Dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and solves the problems that the dexterous hand in the related technology is insufficient in rigidity and bearing capacity and cannot independently control joint movement. Two first driving assemblies of the dexterous hand are connected in parallel to drive two first swing arm assemblies to rotate, and the two first swing arm assemblies drive a thumb base to rotate around a first axis or drive a thumb knuckle assembly to rotate around a second axis through two first connecting rod assemblies. Therefore, the independent control of the movement of the thumb knuckle assembly in four directions, namely bidirectional side swaying, stretching and bending, is realized. Besides, the second axis and the first axis are perpendicular and not coplanar, so that the thumb knuckle assembly can resist lateral force borne by the thumb knuckle assembly in the stretching and bending process, the thumb knuckle assembly has higher rigidity and bearing capacity, the rigidity and bearing capacity of the dexterous hand are improved, and the flexibility of the dexterous hand is improved. And the requirements of fine operation and power output of the dexterous hand are met.

Description

Technical Field

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

[0002] With the continuous advancement of humanoid robot-related technologies, industrial automation technology is gradually changing from industrial robots that perform single repetitive tasks to humanoid robots that perform complex and variable tasks. In this process of transformation, the robot's end effector changes from a special tool to a general tool like a human hand. A dexterous hand is a human-like end effector of a robot that is used to perform a variety of tasks such as grasping, manipulation, and perception. In the process of performing a variety of tasks, a dexterous hand needs to have a certain degree of stiffness and load-bearing capacity, and be able to independently control the movement of the joints.

[0003] However, the stiffness and load-bearing capacity of the dexterous hands in the related art are insufficient and the joint motion cannot be controlled independently. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a dexterous hand and a robot, which solve the problems in the related art that the dexterous hand has insufficient stiffness and load-bearing capacity and cannot independently control joint movement.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm base; a thumb base, rotatably connected to the palm base around a first axis; a thumb knuckle assembly, rotatably connected to the thumb base around a second axis, the second axis being perpendicular to and not coplanar with the first axis; two first drive assemblies, arranged on the palm base; two first swing arm assemblies, the first ends of the two first swing arm assemblies being respectively connected to the two first drive assemblies, wherein the two first swing arm assemblies respectively rotate around a third axis and a fourth axis under the parallel driving of the two first drive assemblies, and the third axis and the fourth axis are both parallel to the first axis; two first connecting rod assemblies, the first ends of the two first connecting rod assemblies being respectively movably connected to the second ends of the two first swing arm assemblies, the second ends of the two first connecting rod assemblies being respectively movably connected to the first side and the second side of the thumb knuckle assembly, and the first side and the second side of the thumb knuckle assembly being symmetrically arranged relative to the thumb base.

[0006] In some embodiments, under the separate driving of the two first drive components, the two first swing arm components rotate in the same direction to achieve flexion and extension of the thumb knuckle assembly; under the separate driving of the two first drive components, the two first swing arm components rotate in opposite directions to achieve lateral swing of the thumb knuckle assembly.

[0007] In some embodiments, the dexterous hand also includes: two first fisheye bearings, the inner rings of the two first fisheye bearings are respectively connected to the second ends of the two first swing arm assemblies, and the outer rings of the two first fisheye bearings are respectively connected to the first ends of the two first connecting rod assemblies; two second fisheye bearings, the inner rings of the two second fisheye bearings are respectively connected to the first side and the second side of the thumb knuckle assembly, and the outer rings of the two second fisheye bearings are respectively connected to the second ends of the two first connecting rod assemblies.

[0008] In some embodiments, the thumb knuckle assembly includes: a first thumb knuckle, rotatably connected to the thumb base around the second axis; a second thumb knuckle, rotatably connected to the first thumb knuckle around a fifth axis, the fifth axis being parallel to the second axis; a third thumb knuckle, rotatably connected to the second thumb knuckle around a sixth axis, the sixth axis being parallel to the fifth axis; the dexterous hand also includes: a second drive assembly, disposed on the palm base plate; a first tendon rope, the first end of the first tendon rope being connected to the second drive assembly and being capable of being wound around an output shaft of the second drive assembly under the drive of the second drive assembly, the second end of the first tendon rope being connected to the second thumb knuckle, the second thumb knuckle being bent under the pulling of the first tendon rope; a third drive assembly, disposed on the palm base plate; a second tendon rope, the first end of the second tendon rope being connected to the third drive assembly and being capable of being wound around an output shaft of the third drive assembly under the drive of the third drive assembly, the second end of the second tendon rope being connected to the third thumb knuckle, the third thumb knuckle being bent under the pulling of the second tendon rope.

[0009] In some embodiments, the dexterous hand also includes: a first finger base, rotatably connected to the palm base around a seventh axis; a first finger knuckle, rotatably connected to the first finger base around an eighth axis, the eighth axis being perpendicular to and not coplanar with the seventh axis; a second finger knuckle, rotatably connected to the first finger knuckle around a ninth axis, the ninth axis being parallel to the eighth axis; a fourth drive assembly, disposed on the palm base; a third tendon rope, a first end of the third tendon rope being connected to the fourth drive assembly and being capable of being wound around the output shaft of the fourth drive assembly under the drive of the fourth drive assembly, a second end of the third tendon rope being connected to the first finger knuckle, the first finger knuckle being bent under the pulling of the third tendon rope; a fifth drive assembly, disposed on the palm base; a fourth tendon rope, The first end of the second driving assembly is connected to the fifth driving assembly and can be wound around the output shaft of the fifth driving assembly under the drive of the fifth driving assembly. The second end of the fourth tendon is connected to the second finger knuckle, and the second finger knuckle is bent under the pulling of the fourth tendon; a sixth driving assembly, which is arranged on the palm base plate; a second swing arm assembly, the first end of the second swing arm assembly is connected to the sixth driving assembly, and the second swing arm assembly rotates around the tenth axis under the drive of the sixth driving assembly, and the tenth axis is perpendicular to the seventh axis; a second connecting rod assembly, the first end of the second connecting rod assembly is movably connected to the second end of the second swing arm assembly, and the second end of the second connecting rod assembly is movably connected to the first side of the first finger base, and the first side and the second side of the first finger base are symmetrically arranged relative to the seventh axis.

