Dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and aims to solve the problem that the dexterous hand cannot have high flexibility and small size at the same time due to a side swing structure. According to the dexterous hand, the little finger and / or the ring finger have / has the independent swinging function through at least one first side-swinging driving assembly and one second side-swinging driving assembly, the index finger also has the independent swinging function, and the extending direction of the first side-swinging driving assembly is parallel to the extending direction of the fingers where the first side-swinging driving assembly is arranged when the fingers stretch. The extension direction of the second side-sway driving assembly intersects with the extension direction of the index finger when the index finger stretches, and one end of the second side-sway driving assembly extends towards the middle finger, so that the installation position of the thumb is closer to the middle finger and the index finger, the dexterous hand is compact in structure, multiple fingers of the dexterous hand have the independent side-sway function, and meanwhile the small size and the small size can be considered. And the dexterous hand is suitable for wider application scenes.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a dexterous hand and a robot. Background Art

[0002] As an important end effector in the field of robots, the dexterous hand aims to simulate the flexible operation ability of the human hand to complete various complex tasks, such as grasping and operating fine objects, and has broad application prospects in the fields of industrial automation, service robots, medical surgical assistance, etc.

[0003] However, in the existing dexterous hand designs, the side-swing structure of the fingers is large in volume, resulting in a large size of the dexterous hand. Or, in order to reduce the volume of the side-swing structure, only the index finger among multiple fingers can perform side-swing, which both limit the application scenarios of the dexterous hand. Summary of the Invention

[0004] In view of this, an embodiment of this application provides a small-sized dexterous hand that can effectively reduce the size and simultaneously achieve the independent side-swing function of multiple fingers, so as to expand the application scope of the dexterous hand and meet the actual needs of different fields.

[0005] In a first aspect, an embodiment of this application provides a dexterous hand, including: a palm substrate; a little finger and / or a ring finger rotatably connected to the palm substrate; a middle finger connected to the palm substrate; an index finger rotatably connected to the palm substrate; at least one first side-swing drive assembly disposed on the little finger and / or the ring finger and drivingly connected to the palm substrate for driving the little finger and / or the ring finger to swing, the orthographic projection of the first side-swing drive assembly on the palm substrate in a direction perpendicular to the palm substrate overlaps with the palm substrate, the shape of the first side-swing drive assembly includes a long strip, when the first side-swing drive assembly is disposed on the little finger, the extending direction of the first side-swing drive assembly is parallel to the extending direction of the little finger when the little finger extends, and when the first side-swing drive assembly is disposed on the ring finger, the extending direction of the first side-swing drive assembly is parallel to the extending direction of the ring finger when the ring finger extends; a second side-swing drive assembly adjacent to the first side-swing drive assembly, disposed on the index finger and drivingly connected to the palm substrate for driving the index finger to swing, the orthographic projection of the second side-swing drive assembly on the palm substrate in a direction perpendicular to the palm substrate overlaps with the palm substrate, the shape of the second side-swing drive assembly includes a long strip, the extending direction of the second side-swing drive assembly intersects with the extending direction of the index finger when the index finger extends, and one end of the second side-swing drive assembly extends towards the middle finger; a thumb mounted on a thumb mounting area of the palm substrate, the thumb mounting area being located on a side of the first side-swing drive assembly close to the second side-swing drive assembly and on a side of the second side-swing drive assembly away from the index finger.

[0006] In some implementations, the dexterous hand includes a little finger and a ring finger, both of which are rotatably connected to the palm substrate; the number of the first side-swing drive components is two, and the two first side-swing drive components are arranged adjacent to each other and are respectively arranged on the little finger and the ring finger, and are respectively used to drive the little finger and the ring finger to swing. The extension direction of the first side-swing drive component arranged on the little finger is parallel to the extension direction of the little finger when it extends, and the extension direction of the first side-swing drive component arranged on the ring finger is parallel to the extension direction of the ring finger when it extends.

[0007] In some implementations, the little finger is rotatably connected to the palm substrate around a first axis, the ring finger is rotatably connected to the palm substrate around a second axis, and the index finger is rotatably connected to the palm substrate around a third axis. The first axis, the second axis, and the third axis are all perpendicular to the palm substrate; the first side-swing drive component includes: a first engaging member arranged on the palm substrate, the first engaging member includes a plurality of first engaging teeth, and the plurality of first engaging teeth are distributed along a first arc, and the first arc extends along the circumferential direction of the first axis or the second axis; a first rotation drive member, the shape of the first rotation drive member includes a long strip. Among them, the first rotation drive member is arranged on the little finger and is located on the side of the first axis away from the fingertip of the little finger, and the extension direction of the first rotation drive member is parallel to the extension direction of the little finger when it extends, or the first rotation drive member is arranged on the ring finger and is located on the side of the second axis away from the fingertip of the ring finger, and the extension direction of the first rotation drive member is parallel to the extension direction of the ring finger when it extends; a second engaging member, connected to the first rotation drive member, meshing with the first engaging member, and capable of rotating around a fourth axis under the drive of the first rotation drive member, and the fourth axis is parallel to the first axis; and / or, the second side-swing drive component includes: a third engaging member arranged on the palm substrate, the third engaging member includes a plurality of second engaging teeth, and the plurality of second engaging teeth are distributed along a second arc, and the second arc extends along the circumferential direction of the third axis; a second rotation drive member, adjacent to the first rotation drive member, arranged on the index finger and located on the side of the third axis away from the fingertip of the index finger, the shape of the second rotation drive member includes a long strip, the extension direction of the second rotation drive member intersects with the extension direction of the index finger when it extends, and one end of the second rotation drive member extends towards the middle finger; a fourth engaging member, connected to the second rotation drive member, meshing with the third engaging member, and capable of rotating around a fifth axis under the drive of the second rotation drive member, and the fifth axis is parallel to the third axis.

[0008] In some implementations, when the second side-swing drive component includes a third engaging member, a second rotation drive member, and a fourth engaging member, the third engaging member is located on the side of the fourth engaging member away from the thumb mounting area, and / or, the palm substrate includes a palm side and a back side arranged opposite to each other, and the third engaging member and the fourth engaging member are arranged on the side of the second rotation drive member facing the back side.

[0009] In some implementations, the little finger is rotatably connected to the palm substrate about a first axis, the ring finger is rotatably connected to the palm substrate about a second axis, and the index finger is rotatably connected to the palm substrate about a third axis. The first axis, the second axis, and the third axis are all perpendicular to the palm substrate. One or more of the little finger, the ring finger, the middle finger, and the index finger include: a webbed component. When the little finger, the ring finger, or the index finger includes the webbed component, the webbed component is rotatably connected to the palm substrate. When the middle finger includes the webbed component, the webbed component is fixedly connected to the palm substrate. A first phalanx is rotatably connected to the webbed component about a sixth axis, and the sixth axis is perpendicular to the first axis. A phalanx rotation driving component is disposed on the webbed component and is connected to or abuts against the first phalanx for driving the first phalanx to rotate about the sixth axis. Among them, when the little finger includes the webbed component, the first side-swing driving component corresponding to the little finger is connected to the webbed component and is located on the side away from the first phalanx of the phalanx rotation driving component. When the ring finger includes the webbed component, the first side-swing driving component corresponding to the ring finger is connected to the webbed component and is located on the side away from the first phalanx of the phalanx rotation driving component. When the index finger includes the webbed component, the second side-swing driving component is connected to the webbed component and is located on the side away from the first phalanx of the phalanx rotation driving component.

[0010] In some implementations, the orthographic projection of the webbed component on the palm substrate in a direction perpendicular to the palm substrate overlaps with the palm substrate.

[0011] In some implementations, one or more of the little finger, the ring finger, the middle finger, and the index finger further include: a second phalanx rotatably connected to the first phalanx about a seventh axis, and the seventh axis is parallel to the sixth axis. A first link component, one end of the first link component is rotatably connected to the webbed component about an eighth axis, and the other end of the first link component is rotatably connected to the second phalanx about a ninth axis. The eighth axis and the ninth axis are both parallel to the sixth axis. In a plane perpendicular to the sixth axis, the connection line between the sixth axis and the seventh axis intersects with the connection line between the eighth axis and the ninth axis.

[0012] In some implementations, the little finger, the ring finger, the middle finger, and the index finger all have a back-of-hand side and a palm side arranged opposite to each other. One or more of the little finger, the ring finger, the middle finger, and the index finger further include: a first connecting piece disposed on the first phalanx and located on the side of the seventh axis facing the back-of-hand side. An elastic member, one end of the elastic member is connected to the side of the second phalanx facing the back-of-hand side, and the other end of the elastic member is connected to the first connecting piece. When the little finger, the ring finger, the middle finger, or the index finger to which the elastic member is connected is extended, the elastic member is in a stretched state or an undeformed state.

[0013] In some implementations, the thumb includes: a thumb connecting component disposed in the thumb mounting area; a first thumb phalanx rotatably connected to the thumb connecting component about a tenth axis; a second thumb phalanx rotatably connected to the first thumb phalanx about an eleventh axis, the eleventh axis being parallel to the tenth axis; a third thumb phalanx rotatably connected to the second thumb phalanx about a twelfth axis, the twelfth axis being parallel to the tenth axis; a second link component, one end of the second link component is rotatably connected to the thumb connecting component about a thirteenth axis, and the other end of the second link component is rotatably connected to the second thumb phalanx about a fourteenth axis, both the thirteenth axis and the fourteenth axis are parallel to the tenth axis, and in a cross-section perpendicular to the tenth axis, the line connecting the tenth axis and the eleventh axis intersects the line connecting the thirteenth axis and the fourteenth axis; a third link component, one end of the third link component is rotatably connected to the first thumb phalanx about a fifteenth axis, and the other end of the third link component is rotatably connected to the third thumb phalanx about a sixteenth axis, both the fifteenth axis and the sixteenth axis are parallel to the tenth axis, and in a cross-section perpendicular to the tenth axis, the line connecting the eleventh axis and the twelfth axis intersects the line connecting the fifteenth axis and the sixteenth axis; a thumb rotation driving component disposed on the first thumb phalanx and connected or abutted to the second thumb phalanx for driving the second thumb phalanx to rotate about the eleventh axis.

[0014] In some implementations, the thumb further includes: a support member, the first thumb phalanx is rotatably connected to the support member about the tenth axis, and one end of the second link component is rotatably connected to the support member about the thirteenth axis; a thumb side-swing driving component connected to the support member for driving the support member to reciprocally rotate about a seventeenth axis, the seventeenth axis being perpendicular to the tenth axis; a spin driving component disposed in the thumb mounting area and connected to the thumb side-swing driving component for driving the thumb side-swing driving component to reciprocally rotate about an eighteenth axis, the eighteenth axis being perpendicular to the seventeenth axis and the palm substrate.

[0015] In some implementations, the palm substrate has a palm side and a back side disposed opposite to each other; the dexterous hand further includes: a wrist structure connected to the palm substrate and located on the side of the palm substrate away from the middle finger; a first circuit board disposed on the palm side or / and the back side; a second circuit board disposed on the wrist structure.

[0016] In some implementations, the first circuit board is disposed on the back of the hand; the palm substrate includes: a first sub-substrate disposed on the palm side and having a notch corresponding to the thumb mounting area; a second sub-substrate disposed on the back of the hand, and the second sub-substrate is snapped with the first sub-substrate to form a first accommodation space. The first accommodation space has a first opening and a second opening disposed opposite to each other along the direction of the wrist structure towards the middle finger. The first accommodation space accommodates at least one first side-swing driving component and a second side-swing driving component. The first opening is provided with a wrist structure, and the little finger and / or the ring finger, the middle finger and the index finger extend out of the first accommodation space through the second opening, and the thumb extends out of the first accommodation space through the notch. The side of the second sub-substrate facing the back of the hand has an annular protrusion; a third sub-substrate located on the side of the second sub-substrate facing the back of the hand and snapped with the annular protrusion to form a second accommodation space, and the second accommodation space accommodates the first circuit board; wherein, when the dexterous hand includes the little finger, the little finger is rotatably connected to the first sub-substrate and / or the second sub-substrate; when the dexterous hand includes the ring finger, the ring finger is rotatably connected to the first sub-substrate and / or the second sub-substrate; the middle finger is connected to the first sub-substrate and / or the second sub-substrate; the index finger is rotatably connected to the first sub-substrate and / or the second sub-substrate; the thumb is disposed on the first sub-substrate and / or the second sub-substrate; the first side-swing driving component is in transmission connection with the first sub-substrate and / or the second sub-substrate; the second side-swing driving component is in transmission connection with the first sub-substrate and / or the second sub-substrate.

[0017] In some implementations, the palm substrate has a palm side and a back of the hand side disposed opposite to each other; the dexterous hand further includes: a first tactile sensor disposed on the back of the hand.

[0018] In a second aspect, an embodiment of the present application provides a robot, including: at least one dexterous hand mentioned in the first aspect.

