Full-drive dexterous hand

Abstract

The invention discloses a full-drive dexterous hand which comprises a palm module, four four-finger mechanisms and a thumb mechanism, the four-finger mechanisms and the thumb mechanism are arranged on the palm module, a proximal section module is provided with a bending degree of freedom and a side-sway degree of freedom, and a middle section module and a distal section module are provided with bending degrees of freedom. The metacarpal bone module has a rotational degree of freedom and a bending degree of freedom, the thumb proximal section module and the thumb distal section module have bending degrees of freedom, the four-finger mechanism and the thumb mechanism are provided with a plurality of gear transmission mechanisms, and the number of the driving motors corresponds to the number of the gear transmission mechanisms. Each module can be independently controlled through a driving motor and a gear transmission mechanism, and multi-degree-of-freedom full driving of each module is achieved. The driving motor and all the modules are in transmission through a gear transmission mechanism, transmission is accurate, the load capacity is high, the response speed is high, and reliability and durability are high.

Description

Technical Field

[0001] The present application relates to the technical field of dexterous hands, and in particular to a fully-driven dexterous hand. Background Art

[0002] Existing dexterous hands are mainly divided into underactuated and fully-actuated. Underactuated dexterous hands have fewer degrees of freedom, cannot perform complex operations, and are not flexible and accurate enough when performing fine operation tasks. The current solutions for fully-actuated dexterous hands include motor direct drive, tendon transmission, connecting rod transmission, gear transmission and other solutions. The motor direct drive method is to install the motor in the knuckle, which will make the finger structure bulky and unable to perform fine operations like human hands. Tendon transmission is currently widely used, but the control accuracy is not high, the grasping force is insufficient, the tendon material requirements are high, and there are problems such as wear and control hysteresis. The connecting rod transmission has the problem of limited transmission angle, and it is difficult to achieve the control requirements of the finger structure that requires multiple degrees of freedom to be independently driven and swing greatly. In addition, for the proximal module of human fingers, there are two degrees of freedom, bending and left and right swinging. Due to the difficulty in implementation, most dexterous hands currently tend to simplify or remove the degree of freedom of left and right swinging, resulting in poor flexibility. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a fully driven dexterous hand, which is fully driven with multiple degrees of freedom, each joint can be independently controlled, adopts gear transmission, has precise transmission, strong load capacity, fast response speed, strong reliability and durability.

[0004] A fully-driven dexterous hand according to an embodiment of the present application includes:

[0005] A palm module, wherein the palm module is provided with a plurality of driving motors;

[0006] Four four-finger mechanisms, each of which is arranged on the palm module, and each of which comprises a proximal section module, a middle section module and a distal section module, wherein the proximal section module is provided with a bending degree of freedom and a lateral swing degree of freedom, and the middle section module and the distal section module are provided with a bending degree of freedom;

[0007] A thumb mechanism, wherein the thumb mechanism is arranged on the palm module, the thumb mechanism comprises a metacarpal module, a thumb proximal module and a thumb distal module, the metacarpal module is provided with a rotational degree of freedom and a bending degree of freedom, and the thumb proximal module and the thumb distal module are provided with a bending degree of freedom;

[0008] Among them, the four-finger mechanism and the thumb mechanism are provided with multiple gear transmission mechanisms, the number of the driving motors corresponds to the number of the gear transmission mechanisms, and each of the driving motors drives the proximal section module, the middle section module, the distal section module, the metacarpal module, the thumb proximal section module and the thumb distal section module to move respectively through each of the gear transmission mechanisms.

[0009] A fully driven dexterous hand according to the first aspect of the present application has at least the following beneficial effects: a fully driven dexterous hand of the present application comprises a palm module, four four-finger mechanisms and a thumb mechanism, the four-finger mechanism and the thumb mechanism are arranged on the palm module, the proximal section module is provided with bending freedom and lateral swing freedom, the middle section module and the distal section module are provided with bending freedom, the metacarpal module is provided with rotation freedom and bending freedom, the thumb proximal section module and the thumb distal section module are provided with bending freedom, the four-finger mechanism and the thumb mechanism are provided with a plurality of gear transmission mechanisms, the number of driving motors corresponds to the number of gear transmission mechanisms, each driving motor drives the proximal section module, the middle section module, the distal section module, the metacarpal module, the thumb proximal section module and the thumb distal section module to move respectively through each gear transmission mechanism, each module can be independently controlled by the driving motor and the gear transmission mechanism, so as to realize the multi-degree-of-freedom full drive of each module. The driving motor and each module are transmitted by a gear transmission mechanism, and the transmission is accurate, the load capacity is strong, the response speed is fast, and the reliability and durability are strong.

[0010] According to some embodiments of the present application, the four-finger mechanism includes a finger base, the proximal section module is installed on the finger base, the drive motor includes a first drive motor, the proximal section module includes a side swing axis and a bending axis, the bending axis is hingedly connected to the proximal section module, the side swing axis and the bending axis are arranged to intersect vertically and are fixedly connected, the first drive motor is coaxially arranged and fixedly connected with the side swing axis, the first drive motor drives the side swing axis to swing, and controls the side swing freedom of the proximal section module.

[0011] According to some embodiments of the present application, the proximal pitch module includes a proximal pitch and a proximal pitch gear fixedly connected, the drive motor includes a second drive motor, the gear transmission mechanism includes a first gear transmission mechanism, the first gear transmission mechanism includes a first drive gear and a first gear assembly, the first gear assembly includes a first bevel gear and a first spur gear rotating coaxially, the second drive motor is connected to the first drive gear, the proximal pitch gear is meshed with the first bevel gear for transmission, the first drive gear is meshed with the first spur gear for transmission, and the second drive motor controls the bending freedom of the proximal pitch module through the first gear transmission mechanism.

