A fully actuated dexterous hand

Abstract

The application 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, the proximal segment module is provided with bending freedom and side swing freedom, the middle segment module and the distal segment module are provided with bending freedom, the metacarpal module is provided with rotation freedom and bending freedom, the thumb proximal segment module and the thumb distal segment module are provided with bending freedom, the four-finger mechanisms and the thumb mechanism are provided with a plurality of gear transmission mechanisms, the number of driving motors corresponds to the number of the gear transmission mechanisms, each module can be independently controlled through the driving motor and the gear transmission mechanism, and full driving of multiple freedoms of each module is realized. Gear transmission mechanisms are adopted between the driving motors and the modules for transmission, the transmission is accurate, the load capacity is high, the response speed is fast, and the reliability and durability are high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dexterous hand, and particularly relates to a full-drive dexterous hand. BACKGROUND

[0002] The existing dexterous hand is mainly divided into underactuated and full-drive. The underactuated dexterous hand has few degrees of freedom and cannot realize complex operation, and is not flexible and accurate when performing fine operation task. The current scheme of the full-drive dexterous hand includes motor direct drive, tendon transmission, connecting rod transmission and gear transmission. The motor direct drive mode is to install the motor in the finger joint, which makes the finger structure bulky and cannot realize fine operation like human hand. The tendon transmission is widely used at present, but has low control precision, insufficient gripping force, high requirement for tendon material, and problems such as wear and control hysteresis. The connecting rod transmission has the problem of limited transmission angle, and it is difficult to realize the control requirement of independent driving and large swing of the finger structure with multiple degrees of freedom. In addition, for the proximal segment module of human finger, there are two degrees of freedom, bending and left-right swing. Since it is difficult to realize, most of the dexterous hands often simplify or remove the degree of freedom of left-right swing, resulting in poor flexibility. SUMMARY

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

[0004] The full-drive dexterous hand provided by the present application comprises:

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

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

[0008] The four-finger mechanism and the thumb mechanism are provided with a plurality of gear transmission mechanisms, the number of the driving motors corresponds to the number of the gear transmission mechanisms, each driving motor drives the proximal segment module, the middle segment module, the distal segment module, the metacarpal module, the thumb proximal segment module and the thumb distal segment module to move through the gear transmission mechanism.

[0009] According to the full-drive dexterous hand provided by the embodiment of the first aspect of the application, the following beneficial effects are achieved: the full-drive dexterous hand 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, the proximal segment module is provided with a bending degree of freedom and a side swing degree of freedom, the middle segment module and the distal segment module are provided with a bending degree of freedom, the metacarpal module is provided with a rotation degree of freedom and a bending degree of freedom, the thumb proximal segment module and the thumb distal segment module are provided with a bending degree of freedom, the four-finger mechanisms and the thumb mechanism are provided with a plurality of gear transmission mechanisms, the number of the driving motors corresponds to the number of the gear transmission mechanisms, each driving motor drives the proximal segment module, the middle segment module, the distal segment module, the metacarpal module, the thumb proximal segment module and the thumb distal segment module to move through the gear transmission mechanism, each module can be independently controlled by the driving motor and the gear transmission mechanism, and the full-drive of the multiple degrees of freedom of each module is achieved. The gear transmission mechanism is adopted for transmission between the driving motor and each module, 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 application, the four-finger mechanism comprises a finger base, the proximal segment module is installed on the finger base, the driving motor comprises a first driving motor, the proximal segment module comprises a side swing shaft and a bending shaft, the bending shaft is connected with the proximal segment module through a hinge, the side swing shaft and the bending shaft are arranged in perpendicular intersection and fixedly connected, the first driving motor is coaxially arranged with the side swing shaft and fixedly connected, the first driving motor drives the side swing shaft to swing, and the side swing degree of freedom of the proximal segment module is controlled.

[0011] According to some embodiments of the application, the proximal segment module comprises a proximal segment and a proximal segment gear fixedly connected, the driving motor comprises a second driving motor, the gear transmission mechanism comprises a first gear transmission mechanism, the first gear transmission mechanism comprises a first driving gear and a first gear assembly, the first gear assembly comprises a first bevel gear and a first spur gear coaxially rotating, the second driving motor is connected with the first driving gear, the proximal segment gear is in mesh transmission with the first bevel gear, the first driving gear is in mesh transmission with the first spur gear, and the second driving motor controls the bending degree of freedom of the proximal segment module through the first gear transmission mechanism.

