Dexterous hand fingers, dexterous hand, and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, which solve the problem that the motion decoupling of the bending and side swing of the dexterous hand finger cannot be realized while the motion precision and size of the dexterous hand are considered. The dexterous hand finger comprises a side swing assembly, a knuckle, a connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly, the knuckle, the connecting rod assembly and the first driving assembly form a crank slider mechanism, which can drive the knuckle to rotate around a second axis, realizing the bending of the knuckle. The knuckle can rotate around a first axis under the driving of the second driving assembly, realizing the side swing of the knuckle. At least four connecting rods can rotate around the axes of at least three directions, realizing the motion decoupling of the bending and the side swing. The application does not need to use a gear transmission with a large volume, the size of the dexterous hand finger is reduced, and the transmission mode of the application is mainly connecting rod transmission, which is higher in transmission efficiency than gear transmission and tendon connection.

Description

TECHNICAL FIELD

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

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous work, which can perform movement, grasping and other tasks through programming and automatic control. A dexterous hand is an end effector of a robot. A dexterous hand finger is an important component of the dexterous hand, which directly affects the motion function and compactness of the dexterous hand. The dexterous hand finger generally needs to perform bending and side swing motions with two degrees of freedom. The design difficulty of the dexterous hand finger with two degrees of freedom lies in realizing motion decoupling between the bending and side swing two degrees of freedom.

[0003] At present, it is impossible to realize motion decoupling between the bending and side swing two degrees of freedom of the dexterous hand finger while also taking into account the motion accuracy and size of the dexterous hand. SUMMARY

[0004] Therefore, the embodiments of the present application provide a dexterous hand finger, a dexterous hand and a robot, which solve the problem that it is impossible to realize motion decoupling between the bending and side swing two degrees of freedom of the dexterous hand finger while also taking into account the motion accuracy and size of the dexterous hand.

[0005] In a first aspect, embodiments of the present application provide a dexterous hand finger applied to a dexterous hand, the dexterous hand comprising a palm base plate and at least one dexterous hand finger; wherein the dexterous hand finger comprises: a side swing assembly rotatably connected to the palm base plate about a first axis; a knuckle rotatably connected to the side swing assembly about a second axis, the second axis being perpendicular to the first axis; a linkage assembly comprising at least four linkages rotatably connected in sequence, a first linkage being rotatably connected to the knuckle about a third axis, rotation axes between the at least four linkages comprising at least a fourth axis, a fifth axis and a sixth axis, wherein the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis; a first driving assembly comprising a fixed member and a movable member connected to each other, the fixed member being connected to the palm base plate, a last linkage being rotatably connected to the movable member about a seventh axis, the seventh axis being perpendicular to the sixth axis and perpendicular to the first axis, wherein the fixed member is capable of driving the movable member to move in a first direction to drive the linkage assembly to move with the movable member, so that the linkage assembly drives the knuckle to rotate about the second axis, the first direction being perpendicular to the sixth axis and perpendicular to the seventh axis; and a second driving assembly connected to the side swing assembly and configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate, so as to drive the knuckle to rotate about the first axis with the side swing assembly.

[0006] In some embodiments, the linkage assembly comprises four linkages, and a fourth linkage is the last linkage; wherein the first linkage is rotatably connected to the second linkage about the fourth axis, the second linkage is rotatably connected to the third linkage about the fifth axis, and the third linkage is rotatably connected to the fourth linkage about the sixth axis.

[0007] In some embodiments, the side swing assembly has a circular-arc groove, a cross section of the circular-arc groove perpendicular to the second axis has a circular-arc shape, and a center of the circular-arc shape is located on the second axis; wherein the dexterous hand finger further comprises: a first limiting member connected to the knuckle and penetrating into the circular-arc groove; wherein during rotation of the knuckle about the second axis, the first limiting member moves along an extension direction of the circular-arc groove, and two ends of the circular-arc groove are configured to limit a rotation angle of the knuckle about the second axis.

[0008] In some embodiments, the knuckle has a first shaft hole, the first one of the connecting rods has a second shaft hole; the first limiting member includes a first shaft structure, the first shaft structure is respectively inserted into the first shaft hole and the second shaft hole, so that the knuckle and the first one of the connecting rods are rotatably connected around the first shaft structure, and an axis of the first shaft structure coincides with the third axis.

[0009] In some embodiments, the dexterous hand finger further includes a second limiting member connected with the palm substrate and configured to limit a rotation angle of the side swing assembly relative to the palm substrate around the first axis.

[0010] In some embodiments, the side swing assembly is rotatably connected with the second limiting member around the first axis.

[0011] In some embodiments, the fixing member includes a first driving source connected with the palm substrate, and a screw rod connected with the first driving source and rotated under driving of the first driving source; the movable member includes a screw nut screwed with the screw rod, and the last one of the connecting rods is rotatably connected with the screw nut around the seventh axis.