[0019] The dexterous hand provided by the embodiment of the present application enables the little finger and / or the ring finger to have an independent swinging function through two first side-swing driving components and a second side-swing driving component, and the index finger also has an independent swinging function, making the dexterous hand more flexible and capable of meeting the requirements of various complex tasks.

[0020] In addition, the positive projections of the first side-swing drive assembly and the second side-swing drive assembly along the direction perpendicular to the palm substrate overlap with the palm substrate. The shapes of the first side-swing drive assembly and the second side-swing drive assembly are both strip-shaped. The extension direction of the first side-swing drive assembly is parallel to the extension direction when the finger where the first side-swing drive assembly is disposed extends. The extension direction of the first side-swing drive assembly disposed on the ring finger is parallel to the extension direction when the ring finger extends. This makes at least part of the first side-swing drive assembly and the second side-swing drive assembly located in the palm of the dexterous hand, rather than all located in the fingers of the dexterous hand, which is beneficial to reducing the sizes of the little finger and / or the ring finger as well as the index finger. Moreover, the first side-swing drive assembly and the second side-swing drive assembly have little influence on the width and thickness of the palm of the dexterous hand, which is beneficial to reducing the width and thickness of the palm of the dexterous hand.

[0021] At the same time, since no side-swing drive assembly is correspondingly disposed on the middle finger, the side of the first side-swing drive assembly connected to the finger on the side of the middle finger away from the index finger facing the middle finger is idle. The second side-swing drive assembly is adjacent to the first side-swing drive assembly. The extension direction of the second side-swing drive assembly intersects with the extension direction when the index finger extends, and one end of the second side-swing drive assembly extends towards the middle finger, making the area on the side of the first side-swing drive assembly facing the second side-swing drive assembly and the side of the second side-swing drive assembly away from the index finger idle. This area, which is the thumb mounting area, can be used to mount the thumb, making the mounting position of the thumb closer to the middle finger and the index finger, thereby reducing the length of the palm of the dexterous hand. With such a layout, the structure of the dexterous hand is compact. While enabling the multiple fingers of the dexterous hand to have an independent side-swing function, it can also take into account the small size, making the dexterous hand adaptable to a wider range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. They are used together with the embodiments of the present application to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0023] Figure 1 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application.

[0024] Figure 2 The figure shows a schematic structural diagram of a dexterous hand provided by another embodiment of the present application.

[0025] Figure 3 The figure shows a right view of a dexterous hand provided by an embodiment of the present application.

[0026] Figure 4The figure shows a schematic structural diagram of the dexterous hand provided by an embodiment of the present application after removing a part of the palm substrate.

[0027] Figure 5 The figure shows a schematic structural diagram of the dexterous hand provided by an embodiment of the present application after removing the thumb and a part of the palm substrate.

[0028] Figure 6 The figure shows a schematic structural diagram of the little finger, ring finger, middle finger, index finger, first side-swing drive assembly and second side-swing drive assembly provided by an embodiment of the present application.

[0029] Figure 7 The figure shows a schematic structural diagram of the dexterous hand provided by another embodiment of the present application.

[0030] Figure 8 The figure shows a schematic structural diagram of the dexterous hand provided by another embodiment of the present application after removing a part of the palm substrate.

[0031] Figure 9 The figure shows a schematic structural diagram of the dexterous hand provided by another embodiment of the present application after removing a part of the palm substrate.

[0032] Figure 10 The figure shows a schematic structural diagram of the robot provided by an embodiment of the present application.

[0033] Figure 11 The figure shows a schematic structural diagram of the little finger, first side-swing drive assembly and palm substrate provided by an embodiment of the present application.

[0034] Figure 12 The figure shows a schematic structural diagram of the little finger provided by an embodiment of the present application.

[0035] Figure 13 The figure shows a schematic structural diagram of the little finger provided by another embodiment of the present application.

[0036] Figure 14 The figure shows provided by an embodiment of the present application Figure 13 A cross-sectional view of the little finger along line AA.

[0037] Figure 15 The figure shows a schematic structural diagram of the little finger provided by an embodiment of the present application after removing the palm connecting component and the first phalanx.

[0038] Figure 16 The figure shows a schematic structural diagram of the first side-swing drive assembly and the palm connecting component provided by an embodiment of the present application.

[0039] Figure 17 The figure shows a schematic structural diagram of the thumb provided by an embodiment of the present application.

[0040] Figure 18The following is a schematic structural diagram of the thumb provided by another embodiment of the present application.

[0041] Figure 19 The following is a schematic structural diagram of the thumb provided by an embodiment of the present application after removing the second thumb phalanx.

[0042] Figure 20 The following is a schematic structural diagram of the thumb provided by another embodiment of the present application after removing the second thumb phalanx.

[0043] Figure 21 The following is provided by an embodiment of the present application Figure 20 A cross-sectional view along line BB of the structure of the thumb after removing the second thumb phalanx in the figure.

[0044] Figure 22 The following is a schematic structural diagram of the thumb provided by still another embodiment of the present application.

[0045] Figure 23 The following is a schematic structural diagram of the thumb provided by yet another embodiment of the present application.

[0046] Reference numerals:

[0047] 1. Robot; 10. Dexterous hand; 100. Dorsal side of the hand; 101. Palm side of the hand; 102. Connecting palm component; 103. First phalanx; 1030. Pivoted part; 104. Phalanx rotation drive component; 1040. Phalanx rotation drive member; 1041. Pivoting member; 1042. First side wall; 1043. Second side wall; 1044. Pivoting engagement member; 105. Second phalanx; 106. First link component; 1060. First link; 107. First connecting member; 108. Elastic member; 11. Palm substrate; 110. Thumb mounting area; 111. Palm side; 112. Dorsal side of the palm; 113. First sub-substrate; 1130. Notch; 114. First accommodation space; 115. Second sub-substrate; 1150. Annular protrusion; 116. Third sub-substrate; 117. First opening; 118. Second opening; 119. Second accommodation space; 12. Little finger; 13. Ring finger; 14. Middle finger; 15. Index finger; 16. First side swing drive component; 160. First engagement member; 1600. First engagement tooth; 161. First rotation drive member; 162. Second engagement member; 17. Second side swing drive component; 170. Third engagement member; 171. Second rotation drive member; 172. Fourth engagement member; 18. Thumb; 180. Thumb connection component; 181. First thumb phalanx; 182. Second thumb phalanx; 183. Third thumb phalanx; 184. Second link component; 185. Third link component; 186. Thumb rotation drive component; 187. Support member; 188. Thumb side swing drive component; 1880. Thumb side swing drive member; 1881. Side swing connecting member; 189. Spin drive component; 1890. Spin drive member; 1891. First spin engagement member; 1892. Second spin engagement member; 1893. Rotating base; 1894. Finger side; 1895. Wrist side; 19. Wrist structure; 20. Second circuit board; 21. First tactile sensor; 22. First circuit board; 23. Second tactile sensor; 30. Main body; L1. First axis; L4. Fourth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; L9. Ninth axis; L10. Tenth axis; L11. Eleventh axis; L12. Twelfth axis; L13. Thirteenth axis; L14. Fourteenth axis; L15. Fifteenth axis; L16. Sixteenth axis; L17. Seventeenth axis; L18. Eighteenth axis; L19. Nineteenth axis. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0049] As an important end effector in the field of robotics, the dexterous hand aims to simulate the flexible operation ability of the human hand to complete various complex tasks, such as grasping and operating fine objects, and has broad application prospects in the fields of industrial automation, service robots, medical surgical assistance, etc.

[0050] However, in the existing dexterous hand designs, the side-swing structure of the fingers is complex and large in size, resulting in a large size of the dexterous hand. Or, in order to reduce the volume of the side-swing structure, only the index finger can side-swing among multiple fingers, which both limit the application scenarios of the dexterous hand.

[0051] In view of the above problems, the embodiment of the present application provides a dexterous hand, including: a palm substrate; a little finger and / or a ring finger rotatably connected to the palm substrate; a middle finger connected to the palm substrate; an index finger rotatably connected to the palm substrate; at least one first side-swing driving component disposed on the little finger and / or the ring finger and drivingly connected to the palm substrate for driving the little finger and / or the ring finger to swing. At least one first side-swing driving component overlaps with the palm substrate in the orthographic projection on the palm substrate in a direction perpendicular to the palm substrate. The shape of the first side-swing driving component includes a long strip. When the first side-swing driving component is disposed on the little finger, the extending direction of the first side-swing driving component is parallel to the extending direction of the little finger when it extends. When the first side-swing driving component is disposed on the ring finger, the extending direction of the first side-swing driving component is parallel to the extending direction of the ring finger when it extends; a second side-swing driving component adjacent to the first side-swing driving component, disposed on the index finger and drivingly connected to the palm substrate for driving the index finger to swing. The second side-swing driving component overlaps with the palm substrate in the orthographic projection on the palm substrate in a direction perpendicular to the palm substrate. The shape of the second side-swing driving component includes a long strip. The extending direction of the second side-swing driving component intersects with the extending direction of the index finger when it extends, and one end of the second side-swing driving component extends towards the middle finger; a thumb installed in a thumb installation area of the palm substrate. The thumb installation area is located on one side of the first side-swing driving component close to the second side-swing driving component and on the side of the second side-swing driving component away from the index finger.

[0052] The dexterous hand provided by the embodiment of the present application enables the little finger and / or the ring finger to have an independent swinging function through two first side-swing driving components and one second side-swing driving component, and the index finger also has an independent swinging function, making the dexterous hand more flexible and capable of meeting the requirements of various complex tasks.

[0053] In addition, the positive projections of the first side-swing drive assembly and the second side-swing drive assembly along the direction perpendicular to the palm substrate overlap with the palm substrate. The shapes of the first side-swing drive assembly and the second side-swing drive assembly are both strip-shaped. The extension direction of the first side-swing drive assembly is parallel to the extension direction when the finger where the first side-swing drive assembly is disposed extends, so that at least part of the first side-swing drive assembly and the second side-swing drive assembly is located in the palm of the dexterous hand, rather than all located in the fingers of the dexterous hand, which is beneficial to reducing the sizes of the little finger and / or the ring finger and the index finger, and the first side-swing drive assembly and the second side-swing drive assembly have little influence on the width and thickness of the palm of the dexterous hand, which is beneficial to reducing the width and thickness of the palm of the dexterous hand.

[0054] At the same time, since no side-swing drive assembly is correspondingly arranged on the middle finger, the side of the first side-swing drive assembly connected to the finger on the side of the middle finger far from the index finger and facing the middle finger is idle. The second side-swing drive assembly is adjacent to the first side-swing drive assembly. The extension direction of the second side-swing drive assembly intersects with the extension direction when the index finger extends, and one end of the second side-swing drive assembly extends towards the middle finger, so that the area on the side of the first side-swing drive assembly facing the second side-swing drive assembly and the side of the second side-swing drive assembly far from the index finger is idle, so that this area, that is, the thumb installation area, can install the thumb, making the installation position of the thumb closer to the middle finger and the index finger, thereby reducing the length of the palm of the dexterous hand. With such a layout, the structure of the dexterous hand is compact. While enabling the multiple fingers of the dexterous hand to have an independent side-swing function, it can also take into account the small size, enabling the dexterous hand to adapt to a wider range of application scenarios.

[0055] Figure 1 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application. Figure 2 The figure shows a schematic structural diagram of a dexterous hand provided by another embodiment of the present application. Figure 3 The figure shows a right view of a dexterous hand provided by an embodiment of the present application. Figure 4 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application after removing part of the palm substrate. Figure 5 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application after removing the thumb and part of the palm substrate. Figure 6 The figure shows a schematic structural diagram of the little finger, ring finger, middle finger, index finger, first side-swing drive assembly and second side-swing drive assembly provided by an embodiment of the present application. Figure 7 The figure shows a schematic structural diagram of a dexterous hand provided by another embodiment of the present application. Figure 8 The figure shows a schematic structural diagram of a dexterous hand provided by another embodiment of the present application after removing part of the palm substrate. Figure 9 The figure shows a schematic structural diagram of a dexterous hand provided by another embodiment of the present application after removing part of the palm substrate. Figure 10The figure shows a schematic structural diagram of a robot provided by an embodiment of the present application. Figure 11 The figure shows a schematic structural diagram of a little finger, a first side swing drive assembly, and a palm substrate provided by an embodiment of the present application. Figure 12 The figure shows a schematic structural diagram of a little finger provided by an embodiment of the present application. Figure 13 The figure shows a schematic structural diagram of a little finger provided by another embodiment of the present application. Figure 14 The figure shows what is provided by an embodiment of the present application Figure 13 A cross-sectional view of the little finger along line AA in the figure. Figure 15 The figure shows a schematic structural diagram of the little finger provided by an embodiment of the present application after removing the palm connecting assembly and the first finger joint. Figure 16 The figure shows a schematic structural diagram of the first side swing drive assembly and the palm connecting assembly provided by an embodiment of the present application. Figure 17 The figure shows a schematic structural diagram of a thumb provided by an embodiment of the present application. Figure 18 The figure shows a schematic structural diagram of a thumb provided by another embodiment of the present application. Figure 19 The figure shows a schematic structural diagram of the thumb provided by an embodiment of the present application after removing the second thumb finger joint. Figure 20 The figure shows a schematic structural diagram of the thumb provided by another embodiment of the present application after removing the second thumb finger joint. Figure 21 The figure shows what is provided by an embodiment of the present application Figure 20 A cross-sectional view along line BB of the structure of the thumb provided by an embodiment of the present application after removing the second thumb finger joint in the figure. Figure 22 The figure shows a schematic structural diagram of a thumb provided by still another embodiment of the present application. Figure 23 The figure shows a schematic structural diagram of a thumb provided by yet another embodiment of the present application.

