A direct-drive dexterous hand

Abstract

The present invention relates to the field of manipulator technology, and in particular to a direct-drive dexterous hand, comprising a palm seat, on which at least one 1-DOF finger mechanism and / or at least one 3-DOF finger mechanism are arranged. Aiming at the technical problem of defects in existing manipulators, the present invention improves the finger structure by designing a 1-DOF finger mechanism and a 3-DOF finger mechanism, thereby making the direct-drive dexterous hand have higher dexterity and better load performance.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a direct-drive dexterous hand. Background Art

[0002] Some traditional robot end effectors (i.e. manipulators) have a single grasping method and lack flexibility due to the design limitations of their palm and finger structures. For example, for an anthropomorphic manipulator, its flexibility is mainly restricted by the finger structure, that is, the grasping method or movement method of the manipulator is inevitably restricted by the layout of the finger structure.

[0003] At present, the finger structure or arrangement of most robots can generally only meet the load performance requirements alone, and cannot guarantee that the robot has the ability of fine operation, let alone guarantee that the robot has both high load capacity and fine operation capabilities. Therefore, there is still room for improvement in existing robots. Summary of the invention

[0004] In order to solve the technical problems of defects in existing manipulators, the present invention provides a direct-drive dexterous hand, which improves the finger structure so that the manipulator has higher dexterity and better load performance.

[0005] In order to solve the above problems, the technical solution provided by the present invention is: a direct-drive dexterous hand, including a palm seat, on which is disposed at least one 1-DOF finger mechanism and / or at least one 3-DOF finger mechanism. The 1-DOF finger mechanism includes a 1-DOF finger joint assembly and a direct-drive driver. The direct-drive driver includes a first output end that moves along a straight line, and a connecting seat is fixedly disposed at the end of the direct-drive driver. The 1-DOF finger joint assembly includes a first swing arm, a second swing arm, a first fingertip seat, a transmission connecting rod, a first coupling connecting rod and a second coupling connecting rod.

[0006] The first swing rod is hinged with the connecting seat to form a first rotation pair R1, and the first rotation pair R1 is located on one side of the first output end. The second swing rod is hinged with the first swing rod to form a second rotation pair R2, and the second swing rod is hinged with the first fingertip seat to form a third rotation pair R3. When the 1-DOF finger joint assembly is fully extended, the rotation center lines of the first rotation pair R1, the second rotation pair R2 and the third rotation pair R3 are parallel and coplanar; a first extension portion is provided on the side of the first swing rod facing the first output end, and two ends of the transmission connecting rod are respectively hinged with the first output end and the first extension portion; a second extension portion inclined toward one side of the first output end is fixedly provided on the connecting seat, A third extension portion is fixedly provided on the second rocker arm at a position close to the second rotation pair R2, and the third extension portion is located on the side of the second rocker arm away from the first output end, and two ends of the first coupling link are respectively hinged to the second extension portion and the third extension portion; a fourth extension portion is fixedly provided on the first rocker arm at a position close to the second rotation pair R2, and the fourth extension portion is located on the side of the first rocker arm facing the first output end; a fifth extension portion is fixedly provided on the first fingertip seat, and the fifth extension portion is located on the side of the third rotation pair R3 away from the first output end; and two ends of the second coupling link are respectively hinged to the fourth extension portion and the fifth extension portion.

[0007] The 3-DOF finger mechanism includes a 3-DOF finger joint assembly, a first driver, a second driver and a third driver; the second driver and the third driver are located on the same side of the first driver and arranged side by side, and a joint shell is fixedly provided on one side of the first driver, the second driver and the third driver. The first driver, the second driver and the third driver all have a second output end that moves along a straight line, and each of the second output ends is respectively fixedly provided with a first connecting tool, a second connecting tool and a third connecting tool. The 3-DOF finger joint assembly includes a U-shaped universal joint, a bending transmission module and two sets of side swing transmission modules located on both sides of the bending transmission module; the U-shaped universal joint includes a rotating shaft fixed in the middle, and a first hinge part and a second hinge part located on both sides of the opening, and the U-shaped universal joint is rotatably connected to the joint shell through the rotating shaft.

[0008] The bending transmission module includes a first connecting rod, a second connecting rod, a side-swing connecting rod, a third connecting rod, a fourth connecting rod and a second fingertip seat; the fourth connecting rod is provided with a coupling connection portion, and the second fingertip seat is provided with a first connecting portion, a second connecting portion and a third connecting portion arranged in a triangle; the side-swing transmission module includes a first secondary connecting rod, a second secondary connecting rod and a third secondary connecting rod.

[0009] One end of the first connecting rod is connected to the first connecting fixture through a joint bearing, the other end of the first connecting rod is universally connected to the side swing connecting rod through the second connecting rod, one end of the third connecting rod is hinged to the side swing connecting rod, the other end of the third connecting rod is hinged to the fourth connecting rod, and the fourth connecting rod is hinged to the first connecting part; the first sub-connecting rods of the two groups of side swing transmission modules are movably connected to the second connecting fixture and the third connecting fixture through joint bearings respectively, a pin rod is arranged between the first sub-connecting rods on both sides, the first sub-connecting rod and the second sub-connecting rod are connected to the pin rod through joint bearings, and the side swing connecting rod is hinged to the middle part of the pin rod; the second The secondary connecting rod includes a support rod and a coupling rod, one end of the two support rods is hinged to the pin rod, and the first hinge part and the second hinge part are respectively hinged to the other end of the two support rods; the coupling rod includes a first transmission connection part and a second transmission connection part, the first transmission connection part is hinged to the third secondary connecting rod, the second transmission connection part is hinged to the coupling connection part, and the second connection part and the third connection part are respectively hinged to the two third secondary connecting rods; the direct drive driver, the first driver, the second driver, the third driver and the fourth driver are all fixed in the palm seat, and the 1-degree-of-freedom finger joint assembly and the 3-degree-of-freedom finger joint assembly are exposed outside the palm seat.

[0010] Optionally, when three of the 1-DOF finger mechanisms and two of the 3-DOF finger mechanisms are provided on the palm seat, the two 3-DOF finger mechanisms are used to form the thumb and index finger, and the three 1-DOF finger mechanisms are used to form the middle finger, ring finger and little finger.

[0011] Optionally, a contoured cover is fixedly provided on the outer sides of the 1-DOF finger mechanism and the 3-DOF finger mechanism.

[0012] Optionally, the transmission link is in an arc shape, and the concave side of the arc-shaped transmission link faces the first rocker arm; there is a bend on the first coupling link near the first rotation pair R1 and the second rotation pair R2, and there is a bend on the second coupling link near the second rotation pair R2 and the third rotation pair R3.

[0013] Optionally, the first connecting tooling, the second connecting tooling and the third connecting tooling all extend obliquely toward the side of the centripetal bending of the 3-DOF finger joint assembly; wherein, the angle formed by the first connecting tooling and the horizontal plane is recorded as a1; the angle formed by the second connecting tooling and the horizontal plane is equal to the angle formed by the third connecting tooling and the horizontal plane and is recorded as a2; wherein, the values ​​of a1 and a2 are 35°-45°.

