A multi-link dexterous hand

Abstract

The application relates to the technical field of dexterous hands, and discloses a multi-connecting-rod dexterous hand which comprises a palm assembly, a finger assembly and a driving assembly; the finger assembly comprises a bionic thumb and four bionic fingers, one end of the bionic thumb and the bionic fingers is connected with the front end of the palm assembly; the driving assembly comprises a first driving structure and a second driving mechanism, the first driving mechanism and the second driving mechanism are both installed at the front end of the palm assembly, one end of the first driving mechanism is connected with the bionic thumb, the other end of the first driving motor is connected with a first motor, the first driving mechanism is used for controlling the bionic thumb, one end of the second driving mechanism is respectively connected with the four bionic fingers, the other end of the second driving mechanism is connected with a second motor, the second driving mechanism comprises a driven synchronous pulley, a plurality of mounting parts are arranged on the driven synchronous pulley at intervals, and each bionic finger is connected with the driven synchronous pulley through the mounting parts.

Description

Technical Field

[0001] This invention relates to the field of dexterity technology, and in particular to a multi-link dexterity hand. Background Technology

[0002] A dexterous hand, as an end effector for robots to interact with their environment, is installed at the end of the robot's wrist. It mimics the structure and function of the human hand to achieve more precise and diverse maneuvering tasks. This end effector not only has the ability to grasp and manipulate but also possesses sensing capabilities, able to perceive information such as the shape, position, and hardness of objects, thereby adjusting grasping strategies and manipulation methods. Extensive research has been conducted both domestically and internationally on dexterous hands, ranging from three-finger to five-finger applications, from industrial to everyday life, and from simple grasping to dexterous manipulation, with the aim of solving complex practical operational problems.

[0003] Currently, dexterous hands in existing technologies use a multi-joint motor drive scheme, where each finger is driven by at least one independent motor. While this drive method greatly increases the dexterous hand's grasping flexibility, it also has some drawbacks. The increase in the number of motors directly leads to an increase in power consumption, significantly increasing the overall energy consumption and reducing the robot's cruise time. The increased number of motors also leads to a surge in usage and maintenance costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that in the prior art, the dexterous hand using a multi-joint motor drive scheme has high overall energy consumption and soaring usage and maintenance costs.

[0005] To address the aforementioned technical problems, this invention provides a multi-link dexterous hand, comprising a palm assembly, finger assemblies, and a drive assembly. The palm assembly has an internal cavity. The finger assembly includes a bionic thumb and four bionic fingers, each connected at one end to the front end of the palm assembly. The drive assembly is disposed within the cavity and includes a first drive structure, a second drive mechanism, a first motor, and a second motor. Both the first and second drive mechanisms are mounted on the front end of the palm assembly. One end of the first drive mechanism is connected to the bionic thumb, and the other end of the first drive motor is connected to the first motor. The first drive mechanism controls the bionic thumb. One end of the second drive mechanism is connected to each of the four bionic fingers, and the other end is connected to the second motor. The second drive mechanism includes a laterally extending driven synchronous pulley with multiple mounting portions spaced apart. Each bionic finger is connected to the driven synchronous pulley via a mounting portion. The rotation of the driven synchronous pulley simultaneously controls the grasping of all four bionic fingers.

[0006] Furthermore, the first motor is a servo motor, and the second motor is a coreless motor.

[0007] In one embodiment, the bionic thumb includes an upper phalanx, a middle phalanx, and a lower phalanx. The rear end of the upper phalanx is hinged to the front end of the middle phalanx, the rear end of the middle phalanx is hinged to the front end of the lower phalanx, and the rear end of the lower phalanx is hinged to a first drive mechanism.

[0008] In one embodiment, the rear end of the upper phalanx is provided with a first connecting joint for connecting with the middle phalanx. The middle phalanx includes a first rod and a second rod. The front end of the first rod is provided with a first connecting connector. The first connecting connector engages with the first connecting joint and is hinged by a pin. The front end of the second rod is hinged to the rear end of the first rod.

[0009] Furthermore, the upper phalanx, the first rod, and the second rod form a first linkage unit.

