Passive side swaying assembly, dexterous hand finger, dexterous hand and robot

Abstract

The invention provides a passive side swing assembly, a dexterous hand finger, a dexterous hand and a robot, and the passive side swing assembly is used for being arranged in the dexterous hand finger and comprises a base, a top seat and a transmission block; the top seat and the base are oppositely arranged; the first end of the transmission block is rotatably connected with the base, the second end of the transmission block is rotatably connected with the top seat, and the base and the top seat are further used for limiting the swing direction of the transmission block so that the transmission block can swing in the first direction when the passive side swing assembly is subjected to external force. The two ends of the transmission block are rotationally connected with the base and the top base correspondingly, the swing direction of the transmission block is limited through the base and the top base, the transmission block can swing in the first direction when subjected to external force, and therefore lateral swing of the fingers of the dexterous hand is achieved. Due to the fact that a side-sway motor does not need to be arranged, the passive side-sway structure can reduce the structural complexity and cost of the dexterous hand and reduce energy consumption.

Description

Technical Field

[0001] The present application relates to the technical field of robot dexterous hands, and in particular to a passive side swing component, dexterous hand fingers, a dexterous hand and a robot. Background Art

[0002] The dexterous hand is the end effector of the robot and an important component for realizing local fine manipulation and grasping tasks of the robot. The fingers of the dexterous hand are an important component of the dexterous hand, and the performance of the fingers of the dexterous hand directly affects the operation ability of the dexterous hand.

[0003] In the solution of the related technology, a corresponding side-swing assembly is provided in the fingers of the dexterous hand, and the side-swing assembly can be driven by a corresponding side-swing motor, so that the fingers of the dexterous hand can swing sideways, thereby improving the grasping ability and adaptability of the dexterous hand.

[0004] However, the solutions of related technologies increase the structural complexity and cost of the dexterous hand, and have high energy consumption. Summary of the invention

[0005] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a passive side swing component, dexterous hand fingers, dexterous hand and robot. The present application is conducive to reducing the structural complexity and cost of the dexterous hand and reducing energy consumption.

[0006] In one aspect, the present application provides a passive side swing assembly for being arranged in a finger of a dexterous hand, comprising:

[0007] Base;

[0008] A top seat, the top seat being arranged opposite to the base;

[0009] A transmission block, wherein the first end of the transmission block is rotatably connected to the base, and the second end of the transmission block is rotatably connected to the top seat, and the base and the top seat are also used to limit the swing direction of the transmission block so that when the passive side swing assembly is subjected to external force, the transmission block swings toward the first direction.

[0010] In a possible implementation, the base includes a base body, a first base side wall and a second base side wall, the first base side wall and the second base side wall are arranged on both sides of the base body along the second direction, and the first end of the transmission block is arranged between the first base side wall and the second base side wall, and is rotatably connected to the first base side wall and the second base side wall;

[0011] The top seat includes a top seat body, a first top seat side wall and a second top seat side wall, wherein the first top seat side wall and the second top seat side wall are arranged on both sides of the top seat body along the second direction, and the second end of the transmission block is arranged between the first top seat side wall and the second top seat side wall, and is rotatably connected to the first top seat side wall and the second top seat side wall.

[0012] In a possible implementation, the passive side swing assembly further includes a connecting seat, which is rotatably connected to the top seat body, and the connecting seat can rotate relative to the top seat body toward the second direction.

[0013] In a possible implementation, the connecting seat includes a connecting seat body, a first connecting seat side wall and a second connecting seat side wall, the first connecting seat side wall and the second connecting seat side wall are arranged on both sides of the connecting seat body along the first direction; the top seat body is arranged between the first connecting seat side wall and the second connecting seat side wall, and is rotatably connected to the first connecting seat side wall and the second connecting seat side wall.

[0014] In a possible implementation, the passive side swing assembly further includes a transfer rod, and the transfer rod is penetrated through the connecting seat body along the first direction.