[0010] In some embodiments, the sixth driving component and the fourth driving component are disposed adjacent to each other along a first direction, and the first direction is perpendicular to the palm substrate.

[0011] In some embodiments, the dexterous hand also includes: a second finger base, rotatably connected to the palm base around an eleventh axis; a finger knuckle assembly, rotatably connected to the second finger base around a twelfth axis, the twelfth axis being perpendicular to and not coplanar with the eleventh axis; a seventh drive assembly, disposed on the palm base; a fifth tendon cord, a first end of the fifth tendon cord being connected to the seventh drive assembly and being capable of being wound around an output shaft of the seventh drive assembly under the drive of the seventh drive assembly, a second end of the fifth tendon cord being connected to the finger knuckle assembly, and the finger knuckle assembly being arranged on the seventh drive assembly; The hand is bent under the pulling of five tendon ropes; an eighth driving assembly is arranged on the palm base; a third swing arm assembly, the first end of the third swing arm assembly is connected to the eighth driving assembly, and the third swing arm assembly rotates around the thirteenth axis when driven by the eighth driving assembly, and the thirteenth axis is parallel to the eleventh axis; a third connecting rod assembly, the first end of the third connecting rod assembly is movably connected to the second end of the third swing arm assembly, and the second end of the third connecting rod assembly is movably connected to the first side of the second finger base, and the first side and the second side of the second finger base are symmetrically arranged relative to the eleventh axis.

[0012] In some embodiments, the finger knuckle assembly includes: a third finger knuckle, which is rotatably connected to the second finger base around the twelfth axis, the second end of the fifth tendon is connected to the third finger knuckle, and the third finger knuckle is bent under the pulling of the fifth tendon, wherein the two ends of the third finger knuckle are respectively provided with a first core shaft mounting hole and a second core shaft mounting hole; a fourth finger knuckle, which is rotatably connected to the third finger knuckle around the fourteenth axis, the fourth finger knuckle includes a first shaft portion, the first shaft portion has a first shaft hole, the fourteenth axis is connected to the twelfth axis The first mandrel mounting hole and the first axial hole are parallel to the fourteenth axis; wherein the second finger base includes a second axial portion, the second axial portion has a second axial hole, the axis of the second mandrel mounting hole and the axis of the second axial hole are colinear with the twelfth axis; wherein the dexterous hand also includes: a first mandrel, which is passed through the first mandrel mounting hole and the first axial hole; a second mandrel, which is passed through the second mandrel mounting hole and the second axial hole; and an annular tendon, which is mounted on the first axial portion and the second axial portion in an 8-shaped cross-winding manner.

[0013] In some embodiments, in a direction perpendicular to the palm substrate, the palm substrate includes a palm side and a back palm side in opposite directions; the dexterous hand also includes: a first pressure sensor, arranged on a side of the thumb knuckle assembly close to the palm side; and a second pressure sensor, arranged on a side of the second finger knuckle close to the palm side.

[0014] In a second aspect, an embodiment of the present disclosure provides a robot, comprising: the dexterous hand mentioned in the first aspect.

[0015] The dexterous hand provided by the disclosed embodiment includes a palm base, a thumb base, a thumb knuckle assembly, two first drive assemblies, two first swing arm assemblies and two first connecting rod assemblies. The two first drive assemblies, the two first swing arm assemblies and the two first connecting rod assemblies, the thumb base and the thumb knuckle assembly form a parallel-driven spatial double-link mechanism. Specifically, the two first drive assemblies drive the two first swing arm assemblies to rotate in parallel, and the two first swing arm assemblies respectively drive the thumb base to rotate around the first axis or drive the thumb knuckle assembly to rotate around the second axis through the two first connecting rod assemblies, thereby realizing the movement of the thumb knuckle assembly in four directions of two-way lateral swing, extension and bending. The two-way lateral swing, extension and bending can be achieved by different rotation directions of the two first drive assemblies, that is, by controlling the rotation direction of the two first drive assemblies, the independent control of the movement of the thumb knuckle assembly in four directions of two-way lateral swing, extension and bending can be achieved.

[0016] In addition, the second axis is perpendicular to the first axis and is not coplanar, so that the thumb knuckle assembly can resist the lateral force exerted on the thumb knuckle assembly during the extension and flexion movements, so that the load generated by the lateral force on the parallel-driven spatial double-link mechanism is very small, thereby reducing the extra work done by the parallel-driven spatial double-link mechanism, and making the thumb knuckle assembly have higher stiffness and load-bearing capacity, thereby improving the stiffness and load-bearing capacity of the dexterous hand and meeting the needs of the dexterous hand for fine operation and power output. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0018] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0019] Figure 2 Shown is a schematic structural diagram of the thumb of a dexterous hand provided in an embodiment of the present disclosure.

[0020] Figure 3 Shown is a top view of the thumb of a dexterous hand provided by an embodiment of the present disclosure.

[0021] Figure 4 The present invention provides an embodiment of the present invention. Figure 3A cross-sectional view of the thumb of the dexterous hand in the AA direction is shown.

[0022] Figure 5 Shown is a schematic structural diagram of the first finger of the dexterous hand provided in one embodiment of the present disclosure.

[0023] Figure 6 Shown is a top view of a first finger of a dexterous hand provided by an embodiment of the present disclosure.

[0024] Figure 7 The present invention provides an embodiment of the present invention. Figure 6 A cross-sectional view of the first finger of the dexterous hand in the BB direction is shown.

[0025] Figure 8 Shown is a schematic structural diagram of the second finger of the dexterous hand provided in one embodiment of the present disclosure.