[0010] In one embodiment, the middle finger joint further includes a third rod, a fourth rod, and a first elastic member. The front end of the third rod is provided with a second connecting joint. The rear end of the first rod is engaged with the second connecting joint and hinged by a pin. The rear end of the fourth rod is hinged to the front end of the third rod. One end of the first elastic member is connected to the rear end of the third rod, and the other end is connected to the rear end of the fourth rod. The first elastic member is used to transmit the rotational force of the fourth rod to the third rod, thereby driving the third rod to rotate.

[0011] Furthermore, the third link, the fourth link, and the first elastic element form a second linkage unit.

[0012] In one embodiment, the lower phalanx is provided with a fifth rod, a sixth rod, and a second elastic member inside. The front end of the fifth rod is provided with a third connecting joint. The fifth rod is engaged with the front end of the third rod and the rear end of the fourth rod through the third connecting joint and is hinged by a pin. The front end of the sixth rod is hinged to the rear end of the fifth rod. The second elastic member is respectively provided on both sides of the sixth rod, with one end of the second elastic member connected to the sixth rod and the other end connected to the inner wall of the lower phalanx housing.

[0013] Furthermore, the fifth link, the sixth link, and the second elastic element form a third link unit.

[0014] In one embodiment, the first drive mechanism includes a drive wheel, a driven wheel, and a connector. One end of the drive wheel is connected to the output end of a first motor, and the other end is connected to the driven wheel. The first motor is used to drive the drive wheel to rotate, thereby driving the driven wheel to rotate. One end of the connector is rotatably connected to the driven wheel, and the other end is connected to the rear end of the sixth rod. The driven wheel drives the sixth rod to reciprocate along the circumference of the driven wheel through the connector.

[0015] Furthermore, the first drive mechanism, the third linkage unit, the second linkage unit, and the first linkage unit are connected in sequence.

[0016] In one embodiment, each bionic finger includes a first phalanx and a second phalanx, with the rear end of the first phalanx hinged to the front end of the second phalanx, and the rear end of the second phalanx hinged to a second drive mechanism.

[0017] Furthermore, bionic fingers include a bionic little finger, a bionic ring finger, a bionic middle finger, and a bionic index finger.

[0018] In one embodiment, the rear end of the first phalanx is provided with a fourth connecting joint, the second phalanx includes a first connecting rod and a second connecting rod, the front end of the first connecting rod is provided with a fourth connecting joint, the fourth connecting joint is engaged with the fourth connecting joint and hinged by a pin, the front end of the second connecting rod is hinged to the rear end of the first connecting rod, one side of the second connecting rod is connected to the inner wall of the housing of the second phalanx, and the first phalanx reciprocates along the circumference of the pin.

[0019] In one embodiment, the second phalanx further includes a third link, a fourth link, and a fifth link, wherein the front end of the third link is hinged to the rear end of the first link, the front end of the fifth link is hinged to the rear end of the third link, and the rear end of the fifth link is connected to the rear end of the fourth link.

[0020] In one embodiment, the second drive mechanism includes a driving synchronous pulley and a synchronous belt. One end of the driving synchronous pulley is connected to the output end of the second motor, and the other end is connected to one end of the synchronous belt. The other end of the synchronous belt is connected to the driven synchronous pulley. The driving synchronous pulley drives the driven synchronous pulley to rotate in a first direction through the synchronous belt. The driven synchronous pulley is connected to a fifth link. The rotation of the driven synchronous pulley in turn drives the fifth link to reciprocate along the circumference of the driven synchronous pulley.

[0021] Compared with existing technologies, the multi-link dexterous hand of this invention has the following advantages: the palm assembly consists of a front shell and a rear shell, which are spliced ​​together to form a closed cavity. This design not only provides sufficient space for the drive assembly but also ensures the stability and durability of the structure. The palm assembly serves as a support structure for the finger assembly and the drive assembly, and its front end is connected to the finger assembly, ensuring stable installation of the finger assembly. The finger assembly includes a bionic thumb and four bionic fingers, designed to simulate human grasping and manipulation functions. The drive assembly includes a first drive structure, a second drive mechanism, a first motor, and a second motor. These components work together to provide power and control for the finger assembly. The first drive structure is connected to the bionic thumb, and through the drive of the first motor, it enables the flexible movement of the bionic thumb. The second drive mechanism is connected to the four bionic fingers, and through the drive of the second motor, it causes the driven synchronous pulley to rotate, thereby driving the multiple bionic fingers connected to it to perform coordinated grasping actions. This design enables multiple bionic fingers to complete grasping tasks synchronously and in a coordinated manner, improving the operational efficiency and accuracy of the dexterous hand, greatly reducing the number of motors required for the dexterous hand, further enhancing the safety and reliability of the dexterous hand, and effectively reducing the production cost of the dexterous hand. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a multi-link dexterous hand according to an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the internal structure of a multi-link dexterous hand according to an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the structure of a multi-link dexterous hand that mimics the thumb, according to an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the thumb-like structure of a multi-link dexterous hand according to an embodiment of the present invention from another angle.