[0014] Optionally, an arc-shaped bending structure is provided at a position of the third secondary connecting rod close to the first transmission connection portion, and a bending direction of the arc-shaped bending structure is consistent with a bending direction of the 3-DOF finger joint assembly.

[0015] Optionally, the direct drive, the first drive, the second drive and the third drive all include a housing, in which a motor and a planetary roller screw pair are arranged; the planetary roller screw pair includes a nut, a screw, a roller and a cage, a plurality of rollers surround the screw and the nut and mesh with the nut and the screw, the cage is located between the nut and the screw, and the two ends of the rollers are rotatably connected to the cage respectively; the nut is used to constitute the first output end of the direct drive, and the second output ends of the first drive, the second drive and the third drive; the motor includes The invention comprises a stator and a rotor, wherein the stator is arranged at the outside of the rotor and is fixedly connected to the shell, and the lead screw is fixedly connected to the rotor; a tension and pressure sensor is arranged at the end of the shell away from the nut, and a rotary encoder is arranged between the lead screw and the shell; the outer wall of the nut abuts against the inner wall of the shell or the joint shell to limit the rotation of the nut; a linear displacement sensor is arranged between the nut and the inner wall of the shell or the joint shell, and a control unit is arranged in the shell, and the motor, the linear displacement sensor, the rotary encoder and the tension and pressure sensor are all electrically connected to the control unit.

[0016] Optionally, the planetary roller screw pair adopts a differential planetary roller screw pair, the roller includes a first meshing section and a second meshing section, the middle diameter of the first meshing section is larger than the middle diameter of the second meshing section, the first meshing section is meshed with a portion of the external thread of the screw, and the second meshing section is meshed with the internal thread of the nut; the screw and the nut have the same number of thread heads, the thread profiles of the screw and the nut are both triangular, the lead of the threads on the first meshing section and the second meshing section is zero, and the thread profiles on the first meshing section and the second meshing section are semicircular.

[0017] Optionally, a sleeve is fixedly provided on the outer side of the nut, and the sleeve is used to abut against the inner wall of the outer shell or the joint shell.

[0018] Optionally, a bearing is provided between the lead screw and the housing.

[0019] Beneficial Effects

[0020] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: in view of the technical problems of defects in existing manipulators, the present invention improves the finger structure so that the manipulator has higher dexterity and better load performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is one of the structural schematic diagrams of a direct-drive dexterous hand proposed in an embodiment of the present invention.

[0022] Figure 2 This is a second structural schematic diagram of a direct-drive dexterous hand proposed in an embodiment of the present invention.

[0023] Figure 3 This is a third structural schematic diagram of a direct-drive dexterous hand proposed in an embodiment of the present invention.

[0024] Figure 4 This is one of the structural schematic diagrams of the 1-DOF finger mechanism proposed in an embodiment of the present invention.

[0025] Figure 5 This is the second structural schematic diagram of the 1-DOF finger mechanism proposed in an embodiment of the present invention.

[0026] Figure 6 This is the third structural schematic diagram of the 1-DOF finger mechanism proposed in an embodiment of the present invention.

[0027] Figure 7 This is the fourth structural schematic diagram of the 1-DOF finger mechanism proposed in an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the motion principle of the 1-DOF finger mechanism proposed in an embodiment of the present invention.

[0029] Fig. 9 This is one of the structural schematic diagrams of the 3-DOF finger mechanism proposed in an embodiment of the present invention.

[0030] Fig.10 This is the second structural schematic diagram of the 3-DOF finger mechanism proposed in an embodiment of the present invention.

[0031] Fig.11 This is the third structural schematic diagram of the 3-DOF finger mechanism proposed in an embodiment of the present invention.

[0032] Fig.12 This is the fourth structural schematic diagram of the 3-DOF finger mechanism proposed in an embodiment of the present invention.

[0033] Fig.13 This is the fifth structural schematic diagram of the 3-DOF finger mechanism proposed in an embodiment of the present invention.

[0034] Fig.14 A schematic diagram of the structure of a direct drive actuator proposed in an embodiment of the present invention.

[0035] Fig.15 This is a schematic diagram of the structure of the first driver, the second driver or the third driver proposed in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

[0037] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the invention are shown in the accompanying drawings. The words "first", "second", etc. described in the present invention are set for the convenience of describing the technical solution of the present invention, and have no specific limiting effect. They are all general references and do not constitute a limiting effect on the technical solution of the present invention. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the insides of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Multiple technical solutions in the same embodiment, and multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions without contradictions or conflicts, all of which are within the scope of protection required by the present invention.

[0038] Example 1

[0039] Combined with Figure 1 To Attachment Figure 3 This embodiment proposes a direct-drive dexterous hand, including a palm seat 1, on which is disposed at least one 1-DOF finger mechanism 2 and / or at least one 3-DOF finger mechanism 3.

[0040] In this embodiment, the 3-DOF finger mechanism 3 and the 1-DOF finger mechanism 2 have better flexibility and load-bearing capacity than the existing finger structure. For this embodiment, by reasonably selecting and arranging the 1-DOF finger mechanism 2 and the 3-DOF finger mechanism 3 on the palm seat 1 according to the needs, the direct-drive dexterous hand can have high flexibility and excellent load-bearing capacity.

[0041] For example, five fingers can be arranged on the palm seat 1 in the form of a human hand. For example, five 1-DOF finger mechanisms 2 can be arranged on the palm seat 1 at the same time, so that the direct-drive dexterous hand has high flexibility with 5 degrees of freedom.

[0042] For example, Figure 1 and attached Figure 2 As shown, by simultaneously arranging five 3-DOF finger mechanisms 3 on the palm seat 1, the direct-drive dexterous hand can have a high flexibility of 15 DOF.

[0043] As attached Figure 1 and attached Figure 2 This design enables the dexterous hand to simulate the complex movements of the human hand more accurately. For example, when grasping irregular objects, each finger can achieve synergy through different degrees of freedom and can coordinate adjustments during the grasping process. For example, when grasping a special-shaped object, the fingers can bend and twist at different angles, and follow the adjustment of the object's posture during the grasping process to adjust the posture of each finger to adapt to the contour of the special-shaped object. Traditional manipulators with low degrees of freedom are difficult to achieve such delicate operations.

[0044] In addition, the 15-DOF direct-drive dexterous hand has higher operating accuracy. In some delicate operation scenarios, such as the assembly of electronic components, the 15-DOF dexterous hand can provide sufficient movement changes to cope with electronic components of different shapes and sizes, accurately grasp tiny parts, and stably transfer parts to subsequent process operations such as welding. In short, the 15-DOF dexterous hand has strong adaptability in grasping objects. The independent degrees of freedom of each finger can be adjusted to achieve flexible adjustment of the direct-drive dexterous hand as a whole, so as to perform grasping actions with appropriate strength and posture.

