Dexterous hand

Abstract

The invention discloses a dexterous hand which comprises a palm frame, a thumb assembly and at least two first finger assemblies, and the thumb assembly is installed on the palm frame; the at least two first finger assemblies are installed on the palm frame. Each first finger assembly comprises a first near-palm-end knuckle, a first far-palm-end knuckle and a finger action actuator. Wherein one end of the first near-palm end knuckle is hinged to the palm frame, and the other end of the first near-palm end knuckle is hinged to the first far-palm end knuckle; wherein the finger action executors comprise a first executor and a second executor, and the first executor is installed on the palm frame, hinged to the first near-palm end knuckle and configured to drive the first near-palm end knuckle to rotate relative to the palm frame. Therefore, the dexterous hand disclosed by the embodiment of the invention has a plurality of active degrees of freedom, various complex motions can be realized, and the repeated accuracy of fingertip force feedback is high. Basic grabbing requirements can be met, and flexible control over objects can be achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a dexterous hand. Background Art

[0002] With the rapid development of robotics technology, the performance of dexterous robot hands, as key components for realizing robot operations, is directly related to the robot's ability to be used in complex environments.

[0003] In related technologies, dexterous hands mostly perform tasks in an under-actuated and less flexible form, and the fingers in traditional dexterous hands generally have low degrees of freedom, resulting in limited range of motion of the knuckles. Although this design can meet basic grasping needs to a certain extent, it is difficult to achieve flexible manipulation of objects. Summary of the invention

[0004] The present disclosure aims to solve the technical problems in the related art at least to some extent.

[0005] To this end, an object of the present disclosure is to provide a dexterous hand, comprising: a palm frame; a thumb assembly, the thumb assembly being mounted on the palm frame; at least two first finger assemblies, the at least two first finger assemblies being both mounted on the palm frame, the first finger assembly comprising: a first proximal palm end knuckle, a first distal palm end knuckle and a finger motion actuator; wherein, one end of the first proximal palm end knuckle is hinged to the palm frame, and the other end of the first proximal palm end knuckle is hinged to the first distal palm end knuckle; wherein, the finger motion actuator comprises: a first actuator, mounted on the palm frame and hinged to the first proximal palm end knuckle, configured to drive the first proximal palm end knuckle to rotate relative to the palm frame; a second actuator, mounted on the palm frame and hinged to the first distal palm end knuckle, configured to drive the first distal palm end knuckle to rotate relative to the first proximal palm end knuckle.

[0006] The technical solution of the present disclosure is described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0008] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0009] Figure 1 is a schematic diagram of an exploded structure of a dexterous hand according to an embodiment of the present disclosure;

[0010] Figure 2 This is a schematic diagram of a state in which the first actuator drives the first proximal palmar knuckle according to an embodiment of the present disclosure, and the second actuator remains inactive;

[0011] Figure 3 This is a schematic diagram of a state in which the second actuator according to an embodiment of the present disclosure drives the first distal palm end knuckle, and the first actuator remains in a non-operating state;

[0012] Figure 4 is a partial structural schematic diagram of a first finger assembly according to an embodiment of the present disclosure;

[0013] Figure 5 is a schematic structural diagram of a first finger assembly according to an embodiment of the present disclosure;

[0014] Figure 6 It is a schematic diagram of the structure of the assembled dexterous hand according to an embodiment of the present disclosure.

[0015] As shown in the figure:

[0016] 1. Palm frame;

[0017] 2. Thumb assembly; 20. Thumb base; 21. Thumb knuckle; 23. Thumb action actuator; 230. Thumb rotation actuator; 231. Thumb flexion and extension actuator;

[0018] 3. first finger assembly; 30. first proximal palm end knuckle; 31. first distal palm end knuckle; 32. finger action actuator; 320. first actuator; 321. second actuator; 3200. first actuator body; 3201. first connecting rod; 3210. second actuator body; 3211. second connecting rod;

[0019] 4. a second finger assembly; 40. a second proximal palmar knuckle; 41. a second distal palmar knuckle; 42. a third actuator;

[0020] 5. Inner shell; 50. Palm tactile area;

[0021] 6. Torsion spring;

[0022] 7. Fingertip tactile area;

[0023] 8. First hinge seat;

[0024] 9. Second hinged seat;

[0025] 100. Dexterous hands. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0028] The following describes the dexterous hand according to an embodiment of the present disclosure in conjunction with the accompanying drawings.