[0012] According to some embodiments of the present application, the middle section module includes a proximal interphalangeal joint and a middle section that can rotate relative to the proximal interphalangeal joint, the middle section is provided with a middle section gear, the middle section gear is coaxially arranged and fixedly connected to the proximal interphalangeal joint, the drive motor includes a third drive motor, the gear transmission mechanism includes a second gear transmission mechanism, the second gear transmission mechanism includes a second drive gear, a first proximal section gear set, a middle section gear set, a second gear assembly and a second gear component, the second gear assembly includes a second bevel gear and a second spur gear that rotate coaxially, and the second gear component includes a second sub-bevel gear and a second sub-spur gear that rotate coaxially gear, the second bevel gear is meshed with the second sub-bevel gear for transmission, the third drive motor is connected to the second drive gear, the two ends of the first proximal pitch gear set are respectively meshed with the second drive gear and the second spur gear for transmission, the two ends of the middle section gear set are respectively meshed with the middle section gear and the second sub-spur gear for transmission, the second drive gear is meshed with the first proximal pitch gear set for transmission, and the third drive motor controls the bending freedom of the middle section module through the second drive gear, the first proximal pitch gear set, the second gear assembly, the second gear component, the middle section gear set and the middle section gear.

[0013] According to some embodiments of the present application, the distal section module includes a distal interphalangeal joint and a distal section that can rotate relative to the distal interphalangeal joint, the distal section is provided with a distal section gear, and the distal section gear is coaxially arranged with the distal interphalangeal joint, the drive motor includes a fourth drive motor, the gear transmission mechanism includes a third gear transmission mechanism, the third gear transmission mechanism includes a third drive gear, a first distal section gear set, a second distal section gear set, a third gear assembly and a third gear component, the third gear assembly includes a third bevel gear and a third spur gear that rotate coaxially, the third gear component includes a third sub-bevel gear and a third sub-spur gear that rotate coaxially, The third bevel gear is meshed with the third sub-bevel gear for transmission, the fourth drive motor is connected to the third drive gear, the two ends of the first remote pitch gear set are respectively meshed with the third drive gear and the third spur gear for transmission, the two ends of the second remote pitch gear set are respectively meshed with the remote pitch gear and the third sub-spur gear for transmission, the third drive gear is meshed with the first remote pitch gear set for transmission, and the fourth drive motor controls the bending freedom of the remote pitch module through the third drive gear, the first remote pitch gear set, the third gear assembly, the third gear component, the second remote pitch gear set and the remote pitch gear.

[0014] According to some embodiments of the present application, the metacarpal module includes a thumb base, a first metacarpal joint and a second metacarpal joint, the first metacarpal joint can be rotatably mounted on the thumb base, and the second metacarpal joint can be rotatably mounted on the first metacarpal joint.

[0015] According to some embodiments of the present application, the first metacarpal joint includes a metacarpal transverse axis and a first metacarpal component, the first metacarpal component is rotatably connected to the thumb base via the metacarpal transverse axis, the second metacarpal joint includes a metacarpal vertical axis and a second metacarpal component, the metacarpal vertical axis and the metacarpal transverse axis are fixedly connected and perpendicularly intersected, and the second metacarpal component is rotatably connected to the first metacarpal component via the metacarpal vertical axis.

[0016] According to some embodiments of the present application, the drive motor includes a fifth drive motor and a sixth drive motor, the gear transmission mechanism includes a fourth gear transmission mechanism, the fourth gear transmission mechanism includes a metacarpal bevel gear, a first metacarpal drive gear, a second metacarpal drive gear, a first metacarpal gear set, a second metacarpal gear set and a metacarpal joint gear set, the metacarpal bevel gear is arranged on the metacarpal vertical axis, the first metacarpal gear set and the second metacarpal gear set are arranged on the metacarpal horizontal axis, the first metacarpal gear set includes a first metacarpal spur gear and a first metacarpal bevel gear rotating coaxially, the second metacarpal gear set includes a second metacarpal spur gear and a second metacarpal bevel gear rotating coaxially, the first metacarpal bevel gear and the second metacarpal bevel gear are respectively meshed with the metacarpal bevel gear for transmission, the fifth drive motor is connected to the first metacarpal drive gear, the sixth drive motor is connected to the second metacarpal drive gear, the two ends of the metacarpal joint gear set are respectively meshed with the first metacarpal drive gear and the first metacarpal spur gear for transmission, and the second metacarpal drive gear is meshed with the second metacarpal spur gear for transmission.

[0017] According to some embodiments of the present application, the thumb proximal section module includes a thumb proximal section, a thumb proximal section spur gear and a thumb proximal section bevel gear, the drive motor includes a seventh drive motor, the gear transmission mechanism includes a fifth gear transmission mechanism, the fifth gear transmission mechanism includes a thumb proximal section drive gear, a thumb proximal section gear set, a thumb proximal section gear shaft, a fifth bevel gear and a fifth gear assembly, the fifth gear assembly includes a fifth sub-bevel gear and a fifth sub-spur gear rotating coaxially, the seventh drive motor is connected to the thumb proximal section drive gear, the two ends of the thumb proximal section gear set are respectively meshed with the thumb proximal section drive gear and the fifth sub-spur gear for transmission, the fifth sub-bevel gear is meshed with the fifth bevel gear for transmission, the fifth bevel gear and the thumb proximal section bevel gear are transmitted through the thumb proximal section gear shaft, and the seventh drive motor controls the bending freedom of the thumb proximal section through the thumb proximal section drive gear, the thumb proximal section gear set, the fifth gear assembly, the fifth bevel gear, the thumb proximal section gear shaft, the thumb proximal section bevel gear and the thumb proximal section spur gear.