[0045] For example, Figure 3As shown, in this preferred application mode, considering the cost and flexibility requirements, when three 1-DOF finger mechanisms 2 and two 3-DOF finger mechanisms 3 are provided on the palm seat 1, the two 3-DOF finger mechanisms 3 are preferably used to form the thumb and index finger, and the three 1-DOF finger mechanisms 2 are used to form the middle finger, ring finger and little finger. At this time, the thumb and index finger formed by the two 3-DOF finger mechanisms 3 can meet higher flexibility requirements, while the middle finger, ring finger and little finger formed by the three 1-DOF finger mechanisms 2 can cooperate with the thumb and index finger to have excellent load capacity while meeting the flexibility requirements.

[0046] For the attached Figure 3 In the direct-drive dexterous hand shown, although the middle finger, ring finger and little finger have only one degree of freedom, they can cooperate with the thumb and index finger to achieve targeted operations, that is, to achieve differentiated operations on objects of different shapes, weights and characteristics to complete stable grasping, thus achieving functional diversity.

[0047] When the grasping operation mainly considers the load, different operations can be performed for objects of different weights and properties according to the load capacity differences of different fingers. For example, when grasping lighter objects that require delicate operations, you can mainly rely on the flexibility of the thumb and index finger. The three degrees of freedom of the thumb and index finger enable them to perform more complex and delicate operations. When grasping heavier objects, the force can be reasonably distributed to the fingers with stronger load capacity, improving the overall grasping efficiency and safety.

[0048] When the grasping operation mainly considers the shape of the object, various grasping operations can be performed according to the flexibility characteristics of different fingers and the shape characteristics of the object. For example, when grasping a long object, the thumb and index finger can adjust their posture to stabilize the object, while the other three fingers mainly provide stable support.

[0049] In addition, other forms of configurations can be performed on the palm seat 1 to provide targeted designs according to different needs, such as configuring less than five fingers, configuring more than five fingers, or adopting other combinations of 1-DOF finger mechanisms 2 and 3-DOF finger mechanisms 3.

[0050] As attached Figure 1 To Attachment Figure 3In the embodiment shown, the outer sides of the 1-DOF finger mechanism 2 and the 3-DOF finger mechanism 3 are fixedly provided with a contoured cover 4. In this embodiment, the configuration of the contoured cover 4 can, on the one hand, enhance the appearance of the direct-drive dexterous hand and make it more realistic, and on the other hand, the configuration of the contoured cover 4 can also protect the 1-DOF finger mechanism 2 and the 3-DOF finger mechanism 3. In addition, the contoured cover 4 can also change the surface adhesion or friction force by selecting its own material, thereby enhancing the performance of the 1-DOF finger mechanism 2 and the 3-DOF finger mechanism 3 after being used to form the direct-drive dexterous hand.

[0051] Combined with Figure 4 To Attachment Figure 8 In this embodiment, the one-degree-of-freedom finger mechanism 2 includes a one-degree-of-freedom finger joint assembly and a direct-drive driver 50 .

[0052] The direct drive driver 50 includes a first output end 501 that moves in a straight line, and a connection seat 20 is fixedly provided at the end of the direct drive driver 50. In this embodiment, the direct drive driver 50 preferably adopts a micro linear actuator including a planetary roller screw pair, and the first output end 501 is a mechanism for linear motion in the planetary roller screw pair, preferably a nut 503. The planetary roller screw pair can be a differential planetary roller screw pair or a circulating planetary roller screw pair. The connection seat 20 is a component used to connect and transmit with the 1-DOF finger joint assembly.

[0053] The one-degree-of-freedom finger joint assembly includes a first swing rod 21 , a second swing rod 22 , a first fingertip seat 23 , a transmission link 24 , a first coupling link 25 and a second coupling link 26 .

[0054] The first swing rod 21 is hinged with the connecting seat 20 to form a first rotation pair R1, and the first rotation pair R1 is located on one side of the first output end 501. The second swing rod 22 is hinged with the first swing rod 21 to form a second rotation pair R2, and the second swing rod 22 is hinged with the first fingertip seat 23 to form a third rotation pair R3. That is, in this embodiment, the first swing rod 21, the second swing rod 22 and the first fingertip seat 23 constitute the "skeleton" part of the 1-DOF finger joint assembly, which can simulate the bending of the three finger joints of a human finger.

[0055] When the 1-DOF finger joint assembly is fully extended, the rotation center lines of the first rotation pair R1, the second rotation pair R2 and the third rotation pair R3 are parallel and coplanar. The purpose of this design is to optimize the structure of the 1-DOF finger joint assembly, ensure bending flexibility, and reduce the design difficulty, so as to facilitate the analysis of the relative motion relationship between the first swing rod 21, the second swing rod 22 and the first fingertip seat 23 during design, and to ensure that the 1-DOF finger joint assembly is consistent with the human finger in terms of shape as much as possible.

[0056] In the 1-DOF finger joint assembly, the first swing rod 21 is provided with a first extension portion 201 on one side facing the first output end 501, and the two ends of the transmission link 24 are respectively hinged to the first output end 501 and the first extension portion 201. That is, the linear motion of the first output end 501 can drive the first swing rod 21 to swing relative to the connecting seat 20 through the connection between the transmission link 24 and the first extension portion 201.

[0057] In addition, a second extension portion 202 inclined toward the first output end 501 is fixedly provided on the connecting seat 20, a third extension portion 203 is fixedly provided on the second rocker arm 22 at a position close to the second rotation pair R2, the third extension portion 203 is located on the side of the second rocker arm 22 away from the first output end 501, and both ends of the first coupling link 25 are hinged to the second extension portion 202 and the third extension portion 203 respectively.

[0058] A fourth extension portion 204 is fixedly provided on the first rocker arm 21 at a position close to the second rotation pair R2, and the fourth extension portion 204 is located on the side of the first rocker arm 21 facing the first output end 501; a fifth extension portion 205 is fixedly provided on the first fingertip seat 23, and the fifth extension portion 205 is located on the side of the third rotation pair R3 away from the first output end 501; both ends of the second coupling link 26 are hinged to the fourth extension portion 204 and the fifth extension portion 205 respectively.

[0059] The arrangement of the first coupling link 25 and the second coupling link 26 can play a role similar to that of "tendons" or "muscles", and can further transmit the swing of the first rocker arm 21 relative to the connecting seat 20 to the second rocker arm 22 and the first fingertip seat 23, so that the 1-DOF finger joint assembly can achieve anthropomorphic flexible bending or stretching.

[0060] The following is combined with Figure 8The working principle of the 1-DOF finger mechanism 2 of this embodiment is further explained as follows: the 1-DOF finger joint assembly is initially in a vertically extended state, and the first output end 501 of the direct drive driver 50 is also in the initial stage of its stroke. When the 1-DOF finger joint assembly is bent, the first output end 501 of the direct drive driver 50 moves in a straight line, and through the transmission of the transmission link 24 and the first extension part 201, the first swing rod 21 is pushed to swing away from the first output end 501. During the swinging process of the first swing rod 21, the first coupling link 25 connected to the second extension part 202 and the third extension part 203 will drive the second swing rod 22 to swing, that is, the second swing rod 22 will swing relative to the first swing rod 21, and at this time, the swinging direction of the second swing rod 22 is consistent with the swinging direction of the first swing rod 21. During the swinging of the second rocker arm 22, the second coupling link 26 connected to the fourth extension portion 204 and the fifth extension portion 205 will drive the first fingertip seat 23 to swing, that is, the first fingertip seat 23 will swing relative to the second rocker arm 22, and at this time, the swinging direction of the first fingertip seat 23 is consistent with the swinging direction of the first rocker arm 21 and the second rocker arm 22.

