Dexterous Hands and Robots

Abstract

The present application provides a dexterous hand and robot, the dexterous hand comprises: a palm component, a thumb component and a plurality of four-finger components, the thumb component and the plurality of four-finger components are all arranged on the palm component; the thumb component comprises a thumb driving member, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side are rotatably connected to the thumb fixing frame; the thumb driving member is connected to the plurality of thumb knuckles, and can drive the plurality of thumb knuckles to achieve thumb bending, thumb rotation or thumb inversion; the four-finger component comprises a four-finger driving member, a plurality of four-finger knuckles and a four-finger fixing frame; the plurality of four-finger knuckles are rotatably connected in sequence, and the four-finger knuckles on the proximal phalanx side are rotatably connected to the palm component; the four-finger driving member can drive the plurality of four-finger knuckles to achieve four-finger bending, four-finger side swinging or partial four-finger knuckle bending. The dexterous hand of the present application has many degrees of freedom, which is conducive to improving the grasping ability of the dexterous hand.

Description

Technical Field

[0001] The present application relates to the technical field of robot dexterous hands, and in particular to 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 degree of freedom of the fingers of the dexterous hand directly affects the grasping ability of the dexterous hand.

[0003] In the solutions of related technologies, the degree of freedom of the fingers of the dexterous hand is generally low, and there is a lack of lateral swing freedom, so only simple finger extension and flexion movements can be achieved, resulting in poor grasping ability of the dexterous hand. Summary of the invention

[0004] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a dexterous hand and a robot, which is conducive to improving the grasping ability of the dexterous hand.

[0005] In one aspect, the present application provides a dexterous hand, comprising:

[0006] Palm component;

[0007] A thumb assembly, wherein the thumb assembly is detachably connected to the palm assembly; the thumb assembly comprises a thumb driving member, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side are rotatably connected to the thumb fixing frame; the thumb fixing frame is detachably connected to the palm assembly, the thumb driving member is connected to the plurality of thumb knuckles, and can drive the thumb knuckles to achieve thumb bending, thumb rotation and thumb inversion;

[0008] A plurality of four-finger assemblies, wherein the plurality of four-finger assemblies are detachably connected to the palm assembly; the four-finger assembly comprises a four-finger driving member, a plurality of four-finger knuckles and a four-finger fixing frame; the plurality of four-finger knuckles are rotatably connected in sequence, and the four-finger knuckles on the proximal phalanx side are rotatably connected to the palm assembly; the four-finger fixing frame is detachably connected to the palm assembly, the four-finger driving member is penetrated through the four-finger fixing frame and connected to the plurality of four-finger knuckles, and the four-finger driving member can drive the four-finger knuckles to realize four-finger bending, four-finger lateral swing and partial bending of the four-finger knuckles.

[0009] In a possible implementation, the plurality of thumb knuckles include a first thumb knuckle, a second thumb knuckle, a third thumb knuckle and a thumb base knuckle, the first thumb knuckle is rotatably connected to the second thumb knuckle, the second thumb knuckle is rotatably connected to the third thumb knuckle, the third thumb knuckle is rotatably connected to the thumb base knuckle, and the thumb base knuckle is rotatably connected to the thumb fixing frame;

[0010] The thumb driving member includes a first thumb driving member, a second thumb driving member and a third thumb driving member; the first thumb driving member is connected to the second finger joint of the thumb through a first thumb transmission member, and the first thumb driving member can drive the second finger joint of the thumb and the first finger joint of the thumb to rotate, so as to achieve the bending of the thumb; the second thumb driving member is connected to the third finger joint of the thumb through a second thumb transmission member, and the second thumb driving member can drive the third finger joint of the thumb to rotate relative to the thumb base joint, so as to achieve the rotation of the thumb; the third thumb driving member is connected to the thumb base joint through a third thumb transmission member, and the third thumb driving member can drive the thumb base joint to rotate relative to the thumb fixing frame, so as to achieve the inversion of the thumb.

[0011] In a possible implementation, the first thumb transmission member includes a first small bevel tooth, a second small bevel tooth, a worm and a worm wheel, the first small bevel tooth is sleeved on the output end of the first thumb driving member, the second small bevel tooth is meshed with the first small bevel tooth, the second small bevel tooth is sleeved on the worm, the worm is meshed with the worm wheel, the worm wheel is fixedly connected to the second knuckle of the thumb, and a thumb knuckle connecting rod is further provided between the second knuckle of the thumb and the first knuckle of the thumb.

[0012] In a possible implementation, the second thumb transmission member includes a first pulley, a second pulley, a transmission belt, a first large bevel tooth, and a second large bevel tooth. The first pulley is sleeved on the output end of the second thumb driving member, the second pulley is sleeved on the first thumb driving member, the transmission belt is sleeved on the first pulley and the second pulley, the first large bevel tooth is fixedly connected to the second pulley and sleeved on the outside of the first small bevel tooth, the second large bevel tooth is meshed with the first large bevel tooth and sleeved on the outside of the second small bevel tooth, and the second large bevel tooth is fixedly connected to the third knuckle of the thumb.