[0012] According to some embodiments of the present application, the middle segment module comprises a proximal interphalangeal joint and a middle segment rotatable relative to the proximal interphalangeal joint, the middle segment is provided with a middle segment gear coaxially arranged and fixedly connected with the proximal interphalangeal joint, the driving motor comprises a third driving motor, the gear transmission mechanism comprises a second gear transmission mechanism, the second gear transmission mechanism comprises a second driving gear, a first proximal gear set, a middle gear set, a second gear assembly and a second gear part, the second gear assembly comprises a second bevel gear and a second spur gear coaxially rotatable, the second gear part comprises a second deputy bevel gear and a second deputy spur gear coaxially rotatable, the second bevel gear is in meshing transmission with the second deputy bevel gear, the third driving motor is connected with the second driving gear, two ends of the first proximal gear set are in meshing transmission with the second driving gear and the second spur gear respectively, two ends of the middle gear set are in meshing transmission with the middle segment gear and the second deputy spur gear respectively, the second driving gear is in meshing transmission with the first proximal gear set, the third driving motor controls the bending degree of freedom of the middle segment module through the second driving gear, the first proximal gear set, the second gear assembly, the second gear part, the middle gear set and the middle segment gear.

[0013] According to some embodiments of the present application, the distal segment module comprises a distal interphalangeal joint and a distal segment rotatable relative to the distal interphalangeal joint, the distal segment is provided with a distal segment gear coaxially arranged with the distal interphalangeal joint, the driving motor comprises a fourth driving motor, the gear transmission mechanism comprises a third gear transmission mechanism, the third gear transmission mechanism comprises a third driving gear, a first distal gear set, a second distal gear set, a third gear assembly and a third gear part, the third gear assembly comprises a third bevel gear and a third spur gear coaxially rotatable, the third gear part comprises a third deputy bevel gear and a third deputy spur gear coaxially rotatable, the third bevel gear is in meshing transmission with the third deputy bevel gear, the fourth driving motor is connected with the third driving gear, two ends of the first distal gear set are in meshing transmission with the third driving gear and the third spur gear respectively, two ends of the second distal gear set are in meshing transmission with the distal segment gear and the third deputy spur gear respectively, the third driving gear is in meshing transmission with the first distal gear set, the fourth driving motor controls the bending degree of freedom of the distal segment module through the third driving gear, the first distal gear set, the third gear assembly, the third gear part, the second distal gear set and the distal segment gear.

[0014] According to some embodiments of the present application, the metacarpal module comprises a thumb base, a first metacarpal joint and a second metacarpal joint, the first metacarpal joint is rotatably installed on the thumb base, and the second metacarpal joint is rotatably installed on the first metacarpal joint.

[0015] According to some embodiments of this application, the first metacarpal joint includes a transverse metacarpal axis and a first metacarpal component. The first metacarpal component is rotatably connected to the thumb base through the transverse metacarpal axis. The second metacarpal joint includes a vertical metacarpal axis and a second metacarpal component. The vertical metacarpal axis and the transverse metacarpal axis are fixedly connected and perpendicularly intersecting each other. The second metacarpal component is rotatably connected to the first metacarpal component through the vertical metacarpal axis.

[0016] According to some embodiments of this 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 disposed on the vertical axis of the metacarpal, the first metacarpal gear set and the second metacarpal gear set are disposed on the transverse axis of the metacarpal, 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 respectively mesh with the metacarpal bevel gear, 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, and the second metacarpal drive gear meshes with the second metacarpal spur gear.

[0017] According to some embodiments of this application, the thumb proximal segment module includes a thumb proximal segment, a thumb proximal segment spur gear, and a thumb proximal segment bevel gear. The drive motor includes a seventh drive motor. The gear transmission mechanism includes a fifth gear transmission mechanism, which includes a thumb proximal segment drive gear, a thumb proximal segment gear set, a thumb proximal segment gear shaft, a fifth bevel gear, and a fifth gear assembly. The fifth gear assembly includes a fifth set of bevel gears and a fifth set of spur gears that rotate coaxially. The seventh drive motor is connected to the thumb proximal segment drive gear. The two ends of the thumb proximal segment gear set are respectively meshed with the thumb proximal segment drive gear and the fifth set of spur gears. The fifth set of bevel gears meshes with the fifth bevel gear. The fifth bevel gear and the thumb proximal segment bevel gear are driven through the thumb proximal segment gear shaft. The seventh drive motor controls the bending degree of freedom of the thumb proximal segment through the thumb proximal segment drive gear, the thumb proximal segment gear set, the fifth gear assembly, the fifth bevel gear, the thumb proximal segment gear shaft, the thumb proximal segment bevel gear, and the thumb proximal segment spur gear.