[0056] As Figures 1 to 23 As shown, the dexterous hand 10 is applied to the robot 1. Exemplarily, the robot 1 includes the dexterous hand 10 and the main body 30, and the dexterous hand 10 is disposed on the main body 30. The main body 30 may be the structure of the body part of a humanoid robot or the structure of the arm part of an industrial robot, and the present application does not make specific limitations.

[0057] The dexterous hand 10 may be a structure that imitates the human or animal hand. The dexterous hand 10 may include a palm and fingers. Exemplarily, the dexterous hand 10 may include a palm substrate 11 and a plurality of dexterous hand fingers disposed on the palm substrate 11. The dexterous hand fingers may include the little finger, ring finger, middle finger, index finger, or thumb described below. The dexterous hand fingers may be used to form the fingers of the dexterous hand 10. The palm substrate 11 may be used to form the palm of the dexterous hand 10.

[0058] As Figures 1 to 9As shown in the figure, the dexterous hand 10 includes: a palm substrate 11, a middle finger 14, an index finger 15, two first side-swing drive components 16, a second side-swing drive component 17, a thumb 18, and one or two of a little finger 12 and a ring finger 13. The little finger 12 can be rotatably connected to the palm substrate 11. The ring finger 13 can also be rotatably connected to the palm substrate 11. The index finger 15 is rotatably connected to the palm substrate 11. The middle finger 14 is connected to the palm substrate 11. The palm substrate 11 can be a plate-like structure similar to a palm. The palm substrate 11 can be connected to the main body 30.

[0059] At least one first side-swing drive component 16 can be arranged on the little finger 12 and is in transmission connection with the palm substrate 11 for driving the little finger 12 to swing. The first side-swing drive component 16 can also be arranged on the ring finger 13 and is in transmission connection with the palm substrate 11 for driving the ring finger 13 to swing.

[0060] Specifically, the first side-swing drive component 16 is used to drive the little finger 12 and / or the ring finger 13 to perform a side-swing action relative to the palm substrate 11. Exemplarily, the dexterous hand 10 includes a little finger 12 and a ring finger 13. Both the little finger 12 and the ring finger 13 are rotatably connected to the palm substrate 11. The number of the first side-swing drive components 16 is two. The two first side-swing drive components 16 are arranged adjacent to each other and are respectively arranged on the little finger 12 and the ring finger 13 for driving the little finger 12 and the ring finger 13 to swing respectively. Such an arrangement enables the dexterous hand 10 to include at least five fingers, and enables the little finger 12, the ring finger 13, and the index finger 15 to swing independently. Exemplarily, the swing axis around which the little finger 12 performs a side-swing action and the swing axis around which the ring finger 13 performs a side-swing action can both be perpendicular to the palm substrate 11, or can both have a certain included angle with the palm substrate 11. The swing axis around which the little finger 12 performs a side-swing action and the swing axis around which the ring finger 13 performs a side-swing action can be arranged in parallel or can be arranged in a cross manner.

[0061] Exemplarily, the driving body of the first side-swing drive component 16 is arranged on the little finger 12 and the ring finger 13 and is connected to the palm substrate 11 through a transmission structure, so that the palm substrate 11 can provide support for the transmission structure, enabling the little finger 12 and the ring finger 13 to swing relative to the palm substrate 11. The transmission structure can be a link transmission structure, a gear transmission structure, a transmission belt structure, etc.

[0062] The first side-swing drive assembly 16 overlaps with the palm substrate 11 in the orthographic projection of the palm substrate 11 in a direction perpendicular to the palm substrate 11. Since the orthographic projections of the first side-swing drive assembly 16 in the direction perpendicular to the palm substrate 11 all overlap with the palm substrate 11, at least part of the first side-swing drive assembly 16 is located in the palm of the dexterous hand 10, rather than entirely in the fingers of the dexterous hand 10, which is beneficial to reducing the size of the finger on which the first side-swing drive assembly 16 is provided, that is, beneficial to reducing the size of the little finger 12 and / or the ring finger 13. For example, the extended length or circumferential dimension of the little finger 12 and the ring finger 13 can be reduced. Exemplarily, the number of the first side-swing drive assemblies 16 is two. The orthographic projections of the two first side-swing drive assemblies 16 in the direction perpendicular to the palm substrate 11 all overlap with the palm substrate 11.

[0063] As Figure 5 and Figure 6 shown, the shape of the first side-swing drive assembly 16 includes a long strip. When the first side-swing drive assembly 16 is provided on the little finger 12, the extending direction of the first side-swing drive assembly 16 is parallel to the extending direction of the little finger 12 when it extends. When the first side-swing drive assembly 16 is provided on the ring finger 13, the extending direction of the first side-swing drive assembly 16 is parallel to the extending direction of the ring finger 13 when it extends.

[0064] Exemplarily, the extending direction of the first side-swing drive assembly 16 provided on the little finger 12 is parallel to the extending direction of the little finger 12 when it extends. The extending direction of the first side-swing drive assembly 16 provided on the ring finger 13 is parallel to the extending direction of the ring finger 13 when it extends.

[0065] The shape of the first side-swing drive assembly 16 includes a long strip, specifically referring to that along the extending direction of the first side-swing drive assembly 16, the first side-swing drive assembly 16 is in the shape of a long strip. For example, the shape of the first side-swing drive assembly 16 can be a cube, the length of the cube is greater than the width and greater than the height, then the first side-swing drive assembly 16 is in the shape of a long strip, and the extending direction of the first side-swing drive assembly 16 is the length direction of the first side-swing drive assembly 16.

[0066] Since at least part of the first side-swing drive assembly 16 is located in the palm of the dexterous hand 10, the shape of the first side-swing drive assembly 16 includes a long strip, the extending direction of the first side-swing drive assembly 16 provided on the little finger 12 can be parallel to the extending direction of the little finger 12 when it extends, and the extending direction of the first side-swing drive assembly 16 provided on the ring finger 13 can be parallel to the extending direction of the ring finger 13 when it extends, which has less influence on the width and thickness of the palm of the dexterous hand 10, and is beneficial to reducing the width and thickness of the palm of the dexterous hand 10.

[0067] As Figure 5As shown, the second side-swing drive assembly 17 is adjacent to the first side-swing drive assembly 16, is disposed on the index finger 15, and is in transmission connection with the palm substrate 11 for driving the index finger 15 to swing. The orthographic projection of the second side-swing drive assembly 17 on the palm substrate 11 in a direction perpendicular to the palm substrate 11 overlaps with the palm substrate 11. The shape of the second side-swing drive assembly 17 includes a long strip. Similar to the first side-swing drive assembly 17, such a setting enables at least part of the second side-swing drive assembly 17 to be located in the palm of the dexterous hand 10, rather than all being located in the fingers of the dexterous hand 10, which is beneficial to reducing the size of the index finger 15, and the second side-swing drive assembly 17 has less influence on the width and thickness of the palm of the dexterous hand 10, which is beneficial to further reducing the width and thickness of the palm of the dexterous hand 10.

[0068] As Figure 5 and Figure 6 shown, the extending direction of the second side-swing drive assembly 17 intersects with the extending direction of the index finger 15 when the index finger 15 extends, and one end of the second side-swing drive assembly 17 extends towards the middle finger 14. Since there is no corresponding side-swing drive assembly provided for the middle finger 14, the side of the first side-swing drive assembly 16 connected to the finger on the side of the middle finger 14 away from the index finger 15 (when the dexterous hand 10 includes the ring finger 13, this finger is the ring finger 13; when the dexterous hand 10 does not include the ring finger 13, this finger is the little finger 12) is vacated. Making the extending direction of the second side-swing drive assembly 17 intersect with the extending direction of the index finger 15 when the index finger 15 extends, and one end of the second side-swing drive assembly 17 extends towards the middle finger 14, vacates the area on the side of the first side-swing drive assembly 16 facing the second side-swing drive assembly 17 and the side of the second side-swing drive assembly 17 away from the index finger 15, enabling the thumb 18 to be installed in this area, so that the installation position of the thumb 18 can be closer to the middle finger and the index finger, thereby reducing the length of the palm of the dexterous hand 10.

[0069] As Figure 4 and Figure 5 shown, the thumb 18 is installed in the thumb installation area 110 of the palm substrate 11. The thumb installation area 110 is located on the side of the first side-swing drive assembly 16 close to the second side-swing drive assembly and on the side of the second side-swing drive assembly 17 away from the index finger 15.

[0070] Exemplarily, the first side-swing drive assembly 16 and the second side-swing drive assembly 17 can respectively include one or a combination of more than one of the following drive structures: motor, hydraulic motor, pneumatic motor, gear set, link set, transmission belt. Exemplarily, the first side-swing drive assembly 16 or the second side-swing drive assembly 17 can include a servo motor system. For example, the first side-swing drive assembly 16 or the second side-swing drive assembly 17 can include a servo.

[0071] The dexterous hand provided in this embodiment enables the little finger and / or the ring finger to have an independent swinging function through two first side-swing driving components and one second side-swing driving component, and the index finger also has an independent swinging function, making the dexterous hand more flexible and capable of meeting the requirements of various complex tasks.

[0072] In addition, the orthographic projections of the first side-swing driving component and the second side-swing driving component on the palm substrate along the direction perpendicular to the palm substrate overlap with the palm substrate. The shapes of the first side-swing driving component and the second side-swing driving component both include a long strip shape. The extending direction of the first side-swing driving component is parallel to the extending direction of the finger when the finger where the first side-swing driving component is disposed extends. This makes at least part of the first side-swing driving component and the second side-swing driving component located in the palm of the dexterous hand, rather than all located in the fingers of the dexterous hand, which is beneficial to reducing the size of the little finger and / or the ring finger and the size of the index finger. Moreover, the first side-swing driving component and the second side-swing driving component have less influence on the width and thickness of the palm of the dexterous hand, which is beneficial to reducing the width and thickness of the palm of the dexterous hand.

[0073] At the same time, since no side-swing driving component is correspondingly arranged for the middle finger, the side of the first side-swing driving component connected to the finger on the side of the middle finger away from the index finger is vacant. The second side-swing driving component is adjacent to the first side-swing driving component. The extending direction of the second side-swing driving component intersects with the extending direction of the index finger when the index finger extends, and one end of the second side-swing driving component extends towards the middle finger, making the area on the side of the first side-swing driving component facing the second side-swing driving component and the area on the side of the second side-swing driving component away from the index finger vacant. This area, that is, the thumb mounting area, can be used to mount the thumb, making the mounting position of the thumb closer to the middle finger and the index finger, thereby reducing the length of the palm of the dexterous hand. With such a layout, the structure of the dexterous hand is compact. While enabling the multiple fingers of the dexterous hand to have an independent side-swing function, it can also take into account the small size, making the dexterous hand adaptable to a wider range of application scenarios.

[0074] In some embodiments, as Figures 4 to 6 and Figure 11 shown, the little finger 12 is rotatably connected to the palm substrate 11 around the first axis L1, the ring finger 13 is rotatably connected to the palm substrate 11 around the second axis, and the index finger 15 is rotatably connected to the palm substrate 11 around the third axis. The first axis L1, the second axis, and the third axis are all perpendicular to the palm substrate 11.

[0075] Specifically, the first side-swing driving component 16 disposed on the little finger 12 is used to drive the little finger 12 to swing around the first axis L1. The first side-swing driving component 16 disposed on the ring finger 13 is used to drive the ring finger 13 to swing around the second axis. The second side-swing driving component 17 is used to drive the index finger 15 to swing around the third axis. To precisely control the swinging actions of each finger and ensure the coordination of the dexterous hand 10.

[0076] As shown Figures 5 to 6 in the figure, the first side swing drive assembly 16 includes: a first engaging member 160, a first rotary drive member 161, and a second engaging member 162. The first engaging member 160 is disposed on the palm substrate 11. The first engaging member 160 includes a plurality of first engaging teeth 1600. The plurality of first engaging teeth 1600 are distributed along a first arc, and the first arc extends circumferentially along the first axis L1 or the second axis.