[0061] Thus, the 1-DOF finger mechanism 2 of this embodiment eventually changes from a vertically extended state to a bent state, and this bending and stretching activity is defined as 1 DOF in this embodiment. It is conceivable that the bending degree of the 1-DOF finger joint assembly can be changed by controlling the stroke of the first output end 501 of the direct drive driver 50.

[0062] In summary, the 1-DOF finger joint assembly of this embodiment utilizes the linear output of a direct-drive driver 50 as power to achieve anthropomorphic natural bending and extension of the 1-DOF finger mechanism 2.

[0063] In this embodiment, the first swing rod 21, the second swing rod 22, the first fingertip seat 23, the transmission link 24, the first coupling link 25 and the second coupling link 26 should preferably be arranged as shown in the attached figure. Figure 6 To Attachment Figure 7 The symmetrical form shown, that is, the transmission link 24, the first coupling link 25 and the second coupling link 26 should be symmetrically arranged on both sides of the first swing rod 21, the second swing rod 22 and the first fingertip seat 23, respectively, to ensure the stability of the transmission.

[0064] In order to simulate the bending of human fingers as much as possible, in a preferred embodiment, the length of the first swing rod 21 is greater than the length of the second swing rod 22, and the length of the second swing rod 22 is greater than the length of the first fingertip seat 23. Thus, the swing angle of the second swing rod 22 can be slightly greater than the swing angle of the first swing rod 21, and the swing angle of the first fingertip seat 23 can also be slightly greater than the swing angle of the second swing rod 22.

[0065] In order to smoothly realize transmission of the 1-DOF finger joint assembly, in a preferred embodiment, the transmission link 24 is in an arc shape, and the concave side of the arc-shaped transmission link 24 faces the first swing bar 21. Therefore, when the first output end 501 of the direct drive driver 50 is extended or retracted, the transmission link 24 can transmit the thrust more smoothly, avoiding the dead point and blockage of the link mechanism, thereby driving the swing of the first swing bar 21 more smoothly.

[0066] And, in another embodiment, there is a bend on the first coupling link 25 near the first rotation pair R1 and the second rotation pair R2, and there is a bend on the second coupling link 26 near the second rotation pair R2 and the third rotation pair R3. In this embodiment, the bends on the first coupling link 25 and the second coupling link 26 can also improve the transmission effect, avoid dead points and blockages in the link mechanism, or interference between mechanisms.

[0067] Combined with Fig. 9 To Attachment Fig.13 In this embodiment, the 3-DOF finger mechanism 3 includes a 3-DOF finger joint assembly, a first driver 51, a second driver 52, and a third driver 53. The second driver 52 and the third driver 53 are located on the same side of the first driver 51 and arranged side by side, so that the first driver 51, the second driver 52, and the third driver 53 form a triangle arrangement.

[0068] The first driver 51, the second driver 52 and the third driver 53 all have a second output end 502 that moves in a straight line. Similar to the direct drive driver 50, the first driver 51, the second driver 52 and the third driver 53 preferably use a micro linear actuator including a planetary roller screw pair, and the second output end 502 is a mechanism that performs linear motion in the planetary roller screw pair, preferably a nut 503. The planetary roller screw pair can be a differential planetary roller screw pair or a circulating planetary roller screw pair.

[0069] The first connection fixture 31, the second connection fixture 32 and the third connection fixture 33 are fixedly arranged on each second output end 502 for connecting with the 3-DOF finger joint assembly. A joint housing 30 is fixedly arranged on one side of the first driver 51, the second driver 52 and the third driver 53.

[0070] The 3-DOF finger joint assembly includes a U-shaped universal joint 34, a bending transmission module, and two sets of side swing transmission modules located on both sides of the bending transmission module. The U-shaped universal joint 34 includes a rotating shaft 340 fixed in the middle, and a first hinge part and a second hinge part located on both sides of the opening. The U-shaped universal joint 34 is rotatably connected to the joint shell 30 through the rotating shaft 340.

[0071] The bending transmission module includes a first link 41, a second link 42, a side swing link 40, a third link 43, a fourth link 44 and a second fingertip seat 45; a coupling connection portion is provided on the fourth link 44, and a first connection portion, a second connection portion and a third connection portion arranged in a triangle are provided on the second fingertip seat 45. The side swing transmission module includes a first secondary link 61, a second secondary link 62 and a third secondary link 63.

[0072] One end of the first link 41 is connected to the first connecting fixture 31 through a joint bearing, the other end of the first link 41 is connected to the side swing link 40 through the second link 42 to form a universal connection, one end of the third link 43 is hinged to the side swing link 40, the other end of the third link 43 is hinged to the fourth link 44, and the fourth link 44 is hinged to the first connecting portion. Among them, the first link 41 is connected to the side swing link 40 through the second link 42 to form a universal connection, which means that the axis of the rotation center formed by the first link 41 and the second link 42 is perpendicular to the axis of the rotation center formed by the second link 42 and the side swing link 40. Fig.14 , a direct-drive dexterous hand of this embodiment, straight.

[0073] The first auxiliary connecting rods 61 of the two sets of side-swing transmission modules are movably connected to the second connecting fixtures 32 and the third connecting fixtures 33 respectively through joint bearings. A pin rod 46 is arranged between the first auxiliary connecting rods 61 on both sides. The first auxiliary connecting rod 61 and the second auxiliary connecting rod 62 are connected to the pin rod 46 through joint bearings. The side-swing connecting rod 40 is hinged to the middle part of the pin rod 46.

[0074] The second secondary connecting rod 62 includes a support rod 621 and a coupling rod 622, one end of the two support rods 621 is hinged to the pin rod 46, and the first hinge part and the second hinge part are respectively hinged to the other end of the two support rods 621; the coupling rod 622 includes a first transmission connection part and a second transmission connection part, the first transmission connection part is hinged to the third secondary connecting rod 63, the second transmission connection part is hinged to the coupling connection part, and the second connection part and the third connection part are respectively hinged to the two third secondary connecting rods 63. In this paragraph, the meanings of "two support rods 621" and "two third secondary connecting rods 63" are "two support rods 621 in the two groups of side-swing transmission modules on both sides of the bending transmission module" and "two third secondary connecting rods 63 in the two groups of side-swing transmission modules on both sides of the bending transmission module".

[0075] Based on the above structural design, the operation of the 3-DOF finger mechanism 3 of this embodiment can be divided into bending, and swinging (lateral swinging) on ​​both sides relative to the bending direction, thereby constituting a 3-DOF activity.