[0026] Fig. 9 Shown is a top view of the second finger of the dexterous hand provided by an embodiment of the present disclosure.

[0027] Fig.10 The present invention provides an embodiment of the present invention. Fig. 9 A cross-sectional view of the second finger of the dexterous hand in the CC direction is shown.

[0028] Fig.11 The present invention provides an embodiment of the present invention. Fig. 9 A cross-sectional view of the second finger of the dexterous hand in the DD direction is shown.

[0029] Fig.12 The present invention provides an embodiment of the present invention. Fig. 9 A cross-sectional view of the second finger of the dexterous hand in the EE direction is shown.

[0030] Fig.13 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0031] Reference numerals:

[0032] 1. Robot; 10. Dexterous hand; 100. Palm base; 101. Palm side; 102. Back side of palm; 200. Thumb; 210. Thumb base; 220. Thumb knuckle assembly; 221. First thumb knuckle; 222. Second thumb knuckle; 223. Third thumb knuckle; 230. First drive assembly; 240. First swing arm assembly; 250. First connecting rod assembly; 260. First fisheye bearing; 270. Second fisheye bearing; 281. Second drive assembly; 282. Third drive assembly; 283, first tendon rope; 284, second tendon rope; 300, first finger; 310, first finger base; 321, first finger knuckle; 322, second finger knuckle; 330, fourth drive assembly; 340, third tendon rope; 350, fifth drive assembly; 360, fourth tendon rope; 370, sixth drive assembly; 380, second swing arm assembly; 390, second connecting rod assembly; 400, second finger; 410, second finger base; 411, second shaft portion; 412, second shaft hole ; 420, finger knuckle assembly; 421, third finger knuckle; 4211, first spindle mounting hole; 4212, second spindle mounting hole; 422, fourth finger knuckle; 4221, first shaft; 4222, first shaft hole; 430, seventh drive assembly; 440, fifth tendon; 450, eighth drive assembly; 460, third swing arm assembly; 470, third connecting rod assembly; 481, first spindle; 482, second spindle; 483, annular tendon; 510, first pressure sensor; 5 20, second pressure sensor; 610, thumb support; 620, first finger support; 630, second finger support; X, first direction; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis; L8, eighth axis; L9, ninth axis; L10, tenth axis; L11, eleventh axis; L12, twelfth axis; L13, thirteenth axis; L14, fourteenth axis. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0034] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure. Figure 2 Shown is a schematic structural diagram of the thumb of a dexterous hand provided in an embodiment of the present disclosure. Figure 3Shown is a top view of the thumb of a dexterous hand provided by an embodiment of the present disclosure. Figure 4 The present invention provides an embodiment of the present invention. Figure 3 A cross-sectional view of the thumb of the dexterous hand in the AA direction is shown. Figure 5 Shown is a schematic structural diagram of the first finger of the dexterous hand provided in one embodiment of the present disclosure. Figure 6 Shown is a top view of a first finger of a dexterous hand provided by an embodiment of the present disclosure. Figure 7 The present invention provides an embodiment of the present invention. Figure 6 A cross-sectional view of the first finger of the dexterous hand in the BB direction is shown. Figure 8 Shown is a schematic structural diagram of the second finger of the dexterous hand provided in one embodiment of the present disclosure. Fig. 9 Shown is a top view of the second finger of the dexterous hand provided by an embodiment of the present disclosure. Fig.10 The present invention provides an embodiment of the present invention. Fig. 9 A cross-sectional view of the second finger of the dexterous hand in the CC direction is shown. Fig.11 The present invention provides an embodiment of the present invention. Fig. 9 A cross-sectional view of the second finger of the dexterous hand in the DD direction is shown. Fig.12 The present invention provides an embodiment of the present invention. Fig. 9 The cross-sectional view of the second finger of the dexterous hand in the EE direction is shown. Figures 1 to 12 As shown, the dexterous hand 10 includes a palm base 100 , a thumb base 210 , a thumb knuckle assembly 220 , two first driving assemblies 230 , two first swing arm assemblies 240 and two first connecting rod assemblies 250 .

[0035] The palm substrate 100 is a supporting structure of the dexterous hand 10. Exemplarily, the palm substrate 100 is a plate-like structure, a frame structure, etc. Exemplarily, the dexterous hand 10 may include a thumb 200, an index finger, a middle finger, a ring finger, and a little finger. The thumb 200 of the dexterous hand 10 may include a thumb base 210, a thumb knuckle assembly 220, two first drive assemblies 230, two first swing arm assemblies 240, and two first connecting rod assemblies 250. Exemplarily, the thumb 200 of the dexterous hand 10 may also include a thumb support 610, the thumb base 210 and the thumb support 610 are rotatably connected around the first axis L1, and the thumb support 610 is detachably connected to the palm substrate 100, thereby realizing the modular function of the thumb 200 of the dexterous hand 10 and facilitating the installation and removal of the thumb 200 of the dexterous hand 10.

[0036] The thumb base 210 is rotatably connected to the palm base 100 around a first axis L1. The thumb knuckle assembly 220 is rotatably connected to the thumb base 210 around a second axis L2. The second axis L2 is perpendicular to the first axis L1 and is not coplanar, so that the carpometacarpal joint (CMC) formed by the thumb knuckle assembly 220 and the palm base 100 is a Hooke's joint.

[0037] Specifically, the rotatable connection mentioned in the present disclosure can be realized by a hole-shaft connection, which will not be described in detail later. For example, the palm base plate 100 has a first connection hole, the thumb base 210 has a second connection hole, and the dexterous hand 10 also includes a mandrel. The mandrel is inserted into the first connection hole and the second connection hole, so that the thumb base 210 and the palm base plate 100 can be rotatably connected around the first axis L1.

[0038] Two first drive components 230 are disposed on the palm base plate 100. Exemplarily, the first drive component 230 is a structure such as a motor, a rotary cylinder, etc. For example, the first drive component 230 is a steering gear.