[0018] According to some embodiments of this application, the distal thumb joint module includes a distal thumb joint and a distal thumb 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 distal thumb joint drive gear, a first distal thumb joint gear set, a second distal thumb joint gear set, a distal thumb joint gear shaft, a sixth bevel gear, and a sixth gear assembly; the sixth gear assembly includes a sixth set of bevel gears and a sixth set of spur gears that rotate coaxially; the eighth drive motor is connected to the distal thumb joint drive gear; both ends of the first distal thumb joint gear set mesh with the distal thumb joint drive gear and the sixth set of spur gears respectively; the sixth set of bevel gears meshes with the sixth bevel gear; the sixth bevel gear and the second distal thumb joint gear set are driven by the distal thumb joint gear shaft; and the eighth drive motor controls the bending degree of freedom of the distal thumb joint through the distal thumb joint drive gear, the first distal thumb joint gear set, the sixth gear assembly, the sixth bevel gear, the distal thumb joint gear shaft, the second distal thumb joint gear set, and the distal thumb joint gear.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0021] Figure 1 This is a schematic diagram of the structure of a fully driven dexterous hand according to an embodiment of this application;

[0022] Figure 2 yes Figure 1 The diagram shows a structural schematic of a four-finger mechanism for a fully driven dexterous hand.

[0023] Figure 3 yes Figure 2 The diagram shows the structural schematic of the proximal segment module of the four-finger mechanism;

[0024] Figure 4 yes Figure 2 The diagram shows the structure of the middle segment module of the four-finger mechanism;

[0025] Figure 5 yes Figure 2 The diagram shows the structure of the distal segment module of the four-finger mechanism;

[0026] Figure 6 yes Figure 1 The diagram shows a structural schematic of the thumb mechanism of a fully driven dexterous hand.

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

[0028] Figure 8 yes Figure 6 The diagram shown is a structural schematic of the thumb proximal segment module of the thumb mechanism.

[0029] Figure 9 yes Figure 6 The diagram shown is a structural schematic of the distal phalanx module of the thumb mechanism.

[0030] Figure 10 yes Figure 6 The diagram shows the internal structure of the thumb mechanism. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0032] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, inside, outside, etc., are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0034] In the description of this application, unless otherwise expressly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0035] The following reference Figures 1 to 10 This application describes a fully driven dexterous hand according to an embodiment.

[0036] An embodiment of this application provides a fully driven dexterous hand, referring to... Figures 1 to 10The system includes a palm module 100, four four-finger mechanisms, and a thumb mechanism. The palm module 100 is equipped with multiple drive motors, which are mounted on the palm module 100 itself. The four-finger and thumb mechanisms do not have their own motors, saving space and allowing them to be slimmer, making precise operations easier and facilitating wiring. The multiple drive motors are also mounted on the palm module 100, which also facilitates motor inspection and replacement.

[0037] The four-finger mechanism and thumb mechanism are mounted on the palm module 100. There are four four-finger mechanisms, each including a proximal segment module 210, a middle segment module 220, and a distal segment module 230. The proximal segment module 210 has bending and lateral swing degrees of freedom, while the middle segment module 220 and the distal segment module 230 have bending degrees of freedom. The proximal segment module 210, the middle segment module 220, and the distal segment module 230 can rotate relative to each other. The proximal segment module 210 is located on the side closest to the palm module 100. The lateral swing degree of freedom of the proximal segment module 210 can drive the entire four-finger mechanism to swing left and right, improving the precision and flexibility of the dexterous hand.

