Robot dexterous hand

Abstract

The invention provides a robot dexterous hand. The robot dexterous hand comprises a palm assembly, a finger assembly and a driving assembly. The palm assembly at least comprises a palm base; the driving assembly comprises a swinging unit and a bending unit which are installed on the palm base and used for driving the finger assemblies to swing and bend correspondingly. The finger assembly comprises a first knuckle, a second knuckle, a third knuckle, a first torsional spring and a second torsional spring. The bending unit is connected with the second knuckle through a tendon rope, and the tendon rope penetrates through the first knuckle and the third knuckle to be in coupled connection with the second knuckle. The first torsion spring is installed on the first joint, the second torsion spring is installed on the third joint, and the pre-pressure of the second torsion spring is larger than that of the first torsion spring. When the fingers are bent, the first knuckles are firstly bent, then the second knuckles and the third knuckles are bent, the bending units achieve bending of the three knuckles, the structure is simple and compact, the occupied space is small, each finger assembly is provided with the bending unit and the swing unit, and rich and complex grabbing actions can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, and in particular to a robot dexterous hand. Background Art

[0002] In recent years, robots have developed rapidly and have been operating in different environments such as factories, battlefields, and space, and the end effector is a key part. Most end effectors are single-degree-of-freedom clamp-type or parallel-moving mechanisms, and there are even vacuum suction cup-type mechanisms for handling. Most of these end effectors have simple structures and convenient control, and are suitable for large-load operations. However, due to their shortcomings such as weak versatility, low intelligence, and poor precision, these simple end operating mechanisms can no longer meet human requirements for complex tasks, and also limit the development of robots in many fields. Therefore, multi-finger manipulators have attracted much attention for their advantages such as multiple execution actions, dexterity, and strong adaptability.

[0003] In the prior art, there are generally two types of multi-finger manipulators: one is a manipulator with 4 to 5 fingers, each finger has multiple joints, each finger is controlled by a single motor, and there is motion coupling between the finger joints. This type of manipulator can usually only grasp and has simple functions; the other is a manipulator with 4 to 5 fingers, each finger has multiple joints; each finger is controlled by multiple motors, the motors are located on the arms, and rely on tendons to transmit motion and power. The whole machine is complex and occupies a large space. Summary of the invention

[0004] In view of this, the present invention proposes a robot dexterous hand to solve the technical problems in the above background technology that the hand can only grasp, has simple functions, or is complex and occupies a large space.

[0005] The technical solution of the present invention is achieved in this way:

[0006] The present invention provides a robot dexterous hand, comprising a palm component, a finger component and a drive component, wherein:

[0007] The palm assembly at least includes a palm base, and the palm base is used to connect to the robot arm;

[0008] The driving assembly comprises a swing unit and a bending unit mounted on the palm base, the swing unit is used to drive the finger assembly to swing, and the bending unit is used to drive the finger assembly to bend, and the bending direction is perpendicular to the swing direction;

[0009] There are multiple finger assemblies, each of which is connected to a driving assembly; the finger assembly includes a first knuckle, a second knuckle, a third knuckle, a first torsion spring and a second torsion spring, the first knuckle is rotationally connected to the swing unit via a first joint, the second knuckle is rotationally connected to the first knuckle via a second joint, and the third knuckle is rotationally connected to the second knuckle via a third joint; the bending unit is connected to the second knuckle via a tendon rope and the tendon rope passes through the first knuckle, and the third knuckle is coupled to the second knuckle to drive the third knuckle to bend while the bending unit drives the second knuckle to bend; the first torsion spring is installed on the first joint, the second torsion spring is installed on the third joint, and the preload of the second torsion spring is greater than the preload of the first torsion spring.

[0010] On the basis of the above technical solution, preferably, it also includes a stop unit, which includes an electromagnet, a toothed braking pawl and a follower gear. The electromagnet is installed in the first finger joint and is drivingly connected to the toothed braking pawl. The follower gear is installed on the first joint. When the electromagnet is energized, it can drive the toothed braking pawl to engage with the follower gear to limit the rotation of the first finger joint around the first joint.