[0077] The shape of the first rotary drive member 161 is elongated. The first rotary drive member 161 can be disposed on the little finger 12 and on a side of the first axis L1 away from the fingertip of the little finger 12, and the extending direction of the first rotary drive member 161 is parallel to the extending direction when the little finger 12 extends. The first rotary drive member 161 can also be disposed on the ring finger 13 and on a side of the second axis away from the fingertip of the ring finger 13, and the extending direction of the first rotary drive member 161 is parallel to the extending direction when the ring finger 13 extends.

[0078] The second engaging member 162 is connected to the first rotary drive member 161, engages with the first engaging member 160, and is capable of rotating about a fourth axis L4 under the drive of the first rotary drive member 161, and the fourth axis L4 is parallel to the first axis L1.

[0079] Specifically, the first engaging member 160, the first rotary drive member 161, and the second engaging member 162 for driving the swing of the little finger 12 are correspondingly arranged with the little finger 12. The first engaging member 160, the first rotary drive member 161, and the second engaging member 162 for driving the swing of the ring finger 13 are correspondingly arranged with the ring finger 13. The first arc corresponding to the little finger 12 extends circumferentially along the first axis L1. The first arc corresponding to the ring finger 13 extends circumferentially along the second axis.

[0080] It can be understood that the first rotary drive member 161, as a component for driving the first engaging member 160 and the second engaging member 162, generally has a relatively large volume ratio in the first side swing drive assembly 16. Therefore, the shape of the first rotary drive member 161 is elongated, which can enable the first side swing drive assembly 16 to have the technical effects brought by the above-mentioned elongated shape of the first side swing drive assembly 16. For example, the first side swing drive assembly has less influence on the width and thickness of the palm of the dexterous hand 10, which is beneficial to reducing the width and thickness of the palm of the dexterous hand.

[0081] Exemplarily, the second engaging member 162 can be a helical gear, and the first engaging teeth 1600 can be helical teeth that mesh with the helical gear. Exemplarily, the second engaging member 162 can be a spur gear, and the first engaging teeth 1600 can be straight teeth that mesh with the spur gear. Exemplarily, the second engaging member 162 can also not be a complete gear. For example, the second engaging member 162 includes a plurality of teeth, and the plurality of teeth are circumferentially distributed around the fourth axis L4. The angle of the arc formed by the plurality of teeth can be greater than 0 degrees and less than 360 degrees.

[0082] In some application scenarios, such as Figure 6 As shown, the first rotational driving member 161 drives the second engaging member 162 to rotate clockwise around the fourth axis L4. Since the second engaging member 162 meshes with the first engaging member 160, the second engaging member 162 moves along an arc formed by a plurality of first engaging teeth 1600 in the counterclockwise direction, causing the little finger 12 to rotate counterclockwise around the first axis L1, thereby realizing the lateral swing of the little finger 12.

[0083] Exemplarily, the first rotational driving member 161 can include one or a combination of more than one of the following driving structures: a motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage set, a transmission belt. Exemplarily, the first rotational driving member 161 can include a servo motor system. For example, the first rotational driving member 161 can include a servo.

[0084] For the dexterous hand provided in this embodiment, the first lateral swing driving assembly includes a first engaging member, a first rotational driving member, and a second engaging member. The first engaging member is disposed on the palm substrate. A plurality of first engaging teeth of the first engaging member are distributed along a first arc, and the first arc extends circumferentially along the first axis or the second axis. The shape of the first rotational driving member includes a long strip shape. The first rotational driving member can be disposed on the little finger and is located on a side of the first axis away from the fingertip of the little finger. The extending direction of the first rotational driving member is parallel to the extending direction of the little finger when it extends. The first rotational driving member can also be disposed on the ring finger and is located on a side of the second axis away from the fingertip of the ring finger. The extending direction of the first rotational driving member is parallel to the extending direction of the ring finger when it extends. The second engaging member is connected to the first rotational driving member, meshes with the first engaging member, and can rotate around the fourth axis under the drive of the first rotational driving member. The fourth axis is parallel to the first axis.

[0085] Since the prior art usually realizes the lateral swing of the fingers of the dexterous hand by pushing and pulling the supporting member through a telescopic rod, the telescopic rod is usually arranged along the width direction of the palm, and requires a large movement space, and is also easy to lock, so that the width of the palm of the dexterous hand is set larger, and the lateral swing of the fingers of the dexterous hand is not stable. The lateral swing of the fingers of the dexterous hand is realized by driving the first rotating driving member and cooperating with the first engaging member and the second engaging member. The structure is simple and compact, the control is simple, accurate and reliable, the arrangement can be flexible, the movement space required is small, and it is not easy to lock, which is conducive to reducing the size of the palm of the dexterous hand and ensuring the smooth lateral swing of the fingers of the dexterous hand.

[0086] In some embodiments, Figures 4 to 6 As shown, the second side swing driving assembly 17 includes: a third gearing 170, a second rotation driving member 171 and a fourth gearing 172. The third gearing 170 is disposed on the palm base plate 11, and includes a plurality of second gearing teeth 1700, which are distributed along a second arc line, and the second arc line extends circumferentially along the third axis.

[0087] The second rotary drive member 171 is adjacent to the first rotary drive member 161, is disposed on the index finger 15, and is located on the side of the third axis away from the fingertip of the index finger 15. The shape of the second rotary drive member 171 includes a long strip. The extension direction of the second rotary drive member 171 intersects with the extension direction of the index finger 15 when it is stretched, and one end of the second rotary drive member 171 extends toward the middle finger 14. The fourth engagement member 172 is connected to the second rotary drive member 171, engages with the third engagement member 170, and can rotate around the fifth axis under the drive of the second rotary drive member 171, and the fifth axis is parallel to the third axis.

[0088] The structure of the second side-swing drive component 17 is similar to that of the first side-swing drive component 16. The specific structure, working principle, working process and technical effect of the second side-swing drive component 17 can refer to the first side-swing drive component 16, and will not be described in detail here.

[0089] In some embodiments, Figures 4 to 6 As shown, when the second side-sway driving assembly 17 includes the third gearing 170 , the second rotation driving member 171 and the fourth gearing 172 , the third gearing 170 is located on the side of the fourth gearing 172 away from the thumb mounting area 110 .

[0090] The plurality of second meshing teeth 1700 are distributed along the second arc line, and the second arc line extends along the circumference of the third axis. The third meshing member 170 is disposed on the palm base plate 11 and meshes with the fourth meshing member 172 , so the third meshing member 170 is disposed circumferentially of the fourth meshing member 172 .

[0091] The third engaging member 170 is located on the side of the fourth engaging member 172 away from the thumb mounting area 110, rather than on the side of the fourth engaging member 172 close to the thumb mounting area 110, so that the third engaging member 170 can be away from the thumb mounting area 110, making the thumb 18 closer to the index finger 15, which is beneficial to further reducing the length of the palm of the dexterous hand 10.

[0092] Exemplarily, as Figure 6 shown, when the first side swing drive assembly 16 provided on the first side of the ring finger 13 includes a first engaging member 160, a first rotary drive member 161, and a second engaging member 162, the first engaging member 160 is located on the side of the second engaging member 162 close to the fingertip after the ring finger 13 extends. Such a setting can make the side of the first side swing drive assembly 16 away from the ring finger 13 have more free space, and other components can be set closer to the ring finger 13, which is beneficial to further reducing the length of the palm of the dexterous hand 10.

[0093] For the dexterous hand provided in this embodiment, the second side swing drive assembly includes a third engaging member, a second rotary drive member, and a fourth engaging member. The third engaging member is located on the side of the fourth engaging member away from the thumb mounting area, rather than on the side of the fourth engaging member close to the thumb mounting area, so that the third engaging member can be away from the thumb mounting area, making the thumb closer to the index finger, which is beneficial to further reducing the length of the palm of the dexterous hand.

[0094] In some embodiments, as Figures 3 to 6 shown, when the second side swing drive assembly 17 includes a third engaging member 170, a second rotary drive member 171, and a fourth engaging member 172, the palm substrate 11 includes a palm side 111 and a palm back side 112 arranged opposite to each other, and the third engaging member 170 and the fourth engaging member 172 are arranged on the side of the second rotary drive member 171 facing the palm back side 112.

[0095] The palm side 111 is the side of the palm substrate 11 that simulates the palm of a human or animal. The palm back side 112 is the side of the palm substrate 11 that simulates the back of the palm of a human or animal. The palm side 111 and the palm back side 112 are arranged opposite to each other along the thickness direction of the palm substrate 11.

[0096] Since the thumb 18 is usually mounted on the palm side 111, arranging the third engaging member 170 and the fourth engaging member 172 on the side of the second rotary drive member 171 facing the palm back side will make the side of the palm side 111 facing the thumb mounting area 110 have more space, so as to facilitate arranging the thumb 18 on the side of the thumb mounting area 110 facing the palm side 111, which is convenient for the assembly and maintenance of the dexterous hand 10.

[0097] Exemplarily, as Figure 5As shown, when the first side swing driving assembly 16 includes the first engagement member 160, the first rotation driving member 161 and the second engagement member 162, the palm base plate 11 includes a palm side 111 and a palm back side 112 which are arranged opposite to each other, and the first engagement member 160 and the second engagement member 162 are arranged on a side of the first rotation driving member 161 facing the palm back side 112, so as to facilitate the assembly and maintenance of the dexterous hand 10.

[0098] The dexterous hand provided in this embodiment, the second side swing drive component includes a third engaging member, a second rotating drive member and a fourth engaging member, the palm base plate includes a palm side and a palm back side arranged back to back, the third engaging member and the fourth engaging member are arranged on the side of the second rotating drive member facing the palm back side, so that the side of the palm side facing the thumb installation area has a larger space, thereby facilitating the setting of the thumb on the side of the thumb installation area facing the palm side, and facilitating the assembly and maintenance of the dexterous hand.

[0099] In some embodiments, Figure 4 , Figure 11 and Figure 12 As shown, the little finger 12 is rotatably connected to the palm base plate 11 around a first axis L1, the ring finger 13 is rotatably connected to the palm base plate 11 around a second axis, and the index finger 15 is rotatably connected to the palm base plate 11 around a third axis. The first axis L1, the second axis and the third axis are all perpendicular to the palm base plate 11.

[0100] One or more of the little finger 12, the ring finger 13, the middle finger 14 and the index finger 15 include: a palm-connecting assembly 102, a first knuckle 103 and a knuckle rotation drive assembly 104. In the case where the little finger 12, the ring finger 13 or the index finger 15 includes the palm-connecting assembly 102, the palm-connecting assembly 102 is rotatably connected to the palm base plate 11. In the case where the middle finger 14 includes the palm-connecting assembly 102, the palm-connecting assembly 102 is fixedly connected to the palm base plate 11. Exemplarily, the little finger 12, the ring finger 13, the middle finger 14 and the index finger 15 all include the palm-connecting assembly 102, the first knuckle 103 and the knuckle rotation drive assembly 104.

[0101] Exemplarily, the little finger 12, the ring finger 13, the middle finger 14 and the index finger 15 all have a back side 100 and a palm side 101 that are arranged opposite to each other. Specifically, the back side 100 and the palm side 101 are used to clarify the orientation of different surfaces of the fingers of the dexterous hand 10. The back side 100 can be the side of the fingers of the dexterous hand 10 facing the back of the hand. The palm side 101 can be the side of the fingers of the dexterous hand 10 facing the palm or away from the back of the hand.

[0102] like Figures 11 to 16As shown, the first phalanx 103 is rotatably connected to the palm-connected component 102 about a sixth axis L6, and the sixth axis L6 is perpendicular to the first axis L1. The phalanx rotation drive component 104 is disposed on the palm-connected component 102 and is connected to or abuts against the first phalanx 103 for driving the first phalanx 103 to rotate about the sixth axis L6.

[0103] In the case where the little finger 12 includes the palm-connected component 102, the first side-swing drive component 16 corresponding to the little finger 12 is connected to the palm-connected component 102 and is located on the side of the phalanx rotation drive component 104 away from the first phalanx 103. In the case where the ring finger 13 includes the palm-connected component 102, the first side-swing drive component 16 corresponding to the ring finger 13 is connected to the palm-connected component 102 and is located on the side of the phalanx rotation drive component 104 away from the first phalanx 103. In the case where the index finger 15 includes the palm-connected component 102, the second side-swing drive component 17 is connected to the palm-connected component 102 and is located on the side of the phalanx rotation drive component 104 away from the first phalanx 103.

[0104] Figures 11 to 16 The relevant structure of the little finger 12 is shown. The specific structures of the ring finger 13, the middle finger 14, and the index finger 15 can refer to the little finger 12. Exemplarily, the palm-connected component 102, the first phalanx 103, the phalanx rotation drive component 104 included in the little finger 12, and the first side-swing drive component 16 disposed on the little finger 12 are correspondingly arranged. The palm-connected component 102, the first phalanx 103, the phalanx rotation drive component 104 included in the ring finger 13, and the first side-swing drive component 16 disposed on the ring finger 13 are correspondingly arranged. The palm-connected component 102, the first phalanx 103, the phalanx rotation drive component 104 included in the index finger 15, and the second side-swing drive component 17 are correspondingly arranged.

