Robotic Dexterous Hand and Robot

Abstract

The present application provides a robotic dexterous hand and a robot. The robotic dexterous hand includes: a palm; a first transmission part disposed at the leading edge of the palm; a first finger assembly drivingly connected to the first transmission part; the first finger assembly includes at least two first finger segments rotatably connected; a second transmission part disposed on one side of the root of the palm; a second finger assembly drivingly connected to the second transmission part; the first transmission part is configured to drive the first finger assembly to swing relative to the palm about a first axis parallel to the palm, or drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other to bend or extend the first finger assembly; the second transmission part is configured to drive the second finger assembly to swing relative to the palm about at least one of a second axis and a third axis; the second axis and the third axis are perpendicular. The present application realizes the improvement of the dexterity of the robotic dexterous hand.

Description

Technical Field

[0001] This application relates to the technical field of robots or mechanical actuators. Specifically, this application relates to a robotic dexterous hand and a robot. Background Art

[0002] With the development of technology and the popularization of robots in scenarios such as daily life and industrial production, the industry has put forward higher requirements for the dexterity of the end effectors of robots (such as dexterous hands). However, the dexterity of existing humanoid dexterous hands is generally insufficient. Summary of the Invention

[0003] In view of the drawbacks of the existing methods, this application proposes a robotic dexterous hand and a robot to solve the technical problem of insufficient dexterity of the dexterous hand existing in the related art.

[0004] In a first aspect, an embodiment of this application provides a robotic dexterous hand, including:

[0005] A palm;

[0006] A first transmission part, arranged at the leading edge of the palm;

[0007] A first finger assembly, drivingly connected to the first transmission part; the first finger assembly includes at least two first finger segments rotatably connected to each other;

[0008] A second transmission part, arranged on one side of the root of the palm;

[0009] A second finger assembly, drivingly connected to the second transmission part;

[0010] The first transmission part is configured to drive the first finger assembly to swing relative to the palm around a first axis parallel to the palm, or drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other to bend or extend the first finger assembly;

[0011] The second transmission part is configured to drive the second finger assembly to swing relative to the palm around at least one of a second axis and a third axis; the second axis and the third axis are perpendicular to each other.

[0012] Optionally, the first finger assembly includes a first proximal finger segment, a first middle finger segment, and a first distal finger segment rotatably connected in sequence; the palm has a palm surface;

[0013] The first transmission part includes:

[0014] A first base, including a bottom plate arranged at the leading edge of the palm surface and two first ear parts oppositely arranged on both sides of the bottom plate;

[0015] A first bevel gear and a second bevel gear, rotatably stacked on the bottom plate around a fourth axis respectively; the fourth axis is perpendicular to the palm;

[0016] The third bevel gear and the fourth bevel gear are relatively arranged rotatably about the first axis on two first lugs respectively; the third bevel gear meshes with the first bevel gear, and the fourth bevel gear meshes with the second bevel gear;

[0017] When the first bevel gear and the second bevel gear rotate in opposite directions, they drive the third bevel gear and the fourth bevel gear to rotate in the same direction, so that the first middle finger segment and the first proximal finger segment are relatively fixed, so as to drive the first proximal finger segment to rotate about the first axis;

[0018] When the first bevel gear and the second bevel gear rotate in the same direction, they drive the third bevel gear and the fourth bevel gear to rotate in opposite directions, so that both the first middle finger segment and the first distal finger segment rotate relative to the first proximal finger segment.

[0019] Optionally, the first transmission part further includes:

[0020] The first transmission wheel and the second transmission wheel are arranged rotatably about the fifth axis respectively, and are fixedly connected to the first middle finger segment;

[0021] The first flexible transmission member is fixedly connected to the third bevel gear and fixed on the first transmission wheel;

[0022] The second flexible transmission member is fixedly connected to the fourth bevel gear and fixed on the second transmission wheel;

[0023] One of the first flexible transmission member and the second flexible transmission member is in an O shape, and the other is in an 8 shape;

[0024] When the third bevel gear and the fourth bevel gear rotate in opposite directions, the first transmission wheel and the second transmission wheel rotate in the same direction, so as to drive the first middle finger segment to rotate about the fifth axis relative to the first proximal finger segment.

[0025] Optionally, the first transmission part further includes:

[0026] The third transmission wheel is fixed on the first proximal finger segment and is concentrically arranged with the first transmission wheel and the second transmission wheel;

[0027] The fourth transmission wheel is arranged rotatably about the sixth axis and is fixedly connected to the first distal finger segment;

[0028] The third flexible transmission member is fixed on the third transmission wheel and the fourth transmission wheel respectively and is in an 8 shape, so as to drive the first distal finger segment to rotate about the sixth axis relative to the first middle finger segment under the drive of the third transmission wheel.

[0029] Optionally, the robotic dexterous hand includes at least one of the following:

[0030] The palm portion also has a palm back side opposite to the palm center side; the robot dexterous hand also includes a first driver and a second driver arranged on the palm back side; the first transmission part also includes a first worm gear mechanism and a second worm gear mechanism; the first driver, the first worm gear mechanism and the first bevel gear are sequentially connected in transmission; the second driver, the second worm gear mechanism and the second bevel gear are sequentially connected in transmission;

[0031] The first base is rotatably arranged relative to the palm in the plane where the palm is located; the robot dexterous hand also includes a third driver and a third worm gear mechanism, and the third driver, the third worm gear mechanism and the first base are sequentially connected in transmission.

[0032] Optionally, the second finger assembly comprises at least two second finger segments rotatably connected;

[0033] The second transmission unit comprises:

[0034] The fifth bevel gear and the sixth bevel gear are rotatably arranged relative to each other around the third axis;

[0035] A seventh bevel gear is meshed with the fifth bevel gear and the sixth bevel gear respectively, the seventh bevel gear is rotatably arranged around the second axis and the third axis respectively, and is connected to the first second finger segment close to the palm;

[0036] When the fifth bevel gear and the sixth bevel gear rotate in opposite directions, the seventh bevel gear and the first second finger segment are driven to rotate around the second axis;

[0037] When the fifth bevel gear and the sixth bevel gear rotate in the same direction, the seventh bevel gear and the first second finger segment are driven to rotate around the third axis.

[0038] Optionally, the robot dexterous hand includes at least one of the following:

[0039] The second transmission part also includes: two second lugs arranged oppositely at the side edge of the palm root, a first rotating shaft rotatably connected to at least one of the second lugs, and a second rotating shaft fixedly connected to the first rotating shaft, a fifth bevel gear and a sixth bevel gear arranged oppositely on the two second lugs, the first rotating shaft extends along the third axis, the second rotating shaft extends along the second axis, and the seventh bevel gear is rotatably arranged on the second rotating shaft;

[0040] The robot dexterous hand also includes a fourth driver and a fifth driver arranged on the back of the palm, the fourth driver is connected to the fifth bevel gear in a transmission manner, and the fifth driver is connected to the sixth bevel gear in a transmission manner;

[0041] The robot dexterous hand also includes a third transmission part transmission-connected to the second finger assembly, and the third transmission part is configured to drive at least two adjacent second finger segments in the second finger assembly to rotate relative to each other so as to bend or stretch the second finger assembly.

[0042] Optionally, the second finger assembly includes a second proximal finger segment, a second middle finger segment, and a second distal finger segment that are sequentially rotatably connected;

[0043] The robotic dexterous hand further includes a third transmission part, and the third transmission part includes:

[0044] A first bevel gear and a second bevel gear, which are rotatably arranged relative to each other on the second proximal finger segment around a seventh axis;

[0045] A third bevel gear, which is arranged on the second middle finger segment and meshes with the first bevel gear and the second bevel gear respectively;

[0046] When the first bevel gear and the second bevel gear rotate in the same direction, they drive the third bevel gear and the second middle finger segment to rotate around the seventh axis relative to the second proximal finger segment.

[0047] Optionally, the third transmission part further includes:

[0048] A fourth bevel gear, which is arranged on the second middle finger segment and rotates synchronously with the third bevel gear;

[0049] A fifth bevel gear, which meshes with the fourth bevel gear and is rotatably arranged around an eighth axis, and the fifth bevel gear is fixedly connected to the second distal finger segment;

[0050] When the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear and the fourth bevel gear rotate synchronously, driving the fifth bevel gear and the second distal finger segment to rotate around the eighth axis relative to the second middle finger segment.

[0051] Optionally, the third transmission part further includes:

[0052] A first gear and a second gear, which are respectively rotatably arranged on the second proximal finger segment, the first gear rotates synchronously with the first bevel gear, and the second gear rotates synchronously with the second bevel gear;

[0053] A first sector gear and a second sector gear, which are respectively rotatably arranged on the second proximal finger segment, the first sector gear meshes with the first gear, and the second sector gear meshes with the second gear;

[0054] And, the robotic dexterous hand further includes a sixth driver and a seventh driver, the output end of the sixth driver abuts or is pivotally connected to the first sector gear, and the output end of the seventh driver abuts or is pivotally connected to the second sector gear.

[0055] Optionally, the second finger assembly includes a second proximal finger segment, a second middle finger segment, and a second distal finger segment that are sequentially rotatably connected;

[0056] The robotic dexterous hand further includes a third transmission part, a sixth driver, and a seventh driver;

[0057] The third transmission part includes:

[0058] The seventh transmission wheel is rotatably arranged around the seventh axis and is fixedly connected to the second middle finger segment;

[0059] The first lasso has one end drivingly connected to the sixth driver and the other end fixedly connected to the seventh transmission wheel, and is configured to drive the seventh transmission wheel and the second middle finger segment to rotate relative to the second proximal finger segment under the drive of the sixth driver;

[0060] The eighth transmission wheel is rotatably arranged around the eighth axis and is fixedly connected to the second distal finger segment;

[0061] The second lasso has one end drivingly connected to the seventh driver and the other end fixedly connected to the eighth transmission wheel, and is configured to drive the eighth transmission wheel and the second distal finger segment to rotate relative to the second middle finger segment under the drive of the seventh driver.

[0062] Optionally, the third transmission part further includes:

[0063] The first resetting member is fixedly connected to the seventh transmission wheel and is in limit cooperation with the second proximal finger segment, and is configured to apply a force to the seventh transmission wheel in a direction opposite to the force applied by the first lasso to the seventh transmission wheel;

[0064] The second resetting member is fixedly connected to the eighth transmission wheel and is in limit cooperation with the second middle finger segment, and is configured to apply a force to the eighth transmission wheel in a direction opposite to the force applied by the second lasso to the eighth transmission wheel.

[0065] Optionally, the number of the first transmission parts and the first finger assemblies is at least two respectively;

[0066] At least two first finger assemblies are arranged in sequence at the leading edge of the palm in the plane where the palm is located;

[0067] At least two first transmission parts and at least two first finger assemblies are in one-to-one corresponding transmission connection.

[0068] Optionally, the robotic dexterous hand further includes a fourth transmission part, and the fourth transmission part is in transmission connection with at least two first finger assemblies;

[0069] The fourth transmission part is configured to drive at least two first finger assemblies to swing respectively in the plane where the palm is located.

[0070] Optionally, the fourth transmission part includes:

[0071] The first worm is rotatably arranged on the palm;

[0072] The third sector gear is rotatably arranged on the palm and meshes with the first worm;

[0073] The linkage mechanism has an input end pivotally connected to a third sector gear, and at least two output ends are respectively pivotally connected to at least two first finger assemblies in one-to-one correspondence.

[0074] Optionally, the first finger assembly includes a first proximal finger segment, a first middle finger segment, and a first distal finger segment that are sequentially rotatably connected;

[0075] The first transmission part includes:

[0076] A first base;

[0077] A first bevel gear rotatably arranged on the first base around a fourth axis;

[0078] A third bevel gear rotatably arranged around a first axis and fixedly connected to the first proximal finger segment. The third bevel gear meshes with the first bevel gear to drive the first proximal finger segment to rotate relative to the palm around the first axis;

[0079] A sixth transmission wheel fixed on the first base and concentrically arranged with the third bevel gear;

[0080] A second transmission wheel rotatably arranged around a fifth axis and fixedly connected to the first middle finger segment;

[0081] A second flexible transmission member is respectively fixed on the sixth transmission wheel and the second transmission wheel and is in an 8 - shape, so that under the drive of the sixth transmission wheel, the first middle finger segment rotates relative to the first proximal finger segment around the fifth axis;

[0082] A third transmission wheel is fixed on the first proximal finger segment and is concentrically arranged with the second transmission wheel;

[0083] A fourth transmission wheel rotatably arranged around a sixth axis and fixedly connected to the first distal finger segment;

[0084] A third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8 - shape, so that under the drive of the third transmission wheel, the first distal finger segment rotates relative to the first middle finger segment around the sixth axis.

