Dexterous hand and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand and a robot to solve the problem that a dexterous hand cannot simultaneously have high flexibility and small size due to a side swing structure. The dexterous hand has independent swing functions of small fingers and / or ring fingers through at least one first side swing driving assembly and one second side swing driving assembly, and the index finger also has an independent swing function. The extension direction of the first side swing driving assembly is parallel to the extension direction of the finger when the first side swing driving assembly is arranged to stretch, the extension direction of the second side swing driving assembly is crossed with the extension direction of the index finger when the second side swing driving assembly is arranged to stretch, and one end of the second side swing driving assembly extends towards the middle finger, so that the mounting position of the thumb is closer to the middle finger and the index finger. The compact structure of the dexterous hand enables the multiple fingers of the dexterous hand to have independent side swing functions while also considering small size, so that the dexterous hand is suitable for more extensive application scenarios.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dexterous hand and a robot. Background Technology

[0002] As an important end effector in the field of robotics, the dexterous hand is designed to simulate the dexterity of the human hand to complete various complex tasks, such as grasping and manipulating delicate objects. It has broad application prospects in fields such as industrial automation, service robots, and medical surgical assistance.

[0003] However, in existing dexterous hand designs, the lateral swing structure of the fingers is large, resulting in a large size of the dexterous hand. Alternatively, in order to reduce the volume of the lateral swing structure, only the index finger can swing laterally, which limits the application scenarios of the dexterous hand. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a small-sized dexterous hand that can effectively reduce size while realizing the independent lateral movement of multiple fingers, so as to expand the application range of dexterous hands and meet the actual needs of different fields.

[0005] In a first aspect, one embodiment of this application provides a dexterous hand, comprising: a palm base plate; a little finger and / or ring finger 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; and at least one first lateral swing driving component disposed on the little finger and / or ring finger and pulsatorically connected to the palm base plate for driving the little finger and / or ring finger to swing. The first lateral swing driving component overlaps with the palm base plate in all directions perpendicular to the palm base plate. The shape of the first lateral swing driving component includes an elongated shape. When the first lateral swing driving component is disposed on the little finger, the extension direction of the first lateral swing driving component is parallel to the extension direction of the little finger when it is extended. When the first lateral swing driving component is disposed on the ring finger... In this case, the extension direction of the first lateral swing drive component is parallel to the extension direction of the ring finger when it is extended; the second lateral swing drive component, adjacent to the first lateral swing drive component, is disposed on the index finger and is connected to the palm base plate for driving the index finger to swing, the second lateral swing drive component overlaps with the palm base plate in the orthographic projection of the palm base plate along a direction perpendicular to the palm base plate, the shape of the second lateral swing drive component includes an elongated shape, the extension direction of the second lateral swing drive component intersects with the extension direction of the index finger when it is extended, and one end of the second lateral swing drive component extends toward the middle finger; the thumb is mounted on the thumb mounting area of ​​the palm base plate, the thumb mounting area is located on the side of the first lateral swing drive component closer to the second lateral swing drive component, and is located on the side of the second lateral swing drive component 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 base plate; there are two first lateral swing drive components, which are arranged adjacent to each other and respectively disposed on the little finger and the ring finger, and are used to drive the little finger and the ring finger to swing, respectively. The extension direction of the first lateral swing drive component disposed on the little finger is parallel to the extension direction when the little finger is extended, and the extension direction of the first lateral swing drive component disposed on the ring finger is parallel to the extension direction when the ring finger is extended.

[0007] In some implementations, the little finger is rotatably connected to the palm base plate around a first axis, the ring finger is rotatably connected to the palm base plate around a second axis, and the index finger is rotatably connected to the palm base plate around a third axis, all of which are perpendicular to the palm base plate. The first lateral swing drive assembly includes: a first engaging member disposed on the palm base plate, the first engaging member including multiple first engaging teeth distributed along a first arc, the first arc extending circumferentially along either the first or second axis; and a first rotational drive member, the shape of which includes an elongated shape. The first rotational drive member is disposed on the little finger and located on the side of the first axis away from the fingertip of the little finger, the extension direction of the first rotational drive member being parallel to the extension direction of the little finger when extended; or the first rotational drive member is disposed on the ring finger and located on the side of the second axis away from the fingertip of the ring finger, the extension direction of the first rotational drive member being parallel to the extension direction of the ring finger when extended. The direction is parallel; the second engaging member is connected to the first rotating drive member, engages with the first engaging member, and is able to rotate around a fourth axis under the drive of the first rotating drive member, the fourth axis being parallel to the first axis; and / or, the second side-swing drive assembly includes: a third engaging member disposed on the palm base plate, the third engaging member including a plurality of second engaging teeth distributed along a second arc, the second arc extending circumferentially along the third axis; a second rotating drive member adjacent to the first rotating drive member, disposed 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 rotating drive member including an elongated shape, the extension direction of the second rotating drive member intersecting the extension direction of the index finger when it is extended, and one end of the second rotating drive member extending toward the middle finger; a fourth engaging member is connected to the second rotating drive member, engages with the third engaging member, and is able to rotate around a fifth axis under the drive of the second rotating drive member, the fifth axis being parallel to the third axis.

