Dexterous hand and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand and a robot, which solve the problem that a dexterous hand cannot simultaneously consider dexterity and anthropomorphism. The dexterous hand comprises a palm base plate, metacarpal bone driving components, metacarpophalangeal driving components, a first thumb knuckle, a second thumb knuckle, a first tendon and a first tendon driving component, a plurality of side swing components, a plurality of first knuckles, a plurality of knuckle components, a side swing driving component, a plurality of bending driving components, a plurality of second tendons and a plurality of second tendon driving components. In the case that the dexterous hand has five fingers consistent with human hands, the dexterous hand can have at least 12 active degrees of freedom, belongs to a dexterous hand with medium-high degrees of freedom, and has high dexterity. The above driving components are arranged into three layers on the palm base plate, the space of the palm base plate is reasonably utilized, the size of the dexterous hand is reduced, the size of the dexterous hand is closer to human hands, and the anthropomorphism of the dexterous hand is improved.

Description

TECHNICAL FIELD

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

[0002] A human hand has no less than 21 degrees of freedom, each finger of the finger part has 4 degrees of freedom, and the thumb has 5 degrees of freedom. The design goal of a dexterous hand is to be as human as possible in form and function. At present, dexterous hands can be divided into highly human dexterous hands, medium-high degree of freedom dexterous hands and low degree of freedom dexterous hands according to the degrees of freedom and humanization. The highly human dexterous hand basically reproduces the degrees of freedom of the human hand, but the size is large and the humanization is poor. The low degree of freedom dexterous hand basically has no side swing function and poor dexterity, and cannot complete actions such as three-finger cooperative screwing of a bottle cap. Although the medium-high degree of freedom dexterous hand has a certain improvement in dexterity, the size is also large and the humanization is still poor.

[0003] Therefore, the current dexterous hand cannot simultaneously consider dexterity and humanization. SUMMARY

[0004] Therefore, the current dexterous hand cannot simultaneously consider dexterity and humanization.

[0005] In a first aspect, embodiments of the present application provide a dexterous hand, comprising: a palm substrate; a metacarpal driving assembly disposed on the palm substrate; a metacarpophalangeal driving assembly rotatably connected to the palm substrate about a first axis and connected to the metacarpal driving assembly, and rotating about the first axis under the driving of the metacarpal driving assembly, wherein the first axis is parallel to the palm substrate; a first thumb knuckle rotatably connected to the metacarpophalangeal driving assembly about a second axis and rotating about the second axis under the driving of the metacarpophalangeal driving assembly, wherein the second axis is perpendicular to the first axis; a second thumb knuckle rotatably connected to the first thumb knuckle about a third axis, wherein the third axis is parallel to the second axis; a first tendon, a first end of the first tendon being connected to the second thumb knuckle; a first tendon driving assembly disposed on the palm substrate and connected to a second end of the first tendon, and configured to drive the first tendon to move so as to pull the second thumb knuckle to rotate about the third axis; a plurality of side swing assemblies rotatably connected to the palm substrate about respective fourth axes, wherein the fourth axes are perpendicular to the palm substrate; a plurality of first knuckles rotatably connected to the plurality of side swing assemblies about respective fifth axes, wherein the fifth axes are perpendicular to the fourth axes; a plurality of knuckle assemblies rotatably connected to the plurality of first knuckles about respective sixth axes, wherein the sixth axes are parallel to the fifth axes; a side swing driving assembly disposed on the palm substrate and connected to at least two of the side swing assemblies, and configured to drive the at least two of the side swing assemblies to rotate about the respective fourth axes; a plurality of bending driving assemblies disposed on the palm substrate and connected to the plurality of first knuckles, respectively, and configured to drive the plurality of first knuckles to rotate about the respective fifth axes, respectively; a plurality of second tendons, a first end of each of the plurality of second tendons being connected to a respective one of the knuckle assemblies; a plurality of second tendon driving assemblies disposed on the palm substrate and connected to a second end of each of the plurality of second tendons, and configured to drive each of the plurality of second tendons to move so as to pull the respective one of the knuckle assemblies to rotate about the respective sixth axis; wherein the palm substrate has a palm cavity, an intermediate cavity and a back cavity arranged in sequence; wherein the metacarpal driving assembly, the metacarpophalangeal driving assembly and the first tendon driving assembly are arranged in a single layer in the palm cavity; the plurality of bending driving assemblies are arranged in a single layer in the intermediate cavity; and the plurality of second tendon driving assemblies and the side swing driving assembly are arranged in a single layer in the back cavity.

[0006] In some embodiments, the metacarpal drive assembly, the metacarpophalangeal drive assembly and the first tendon drive assembly all extend along a first direction and are arranged in sequence along a second direction perpendicular to the first direction; the plurality of the flex drive assemblies all extend along the first direction and are arranged in sequence along the second direction; the plurality of the second tendon drive assemblies all extend along the first direction and are arranged in sequence along the second direction; the side swing drive assembly extends along the second direction and is arranged adjacent to an end of the second tendon drive assembly close to the first knuckle, or the side swing drive assembly extends along the first direction and is arranged in parallel with the second tendon drive assembly.

[0007] In some embodiments, the plurality of the flex drive assemblies are arranged in sequence along the second direction with gaps between adjacent flex drive assemblies; wherein at least part of structure of at least one of the metacarpal drive assembly, the metacarpophalangeal drive assembly and the first tendon drive assembly extends into the gaps.

[0008] In some embodiments, the dexterous hand further comprises: a tendon guide arranged on a side of the palm baseplate close to the second tendon drive assembly, wherein the tendon guide has a plurality of tendon holes; a plurality of sleeves respectively arranged in the plurality of tendon holes, wherein the plurality of second tendons pass through the plurality of sleeves and are connected to the plurality of second tendon drive assemblies, respectively, wherein the material of the sleeves comprises a flexible lubricating material.

[0009] In some embodiments, the dexterous hand further comprises: a vision module arranged on a side of the tendon guide away from the palm baseplate, configured to acquire images of the surroundings of the dexterous hand.

[0010] In some embodiments, the dexterous hand further comprises: a wrist base connected to the palm baseplate, wherein the wrist base has a central hole; a heat dissipation device arranged in the central hole and blowing air towards the palm baseplate.

[0011] In some embodiments, the dexterous hand further comprises: a power board arranged in the central hole and configured to supply power to the heat dissipation device, the metacarpal drive assembly, the metacarpophalangeal drive assembly, the first tendon drive assembly, the side swing drive assembly, the flex drive assemblies and the second tendon drive assemblies.

[0012] In some embodiments, the metacarpal-phalangeal driving assembly comprises: a metacarpal-phalangeal driving source rotatably connected with the palm base plate about the first axis and connected with the metacarpal driving assembly; a first worm connected with the metacarpal-phalangeal driving source and rotating under the driving of the metacarpal-phalangeal driving source, wherein the first worm has a first axial hole penetrating through the first worm along the extension direction of the first worm; a first worm wheel rotatably connected with the metacarpal-phalangeal driving source about the second axis, the first worm wheel being engaged with the first worm and rotating about the second axis under the driving of the first worm, wherein the first thumb phalanx is fixedly connected with the first worm wheel to rotate about the second axis under the driving of the first worm wheel; at least one first guide wheel rotatably connected with the metacarpal-phalangeal driving source about a seventh axis, the first guide wheel being located at one end of the first worm close to the first phalanx, and the seventh axis being parallel to the second axis; wherein the first tendon passes through the first thumb phalanx, bypasses one side of the first guide wheel away from the first worm, passes through the first axial hole, and is connected with the first tendon driving assembly in sequence from the second thumb phalanx.

[0013] In some embodiments, the dexterous hand further comprises: at least one second guide wheel rotatably connected with the first thumb phalanx about an eighth axis, the eighth axis being parallel to the second axis; wherein the first tendon bypasses one side of the second guide wheel close to the first worm wheel, bypasses one side of the first guide wheel away from the first worm, passes through the first axial hole, and is connected with the first tendon driving assembly in sequence from the second thumb phalanx.

[0014] In some embodiments, a positional relationship between the first worm gear, the first guide wheel, the second guide wheel and the first tendon rope satisfies the following formula: KM+MN+NP=2*R*sin(θ / 2)*cosβ+(5*π / 2-2*β-γ)*r, wherein KM represents a contact length of the first tendon rope with the second guide wheel, MN represents a length of the first tendon rope between the first guide wheel and the second guide wheel, NP represents a contact length of the first tendon rope with the first guide wheel, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents a first center of a normal projection of the first worm gear on the palm substrate, O1 represents a second center of a normal projection of the first guide wheel on the palm substrate, O2 represents a third center of a normal projection of the second guide wheel on the palm substrate, M represents a first point of intersection of the first tendon rope with the second guide wheel close to the first guide wheel, Q represents a first point of intersection of an extension line of a line connecting the first center and the second center with an edge of the first guide wheel, S represents a second point of intersection of a perpendicular line passing through the second center with an edge of the first guide wheel away from the first worm gear, R represents a length of a first line connecting the first center and the second center, and r represents a radius of the first guide wheel; wherein the length of the first line is equal to a length of a second line connecting the first center and the third center; and the radius of the first guide wheel is equal to a radius of the second guide wheel.

[0015] In some embodiments, the first tendon rope driving assembly comprises: a first tendon rope driving source arranged on the palm substrate; a second worm arranged in connection with the first tendon rope driving source and rotating under the driving of the first tendon rope driving source, an extension direction of the second worm being parallel to an extension direction of the first axis; a worm shaft rotatably connected with the first tendon rope driving source about a ninth axis, wherein the ninth axis is perpendicular to the extension direction of the second worm; a second worm gear coaxially connected with the worm shaft, the second worm gear being rotatably connected with the first tendon rope driving source about the ninth axis through the worm shaft, the second worm gear being engaged with the second worm and rotating about the ninth axis under the driving of the second worm; and a second end of the first tendon rope being connected with the worm shaft to pull the first tendon rope by rotation of the worm shaft.

[0016] In some embodiments, the bending driving assembly comprises: a linkage assembly comprising at least four links connected rotatably in sequence, a first one of the links being rotatably connected with the first knuckle about a tenth axis, rotation axes among the at least four links comprising at least an eleventh axis, a twelfth axis and a thirteenth axis, wherein the tenth axis is parallel to the fifth axis, the eleventh axis is perpendicular to the tenth axis, the twelfth axis is perpendicular to the eleventh axis and perpendicular to the tenth axis, and the thirteenth axis is parallel to the twelfth axis; and a first driving assembly comprising a first fixed member and a first movable member connected with each other, the first fixed member being connected with the palm base plate, a last one of the links being rotatably connected with the first movable member about a fourteenth axis, the fourteenth axis being perpendicular to the thirteenth axis and perpendicular to the fourth axis, wherein the first fixed member is capable of driving the first movable member to move in a first direction to drive the linkage assembly to move and drive the first knuckle to rotate about the fifth axis, the first direction being perpendicular to the thirteenth axis and perpendicular to the fourteenth axis.

[0017] In some embodiments, the knuckle assembly comprises: a second knuckle, a first end of the second knuckle being rotatably connected with a second end of the first knuckle about the sixth axis; a third knuckle, a first end of the third knuckle being rotatably connected with a second end of the second knuckle about a fifteenth axis, the fifteenth axis being parallel to the sixth axis; wherein a first end of the second tendon is connected with a second end of the third knuckle, and the second tendon driving assembly is capable of pulling the second tendon to drive the second knuckle to rotate about the sixth axis and drive the third knuckle to rotate about the fifteenth axis.