[0039] The first ends of the two first swing arm assemblies 240 are respectively connected to the two first drive assemblies 230. The two first swing arm assemblies 240 rotate around the third axis L3 and the fourth axis L4 respectively under the parallel drive of the two first drive assemblies 230. The third axis L3 and the fourth axis L4 are both parallel to the first axis L1. Exemplarily, the first swing arm assembly 240 is a rod-shaped structure.

[0040] The first ends of the two first link assemblies 250 are movably connected to the second ends of the two first swing arm assemblies 240, respectively, and the second ends of the two first link assemblies 250 are movably connected to the first side and the second side of the thumb knuckle assembly 220, respectively. The first side and the second side of the thumb knuckle assembly 220 are symmetrically arranged relative to the thumb base 210. Exemplarily, the first link assembly 250 is a rod-shaped structure. Exemplarily, the length of the first link assembly 250 is greater than the length of the first swing arm assembly 240.

[0041] Specifically, the movable connection mentioned in the present disclosure can be achieved by means of a universal joint, a fisheye bearing, etc., which will not be described in detail later.

[0042] The two first drive assemblies 230, the two first swing arm assemblies 240 and the two first connecting rod assemblies 250, the thumb base 210 and the thumb knuckle assembly 220 form a parallel-driven spatial double-link mechanism. Specifically, the two first drive assemblies 230 drive the two first swing arm assemblies 240 to rotate in parallel, and the two first swing arm assemblies 240 drive the thumb base 210 to rotate around the first axis L1 or drive the thumb knuckle assembly 220 to rotate around the second axis L2 through the two first connecting rod assemblies 250, thereby realizing the movement of the thumb knuckle assembly 220 in four directions, namely, bidirectional lateral swing, extension and bending. Bidirectional lateral swing, extension and bending can be realized by different rotation directions of the two first drive assemblies 230, that is, by controlling the rotation direction of the two first drive assemblies 230, the independent control of the movement of the thumb knuckle assembly 220 in four directions, namely, bidirectional lateral swing, extension and bending, can be realized.

[0043] In addition, the second axis L2 is perpendicular to the first axis L1 and is not coplanar, so that the thumb knuckle assembly 220 can resist the lateral force exerted on the thumb knuckle assembly 220 during the extension and flexion movements, so that the load generated by the lateral force on the parallel-driven spatial double-link mechanism is very small, thereby reducing the additional work done by the parallel-driven spatial double-link mechanism, and making the thumb knuckle assembly 220 have higher stiffness and load-bearing capacity, thereby improving the stiffness and load-bearing capacity of the dexterous hand 10 and meeting the requirements of fine operation and power output of the dexterous hand 10.

[0044] The lateral force applied to the thumb knuckle assembly 220 refers to the external force along the extending direction of the second axis L2.

[0045] In some embodiments, under the drive of the two first drive assemblies 230, the two first swing arm assemblies 240 rotate in the same direction to achieve the flexion and extension of the thumb knuckle assembly 220. Under the drive of the two first drive assemblies 230, the two first swing arm assemblies 240 rotate in opposite directions to achieve the sideways swing of the thumb knuckle assembly 220.

[0046] Exemplarily, under the drive of the two first drive assemblies 230, the two first swing arm assemblies 240 rotate clockwise or counterclockwise to achieve the flexion and extension of the thumb knuckle assembly 220. Exemplarily, under the drive of the two first drive assemblies 230, one first swing arm assembly 240 rotates clockwise and the other first swing arm assembly 240 rotates counterclockwise to achieve the sideways swing of the thumb knuckle assembly 220.

[0047] In some embodiments, the dexterous hand 10 further includes two first fisheye bearings 260 and two second fisheye bearings 270 .

[0048] The inner rings of the two first fisheye bearings 260 are respectively connected to the second ends of the two first swing arm assemblies 240, and the outer rings of the two first fisheye bearings 260 are respectively connected to the first ends of the two first connecting rod assemblies 250. The inner rings of the two second fisheye bearings 270 are respectively connected to the first side and the second side of the thumb knuckle assembly 220, and the outer rings of the two second fisheye bearings 270 are respectively connected to the second ends of the two first connecting rod assemblies 250.

[0049] The first fisheye bearing 260 and the second fisheye bearing 270 are fisheye bearings, also known as spherical bearings, which are composed of a threaded retainer, a spherical inner ring with holes, and a bushing located between the retainer and the spherical inner ring, and mainly rely on the cooperation between the ball and the ball socket to form a ball joint to achieve movement and load-bearing. The fisheye bearing has the advantages of high flexibility and self-aligning ability, strong load-bearing capacity, low friction coefficient, good wear resistance, etc., and can realize the active connection between the first ends of the two first connecting rod assemblies 250 and the second ends of the two first swing arm assemblies 240, and the second ends of the two first connecting rod assemblies 250 and the first side and the second side of the thumb knuckle assembly 220, respectively.

[0050] In some embodiments, the thumb knuckle assembly 220 includes a first thumb knuckle 221 , a second thumb knuckle 222 , and a third thumb knuckle 223 .

[0051] The first thumb knuckle 221 is rotatably connected to the thumb base 210 around the second axis L2. The second thumb knuckle 222 is rotatably connected to the first thumb knuckle 221 around the fifth axis L5. The fifth axis L5 is parallel to the second axis L2. The third thumb knuckle 223 is rotatably connected to the second thumb knuckle 222 around the sixth axis L6. The sixth axis L6 is parallel to the fifth axis L5. Exemplarily, the first thumb knuckle 221 and the second thumb knuckle 222 are both long strip structures or block structures.

[0052] The dexterous hand 10 further includes a second drive assembly 281, a third drive assembly 282, a first tendon 283, and a second tendon 284. Exemplarily, the second drive assembly 281 and the third drive assembly 282 are structures such as motors and rotary cylinders. For example, the second drive assembly 281 and the third drive assembly 282 are steering gears.