[0015] On the other hand, the present application provides a dexterous hand finger, comprising a finger base, a first knuckle, a second knuckle, a third knuckle and a passive side swing assembly as described above, wherein the first knuckle is rotatably connected to the finger base, the second knuckle is rotatably connected to the first knuckle, the third knuckle is rotatably connected to the second knuckle, and the passive side swing assembly is connected to the first knuckle.

[0016] In a possible implementation, it also includes a connecting rod mechanism, which includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first end of the first connecting rod is rotatably connected to the first finger joint, and the second end of the first connecting rod is rotatably connected to the second finger joint; the first end of the second connecting rod is rotatably connected to the second end of the first connecting rod, and the second end of the second connecting rod is rotatably connected to the hinge point of the first finger joint and the second finger joint; the first end of the third connecting rod is rotatably connected to the second end of the first connecting rod, and the second end of the third connecting rod is rotatably connected to the third finger joint; the first end of the fourth connecting rod is rotatably connected to the second end of the second connecting rod, and the second end of the fourth connecting rod is rotatably connected to the hinge point of the second finger joint and the third finger joint.

[0017] On the other hand, the present application provides a dexterous hand, including a palm, on which an index finger, a middle finger, a ring finger and a little finger are arranged in sequence, wherein the index finger, the middle finger, the ring finger and the little finger are all the dexterous hand fingers as described above.

[0018] In a possible implementation, a thumb is further provided on the palm, the thumb is adjacent to the index finger, the thumb includes a first thumb joint and a second thumb joint, the first thumb joint is rotatably connected to the second thumb joint; a thumb bending motor is provided in the first thumb joint, the output end of the thumb bending motor is connected to the first end of a thumb bending connecting rod, and the second end of the thumb bending connecting rod is rotatably connected to the second thumb joint;

[0019] A thumb side-swing motor and a side-swing transmission member are provided in the palm, and the thumb side-swing motor is connected to the first knuckle of the thumb through the side-swing transmission member;

[0020] The palm is also provided with an index finger bending motor, a middle finger bending motor, a ring finger bending motor and a pinky finger bending motor. The index finger bending motor is connected to the passive side swing component in the index finger, the middle finger bending motor is connected to the passive side swing component in the middle finger, the ring finger bending motor is connected to the passive side swing component in the ring finger, and the pinky finger bending motor is connected to the passive side swing component in the pinky finger.

[0021] On the other hand, the present application provides a robot comprising the dexterous hand as described above.

[0022] The present application provides a passive side-swing assembly, a dexterous hand finger, a dexterous hand and a robot. The passive side-swing assembly is used to be arranged in the dexterous hand finger, and includes: a base, a top seat and a transmission block; the top seat is arranged relative to the base; the first end of the transmission block is rotatably connected to the base, and the second end of the transmission block is rotatably connected to the top seat. The base and the top seat are also used to limit the swing direction of the transmission block, so that when the passive side-swing assembly is subjected to an external force, the transmission block swings toward the first direction. The present application realizes the side-swing of the dexterous hand finger by rotatably connecting the two ends of the transmission block to the base and the top seat respectively, and using the base and the top seat to limit the swing direction of the transmission block. When subjected to an external force, the transmission block can swing toward the first direction. Since there is no need to set up a side-swing motor, the passive side-swing structure of the present application can reduce the structural complexity and cost of the dexterous hand and reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 An exploded view of a passive roll assembly provided in one embodiment of the present application;

[0025] Figure 2 A simplified structural diagram of a passive side swing assembly provided in another embodiment of the present application;

[0026] Figure 3 for Figure 2 Side view of

[0027] Figure 4 for Figure 2 Exploded diagram of

[0028] Figure 5 A simplified structural diagram of the fingers of a dexterous hand provided in one embodiment of the present application;

[0029] Figure 6 for Figure 5 The main view;

[0030] Figure 7 for Figure 5 Side view of

[0031] Figure 8 A simplified structural diagram of a transmission assembly for a finger of a dexterous hand provided in one embodiment of the present application;

[0032] Fig. 9 A simplified structural diagram of a dexterous hand provided in one embodiment of the present application;

[0033] Fig.10 A schematic diagram of the internal structure of the dexterous hand provided in one embodiment of the present application.