[0013] In a possible implementation, the thumb fixing frame includes a first thumb fixing frame and a second thumb fixing frame that are arranged opposite to each other, and the thumb base joint is arranged between the first thumb fixing frame and the second thumb fixing frame, and is rotatably connected to the first thumb fixing frame and the second thumb fixing frame;

[0014] The third thumb transmission member includes an adapter, on which two first adapter shafts are provided. The adapter is sleeved on the output end of the third thumb driving member, and the adapter is connected to the thumb base joint through the two first adapter shafts. The third thumb driving member is also provided with two second adapter shafts, and the third thumb driving member is respectively connected to the first thumb fixing frame and the second thumb fixing frame through the two second adapter shafts.

[0015] In a possible implementation, the plurality of four finger joints include four first finger joints, four second finger joints and four third finger joints, the four first finger joints are rotatably connected to the four second finger joints, the four second finger joints are rotatably connected to the four third finger joints, and the four third finger joints are rotatably connected to the palm assembly;

[0016] The four-finger driving member includes a first four-finger driving member, a second four-finger driving member and a third four-finger driving member; the first four-finger driving member is connected to the first side of the third knuckles of the four fingers through the first four-finger transmission member, and the second four-finger driving member is connected to the second side of the third knuckles of the four fingers through the second four-finger transmission member; when the first four-finger driving member and the second four-finger driving member rotate synchronously, the first knuckles, the second knuckles and the third knuckles of the four fingers can be driven to rotate to realize the bending of the four fingers; when the first four-finger driving member and the second four-finger driving member rotate differentially, the third knuckles of the four fingers can be driven to rotate relative to the palm assembly to realize the four-finger lateral swing; the third four-finger driving member is connected to the second knuckles of the four fingers and the first knuckles of the four fingers through the third four-finger transmission member, and the third four-finger driving member can drive the second knuckles of the four fingers and the first knuckles of the four fingers to rotate to realize the bending of some of the four finger joints.

[0017] In a possible implementation, the first four-finger transmission member includes a first connecting rod, the second four-finger transmission member includes a second connecting rod, and a push-pull connecting rod is further provided on the third finger joints of the four fingers, the first end of the first connecting rod is connected to the output end of the first four-finger driving member, the second end of the first connecting rod is connected to the first end of the push-pull connecting rod, the first end of the second connecting rod is connected to the output end of the second four-finger driving member, and the second end of the second connecting rod is connected to the second end of the push-pull connecting rod;

[0018] A side swing support is also provided in the third knuckles of the four fingers, and the side swing support is rotatably connected to the palm assembly through a pin shaft.

[0019] In a possible implementation, the third four-finger transmission member includes a third connecting rod, and a triangular rotating block is also provided in the third joint of the four fingers, the first end of the third connecting rod is connected to the output end of the third four-finger driving member, the second end of the third connecting rod is connected to the first end of the triangular rotating block, and the second end of the triangular rotating block is connected to the side swing support; the four-finger assembly also includes a first four-finger joint connecting rod and a second four-finger joint connecting rod, the third end of the triangular rotating block is connected to the first end of the first four-finger joint connecting rod, the second end of the first four-finger joint connecting rod is connected to the second joint of the four fingers, the first end of the second four-finger joint connecting rod is connected to the second joint of the four fingers, and the second end of the second four-finger joint connecting rod is connected to the first joint of the four fingers.

[0020] In a possible implementation, the palm assembly includes a palm base, a palm back, a flexible member and a wrist connector, the palm base is detachably connected to the palm back, the flexible member is arranged on a side of the palm base away from the palm back, and the wrist connector is detachably connected to the palm base and the palm back, respectively.

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

[0022] The present application provides a dexterous hand and a robot, the dexterous hand comprising: a palm component, a thumb component and a plurality of four-finger components, the thumb component being detachably connected to the palm component; the thumb component comprising a thumb driving member, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side are rotatably connected to the thumb fixing frame; the thumb fixing frame is detachably connected to the palm component, the thumb driving member is connected to the plurality of thumb knuckles, and can drive the plurality of thumb knuckles to achieve thumb bending, thumb rotation or thumb inversion; the plurality of four-finger components are detachably connected to the palm component; the four-finger component comprises a four-finger driving member, a plurality of four-finger knuckles and a four-finger fixing frame; the plurality of four-finger knuckles are rotatably connected in sequence, and the four-finger knuckles on the proximal phalanx side are rotatably connected to the palm component; the four-finger fixing frame is detachably connected to the palm component, the four-finger driving member is passed through the four-finger fixing frame and connected to the plurality of four-finger knuckles, and the four-finger driving member can drive the plurality of four-finger knuckles to achieve four-finger bending, four-finger lateral swing or partial four-finger knuckle bending. The present application uses a thumb drive to drive multiple thumb joints to achieve thumb bending, thumb rotation, and thumb inversion, so that the thumb has three degrees of freedom; the four-finger drive drives the four-finger joints to achieve four-finger bending, four-finger side swing, and partial bending of the four-finger joints, so that each of the four fingers has three degrees of freedom; among them, the four-finger side swing degree of freedom and the thumb rotation degree of freedom make the dexterous hand have a larger range of motion and more flexible fingers. The dexterous hand of the present application has more degrees of freedom, which is conducive to improving the grasping ability of the dexterous hand. 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 A simplified structural diagram of a dexterous hand provided in one embodiment of the present application;