[0053] The second driving assembly 281 is disposed on the palm base plate 100. The first end of the first tendon 283 is connected to the second driving assembly 281, and can be wound around the output shaft of the second driving assembly 281 under the drive of the second driving assembly 281. The second end of the first tendon 283 is connected to the second thumb knuckle 222. The second thumb knuckle 222 is bent under the pull of the first tendon 283.

[0054] Exemplarily, the palm base plate 100 includes a palm side 101 and a palm back side 102 opposite to each other. Exemplarily, a sheave may be installed on the output shaft of the second driving component 281, and the first end of the first tendon 283 is wound around the sheave under the drive of the second driving component 281. The second end of the first tendon 283 may be passed around the side of the fifth axis L5 close to the palm side 101, and then connected to the second thumb knuckle 222.

[0055] The third driving assembly 282 is disposed on the palm base plate 100. The first end of the second tendon tether 284 is connected to the third driving assembly 282, and can be wound around the output shaft of the third driving assembly 282 under the drive of the third driving assembly 282. The second end of the second tendon tether 284 is connected to the third thumb knuckle 223. The third thumb knuckle 223 is bent under the pull of the second tendon tether 284.

[0056] For example, a groove wheel may be installed on the output shaft of the third driving assembly 282, and the first end of the second tendon rope 284 is wound around the groove wheel under the drive of the third driving assembly 282. The second end of the second tendon rope 284 may first pass around the side of the fifth axis L5 close to the back of the palm 102, and then pass around the side of the sixth axis L6 close to the palm side 101, and then be connected to the third thumb knuckle 223.

[0057] Driven by the two first drive components 230 , the second drive component 281 and the third drive component 282 , the two-way lateral swing and three bendings of the thumb are independently controlled.

[0058] Exemplarily, torsion springs may be provided at the two bending joints driven by the second driving assembly 281 and the third driving assembly 282 of the thumb, respectively, to achieve the resetting of the thumb after bending.

[0059] In some embodiments, the dexterous hand 10 further includes a first finger base 310, a first finger joint 321, a second finger joint 322, a fourth drive assembly 330, a third tendon cord 340, a fifth drive assembly 350, a fourth tendon cord 360, a sixth drive assembly 370, a second swing arm assembly 380, and a second connecting rod assembly 390. Exemplarily, the first finger 300 of the dexterous hand 10 includes a first finger base 310, a first finger joint 321, a second finger joint 322, a fourth drive assembly 330, a third tendon cord 340, a fifth drive assembly 350, a fourth tendon cord 360, a sixth drive assembly 370, a second swing arm assembly 380, and a second connecting rod assembly 390.

[0060] By way of example, the dexterous hand 10 may further include a first finger support 620, the first finger base 310 and the first finger support 620 are rotatably connected around the seventh axis L7, and the first finger support 620 is detachably connected to the palm substrate 100, thereby realizing the modular function of the first finger 300 of the dexterous hand 10 and facilitating the installation and removal of the first finger 300 of the dexterous hand 10. By way of example, the first finger 300 of the dexterous hand 10 may be an index finger, a middle finger, a ring finger, or a little finger.

[0061] Exemplarily, the fourth drive assembly 330, the fifth drive assembly 350 and the sixth drive assembly 370 are structures such as motors, rotary cylinders, etc. For example, the fourth drive assembly 330, the fifth drive assembly 350 and the sixth drive assembly 370 are all steering gears.

[0062] The first finger base 310 is rotatably connected to the palm base 100 around the seventh axis L7. The first finger joint 321 is rotatably connected to the first finger base 310 around the eighth axis L8. The eighth axis L8 is perpendicular to the seventh axis L7 and is not coplanar. The second finger joint 322 is rotatably connected to the first finger joint 321 around the ninth axis L9. The ninth axis L9 is parallel to the eighth axis L8.

[0063] The sixth driving assembly 370, the second swing arm assembly 380, the second connecting rod assembly 390 and the first finger base 310 form a spatial four-bar linkage. The eighth axis L8 is perpendicular to the seventh axis L7 and is not coplanar, so that the first finger knuckle 321 can resist the lateral force exerted on the first finger knuckle 321 during the extension and bending action, so that the load generated by the lateral force on the spatial four-bar linkage is very small, thereby reducing the extra work of the spatial four-bar linkage.

[0064] The fourth driving assembly 330 is disposed on the palm base plate 100. The first end of the third tendon tether 340 is connected to the fourth driving assembly 330 and can be wound around the output shaft of the fourth driving assembly 330 under the drive of the fourth driving assembly 330. The second end of the third tendon tether 340 is connected to the first finger joint 321. The first finger joint 321 is bent under the pull of the third tendon tether 340.

[0065] Exemplarily, the palm base plate 100 includes a palm side 101 and a palm back side 102 opposite to each other. Exemplarily, a sheave may be installed on the output shaft of the fourth driving assembly 330, and the first end of the third tendon 340 is wound around the sheave under the drive of the fourth driving assembly 330. The second end of the third tendon 340 may be passed around the side of the eighth axis L8 close to the palm side 101, and then connected to the first finger knuckle 321.

[0066] The fifth driving assembly 350 is disposed on the palm base plate 100. The first end of the fourth tendon 360 is connected to the fifth driving assembly 350 and can be wound around the output shaft of the fifth driving assembly 350 under the drive of the fifth driving assembly 350. The second end of the fourth tendon 360 is connected to the second finger joint 322. The second finger joint 322 is bent under the pull of the fourth tendon 360.

[0067] For example, a sheave may be installed on the output shaft of the fifth driving assembly 350, and the first end of the fourth tendon rope 360 ​​is wound around the sheave under the drive of the fifth driving assembly 350. The second end of the fourth tendon rope 360 ​​may first pass around the side of the eighth axis L8 close to the back of the palm 102, and then pass around the side of the ninth axis L9 close to the palm side 101, and then be connected to the second finger knuckle 322.