[0012] In some embodiments, the side swing assembly has a third shaft hole, and the palm substrate has a fourth shaft hole; the dexterous hand finger further includes a first movable shaft respectively inserted into the third shaft hole and the fourth shaft hole, so that the side swing assembly and the palm substrate are rotatably connected around the first movable shaft, and an axis of the first movable shaft coincides with the first axis; the second driving assembly includes a side swing driving wheel connected with the side swing assembly, the side swing driving wheel has a fifth shaft hole, the side swing driving wheel is sleeved on the first movable shaft through the fifth shaft hole, a side swing driving rod connected with the side swing driving wheel, an extension direction of the side swing driving rod intersects with an extension direction of the first movable shaft, and a second driving source connected with the palm substrate and connected with the side swing driving rod and configured to drive the side swing driving rod to move, so that the side swing driving rod drives the side swing driving wheel to rotate around the first movable shaft, and the side swing driving wheel drives the side swing assembly to rotate around the first axis.

[0013] In some embodiments, the side swing driving rod and the connecting rod assembly are respectively arranged on opposite sides of the side swing assembly.

[0014] In a second aspect, embodiments of the present application provide a dexterous hand, including a palm substrate, and at least one dexterous hand finger of the first aspect connected with the palm substrate.

[0015] In a third aspect, embodiments of the present application provide a robot, comprising: a main body; at least one dexterous hand as mentioned in the second aspect, connected with the main body.

[0016] The dexterous hand finger provided by the embodiments of the present application is applied to a dexterous hand, and comprises a side swing assembly, a knuckle, a connecting rod assembly, a first driving assembly and a second driving assembly. Specifically, the side swing assembly is rotatably connected with the palm substrate about a first axis. The knuckle is rotatably connected with the side swing assembly about a second axis, and the second axis is perpendicular to the first axis. The connecting rod assembly comprises at least four connecting rods which are rotatably connected in sequence. A first connecting rod is rotatably connected with the knuckle about a third axis, and the rotation axes between the at least four connecting rods comprise at least a fourth axis, a fifth axis and a sixth axis. The third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis. The first driving assembly comprises a fixed part and a movable part which are connected with each other. The fixed part is connected with the palm substrate, and a last connecting rod is rotatably connected with the movable part about a seventh axis. The seventh axis is perpendicular to the sixth axis and perpendicular to the first axis. The fixed part can drive the movable part to move in a first direction, so as to drive the connecting rod assembly to move by using the movable part, and drive the knuckle to rotate about the second axis by using the connecting rod assembly. The first direction is perpendicular to the sixth axis and perpendicular to the seventh axis. The second driving assembly is connected with the side swing assembly and is configured to drive the side swing assembly to rotate about the first axis relative to the palm substrate, so as to drive the knuckle to rotate about the first axis by using the side swing assembly.

[0017] In other words, the roll assembly, knuckle, connecting rod assembly, and first drive assembly form a slider-crank mechanism that drives the knuckle to rotate about the second axis, achieving flexion. Driven by the second drive assembly, the knuckle can rotate about the first axis, achieving rollover. The connecting rod assembly includes at least four connecting rods rotatably connected in sequence, each capable of rotating about axes in at least three directions, thereby achieving kinematic decoupling between the two degrees of freedom (bend and rollover). Furthermore, by utilizing the connecting rod assembly for transmission, the need for bulky gear transmissions is eliminated, reducing the size of the dexterous hand's fingers and bringing them closer to the size of human hands. Furthermore, the connection between the roll assembly, knuckle, connecting rod assembly, first drive assembly, and second drive assembly is primarily a rotational connection, which offers higher precision than the tendon-tether connection methods used in related art. The transmission method used in this application is primarily a connecting rod transmission, which offers higher transmission efficiency than both gear and tendon-tether connections. Therefore, the dexterous hand fingers provided in the embodiments of this application achieve kinematic decoupling between the two degrees of freedom (bend and rollover) of the dexterous hand's fingers while also improving their kinematic precision and reducing their size. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.

[0019] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present application.

[0020] Figure 2 Shown is a side view of the fingers of a dexterous hand provided in one embodiment of the present application.

[0021] Figure 3 Shown is a front view of the fingers of a dexterous hand provided in one embodiment of the present application.

[0022] Figure 4 Shown Figure 3 Schematic diagram of the cross section of the dexterous hand fingers in the AA direction.

[0023] Figure 5 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area B is shown.

[0024] Figure 6 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present application.

[0025] Figure 7 Fig. 1 shows a front view of a finger of a dexterous hand according to an embodiment of the present application.

[0026] Figure 8 Fig. 2 shows a schematic diagram of a robot according to an embodiment of the present application.