[0025] Figure 2 for Figure 1 Exploded view of;

[0026] Figure 3 A diagram showing the use status of the dexterous hand provided in one embodiment of the present application;

[0027] Figure 4 A cross-sectional view of a thumb assembly provided in one embodiment of the present application;

[0028] Figure 5 A simplified structural diagram of a portion of a thumb assembly provided in an embodiment of the present application;

[0029] Figure 6 A simplified structural diagram of a thumb drive member provided in one embodiment of the present application;

[0030] Figure 7 A simplified structural diagram of a four-finger assembly provided in one embodiment of the present application;

[0031] Figure 8 An exploded view of a four-finger assembly provided in accordance with an embodiment of the present application.

[0032] Reference numerals:

[0033] 100-palm component;

[0034] 110-palm base; 120-palm back; 130-flexible part; 140-wrist connecting part;

[0035] 200-thumb assembly;

[0036] 210-thumb drive member; 211-first thumb drive member; 2111-first small bevel tooth; 2112-second small bevel tooth; 2113-worm; 2114-worm wheel; 2115-thumb knuckle connecting rod; 212-second thumb drive member; 2121-first pulley; 2122-second pulley; 2123-transmission belt; 2124-first large bevel tooth; 2125-second large bevel tooth; 213-third thumb drive member; 2131-adapter; 2132-second adaptor shaft;

[0037] 220-thumb fixing frame; 221-first thumb fixing frame; 2211-first hinge hole; 2212-first connecting hole; 222-second thumb fixing frame; 2221-second hinge hole;

[0038] 230-first joint of thumb;

[0039] 240-second thumb joint;

[0040] 250-third joint of thumb;

[0041] 260 - thumb base joint; 261 - first hinge protrusion; 262 - second hinge protrusion;

[0042] 270-thumb knuckle hinge point;

[0043] 300-four-finger assembly;

[0044] 310-four-finger driving member; 311-first four-finger driving member; 3111-first connecting rod; 312-second four-finger driving member; 3121-second connecting rod; 313-third four-finger driving member; 3131-third connecting rod; 314-push-pull connecting rod; 315-side swing support; 3151-side swing bearing; 316-triangular rotating block; 317-first four-finger knuckle connecting rod; 318-second four-finger knuckle connecting rod;

[0045] 320-Four-finger mount;

[0046] 330-first joint of four fingers;

[0047] 340-second knuckle of fourth finger; 341-sleeve;

[0048] 350-third joint of fourth finger;

[0049] 360-Four finger joints. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] As described in the background art, the dexterous hand in the related art solution can only perform simple finger extension and flexion movements due to its low degree of freedom, resulting in poor grasping ability of the dexterous hand.

[0053] In view of this, the embodiments of the present application are intended to provide a dexterous hand and robot, which drives multiple thumb knuckles through a thumb drive to achieve thumb bending, thumb rotation or thumb inversion, so that the thumb has three degrees of freedom; drives four finger knuckles through a four-finger drive to achieve four-finger bending, four-finger side swing or partial four-finger knuckle bending, so that each of the four fingers has three degrees of freedom; among which, the four-finger side swing degree of freedom and the thumb rotation degree of freedom make the dexterous hand have a larger range of motion and more flexible fingers. The dexterous hand of the embodiments of the present application has more degrees of freedom, which is conducive to improving the grasping ability of the dexterous hand.

[0054] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0055] Please refer to Figure 1-Figure 8 , this embodiment provides a dexterous hand, including:

[0056] The palm assembly 100 can provide a mounting base for other parts and can connect the dexterous hand with the body of the robot.

[0057] Specifically, Figure 2As shown, the palm assembly 100 includes a palm base 110, a palm back 120, a flexible member 130 and a wrist connector 140. The palm base 110 is detachably connected to the palm back 120. For example, the palm base 110 may be provided with a plurality of fixing holes, and the palm back 120 may be provided with a plurality of fasteners, which correspond to the plurality of fixing holes one by one and are detachably connected; the fasteners may be, for example, bolts, screws, etc. Further, a stepped first protrusion may be provided around the palm base 110, and a stepped second protrusion may be provided around the palm back 120, the first protrusion and the second protrusion abut against each other and complement each other, so as to improve the sealing performance between the palm base 110 and the palm back 120. The flexible member 130 is provided on the side of the palm base 110 away from the palm back 120, and the flexible member 130 may be made of, for example, rubber or the like, and a soft contact surface may be provided by providing the flexible member 130. Exemplarily, a plurality of connection holes may be provided in the middle of the palm base 110, and the flexible member 130 may be connected to the palm base 110 by fasteners such as screws. The wrist connector 140 is detachably connected to the palm base 110 and the back of the palm 120, respectively. Exemplarily, the outer peripheral side of the wrist connector 140 of this embodiment is generally octagonal, and a corresponding octagonal hole is formed after the palm base 110 and the back of the palm 120 are connected; a first threaded hole is provided on the end surface of the wrist connector 140 facing the palm base 110, and the first fastener passes through the palm base 110 and is connected to the first threaded hole; a second threaded hole is provided on the end surface of the wrist connector 140 facing the back of the palm 120, and the second fastener passes through the back of the palm 120 and is connected to the second threaded hole.