[0068] The sixth driving assembly 370 is disposed on the palm base plate 100. The first end of the second swing arm assembly 380 is connected to the sixth driving assembly 370. The second swing arm assembly 380 rotates around the tenth axis L10 under the drive of the sixth driving assembly 370. The tenth axis L10 is perpendicular to the seventh axis L7. The first end of the second connecting rod assembly 390 is movably connected to the second end of the second swing arm assembly 380, and the second end of the second connecting rod assembly 390 is movably connected to the first side of the first finger base 310. The first side and the second side of the first finger base 310 are symmetrically arranged relative to the seventh axis L7.

[0069] Driven by the fourth drive assembly 330 , the fifth drive assembly 350 and the sixth drive assembly 370 , the bidirectional lateral swing and two bends of the index finger are independently controlled.

[0070] Exemplarily, torsion springs may be provided at the two bending joints driven by the fourth driving assembly 330 and the fifth driving assembly 350 of the index finger, respectively, to achieve resetting of the index finger after bending.

[0071] In some embodiments, the sixth drive assembly 370 and the fourth drive assembly 330 are disposed adjacent to each other along the first direction X. The first direction X is perpendicular to the palm substrate 100. In other words, the sixth drive assembly 370 and the fourth drive assembly 330 are stacked in the thickness direction of the palm substrate 100, rather than in the length direction of the palm substrate 100, which not only maintains the proportion coordination of the dexterous hand 10, but also significantly reduces the load center distance to the end flange of the robot arm, thereby improving the overall load capacity and efficiency.

[0072] Exemplarily, all driving components (eg, motors) mentioned in the embodiments of the present disclosure are disposed on the palm substrate 100 .

[0073] In some embodiments, the dexterous hand 10 further includes a second finger base 410, a finger knuckle assembly 420, a seventh drive assembly 430, a fifth tendon 440, an eighth drive assembly 450, a third swing arm assembly 460, and a third connecting rod assembly 470. Exemplarily, the middle finger and / or the ring finger and / or the little finger of the dexterous hand 10 include a second finger base 410, a finger knuckle assembly 420, a seventh drive assembly 430, a fifth tendon 440, an eighth drive assembly 450, a third swing arm assembly 460, and a third connecting rod assembly 470. Exemplarily, the middle finger of the dexterous hand 10 includes a second finger base 410, a finger knuckle assembly 420, a seventh drive assembly 430, and a fifth tendon 440, that is, the middle finger may not have a side swing function, but only has a bending and stretching function.

[0074] Exemplarily, the dexterous hand 10 may further include a second finger support 630, the second finger base 410 and the second finger support 630 are rotatably connected around the eleventh axis L11, and the second finger support 630 is detachably connected to the palm substrate 100, thereby realizing the modular function of the second finger of the dexterous hand 10 and facilitating the installation and removal of the second finger 400 of the dexterous hand 10. Exemplarily, the second finger 400 of the dexterous hand 10 may be an index finger, a middle finger, a ring finger, or a little finger.

[0075] Exemplarily, the seventh drive assembly 430 and the eighth drive assembly 450 are structures such as motors, rotary electric cylinders, etc. For example, the seventh drive assembly 430 and the eighth drive assembly 450 are both steering gears.

[0076] The second finger base 410 is rotatably connected to the palm base 100 around the eleventh axis L11. The finger knuckle assembly 420 is rotatably connected to the second finger base 410 around the twelfth axis L12.

[0077] The eighth driving assembly 450, the third swing arm assembly 460, the third connecting rod assembly 470 and the second finger base 410 form a spatial four-bar linkage. The twelfth axis L12 is perpendicular to the eleventh axis L11 and is not coplanar, so that the finger knuckle assembly 420 can resist the lateral force exerted on the finger knuckle assembly 420 during the extension and bending action, so that the load generated by the lateral force on the spatial four-bar linkage is very small, thereby reducing the extra work of the spatial four-bar linkage.

[0078] The seventh driving assembly 430 is disposed on the palm base plate 100. The first end of the fifth tendon 440 is connected to the seventh driving assembly 430 and can be wound around the output shaft of the seventh driving assembly 430 under the drive of the seventh driving assembly 430. The second end of the fifth tendon 440 is connected to the finger knuckle assembly 420. The finger knuckle assembly 420 is bent under the pull of the fifth tendon 440.

[0079] Exemplarily, the palm base plate 100 includes a palm side 101 and a palm back side 102 opposite to each other. Exemplarily, a sheave may be installed on the output shaft of the seventh driving assembly 430, and the first end of the fifth tendon 440 is wound around the sheave under the drive of the seventh driving assembly 430. The second end of the fifth tendon 440 may be bypassed from the side of the twelfth axis L12 close to the palm side 101, and then connected to the finger knuckle assembly 420.

[0080] The eighth driving assembly 450 is disposed on the palm base plate 100. The first end of the third swing arm assembly 460 is connected to the eighth driving assembly 450. The third swing arm assembly 460 rotates around the thirteenth axis L13 under the drive of the eighth driving assembly 450. The thirteenth axis L13 is parallel to the eleventh axis L11. The first end of the third connecting rod assembly 470 is movably connected to the second end of the third swing arm assembly 460, and the second end of the third connecting rod assembly 470 is movably connected to the first side of the second finger base 410. The first side and the second side of the second finger base 410 are symmetrically arranged relative to the eleventh axis L11.

[0081] Driven by the seventh drive assembly 430 and the eighth drive assembly 450, independent control of the bidirectional lateral swing and one bending of the ring finger or the little finger is achieved.

[0082] Exemplarily, a torsion spring may be provided at the bending joint driven by the seventh driving assembly 430 of the ring finger or the little finger to achieve the resetting of the ring finger or the little finger after bending.

[0083] In some embodiments, the finger knuckle assembly 420 includes a third finger knuckle 421 and a fourth finger knuckle 422 .

