterous hand 3, which will not be described here.

[0082] In the embodiments of the present application, if the form of connection is not explicitly limited, the form of connection can be bolt-nut, screw, buckle, magnetic attraction and other detachable connection forms. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved by welding, bonding and other methods.

[0083] In the description, "an embodiment", "one embodiment" and the like indicate that the described embodiment can include a specific feature, structure or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in combination with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure or characteristic in combination with other embodiments that are explicitly or implicitly described.

[0084] It should be understood that "on," "above," and "on top of" in the disclosure should be interpreted in the broadest context possible so that "on" means not only "directly on" but also includes the meaning of "on" with intervening features or layers therebetween, and "above" or "on top of" includes not only the meaning of "above" or "on top of" but also the meaning of "above" or "on top of" with no intervening features or layers therebetween (i.e., directly on).

[0085] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0086] It should be noted that, in the present document, the terms "comprising", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0087] The above description is merely the preferred embodiment of this application and is not intended to limit its scope. Any modification, equivalent replacement or the like made within the spirit and principle of this application should be included in the scope of this application.

Claims

1. A side sway mechanism, characterized in that, The application is applied to a dexterous hand, the dexterous hand comprises a palm base plate and at least three finger joints, the at least three finger joints are respectively rotatably connected with the palm base plate, the axes of rotation of the at least three finger joints around the palm base plate all cross the palm base plate, and the at least three finger joints comprise a first finger joint, a second finger joint and a third finger joint; The side swing mechanism comprises: A driving assembly is arranged on the palm base plate, connected with the first finger joint, and configured to drive the first finger joint to rotate to realize side swing of the first finger joint; A first connecting rod, a first end of the first connecting rod being rotatably connected with the first finger joint, and a second end of the first connecting rod being rotatably connected with the second finger joint; A second connecting rod, a first end of the second connecting rod being rotatably connected with the third finger joint, and a second end of the second connecting rod being rotatably connected with the first finger joint or the second finger joint; The driving assembly comprises: A first side swing driving wheel connected with the first finger joint; A side swing driving rod, a first end of the side swing driving rod being rotatably connected with the first side swing driving wheel; A driving source assembly comprising a fixed part and a movable part connected with each other, the movable part performing linear reciprocating motion under the driving of the fixed part, the fixed part being connected with the palm base plate, and the movable part being rotatably and slidably connected with a second end of the side swing driving rod.

2. The side sway mechanism according to claim 1, characterized in that The fixed part comprises: A driving source connected with the palm base plate; A screw rod connected with the driving source and rotating under the driving of the driving source; The movable part comprises: A screw nut threadedly connected with the screw rod and moving along the extension direction of the screw rod under the driving of the screw rod, the screw nut being rotatably and slidably connected with the second end of the side swing driving rod, wherein the screw nut is provided with a limiting part; The side swing mechanism further comprises: A guide assembly abutting against the limiting part of the screw nut and configured to limit the rotation of the screw nut.

3. The side sway mechanism according to claim 2, characterized in that The second end of the side swing driving rod has an elongated hole arranged along the extension direction of the side swing driving rod; The driving assembly further comprises: A connecting shaft connected with the screw nut; A roller rotatably connected with the connecting shaft; The roller extends into the elongated hole and can slide in the elongated hole along the extension direction of the elongated hole.

4. A side-sway mechanism according to any one of claims 1 to 3, characterised in that, The first finger joint comprises any one of the following finger joints: an index finger joint, a ring finger joint and a little finger joint, wherein the index finger joint, the ring finger joint and the little finger joint are arranged in sequence; The second finger joint comprises any one of the following finger joints except the first finger joint: the index finger joint, the ring finger joint and the little finger joint; The third finger joint comprises any one of the following finger joints except the first finger joint and the second finger joint: the index finger joint, the ring finger joint and the little finger joint.

5. The side sway mechanism according to claim 4, characterized in that The dexterous hand further comprises: A middle finger joint between the index finger joint and the ring finger joint.

6. The side sway mechanism of claim 4, wherein, The first finger joint is the index finger joint, the second finger joint is the ring finger joint, and the third finger joint is the little finger joint; The second end of the second connecting rod is connected with the ring finger joint.

7. The side sway mechanism according to claim 6, characterized in that The index finger knuckle is rotatably connected with the palm base plate around a first axis, the ring finger knuckle is rotatably connected with the palm base plate around a second axis, and the little finger knuckle is rotatably connected with the palm base plate around a third axis; The first end of the first connecting rod is rotatably connected with the index finger knuckle around a fourth axis, and the second end of the first connecting rod is rotatably connected with the ring finger knuckle around a fifth axis; The first end of the second connecting rod is rotatably connected with the little finger knuckle around a sixth axis, and the second end of the first connecting rod is rotatably connected with the ring finger knuckle around a seventh axis; The first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis are parallel; In a plane perpendicular to the first axis, the orthographic projections of the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis are A point, B point, C point, D point, E point, F point and G point respectively, wherein a first connecting line between A point and B point intersects a second connecting line between D point and E point, and a third connecting line between B point and C point does not intersect a fourth connecting line between F point and G point.

8. The side sway mechanism of claim 7, wherein, The dexterous hand further comprises a middle finger knuckle between the index finger knuckle and the ring finger knuckle. The first connecting rod comprises a first curved segment, and the curved direction of the first curved segment is towards the middle finger knuckle.

9. A dexterous hand characterized by, It comprises: a palm base plate; at least three finger knuckles, each of which is rotatably connected with the palm base plate, and the axes around which the at least three finger knuckles rotate intersect the palm base plate, the at least three finger knuckles comprising a first finger knuckle, a second finger knuckle and a third finger knuckle; the side swing mechanism of any one of claims 1 to 8, disposed on the palm base plate, configured to drive the at least three finger knuckles to swing.

10. A robot, characterized in that It comprises: a main body; at least one dexterous hand according to claim 9, connected with the main body.

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