Dexterous Hand and Robot

Abstract

The present invention discloses a dexterous hand and a robot. The dexterous hand includes 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, and a notch is provided on the front side of the palm. The connecting arm is placed in the inner cavity of the palm and passes through the notch. The connecting arm is pivotally connected to the palm through a first rotating shaft extending vertically. 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 its output end is connected to the index finger assembly. The second driving assembly is located in the inner cavity of the palm and includes a mounting base and a movable end. 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 vertically. The central axis of the second rotating shaft is offset from the central axis of the first rotating shaft. The present invention simplifies the internal structure of the dexterous hand and is beneficial to controlling the external dimensions of the palm.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly 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 hands usually imitate the human hand to set up a palm, a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component. Each finger component is connected to the front side of the palm and can swing up and down relative to the palm. Through the degrees of freedom of each finger swinging relative to the palm and the rotating joints on each finger, the dexterous hand can complete the grasping task. In order to make the dexterous hand have a higher simulation degree to perform a variety of complex and delicate tasks, some dexterous hands usually also configure a finger component that can swing laterally. For example, a finger lateral swing device of an anthropomorphic robot hand disclosed in Chinese Patent CN101491900A can realize the lateral swing of the index finger component. Specifically, the lateral swing of the index finger component is realized by the meshing of a gear and a rack. The lead screw nut mechanism that drives the rack to move is arranged horizontally along the palm. The lateral 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 at least solve one of the technical problems existing in the prior art. To this end, the object of the present invention is to provide a dexterous hand and a robot, which can simplify the structure of the dexterous hand and create more space inside the palm of the dexterous hand on the premise that the index finger of the dexterous hand can realize lateral swing.

[0004] The object of the present invention is achieved by adopting the following technical solutions:

[0005] A dexterous hand, comprising a palm, an index finger component, a first driving component, a second driving component, and a connecting arm;

[0006] The palm is a hollow structure, and a notch communicating with its inner cavity is provided on the front side of the palm. 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;

[0007] The rear end of the index finger component is pivotally connected to the front end of the connecting arm. The first driving component is installed on the connecting arm, and the output end of the first driving component is connected to the index finger component to drive the index finger component to swing up and down relative to the front end of the connecting arm;

[0008] The second driving component is located in the inner cavity of the palm. It 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 vertically. The central axis of the second rotating shaft is offset from 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 relative to the palm around the first rotating shaft.

[0009] For the dexterous hand according to the embodiment of the present invention, since a connecting arm is rotatably installed in the inner cavity of the palm, the first driving component for driving the index finger component to swing up and down is installed on the connecting arm, and 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 in a linear motion manner, realizing 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 internal space of the palm, especially less space in the left-right direction of the palm, which is beneficial to controlling the external dimension of the palm and facilitating the arrangement of driving mechanisms, detection elements, control elements and other electronic devices of other fingers inside the palm.

[0010] In a preferred embodiment, the first driving component is installed above the connecting arm, and the second driving component is located below the connecting arm. The first driving component, the connecting arm and the second driving component are arranged in the up-down direction, that is, arranged in the thickness direction of the palm inside the palm, which is beneficial to further reducing the occupation of the space in the left-right direction of the palm. In addition, the second driving component and the connecting arm arranged up and down can avoid interference between the second driving component and the connecting arm as much as possible when the connecting arm swings, ensuring that the connecting arm can have a larger swing amplitude, and then making the side swing amplitude of the index finger component larger to increase the applicable range of the dexterous hand.

[0011] In a preferred embodiment, the first driving assembly includes a first motor, a first reducer, a first lead screw, 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 pivotally connected 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 lead screw is connected to the output end of the first reducer. The first nut is sleeved on the first lead screw and is in threaded cooperation with the first lead screw. 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 between the first movable rod and the index finger assembly is parallel to and offset from the axis of relative rotation between the connecting arm and the index finger assembly. The length directions of the first motor, the first lead screw, and the first movable rod are all consistent with the extending direction of the connecting arm, and the first lead screw and the first movable rod are located below or above the first motor. The first lead screw transmission mechanism driven by the first motor (including the first reducer, the first lead screw, the first nut, and the first movable rod) drives the index finger assembly to swing up and down, which can facilitate the precise control of the swing angle of the index finger assembly up and down. Arranging the first motor, the first movable rod, and the first lead screw in the up and down direction makes the left and right sides of the first driving assembly not protrude from the left and right sides of the connecting arm, and the assembly formed by the first driving assembly and the connecting arm occupies a relatively small space in the left and right directions of the palm.