[0011] On the basis of the above technical solution, preferably, the swing unit includes a swing motor, a driving gear, a driven gear and a first connecting seat, the swing motor is installed on the palm base and connected to the driving gear, a connecting shaft is provided at the bottom of the first connecting seat, the connecting shaft is rotatably installed on the palm base, the first connecting seat and the first finger joint are rotationally connected through the first joint, and the driven gear is fixedly installed on the connecting shaft and meshes with the driving gear.

[0012] On the basis of the above technical solution, preferably, the bending unit comprises a bending motor, a winding disk and a tensioning column, the bending motor is installed on the palm base and connected to the winding disk, and the tensioning column is installed on the first knuckle and is located below the first joint and the second joint;

[0013] The top of the first connecting seat is provided with a rope threading hole penetrating the connecting shaft;

[0014] One end of the tendon rope is wound around the winding drum, and the other end of the tendon rope is inserted into the rope threading hole from one end of the connecting shaft, and after passing through the rope threading hole, it passes under the tensioning column and is connected to the second finger joint.

[0015] On the basis of the above technical solution, preferably, the finger assembly also includes a connecting rod, a first mounting hole and a first connecting hole are provided at one end of the first knuckle close to the second knuckle, the first connecting hole is located above the first mounting hole, a second mounting hole and a second connecting hole are provided at one end of the third knuckle close to the second knuckle, the second connecting hole is located below the second mounting hole, the second joint is installed in the first mounting hole, the third joint is installed in the second mounting hole, and the two ends of the connecting rod are rotatably connected to the first connecting hole and the second connecting hole respectively.

[0016] Based on the above technical solution, preferably, four finger assemblies are provided, three of which are installed at intervals on the first side of the palm base, serving as the index finger, middle finger and ring finger respectively; another finger assembly is installed on the second side of the palm base, serving as the thumb, and the second side is perpendicular to the first side.

[0017] On the basis of the above technical solution, preferably, the bending plane of the finger assembly serving as the thumb has an angle with the bending planes of the other three finger assemblies.

[0018] On the basis of the above technical solution, preferably, at least three finger assemblies are provided, and at least three finger assemblies are circumferentially mounted on the same surface of the palm base, and the bending directions are all toward the inside.

[0019] On the basis of the above technical solution, preferably, three finger assemblies are provided, and the three finger assemblies are installed on the same surface of the palm base, wherein two of the finger assemblies are arranged in parallel and spaced apart, and the other finger assembly is arranged opposite to the two finger assemblies.

[0020] On the basis of the above technical solution, preferably, the palm assembly further comprises a protective cover, which is connected to the palm base and is arranged outside the driving assembly.

[0021] The robot dexterous hand of the present invention has the following beneficial effects compared with the prior art:

[0022] (1) The second finger joint is connected to the second finger joint through a tendon rope through the bending unit, and the tendon rope passes through the first finger joint. The third finger joint is coupled to the second finger joint, so that the bending unit drives the second finger joint to bend while driving the third finger joint to bend; the preload of the second torsion spring is greater than the preload of the first torsion spring. When the finger is bent, the first finger joint will be bent first. When the first finger joint is obstructed (such as hitting the grasping object) or bent to the limit position, the second and third finger joints will be bent. The bending of three finger joints is achieved through one bending unit. The structure is simple and compact and occupies little space. Each finger assembly is equipped with a bending unit and a swing unit. The hand movement is more flexible, and richer and more complex grasping movements can be achieved, enriching its functions;

[0023] (2) By setting a rotation-stopping unit, the rotation-stopping unit includes an electromagnet, a toothed brake pawl and a follower gear, the electromagnet is installed in the first finger joint and is drivingly connected to the toothed brake pawl, and the follower gear is installed on the first joint. When the electromagnet is energized, it can drive the toothed brake pawl to mesh with the follower gear to limit the first finger joint from rotating around the first joint, change the bending order of the first finger joint and the second finger joint, achieve a gripping effect in more postures, and improve the application range of the device;