[0058] The thumb assembly 200 is detachably connected to the palm assembly 100. The thumb assembly 200 includes a thumb driving member 210, a plurality of thumb knuckles, and a thumb fixing frame 220. The plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side (i.e., the side close to the palm assembly 100, the same below) are rotatably connected to the thumb fixing frame 220. The thumb fixing frame 220 is detachably connected to the palm assembly 100, and the thumb driving member 210 is connected to the plurality of thumb knuckles, and can drive the plurality of thumb knuckles to achieve thumb bending, thumb rotation, and thumb inversion.

[0059] Multiple four-finger assemblies 300, multiple four-finger assemblies 300 are detachably connected to the palm assembly 100. In this embodiment, four four-finger assemblies 300 may be included, and the four four-finger assemblies 300 respectively simulate the index finger, middle finger, ring finger and little finger; the four four-finger assemblies 300 have similar structures, and their lengths can be the same or different, and can be specifically set as needed. The four-finger assembly 300 includes a four-finger driving member 310, multiple four-finger finger joints and a four-finger fixing frame 320. Multiple four-finger finger joints are rotatably connected in sequence, and the four-finger finger joints on the proximal phalanx side are rotatably connected to the palm assembly 100. The four-finger fixing frame 320 is detachably connected to the palm assembly 100, and the four-finger driving member 310 is inserted into the four-finger fixing frame 320 and connected to multiple four-finger finger joints. The four-finger driving member 310 can drive multiple four-finger finger joints to achieve four-finger bending, four-finger side swing and partial four-finger finger joint bending.

[0060] In this embodiment, the thumb assembly 200 and the four-finger assemblies 300 can move independently. Figure 3 As shown, while the thumb rotation is achieved, the index finger can remain stationary, the middle finger and the ring finger can achieve partial four-finger joint bending, and the little finger can achieve four-finger bending.

[0061] From the above description, it can be known that in this embodiment, the thumb driving member 210 drives multiple thumb knuckles to achieve thumb bending, thumb rotation or thumb inversion, so that the thumb has three degrees of freedom; the four-finger driving member 310 drives the four-finger knuckles to achieve four-finger bending, four-finger side swing or partial four-finger knuckle bending, so that each of the four fingers has three degrees of freedom; among them, the four-finger side swing degree of freedom and the thumb rotation degree of freedom make the dexterous hand have a larger range of motion and more flexible fingers. The dexterous hand of this embodiment has more degrees of freedom, which is conducive to improving the grasping ability of the dexterous hand.

[0062] In addition, the thumb assembly 200 and multiple four-finger assemblies 300 of the present embodiment can be detachably connected to the palm assembly 100. The thumb assembly 200 and the four-finger assembly 300 respectively adopt a modular design, are assembled separately, and are finally integrated into the palm assembly 100, so that each independent structure has a higher degree of integration, occupies a smaller volume, and reduces the difficulty of subsequent maintenance and upgrading.

[0063] Please continue to refer to Figure 4-Figure 6The multiple thumb knuckles of this embodiment include a first thumb knuckle 230, a second thumb knuckle 240, a third thumb knuckle 250 and a thumb base knuckle 260. The first thumb knuckle 230 is rotatably connected to the second thumb knuckle 240; exemplarily, a thumb knuckle hinge point 270 is provided between the first thumb knuckle 230 and the second thumb knuckle 240, a through hole can be provided at the thumb knuckle hinge point 270, a sleeve and a flat-head screw are placed in the through hole, so as to realize the hinge connection between the first thumb knuckle 230 and the second thumb knuckle 240. The second thumb knuckle 240 is rotatably connected to the third thumb knuckle 250; exemplarily, a thumb knuckle hinge point 270 is also provided between the second thumb knuckle 240 and the third thumb knuckle 250, a through hole can be provided at the thumb knuckle hinge point 270, a sleeve and a flat-head screw are placed in the through hole, so as to realize the hinge connection between the second thumb knuckle 240 and the third thumb knuckle 250. The third thumb joint 250 is rotatably connected to the thumb base joint 260, and the rotation axis of the third thumb joint 250 relative to the thumb base joint 260 is perpendicular to the rotation axis of the second thumb joint 240 relative to the third thumb joint 250. The thumb base joint 260 is rotatably connected to the thumb fixing frame 220.