[0034] Reference numerals:

[0035] 10- Palm;

[0036] 20-thumb; 21-first knuckle of thumb; 22-second knuckle of thumb; 23-thumb bending motor; 24-thumb bending connecting rod; 25-thumb side swing motor; 26-side swing transmission member;

[0037] 30-index finger; 31-index finger bending motor;

[0038] 40-middle finger; 41-middle finger bending motor;

[0039] 50-ring finger; 51-ring finger bending motor;

[0040] 60- little finger; 61- little finger bending motor;

[0041] 100- passive side swing assembly;

[0042] 200-finger base;

[0043] 300-first knuckle;

[0044] 400-second knuckle;

[0045] 500-third knuckle;

[0046] 610-first connecting rod; 620-second connecting rod; 630-third connecting rod; 640-fourth connecting rod;

[0047] 1000 - base; 1100 - base body; 1200 - first base side wall; 1300 - second base side wall;

[0048] 2000-top seat; 2100-top seat body; 2200-first top seat side wall; 2300-second top seat side wall;

[0049] 3000-transmission block;

[0050] 4000 - connection seat; 4100 - connection seat body; 4200 - first connection seat side wall; 4300 - second connection seat side wall;

[0051] 5000-Adapter rod. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0053] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0054] As described in the background technology, in the related art, the fingers of the dexterous hand are generally driven by a side swing motor to swing the side swing assembly, thereby realizing the side swing of the fingers of the dexterous hand. However, the above solution introduces the side swing motor, which increases the energy consumption of the dexterous hand, increases the complexity of the structure, and increases the cost.

[0055] In view of this, the embodiments of the present application aim to provide a passive side-swing assembly, a dexterous hand finger, a dexterous hand and a robot. The passive side-swing assembly rotatably connects the two ends of the transmission block to the base and the top seat respectively, and uses the base and the top seat to limit the swing direction of the transmission block. When subjected to external force, the transmission block can swing toward the first direction, thereby realizing the side-swing of the dexterous hand finger. Since there is no need to set a side-swing motor, the passive side-swing structure of the embodiments of the present application can reduce the structural complexity and cost of the dexterous hand and reduce energy consumption.

[0056] The following is a detailed description of the embodiments of the present application in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail. In the description of the present embodiment, the first direction X, the second direction Y, and the third direction Z are three different directions in a three-dimensional space. For example, the first direction X, the second direction Y, and the third direction Z may be perpendicular to each other.

[0057] Please refer to Figure 1 The present embodiment provides a passive side-swing assembly 100, which is used to be arranged in a finger of a dexterous hand. The passive side-swing assembly 100 includes:

[0058] The base 1000 is used to support other components of the passive side swing assembly 100 and to achieve connection with the finger bending motor.

[0059] The top seat 2000 is arranged opposite to the base 1000 along the third direction Z.

[0060] The transmission block 3000, the first end of the transmission block 3000 is rotatably connected to the base 1000, and the second end of the transmission block 3000 is rotatably connected to the top seat 2000. Exemplarily, the first end of the transmission block 3000 can be rotatably connected to the base 1000 through a hinge shaft, and the hinge shaft is respectively disposed in the transmission block 3000 and the base 1000; the second end of the transmission block 3000 can be rotatably connected to the top seat 2000 through a hinge shaft, and the hinge shaft is respectively disposed in the transmission block 3000 and the top seat 2000. The base 1000 and the top seat 2000 are also used to limit the swing direction of the transmission block 3000, so that when the passive side swing assembly 100 is subjected to external force, the transmission block 3000 swings toward the first direction X. That is to say, this embodiment can utilize the structure of the base 1000 and the top seat 2000 to limit the swinging direction of the transmission block 3000, so that when the passive side-swing assembly 100 is subjected to external force, the transmission block 3000 can only swing toward the preset first direction X, and the passive side-swing assembly 100 can be connected to the fingers of the dexterous hand, so that when the transmission block 3000 swings toward the preset first direction X, the fingers of the dexterous hand can realize side swing.