[0105] The phalanx rotation drive component 104 can be any structure capable of driving the first phalanx 103 to rotate about the sixth axis L6. Exemplarily, the phalanx rotation drive component 104 can include one or a combination of more than one of the following drive structures: a motor, a hydraulic motor, a pneumatic motor, a gear set, a link set, a transmission belt. Exemplarily, the phalanx rotation drive component 104 can include a motor and a link set. One end of the link set is rotatably connected to the first phalanx 103, and the other end of the link set is connected to the output shaft of the motor. The rotational motion of the output shaft of the motor is transmitted to the first phalanx 103 through the link set.

[0106] Exemplarily, as Figure 14As shown, the knuckle rotation driving assembly 104 may include a knuckle rotation driver 1040 and a toggling member 1041. The knuckle rotation driver 1040 is disposed on the palm connecting assembly 102 and connected to the toggling member 1041 for driving the toggling member 1041 to rotate about an axis parallel to the extension direction of the sixth axis L6, so that the toggling member 1041 abuts against the first knuckle 103, thereby causing the toggling member 1041 to toggle the first knuckle 103 to rotate about the sixth axis L6.

[0107] Exemplarily, as Figure 16 shown, the toggling member 1041 has a chute, and the first knuckle 103 has a toggled portion 1030 which extends into the chute. The chute has a first side wall 1042 and a second side wall 1043 which are oppositely arranged. The first side wall 1042 is located on the side of the toggled portion 1030 facing the palm side 101, and the second side wall 1043 is located on the side of the toggled portion 1030 facing the back of the hand side 100. When the toggling member 1041 rotates towards the palm side 101, the second side wall 1043 abuts against the toggled portion 1030 to toggle the toggled portion 1030 to rotate towards the palm side 101 about the sixth axis L6. When the toggling member 1041 rotates towards the back of the hand side 100, the first side wall 1042 abuts against the toggled portion 1030 to toggle the toggled portion 1030 to rotate towards the back of the hand side 100 about the sixth axis L6. Through the knuckle rotation driver 1040 and the toggling member 1041, the reciprocating rotation of the first knuckle 103 about the sixth axis L6 is realized, and the structure is simple and compact, which is beneficial to reducing the volume of the knuckle rotation driving assembly 104, thereby reducing the size of the dexterous hand 10.

[0108] Exemplarily, as Figure 14 and Figure 16 shown, the knuckle rotation driving assembly 104 may further include a toggling engagement member 1044. The toggling member 1041 is also an engagement member. The toggling member 1041 is rotatably connected to the palm connecting assembly 102 about an axis parallel to the extension direction of the sixth axis L6. The knuckle rotation driver 1040 is connected to the toggling engagement member 1044 and drives the toggling engagement member 1044 to rotate about an axis parallel to the extension direction after the little finger 12, ring finger 13, middle finger 14 or index finger 15 is extended. The shape of the knuckle rotation driver 1040 includes a long strip shape, and the extension direction of the knuckle rotation driver 1040 is parallel to the extension direction after the little finger 12, ring finger 13, middle finger 14 or index finger 15 is extended.

[0109] Since the toggle member 1041 rotates around an axis parallel to the extension direction of the sixth axis L6, the toggle engagement member 1044 rotates around an axis parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14 or index finger 15 after being stretched, and the axis parallel to the extension direction of the sixth axis L6 is perpendicular to the axis parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14 or index finger 15 after being stretched, the toggle member 1041 and the toggle engagement member 1044 can change the transmission direction of the knuckle rotation drive member 1040, so that the extension direction of the knuckle rotation drive member 1040 can be parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14 or index finger 15 after being stretched. Since the shape of the knuckle rotating drive component 1040 includes a long strip, the extension direction of the knuckle rotating drive component 1040 is parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14 or index finger 15 after extension, so the circumferential size of the little finger 12, ring finger 13, middle finger 14 or index finger 15 can be set smaller.

[0110] Exemplarily, the knuckle rotation driver 1040 may include a servo motor. For example, the knuckle rotation driver 1040 may include a steering gear.

[0111] Exemplarily, at least a portion of the palm assembly 102 is located in the first accommodating space 114 hereinafter.

[0112] The dexterous hand provided in this embodiment, the little finger, ring finger, middle finger or index finger may include a palm-connecting assembly, a first knuckle and a knuckle rotation drive assembly, the palm-connecting assembly is rotatably connected to the palm substrate, the first knuckle is rotatably connected to the palm-connecting assembly around a sixth axis, the sixth axis is perpendicular to the first axis, the knuckle rotation drive assembly is arranged on the palm-connecting assembly, and is connected or abutted with the first knuckle, for driving the first knuckle to rotate around the sixth axis, the first side-swing drive assembly corresponding to the little finger can be connected to the palm-connecting assembly, and is located on the side of the knuckle rotation drive assembly away from the first knuckle, the first side-swing drive assembly corresponding to the ring finger can be connected to the palm-connecting assembly, and is located on the side of the knuckle rotation drive assembly away from the first knuckle, the second side-swing drive assembly can be connected to the palm-connecting assembly, and is located on the side of the knuckle rotation drive assembly away from the first knuckle, so that the first knuckles of the little finger, ring finger, middle finger and index finger can all rotate, further improving the flexibility of the dexterous hand.

[0113] In addition, the knuckle rotation drive assembly is connected in series with the first side-swing drive assembly or the second side-swing drive assembly rather than in parallel, which is beneficial to reducing the circumferential size of the combination of the fingers and side-swing drive assembly of the dexterous hand, and is beneficial to reducing the thickness and width of the palm of the dexterous hand.

[0114] Meanwhile, the knuckle rotation drive assembly is disposed on the palm connecting assembly, and the palm connecting assembly is rotatably connected to the palm substrate. Part of the knuckle rotation drive assembly and the palm connecting assembly can be disposed on the palm substrate, and part of the knuckle rotation drive assembly and the palm connecting assembly are located in the first accommodation space, which is beneficial to reducing the length of the little finger, ring finger, middle finger or index finger extending from the first accommodation space, thereby reducing the length of the dexterous hand when extended.

[0115] In some embodiments, as Figure 5 shown, the orthographic projection of the palm connecting assembly 102 on the palm substrate 11 in a direction perpendicular to the palm substrate 11 overlaps with the palm substrate 11. At least part of the palm connecting assembly 102 is located in the first accommodation space 114, so that the length of the little finger, ring finger, middle finger or index finger extending from the first accommodation space 114 can be set to be smaller, reducing the length of the dexterous hand when extended. Exemplarily, the orthographic projection of the knuckle rotation drive assembly 104 on the palm substrate 11 in a direction perpendicular to the palm substrate 11 may overlap with the palm substrate 11.

[0116] In some embodiments, as Figures 11 to 15 shown, one or more of the little finger 12, ring finger 13, middle finger 14 and index finger 15 further include: a second knuckle 105 and a first link assembly 106. Exemplarily, the little finger 12, ring finger 13, middle finger 14 and index finger 15 all include a second knuckle 105 and a first link assembly 106.

[0117] The second knuckle 105 and the first knuckle 103 are rotatably connected about a seventh axis L7, and the seventh axis L7 is parallel to the sixth axis L6. One end of the first link assembly 106 is rotatably connected to the palm connecting assembly 102 about an eighth axis L8, and the other end of the first link assembly 106 is rotatably connected to the second knuckle 105 about a ninth axis L9. Both the eighth axis L8 and the ninth axis L9 are parallel to the sixth axis L6. In a plane perpendicular to the sixth axis L6, the connection line between the sixth axis L6 and the seventh axis L7 intersects the connection line between the eighth axis L8 and the ninth axis L9.

[0118] The palm connecting assembly 102, the first knuckle 103, the first link assembly 106 and the second knuckle 105 form a four-bar linkage mechanism. In the four-bar linkage mechanism, the palm connecting assembly 102 is equivalent to the frame, the first knuckle 103 and the first link assembly 106 are equivalent to two crank arms, the second knuckle 105 is equivalent to the connecting rod, and the first knuckle 103 is the driving member. In some application scenarios, the little finger 12 further includes a second knuckle 105 and a first link assembly 106. The knuckle rotation drive assembly 104 drives the first knuckle 103 to rotate counterclockwise relative to the palm connecting assembly 102 about the sixth axis L6. The rotation of the first knuckle 103 is transmitted to the second knuckle 105 through the first link assembly 106, so that the second knuckle 105 rotates counterclockwise relative to the first knuckle 103 about the seventh axis L7, realizing the bending of the little finger 12.

[0119] Exemplarily, as Figure 13 and Figure 15 shown, the first link assembly 106 may include two first links 1060. One end of each of the two first links 1060 is respectively disposed on two opposite sides of the second finger joint 105 along the extending direction of the ninth axis L9. The other ends of the two first links 1060 are respectively disposed on two opposite sides of the palm connecting assembly 102 along the extending direction of the eighth axis L8. One end of the first link 1060 is rotatably connected to the palm connecting assembly 102 about the eighth axis L8, and the other end of the first link 1060 is rotatably connected to the second finger joint 105 about the ninth axis L9. Since the two first links 1060 are spaced apart along the extending direction of the eighth axis L8, it is beneficial to resist an external radial torque, so that the fingers of the dexterous hand 10 are not easily skewed along the extending direction of the eighth axis L8, which is beneficial to improving the motion stability of the dexterous hand 10.

[0120] Exemplarily, the first link 1060 may be a straight rod, a bent rod or an arc-shaped rod. The shapes of the first links may be the same or different. The specific shape and number of the first links 1060 may be set according to actual requirements, and are not specifically limited in this embodiment.

[0121] In the dexterous hand provided in this embodiment, the second finger joint and the first finger joint are rotatably connected about the seventh axis, the seventh axis is parallel to the sixth axis, one end of the first link assembly is rotatably connected to the palm connecting assembly about the eighth axis, and the other end of the first link assembly is rotatably connected to the second finger joint about the ninth axis. Both the eighth axis and the ninth axis are parallel to the sixth axis. In a plane perpendicular to the sixth axis, the connection line between the sixth axis and the seventh axis intersects with the connection line between the eighth axis and the ninth axis. The palm connecting assembly, the first finger joint, the first link assembly and the second finger joint form a four-bar mechanism, realizing the coupling of the motions of the first finger joint and the second finger joint, so that the rotation of the first finger joint can be transmitted to the second finger joint through the first link assembly to realize the bending and stretching of the fingers of the dexterous hand. The structure is simple, has high rigidity, is stable and reliable, and can accurately control the motion trajectory and motion form of the fingers of the dexterous hand, thereby meeting the requirements of various complex tasks.

[0122] In addition, since the first link assembly couples the motions of the first finger joint and the second finger joint, other driving members may not be provided to bend the second finger joint toward the palm side of the first finger joint. Therefore, the lengths of the first finger joint and the first link assembly can be reduced to set the lengths of the fingers of the dexterous hand to be smaller.

[0123] In some embodiments, as Figure 14 and Figure 15As shown, the little finger 12, ring finger 13, middle finger 14, and index finger 15 each have a dorsal side 100 and a palmar side 101 that are arranged opposite to each other. One or more of the little finger 12, ring finger 13, middle finger 14, and index finger 15 further include: a first connecting member 107 and an elastic member 108. Exemplarily, the little finger 12, ring finger 13, middle finger 14, and index finger 15 each further include a first connecting member 107 and an elastic member 108.

[0124] The first connecting member 107 is disposed on the first phalanx 103 and is located on the side of the seventh axis L7 facing the dorsal side. One end of the elastic member 108 is connected to the side of the second phalanx 105 facing the dorsal side 100, and the other end of the elastic member 108 is connected to the first connecting member 107. When the little finger 12, ring finger 13, middle finger 14, or index finger 15 to which the elastic member 108 is connected extends, the elastic member 108 is in a stretched state or an undeformed state.

[0125] Since the first connecting member 107 is disposed on the first phalanx 103 and is located on the side of the seventh axis L7 facing the dorsal side 100, one end of the elastic member 108 is connected to the side of the second phalanx 105 facing the dorsal side 100, and the other end of the elastic member 108 is connected to the connecting member 19. When the second phalanx 105 rotates towards the palmar side 101 relative to the first phalanx 103, the first connecting member 107 will move away from the end of the elastic member 108 connected to the second phalanx 105, causing the elastic member 108 to be stretched. The elastic member 108 causes the second phalanx 105 to have a tendency to rotate towards the dorsal side 100 relative to the first phalanx 103.