[0024] (3) The bending motor is installed on the palm base and connected to the winding disk, and the tensioning column is installed on the first knuckle and is located below the first joint and the second joint; a rope threading hole that passes through the connecting shaft is set on the top of the first connecting seat; one end of the tendon rope is wound on the winding disk, and the other end of the tendon rope is inserted into the rope threading hole from one end of the connecting shaft, and after passing through the rope threading hole, it is connected to the second knuckle by passing under the tensioning column; the bending motor drives the winding disk to rotate forward to tighten the tendon rope and pull the second knuckle. Due to the coupling between the second knuckle and the third knuckle, the tendon rope needs to overcome the pre-pressure of the second torsion spring to bend the second knuckle. Therefore, the first knuckle is pulled to bend first, and the second and third knuckles are bent only when the first knuckle is obstructed (such as touching the grasping object) or bent to the extreme position; when the bending motor drives the winding disk to reverse, the tendon rope is loosened, and the first knuckle, the second knuckle and the third knuckle are reset under the pressure of the first torsion spring and the second torsion spring;

[0025] (4) The first connecting hole is located above the first mounting hole, the second connecting hole is located below the second mounting hole, the second joint is installed in the first mounting hole, and the third joint is installed in the second mounting hole. The two ends of the connecting rod are rotatably connected to the first connecting hole and the second connecting hole respectively, so that the connecting rod and the second knuckle are staggered and connected between the first knuckle and the third knuckle. The connecting rod cooperates with the second torsion spring to limit the second knuckle, and after overcoming the pre-pressure of the second torsion spring, the third knuckle can also bend while the tendon rope pulls the second knuckle to bend. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a three-dimensional diagram of a robot dexterous hand in an embodiment of the present invention;

[0028] Figure 2 is a top view of the robot dexterous hand (protective cover hidden) in an embodiment of the present invention;

[0029] Figure 3 is a three-dimensional diagram of a robot dexterous hand (hiding finger components) in an embodiment of the present invention;

[0030] Figure 4 The three-dimensional image of the robot dexterous hand (with the palm component hidden) in the embodiment of the present invention Figure 1 ;

[0031] Figure 5 The three-dimensional image of the robot dexterous hand (with the palm component hidden) in the embodiment of the present invention Figure 2 ;

[0032] Figure 6 Schematic diagram of the structure of the robot dexterous hand (with the palm component and the first knuckle hidden) in an embodiment of the present invention;

[0033] Figure 7 is a schematic structural diagram of the first finger joint in an embodiment of the present invention;

[0034] Figure 8 It is a schematic diagram of the structure of the first finger joint, the second finger joint, the third finger joint and the connecting rod in an embodiment of the present invention;

[0035] Fig. 9 It is a schematic diagram of the structure of the connecting rod and the second finger joint in an embodiment of the present invention;

[0036] Fig.10 is a schematic structural diagram of a second robot dexterous hand in an embodiment of the present invention;

[0037] Fig.11 Schematic diagram of the structure of the third robot dexterous hand in an embodiment of the present invention.

[0038] Description of reference numerals: 1-palm assembly, 2-finger assembly, 3-driving assembly, 4-tendon rope, 5-anti-rotation unit;

[0039] 11- palm base, 12- protective cover;

[0040] 201-first joint, 202-second joint, 203-third joint, 21-first knuckle, 211-first mounting hole, 212-first connecting hole, 213-slideway, 22-second knuckle, 23-third knuckle, 231-second mounting hole, 232-second connecting hole, 24-first torsion spring, 25-second torsion spring, 26-connecting rod;

[0041] 31-swing unit, 311-swing motor, 312-driving gear, 313-driven gear, 314-first connecting seat, 3141-connecting shaft, 3142-rope threading hole, 32-bending unit, 321-bending motor, 322-winding drum, 323-tensioning column;

[0042] 51-electromagnet, 52-toothed brake pawl, 53-follower gear. DETAILED DESCRIPTION

[0043] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Reference Figure 1-11 As shown, an embodiment of the present invention provides a robot dexterous hand, including a palm component 1, a finger component 2 and a drive component 3, wherein:

[0045] The palm assembly 1 at least includes a palm base 11, and the palm base 11 is used to connect the robot arm; the palm base 11 is provided with a mounting surface, and the mounting surface is provided with a mounting hole for connecting the robot arm;

[0046] The driving assembly 3 includes a swing unit 31 and a bending unit 32 mounted on the palm base 11, the swing unit 31 is used to drive the finger assembly 2 to swing, and the bending unit 32 is used to drive the finger assembly 2 to bend, and the bending direction is perpendicular to the swing direction;

