Dexterous hand and robot

Abstract

The invention discloses a dexterous hand and a robot, the dexterous hand comprises a palm, an index finger assembly, a first driving assembly, a second driving assembly and a connecting arm; the palm is of a hollow structure, a notch is formed in the front side of the palm, the connecting arm is arranged in an inner cavity of the palm and penetrates through the notch, and the connecting arm is pivoted with the palm through a first rotating shaft extending up and down; the rear side end of the index finger assembly is pivoted to the front end of the connecting arm, the first driving assembly is installed on the connecting arm, and the output end of the first driving assembly is connected to the index finger assembly. The second driving assembly is located in the inner cavity of the palm and comprises a mounting base and a movable end, the mounting base is pivoted to the palm, the movable end is pivoted to the connecting arm through a second rotating shaft extending up and down, and the central axis of the second rotating shaft and the central axis of the first rotating shaft are staggered. The internal structure of the dexterous hand is simplified, and the boundary dimension of the palm can be controlled easily.

Description

Technical Field

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

[0002] The dexterous hand is the end effector of a humanoid robot, which is used to enable the humanoid robot to perform some complex and delicate tasks. The existing dexterous hand is usually set up to imitate the palm, thumb component, index finger component, middle finger component, ring finger component and pinky finger component of a human hand. Each finger component is connected to the front of the palm and can swing up and down relative to the palm. Through the freedom of each finger swinging relative to the palm and the rotation joints on each finger, the dexterous hand can complete the grasping task. In order to make the dexterous hand have a higher degree of simulation to perform a variety of complex and delicate tasks, some dexterous hands are usually also equipped with a finger component that can swing sideways, such as a finger side-swing device of an anthropomorphic robot hand disclosed in Chinese patent CN101491900A, which can realize the side-swing of the index finger component, specifically, the side-swing of the index finger component is realized by the meshing of the gear and the rack, and the screw nut mechanism that drives the rack to move is arranged along the lateral direction of the palm. The side-swing device occupies a large space inside the palm, which is not conducive to the layout of detection and related control components inside the palm, and the structure is relatively complex, and the stability of the dexterous hand is poor. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a dexterous hand and a robot, which simplifies the structure of the dexterous hand and makes more space inside the palm of the dexterous hand while enabling the index finger of the dexterous hand to swing sideways.

[0004] The purpose of the present invention is achieved by the following technical solutions: A dexterous hand, comprising a palm, an index finger assembly, a first driving assembly, a second driving assembly, and a connecting arm; The palm is a hollow structure, and a notch is provided on the front side of the palm to communicate with the inner cavity thereof. The connecting arm is placed in the inner cavity of the palm and passes through the notch, so that the front end of the connecting arm protrudes from the front side of the palm. The connecting arm is pivotally connected to the palm through a first rotating shaft extending up and down at the notch of the palm. The rear end of the index finger assembly is pivotally connected to the front end of the connecting arm, the first driving assembly is installed on the connecting arm, and the output end of the first driving assembly is connected to the index finger assembly to drive the index finger assembly to swing up and down relative to the front end of the connecting arm; The second driving assembly is located in the inner cavity of the palm, and includes a mounting base and a movable end that can move linearly relative to the mounting base. The mounting base is pivotally connected to the palm, and the movable end is pivotally connected to the connecting arm through a second rotating shaft extending up and down. The central axis of the second rotating shaft is staggered with the central axis of the first rotating shaft, so that when the movable end drives the second rotating shaft to move linearly relative to the mounting base, the second rotating shaft can drive the connecting arm to swing around the first rotating shaft relative to the palm.

[0005] According to the dexterous hand of the embodiment of the present invention, a connecting arm is rotatably installed in the inner cavity of the palm, and the first driving component for driving the index finger component to swing up and down is installed on the connecting arm. The second driving component arranged in the inner cavity of the palm drives the connecting arm and the first driving component on the connecting arm to swing by linear motion, so as to realize the overall side swing of the index finger component; at the same time, since the linear motion of the movable end of the second driving component is used to drive the connecting arm to swing, the internal structure of the dexterous hand is simplified, and the connecting arm, the first driving component and the second driving component occupy less space inside the palm, especially less space in the left and right directions of the palm, which is conducive to controlling the external dimensions of the palm and is convenient for arranging the driving mechanisms of other fingers and electronic devices such as detection elements and control elements inside the palm.