[0029] Some embodiments of the present disclosure provide a manipulator. The manipulator includes: a hand frame and a multi-finger assembly; the multi-finger assembly is rotatably connected to the hand frame, and the multi-finger assembly can achieve at least one degree of freedom of rotation relative to the hand frame. The multi-finger assembly of the manipulator includes at least two finger assemblies. The manipulator can be installed on the robot arm of a robot, and is used to grasp, hold and manipulate objects to meet the different operational needs of customers. The manipulator can adopt a bionic design, such as a humanoid design. The manipulator can be a dexterous hand, the hand frame can include a palm frame, and the multi-finger assembly can include a thumb assembly and a finger assembly. The dexterous hand can be able to imitate the movements of a human hand and can perform fine operations.

[0030] Figure 1 FIG. 1 shows a dexterous hand 100 provided by some embodiments of the present disclosure. Figure 1 As shown, the dexterous hand 100 includes a palm frame 1 , a thumb component 2 and at least two first finger components 3 .

[0031] The palm frame 1 serves as the basic support structure of the entire dexterous hand 100. The palm frame 1 can be made of a lightweight and high-strength material, such as an aluminum alloy or a carbon fiber composite material, to ensure sufficient rigidity and lightness. The palm frame 1 can be directly connected to the first finger assembly 3; or a connecting seat can be provided on the palm frame 1, so that the palm frame 1 and the first finger assembly 3 are connected through the connecting seat.

[0032] The thumb component 2 is mounted on the palm frame 1. Optionally, the thumb component 2 can be designed to mimic the thumb structure of a human hand. For example, the thumb component 2 can achieve at least one degree of freedom of rotation relative to the palm frame. For another example, the thumb component 2 can achieve bending motion. In this way, the operation of the object can be improved when cooperating with the first finger component 3.

[0033] At least two first finger assemblies 3 are mounted on the palm frame 1. The number of first finger assemblies 3 and the spacing between them on the palm frame 1 can be selected according to different operation requirements, object characteristics and other actual conditions. For example, in this embodiment, when there are two first finger assemblies 3, they can be arranged to mimic the index finger and middle finger in the human finger structure. At the same time, they can also be adjusted to a combination of the index finger and the ring finger in the finger structure according to actual needs to cooperate with the thumb assembly 2 to perform specific tasks.

[0034] For another example, when the number of the first finger components 3 in this embodiment is three, they can be bionic to the human finger structure of the index finger, middle finger, and ring finger to adapt to complex operations that require the participation of more fingers. Alternatively, according to the needs of specific scenarios, the three first finger components 3 can be arranged in the order of the index finger, middle finger, and little finger to optimize the overall layout of the first finger components 3 and the mechanical properties when operating objects.

[0035] For another example, when there are four first finger components 3 in this embodiment, they can be arranged in the order of index finger, middle finger, ring finger and little finger to achieve more comprehensive and flexible operation of objects.

[0036] In some embodiments of the present disclosure, the first finger assembly 3 may include: a first proximal palm end knuckle 30, a first distal palm end knuckle 31 and a finger motion actuator 32. One end of the first proximal palm end knuckle 30 is hinged to the palm frame 1. Optionally, at least one first hinge seat 8 is provided on the palm frame 1, and the first proximal palm end knuckle 30 can be connected to the first hinge seat 8 via a pin shaft to enable the first proximal palm end knuckle 30 to rotate relative to the palm frame 1. The other end of the first proximal palm end knuckle 30 is hinged to the first distal palm end knuckle 31. For example, referring to Figure 5 A second hinge seat 9 is arranged at the first distal palm end knuckle 31, and an avoidance notch adapted to the second hinge seat 9 is arranged at the first proximal palm end knuckle 30. The second hinge seat 9 can be rotatably connected in the avoidance notch through a pin shaft to realize that the first distal palm end knuckle 31 can rotate equivalently to the first proximal palm end knuckle 30.