[0076] The bending action of the 3-DOF finger mechanism 3 is based on the following principle: the first driver 51 is started, and the second output end 502 on the first driver 51 moves in a straight line, and the first link 41 and the second link 42 drive the side swing link 40 to rotate around the pin 46. While the side swing link 40 rotates, the third link 43 performs a compound motion of translation and rotation, and drives the fourth link 44 to move. At this time, the fourth link 44 rotates with the second transmission connection as the rotation center, thereby driving the fingertip seat to rotate. During the above movement process, the third secondary link 63 performs a compound motion of translation and rotation. It is precisely because the third secondary link 63 is connected to the second secondary link 62 and the second fingertip seat 45 that a reverse force is provided (or it can be considered to provide a corresponding constraint), thereby ensuring the synchronous bending of the third link 43, the fourth link 44, and the second fingertip seat 45.

[0077] Regarding the swinging action of the 3-DOF finger mechanism 3 , the principle is as follows: when the 3-DOF finger mechanism 3 is in any bending process, the second driver 52 or the third driver 53 can be activated to realize the swinging of the 3-DOF finger mechanism 3 .

[0078] Taking the case where only the second driver 52 is started as an example, the second output end 502 on the second driver 52 moves linearly, and due to the setting of the joint bearing, the movement of the first secondary connecting rod 61 will drive the pin 46 to swing. It should be noted that the swing of the pin 46 means that, relative to the horizontal state maintained by the pin 46 at the beginning, the two ends of the pin 46 present a state of one high and one low during the swing. When only the second driver 52 is started, the swing of the pin 46 occurs with the end of the pin 46 away from the second driver 52 as the center.

[0079] At this time, the support rod 621 will be driven to move, and the U-shaped universal joint 34 will rotate around the rotating shaft 340 at the same time. The side swing link 40 will also tilt to one side with the swing of the pin rod 46, driving the third link 43, the fourth link 44 and the fingertip seat connected thereto to tilt. The first link 41 and the second link 42 will also move relative to each other through the universal structure therebetween. The coupling rod 622 will tilt with the support rod 621, and will further drive the third sub-link 63 to pull the fourth link 44 and the second fingertip seat 45 to tilt, thereby realizing the swinging action of the 3-DOF finger mechanism 3.

[0080] It should be noted that the activation of the second driver 52 or the third driver 53 only affects the swing direction or swing amplitude of the 3-DOF finger mechanism 3, and the driving principles of the two for the side swing transmission module are consistent. Generally, only one of the second driver 52 and the third driver 53 is activated. When the second driver 52 and the third driver 53 are activated at the same time, there are the following two situations:

[0081] When the second output terminals 502 on the second driver 52 and the third driver 53 move in opposite directions, combined with the aforementioned swinging motion principle, it can be seen that this will mainly affect the swinging motion of the pin 46, causing the height change at both ends of the pin 46 to intensify, that is, the speed or amplitude of the swinging motion can be intensified to a certain extent.

[0082] When the second output ends 502 on the second driver 52 and the third driver 53 move in the same direction, it is generally applied to the bending action of the 3-DOF finger mechanism 3. At this time, the first driver 51 must be started, and the second driver 52 and the third driver 53 generally move synchronously. The synchronous movement of the second output ends 502 on the second driver 52 and the third driver 53 will drive the pin 46 to translate while maintaining a horizontal state (that is, the two ends of the pin 46 do not have a high and a low state during the movement), thereby causing the side swing link 40 to rotate relative to the pin 46. It can be understood that the rotation of the side swing link 40 relative to the pin 46 can actually be understood as the hinge part of the side swing link 40 and the pin 46, and the hinge part of the side swing link 40 and the second link 42. The relative height of these two hinge parts changes, so as long as the relative height of these two hinge parts is changed, the bending of the 3-DOF finger mechanism 3 can be achieved.

[0083] Combined with the above description, it can be seen that the 3-DOF finger mechanism 3 of this embodiment is actually an integrated connecting rod drive mechanism, which can realize the coordinated movement of multiple joints while maintaining the compactness of the structure and the efficient transmission of power. The 3-DOF finger mechanism 3 is composed of a 3-DOF finger joint assembly, a first driver 51, a second driver 52 and a third driver 53, forming a modular design so that each part can be replaced or upgraded independently. And overall, compared with the existing finger structure, the 3-DOF finger mechanism 3 has a higher degree of freedom, which enables it to perform complex and delicate operations.

[0084] In a preferred embodiment, the first connecting fixture 31, the second connecting fixture 32 and the third connecting fixture 33 are all inclined and extended to the side of the centripetal bending of the 3-DOF finger joint assembly. It can be understood that the purpose of the first connecting fixture 31, the second connecting fixture 32 and the third connecting fixture 33 being inclined to one side is that when the second output end 502 moves in a straight line, the structure such as the lead screw 504 used to achieve the straight line motion of the second output end 502 may interfere with the first connecting fixture 31, the second connecting fixture 32, the third connecting fixture 33 or other structures. Therefore, the inclined design of the first connecting fixture 31, the second connecting fixture 32 and the third connecting fixture 33 can avoid the occurrence of interference.

[0085] It is conceivable that the inclination angles of the first connecting fixture 31, the second connecting fixture 32 and the third connecting fixture 33 will affect the length of the overall 3-DOF finger mechanism 3, or other appearance features. In a further embodiment, the angle formed by the first connecting fixture 31 and the horizontal plane is recorded as a1; the angle formed by the second connecting fixture 32 and the horizontal plane is equal to the angle formed by the third connecting fixture 33 and the horizontal plane and is recorded as a2; wherein the values ​​of a1 and a2 are 35°-45°. At this time, the inclination degree of the first connecting fixture 31, the second connecting fixture 32 and the third connecting fixture 33 is limited, which can not only ensure the stability and reliability of the transmission, but also make the 3-DOF finger mechanism 3 more compact as a whole, and can ensure that the appearance of the 3-DOF finger mechanism 3 is more beautiful and harmonious.

[0086] In other embodiments, the third secondary connecting rod 63 is provided with an arc-shaped bending structure near the first transmission connection part, and the bending direction of the arc-shaped bending structure is consistent with the bending direction of the 3-DOF finger joint assembly. This structural design is to ensure that the third secondary connecting rod 63 avoids forming a dead point and getting stuck when cooperating with the bending transmission module.

[0087] And, in one embodiment, the third connecting rod 43 and the fourth connecting rod 44 are hinged to form a fourth rotation pair R4, the fourth connecting rod 44 and the first connecting part are hinged to form a fifth rotation pair R5, and the second transmission connecting part and the coupling connecting part are hinged to form a sixth rotation pair R6. The rotation centers of the fourth rotation pair R4, the fifth rotation pair R5 and the sixth rotation pair R6 are connected in pairs to form line segments d4, line segments d5 and line segments d6, and line segments d4, line segments d5 and line segments d6 form an obtuse triangle. Among them, the angle formed by line segment d4 and line segment d5 is 10°-20°, the angle formed by line segment d5 and line segment d6 is 50°-55°, and the angle formed by line segment d6 and line segment d4 is 110°-120°. This embodiment improves the design of the fourth connecting rod 44, and its structure can be equivalent to an obtuse triangle. This obtuse triangle and its angle design also help the bending transmission module solve the dead point problem, thereby avoiding the bending transmission module from getting stuck during the stroke, making the movement of the bending transmission module smoother.