[0018] According to some embodiments of the present application, the thumb distal joint module includes a thumb distal joint and a thumb distal joint gear, the drive motor includes an eighth drive motor, the gear transmission mechanism includes a sixth gear transmission mechanism, the sixth gear transmission mechanism includes a thumb distal joint drive gear, a first thumb distal joint gear set, a second thumb distal joint gear set, a thumb distal joint gear shaft, a sixth bevel gear and a sixth gear assembly, the sixth gear assembly includes a sixth sub-bevel gear and a sixth sub-spur gear rotating coaxially, the eighth drive motor is connected to the thumb distal joint drive gear, the two ends of the first thumb distal joint gear set are respectively meshed with the thumb distal joint drive gear and the sixth sub-spur gear for transmission, the sixth sub-bevel gear is meshed with the sixth bevel gear for transmission, the sixth bevel gear and the second thumb distal joint gear set are transmitted through the thumb distal joint gear shaft, and the eighth drive motor controls the bending freedom of the thumb distal joint through the thumb distal joint drive gear, the first thumb distal joint gear set, the sixth gear assembly, the sixth bevel gear, the thumb distal joint gear shaft, the second thumb distal joint gear set and the thumb distal joint gear.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a structural schematic diagram of a fully-driven dexterous hand according to an embodiment of the present application;

[0022] Figure 2 yes Figure 1 A schematic structural diagram of a four-finger mechanism of a fully-driven dexterous hand is shown;

[0023] Figure 3 yes Figure 2 A schematic structural diagram of the proximal module of the four-finger mechanism shown;

[0024] Figure 4 yes Figure 2 A schematic structural diagram of a middle section module of a four-finger mechanism shown;

[0025] Figure 5 yes Figure 2 A schematic structural diagram of a distal module of a four-finger mechanism shown;

[0026] Figure 6 yes Figure 1 A schematic diagram of the structure of a thumb mechanism of a fully-driven dexterous hand is shown;

[0027] Figure 7 yes Figure 6 The schematic structural diagram of the metacarpal module of the thumb mechanism shown;

[0028] Figure 8 yes Figure 6 The schematic structural diagram of the thumb proximal module of the thumb mechanism shown;

[0029] Fig. 9 yes Figure 6 The schematic structural diagram of the distal thumb module of the thumb mechanism shown;

[0030] Fig.10 yes Figure 6 Schematic diagram of the internal structure of the thumb mechanism shown. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0032] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, inside, outside, etc., indicating orientations or positional relationships, are 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 device or element referred to 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.

[0033] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, assembling, and matching should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0035] Refer to the following Figures 1 to 10 A fully-driven dexterous hand according to an embodiment of the present application is described.

[0036] A fully-driven dexterous hand according to an embodiment of the present application, referring to Figures 1 to 10, including a palm module 100, four four-finger mechanisms and a thumb mechanism. The palm module 100 is provided with multiple drive motors, which are arranged on the palm module 100. The four-finger mechanism and the thumb mechanism are not provided with motors, which can save space and make the four-finger mechanism and the thumb mechanism more slender, easier to achieve fine operation, and more convenient for wiring. Multiple drive motors are arranged on the palm module 100, which is also convenient for repair and replacement of the motors.

[0037] The four-finger mechanism and the thumb mechanism are arranged on the palm module 100. There are four four-finger mechanisms, each of which includes a proximal section module 210, a middle section module 220 and a distal section module 230. The proximal section module 210 is provided with bending freedom and lateral swing freedom, the middle section module 220 and the distal section module 230 are provided with bending freedom, the proximal section module 210, the middle section module 220 and the distal section module 230 can rotate relative to each other, and the proximal section module 210 is arranged on a side close to the palm module 100. The lateral swing freedom of the proximal section module 210 can drive the entire four-finger mechanism to swing left and right, thereby improving the accuracy and flexibility of the dexterous hand.

[0038] The thumb mechanism includes a metacarpal module 310, a thumb proximal module 320 and a thumb distal module 330. The metacarpal module 310 is provided with rotational freedom and bending freedom. The thumb proximal module 320 and the thumb distal module 230 are provided with bending freedom. The metacarpal module 310, the thumb proximal module 320 and the thumb distal module 330 can rotate relative to each other. The metacarpal module 310 is arranged on a side close to the palm module 100. The rotational freedom of the proximal module 210 can drive the entire thumb mechanism to rotate circumferentially, which can not only realize the basic movements of the human hand, but also perform anti-joint movements, providing more possibilities for dexterous operation.

[0039] The four-finger mechanism and the thumb mechanism are provided with a plurality of gear transmission mechanisms, and the palm module 100 is provided with a plurality of drive motors. The number of drive motors and the number of gear transmission mechanisms correspond to the number of degrees of freedom. Each drive motor drives the proximal module 210, the middle module 220, the distal module 230, the metacarpal module 310, the proximal module 320 of the thumb and the distal module 330 to move respectively through each gear transmission mechanism. Each module can be independently controlled by the drive motor and the gear transmission mechanism to achieve multi-degree-of-freedom full drive of each module. It should be noted that each four-finger mechanism includes four degrees of freedom, and the four four-finger mechanisms plus the thumb mechanism have a total of twenty degrees of freedom. Twenty drive motors are provided in the palm module 100, and twenty gear transmission mechanisms are provided in the thumb mechanism and the four four-finger mechanisms to achieve full drive of twenty degrees of freedom. The twenty degrees of freedom of full drive are designed in imitation of human hand joints, have good bionics, and are conducive to the use of human daily tools. The drive motor and each module are driven by a gear transmission mechanism, which has accurate transmission, strong load capacity, fast response speed, strong reliability and durability.

[0040] In some embodiments, the four-finger mechanism includes a finger base 110, a proximal section module 210 is installed on the finger base 110, the drive motor includes a first drive motor 410, the proximal section module 210 includes a side swing axis 211 and a bending axis 212, the bending axis is hingedly connected to the proximal section module, the side swing axis 211 and the bending axis 212 are fixedly connected and vertically intersectingly arranged in the proximal section module 210, the first drive motor 410 is coaxially arranged and fixedly connected with the side swing axis 211, the first drive motor 410 drives the side swing axis 211 to swing, and controls the side swing freedom of the proximal section module 210. The first drive motor 410 is used to control the side swing freedom of the proximal section module 210. Specifically, the proximal section module 210 includes a side swing axis 211 and a bending axis 212. The side swing axis 211 and the bending axis 212 are arranged in the proximal section module 210. The first drive motor 410 is coaxially arranged and fixedly connected with the side swing axis 211. The first drive motor 410 drives the side swing axis 211 to move, so as to realize the left and right side swing of the proximal section module 210 relative to the finger base 110.