[0126] In some embodiments, the phalanx rotation drive assembly 104 realizes the reciprocating rotation of the first phalanx 103 around the sixth axis L6 by abutting against the first phalanx 103. For example, the first phalanx 103 realizes the reciprocating rotation around the sixth axis L6 by abutting against the first side wall 1042 and the second side wall 1043. The first phalanx 103 will not be driven to rotate around the sixth axis L6 until the first side wall 1042 or the second side wall 1043 rotates to abut against the first phalanx 103. That is to say, there may be a situation where the phalanx rotation drive assembly 104 is not in contact with the first phalanx 103, resulting in a relatively large gap between the first phalanx 103 and the second phalanx 105 on the dorsal side 100.

[0127] By setting the first connecting member 107 and the elastic member 108, when the knuckle rotation driving assembly 104 is not in contact with the first knuckle 103, the elastic member 108 will cause the second knuckle 105 to rotate relative to the first knuckle 103 towards the back of the hand side 100, thereby eliminating the gap between the first knuckle 103 and the second knuckle 105 on the back of the hand side 100. Since the palm connecting assembly 102, the first knuckle 103 and the second knuckle 105 are coupled by the first link assembly 106, the gap between the palm connecting assembly 102, the first knuckle 103 and the second knuckle 105 on the back of the hand side 100 is eliminated.

[0128] In addition, since the elastic member 108 will cause the second knuckle 105 to have a tendency to rotate relative to the first knuckle 103 towards the back of the hand side 100 after being stretched, therefore, as Figure 14 shown, the knuckle rotation driving assembly 104 can be set to only contact the side of the first knuckle 103 facing the back of the hand side 100, without a structure for contacting the side of the first knuckle 103 facing the palm side 101, so as to make the second knuckle 105 rotate relative to the first knuckle 103 towards the back of the hand side 100 by means of the pulling force provided by the elastic member 108, realizing the extension of the fingers of the dexterous hand 10, which is beneficial to further simplify the structure of the dexterous hand 10 and reduce the size of the dexterous hand 10.

[0129] Exemplarily, the elastic member 105 can be made of an elastic material or can have elasticity through an elastic structure. Exemplarily, the elastic member 108 can include a spring, a rubber cord or a silicone elastic band, etc.

[0130] In the dexterous hand provided in this embodiment, the little finger, the ring finger, the middle finger or the index finger further includes a first connecting member and an elastic member. The first connecting member is arranged on the first knuckle and is located on the side of the seventh axis facing the back of the hand. One end of the elastic member is connected to the side of the second knuckle facing the back of the hand, and the other end of the elastic member is connected to the first connecting member. When the little finger, the ring finger, the middle finger or the index finger connected by the elastic member is extended, the elastic member is in a stretched state or an undeformed state. Since the elastic member will be stretched when the second knuckle rotates towards the palm side relative to the first knuckle, making the second knuckle have a tendency to rotate relative to the first knuckle towards the back of the hand, it can eliminate the gap between the palm connecting assembly, the first knuckle and the second knuckle on the back of the hand when the knuckle rotation driving assembly realizes the reciprocating rotation of the first knuckle around the sixth axis by contacting the first knuckle.

[0131] In addition, after the elastic member is stretched, it will cause the second phalanx to have a tendency to rotate towards the back of the hand relative to the first phalanx. Therefore, the phalanx rotation drive assembly can be arranged to abut only against the side of the first phalanx facing the back of the hand, and not to have a structure that abuts against the side of the first phalanx facing the palm of the hand. Thus, by means of the pulling force provided by the elastic member, the second phalanx is caused to rotate towards the back of the hand relative to the first phalanx, realizing the extension of the fingers of the dexterous hand, which is beneficial to further simplifying the structure of the dexterous hand, reducing the size of the dexterous hand, and making the structure of the dexterous hand more compact.

[0132] In some embodiments, as Figures 4 to 6 shown, the little finger 12, the ring finger 13, the middle finger 14, and the index finger 15 have the same structure. Such an arrangement can facilitate the modular production of the dexterous hand 10.

[0133] In some embodiments, as Figure 4 , Figure 5 and Figures 17 to 21 shown, the thumb 18 includes: a thumb connection assembly 180, a first thumb phalanx 181, a second thumb phalanx 182, a third thumb phalanx 183, a second link assembly 184, a third link assembly 185, and a thumb rotation drive assembly 186.

[0134] The thumb connection assembly 180 is arranged in the thumb mounting area 110. The first thumb phalanx 181 is rotatably connected to the thumb connection assembly 180 about the tenth axis L10. The second thumb phalanx 182 is rotatably connected to the first thumb phalanx 181 about the eleventh axis L11, and the eleventh axis L11 is parallel to the tenth axis L10. The third thumb phalanx 183 is rotatably connected to the second thumb phalanx 182 about the twelfth axis L12, and the twelfth axis L12 is parallel to the tenth axis L10.

[0135] One end of the second link assembly 184 is rotatably connected to the thumb connection assembly 180 about the thirteenth axis L13, and the other end of the second link assembly 184 is rotatably connected to the second thumb phalanx 182 about the fourteenth axis L14. Both the thirteenth axis L13 and the fourteenth axis L14 are parallel to the tenth axis L10. In a cross-section perpendicular to the tenth axis L10, the connection line between the tenth axis L10 and the eleventh axis L11 intersects the connection line between the thirteenth axis L13 and the fourteenth axis L14.

[0136] One end of the third link assembly 185 is rotatably connected to the first thumb phalanx 181 about the fifteenth axis L15, and the other end of the third link assembly 185 is rotatably connected to the third thumb phalanx 183 about the sixteenth axis L16. Both the fifteenth axis L15 and the sixteenth axis L16 are parallel to the tenth axis L10. In a cross-section perpendicular to the tenth axis L10, the line connecting the eleventh axis L11 and the twelfth axis L12 intersects the line connecting the fifteenth axis L15 and the sixteenth axis L16. The thumb rotation driving assembly 186 is disposed on the first thumb phalanx 181 and is connected to or abuts against the second thumb phalanx 182 for driving the second thumb phalanx 182 to rotate about the eleventh axis L11.

[0137] Specifically, the thumb connection assembly 180, the first thumb phalanx 181, the second thumb phalanx 182, the third thumb phalanx 183, the second link assembly 184, and the third link assembly 185 form two series-connected four-bar linkages. In the first four-bar linkage, the thumb connection assembly 180 is equivalent to the frame, the first thumb phalanx 181 and the second link assembly 184 are equivalent to two crank-rods, the second thumb phalanx 182 is equivalent to the connecting rod, and the second thumb phalanx 182 is the driving member. In the second four-bar linkage, the first thumb phalanx 181 is equivalent to the frame, the second thumb phalanx 182 and the third link assembly 185 are equivalent to two crank-rods, the third thumb phalanx 183 is equivalent to the connecting rod, and the second thumb phalanx 182 is the driving member. When the second thumb phalanx 182 rotates about the eleventh axis L11, under the coupling action provided by the second link assembly 184 and the third link assembly 185, the first thumb phalanx 181 and the third thumb phalanx 183 will rotate in the same direction as the second thumb phalanx 182 about the tenth axis L10 and the twelfth axis L2 respectively.

[0138] Exemplarily, the circumferential dimensions of the first thumb phalanx 181, the second thumb phalanx 182, and the third thumb phalanx 183 decrease in sequence.

[0139] The structure of the thumb rotation driving assembly 186 is similar to that of the phalanx rotation driving assembly 104. For the specific structure, working principle, working process, and technical effects of the thumb rotation driving assembly 186, reference can be made to the phalanx rotation driving assembly 104, which will not be elaborated here one by one. The structures of the second link assembly 184 and the third link assembly 185 are similar to that of the first link assembly 106. For the specific structures and the obtained technical effects of the second link assembly 184 and the third link assembly 185, reference can be made to the first link assembly 106, which will not be elaborated here one by one.

[0140] The dexterous hand provided by the embodiment of the present application has a thumb including at least three phalanges. The thumb rotation drive assembly is disposed on the first thumb phalanx rather than on the palm substrate, which is beneficial to reducing the size of the palm of the dexterous hand. Moreover, in a cross-section perpendicular to the tenth axis, the connection line between the tenth axis and the eleventh axis intersects with the connection line between the thirteenth axis and the fourteenth axis, and the connection line between the eleventh axis and the twelfth axis intersects with the connection line between the fifteenth axis and the sixteenth axis, such that the thumb connection assembly, the first thumb phalanx, the second thumb phalanx, the third thumb phalanx, the second link assembly, and the third link assembly form two series-connected four-bar linkages. While the thumb rotation drive assembly disposed on the thumb itself drives the second thumb phalanx to rotate, the first thumb phalanx and the third thumb phalanx will rotate synchronously with the second thumb phalanx, realizing the bending and extension of the thumb. The structure is simple, compact, high in rigidity, stable and reliable, and can precisely control the movement trajectory and movement form of the thumb, so as to meet the requirements of various complex tasks.

[0141] In addition, since the thumb rotation drive assembly, the second link assembly, and the third link assembly cooperate to realize the bending and extension of the thumb, other drive structures related to the flexion and extension of the thumb may not be provided in the third thumb phalanx, and the length of the third link assembly can also be set to be smaller, such that the lengths of the second thumb phalanx and the third thumb phalanx can be set to be smaller, so that the length of the thumb can also be set to be smaller, and the weight of the thumb can also be set to be smaller, which can effectively reduce the size of the dexterous hand and enable the dexterous hand to adapt to a wider range of application scenarios.

[0142] Meanwhile, the first thumb phalanx becomes the phalanx closest to the palm of the dexterous hand in the thumb, such that the circumferential dimension corresponding to the first thumb phalanx can be designed to be larger, and disposing the thumb rotation drive assembly on the first thumb phalanx can make full and reasonable use of the space in the thumb.

[0143] In some embodiments, as Figure 4 、 Figure 22 and Figure 23 shown, the thumb connection assembly 180 includes: a support member 187, a thumb side-swing drive assembly 188, and a spin drive assembly 189. The support member 187, the first thumb phalanx 181 is rotatably connected to the support member 187 about the tenth axis, and one end of the second link assembly 184 is rotatably connected to the support member 187 about the thirteenth axis L13.

[0144] The thumb side-swing drive assembly 188 is connected to the support member 187 and is configured to drive the support member 187 to reciprocally rotate about the seventeenth axis L17, and the seventeenth axis L17 is perpendicular to the tenth axis L10. The spin drive assembly 189 is disposed in the thumb mounting area 110 and is connected to the thumb side-swing drive assembly 188 for driving the thumb side-swing drive assembly 188 to reciprocally rotate about the eighteenth axis L18, and the eighteenth axis L18 is perpendicular to the seventeenth axis L17 and the palm substrate 11.

[0145] Specifically, the seventeenth axis L17 is parallel to the palm substrate 11. Exemplarily, the thumb side-swing drive assembly 188 and the spin drive assembly 189 may include one or a combination of more than one of the following drive structures: motors, hydraulic motors, pneumatic motors, gear sets, link sets, drive belts. Exemplarily, the thumb side-swing drive assembly 188 or the spin drive assembly 189 may include a servo motor system. For example, the thumb side-swing drive assembly 188 or the spin drive assembly 189 may include a servo.

[0146] Exemplarily, as Figure 22 and Figure 23 shown, the output end of the thumb side-swing drive assembly 188 is connected to the support member 187 to drive the support member 187 to reciprocally rotate about the seventeenth axis L17. The output end of the thumb side-swing drive assembly 188 extends along the seventeenth axis L17. The side-swing drive assembly 30 is generally small in dimension perpendicular to the eighteenth axis L18. Such an arrangement enables the length of the thumb 18 to be smaller.

[0147] Exemplarily, as Figure 22 and Figure 23 shown, the thumb side-swing drive assembly 188 includes a thumb side-swing drive member 1880 and a side-swing connecting member 1881. The side-swing drive member 1880 is disposed in the spin drive assembly 189 and is connected to the side-swing connecting member 1881 for driving the side-swing connecting member 1881 to reciprocally rotate about the seventeenth axis L17. The side-swing connecting member 1881 is connected to the support member 187. The support member 187 is not directly connected to the output end of the thumb side-swing drive member 1880, but instead realizes reciprocating rotation about the seventeenth axis L17 by connecting to the side-swing connecting member 1881, so as to change the orientation of the thumb side-swing drive member 1880, facilitate routing of the thumb side-swing drive member 1880, and electrically connect the thumb side-swing drive member 1880 to the circuit board of the dexterous hand 10.

[0148] Exemplarily, as Figure 4 、 Figure 22 and Figure 23As shown, the spin drive assembly 189 includes a spin driver 1890, a first spin engagement member 1891, a second spin engagement member 1892, and a rotating base 1893. The spin driver 1890 is disposed on the palm substrate 11. The first spin engagement member 1891 is connected to the spin driver 1890. The first spin engagement member 1891 rotates about the nineteenth axis L19 under the drive of the spin driver 1890. The nineteenth axis L19 is perpendicular to the eighteenth axis L18.