[0085] In a second aspect, an embodiment of the present application provides a robot, including the robot dexterous hand as described above.

[0086] The beneficial technical effects brought by the technical solution provided by the embodiment of the present application include:

[0087] In the embodiments of the present application, the first transmission part can drive the first finger assembly to swing relative to the palm around the first axis, so that the first finger assembly can approach the palm surface of the palm to facilitate functions such as pinching, grasping, and clamping, or the first finger assembly can move away from the palm surface to expand relative to the palm; the first transmission part can also drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other, so that the first finger assembly can bend to facilitate functions such as pinching, grasping, and clamping, or the first finger assembly can extend.

[0088] Through the first transmission part, the first finger assembly can be driven to swing around the first axis relative to the palm, and to bend or extend, so that the first finger assembly has multiple degrees of freedom, improving the flexibility of the first finger assembly, and enhancing the dexterity and adaptability of the robotic dexterous hand, enabling it to better meet the requirements of the application scenario. By driving the first finger segments of the first finger assembly through the first transmission part, the control of the robotic dexterous hand becomes more precise and specific, with strong operability.

[0089] In the embodiments of the present application, the second transmission part can drive the second finger assembly to swing relative to the palm around the second axis, so that the second finger assembly can approach the palm surface to facilitate functions such as pinching, grasping, and clamping, or the second finger assembly can move away from the palm surface to expand relative to the palm; the second transmission part can also drive the second finger assembly to swing relative to the palm around the third axis, so that the second finger assembly can approach the first finger assembly to facilitate the cooperation between the second finger assembly and the first finger assembly to perform functions such as pinching, grasping, and clamping, or the second finger assembly can move away from the first finger assembly to release the cooperation between the second finger assembly and the first finger assembly.

[0090] Through the second transmission part, the second finger assembly can be driven to swing around the second axis and around the third axis relative to the palm, so that the second finger assembly has multiple degrees of freedom, improving the flexibility of the second finger assembly, and further enhancing the dexterity and adaptability of the robotic dexterous hand, enabling it to better meet the adaptability requirements of the application scenario.

[0091] In the embodiments of the present application, the first transmission part is used to drive the first finger assembly to swing around the swing axis and the first finger segments to rotate relative to each other, and the second transmission part is used to drive the second finger assembly to swing around the swing axis, so that the first finger assembly and the second finger assembly each have multiple degrees of freedom, enabling the robotic dexterous hand to at least have a grasping state in which the first finger assembly and the second finger assembly cooperate to grasp (including pinching, grasping, or clamping, etc.) a target object, and a releasing state in which the first finger assembly and the second finger assembly release the cooperation to release the target object.

[0092] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0094] Figure 1 A front view structural schematic diagram of a specific example of a robot dexterous hand provided in an embodiment of the present application (the robot dexterous hand is open);

[0095] Figure 2 for Figure 1 The back view of the robot's dexterous hand;

[0096] Figure 3 for Figure 1 Another front view schematic diagram of the robot's dexterous hand;

[0097] Figure 4 for Figure 3 The back view of the robot's dexterous hand;

[0098] Figure 5 for Figure 1 Another front view structural diagram of the robot's dexterous hand (the robot's dexterous hand is closed or together);

[0099] Figure 6 for Figure 5 The back view of the robot's dexterous hand;

[0100] Figure 7 A schematic structural diagram of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application from one perspective;

[0101] Figure 8 A schematic structural diagram of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application from another perspective;

[0102] Figure 9 A schematic front view of the structure of a first transmission part and a first finger assembly of a robot dexterous hand provided in an embodiment of the present application;

[0103] Figure 10 A schematic cross-sectional view of a partial structure of a first transmission part of a robot dexterous hand provided in an embodiment of the present application;

[0104] Figure 11 for Figure 3Schematic diagram of the first transmission part and two first finger assemblies (specifically, the index finger assembly and the middle finger assembly) of the robotic dexterous hand;

[0105] Figure 12 For Figure 3 Schematic diagram of one perspective of the second transmission part, the third transmission part and the second finger assembly (specifically, the thumb assembly) of the robotic dexterous hand;

[0106] Figure 13 For Figure 12 Schematic diagram of another perspective of the second transmission part, the third transmission part and the second finger assembly of the robotic dexterous hand;

[0107] Figure 14 For Figure 3 Schematic diagram of the fourth transmission part and two first finger assemblies (specifically, the ring finger assembly and the little finger assembly) of the robotic dexterous hand;

[0108] Figure 15 For Figure 3 Schematic diagram of the first transmission part and two first finger assemblies (specifically, the ring finger assembly and the little finger assembly) of the robotic dexterous hand;

[0109] Figure 16 Front view structural diagram (robotic dexterous hand open) of another specific example of a robotic dexterous hand provided by an embodiment of the present application;

[0110] Figure 17 For Figure 16 Another front view structural diagram of the robotic dexterous hand;

[0111] Figure 18 For Figure 17 Back view structural diagram of the robotic dexterous hand;

[0112] Figure 19 For Figure 17 Schematic diagram of one perspective of the second transmission part, the third transmission part and the second finger assembly (specifically, the thumb assembly) of the robotic dexterous hand;

[0113] Figure 20 For Figure 19 Schematic diagram of another perspective of the second transmission part, the third transmission part and the second finger assembly of the robotic dexterous hand.

[0114] Reference numerals:

[0115] 100 - Robotic dexterous hand;

[0116] 10 - Palm part;

[0117] 11 - Palm surface; 12 - Back of the palm surface; 13 - First housing; 14 - Second housing;

[0118] 20 - First transmission part;

[0119] 21 - First base; 211 - Bottom plate; 212 - First ear;

[0120] 221 - First bevel gear; 222 - Second bevel gear;

[0121] 231 - Third bevel gear; 232 - Fourth bevel gear;

[0122] 241 - First transmission wheel; 242 - Second transmission wheel;

[0123] 251 - First flexible transmission part; 252 - Second flexible transmission part; 253 - Third flexible transmission part;

[0124] 261 - Third transmission wheel; 262 - Fourth transmission wheel; 263 - Fifth transmission wheel; 264 - Sixth transmission wheel;

[0125] 27 - First worm and worm gear mechanism; 271 - Second worm; 272 - First worm gear;

[0126] 28 - Second worm and worm gear mechanism; 281 - Third worm; 282 - Second worm gear;

[0127] 29 - Third worm and worm gear mechanism; 291 - Fourth worm; 292 - Third worm gear;

[0128] 30 - First finger assembly;

[0129] 31 - First proximal phalanx; 32 - First middle phalanx; 33 - First distal phalanx;

[0130] 40 - Second transmission part;

[0131] 411 - Fifth bevel gear; 412 - Sixth bevel gear; 413 - Seventh bevel gear;

[0132] 421 - Second ear;

[0133] 431 - First rotating shaft; 432 - Second rotating shaft;

[0134] 44 - Second base;

[0135] 50 - Second finger assembly;

[0136] 51 - Second proximal phalanx; 52 - Second middle phalanx; 53 - Second distal phalanx;

[0137] 61 - First driver; 62 - Second driver; 63 - Third driver; 64 - Fourth driver; 65 - Fifth driver; 66 - Sixth driver; 67 - Seventh driver; 68 - Eighth driver;

[0138] 70 - Third transmission part;

[0139] 71 - Seventh transmission wheel; 72 - First lasso; 73 - Eighth transmission wheel; 74 - Second lasso; 75 - First reset member; 76 - Second reset member;

[0140] 711 - First bevel gear; 712 - Second bevel gear;

[0141] 721 - Third bevel gear; 722 - Fourth bevel gear;

[0142] 731 - Fifth bevel gear;

[0143] 741 - First gear; 742 - Second gear;

[0144] 751 - First sector gear; 752 - Second sector gear;

[0145] 80 - Fourth transmission part;

[0146] 81 - First worm; 82 - Third sector gear; 83 - Linkage mechanism;

[0147] 831 - First rod; 832 - Second rod;

[0148] 91 - First tensioning device; 911 - First adjustment hole; 912 - First tensioning wheel; 913 - First tensioning mechanism; 914 - First tensioning seat; 915 - Adjustment groove;

[0149] 92 - Second tensioning device; 921 - Second adjustment hole; 922 - Second tensioning wheel; 923 - Second tensioning mechanism;

[0150] 93 - Third tensioning mechanism; 931 - Second tensioning seat; 932 - Adjusting head; 933 - Second tensioning head;

[0151] 110 - Silica gel;

[0152] L1 - First axis; L2 - Second axis; L3 - Third axis; L4 - Fourth axis; L5 - Fifth axis; L6 - Sixth axis; L7 - Seventh axis; L8 - Eighth axis. Detailed implementation manners

[0153] The embodiments of the present application will be described below with reference to the accompanying drawings in the present application. It should be understood that the implementation manners described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application, and do not constitute limitations on the technical solutions of the embodiments of the present application.

[0154] Those skilled in the art can understand that, unless specifically stated otherwise, the terms "the" and "said" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application means the presence of the described features, integers, and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" used herein means at least one of the items defined by the term. For example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0155] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0156] With the development of technology and the popularization of robots in daily life, industrial production, and other scenarios, the industry has put forward higher requirements for the dexterity of the end effectors of robots, especially for humanoid dexterous hands. However, for existing humanoid dexterous hands, since the dexterous hands use the degrees of freedom and ID (Identity Document) of the human hand as reference objects, the volume of the dexterous hands themselves is relatively small. At the same time, due to the large number of degrees of freedom, a large number of motors need to be stacked inside the dexterous hands, resulting in a relatively small volume occupied by a single motor, and thus the torque that a single motor can provide is very limited. This causes the fingertip force and speed of a single finger to be very backward compared with the performance of the human hand, and the dexterity is generally insufficient.

[0157] The robot dexterous hand and robot provided by this application aim to solve the above technical problems in the related art.

[0158] The following will specifically describe the technical solutions of this application and how the technical solutions of this application solve the above technical problems with specific embodiments. It should be noted that the following embodiments can refer to, draw on, or combine with each other. For the same terms, similar features, and similar implementation steps in different embodiments, they will not be described repeatedly.

[0159] An embodiment of this application provides a robot dexterous hand 100. The structural schematic diagram of the robot dexterous hand 100 is as Figures 1 to 6 and Figures 16 to 18 shown, including: a palm part 10, a first transmission part 20, a first finger assembly 30, a second transmission part 40, and a second finger assembly 50.

[0160] The first transmission part 20 is arranged at the front edge of the palm part 10. The first finger assembly 30 is in transmission connection with the first transmission part 20; the first finger assembly 30 includes at least two first finger segments that are rotatably connected. The second transmission part 40 is arranged on one side of the root of the palm part 10. The second finger assembly 50 is in transmission connection with the second transmission part 40.

[0161] The first transmission part 20 is configured to drive the first finger assembly 30 to swing relative to the palm part 10 around a first axis L1 parallel to the palm part 10, or drive at least two adjacent first finger segments in the first finger assembly 30 to rotate relative to each other so that the first finger assembly 30 bends or extends. The second transmission part 40 is configured to drive the second finger assembly 50 to swing relative to the palm part 10 around at least one of a second axis L2 and a third axis L3, and the second axis L2 and the third axis L3 are perpendicular.

[0162] In the embodiment of the present application, the palm part 10 is used to carry the first transmission part 20, the first finger assembly 30, the second transmission part 40, the second finger assembly 50, etc.

[0163] In the embodiment of the present application, the first transmission part 20 is arranged at the front edge of the palm part 10. The first finger assembly 30 includes at least two first finger segments that are rotatably connected. The first transmission part 20 is in transmission connection with the first finger assembly 30. The first transmission part 20 can drive the first finger assembly 30 to swing relative to the palm part 10 around the first axis L1, so that the first finger assembly 30 can approach the palm surface 11 of the palm part 10 to facilitate functions such as pinching, grasping, and clamping, or the first finger assembly 30 can move away from the palm surface 11 to expand relative to the palm part 10; the first transmission part 20 can also drive at least two adjacent first finger segments in the first finger assembly 30 to rotate relative to each other, so that the first finger assembly 30 can bend to facilitate functions such as pinching, grasping, and clamping, or the first finger assembly 30 can extend.