[0026] Figure 5 This is a schematic diagram of the structure of a bionic finger of a multi-link dexterous hand according to an embodiment of the present invention.

[0027] In the diagram, 100 represents the hand component; 200 represents the finger component.

[0028] 2. Bionic thumb;

[0029] 21. Upper knuckle;

[0030] 22. Middle finger joint; 221. First rod; 222. Second rod; 223. Third rod;

[0031] 23. Lower knuckle; 231. Fourth rod; 232. Fifth rod; 233. Sixth rod; 234. First elastic element; 235. Second elastic element; 24. First connecting joint;

[0032] 3. Bionic finger; 31. First knuckle; 32. Second knuckle; 321. First link; 322. Second link; 323. Third link; 324. Fourth link; 325. Fifth link;

[0033] 300. Driver components;

[0034] 4. First drive mechanism; 41. Drive wheel; 42. Driven wheel; 43. Connecting component;

[0035] 5. Second drive mechanism; 51. Driving synchronous pulley; 52. Synchronous belt; 53. Driven synchronous pulley;

[0036] 6. First motor;

[0037] 7. Second motor. Detailed Implementation

[0038] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0039] In the description of this invention, it should be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to that other element. The terms "mounted," "connected," and "attached" should be interpreted broadly, for example, referring to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this invention, it should be understood that the terms "height," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this invention to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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 invention.

[0041] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0042] like Figures 1 to 5 As shown, a preferred embodiment of the present invention provides a multi-link dexterous hand, which includes a palm assembly 100, a finger assembly 200, and a drive assembly 300. The palm assembly 100 includes a front shell and a rear shell, with the front shell covering the rear shell, and the front and rear shells being spliced ​​together to form a cavity. The finger assembly 200 includes a bionic thumb 2 and four bionic fingers 3, with one end of the bionic thumb 2 and one end of each bionic finger 3 connected to the front end of the palm assembly 100. The drive assembly 300 is disposed within the cavity and includes a first drive mechanism 4, a second drive mechanism 5, a first motor 6, and a second motor 7. All drive mechanisms 5 are installed at the front end of the palm assembly 100. One end of the first drive mechanism 4 is connected to the bionic thumb 2, and the other end of the first drive mechanism 4 is connected to the first motor 6. The first drive mechanism 4 is used to control the bionic thumb 2. One end of the second drive mechanism 5 is connected to the four bionic fingers 3 respectively, and the other end of the second drive mechanism 5 is connected to the second motor 7. The second drive mechanism 5 includes a driven synchronous pulley 53 that extends laterally. Multiple mounting parts are spaced on the driven synchronous pulley 53. Each bionic finger 3 is connected to the driven synchronous pulley 53 through the mounting part. The rotation of the driven synchronous pulley 53 is used to simultaneously control the four bionic fingers 3 to grasp.

[0043] Based on the above technical features, this invention, through the setting of the finger component 200, which includes a bionic thumb 2 and four bionic fingers 3, aims to simulate human grasping and manipulation functions; through the setting of the drive component 300, which includes a first drive structure, a second drive mechanism 5, a first motor 6, and a second motor 7, these components together provide power and control for the finger component 200. The first drive structure is connected to the bionic thumb 2, and through the drive of the first motor 6, the bionic thumb 2 can move flexibly. The second drive mechanism 5 is connected to the four bionic fingers 3, and through the drive of the second motor 7, the driven synchronous pulley 53 rotates, thereby driving the multiple bionic fingers 3 connected to it to perform coordinated grasping actions. This design enables multiple bionic fingers 3 to complete grasping tasks synchronously and in a coordinated manner, improving the operational efficiency and accuracy of the dexterous hand, greatly reducing the number of motors required for the dexterous hand, further enhancing the safety and reliability of the dexterous hand, and effectively reducing the production cost of the dexterous hand.