[0037] Optionally, the first proximal palm end knuckle 30 and the first distal palm end knuckle 31 adopt a bionic human finger structure. It should be noted that the first proximal palm end knuckle 30 refers to the knuckle close to the palm frame 1, and the first distal palm end knuckle 31 refers to the knuckle far from the palm frame 1. The first finger assembly 3 with multiple knuckles has a flexibility close to that of human fingers. Driven by the finger motion actuator 32, the first proximal palm end knuckle 30 and the first distal palm end knuckle 31 can flexibly adjust their postures to achieve multiple degrees of freedom of movement, thereby simulating complex movements of human fingers, such as bending, stretching, etc.

[0038] In some embodiments of the present disclosure, the finger action actuator 32 may include a first actuator 320 and a second actuator 321. The first actuator 320 is mounted on the palm frame 1 and is hinged to the first proximal palm end knuckle 30, and is configured to drive the first proximal palm end knuckle 30 to rotate relative to the palm frame 1. In this way, the entire first finger assembly 3 can be driven to rotate relative to the palm frame 1. Optionally, the first actuator 320 is a linear actuator for providing linear motion. The second actuator 321 may also be a linear actuator. The second actuator 321 is mounted on the palm frame 1 and is hinged to the first distal palm end knuckle 31, and is configured to drive the first distal palm end knuckle 31 to rotate relative to the first proximal palm end knuckle 30.

[0039] Optionally, a main control unit is also installed in the dexterous hand 100. The main control unit is electrically connected to the first actuator 320 and the second actuator 321, so that the first actuator 320 and the second actuator 321 can be controlled by the main control unit.

[0040] In the specific implementation process, when the first actuator 320 is working and the second actuator 321 remains in a non-working state, the first actuator 320 acts as a power source to drive the first proximal palm end knuckle 30 to rotate relative to the palm frame 1, that is, to realize the first degree of freedom movement of the first finger assembly 3. When the first proximal palm end knuckle 30 rotates, the first distal palm end knuckle 31 is driven to follow the rotation. As a result, the entire first finger assembly 3 rotates relative to the palm frame 1. When the first distal palm end knuckle 31 follows the rotation of the first proximal palm end knuckle 30, it is restricted by the second actuator 321 in the non-working state and passively bends, that is, to realize the second degree of freedom movement of the first finger assembly 3, so that the first finger assembly 3 presents as shown in the figure. Figure 2 In this way, when the first actuator 320 is working and the second actuator 321 is not working, the first finger assembly 3 can achieve multiple degrees of freedom movement.

[0041] When the second actuator 321 is working and the first actuator 320 remains in a non-working state, the second actuator 321 is a power source to drive the first distal palm end knuckle 31 to rotate relative to the first proximal palm end knuckle 30, so that the first finger assembly 3 presents as follows: Figure 3 In this way, the first finger assembly 3 has more active degrees of freedom, which facilitates the dexterous hand 100 to complete more actions.

[0042] When the first actuator 320 and the second actuator 321 work simultaneously, the first actuator 320 and the second actuator 321 both serve as power sources, respectively driving the first proximal palm end knuckle 30 to rotate relative to the palm frame 1 and the first distal palm end knuckle 31 to rotate relative to the first proximal palm end knuckle 30. The rotation direction of the first proximal palm end knuckle 30 relative to the palm frame 1 and the rotation direction of the first distal palm end knuckle 31 relative to the first proximal palm end knuckle 30 can be the same (for example, both are the rotation direction close to the palm, or both are the rotation direction away from the palm), or different (for example, one is the rotation direction close to the palm, and the other is the rotation direction away from the palm). In this way, the first finger assembly 3 has more postures, so that the dexterous hand 100 can achieve a posture that is highly adapted to the requirements of the operation task, which can not only meet the basic grasping requirements, but also realize flexible manipulation of objects.

[0043] In some implementations of the present disclosure, Figure 1 As shown, the first actuator 320 and the second actuator 321 are disposed on opposite sides of the palm frame 1. Exemplarily, the first actuator 320 is distributed on the lower surface of the palm frame 1, and the second actuator 321 is distributed on the upper surface of the palm frame 1.

[0044] The side-by-side arrangement of the first actuator 320 and the second actuator 321 ensures that the first proximal palm-end knuckle 30 and the first distal palm-end knuckle 31 can be driven independently, so that there is no motion interference between the two, thereby increasing the flexibility of the first finger assembly 3.

[0045] From the perspective of structural design, the side arrangement can also effectively avoid mutual interference between the first actuator 320 and the second actuator 321 during the installation process, making the entire installation process simpler and more efficient. At the same time, this layout also maximizes the use of the internal space of the palm frame 1, not only reducing the overall volume of the dexterous hand 100, but also enhancing its compactness.