[0018] In some embodiments, the plurality of first knuckles comprises a forefinger knuckle, a ring finger knuckle and a little finger knuckle; wherein the side swing driving assembly comprises: a second driving assembly disposed on the palm base plate and connected with the forefinger knuckle, configured to drive the forefinger knuckle to rotate to realize side swing of the forefinger knuckle; a fifth linkage, a first end of the fifth linkage being rotatably connected with the forefinger knuckle, a second end of the fifth linkage being rotatably connected with the ring finger knuckle; a sixth linkage, a first end of the sixth linkage being rotatably connected with the little finger knuckle, a second end of the sixth linkage being rotatably connected with the forefinger knuckle or the ring finger knuckle.

[0019] In some embodiments, the second driving assembly comprises: a first side swing driving wheel connected with the index 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 second fixed member and a second movable member connected with each other, the second movable member performing linear reciprocating motion under the driving of the second fixed member, the second fixed member being connected with the palm base plate, and the second movable member being rotatably and slidably connected with a second end of the side swing driving rod.

[0020] In some embodiments, a first end of the fifth connecting rod is rotatably connected with the index finger joint about a sixteenth axis, and a second end of the fifth connecting rod is rotatably connected with the ring finger joint about a seventeenth axis; a first end of the sixth connecting rod is rotatably connected with the little finger joint about an eighteenth axis, and a second end of the sixth connecting rod is rotatably connected with the ring finger joint about a nineteenth axis; wherein the fourth axis, the sixteenth axis, the seventeenth axis, the eighteenth axis and the nineteenth axis are parallel; wherein, in a plane perpendicular to the fourth axis, the normal projections of the rotation axis of the side swing assembly corresponding to the index finger joint and the palm base plate, the rotation axis of the side swing assembly corresponding to the ring finger joint and the palm base plate, the rotation axis of the side swing assembly corresponding to the little finger joint and the palm base plate, the sixteenth axis, the seventeenth axis, the eighteenth axis and the nineteenth 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 with a second connecting line between D point and E point, and a third connecting line between B point and C point does not intersect with a fourth connecting line between F point and G point.

[0021] In a second aspect, embodiments of the present application provide a robot, comprising: a main body; at least one dexterous hand mentioned in the first aspect, connected with the main body.

[0022] The embodiment of the application provides a dexterous hand, which comprises a palm substrate, a metacarpal driving assembly, a metacarpophalangeal driving assembly, a first thumb knuckle, a second thumb knuckle, a first tendon, a first tendon driving assembly, a plurality of side swing assemblies, a plurality of first knuckles, a plurality of knuckle assemblies, a side swing driving assembly, a plurality of bending driving assemblies, a plurality of second tendons and a plurality of second tendon driving assemblies. The metacarpal driving assembly drives the metacarpophalangeal driving assembly to rotate around a first axis, so that the first thumb knuckle realizes a palm turning motion; the metacarpophalangeal driving assembly drives the first thumb knuckle to rotate around a second axis, so that the first thumb knuckle realizes a first bending motion; the first tendon driving assembly drives the first tendon to move, so that the first tendon drives the second thumb knuckle to rotate around a third axis, and the second thumb knuckle realizes a second bending motion; the side swing driving assembly drives at least two side swing assemblies to rotate around respective fourth axes, so that at least two first knuckles realize side swing linkage; the plurality of bending driving assemblies respectively drive the plurality of first knuckles to rotate around respective fifth axes, so that the plurality of first knuckles realize third bending motions; and the plurality of second tendon driving assemblies respectively drive the plurality of second tendons to move, so that the plurality of second tendons respectively drive the plurality of knuckle assemblies to rotate around respective sixth axes, and the plurality of knuckle assemblies realize fourth bending motions. In other words, the dexterous hand thumb composed of the first thumb knuckle and the second thumb knuckle of the dexterous hand has one palm turning degree of freedom and two bending degrees of freedom, that is, three active degrees of freedom. One first knuckle and one knuckle assembly can form a dexterous hand index finger, a dexterous hand middle finger, a dexterous hand ring finger or a dexterous hand little finger. The dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger or the dexterous hand little finger can have a side swing degree of freedom and at least two bending degrees of freedom, that is, the dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger and the dexterous hand little finger have at least eight active bending degrees of freedom and one active side swing degree of freedom in total. Therefore, in the case that the dexterous hand has five fingers consistent with a human hand, the dexterous hand of the application can have at least twelve active degrees of freedom, belongs to a dexterous hand with medium-high degrees of freedom, and has high dexterity.

[0023] In addition, the palm substrate has a palm accommodating space, an intermediate accommodating space and a back accommodating space which are sequentially stacked; the metacarpal driving assembly, the metacarpophalangeal driving assembly and the first tendon driving assembly are arranged in a single layer in the palm accommodating space; the plurality of bending driving assemblies are arranged in a single layer in the intermediate accommodating space; and the plurality of second tendon driving assemblies and the side swing driving assembly are arranged in a single layer in the back accommodating space, that is, all the driving assemblies are arranged in three layers on the palm substrate, the space of the palm substrate is reasonably utilized, the size of the dexterous hand is reduced, the size of the dexterous hand is closer to a human hand, and the anthropomorphism of the dexterous hand is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which: The accompanying drawings provide a further understanding of the present application and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0025] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand provided by an embodiment of the present application.

[0026] Figure 2 Fig. 2 shows a structural schematic diagram of a dexterous hand provided by another embodiment of the present application.

[0027] Figure 3 Fig. 3 shows a structural schematic diagram of a dexterous hand provided by another embodiment of the present application.

[0028] Figure 4 Fig. 4 shows a side view of a dexterous hand provided by an embodiment of the present application.

[0029] Figure 5 Fig. 5 shows a front view of a dexterous hand provided by an embodiment of the present application. Figure 4 Fig. 6 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction.

[0030] Figure 6 Fig. 7 shows a structural schematic diagram of a dexterous hand provided by another embodiment of the present application. Figure 4 Fig. 8 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction.

[0031] Figure 7 Fig. 9 shows a structural schematic diagram of a dexterous hand provided by another embodiment of the present application. Figure 4 Fig. 10 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction.

[0032] Figure 8 Fig. 11 shows a layout schematic diagram of a side swing driving assembly and a second tendon driving assembly in a back-of-hand accommodation space provided by an embodiment of the present application.

[0033] Figure 9 Fig. 12 shows a layout schematic diagram of a side swing driving assembly and a second tendon driving assembly in a back-of-hand accommodation space provided by another embodiment of the present application.

[0034] Figure 10 Fig. 13 shows a schematic diagram of a partial structure of a dexterous hand provided by an embodiment of the present application.

[0035] Figure 11 Fig. 14 shows a front view of a partial structure of a dexterous hand provided by an embodiment of the present application.

[0036] Figure 12 Fig. 15 shows a side view of a partial structure of a dexterous hand provided by an embodiment of the present application.

[0037] Figure 13 A schematic view of a part structure of the dexterous hand is shown. Figure 12 A schematic view of a cross section of the dexterous hand in I-I direction is shown.

[0038] Figure 14 A schematic view of a decoupling relationship between the tendon and the metacarpal and phalange driving assembly is shown.

[0039] Figure 15 A schematic view of a part structure of the dexterous hand is shown.

[0040] Figure 16 A rear view of a part structure of the dexterous hand is shown.

[0041] Figure 17 A schematic view of a part structure of the dexterous hand is shown. Figure 16 A schematic view of a cross section of the dexterous hand in J-J direction is shown.

[0042] Figure 18 A schematic view of a part structure of the dexterous hand is shown.

[0043] Figure 19 A schematic view of a part structure of the dexterous hand is shown.

[0044] Figure 20 A schematic view of a part structure of the dexterous hand is shown.

[0045] Figure 21 A schematic view of a part structure of the dexterous hand is shown.

[0046] Figure 22 A schematic view of a part structure of the dexterous hand is shown.

[0047] Figure 23 A schematic view of a part structure of the dexterous hand is shown.

[0048] Figure 24 A rear view of a part structure of the dexterous hand is shown.

[0049] Figure 25 A rear view of a part structure of the dexterous hand is shown.

[0050] Figure 26 A schematic view of a part structure of the dexterous hand is shown. Figure 25 A schematic view of a cross section of the dexterous hand in T-T direction is shown.

[0051] Figure 27 Fig. 1 shows a schematic diagram of a structure of a dexterous hand according to an embodiment of the present application. Figure 26 Fig. 2 shows a schematic diagram of a partial enlarged view of the dexterous hand in the V region.

[0052] Figure 28 Fig. 3 shows a schematic diagram of a structure of a dexterous hand according to another embodiment of the present application.

[0053] Figure 29 Fig. 4 shows a schematic diagram of a structure of a tendon guide according to an embodiment of the present application.

[0054] Figure 30 Fig. 5 shows a front view of the tendon guide according to an embodiment of the present application.

[0055] Figure 31 Fig. 6 shows a schematic diagram of a structure of a wrist base according to an embodiment of the present application. Figure 30 Fig. 7 shows a schematic diagram of a cross section of the tendon guide in the W-W direction.

[0056] Figure 32 Fig. 8 shows a schematic diagram of a structure of a wrist base, a heat dissipation device and a power board according to an embodiment of the present application.

[0057] Figure 33 Fig. 9 shows a schematic diagram of a structure of a robot according to an embodiment of the present application.

[0058] Figure 34 Fig. 10 shows a schematic diagram of a structure of a robot according to another embodiment of the present application.

[0059] Reference signs:

[0060] 1. Robot; 10. Dexterous hand; 11. First side; 12. Second side; 13. Side swing joint; 14. Bending joint; 15. Proximal interphalangeal joint; 16. Distal interphalangeal joint; 100. Palmar base plate; 101. Shell; 110. Palmar accommodation space; 120. Intermediate accommodation space; 130. Dorsal accommodation space; 210. Metacarpal driving assembly; 220. Metacarpophalangeal driving assembly; 221. Metacarpophalangeal driving source; 222. First worm; 2220. First shaft hole; 223. First worm wheel; 224. First guide wheel; 225. Driving gear; 226. Driven gear; 2260. Second shaft hole; 230. First tendon driving assembly; 231. First tendon driving source; 232. Second worm; 233. Worm shaft; 234. Second worm wheel; 310. First thumb knuckle; 320. Second thumb knuckle; 321. First shaft part; 322. First torsional spring; 330. First tendon; 331. First end of first tendon; 332. Second end of first tendon; 400. Side swing assembly; 510. First knuckle; 511. First end of first knuckle; 512. Second end of first knuckle; 513. Index knuckle; 514. Middle knuckle; 515. Ring knuckle; 516. Little knuckle; 520. Knuckle assembly; 521. Second knuckle; 5211. First end of second knuckle; 5212. Second end of second knuckle; 522. Third knuckle; 5221. First end of third knuckle; 5222. Second end of third knuckle; 530. Second tendon; 531. First end of second tendon; 532. Second end of second tendon; 610. Side swing driving assembly; 611. Second driving assembly; 6111. First side swing driving wheel; 6112. Side swing driving rod; 61121. First end of side swing driving rod; 61122. Second end of side swing driving rod; 61123. Long hole; 6113. Driving source assembly; 61131. Second fixed part; 61132. Second movable part; 61133. Motor; 61134. Screw rod; 61135. Limiting part; 6114. Connecting shaft; 6115. Roller; 6116. Guide assembly; 612. Fifth connecting rod; 6121. First end of fifth connecting rod; 6122. Second end of fifth connecting rod; 613. Sixth connecting rod; 6131. First end of sixth connecting rod; 6132. Second end of sixth connecting rod; 620. Bending driving assembly; 621. Gap; 622. Connecting rod assembly; 6220. Connecting rod; 6221. First connecting rod; 6222. Second connecting rod; 6223. Third connecting rod; 6224. Fourth connecting rod; 623. First driving assembly; 6231. First fixed part; 6232. First movable part; 630. Second tendon driving assembly; 710. Tendon guide; 711. Tendon hole; 720. Sleeve; 730. Vision module; 740. Wrist base; 741. Central hole; 750. Heat dissipation device; 760. Power board; 770. Second guide wheel; 780. Circuit board;810, third guide wheel; 820, fourth guide wheel; 821, first fourth guide wheel; 822, second fourth guide wheel; 823, third fourth guide wheel; 830, movable shaft; 20, main body; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis; L8, eighth axis; L9, ninth axis; L10, tenth axis; L11, eleventh axis; L12, twelfth axis; L13, thirteenth axis; L14, fourteenth axis; L15, fifteenth axis; L16, sixteenth axis; L17, seventeenth axis; L18, eighteenth axis; L19, nineteenth axis; X, first direction; Y, second direction; Z, third direction; a, side swing angle. DETAILED DESCRIPTION