[0047] The finger assembly 2 is provided with multiple fingers, each of which is connected to a driving assembly 3; the finger assembly 2 includes a first knuckle 21, a second knuckle 22, a third knuckle 23, a first torsion spring 24 and a second torsion spring 25, the first knuckle 21 is rotationally connected to the swing unit 31 through a first joint 201, the second knuckle 22 is rotationally connected to the first knuckle 21 through a second joint 202, and the third knuckle 23 is rotationally connected to the second knuckle 22 through a third joint 203; the bending unit 32 is connected to the second knuckle 22 through a tendon rope 4 and the tendon rope 4 passes through the first knuckle 21, the third knuckle 23 is coupled to the second knuckle 22, so that the bending unit 32 drives the second knuckle 22 to bend while driving the third knuckle 23 to bend; the first torsion spring 24 is installed on the first joint 201, the second torsion spring 25 is installed on the third joint 203, and the preload of the second torsion spring 25 is greater than the preload of the first torsion spring 24.

[0048] It should be noted that the first joint 201 , the second joint 202 and the third joint 203 in this embodiment all refer to joint axes, that is, rotation axes.

[0049] The dexterous robot hand proposed in the embodiment of the present invention connects the second knuckle 22 through the tendon 4 through the bending unit 32, and the tendon 4 passes through the first knuckle 21, and the third knuckle 23 is coupled to the second knuckle 22, so that the bending unit 32 drives the second knuckle 22 to bend while driving the third knuckle 23 to bend; the preload of the second torsion spring 25 is greater than the preload of the first torsion spring 24. When the finger is bent, the first knuckle 201 will be bent first. When the first knuckle 21 is obstructed (such as hitting the grasping object) or bent to the extreme position, the second knuckle 22 and the third knuckle 23 will be bent. The bending of three knuckles is achieved through a bending unit 32. The structure is simple and compact and occupies little space. Each finger assembly 2 is equipped with a bending unit 32 and a swing unit 31. The hand movements are more flexible, and richer and more complex grasping movements can be achieved, enriching its functions.

[0050] In some embodiments, the robot dexterous hand also includes a stop unit 5, which includes an electromagnet 51, a toothed braking claw 52 and a follower gear 53. The electromagnet 51 is installed in the first finger joint 21 and is driven and connected to the toothed braking claw 52. A slide groove 213 is provided in the first finger joint 21. The electromagnet 51 is placed in the slide groove 213 and can slide along the slide groove 213. The follower gear 53 is installed on the first joint 201. When the electromagnet 51 is energized, it can drive the toothed braking claw 52 to engage with the follower gear 53 to limit the first finger joint 21 from rotating around the first joint 201. When the electromagnet 51 is powered off, the toothed braking claw 52 and the follower gear 53 are not engaged. When the electromagnet 51 is powered on, it can drive the toothed braking claw 52 to slide along the slide groove 213 and engage with the follower gear 53, so as to limit the first finger joint 21 from rotating around the first joint 201, drive the second finger joint 22 to bend, change the bending order of the first finger joint 21 and the second finger joint 22, achieve a gripping effect in more postures, and improve the application range of the device.

[0051] In some embodiments, the swing unit 31 includes a swing motor 311, a driving gear 312, a driven gear 313 and a first connecting seat 314. The swing motor 311 is installed on the palm base 11 and connected to the driving gear 312. A connecting shaft 3141 is provided at the bottom of the first connecting seat 314. The connecting shaft 3141 is rotatably installed on the palm base 11. The first connecting seat 314 is rotatably connected to the first finger joint 21 through the first joint 201. The driven gear 313 is fixedly installed on the connecting shaft 3141 and meshes with the driving gear 312. The connecting shaft 3141 is perpendicular to the first joint 201, so that the swing direction and the bending direction are perpendicular. The driving gear 312 is driven to rotate by the swing motor 311, thereby driving the driven gear 313 meshed with the driving gear 312 to rotate, thereby driving the first connecting seat 314 to rotate, so that the finger assembly 2 as a whole swings around the connecting shaft 3141 in the first plane.