[0041] According to some embodiments of the present application, the proximal section module 210 includes a proximal section and a proximal section gear 513 fixedly connected, the drive motor includes a second drive motor 420, the gear transmission mechanism includes a first gear transmission mechanism, the first gear transmission mechanism includes a first drive gear 510 and a first gear assembly, the first gear assembly includes a first bevel gear 512 and a first straight gear 511 rotating coaxially, the second drive motor 420 is connected to the first drive gear 510, the proximal section gear 513 is meshed with the first bevel gear 512 for transmission, the first drive gear 510 is meshed with the first straight gear 511 for transmission, and the second drive motor 420 controls the bending freedom of the proximal section module 210 through the first gear transmission mechanism. The second drive motor 420 is used to control the bending freedom of the proximal section module 210. Specifically, the second drive motor 420 controls the bending freedom through the first gear transmission mechanism. The proximal section module 210 includes a proximal section and a proximal section gear 513. The first gear transmission mechanism includes a first drive gear 510 and a first gear assembly. The first gear assembly includes a first bevel gear 512 and a first spur gear 511 that rotate coaxially. The second drive motor 420 is connected to the first drive gear 510. The first drive gear 510 is meshed with the first spur gear 511 for transmission. The proximal section gear 513 is meshed with the first bevel gear 512 for transmission. The second drive motor 420 can drive the first drive gear 510 to rotate. The first drive gear 510 drives the first gear assembly and the proximal section gear 513 to rotate in sequence. The proximal section gear 513 drives the proximal section to rotate, which can realize the bending of the proximal section, thereby completing the control of the bending freedom of the proximal section module 210.

[0042] According to some embodiments of the present application, the middle section module 220 includes a proximal interphalangeal joint 221 and a middle section 222 that can rotate relative to the proximal interphalangeal joint 221, the middle section 222 is provided with a middle section gear 525, and the middle section gear 525 is coaxially arranged with the proximal interphalangeal joint 221, the drive motor includes a third drive motor 430, the gear transmission mechanism includes a second gear transmission mechanism, the second gear transmission mechanism includes a second drive gear 520, a first proximal gear set 521, a middle section gear set 524, a second gear assembly and a second gear component, the second gear assembly includes a second bevel gear 5222 and a second spur gear 5221 that rotates coaxially, the second gear component includes a second sub-bevel gear 5231 and a second sub-spur gear 5232 that rotates coaxially, and the second bevel gear 5222 The third drive motor 430 is connected to the second drive gear 520, and the two ends of the first near-section gear set 521 are respectively meshed with the second drive gear 520 and the second spur gear 5221 for transmission. The two ends of the middle-section gear set 524 are respectively meshed with the middle-section gear 525 and the second secondary spur gear 5232 for transmission. The second spur gear 5221 rotates coaxially with the second bevel gear 5222, and the second bevel gear 5222 is meshed with the second secondary bevel gear 5231 for transmission. The second secondary bevel gear 5231 and the second secondary spur gear 5232 rotate coaxially. The cooperation between the second bevel gear 5222 and the second secondary bevel gear 5231 can change the transmission direction of the power, and the power of the second drive gear 520 is finally transmitted to the middle-section gear 525. The second driving gear 520 is meshed with the first proximal pitch gear set 521 for transmission, and the second gear assembly and the second gear component are rotatably connected to the side swing shaft and the bending shaft respectively. The third driving motor 430 controls the bending freedom of the middle section module 220 through the second driving gear 520, the first proximal pitch gear set 521, the second gear assembly, the second gear component, the middle section gear set 524 and the middle section gear 525. The third driving motor 430 is used to control the bending freedom of the middle section module 220. Specifically, the middle section module 220 includes a proximal interphalangeal joint 221 and a middle section 222 that can rotate relative to the proximal interphalangeal joint 221. The middle section 222 is provided with a middle section gear 525. The middle section module 220 is provided with a second gear transmission mechanism. The second gear transmission mechanism includes the second driving gear 520, the first proximal pitch gear set 521, the middle section gear set 524, the second gear assembly and the second gear component. The two driving gears 520 are connected, and the third driving motor 430 drives the second driving gear 520 to rotate, and the second driving gear 520 drives the first proximal gear set 521 to rotate, and the first proximal gear set 521 is meshed with the second gear assembly for transmission, and the second gear assembly is meshed with the second gear component for transmission, and the middle section gear set 524 transmits the rotation of the second spur gear set 522 to the middle section gear 525, and the middle section gear 525 drives the middle section 222 to rotate relative to the proximal interphalangeal joint 221, thereby completing the bending of the middle section module 220.

[0043] It should be noted that, in some embodiments, the first proximal pitch gear set 521 includes a plurality of gears connected in sequence, and the plurality of gears mesh and transmit in sequence, and can transmit the power from the third drive motor 430. The number and size of the gears of the first proximal pitch gear set 521 are determined according to the actual finger configuration, size and load, and can be flexibly adjusted. By using the first proximal pitch gear set 521 for long-distance transmission, the drive motors can be uniformly arranged on the palm module 100, saving space and facilitating the maintenance and replacement of the motors.