[0006] In a preferred embodiment, the first drive assembly is installed above the connecting arm, and the second drive assembly is located below the connecting arm. The first drive assembly, the connecting arm, and the second drive assembly are arranged in the up-down direction, that is, arranged inside the palm along the thickness direction of the palm, which is conducive to further reducing the occupation of the left-right space of the palm. In addition, the second drive assembly and the connecting arm arranged up and down can avoid interference between the second drive assembly and the connecting arm as much as possible when the connecting arm swings, ensuring that the connecting arm can have a larger swing amplitude, thereby making the index finger assembly swing sideways with a larger amplitude, so as to increase the scope of application of the dexterous hand.

[0007] In a preferred embodiment, the first driving assembly includes a first motor, a first reducer, a first screw rod, a first nut and a first movable rod. The body of the first motor is fixedly connected to the body of the first reducer, the body of the first reducer is pivoted at the rear end of the connecting arm, the output shaft of the first motor is connected to the input end of the first reducer, the first screw rod is connected to the output end of the first reducer, the first nut is sleeved on the first screw rod and cooperates with the first screw rod thread, the first movable rod is fixedly connected to the first nut, the front end of the first movable rod extends out from the notch of the palm and is pivotally connected to the rear end of the index finger assembly, the axis of relative rotation of the first movable rod and the index finger assembly is parallel to the axis of relative rotation of the connecting arm and the index finger assembly and are staggered from each other; the length directions of the first motor, the first screw rod and the first movable rod are all consistent with the extension direction of the connecting arm, and the first screw rod and the first movable rod are located below or above the first motor. The first screw transmission mechanism (including the first reducer, the first screw, the first nut and the first movable rod) driven by the first motor drives the index finger assembly to swing up and down, which can facilitate the precise control of the up and down swinging angle of the index finger assembly. The first motor, the first movable rod and the first screw are arranged in the up and down directions so that the left and right sides of the first drive assembly do not protrude from the left and right sides of the connecting arm, and the assembly formed by the first drive assembly and the connecting arm occupies less space in the left and right directions of the palm.

[0008] In a preferred embodiment, the second drive assembly includes a second motor, a second reducer, a second screw rod, and a second nut. The body of the second motor and the body of the second reducer are fixedly matched and together constitute the mounting base of the second drive assembly. The output shaft of the second motor is connected to the input end of the second reducer, the second screw rod is connected to the output end of the second reducer, the second nut is sleeved on the second screw rod and matched with the second screw rod thread, and the movable end of the second drive assembly is a second movable rod fixed on the second nut; the length direction of the second motor, the second screw rod and the second movable rod are all consistent with the front-back direction of the palm, and the second screw rod and the second movable rod are arranged on the right or left side of the second motor. The second screw rod transmission mechanism (including the second reducer, the second screw rod, the second nut and the second movable rod) driven by the second motor drives the connecting arm to swing, which can accurately control the swing angle of the connecting arm, and then accurately control the side swing angle of the index finger assembly. The assembly composed of the second screw rod and the second movable rod is arranged left and right with the second motor. Without interfering with the swing of the connecting arm, the size of the second drive assembly in the up and down direction is relatively small, which is conducive to reducing the overall thickness of the palm.

[0009] In a preferred embodiment, a mounting seat is detachably fixed inside the palm, and the body of the second reducer is pivotally connected to the mounting seat. During assembly, the rear end of the second reducer can be pre-connected to the mounting seat, and after the mounting seat is placed in the inner cavity of the palm together with the second drive assembly, the mounting seat is fixed to the palm by screw connection or other connection methods, so that the assembly of the second drive assembly and the palm can be facilitated.