[0012] In a preferred embodiment, the second driving assembly includes a second motor, a second reducer, a second lead screw, and a second nut. The body of the second motor and the body of the second reducer are fixedly combined to jointly form the 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 lead screw is connected to the output end of the second reducer. The second nut is sleeved on the second lead screw and is in threaded cooperation with the second lead screw. The movable end of the second driving assembly is a second movable rod fixed to the second nut. The length directions of the second motor, the second lead screw, and the second movable rod are all consistent with the front-back direction of the palm, and the second lead screw and the second movable rod are arranged on the right or left side of the second motor. The second lead screw transmission mechanism driven by the second motor (including the second reducer, the second lead screw, the second nut, and the second movable rod) drives the connecting arm to swing, which can precisely control the swing angle of the connecting arm, and then precisely control the side-swing angle of the index finger assembly. The assembly composed of the second lead screw 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 driving assembly in the up and down direction is relatively small, which is beneficial to reducing the overall thickness of the palm.

[0013] In a preferred embodiment, a mounting seat is detachably fixed inside the palm, and the body of the second speed reducer is pivotally connected to the mounting seat. During assembly, the rear end of the second speed reducer can be pre-connected to the mounting seat first. After the mounting seat and the second driving assembly are placed in the inner cavity of the palm together, the mounting seat is fixed to the palm by screw connection or other connection means. In this way, the assembly of the second driving assembly and the palm can be facilitated.

[0014] In a preferred embodiment, a recess that is recessed upward is provided on the lower surface of the connecting arm at the part located in the inner cavity of the palm, and at least a part of the second driving assembly is received in the recess. Placing the second driving assembly in the recess makes the size of the assembly formed by the second driving assembly and the connecting arm relatively small in the up-and-down direction, further reducing the occupation of the internal space of the palm.

[0015] In a preferred embodiment, a mounting surface extending vertically is formed at the front end of the recess 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. The second rotating shaft passes through the connecting ear and the movable end of the second driving assembly from top to bottom to pivotally connect the movable end of the second driving assembly and the connecting ear together. Connecting the connecting arm and the movable end of the second assembly through a connecting seat can facilitate the assembly of the second driving assembly and the connecting arm.

[0016] In a preferred embodiment, a mounting hole extending from the upper surface to the lower surface is provided at the position on the connecting arm in front of the mounting surface. A rib extending towards the central axis of the mounting hole is provided at the edge of the lower end of the mounting hole. A bearing is embedded inside the mounting hole. The outer ring of the bearing is in tight fit with the inner wall of the mounting hole. The first rotating shaft passes through 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 to the palm. A convex edge is provided at the upper end of the first rotating shaft. The bottom edge of the outer ring of the bearing is pressed against the rib. The inner ring of the bearing is clamped between the convex edge and the palm. Fixing the inner ring of the bearing to the palm by the first rotating shaft facilitates the assembly of the bearing. Using the bearing makes the rotation of the connecting arm smoother and reduces the wear on the connecting arm and the palm when the connecting arm rotates.

[0017] In a preferred embodiment, the palm includes an upper shell and a lower shell, and the upper shell and the lower shell are detachably fixed together and jointly enclose the inner cavity of the palm;

[0018] and / or;

[0019] The dexterous hand further includes a middle finger assembly, a ring finger assembly, and a little finger assembly. There are three mounting arms fixedly fitted with the palm 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 assembly, the ring finger assembly, and the little finger assembly are respectively pivotally connected to the front ends of the three mounting arms. Each mounting arm is provided with a third driving assembly located in the inner cavity of the palm. The three third driving assemblies are respectively used to drive the middle finger assembly, the ring finger assembly, and the little finger assembly to swing up and down relative to the mounting arm. Adopting the detachable connection method of the upper shell and the lower shell can facilitate the assembly of the connecting arm and the second driving assembly into the interior of the palm. The middle finger assembly, the ring finger assembly, and the little finger assembly are respectively mounted on the mounting arms, the mounting arms, and the mounting arms, so that a single finger assembly and its corresponding mounting arm and third driving assembly form an integral module, which is convenient for the maintenance, replacement, and assembly of the finger assembly.