[0061] 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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0062] 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 the end effector of a robot. A human hand has not less than 21 degrees of freedom, each finger has 4 degrees of freedom, and the thumb has 5 degrees of freedom. The design goal of a dexterous hand is to be as human as possible in form and function. At present, dexterous hands can be divided into highly humanized dexterous hands, medium-high degree of freedom dexterous hands and low degree of freedom dexterous hands according to the degree of freedom and humanization. Highly humanized dexterous hands such as shadow dexterous hand and DLR AWIWI dexterous hand of German aerospace basically reproduce the degrees of freedom of human hands. Since the number of joints and drives of this kind of dexterous hand is large, tendon-driven is adopted, the driving device is placed outside the palm, and the driving device is large in size, which will occupy the space of the forearm or wrist when integrated on a humanoid robot. Low degree of freedom dexterous hands generally have less than 6 degrees of freedom, such as Vincent hand and some prosthetic hands. This kind of dexterous hand mostly does not have side swing function, and the main functions are reflected in pinching and grasping, which is difficult to perform complex dexterous operations such as three-finger cooperative bottle cap twisting. There is also a kind of medium-high degree of freedom dexterous hand, which has a certain increase in the number of degrees of freedom and a certain improvement in dexterity. For example, DLR-HIT2 dexterous hand developed by German aerospace and Harbin Institute of Technology, Allegro dexterous hand, ILDA dexterous hand of South Korea, etc. This kind of dexterous hand adopts the built-in driving scheme, and the size is usually large, and the humanization is still poor. Therefore, the current dexterous hand cannot simultaneously consider dexterity and humanization.

[0063] To solve the above problems, the embodiment of the present application provides a dexterous hand, which comprises a palm substrate, a metacarpal driving assembly, a metacarpophalangeal driving assembly, a first thumb phalanx, a second thumb phalanx, a first tendon and a first tendon driving assembly, a plurality of side swing assemblies, a plurality of first phalanges, a plurality of phalanx assemblies, a side swing driving assembly, a plurality of bending driving assemblies, a plurality of second tendons and a plurality of second tendon driving assemblies.

[0064] The metacarpal driving assembly drives the metacarpophalangeal driving assembly to rotate around a first axis to realize the opposition movement of the first thumb phalanx; the metacarpophalangeal driving assembly drives the first thumb phalanx to rotate around a second axis to realize the first bending movement of the first thumb phalanx; the first tendon driving assembly drives the first tendon to move, so that the first tendon drives the second thumb phalanx to rotate around a third axis to realize the second bending movement of the second thumb phalanx; the side swing driving assembly drives at least two side swing assemblies to rotate around respective fourth axes to realize the side swing linkage of the at least two first phalanges; the plurality of bending driving assemblies respectively drive the plurality of first phalanges to rotate around respective fifth axes to realize the third bending movement of the plurality of first phalanges; and the plurality of second tendon driving assemblies respectively drive the plurality of second tendons to move, so that the plurality of second tendons respectively drive the plurality of phalanx assemblies to rotate around respective sixth axes to realize the fourth bending movement of the plurality of phalanx assemblies.

[0065] In other words, the dexterous hand thumb composed of the first thumb phalanx and the second thumb phalanx of the dexterous hand of the present application has one opposition degree of freedom and two bending degrees of freedom, i.e. three active degrees of freedom. One first phalanx and one phalanx assembly can constitute a dexterous hand index finger, a dexterous hand middle finger, a dexterous hand ring finger or a dexterous hand little finger. The dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger or the dexterous hand little finger can have a side swing degree of freedom and at least two bending degrees of freedom, i.e. the dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger and the dexterous hand little finger have at least eight active bending degrees of freedom and one active side swing degree of freedom in total. Therefore, in the case that the dexterous hand has five fingers consistent with a human hand, the dexterous hand of the present application can have at least twelve active degrees of freedom, belongs to a medium-high degree of freedom dexterous hand and has high dexterity.

[0066] In addition, the palm substrate has a palm cavity, an intermediate cavity and a back cavity arranged in sequence; the metacarpal driving assembly, the metacarpophalangeal driving assembly and the first tendon driving assembly are arranged in a single layer in the palm cavity; the plurality of bending driving assemblies are arranged in a single layer in the intermediate cavity; and the plurality of second tendon driving assemblies and the side swing driving assembly are arranged in a single layer in the back cavity, i.e. all the driving assemblies are arranged in three layers on the palm substrate, the space of the palm substrate is reasonably utilized, the size of the dexterous hand is reduced, the size of the dexterous hand is closer to a human hand, and the anthropomorphism of the dexterous hand is improved.

[0067] The specific structure of the dexterous hand and the robot will be described below in combination with the drawings and specific embodiments.

[0068] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand according to an embodiment of the present application. Figure 2 Fig. 2 shows a structural schematic diagram of a dexterous hand according to another embodiment of the present application. Figure 3 Fig. 3 shows a structural schematic diagram of a dexterous hand according to another embodiment of the present application. Figure 4 Fig. 4 shows a side view of a dexterous hand according to an embodiment of the present application. Figure 5 Fig. 5 shows a structural schematic diagram of a dexterous hand according to an embodiment of the present application. Figure 4 Fig. 6 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction. Figure 6 Fig. 7 shows a structural schematic diagram of a dexterous hand according to another embodiment of the present application. Figure 4 Fig. 8 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction. Figure 7 Fig. 9 shows a structural schematic diagram of a dexterous hand according to another embodiment of the present application. Figure 4 Fig. 10 shows a cross-sectional schematic diagram of the dexterous hand in the H-H direction. Figure 8 Fig. 11 shows a layout schematic diagram of a side swing driving assembly and a second tendon driving assembly in a back-of-hand accommodation space according to an embodiment of the present application. Figure 9 Fig. 12 shows a layout schematic diagram of a side swing driving assembly and a second tendon driving assembly in a back-of-hand accommodation space according to another embodiment of the present application. Figure 10 Fig. 13 shows a schematic diagram of a partial structure of a dexterous hand according to an embodiment of the present application. Figure 11 Fig. 14 shows a front view of a partial structure of a dexterous hand according to an embodiment of the present application. Figure 12 Fig. 15 shows a side view of a partial structure of a dexterous hand according to an embodiment of the present application. Figure 13 Fig. 16 shows a schematic diagram of a dexterous hand according to an embodiment of the present application. Figure 12 Fig. 17 shows a cross-sectional schematic diagram of the dexterous hand in the I-I direction. Figure 14 Fig. 18 shows a schematic diagram of a decoupling relationship between a tendon and a metacarpal and finger driving assembly according to an embodiment of the present application. Figure 15 Fig. 19 shows a schematic diagram of a partial structure of a dexterous hand according to another embodiment of the present application. Figure 16 Fig. 20 shows a rear view of a partial structure of a dexterous hand according to an embodiment of the present application. Figure 17 Fig. 21 shows a schematic diagram of a dexterous hand according to an embodiment of the present application. Figure 16 Fig. 22 shows a cross-sectional schematic diagram of the dexterous hand in the J-J direction. Figure 18 Fig. 23 shows a schematic diagram of a partial structure of a dexterous hand according to another embodiment of the present application. Figure 19 Fig. 24 shows a schematic diagram of a partial structure of a dexterous hand according to another embodiment of the present application. Figure 20 Fig. 25 shows a schematic diagram of a partial structure of a dexterous hand according to another embodiment of the present application. Figure 21 Fig. 26 shows a schematic diagram of a partial structure of a dexterous hand according to another embodiment of the present application.Figure 22 Shown is a schematic diagram of a partial structure of a dexterous hand provided in another embodiment of the present application. Figure 23 Shown is a schematic diagram of a partial structure of a dexterous hand provided in another embodiment of the present application. Figure 24 Shown is a rear view of a partial structure of a dexterous hand provided in another embodiment of the present application. Figure 25 Shown is a rear view of a partial structure of a dexterous hand provided in another embodiment of the present application. Figure 26 The following is an example of an embodiment of the present application. Figure 25 Schematic cross-section of the dexterous hand in the TT direction. Figure 27 The following is an example of an embodiment of the present application. Figure 26 The diagram shows a partial enlarged schematic diagram of the dexterous hand in area V. Figure 28 Shown is a schematic structural diagram of a dexterous hand provided in another embodiment of the present application. Figure 29 Shown is a schematic structural diagram of a tendon guide provided in one embodiment of the present application. Figure 30 Shown is a front view of a tendon guide provided in one embodiment of the present application. Figure 31 The following is an example of an embodiment of the present application. Figure 30 A schematic cross-sectional view of the tendon guide in the WW direction is shown. Figure 32 Shown is a schematic structural diagram of a wrist base provided in one embodiment of the present application. Figure 33 Shown is a schematic structural diagram of a wrist base, heat dissipation device, and power supply board provided in one embodiment of the present application. Figure 34 The figure shows a schematic diagram of the structure of a robot provided by an embodiment of the present application. Figures 1 to 34 As shown, the dexterous hand 10 includes a palm base plate 100, a metacarpal drive assembly 210, a metacarpophalangeal drive assembly 220, a first thumb joint 310, a second thumb joint 320, a first tendon cord 330 and a first tendon cord drive assembly 230, a plurality of side swing assemblies 400, a plurality of first finger joints 510, a plurality of finger joint assemblies 520, a side swing drive assembly 610, a plurality of bending drive assemblies 620, a plurality of second tendon cords 530 and a plurality of second tendon cord drive assemblies 630.

[0069] The dexterous hand 10 is applied to the robot 1. For example, the robot 1 includes the dexterous hand 10 and a main body 20, and the dexterous hand 10 is provided on the main body 20. The main body 20 can be a body structure of a humanoid robot or an arm structure of an industrial robot, which is not specifically limited in this application.

[0070] The palm substrate 100 may be connected to the main body 20. The palm substrate 100 may be a plate-like structure similar to a palm.