[0064] The thumb driving member 210 includes a first thumb driving member 211, a second thumb driving member 212, and a third thumb driving member 213. The first thumb driving member 211 is connected to the second thumb joint 240 through the first thumb transmission member, and the first thumb driving member 211 can drive the second thumb joint 240 and the first thumb joint 230 to rotate (that is, the first thumb driving member 211 can drive the second thumb joint 240 and the first thumb joint 230 to rotate in the plane formed by the first direction X and the second direction Y) to achieve thumb bending. The second thumb driving member 212 is connected to the third thumb joint 250 through the second thumb transmission member, and the second thumb driving member 212 can drive the third thumb joint 250 to rotate relative to the thumb base joint 260 (that is, the second thumb driving member 212 can drive the third thumb joint 250 to rotate around the second direction Y) to achieve thumb rotation. The third thumb driving member 213 is connected to the thumb base joint 260 through the third thumb transmission member, and the third thumb driving member 213 can drive the thumb base joint 260 to rotate relative to the thumb fixing frame 220 (that is, the third thumb driving member 213 can drive the thumb base joint 260 to rotate in the plane formed by the second direction Y and the third direction Z) to achieve thumb varus. In the above description, the first direction X, the second direction Y and the third direction Z are three different directions that are perpendicular to each other in a three-dimensional space.

[0065] Please continue to refer to Figure 4 and Figure 6In this embodiment, the first thumb transmission member includes a first small bevel tooth 2111, a second small bevel tooth 2112, a worm 2113 and a worm wheel 2114. The first small bevel tooth 2111 is sleeved on the output end of the first thumb driving member 211, the second small bevel tooth 2112 is meshed with the first small bevel tooth 2111, the second small bevel tooth 2112 is sleeved on the worm 2113, the worm 2113 is meshed with the worm wheel 2114, the worm wheel 2114 is fixedly connected to the second thumb joint 240, and a thumb joint connecting rod 2115 is further provided between the second thumb joint 240 and the first thumb joint 230. When the first thumb driving member 211 drives the first small bevel tooth 2111 to rotate, the first small bevel tooth 2111 can drive the second small bevel tooth 2112 to rotate synchronously, thereby driving the worm 2113 to rotate. The rotation of the worm 2113 can drive the worm wheel 2114 to rotate. Since the worm wheel is fixedly connected to the second thumb joint 240, the second thumb joint 240 can be driven to rotate relative to the third thumb joint 250. In addition, since the second thumb joint 240 and the first thumb joint 230 are connected via the thumb joint connecting rod 2115, the rotation of the second thumb joint 240 can also drive the first thumb joint 230 to rotate relative to the second thumb joint 240, thereby achieving thumb bending.

[0066] Please continue to refer to Figure 4 and Figure 6 In this embodiment, the second thumb transmission member includes a first pulley 2121, a second pulley 2122, a transmission belt 2123, a first large bevel tooth 2124, and a second large bevel tooth 2125. The first pulley 2121 is sleeved on the output end of the second thumb driving member 212, the second pulley 2122 is sleeved on the first thumb driving member 211, the transmission belt 2123 is sleeved on the first pulley 2121 and the second pulley 2122, the first large bevel tooth 2124 is fixedly connected to the second pulley 2122, and is sleeved on the outside of the first small bevel tooth 2111, the second large bevel tooth 2125 is meshed with the first large bevel tooth 2124, and is sleeved on the outside of the second small bevel tooth 2112, and the second large bevel tooth 2125 is fixedly connected to the third knuckle 250 of the thumb. When the second thumb driving member 212 drives the first pulley 2121 to rotate, the first pulley 2121 can drive the second pulley 2122 to rotate through the transmission belt 2123, thereby driving the first large bevel tooth 2124 fixedly connected thereto to rotate, and the first large bevel tooth 2124 further drives the second large bevel tooth 2125 to rotate, thereby driving the third finger joint 250 of the thumb connected thereto to rotate together, so that the third finger joint 250 of the thumb rotates around the axis of the second large bevel tooth 2125 compared to the thumb base joint 260, thereby realizing thumb rotation.

[0067] Please continue to refer to Figure 4-Figure 6The thumb fixing frame 220 of this embodiment includes a first thumb fixing frame 221 and a second thumb fixing frame 222 which are arranged opposite to each other. The thumb base joint 260 is arranged between the first thumb fixing frame 221 and the second thumb fixing frame 222, and is rotatably connected to the first thumb fixing frame 221 and the second thumb fixing frame 222. For example, a first hinge hole 2211 may be arranged at the first end of the first thumb fixing frame 221, and a second hinge hole 2221 may be arranged at the first end of the second thumb fixing frame 222; a first hinge protrusion 261 and a second hinge protrusion 262 are arranged on both sides of the thumb base joint 260, respectively, the first hinge protrusion 261 is rotatably arranged in the first hinge hole 2211, and the second hinge protrusion 262 is rotatably arranged in the second hinge hole 2221, so as to realize the rotatable connection between the thumb base joint 260 and the first thumb fixing frame 221 and the second thumb fixing frame 222. The first thumb fixing frame 221 and the second thumb fixing frame 222 can be detachably connected to the palm base 110 by fasteners such as bolts and screws.