[0020] A robot includes the above-mentioned dexterous hand.

[0021] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the dexterous hand of the present invention;

[0023] Figure 2 is a schematic assembly structural diagram of the index finger assembly and the palm in the dexterous hand of the present invention;

[0024] Figure 3 is Figure 2 a schematic connection structural diagram of the connecting arm and the second driving assembly in

[0025] Figure 4 is a schematic structural diagram of a working state of the dexterous hand of the present invention;

[0026] Figure 5 is a schematic structural diagram of another working state of the dexterous hand of the present invention;

[0027] Figure 6 Figure 4 a schematic view of the A-direction structure of

[0028] Figure 7 is Figure 2 a schematic structural diagram of the lower shell in

[0029] 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, concave position; 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 lead screw; 44, first nut; 45, first movable rod; 50, second driving assembly; 51, second motor; 52, second reducer; 53, second lead screw; 54, second nut; 55, second movable rod; 60, thumb assembly; 70, middle finger assembly; 71, middle finger mounting arm; 72, third driving assembly; 80, ring finger assembly; 81, ring finger mounting arm; 82, fourth driving assembly; 90, little finger assembly; 91, little finger mounting arm; 92, fifth driving assembly. Detailed implementation manners

[0030] Next, in combination with the accompanying drawings and specific implementation manners, the present invention will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as a limitation to the present application.

[0031] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically and precisely defined.

[0032] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "connected", "communicated", "connected" should be understood in a broad sense. For example, it can be a fixed connection, or can be connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0033] In the description, claims and the above-mentioned drawings of this application, terms such as "first" and "second" are used to distinguish similar objects and do not necessarily describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] Please refer to Figure 1-7 As shown, a dexterous hand of the present invention includes a palm 10, an index finger assembly 20, a first drive assembly 40, a second drive assembly 50, and a connecting arm 30; the palm 10 is a hollow shell structure, and a notch 101 is provided on the front side of the palm 10, and the notch 101 communicates with the inner cavity of the palm 10. The connecting arm 30 is placed in the inner cavity of the palm 10. 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. 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 and down direction. In this way, the connecting arm 30 can swing relative to the palm 10 around the first rotating shaft 32. The width of the notch 101 in the left and right directions is set to be greater than the width of the connecting arm 30 to avoid interference between the connecting arm 30 and the edge of the notch 101 when the connecting arm 30 swings.

[0035] The rear end of the index finger assembly 20 is pivotally connected to the front end of the connecting arm 30. The first drive assembly 40 is installed on the connecting arm 30. The first drive assembly 40 is located in the inner cavity of the palm 10 and can swing with the connecting arm 30. The output end of the first drive assembly 40 is connected to the index finger assembly 20, and the index finger assembly 20 is driven by the first drive assembly 40 so that the index finger assembly 20 can swing up and down relative to the front end of the connecting arm 30.

[0036] The second drive assembly 50 is located in the inner cavity of the palm 10. It includes a mounting base and a movable end that can move linearly relative to the mounting base. Driven by the internal movement mechanism of the second drive assembly 50, the movable end of the second drive assembly 50 can move back and forth along a straight line. Specifically, the mounting base of the second drive assembly 50 is pivotally connected to the palm 10, and its movable end is pivotally connected to the connecting arm 30 through a second rotating shaft 36 extending in the up and down direction. The central axis of the second rotating shaft 36 is offset from the central axis of the first rotating shaft 32 by a certain distance. When the movable end of the second drive assembly 50 moves linearly, the second rotating shaft 36 moves back and forth accordingly, thereby driving the connecting arm 30 to swing relative to the palm 10 around the first rotating shaft 32.

[0037] Figure 4 andFigure 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.

[0038] 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.

[0039] 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.

[0040] In other embodiments, the first driving component 40 can also be installed below the connecting arm 30, and the second driving component 50 can be arranged above the connecting arm 30, which can also achieve the purpose of the above-mentioned arrangement in the up-and-down direction.