[0071] The metacarpal driving assembly 210 is arranged on the palm base plate 100. Exemplarily, the metacarpal driving assembly 210 can be an electric motor, i.e. directly driving the metacarpophalangeal driving assembly 220 to rotate around the first axis L1 by using the electric motor. Exemplarily, the metacarpal driving assembly 210 can also be a combination of an electric motor and a belt transmission, or a combination of an electric motor and a gear transmission, or a combination of an electric motor and a linkage transmission. Exemplarily, the metacarpal driving assembly 210 is arranged on the palm base plate 100, which can be directly fixedly connected to the palm base plate 100, or connected to the palm base plate 100 through a fixing seat, a support or the like.

[0072] The metacarpophalangeal driving assembly 220 is rotatably connected to the palm base plate 100 around the first axis L1, and connected to the metacarpal driving assembly 210, and rotates around the first axis L1 under the driving of the metacarpal driving assembly 210 to realize the opposition movement of the dexterous hand 10. The first axis L1 is parallel to the palm base plate 100. The extension direction of the first axis L1 is the direction in which the palm base plate 100 points to the first knuckle 510 or the direction in which the first knuckle 510 points to the palm base plate 100. Exemplarily, as shown in the figure, the extension direction of the first axis L1 can be the first direction X. Figure 4

[0073] Exemplarily, the palm base plate 100 can have a first surface close to the palm and a second surface close to the back of the hand, and the opposition movement of the dexterous hand 10 can be that the metacarpophalangeal driving assembly 220 rotates around the first axis L1 to the direction close to or away from the first surface under the driving of the metacarpal driving assembly 210.

[0074] The first thumb knuckle 310 is rotatably connected to the metacarpophalangeal driving assembly 220 around the second axis L2, and rotates around the second axis L2 under the driving of the metacarpophalangeal driving assembly 220 to realize the first bending movement of the first thumb knuckle 310. The second axis L2 is perpendicular to the first axis L1. The second thumb knuckle 320 is rotatably connected to the first thumb knuckle 310 around the third axis L3, and the third axis L3 is parallel to the second axis L2.

[0075] Exemplarily, the first thumb knuckle 310 can include a first shaft hole, and the second thumb knuckle 320 can include a first shaft portion 321. The first shaft portion 321 penetrates into the first shaft hole to realize the rotatable connection of the second thumb knuckle 320 and the first thumb knuckle 310 around the third axis L3. Exemplarily, the dexterous hand 10 further includes a first torsional spring 322. The first torsional spring 322 is sleeved on the first shaft portion 321, the first end of the first torsional spring 322 is connected to the first thumb knuckle 310, and the second end of the first torsional spring 322 is connected to the second thumb knuckle 320. By arranging the first torsional spring 322, the automatic reset of the first thumb knuckle 310 and the second thumb knuckle 320 after bending can be realized, and the structure is simple and compact.

[0076] ​The first end 331 of the first tendon is connected with the second thumb knuckle 320. Exemplarily, the first tendon 330 can be a long strip structure with flexibility, such as a rope structure, a wire structure, a silk structure, etc. Exemplarily, the second thumb knuckle 320 can have a tendon groove, and the first end 331 of the first tendon can be inserted into the tendon groove and connected with the second thumb knuckle 320 by knotting, which is simple and reliable.

[0077] The first tendon driving assembly 230 is arranged on the palm base plate 100, is connected with the second end 332 of the first tendon, and is configured to drive the first tendon 330 to move, so that the first tendon 330 pulls the second thumb knuckle 320 to rotate around the third axis L3, and realizes the second bending movement of the second thumb knuckle 320. Exemplarily, the first tendon driving assembly 230 arranged on the palm base plate 100 can be directly fixedly connected with the palm base plate 100, or can be connected with the palm base plate 100 through a fixing seat, a support or the like.

[0078] The plurality of side swing assemblies 400 are respectively rotatably connected with the palm base plate 100 around respective fourth axes L4, and the fourth axes L4 are perpendicular to the palm base plate 100. Exemplarily, one side swing assembly 400 is rotatably connected with the palm base plate 100 around the fourth axis L4, forming one side swing joint 13. The fourth axis L4 is the side swing axis. The side swing assembly 400 can be a U-shaped structure, an L-shaped structure or a rectangular structure, which is not limited in the present application. Exemplarily, the side swing assembly 400 can be integrally formed or assembled by a plurality of parts.

[0079] The plurality of first knuckles 510 are respectively rotatably connected with the plurality of side swing assemblies 400 around respective fifth axes L5, and the fifth axes L5 are perpendicular to the fourth axes L4. Exemplarily, the first end 511 of the first knuckle is rotatably connected with the side swing assembly 400 around the corresponding fifth axis L5. Exemplarily, one first knuckle 510 is rotatably connected with one side swing assembly 400 around the first axis L5, forming one bending joint. The fifth axis L5 is the bending axis of the first knuckle 510.

[0080] The plurality of knuckle assemblies 520 are respectively rotatably connected with the plurality of first knuckles 510 around respective sixth axes L6, and the sixth axes L6 are parallel to the fifth axes L5. Exemplarily, the knuckle assembly 520 can include a plurality of knuckles connected with each other.

[0081] The side swing driving assembly 610 is arranged on the palm substrate 100 and connected with the at least two side swing assemblies 400, and is configured to drive the at least two side swing assemblies 400 to rotate around the respective fourth axis L4. For example, the side swing driving assembly 610 can include a motor and a belt wheel transmission assembly, i.e., the motor drives the belt wheel transmission assembly to move, and the belt wheel transmission assembly drives the at least two side swing assemblies 100 to rotate. For example, the side swing driving assembly 610 can include a motor and a connecting rod transmission assembly, i.e., the motor drives the connecting rod transmission assembly to move, and the connecting rod transmission assembly drives the at least two side swing assemblies 100 to rotate.

[0082] The plurality of bending driving assemblies 620 are arranged on the palm substrate 100 and respectively connected with the plurality of first knuckles 510, and are configured to respectively drive the plurality of first knuckles 510 to rotate around the respective fifth axis L5. For example, the bending driving assembly 620 can be a motor, i.e., directly using the motor to drive the first knuckle 510 to rotate. For example, the bending driving assembly 620 can include a motor and a belt wheel transmission assembly, i.e., the motor drives the belt wheel transmission assembly to move, and the belt wheel transmission assembly drives the first knuckle 510 to rotate. For example, the bending driving assembly 620 can include a motor and a connecting rod transmission assembly, i.e., the motor drives the connecting rod transmission assembly to move, and the connecting rod transmission assembly drives the first knuckle 510 to rotate.

[0083] The first end of each of the plurality of second tendons 530 is connected with the plurality of knuckle assemblies 520, respectively. For example, the first end 531 of a second tendon is connected with a knuckle assembly 520. A second tendon driving assembly 630 is connected with the second end 532 of the second tendon, and is configured to pull the second tendon 530 to make the second tendon 530 pull the knuckle assembly 520 to rotate around the sixth axis L6. For example, the second tendon 530 can be a rope-like structure, a wire-like structure, a silk-like structure, etc. having a flexible long strip structure. For example, the knuckle assembly 520 can have a tendon slot, and the first end 531 of the second tendon can pass into the tendon slot and be connected with the knuckle assembly 520 by knotting, which is simple and reliable.

[0084] The plurality of second tendon driving assemblies 630 are arranged on the palm base plate 100, are connected with the second ends of the plurality of second tendons 530 respectively, are configured to drive the plurality of second tendons 530 to move respectively, and make the plurality of second tendons 530 pull the plurality of knuckle assemblies 520 to rotate around the sixth axis L6 respectively. Exemplarily, one second tendon driving assembly 630 drives one second tendon 530 to move. Exemplarily, the second tendon driving assembly 630 can include a driving source, a worm, a worm shaft and a worm wheel. The driving source is arranged on the palm base plate 100. The worm shaft is rotatably connected with the palm base plate 100, the worm wheel is sleeved on the worm shaft and is keyed connected with the worm shaft. The driving source drives the worm to rotate, the worm is engaged with the worm wheel, thereby driving the worm wheel to rotate, and the worm wheel drives the worm shaft to rotate. The second tendon 530 can be connected with the worm shaft, thereby driving the second tendon 530 to move by the rotation of the worm shaft. Since the worm and the worm wheel have self-locking function, the self-locking function of the second tendon driving assembly 630 can be realized, thereby realizing the self-locking of the gripping of the dexterous hand. The driving source can be a device that can provide rotating force, such as a motor, an electric cylinder, etc., which is not limited in the present application.

[0085] The metacarpal driving assembly 210 drives the metacarpophalangeal driving assembly 220 to rotate around the first axis L1, thereby realizing the metacarpal movement of the first thumb knuckle 310. The metacarpophalangeal driving assembly 220 drives the first thumb knuckle 310 to rotate around the second axis L2, thereby realizing the first bending movement of the first thumb knuckle 310. The first tendon driving assembly 230 drives the first tendon 330 to move, thereby making the first tendon 330 pull the second thumb knuckle 320 to rotate around the third axis L3, thereby realizing the second bending movement of the second thumb knuckle 320. The side swing driving assembly 610 drives the at least two side swing assemblies 400 to rotate around the fourth axis L4 respectively, thereby realizing the side swing linkage of the at least two first knuckles 510. The plurality of bending driving assemblies 620 drive the plurality of first knuckles 510 to rotate around the fifth axis L5 respectively, thereby realizing the third bending movement of the plurality of first knuckles 510. The plurality of second tendon driving assemblies 630 drive the plurality of second tendons 530 to move respectively, thereby making the plurality of second tendons 530 pull the plurality of knuckle assemblies 520 to rotate around the sixth axis L6 respectively, thereby realizing the fourth bending movement of the plurality of knuckle assemblies 520.

[0086] In other words, the dexterous hand thumb formed by the first thumb phalange 310 and the second thumb phalange 320 of the dexterous hand 10 has one pronation degree of freedom and two flexion degrees of freedom, i.e., three active degrees of freedom. One first phalange 510 and one phalange assembly 520 can form a dexterous hand index finger, a dexterous hand middle finger, a dexterous hand ring finger, or a dexterous hand little finger. The dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger, or the dexterous hand little finger can have one abduction degree of freedom and at least two flexion degrees of freedom, i.e., the dexterous hand index finger, the dexterous hand middle finger, the dexterous hand ring finger, and the dexterous hand little finger have at least eight active flexion degrees of freedom and one active abduction degree of freedom in total. Therefore, in the case that the dexterous hand 10 has five fingers consistent with a human hand, the dexterous hand 10 can have at least twelve active degrees of freedom, and belongs to a dexterous hand with medium-high degrees of freedom, and has high dexterity.

[0087] The palm substrate 100 has a palm-facing accommodation space 110, an intermediate accommodation space 120, and a back-of-hand accommodation space 130 arranged in sequence. Exemplarily, the palm-facing accommodation space 110, the intermediate accommodation space 120, and the back-of-hand accommodation space 130 are arranged in sequence along the third direction Z. The metacarpal driving assembly 210, the metacarpophalangeal driving assembly 220, and the first tendon driving assembly 230 are arranged in a single layer in the palm-facing accommodation space 110; the plurality of flexion driving assemblies 620 are arranged in a single layer in the intermediate accommodation space 120; and the plurality of second tendon driving assemblies 630 and the abduction driving assembly 610 are arranged in a single layer in the back-of-hand accommodation space 130, i.e., all the driving assemblies above are arranged in three layers on the palm substrate 100, which reasonably utilizes the space of the palm substrate 100, reduces the size of the dexterous hand 10, makes the size of the dexterous hand 10 closer to that of a human hand, and improves the anthropomorphism of the dexterous hand 10. Therefore, the dexterous hand 10 of the present application takes into account both dexterity and anthropomorphism.