[0038] The thumb mechanism includes a metacarpal module 310, a proximal thumb module 320, and a distal thumb module 330. The metacarpal module 310 has rotational and flexion degrees of freedom, while the proximal and distal thumb modules 320 have flexion degrees of freedom. The metacarpal module 310, proximal thumb module 320, and distal thumb module 330 can rotate relative to each other. The metacarpal module 310 is located on the side closest to the palm module 100. The rotational degree of freedom of the proximal module 210 can drive the entire thumb mechanism to rotate circumferentially, enabling not only basic hand movements but also reverse joint movements, providing more possibilities for dexterous operation.

[0039] The four-finger and thumb mechanisms are equipped with multiple gear transmission mechanisms, and the palm module 100 is equipped with multiple drive motors. The number of drive motors and gear transmission mechanisms corresponds to the number of degrees of freedom. Each drive motor drives the proximal segment module 210, middle segment module 220, distal segment module 230, metacarpal module 310, proximal thumb segment module 320, and distal thumb segment module 330 respectively through its respective gear transmission mechanism. Each module can be independently controlled through drive motors and gear transmission mechanisms, achieving full actuation of multiple degrees of freedom for 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 total twenty degrees of freedom. The palm module 100 is equipped with twenty drive motors, and the thumb mechanism and the four four-finger mechanisms are equipped with twenty gear transmission mechanisms, achieving full actuation of all twenty degrees of freedom. The twenty fully actuated degrees of freedom are designed to mimic human hand joints, exhibiting good biomimicry and facilitating the use of everyday tools. The drive motors and each module are connected by gear transmission mechanisms, which provide precise transmission, strong load capacity, fast response speed, high reliability, and durability.

[0040] In some embodiments, the four-finger mechanism includes a finger base 110, a proximal segment module 210 mounted on the finger base 110, a drive motor including a first drive motor 410, and a proximal segment module 210 including a lateral swing shaft 211 and a bending shaft 212. The bending shaft is hinged to the proximal segment module, and the lateral swing shaft 211 and the bending shaft 212 are fixedly connected and perpendicularly intersecting within the proximal segment module 210. The first drive motor 410 is coaxially arranged with and fixedly connected to the lateral swing shaft 211, and the first drive motor 410 drives the lateral swing shaft 211 to swing, thereby controlling the lateral swing degree of freedom of the proximal segment module 210. The first drive motor 410 is used to control the lateral swing degree of freedom of the proximal module 210. Specifically, the proximal module 210 includes a lateral swing shaft 211 and a bending shaft 212. The lateral swing shaft 211 and the bending shaft 212 are arranged inside the proximal module 210. The first drive motor 410 is coaxially arranged with the lateral swing shaft 211 and fixedly connected. The first drive motor 410 drives the lateral swing shaft 211 to move, which can realize the left and right lateral swing of the proximal module 210 relative to the finger base 110.

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

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

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

[0044] According to some embodiments of this application, the distal segment module 230 includes a distal interphalangeal joint 231 and a distal segment rotatable relative to the distal interphalangeal joint 231. The distal segment is provided with a distal gear, which 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, which includes a third drive gear 530, a first distal gear set 531, a second distal 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. The third gear component includes a third set of bevel gears 5341 and a third set of spur gears 5341 that rotate coaxially. 42. The third bevel gear 5332 meshes with the third set of bevel gears 5341 for transmission. The fourth drive motor 440 is connected to the third drive gear 530. The two ends of the first distal gear set 531 mesh with the third drive gear 530 and the third spur gear 5331 for transmission. The two ends of the second distal gear set 532 mesh with the distal gear and the third set of spur gears 5342 for transmission. The third drive gear 530 meshes with the first distal gear set 531 for transmission. The fourth drive motor 440 controls the bending degree of freedom of the distal module 230 through the third drive gear 530, the first distal gear set 531, the third gear assembly, the third gear component, the second distal gear set 532, and the distal gear. The fourth drive motor 440 is used to control the bending degree of freedom of the distal interphalangeal joint 231. Specifically, the distal joint module 230 includes the distal interphalangeal joint 231 and the distal joint. The distal joint is provided with a distal joint gear, which is coaxially arranged with the distal interphalangeal joint 231. The distal joint gear can drive the distal joint to rotate relative to the distal interphalangeal joint 231. The distal segment module 230 is equipped with a third gear transmission mechanism, which includes a third drive gear 530, a first distal segment gear set 531, a second distal segment gear set 532, a third gear assembly, and a third gear component. A fourth drive motor 440 is connected to the third drive gear 530, and the fourth drive motor 440 drives the third drive gear 530 to rotate. The third drive gear 530 drives the first distal segment gear set 531 to rotate. The first distal segment gear set 531 meshes with the third spur gear 5331 for transmission, and the third bevel gear 5332 meshes with the third set of bevel gears 5341 for transmission. The second distal segment gear set 532 meshes with the third set of spur gears 5342 and the distal segment gear respectively for transmission. The second distal segment gear set 532 transmits the rotation of the third set of spur gears 5342 to the distal segment gear, and the distal segment gear drives the distal segment to rotate relative to the distal segment interphalangeal joint 231, which can complete the bending of the distal segment module 230.