[0061] As can be seen from the above description, in this embodiment, the two ends of the transmission block 3000 are rotatably connected to the base 1000 and the top seat 2000 respectively, and the base 1000 and the top seat 2000 are used to limit the swing direction of the transmission block 3000, so that when subjected to external force, the transmission block 3000 swings toward the first direction X, thereby realizing the side swing of the fingers of the dexterous hand. Since there is no need to set a side swing motor, the passive side swing structure of this embodiment can reduce the structural complexity and cost of the dexterous hand and reduce energy consumption.

[0062] Please continue to refer to Figure 1, the base 1000 of this embodiment includes a base body 1100, a first base side wall 1200 and a second base side wall 1300. Among them, the base body 1100 is used to connect with the finger bending motor, and the first base side wall 1200 and the second base side wall 1300 are arranged on both sides of the base body 1100 along the second direction Y. For example, the first base side wall 1200 and the second base side wall 1300 can be vertically arranged at both ends of the base body 1100 along the second direction Y. The first end of the transmission block 3000 is arranged between the first base side wall 1200 and the second base side wall 1300, and is rotatably connected to the first base side wall 1200 and the second base side wall 1300. Exemplarily, corresponding through holes can be set on the first end of the transmission block 3000, the first base side wall 1200 and the second base side wall 1300, and the hinge shaft is sequentially passed through the three through holes, so that the first end of the transmission block 3000 is rotatably connected to the first base side wall 1200 and the second base side wall 1300.

[0063] The top seat 2000 includes a top seat body 2100, a first top seat side wall 2200 and a second top seat side wall 2300. The first top seat side wall 2200 and the second top seat side wall 2300 are arranged on both sides of the top seat body 2100 along the second direction Y. For example, the first top seat side wall 2200 and the second top seat side wall 2300 can be vertically arranged at both ends of the top seat body 2100 along the second direction Y. The second end of the transmission block 3000 is arranged between the first top seat side wall 2200 and the second top seat side wall 2300, and is rotatably connected to the first top seat side wall 2200 and the second top seat side wall 2300. Exemplarily, corresponding through holes can be arranged on the second end of the transmission block 3000, the first top seat side wall 2200 and the second top seat side wall 2300, and the hinge shaft is sequentially passed through the three through holes, so that the second end of the transmission block 3000 is rotatably connected to the first top seat side wall 2200 and the second top seat side wall 2300.

[0064] Through the above structure, this embodiment can utilize the first base side wall 1200 and the second base side wall 1300 to limit the first end of the transmission block 3000, and utilize the first top seat side wall 2200 and the second top seat side wall 2300 to limit the second end of the transmission block 3000, so that the transmission block 3000 can only swing in the first direction X, thereby ensuring that the passive side swing assembly 100 swings in a certain direction when subjected to external force.

[0065] Please continue to refer to Figure 2-Figure 4In another embodiment, the passive side swing assembly 100 further includes a connecting seat 4000, which is rotatably connected to the top seat body 2100, and the connecting seat 4000 can rotate relative to the top seat body 2100 toward the second direction Y. The connecting seat 4000 is used to connect other components on the fingers of the dexterous hand. Since the connecting seat 4000 can rotate relative to the top seat body 2100 toward the second direction Y, it can drive other components on the fingers of the dexterous hand to rotate toward the second direction Y to achieve the bending of the fingers of the dexterous hand.