[0044] According to some embodiments of the present application, the distal section module 230 includes a distal interphalangeal joint 231 and a distal section that can rotate relative to the distal interphalangeal joint 231, the distal section is provided with a distal section gear, and the distal section gear is coaxially arranged with the distal interphalangeal joint 231, the drive motor includes a fourth drive motor 440, the gear transmission mechanism includes a third gear transmission mechanism, the third gear transmission mechanism includes a third drive gear 530, a first distal section gear set 531, a second distal section gear set 532, a third gear assembly and a third gear component, the third gear assembly includes a third bevel gear 5332 and a third spur gear 5331 that rotate coaxially, and the third gear component includes a third sub-bevel gear 5341 and a third sub-spur gear 53 that rotate coaxially. 42, the third bevel gear 5332 is meshed with the third sub-bevel gear 5341 for transmission, the fourth drive motor 440 is connected to the third drive gear 530, the two ends of the first remote joint gear set 531 are respectively meshed with the third drive gear 530 and the third spur gear 5331 for transmission, the two ends of the second remote joint gear set 532 are respectively meshed with the remote joint gear and the third sub-spur gear 5342 for transmission, the third drive gear 530 is meshed with the first remote joint gear set 531 for transmission, and the fourth drive motor 440 controls the bending freedom of the remote joint module 230 through the third drive gear 530, the first remote joint gear set 531, the third gear assembly, the third gear component, the second remote joint gear set 532 and the remote joint gear. The fourth driving motor 440 is used to control the bending freedom of the distal interphalangeal joint 231. Specifically, the distal module 230 includes a distal interphalangeal joint 231 and a distal section. The distal section is provided with a distal gear, which is coaxially arranged with the distal interphalangeal joint 231. The distal gear can drive the distal section to rotate relative to the distal interphalangeal joint 231. The distal joint module 230 is provided with a third gear transmission mechanism, which includes a third driving gear 530, a first distal joint gear set 531, a second distal joint gear set 532, a third gear assembly, and a third gear component. The fourth driving motor 440 is connected to the third driving gear 530, and the fourth driving motor 440 drives the third driving gear 530 to rotate. The third driving gear 530 drives the first distal joint gear set 531 to rotate. The first distal joint gear set 531 is meshed with the third spur gear 5331 for transmission, and the third bevel gear 5332 is meshed with the third sub-bevel gear 5341 for transmission. The second distal joint gear set 532 is respectively meshed with the third sub-spur gear 5342 and the distal joint gear for transmission. The second distal joint gear set 532 transmits the rotation of the third sub-spur gear 5342 to the distal joint gear, and the distal joint gear drives the distal joint to rotate relative to the distal interphalangeal joint 231, thereby completing the bending of the distal joint module 230.

[0045] It should be noted that, in some embodiments, the distal module 230 is arranged at one end of the four-finger mechanism away from the palm module 100, and the fourth drive motor 440 is arranged at one end of the palm module 100 away from the distal module 230. In order to achieve long-distance transmission, the third gear transmission mechanism is provided with a first distal gear set 531 and a second distal gear set 532. The first distal gear set 531 transmits the power from the fourth drive motor 440 to the third gear assembly over a long distance. The third gear assembly and the second distal gear set 532 are meshed for transmission. The second distal gear set 532 transmits the power to the distal gear over a long distance, completing two long-distance transmissions. It is understandable that, in some embodiments, the fourth drive motor 440 is arranged at one end of the palm module 100 close to the distal module 230. According to the different arrangement positions of the drive motors, the number of gears of the first distal gear set 531 can be selected and flexibly adjusted.

[0046] In some embodiments, the four four-finger mechanisms have different lengths. The number and size of gears of the first distal gear set 531 and the second distal gear set 532 are selected according to the actual finger configuration and size, which can be suitable for power transmission at different distances and has strong applicability.

[0047] According to some embodiments of the present application, the metacarpal module 310 includes a thumb base 311, a first metacarpal joint 312, and a second metacarpal joint 313. The first metacarpal joint 312 can be rotatably mounted on the thumb base 311, and the second metacarpal joint 313 can be rotatably mounted on the first metacarpal joint 312. The metacarpal module 310 has bending freedom and rotational freedom. The rotational freedom of the metacarpal module 310 can drive the entire thumb mechanism to rotate around the circumference, which can not only realize the basic movement of the human hand, but also perform anti-joint movement, providing more possibilities for dexterous operation. Specifically, the metacarpal module 310 includes a thumb base 311, a first metacarpal joint 312, and a second metacarpal joint 313. The first metacarpal joint 312 rotates relative to the thumb base 311 to realize the bending of the metacarpal module 310; the second metacarpal joint 313 can rotate relative to the first metacarpal joint 312 to realize the rotation of the entire thumb mechanism around the circumference.

[0048] According to some embodiments of the present application, the first metacarpal joint 312 includes a metacarpal transverse axis 314 and a first metacarpal component 316, the first metacarpal component 316 is rotatably connected to the thumb base 311 through the metacarpal transverse axis 314, the metacarpal vertical axis 315 and the metacarpal transverse axis 314 are fixedly connected and arranged to intersect vertically; the second metacarpal joint 313 includes a metacarpal vertical axis 315 and a second metacarpal component 317, the metacarpal vertical axis 315 and the metacarpal transverse axis 314 are fixedly connected and arranged to intersect vertically, and the second metacarpal component 317 is rotatably connected to the first metacarpal component 316 through the metacarpal vertical axis 315. The first metacarpal component 316 is rotatably mounted on the thumb base 311 through the metacarpal transverse axis 314, and the first metacarpal component 316 can rotate relative to the thumb base 311 to achieve bending of the metacarpal module 310. The metacarpal vertical axis 315 and the metacarpal transverse axis 314 are fixedly connected, and the metacarpal vertical axis 315 and the metacarpal transverse axis 314 are arranged to intersect each other perpendicularly. The second metacarpal component 317 is connected to the metacarpal vertical axis 315, and the second metacarpal component 317 can rotate relative to the first metacarpal component 316 and the thumb base 311 to achieve circumferential rotation.