[0046] In addition, when the first actuator 320 or the second actuator 321 requires maintenance or fails, engineers can directly inspect or replace the faulty components without disassembling the entire dexterous hand 100, which undoubtedly greatly improves the convenience and efficiency of maintenance and reduces maintenance costs.

[0047] In other embodiments of the present disclosure, Figure 1 As shown, the above-mentioned dexterous hand 100 may further include at least one second finger assembly 4, and the at least one second finger assembly 4 is installed on the palm frame 1.

[0048] In some embodiments of the present disclosure, the second finger assembly 4 may include: a second proximal palm end knuckle 40, a second distal palm end knuckle 41 and a third actuator 42. Among them, one end of the second proximal palm end knuckle 40 is hinged to the palm frame 1, and the other end of the second proximal palm end knuckle 40 is hinged to the second distal palm end knuckle 41. Optionally, the second proximal palm end knuckle 40 can be connected to the first hinge seat 8 on the palm frame 1 through a pin to achieve the rotation of the second proximal palm end knuckle 40 relative to the palm frame 1. Optionally, the second proximal palm end knuckle 40 and the second distal palm end knuckle 41 adopt a bionic human finger structure. It should be noted that the second proximal palm end knuckle 40 refers to the knuckle close to the palm frame 1, and the second distal palm end knuckle 41 refers to the knuckle away from the palm frame 1. The second finger assembly 4 having multiple knuckles has a flexibility close to that of human fingers. Driven by the third actuator 42, the second proximal knuckle 40 and the second distal knuckle 41 can flexibly adjust their postures to achieve movement with multiple degrees of freedom, thereby simulating complex movements of human fingers, such as bending, stretching, etc.

[0049] In some embodiments of the present disclosure, the third actuator 42 and the first actuator 320 are mounted on the same side of the palm frame 1, and the third actuator 42 is hinged to the second proximal palm end knuckle 40, and is configured to drive the second proximal palm end knuckle 40 to rotate relative to the palm frame 1. Optionally, the third actuator 42 is a linear actuator for providing linear motion.

[0050] Optionally, the second finger assembly 4 may only be provided with the third actuator 42. It is understandable that when it is necessary to add a finger structure to enhance the ability of the dexterous hand 100 to manipulate objects, but it is not required that each finger has the high-precision control of the first finger assembly 3, the second finger assembly 4 may be selected to assist the first finger assembly 3 to complete a wider range of manipulation tasks, thereby improving the flexibility and adaptability of the entire dexterous hand 100. By adding the second finger assembly 4, the manipulation function of the dexterous hand 100 can be improved while reducing the cost of the dexterous hand 100.

[0051] The number of second finger components 4 is designed to be flexible and can be customized according to the specific needs of actual application scenarios. Figure 1 For example, when the first finger assembly 3 is configured to have two fingers to simulate the human index finger and middle finger, the second finger assembly 4 is also configured to have two fingers to simulate the human ring finger and pinky finger. In this way, not only the similarity with the human finger structure is maintained, but also the assistance function of the second finger assembly 4 is fully utilized to work in coordination with the first finger assembly 3 to jointly complete the operation of the operation object.

[0052] In the specific implementation process, the third actuator 42, as a power source, can drive the second proximal palm end knuckle 40 to rotate relative to the palm frame 1, that is, to achieve the first degree of freedom of the second finger assembly 4. When the second proximal palm end knuckle 40 rotates, the second distal palm end knuckle 41 is driven to rotate accordingly. As a result, the entire second finger assembly 4 can rotate relative to the palm frame 1, and the posture adjustment of the second finger assembly 4 is achieved.

[0053] In some embodiments of the present disclosure, Figure 4 and Figure 5 As shown, at least one of the first actuator 320 and the third actuator 42 includes: a first actuator body 3200 and a first connecting rod 3201 .

[0054] The first actuator body 3200 has a retractable first driving end. One end of the first connecting rod 3201 is hinged to the first driving end, and the other end of the first connecting rod 3201 is hinged to the first proximal palm end knuckle 30 or the second proximal palm end knuckle 40 .