[0066] Specifically, if Figure 4 As shown, the connection seat 4000 includes a connection seat body 4100, a first connection seat side wall 4200 and a second connection seat side wall 4300. The first connection seat side wall 4200 and the second connection seat side wall 4300 are arranged on both sides of the connection seat body 4100 along the first direction X. For example, the first connection seat side wall 4200 and the second connection seat side wall 4300 can be vertically arranged at both ends of the connection seat body 4100 along the first direction X. The top seat body 2100 is arranged between the first connection seat side wall 4200 and the second connection seat side wall 4300, and is rotatably connected to the first connection seat side wall 4200 and the second connection seat side wall 4300. Exemplarily, corresponding through holes can be arranged on the top seat body 2100, the first connection seat side wall 4200 and the second connection seat side wall 4300, and the hinge shaft is sequentially passed through the three through holes, so that the top seat body 2100 is rotatably connected to the first connection seat side wall 4200 and the second connection seat side wall 4300.

[0067] It can be understood that the above structure can limit the rotation direction of the connecting base 4000 relative to the top base 2000, so that the connecting base 4000 can only rotate in the second direction Y relative to the top base 2000.

[0068] Furthermore, in another embodiment, the passive side swing assembly 100 also includes a transfer rod 5000, which is penetrated through the connecting seat body 4100 along the first direction X. The passive side swing assembly 100 can be connected to other components on the fingers of the dexterous hand through the transfer rod 5000.

[0069] Please refer to Figure 5-Figure 8 The present embodiment also provides a dexterous finger, comprising a finger base 200, a first finger joint 300, a second finger joint 400, a third finger joint 500 and the above passive side swing assembly 100. The first finger joint 300 is rotatably connected to the finger base 200, the second finger joint 400 is rotatably connected to the first finger joint 300, the third finger joint 500 is rotatably connected to the second finger joint 400, and the passive side swing assembly 100 is connected to the first finger joint 300.

[0070] Specifically, the passive side swing assembly 100 can be passed through the first finger joint 300 through the above-mentioned adapter rod 5000, thereby driving the first finger joint 300 to move together. When the passive side swing assembly 100 is driven by the finger bending motor, the passive side swing assembly 100 can drive the first finger joint 300 connected thereto to move downward synchronously, so that the first finger joint 300 rotates compared to the finger base 200, and the first finger joint 300 is bent; the bending of the first finger joint 300 can drive the second finger joint 400 rotatably connected thereto to bend; the bending of the second finger joint 400 drives the third finger joint 500 rotatably connected thereto to bend.

[0071] In addition, due to the existence of the passive lateral swing component 100, the fingers of the dexterous hand can also achieve lateral swing toward the first direction X when subjected to external force.

[0072] The dexterous hand fingers of this embodiment adopt the above-mentioned passive side swing assembly 100, so they can realize passive side swing under the action of external force, and can realize the bending of each finger joint under the drive of the finger bending motor. The introduction of the passive side swing assembly 100 can reduce the structural complexity and cost of the dexterous hand fingers and reduce energy consumption.

[0073] Please continue to refer to Figure 8 The dexterous hand of this embodiment also includes a connecting rod mechanism in the finger, and the connecting rod mechanism includes a first connecting rod 610, a second connecting rod 620, a third connecting rod 630 and a fourth connecting rod 640. Among them, the first end of the first connecting rod 610 is rotatably connected to the first finger joint 300, and the second end of the first connecting rod 610 is rotatably connected to the second finger joint 400, and the first connecting rod 610 is used to connect the first finger joint 300 and the second finger joint 400. The first end of the second connecting rod 620 is rotatably connected to the second end of the first connecting rod 610, and the hinge point between the first finger joint 300 and the second finger joint 400 is rotatably connected to the second end of the second connecting rod 620. The first end of the third connecting rod 630 is rotatably connected to the second end of the first connecting rod 610, and the second end of the third connecting rod 630 is rotatably connected to the third finger joint 500, and the third connecting rod 630 is used to connect the second finger joint 400 and the third finger joint 500. The first end of the fourth link 640 is rotatably connected to the second end of the second link 620 , the hinge point between the second knuckle 400 and the third knuckle 500 is rotatably connected to the second end of the fourth link 640 , and the fourth link 640 is used to drive the third knuckle 500 to bend.

[0074] Please continue to refer to Fig. 9 and Fig.10 The present embodiment also provides a dexterous hand, including a palm 10, on which are arranged an index finger 30, a middle finger 40, a ring finger 50 and a little finger 60. The index finger 30, the middle finger 40, the ring finger 50 and the little finger 60 are all fingers of the dexterous hand.