[0044] Furthermore, the first motor 6 is a servo motor, and the second motor 7 is a coreless motor. Combining the servo motor and the coreless motor in the dexterous hand allows for full utilization of their respective advantages. The high-precision position control capability of the servo motor enables the bionic thumb 2 to perform various fine operations; while the high speed, high sensitivity, and low inertia characteristics of the coreless motor enable multiple bionic fingers 3 to synchronously and rapidly complete grasping actions. This combined application not only improves the operational efficiency and accuracy of the dexterous hand but also expands its application capabilities in various complex environments.

[0045] As some embodiments of the present invention, such as Figures 2 to 4 As shown, the bionic thumb 2 includes an upper phalanx 21, a middle phalanx 22, and a lower phalanx 23. The rear end of the upper phalanx 21 is hinged to the front end of the middle phalanx 22, the rear end of the middle phalanx 22 is hinged to the front end of the lower phalanx 23, and the rear end of the lower phalanx 23 is hinged to the first drive mechanism 4. The rear end of the upper phalanx 21 and the front end of the middle phalanx 22 are connected by a hinge mechanism, which allows the upper phalanx 21 to rotate relative to the middle phalanx 22 to a certain extent, thereby simulating the bending and extending movements of the human thumb. Similarly, the rear end of the middle phalanx 22 and the front end of the lower phalanx 23 are also connected by a hinge mechanism, allowing the middle phalanx 22 to rotate relative to the lower phalanx 23. This design increases the flexibility of the bionic thumb 2, enabling it to perform more complex movements. The rear end of the lower phalanx 23 is connected to the first drive mechanism 4, transmitting power through the hinge mechanism. This connection ensures that the first drive mechanism 4 can precisely control the bending and extending angles of the bionic thumb 2, thereby achieving fine manipulation.

[0046] As some embodiments of the present invention, such as Figures 2 to 4 As shown, a first connecting joint 24 is provided at the rear end of the upper phalanx 21. The first connecting joint 24 is used to connect with the middle phalanx 22. The middle phalanx 22 includes a first rod 221 and a second rod 222. A first connecting connector is provided at the front end of the first rod 221. The first connecting connector engages with the first connecting joint 24 and is hinged by a pin. The front end of the second rod 222 is hinged to the rear end of the first rod 221. The first connecting joint 24 is provided with a mating structure, and the front end of the first rod 221 is equipped with the first connecting connector. These two parts are engaged by mating and hinged by a pin, ensuring the stability and flexibility of the connection. This design allows the first rod 221 to rotate relative to the upper phalanx 21, simulating the bending action of the thumb.

[0047] Furthermore, the upper joint 21, the first rod 221, and the second rod 222 form a first linkage unit. The first linkage unit is composed of the upper joint 21, the first rod 221, and the second rod 222. These three parts are closely connected by a precise hinge design, forming a unified and powerful whole.

[0048] As some embodiments of the present invention, such as Figures 2 to 4 As shown, the middle finger joint 22 also includes a third rod 223, a fourth rod 231, and a first elastic element 234. The front end of the fourth rod 231 is provided with a second connecting joint. The rear end of the first rod 221 is engaged with the second connecting joint and hinged by a pin. The rear end of the fourth rod 231 is hinged to the front end of the third rod 223. One end of the first elastic element 234 is connected to the rear end of the third rod 223, and the other end is connected to the front end of the fourth rod 231. The first elastic element 234 is used to transmit the rotational force of the fourth rod 231 to the third rod 223, thereby driving the third rod 223 to rotate. The design of the third link 223, the fourth link 231, and the first elastic element 234 together form a stable linkage system. The links are hinged together by pins, ensuring the stability and flexibility of the connection, while allowing relative rotation between the links within a certain range to simulate the complex movements of human fingers. At the same time, the introduction of the first elastic element 234 provides additional power transmission and motion buffering functions for the middle phalanx 22. It can store and release energy during finger bending and extension, thereby enhancing the flexibility and stability of the bionic thumb 2.

[0049] Furthermore, the third link 223, the fourth link 231, and the first elastic element 234 form a second linkage unit.