[0055] Optionally, the first actuator body 3200 may include a motor, a reducer, a screw, a nut, and a telescopic rod; the motor drives the screw to rotate through the reducer, and the thread on the screw cooperates with the nut to convert the rotational motion of the screw into linear motion of the nut, and the telescopic rod is driven to move through the nut; an optional potentiometer may be used to record the travel state of the telescopic rod.

[0056] In addition, it is worth noting that the design of the first actuator body 3200 is not limited to the above structure. According to the specific needs of the actual application scenario, it can also use a micro cylinder or other actuators with a retractable driving end as a driving source to meet the diverse needs in different scenarios.

[0057] At least one of the first actuator 320 and the third actuator 42 is further configured to convert the telescopic movement of the first driving end into a rotational movement of at least one of the first proximal palm end knuckle 30 and the second proximal palm end knuckle 40 relative to the palm frame 1 through the first connecting rod 3201.

[0058] The first proximal palm end knuckle 30 or the second proximal palm end knuckle 40 presents an arc-shaped motion trajectory during the rotation process relative to the palm frame 1. In order to better match the motion trajectory of the first proximal palm end knuckle 30 or the second proximal palm end knuckle 40 during the rotation process, the first connecting rod 3201 can be optionally an arc-shaped member. This design reduces obstacles and friction during the motion process, making the motion transmission smoother and more efficient.

[0059] Optionally, the first actuator 320 and the third actuator 42 are driven in the same manner, and the first actuator 320 is used as an example below. When the angle of the first proximal palm end phalanx 30 needs to be adjusted, the first driving end of the first actuator body 3200 is extended or contracted accordingly, and the first proximal palm end phalanx 30 is driven to rotate relative to the palm frame 1 through the first connecting rod 3201.

[0060] In some embodiments of the present disclosure, Figure 4 and Figure 5 As shown, the second actuator 321 includes: a second actuator body 3210 and a second connecting rod 3211 .

[0061] The second actuator body 3210 has a retractable second driving end, one end of the second connecting rod 3211 is hinged to the second driving end, and the other end of the second connecting rod 3211 is hinged to the first distal palm end knuckle 31 .

[0062] Optionally, the second actuator body 3210 may include a motor, a reducer, a lead screw, a nut, and a telescopic rod; the motor drives the lead screw to rotate through the reducer, and the thread on the lead screw cooperates with the nut to convert the rotational motion of the lead screw into linear motion of the nut, and the telescopic rod is driven to move through the nut; an optional potentiometer may be used to record the travel state of the telescopic rod.

[0063] In addition, it is worth noting that the design of the second actuator body 3210 is not limited to the above structure. According to the specific needs of the actual application scenario, it can also use a micro cylinder or other actuators with a retractable driving end as a driving source to meet the diverse needs in different scenarios.

[0064] The second actuator 321 is further configured to convert the telescopic movement of the second driving end into a rotational movement of the first distal palm end knuckle 31 relative to the first proximal palm end knuckle 30 via the second connecting rod 3211 .

[0065] Specifically, when the angle of the first distal palm-end knuckle 31 needs to be adjusted, the second driving end of the second actuator body 3210 performs an extension or contraction action accordingly, and drives the first distal palm-end knuckle 31 to rotate relative to the first proximal palm-end knuckle 30 through the second connecting rod 3211.

[0066] In some embodiments of the present disclosure, Figure 4As shown, a torsion spring 6 is provided at the hinge of the first proximal palm end knuckle 30 and the first distal palm end knuckle 31, and the torsion spring 6 is used to provide a damping force for the first distal palm end knuckle 31 to rotate relative to the first proximal palm end knuckle 30 during the process of the first finger assembly 3 changing from the straight state to the bent state. Therefore, during the process of the first finger assembly 3 changing from the bent state to the straight state, the damping force (equivalent to the reverse rebound force) of the torsion spring 6 can force the first distal palm end knuckle 31 to straighten, thereby eliminating the gap between the first distal palm end knuckle 31 and the first proximal palm end knuckle 30 during the straightening process of the first finger assembly 3, and reducing the positioning error caused by the gap.