[0049] According to some embodiments of the present application, the drive motor includes a fifth drive motor 460 and a sixth drive motor 450, the gear transmission mechanism includes a fourth gear transmission mechanism, the fourth gear transmission mechanism includes a metacarpal bevel gear 544, a first metacarpal drive gear 540, a second metacarpal drive gear 545, a first metacarpal gear set, a second metacarpal gear set and a metacarpal joint gear set 541, the metacarpal bevel gear 544 is arranged on the metacarpal vertical axis 315, the first metacarpal gear set and the second metacarpal gear set are arranged on the metacarpal horizontal axis 314, the first metacarpal gear set includes a first metacarpal spur gear 5421 and a first metacarpal bevel gear set rotating coaxially Wheel 5422, the second metacarpal gear set includes a second metacarpal spur gear 5431 and a second metacarpal bevel gear 5432 that rotate coaxially, the first metacarpal bevel gear 5422 and the second metacarpal bevel gear 5432 are respectively meshed with the metacarpal bevel gear 544 for transmission, the fifth drive motor 460 is connected to the first metacarpal drive gear 540, the sixth drive motor 450 is connected to the second metacarpal drive gear 545, the two ends of the metacarpal joint gear set 541 are respectively meshed with the first metacarpal drive gear 540 and the first metacarpal spur gear 5421 for transmission, and the second metacarpal drive gear 545 is meshed with the second metacarpal spur gear 5431 for transmission.The fifth drive motor 460 and the sixth drive motor 450 cooperate to control the bending and rotation of the metacarpal module 310. Specifically, the fifth drive motor 460 is driven by the first metacarpal drive gear 540, the metacarpal joint gear set 541, the first metacarpal gear set and the metacarpal bevel gear 544 in meshing, and the sixth drive motor 450 is driven by the second metacarpal drive gear 545, the second metacarpal gear set and the metacarpal bevel gear 544 in meshing. The first metacarpal gear set and the second metacarpal gear set can rotate relative to the metacarpal transverse axis 314. When the fifth drive motor 460 drives the first metacarpal drive gear 540 and the sixth drive motor 450 drives the second metacarpal drive gear 545 to rotate in the same direction and at the same speed, the metacarpal bevel gear 544 and the second metacarpal component 317 are stationary relative to the first metacarpal component 316, and the first metacarpal drive gear 540 and the second metacarpal drive gear 545 drive the first metacarpal component 316 to rotate, so as to realize the metacarpal module 310. 0 bending movement; when the fifth drive motor 460 drives the first metacarpal driving gear 540 and the sixth drive motor 450 drives the second metacarpal driving gear 545 to rotate at a constant speed in the opposite direction, the first metacarpal component 316 remains stationary, and the first metacarpal driving gear 540 and the second metacarpal driving gear 545 drive the metacarpal bevel gear 544 and the second metacarpal component 317 to rotate, thereby realizing the rotational movement of the metacarpal module 310; when the fifth drive motor 460 drives the first metacarpal driving gear 540 and the sixth drive motor 450 drives the second metacarpal driving gear 545 to rotate at different speeds, while the first metacarpal driving gear 540 and the second metacarpal driving gear 545 drive the first metacarpal component 316 to rotate, the first metacarpal driving gear 540 and the second metacarpal driving gear 545 rotating at different speeds will also drive the metacarpal bevel gear 544 and the second metacarpal component 317 to rotate, thereby realizing the simultaneous bending and rotational movement of the metacarpal module 310.

[0050] According to some embodiments of the present application, the thumb proximal section module 320 includes a thumb proximal section 321, a thumb proximal section gear 322 and a thumb proximal section bevel gear 323, the drive motor includes a seventh drive motor 470, the gear transmission mechanism includes a fifth gear transmission mechanism, the fifth gear transmission mechanism includes a thumb proximal section drive gear 550, a thumb proximal section gear set 551, a thumb proximal section gear shaft 552, a fifth bevel gear 553 and a fifth gear assembly, the fifth gear assembly includes a fifth sub-bevel gear 5542 and a fifth sub-spur gear 5541 rotating coaxially, and the seventh drive motor 470 is connected to the thumb proximal section drive gear 550 Then, the two ends of the thumb proximal pitch gear set 551 are respectively meshed with the thumb proximal pitch driving gear 550 and the fifth sub-spur gear 5541 for transmission, the fifth sub-bevel gear 5542 is meshed with the fifth bevel gear 553 for transmission, the fifth bevel gear 553 and the thumb proximal pitch bevel gear 323 are transmitted through the thumb proximal pitch gear shaft 552, and the seventh drive motor 470 controls the bending freedom of the thumb proximal pitch 321 through the thumb proximal pitch driving gear 550, the thumb proximal pitch gear set 551, the fifth gear assembly, the fifth bevel gear 553, the thumb proximal pitch gear shaft 552, the thumb proximal pitch bevel gear 323 and the thumb proximal pitch gear 322. Specifically, the seventh drive motor 470 drives the thumb proximal section 321 to bend through the fifth gear transmission mechanism, the fifth gear transmission mechanism includes a thumb proximal section drive gear 550, a thumb proximal section gear set 551, a thumb proximal section gear shaft 552, a fifth bevel gear 553 and a fifth gear assembly, the seventh drive motor 470 drives the thumb proximal section drive gear 550 to move, the two ends of the thumb proximal section gear set 551 are respectively meshed with the thumb proximal section drive gear 550 and the fifth sub-spur gear 5541 for transmission, the fifth sub-bevel gear 5542 is meshed with the fifth bevel gear 553 for transmission, the fifth bevel gear 553 and the thumb proximal section bevel gear 323 are transmitted through the thumb proximal section gear shaft 552, the thumb proximal section bevel gear 323 cooperates with the thumb proximal section gear 322, and drives the thumb proximal section 321 to bend and rotate. It should be noted that in some embodiments, the thumb proximal section gear set 551 includes a plurality of gears connected in sequence, and the plurality of gears are meshed in sequence for transmission, so as to transmit the power from the seventh drive motor 470. The number and size of the gears of the thumb proximal gear set 551 are determined according to the actual finger configuration, size and load, and can be flexibly adjusted.

