Robot dexterous hand

Abstract

The invention discloses a robot dexterous hand which comprises a palm base, a plurality of swing assemblies, a plurality of first normal fingers and a plurality of driving assemblies, the swing assemblies are arranged on the top of the palm base in an array mode, the first normal fingers are arranged on the tops of the swing assemblies, and the swing assemblies can drive the first normal fingers to swing. The first normal finger comprises a plurality of finger modules, every two adjacent finger modules are in running fit, and a driving assembly is arranged in the first normal finger and used for driving the finger modules to rotate, so that the first normal finger is bent; the first normal finger is divided into the multiple finger modules, the multiple driving assemblies are matched, the finger modules are directly driven to rotate, the structure is simple, and subsequent maintenance is also facilitated through the modular design; compared with the prior art, the driving assemblies are arranged at the joints and matched with the finger modules, starting is simpler and more convenient, and disassembly, assembly and maintenance are also convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a dexterous robot hand. Background Art

[0002] A robotic dexterous hand is a robotic end-effector designed and manufactured with the human hand as a reference prototype. On the one hand, the dexterous hand simulates the human hand in terms of morphology, structure, and positional relationships between fingers. Typically, a thumb and three to four fingers are placed on a palm, creating an asymmetrical shape similar to that of a human hand. The overall dimensions are generally close to those of a human hand. On the other hand, the functional structure and motion patterns of each finger of the robotic dexterous hand closely resemble those of a real human hand. For example, each finger has multiple bending joints, distinguishing between multiple finger joints. A unique motion structure is often designed based on the base of the thumb to achieve the overall abduction, adduction, and envelope movements of the palm.

[0003] Most existing robotic dexterous hands are driven by tendons. This approach involves equipping the robotic hand with an additional arm, housing the drive motors within the arm, and attaching a traction cable to each motor to move a specific joint within the hand. Through clever design and cable routing, a highly realistic robotic dexterous hand can be controlled by motors. However, while the dexterous hands created with this approach bear a high resemblance to real human hands in appearance and motion structure, they are not only structurally complex, resulting in high learning and production costs for users, but also difficult to repair and maintain.

[0004] In view of this, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a dexterous robot hand, aiming to solve the problems in the prior art of complex structure and difficult maintenance of dexterous robot hands.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] A dexterous robot hand, comprising:

[0008] Palm base;

[0009] A plurality of swing components are arranged in an array on the top of the palm base;

[0010] A plurality of first normal fingers are rotatably mounted on the plurality of swing assemblies, wherein the swing assemblies are used to drive the first normal fingers to swing, and the first normal fingers include a plurality of finger modules, and two adjacent finger modules are rotatably engaged with each other;

[0011] A plurality of driving components are respectively arranged inside the plurality of finger modules to drive the finger modules to rotate.

[0012] Furthermore, the swing assembly includes:

[0013] A first servo is disposed in the palm base; an output shaft of the first servo is perpendicular to a surface of the palm base and extends out of the surface of the palm base;

[0014] a first rotating block, rotatably disposed on the top of the palm base; the first rotating block rotates along the width direction of the palm base, and the first normal finger is rotatably disposed on the first rotating block;

[0015] The transmission assembly is provided on the first steering gear; the transmission assembly is connected to the first rotating block so as to drive the first rotating block to rotate through the first steering gear.

[0016] Furthermore, the transmission assembly includes:

[0017] a first connecting block, provided on the output shaft of the first steering gear;

[0018] Two first connecting rods are rotatably arranged on both sides of the first connecting block respectively; one end of the first connecting rod away from the first connecting block is rotatably connected to the first rotating block.

[0019] Furthermore, the finger module includes:

[0020] The normal finger shell has an opening at one end and a rotating shaft at the other end; the openings of the two adjacent normal finger shells are matched with the rotating shaft;

[0021] The first bevel gear is arranged inside the rotating shaft; the first bevel gear is located in the opening of the corresponding normal finger housing, and the first bevel gear cooperates with the driving component in the adjacent finger module.