[0008] In some implementations, when the second lateral 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 opposite to the thumb mounting area, and / or, the palm substrate includes a palm side and a palm back side disposed opposite to each other, and the third engaging member and the fourth engaging member are disposed on the side of the second rotary drive member facing the palm back side.

[0009] In some implementations, the little finger is rotatably connected to the palm base plate about a first axis, the ring finger is rotatably connected to the palm base plate about a second axis, and the index finger is rotatably connected to the palm base plate about a third axis, all of which are perpendicular to the palm base plate. One or more of the little finger, ring finger, middle finger, and index finger include: a connecting palm assembly, in which case the connecting palm assembly is rotatably connected to the palm base plate, and in which case the connecting palm assembly is included in the middle finger, the connecting palm assembly is fixedly connected to the palm base plate; a first phalanx, rotatably connected to the connecting palm assembly about a sixth axis, which is perpendicular to the first axis; and a phalanx rotation... A rotation drive assembly is disposed on the connecting palm assembly and connected to or abutting against the first phalanx, for driving the first phalanx to rotate around a sixth axis; wherein, when the little finger includes the connecting palm assembly, the first lateral swing drive assembly corresponding to the little finger is connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx; when the ring finger includes the connecting palm assembly, the first lateral swing drive assembly corresponding to the ring finger is connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx; when the index finger includes the connecting palm assembly, the second lateral swing drive assembly is connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx.

[0010] In some implementations, the palm-connecting component overlaps with the palm substrate in its orthographic projection along a direction perpendicular to the palm substrate.

[0011] In some implementations, one or more of the little finger, ring finger, middle finger, and index finger may further include: a second phalanx rotatably connected to the first phalanx about a seventh axis, the seventh axis being parallel to the sixth axis; a first linkage assembly, one end of which is rotatably connected to the connecting palm assembly about an eighth axis, and the other end of which is rotatably connected to the second phalanx about a ninth axis, both the eighth and ninth axes being parallel to the sixth axis, and in a plane perpendicular to the sixth axis, the line connecting the sixth and seventh axes intersects the line connecting the eighth and ninth axes.

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

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

[0014] In some implementations, the thumb further includes: a support member, a first thumb knuckle rotatably connected to the support member about a tenth axis, and one end of a second linkage assembly rotatably connected to the support member about a thirteenth axis; a thumb lateral swing drive assembly connected to the support member for driving the support member to reciprocate about a seventeenth axis, the seventeenth axis being perpendicular to the tenth axis; and a spin drive assembly disposed in the thumb mounting area and connected to the thumb lateral swing drive assembly for driving the thumb lateral swing drive assembly to reciprocate about an eighteenth axis, the eighteenth axis being perpendicular to the seventeenth axis and the palm base plate.

[0015] In some implementations, the hand substrate has a palm side and a back side disposed opposite to each other; the dexterous hand also includes: a wrist structure connected to the hand substrate and located on the side of the hand substrate away from the middle finger; a first circuit board disposed on the palm side and / or the back side; and 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, the notch corresponding to the thumb mounting area; a second sub-substrate disposed on the back of the hand, the second sub-substrate and the first sub-substrate being fastened together to form a first accommodating space, the first accommodating space having a first opening and a second opening oppositely disposed along the direction of the wrist structure toward the middle finger, the first accommodating space accommodating at least one first lateral swing driving component and a second lateral swing driving component, the first opening having a wrist structure, the little finger and / or ring finger, middle finger and index finger extending out of the first accommodating space through the second opening, the thumb extending out of the first accommodating space through the notch, the side of the second sub-substrate facing the back of the hand having an annular protrusion; a third sub-substrate, A second receiving space is formed on the side of the second sub-sub-substrate facing the back of the hand and engages with the annular protrusion, the second receiving space accommodating 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; a first lateral swing drive assembly is driveably connected to the first sub-substrate and / or the second sub-substrate; a second lateral swing drive assembly is driveably connected to the first sub-substrate and / or the second sub-substrate.