[0164] In the embodiment of the present application, the first transmission part 20 can drive the first finger assembly 30 to swing around the first axis L1 relative to the palm part 10, as well as bend or extend, so that the first finger assembly 30 has multiple degrees of freedom, improving the flexibility of the first finger assembly 30, and enhancing the dexterity and adaptability of the robotic flexible hand 100, enabling it to better meet the requirements of the application scenario. By the first transmission part 20 being able to drive the movement of the first finger segments of the first finger assembly 30, the control of the robotic flexible hand 100 is more precise and specific, and the operability is strong.

[0165] In the embodiment of the present application, the second transmission part 40 is arranged on one side of the root of the palm part 10. The second transmission part 40 is in transmission connection with the second finger assembly 50. The second transmission part 40 can drive the second finger assembly 50 to swing relative to the palm part 10 around the second axis L2, so that the second finger assembly 50 can approach the palm surface 11 to facilitate functions such as pinching, grasping, and clamping, or the second finger assembly 50 can move away from the palm surface 11 to expand relative to the palm part 10; the second transmission part 40 can also drive the second finger assembly 50 to swing relative to the palm part 10 around the third axis L3, so that the second finger assembly 50 can approach the first finger assembly 30 to facilitate the cooperation between the second finger assembly 50 and the first finger assembly 30 to realize functions such as pinching, grasping, and clamping, or the second finger assembly 50 can move away from the first finger assembly 30 to release the cooperation between the second finger assembly 50 and the first finger assembly 30.

[0166] In the embodiment of the present application, the second transmission part 40 can drive the second finger assembly 50 to swing around the second axis L2 and around the third axis L3 relative to the palm part 10, so that the second finger assembly 50 has multiple degrees of freedom, improving the flexibility of the second finger assembly 50, further enhancing the dexterity and adaptability of the robotic flexible hand 100, and being able to improve the adaptability to meet the requirements of the application scenario.

[0167] In the embodiment of the present application, the first finger assembly 30 is located at the leading edge of the palm part 10, and the second finger assembly 50 is located on one side of the root of the palm part 10. The first transmission part 20 is used to drive the first finger assembly 30 to swing around the swing axis and the relative rotation between the first finger segments, and the second transmission part 40 is used to drive the second finger assembly 50 to swing around the swing axis, so that the first finger assembly 30 and the second finger assembly 50 each have multiple degrees of freedom, and the robotic flexible hand 100 at least has a grasping state in which the first finger assembly 30 and the second finger assembly 50 cooperate to grasp (including pinching, grasping, or clamping, etc.) a target object, and a releasing state in which the first finger assembly 30 and the second finger assembly 50 release the cooperation to release the target object. The releasing state includes an expanded state in which the first finger assembly 30 and the second finger assembly 50 each expand along a direction parallel to the palm part 10.

[0168] Optionally, in the embodiment of the present application, the robotic flexible hand includes, but is not limited to, a humanoid manipulator (or also known as a bionic manipulator), which is a manipulator designed to imitate the appearance and behavior of a human hand, and further can be a manipulator that imitates the fingers of a human hand and the degrees of freedom of each finger's movement, etc.

[0169] Optionally, as Figure 1 、 Figure 3 、 Figure 5 、 Figure 16 and Figure 17As shown, in the embodiment of the present application, the third axis L3 is parallel to the plane where the palm 10 is located. Of course, in other alternative embodiments of the present application, according to actual needs, the third axis L3 can also be set to intersect the plane where the palm 10 is located. For example, the third axis L3 is inclined with respect to the plane where the palm 10 is located.

[0170] Optionally, as Figures 1 to 10 、 Figure 17 and Figure 18 shown, in the embodiment of the present application, the first finger assembly 30 includes a first proximal phalanx 31, a first middle phalanx 32, and a first distal phalanx 33 that are sequentially rotatably connected. The palm 10 has a palm surface 11. The first transmission part 20 includes: a first base 21, a first bevel gear 221, a second bevel gear 222, a third bevel gear 231, and a fourth bevel gear 232.

[0171] The first base 21 includes a bottom plate 211 provided at the front edge of the palm surface 11 and two first lugs 212 oppositely provided on both sides of the bottom plate 211. The first bevel gear 221 and the second bevel gear 222 are rotatably stacked on the bottom plate 211 around the fourth axis L4; the fourth axis L4 is perpendicular to the palm 10. The third bevel gear 231 and the fourth bevel gear 232 are rotatably provided on the two first lugs 212 relative to each other around the first axis L1; the third bevel gear 231 meshes with the first bevel gear 221, and the fourth bevel gear 232 meshes with the second bevel gear 222.

[0172] When the first bevel gear 221 and the second bevel gear 222 rotate in opposite directions, they drive the third bevel gear 231 and the fourth bevel gear 232 to rotate in the same direction, so that the first middle phalanx 32 and the first proximal phalanx 31 are relatively fixed, so as to drive the first proximal phalanx 31 to rotate around the first axis L1.

[0173] When the first bevel gear 221 and the second bevel gear 222 rotate in the same direction, they drive the third bevel gear 231 and the fourth bevel gear 232 to rotate in opposite directions, so that both the first middle phalanx 32 and the first distal phalanx 33 rotate relative to the first proximal phalanx 31.

[0174] In the embodiment of the present application, the bottom plate 211 is provided at the front edge of the palm surface 11, the first bevel gear 221 and the second bevel gear 222 are stacked on the bottom plate 211, and are rotatably provided around the fourth axis L4. There are two first lugs 212 on the bottom plate 211, and there is a gap between the two first lugs 212. One end of the first proximal phalanx 31 close to the palm 10 is rotatably provided on the two first lugs 212 around the first axis L1.

[0175] The third bevel gear 231 is rotatably arranged on one of the first lugs 212 around the first axis L1 and meshes with the first bevel gear 221. The rotation of the first bevel gear 221 drives the rotation of the third bevel gear 231. The fourth bevel gear 232 is rotatably arranged on the other first lug 212 around the first axis L1 and meshes with the second bevel gear 222. The rotation of the second bevel gear 222 drives the rotation of the fourth bevel gear 232.

[0176] The third bevel gear 231 and the fourth bevel gear 232 are oppositely arranged. When the first bevel gear 221 and the second bevel gear 222 rotate in opposite directions, the first bevel gear 221 and the second bevel gear 222 drive the corresponding third bevel gear 231 and fourth bevel gear 232 to rotate in the same direction. The third bevel gear 231 and the fourth bevel gear 232 drive the first proximal finger segment 31 to rotate relative to the palm 10 around the first axis L1, so as to realize the swinging of the first finger assembly 30 relative to the palm 10 around the first axis L1 to approach or move away from the palm center plane 11.

[0177] When the first bevel gear 221 and the second bevel gear 222 rotate in the same direction, the first bevel gear 221 and the second bevel gear 222 drive the corresponding third bevel gear 231 and fourth bevel gear 232 to rotate in opposite directions. By driving the first middle finger segment 32 to rotate relative to the first proximal finger segment 31 and driving the first distal finger segment 33 to rotate relative to the first middle finger segment 32 through the third bevel gear 231 and the fourth bevel gear 232, the bending or extension of the first finger assembly 30 is realized.

[0178] Optionally, as Figures 7 to 10 shown, in the embodiment of the present application, the second bevel gear 222 is located on the bottom plate 211, and the first bevel gear 221 is located on the second bevel gear 222. The second bevel gear 222 and the first bevel gear 221 are rotatably arranged coaxially around the fourth axis L4. The outer diameter of the first bevel gear 221 is smaller than the outer diameter of the second bevel gear 222.

[0179] It should be noted that in the embodiment of the present application, the relative arrangement of the third bevel gear 231 and the fourth bevel gear 232 means that the gear side of the third bevel gear 231 faces the fourth bevel gear 232, and the gear side of the fourth bevel gear 232 faces the third bevel gear 231. Of course, in other alternative embodiments of the present application, the third bevel gear 231 and the fourth bevel gear 232 can also be arranged back to back according to actual needs, that is, the gear side of the third bevel gear 231 is back to the fourth bevel gear 232, and the gear side of the fourth bevel gear 232 is back to the third bevel gear 231.

[0180] Optionally, in the embodiments of the present application, the transmission shafts of the first bevel gear 221 and the second bevel gear 222 are concentrically arranged and are respectively meshed with the third bevel gear 231 and the fourth bevel gear 232. By using two sets of bevel gear sets (the meshed first bevel gear 221 and third bevel gear 231, the meshed second bevel gear 222 and fourth bevel gear 232) to form a differential drive structure, the swinging of the first finger assembly 30 around the first axis L1, the rotation of the first middle finger segment 32 relative to the first proximal finger segment 31, and the rotation of the first distal finger segment 33 relative to the first middle finger segment 32 can be realized, enabling the first finger assembly 30 to have multiple degrees of freedom and improving dexterity.

[0181] Optionally, as Figure 10 shown, in the embodiments of the present application, the third bevel gear 231 and the fourth bevel gear 232 are rotatably arranged coaxially around the first axis L1. The transmission shafts of the third bevel gear 231 and the fourth bevel gear 232 are concentrically arranged. The third bevel gear 231, the fourth bevel gear 232 and the first proximal finger segment 31 are respectively rotatably connected to the first lug 212.

[0182] It should be noted that in the embodiments of the present application, "reverse rotation" means that the rotation directions of the two rotating parts are opposite when observed from the same side of the two rotating parts. For example, the reverse rotation of the first bevel gear 221 and the second bevel gear 222 means that the rotation directions of the first bevel gear 221 and the second bevel gear 222 are opposite when observed from the same side of the first bevel gear 221 and the second bevel gear 222.

[0183] Optionally, as Figures 7 to 9 shown, in the embodiments of the present application, the first transmission part 20 further includes: a first transmission wheel 241, a second transmission wheel 242, a first flexible transmission member 251 and a second flexible transmission member 252.

[0184] The first transmission wheel 241 and the second transmission wheel 242 are respectively rotatably arranged around the fifth axis L5 and are fixedly connected to the first middle finger segment 32. The first flexible transmission member 251 is fixedly connected to the third bevel gear 231 and is fixed on the first transmission wheel 241. The second flexible transmission member 252 is connected to the fourth bevel gear 232 and is fixed on the second transmission wheel 242. One of the first flexible transmission member 251 and the second flexible transmission member 252 is in a 0 shape, and the other is in an 8 shape.

[0185] When the third bevel gear 231 and the fourth bevel gear 232 rotate in reverse, the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction to drive the first middle finger segment 32 to rotate relative to the first proximal finger segment 31 around the fifth axis L5.

[0186] In the embodiment of the present application, the first flexible transmission member 251 is fixedly connected to the third bevel gear 231 and the first transmission wheel 241 respectively, so that the third bevel gear 231 is in transmission connection with the first transmission wheel 241 through the first flexible transmission member 251. The first transmission wheel 241 is fixedly connected to the first middle finger segment 32. When the third bevel gear 231 rotates, the rotational force can be transmitted to the first transmission wheel 241 through the first flexible transmission member 251, so that the first transmission wheel 241 and the first middle finger segment 32 tend to rotate in the same direction as the rotation direction of the third bevel gear 231.

[0187] The second flexible transmission member 252 is fixedly connected to the fourth bevel gear 232 and the second transmission wheel 242 respectively. The fourth bevel gear 232 is in transmission connection with the second transmission wheel 242 through the second flexible transmission member 252. The second transmission wheel 242 is fixedly connected to the first middle finger segment 32. When the fourth bevel gear 232 rotates, the rotational force can be transmitted to the second transmission wheel 242 through the second flexible transmission member 252, so that the second transmission wheel 242 and the first middle finger segment 32 tend to rotate in the opposite direction to the rotation direction of the fourth bevel gear 232.

[0188] Optionally, as Figure 7 and Figure 8 shown, in the embodiment of the present application, the first flexible transmission member 251 is in an "O" shape. The second flexible transmission member 252 is in an "8" shape. Of course, in other alternative embodiments of the present application, according to actual needs, the first flexible transmission member 251 can be in an "8" shape and the second flexible transmission member 252 can be in an "O" shape.

[0189] Optionally, as Figures 7 to 9 shown, in the embodiment of the present application, the first transmission wheel 241, the second transmission wheel 242 and the first middle finger segment 32 are rotatably arranged relative to the first proximal finger segment 31 around the fifth axis L5.