[0067] Specifically, when the first distal palm end knuckle 31 rotates relative to the first proximal palm end knuckle 30, the torsion spring 6 will be squeezed, causing the torsion spring 6 to deform and store elastic potential energy. When the first distal palm end knuckle 31 and the first proximal palm end knuckle 30 return to the straightened state, the elastic potential energy stored in the torsion spring 6 will be naturally released. The released elastic potential energy pushes the first distal palm end knuckle 31 closer to the first proximal palm end knuckle 30, ensuring that the two can fit more closely in the straightened state, thereby eliminating the gap between the first distal palm end knuckle 31 and the first proximal palm end knuckle 30 during the straightening process of the first finger assembly 3.

[0068] In other embodiments of the present disclosure, Figure 4 As shown, the hinges of the first proximal palm end knuckle 30 and the first distal palm end knuckle 31, and the hinges of the second proximal palm end knuckle 40 and the second distal palm end knuckle 41 are all provided with torsion springs 6, and the torsion springs 6 are used to provide a damping force for the first distal palm end knuckle 31 to rotate relative to the first proximal palm end knuckle 30 during the process of the first finger assembly 3 being transformed from a straight state to a bent state, and a damping force for the second distal palm end knuckle 41 to rotate relative to the second proximal palm end knuckle 40 during the process of the second finger assembly 4 being transformed from a straight state to a bent state.

[0069] Torsion springs 6 are provided at the hinges of the first proximal palm end knuckle 30 and the first distal palm end knuckle 31, as well as at the hinges of the second proximal palm end knuckle 40 and the second distal palm end knuckle 41. The torsion springs 6 can be used to eliminate the gap between the first proximal palm end knuckle 30 and the first distal palm end knuckle 31 during the straightening of the first finger assembly 3, as well as the gap between the second proximal palm end knuckle 40 and the second distal palm end knuckle 41 during the straightening of the second finger assembly 4, thereby reducing the positioning error caused by the gap.

[0070] In some embodiments of the present disclosure, Figure 1 As shown, the thumb assembly 2 includes: a thumb base 20 , a thumb knuckle 21 and a thumb action actuator 23 .

[0071] The base of the thumb 20 is hinged to the palm frame 1 , and the thumb knuckle 21 is hinged to the base of the thumb 20 .

[0072] The thumb motion actuator 23 includes: a thumb rotation actuator 230 and a thumb flexion and extension actuator 231 , wherein the thumb rotation actuator 230 is installed on the palm frame 1 and connected to the thumb base 20 , and is configured to drive the thumb base 20 to rotate relative to the palm frame 1 .

[0073] The thumb flexion and extension actuator 231 is installed on the palm frame 1 or the thumb base 20 and connected to the thumb knuckle 21 , and is configured to drive the thumb knuckle 21 to rotate relative to the thumb base 20 .

[0074] In specific implementation, the thumb rotation actuator 230 can drive the thumb base 20 to rotate relative to the palm frame 1, ensuring that the thumb base 20 can flexibly adjust its orientation to adapt to the grasping requirements of different angles and directions, while the thumb flexion and extension actuator 231 can drive the thumb knuckle 21 to rotate relative to the thumb base 20, simulating the natural bending and straightening of the human thumb. Through the synergistic effect of the thumb rotation actuator 230 and the thumb flexion and extension actuator 231, the thumb component 2 not only realizes the dual degrees of freedom of rotation and bending, but also greatly enhances its operational flexibility and accuracy. This design enables the thumb component 2 to more flexibly cooperate with the first finger component 3 to perform complex object manipulation, whether it is grasping, holding, or manipulation.

[0075] In some embodiments of the present disclosure, the dexterous hand 100 can be used as an end effector of a robot. For example, the dexterous hand 100 can be used for precision assembly: when assembling a small gear onto a shaft, the thumb assembly 2 and the first finger assembly 3 precisely clamp the gear, while the second finger assembly 4 gently presses against the other side of the gear to prevent it from shifting or rotating during the assembly process.

[0076] Through the mutual cooperation of the thumb component 2, the first finger component 3, and the second finger component 4, the dexterous hand 100 can realize various actions such as finger touching, grasping, holding, pinching, clamping, two-finger twisting, fingertip rubbing, and fingertip clamping.

[0077] In some embodiments of the present disclosure, Figure 6 As shown, the first distal palm end knuckle 31, the second distal palm end knuckle 41 and the thumb knuckle 21 are provided with a fingertip tactile area 7, and a tactile sensor is embedded in the fingertip tactile area 7. By providing the fingertip tactile area 7, the dexterous hand 100 can detect and measure the force generated when the knuckle contacts the external environment, which helps to accurately control the contact force between the dexterous hand 100 and the object, so as to perform more delicate operations. When the dexterous hand 100 is used as the end effector of the robot, the robot can sense the specific distribution of pressure on the contact surface through the tactile sensor, which is crucial for judging the shape, size and position of the contact point of the object, ensuring that the appropriate force and stability can be maintained when grasping, carrying or operating the object.