[0027] Reference signs:

[0028] 1, robot; 2, main body; 3, dexterous hand; 10, dexterous hand finger; 100, side swing assembly; 110, circular arc groove; 200, knuckle; 300, link assembly; 310, link; 311, first link; 312, second link; 313, third link; 314, fourth link; 400, first driving assembly; 410, fixed part; 411, first driving source; 412, screw rod; 420, movable part; 421, screw rod nut; 500, second driving assembly; 510, side swing driving wheel; 520, side swing driving rod; 530, second driving source; 600, first limiting part; 610, first shaft-like structure; 700, second limiting part; 810, first movable shaft; 20, palm base plate; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis; Y1, first direction; a, side swing angle. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0030] A robot is an intelligent machine capable of semi-autonomous or fully 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. A dexterous hand finger is an important component of a dexterous hand, which directly affects the movement function and compactness of the dexterous hand. A dexterous hand finger generally needs to perform bending and side swing movements with two degrees of freedom. The design difficulty of a dexterous hand finger with two degrees of freedom lies in realizing the movement decoupling between the bending and side swing two degrees of freedom.

[0031] Currently, there are two ways to realize the motion decoupling between the two degrees of freedom of bending and side swing, one is to use gear transmission, and the other is to use tendon transmission. For the gear transmission mode, two pairs of differential gear motion are mainly used to realize the decoupling of bending and side swing motion. However, the volume of the gear is generally large, resulting in a large size of the dexterous hand using the gear transmission. For the tendon transmission mode, the tendon is mainly used to pass through the center of each joint axis of the finger to realize the decoupling of bending and side swing motion. However, it is difficult to ensure that the tendon strictly passes through the center of the joint axis, and therefore, there is a large decoupling error, resulting in low motion accuracy of the dexterous hand using the tendon transmission. In addition, the tendon also has the disadvantages of low service life and poor maintainability.

[0032] To solve the above problems, the embodiment of the present application provides a dexterous hand finger applied to a dexterous hand, which comprises a side swing assembly, a knuckle, a connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly is rotatably connected with a palm base plate about a first axis. The knuckle is rotatably connected with the side swing assembly about a second axis, and the second axis is perpendicular to the first axis. The connecting rod assembly comprises at least four connecting rods rotatably connected in sequence, the first connecting rod is rotatably connected with the knuckle about a third axis, and the rotation axes between the at least four connecting rods comprise at least a fourth axis, a fifth axis and a sixth axis, wherein the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis. The first driving assembly comprises a fixed part and a movable part connected with each other, the fixed part is connected with the palm base plate, the last connecting rod is rotatably connected with the movable part about a seventh axis, and the seventh axis is perpendicular to the sixth axis and perpendicular to the first axis, wherein the fixed part can drive the movable part to move in a first direction to drive the connecting rod assembly to move by using the movable part, so that the connecting rod assembly drives the knuckle to rotate about the second axis, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis. The second driving assembly is connected with the side swing assembly and is configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate, so as to drive the knuckle to rotate about the first axis by using the side swing assembly.

[0033] The side swing assembly, the knuckle, the connecting rod assembly and the first driving assembly form a crank slider mechanism, which can drive the knuckle to rotate about the second axis and realize the bending of the knuckle. The knuckle can rotate about the first axis under the driving of the second driving assembly, and the side swing of the knuckle is realized. The connecting rod assembly comprises at least four connecting rods rotatably connected in sequence, and the at least four connecting rods can rotate about at least three axes in different directions, thereby realizing the motion decoupling between the two degrees of freedom of bending and side swing.

[0034] In addition, the dexterous hand finger provided in the embodiment of the present application comprises a side swing assembly, a knuckle, a connecting rod assembly, a first driving assembly and a second driving assembly, that is, the transmission is realized by using the connecting rod assembly, without using a gear transmission with a large volume, so that the size of the dexterous hand finger is reduced, and the size of the dexterous hand finger is closer to that of a human hand finger.

[0035] In addition, the connection mode between the side swing assembly, the knuckle, the connecting rod assembly, the first driving assembly and the second driving assembly of the dexterous hand finger provided in the embodiment of the present application is mainly rotary connection, which is more accurate than the tendon connection mode in the related art, and the transmission mode of the present application is mainly connecting rod transmission, which is more efficient than gear transmission and tendon connection. Therefore, while realizing the motion decoupling between the bending and side swing two degrees of freedom of the dexterous hand finger, the motion accuracy of the dexterous hand is improved, and the size of the dexterous hand is reduced.

[0036] In addition, the service life and maintainability of the side swing assembly, the knuckle, the connecting rod assembly, the first driving assembly and the second driving assembly of the dexterous hand finger provided in the embodiment of the present application are higher than those of the tendon, so that the service life of the dexterous hand finger provided in the embodiment of the present application is longer, and the maintainability is better.