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

[0018] Secondly, one embodiment of this application provides a robot, including at least one dexterous hand as mentioned in the first aspect.

[0019] The dexterous hand provided in this application embodiment enables the little finger and / or ring finger to have independent swinging function through two first lateral swing driving components and one second lateral swing driving component, and the index finger also has independent swinging function, making the dexterous hand more flexible and able to meet the needs of various complex tasks.

[0020] Furthermore, the first and second lateral swing drive components overlap with the palm substrate in their orthographic projections along a direction perpendicular to the palm substrate. Both the first and second lateral swing drive components are elongated. The extension direction of the first lateral swing drive component is parallel to the extension direction of the extended finger on which it is located. The extension direction of the first lateral swing drive component located on the ring finger is parallel to the extension direction of the extended ring finger. This ensures that at least a portion of the first and second lateral swing drive components are located in the palm of the dexterous hand, rather than entirely in the fingers. This helps to reduce the size of the little finger and / or the ring finger, as well as the size of the index finger. Moreover, the first and second lateral swing drive components have a smaller impact on the width and thickness of the dexterous hand's palm, which is beneficial for reducing the width and thickness of the dexterous hand's palm.

[0021] Meanwhile, since the middle finger does not have a corresponding lateral swing drive component, the side of the first lateral swing drive component connected to the finger on the side of the middle finger away from the index finger is left unused on the side facing the middle finger. The second lateral swing drive component is adjacent to the first lateral swing drive component, and its extension direction intersects the extension direction of the index finger when it is extended. One end of the second lateral swing drive component extends towards the middle finger, leaving the area on the side of the first lateral swing drive component facing the second lateral swing drive component and the side of the second lateral swing drive component away from the index finger unused. This area, which is the thumb mounting area, can be used to mount the thumb, making the thumb's mounting position closer to the middle and index fingers, thereby reducing the length of the dexterous hand's palm. This layout makes the dexterous hand's structure compact, allowing multiple fingers of the dexterous hand to have independent lateral swing functions while also maintaining a small size, making the dexterous hand adaptable to a wider range of application scenarios. Attached Figure Description

[0022] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0023] Figure 1 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this application.

[0024] Figure 2 The diagram shown is a structural schematic of a dexterous hand provided in another embodiment of this application.

[0025] Figure 3 The image shown is a right view of a dexterous hand provided in an embodiment of this application.

[0026] Figure 4The diagram shown is a schematic diagram of the structure of a dexterous hand after removing part of the palm substrate according to an embodiment of this application.

[0027] Figure 5 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this application after removing the thumb and part of the palm substrate.

[0028] Figure 6 The diagram shown is a structural schematic of the little finger, ring finger, middle finger, index finger, first lateral swing drive assembly, and second lateral swing drive assembly provided in an embodiment of this application.

[0029] Figure 7 The diagram shown is a structural schematic of a dexterous hand provided in another embodiment of this application.

[0030] Figure 8 The diagram shown is a structural schematic of a dexterous hand after removing part of the palm substrate, according to another embodiment of this application.

[0031] Figure 9 The diagram shown is a structural schematic of a dexterous hand after removing part of the palm substrate, according to another embodiment of this application.

[0032] Figure 10 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0033] Figure 11 The diagram shown is a structural schematic of the little finger, the first side-swing driving component, and the palm substrate provided in an embodiment of this application.

[0034] Figure 12 The diagram shown is a structural schematic of the little finger provided in an embodiment of this application.

[0035] Figure 13 The diagram shown is a structural schematic of the little finger provided in another embodiment of this application.

[0036] Figure 14 The image shown is an embodiment provided by this application. Figure 13 A cross-sectional view of the little finger along line AA.

[0037] Figure 15 The diagram shown is a schematic representation of the structure of the little finger after removing the connecting palm assembly and the first phalanx according to an embodiment of this application.

[0038] Figure 16 The diagram shown is a structural schematic of the first side-swing drive assembly and the connecting palm assembly provided in an embodiment of this application.

[0039] Figure 17 The figure shown is a schematic diagram of the structure of a thumb provided in an embodiment of this application.

[0040] Figure 18The diagram shown is a structural schematic of a thumb according to another embodiment of this application.