[0078] In some embodiments of the present disclosure, Figure 6 As shown, the palm frame 1 is provided with an inner shell 5 on the palm side close to the dexterous hand 100, and a palm touch area 50 is provided on the inner shell 5. A touch sensor is embedded in the palm touch area 50. By providing the palm touch area 50, the dexterous hand 100 can sense and measure the pressure or force generated by the hand or palm when contacting and holding an object, thereby realizing the detection of grip force.

[0079] In some optional embodiments, the tactile sensors in the fingertip tactile area 7 and the palm tactile area 50 are distributed tactile force sensors, which are composed of multiple contact points in an array to measure the contact area and the pressure of the contact point, and can obtain the position of the contact point, the shape of the contact area and the force information, and further obtain friction information to determine whether sliding occurs. Optionally, the minimum force that the tactile sensor can detect is 0.1N.

[0080] Optionally, the tactile sensor is equipped with a microprocessor, which obtains the three-dimensional contact force information corresponding to the tactile sensing array through real-time signal collection, filtering, and fusion analysis, and at the same time judges the lateral sliding information of the contact object and whether there is an object in contact with the finger. It uses the IIC (Inter-Integrated Circuit, multi-directional control bus) communication interface to transmit the collected original channel information, fusion processing information, judgment results, etc. to the tactile adapter board, and then to the main control unit in the dexterous hand 100, providing a basis for the action planning of the dexterous hand 100.

[0081] In specific implementation, by arranging tactile sensors in the fingertip tactile area 7 and the palm tactile area 50 of the dexterous hand 100, the dexterous hand 100 can accurately control the grasping force or manipulation force of the object. Through the fusion analysis of the tactile sensor data in these two areas, the main control unit can adjust the stroke state of the first actuator 320 and the second actuator 321 in real time to achieve fine control of the grasping force or manipulation force. This closed-loop control mechanism not only improves the stability and reliability of grasping, but also ensures the adaptability and flexibility of the dexterous hand 100 in different operation tasks.

[0082] In some embodiments of the present disclosure, Figure 6 As shown, the surfaces of the fingertip tactile area 7 and the palm tactile area 50 are made of flexible materials, and the Shore hardness of the flexible materials is 70A to 80A. The flexible materials, due to their good softness and elasticity, can enable the tactile sensors in the fingertip tactile area 7 and the palm tactile area 50 to more accurately sense and respond to external touch. Moreover, the materials with a Shore hardness in the range of 70A to 80A not only maintain a certain hardness to ensure the stability of the structure, but also have sufficient softness to improve the tactile sensitivity, thereby ensuring the accuracy of the tactile sensor during detection.

[0083] As a possible situation, in order to facilitate improving the aesthetics of the dexterous hand 100 disclosed in the present invention, an outer shell and a thumb cover can also be provided. The outer shell can be detachably connected to the palm frame 1, and the outer shell cooperates with the inner shell 5 to cover the first actuator 320, the second actuator 321, the third actuator 42 and the palm frame 1, while the thumb cover is connected to the inner shell 5, and the thumb cover is provided on the outside of the thumb base 20, wherein the thumb cover is made of a flexible material, which not only achieves the covering of the thumb base 20, but also does not affect the rotation of the thumb base 20.

[0084] In summary, the dexterous hand 100 of the embodiment of the present disclosure has multiple active degrees of freedom, can realize a variety of complex movements, and has high repetitive accuracy of fingertip force feedback. It can not only meet basic grasping requirements, but also realize flexible manipulation of objects.

[0085] It should be noted that, in the present disclosure, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0086] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in the present disclosure can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described in the present disclosure, but will conform to the widest scope consistent with the principles and novel features of the present disclosure.