[0052] In some embodiments, the bending unit 32 includes a bending motor 321, a winding drum 322 and a tensioning column 323. The bending motor 321 is installed on the palm base 11 and connected to the winding drum 322. The tensioning column 323 is installed on the first finger joint 21 and is located below the first joint 201 and the second joint 202. A rope threading hole 3142 that passes through the connecting shaft 3141 is provided on the top of the first connecting seat 314. The rope threading hole 3142 is tangent to the winding drum 322. After the tendon 4 is wound on the winding drum 322, it can just pass through the rope threading hole 3142, which can better straighten the tendon 4. One end of the tendon 4 is wound on the winding drum 322, and the other end of the tendon 4 passes through the rope threading hole 3142 from one end of the connecting shaft 3141, and after passing through the rope threading hole 3142, it goes around the bottom of the tensioning column 323 and is connected to the second finger joint 22. The bending motor 321 drives the winding drum 322 to rotate forward to tighten the tendon rope 4 and pull the second knuckle 22. Due to the coupling between the second knuckle 22 and the third knuckle 23, the tendon rope 4 needs to overcome the pre-pressure of the second torsion spring 25 to bend the second knuckle 22. Therefore, the first knuckle 21 is pulled to bend first, and the second and third knuckles 22 and 23 are bent only when the first knuckle 21 is obstructed (such as hitting the grasping object) or bent to the extreme position; when the bending motor 321 drives the winding drum 322 to reverse, the tendon rope 4 is loosened, and the first and second knuckles 21, 22 and third knuckles 23 are reset under the pressure of the first torsion spring 24 and the second torsion spring 25.

[0053] In some embodiments, the finger assembly 2 also includes a connecting rod 26, a first mounting hole 211 and a first connecting hole 212 are provided at one end of the first knuckle 21 close to the second knuckle 22, and the first connecting hole 212 is located above the first mounting hole 211, and a second mounting hole 231 and a second connecting hole 232 are provided at one end of the third knuckle 23 close to the second knuckle 22, and the second connecting hole 232 is located below the second mounting hole 231, the second joint 202 is installed in the first mounting hole 211, and the third joint 203 is installed in the second mounting hole 231, and the two ends of the connecting rod 26 are rotatably connected to the first connecting hole 212 and the second connecting hole 232 respectively. The first connecting hole 212 is located above the first mounting hole 211, the second connecting hole 232 is located below the second mounting hole 231, the second joint 202 is installed in the first mounting hole 211, and the third joint 203 is installed in the second mounting hole 231. The two ends of the connecting rod 26 are rotatably connected to the first connecting hole 212 and the second connecting hole 232 respectively, so that the connecting rod 26 and the second finger joint 22 are staggered with each other and are both connected between the first finger joint 21 and the third finger joint 23. The connecting rod 26 cooperates with the second torsion spring 25 to limit the second finger joint 22, so that the first finger joint 21 is first driven to bend, and after overcoming the pre-pressure of the second torsion spring 25, the four hinge points of the connecting rod 26 and the second finger joint 22 form a quadrilateral. The instability makes the third knuckle 23 bend while the tendon rope 4 pulls the second knuckle 22 to bend. For example, when the tendon rope 4 pulls the second knuckle 22 to bend inward around the second joint 202, the second knuckle 22 applies an outward force to the connecting rod 26 at the first connecting hole 212. Due to the pre-pressure of the second torsion spring 25, the connecting rod 26 bends inward around the first connecting hole 212, thereby driving the third knuckle 23 to bend inward; on the contrary, after the tendon rope 4 is relaxed, the tension of the tendon rope 4 disappears, and the torsion of the second torsion spring 25 causes the third knuckle 23 to bend outward and return to its original position. The second knuckle 22 applies an inward force to the connecting rod 26 at the second connecting hole 232. Since the other end of the connecting rod 26 is pulled at the first connecting hole 212, the second knuckle 22 bends outward and returns to its original position around the second joint 202.

[0054] Based on the modular design of finger components and drive components, the robot dexterous hand can have the following deformations:

[0055] In some embodiments, Figure 1As shown, there are four finger assemblies 2, of which three finger assemblies 2 are installed at intervals on the first side of the palm base 11, respectively serving as the index finger, middle finger and ring finger; another finger assembly 2 is installed on the second side of the palm base 11, serving as the thumb, and the second side is perpendicular to the first side. By installing three finger assemblies 2 at intervals on the first side of the palm base 11, respectively serving as the index finger, middle finger and ring finger; another finger assembly 2 is installed on the second side of the palm base 11, serving as the thumb, the four finger assemblies 2 can be closed and opened through their respective swing units 31, and each finger assembly 2 can be bent independently, and its grasping behavior is similar to that of a human hand, with better flexibility.