[0088] Exemplarily, the palm-facing accommodation space 110, the intermediate accommodation space 120, and the back-of-hand accommodation space 130 can have no space overlap or can have partial space overlap.

[0089] In some embodiments, the dexterous hand 10 can further include a shell 101 sleeved outside the palm substrate 100. Exemplarily, the shell 101 surrounds the palm-facing accommodation space 110, the intermediate accommodation space 120, and the back-of-hand accommodation space 130.

[0090] In some embodiments, the metacarpal drive assembly 210, the metacarpophalangeal drive assembly 220, and the first tendon drive assembly 230 all extend along the first direction X and are arranged in sequence along the second direction Y, which is perpendicular to the first direction X. The plurality of flex drive assemblies 620 all extend along the first direction X and are arranged in sequence along the second direction Y. The plurality of second tendon drive assemblies 630 all extend along the first direction X and are arranged in sequence along the second direction Y. The side swing drive assembly 610 can extend along the second direction Y and is arranged adjacent to an end of the second tendon drive assembly 630 close to the first knuckle 510. The side swing drive assembly 610 can also extend along the first direction X and is arranged in parallel with the second tendon drive assembly 630.

[0091] In some embodiments, the plurality of flex drive assemblies 620 are arranged in sequence along the second direction Y with gaps 621 between adjacent flex drive assemblies 620. At least part of the structure of at least one of the metacarpal drive assembly 210, the metacarpophalangeal drive assembly 220, and the first tendon drive assembly 230 extends into the gaps 621.

[0092] In some embodiments, the dexterous hand 10 further comprises a tendon guide 710 and a plurality of sleeves 720. The tendon guide 710 is arranged on a side of the palm base plate 100 close to the second tendon drive assembly 630. The tendon guide 710 has a plurality of tendon holes 711. The plurality of sleeves 720 are respectively threaded into the plurality of tendon holes 711. The plurality of second tendons 530 are respectively threaded through the plurality of sleeves 720 and connected to the plurality of second tendon drive assemblies 630 by the plurality of knuckle assemblies 520. The material of the sleeves 720 comprises a flexible lubricating material to reduce friction on the second tendons 530 and improve the service life of the second tendons 530. Exemplarily, the material of the sleeves 720 can be non-metallic, such as plastic, Teflon, etc. The hardness and wall thickness of the sleeves 720 can be selected according to actual needs, as long as they can be threaded into the tendon holes 711 and the bent portions are arc-shaped.

[0093] In some embodiments, the dexterous hand 10 further comprises a vision module 730. The vision module 730 is arranged on a side of the tendon guide 710 away from the palm base plate 100 and is configured to acquire images or videos around the dexterous hand 10. The vision module 730 can be an RGBD vision sensor, a video camera, a still camera, etc.

[0094] In some embodiments, the dexterous hand 10 further comprises a wrist base 740 and a heat dissipation device 750. The wrist base 740 is connected to the palm base plate 100. The wrist base 740 has a central hole 741. The heat dissipation device 750 is arranged in the central hole 741 and blows air towards the palm base plate 100.

[0095] In some embodiments, the dexterous hand 10 further comprises a power board 760. The power board 760 is disposed in the central hole 741 and is configured to supply power to the heat dissipation device 750, the metacarpal driving assembly 210, the metacarpophalangeal driving assembly 220, the first tendon driving assembly 230, the side swing driving assembly 610, the bending driving assembly 620, and the second tendon driving assembly 630.

[0096] In some embodiments, the dexterous hand 10 further comprises a circuit board 780. The circuit board 780 is disposed on the side of the tendon guide 710 away from the palm base plate 100. The circuit board 780 can be electrically connected with the heat dissipation device 750, the metacarpal driving assembly 210, the metacarpophalangeal driving assembly 220, the first tendon driving assembly 230, the side swing driving assembly 610, the bending driving assembly 620, and the second tendon driving assembly 630 to control the heat dissipation device 750, the metacarpal driving assembly 210, the metacarpophalangeal driving assembly 220, the first tendon driving assembly 230, the side swing driving assembly 610, the bending driving assembly 620, and the second tendon driving assembly 630. The power board 760 can also supply power to the circuit board 780.

[0097] In some embodiments, the metacarpophalangeal driving assembly 220 comprises a metacarpophalangeal driving source 221, a first worm 222, a first worm wheel 223, and at least one first guide wheel 224.

[0098] The metacarpophalangeal driving source 221 is rotatably connected with the palm base plate 100 about a first axis L1 and is connected with the metacarpal driving assembly 210. The metacarpophalangeal driving source 221 can be a motor, an electric cylinder, or other devices that can provide rotary force, which are not limited in the present application.

[0099] The first worm 222 is connected with the metacarpophalangeal driving source 221 and rotates under the driving of the metacarpophalangeal driving source 221. The first worm 222 has a first shaft hole 2220 penetrating through the first worm 222 along the extension direction of the first worm 222.

[0100] Exemplarily, the metacarpophalangeal driving source 221 is disposed in parallel with the first worm 222, and the metacarpophalangeal driving assembly 220 further comprises a driving gear 225 and a driven gear 226. The metacarpophalangeal driving source 221 is connected with the driving gear 225 to drive the driving gear 225 to rotate. The driving gear 225 is engaged with the driven gear 226 to drive the driven gear 226 to rotate. The driven gear 226 is connected with the first worm 222 to drive the first worm 222 to rotate. Exemplarily, the driven gear 226 has a second shaft hole 2260.

[0101] The first worm gear 223 is rotatably connected with the metacarpophalangeal driving source 221 around the second axis L2, and the first worm gear 223 is engaged with the first worm 222. The first worm gear 223 rotates around the second axis L2 under the driving of the first worm 222. The first thumb knuckle 310 is fixedly connected with the first worm gear 223, so as to rotate around the second axis L2 under the driving of the first worm gear 223.

[0102] Since the worm gear transmission has self-locking property, the self-locking function of the metacarpophalangeal driving assembly 220 can be realized, so as to realize the self-locking of the grasping of the dexterous hand 10, and the dexterous hand 10 has larger passive load capacity.

[0103] The first guide wheel 224 is rotatably connected with the metacarpophalangeal driving source 221 around the seventh axis L7. The first guide wheel 224 is located at one end of the first worm 222 close to the first knuckle 510. The seventh axis L7 is parallel to the second axis L2. Exemplarily, the first guide wheel 224 can be a circular ring-shaped wheel structure, and the outer side of the first guide wheel 224 can have a first annular groove capable of accommodating at least part of the first tendon 330, so as to prevent the first tendon 330 from being loosened from the first guide wheel 224.

[0104] Exemplarily, the first tendon 330 passes through the first thumb knuckle 310, bypasses the side of the first guide wheel 224 away from the first worm 222, passes through the first shaft hole 2220, and is connected with the first tendon driving assembly 230 in sequence under the driving of the second thumb knuckle 320, so as to realize the motion decoupling of the first tendon 330 and the metacarpophalangeal driving assembly 220, and prevent the first tendon 330 from interfering with the metacarpophalangeal driving assembly 220 in the motion process.

[0105] Exemplarily, the first tendon 330 passes through the first thumb knuckle 310, bypasses the side of the first guide wheel 224 away from the first worm 222, passes through the first shaft hole 2220, passes through the second shaft hole 2260, and is connected with the first tendon driving assembly 230 in sequence under the driving of the second thumb knuckle 320, so as to realize the motion decoupling of the first tendon 330 and the metacarpophalangeal driving assembly 220, and prevent the first tendon 330 from interfering with the metacarpophalangeal driving assembly 220 in the motion process.

[0106] Exemplarily, the dexterous hand 10 can further include a guide wheel, a guide hole, a guide groove, a guide hole, and the like. After the first tendon 330 passes through the second shaft hole 2260, the first tendon 330 can be further guided by the guide wheel, the guide hole, the guide groove, the guide hole, and the like, so as to be connected with the first tendon driving assembly 230.

[0107] Further, by decoupling the movement of the first tendon 330 from the metacarpal driving assembly 210, the metacarpal driving assembly 210, the metacarpophalangeal driving assembly 220 and the first tendon driving assembly 230 can be all arranged on the palm base 100, which reduces the size of the dexterous hand 10 and makes the size of the dexterous hand 10 closer to that of a human hand.

[0108] In some embodiments, the dexterous hand 10 further comprises at least one second guide wheel 770. The second guide wheel 770 is rotatably connected with the first thumb phalanx 310 around an eighth axis L8. The eighth axis L8 is parallel to the second axis L2.

[0109] The first tendon 330 is wound around a side of the second guide wheel 770 close to the first worm gear 223, a side of the first guide wheel 224 away from the first worm 222, passes through the first axis hole 2220 and is connected with the first tendon driving assembly 230 in sequence.

[0110] Exemplarily, the second guide wheel 770 can be a circular ring-shaped wheel structure, and the outer side of the second guide wheel 770 can have a second annular groove which can accommodate at least part of the first tendon 330 to prevent the first tendon 330 from loosening from the second guide wheel 770. Exemplarily, as shown in FIG. 7, the second guide wheel 770 is arranged on the part of the first thumb phalanx 310 close to the first worm gear 223, so that the second guide wheel 770 and the first guide wheel 224 jointly support the first tendon 330 and further prevent the first tendon 330 from interfering with the first worm gear 223, thereby achieving the movement decoupling of the first tendon 330 from the metacarpophalangeal driving assembly 220. Figure 13

[0111] In some embodiments, the positional relationship among the first worm gear 223, the first guide wheel 224, the second guide wheel 770 and the first tendon 330 satisfies the following formula (1).

[0112] KM+MN+NP=2*R*sin(θ / 2) *cosβ+(5*π / 2-2*β-γ)*r (1)

[0113] ​wherein KM represents a contact length of the first tendon 330 with the second guide wheel 770, MN represents a length of the first tendon 330 between the first guide wheel 224 and the second guide wheel 770, NP represents a contact length of the first tendon 330 with the first guide wheel 224, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents a first center of a first circle of the first worm gear 223 on the palm base plate 100, O1 represents a second center of a first circle of the first guide wheel 224 on the palm base plate 100, O2 represents a third center of a second circle of the second guide wheel 770 on the palm base plate 100, M represents a first tangent point of the first tendon 330 close to the first guide wheel 224 with the second guide wheel 770, Q represents a first intersection point of an extension line of a line connecting the first center and the second center with an edge of the first guide wheel 224, S represents a second intersection point of a perpendicular line passing through the second center with an edge of the first guide wheel 224 away from the first worm gear 223, R represents a length of the first line connecting the first center and the second center, and r represents a radius of the first guide wheel 224. The length of the first line is equal to a length of a second line connecting the first center and the third center; and the radius of the first guide wheel 224 is equal to a radius of the second guide wheel 770.

[0114] As shown in FIG. 6, for example, KM can also represent a length of an arc of contact of the second guide wheel 770 with the first tendon 330. MN can also represent a length of a tangent line between the first guide wheel 224 and the second guide wheel 770. NP can also represent a length of an arc of contact of the first guide wheel 224 with the first tendon 330. ∠O1OO2 is an angle formed by a broken line connecting the second center, the first center and the third center. ∠O1O2M is an angle formed by a broken line connecting the second center, the third center and the first tangent point. ∠QO1S is an angle formed by a broken line connecting the first intersection point, the second center and the second intersection point. The perpendicular line passing through the second center is a vertical straight line passing through the second center in the case where the axis of the first guide wheel 240 is arranged horizontally. Figure 14

[0115] During movement of the dexterous hand 10, the angles of θ, β and γ can change. Through calculation according to the above formula (1), the length of the first line connecting the first center and the second center can be obtained, and then the distance of the first guide wheel 224 relative to the first worm gear 223 and the distance of the second guide wheel 770 relative to the first worm gear 223 can be set according to the length of the first line connecting the first center and the second center, so that the first tendon 330 can be ensured not to interfere with the first worm gear 223 at different angles of θ, β and γ.