[0088] In another similar embodiment, the second link 42 is hinged with the side swing link 40 to form the seventh rotation pair R7, the third link 43 is hinged with the side swing link 40 to form the eighth rotation pair R8, and the side swing link 40 is hinged with the pin 46 to form the ninth rotation pair R9. The rotation centers of the seventh rotation pair R7, the eighth rotation pair R8 and the ninth rotation pair R9 are connected in pairs to form line segments d1, line segments d2 and line segments d3, and line segments d1, line segments d2 and line segments d3 form an obtuse triangle. Among them, the angle formed by line segments d1 and line segments d2 is 110°-120°, the angle formed by line segments d2 and line segments d3 is 25°-30°, and the angle formed by line segments d1 and line segments d3 is 35°-40°. In this embodiment, the side swing link 40 is improved and its structure can be equivalent to an obtuse triangle. This obtuse triangle and its angle design help the bending transmission module to solve the dead point problem, thereby avoiding the bending transmission module from getting stuck during the stroke, making the movement of the bending transmission module smoother.

[0089] Similar to the above-mentioned embodiments, there are other embodiments to solve the dead point problem of the bending transmission module or to ensure that the bending transmission module moves more stably and smoothly. For example, the center line of the first transmission connection part and the second transmission connection part on the coupling rod 622 can be designed to be perpendicular to the extension direction of the main part of the coupling rod 622. The angle between the support rod 621 and the coupling rod 622 can also be designed to be 45°.

[0090] It can be understood that in this embodiment, the direct drive driver 50 , the first driver 51 , the second driver 52 , the third driver 53 and the fourth driver are all fixed in the palm seat 1 , and the 1-DOF finger joint assembly and the 3-DOF finger joint assembly are exposed outside the palm seat 1 .

[0091] In combination with the above description of this embodiment, in order to solve the technical problems existing in the existing manipulators, the direct-drive dexterous hand of the present invention realizes the improvement of the finger structure through the design of a 1-DOF finger mechanism 2 and a 3-DOF finger mechanism 3, so that the direct-drive dexterous hand has higher dexterity and better load performance.

[0092] Example 2

[0093] Combined with Fig.14 A direct-drive dexterous hand of this embodiment can be improved as follows based on the technical solution of Example 1: in the 1-DOF finger mechanism 2, the direct-drive driver 50 includes a housing 500, and a motor and a planetary roller screw pair are arranged in the housing 500.

[0094] The planetary roller screw pair includes a nut 503, a lead screw 504, a roller 505 and a cage 506. A plurality of rollers 505 surround the lead screw 504 and the nut 503 and mesh with the nut 503 and the lead screw 504. The nut 503 is used to form the first output end 501 of the direct drive driver 50 (i.e., the nut 503 is appropriately processed or assembled with a simple connector to form the first output end 501 that can be connected to other mechanisms). The cage 506 is located between the nut 503 and the lead screw 504, and the two ends of the roller 505 are respectively connected to the cage 506 for rotation. The setting of the cage 506 can be used to ensure the stability of the setting of the roller 505, and can ensure that the planetary roller screw pair moves efficiently, accurately and stably. The motor includes a stator 507 and a rotor 508. The stator 507 is arranged outside the rotor 508 and is fixedly connected to the housing 500, and the lead screw 504 is fixedly connected to the rotor 508.

[0095] A tension and pressure sensor is provided at one end of the housing 500 away from the nut 503, and a rotary encoder is provided between the lead screw 504 and the housing 500. The outer wall of the nut 503 abuts against the inner wall of the housing 500 to limit the rotation of the nut 503, thereby converting the relative rotational motion of the nut 503 into linear motion. A linear displacement sensor is provided between the nut 503 and the inner wall of the housing 500, and a control unit 509 is provided in the housing 500, and the motor, the linear displacement sensor, the rotary encoder and the tension and pressure sensor are all electrically connected to the control unit 509.

[0096] For the planetary roller screw pair of this embodiment, threads are processed inside the nut 503, and threads are processed on the screw 504. Combined with the structural form described above, the main working principle of the direct drive driver 50 of this embodiment is: the control unit 509 controls the motor to drive the screw 504 in the planetary roller screw pair to rotate, and the nut 503 in the planetary roller screw pair converts the rotational motion of the screw 504 into linear motion, realizing the translation of itself, that is, the first output end 501, thereby realizing the output of linear motion.

[0097] The movement of the lead screw 504 is controlled by a motor, and the motor is controlled by a control unit 509. The rotary encoder on the control unit 509 can output the number of rotations of the lead screw 504 to the control unit 509, the linear displacement sensor can output the linear movement of the nut 503 to the control unit 509, and the tension and pressure sensor can output the tension and pressure received to the control unit 509. Among them, the rotary encoder and the linear displacement sensor are jointly arranged on the lead screw 504, so as to realize synchronous operation, and both the rotary encoder and the linear displacement sensor can adopt an absolute value control method. Therefore, the control unit 509 can control the movement of the first output terminal 501 of the direct drive driver 50 in combination with the input information of the rotary encoder, the linear displacement sensor and the tension and pressure sensor.

[0098] In a preferred embodiment, the roller 505 includes a first meshing section 5051 and a second meshing section 5052, the middle diameter of the first meshing section 5051 is larger than the middle diameter of the second meshing section 5052, the first meshing section 5051 meshes with the external thread located at a portion of the lead screw 504, and the second meshing section 5052 meshes with the internal thread of the nut 503. Thus, the lead screw 504, the roller 505 and the nut 503 constitute a differential planetary roller screw pair, which ensures the accuracy and stability of the direct drive driver 50.

[0099] And, in a further embodiment, the number of thread starts of the lead screw 504 and the nut 503 is the same, and the thread profiles of the lead screw 504 and the nut 503 are both triangular. And, the lead of the thread on the first meshing section 5051 and the second meshing section 5052 is zero, that is, an annular thread, and the thread profile on the first meshing section 5051 and the second meshing section 5052 is semicircular. Thus, the differential planetary roller screw pair can effectively reduce the lead, and while improving the load-bearing capacity, the transmission structure of the direct drive driver 50 is more compact and the energy density is improved.

[0100] In this embodiment, the motor is preferably a frameless torque motor. The stator 507 of the motor can drive the rotor 508 of the motor to drive the lead screw 504 to rotate, and then drive the nut 503 to perform linear motion. That is, the motor rotor 508 is directly fixed on the lead screw 504, and is directly connected to the lead screw 504, effectively avoiding the gear reduction mechanism in the middle, effectively improving the integration of the structural layout, and reducing costs.

[0101] In other embodiments, a sheath 510 is fixedly disposed on the outside of the nut 503, and the sheath 510 is used to abut against the inner wall of the housing 500, that is, the sheath 510 is used to directly slide and rub against the housing 500, thereby protecting the nut 503. The sheath 510 is preferably made of non-metallic materials such as plastic, which can reduce the friction coefficient, reduce energy consumption, and improve transmission efficiency.

[0102] In addition, in a preferred embodiment, a bearing 511 is provided between the lead screw 504 and the housing 500. The design of one or more bearings 511 helps to ensure the smoothness of the rotation of the lead screw 504 and can improve the overall load capacity.