[0010] In a preferred embodiment, the portion of the lower surface of the connecting arm located in the palm cavity is provided with an upwardly recessed recess, and at least a portion of the second drive assembly is accommodated in the recess. The second drive assembly is placed in the recess, so that the size of the assembly formed by the second drive assembly and the connecting arm in the vertical direction is relatively small, further reducing the occupation of the internal space of the palm.

[0011] In a preferred embodiment, a mounting surface extending up and down is formed at the front end of the concave position on the connecting arm, a connecting seat is fixedly connected to the mounting surface, a connecting ear protruding from one side of the connecting arm is provided on the connecting seat, and the second rotating shaft crosses the connecting ear and the movable end of the second driving component from top to bottom to pivotally connect the movable end of the second driving component with the connecting ear. The connecting arm is connected to the movable end of the second component through a connecting seat, so that the second driving component and the connecting arm can be easily assembled together.

[0012] In a preferred embodiment, a mounting hole extending from the upper surface to the lower surface is provided on the connecting arm at a position on the front side of the mounting surface, a convex rib extending toward the central axis of the mounting hole is provided at the edge of the lower end of the mounting hole, a bearing is embedded in the mounting hole, the outer ring of the bearing is tightly matched with the inner wall of the mounting hole, the first rotating shaft is connected to the inner ring of the bearing from top to bottom, the lower end of the first rotating shaft protrudes from the inner ring of the bearing and is screwed on the palm, the upper end of the first rotating shaft is provided with a convex edge, the bottom edge of the outer ring of the bearing is pressed against the convex rib, and the inner ring of the bearing is clamped between the convex edge and the palm. The inner ring of the bearing is fixed to the palm by the first rotating shaft, which facilitates the assembly of the bearing, and the bearing is used to make the rotation of the connecting arm smoother, thereby reducing the wear on the connecting arm and the palm caused by the rotation of the connecting arm.

[0013] In a preferred embodiment, the palm includes an upper shell and a lower shell, which are detachably fixed together and together enclose an inner cavity of the palm; and / or; The dexterous hand also includes a middle finger component, a ring finger component and a little finger component. Three mounting arms fixedly matched with the palm are arranged in the inner cavity of the palm. The front ends of the three mounting arms are respectively extended from three openings on the front side of the palm to the front side of the palm. The middle finger component, the ring finger component and the little finger component are respectively pivoted at the front ends of the three mounting arms. Each mounting arm is provided with a third driving component located in the inner cavity of the palm. The three third driving components are respectively used to drive the middle finger component, the ring finger component and the little finger component to swing up and down relative to the mounting arm. The upper shell and the lower shell are detachably connected, so that the connecting arm and the second driving component can be conveniently assembled into the palm. The middle finger component, the ring finger component and the little finger component are respectively installed on the mounting arm, the mounting arm and the mounting arm, so that a single finger component and its corresponding mounting arm and the third driving component form an integral module, which is convenient for the maintenance, replacement and assembly of the finger component.

[0014] Robots, including the above-mentioned dexterous hands.

[0015] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the dexterous hand of the present invention; Figure 2 It is a schematic diagram of the assembly structure of the index finger component and the palm in the dexterous hand of the present invention; Figure 3 for Figure 2 A schematic diagram of the connection structure between the middle connecting arm and the second driving assembly; Figure 4 A schematic diagram of the structure of the dexterous hand of the present invention in a working state; Figure 5 It is a structural schematic diagram of another working state of the dexterous hand of the present invention; Figure 6 Figure 4 A-direction structural schematic diagram; Figure 7 for Figure 2 Schematic diagram of the structure of the middle and lower shells.