[0116] In some embodiments, the first tendon driving assembly 230 includes a first tendon driving source 231, a second worm 232, a worm shaft 233 and a second worm gear 234.

[0117] ​The first tendon driving source 231 is arranged on the palm base plate 100. The second worm 232 is connected with the first tendon driving source 231 and rotates under the driving of the first tendon driving source 231. The extension direction of the second worm 232 is parallel to the extension direction of the first axis L1. The worm shaft 233 is rotatably connected with the first tendon driving source 231 around the ninth axis L9. The ninth axis L9 is perpendicular to the extension direction of the second worm 232.

[0118] The second worm 234 is coaxially connected with the worm shaft 233, so as to be rotatably connected with the first tendon driving source 231 around the ninth axis L9 through the worm shaft 233. The second worm 234 is engaged with the second worm 232, and rotates around the ninth axis L9 under the driving of the second worm 232. The second end 332 of the first tendon is connected with the worm shaft 233, so as to pull the first tendon 330 by the rotation of the worm shaft 233, thereby pulling the second thumb knuckle 320 to rotate around the third axis L3.

[0119] In addition, the tendon driving mode can arrange the first tendon driving assembly 230 on the palm base plate 100, thereby saving the space of the dexterous hand.

[0120] In addition, since the worm gear transmission has self-locking property, the self-locking function of the first tendon driving assembly 230 can be realized, thereby realizing the self-locking of the grasping of the dexterous hand 10 and having large passive load capacity.

[0121] In some embodiments, the knuckle assembly 520 includes a second knuckle 521 and a third knuckle 522.

[0122] The first end 5211 of the second knuckle is rotatably connected with the second end 512 of the first knuckle around the sixth axis L6. The first end 5211 of the third knuckle is rotatably connected with the second end 5212 of the second knuckle around the fifteenth axis L15. The fifteenth axis L15 is parallel to the sixth axis L6. The first end 531 of the second tendon is connected with the second end 5222 of the third knuckle. The second tendon driving assembly 630 can pull the second tendon 530 to rotate the second knuckle 521 around the sixth axis L6 and rotate the third knuckle 522 around the fifteenth axis L15.

[0123] The second tendon 530 can drive the second finger joint 521 to rotate around the sixth axis L6 and drive the third finger joint 522 to rotate around the fifteenth axis L15, so that the rotation of the second finger joint 521 and the third finger joint 522 has an adaptive capability and can automatically change the rotation angle of the second finger joint 521 and the third finger joint 522 according to the shape of the object gripped by the dexterous hand 10. In other words, the second end 512 of the first finger joint is connected with the first end 5211 of the second finger joint to form a proximal finger joint, and the second end 5212 of the second finger joint is connected with the first end 5221 of the third finger joint to form a distal finger joint. The proximal finger joint and the distal finger joint are driven by one tendon, which is a tendon adaptive coupling relationship, thereby improving the dexterity and gripping ability of the dexterous hand 10.

[0124] In some embodiments, the bending driving assembly 620 includes a linkage assembly 622 and a first driving assembly 623. The linkage assembly 622 includes at least four linkages 6220 which are sequentially rotatably connected. The first linkage 6221 is rotatably connected with the first finger joint 510 around the tenth axis L10. The rotation axes between the at least four linkages 6220 include at least the eleventh axis L11, the twelfth axis L12 and the thirteenth axis L13. The tenth axis L10 is parallel to the fifth axis L5. The eleventh axis L11 is perpendicular to the tenth axis L10. The twelfth axis L12 is perpendicular to the eleventh axis L11 and perpendicular to the tenth axis L10. The thirteenth axis L13 is parallel to the twelfth axis L12.

[0125] Exemplarily, the linkages 6220 can be straight rods, can be curved rods, or can be other irregular shapes, which are not limited in the present application. In actual applications, the linkages 6220 can be curved or avoid space to fully utilize the space and improve the compactness of the dexterous hand 10. The number of the linkages 6220 included in the linkage assembly 622 can be four, five, six or more, which are not limited in the present application.

[0126] The first driving assembly 623 includes a first fixed member 6231 and a first movable member 6232 which are connected with each other. The first fixed member 6231 is connected with the palm base plate 100, and the last linkage 6220 is rotatably connected with the first movable member 6232 around the fourteenth axis L14. The fourteenth axis L14 is perpendicular to the thirteenth axis L13 and perpendicular to the fourth axis L4. The first fixed member 6231 can drive the first movable member 6232 to move along the first direction X to drive the linkage assembly 622 to move, so that the linkage assembly 622 drives the first finger joint 510 to rotate around the fifth axis L5. The first direction X is perpendicular to the thirteenth axis L13 and perpendicular to the fourteenth axis L14.

[0127] Illustratively, the first fixed member 6231 may be a motor and a screw. The first movable member 6232 may be a screw nut. The motor drives the screw to rotate, which in turn drives the screw nut to move in the first direction X. Illustratively, the first fixed member 6231 may be a cylinder barrel structure of a pneumatic cylinder, and the first movable member 6232 may be a cylinder rod structure of the pneumatic cylinder. The cylinder barrel structure drives the cylinder rod structure to extend and retract in the first direction X, thereby achieving movement of the cylinder rod structure in the first direction X.

[0128] The connecting rod assembly 622 includes at least four connecting rods 6220 that are rotatably connected in sequence. The at least four connecting rods 6220 can rotate about axes in at least three directions, thereby achieving motion decoupling between the two degrees of freedom of bending and rolling. Specifically, the at least four connecting rods 6220 can rotate about the tenth axis L10, the eleventh axis L11, the twelfth axis L12, the thirteenth axis L13, and the fourteenth axis L14, respectively. The eleventh axis L11 is perpendicular to the tenth axis L10, the twelfth axis L12 is perpendicular to the eleventh axis L11 and perpendicular to the tenth axis L10, the thirteenth axis L13 is parallel to the twelfth axis L12, and the fourteenth axis L14 is perpendicular to the thirteenth axis L13 and perpendicular to the fourth axis L4. In other words, when the first phalanx 510 swings sideways around the fourth axis L4, the connecting rod assembly 622 can rotate along with the first phalanx 510 without affecting the bending of the first phalanx 510, that is, the bending and the swinging of the first phalanx 510 are independent of each other, thus realizing the motion decoupling of the bending and the swinging of the first phalanx 510.

[0129] For example, the angle between the crank rotation axis and the sliding direction of the slider of the conventional crank slider mechanism is 90 degrees, and the position and posture of the crank rotation axis remain unchanged. However, the posture of the crank rotation axis (i.e., the fifth axis L5) of the present application is variable. Figure 21 As shown, when the first finger joint 510 generates a side swing angle α, the angle between the crank rotation axis (i.e., the fifth axis L5) and the sliding direction of the slider (i.e., the movement direction of the first movable member 6232, i.e., the first direction X) becomes 90 degrees less than the side swing angle α. In other words, the connecting rod assembly 622 of the present application is a spatial connecting rod assembly. The side swing assembly 400, the first finger joint 510, the connecting rod assembly 622, and the first drive assembly 623 of the present application form a spatial crank slider mechanism.

[0130] The connecting rod assembly 622 is used for driving, which has high transmission efficiency, and the tendon rope is used for driving, which has small size. In other words, the dexterous hand 10 provided in the embodiment of the present application also takes into account both transmission efficiency and size of the dexterous hand 10.

[0131] In addition, the dexterous hand 10 provided by the embodiment of the present application can realize the motion decoupling between the bending and the side swing, improve the motion accuracy of the dexterous hand 10, reduce the size of the dexterous hand 10, reduce the weight of the dexterous hand 10, and facilitate the integration of the dexterous hand 10. In addition, the link assembly 622 has large rigidity and strength, so that the dexterous hand 10 has better strength and higher transmission efficiency when the link assembly 622 is used as the transmission.

[0132] In some embodiments, as shown in Figures 18 to 21 The link assembly 622 includes four links 6220, i.e., a first link 6221, a second link 6222, a third link 6223, and a fourth link 6224. The fourth link 6224 is the last link. The first link 6221 is rotatably connected to the second link 6222 about an eleventh axis L11, the second link 6222 is rotatably connected to the third link 6223 about a twelfth axis L12, and the third link 6223 is rotatably connected to the fourth link 6224 about a thirteenth axis L13.

[0133] Exemplarily, the first end of the first link 6221 is rotatably connected to the first knuckle 510 about a tenth axis L10.

[0134] The second end of the first link 6221 is rotatably connected to the first end of the second link 6222 about the eleventh axis L11.

[0135] The second end of the second link 6222 is rotatably connected to the first end of the third link 6223 about the twelfth axis L12.

[0136] The second end of the third link 6223 is rotatably connected to the first end of the fourth link 6224 about the thirteenth axis L13.

[0137] The second end of the fourth link 6224 is rotatably connected to the first movable piece 6232 about a fourteenth axis L14.

[0138] By including four links 6220 in the link assembly 622, the motion decoupling of the side swing and the bending of the dexterous hand 10 can be realized, and the redundant structure is avoided, so that the structure is simpler.

[0139] In some embodiments, the dexterous hand 10 has a first side 11 and a second side 12 opposite to each other. The dexterous hand 10 bends towards the first side 11. The dexterous hand 10 further includes one third guide wheel 810 and three fourth guide wheels 820, i.e., a first fourth guide wheel 821, a second fourth guide wheel 822, and a third fourth guide wheel 823, which are sequentially and adjacently arranged between the bending joint and the proximal knuckle.

[0140] The second tendon 530 is connected with the second tendon driving assembly 630, and is passed through the dexterous hand 10 from the second side 12, and sequentially passes around the side of the first joint outer circle of the bending joint 14 close to the first side 11, the side of the first fourth guide pulley 821 close to the first side 11, the side of the second fourth guide pulley 822 close to the second side 12, the side of the third fourth guide pulley 823 close to the second side 12, the side of the second joint outer circle of the proximal interphalangeal joint 15 close to the first side 11, the side of the third guide pulley 810 close to the second side 12, the side of the third joint outer circle of the distal interphalangeal joint 16 close to the first side 11, and is connected with the third phalanx 522.

[0141] Exemplarily, the side swing assembly 400 has a second shaft hole, and the first end 511 of the first phalanx has a third shaft hole. The dexterous hand 10 further comprises a movable shaft 830. The movable shaft 830 is passed through the second shaft hole and the third shaft hole, so as to form the bending joint 14. The first joint outer circle of the bending joint 14 can be the side of the movable shaft 830. Exemplarily, the second end 512 of the first phalanx is connected with the first end 5211 of the second phalanx through a first hole shaft to form the proximal interphalangeal joint 15. Exemplarily, the second joint outer circle of the proximal interphalangeal joint 15 can be the side of the shaft part of the first hole shaft connection. Exemplarily, the second end 5212 of the second phalanx is connected with the first end 5221 of the third phalanx through a second hole shaft to form the distal interphalangeal joint 16. Exemplarily, the third joint outer circle of the distal interphalangeal joint 16 can be the side of the shaft part of the second hole shaft connection.