[0045] It should be noted that in some embodiments, the distal segment module 230 is located at the end of the four-finger mechanism away from the palm module 100, and the fourth drive motor 440 is located at the end of the palm module 100 away from the distal segment module 230. To achieve long-distance transmission, the third gear transmission mechanism is provided with a first distal segment gear set 531 and a second distal segment gear set 532. The first distal segment gear set 531 transmits power from the fourth drive motor 440 to the third gear assembly over a long distance. The third gear assembly and the second distal segment gear set 532 mesh and transmit power, and the second distal segment gear set 532 transmits power to the distal segment gear over a long distance, completing two long-distance transmissions. It can be understood that in some embodiments, the fourth drive motor 440 is located at the end of the palm module 100 closer to the distal segment module 230. Depending on the arrangement of the drive motors, the number of gears in the first distal segment 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 the gears in 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 applied to power transmission over different distances and has strong applicability.

[0047] According to some embodiments of this 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 is rotatably mounted on the thumb base 311, and the second metacarpal joint 313 is rotatably mounted on the first metacarpal joint 312. The metacarpal module 310 has bending and rotational degrees of freedom. The rotational degree of freedom of the metacarpal module 310 can drive the entire thumb mechanism to rotate circumferentially, enabling not only basic hand movements but also reverse joint movements, 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, realizing the bending of the metacarpal module 310; the second metacarpal joint 313 can rotate relative to the first metacarpal joint 312, realizing the rotation of the entire thumb mechanism circumferentially.

[0048] According to some embodiments of this 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 via the metacarpal transverse axis 314. The metacarpal vertical axis 315 and the metacarpal transverse axis 314 are fixedly connected and perpendicularly intersecting. 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 perpendicularly intersecting. The second metacarpal component 317 is rotatably connected to the first metacarpal component 316 via the metacarpal vertical axis 315. The first metacarpal component 316 is rotatably mounted on the thumb base 311 via the metacarpal transverse axis 314. The first metacarpal component 316 can rotate relative to the thumb base 311, thereby achieving bending of the metacarpal module 310. The metacarpal vertical axis 315 and the metacarpal horizontal axis 314 are fixedly connected. The metacarpal vertical axis 315 and the metacarpal horizontal axis 314 are perpendicularly intersecting each other. The second metacarpal component 317 is connected to the metacarpal vertical axis 315. 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 this application, the drive motor includes a fifth drive motor 460 and a sixth drive motor 450, and 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 disposed on the metacarpal vertical axis 315, and the first metacarpal gear set and the second metacarpal gear set are disposed on the metacarpal transverse axis 314. The first metacarpal gear set includes a first metacarpal spur gear 5421 and a first metacarpal bevel gear that rotate coaxially. 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, and 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, and the first metacarpal gear set meshing with the metacarpal bevel gear 544. The sixth drive motor 450 is driven by the second metacarpal drive gear 545, the second metacarpal gear set meshing with the metacarpal bevel gear 544. 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. The first metacarpal drive gear 540 and the second metacarpal drive gear 545 drive the first metacarpal component 316 to rotate, thus realizing the rotation of the metacarpal module 310. The bending motion of the metacarpal module 310 is as follows: 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 opposite directions at the same speed, the first metacarpal component 316 remains stationary. The first metacarpal drive gear 540 and the second metacarpal drive gear 545 drive the metacarpal bevel gear 544 and the second metacarpal component 317 to rotate, thereby realizing the rotational motion of the metacarpal module 310. 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 at different speeds, the first metacarpal drive gear 540 and the second metacarpal drive gear 545 drive the first metacarpal component 316 to rotate at the same speed. At the same time, the first metacarpal drive gear 540 and the second metacarpal drive gear 545, which rotate at different speeds, also drive the metacarpal bevel gear 544 and the second metacarpal component 317 to rotate, thereby realizing the simultaneous bending and rotational motion of the metacarpal module 310.