[0017] In the figure: 10, palm; 101, notch; 102, opening; 11, lower shell; 12, upper shell; 13, mounting seat; 20, index finger assembly; 30, connecting arm; 301, recess; 31, bearing; 32, first rotating shaft; 33, mounting surface; 34, mounting hole; 35, connecting seat; 351, connecting ear; 36, second rotating shaft; 40, first driving assembly; 41, first motor; 42, first reducer; 43, first screw rod; 44, first screw nut; 45, first movable rod; 50, second drive assembly; 51, second motor; 52, second reducer; 53, second screw rod; 54, second nut; 55, second movable rod; 60, thumb assembly; 70, middle finger assembly; 71, middle finger mounting arm; 72, third drive assembly; 80, ring finger assembly; 81, ring finger mounting arm; 82, fourth drive assembly; 90, little finger assembly; 91, little finger mounting arm; 92, fifth drive assembly. DETAILED DESCRIPTION

[0018] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0019] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0020] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] Please refer to Figure 1-7 As shown, a dexterous hand of the present invention includes a palm 10, an index finger component 20, a first drive component 40, a second drive component 50 and a connecting arm 30; the palm 10 is a hollow shell structure, and a notch 101 is arranged on the front side of the palm 10, and the notch 101 is connected to the inner cavity of the palm 10, and the connecting arm 30 is placed in the inner cavity of the palm 10, and most of the connecting arm 30 is placed in the inner cavity of the palm 10, and its front end passes through the notch 101, so that a small part of the front end of the connecting arm 30 protrudes from the front side of the palm 10 after passing through the notch 101, and the part of the connecting arm 30 located at the notch 101 is pivotally connected to the palm 10 through a first rotating shaft 32 extending in the up-down direction, so that the connecting arm 30 can swing relative to the palm 10 around the first rotating shaft 32, and the width of the notch 101 in the left-right direction is set to be larger than the width of the connecting arm 30 to avoid interference with the edge of the notch 101 when the connecting arm 30 swings.

[0023] The rear end of the index finger component 20 is pivotally connected to the front end of the connecting arm 30. The first driving component 40 is installed on the connecting arm 30. The first driving component 40 is located in the inner cavity of the palm 10 and can swing along with the connecting arm 30. The output end of the first driving component 40 is connected to the index finger component 20. The index finger component 20 is driven by the first driving component 40 so that the index finger component 20 can swing up and down relative to the front end of the connecting arm 30.

[0024] The second drive assembly 50 is located in the inner cavity of the palm 10, and includes a mounting base and a movable end that can move in a straight line relative to the mounting base. Driven by the internal motion mechanism of the second drive assembly 50, the movable end of the second drive assembly 50 can move forward and backward along a straight line. Specifically, the mounting base of the second drive assembly 50 is pivoted on the palm 10, and its movable end is pivoted to the connecting arm 30 through a second rotating shaft 36 extending up and down. The central axis of the second rotating shaft 36 and the central axis of the first rotating shaft 32 are staggered by a certain distance. When the movable end of the second drive assembly 50 moves in a straight line, the second rotating shaft 36 moves forward and backward accordingly, thereby driving the connecting arm 30 to swing around the first rotating shaft 32 relative to the palm 10.

[0025] Figure 4 and Figure 5 The working state of the dexterous hand of the present invention is shown in FIG. Figure 4 In the state shown, the index finger assembly 20 is located at the rightmost position, that is, the index finger assembly 20 is close to the middle finger assembly 70 on the palm 10. In this state, the second driving assembly 50 is started, and the movable end of the second driving assembly 50 moves forward, driving the second rotating shaft 36 to move forward, and the second rotating shaft 36 drives the connecting arm 30 to swing around the first rotating shaft 32, so that the front end of the connecting arm 30 swings to the left, and the index finger assembly 20 swings to the left along with the connecting arm 30. Figure 5 The state shown in FIG. 1 is to complete the leftward swing of the index finger assembly 20. Figure 5 In the state shown, the movable end of the second driving assembly 50 moves backward, and the front end of the connecting arm 30 swings rightward under the action of the second rotating shaft 36, and the index finger assembly 20 swings rightward to Figure 4 The state shown is to complete the swing of the index finger assembly 20 to the right.