[0190] In the embodiment of the present application, when the third bevel gear 231 and the fourth bevel gear 232 rotate in opposite directions, the direction of the rotational force transmitted from the third bevel gear 231 to the first transmission wheel 241 is the same as the direction of the rotational force transmitted from the fourth bevel gear 232 to the second transmission wheel 242, so that the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction, thereby being able to drive the first middle finger segment 32 to rotate relative to the first proximal finger segment 31 around the fifth axis L5, so that the first finger assembly 30 bends or extends.

[0191] When the third bevel gear 231 and the fourth bevel gear 232 rotate in the same direction, the rotation direction transmitted from the third bevel gear 231 to the first transmission wheel 241 is opposite to the rotation direction transmitted from the fourth bevel gear 232 to the second transmission wheel 242, causing the first transmission wheel 241 and the second transmission wheel 242 to tend to rotate in opposite directions, clamping the first middle finger segment 32 and the first proximal finger segment 31, fixing the relative positions of the first middle finger segment 32 and the first proximal finger segment 31, and driving the first proximal finger segment 31 to rotate around the first axis L1 by the acting force that makes the third bevel gear 231 and the fourth bevel gear 232 rotate in the same direction, thereby realizing the swinging of the first finger assembly 30 relative to the palm 10 around the first axis L1.

[0192] Optionally, in the embodiments of the present application, the first flexible transmission member 251 includes but is not limited to a transmission rope. The second flexible transmission member 252 includes but is not limited to a transmission rope.

[0193] Optionally, as Figures 7 to 9 shown, in the embodiments of the present application, the first transmission part 20 further includes a fifth transmission wheel 263 and a sixth transmission wheel 264. The fifth transmission wheel 263 is fixedly connected to the third bevel gear 231 and is rotatably mounted on a first ear 212 around the first axis L1. The sixth transmission wheel 264 is fixedly connected to the fourth bevel gear 232 and is rotatably mounted on another first ear 212 around the first axis L1. The first flexible transmission member 251 is respectively fixed on the peripheries of the fifth transmission wheel 263 and the first transmission wheel 241. The second flexible transmission member 252 is respectively fixed on the peripheries of the sixth transmission wheel 264 and the second transmission wheel 242. The third bevel gear 231 drives the fifth transmission wheel 263 to rotate synchronously, and drives the first transmission wheel 241 to rotate through the first flexible transmission member 251. The fourth bevel gear 232 drives the sixth transmission wheel 264 to rotate synchronously, and drives the second transmission wheel 242 to rotate through the second flexible transmission member 252.

[0194] Optionally, as Figures 7 to 9 shown, in the embodiments of the present application, the robotic dexterous hand 100 further includes a first tensioning device 91 for adjusting the tension of the first flexible transmission member 251 and a second tensioning device 92 for adjusting the tension of the second flexible transmission member 252.

[0195] Optionally, as Figures 7 to 9 shown, in the embodiments of the present application, the first tensioning device 91 includes a first adjustment hole 911 formed on the side wall of the first proximal finger segment 31, a first tensioning wheel 912, and a first tensioning mechanism 913 mounted on the first middle finger segment 32.

[0196] The first adjusting hole 911 is an elongated hole, the extending direction of the elongated hole intersects with the extending direction of the first near finger segment 31, the rotating shaft of the first tensioning wheel 912 is clamped in the elongated hole and can move along the elongated hole, the first tensioning wheel 912 presses on the first flexible transmission member 251, and the tensioning amount of the first flexible transmission member 251 is adjusted by the movement of the rotating shaft of the first tensioning wheel 912 in the elongated hole. The first flexible transmission member 251 can be pre-tensioned by the first tensioning wheel 912.

[0197] The first tensioning mechanism 913 includes a first tensioning seat 914 fixed on the first middle finger segment 32, an adjusting groove 915 provided on the first tensioning seat 914, and a first tensioning head bolted in the adjusting groove 915. One end of the first flexible transmission member 251 is fixed on the fifth transmission wheel 263, and the other end bypasses the fifth transmission wheel 263 and the first transmission wheel 241 and is fixedly connected to the first tensioning head. By screwing the first tensioning head in the adjusting groove 915, the position where the first tensioning head extends into the adjusting groove 915 can be adjusted, so as to drive the first flexible transmission member 251 to be tensioned. The first flexible transmission member 251 can be finally tensioned and adjusted by the first tensioning mechanism 913.

[0198] In the embodiment of the present application, the first flexible transmission member 251 can be tensioned by the first tensioning wheel 912 and the first tensioning mechanism 913 at the same time.

[0199] Optionally, as Figures 7 to 9 shown, in the embodiment of the present application, the second tensioning device 92 includes at least one second adjusting hole 921 opened on the side wall of the first near finger segment 31, at least one second tensioning wheel 922 arranged corresponding to the at least one second adjusting hole 921 one by one, and a second tensioning mechanism 923 installed on the first middle finger segment 32.

[0200] Optionally, as Figure 11 shown, in the embodiment of the present application, the number of the second adjusting holes 921 is two. Since the second flexible transmission member 252 is fixed on the outer circumferences of the sixth transmission wheel 264 and the second transmission wheel 242 in an 8-shaped manner, the two second adjusting holes 921 are adaptively distributed on both sides of the intersection point of the second flexible transmission member 252 to adjust the tensioning amount of the second flexible transmission member 252 through the two second tensioning wheels 922.

[0201] Optionally, in the embodiment of the present application, the structures and the cooperation relationships of the second adjusting hole 921 and the second tensioning wheel 922 can be the same as or similar to the structures and the cooperation relationships of the first adjusting hole 911 and the first tensioning wheel 912, and will not be elaborated here.

[0202] Optionally, as Figure 7 、 Figure 8 and Figure 11As shown, in the embodiment of the present application, the extending direction of the first adjustment hole 911 is perpendicular to the extending direction of the first proximal finger segment 31, and there is an acute angle between the extending direction of the second adjustment hole 921 and the first proximal finger segment 31.

[0203] Optionally, in the embodiment of the present application, the structure of the second tensioning mechanism 923 and its connection manner with the second flexible transmission member 252 may be the same as or similar to the structure of the first tensioning mechanism 913 and its connection manner with the first flexible transmission member 251, which will not be elaborated here.

[0204] Optionally, as Figures 7 to 9 shown, in the embodiment of the present application, the first transmission portion 20 further includes: a third transmission wheel 261, a fourth transmission wheel 262, and a third flexible transmission member 253.

[0205] The third transmission wheel 261 is fixed on the first proximal finger segment 31 and is concentric with the first transmission wheel 241 and the second transmission wheel 242. The fourth transmission wheel 262 is rotatably arranged around the sixth axis L6 and is fixedly connected to the first distal finger segment 33. The third flexible transmission member 253 is respectively fixed on the third transmission wheel 261 and the fourth transmission wheel 262 and is in an 8 - shape, so as to drive the first distal finger segment 33 to rotate around the sixth axis L6 relative to the first middle finger segment 32 under the drive of the third transmission wheel 261.

[0206] In the embodiment of the present application, when the first transmission wheel 241 and the second transmission wheel 242 rotate in the same direction, they drive the first middle finger segment 32 to rotate relative to the first proximal finger segment 31. The first distal finger segment 33 is installed on the first middle finger segment 32, so that the first middle finger segment 32 drives the first distal finger segment 33 and the fourth transmission wheel 262 fixed on the first distal finger segment 33 to rotate relative to the first proximal finger segment 31 around the fifth axis L5 together.

[0207] Since the third transmission wheel 261 is fixed on the first proximal finger segment 31, when the first middle finger segment 32 rotates relative to the first proximal finger segment 31, a relative rotation occurs between the third transmission wheel 261 and the first middle finger segment 32. The third flexible transmission member 253 is respectively fixed on the peripheries of the third transmission wheel 261 and the fourth transmission wheel 262, so that the third transmission wheel 261 is in transmission connection with the fourth transmission wheel 262 through the third flexible transmission member 253. When the third transmission wheel 261 rotates relative to the first middle finger segment 32, the fourth transmission wheel 262 and the first distal finger segment 33 can be driven to rotate around the sixth axis L6 relative to the first middle finger segment 32 through the third flexible transmission member 253.

[0208] Therefore, the rotation of the first middle finger segment 32 around the fifth axis L5 relative to the first proximal finger segment 31 and the rotation of the first distal finger segment 33 around the sixth axis L6 relative to the first middle finger segment 32 are realized, so that the first finger assembly 30 bends or extends.

[0209] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the fourth transmission wheel 262 and the first distal finger segment 33 are rotatably arranged around the sixth axis L6 relative to the first middle finger segment 32 .

[0210] Optionally, in the embodiment of the present application, the third flexible transmission member 253 includes but is not limited to a transmission rope.

[0211] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a third tensioning mechanism 93 installed on the first distal finger section 33 , and the third tensioning mechanism 93 is used to tension the third flexible transmission member 253 .

[0212] Alternatively, if Figures 7 to 9 As shown, in the embodiment of the present application, the third tensioning mechanism 93 includes a second tensioning seat 931 fixed on the first distal finger section 33, an adjusting head 932 and a second tensioning head 933. The second tensioning seat 931 is provided with a through hole, one end of the adjusting head 932 passes through the through hole, and the outer diameter of the other end is larger than the through hole to prevent the adjusting head 932 from escaping from the through hole. The second tensioning head 933 is arranged in the second tensioning seat 931, and the second tensioning head 933 is threadedly connected to the adjusting head 932. One end of the third flexible transmission member 253 is fixed on the third transmission wheel 261 or the fourth transmission wheel 262, and the other end is fixedly connected to the second tensioning head 933 after bypassing the third transmission wheel 261 and the fourth transmission wheel 262. By screwing the adjusting head 932, the position of the second tensioning head 933 in the second tensioning seat 931 is adjusted, thereby driving the third flexible transmission member 253 to be tensioned.

[0213] Alternatively, if Figure 3 , Figure 4 , Figure 17 and Figure 18 As shown, in the embodiment of the present application, the palm 10 also has a palm back surface 12 opposite to the palm center surface 11. The robot dexterous hand 100 also includes a first driver 61 and a second driver 62 arranged on the palm back surface 12. The first transmission part 20 also includes a first worm gear mechanism 27 and a second worm gear mechanism 28. The first driver 61, the first worm gear mechanism 27 and the first bevel gear 221 are sequentially connected in transmission. The second driver 62, the second worm gear mechanism 28 and the second bevel gear 222 are sequentially connected in transmission.

[0214] In the embodiments of the present application, the palm portion 10 is used to carry the first driver 61 and the second driver 62. The first driver 61 provides power for the first worm and worm gear mechanism 27. The first worm and worm gear mechanism 27 transmits the power to the first bevel gear 221, drives the first bevel gear 221 to rotate, and can adjust the rotation direction of the first bevel gear 221 (for example, make the first bevel gear 221 rotate in the same direction or in the opposite direction as the second bevel gear 222). The second driver 62 provides power for the second worm and worm gear mechanism 28. The second worm and worm gear mechanism 28 transmits the power to the second bevel gear 222, drives the second bevel gear 222 to rotate, and can adjust the rotation direction of the second bevel gear 222.

[0215] By the first driver 61 and the second driver 62, the rotation and rotation direction of the first bevel gear 221 and the second bevel gear 222 can be controlled, so as to control the rotation and rotation direction of the third bevel gear 231 and the fourth bevel gear 232, and thus control the swing or bending of the first finger assembly 30. The first finger assembly 30 uses a differential drive structure to simultaneously control two degrees of freedom of a single finger by two drivers (the first driver 61 and the second driver 62), and can double the torque of a single joint at the same speed.

[0216] Optionally, in the embodiments of the present application, the first driver 61 includes but is not limited to a motor. The second driver 62 includes but is not limited to a motor.

[0217] Optionally, as Figure 4 、 Figures 7 to 10 and Figure 18 shown, in the embodiments of the present application, the first worm and worm gear mechanism 27 includes a second worm 271 and a first worm wheel 272. The first driver 61 is drivingly connected to the second worm 271 to make the second worm 271 rotate. The second worm 271 and the first worm wheel 272 are in transmission connection to drive the first worm wheel 272 to rotate around the fourth axis L4. The first worm wheel 272 is fixedly connected to the first bevel gear 221 to drive the first bevel gear 221 to rotate around the fourth axis L4.