[0068] The third thumb transmission member includes an adapter 2131, which is sleeved on the output end of the third thumb driving member 213. The adapter 2131 may be, for example, a nut. The adapter 2131 is provided with two first adapter shafts, and the adapter 2131 is connected to the thumb base joint 260 via the two first adapter shafts. The third thumb driving member 213 is also provided with two second adapter shafts 2132, and the third thumb driving member 213 is connected to the first thumb fixing frame 221 and the second thumb fixing frame 222 via the two second adapter shafts 2132. For example, the second end of the first thumb fixing frame 221 may be provided with a first connection hole 2212, the second end of the second thumb fixing frame 222 may be provided with a second connection hole, the third thumb driving member 213 is connected to the first connection hole 2212 via a second transfer shaft 2132, thereby realizing the connection between the third thumb driving member 213 and the first thumb fixing frame 221; the third thumb driving member 213 is connected to the second connection hole via another second transfer shaft 2132, thereby realizing the connection between the third thumb driving member 213 and the second thumb fixing frame 222. When the third thumb driving member 213 drives the thumb base joint 260 to rotate relative to the thumb fixing frame 220, the thumb can be turned inward.

[0069] Please continue to refer to Figure 7 and Figure 8The multiple four-finger knuckles of this embodiment include four-finger first knuckles 330, four-finger second knuckles 340 and four-finger third knuckles 350. The four-finger first knuckles 330 and the four-finger second knuckles 340 are rotatably connected; illustratively, a four-finger knuckle hinge point 360 is provided between the four-finger first knuckles 330 and the four-finger second knuckles 340, and a through hole can be provided at the four-finger knuckle hinge point 360, and a shaft sleeve 341 and a straight-head screw are placed in the through hole, so as to realize the articulation of the four-finger first knuckles 330 and the four-finger second knuckles 340. The second finger joint 340 of the four fingers is rotatably connected to the third finger joint 350 of the four fingers; illustratively, a four-finger joint hinge point 360 may also be provided between the second finger joint 340 of the four fingers and the third finger joint 350 of the four fingers, and a through hole may be provided at the four-finger joint hinge point 360, and a shaft sleeve 341 and a flat-head screw may be placed in the through hole to realize the hinge connection between the second finger joint 340 of the four fingers and the third finger joint 350 of the four fingers. The third finger joint 350 of the four fingers is rotatably connected to the palm assembly 100, so that the first finger joint 330 of the four fingers, the second finger joint 340 of the four fingers and the third finger joint 350 of the four fingers can realize side swing relative to the palm assembly 100, and the specific hinge structure can be set as needed.

[0070] The four-finger driving member 310 includes a first four-finger driving member 311, a second four-finger driving member 312 and a third four-finger driving member 313. The first four-finger driving member 311 is connected to the first side of the third finger joint 350 of the four fingers through the first four-finger transmission member, and the second four-finger driving member 312 is connected to the second side of the third finger joint 350 of the four fingers through the second four-finger transmission member. When the first four-finger driving member 311 and the second four-finger driving member 312 rotate synchronously, the first finger joint 330, the second finger joint 340 and the third finger joint 350 of the four fingers can be driven to rotate to achieve four-finger bending. When the first four-finger driving member 311 and the second four-finger driving member 312 rotate at a differential speed (including the first four-finger driving member 311 and the second four-finger driving member 312 rotating in the same direction but at different speeds; or the first four-finger driving member 311 and the second four-finger driving member 312 rotating in opposite directions), the third finger joint 350 of the four fingers can be driven to rotate relative to the palm assembly 100 to achieve four-finger side swing. The third four-finger driving member 313 connects the second four-finger joints 340 and the first four-finger joints 330 through the third four-finger transmission member. The third four-finger driving member 313 can drive the second four-finger joints 340 and the first four-finger joints 330 to rotate to achieve partial bending of the four-finger joints.

[0071] Please continue to refer to Figure 7 and Figure 8In this embodiment, the first four-finger transmission member includes a first connecting rod 3111, the second four-finger transmission member includes a second connecting rod 3121, and a push-pull connecting rod 314 is also provided on the fourth finger third finger joint 350. The first end of the first connecting rod 3111 is connected to the output end of the first four-finger driving member 311, the second end of the first connecting rod 3111 is connected to the first end of the push-pull connecting rod 314, the first end of the second connecting rod 3121 is connected to the output end of the second four-finger driving member 312, and the second end of the second connecting rod 3121 is connected to the second end of the push-pull connecting rod 314. When the first four-finger driving member 311 and the second four-finger driving member 312 rotate synchronously, the speed at which the first four-finger driving member 311 drives the first connecting rod 3111 is the same as the speed at which the second four-finger driving member 312 drives the second connecting rod 3121, so that the forces applied to both sides of the fourth finger third finger joint 350 are exactly the same, thereby achieving the bending of the four fingers.