[0037] The specific structure of the dexterous hand finger, the dexterous hand and the robot will be described below in combination with the drawings and specific embodiments.

[0038] Figure 1 Fig. 1 shows a structure schematic diagram of a dexterous hand finger provided in an embodiment of the present application. Figure 2 Fig. 2 shows a side view of the dexterous hand finger provided in the embodiment of the present application. Figure 3 Fig. 3 shows a front view of the dexterous hand finger provided in the embodiment of the present application. Figure 4 Fig. 4 shows a sectional view of the dexterous hand finger provided in the embodiment of the present application. Figure 3 Fig. 5 shows a sectional view of the dexterous hand finger provided in the embodiment of the present application in the A-A direction. Figure 5 Fig. 6 shows a sectional view of the dexterous hand finger provided in the embodiment of the present application in the B region. Figure 4 Fig. 7 shows a local enlarged view of the dexterous hand finger provided in the embodiment of the present application in the B region. Figure 6 Fig. 8 shows a structure schematic diagram of a dexterous hand finger provided in another embodiment of the present application. Figure 7 Fig. 9 shows a front view of the dexterous hand finger provided in the another embodiment of the present application. Figure 8 Fig. 10 shows a structure schematic diagram of a robot provided in an embodiment of the present application. As shown in Figures 1 to 8 Fig. 11 shows a structure schematic diagram of a dexterous hand provided in the robot provided in the embodiment of the present application.

[0039] The dexterous hand finger 10 is applied to the dexterous hand 3. The dexterous hand 3 is applied to the robot 1. Exemplarily, the robot 1 comprises a main body 2 and the 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 comprises a palm base plate 20 and at least one dexterous hand finger 10. The dexterous hand finger 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 side swing assembly 100 is rotatably connected with the palm base plate 20 about a first axis L1. The first axis L1 can be perpendicular to the palm base plate 20. The first axis L1 is the side swing axis of the dexterous hand finger 10. The side swing assembly 100 can be a U-shaped structure as shown, or an L-shaped structure, or a rectangular structure, which is not specifically limited in the present application. Exemplarily, the side swing assembly 100 can be integrally formed, or assembled by multiple parts. Figure 1

[0042] The knuckle 200 is rotatably connected with the side swing assembly 100 about a second axis L2. The second axis L2 is perpendicular to the first axis L1. The second axis L2 is the bending axis of the dexterous hand finger 10. The knuckle 200 can be a knuckle connected with a root joint. Only the knuckle 200 is shown in the drawings, and in actual application, the dexterous hand finger 10 can further comprise a middle knuckle connected with the knuckle 200, and a fingertip connected with the middle knuckle, etc.

[0043] As shown in Figure 2 The link assembly 300 comprises at least four links 310 rotatably connected in sequence. The first link 310 is rotatably connected with the knuckle 200 about a third axis L3. The third axis L3 is parallel to the second axis L2. As shown in Figure 1 and Figure 5 The rotation axes between the at least four links 310 comprise at least a fourth axis L4, a fifth axis L5 and a sixth axis L6. The fourth axis L4 is perpendicular to the third axis L3, the fifth axis L5 is perpendicular to the fourth axis L4 and perpendicular to the third axis L3, and the sixth axis L6 is parallel to the fifth axis L5.

[0044] Exemplarily, the link 310 can be a straight link, or a curved link, or other irregular shapes, which is not specifically limited in the present application. In actual application, the link 310 can be curved or hollowed to make full use of the space and improve the compactness of the dexterous hand finger 10 according to the available space. The number of the links 310 comprised by the link assembly 300 can be four, five, six, or more, which is not specifically limited in the present application. ​

[0045] The first driving assembly 400 comprises a fixed member 410 and a movable member 420 connected with each other. The fixed member 410 is connected with the palm base plate 20, and the last connecting rod 310 is rotatably connected with the movable member 420 about a seventh axis L7 which is perpendicular to the sixth axis L6 and perpendicular to the first axis L1. The fixed member 410 is capable of driving the movable member 420 to move along a first direction Y1, so as to drive the connecting rod assembly 300 to move by the movable member 420, and drive the knuckle 200 to rotate about the second axis L2 by the connecting rod assembly 300. The first direction is perpendicular to the sixth axis L6 and perpendicular to the seventh axis L7.

[0046] The relative rotation between the above-mentioned components can be realized by hinging or by other structures as long as rotation about the corresponding axis is realized, and the specific rotation mode is not limited in the application. For example, the two components which are relatively rotatable can be provided with shaft holes respectively, and then a movable shaft is inserted into the shaft holes of the two components to realize the relative rotation of the two components. For example, a bearing can be further arranged between the movable shaft and the two components to improve the flexibility of rotation.