[0041] The first driving component 40 includes a first motor 41, a first speed reducer 42, a first lead screw 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 speed reducer 42. The first speed reducer 42 is arranged at the rear end of the first motor 41 and 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 speed reducer 42. The first lead screw 43 is connected to the output end of the first speed reducer 42 and extends forward. The first nut 44 is sleeved on the first lead screw 43 and is in threaded cooperation with the first lead screw 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 of 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 offset by a certain distance. After the first motor 41 is started, the first movable rod 45 moves linearly back and forth, thereby driving the index finger assembly 20 to swing up and down relative to the connecting arm 30, realizing 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 lead screw 43 and the first movable rod 45 are all consistent with the extending direction of the connecting arm 30, and the first lead screw 43 and the first movable rod 45 are both located below the first motor 41. Driving the index finger assembly 20 to swing up and down through the first lead screw transmission mechanism driven by the first motor (including the first speed reducer, the first lead screw, the first nut and the first movable rod) can facilitate the precise control of the up-and-down swing angle of the index finger assembly 20. Arranging the first motor 41, the first movable rod 45 and the first lead screw 43 in the up-and-down direction makes the left and right sides of the first driving component 40 not protrude from the left and right sides of the connecting arm 30, and the component formed by the first driving component 40 and the connecting arm 30 occupies less space in the left-and-right direction of the palm 10. It should be noted that in other embodiments, the first lead screw 43 and the first movable rod 45 are both located above the first motor 41.

[0042] The second driving component 50 includes a second motor 51, a second speed reducer 52, a second lead screw 53, and a second nut 54. The body of the second motor 51 and the body of the second speed reducer 52 are fixedly connected together and jointly form the mounting base of the second driving component 50. The second speed 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 speed reducer 52. The second lead screw 53 is connected to the output end of the second speed reducer 52 and extends forward. The second nut 54 is sleeved on the second lead screw 53 and is in threaded cooperation with the second lead screw 53. The movable end of the second driving component 50 is a second movable rod 55 fixed to the second nut 54. The second movable rod 55 extends forward from the second nut 54. The length directions of the second motor 51, the second lead screw 53, and the second movable rod 55 are all consistent with the front-back direction of the palm 10. And the second lead screw 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 lead screw 53 and the second movable rod 55 may also be arranged on the right side of the second motor 51. In short, the assembly composed of the second lead screw 53 and the second movable rod 55 and the second motor 51 are arranged left and right. The swing of the connecting arm 30 is driven by the second lead screw transmission mechanism (including the second speed reducer, the second lead screw, the second nut, and the second movable rod) driven by the second motor, and the swing angle of the connecting arm 30 can be accurately controlled, and then the side swing angle of the index finger component 20 can be accurately controlled. The assembly composed of the second lead screw 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 component 50 in the up-down direction is relatively small, which is beneficial to reducing the overall thickness of the palm 10.

[0043] An installation seat 13 is detachably fixed inside the palm 10. The rear end of the body of the second speed reducer 52 is pivotally connected to the installation seat 13. During assembly, the rear end of the second speed reducer 52 can be pre-connected to the installation seat 13. After the installation seat 13 and the second driving component 50 are placed in the inner cavity of the palm 10 together, the installation seat 13 is fixed to the palm 10 by screw connection or other connection methods. In this way, the assembly of the second driving component 50 and the palm 10 can be facilitated.

[0044] A concave position 301 that is recessed upward is provided on the part of the lower surface of the connecting arm 30 located in the inner cavity of the palm 10. At least a part of the second driving component 50 is received in the concave position 301. Placing the second driving component 50 in the concave position 301 makes the size of the assembly formed by the cooperation of the second driving component 50 and the connecting arm 30 relatively small in the up-down direction, further reducing the occupation of the internal space of the palm 10.

[0045] An installation surface 33 is formed at the front end of the concave position 301 on the connecting arm 30. The installation surface 33 extends in the up and down direction. A connecting seat 35 is fixedly connected to the installation surface 33. 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 passes through the connecting ear 351 and the movable end of the second driving assembly 50 from top to bottom, pivotally connecting the movable end of the second driving assembly 50 to the connecting ear 351, and then pivotally connecting the movable end of the second driving assembly 50 to the connecting arm 30. By connecting the connecting arm 30 and the movable end of the second driving assembly 50 through a connecting seat 35, it is convenient to assemble the second driving assembly 50 and the connecting arm 30 together.