[0026] In the present invention, since a connecting arm 30 is rotatably installed in the inner cavity of the palm 10, the first driving component 40 for driving the index finger component 20 to swing up and down is installed on the connecting arm 30, and the second driving component 50 arranged in the inner cavity of the palm 10 drives the connecting arm 30 and the first driving component 40 on the connecting arm 30 to swing through linear motion, thereby realizing the overall side swing of the index finger component 20; at the same time, since the linear motion of the movable end of the second driving component 50 is used to drive the connecting arm 30 to swing, the internal structure of the dexterous hand is simplified, and the connecting arm 30, the first driving component 40 and the second driving component 50 occupy a smaller space inside the palm 10, especially a smaller space in the left and right directions of the palm 10, which is beneficial to controlling the external dimensions of the palm 10, and at the same time, it is convenient to arrange the driving mechanisms of other fingers and electronic devices such as detection elements and control elements inside the palm 10.

[0027] In a preferred embodiment, the first drive component 40 is installed above the connecting arm 30, and the second drive component 50 is located below the connecting arm 30. In this way, the first drive component 40, the connecting arm 30, and the second drive component 50 are arranged in the up and down direction, that is, they are arranged inside the palm 10 along the thickness direction of the palm 10, which is beneficial to further reduce the occupation of the left and right space of the palm 10. In addition, the second drive component 50 and the connecting arm 30 arranged up and down can avoid interference between the second drive component 50 and the connecting arm 30 as much as possible when the connecting arm 30 swings, ensuring that the connecting arm 30 can have a larger swing amplitude, thereby making the index finger component 20 have a larger side swing amplitude, so as to increase the applicability of the dexterous hand.

[0028] In other embodiments, the first driving assembly 40 may be installed below the connecting arm 30, and the second driving assembly 50 may be arranged above the connecting arm 30, which can also achieve the above-mentioned purpose of arrangement in the up-down direction.

[0029] The first driving assembly 40 includes a first motor 41, a first reducer 42, a first screw rod 43, a first nut 44 and a first movable rod 45. The body of the first motor 41 is fixedly connected to the body of the first reducer 42. The first reducer 42 is arranged at the rear end of the first motor 41 and is pivotally connected to the rear end of the connecting arm 30. The output shaft of the first motor 41 is connected to the input end of the first reducer 42. The first screw rod 43 is connected to the output end of the first reducer 42 and extends forward. The first nut 44 is sleeved on the first screw rod 43 and is threadedly matched with the first screw rod 43. The first movable rod 45 is fixedly connected to the first nut 44 and extends forward from the first nut 44. The front end of the first movable rod 45 extends out from the notch 101 on the palm 10 and is pivotally connected to the rear end of the index finger assembly 20. The axis of relative rotation between the first movable rod 45 and the index finger assembly 20 is parallel to the axis of relative rotation between the connecting arm 30 and the index finger assembly 20 and is staggered by a certain distance. After the first motor 41 is started, the first movable rod 45 moves back and forth in a straight line, thereby driving the index finger assembly 20 to swing up and down relative to the connecting arm 30, so as to realize the up and down swing of the index finger assembly 20 relative to the palm 10. The length directions of the first motor 41, the first screw rod 43 and the first movable rod 45 are all consistent with the extension direction of the connecting arm 30, and the first screw rod 43 and the first movable rod 45 are both located below the first motor 41. The first screw transmission mechanism (including the first reducer, the first screw, the first nut and the first movable rod) driven by the first motor drives the index finger assembly 20 to swing up and down, which can facilitate the precise control of the angle of the index finger assembly 20 swinging up and down. The first motor 41, the first movable rod 45 and the first screw 43 are arranged in the up and down direction, so that the left and right sides of the first drive assembly 40 will not protrude from the left and right sides of the connecting arm 30, and the assembly formed by the first drive assembly 40 and the connecting arm 30 occupies less space in the left and right directions of the palm 10. It should be pointed out that in other embodiments, the first screw 43 and the first movable rod 45 are both located above the first motor 41.