[0056] In some further embodiments, the bending plane of the finger assembly 2 as the thumb is at an angle to the bending planes of the other three finger assemblies 2. By making the bending plane of the finger assembly 2 as the thumb at an angle to the bending planes of the other three finger assemblies 2, the bending direction of the thumb is different from that of the other three finger assemblies 2, thereby making the grasping behavior more diverse and improving the stability and reliability of the device.

[0057] In actual design, on the basis of the above four finger assemblies 2, another finger assembly 2 is set as the little finger, and a total of five finger assemblies 2 are set, so as to completely correspond to the five fingers of a person, so that the device is closer to a human hand. It can not only be used as an actuator of the robot to make the grasping more flexible, but also can be used as a prosthesis to improve the scope of application of the device.

[0058] In some embodiments, at least three finger assemblies 2 are provided, and at least three finger assemblies 2 are installed on the same surface of the palm base 11 along the circumference, and the bending directions are all facing inward. Fig.10 As shown, there are four finger assemblies 2, which are installed on the same surface of the palm base 11 along the circumference, and the bending directions are all toward the center of the circumference. The four finger assemblies 2 can be closed and opened respectively through the swing units 31 equipped with them, and each finger assembly 2 can be bent independently, so as to realize grasping in complex grasping states and improve the stability and reliability of the device.

[0059] In some embodiments, the finger assemblies 2 are provided with three, and the three finger assemblies 2 are installed on the same surface of the palm base 11, wherein two of the finger assemblies 2 are arranged in parallel and spaced apart, and another finger assembly 2 is arranged opposite to the two finger assemblies 2. Fig.11As shown, two of the finger assemblies 2 are arranged in parallel and spaced apart, and another finger assembly 2 is arranged opposite to the two finger assemblies 2, and its bending direction is opposite to the two finger assemblies 2, thereby realizing a three-legged state, and can complete grasping in a complex grasping state, and the three finger assemblies 2 are arranged in this way to form a triangular grasping structure, and based on the stability of the triangle, its grasping stability is better.

[0060] In some embodiments, the palm assembly 1 further includes a protective cover 12, which is connected to the palm base 11 and is disposed outside the driving assembly 3. The protective cover 12 is connected to the palm base 11 and is disposed outside the driving assembly 3. Specifically, the protective cover 12 covers the driving motor and the swing motor 311, thereby preventing the operator from being injured due to misoperation when the motor is working, thereby improving safety and stability.

[0061] The working principle of the robot dexterous hand provided in this embodiment is: the active gear 312 is driven to rotate by the swing motor 311, thereby driving the driven gear 313 meshing with the active gear 312 to rotate, thereby driving the first connecting seat 314 to rotate, so as to realize the overall swing of the finger assembly 2 around the connecting axis 3141 in the first plane, and realize the closing and opening of multiple finger assemblies 2; the bending motor 321 drives the winding drum 322 to rotate forward to tighten the tendon rope 4 and pull the second finger joint 22. Due to the coupling between the second finger joint 22 and the third finger joint 23, the tendon rope 4 needs to overcome the pre-pressure of the second torsion spring 25 to bend the second finger joint 22. Therefore, the first finger joint 21 is pulled to bend first. When the first finger joint 21 is obstructed (such as touching the grasping object) or bent to the extreme position, the second finger joint 22 and the third finger joint 23 are bent. The knuckle 23 bends. When the tendon rope 4 pulls the second knuckle 22 to bend inward around the second joint 202, the second knuckle 22 applies an outward force to the connecting rod 26 at the first connecting hole 212. Due to the pre-pressure of the second torsion spring 25, the connecting rod 26 bends inward around the first connecting hole 212, thereby driving the third knuckle 23 to bend inward. When the bending motor 321 drives the winding reel 322 to reverse, the tendon rope 4 is loosened, and the tension of the tendon rope 4 disappears. The pre-pressure of the first torsion spring 24 causes the first knuckle 21 to be reset, and the torsion of the second torsion spring 25 causes the third knuckle 23 to bend outward and reset. The second knuckle 22 applies an inward force to the connecting rod 26 at the second connecting hole 232. Since the other end of the connecting rod 26 is pulled at the first connecting hole 212, the second knuckle 22 is bent outward and reset around the second joint 202.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot dexterous hand, characterized in that: It includes a palm component, a finger component and a drive component, wherein: The palm assembly at least includes a palm base, and the palm base is used to connect to the robot arm; The driving assembly comprises a swing unit and a bending unit mounted on the palm base, the swing unit is used to drive the finger assembly to swing, and the bending unit is used to drive the finger assembly to bend, and the bending direction is perpendicular to the swing direction; There are multiple finger assemblies, each of which is connected to a driving assembly; the finger assembly includes a first knuckle, a second knuckle, a third knuckle, a first torsion spring and a second torsion spring, the first knuckle is rotationally connected to the swing unit via a first joint, the second knuckle is rotationally connected to the first knuckle via a second joint, and the third knuckle is rotationally connected to the second knuckle via a third joint; the bending unit is connected to the second knuckle via a tendon rope and the tendon rope passes through the first knuckle, and the third knuckle is coupled to the second knuckle to drive the third knuckle to bend while the bending unit drives the second knuckle to bend; the first torsion spring is installed on the first joint, the second torsion spring is installed on the third joint, and the preload of the second torsion spring is greater than the preload of the first torsion spring.