[0046] An installation hole 34 extending from the upper surface to the lower surface is provided at a position on the connecting arm 30 in front of the installation surface 33. A rib extending towards the central axis of the installation hole 34 is provided at the lower end edge of the installation hole 34. A bearing 31 is embedded in the installation hole 34. The outer surface of the outer ring of the bearing 31 is in tight fit with the inner wall of the installation hole 34. The first rotating shaft 32 passes through 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 to the palm 10. A convex edge is provided at the upper end of the first rotating shaft 32. After the bearing 31 is placed in the installation hole 34, the bottom edge of the outer ring of the bearing 31 is pressed against the 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. Fixing the inner ring of the bearing 31 to the palm 10 by the first rotating shaft 32 facilitates the assembly of the bearing 31, and makes the rotation of the connecting arm 30 smoother by using the bearing 31, reducing the wear on the connecting arm 30 and the palm 10 when the connecting arm 30 rotates.

[0047] In the present invention, the palm 10 is provided with a split structure, which includes an upper shell 12 and a lower shell 11. The upper shell 12 and the lower shell 11 are fixedly connected together in a detachable manner and jointly enclose the inner cavity of the palm 10. The upper shell 12 and the lower shell 11 can be fixed by means of screw connection, or can be fixed together by means of snap connection or other detachable connection means. Adopting the detachable connection method of 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.

[0048] The above-mentioned dexterous hand further includes a middle finger assembly 70, a ring finger assembly 80, and a little finger assembly 90. In the inner cavity of the palm 10, there are provided a middle finger mounting arm 71, a ring finger mounting arm 81, and a little finger mounting arm 91 that are fixedly fitted 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 respectively pass through three openings 102 on the front side of the palm 10 to the front side of the palm 10. The middle finger assembly 70, the ring finger assembly 80, and the little finger assembly 90 are respectively pivotally connected to the front ends of the middle finger mounting arm 71, the ring finger mounting arm 81, and the little finger mounting arm 91. A third driving assembly 72, a fourth driving assembly 82, and a fifth driving assembly 92 are respectively provided on the middle finger mounting arm 71, the ring finger mounting arm 81, and the little finger mounting arm 91 and located in the inner cavity of the palm 10. The third driving assembly 72, the fourth driving assembly 82, and the fifth driving 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.

[0049] The middle finger assembly 70, the ring finger assembly 80, and the little finger assembly 90 are respectively mounted on the middle finger mounting arm 71, the ring finger mounting arm 81, and the little finger mounting arm 91, so that a single finger assembly and its corresponding mounting arm and driving assembly form an integral module, which is convenient for the maintenance, replacement, and assembly of the finger assembly. The structure of the driving assembly is the same as that of the above-mentioned first driving assembly 40. The cooperation mode between the driving assembly and the mounting arm and their relative positional relationship can also be the same as the cooperation mode between the above-mentioned first driving assembly 40 and the connecting arm 30 and their relative positional relationship. In other embodiments, the dexterous hand further includes a thumb assembly 60 connected to the palm.

[0050] The robot of the present invention includes the above-mentioned dexterous hand, and the other structures of the robot are the same as those in the prior art and will not be described in detail here.

[0051] Although only some components and embodiments of the present application have been illustrated and described, many modifications and changes can 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 ratio of each component, the installation arrangement, the use of materials, colors, orientations, etc.

[0052] The above-mentioned embodiments are only the preferred embodiments of the embodiments of the present invention and cannot be used to limit the scope of protection of the embodiments of the present invention. Any non-substantive changes and substitutions made by those skilled in the art based on the embodiments of the present invention 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; The first driving assembly is installed above the connecting arm, and the second driving assembly is located below the connecting arm; 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.

2. The dexterous hand according to claim 1, 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.

3. The dexterous hand according to claim 1, 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.

4. 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.

5. The dexterous hand according to claim 4, 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.

6. The dexterous hand according to claim 5, 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.

7. 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 form an inner cavity of the palm.

8. The dexterous hand according to claim 1, characterized in that: 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.

9. A robot, characterized in that The dexterous hand comprising any one of claims 1-8.

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