Claims

1. A dexterous hand, characterized in that: include: Palm frame; A thumb assembly, the thumb assembly being mounted on the palm frame; At least two first finger assemblies, both of which are mounted on the palm frame, the first finger assembly comprising: a first proximal palm end knuckle, a first distal palm end knuckle and a finger action actuator; wherein one end of the first proximal palm end knuckle is hinged to the palm frame, and the other end of the first proximal palm end knuckle is hinged to the first distal palm end knuckle; Wherein, the finger action actuator comprises: A first actuator, mounted on the palm frame and hinged to the first proximal palm end knuckle, configured to drive the first proximal palm end knuckle to rotate relative to the palm frame; A second actuator is mounted on the palm frame and is hinged to the first distal palm end knuckle, and is configured to drive the first distal palm end knuckle to rotate relative to the first proximal palm end knuckle.

2. The dexterous hand according to claim 1, characterized in that: The first actuator and the second actuator are respectively arranged on two opposite sides of the palm frame.

3. The dexterous hand according to claim 1, characterized in that: Also included is at least one second finger assembly, the at least one second finger assembly is mounted on the palm frame, the second finger assembly includes: a second proximal palm end knuckle, a second distal palm end knuckle and a third actuator, wherein, One end of the second proximal palmar knuckle is hinged to the palm frame, and the other end of the second proximal palmar knuckle is hinged to the second distal palmar knuckle; The third actuator is mounted on the same side of the palm frame as the first actuator, and is hinged to the second proximal palmar knuckle, and is configured to drive the second proximal palmar knuckle to rotate relative to the palm frame.

4. The dexterous hand according to claim 3, characterized in that: At least one of the first actuator and the third actuator comprises: a first actuator body having a retractable first drive end; A first connecting rod, one end of which is hinged to the first driving end, and the other end of which is hinged to the first proximal palm end knuckle or the second proximal palm end knuckle; At least one of the first actuator and the third actuator is further configured to convert the telescopic movement of the first driving end into a rotational movement of at least one of the first proximal palmar end knuckle and the second proximal palmar end knuckle relative to the palm frame through the first connecting rod.

5. The dexterous hand according to claim 1, characterized in that: The second actuator comprises: a second actuator body having a retractable second drive end; a second connecting rod, one end of which is hinged to the second driving end, and the other end of which is hinged to the first distal palm end knuckle; The second actuator is further configured to convert the telescopic movement of the second driving end into a rotational movement of the first distal palm end knuckle relative to the first proximal palm end knuckle through the second connecting rod.

6. The dexterous hand according to claim 3, characterized in that: A torsion spring is provided at the hinge of the first proximal palm end knuckle and the first distal palm end knuckle, and the torsion spring is used to provide a damping force for the first distal palm end knuckle to rotate relative to the first proximal palm end knuckle during the process of the first finger assembly being transformed from a straight state to a bent state; or, Torsion springs are provided at the hinges of the first proximal palm end knuckle and the first distal palm end knuckle, and at the hinges of the second proximal palm end knuckle and the second distal palm end knuckle. The torsion springs are used to provide a damping force for the rotation of the first distal palm end knuckle relative to the first proximal palm end knuckle during the transformation of the first finger assembly from a straight state to a bent state, and a damping force for the rotation of the second distal palm end knuckle relative to the second proximal palm end knuckle during the transformation of the second finger assembly from a straight state to a bent state.

7. The dexterous hand according to claim 3, characterized in that: The thumb assembly comprises: A thumb root, the thumb root is hinged to the palm frame; a thumb knuckle, the thumb knuckle being hinged to the thumb base; Thumb action actuator, including: A thumb rotation actuator, mounted on the palm frame and connected to the base of the thumb, configured to drive the base of the thumb to rotate relative to the palm frame; A thumb flexion and extension actuator is installed on the palm frame or the thumb base and connected to the thumb knuckle, and is configured to drive the thumb knuckle to rotate relative to the thumb base.

8. The dexterous hand according to claim 7, characterized in that: The first distal palm end knuckle, the second distal palm end knuckle and the thumb knuckle are provided with a fingertip tactile area, and a tactile sensor is embedded in the fingertip tactile area.

9. The dexterous hand according to claim 8, characterized in that: An inner shell is arranged on the palm frame near the palm of the dexterous hand, and a palm tactile area is arranged on the inner shell. A tactile sensor is embedded in the palm tactile area.

10. The dexterous hand according to claim 9, characterized in that: The surfaces of the fingertip tactile area and the palm tactile area are made of flexible material, and the Shore hardness of the flexible material is 70A to 80A.

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