[0218] Optionally, as Figure 4 、 Figures 7 to 10 and Figure 18 shown, in the embodiments of the present application, the second worm and worm gear mechanism 28 includes a third worm 281 and a second worm wheel 282. The second driver 62, the third worm 281, the second worm wheel 282 and the second bevel gear 222 are sequentially connected to drive the second bevel gear 222 to rotate around the fourth axis L4.

[0219] Optionally, as Figures 1 to 6 、 Figure 11 、 Figures 15 to 18As shown, in the embodiment of the present application, the number of the first transmission part 20 and the first finger assemblies 30 is at least two each. At least two first finger assemblies 30 are arranged in sequence at the front edge of the palm part 10 in the plane where the palm part 10 is located. At least two first transmission parts 20 and at least two first finger assemblies 30 are in one-to-one transmission connection.

[0220] In the embodiment of the present application, the first finger assemblies 30 and the second finger assemblies 50 cooperate to grasp the target object. Setting at least two first finger assemblies 30 can improve the grasping effect and stability.

[0221] Optionally, as Figures 1 to 6 , Figure 11 , Figures 16 to 18 shown, in the embodiment of the present application, the index finger assembly and the middle finger assembly of the robotic dexterous hand 100 can adopt the above-mentioned first transmission part 20 (including the first base 21, the first bevel gear 221, the second bevel gear 222, the third bevel gear 231, the fourth bevel gear 232, the first transmission wheel 241, the second transmission wheel 242, the first flexible transmission member 251, the second flexible transmission member 252, the fifth transmission wheel 263, the sixth transmission wheel 264, the third transmission wheel 261, the fourth transmission wheel 262, the third flexible transmission member 253, etc.) and the first finger assemblies 30. The structures of the index finger assembly and the middle finger assembly are the same or similar.

[0222] It should be noted that in the embodiment of the present application, the extending directions of the first axes L1 corresponding to different first finger assemblies 30 may be the same or different.

[0223] Optionally, as Figure 3 , Figure 11 and Figure 17 shown, in the embodiment of the present application, the first base 21 is rotatably arranged relative to the palm part 10 in the plane where the palm part 10 is located; the robotic dexterous hand 100 further includes a third driver 63 and a third worm and worm gear mechanism 29, and the third driver 63, the third worm and worm gear mechanism 29 and the first base 21 are sequentially in transmission connection, for making the first base 21 drive the first proximal phalanx 31 to swing in the plane where the palm part 10 is located.

[0224] In the embodiment of the present application, the third driver 63 provides power for the third worm and worm gear mechanism 29, and the third worm and worm gear mechanism 29 transmits the power to the first base 21, driving the first base 21 to swing in the plane where the palm part 10 is located, thereby driving the first finger assembly 30 to swing in the plane where the palm part 10 is located, realizing the action of swinging the first finger assembly 30 and adjusting the swinging angle of the first finger assembly 30 relative to the palm part 10 in the plane where the palm part 10 is located, so that the first finger assembly 30 can flexibly adapt to the application scenario.

[0225] It should be noted that in the embodiments of the present application, "shaking" refers to the rotation of the first proximal finger segment 31 in the plane of the palm 10 with the center of rotation of the first base 21 relative to the palm 10 in the plane of the palm 10 as the axis. "Swinging" refers to the rotation of the first finger assembly 30 with the first axis L1 as the axis, or the rotation of the second finger assembly 50 with the second axis L2 as the axis, in the direction of approaching or departing from the palm surface 11 of the palm 10. In the present application, the "shaking" action of the first finger assembly 30 relative to the palm 10 is similar to the "waving" action, and the "swinging" action of the first finger assembly 30 or the second finger assembly 50 relative to the palm 10 is similar to the "fist clenching" and "fist unfolding" actions.

[0226] Optionally, as Figure 11 shown, in the embodiments of the present application, the third worm and worm gear mechanism 29 includes a fourth worm 291 connected to the third driver 63 and a third worm gear 292 meshing with the fourth worm 291. The third worm gear 292 is fixedly connected to the bottom plate 211 of the first base 21. The third driver 63 provides power to drive the fourth worm 291 and the third worm gear 292 to rotate, thereby driving the first base 21 and the first finger assembly 30 to rotate.

[0227] Optionally, as Figure 3 、 Figure 11 and Figure 17 shown, in the embodiments of the present application, the first base 21 corresponding to the index finger assembly of the robotic dexterous hand 100 is rotatably arranged in the plane of the palm 10, so that the index finger assembly can swing in the plane of the palm 10. The first base 21 corresponding to the middle finger assembly of the robotic dexterous hand 100 is fixed on the palm 10. Of course, in other alternative embodiments of the present application, according to actual needs, the first base 21 corresponding to the middle finger assembly of the robotic dexterous hand 100 can also be rotatably arranged in the plane of the palm 10, so that the middle finger assembly can swing in the plane of the palm 10.

[0228] Optionally, as Figure 12 、 Figure 13 、 Figure 19 and Figure 20 shown, in the embodiments of the present application, the second finger assembly 50 includes at least two second finger segments that are rotatably connected. The second transmission part 40 includes: a fifth bevel gear 411, a sixth bevel gear 412, and a seventh bevel gear 413.

[0229] The fifth bevel gear 411 and the sixth bevel gear 412 are rotatably arranged relative to each other around the third axis L3. The seventh bevel gear 413 meshes with the fifth bevel gear 411 and the sixth bevel gear 412 respectively. The seventh bevel gear 413 is rotatably arranged around the second axis L2 and the third axis L3, and is connected to the first second finger segment close to the palm 10.

[0230] When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in opposite directions, they drive the seventh bevel gear 413 and the first second finger segment to rotate around the second axis L2.

[0231] When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in the same direction, they drive the seventh bevel gear 413 and the first second finger segment to rotate around the third axis L3.

[0232] In the embodiment of the present application, the fifth bevel gear 411 is rotatably arranged around the third axis L3 and meshes with the seventh bevel gear 413. The rotation of the fifth bevel gear 411 drives the seventh bevel gear 413 to rotate. The sixth bevel gear 412 is rotatably arranged around the third axis L3 and meshes with the seventh bevel gear 413. The sixth bevel gear 412 drives the seventh bevel gear 413 to rotate. The seventh bevel gear 413 is connected to the first second straight segment (i.e., the second proximal finger segment 51), and thus is connected to the second finger assembly 50.

[0233] The fifth bevel gear 411 and the sixth bevel gear 412 are arranged opposite to each other. When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in opposite directions, the fifth bevel gear 411 and the sixth bevel gear 412 simultaneously drive the seventh bevel gear 413 to rotate, thereby driving the second finger assembly 50 to rotate around the second axis L2, so that the second finger assembly 50 can approach or move away from the palm 10. When the fifth bevel gear 411 and the sixth bevel gear 412 rotate in the same direction, the direction in which the fifth bevel gear 411 drives the seventh bevel gear 413 to rotate is opposite to the direction in which the sixth bevel gear 412 drives the seventh bevel gear 413 to rotate, so that the seventh bevel gear 413 rotates around the third axis L3, thereby driving the second finger assembly 50 to rotate around the third axis L3, so that the second finger assembly 50 can approach or move away from the first finger assembly 30.

[0234] Optionally, as Figure 19 and Figure 20 shown, in the embodiment of the present application, the extending direction of the second axis L2 is the same as the extending direction of the axis of the seventh bevel gear 413. The seventh bevel gear 413 "rotates on its own axis" around the second axis L2 and "revolves" around the third axis L3.

[0235] Optionally, in the embodiment of the present application, the fifth bevel gear 411 and the sixth bevel gear 412 are respectively meshed with the seventh bevel gear 413. By using two sets of bevel gear sets (the meshed fifth bevel gear 411 and seventh bevel gear 413, the meshed sixth bevel gear 412 and seventh bevel gear 413) to form a differential drive structure, the swinging of the second finger assembly 50 around the second axis L2 and the swinging around the third axis L3 can be realized, so that the second finger assembly 50 has multiple degrees of freedom and the dexterity is improved.

[0236] Optionally, as Figure 12 、 Figure 13, Figure 19 and Figure 20 As shown in Figure 19 and Figure 20 , in the embodiment of the present application, the second transmission part 40 further includes: two second support ears 421 oppositely arranged on the side edge of the root of the palm part 10, a first rotating shaft 431 rotatably connected to at least one second support ear 421, and a second rotating shaft 432 fixedly connected to the first rotating shaft 431. The fifth bevel gear 411 and the sixth bevel gear 412 are oppositely arranged on the two second support ears 421. The first rotating shaft 431 extends along the third axis L3, the second rotating shaft 432 extends along the second axis L2, and the seventh bevel gear 413 is rotatably arranged on the second rotating shaft 432.

[0237] In the embodiment of the present application, the two second support ears 421 are arranged on the side edge of the root of the palm part 10, and there is a gap between the two second support ears 421. The first rotating shaft 431 is rotatably connected to at least one second support ear 421, the first rotating shaft 431 extends along the direction of the third rotating shaft L3, and the first rotating shaft 431 can rotate relative to the second support ear 421 around the third axis L3. The second rotating shaft 432 is fixedly connected to the first rotating shaft 431 and can rotate around the third rotating shaft L3 together with the first rotating shaft 431. The fifth bevel gear 411 is rotatably arranged on one of the second support ears 421 around the third axis L3, and the sixth bevel gear 412 is rotatably arranged on the other second support ear 421 around the third axis L3 and is opposite to the fifth bevel gear 411. The seventh bevel gear 413 is rotatably arranged on the second rotating shaft 432, the second rotating shaft 432 extends along the second axis L2, the seventh bevel gear 413 can rotate relative to the second rotating shaft 432 around the second axis L2, and the second rotating shaft 432 can drive the seventh bevel gear 413 to rotate around the second axis L2 together with the first rotating shaft 431.

[0238] Optionally, as Figure 3 , Figure 4 , Figure 11 , Figure 12 , Figures 17 to 20 shown, in the embodiment of the present application, the robotic dexterous hand 100 further includes a fourth driver 64 and a fifth driver 65 arranged on the palm back 12. The fourth driver 64 is in transmission connection with the fifth bevel gear 411, and the fifth driver 65 is in transmission connection with the sixth bevel gear 412.

[0239] In the embodiment of the present application, the palm part 10 is used to carry the fourth driver 64 and the fifth driver 65. The fourth driver 64 provides power for the fifth bevel gear 411 to make the fifth bevel gear 411 rotate, and the fifth driver 65 provides power for the sixth bevel gear 412 to make the sixth bevel gear 412 rotate, thereby driving the seventh bevel gear 413 to rotate around the second axis L2 and rotate around the third axis L3.

[0240] The fourth driver 64 and the fifth driver 65 can control the rotation and rotation direction of the fifth bevel gear 411 and the sixth bevel gear 412, thereby controlling the seventh bevel gear 413 to rotate around the second axis L2 and around the third axis L3, thereby controlling the second finger assembly 50 to approach or move away from the palm surface 11, and approach or move away from the first finger assembly 30. The second finger assembly 50 uses a differential transmission structure to use two drivers (the fourth driver 64 and the fifth driver 65) to simultaneously control the two degrees of freedom of a single finger, which can double the torque of a single joint at the same speed.

[0241] Alternatively, if Figure 19 and Figure 20 As shown, in the embodiment of the present application, the second transmission part 40 further includes: a second base 44, one end of the second base 44 is fixedly connected to the seventh bevel gear 413, and the other end is connected to the second proximal finger segment 51. The second base 44 and the second proximal finger segment 51 can be driven by the seventh bevel gear 413 to rotate around the second axis L2 and the third axis L3.

[0242] Alternatively, if Figure 1 , Figures 3 to 5 , Figure 12 and Figure 13 , Figures 16 to 20 As shown, in the embodiment of the present application, the robot dexterous hand 100 also includes a third transmission part 70 which is transmission-connected to the second finger assembly 50, and the third transmission part 70 is constructed to drive at least two adjacent second finger segments in the second finger assembly 50 to rotate relative to each other so that the second finger assembly 50 is bent or stretched.

[0243] Alternatively, if Figure 3 and Figure 4 , Figure 12 and Figure 13 ,as well as Figures 16 to 20 As shown, in the embodiment of the present application, the second finger assembly 50 includes a second proximal finger segment 51, a second middle finger segment 52 and a second distal finger segment 53 which are rotatably connected in sequence. The robot dexterous hand 100 also includes a sixth driver 66 and a seventh driver 67.