[0051] According to some embodiments of the present application, the thumb distal joint module 330 includes a thumb distal joint 331 and a thumb distal joint gear 332, the drive motor includes an eighth drive motor 480, the gear transmission mechanism includes a sixth gear transmission mechanism, the sixth gear transmission mechanism includes a thumb distal joint drive gear 560, a first thumb distal joint gear set 561, a second thumb distal joint gear set 562, a thumb distal joint gear shaft 563, a sixth bevel gear 565 and a sixth gear assembly, the sixth gear assembly includes a sixth sub-bevel gear 5642 and a sixth sub-spur gear 5641 that rotate coaxially, the eighth drive motor 480 is connected to the thumb distal joint drive gear 560, The two ends of the first thumb distal gear set 561 are respectively meshed with the thumb distal drive gear 560 and the sixth spur gear 5641 for transmission, the sixth bevel gear 5642 is meshed with the sixth bevel gear 565 for transmission, the sixth bevel gear 565 and the second thumb distal gear set 562 are transmitted through the thumb distal gear shaft 563, and the eighth drive motor 480 controls the bending freedom of the thumb distal joint 331 through the thumb distal drive gear 560, the first thumb distal gear set 561, the sixth gear assembly, the sixth bevel gear 565, the thumb distal gear shaft 563, the second thumb distal gear set 562 and the thumb distal gear 332. Specifically, the eighth drive motor 480 drives the thumb distal joint drive gear 560 to rotate, the thumb distal joint drive gear 560 drives the first thumb distal joint gear set 561 to rotate, the first thumb distal joint gear set 561 drives the sixth gear assembly to rotate, the sixth sub-bevel gear 5642 of the sixth gear assembly is meshed with the sixth bevel gear 565 for transmission, the sixth bevel gear 565 and the second thumb distal joint gear set 562 are transmitted through the thumb distal joint gear shaft 563, the second thumb distal joint gear set 562 transmits power to the thumb distal joint gear 332, the thumb distal joint gear 332 drives the thumb distal joint 331 to rotate, thereby realizing the bending rotation of the thumb distal joint module 330. In some embodiments, the thumb distal joint module 330 is arranged at one end of the four-finger mechanism away from the palm module 100, and the eighth drive motor 480 is arranged at one end of the palm module 100 away from the thumb distal joint module 330. In order to realize long-distance transmission, the sixth gear transmission mechanism is provided with a first thumb distal joint gear set 561 and a second thumb distal joint gear set 562. The first thumb distal joint gear set 561 and the second thumb distal joint gear set 562 complete two long-distance transmissions.

[0052] In some embodiments, in order to enable each gear transmission mechanism to move independently and not interfere with each other, the metacarpal vertical axis 315, the thumb proximal gear axis 552 and the thumb distal gear axis 563 are concentrically arranged, and the metacarpal vertical axis 315, the thumb proximal gear axis 552 and the thumb distal gear axis 563 can rotate independently and not interfere with each other. The bevel gears arranged at the ends of each axis of the metacarpal vertical axis 315, the thumb proximal gear axis 552 and the thumb distal gear axis 563 are also arranged in sequence, and the bevel gear at the end of the gear axis in the middle is on the outside, so that each axis end gear can be completely exposed and meshed with the gear sets on the transmission chains on both sides.

[0053] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A fully-driven dexterous hand, characterized in that: include: A palm module, wherein the palm module is provided with a plurality of driving motors; Four four-finger mechanisms, each of which is arranged on the palm module, and each of which comprises a proximal section module, a middle section module and a distal section module, wherein the proximal section module is provided with a bending degree of freedom and a lateral swing degree of freedom, and the middle section module and the distal section module are provided with a bending degree of freedom; A thumb mechanism, wherein the thumb mechanism is arranged on the palm module, the thumb mechanism comprises a metacarpal module, a thumb proximal module and a thumb distal module, the metacarpal module is provided with a rotational degree of freedom and a bending degree of freedom, and the thumb proximal module and the thumb distal module are provided with a bending degree of freedom; Among them, the four-finger mechanism and the thumb mechanism are provided with multiple gear transmission mechanisms, the number of the driving motors corresponds to the number of the gear transmission mechanisms, and each of the driving motors drives the proximal section module, the middle section module, the distal section module, the metacarpal module, the thumb proximal section module and the thumb distal section module to move respectively through each of the gear transmission mechanisms.

2. The fully-driven dexterous hand according to claim 1, characterized in that: The four-finger mechanism includes a finger base, the proximal section module is installed on the finger base, the drive motor includes a first drive motor, the proximal section module includes a side swing axis and a bending axis, the bending axis is hingedly connected to the proximal section module, the side swing axis and the bending axis are perpendicularly intersected and fixedly connected, the first drive motor is coaxially arranged and fixedly connected to the side swing axis, the first drive motor drives the side swing axis to swing, and controls the side swing freedom of the proximal section module.

3. The fully-driven dexterous hand according to claim 1, characterized in that: The proximal pitch module includes a proximal pitch and a proximal pitch gear that are fixedly connected, the drive motor includes a second drive motor, the gear transmission mechanism includes a first gear transmission mechanism, the first gear transmission mechanism includes a first drive gear and a first gear assembly, the first gear assembly includes a first bevel gear and a first spur gear that rotate coaxially, the second drive motor is connected to the first drive gear, the proximal pitch gear is meshed with the first bevel gear for transmission, the first drive gear is meshed with the first spur gear for transmission, and the second drive motor controls the bending freedom of the proximal pitch module through the first gear transmission mechanism.

4. The fully-driven dexterous hand according to claim 1, characterized in that: The middle section module includes a proximal interphalangeal joint and a middle section that can rotate relative to the proximal interphalangeal joint, the middle section is provided with a middle section gear, and the middle section gear is coaxially arranged and fixedly connected to the proximal interphalangeal joint, the drive motor includes a third drive motor, the gear transmission mechanism includes a second gear transmission mechanism, the second gear transmission mechanism includes a second drive gear, a first proximal section gear set, a middle section gear set, a second gear assembly and a second gear component, the second gear assembly includes a second bevel gear and a second spur gear that rotate coaxially, the second gear component includes a second sub-bevel gear and a second sub-spur gear that rotate coaxially, and the first The second bevel gear is meshed with the second secondary bevel gear for transmission, the third drive motor is connected to the second drive gear, the two ends of the first proximal pitch gear set are respectively meshed with the second drive gear and the second spur gear for transmission, the two ends of the middle section gear set are respectively meshed with the middle section gear and the second secondary spur gear for transmission, the second drive gear is meshed with the first proximal pitch gear set for transmission, and the third drive motor controls the bending freedom of the middle section module through the second drive gear, the first proximal pitch gear set, the second gear assembly, the second gear component, the middle section gear set and the middle section gear.