[0084] The third finger knuckle 421 is rotatably connected to the second finger base 410 around the twelfth axis L12. The second end of the fifth tendon 440 is connected to the third finger knuckle 421. The third finger knuckle 421 is bent under the pulling of the fifth tendon 440. The first core shaft mounting hole 4211 and the second core shaft mounting hole 4212 are respectively provided at both ends of the third finger knuckle 421.

[0085] The fourth finger joint 422 is rotatably connected to the third finger joint 421 around the fourteenth axis L14. The fourth finger joint 422 includes a first shaft portion 4221, and the first shaft portion 4221 has a first shaft hole 4222. The fourteenth axis L14 is parallel to the twelfth axis L12. The axis of the first spindle mounting hole 4211 and the axis of the first shaft hole 4222 are both colinear with the fourteenth axis L14.

[0086] The second finger base 410 includes a second shaft portion 411 , the second shaft portion 411 has a second shaft hole 412 , and the axis of the second spindle mounting hole 4212 and the axis of the second shaft hole 412 are both colinear with the twelfth axis L12 .

[0087] The dexterous hand 10 further includes: a first mandrel 481, a second mandrel 482 and an annular tendon 483. The first mandrel 481 is inserted into the first mandrel mounting hole 4211 and the first shaft hole 4222. The second mandrel 482 is inserted into the second mandrel mounting hole 4212 and the second shaft hole 412. The annular tendon 483 is mounted on the first shaft portion 4221 and the second shaft portion 411 in an 8-shaped cross-winding manner, so that the coupling drive of the third finger knuckle 421 and the fourth finger knuckle 422 is realized by using the annular tendon 483, thereby reducing the structural complexity of the dexterous hand 10.

[0088] In some embodiments, in a direction perpendicular to the palm substrate 100 , the palm substrate 100 includes a palm side 101 and a palm back side 102 opposite to each other.

[0089] The dexterous hand 10 further includes a first pressure sensor 510 and a second pressure sensor 520. The first pressure sensor 510 is disposed on a side of the thumb knuckle assembly 220 close to the palm side 101. The second pressure sensor 520 is disposed on a side of the second finger knuckle 322 close to the palm side 101. By providing the first pressure sensor 510 and the second pressure sensor 520, the thumb knuckle assembly 220 and the second finger knuckle 322 have a pressure detection function, thereby improving the tactile function of the dexterous hand 10.

[0090] Exemplarily, the first pressure sensor 510 and the second pressure sensor 520 may both be single-degree-of-freedom pressure sensors. Exemplarily, according to actual needs, pressure sensors may also be provided on other finger joints.

[0091] In some embodiments, the dexterous hand 10 also includes a driving circuit board, which is integrated at the root connection flange of the palm substrate 100 and parallel to the stop plane, thereby shortening the length of the host computer communication signal cable and reducing interference. The cables of the first pressure sensor 510, the second pressure sensor 520 and other sensors, and the electrical wiring of multiple driving components (for example, motors) are also integrated inside the palm. In terms of hardware design, the driving components use TTL serial port protocol communication and can be chained in series to simplify the cable connection with the driving circuit board.

[0092] Multiple drive components are integrated into the palm substrate 100. The palm side 101 and the back side 102 of the palm substrate 100 are covered by a plastic shell, which reserves space for heat radiation and heat conduction. The plastic shell adopts a fabric coating process to enhance the aesthetics, durability, and comfort during human interaction. Some areas of the fabric on the shell surface are embossed with anti-slip rubber pads, which can greatly increase the friction during the object grasping and manipulation process.

[0093] Fig.13FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Fig.13 As shown, the robot 1 includes the dexterous hand 10 in the above-mentioned embodiment.

[0094] Since the robot 1 includes the dexterous hand 10 , the robot 1 has all the technical features and technical effects of the dexterous hand 10 , which will not be described in detail here.

[0095] In the embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, etc.

[0096] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0097] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0098] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0099] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0100] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A dexterous hand, characterized in that: include: palm baseplate; A thumb base, rotatably connected to the palm base plate around a first axis; a thumb knuckle assembly rotatably connected to the thumb base about a second axis, the second axis being perpendicular to and not coplanar with the first axis; Two first driving components are arranged on the palm substrate; Two first swing arm assemblies, wherein the first ends of the two first swing arm assemblies are respectively connected to the two first drive assemblies, wherein the two first swing arm assemblies rotate around a third axis and a fourth axis respectively under the parallel driving of the two first drive assemblies, and the third axis and the fourth axis are both parallel to the first axis; Two first connecting rod assemblies, the first ends of the two first connecting rod assemblies are movably connected to the second ends of the two first swing arm assemblies respectively, the second ends of the two first connecting rod assemblies are movably connected to the first side and the second side of the thumb knuckle assembly respectively, and the first side and the second side of the thumb knuckle assembly are symmetrically arranged relative to the thumb base.

2. The dexterous hand according to claim 1, characterized in that: Under the drive of the two first drive assemblies respectively, the two first swing arm assemblies rotate in the same direction, so as to realize the flexion and extension of the thumb knuckle assembly; Driven by the two first drive assemblies respectively, the two first swing arm assemblies rotate in opposite directions to achieve the lateral swing of the thumb knuckle assembly.

3. The dexterous hand according to claim 2, characterized in that: Also includes: Two first fisheye bearings, wherein the inner rings of the two first fisheye bearings are respectively connected to the second ends of the two first swing arm assemblies, and the outer rings of the two first fisheye bearings are respectively connected to the first ends of the two first connecting rod assemblies; Two second fisheye bearings, the inner rings of the two second fisheye bearings are respectively connected to the first side and the second side of the thumb knuckle assembly, and the outer rings of the two second fisheye bearings are respectively connected to the second ends of the two first connecting rod assemblies.