[0072] In the present embodiment, a side swing support 315 is further provided in the third knuckle 350 of the four fingers, and the side swing support 315 is rotatably connected to the palm assembly 100 via a pin. Exemplarily, the side swing support 315 is connected to a side swing bearing 3151, and a corresponding boss is provided on the palm base 110 to place the side swing bearing 3151. The side swing support 315 can be connected by a bolt passing through the palm base 110 and the side swing bearing 3151, so that the side swing support 315 can rotate relative to the palm assembly 100. When the first four-finger driving member 311 and the second four-finger driving member 312 rotate at a differential speed, the speed at which the first four-finger driving member 311 drives the first connecting rod 3111 is different from the speed at which the second four-finger driving member 312 drives the second connecting rod 3121, so that the forces applied to the two sides of the third knuckle 350 of the four fingers are different, so that the third knuckle 350 of the four fingers deflects to one side, thereby realizing the side swing of the four fingers.

[0073] Please continue to refer to Figure 7 and Figure 8The third four-finger transmission member of this embodiment includes a third connecting rod 3131, and a triangular rotating block 316 is also provided in the third finger joint 350 of the four fingers. The first end of the third connecting rod 3131 is connected to the output end of the third four-finger driving member 313, and the second end of the third connecting rod 3131 is connected to the first end of the triangular rotating block 316, and the second end of the triangular rotating block 316 is connected to the side swing support 315. The four-finger assembly 300 also includes a first four-finger finger joint connecting rod 317 and a second four-finger finger joint connecting rod 318. The third end of the triangular rotating block 316 is connected to the first end of the first four-finger finger joint connecting rod 317, and the second end of the first four-finger finger joint connecting rod 317 is connected to the second finger joint 340 of the four fingers, forming an under-actuated mechanism. The first end of the second four-finger finger joint connecting rod 318 is connected to the second finger joint 340 of the four fingers, and the second end of the second four-finger finger joint connecting rod 318 is connected to the first finger joint 330 of the four fingers, forming an under-actuated mechanism. When the third four-finger driving member 313 drives the third connecting rod 3131 to move, the third connecting rod 3131 can drive the first four-finger joint connecting rod 317 to move through the triangular rotating block 316, and then drive the second four-finger joint connecting rod 318 to move, so that the first four-finger joint 330 and the second four-finger joint 340 are bent.

[0074] This embodiment also provides a robot, comprising the above-mentioned dexterous hand.

[0075] It can be understood that, since the robot of this embodiment adopts the above-mentioned dexterous hand, the dexterous hand of the robot has a high degree of freedom, which is beneficial to improving the grasping ability of the robot.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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 representations of the above terms do 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.

[0081] 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 dexterous hand, characterized in that: include: Palm component; A thumb assembly, the thumb assembly being detachably connected to the palm assembly; The thumb assembly includes a thumb driving member, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side are rotatably connected to the thumb fixing frame; the thumb fixing frame is detachably connected to the palm assembly, and the thumb driving member is connected to the plurality of thumb knuckles and can drive the thumb knuckles to achieve thumb bending, thumb rotation and thumb inversion; A plurality of four-finger components, wherein the plurality of four-finger components are detachably connected to the palm component; the four-finger component comprises a four-finger driving member, a plurality of four-finger knuckles and a four-finger fixing frame; the plurality of four-finger knuckles are rotatably connected in sequence, and the four-finger knuckles on the proximal phalanx side are rotatably connected to the palm component; the four-finger fixing frame is detachably connected to the palm component, the four-finger driving member is inserted into the four-finger fixing frame and connected to the plurality of four-finger knuckles, and the four-finger driving member can drive the four-finger knuckles to achieve four-finger bending, four-finger lateral swing and partial bending of the four-finger knuckles; The plurality of thumb knuckles include a first thumb knuckle, a second thumb knuckle, a third thumb knuckle and a base knuckle of the thumb; the thumb driving member includes a first thumb driving member and a second thumb driving member; the first thumb driving member is connected to the second thumb knuckle via a first thumb transmission member, and the first thumb driving member can drive the second thumb knuckle and the first thumb knuckle to rotate, so as to achieve the bending of the thumb; the second thumb driving member is connected to the third thumb knuckle via a second thumb transmission member, and the second thumb driving member can drive the third thumb knuckle to rotate relative to the base knuckle of the thumb, so as to achieve the rotation of the thumb; The first thumb transmission member includes a first small bevel tooth, a second small bevel tooth, a worm and a worm wheel, the first small bevel tooth is sleeved on the output end of the first thumb driving member, the second small bevel tooth is meshed with the first small bevel tooth, the second small bevel tooth is sleeved on the worm, the worm is meshed with the worm wheel, the worm wheel is fixedly connected to the second thumb joint, and a thumb joint connecting rod is further provided between the second thumb joint and the first thumb joint; The second thumb transmission member includes a first large bevel tooth and a second large bevel tooth, the first large bevel tooth is sleeved on the outside of the first small bevel tooth, and the second large bevel tooth is meshed with the first large bevel tooth and sleeved on the outside of the second small bevel tooth.