[0022] Furthermore, the driving component includes:

[0023] a second steering gear, disposed inside the housing of the normal finger; an output shaft of the second steering gear being arranged along the length direction of the first normal finger;

[0024] The second helical gear is coaxially arranged on the output shaft of the second steering gear and is located at the opening of the normal finger housing; the second helical gear is meshed with the corresponding first helical gear.

[0025] Furthermore, a fixed helical gear is provided on one side of the swing assembly, and a second helical gear in the finger module close to the swing assembly is meshed with the fixed helical gear in the swing assembly.

[0026] Furthermore, it also includes:

[0027] a thumb groove, provided on one side of the palm base;

[0028] The thumb module is arranged in the thumb groove.

[0029] Furthermore, the thumb module includes:

[0030] a third servo, disposed inside the palm base;

[0031] a thumb base housing, disposed on the output shaft of the third servo, to drive the thumb base housing to rotate in the thumb groove;

[0032] a fourth steering gear disposed inside the housing at the base of the thumb; a second rotating block is disposed on the output shaft of the fourth steering gear, and a third bevel gear is disposed on one side of the second rotating block;

[0033] The middle housing of the thumb is rotatably mounted on the second rotating block; a fifth steering gear is disposed inside the middle housing of the thumb, a fourth helical gear is disposed on an output shaft of the fifth steering gear, and the fourth helical gear is meshed with the third helical gear;

[0034] A third rotating block is provided on a side of the middle portion of the thumb housing away from the second rotating block; a fifth bevel gear is provided on one side of the third rotating block;

[0035] The thumb end housing is rotatably arranged on the third rotating block; a sixth servo is arranged inside the thumb end housing, a sixth bevel gear is arranged on the output shaft of the sixth servo, and the sixth bevel gear is meshed with the fifth bevel gear.

[0036] Furthermore, the surface of the third rotating block forms a certain angle with the surface of the thumb middle housing.

[0037] Furthermore, a wire slot is provided on one side of the finger module.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In the present invention, a plurality of swing components are provided in the top array of the palm base, and a first normal finger is provided on the top of the swing component. The swing component can drive the first normal finger to swing. The first normal finger includes a plurality of finger modules, and the adjacent two finger modules are rotated and matched. A driving component is provided inside the first normal finger, and the driving component is used to drive the finger module to rotate, so that the first normal finger is bent; by dividing the first normal finger into a plurality of finger modules and cooperating with a plurality of driving components, the finger module is directly driven to rotate, which not only has a simple structure, but also the modular design is convenient for subsequent maintenance; compared with the prior art, the present application arranges the driving component at the joint and cooperates with the finger module, which is simpler and more convenient to start, and is also convenient for disassembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0041] Figure 2 This is a schematic diagram of the first normal finger structure of the present invention.

[0042] Figure 3 This is a schematic diagram of the cross-sectional structure of the first normal finger of the present invention.

[0043] Figure 4 This is a schematic diagram of the normal shell structure of the present invention.

[0044] Figure 5 This is a schematic diagram of the drive assembly structure of the present invention.

[0045] Figure 6 This is a schematic structural diagram of the thumb module of the present invention.

[0046] Figure 7 This is a schematic diagram of the third steering gear structure of the present invention.

[0047] The numbers in the figure are as follows: 1. palm base; 2. swing assembly; 21. first servo; 22. first rotating block; 23. transmission assembly; 231. first connecting block; 232. first connecting rod; 24. fixed bevel gear; 3. first normal finger; 31. finger module; 311. normal finger housing; 312. opening; 313. rotating shaft; 314. first bevel gear; 4. drive assembly; 41. second servo; 42. second bevel gear; 5. thumb slot; 6. thumb module; 61. third servo; 62. thumb base housing; 621. fourth servo; 622. second rotating block; 623. third bevel gear; 63. middle thumb housing; 631. fifth servo; 632. fourth bevel gear; 633. third rotating block; 634. fifth bevel gear; 64. thumb end housing; 641. sixth servo; 642. sixth bevel gear; 7. wire clamping slot. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0051] Most of the robotic dexterous hands in the existing technology are driven by tendons. Although the dexterous hands of this type are highly similar to real human hands in terms of appearance and motion structure, this type of method not only has a very complex structural design, resulting in high learning and production costs for users, but also very difficult to repair and maintain; and due to problems such as the traction line being easy to loosen and age, the control accuracy of this type of dexterous hand solution is not high, the service life is not long, and it is difficult to deploy stably in actual applications; furthermore, since this type of dexterous hand needs to be equipped with a larger arm, the driving components and fixed tendons are installed, so its overall size is very large, resulting in its actual application scenarios being strictly limited.