[0103] A linear displacement sensor is arranged between the nut 503 and the housing 500. In a preferred embodiment, the linear displacement sensor includes a first reading unit 512 and a magnetic grid 513. The magnetic grid 513 is fixedly arranged on the outside of the sheath 510, and the first reading unit 512 is fixedly arranged on the inside of the housing 500. The first reading unit 512 and the magnetic grid 513 are arranged opposite to each other, and the first reading unit 512 is electrically connected to the control unit 509. Thus, the sheath 510 is used to realize the arrangement of the linear displacement sensor. Since the sheath 510 is fixed to the nut 503, the linear displacement sensor can accurately read the displacement data of the nut 503.

[0104] And, a preferred configuration of the rotary encoder is as follows: the rotary encoder includes a second reading unit 514 and a magnetic pole 515, a magnet sleeve 516 is fixedly disposed at one end of the lead screw 504, the magnetic pole 515 is fixedly disposed on the magnet sleeve 516, the magnetic pole 515 is disposed opposite to the second reading unit 514, and the second reading unit 514 is electrically connected to the control unit 509. Thus, the magnetic pole 515 is directly fixed to the end of the lead screw 504, and the rotation data of the lead screw 504 can be accurately read.

[0105] In addition, in a preferred embodiment, a spherical bearing 517 can be provided on the side of the housing 500 away from the output end for assembling the direct-drive driver 50 and the palm seat 1, thereby further improving the flexibility of each finger of the direct-drive dexterous hand.

[0106] In combination with the foregoing description, it can be seen that the direct-drive driver 50 adopted in this embodiment, by using a planetary roller screw pair, effectively reduces the lead, improves the load-bearing capacity, and makes the internal transmission structure more compact and improves the energy density; and adopts a design of direct connection between the motor and the screw 504, which effectively improves the integration of the structural layout and reduces the cost.

[0107] In summary, for the 1-DOF finger mechanism 2, the multi-link design of the 1-DOF finger joint assembly ensures that the 1-DOF finger mechanism 2 has good rigidity and stability, that is, excellent load capacity, while having good flexibility. At the same time, the 1-DOF finger joint assembly is matched with the direct-drive driver 50 of this embodiment to form a direct-drive design, which also ensures a strong load-bearing capacity. When applied to a direct-drive dexterous hand, it can have strong grasping flexibility and grasping stability.

[0108] It is conceivable that, in the three-DOF finger mechanism 3, the first driver 51, the second driver 52 and the third driver 53 may also adopt the structural form described in this embodiment.

[0109] Example 3

[0110] Combined with Fig.15A direct-drive dexterous hand of the present embodiment can be improved as follows on the basis of the technical solutions of embodiments 1 and 2: in the 3-DOF finger mechanism 3, the structures of the first driver 51, the second driver 52 and the third driver 53 are basically the same as those of embodiment 2, and all include a housing 500, in which a motor and a planetary roller screw pair are arranged. At this time, the nuts 503 on the first driver 51, the second driver 52 and the third driver 53 are respectively used to constitute their own second output ends 502 (that is, the nuts 503 are appropriately processed or assembled with simple connectors to constitute the second output ends 502 that can be connected to other mechanisms).

[0111] Among them, the difference from Example 2 is that the outer walls of the nuts 503 of the first driver 51, the second driver 52 and the third driver 53 are all in contact with the inner wall of the joint shell 30 to limit the rotation of the nut 503; a linear displacement sensor is arranged between the nut 503 and the inner wall of the joint shell 30.

[0112] Combining the embodiments 1, 2 and 3, it can be known that the 3-DOF finger mechanism 3 of this embodiment has a high flexibility through the design of the U-shaped universal joint 34, the bending transmission module and the two sets of side swing transmission modules on both sides of the bending transmission module, that is, it can achieve bending and side swinging, and at the same time, this structural design ensures that the 3-DOF finger mechanism 3 has good rigidity and stability. In addition, the first driver 51, the second driver 52 and the third driver 53, which are integrated with the motor and the planetary roller screw pair, respectively form a direct drive design with the bending transmission module and the two sets of side swing transmission modules on both sides of the bending transmission module, ensuring a strong load-bearing capacity. When applied to the direct-drive dexterous hand, it can have strong grasping flexibility and grasping stability.