[0050] According to some embodiments of this application, the thumb proximal module 320 includes a thumb proximal 321, a thumb proximal gear 322, and a thumb proximal bevel gear 323. The drive motor includes a seventh drive motor 470, and the gear transmission mechanism includes a fifth gear transmission mechanism. The fifth gear transmission mechanism includes a thumb proximal drive gear 550, a thumb proximal gear set 551, a thumb proximal gear shaft 552, a fifth bevel gear 553, and a fifth gear assembly. The fifth gear assembly includes a fifth set of bevel gears 5542 and a fifth set of spur gears 5541 that rotate coaxially. The seventh drive motor 470 is connected to the thumb proximal drive gear 550. Then, the two ends of the thumb proximal gear set 551 mesh with the thumb proximal drive gear 550 and the fifth spur gear 5541 respectively, and the fifth bevel gear 5542 meshes with the fifth bevel gear 553. The fifth bevel gear 553 and the thumb proximal bevel gear 323 are driven by the thumb proximal gear shaft 552. The seventh drive motor 470 controls the bending degree of freedom of the thumb proximal 321 through the thumb proximal drive gear 550, the thumb proximal gear set 551, the fifth gear assembly, the fifth bevel gear 553, the thumb proximal gear shaft 552, the thumb proximal bevel gear 323 and the thumb proximal gear 322. Specifically, the seventh drive motor 470 drives the thumb proximal phalanx 321 to bend via the fifth gear transmission mechanism. The fifth gear transmission mechanism includes a thumb proximal drive gear 550, a thumb proximal gear set 551, a thumb proximal gear shaft 552, a fifth bevel gear 553, and a fifth gear assembly. The seventh drive motor 470 drives the thumb proximal drive gear 550. The two ends of the thumb proximal gear set 551 mesh with the thumb proximal drive gear 550 and the fifth spur gear 5541, respectively. The fifth bevel gear 5542 meshes with the fifth bevel gear 553. The fifth bevel gear 553 and the thumb proximal bevel gear 323 are driven by the thumb proximal gear shaft 552. The thumb proximal bevel gear 323 cooperates with the thumb proximal gear 322, causing the thumb proximal phalanx 321 to bend and rotate. It should be noted that in some embodiments, the thumb proximal gear set 551 includes multiple gears connected in sequence, which mesh sequentially to transmit power from the seventh drive motor 470. The number and size of the gears in 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 this application, the distal thumb module 330 includes a distal thumb joint 331 and a distal thumb joint gear 332. The drive motor includes an eighth drive motor 480, and the gear transmission mechanism includes a sixth gear transmission mechanism. The sixth gear transmission mechanism includes a distal thumb joint drive gear 560, a first distal thumb joint gear set 561, a second distal thumb joint gear set 562, a distal thumb joint gear shaft 563, a sixth bevel gear 565, and a sixth gear assembly. The sixth gear assembly includes a sixth set of bevel gears 5642 and a sixth set of spur gears 5641 that rotate coaxially. The eighth drive motor 480 is connected to the distal thumb joint drive gear 560. The two ends of the first distal thumb gear set 561 are respectively engaged with the distal thumb drive gear 560 and the sixth spur gear 5641 for transmission. The sixth bevel gear 5642 is engaged with the sixth bevel gear 565 for transmission. The sixth bevel gear 565 is driven by the second distal thumb gear set 562 through the distal thumb gear shaft 563. The eighth drive motor 480 controls the bending degree of freedom of the distal thumb 331 through the distal thumb drive gear 560, the first distal thumb gear set 561, the sixth gear assembly, the sixth bevel gear 565, the distal thumb gear shaft 563, the second distal thumb gear set 562 and the distal thumb gear 332. Specifically, the eighth drive motor 480 drives the thumb distal limb drive gear 560 to rotate, the thumb distal limb drive gear 560 drives the first thumb distal limb gear set 561 to rotate, the first thumb distal limb gear set 561 drives the sixth gear assembly to rotate, the sixth bevel gear 5642 of the sixth gear assembly meshes with the sixth bevel gear 565 for transmission, the sixth bevel gear 565 and the second thumb distal limb gear set 562 are transmitted through the thumb distal limb gear shaft 563, the second thumb distal limb gear set 562 transmits power to the thumb distal limb gear 332, the thumb distal limb gear 332 drives the thumb distal limb 331 to rotate, realizing the bending and rotation of the thumb distal limb module 330. In some embodiments, the distal thumb joint module 330 is located at the end of the four-finger mechanism away from the palm module 100, and the eighth drive motor 480 is located at the end of the palm module 100 away from the distal thumb joint module 330. In order to achieve long-distance transmission, the sixth gear transmission mechanism is provided with a first distal thumb joint gear set 561 and a second distal thumb joint gear set 562. The first distal thumb joint gear set 561 and the second distal thumb joint gear set 562 complete two long-distance transmissions.