[0052] In view of the shortcomings of the existing technology, this embodiment provides a robot dexterous hand, which can be specifically referred to as follows:

[0053] As attached Figure 1 and attached Figure 2As shown, a dexterous robotic hand includes a palm base 1, multiple swing components 2, multiple first normal fingers 3 and multiple driving components 4; the top array of the palm base 1 is provided with multiple swing components 2, and the first normal fingers 3 are rotatably provided on the swing component 2. The multiple swing components 2 can drive the multiple first normal fingers 3 to swing to simulate the left and right swinging of the fingers. The first normal fingers 3 include multiple finger modules 31, and the two adjacent finger modules 31 are rotated to simulate the rotation of the finger joints; a driving component 4 is provided inside each finger module 31 for driving the finger module 31 to rotate; by dividing the first normal finger 3 into multiple finger modules 31 and cooperating with multiple driving components 4, the finger module 31 is directly driven to rotate, which not only has a simple structure, but also the modular design is convenient for subsequent maintenance; compared with the prior art, the present application arranges the driving component 4 at the joint and cooperates with the finger module 31, which is simpler and more convenient to start, and is also convenient for disassembly and maintenance.

[0054] Specifically, the palm base 1 simulates a human palm, and multiple first normal fingers 3 extend along the length direction of the palm base 1 to simulate human fingers. The first normal fingers 3 include multiple finger modules 31, and the multiple finger modules 31 are arranged to rotate to simulate joints and can rotate. The first normal fingers 3 are set on the palm base 1 through the swing component 2, and the swing component 2 can drive the palm base 1 to swing left and right, so that the multiple first normal fingers 3 can be opened. A driving component 4 is provided inside the finger module 31 to drive the finger module 31 to rotate, which can realize grasping or fisting movements, thereby simulating a human hand; wherein the driving component 4 is directly placed at the rotation point of the finger module 31, and can directly control the rotation of the finger module 31, so that the dexterous hand of the present application is simpler, smaller in size and easier to maintain, and the dexterous hand of the present application can improve the rotation accuracy of each finger module 31 through direct control, and can achieve global stable deployment through separate control of each driving component 4.

[0055] Existing dexterous hand solutions also suffer from insufficient degrees of freedom of movement. These solutions typically use various mechanisms, such as springs, connecting rods, and gears, to couple the multiple joints of the dexterous hand's fingers. This allows the movement of only the metacarpophalangeal joints, while the remaining joints follow the movements strictly according to the designed mechanisms. For example, when the metacarpophalangeal joints flex toward the palm, the proximal and distal interphalangeal joints also bend accordingly. Joints with these coupling characteristics are called underactuated joints. Therefore, in these robotic dexterous hand solutions, the lack of degrees of freedom severely limits the flexibility of the dexterous hand's fingers. This defeats the original intention of designing and manufacturing robotic dexterous hands, which was to make the actuator more dexterous.

[0056] In comparison, each motion joint in the present application is driven by an independent servo, which ensures the number of degrees of freedom of movement of the dexterous hand and has higher dexterity.

[0057] In this embodiment, as shown in the attached Figure 2 and attached Figure 3 As shown, the swing assembly 2 includes a first servo 21, a first rotating block 22 and a transmission assembly 23. The first servo 21 is arranged inside the palm base 1, and the output shaft of the first servo 21 is perpendicular to the surface of the palm base 1 and extends out of the surface of the palm base 1, so as to facilitate the arrangement of the transmission assembly 23 on the first servo 21 to transmit the rotation of the first servo 21 to the first normal finger 3, thereby driving the first normal finger 3 to rotate; specifically, the transmission assembly 23 is arranged on the output shaft of the first servo 21, and the top rotation arrangement of the palm base 1 There is a first rotating block 22, which rotates in coordination with the first normal finger 3. The first normal finger 3 and the first rotating block 22 rotate along the front-to-back direction of the palm base 1, and the first rotating block 22 rotates along the left-to-right direction of the palm base 1. A transmission assembly 23 is provided between the first rotating block 22 and the output shaft of the first servo 21 to transmit the rotation of the first servo 21 to the first rotating block 22, so that the first rotating block 22 drives the first normal finger 3 to rotate together, thereby realizing the opening of multiple first normal fingers 3 and facilitating the movement of the dexterous hand.