[0047] For example, the fixed member 410 can be a motor and a lead screw. The movable member 420 can be a lead screw nut. The motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to move along the first direction Y1. For example, the fixed member 410 can be a cylinder structure of a gas cylinder, and the movable member 420 can be a cylinder rod structure of the gas cylinder. The cylinder structure drives the cylinder rod structure to stretch and contract along the Y1 direction, that is, to move along the Y1 direction.

[0048] The second driving assembly 500 is connected with the side swing assembly 100 and is configured to drive the side swing assembly 100 to rotate about the first axis L1 relative to the palm base plate 20, so as to drive the knuckle 200 to rotate about the first axis L1 by the side swing assembly 100. For example, the second driving assembly 500 can be a motor, that is, directly driving the side swing assembly 100 to rotate by the motor. For example, the second driving assembly 500 can comprise a motor and a belt wheel transmission assembly, that is, driving the belt wheel transmission assembly to move by the motor, and driving the side swing assembly 100 to rotate by the belt wheel transmission assembly.

[0049] The side swing assembly 100, the knuckle 200, the connecting rod assembly 300 and the first driving assembly 400 form a crank slider mechanism. Specifically, as shown in Figure 2 The knuckle 200 can be regarded as a crank of the crank slider mechanism, the connecting rod assembly 300 can be regarded as a connecting rod of the crank slider mechanism, and the movable member 420 of the first driving assembly 400 can be regarded as a slider of the crank slider mechanism. The crank slider mechanism can drive the knuckle 200 to rotate about the second axis L2, so as to realize the bending of the knuckle 200.

[0050] The phalange 200 can rotate around the first axis L1 under the driving of the second driving assembly 500, and the side swing of the phalange 200 is realized.

[0051] The linkage assembly 300 comprises at least four linkages 310 which are sequentially rotatably connected, and the at least four linkages 310 can rotate around at least three axes, so as to realize the motion decoupling between the two degrees of freedom of bending and side swing. Specifically, the at least four linkages 310 can rotate around the third axis L3, the fourth axis L4, the fifth axis L5, the sixth axis L6 and the seventh axis L7 respectively, and the fourth axis L4 is perpendicular to the third axis L3, the fifth axis L5 is perpendicular to the fourth axis L4 and perpendicular to the third axis L3, the sixth axis L6 is parallel to the fifth axis L5, and the seventh axis L7 is perpendicular to the sixth axis L6 and perpendicular to the first axis L1. In other words, when the phalange 200 swings sideways around the first axis L1, the linkage assembly 300 can rotate with the phalange 200 and does not affect the bending of the phalange 200, that is, the bending and the side swing of the phalange 200 are independent of each other.

[0052] For example, the angle between the rotation axis of the traditional crank and the sliding direction of the slider is 90 degrees, and the position and posture of the rotation axis of the crank remain unchanged. However, the posture of the rotation axis (i.e. the second axis L2) of the present application changes, as shown in Figure 7 When the phalange 200 produces a side swing angle a, the included angle between the rotation axis (i.e. the second axis L2) of the crank and the sliding direction of the slider (i.e. the movement direction of the movable part 420, that is, the first direction Y1) becomes the difference between 90 degrees and the side swing angle a. In other words, the linkage assembly 300 of the present application is a spatial linkage assembly, and the side swing assembly 100, the phalange 200, the linkage assembly 300 and the first driving assembly 400 of the present application form a spatial crank slider mechanism.

[0053] In addition, the dexterous hand finger 10 provided by the embodiment of the present application comprises the side swing assembly 100, the phalange 200, the linkage assembly 300, the first driving assembly 400 and the second driving assembly 500, that is, the transmission is realized by using the linkage assembly 300, without using a gear transmission with a large volume, thereby reducing the size of the dexterous hand finger 10 and making the size of the dexterous hand finger 10 closer to that of a human hand finger. In actual application, the size ratio of the dexterous hand finger 10 provided by the embodiment of the present application to the human hand finger can be 1:1.

[0054] In addition, the connection method between the side swing assembly 100, the knuckle 200, the connecting rod assembly 300, the first drive assembly 400, and the second drive assembly 500 of the dexterous hand finger 10 provided in the embodiment of the present application is mainly a rotational connection, which has higher precision than the tendon connection method of the related art. The transmission method of the present application is mainly a connecting rod transmission, which has higher transmission efficiency than the gear transmission and tendon connection. Therefore, the dexterous hand finger 10 provided in the embodiment of the present application not only achieves the motion decoupling between the two degrees of freedom of bending and side swing of the dexterous hand finger 10, but also improves the motion accuracy of the dexterous hand finger 10, reduces the size of the dexterous hand finger 10, reduces the weight of the dexterous hand finger 10, and facilitates the integration of the dexterous hand finger 10.

[0055] In addition, the connecting rod assembly 300 has high rigidity and strength, so using the connecting rod assembly 300 as a transmission can make the dexterous hand fingers 10 stronger and the transmission efficiency higher.