2. The dexterous hand according to claim 1, characterized in that: The first thumb joint is rotatably connected to the second thumb joint, the second thumb joint is rotatably connected to the third thumb joint, the third thumb joint is rotatably connected to the thumb base joint, and the thumb base joint is rotatably connected to the thumb fixing frame; The thumb driving member includes a third thumb driving member; the third thumb driving member is connected to the thumb base joint via a third thumb transmission member, and the third thumb driving member can drive the thumb base joint to rotate relative to the thumb fixing frame to achieve thumb valgus.

3. The dexterous hand according to claim 2, characterized in that: The second thumb transmission member includes a first pulley, a second pulley and a transmission belt, the first pulley is sleeved on the output end of the second thumb driving member, the second pulley is sleeved on the first thumb driving member, the transmission belt is sleeved on the first pulley and the second pulley, the first large bevel tooth is fixedly connected to the second pulley, and the second large bevel tooth is fixedly connected to the third knuckle of the thumb.

4. The dexterous hand according to claim 3, characterized in that: The thumb fixing frame comprises a first thumb fixing frame and a second thumb fixing frame which are arranged opposite to each other, the thumb base joint is arranged between the first thumb fixing frame and the second thumb fixing frame, and is rotatably connected to the first thumb fixing frame and the second thumb fixing frame; The third thumb transmission member includes an adapter, on which two first adapter shafts are provided. The adapter is sleeved on the output end of the third thumb driving member, and the adapter is connected to the thumb base joint through the two first adapter shafts. The third thumb driving member is also provided with two second adapter shafts, and the third thumb driving member is respectively connected to the first thumb fixing frame and the second thumb fixing frame through the two second adapter shafts.

5. The dexterous hand according to claim 1, characterized in that: The plurality of four finger joints include four first finger joints, four second finger joints and four third finger joints, the four first finger joints are rotatably connected to the four second finger joints, the four second finger joints are rotatably connected to the four third finger joints, and the four third finger joints are rotatably connected to the palm assembly; The four-finger driving member comprises a first four-finger driving member, a second four-finger driving member and a third four-finger driving member; the first four-finger driving member is connected to a first side of the third finger joints of the four fingers through a first four-finger transmission member, and the second four-finger driving member is connected to a second side of the third finger joints of the four fingers through a second four-finger transmission member; when the first four-finger driving member and the second four-finger driving member rotate synchronously, the first finger joints, the second finger joints and the third finger joints of the four fingers can be driven to rotate to achieve the bending of the four fingers; when the first four-finger driving member and the second four-finger driving member rotate differentially, the third finger joints of the four fingers can be driven to rotate relative to the palm assembly to achieve the four-finger side swing; The third four-finger driving member connects the second knuckles of the four fingers and the first knuckles of the four fingers through the third four-finger transmission member. The third four-finger driving member can drive the second knuckles of the four fingers and the first knuckles of the four fingers to rotate to achieve partial bending of the four-finger joints.

6. The dexterous hand according to claim 5, characterized in that: The first four-finger transmission member includes a first connecting rod, the second four-finger transmission member includes a second connecting rod, and a push-pull connecting rod is also provided on the third finger joints of the four fingers, the first end of the first connecting rod is connected to the output end of the first four-finger driving member, the second end of the first connecting rod is connected to the first end of the push-pull connecting rod, the first end of the second connecting rod is connected to the output end of the second four-finger driving member, and the second end of the second connecting rod is connected to the second end of the push-pull connecting rod; A side swing support is also provided in the third knuckles of the four fingers, and the side swing support is rotatably connected to the palm assembly through a pin shaft.

7. The dexterous hand according to claim 6, characterized in that: The third four-finger transmission member includes a third connecting rod, and a triangular rotating block is also provided in the third joint of the four fingers. The first end of the third connecting rod is connected to the output end of the third four-finger driving member, the second end of the third connecting rod is connected to the first end of the triangular rotating block, and the second end of the triangular rotating block is connected to the side swing support; the four-finger assembly also includes a first four-finger joint connecting rod and a second four-finger joint connecting rod, the third end of the triangular rotating block is connected to the first end of the first four-finger joint connecting rod, the second end of the first four-finger joint connecting rod is connected to the second joint of the four fingers, the first end of the second four-finger joint connecting rod is connected to the second joint of the four fingers, and the second end of the second four-finger joint connecting rod is connected to the first joint of the four fingers.

8. The dexterous hand according to claim 1, characterized in that: The palm assembly includes a palm base, a palm back, a flexible piece and a wrist connector. The palm base is detachably connected to the palm back. The flexible piece is arranged on a side of the palm base away from the palm back. The wrist connector is detachably connected to the palm base and the palm back, respectively.

9. A robot, characterized in that: Comprising the dexterous hand as described in any one of claims 1-8.

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