[0030] The second driving assembly 50 includes a second motor 51, a second reducer 52, a second screw rod 53, and a second nut 54. The body of the second motor 51 and the body of the second reducer 52 are fixedly connected together and together constitute the mounting base of the second driving assembly 50. The second reducer 52 is located at the rear end of the second motor 51. The output shaft of the second motor 51 is connected to the input end of the second reducer 52. The second screw rod 53 is connected to the output end of the second reducer 52 and extends forward. The second nut 54 is sleeved on the second screw rod 53 and is threadedly matched with the second screw rod 53. The second driving assembly 50 The movable end of the second motor 51 is a second movable rod 55 fixed on the second nut 54, and the second movable rod 55 has the second nut 54 extending forward. The length direction of the second motor 51, the second screw rod 53 and the second movable rod 55 is consistent with the front-back direction of the palm 10, and the second screw rod 53 and the second movable rod 55 are arranged on the left side of the second motor 51. Of course, in other embodiments, the second screw rod 53 and the second movable rod 55 can also be arranged on the right side of the second motor 51. In short, the assembly composed of the second screw rod 53 and the second movable rod 55 and the second motor 51 are arranged left and right. The second screw rod transmission mechanism (including the second reducer, the second screw rod, the second nut and the second movable rod) driven by the second motor drives the connecting arm 30 to swing, and the swing angle of the connecting arm 30 can be accurately controlled, and then the side swing angle of the index finger assembly 20 can be accurately controlled. The assembly composed of the second screw rod 53 and the second movable rod 55 and the second motor 51 are arranged left and right. Without interfering with the swing of the connecting arm 30, the size of the second driving assembly 50 in the up and down direction is relatively small, which is conducive to reducing the overall thickness of the palm 10.

[0031] A mounting base 13 is detachably fixed inside the palm 10, and the rear end of the second reducer 52 is pivotally connected to the mounting base 13. During assembly, the rear end of the second reducer 52 can be pre-connected to the mounting base 13. After the mounting base 13 is placed in the inner cavity of the palm 10 together with the second drive component 50, the mounting base 13 is fixed to the palm 10 by screw connection or other connection methods. In this way, the assembly of the second drive component 50 and the palm 10 can be facilitated.

[0032] The lower surface of the connecting arm 30 located in the inner cavity of the palm 10 is provided with an upwardly recessed recess 301, and at least a portion of the second drive component 50 is accommodated in the recess 301. The second drive component 50 is placed in the recess 301, so that the assembly formed by the second drive component 50 and the connecting arm 30 is relatively small in the vertical direction, further reducing the occupation of the internal space of the palm 10.

[0033] A mounting surface 33 is formed on the connecting arm 30 at the front end of the recess 301, and the mounting surface 33 extends in the up-down direction. A connecting seat 35 is fixedly connected to the mounting surface 33, and a connecting ear 351 protruding from one side of the connecting arm 30 is provided on the connecting seat 35. The second rotating shaft 36 crosses the connecting ear 351 and the movable end of the second driving component 50 from top to bottom, and the movable end of the second driving component 50 is pivotally connected to the connecting ear 351, and then the movable end of the second driving component 50 is pivotally connected to the connecting arm 30. The connecting arm 30 is connected to the movable end of the second driving component 50 by a connecting seat 35, so that the second driving component 50 and the connecting arm 30 can be easily assembled together.

[0034] A mounting hole 34 extending downward from the upper surface to the lower surface is provided on the connecting arm 30 at a position in front of the mounting surface 33. The edge of the lower end of the mounting hole 34 is provided with a convex rib extending toward the central axis of the mounting hole 34. A bearing 31 is embedded in the mounting hole 34. The outer surface of the outer ring of the bearing 31 is tightly matched with the inner wall of the mounting hole 34. The first rotating shaft 32 is connected to the inner ring of the bearing 31 from top to bottom. The lower end of the first rotating shaft 32 protrudes from the inner ring of the bearing 31 and is screwed on the palm 10. The upper end of the first rotating shaft 32 is provided with a convex edge. After the bearing 31 is placed in the mounting hole 34, the bottom edge of the outer ring of the bearing 31 is pressed against the convex rib, and the first rotating shaft 32 is tightened so that the inner ring of the bearing 31 is clamped between the convex edge of the first rotating shaft 32 and the palm 10. The inner ring of the bearing 31 is fixed to the palm 10 by the first rotating shaft 32, which facilitates the assembly of the bearing 31. The bearing 31 makes the rotation of the connecting arm 30 smoother and reduces the wear on the connecting arm 30 and the palm 10 when the connecting arm 30 rotates.