[0244] In some optional embodiments of the present application, such as Figure 12 and Figure 13 As shown, the third transmission part 70 includes: a seventh transmission wheel 71 , a first lasso 72 , an eighth transmission wheel 73 and a second lasso 74 .

[0245] The seventh transmission wheel 71 is rotatably arranged around the seventh axis and is fixedly connected to the second middle finger segment 52. One end of the first lasso 72 is drivingly connected to the sixth driver 66, and the other end is fixedly connected to the seventh transmission wheel 71, and is configured to drive the seventh transmission wheel 71 and the second middle finger segment 52 to rotate relative to the second proximal finger segment 51 under the drive of the sixth driver 66.

[0246] The eighth transmission wheel 73 is rotatably arranged about the eighth axis and is fixedly connected to the second distal finger segment 53. One end of the second lasso 74 is drivingly connected to the seventh driver 67, and the other end is fixedly connected to the eighth transmission wheel 73, and is configured to drive the eighth transmission wheel 73 and the second distal finger segment 53 to rotate relative to the second middle finger segment 52 under the drive of the seventh driver 67.

[0247] In the embodiment of the present application, the sixth driver 66, the first lasso 72, the seventh transmission wheel 71, and the second middle finger segment 52 are sequentially drivingly connected. Under the drive of the sixth driver 66, the seventh transmission wheel 71 and the second middle finger segment 52 can be driven by the first lasso 72 to rotate about the seventh axis relative to the second proximal finger segment 51. The seventh driver 67, the second lasso 74, the eighth transmission wheel 73, and the second distal finger segment 53 are sequentially drivingly connected. Under the drive of the seventh driver 67, the eighth transmission wheel 73 and the second distal finger segment 53 can be driven by the second lasso 74 to rotate about the eighth axis relative to the second middle finger segment 52. Thereby, the second finger assembly 50 is bent or extended.

[0248] Optionally, in the embodiment of the present application, the sixth driver 66 includes but is not limited to a servo electric cylinder. The seventh driver 67 includes but is not limited to a servo electric cylinder. The first lasso 72 includes but is not limited to a brake cable. The second lasso 74 includes but is not limited to a brake cable.

[0249] In the embodiment of the present application, a servo electric cylinder is used as the power, and the servo electric cylinder performs linear motion. The lasso transmission is used, and there is a steel wire rope inside the lasso, and the power is transmitted by pulling the steel wire rope to drive the second finger assembly 50 to bend or extend. The two servo electric cylinders respectively drive the second middle finger segment 52 and the second distal finger segment 53 of the second finger assembly 50 to rotate.

[0250] Optionally, as Figure 12 and Figure 13 shown, in the embodiment of the present application, the sixth driver 66 is arranged on the palm surface 11, and the seventh driver 67 is arranged on the back surface 12 of the palm. The palm 10, the second base 44, and the second finger assembly 50 are respectively provided with avoidance holes for the first lasso 72 and the second lasso 74 to pass through.

[0251] Optionally, as Figure 12 shown, in the embodiment of the present application, the third transmission part further includes: a first reset member 75 and a second reset member 76.

[0252] The first reset member 75 is fixedly connected to the seventh transmission wheel 71 and is in limit fit with the second proximal finger segment 51, and is configured to apply a force to the seventh transmission wheel 71 in a direction opposite to the direction of the force applied by the first lasso 72 to the seventh transmission wheel 71. The second reset member 76 is fixedly connected to the eighth transmission wheel 73 and is in limit fit with the second middle finger segment 52, and is configured to apply a force to the eighth transmission wheel 73 in a direction opposite to the direction of the force applied by the second lasso 74 to the eighth transmission wheel 73.

[0253] In the embodiment of the present application, the first lasso 72 pulls the seventh transmission wheel 71, driving the second middle finger segment 52 to rotate and bend relative to the second proximal finger segment 51. The second lasso 74 pulls the eighth transmission wheel 73, driving the second distal finger segment 53 to rotate and bend relative to the second middle finger segment 52. The first reset member 75 is respectively in fit with the second proximal finger segment 51 and fixedly connected to the seventh transmission wheel 71, and can apply a force to the seventh transmission wheel 71 in a direction opposite to the direction of the force applied by the first lasso 72 to the seventh transmission wheel 71. When the second finger assembly 50 needs to be extended, the force applied by the first lasso 72 to the seventh transmission wheel 71 is released, so that the seventh transmission wheel 71 can rebound under the action of the force applied by the first reset member 75, and the first reset member 75 drives the seventh transmission wheel 71 and the second middle finger segment 52 to rotate and extend relative to the second proximal finger segment 51.

[0254] The second reset member 76 is respectively in fit with the second middle finger segment 52 and fixedly connected to the eighth transmission wheel 73, and can apply a force to the eighth transmission wheel 73 in a direction opposite to the direction of the force applied by the second lasso 74 to the eighth transmission wheel 73. When the second finger assembly 50 needs to be extended, the force applied by the second lasso 74 to the eighth transmission wheel 73 is released, so that the eighth transmission wheel 73 can rebound under the action of the force applied by the second reset member 76, and the second reset member 76 drives the eighth transmission wheel 73 and the second distal finger segment 53 to rotate and extend relative to the second middle finger segment 52.

[0255] Under the action of the first reset member 75 and the second reset member 76, the second finger assembly 50 can be extended.

[0256] Optionally, as Figure 12 shown, in the embodiment of the present application, the first reset member 75 includes but is not limited to a torsion spring. The second reset member 76 includes but is not limited to a torsion spring. During the process of bending the second finger assembly 50, the torsion spring stores energy and accumulates force, and during the process of extending the second finger assembly 50, the torsion spring releases energy.

[0257] Optionally, in the embodiment of the present application, one end of the first reset member 75 is fixed in the first assembly hole on the seventh transmission wheel 71, and the other end is passed through the first limit hole on the second proximal finger segment 51. Optionally, the first limit hole includes but is not limited to a long hole, and the extending direction of the long hole is parallel to the seventh axis.

[0258] Optionally, in the embodiments of the present application, one end of the second reset member 76 is fixed in the second assembly hole on the eighth transmission wheel 73, and the other end passes through the second limit hole on the second middle finger section 52. Optionally, the second limit hole includes but is not limited to a long hole, and the extending direction of the long hole is parallel to the eighth axis.

[0259] Optionally, as Figure 13 shown, in the embodiments of the present application, the second base 44 is fixedly connected to the second proximal finger section 51.

[0260] In some other alternative embodiments of the present application, as Figure 19 and Figure 20 shown, the third transmission part 70 includes: a first bevel gear 711, a second bevel gear 712, and a third bevel gear 721.

[0261] The first bevel gear 711 and the second bevel gear 712 are relatively rotatably arranged on the second proximal finger section 51 around the seventh axis L7. The third bevel gear 721 is arranged on the second middle finger section 52 and meshes with the first bevel gear 711 and the second bevel gear 712 respectively.

[0262] When the first bevel gear 711 and the second bevel gear 712 rotate in the same direction, the third bevel gear 721 and the second middle finger section 52 are driven to rotate around the seventh axis L7 relative to the second proximal finger section 51.

[0263] In the embodiments of the present application, the second proximal finger section 51 is connected to the seventh bevel gear 413, and the seventh bevel gear 413 can drive the second proximal finger section 51 to rotate around the second axis L2 and the third axis L3.

[0264] The first bevel gear 711 meshes with the third bevel gear 721, and the rotation of the first bevel gear 711 can drive the third bevel gear 721 to rotate. The second bevel gear 712 meshes with the third bevel gear 721, and the rotation of the second bevel gear 712 can drive the third bevel gear 721 to rotate. The first bevel gear 711 and the second bevel gear 712 are relatively arranged. When the first bevel gear 711 and the second bevel gear 712 rotate in the same direction, the direction in which the first bevel gear 711 drives the third bevel gear 721 to rotate is opposite to the direction in which the second bevel gear 712 drives the third bevel gear 721 to rotate, jamming the third bevel gear 721, so that the third bevel gear 721 drives the second middle finger section 52 to rotate around the seventh axis L7 relative to the second proximal finger section 51 together, thereby enabling the second finger assembly 50 to bend or extend.

[0265] Optionally, as Figure 19 and Figure 20As shown, in the embodiment of the present application, the third transmission part 70 further includes: a fourth bevel gear 722 and a fifth bevel gear 731. The fourth bevel gear 722 and the third bevel gear 721 are rotatably arranged on the second middle finger segment 52 synchronously. The fifth bevel gear 731 meshes with the fourth bevel gear 722 and is rotatably arranged around the eighth axis L8, and the fifth bevel gear 731 is fixedly connected to the second distal finger segment 53.

[0266] When the first bevel gear 711 and the second bevel gear 712 rotate in opposite directions, the third bevel gear 721 and the fourth bevel gear 722 rotate synchronously, driving the fifth bevel gear 731 and the second distal finger segment 53 to rotate around the eighth axis L8 relative to the second middle finger segment 52.

[0267] In the embodiment of the present application, when the first bevel gear 711 and the second bevel gear 712 rotate in opposite directions, the direction in which the first bevel gear 711 drives the third bevel gear 721 to rotate is the same as the direction in which the second bevel gear 712 drives the third bevel gear 721 to rotate, so that the third bevel gear 721 rotates around its own axis, driving the fourth bevel gear 722 to rotate synchronously. The fourth bevel gear 722 meshes with the fifth bevel gear 731, driving the fifth bevel gear 731 to rotate. The fifth bevel gear 731 is fixedly connected to the second distal finger segment 53, thereby driving the second distal finger segment 53 to rotate around the eighth axis L8 relative to the second middle finger segment 52 together, so that the second finger assembly 50 bends or extends.

[0268] Optionally, as Figure 19 and Figure 20 shown, in the embodiment of the present application, the fifth bevel gear 731 and the second distal finger segment 53 are rotatably connected to the second middle finger segment 52 around the eighth axis L8.

[0269] Optionally, as Figure 19 and Figure 20 shown, in the embodiment of the present application, the third transmission part 70 further includes: a first gear 741, a second gear 742, a first sector gear 751 and a second sector gear 752.

[0270] The first gear 741 and the second gear 742 are respectively rotatably arranged on the second proximal finger segment 51. The first gear 741 rotates synchronously with the first bevel gear 711, and the second gear 742 rotates synchronously with the second bevel gear 712. The first sector gear 751 and the second sector gear 752 are respectively rotatably arranged on the second proximal finger segment 51. The first sector gear 751 meshes with the first gear 741, and the second sector gear 752 meshes with the second gear 742. The output end of the sixth driver 66 abuts against or is pivotally connected to the first sector gear 751, and the output end of the seventh driver 67 abuts against or is pivotally connected to the second sector gear 752.

[0271] In the embodiment of the present application, the sixth driver 66, the first sector gear 751, and the first gear 741 are sequentially connected in transmission. The sixth driver 66 provides power, which is transmitted to the first gear 741 through the first sector gear 751, so that the first gear 741 rotates, driving the first bevel gear 711 to rotate synchronously. The seventh driver 67, the second sector gear 752, and the second gear 742 are sequentially connected in transmission. The seventh driver 67 provides power, which is transmitted to the second gear 742 through the second sector gear 752, so that the second gear 742 rotates, driving the second bevel gear 712 to rotate synchronously. The sixth driver 66 and the seventh driver 67 can each drive the first bevel gear 711 and the second bevel gear 712 to rotate, and adjust the rotation direction of the first bevel gear 711 and the second bevel gear 712, so that the second finger assembly 50 is bent or stretched. The second finger assembly 50 uses a differential transmission structure (including a first bevel gear 711, a second bevel gear 712, a third bevel gear 721, a fourth bevel gear 722 and a fifth bevel gear 731) and two drivers (a sixth driver 66 and a seventh driver 67) to simultaneously control two degrees of freedom of a single finger (rotation of the second middle finger segment 52 relative to the second proximal finger segment 51, and rotation of the second distal finger segment 53 relative to the second middle finger segment 52), which can double the torque of a single joint at the same speed.

[0272] Alternatively, if Figure 19 and Figure 20 As shown, in the embodiment of the present application, the thumb assembly of the robot dexterous hand 100 can adopt the above-mentioned second finger assembly 50, second transmission part 40 and third transmission part 70.