4. The dexterous hand according to any one of claims 1 to 3, characterized in that: The thumb knuckle assembly comprises: a first thumb knuckle, rotatably connected to the thumb base about the second axis; a second thumb knuckle, rotatably connected to the first thumb knuckle about a fifth axis, wherein the fifth axis is parallel to the second axis; a third thumb knuckle, rotatably connected to the second thumb knuckle about a sixth axis, wherein the sixth axis is parallel to the fifth axis; The dexterous hand also includes: A second driving component, disposed on the palm substrate; a first tendon cord, wherein a first end of the first tendon cord is connected to the second drive assembly and can be wound around an output shaft of the second drive assembly under the drive of the second drive assembly, and a second end of the first tendon cord is connected to the second thumb knuckle, and the second thumb knuckle is bent under the pull of the first tendon cord; A third driving component, disposed on the palm substrate; A second tendon rope, the first end of which is connected to the third drive assembly and can be wound around the output shaft of the third drive assembly under the drive of the third drive assembly, the second end of which is connected to the third thumb knuckle, and the third thumb knuckle is bent under the pulling of the second tendon rope.

5. The dexterous hand according to any one of claims 1 to 3, characterized in that: Also includes: A first finger base, rotatably connected to the palm base plate around a seventh axis; a first finger knuckle, rotatably connected to the first finger base about an eighth axis, wherein the eighth axis is perpendicular to and not coplanar with the seventh axis; A second finger knuckle is rotatably connected to the first finger knuckle about a ninth axis, wherein the ninth axis is parallel to the eighth axis; A fourth driving component is disposed on the palm substrate; a third tendon cord, wherein a first end of the third tendon cord is connected to the fourth drive assembly and can be wound around an output shaft of the fourth drive assembly under the drive of the fourth drive assembly, and a second end of the third tendon cord is connected to a knuckle of the first finger, and the knuckle of the first finger is bent under the pulling of the third tendon cord; A fifth driving component, disposed on the palm substrate; a fourth tendon cord, wherein a first end of the fourth tendon cord is connected to the fifth drive assembly and can be wound around an output shaft of the fifth drive assembly under the drive of the fifth drive assembly, a second end of the fourth tendon cord is connected to a knuckle of the second finger, and the knuckle of the second finger is bent under the pulling of the fourth tendon cord; A sixth driving component, disposed on the palm substrate; a second swing arm assembly, wherein a first end of the second swing arm assembly is connected to the sixth drive assembly, and the second swing arm assembly rotates around a tenth axis when driven by the sixth drive assembly, and the tenth axis is perpendicular to the seventh axis; A second connecting rod assembly, the first end of the second connecting rod assembly is movably connected to the second end of the second swing arm assembly, the second end of the second connecting rod assembly is movably connected to the first side of the first finger base, and the first side and the second side of the first finger base are symmetrically arranged relative to the seventh axis.

6. The dexterous hand according to claim 5, characterized in that: The sixth driving assembly is disposed adjacent to the fourth driving assembly along a first direction, and the first direction is perpendicular to the palm substrate.

7. The dexterous hand according to any one of claims 1 to 3, characterized in that: Also includes: a second finger base, rotatably connected to the palm base plate around an eleventh axis; a finger knuckle assembly, rotatably connected to the second finger base about a twelfth axis, wherein the twelfth axis is perpendicular to and not coplanar with the eleventh axis; A seventh driving component, disposed on the palm substrate; a fifth tendon cord, wherein the first end of the fifth tendon cord is connected to the seventh drive assembly and can be wound around the output shaft of the seventh drive assembly under the drive of the seventh drive assembly, and the second end of the fifth tendon cord is connected to the finger knuckle assembly, and the finger knuckle assembly is bent under the pulling of the fifth tendon cord; an eighth driving component, disposed on the palm substrate; a third swing arm assembly, wherein a first end of the third swing arm assembly is connected to the eighth driving assembly, and the third swing arm assembly rotates around a thirteenth axis when driven by the eighth driving assembly, and the thirteenth axis is parallel to the eleventh axis; A third connecting rod assembly, the first end of the third connecting rod assembly is movably connected to the second end of the third swing arm assembly, the second end of the third connecting rod assembly is movably connected to the first side of the second finger base, and the first side and the second side of the second finger base are symmetrically arranged relative to the eleventh axis.

8. The dexterous hand according to claim 7, characterized in that: The finger knuckle assembly comprises: The third finger knuckle is rotatably connected to the second finger base around the twelfth axis, the second end of the fifth tendon rope is connected to the third finger knuckle, and the third finger knuckle is bent under the pulling of the fifth tendon rope, wherein the first core shaft mounting hole and the second core shaft mounting hole are respectively provided at both ends of the third finger knuckle; a fourth finger knuckle, rotatably connected to the third finger knuckle about a fourteenth axis, the fourth finger knuckle comprising a first shaft portion, the first shaft portion having a first shaft hole, the fourteenth axis being parallel to the twelfth axis, the axis of the first spindle mounting hole and the axis of the first shaft hole being both collinear with the fourteenth axis; Wherein, the second finger base comprises a second shaft portion, the second shaft portion has a second shaft hole, and the axis of the second spindle mounting hole and the axis of the second shaft hole are both collinear with the twelfth axis; Wherein, the dexterous hand also includes: A first mandrel, passing through the first mandrel mounting hole and the first shaft hole; A second mandrel, passing through the second mandrel mounting hole and the second shaft hole; The annular tendon rope is mounted on the first shaft portion and the second shaft portion in an 8-shaped cross-winding manner.

9. The dexterous hand according to claim 5, characterized in that: In a direction perpendicular to the palm substrate, the palm substrate includes a palm side and a palm back side opposite to each other; The dexterous hand also includes: A first pressure sensor is disposed on a side of the thumb knuckle assembly close to the palm side; The second pressure sensor is arranged on a side of the knuckle of the second finger close to the palm side.

10. A robot, characterized in that: include: The dexterous hand according to any one of claims 1 to 9.

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