[0058] In this embodiment, as shown in the attached Figure 2 As shown, the transmission assembly 23 includes a first connecting block 231 and two first connecting rods 232. The first connecting block 231 is arranged on the output shaft of the first servo 21. The two first connecting rods 232 are rotatably arranged on the left and right sides of the first connecting block 231, and the end of the first connecting rod 232 away from the first connecting block 231 is connected to the first rotating block 22. The two first connecting rods are rotatably arranged on the left and right sides of the first rotating block 22, so that the first connecting block 231 and the two first connecting rods 232 cooperate with the first rotating block 22 to form a connecting rod mechanism; when the first servo 21 rotates, it can drive the first connecting block 231 and the two first connecting rods 232 to rotate together, and under the action of the two first connecting rods 232, the first rotating block 22 follows the first servo 21 to rotate, thereby driving the first normal finger 3 to swing left and right.

[0059] Furthermore, the first connecting rod 232 is arranged in an arc shape, which can not only be used to make up for the distance between the first connecting block 231 and the first rotating block 22 along the front-to-back direction of the palm base 1, but also during its rotation, the arc portion can disperse the stress generated during the rotation to a larger area, thereby reducing local stress concentration and improving service life.

[0060] In this embodiment, as shown in the attached Figure 3 and attached Figure 4As shown, the finger module 31 includes a normal finger shell 311 and a first bevel gear 314. An opening 312 is provided at one end of the normal shell, and a rotating shaft 313 is provided at the other end. The openings 312 of the two adjacent normal finger shells 311 rotate with the rotating shaft 313 to achieve the rotational coordination of the two finger modules 31; wherein the first bevel gear 314 is provided inside the rotating shaft 313, and the first bevel gear 314 cooperates with the driving component 4 in the adjacent finger module 31. The driving component 4 rotates along the first bevel gear 314, thereby driving the finger module 31 to rotate.

[0061] Specifically, the first bevel gear 314 is fixedly arranged in the finger module 31, and the driving component 4 in one finger module 31 cooperates with the first bevel gear 314 in the adjacent finger module 31. By fixing the first bevel gear 314, the driving component 4 rotates around the first bevel gear 314 and simultaneously drives the finger module 31 to rotate, thereby realizing the bending of the first normal finger 3.

[0062] Further, as attached Figure 4 and attached Figure 5 As shown, a hexagonal groove is provided inside the rotating shaft 313 , and a hexagonal protrusion is provided on one side of the first bevel gear 314 . The hexagonal protrusion cooperates with the hexagonal groove to limit the rotation of the first bevel gear 314 .

[0063] In this embodiment, as shown in the attached Figure 3 and attached Figure 5 As shown, the drive assembly 4 includes a second servo 41 and a second bevel gear 42. The second servo 41 is arranged inside the normal finger housing 311, and the output shaft of the second servo 41 is arranged along the length direction of the first normal finger 3. The second bevel gear 42 is coaxially arranged on the output shaft of the second servo 41, and the second bevel gear 42 is located at the opening 312 of the normal finger housing 311; when the two adjacent finger modules 31 are rotated together, the second bevel gear 42 in one of the normal finger housings 311 is engaged with the first bevel gear 314 in the rotating shaft 313 of the adjacent normal finger housing 311; by starting the second servo 41, the second servo 41 drives the second bevel gear 42 to rotate around the first bevel gear 314, and at the same time drives the finger module 31 to rotate.

[0064] A fixed bevel gear 24 is provided on one side of the swing assembly 2, and the second bevel gear 42 in the finger module 31 close to the swing assembly 2 is engaged with the fixed bevel gear 24 in the swing assembly 2, so that the finger module 31 rotates relative to the swing assembly 2; the fixed bevel gear 24 is provided on one side of the first rotating block 22, and the fixing method of the fixed bevel gear 24 and the first rotating block 22 is the same as the fixing method of the first bevel gear 314.