[0041] Figure 19 The diagram shown is a schematic diagram of the structure of a thumb after removing the second thumb joint, according to an embodiment of this application.

[0042] Figure 20 The diagram shown is a structural schematic of a thumb after removing the second thumb joint, according to another embodiment of this application.

[0043] Figure 21 The image shown is an embodiment provided by this application. Figure 20 A cross-sectional view of the middle thumb along line BB after removing the second phalanx.

[0044] Figure 22 The diagram shown is a structural schematic of a thumb according to another embodiment of this application.

[0045] Figure 23 The diagram shown is a structural schematic of a thumb provided in another embodiment of this application.

[0046] Figure label:

[0047] 1. Robot; 10. Dexterous hand; 100. Back of hand; 101. Palm side; 102. Connecting palm assembly; 103. First knuckle; 1030. Actuated part; 104. Knuckle rotation drive assembly; 1040. Knuckle rotation drive component; 1041. Actuating component; 1042. First sidewall; 1043. Second sidewall; 1044. Actuating engagement component; 105. Second knuckle; 106. First link assembly; 1060. First link; 107. First connector; 108. Elastic component; 11. Palm base plate; 110. Thumb mounting area; 111. Palm side; 112. Back of hand; 113. First sub-substrate; 1130. Notch; 114. First accommodating space; 115. Second sub-substrate; 1150. Annular protrusion; 116. Third sub-substrate; 117. First opening; 118. Second opening; 119. Second accommodating space; 12. Little finger; 13. Ring finger; 14. Middle finger; 15. Index finger; 16. First lateral swing drive assembly; 160. First engaging member; 1600. First engaging tooth; 161. First rotation drive member; 162. Second engaging member; 17. Second lateral swing drive assembly; 170. Third engaging member; 171. Second rotation drive member; 172. Fourth engaging component; 18. Thumb; 180. Thumb connecting assembly; 181. First thumb knuckle; 182. Second thumb knuckle; 183. Third thumb knuckle; 184. Second link assembly; 185. Third link assembly; 186. Thumb rotation drive assembly; 187. Support component; 188. Thumb lateral swing drive assembly; 1880. Thumb lateral swing drive component; 1881. Lateral swing connector; 189. Spin drive assembly; 1890. Spin drive component; 1891. First spin engaging component; 1892. Second spin engaging component; 1893. Rotating base; 1894. Finger side; 189 5. 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

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] As an important end effector in the field of robotics, the dexterous hand is designed to simulate the dexterity of the human hand to complete various complex tasks, such as grasping and manipulating delicate objects. It has broad application prospects in fields such as industrial automation, service robots, and medical surgical assistance.

[0050] However, in existing dexterous hand designs, the lateral movement structure of the fingers is complex and bulky, resulting in a large size for the dexterous hand. Alternatively, in order to reduce the volume of the lateral movement structure, only the index finger among the multiple fingers can move laterally, which limits the application scenarios of the dexterous hand.

[0051] To address the aforementioned problems, this application provides a dexterous hand, comprising: a palm base plate; a little finger and / or ring finger 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; and at least one first lateral swing driving component disposed on the little finger and / or ring finger and transmittedly connected to the palm base plate for driving the little finger and / or ring finger to swing. The at least one first lateral swing driving component overlaps with the palm base plate in its orthographic projection along a direction perpendicular to the palm base plate. The shape of the first lateral swing driving component includes an elongated shape. When the first lateral swing driving component is disposed on the little finger, its extension direction is parallel to the extension direction of the little finger when it is extended. When the first lateral swing driving component is disposed on the ring finger... In this case, the extension direction of the first lateral swing drive component is parallel to the extension direction of the ring finger when it is extended; the second lateral swing drive component, adjacent to the first lateral swing drive component, is disposed on the index finger and is connected to the palm base plate for driving the index finger to swing, the second lateral swing drive component overlaps with the palm base plate in the orthographic projection of the palm base plate along a direction perpendicular to the palm base plate, the shape of the second lateral swing drive component includes an elongated shape, the extension direction of the second lateral swing drive component intersects with the extension direction of the index finger when it is extended, and one end of the second lateral swing drive component extends toward the middle finger; the thumb is mounted on the thumb mounting area of ​​the palm base plate, the thumb mounting area is located on the side of the first lateral swing drive component closer to the second lateral swing drive component, and is located on the side of the second lateral swing drive component away from the index finger.