[0035] In the present invention, the palm 10 is configured as a split structure, which includes an upper shell 12 and a lower shell 11. The upper shell 12 and the lower shell 11 are detachably fixed together and together surround the inner cavity of the palm 10. The upper shell 12 and the lower shell 11 can be fixed together by screw connection, or by clamping or other detachable connection methods. The detachable connection between the upper shell 12 and the lower shell 11 can facilitate the assembly of the connecting arm 30 and the second driving assembly 50 into the palm 10.

[0036] The above-mentioned dexterous hand also includes a middle finger component 70, a ring finger component 80 and a little finger component 90. The inner cavity of the palm 10 is provided with a middle finger mounting arm 71, a ring finger mounting arm 81 and a little finger mounting arm 91 fixedly matched with the palm 10. The front ends of the middle finger mounting arm 71, the ring finger mounting arm 81 and the little finger mounting arm 91 are respectively extended through three openings 102 on the front side of the palm 10 to the front side of the palm 10. The middle finger component 70, the ring finger component 80 and the little finger component 90 are respectively pivotally connected to the middle finger mounting arm 71, the ring finger mounting arm 81 and the little finger mounting arm 91. A third drive assembly 72, a fourth drive assembly 82 and a fifth drive assembly 92 located in the inner cavity of the palm 10 are respectively arranged on the front ends of the mounting arm 81 and the little finger mounting arm 91, the middle finger mounting arm 71, the ring finger mounting arm 81 and the little finger mounting arm 91. The third drive assembly 72, the fourth drive assembly 82 and the fifth drive assembly 92 are respectively used to drive the middle finger assembly 70, the ring finger assembly 80 and the little finger assembly 90 to swing up and down relative to the middle finger mounting arm 71, the ring finger mounting arm 81 and the little finger mounting arm 91.

[0037] The middle finger assembly 70, the ring finger assembly 80 and the pinky finger assembly 90 are respectively mounted on the middle finger mounting arm 71, the ring finger mounting arm 81 and the pinky finger mounting arm 91, so that a single finger assembly and its corresponding mounting arm and the drive assembly form an integral module, which is convenient for the maintenance, replacement and assembly of the finger assembly. The drive assembly has the same structure as the first drive assembly 40 described above, and the cooperation mode and positional relationship between the drive assembly and the mounting arm can also be the same as the cooperation mode and positional relationship between the first drive assembly 40 and the connecting arm 30 described above. In other embodiments, the dexterous hand also includes a thumb assembly 60 connected to the palm.

[0038] The robot of the present invention includes the above-mentioned dexterous hand, and other structures of the robot are the same as those in the prior art and will not be described in detail here.

[0039] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0040] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. Dexterous hand, characterized in that, It includes a palm, an index finger component, a first driving component, a second driving component, and a connecting arm; The palm is a hollow structure, and a notch is provided on the front side of the palm to communicate with the inner cavity thereof. The connecting arm is placed in the inner cavity of the palm and passes through the notch, so that the front end of the connecting arm protrudes from the front side of the palm. The connecting arm is pivotally connected to the palm through a first rotating shaft extending up and down at the notch of the palm. The rear end of the index finger assembly is pivotally connected to the front end of the connecting arm, the first driving assembly is installed on the connecting arm, and the output end of the first driving assembly is connected to the index finger assembly to drive the index finger assembly to swing up and down relative to the front end of the connecting arm; The second driving assembly is located in the inner cavity of the palm, and includes a mounting base and a movable end that can move linearly relative to the mounting base. The mounting base is pivotally connected to the palm, and the movable end is pivotally connected to the connecting arm through a second rotating shaft extending up and down. The central axis of the second rotating shaft is staggered with the central axis of the first rotating shaft, so that when the movable end drives the second rotating shaft to move linearly relative to the mounting base, the second rotating shaft can drive the connecting arm to swing around the first rotating shaft relative to the palm.

2. The dexterous hand according to claim 1, characterized in that: The first driving assembly is installed above the connecting arm, and the second driving assembly is located below the connecting arm.