[0273] Alternatively, if Figure 19 and Figure 20 As shown, in the embodiment of the present application, the second base 44 is pivotally connected to the second proximal finger segment 51. The second proximal finger segment 51 can rotate around the pivot axis between the second proximal finger segment 51 and the second base 44 relative to the second base 44 and the seventh bevel gear 413.

[0274] Optionally, the axis of the pivot shaft between the second proximal finger segment 51 and the second base 44 intersects the second axis L2. Optionally, the axis of the pivot shaft between the second proximal finger segment 51 and the second base 44 is perpendicular to the second axis L2.

[0275] Alternatively, if Figure 3 , Figure 14 and Figure 17 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a fourth transmission part 80, which is in transmission connection with at least two first finger assemblies 30. The fourth transmission part 80 is configured to drive at least two first finger assemblies 30 to shake in the plane where the palm 10 is located.

[0276] In the embodiment of the present application, the palm part 10 bears the fourth transmission part 80. The fourth transmission part 80 is in transmission connection with at least two first finger assemblies 30, and can drive these at least two first finger assemblies 30 to swing respectively in the plane where the palm part 10 is located, so as to realize the action of swinging at least two first finger assemblies 30 and adjust the swinging angle of at least two first finger assemblies 30 relative to the palm part 10 in the plane where the palm part 10 is located, which can improve the dexterity of the robotic flexible hand 100 and enable the robotic flexible hand 100 to better adapt to a variety of different application scenarios.

[0277] Optionally, as Figure 14 shown, in the embodiment of the present application, the fourth transmission part 80 includes: a first worm 81, a third sector gear 82 and a link mechanism 83. The first worm 81 is rotatably arranged on the palm part 10. The third sector gear 82 is rotatably arranged on the palm part 10 and meshes with the first worm 81. The input end of the link mechanism 83 is pivotally connected to the third sector gear 82, and at least two output ends are respectively pivotally connected to at least two first finger assemblies 30 in a one-to-one correspondence.

[0278] In the embodiment of the present application, when the first worm 81 rotates, it drives the third sector gear 82 to rotate. The input end of the link mechanism 83 rotates with the third sector gear 82, driving the link mechanism 83 to swing in the plane where the palm part 10 is located, so as to drive at least two first finger assemblies 30 to swing in the plane where the palm part 10 is located through at least two output ends of the link mechanism 83.

[0279] Optionally, as Figure 3 、 Figure 14 and Figure 17 shown, in the embodiment of the present application, the robotic flexible hand 100 further includes an eighth driver 68. The eighth driver 68 is in driving connection with the first worm 81 and is used to provide power for the first worm 81 to make the first worm 81 rotate.

[0280] Optionally, as Figure 14 shown, in the embodiment of the present application, the link mechanism 83 includes a first rod 831 and at least two second rods 832. The input end of the first rod 831 is pivotally connected to the third sector gear 82. At least two second rods 832 correspond to at least two first finger assemblies 30 in a one-to-one correspondence. The input ends of at least two second rods 832 are respectively pivotally connected to the output end of the first rod 831. The output ends of at least two second rods 832 are respectively pivotally connected to the first transmission part 20 (such as the first base 21) of the corresponding first finger assembly 30. When the third sector gear 82 rotates, it drives the first rod 831 to swing, drives at least two second rods 832 to swing, and thus drives at least two first finger assemblies 30 to swing.

[0281] Of course, in other alternative embodiments of the present application, according to actual needs, the robotic dexterous hand 100 may further include a ninth driver. The output end of the ninth driver is pivotally connected to the input ends of at least two second rods 832. By driving the at least two second rods 832 to swing through the ninth driver, the at least two first finger assemblies 30 are driven to swing. Optionally, the ninth driver includes, but is not limited to, a linear driver.

[0282] Optionally, as Figure 15 shown, in the embodiment of the present application, the first finger assembly 30 includes a first proximal phalanx 31, a first middle phalanx 32, and a first distal phalanx 33 that are sequentially rotatably connected. The first transmission part 20 includes: a first base 21, a first bevel gear 221, a third bevel gear 231, a sixth transmission wheel 264, a second transmission wheel 242, a second flexible transmission member 252, a third transmission wheel 261, a fourth transmission wheel 262, and a third flexible transmission member 253.

[0283] The first bevel gear 221 is rotatably arranged on the first base 21 around the fourth axis L4. The third bevel gear 231 is rotatably arranged around the first axis L1 and is fixedly connected to the first proximal phalanx 31. The third bevel gear 231 meshes with the first bevel gear 221 to drive the first proximal phalanx 31 to rotate around the first axis L1 relative to the palm 10. The sixth transmission wheel 264 is fixed on the first base 21 and is concentrically arranged with the third bevel gear 231. The second transmission wheel 242 is rotatably arranged around the fifth axis and is fixedly connected to the first middle phalanx 32. The second flexible transmission member 252 is respectively fixed on the sixth transmission wheel 264 and the second transmission wheel 242 and is in an 8 - shape, so as to drive the first middle phalanx 32 to rotate around the fifth axis relative to the first proximal phalanx 31 under the drive of the sixth transmission wheel 264. The third transmission wheel 261 is fixed on the first proximal phalanx 31 and is concentrically arranged with the second transmission wheel 242. The fourth transmission wheel 262 is rotatably arranged around the sixth axis and is fixedly connected to the first distal phalanx 33. The third flexible transmission member 253 is respectively fixed on the third transmission wheel 261 and the fourth transmission wheel 262 and is in an 8 - shape, so as to drive the first distal phalanx 33 to rotate around the sixth axis relative to the first middle phalanx 32 under the drive of the third transmission wheel 261.

[0284] In the embodiment of the present application, the first bevel gear 221 meshes with the third bevel gear 231. When the first bevel gear 221 rotates, it drives the third bevel gear 231 to rotate. The third bevel gear 231 is fixedly connected to the first proximal phalanx 31. When the third bevel gear 231 rotates, it drives the first proximal phalanx 31 to rotate around the first axis L1 relative to the palm 10, so that the first finger assembly 30 swings relative to the palm 10, approaching or moving away from the palm center plane 11.

[0285] The sixth transmission wheel 264 is fixed on the first base 21 and is arranged concentrically with the third bevel gear 231. When the first proximal finger segment 31 rotates relative to the palm 10, the sixth transmission wheel 264 and the first proximal finger segment 31 rotate relative to each other. Since the sixth transmission wheel 264 is connected to the second transmission wheel 242 through the second flexible transmission member 252, and the second transmission wheel 242 is fixedly connected to the first middle finger segment 32, the sixth transmission wheel 264 rotates relative to the first proximal finger segment 31, and the second transmission wheel 242 and the first middle finger segment 32 can be driven by the second flexible transmission member 252 to rotate relative to the first proximal finger segment 31 around the fifth axis.

[0286] The third transmission wheel 261 is fixed on the first proximal finger segment 31 and is arranged concentrically with the second transmission wheel 242. When the first middle finger segment 32 rotates relative to the first proximal finger segment 31, the third transmission wheel 261 and the first middle finger segment 32 rotate relative to each other. Since the third transmission wheel 261 is connected to the fourth transmission wheel 262 through the third flexible transmission member 253, and the fourth transmission wheel 262 is fixedly connected to the first distal finger segment 33, the third transmission wheel 261 rotates relative to the first middle finger segment 32, which can drive the fourth transmission wheel 262 and the first distal finger segment 33 to rotate relative to the first middle finger segment 32 around the sixth axis through the third flexible transmission member 253.

[0287] Therefore, the first middle finger segment 32 rotates relative to the first proximal finger segment 31 about the fifth axis L5, and the first distal finger segment 33 rotates relative to the first middle finger segment 32 about the sixth axis L6, so that the first finger assembly 30 is bent or stretched.

[0288] Optionally, in the embodiment of the present application, the sixth transmission wheel 264 is fixed on the first support ear 212 .

[0289] Alternatively, if Figure 4 and Figure 18 As shown, in the embodiment of the present application, the robot dexterous hand 100 further includes a first driver 61 disposed on the back of the palm 12. The first transmission part 20 further includes a first worm gear mechanism 27. The first driver 61, the first worm gear mechanism 27 and the first bevel gear 221 are sequentially connected in transmission.

[0290] In the embodiment of the present application, the first driver 61 provides power for the first worm and worm gear mechanism 27. The first worm and worm gear mechanism 27 transmits the power to the first bevel gear 221, drives the first bevel gear 221 to rotate, and can adjust the rotation direction of the first bevel gear 221. By the first driver 61, the rotation and rotation direction of the first bevel gear 221 can be controlled, so as to control the rotation and rotation direction of the third bevel gear 231, and thus control the swing or bending of the first finger assembly 30. The first finger assembly 30 uses the above transmission structure (the first worm and worm gear mechanism 27, the first bevel gear 221, the third bevel gear 231, the sixth transmission wheel 264, the second transmission wheel 242, the second flexible transmission member 252, the third transmission wheel 261, the fourth transmission wheel 262, the third flexible transmission member 253, etc.) to control two degrees of freedom of a single finger by the first driver 61, and can double the torque of a single joint at the same speed.

[0291] Optionally, as Figures 1 to 6 , Figures 15 to 18 shown, in the embodiment of the present application, the ring finger assembly and the little finger assembly of the robotic dexterous hand 100 can adopt the above-mentioned first transmission part 20 (including the first base 21, the first bevel gear 221, the third bevel gear 231, the sixth transmission wheel 264, the second transmission wheel 242, the second flexible transmission member 252, the third transmission wheel 261, the fourth transmission wheel 262, and the third flexible transmission member 253) and the first finger assembly 30. The structures of the ring finger assembly and the little finger assembly are the same or similar.

[0292] Optionally, as Figure 1 , Figure 2 , Figure 5 and Figure 6 shown, in the embodiment of the present application, the palm 10 includes a first housing 13 and a second housing 14. The first housing 13 is installed on one side of the palm surface 11 of the palm 10 and covers the palm surface 11, and the second housing 14 is installed on one side of the back surface 12 of the palm 10 and covers the back surface 12. The first housing 13 and the second housing 14 are fixedly connected and enclose a cavity, and the fourth transmission part 80, each driver, etc. are surrounded in this cavity.

[0293] Optionally, as Figure 1 and Figure 5 shown, in the embodiment of the present application, silica gels 110 are respectively arranged at the fingertips, joints and finger roots of the first finger assembly 30, and at the fingertips and joints of the second finger assembly 50.

[0294] Based on the same inventive concept, the embodiment of the present application provides a robot, and this robot includes the robotic dexterous hand 100 as described above.

[0295] It should be noted that since the robot provided by the embodiment of the present application includes the robotic dexterous hand provided by the embodiment of the present application, the robot provided by the embodiment of the present application also has the above beneficial effects of the robotic dexterous hand provided by the embodiment of the present application, which will not be elaborated here.

[0296] Optionally, in the embodiment of the present application, the robotic dexterous hand 100 is used as an end effector and is installed at the execution end of the robot, and can complete actions such as pinching, grasping, and clamping. The robot can use the robotic dexterous hand 100 to perform operations such as grasping, pinching, moving and carrying objects, or operating tools.

[0297] Optionally, in the embodiment of the present application, the robot includes but is not limited to humanoid robots.

[0298] Applying the embodiment of the present application can at least achieve the following beneficial effects:

[0299] In the embodiment of the present application, the palm is used to carry the first transmission part, the first finger assembly, the second transmission part, the second finger assembly, etc.

[0300] In the embodiment of the present application, the first transmission part is arranged at the front edge of the palm. The first finger assembly includes at least two first finger segments that are rotatably connected. The first transmission part is in transmission connection with the first finger assembly. The first transmission part can drive the first finger assembly to swing relative to the palm around the first axis, so that the first finger assembly can approach the palm center surface of the palm to facilitate functions such as pinching, grasping, and clamping, or so that the first finger assembly can move away from the palm center surface to expand relative to the palm; the first transmission part can also drive at least two adjacent first finger segments in the first finger assembly to rotate relative to each other, so that the first finger assembly can bend to facilitate functions such as pinching, grasping, and clamping, or so that the first finger assembly can extend.

[0301] In the embodiment of the present application, the first transmission part can drive the first finger assembly to swing around the first axis relative to the palm, as well as bend or extend, so that the first finger assembly has multiple degrees of freedom, improving the flexibility of the first finger assembly, and enhancing the dexterity and adaptability of the robotic dexterous hand, making it more suitable for the application scenario requirements. By the first transmission part can drive the movement of the first finger segments of the first finger assembly, the control of the robotic dexterous hand is more precise and specific, and the operability is strong.