[0052] The dexterous hand provided in this application embodiment enables the little finger and / or ring finger to have independent swinging function through two first lateral swing driving components and one second lateral swing driving component, and the index finger also has independent swinging function, making the dexterous hand more flexible and able to meet the needs of various complex tasks.

[0053] Furthermore, the first and second lateral swing drive components overlap with the palm substrate in their orthographic projections along a direction perpendicular to the palm substrate. Both the first and second lateral swing drive components are elongated. The extension direction of the first lateral swing drive component is parallel to the extension direction of the extended fingers on which it is located, such that at least a portion of the first and second lateral swing drive components are located in the palm of the dexterous hand, rather than entirely in the fingers. This is beneficial for reducing the size of the little finger and / or ring finger and the size of the index finger. Moreover, the first and second lateral swing drive components have a smaller impact on the width and thickness of the dexterous hand's palm, which is beneficial for reducing the width and thickness of the dexterous hand's palm.

[0054] Meanwhile, since the middle finger does not have a corresponding lateral swing drive component, the side of the first lateral swing drive component connected to the finger on the side of the middle finger away from the index finger is left unused on the side facing the middle finger. The second lateral swing drive component is adjacent to the first lateral swing drive component, and its extension direction intersects the extension direction of the index finger when it is extended. One end of the second lateral swing drive component extends towards the middle finger, leaving the area on the side of the first lateral swing drive component facing the second lateral swing drive component and the side of the second lateral swing drive component away from the index finger unused. This area, which is the thumb mounting area, can be used to mount the thumb, making the thumb's mounting position closer to the middle and index fingers, thereby reducing the length of the dexterous hand's palm. This layout makes the dexterous hand's structure compact, allowing multiple fingers of the dexterous hand to have independent lateral swing functions while also maintaining a small size, making the dexterous hand adaptable to a wider range of application scenarios.

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

[0056] like Figures 1 to 23 As shown, the dexterous hand 10 is applied to robot 1. Exemplarily, robot 1 includes a dexterous hand 10 and a body 30, with the dexterous hand 10 disposed on the body 30. The body 30 can be a structure of the body portion of a humanoid robot or a structure of the arm portion of an industrial robot; this application does not specifically limit it.

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

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

[0059] At least one first lateral swing drive component 16 may be disposed on the little finger 12 and driven to the palm base plate 11 for driving the little finger 12 to swing. The first lateral swing drive component 16 may also be disposed on the ring finger 13 and driven to the palm base plate 11 for driving the ring finger 13 to swing.

[0060] Specifically, the first lateral swing drive assembly 16 is used to drive the little finger 12 and / or the ring finger 13 to perform a lateral swinging motion relative to the palm base plate 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 base plate 11. There are two first lateral swing drive assemblies 16. The two first lateral swing drive assemblies 16 are arranged adjacent to each other and respectively disposed on the little finger 12 and the ring finger 13, respectively, to drive the little finger 12 and the ring finger 13 to swing. This arrangement allows the dexterous hand 10 to include at least five fingers, and allows 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 swings and the swing axis around which the ring finger 13 swings can both be perpendicular to the palm base plate 11, or they can both have a certain angle with the palm base plate 11. The swing axis around which the little finger 12 swings and the swing axis around which the ring finger 13 swings can be set parallel or intersecting.

[0061] For example, the driving body of the first lateral swing drive assembly 16 is disposed on the little finger 12 and the ring finger 13, and is connected to the palm base plate 11 through a transmission structure, so that the palm base plate 11 can provide support for the transmission structure, so that the little finger 12 and the ring finger 13 can swing relative to the palm base plate 11. The transmission structure can be a linkage transmission structure, a gear transmission structure, or a transmission belt structure, etc.

[0062] The first lateral swing drive assembly 16 overlaps with the palm substrate 11 in its orthographic projection along a direction perpendicular to the palm substrate 11. Since the orthographic projections of the first lateral swing drive assembly 16 along a direction perpendicular to the palm substrate 11 overlap with the palm substrate 11, at least a portion of the first lateral swing drive assembly 16 is located on the palm of the dexterous hand 10, rather than entirely on the fingers of the dexterous hand 10. This is beneficial for reducing the size of the fingers on which the first lateral swing drive assembly 16 is located, that is, for 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, there are two first lateral swing drive assemblies 16. The orthographic projections of both first lateral swing drive assemblies 16 along a direction perpendicular to the palm substrate 11 overlap with the palm substrate 11.