[0142] The winding path of the second tendon 530 provided by the embodiment of the present application is simple and compact in structure, and the second tendon driving assembly 630 can be arranged at any position of the palm base plate 100, and occupies small space.

[0143] In some embodiments, the plurality of first phalanges 510 comprises a forefinger phalanx 513, a middle finger phalanx 514, a ring finger phalanx 515 and a little finger phalanx 516. Exemplarily, the plurality of first phalanges 510 comprises a forefinger phalanx 513, a ring finger phalanx 515 and a little finger phalanx 516.

[0144] The side swing driving assembly 610 comprises a second driving assembly 611, a fifth connecting rod 612 and a sixth connecting rod 613.

[0145] The second driving assembly 611 is arranged on the palm base plate 100 and connected with the forefinger phalanx 513, and is configured to drive the forefinger phalanx 513 to rotate, so as to realize the side swing of the forefinger phalanx 513.

[0146] The first end 6121 of the fifth connecting rod is rotatably connected with the forefinger phalanx 513, and the second end 6122 of the fifth connecting rod is rotatably connected with the ring finger phalanx 515.

[0147] The first end 6131 of the sixth connecting rod is rotatably connected with the little finger knuckle 516, and the second end 6132 of the sixth connecting rod is rotatably connected with the index finger knuckle 513 or the ring finger knuckle 515.

[0148] In some embodiments, the second driving assembly 611 includes a first side swing driving wheel 6111, a side swing driving rod 6112, and a driving source assembly 6113.

[0149] The first side swing driving wheel 6111 is connected with the index finger knuckle 513. The first end 61121 of the side swing driving rod is rotatably connected with the first side swing driving wheel 6111. The driving source assembly 6113 includes a second fixed part 61131 and a second movable part 61132 connected with each other. The second movable part 61132 moves linearly reciprocatingly under the driving of the second fixed part 61131. The second fixed part 61131 is connected with the palm base plate 100, and the second movable part 61132 is rotatably and slidably connected with the second end 61122 of the side swing driving rod.

[0150] Illustratively, the second fixed part 61131 can be a motor 61133 and a lead screw 61134. The second movable part 61132 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. Illustratively, the second fixed part 61131 can be a cylinder barrel structure of a pneumatic cylinder, and the second movable part 61132 can be a cylinder rod structure of the pneumatic cylinder. The cylinder barrel structure drives the cylinder rod structure to stretch and retract, i.e., to move the cylinder rod structure.

[0151] Illustratively, the second driving assembly 611 further includes a guide assembly 6116. The guide assembly 6116 is in abutment with a limiting part 61135 of the second movable part 61132 and is configured to limit the rotation of the second movable part 61132.

[0152] Illustratively, the limiting part 61135 can be a plane. The side of the guide assembly 6116 close to the second movable part 61132 can have a plane that is in abutment or abutment with the limiting part 61135, so as to prevent the second movable part 61132 from rotating with the lead screw 61134.

[0153] Illustratively, the second end 61122 of the side swing driving rod can have an elongated hole 61123 arranged along the extension direction of the side swing driving rod 6112. The second driving assembly 611 further includes a connecting shaft 6114 and a roller 6115. The connecting shaft 6114 is connected with the lead screw nut. The roller 6115 is rotatably connected with the connecting shaft 6114. The roller 6115 extends into the elongated hole 61123 and can slide in the elongated hole 61123 along the extension direction of the elongated hole 61123, so as to realize the rotatable and slidable connection between the lead screw nut and the second end 61122 of the side swing driving rod, and the structure is simple and the size of the dexterous hand 10 is further reduced.

[0154] Exemplarily, since the roller 6115 is rotatably connected with the connecting shaft 6114, when the roller 6115 slides in the long hole 61123, the roller 6115 can roll along the side wall of the long hole 61123, thereby reducing the friction between the roller 6115 and the long hole 61123.

[0155] The long hole 61123 can be a through hole or a blind hole, as long as the roller 6115 can extend into the long hole 61123 and slide in the long hole 61123 along the extension direction of the long hole 61123.

[0156] The fifth connecting rod 612 and the sixth connecting rod 613 can be straight rods, curved rods, or other irregular shapes, which are not limited in the application. In actual application, the fifth connecting rod 612 can be curved or avoid space to make full use of space and improve the compactness of the dexterous hand 10. Exemplarily, since there can be a middle finger knuckle 514 between the index finger knuckle 513 and the ring finger knuckle 515, the fifth connecting rod 612 connecting the index finger knuckle 513 and the ring finger knuckle 515 can be a curved rod to avoid the middle finger knuckle 514, thereby avoiding interference between the fifth connecting rod 612 and the middle finger knuckle 514.

[0157] Exemplarily, the lengths of the fifth connecting rod 612 and the sixth connecting rod 613 can be adjusted according to actual needs. By adjusting the lengths of the fifth connecting rod 612 and the sixth connecting rod 613, the rotational coupling ratio relationship of the side swing angles of the index finger knuckle 513, the ring finger knuckle 515, and the little finger knuckle 516 can be adjusted. The rotational coupling ratio relationship is the ratio of the angles of simultaneous swinging of different knuckles. For example, if the index finger knuckle 513 swings 20 degrees, the index finger knuckle 513 drives the ring finger knuckle 515 to swing 10 degrees through the fifth connecting rod 612, and the ring finger knuckle 515 drives the little finger knuckle 516 to swing 20 degrees through the sixth connecting rod 613, then the rotational coupling ratio relationship of the side swing angle of the index finger knuckle 513 and the side swing angle of the ring finger knuckle 515 is 2, and the rotational coupling ratio relationship of the side swing angle of the index finger knuckle 513 and the side swing angle of the little finger knuckle 516 is 1.

[0158] The side swing of multiple knuckles is realized by one side swing driving assembly 610, which reduces the complexity of realizing the side swing degree of freedom, reduces the size of the dexterous hand 10, and makes the size and weight of the dexterous hand 10 closer to human hands. In other words, the side swing driving assembly 610 not only realizes the side swing of multiple knuckles, but also reduces the size of the dexterous hand 10, thereby ensuring the compactness of the dexterous hand 10.

[0159] In some embodiments, the first end 6121 of the fifth link is rotatably connected to the index knuckle 513 about a sixteenth axis L16, and the second end 6122 of the fifth link is rotatably connected to the ring knuckle 515 about a seventeenth axis L17. The first end 6131 of the sixth link is rotatably connected to the little knuckle 516 about an eighteenth axis L18, and the second end 6132 of the sixth link is rotatably connected to the ring knuckle 515 about a nineteenth axis L19. The fourth axis L4, the sixteenth axis L16, the seventeenth axis L17, the eighteenth axis L18, and the nineteenth axis L19 are parallel. In a plane perpendicular to the fourth axis L4, the normal projections of the rotation axes of the index knuckle corresponding side swing assembly 400 and the palm base 100, the rotation axes of the ring knuckle corresponding side swing assembly 400 and the palm base 100, the rotation axes of the little knuckle corresponding side swing assembly 400 and the palm base 100, the sixteenth axis L16, the seventeenth axis L17, the eighteenth axis L18, and the nineteenth axis L19 on the A point, the B point, the C point, the D point, the E point, the F point, and the G point, respectively, where the first line between the A point and the B point intersects the second line between the D point and the E point, and the third line between the B point and the C point does not intersect the fourth line between the F point and the G point.

[0160] By making the first line between the A point and the B point intersect the second line between the D point and the E point, the index knuckle 513 and the ring knuckle 515 can swing in opposite directions. For example, when the index knuckle 513 swings counterclockwise, the fifth link 612 can drive the ring knuckle 515 to swing clockwise. By making the third line between the B point and the C point not intersect the fourth line between the F point and the G point, the ring knuckle 515 and the little knuckle 516 can swing in the same direction. For example, when the ring knuckle 515 swings clockwise, the sixth link 613 can drive the little knuckle 516 to swing clockwise.

[0161] Since the human hand generally swings in a manner that the index knuckle and the ring knuckle swing in opposite directions, and the ring knuckle and the little knuckle swing in the same direction, making the index knuckle 513 and the ring knuckle 515 swing in opposite directions, and the ring knuckle 515 and the little knuckle 516 swing in the same direction, can further improve the anthropomorphism of the dexterous hand 10.

[0162] Exemplarily, an absolute joint position sensor can be arranged at the relative rotation positions between the components in the embodiments of the present application, so as to detect the rotation angles between the components in relative rotation.

[0163] Exemplarily, the relative rotation position between each component in the embodiments of the present application can also be provided with a limiting structure. Specifically, the limiting structure can include an arc-shaped limiting slot and a limiting pin. For the first component and the second component relative to each other, the arc-shaped limiting slot can be arranged on the first component, and the limiting pin can be arranged on the second component. The center of the arc-shaped limiting slot is on the rotation axis of the first component and the second component. The limiting pin extends into the arc-shaped limiting slot and slides along the arc-shaped limiting slot, and the rotation angle of the first component and the second component is limited by the two ends of the arc-shaped limiting slot.

[0164] Exemplarily, the soft pads in all the finger joints in the embodiments of the present application can be provided with tactile sensors to improve the tactile ability of the dexterous hand 10. The soft pads at the fingertips of the finger joints at the end of the dexterous hand 10 can also be provided with tactile sensors to improve the tactile ability of the dexterous hand 10.

[0165] The embodiments of the present application also provide a robot 1. As shown in the accompanying drawings, Figure 34 The robot 1 includes a main body 20 and the dexterous hand 10 mentioned in the above embodiments. The dexterous hand 10 is connected with the main body 20.

[0166] Since the robot 1 includes the dexterous hand 10 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the dexterous hand 10, which will not be described here.

[0167] The relative rotation between each component in the embodiments of the present application can be realized by hinging or by other structures, as long as it can realize rotation around the corresponding axis, and the present application does not limit the specific rotation mode. Exemplarily, the two components relative to each other can be provided with shaft holes, and then an activity shaft is inserted into the shaft holes of the two components to realize the relative rotation of the two components. Exemplarily, a bearing can be arranged between the activity shaft and the two components to improve the flexibility of rotation. Exemplarily, the axis mentioned in the present application is a virtual axis, which is shown by a dashed line in the accompanying drawings.

[0168] In the embodiments of the present application, if the form of connection is not limited, the form of connection can be bolt and 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, welding, bonding and other methods can be used for non-detachable connection.