[0302] In the embodiments of the present application, the second transmission part is arranged on one side of the root of the palm part. The second transmission part is in transmission connection with the second finger assembly. The second transmission part can drive the second finger assembly to swing relative to the palm part around the second axis, so that the second finger assembly can approach the palm surface to facilitate functions such as pinching, grasping, and clamping, or the second finger assembly can move away from the palm surface to expand relative to the palm part; the second transmission part can also drive the second finger assembly to swing relative to the palm part around the third axis, so that the second finger assembly can approach the first finger assembly to facilitate the cooperation between the second finger assembly and the first finger assembly to realize functions such as pinching, grasping, and clamping, or the second finger assembly can move away from the first finger assembly to release the cooperation between the second finger assembly and the first finger assembly.

[0303] In the embodiments of the present application, the second transmission part can drive the second finger assembly to swing around the second axis and around the third axis relative to the palm part, so that the second finger assembly has multiple degrees of freedom, improving the flexibility of the second finger assembly, further enhancing the dexterity and adaptability of the robotic dexterous hand, and being able to improve the adaptability to meet the requirements of the application scenario.

[0304] In the embodiments of the present application, the first finger assembly is located at the leading edge of the palm part, and the second finger assembly is located on one side of the root of the palm part. The first transmission part is used to drive the first finger assembly to swing around the swing axis and the relative rotation between the first finger segments, and the second transmission part is used to drive the second finger assembly to swing around the swing axis, so that the first finger assembly and the second finger assembly each have multiple degrees of freedom, enabling the robotic dexterous hand to at least have a grasping state in which the first finger assembly and the second finger assembly cooperate to grasp (including pinching, grasping, or clamping, etc.) a target object, and a releasing state in which the first finger assembly and the second finger assembly release the cooperation to release the target object. The releasing state includes an expanded state in which the first finger assembly and the second finger assembly each expand along a direction parallel to the palm part.

[0305] In the description of the present application, the directions or positional relationships indicated by words such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are exemplary directions or positional relationships based on the drawings, for the convenience of describing or simplifying the embodiments of the present application, rather than indicating or implying that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0306] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0307] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

[0308] The above are only some embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the technical concept of the solution of this application, using other similar implementation means based on the technical idea of this application also belongs to the scope of protection of the embodiments of this application.

Claims

1. A robotic dexterous hand, characterized in that, Comprising: A palm part having a palm surface; A first transmission part disposed at the front edge of the palm part; A first finger assembly drivingly connected to the first transmission part; the first finger assembly includes a first proximal phalanx, a first middle phalanx, and a first distal phalanx that are sequentially rotatably connected; A second transmission part disposed on one side of the root of the palm part; A second finger assembly drivingly connected to the second transmission part; The first transmission part is configured to drive the first finger assembly to swing relative to the palm part about a first axis parallel to the palm part, or drive the first distal phalanx, the first middle phalanx, and the first proximal phalanx to rotate relative to each other to bend or extend the first finger assembly; The second transmission part is configured to drive the second finger assembly to swing relative to the palm part about at least one of a second axis and a third axis; the second axis and the third axis are perpendicular; The index finger assembly and the middle finger assembly of the robotic dexterous hand adopt the first transmission part and the first finger assembly; the first transmission part includes: a first base including a bottom plate disposed at the front edge of the palm surface and two first lugs oppositely disposed on both sides of the bottom plate; A first bevel gear and a second bevel gear rotatably stacked on the bottom plate about a fourth axis; the fourth axis is perpendicular to the palm part; a third bevel gear and a fourth bevel gear rotatably disposed relative to each other on the two first lugs about the first axis; the third bevel gear meshes with the first bevel gear, and the fourth bevel gear meshes with the second bevel gear; when the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear and the fourth bevel gear are driven to rotate in the same direction, so that the first middle phalanx and the first proximal phalanx are relatively fixed to drive the first proximal phalanx to rotate about the first axis; when the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear and the fourth bevel gear are driven to rotate in opposite directions, so that both the first middle phalanx and the first distal phalanx rotate relative to the first proximal phalanx.

2. The dexterous robot hand according to claim 1, characterized in that The first transmission part further includes: A first transmission wheel and a second transmission wheel rotatably disposed about a fifth axis and fixedly connected to the first middle phalanx; A first flexible transmission member fixedly connected to the third bevel gear and fixed on the first transmission wheel; A second flexible transmission member fixedly connected to the fourth bevel gear and fixed on the second transmission wheel; One of the first flexible transmission member and the second flexible transmission member is in an "O" shape, and the other is in an "8" shape; When the third bevel gear and the fourth bevel gear rotate in opposite directions, the first transmission wheel and the second transmission wheel rotate in the same direction to drive the first middle phalanx to rotate about the fifth axis relative to the first proximal phalanx.

3. The robotic dexterous hand according to claim 2, characterized in that, The first transmission part further includes: A third transmission wheel fixed on the first proximal phalanx and concentrically arranged with the first transmission wheel and the second transmission wheel; A fourth transmission wheel rotatably disposed about a sixth axis and fixedly connected to the first distal phalanx; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape, so that the first distal finger segment rotates relative to the first middle finger segment around the sixth axis under the drive of the third transmission wheel.

4. The robotic dexterous hand according to claim 1, characterized in that, Include at least one of the following: The palm portion also has a palm back side opposite to the palm center side; the robot dexterous hand also includes a first driver and a second driver arranged on the palm back side; the first transmission part also includes a first worm gear mechanism and a second worm gear mechanism; the first driver, the first worm gear mechanism and the first bevel gear are sequentially connected in transmission; the second driver, the second worm gear mechanism and the second bevel gear are sequentially connected in transmission; The first base is rotatably arranged relative to the palm within the plane where the palm is located; the robot dexterous hand also includes a third driver and a third worm gear mechanism, and the third driver, the third worm gear mechanism and the first base are sequentially connected in transmission.

5. The dexterous robot hand according to claim 1, characterized in that, The second finger assembly includes at least two second finger segments rotatably connected; The second transmission part comprises: The fifth bevel gear and the sixth bevel gear are rotatably arranged relative to each other around the third axis; The seventh bevel gear is meshed with the fifth bevel gear and the sixth bevel gear respectively. The seventh bevel gear is rotatably arranged around the second axis and the third axis respectively, and is connected to the first second finger segment close to the palm.

6. The dexterous robot hand according to claim 5, characterized in that Include at least one of the following: The second transmission part further includes: two second ears arranged opposite to each other at the side edge of the palm root, a first rotating shaft rotatably connected to at least one of the second ears, and a second rotating shaft fixedly connected to the first rotating shaft, the fifth bevel gear and the sixth bevel gear are arranged opposite to each other on the two second ears, the first rotating shaft extends along the third axis, the second rotating shaft extends along the second axis, and the seventh bevel gear is rotatably arranged on the second rotating shaft; The robot dexterous hand further comprises a fourth driver and a fifth driver arranged on the back of the palm, the fourth driver is transmission-connected to the fifth bevel gear, and the fifth driver is transmission-connected to the sixth bevel gear; The robot dexterous hand also includes a third transmission part that is transmission-connected to the second finger assembly, and the third transmission part is configured to drive at least two adjacent second finger segments in the second finger assembly to rotate relative to each other so that the second finger assembly bends or stretches.

7. The dexterous robot hand according to claim 1, characterized in that The second finger assembly comprises a second proximal finger segment, a second middle finger segment and a second distal finger segment which are rotatably connected in sequence; The robot dexterous hand further comprises a third transmission part, and the third transmission part comprises: A first bevel gear and a second bevel gear are rotatably arranged on the second proximal finger segment relative to each other around a seventh axis; The third bevel gear is arranged on the second middle finger segment and is respectively meshed with the first bevel gear and the second bevel gear.

8. The robotic dexterous hand according to claim 7, characterized in that, The third transmission unit further includes: a fourth bevel gear, which is rotatably arranged on the second middle finger segment in synchronization with the third bevel gear; The fifth bevel gear meshes with the fourth bevel gear and is rotatably arranged about the eighth axis, and the fifth bevel gear is fixedly connected to the second distal finger segment.

9. The dexterous robot hand according to claim 7, characterized in that, The third transmission part further includes: A first gear and a second gear, which are respectively rotatably arranged on the second proximal finger segment, the first gear rotates synchronously with the first bevel gear, and the second gear rotates synchronously with the second bevel gear; A first sector gear and a second sector gear, which are respectively rotatably arranged on the second proximal finger segment, the first sector gear meshes with the first gear, and the second sector gear meshes with the second gear; And, the robotic dexterous hand further includes a sixth driver and a seventh driver, an output end of the sixth driver abuts or is pivotally connected to the first sector gear, and an output end of the seventh driver abuts or is pivotally connected to the second sector gear.

10. The dexterous robot hand according to claim 1, characterized in that, The second finger assembly includes a second proximal finger segment, a second middle finger segment, and a second distal finger segment that are sequentially rotatably connected; The robotic dexterous hand further includes a third transmission part, a sixth driver, and a seventh driver; The third transmission part includes: A seventh transmission wheel, which is rotatably arranged about the seventh axis and is fixedly connected to the second middle finger segment; A first lasso, one end of which is drivingly connected to the sixth driver, and the other end of which is fixedly connected to the seventh transmission wheel; An eighth transmission wheel, which is rotatably arranged about the eighth axis and is fixedly connected to the second distal finger segment; A second lasso, one end of which is drivingly connected to the seventh driver, and the other end of which is fixedly connected to the eighth transmission wheel.

11. The robotic dexterous hand according to claim 10, characterized in that, The third transmission part further includes: A first reset member, which is fixedly connected to the seventh transmission wheel and is in limit cooperation with the second proximal finger segment, and is configured to apply a force to the seventh transmission wheel in a direction opposite to the force applied by the first lasso to the seventh transmission wheel; A second reset member, which is fixedly connected to the eighth transmission wheel and is in limit cooperation with the second middle finger segment, and is configured to apply a force to the eighth transmission wheel in a direction opposite to the force applied by the second lasso to the eighth transmission wheel.

12. The dexterous robot hand according to claim 1, characterized in that, The number of the first transmission parts and the first finger assemblies is at least two each; At least two of the first finger assemblies are sequentially arranged at the leading edge of the palm in the plane where the palm is located; At least two of the first transmission parts and at least two of the first finger assemblies are in one-to-one transmission connection.

13. The robotic dexterous hand according to claim 12, wherein It further includes a fourth transmission part, and the fourth transmission part is in transmission connection with at least two of the first finger assemblies; The fourth transmission part is configured to drive at least two of the first finger assemblies to swing respectively in the plane where the palm is located.

14. The robotic dexterous hand according to claim 13, wherein The fourth transmission part includes: A first worm, which is rotatably arranged on the palm; A third sector gear, which is rotatably arranged on the palm and meshes with the first worm; A linkage mechanism, an input end of which is pivotally connected to the third sector gear, and at least two output ends are respectively pivotally connected to at least two of the first finger assemblies in one-to-one correspondence.

15. The robotic dexterous hand according to claim 1, characterized in that, The ring finger assembly and the little finger assembly of the robotic dexterous hand adopt the first transmission part and the first finger assembly; The first transmission part includes: A first base; The first bevel gear is rotatably disposed on the first base about the fourth axis; The third bevel gear is rotatably disposed about the first axis and is fixedly connected to the first proximal finger segment. The third bevel gear meshes with the first bevel gear to drive the first proximal finger segment to rotate about the first axis relative to the palm; The sixth transmission wheel is fixed on the first base and is concentrically disposed with the third bevel gear; The second transmission wheel is rotatably disposed about the fifth axis and is fixedly connected to the first middle finger segment; The second flexible transmission member is respectively fixed on the sixth transmission wheel and the second transmission wheel and is in an 8-shape, so that under the drive of the sixth transmission wheel, the first middle finger segment rotates about the fifth axis relative to the first proximal finger segment; The third transmission wheel is fixed on the first proximal finger segment and is concentrically disposed with the second transmission wheel; The fourth transmission wheel is rotatably disposed about the sixth axis and is fixedly connected to the first distal finger segment; The third flexible transmission member is respectively fixed on the third transmission wheel and the fourth transmission wheel and is in an 8-shape.

16. A robot, characterized in that, It includes the robotic dexterous hand according to any one of claims 1 to 15.

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