[0149] The second spin engagement member 1892 meshes with the first spin engagement member 1891 and is connected to the thumb side-swing drive assembly 188. The second spin engagement member 1892 rotates about the eighteenth axis L18 driven by the first spin engagement member 1891. The rotating base 1893 is disposed on the palm substrate 11, and the second spin engagement member 1892 is rotatably connected to the rotating base 1893 about the eighteenth axis L18.

[0150] Since the dimension of the spin driver 1890 in the extending direction along the nineteenth axis L19 is generally large, and the nineteenth axis L19 is perpendicular to the eighteenth axis L18, the first spin engagement member 1891 and the second spin engagement member 1892 can change the transmission direction of the spin driver 1890, so that the extending direction of the nineteenth axis L19 is parallel to the palm substrate 11. The spin driver 1890 can directly drive the thumb side-swing drive assembly 188 to rotate without along the extending direction of the eighteenth axis L18, so that the dimension of the thumb 18 in the extending direction along the eighteenth axis L18 can be set to be smaller.

[0151] Exemplarily, both the first spin engagement member 1891 and the second spin engagement member 1892 can be helical gears. The first spin engagement member 1891 can be a worm, and the second spin engagement member 1892 can be a helical gear. So that the first spin engagement member 1891 can be disposed on the circumferential side surface of the second spin engagement member 1892 instead of the end surface, which is beneficial to reducing the dimension of the thumb 18 in the extending direction along the eleventh axis L11.

[0152] For the dexterous hand provided in this embodiment, the thumb connection assembly includes a support member, a thumb side-swing drive assembly, and a spin drive assembly. The first thumb phalanx is rotatably connected to the support member about the tenth axis. One end of the second link assembly is rotatably connected to the support member about the thirteenth axis. The thumb side-swing drive assembly is connected to the support member and is used to drive the support member to rotate reciprocally about the seventeenth axis. The seventeenth axis is perpendicular to the tenth axis. The spin drive assembly is disposed in the thumb mounting area and is connected to the thumb side-swing drive assembly, and is used to drive the thumb side-swing drive assembly to rotate reciprocally about the eighteenth axis. The eighteenth axis is perpendicular to the seventeenth axis and the palm substrate, so that the thumb can also perform side-swing and spin actions, enhancing the flexibility of the dexterous hand.

[0153] In other words, the thumb of the dexterous hand can have an active side-swing degree of freedom, an active spin degree of freedom, and an active flexion-extension degree of freedom, that is, three active degrees of freedom. The little finger, ring finger, and index finger can each have an active side-swing degree of freedom and an active flexion-extension degree of freedom, that is, two active degrees of freedom. The middle finger can have an active flexion-extension degree of freedom. That is, the thumb, little finger, ring finger, middle finger, and index finger of the dexterous hand have a total of four active side-swing degrees of freedom, five active bending degrees of freedom, and one active spin degree of freedom. Therefore, when the dexterous hand has five fingers consistent with the human hand, the dexterous hand can have at least 10 active degrees of freedom, belonging to a dexterous hand with medium to high degrees of freedom and having relatively high dexterity.

[0154] At the same time, since three drive components such as the spin drive component, the thumb side-swing drive component, and the thumb rotation drive component are in series rather than in parallel, the circumferential dimension of the thumb is smaller. Since the spin drive component is arranged on the palm substrate, the area occupied by the thumb on the palm substrate is smaller. And the above series arrangement enables the spin drive component not to perform a side-swing action, which can avoid occupying too much movement space due to the swing of the spin drive component, so as to reduce the size of the palm substrate while increasing the flexibility of the fingers of the dexterous hand, and the structure is compact and reliable.

[0155] In some embodiments, as Figure 4 , Figure 22 and Figure 23 shown, along the extension direction of the middle finger 14, the second spin engagement member 1892 has a finger side 1894 and a wrist side 1895 arranged in opposite directions. The finger side 1894 is provided with the middle finger 14, and the wrist side 1895 can be used to arrange the wrist structure 19. The spin drive member 1890 and the second spin engagement member 1892 are located on the wrist side 1895 of the second spin engagement member 1892. Such an arrangement can leave the space on the finger side 1895 of the spin drive member 1890 and the second spin engagement member 1892 empty to avoid the first side-swing drive assembly 16.

[0156] Exemplarily, as Figure 4 , Figure 22 and Figure 23 shown, the shape of the spin drive member 1890 includes a long strip shape, and the extension direction of the spin drive member 1890 is parallel to the extension direction of the nineteenth axis L19. The nineteenth axis L19 is parallel to the palm substrate 11 and perpendicular to the extension direction after the middle finger 14 extends.

[0157] In some embodiments, as Figure 4 , Figure 22 and Figure 23As shown, the spin drive member 1890 is located on the side of the thumb side-swing drive member 1880 facing the dorsal side 112 of the palm. Such an arrangement can space the thumb side-swing drive member 1880 from the palm substrate 11 of the dorsal side 112, leaving a space between the thumb side-swing drive member 1880 and the palm substrate 11 of the dorsal side 112 to accommodate the second side-swing assembly 17, bringing the second side-swing assembly 17 closer to the spin drive member 1890 and making the structure of the dexterous hand 10 more compact.

[0158] Exemplarily, as Figure 4 , Figure 22 and Figure 23 shown, the orthographic projection of the second side-swing assembly 17 on the palm substrate 11 in a direction perpendicular to the palm substrate 11 overlaps with the orthographic projection of the thumb side-swing drive assembly 188 on the palm substrate 11 in a direction perpendicular to the palm substrate 11. Such an arrangement makes the distance between the spin drive member 1890 and the second side-swing assembly 17 closer and makes the structure of the dexterous hand 10 more compact. Exemplarily, the dimension of the second side-swing assembly 17 along the eighteenth axis L18 is greater than or equal to the dimension of the spin drive member 1890 along the eighteenth axis L18 to avoid the thumb side-swing drive assembly 188.

[0159] In some embodiments, as Figure 2 , Figure 3 , Figure 8 and Figure 9 shown, the palm substrate 11 has a palm side 111 and a dorsal side 112 which are arranged opposite to each other. The dexterous hand 10 further includes: a wrist structure 19, at least one first circuit board 22, and a second circuit board 20. The wrist structure 19 is connected to the palm substrate 11 and is located on the side of the palm substrate 11 away from the middle finger 14. At least one first circuit board 22 is disposed on the palm side 111. At least one first circuit board 22 can also be disposed on the dorsal side 112. The second circuit board 20 is disposed on the wrist structure 19.

[0160] Since the size of the dexterous hand in the prior art is usually the size of an adult hand and the circumferential dimension of the wrist structure is relatively large, the circuit boards in the existing dexterous hands are all disposed at the wrist for easy connection to the main body of the robot. To reduce the size of the wrist of the dexterous hand 10, in addition to the wrist structure 19 being able to dispose the circuit board, the palm substrate 11 can also dispose the circuit board. The first circuit board 22 can be disposed on the palm side 111 or on the dorsal side 112, thus splitting the entire circuit board into at least one first circuit board 22 and a second circuit board 20. In addition, the dispersed arrangement of the circuit boards is also beneficial to the heat dissipation of the dexterous hand.

[0161] Exemplarily, a first circuit board 22 is provided on the palm side 111, and a first circuit board 22 is also provided on the back of the hand side 112. Exemplarily, the wrist structure 19 can be a hollow structure, and the second circuit board 20 is disposed in the wrist structure 19. Exemplarily, one side of the wrist structure 19 is used to connect to the palm substrate 11, and the other side is used to connect to the main body 30 of the robot 1. The hollow structure penetrates through the wrist structure 19 along the direction from the palm substrate 11 towards the main body 30. Exemplarily, the first circuit boards 22 can all be located in the first accommodation space 114.

[0162] For the dexterous hand provided in this embodiment, a circuit board can be provided in the wrist structure, and a circuit board can also be provided on the palm substrate. The first circuit board can be disposed on the palm side or on the back of the hand side, so that the entire circuit board is split into at least one first circuit board and a second circuit board, reducing the circumferential dimension of the wrist structure.

[0163] In some embodiments, as Figures 1 to 7 shown, the palm substrate 11 includes: a first sub-substrate 113 and a second sub-substrate 115. The first sub-substrate 113 is disposed on the palm side 111 and has a notch 1130. The notch 1130 is correspondingly disposed with the thumb mounting area 110.

[0164] The second sub-substrate 115 is disposed on the back of the hand side 112. The second sub-substrate 115 is buckled with the first sub-substrate 113 to form a first accommodation space 114. The first accommodation space 114 has a first opening 117 and a second opening 118 which are oppositely disposed along the direction of the wrist structure 19 towards the middle finger 14. The first accommodation space 114 accommodates two first side swing drive assemblies 16 and a second side swing drive assembly 17. The wrist structure 19 is provided at the first opening 117, and the little finger 12, the ring finger 13, the middle finger 14, and the index finger 15 extend out of the first accommodation space 114 from the second opening 118. The thumb 18 extends out of the first accommodation space 114 from the notch 1130.

[0165] The little finger 12 can be rotatably connected to the first sub-substrate 113 or rotatably connected to the second sub-substrate 115. The ring finger 13 can be rotatably connected to the first sub-substrate 113 or rotatably connected to the second sub-substrate 115. The middle finger 14 can be connected to the first sub-substrate 113 or connected to the second sub-substrate 115. The thumb 18 can be disposed on the first sub-substrate 113 or disposed on the second sub-substrate 115. The first side swing drive assembly 16 can be drivingly connected to the first sub-substrate 113 or drivingly connected to the second sub-substrate 115. The second side swing drive assembly 17 can be drivingly connected to the first sub-substrate 113 or drivingly connected to the second sub-substrate 115.

[0166] In the dexterous hand provided in this embodiment, the first sub-substrate and the second sub-substrate are buckled to form a first accommodation space, which can accommodate three side-swing drive components and the parts of each finger connected to the palm substrate, so that the three side-swing drive components and the parts of each finger connected to the palm substrate can be not exposed to the outside world. The three side-swing drive components and the parts of each finger connected to the palm substrate are protected, and the dexterous hand is more beautiful.

[0167] In some embodiments, as Figure 3 and Figures 7 to 9 shown, the first circuit board 22 is arranged on the back side 112 of the palm. One side of the second sub-substrate 115 facing the back side 112 of the palm has an annular protrusion 1150. The palm substrate 11 further includes a third sub-substrate 116. The third sub-substrate 116 is located on the side of the second sub-substrate 115 facing the back side 112 of the palm and is buckled with the annular protrusion 1150 to form a second accommodation space 119, and the second accommodation space 119 accommodates the first circuit board 22.

[0168] In the dexterous hand provided in this embodiment, one side of the second sub-substrate facing the back side of the palm has an annular protrusion. The palm substrate further includes a third sub-substrate. The third sub-substrate is located on the side of the second sub-substrate facing the back side of the palm and is buckled with the annular protrusion to form a second accommodation space. The second accommodation space accommodates the first circuit board. The annular protrusion and the third sub-substrate are buckled to form a second accommodation space protruding from the second sub-substrate to protect the first circuit board, and make the back side of the palm of the dexterous hand have a protrusion, increasing the thickness of the palm corresponding to the protrusion, which is beneficial to resisting external impacts. And this protrusion also enhances the sense of technology of the dexterous hand and improves the user's perception and experience.

[0169] In some embodiments, as Figure 3 and Figure 7 shown, the palm substrate 11 has a palm side 111 and a back side 112 of the palm arranged opposite to each other. The dexterous hand 10 further includes a first tactile sensor 21. The first tactile sensor 21 is arranged on the back side 112 of the palm.

[0170] The first tactile sensor 21 can be used to sense whether the back of the dexterous hand 10 contacts an external object to prevent the back of the dexterous hand 10 from hitting a person or an object. Exemplarily, the first tactile sensor 21 is electrically connected to the first circuit board 22 arranged on the back side 112 of the palm.

[0171] Exemplarily, the dexterous hand 10 may further include at least one second tactile sensor 23. The second tactile sensor 23 may be arranged on the surface of the fingertips of the little finger 12, ring finger 13, middle finger 14, index finger 15 or thumb 18. The second tactile sensor 23 can be used to sense the external object contacted by the finger of the dexterous hand 10, and can also be used to sense the magnitude of the force when the dexterous hand 10 grasps an object in real time.

[0172] Exemplarily, as Figure 14 and Figure 21 shown, the dexterous hand 10 may further include a third tactile sensor. The third tactile sensor is disposed on the palm side 111. The third tactile sensor can be used to sense the magnitude of the force when the dexterous hand 10 grasps an object in real time. Exemplarily, the first tactile sensor 21 may be a one-dimensional tactile sensor, and the third tactile sensor may also be a one-dimensional tactile sensor.