[0113] The above is a schematic description of the present invention and its implementation methods, which is not restrictive. The drawings show only one implementation method of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and creatively designs a structure and an embodiment similar to the technical solution without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. A direct-drive dexterous hand, characterized in that: It comprises a palm seat (1), on which is arranged at least one 1-degree-of-freedom finger mechanism (2) and at least one 3-degree-of-freedom finger mechanism (3); The one-degree-of-freedom finger mechanism (2) comprises a one-degree-of-freedom finger joint assembly and a direct drive driver (50); the direct drive driver (50) comprises a first output end (501) that moves along a straight line, and a connecting seat (20) is fixedly provided at the end of the direct drive driver (50); the one-degree-of-freedom finger joint assembly comprises a first swing rod (21), a second swing rod (22), a first fingertip seat (23), a transmission connecting rod (24), a first coupling connecting rod (25) and a second coupling connecting rod (26); The first swing rod (21) is hingedly connected to the connecting seat (20) to form a first rotation pair R1, the first rotation pair R1 is located on one side of the first output end (501), the second swing rod (22) is hingedly connected to the first swing rod (21) to form a second rotation pair R2, the second swing rod (22) is hingedly connected to the first fingertip seat (23) to form a third rotation pair R3, and when the 1-DOF finger joint assembly is fully extended, the rotation center lines of the first rotation pair R1, the second rotation pair R2 and the third rotation pair R3 are parallel and coplanar; A first extension portion (201) is provided on a side of the first swing rod (21) facing the first output end (501), and two ends of the transmission connecting rod (24) are respectively hinged to the first output end (501) and the first extension portion (201); a second extension portion (202) tilted toward the first output end (501) is fixedly provided on the connecting seat (20); a third extension portion (203) is fixedly provided on the second swing rod (22) at a position close to the second rotation pair R2, and the third extension portion (203) is located on a side of the second swing rod (22) away from the first output end (501); and two ends of the first coupling connecting rod (25) are respectively hinged to the second extension portion (202) and the third extension portion (203); A fourth extension portion (204) is fixedly provided on the first swing rod (21) at a position close to the second rotational pair R2, and the fourth extension portion (204) is located on a side of the first swing rod (21) facing the first output end (501); a fifth extension portion (205) is fixedly provided on the first fingertip seat (23), and the fifth extension portion (205) is located on a side of the third rotational pair R3 away from the first output end (501); two ends of the second coupling link (26) are respectively hinged to the fourth extension portion (204) and the fifth extension portion (205); The three-degree-of-freedom finger mechanism (3) comprises a three-degree-of-freedom finger joint assembly, a first driver (51), a second driver (52) and a third driver (53); the second driver (52) and the third driver (53) are located on the same side of the first driver (51) and are arranged in parallel, and a joint shell (30) is fixedly provided on one side of the first driver (51), the second driver (52) and the third driver (53); The first driver (51), the second driver (52) and the third driver (53) all have a second output end (502) that moves along a straight line, and each of the second output ends (502) is respectively fixedly provided with a first connecting fixture (31), a second connecting fixture (32) and a third connecting fixture (33); The three-degree-of-freedom finger joint assembly comprises a U-shaped universal joint (34), a bending transmission module, and two sets of side-sway transmission modules located on both sides of the bending transmission module; the U-shaped universal joint (34) comprises a rotating shaft (340) fixed in the middle, and a first hinge part and a second hinge part located on both sides of an opening; the U-shaped universal joint (34) is rotatably connected to the joint shell (30) via the rotating shaft (340); The bending transmission module comprises a first connecting rod (41), a second connecting rod (42), a side swing connecting rod (40), a third connecting rod (43), a fourth connecting rod (44) and a second fingertip seat (45); the fourth connecting rod (44) is provided with a coupling connecting portion, and the second fingertip seat (45) is provided with a first connecting portion, a second connecting portion and a third connecting portion arranged in a triangle; The side-sway transmission module comprises a first secondary connecting rod (61), a second secondary connecting rod (62) and a third secondary connecting rod (63); One end of the first connecting rod (41) is connected to the first connecting fixture (31) via a joint bearing, the other end of the first connecting rod (41) is universally connected to the side swing connecting rod (40) via the second connecting rod (42), one end of the third connecting rod (43) is hinged to the side swing connecting rod (40), the other end of the third connecting rod (43) is hinged to the fourth connecting rod (44), and the fourth connecting rod (44) is hinged to the first connecting portion; The first secondary connecting rods (61) of the two groups of the side-swing transmission modules are respectively movably connected to the second connecting tooling (32) and the third connecting tooling (33) via joint bearings, a pin rod (46) is provided between the first secondary connecting rods (61) on both sides, the first secondary connecting rod (61) and the second secondary connecting rod (62) are connected to the pin rod (46) via joint bearings, and the side-swing connecting rod (40) is hinged to the middle part of the pin rod (46); The second secondary connecting rod (62) comprises a support rod (621) and a coupling rod (622), one end of the two support rods (621) is hinged to the pin rod (46), and the first hinged portion and the second hinged portion are respectively hinged to the other ends of the two support rods (621); the coupling rod (622) comprises a first transmission connection portion and a second transmission connection portion, the first transmission connection portion is hinged to the third secondary connecting rod (63), the second transmission connection portion is hinged to the coupling connection portion, and the second connection portion and the third connection portion are respectively hinged to the two third secondary connecting rods (63); The direct drive driver (50), the first driver (51), the second driver (52), the third driver (53) and the fourth driver are all fixed in the palm seat (1), and the 1-DOF finger joint assembly and the 3-DOF finger joint assembly are exposed outside the palm seat (1); The direct drive driver (50), the first driver (51), the second driver (52) and the third driver (53) all comprise a housing (500), wherein a motor and a planetary roller screw pair are arranged in the housing (500); The planetary roller screw pair comprises a nut (503), a lead screw (504), a roller (505) and a retaining frame (506); a plurality of the rollers (505) surround the lead screw (504) and the nut (503) and mesh with the nut (503) and the lead screw (504); the retaining frame (506) is located between the nut (503) and the lead screw (504); two ends of the rollers (505) are respectively rotatably connected to the retaining frame (506); the nut (503) is used to constitute the first output end (501) of the direct drive driver (50), and the second output ends (502) of the first driver (51), the second driver (52) and the third driver (53); The motor comprises a stator (507) and a rotor (508), the stator (507) being arranged outside the rotor (508) and fixedly connected to the housing (500), and the lead screw (504) being fixedly connected to the rotor (508); A tension and pressure sensor is arranged at one end of the housing (500) away from the nut (503), and a rotary encoder is arranged between the lead screw (504) and the housing (500); the outer wall of the nut (503) abuts against the inner wall of the housing (500) or the joint housing sleeve (30) to limit the rotation of the nut (503); a linear displacement sensor is arranged between the nut (503) and the inner wall of the housing (500) or the joint housing sleeve (30), and a control unit (509) is arranged in the housing (500); the motor, the linear displacement sensor, the rotary encoder and the tension and pressure sensor are all electrically connected to the control unit (509).

2. The direct-drive dexterous hand according to claim 1, characterized in that: When three of the one-degree-of-freedom finger mechanisms (2) and two of the three-degree-of-freedom finger mechanisms (3) are provided on the palm seat (1), the two three-degree-of-freedom finger mechanisms (3) are used to form the thumb and the index finger, and the three of the one-degree-of-freedom finger mechanisms (2) are used to form the middle finger, the ring finger and the little finger.

3. The direct-drive dexterous hand according to claim 1, characterized in that: A contoured cover (4) is fixedly provided on the outer sides of the one-degree-of-freedom finger mechanism (2) and the three-degree-of-freedom finger mechanism (3).

4. The direct-drive dexterous hand according to claim 1, characterized in that: The transmission connecting rod (24) is in an arc shape, and the concave side of the arc-shaped transmission connecting rod (24) faces the first swing rod (21); There is a bend on the first coupling link (25) at a position close to the first rotation pair R1 and the second rotation pair R2, and there is a bend on the second coupling link (26) at a position close to the second rotation pair R2 and the third rotation pair R3.

5. The direct-drive dexterous hand according to claim 1, characterized in that: The first connecting fixture (31), the second connecting fixture (32) and the third connecting fixture (33) all extend obliquely toward a side of the centripetal bend of the 3-DOF finger joint assembly; The angle formed by the first connecting fixture (31) and the horizontal plane is recorded as a1; the angle formed by the second connecting fixture (32) and the horizontal plane is equal to the angle formed by the third connecting fixture (33) and the horizontal plane and is recorded as a2; wherein the values ​​of a1 and a2 are 35°-45°.

6. The direct-drive dexterous hand according to claim 1, characterized in that: The third secondary connecting rod (63) is provided with an arc-shaped bending structure at a position close to the first transmission connection portion, and the bending direction of the arc-shaped bending structure is consistent with the bending direction of the 3-DOF finger joint assembly.

7. The direct-drive dexterous hand according to claim 1, characterized in that: The planetary roller screw pair adopts a differential planetary roller screw pair, the roller (505) comprises a first meshing section (5051) and a second meshing section (5052), the middle diameter of the first meshing section (5051) is larger than the middle diameter of the second meshing section (5052), the first meshing section (5051) meshes with the external thread of part of the lead screw (504), and the second meshing section (5052) meshes with the internal thread of the nut (503); the lead of the lead screw (504) and the nut (503) are the same, the thread profiles of the lead screw (504) and the nut (503) are both triangular, the lead of the threads on the first meshing section (5051) and the second meshing section (5052) are zero, and the thread profiles on the first meshing section (5051) and the second meshing section (5052) are semicircular.

8. The direct-drive dexterous hand according to claim 1, characterized in that: A protective sleeve (510) is fixedly provided on the outer side of the nut (503), and the protective sleeve (510) is used to abut against the inner wall of the outer shell (500) or the joint shell (30).

9. The direct-drive dexterous hand according to claim 1, characterized in that: A bearing (511) is provided between the lead screw (504) and the housing (500).

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