[0056] In addition, the lifespan and maintainability of the side swing assembly 100, the knuckle 200, the connecting rod assembly 300, the first drive assembly 400 and the second drive assembly 500 of the dexterous hand finger 10 provided in the embodiment of the present application are higher than those of the tendon rope. Therefore, the dexterous hand finger 10 provided in the embodiment of the present application has a longer lifespan and better maintainability than the dexterous hand using tendon rope transmission.

[0057] In some embodiments, as Figures 3 to 5 As shown, the connecting rod assembly 300 includes four connecting rods 310, namely a first connecting rod 311, a second connecting rod 312, a third connecting rod 313, and a fourth connecting rod 314. The fourth connecting rod 314 is the last connecting rod. The first connecting rod 311 and the second connecting rod 312 are rotatably connected about a fourth axis L4, the second connecting rod 312 and the third connecting rod 313 are rotatably connected about a fifth axis L5, and the third connecting rod 313 and the fourth connecting rod 314 are rotatably connected about a sixth axis L6.

[0058] For example, the first end of the first connecting rod 311 is rotatably connected to the knuckle 200 about the third axis L3. The second end of the first connecting rod 311 is rotatably connected to the first end of the second connecting rod 312 about the fourth axis L4. The second end of the second connecting rod 312 is rotatably connected to the first end of the third connecting rod 313 about the fifth axis L5. The second end of the third connecting rod 313 is rotatably connected to the first end of the fourth connecting rod 314 about the sixth axis L6. The second end of the fourth connecting rod 314 is rotatably connected to the movable member 420 about the seventh axis L7.

[0059] By making the connecting rod assembly 300 include four connecting rods 310, the decoupling of the lateral swing and bending movements of the dexterous hand fingers 10 can be achieved, thereby avoiding redundant structures and making the structure simpler.

[0060] In some embodiments, the side swing assembly 100 has a circular-arc slot 110, a cross section of the circular-arc slot 110 perpendicular to the second axis L2 is circular-arc-shaped, and a center of the circular-arc-shaped is located on the second axis L2. The dexterous hand finger 10 further comprises a first limiting piece 600.

[0061] The first limiting piece 600 is connected with the knuckle 200 and penetrates into the circular-arc slot 110. In the process of the rotation of the knuckle 200 around the second axis L2, the first limiting piece 600 moves along the extension direction of the circular-arc slot 110, and both ends of the circular-arc slot 110 are configured to limit the rotation angle of the knuckle 200 around the second axis L2.

[0062] The first limiting piece 600 can be fixedly connected with the knuckle 200 or movably connected with the knuckle 200, which is not limited in the present application. The first limiting piece 600 can be cylindrical or arc-shaped, which is not limited in the present application.

[0063] The rotation angle of the knuckle 200 around the second axis L2 can be 60 degrees, 90 degrees, 120 degrees, etc., which is not limited in the present application. In actual application, the length of the circular-arc slot 110 can be set according to actual needs, so as to limit the rotation angle of the knuckle 200 around the second axis L2.

[0064] By setting the circular-arc slot 110 and the first limiting piece 600, the rotation angle of the knuckle 200 around the second axis L2 can be limited, so as to set a suitable bending angle for the knuckle 200, so that the bending angle of the dexterous hand finger 10 is closer to that of a human hand, or a suitable bending angle of the dexterous hand finger 10 can be set according to specific scene needs.

[0065] In some embodiments, the knuckle 200 has a first shaft hole, and the first connecting rod 311 has a second shaft hole. The first limiting piece 600 comprises a first shaft structure 610, which penetrates into the first shaft hole and the second shaft hole respectively, so as to movably connect the knuckle 200 and the first connecting rod 311 around the first shaft structure 610. The axis of the first shaft structure 610 coincides with the third axis L3.

[0066] In other words, the first limiting piece 600 can limit the rotation angle of the knuckle 200 around the second axis L2, and also can serve as a rotation shaft of the knuckle 200 and the first connecting rod 311, so that the structure of the dexterous hand finger 10 can be simplified, and the size of the dexterous hand finger 10 can be further reduced.

[0067] In some embodiments, the dexterous hand finger 10 further comprises a second limiting piece 700. The second limiting piece 700 is connected with the palm base plate 20 and is configured to limit the rotation angle of the side swing assembly 100 around the first axis L1 relative to the palm base plate 20.

[0068] The second limiting member 700 can be any shape structure as long as it can limit the rotation angle of the side swing assembly 100 relative to the palm base plate 20 around the first axis L1, and the present application does not make specific limitations. Exemplarily, the second limiting member 700 can be integrally formed with the palm base plate 20, or can be separately provided with the palm base plate 20.