3. The dexterous hand according to claim 2, characterized in that: The first driving assembly includes a first motor, a first reducer, a first screw rod, a first nut and a first movable rod. The body of the first motor is fixedly connected to the body of the first reducer, the body of the first reducer is pivoted to the rear end of the connecting arm, the output shaft of the first motor is connected to the input end of the first reducer, the first screw rod is connected to the output end of the first reducer, the first nut is sleeved on the first screw rod and cooperates with the first screw rod thread, the first movable rod is fixedly connected to the first nut, the front end of the first movable rod extends out from the notch of the palm and is pivotally connected to the rear end of the index finger assembly, the axis of relative rotation of the first movable rod and the index finger assembly is parallel to the axis of relative rotation of the connecting arm and the index finger assembly and is staggered from each other; the length directions of the first motor, the first screw rod and the first movable rod are all consistent with the extension direction of the connecting arm, and the first screw rod and the first movable rod are located below or above the first motor.

4. The dexterous hand according to claim 2, characterized in that: The second driving assembly includes a second motor, a second reducer, a second screw rod, and a second nut. The body of the second motor and the body of the second reducer are fixedly matched and together constitute a mounting base of the second driving assembly. The output shaft of the second motor is connected to the input end of the second reducer, the second screw rod is connected to the output end of the second reducer, the second nut is sleeved on the second screw rod and matched with the second screw rod thread, and the movable end of the second driving assembly is a second movable rod fixed on the second nut; the length directions of the second motor, the second screw rod and the second movable rod are all consistent with the front-to-back direction of the palm, and the second screw rod and the second movable rod are arranged on the right side or left side of the second motor.

5. The dexterous hand according to claim 4, characterized in that: A mounting seat is detachably fixed inside the palm, and the body of the second reducer is pivotally connected to the mounting seat.

6. The dexterous hand according to claim 1, characterized in that: The portion of the lower surface of the connecting arm located in the palm inner cavity is provided with an upwardly recessed position, and at least a portion of the second driving component is accommodated in the recessed position.

7. The dexterous hand according to claim 6, characterized in that: A mounting surface extending up and down is formed at the front end of the recessed position on the connecting arm, and a connecting seat is fixedly connected to the mounting surface. The connecting seat is provided with a connecting ear protruding from one side of the connecting arm, and the second rotating shaft crosses the connecting ear and the movable end of the second driving component from top to bottom to pivot the movable end of the second driving component to the connecting ear.

8. The dexterous hand according to claim 7, characterized in that: A mounting hole extending from the upper surface to the lower surface is provided on the connecting arm at a position on the front side of the mounting surface, and a convex rib extending toward the central axis of the mounting hole is provided on the edge of the lower end of the mounting hole. A bearing is embedded in the mounting hole, and the outer ring of the bearing is tightly matched with the inner wall of the mounting hole. The first rotating shaft is connected to the inner ring of the bearing from top to bottom, and the lower end of the first rotating shaft protrudes from the inner ring of the bearing and is screwed on the palm. The upper end of the first rotating shaft is provided with a convex edge, and the bottom edge of the outer ring of the bearing is pressed against the convex rib, and the inner ring of the bearing is clamped between the convex edge and the palm.

9. The dexterous hand according to claim 1, characterized in that: The palm comprises an upper shell and a lower shell, which are detachably fixed together and together enclose an inner cavity of the palm; and / or; The dexterous hand also includes a middle finger component, a ring finger component and a little finger component. Three mounting arms fixedly matched with the palm are arranged in the inner cavity of the palm. The front ends of the three mounting arms respectively pass through three openings on the front side of the palm to the front side of the palm. The middle finger component, the ring finger component and the little finger component are respectively pivotally connected to the front ends of the three mounting arms. Each mounting arm is provided with a third driving component located in the inner cavity of the palm. The three third driving components are respectively used to drive the middle finger component, the ring finger component and the little finger component to swing up and down relative to the mounting arm.

10. A robot, characterized in that The dexterous hand comprising any one of claims 1-9.

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