[0065] Specifically, each first normal finger 3 may include multiple finger modules 31, preferably 3, to simulate the knuckles of human fingers; the present application takes the first normal finger 3 with two finger modules 31 as an example, and the two finger modules 31 are respectively the first finger module 31 and the second finger module 31, the first finger module 31 is rotatably matched with the first rotating block 22, and the second finger module 31 is rotatably arranged at the end of the first finger module 31 away from the first rotating block 22; the opening 312 of the normal finger housing 311 of the first finger module 31 is rotatably connected to the two side walls of the first rotating block 22, and a fixed bevel gear 24 is provided inside the first rotating block 22, that is, the fixed bevel gear 24 and the first rotating block 22 are in a fixed state, and the second bevel gear 42 in the first finger module 31 is meshed with the fixed bevel gear 24, and is started by the second servo 41 in the first finger module 31. Under the action of the fixed bevel gear 24, the second servo 41 and the first finger module 31 both rotate around the fixed bevel gear 24;

[0066] The opening 312 of the normal finger housing 311 of the second finger module 31 cooperates with the rotating shaft 313 of the normal finger housing 311 of the first finger module 31, and the second bevel gear 42 in the second finger module 31 is engaged with the first bevel gear 314 in the first finger module 31. By starting the second servo 41 in the second finger module 31, the second finger module 31 can be rotated relative to the first finger module 31, while the second servo 41 in the first finger module 31 is not started and is in a locked state, so that the second bevel gear 42 in the first finger module 31 is in a locked state with the fixed bevel gear 24 in the first connecting block 231; by driving a single second servo 41, the corresponding finger module 31 can be rotated to simulate the bending of human fingers.

[0067] Multiple first finger modules 31 can be arranged between the first finger module 31 and the second finger module 31, and the openings 312 and the rotating shafts 313 of the two adjacent normal finger shells 311 can be matched; the first finger module 31 serves as the root finger module 31 of the first normal finger 3, and one end thereof has an opening 312, and the other end has a rotating shaft 313; and the second finger module 31 serves as the terminal finger module 31 of the first normal finger 3, and can be provided with an opening 312 at one end adjacent to the first finger module 31, while the other end is in a closed state. By removing the setting of the rotating shaft 313, the length of the second finger module 31 can be effectively reduced, and its aesthetics can also be improved.

[0068] In some existing dexterous hand solutions, the servos are typically placed horizontally to align the output shafts of the servos with the rotational axes 313 of the finger joints. Since the fingers are composed of servos, and the servos' structure and volume are fixed, this configuration results in excessive finger width. For example, without the additional mechanical dexterous hand finger housing, the servos' output shafts alone account for a total length of 32.5 mm. This makes individual fingers of the dexterous hand very thick, thus deviating from the realistic form and function of the entire hand.

[0069] In this application, the second servo 41 is placed vertically so that its output shaft is consistent with the direction of the finger, and then a bevel gear set is introduced as a transmission mechanism to turn the power shaft of the second servo 41 to the correct angle to complete the driving task of the finger joint movement. Under the same servo model, this design reduces the output shaft length of a single finger of the dexterous hand to 12.2mm, only one-third of the original, effectively reducing the width of a single hand, and then making it possible to reduce the volume of the entire hand and make it closer to a real human hand in design. It not only solves the volume problem in the traditional servo direct drive solution, making it more sophisticated and realistic, but also improves the practicality of the dexterous hand while ensuring drive accuracy and stability.

[0070] Since the joint rotation of the human thumb is different from that of other normal fingers, the present application provides an independent thumb structure.

[0071] As attached Figure 1 and attached Figure 6 As shown, the robot dexterous hand also includes a thumb groove 5 and a thumb module 6. The thumb groove 5 is located on one side of the palm base 1, and a thumb module 6 is provided in the thumb groove 5 to simulate the human thumb. The thumb module 6 cooperates with multiple first normal fingers 3 to achieve more stable grasping or fisting operations, thereby improving the applicability and usage diversity of the robot dexterous hand.