[0173] For the dexterous hand provided in this embodiment, a first tactile sensor is disposed on the palm and back side, which can be used to sense whether the back of the dexterous hand contacts an external object, so as to prevent the back of the dexterous hand from hitting a person or an object, making the dexterous hand applicable to companion robots and capable of improving the user experience.

[0174] As Figure 10 shown, an embodiment of the present application also provides a robot 1. The robot 1 includes at least one dexterous hand 10 mentioned in the above embodiment.

[0175] Since the robot 1 includes the dexterous hand 10, the robot 1 has all the technical features and technical effects of the dexterous hand 10, which will not be elaborated here.

[0176] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "including", "comprising", "provided with", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used here refer to the word "and / or", and can be used interchangeably with each other unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0177] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0178] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined here can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown here, but to the broadest scope consistent with the principles and novel features disclosed here.

[0179] The foregoing description has been presented for purposes of illustration and description. In addition, this description is not intended to limit embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and sub-combinations.

Claims

1. A dexterous hand, characterized in that: include: Palm baseplate; The little finger and / or the ring finger are rotatably connected to the palm base plate; a middle finger connected to the palm base plate; An index finger, rotatably connected to the palm base plate; At least one first side-swing driving component is arranged on the little finger and / or the ring finger, and is transmission-connected with the palm base plate, and is used for driving the little finger and / or the ring finger to swing. The first side-swing driving component overlaps with the palm base plate in an orthographic projection of the palm base plate in a direction perpendicular to the palm base plate. The shape of the first side-swing driving component includes a long strip. When the first side-swing driving component is arranged on the little finger, the extension direction of the first side-swing driving component is parallel to the extension direction of the little finger when it is extended. When the first side-swing driving component is arranged on the ring finger, the extension direction of the first side-swing driving component is parallel to the extension direction of the ring finger when it is extended. a second side-swing driving component, adjacent to the first side-swing driving component, disposed on the index finger and transmission-connected to the palm base plate, for driving the index finger to swing; the second side-swing driving component overlaps with the palm base plate in an orthographic projection of the palm base plate in a direction perpendicular to the palm base plate; the second side-swing driving component has a strip shape; an extension direction of the second side-swing driving component intersects with an extension direction of the index finger when it is extended, and one end of the second side-swing driving component extends toward the middle finger; The thumb is mounted on the thumb mounting area of ​​the palm base plate, and the thumb mounting area is located on a side of the first side-swing driving component close to the second side-swing driving component, and is located on a side of the second side-swing driving component away from the index finger.

2. The dexterous hand according to claim 1, characterized in that: The dexterous hand comprises the little finger and the ring finger, and both the little finger and the ring finger are rotatably connected to the palm substrate; There are two first side-swing drive components, which are adjacent to each other and respectively arranged on the little finger and the ring finger, and are respectively used to drive the little finger and the ring finger to swing, and the extension direction of the first side-swing drive component arranged on the little finger is parallel to the extension direction of the little finger when it is stretched, and the extension direction of the first side-swing drive component arranged on the ring finger is parallel to the extension direction of the ring finger when it is stretched.

3. The dexterous hand according to claim 2, characterized in that: The little finger is rotatably connected to the palm substrate around a first axis, the ring finger is rotatably connected to the palm substrate around a second axis, and the index finger is rotatably connected to the palm substrate around a third axis, and the first axis, the second axis and the third axis are all perpendicular to the palm substrate; The first side swing driving assembly comprises: A first meshing member, disposed on the palm substrate, comprising a plurality of first meshing teeth, the plurality of first meshing teeth being distributed along a first arc line, and the first arc line extending along the circumference of the first axis or the second axis; A first rotating driving member, wherein the shape of the first rotating driving member includes an elongated strip, wherein the first rotating driving member is arranged on the little finger and is located on the side of the first axis away from the fingertip of the little finger, and the extension direction of the first rotating driving member is parallel to the extension direction of the little finger when it is stretched, or the first rotating driving member is arranged on the ring finger and is located on the side of the second axis away from the fingertip of the ring finger, and the extension direction of the first rotating driving member is parallel to the extension direction of the ring finger when it is stretched; a second engagement member connected to the first rotation driving member, meshed with the first engagement member, and capable of rotating around a fourth axis driven by the first rotation driving member, wherein the fourth axis is parallel to the first axis; and / or, The second side swing driving assembly comprises: a third meshing member, disposed on the palm substrate, the third meshing member comprising a plurality of second meshing teeth, the plurality of second meshing teeth being distributed along a second arc line, and the second arc line extending along the circumference of the third axis; a second rotary drive member, adjacent to the first rotary drive member, disposed on the index finger and located on a side of the third axis away from the fingertip of the index finger, the second rotary drive member having a shape of an elongated strip, an extension direction of the second rotary drive member intersecting with an extension direction of the index finger when the index finger is extended, and one end of the second rotary drive member extending toward the middle finger; The fourth engagement member is connected to the second rotation driving member, is engaged with the third engagement member, and can rotate around a fifth axis driven by the second rotation driving member, wherein the fifth axis is parallel to the third axis.

4. The dexterous hand according to claim 3, characterized in that: In the case where the second side-swing drive assembly includes the third gearing, the second rotational drive member and the fourth gearing, the third gearing is located on the side of the fourth gearing away from the thumb mounting area, and / or the palm substrate includes a palm side and a back palm side arranged opposite to each other, and the third gearing and the fourth gearing are arranged on the side of the second rotational drive member facing the back palm side.

5. The dexterous hand according to claim 2, characterized in that: The little finger is rotatably connected to the palm substrate around a first axis, the ring finger is rotatably connected to the palm substrate around a second axis, and the index finger is rotatably connected to the palm substrate around a third axis, and the first axis, the second axis and the third axis are all perpendicular to the palm substrate; One or more of the little finger, the ring finger, the middle finger and the index finger include: A palm connecting component, when the little finger, the ring finger or the index finger includes the palm connecting component, the palm connecting component is rotatably connected to the palm base plate, and when the middle finger includes the palm connecting component, the palm connecting component is fixedly connected to the palm base plate; A first finger joint, rotatably connected to the palm-joint assembly around a sixth axis, wherein the sixth axis is perpendicular to the first axis; A finger joint rotation driving assembly, disposed on the palm connecting assembly and connected to or abutting against the first finger joint, for driving the first finger joint to rotate around the sixth axis; Wherein, when the little finger includes the palm-connecting assembly, the first side-swing driving assembly corresponding to the little finger is connected to the palm-connecting assembly and is located on the side of the knuckle rotation driving assembly away from the first knuckle; when the ring finger includes the palm-connecting assembly, the first side-swing driving assembly corresponding to the ring finger is connected to the palm-connecting assembly and is located on the side of the knuckle rotation driving assembly away from the first knuckle; when the index finger includes the palm-connecting assembly, the second side-swing driving assembly is connected to the palm-connecting assembly and is located on the side of the knuckle rotation driving assembly away from the first knuckle.

6. The dexterous hand according to claim 5, characterized in that: The palm connecting component overlaps with the palm substrate in an orthographic projection on the palm substrate along a direction perpendicular to the palm substrate.

7. The dexterous hand according to claim 5, characterized in that: One or more of the little finger, the ring finger, the middle finger and the index finger further include: a second finger joint, rotatably connected to the first finger joint about a seventh axis, wherein the seventh axis is parallel to the sixth axis; A first connecting rod assembly, one end of the first connecting rod assembly is rotatably connected to the palm connecting rod assembly around an eighth axis, the other end of the first connecting rod assembly is rotatably connected to the second finger joint around a ninth axis, the eighth axis and the ninth axis are both parallel to the sixth axis, and on a plane perpendicular to the sixth axis, a line connecting the sixth axis and the seventh axis intersects with a line connecting the eighth axis and the ninth axis.

8. The dexterous hand according to claim 7, characterized in that: The little finger, the ring finger, the middle finger and the index finger all have a back side and a palm side that are arranged opposite to each other, and one or more of the little finger, the ring finger, the middle finger and the index finger further include: A first connecting member, disposed on the first finger joint and located on a side of the seventh axis facing the back of the hand; An elastic member, one end of which is connected to the side of the second knuckle facing the back of the hand, and the other end of which is connected to the first connecting member, and when the little finger, the ring finger, the middle finger or the index finger to which the elastic member is connected is extended, the elastic member is in a stretched state or an undeformed state.

9. The dexterous hand according to claim 1, characterized in that: The thumb comprises: A thumb connection assembly, disposed in the thumb mounting area; a first thumb knuckle, rotatably connected to the thumb connection assembly about a tenth axis; a second thumb knuckle, rotatably connected to the first thumb knuckle about an eleventh axis, wherein the eleventh axis is parallel to the tenth axis; a third thumb knuckle, rotatably connected to the second thumb knuckle about a twelfth axis, wherein the twelfth axis is parallel to the tenth axis; a second connecting rod assembly, one end of the second connecting rod assembly being rotatably connected to the thumb connecting assembly around a thirteenth axis, the other end of the second connecting rod assembly being rotatably connected to the second thumb knuckle around a fourteenth axis, the thirteenth axis and the fourteenth axis being parallel to the tenth axis, and on a cross section perpendicular to the tenth axis, a line connecting the tenth axis and the eleventh axis intersects a line connecting the thirteenth axis and the fourteenth axis; a third connecting rod assembly, one end of the third connecting rod assembly is rotatably connected to the first thumb knuckle around a fifteenth axis, the other end of the third connecting rod assembly is rotatably connected to the third thumb knuckle around a sixteenth axis, the fifteenth axis and the sixteenth axis are both parallel to the tenth axis, and on a cross section perpendicular to the tenth axis, a line connecting the eleventh axis and the twelfth axis intersects a line connecting the fifteenth axis and the sixteenth axis; The thumb rotation driving assembly is arranged on the first thumb joint and is connected to or abuts against the second thumb joint, and is used for driving the second thumb joint to rotate around the eleventh axis.

10. The dexterous hand according to claim 9, characterized in that: The thumb connection assembly comprises: A support member, wherein the first thumb knuckle is rotatably connected to the support member around the tenth axis, and one end of the second connecting rod assembly is rotatably connected to the support member around the thirteenth axis; A thumb side swing driving assembly connected to the support member, used to drive the support member to reciprocate around a seventeenth axis, wherein the seventeenth axis is perpendicular to the tenth axis; The spin drive assembly is arranged in the thumb installation area and connected to the thumb side swing drive assembly, and is used to drive the thumb side swing drive assembly to reciprocate around the eighteenth axis, and the eighteenth axis is perpendicular to the seventeenth axis and the palm base plate.

11. The dexterous hand according to any one of claims 1 to 10, characterized in that: The palm substrate has a palm side and a palm back side which are arranged opposite to each other; The dexterous hand also includes: A wrist structure, connected to the palm substrate and located on a side of the palm substrate away from the middle finger; At least one first circuit board, disposed on the palm side and / or the back side of the palm; The second circuit board is arranged on the wrist structure.

12. The dexterous hand according to claim 11, characterized in that: The first circuit board is arranged on the back side of the palm; The palm substrate comprises: A first sub-base plate is arranged on the palm side and has a notch, wherein the notch is arranged corresponding to the thumb mounting area; a second sub-base plate, arranged on the back of the palm, the second sub-base plate is buckled with the first sub-base plate to form a first accommodating space, the first accommodating space has a first opening and a second opening arranged opposite to each other along the direction of the wrist structure toward the middle finger, the first accommodating space accommodates at least one of the first side-swing driving assembly and the second side-swing driving assembly, the first opening is provided with the wrist structure, the little finger and / or the ring finger, the middle finger and the index finger extend out of the first accommodating space through the second opening, the thumb extends out of the first accommodating space through the notch, and the second sub-base plate has an annular protrusion on one side facing the back of the palm; a third sub-base plate, located on a side of the second sub-base plate facing the palm back side, and engaging with the annular protrusion to form a second accommodation space, wherein the second accommodation space accommodates the first circuit board; Wherein, in the case where the dexterous hand includes the little finger, the little finger is rotatably connected to the first sub-base plate and / or the second sub-base plate; In the case where the dexterous hand includes the ring finger, the ring finger is rotatably connected to the first sub-base plate and / or the second sub-base plate; The middle finger is connected to the first sub-base plate and / or the second sub-base plate; The index finger is rotatably connected to the first sub-base plate and / or the second sub-base plate; The thumb is arranged on the first sub-base plate and / or the second sub-base plate; The first side swing driving assembly is drivingly connected to the first sub-baseboard and / or the second sub-baseboard; The second side-sway driving assembly is drivingly connected to the first sub-baseboard and / or the second sub-baseboard.

13. The dexterous hand according to any one of claims 1 to 10, characterized in that: The palm substrate has a palm side and a palm back side which are arranged opposite to each other; The dexterous hand also includes: The first touch sensor is arranged on the back of the palm.

14. A robot, characterized in that: Also includes: At least one dexterous hand as claimed in any one of claims 1 to 13.

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