5. The fully-driven dexterous hand according to claim 1, characterized in that: The distal joint module includes a distal joint interphalangeal joint and a distal joint that can rotate relative to the distal joint interphalangeal joint, the distal joint is provided with a distal gear, and the distal gear is coaxially arranged with the distal joint interphalangeal joint, the drive motor includes a fourth drive motor, the gear transmission mechanism includes a third gear transmission mechanism, the third gear transmission mechanism includes a third drive gear, a first distal joint gear set, a second distal joint gear set, a third gear assembly and a third gear component, the third gear assembly includes a third bevel gear and a third spur gear that rotate coaxially, the third gear component includes a third sub-bevel gear and a third sub-spur gear that rotate coaxially, and the third bevel gear The fourth drive motor is connected to the third drive gear, and the two ends of the first remote pitch gear set are respectively engaged with the third drive gear and the third spur gear for transmission, and the two ends of the second remote pitch gear set are respectively engaged with the remote pitch gear and the third secondary spur gear for transmission, and the third drive gear is engaged with the first remote pitch gear set for transmission, and the fourth drive motor controls the bending freedom of the remote pitch module through the third drive gear, the first remote pitch gear set, the third gear assembly, the third gear component, the second remote pitch gear set and the remote pitch gear.

6. The fully-driven dexterous hand according to claim 1, characterized in that: The metacarpal module includes a thumb base, a first metacarpal joint and a second metacarpal joint. The first metacarpal joint is rotatably mounted on the thumb base, and the second metacarpal joint is rotatably mounted on the first metacarpal joint.

7. The fully-driven dexterous hand according to claim 6, characterized in that: The first metacarpal joint includes a metacarpal transverse axis and a first metacarpal component, and the first metacarpal component is rotatably connected to the thumb base via the metacarpal transverse axis. The second metacarpal joint includes a metacarpal vertical axis and a second metacarpal component, and the metacarpal vertical axis and the metacarpal transverse axis are fixedly connected and perpendicularly intersected, and the second metacarpal component is rotatably connected to the first metacarpal component via the metacarpal vertical axis.

8. The fully-driven dexterous hand according to claim 7, characterized in that: The drive motor includes a fifth drive motor and a sixth drive motor, the gear transmission mechanism includes a fourth gear transmission mechanism, the fourth gear transmission mechanism includes a metacarpal bevel gear, a first metacarpal drive gear, a second metacarpal drive gear, a first metacarpal gear set, a second metacarpal gear set and a metacarpal joint gear set, the metacarpal bevel gear is arranged on the metacarpal vertical axis, the first metacarpal gear set and the second metacarpal gear set are arranged on the metacarpal horizontal axis, the first metacarpal gear set includes a first metacarpal spur gear and a first metacarpal bevel gear that rotate coaxially, the second metacarpal gear set includes a second metacarpal spur gear and a second metacarpal bevel gear that rotate coaxially, the first metacarpal bevel gear and the second metacarpal bevel gear are respectively meshed with the metacarpal bevel gear for transmission, the fifth drive motor is connected to the first metacarpal drive gear, the sixth drive motor is connected to the second metacarpal drive gear, both ends of the metacarpal joint gear set are respectively meshed with the first metacarpal drive gear and the first metacarpal spur gear for transmission, and the second metacarpal drive gear is meshed with the second metacarpal spur gear for transmission.

9. The fully-driven dexterous hand according to claim 6, characterized in that: The thumb proximal section module includes a thumb proximal section, a thumb proximal section spur gear and a thumb proximal section bevel gear, the drive motor includes a seventh drive motor, the gear transmission mechanism includes a fifth gear transmission mechanism, the fifth gear transmission mechanism includes a thumb proximal section drive gear, a thumb proximal section gear set, a thumb proximal section gear shaft, a fifth bevel gear and a fifth gear assembly, the fifth gear assembly includes a fifth sub-bevel gear and a fifth sub-spur gear rotating coaxially, the seventh drive motor is connected to the thumb proximal section drive gear, the two ends of the thumb proximal section gear set are respectively meshed with the thumb proximal section drive gear and the fifth sub-spur gear for transmission, the fifth sub-bevel gear is meshed with the fifth bevel gear for transmission, the fifth bevel gear and the thumb proximal section bevel gear are transmitted through the thumb proximal section gear shaft, and the seventh drive motor controls the bending freedom of the thumb proximal section through the thumb proximal section drive gear, the thumb proximal section gear set, the fifth gear assembly, the fifth bevel gear, the thumb proximal section gear shaft, the thumb proximal section bevel gear and the thumb proximal section spur gear.

10. The fully-driven dexterous hand according to claim 1, characterized in that: The thumb distal joint module includes a thumb distal joint and a thumb distal joint gear, the drive motor includes an eighth drive motor, the gear transmission mechanism includes a sixth gear transmission mechanism, the sixth gear transmission mechanism includes a thumb distal joint drive gear, a first thumb distal joint gear set, a second thumb distal joint gear set, a thumb distal joint gear shaft, a sixth bevel gear and a sixth gear assembly, the sixth gear assembly includes a sixth sub-bevel gear and a sixth sub-spur gear rotating coaxially, the eighth drive motor is connected to the thumb distal joint drive gear, the two ends of the first thumb distal joint gear set are respectively meshed with the thumb distal joint drive gear and the sixth sub-spur gear for transmission, the sixth sub-bevel gear is meshed with the sixth bevel gear for transmission, the sixth bevel gear and the second thumb distal joint gear set are transmitted through the thumb distal joint gear shaft, and the eighth drive motor controls the bending freedom of the thumb distal joint through the thumb distal joint drive gear, the first thumb distal joint gear set, the sixth gear assembly, the sixth bevel gear, the thumb distal joint gear shaft, the second thumb distal joint gear set and the thumb distal joint gear.

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