[0072] In this embodiment, as shown in the attached Figure 6 and attached Figure 7As shown, the thumb module 6 includes a third servo 61, a thumb base housing 62, a fourth servo 621, a thumb middle housing 63, a fifth servo 631, a third rotating block 633 and a thumb end housing 64; wherein the third servo 61 is arranged inside the palm base 1, and the output shaft of the third servo 61 is located in the thumb groove 5, and the thumb base housing 62 is arranged on the output shaft of the third servo 61, and the fourth servo 621 is arranged inside the thumb base housing 62, and the output shaft of the fourth servo 621 is arranged perpendicular to the output shaft of the third servo 61, and the second rotating block 622 is arranged on the output shaft of the fourth servo 621, and a third bevel gear 623 is arranged on one side of the second rotating block 622; and the middle thumb housing 63 is rotatably arranged on the second rotating block 622, and the fifth servo 631 is arranged inside the middle thumb housing 63, and the output shaft of the fifth servo 631 is arranged along the thumb module. The block 6 is arranged in the longitudinal direction, and a fourth bevel gear 632 is provided on the output shaft of the fifth servo 631, and the fourth bevel gear 632 is engaged with the third bevel gear 623, so that the fifth servo 631, the fourth bevel gear 632 and the middle thumb housing 63 can rotate around the third bevel gear 623; a third rotating block 633 is provided on the side of the middle thumb housing 63 away from the second rotating block 622, and a fifth bevel gear 634 is provided on one side of the third rotating block 633, and a thumb end housing 64 is rotatably provided on the third rotating block 633, and a sixth servo 641 is provided inside the thumb end housing 64, and a sixth bevel gear 642 is provided on the output shaft of the sixth servo 641, and the sixth bevel gear 642 is engaged with the fifth bevel gear 634, so that the sixth servo 641, the sixth bevel gear 642 and the thumb end housing 64 can rotate around the fifth bevel gear 634.

[0073] Specifically, the thumb module 6 has four degrees of freedom. The third servo 61 can first drive the thumb base shell 62 to rotate and adjust it to a suitable position. Then, the fourth servo 621 can be used to adjust the positions of the middle thumb shell 63 and the end thumb shell 64 to facilitate the cooperation with multiple first normal fingers 3. Then, the fifth servo 631 and the sixth servo 641 can be used to adjust the bending degree of the middle thumb shell 63 and the end thumb shell 64 to cooperate with multiple first normal fingers 3 to perform actions such as grasping or making a fist.

[0074] By means of the third servo 61, the fourth servo 621, the fifth servo 631 and the sixth servo 641, the thumb module 6 can be provided with multiple free ends, thereby realizing abduction and adduction movements of the palm, envelope movements, axial posture adjustment of the thumb and inward flexion and extension movements of the fingers; at the same time, the fifth servo 631 and the sixth servo 641 are arranged in the same manner as the drive assembly 4, which can effectively reduce the width of the thumb module 6, maintain the distance between the thumb and the first normal finger 3, and facilitate work.

[0075] In this embodiment, as shown in the attached Figure 6 As shown, the surface of the third rotating block 633 is at a certain angle to the surface of the middle thumb shell 63. Through the inclined arrangement of the third rotating block 633, the surface of the thumb end shell 64 and the surface of the middle thumb shell 63 are relatively inclined to ensure the realistic simulation of the thumb module 6. At the same time, through the inclined arrangement of the two, the grasped object can be fixed from different positions when the thumb module 6 is bent, which can effectively improve its grasping stability.

[0076] In this embodiment, as shown in the attached Figure 1 As shown, a wire clamping groove 7 is provided on one side of the finger module 31, and the wire clamping groove 7 is used to fix the connecting wire of the servo to prevent the connecting wire of the servo from affecting the bending effect of the first normal finger 3; further, a wire clamping groove 7 is provided on the thumb end shell 64, the thumb middle shell 63 and the thumb base shell 62.