[0052] In some embodiments, to enable each gear transmission mechanism to move independently without interfering with each other, the metacarpal vertical shaft 315, the proximal thumb gear shaft 552, and the distal thumb gear shaft 563 are arranged concentrically, allowing each to rotate independently without interference. The bevel gears at the ends of each shaft of the metacarpal vertical shaft 315, the proximal thumb gear shaft 552, and the distal thumb gear shaft 563 are also arranged sequentially, with the bevel gear at the end of the middle gear shaft being the outermost, thus ensuring that each shaft-end gear is fully exposed and can mesh with the gear sets on the transmission chains on both sides.

[0053] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A fully driven dexterous hand, characterized in that, include: A hand module, wherein the hand module is equipped with multiple drive motors; Four four-finger mechanisms are provided on the palm module. Each four-finger mechanism includes a proximal segment module, a middle segment module, and a distal segment module. The proximal segment module is provided with bending and lateral swing degrees of freedom, and the middle segment module and the distal segment module are provided with bending degrees of freedom. A thumb mechanism is provided on the palm module. The thumb mechanism includes a metacarpal module, a proximal thumb module, and a distal thumb module. The metacarpal module has rotational and bending degrees of freedom, and the proximal and distal thumb modules have bending degrees of freedom. The four-finger mechanism and the thumb mechanism are equipped with multiple gear transmission mechanisms. The number of drive motors corresponds to the number of gear transmission mechanisms. Each drive motor drives the proximal segment module, the middle segment module, the distal segment module, the metacarpal module, the proximal thumb segment module, and the distal thumb segment module to move through each gear transmission mechanism. The proximal segment module includes a proximal segment and a proximal segment gear fixedly connected. The drive motor includes a second drive motor, and the gear transmission mechanism includes a first gear transmission mechanism. The middle segment module includes a proximal interphalangeal joint and a middle segment rotatable relative to the proximal interphalangeal joint. The middle segment is equipped with a middle segment gear, which is coaxially arranged and fixedly connected to the proximal interphalangeal joint. The drive motor includes a third drive motor. The distal segment module includes a distal interphalangeal joint and a distal segment rotatable relative to the distal interphalangeal joint. The distal segment is equipped with a distal segment gear, which is coaxially arranged with the distal interphalangeal joint. The drive motor includes a fourth drive motor, and the gear transmission mechanism includes a third gear transmission mechanism. 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. The first metacarpal joint includes a transverse metacarpal axis and a first metacarpal component. The first metacarpal component is rotatably connected to the thumb base via the transverse metacarpal axis. The second metacarpal joint includes a vertical metacarpal axis and a second metacarpal component. The vertical metacarpal axis and the transverse metacarpal axis are fixedly connected and perpendicularly intersecting. The second metacarpal component is rotatably connected to the first metacarpal component via the vertical metacarpal axis. The drive motor includes a fifth drive motor and a sixth drive motor, and the gear transmission mechanism includes a fourth gear transmission mechanism. The proximal thumb module includes a proximal thumb phalanx, a proximal thumb spur gear, and a proximal thumb bevel gear. The drive motor includes a seventh drive motor, and the gear transmission mechanism includes a fifth gear transmission mechanism. The distal thumb module includes a distal thumb phalanx and a distal thumb gear. The drive motor includes an eighth drive motor, and the gear transmission mechanism includes a sixth gear transmission mechanism.