2. The dexterous robot hand according to claim 1, characterized in that: It also includes a stop unit, which includes an electromagnet, a toothed braking pawl and a follower gear. The electromagnet is installed in the first finger joint and is drivingly connected to the toothed braking pawl. The follower gear is installed on the first joint. When the electromagnet is energized, it can drive the toothed braking pawl to engage with the follower gear to limit the first finger joint from rotating around the first joint.

3. The dexterous robot hand according to claim 1, characterized in that: The swing unit includes a swing motor, a driving gear, a driven gear and a first connecting seat. The swing motor is installed on the palm base and connected to the driving gear. A connecting shaft is provided at the bottom of the first connecting seat. The connecting shaft is rotatably installed on the palm base. The first connecting seat is rotationally connected to the first finger joint through the first joint. The driven gear is fixedly installed on the connecting shaft and meshes with the driving gear.

4. The dexterous robot hand according to claim 3, characterized in that: The bending unit comprises a bending motor, a winding disk and a tensioning column, wherein the bending motor is mounted on the palm base and connected to the winding disk, and the tensioning column is mounted on the first knuckle and is located below the first joint and the second joint; The top of the first connecting seat is provided with a rope threading hole penetrating the connecting shaft; One end of the tendon rope is wound around the winding drum, and the other end of the tendon rope is inserted into the rope threading hole from one end of the connecting shaft, and after passing through the rope threading hole, it passes under the tensioning column and is connected to the second finger joint.

5. The dexterous robot hand according to claim 1, characterized in that: The finger assembly also includes a connecting rod, a first mounting hole and a first connecting hole are provided at one end of the first knuckle close to the second knuckle, the first connecting hole is located above the first mounting hole, a second mounting hole and a second connecting hole are provided at one end of the third knuckle close to the second knuckle, the second connecting hole is located below the second mounting hole, the second joint is installed in the first mounting hole, the third joint is installed in the second mounting hole, and both ends of the connecting rod are rotatably connected to the first connecting hole and the second connecting hole respectively.

6. The dexterous robot hand according to claim 1, characterized in that: There are four finger assemblies, three of which are installed at intervals on the first side of the palm base, serving as the index finger, middle finger and ring finger respectively; another finger assembly is installed on the second side of the palm base, serving as the thumb, and the second side is perpendicular to the first side.

7. The dexterous robot hand according to claim 6, characterized in that: The bending plane of the finger assembly serving as the thumb has an included angle with the bending planes of the other three finger assemblies.

8. The dexterous robot hand according to claim 1, characterized in that: At least three finger assemblies are provided, and at least three finger assemblies are circumferentially mounted on the same surface of the palm base, and the bending directions are all toward the inside.

9. The dexterous robot hand according to claim 1, characterized in that: There are three finger assemblies, which are installed on the same surface of the palm base, two of which are arranged in parallel and spaced apart, and another finger assembly is arranged opposite to the two finger assemblies.

10. The dexterous robot hand according to any one of claims 1 to 9, characterized in that: The palm assembly also includes a protective cover, which is connected to the palm base and is arranged outside the driving assembly.

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