[0077] This application uses standard servos as the joint drive power source, and incorporates 3D printing technology to produce the housing structure, significantly reducing production costs. This design not only simplifies the assembly process, making it simple and intuitive, but also significantly reduces the overall weight due to the use of lightweight materials. Furthermore, if a component is damaged, a replacement can be quickly produced through 3D printing, or a standardized servo can be directly replaced, greatly improving the product's maintainability and practicality.

[0078] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the embodiments disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the claims.

Claims

1. A robot dexterous hand, characterized in that: include: Palm base; A plurality of swing components are arranged in an array on the top of the palm base; A plurality of first normal fingers are rotatably disposed on the plurality of swing assemblies respectively; The swing assembly is used to drive the first normal finger to swing, the first normal finger includes a plurality of finger modules, and two adjacent finger modules are rotationally matched; A plurality of driving components are respectively arranged inside the plurality of finger modules to drive the finger modules to rotate.

2. The dexterous robot hand according to claim 1, characterized in that: The swing assembly comprises: A first steering gear is disposed in the palm base; an output shaft of the first steering gear is perpendicular to a surface of the palm base and extends out of the surface of the palm base; A first rotating block is rotatably arranged on the top of the palm base; the first rotating block rotates along the width direction of the palm base, and the first normal finger is rotatably arranged on the first rotating block; The transmission assembly is arranged on the first steering gear; the transmission assembly is connected to the first rotating block so as to drive the first rotating block to rotate through the first steering gear.

3. The dexterous robot hand according to claim 2, characterized in that: The transmission assembly comprises: A first connecting block, arranged on an output shaft of the first steering gear; Two first connecting rods are rotatably arranged on two sides of the first connecting block respectively; one end of the first connecting rod away from the first connecting block is rotatably connected to the first rotating block.

4. The dexterous robot hand according to claim 1, characterized in that: The finger module comprises: A normal finger shell has an opening at one end and a rotating shaft at the other end; the openings of two adjacent normal finger shells are matched with the rotating shaft; The first bevel gear is arranged inside the rotating shaft; the first bevel gear is located in the opening of the corresponding normal finger housing, and the first bevel gear cooperates with the driving assembly in the adjacent finger module.

5. The dexterous robot hand according to claim 4, characterized in that: The drive assembly comprises: A second steering gear is arranged inside the housing of the normal finger; an output shaft of the second steering gear is arranged along the length direction of the first normal finger; The second bevel gear is coaxially arranged on the output shaft of the second steering gear and is located at the opening of the normal finger housing; the second bevel gear is meshed with the corresponding first bevel gear.

6. The dexterous robot hand according to claim 5, characterized in that: A fixed helical gear is arranged on one side of the swing assembly, and a second helical gear in a finger module close to the swing assembly is meshed with the fixed helical gear in the swing assembly.

7. The dexterous robot hand according to claim 1, characterized in that: It also includes: A thumb groove is provided on one side of the palm base; The thumb module is arranged in the thumb groove.

8. The dexterous robot hand according to claim 7, characterized in that: The thumb module comprises: A third steering gear is arranged inside the palm base; A thumb base housing is arranged on the output shaft of the third steering gear to drive the thumb base housing to rotate in the thumb groove; A fourth steering gear is arranged inside the housing at the base of the thumb; a second rotating block is arranged on the output shaft of the fourth steering gear, and a third bevel gear is arranged on one side of the second rotating block; The middle housing of the thumb is rotatably arranged on the second rotating block; a fifth steering gear is arranged inside the middle housing of the thumb, a fourth bevel gear is arranged on the output shaft of the fifth steering gear, and the fourth bevel gear is meshed with the third bevel gear; A third rotating block is arranged on a side of the middle housing of the thumb away from the second rotating block; a fifth bevel gear is arranged on one side of the third rotating block; The thumb end housing is rotatably arranged on the third rotating block; a sixth servo is arranged inside the thumb end housing, a sixth bevel gear is arranged on the output shaft of the sixth servo, and the sixth bevel gear is meshed with the fifth bevel gear.

9. The dexterous robot hand according to claim 8, characterized in that: The surface of the third rotating block forms a certain angle with the surface of the thumb middle housing.

10. The dexterous robot hand according to claim 1, characterized in that: A wire clamping slot is arranged on one side of the finger module.

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