[0050] As some embodiments of the present invention, such as Figures 2 to 4 As shown, the lower finger joint 23 internally houses a fifth rod 232, a sixth rod 233, and a second elastic element 235. The front end of the fifth rod 232 has a third connecting joint, which engages with the front end of the third rod 223 and the rear end of the fourth rod 231 via the third connecting joint and is hinged by a pin. The front end of the sixth rod 233 is hinged to the rear end of the fifth rod 232. The second elastic element 235 is located on both sides of the sixth rod 233, with one end connected to the sixth rod 233 and the other end connected to the inner wall of the lower finger joint 23's housing. The lower finger joint 23 is composed of the fifth rod 232 and the sixth rod 233. These connecting rods and other parts are tightly connected through a precise hinge design, forming a highly coordinated and stable overall structure. The second elastic element 235 is respectively disposed on both sides of the sixth rod 233 and connected to the inner wall of the housing of the sixth rod 233 and the lower phalanx 23. This arrangement not only provides the finger with additional power support and movement cushioning, but also helps to maintain the stability of the finger during movement.

[0051] Furthermore, the fifth link 232, the sixth link 233, and the second elastic element 235 form a third linkage unit. The various components within the lower phalanx 23 are precisely hinged and elastically connected, achieving layered power transmission and coordinated movement, providing strong support for simulating complex finger movements.

[0052] As some embodiments of the present invention, such as Figures 2 to 4 As shown, the first drive mechanism 4 includes a drive wheel 41, a driven wheel 42, and a connecting member 43. One end of the drive wheel 41 is connected to the output end of the first motor 6, and the other end is connected to the driven wheel 42. The first motor 6 is used to drive the drive wheel 41 to rotate, thereby driving the driven wheel 42 to rotate. One end of the connecting member 43 is rotatably connected to the driven wheel 42, and the other end is connected to the rear end of the sixth rod 233. As the driven wheel 42 rotates, the connecting member 43 drives the sixth rod 233 to swing back and forth along the circumference of the driven wheel 42. The first drive mechanism 4 includes a drive wheel 41 and a driven wheel 42. One end of the drive wheel 41 is connected to the output end of the first motor 6, and the other end is connected to the driven wheel 42. When the first motor 6 starts, it drives the drive wheel 41 to rotate, which in turn drives the driven wheel 42 to rotate through gear transmission. One end of the connecting member 43 is rotatably connected to the driven wheel 42, and the other end is connected to the rear end of the sixth rod 233. As the driven wheel 42 rotates, the connecting member 43 drives the sixth rod 233 to swing back and forth along the circumference of the driven wheel 42, thereby realizing the bending and extending movements of the finger. By precisely controlling the speed and direction of the drive wheel 41, the first motor 6 can achieve precise control of the movement of the driven wheel 42 and the sixth rod 233. This control method not only enables the finger to complete complex motion simulations, but also allows for flexible adjustment according to different application scenarios.

[0053] Furthermore, the first drive mechanism 4, the third link unit, the second link unit, and the first link unit are connected in sequence. The first drive mechanism 4, the third link unit, the second link unit, and the first link unit are connected in sequence to form a complete and powerful bionic thumb 2 structure. Through precise hinge and connection design, these link units achieve smooth power transmission and coordinated movement.

[0054] As some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, each bionic finger 3 includes a first phalanx 31 and a second phalanx 32. The rear end of the first phalanx 31 is hinged to the front end of the second phalanx 32, and the rear end of the second phalanx 32 is hinged to a second drive mechanism 5. The first phalanx 31 and the second phalanx 32 are connected by a hinge design, allowing them to rotate relative to each other within a certain range, thereby simulating the bending and extending movements of a human finger. The second drive mechanism 5 is hinged to the rear end of the second phalanx 32 and is responsible for providing power to the bionic finger 3.

[0055] Furthermore, the bionic finger 3 includes a bionic little finger, a bionic ring finger, a bionic middle finger, and a bionic index finger. This allows the bionic finger 3 and the bionic thumb 2 to form a complete hand structure, effectively enabling dexterous hand operations.