[0069] By setting the second limiting member 700, the rotation angle of the side swing assembly 100 relative to the palm base plate 20 around the first axis L1 can be limited, that is, the side swing angle of the dexterous hand finger 10 is limited, so that the side swing angle of the dexterous hand finger 10 is closer to the human hand, or the appropriate side swing angle of the dexterous hand finger 10 is set according to the specific scene needs.

[0070] In some embodiments, the side swing assembly 100 is rotatably connected with the second limiting member 700 around the first axis L1. Exemplarily, the second limiting member 700 can be fixedly connected with the palm base plate 20, or can be detachably connected with the palm base plate 20. The second limiting member 700 can be considered as a joint base of the dexterous hand finger 10, that is, the structure of the dexterous hand finger 10 can be integrated on the joint base, and then connected with the palm base plate 20, facilitating the manufacturing of the dexterous hand 3.

[0071] In some embodiments, the fixing member 410 includes a first driving source 411 and a lead screw 412. The first driving source 411 is connected with the palm base plate 20. The lead screw 412 is connected with the first driving source 411 and rotates under the driving of the first driving source 411. The movable member 420 includes a lead screw nut 421. The lead screw nut 421 is screwed with the lead screw 412, and the last connecting rod 310 is rotatably connected with the lead screw nut 421 around the seventh axis L7.

[0072] The first driving source 411 can be a motor or a rotary cylinder, as long as it is a structure that can provide rotary force, and the present application does not make specific limitations.

[0073] Through the cooperation of the lead screw 412 and the lead screw nut 421, the driving of the bending of the dexterous hand finger 10 is realized. The lead screw 412 can not only drive the lead screw nut 421 to move linearly, but also guide the lead screw nut 421, and the structure is simple and the driving effect is good.

[0074] In some embodiments, the side swing assembly 100 has a third shaft hole. The palm base plate 20 has a fourth shaft hole. The dexterous hand finger 10 further includes a first movable shaft 810. The first movable shaft 810 penetrates the third shaft hole and the fourth shaft hole respectively, so that the side swing assembly 100 and the palm base plate 20 are rotatably connected around the first movable shaft 810. The axis of the first movable shaft 810 coincides with the first axis L1.

[0075] Exemplarily, the fourth shaft hole can also be arranged on the second limiting member 700, and can also be arranged on other structures connected with the palm substrate 20.

[0076] The second driving assembly 500 comprises a side swing driving wheel 510, a side swing driving rod 520, and a second driving source 530. The side swing driving wheel 510 is connected with the side swing assembly 100, and the side swing driving wheel 510 has a fifth shaft hole. The side swing driving wheel 510 is sleeved on the first movable shaft 810 through the fifth shaft hole. The side swing driving rod 520 is connected with the side swing driving wheel 510. The extension direction of the side swing driving rod 520 intersects with the extension direction of the first movable shaft 810. The second driving source 530 is connected with the palm substrate 20 and connected with the side swing driving rod 520, and is configured to drive the side swing driving rod 520 to move, so as to drive the side swing driving wheel 510 to rotate around the first movable shaft 810 by the side swing driving rod 520, and drive the side swing assembly 520 to rotate around the first axis L1 by the side swing driving wheel 510.

[0077] The extension direction of the side swing driving rod 520 can be the same as the extension direction of the screw rod 412, so as to save the space of the extension direction of the first movable shaft 810. The second driving source 530 can be a motor, or a rotary cylinder, a cylinder, etc., which is not limited in the application.

[0078] In some embodiments, the side swing driving rod 520 and the connecting rod assembly 300 are arranged on opposite sides of the side swing assembly 100 respectively, so as to avoid mutual interference between the side swing driving rod 520 and the connecting rod assembly 300.

[0079] The embodiments of the application also provide a dexterous hand 3 applied to the robot 1. As shown in Figure 8 The dexterous hand 3 comprises the palm substrate 20 and the dexterous hand finger 10 mentioned in the above embodiments. The dexterous hand finger 10 is arranged on and connected with the palm substrate 20.

[0080] Since the dexterous hand 3 comprises the dexterous hand finger 10, the robot 1 also has all the technical features and technical effects of the dexterous hand finger 10, which will not be repeated here.

[0081] The embodiments of the application also provide a robot 1. As shown in Figure 8 The robot 1 comprises the main body 2 and the dexterous hand 3 mentioned in the above embodiments. The dexterous hand 3 is connected with the main body 2.

[0082] Since the robot 1 comprises 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 repeated here.

[0083] In the embodiments of the present application, if the form of connection is not explicitly defined, the form of connection can be detachable connection forms such as bolt-nut, screw, buckle, magnetic attraction, etc. 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, etc.

[0084] In the description, "one embodiment", "an embodiment", or the like means that the described embodiment can include a particular feature, structure, or characteristic, but every embodiment can not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, in describing features, structures, or characteristics of an embodiment, as used in the specification and the claims, the term "comprises" means "includes, but not limited to", the term "comprising" means "including, but not limited to", and the term "consisting of means "including, and limited to".