[0169] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0170] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0171] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0172] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0173] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A dexterous hand, characterized in that: include: palm baseplate; A metacarpal drive assembly, disposed on the palm substrate; a palmar-finger driving assembly, rotatably connected to the palm baseplate about a first axis and connected to the metacarpal driving assembly, and driven by the metacarpal driving assembly to rotate about the first axis, wherein the first axis is parallel to the palm baseplate; A first thumb joint is rotatably connected to the palm-finger driving assembly around a second axis and rotates around the second axis under the drive of the palm-finger driving assembly, wherein the second axis is perpendicular to the first axis; a second thumb knuckle, rotatably connected to the first thumb knuckle about a third axis, wherein the third axis is parallel to the second axis; a first tendon cord, wherein a first end of the first tendon cord is connected to the second thumb knuckle; a first tendon cord driving assembly, disposed on the palm base plate and connected to the second end of the first tendon cord, configured to drive the first tendon cord to move so that the first tendon cord pulls the second thumb knuckle to rotate around the third axis; a plurality of side swing assemblies, each rotatably connected to the palm base plate around a respective fourth axis, wherein the fourth axis is perpendicular to the palm base plate; a plurality of first finger joints, each rotatably connected to the plurality of side swing assemblies about a respective fifth axis, wherein the fifth axis is perpendicular to the fourth axis; a plurality of finger joint assemblies, each rotatably connected to the plurality of first finger joints about a respective sixth axis, wherein the sixth axis is parallel to the fifth axis; a side-swing drive assembly, disposed on the palm base plate, connected to at least two of the side-swing assemblies, and configured to drive at least two of the side-swing assemblies to rotate around their respective fourth axes; a plurality of bending drive components, disposed on the palm substrate, respectively connected to the plurality of first finger joints, and configured to respectively drive the plurality of first finger joints to rotate around the respective fifth axes; a plurality of second tendon cords, wherein the first ends of the plurality of second tendon cords are respectively connected to the plurality of finger joint assemblies; a plurality of second tendon cord driving assemblies, disposed on the palm base plate and respectively connected to the second ends of the plurality of second tendon cords, and configured to respectively drive the plurality of second tendon cords to move, so that the plurality of second tendon cords respectively pull the plurality of finger joint assemblies to rotate around the respective sixth axes; In which, the palm substrate has a palm accommodating space, a middle accommodating space and a back of hand accommodating space which are stacked in sequence; wherein the metacarpal drive component, the palm-finger drive component and the first tendon drive component are arranged in a single layer in the palm accommodating space; multiple bending drive components are arranged in a single layer in the middle accommodating space; multiple second tendon drive components and the side swing drive components are arranged in a single layer in the back of hand accommodating space.

2. The dexterous hand according to claim 1, characterized in that: The metacarpal drive assembly, the metacarpophalangeal drive assembly and the first tendon drive assembly all extend along a first direction and are sequentially arranged along a second direction, wherein the second direction is perpendicular to the first direction; The plurality of bending drive components extend along the first direction and are arranged in sequence along the second direction; The plurality of second tendon driving assemblies all extend along the first direction and are arranged in sequence along the second direction; The side-swing drive assembly extends along the second direction and is arranged adjacent to the end of the second tendon drive assembly close to the first finger joint, or the side-swing drive assembly extends along the first direction and is arranged parallel to the second tendon drive assembly.

3. The dexterous hand according to claim 2, characterized in that: The plurality of bending drive assemblies are sequentially spaced apart along the second direction, with gaps between adjacent bending drive assemblies; Wherein, at least a portion of the structure of at least one of the metacarpal drive assembly, the metacarpophalangeal drive assembly and the first tendon drive assembly extends into the gap.

4. The dexterous hand according to any one of claims 1 to 3, characterized in that: Also includes: a tendon guide, disposed on a side of the palm base plate close to the second tendon drive assembly, wherein the tendon guide has a plurality of tendon holes; Multiple sleeves are respectively provided in the multiple tendon rope holes, wherein multiple second tendons are respectively passed through the multiple sleeves by multiple finger joint components and connected with multiple second tendon rope driving components, wherein the material of the sleeve includes flexible lubricating material.

5. The dexterous hand according to claim 4, characterized in that: Also includes: The visual module is arranged on a side of the tendon guide away from the palm base plate and is configured to obtain images around the dexterous hand.

6. The dexterous hand according to any one of claims 1 to 3, characterized in that: Also includes: a wrist base connected to the palm base, wherein the wrist base has a central hole; The heat dissipation device is arranged in the central hole and blows air toward the palm substrate.

7. The dexterous hand according to claim 6, characterized in that: Also includes: A power supply board is arranged in the center hole and is configured to supply power to the heat dissipation device, the metacarpal drive assembly, the palm-finger drive assembly, the first tendon drive assembly, the lateral swing drive assembly, the bending drive assembly and the second tendon drive assembly.

8. The dexterous hand according to any one of claims 1 to 3, characterized in that: The palm-finger drive assembly includes: a palmar-finger driving source, rotatably connected to the palm base plate around the first axis and connected to the metacarpal driving assembly; a first worm connected to the palm-finger driving source and driven to rotate by the palm-finger driving source, wherein the first worm has a first axial center hole extending through the first worm along an extension direction of the first worm; a first worm gear rotatably connected to the palm-digit drive source about the second axis, the first worm gear meshing with the first worm and driven by the first worm to rotate about the second axis, wherein the first thumb joint is fixedly connected to the first worm gear so as to rotate about the second axis under the drive of the first worm gear; at least one first guide wheel rotatably connected to the palmar-digital drive source about a seventh axis, the first guide wheel being located at an end of the first worm gear adjacent to the first finger joint, the seventh axis being parallel to the second axis; The first tendon rope passes through the first thumb knuckle in sequence from the second thumb knuckle, around the side of the first guide wheel away from the first worm gear, through the first axial hole, and is connected to the first tendon rope drive assembly.

9. The dexterous hand according to claim 8, characterized in that: Also includes: at least one second guide wheel rotatably connected to the first thumb joint about an eighth axis, the eighth axis being parallel to the second axis; Among them, the first tendon rope is passed by the second thumb knuckle in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm gear, through the first axial hole, and connected to the first tendon rope drive assembly.

10. The dexterous hand according to claim 9, characterized in that: The positional relationship between the first worm gear, the first guide wheel, the second guide wheel, and the first tendon rope satisfies the following formula: KM+MN+NP=2*R*sin(θ / 2)*cosβ+(5*π / 2-2*β-γ)*r, Wherein, KM represents the contact length between the first tendon and the second guide wheel, MN represents the length of the first tendon between the first guide wheel and the second guide wheel, NP represents the contact length between the first tendon and the first guide wheel, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents the first center of the orthographic projection of the first worm wheel on the palm base plate, O1 represents the second center of the orthographic projection of the first guide wheel on the palm base plate, O2 represents the third center of the orthographic projection of the second guide wheel on the palm base plate, M represents the first tangent point of the first tendon and the second guide wheel close to the first guide wheel, Q represents the first intersection point of the extended line of the line connecting the first center and the second center and the edge of the first guide wheel, S represents the second intersection point of the perpendicular line passing through the second center and the edge of the first guide wheel away from the first worm wheel, R represents the length of the first line connecting the first center and the second center, and r represents the radius of the first guide wheel; The length of the first connecting line is equal to the length of the second connecting line between the first center of the circle and the third center of the circle; the radius of the first guide wheel is equal to the radius of the second guide wheel.

11. The dexterous hand according to any one of claims 1 to 3, characterized in that: The first tendon drive assembly comprises: A first tendon driving source is provided on the palm base plate; a second worm gear connected to the first tendon driving source and rotating under the drive of the first tendon driving source, wherein the extension direction of the second worm gear is parallel to the extension direction of the first axis; a worm gear shaft rotatably connected to the first tendon drive source about a ninth axis, wherein the ninth axis is perpendicular to an extending direction of the second worm; a second worm gear coaxially connected to the worm gear shaft to be rotatably connected to the first tendon drive source around the ninth axis via the worm gear shaft, the second worm gear meshing with the second worm, and driven by the second worm to rotate around the ninth axis; Wherein, the second end of the first tendon rope is connected to the worm gear shaft so as to pull the first tendon rope by utilizing the rotation of the worm gear shaft.

12. The dexterous hand according to any one of claims 1 to 3, characterized in that: The bending drive assembly comprises: A connecting rod assembly, comprising at least four connecting rods rotatably connected in sequence, wherein the first connecting rod is rotatably connected to the first finger joint about a tenth axis, and the rotation axes between the at least four connecting rods include at least an eleventh axis, a twelfth axis, and a thirteenth axis, wherein the tenth axis is parallel to the fifth axis, the eleventh axis is perpendicular to the tenth axis, the twelfth axis is perpendicular to the eleventh axis and perpendicular to the tenth axis, and the thirteenth axis is parallel to the twelfth axis; The first drive assembly includes a first fixed part and a first movable part connected to each other, the first fixed part is connected to the palm base plate, and the last connecting rod is rotatably connected to the first movable part around the fourteenth axis, and the fourteenth axis is perpendicular to the thirteenth axis and the fourth axis, wherein the first fixed part can drive the first movable part to move along the first direction, so as to utilize the first movable part to drive the connecting rod assembly to move, so that the connecting rod assembly drives the first knuckle to rotate around the fifth axis, and the first direction is perpendicular to the thirteenth axis and the fourteenth axis.

13. The dexterous hand according to claim 12, characterized in that: The knuckle assembly comprises: a second finger joint, wherein the first end of the second finger joint is rotatably connected to the second end of the first finger joint about the sixth axis; a third finger joint, wherein the first end of the third finger joint is rotatably connected to the second end of the second finger joint about a fifteenth axis, and the fifteenth axis is parallel to the sixth axis; In which, the first end of the second tendon rope is connected to the second end of the third finger joint, and the second tendon rope driving assembly is capable of pulling the second tendon rope so that the second tendon rope pulls the second finger joint to rotate around the sixth axis and pulls the third finger joint to rotate around the fifteenth axis.

14. The dexterous hand according to any one of claims 1 to 3, characterized in that: The plurality of first knuckles include an index finger knuckle, a ring finger knuckle and a pinky finger knuckle; Wherein, the side swing drive assembly includes: a second driving assembly, disposed on the palm base plate, connected to the index finger knuckle, and configured to drive the index finger knuckle to rotate so as to achieve lateral swing of the index finger knuckle; a fifth connecting rod, wherein a first end of the fifth connecting rod is rotatably connected to the knuckle of the index finger, and a second end of the fifth connecting rod is rotatably connected to the knuckle of the ring finger; A sixth connecting rod, wherein a first end of the sixth connecting rod is rotatably connected to the little finger knuckle, and a second end of the sixth connecting rod is rotatably connected to the index finger knuckle or the ring finger knuckle.

15. The dexterous hand according to claim 14, characterized in that: The second drive assembly includes: a first side-swing driving wheel connected to the knuckle of the index finger; a side-swing driving rod, wherein a first end of the side-swing driving rod is rotatably connected to the first side-swing driving wheel; The driving source assembly includes a second fixed member and a second movable member connected to each other. The second movable member performs linear reciprocating motion under the drive of the second fixed member. The second fixed member is connected to the palm base plate. The second movable member is rotatably and slidably connected to the second end of the side swing driving rod.

16. The dexterous hand according to claim 14, characterized in that: The first end of the fifth connecting rod is rotatably connected to the knuckle of the index finger around a sixteenth axis, and the second end of the fifth connecting rod is rotatably connected to the knuckle of the ring finger around a seventeenth axis; The first end of the sixth connecting rod is rotatably connected to the little finger joint around the eighteenth axis, and the second end of the sixth connecting rod is rotatably connected to the ring finger joint around the nineteenth axis; wherein the fourth axis, the sixteenth axis, the seventeenth axis, the eighteenth axis and the nineteenth axis are all parallel; Among them, on the plane perpendicular to the fourth axis, the rotation axis of the side swing assembly and the palm substrate corresponding to the index finger knuckle, the rotation axis of the side swing assembly and the palm substrate corresponding to the ring finger knuckle, the rotation axis of the side swing assembly and the palm substrate corresponding to the little finger knuckle, the sixteenth axis, the seventeenth axis, the eighteenth axis and the nineteenth axis are point A, point B, point C, point D, point E, point F and point G respectively, wherein the first line between point A and point B intersects with the second line between point D and point E, and the third line between point B and point C does not intersect with the fourth line between point F and point G.

17. A robot, characterized in that: include: main body; At least one dexterous hand according to any one of claims 1 to 16, connected to the main body.

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