[0075] It can be understood that since the index finger 30, the middle finger 40, the ring finger 50 and the little finger 60 are all the above-mentioned dexterous hand fingers, there are passive side swing components 100, so that the index finger 30, the middle finger 40, the ring finger 50 and the little finger 60 can all achieve passive side swing under the action of external force, which is beneficial to reduce the structural complexity and cost of the dexterous hand and reduce energy consumption.

[0076] Please continue to refer to Fig. 9 and Fig.10 In the present embodiment, a thumb 20 is also provided on the palm 10. The thumb 20 is adjacent to the index finger 30. The thumb 20 includes a first thumb knuckle 21 and a second thumb knuckle 22. The first thumb knuckle 21 and the second thumb knuckle 22 are rotatably connected. A thumb bending motor 23 is provided in the first thumb knuckle 21. The output end of the thumb bending motor 23 is connected to the first end of a thumb bending connecting rod 24. The second end of the thumb bending connecting rod 24 is rotatably connected to the second thumb knuckle 22. The thumb bending motor 23 can drive the thumb bending connecting rod 24 to move, thereby pulling the second thumb knuckle 22 to bend it; the thumb bending connecting rod 24 can also drive the first thumb knuckle 21 to bend relative to the second thumb knuckle 22, thereby achieving the bending of the thumb.

[0077] A thumb side swing motor 25 and a side swing transmission member 26 are provided in the palm 10, and the thumb side swing motor 25 is connected to the first thumb joint 21 through the side swing transmission member 26. The thumb side swing motor 25 can push the side swing transmission member 26, so that the side swing transmission member 26 rotates, thereby driving the first thumb joint 21 and the second thumb joint 22 to rotate as a whole, thereby realizing the side swing of the thumb.

[0078] The palm 10 is also provided with an index finger bending motor 31, a middle finger bending motor 41, a ring finger bending motor 51 and a pinky finger bending motor 61. The index finger bending motor 31 is connected to the passive side swing assembly 100 in the index finger 30, driving the index finger 30 to bend. The middle finger bending motor 41 is connected to the passive side swing assembly 100 in the middle finger 40, driving the middle finger 40 to bend. The ring finger bending motor 51 is connected to the passive side swing assembly 100 in the ring finger 50, driving the ring finger 50 to bend. The pinky finger bending motor 61 is connected to the passive side swing assembly 100 in the pinky finger 60, driving the pinky finger 60 to bend.

[0079] Based on the above description, it can be known that the dexterous hand of this embodiment has six motors (thumb bending motor 23, thumb lateral swing motor 25, index finger bending motor 31, middle finger bending motor 41, ring finger bending motor 51 and pinky bending motor 61), which can drive the dexterous hand to have six active degrees of freedom. The dexterous hand also has thirteen passive degrees of freedom, including bending of the second knuckle 22 of the thumb, bending of the second knuckle and the third knuckle of each of the index finger 30, middle finger 40, ring finger 50 and pinky finger 60, and lateral swing of the index finger 30, middle finger 40, ring finger 50 and pinky finger 60.

[0080] This embodiment also provides a robot, comprising the above-mentioned dexterous hand.

[0081] It can be understood that, since the robot of this embodiment adopts the above-mentioned dexterous hand, it can realize passive side swing of the dexterous hand under the action of external force, which is beneficial to reducing structural complexity and cost and reducing energy consumption.

[0082] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0083] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0084] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0085] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0086] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A passive side swing assembly, used to be arranged in the fingers of a dexterous hand, characterized in that: include: Base; A top seat, the top seat being arranged opposite to the base; A transmission block, wherein the first end of the transmission block is rotatably connected to the base, and the second end of the transmission block is rotatably connected to the top seat, and the base and the top seat are also used to limit the swing direction of the transmission block so that when the passive side swing assembly is subjected to external force, the transmission block swings toward the first direction.