[0056] As some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the rear end of the first phalanx 31 is provided with a fourth connecting joint. The second phalanx 32 includes a first connecting rod 321 and a second connecting rod 322. The front end of the first connecting rod 321 is provided with a fourth connecting joint, which engages with the fourth connecting joint and is hinged by a pin. The front end of the second connecting rod 322 is hinged to the rear end of the first connecting rod 321. One side of the second connecting rod 322 is connected to the inner wall of the housing of the second phalanx 32, and the first phalanx 31 reciprocates along the circumference of the pin. Through the arrangement of the first connecting rod 321 and the second connecting rod 322, the rear end of the first connecting rod 321 and the front end of the second connecting rod 322 are connected by a hinge. This connection method allows the first connecting rod 321 and the second connecting rod 322 to rotate relative to each other within a certain angle range, thereby further increasing the flexibility of the bionic finger 3. As the first phalanx 31 swings back and forth along the pin, the bionic finger 3 can achieve flexible bending and extension movements. This swinging mode not only simulates the natural movement of human fingers, but also enables the finger to adapt to various complex operation requirements.

[0057] As some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the second phalanx 32 also includes a third link 323, a fourth link 324, and a fifth link 325. The front end of the third link 323 is hinged to the rear end of the first link 321, the front end of the fifth link 325 is hinged to the rear end of the third link 323, and the rear end of the fifth link 325 is connected to the rear end of the fourth link 324. The first link 321, the second link 322, the third link 323, the fourth link 324, and the fifth link 325 are connected by hinges to form a multi-link mechanism. This mechanism allows the bionic finger 3 to perform complex bending and extending movements in multiple planes, thereby simulating the more refined movement characteristics of the human finger.

[0058] As some embodiments of the present invention, such as Figure 2 and Figure 5As shown, the second drive mechanism 5 includes a driving synchronous pulley 51 and a synchronous belt 52. One end of the driving synchronous pulley 51 is connected to the output end of the second motor 7, and the other end is connected to one end of the synchronous belt 52. The other end of the synchronous belt 52 is connected to the driven synchronous pulley 53. The driving synchronous pulley 51 drives the driven synchronous pulley 53 to rotate in the first direction through the synchronous belt 52. The driven synchronous pulley 53 is connected to the fifth link 325. The rotation of the driven synchronous pulley 53 in turn drives the fifth link 325 to reciprocate along the circumference of the driven synchronous pulley 53. Through the design of the second drive mechanism 5, the second drive mechanism 5 includes an active synchronous pulley 51, a driven synchronous pulley 53, and a synchronous belt 52. When the second motor 7 starts, its output end transmits power to the active synchronous pulley 51. The active synchronous pulley 51 transmits power to the driven synchronous pulley 53 through the synchronous belt, causing the driven synchronous pulley 53 to start rotating in the first direction. Since the driven synchronous pulley 53 is connected to the fifth link 325, its rotation will drive the fifth link 325 to swing back and forth in its circumference. This swinging mode will cause the fifth link 325 and the linkage system connected to it to move accordingly, thereby realizing the bending and stretching movements of the bionic finger 3.

[0059] In summary, the multi-link dexterous hand provided by this invention offers the following advantages compared to existing technologies: the palm assembly 100 consists of a front shell and a rear shell, which are joined together to form a closed cavity. This design not only provides sufficient space for the drive assembly 300 but also ensures structural stability and durability. The palm assembly 100 serves as a support structure for the finger assembly 200 and the drive assembly 300, with its front end connected to the finger assembly 200, ensuring stable installation of the finger assembly 200. The finger assembly 200 includes a bionic thumb 2 and four bionic fingers 3, designed to simulate human grasping and manipulation functions. The drive assembly 300 includes a first drive structure, a second drive mechanism 5, and a first... Motor 6 and second motor 7 together provide power and control for finger assembly 200. The first drive structure is connected to the bionic thumb 2. Driven by the first motor 6, the bionic thumb 2 can move flexibly. The second drive mechanism 5 is connected to four bionic fingers 3. Driven by the second motor 7, the driven synchronous pulley 53 rotates, thereby driving the multiple bionic fingers 3 connected to it to perform coordinated grasping actions. This design enables multiple bionic fingers 3 to complete grasping tasks synchronously and in a coordinated manner, improving the operational efficiency and accuracy of the dexterous hand, greatly reducing the number of motors required for the dexterous hand, further enhancing the safety and reliability of the dexterous hand, and effectively reducing the production cost of the dexterous hand.