2. The fully driven dexterous hand according to claim 1, characterized in that, The four-finger mechanism includes a finger base, the proximal segment module is mounted on the finger base, the drive motor includes a first drive motor, the proximal segment module includes a lateral swing shaft and a bending shaft, the bending shaft is hinged to the proximal segment module, the lateral swing shaft and the bending shaft are perpendicularly intersecting and fixedly connected, the first drive motor is coaxially arranged and fixedly connected to the lateral swing shaft, and the first drive motor drives the lateral swing shaft to swing, thereby controlling the lateral swing degree of freedom of the proximal segment module.

3. A fully driven dexterous hand according to claim 1, characterized in that, 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 gear meshes with the first bevel gear for transmission. The first drive gear meshes with the first spur gear for transmission. The second drive motor controls the bending degree of freedom of the proximal module through the first gear transmission mechanism.

4. A fully driven dexterous hand according to claim 1, characterized in that, The gear transmission mechanism includes a second gear transmission mechanism, which includes a second drive gear, a first proximal gear set, a middle 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 secondary bevel gear and a second secondary spur gear that rotate coaxially. The second bevel gear meshes 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 gear set mesh with the second drive gear and the second spur gear, respectively. The two ends of the middle gear set mesh with the middle gear and the second secondary spur gear, respectively. The second drive gear meshes with the first proximal gear set for transmission. The third drive motor controls the bending degree of freedom of the middle section module through the second drive gear, the first proximal gear set, the second gear assembly, the second gear component, the middle gear set, and the middle gear.

5. A fully driven dexterous hand according to claim 1, characterized in that, The third gear transmission mechanism includes a third drive gear, a first distal gear set, a second distal 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 set of bevel gears and a third set of spur gears that rotate coaxially. The third bevel gear meshes with the third set of bevel gears for transmission. The fourth drive motor is connected to the third drive gear. The two ends of the first distal gear set mesh with the third drive gear and the third spur gear, respectively. The two ends of the second distal gear set mesh with the distal gear and the third set of spur gears, respectively. The third drive gear meshes with the first distal gear set for transmission. The fourth drive motor controls the bending degree of freedom of the distal module through the third drive gear, the first distal gear set, the third gear assembly, the third gear component, the second distal gear set, and the distal gear.

6. A fully driven dexterous hand according to claim 1, characterized in that, 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 mounted on the vertical axis of the metacarpal, and the first metacarpal gear set and the second metacarpal gear set are mounted on the transverse axis of the metacarpal. 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, and 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. The second metacarpal drive gear is meshed with the second metacarpal spur gear for transmission.

7. A fully driven dexterous hand according to claim 1, characterized in that, The fifth gear transmission mechanism includes a thumb proximal drive gear, a thumb proximal gear set, a thumb proximal gear shaft, a fifth bevel gear, and a fifth gear assembly. The fifth gear assembly includes a fifth set of bevel gears and a fifth set of spur gears that rotate coaxially. The seventh drive motor is connected to the thumb proximal drive gear. The two ends of the thumb proximal gear set mesh with the thumb proximal drive gear and the fifth set of spur gears, respectively. The fifth set of bevel gears meshes with the fifth bevel gear. The fifth bevel gear and the thumb proximal bevel gear are driven by the thumb proximal gear shaft. The seventh drive motor controls the bending degree of freedom of the thumb proximal joint through the thumb proximal drive gear, the thumb proximal gear set, the fifth gear assembly, the fifth bevel gear, the thumb proximal gear shaft, the thumb proximal bevel gear, and the thumb proximal spur gear.

8. A fully driven dexterous hand according to claim 1, characterized in that, The sixth gear transmission mechanism includes a distal thumb drive gear, a first distal thumb gear set, a second distal thumb gear set, a distal thumb gear shaft, a sixth bevel gear, and a sixth gear assembly. The sixth gear assembly includes a sixth set of bevel gears and a sixth set of spur gears that rotate coaxially. The eighth drive motor is connected to the distal thumb drive gear. The two ends of the first distal thumb gear set mesh with the distal thumb drive gear and the sixth set of spur gears, respectively. The sixth set of bevel gears meshes with the sixth bevel gear. The sixth bevel gear and the second distal thumb gear set are driven by the distal thumb gear shaft. The eighth drive motor controls the bending degree of freedom of the distal thumb joint through the distal thumb drive gear, the first distal thumb gear set, the sixth gear assembly, the sixth bevel gear, the distal thumb gear shaft, the second distal thumb gear set, and the distal thumb gear.

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