[0085] It should be understood that "on", "above", and "over" in the present disclosure should be interpreted in the broadest way, such that "on" means not only "directly on", but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "over" includes not only the meaning of "above" or "over", but also the meaning of "above" or "over" without intermediate features or layers therebetween (i.e., directly on).

[0086] In addition, spatially relative terms, such as "under", "below", "lower", "over", "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.

[0087] It should be noted that, in this document, the terms "comprises", "comprising", 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 presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0088] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dexterous hand finger, characterized by, The application is applied to a dexterous hand, which comprises a palm base plate and at least one dexterous hand finger; The dexterous hand finger comprises: A side swing assembly is rotatably connected to the palm base plate about a first axis; A knuckle is rotatably connected to the side swing assembly about a second axis, which is perpendicular to the first axis; A linkage assembly comprises at least four linkages which are rotatably connected in sequence, a first linkage is rotatably connected to the knuckle about a third axis, and rotation axes between the at least four linkages comprise at least a fourth axis, a fifth axis and a sixth axis, wherein the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis; A first driving assembly comprises a fixed part and a movable part which are connected to each other, the fixed part is connected to the palm base plate, and a last linkage is rotatably connected to the movable part about a seventh axis which is perpendicular to the sixth axis and perpendicular to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to drive the linkage assembly to move by the movable part, and drive the knuckle to rotate about the second axis by the linkage assembly, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis; A second driving assembly is connected to the side swing assembly and is configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate, so as to drive the knuckle to rotate about the first axis by the side swing assembly.

2. The dexterous hand finger of claim 1, wherein, The linkage assembly comprises four linkages, and a fourth linkage is the last linkage; The first linkage is rotatably connected to a second linkage about the fourth axis, the second linkage is rotatably connected to a third linkage about the fifth axis, and the third linkage is rotatably connected to the fourth linkage about the sixth axis.

3. The dexterous hand finger of claim 1, wherein, The side swing assembly has a circular-arc groove, a cross section of the circular-arc groove perpendicular to the second axis is in a circular-arc shape, and a center of the circular-arc shape is located on the second axis; The dexterous hand finger further comprises: A first limiting part is connected to the knuckle and penetrates into the circular-arc groove; During rotation of the knuckle about the second axis, the first limiting part moves along an extension direction of the circular-arc groove, and two ends of the circular-arc groove are configured to limit a rotation angle of the knuckle about the second axis.

4. The dexterous hand finger of claim 3, wherein, The knuckle has a first shaft hole, and the first linkage has a second shaft hole; The first limiting part comprises a first shaft structure which penetrates into the first shaft hole and the second shaft hole respectively, so that the knuckle and the first linkage are rotatably connected about the first shaft structure, and an axis of the first shaft structure coincides with the third axis.

5. The dexterous hand finger of claim 1, wherein, Further comprising: A second limiting part is connected to the palm base plate and is configured to limit a rotation angle of the side swing assembly about the first axis relative to the palm base plate.

6. The dexterous hand finger of claim 5, wherein, The side swing assembly is rotatably connected with the second limiting piece around the first axis.

7. The dexterous hand finger according to any one of claims 1 to 6, characterized in that, The fixing piece comprises: A first driving source connected with the palm base plate; A screw rod connected with the first driving source and rotating under the driving of the first driving source; The movable piece comprises: A screw rod nut connected with the screw rod, and the last connecting rod is rotatably connected with the screw rod nut around the seventh axis.

8. The dexterous hand finger of any one of claims 1 to 6, wherein, The side swing assembly has a third shaft hole, and the palm base plate has a fourth shaft hole; the dexterous hand finger further comprises: A first movable shaft penetrating into the third shaft hole and the fourth shaft hole respectively, so that the side swing assembly and the palm base plate are rotatably connected around the first movable shaft, and the axis of the first movable shaft coincides with the first axis; The second driving assembly comprises: A side swing driving wheel connected with the side swing assembly, the side swing driving wheel has a fifth shaft hole, and the side swing driving wheel is sleeved on the first movable shaft through the fifth shaft hole; A side swing driving rod connected with the side swing driving wheel, the extension direction of the side swing driving rod intersects with the extension direction of the first movable shaft; A second driving source connected with the palm base plate and connected with the side swing driving rod, configured to drive the side swing driving rod to move, so as to drive the side swing driving wheel to rotate around the first movable shaft by the side swing driving rod, and drive the side swing assembly to rotate around the first axis by the side swing driving wheel.

9. The dexterous hand finger of claim 8, wherein, The side swing driving rod and the connecting rod assembly are respectively arranged on opposite sides of the side swing assembly.

10. A dexterous hand characterized by, It comprises: A palm base plate; At least one dexterous hand finger according to any one of claims 1 to 9 connected with the palm base plate.

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

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