[0060] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A multi-link dexterous hand, characterized in that, This includes the palm component, finger component, and drive component; The palm assembly has an internal cavity; The finger assembly includes a bionic thumb and four bionic fingers, with one end of the bionic thumb and one end of each bionic finger connected to the front end of the palm assembly. The drive assembly is disposed in the cavity. The drive assembly includes a first drive mechanism, a second drive mechanism, a first motor, and a second motor. The first motor controls the movement of the bionic thumb independently through the first drive mechanism, and the second motor controls the synchronous grasping action of the other four bionic fingers simultaneously through the second drive mechanism. The bionic thumb includes an upper phalanx, a middle phalanx, and a lower phalanx; The rear end of the upper phalanx is hinged to the front end of the middle phalanx, the rear end of the middle phalanx is hinged to the front end of the lower phalanx, and the rear end of the lower phalanx is hinged to the first drive mechanism; The upper phalanx has a first connecting joint at its rear end, which is used to connect with the middle phalanx. The middle phalanx includes a first rod and a second rod. The front end of the first rod has a first connecting connector, which engages with the first connecting joint and is hinged by a pin. The front end of the second rod is hinged to the rear end of the first rod. The middle finger joint also includes a third rod, a fourth rod, and a first elastic element. The front end of the fourth rod is provided with a second connecting joint. The rear end of the first rod engages with the second connecting joint and is hinged via a pin. The rear end of the fourth rod is hinged to the front end of the third rod. One end of the first elastic element is connected to the rear end of the third rod, and the other end is connected to the front end of the fourth rod. The first elastic element is used to transmit the rotational force of the fourth rod to the third rod, thereby causing the third rod to rotate. The lower phalanx is internally provided with a fifth rod, a sixth rod, and a second elastic element. The front end of the fifth rod is provided with a third connecting joint. The fifth rod is engaged with the front end of the third rod and the rear end of the fourth rod through the third connecting joint and is hinged by a pin. The front end of the sixth rod is hinged to the rear end of the fifth rod. The second elastic element is respectively provided on both sides of the sixth rod, with one end of the second elastic element connected to the sixth rod and the other end connected to the inner wall of the lower phalanx housing.

2. The multi-link dexterous hand according to claim 1, characterized in that, The first driving mechanism includes a driving wheel, a driven wheel, and a connecting member. One end of the driving wheel is connected to the output end of the first motor, and the other end is connected to the driven wheel. The first motor is used to drive the driving wheel to rotate, thereby driving the driven wheel to rotate. One end of the connecting member is rotatably connected to the driven wheel, and the other end is connected to the rear end of the sixth rod. The driven wheel drives the sixth rod to reciprocate along the circumference of the driven wheel through the connecting member.

3. The multi-link dexterous hand according to claim 1, characterized in that, Each of the bionic fingers includes a first phalanx and a second phalanx, the rear end of the first phalanx being hinged to the front end of the second phalanx, and the rear end of the second phalanx being hinged to the second drive mechanism.

4. The multi-link dexterous hand according to claim 3, characterized in that, The rear end of the first phalanx is provided with a fourth connecting joint. The second phalanx includes a first connecting rod and a second connecting rod. The front end of the first connecting rod is provided with a fourth connecting joint. The fourth connecting joint is engaged with the fourth connecting joint and hinged by a pin. The front end of the second connecting rod is hinged to the rear end of the first connecting rod. One side of the second connecting rod is connected to the inner wall of the housing of the second phalanx. The first phalanx reciprocates along the circumference of the pin.

5. The multi-link dexterous hand according to claim 4, characterized in that, The second phalanx also includes a third link, a fourth link, and a fifth link. The front end of the third link is hinged to the rear end of the first link, the front end of the fifth link is hinged to the rear end of the third link, and the rear end of the fifth link is connected to the rear end of the fourth link.

6. The multi-link dexterous hand according to claim 5, characterized in that, The second drive mechanism includes a driving synchronous pulley and a synchronous belt. One end of the driving synchronous pulley is connected to the output end of the second motor, and the other end is connected to one end of the synchronous belt. The other end of the synchronous belt is connected to a driven synchronous pulley. The driving synchronous pulley drives the driven synchronous pulley to rotate in a first direction through the synchronous belt. The driven synchronous pulley is connected to the fifth link. The rotation of the driven synchronous pulley in turn drives the fifth link to reciprocate around the driven synchronous pulley in a circumferential direction.

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