2. The passive sway assembly according to claim 1, characterized in that: The base comprises a base body, a first base side wall and a second base side wall, wherein the first base side wall and the second base side wall are arranged on both sides of the base body along a second direction, and the first end of the transmission block is arranged between the first base side wall and the second base side wall, and is rotatably connected to the first base side wall and the second base side wall; The top seat includes a top seat body, a first top seat side wall and a second top seat side wall, wherein the first top seat side wall and the second top seat side wall are arranged on both sides of the top seat body along the second direction, and the second end of the transmission block is arranged between the first top seat side wall and the second top seat side wall, and is rotatably connected to the first top seat side wall and the second top seat side wall.

3. The passive sway assembly according to claim 2, characterized in that: The passive side swing assembly also includes a connecting seat, which is rotatably connected to the top seat body, and the connecting seat can rotate relative to the top seat body toward the second direction.

4. The passive sway assembly according to claim 3, characterized in that: The connecting seat includes a connecting seat body, a first connecting seat side wall and a second connecting seat side wall, wherein the first connecting seat side wall and the second connecting seat side wall are arranged on both sides of the connecting seat body along the first direction; the top seat body is arranged between the first connecting seat side wall and the second connecting seat side wall, and is rotatably connected to the first connecting seat side wall and the second connecting seat side wall.

5. The passive sway assembly according to claim 4, characterized in that: The passive side swing assembly further includes a transfer rod, and the transfer rod is penetrated through the connecting seat body along the first direction.

6. A dexterous finger, characterized in that: It includes a finger base, a first knuckle, a second knuckle, a third knuckle and a passive side swing assembly as described in any one of claims 1 to 5, wherein the first knuckle is rotatably connected to the finger base, the second knuckle is rotatably connected to the first knuckle, the third knuckle is rotatably connected to the second knuckle, and the passive side swing assembly is connected to the first knuckle.

7. The dexterous hand finger according to claim 6, characterized in that: It also includes a connecting rod mechanism, which includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the first end of the first connecting rod is rotatably connected to the first finger joint, and the second end of the first connecting rod is rotatably connected to the second finger joint; the first end of the second connecting rod is rotatably connected to the second end of the first connecting rod, and the second end of the second connecting rod is rotatably connected to the hinge point of the first finger joint and the second finger joint; the first end of the third connecting rod is rotatably connected to the second end of the first connecting rod, and the second end of the third connecting rod is rotatably connected to the third finger joint; the first end of the fourth connecting rod is rotatably connected to the second end of the second connecting rod, and the second end of the fourth connecting rod is rotatably connected to the hinge point of the second finger joint and the third finger joint.

8. A dexterous hand, characterized in that: It comprises a palm, on which an index finger, a middle finger, a ring finger and a pinky finger are arranged in sequence, wherein the index finger, the middle finger, the ring finger and the pinky finger are all the dexterous hand fingers as described in claim 6 or 7.

9. The dexterous hand according to claim 8, characterized in that: The palm is also provided with a thumb, the thumb is adjacent to the index finger, the thumb includes a first thumb joint and a second thumb joint, the first thumb joint is rotatably connected to the second thumb joint; a thumb bending motor is provided in the first thumb joint, the output end of the thumb bending motor is connected to the first end of a thumb bending connecting rod, and the second end of the thumb bending connecting rod is rotatably connected to the second thumb joint; A thumb side-swing motor and a side-swing transmission member are provided in the palm, and the thumb side-swing motor is connected to the first knuckle of the thumb through the side-swing transmission member; The palm is also provided with an index finger bending motor, a middle finger bending motor, a ring finger bending motor and a pinky finger bending motor. The index finger bending motor is connected to the passive side swing component in the index finger, the middle finger bending motor is connected to the passive side swing component in the middle finger, the ring finger bending motor is connected to the passive side swing component in the ring finger, and the pinky finger bending motor is connected to the passive side swing component in the pinky finger.

10. A robot, characterized in that: Comprising the dexterous hand as claimed in claim 8 or 9.

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