[0063] like Figure 5 and Figure 6 As shown, the first lateral swing drive assembly 16 has an elongated shape. When the first lateral swing drive assembly 16 is provided on the little finger 12, the extending direction of the first lateral swing drive assembly 16 is parallel to the extending direction of the little finger 12 when it is extended. When the first lateral swing drive assembly 16 is provided on the ring finger 13, the extending direction of the first lateral swing drive assembly 16 is parallel to the extending direction of the ring finger 13 when it is extended.

[0064] For example, the extension direction of the first lateral swing drive component 16 disposed on the little finger 12 is parallel to the extension direction of the little finger 12 when it is extended. The extension direction of the first lateral swing drive component 16 disposed on the ring finger 13 is parallel to the extension direction of the ring finger 13 when it is extended.

[0065] The shape of the first lateral swing drive component 16 includes an elongated shape, specifically meaning that the first lateral swing drive component 16 is elongated along its extension direction. For example, the shape of the first lateral swing drive component 16 can be a cube, where the length is greater than the width and the height is greater than the height. In this case, the first lateral swing drive component 16 is elongated, and the extension direction of the first lateral swing drive component 16 is its length direction.

[0066] Since at least a portion of the first lateral swing drive assembly 16 is located in the palm of the dexterous hand 10, and the shape of the first lateral swing drive assembly 16 includes an elongated shape, the extension direction of the first lateral swing drive assembly 16 disposed on the little finger 12 can be parallel to the extension direction when the little finger 12 is extended, and the extension direction of the first lateral swing drive assembly 16 disposed on the ring finger 13 can be parallel to the extension direction when the ring finger 13 is extended, so that the first lateral swing drive assembly 16 has a smaller impact 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 10.

[0067] like Figure 5As shown, the second lateral swing drive assembly 17 is adjacent to the first lateral swing drive assembly 16, disposed on the index finger 15, and is connected to the palm base plate 11 for driving the index finger 15 to swing. The second lateral swing drive assembly 17 overlaps with the palm base plate 11 in its orthographic projection along a direction perpendicular to the palm base plate 11. The shape of the second lateral swing drive assembly 17 includes an elongated shape. Similar to the first lateral swing drive assembly 17, this arrangement ensures that at least a portion of the second lateral swing drive assembly 17 is located on the palm of the dexterous hand 10, rather than entirely on the fingers of the dexterous hand 10. This helps to reduce the size of the index finger 15, and the second lateral swing drive assembly 17 has a smaller impact on the width and thickness of the palm of the dexterous hand 10, which further helps to reduce the width and thickness of the palm of the dexterous hand 10.

[0068] like Figure 5 and Figure 6 As shown, the extension direction of the second lateral swing drive component 17 intersects the extension direction of the index finger 15 when it is extended, and one end of the second lateral swing drive component 17 extends toward the middle finger 14. Since the middle finger 14 does not have a corresponding lateral swing drive component, the side of the first lateral swing drive component 16 that is connected to the finger on the side of the middle finger 14 away from the index finger 15 (if the dexterous hand 10 includes the ring finger 13, this finger is the ring finger 13; if the dexterous hand 10 does not include the ring finger 13, this finger is the little finger 12) is left empty on the side facing the middle finger. The extension direction of the second lateral swing drive component 17 intersects the extension direction of the index finger 15 when it is extended, and one end of the second lateral swing drive component 17 extends toward the middle finger 14, so that the area on the side of the first lateral swing drive component 16 facing the second lateral swing drive component 17 and the area on the side of the second lateral swing drive component 17 away from the index finger 15 is left empty, so that the thumb 18 can 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] like Figure 4 and Figure 5 As shown, the thumb 18 is mounted on the thumb mounting area 110 of the palm base plate 11. The thumb mounting area 110 is located on the side of the first lateral swing drive assembly 16 near the second lateral swing drive assembly, and on the side of the second lateral swing drive assembly 17 away from the index finger 15.

[0070] Exemplarily, the first lateral swing drive assembly 16 and the second lateral swing drive assembly 17 may each include one or more combinations of the following drive structures: an electric motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, and a drive belt. Exemplarily, the first lateral swing drive assembly 16 or the second lateral swing drive assembly 17 may include a servo motor system. For example, the first lateral swing drive assembly 16 or the second lateral swing drive assembly 17 may include a servo motor.

[0071] The dexterous hand provided in this embodiment enables the little finger and / or ring finger to have independent swinging functions through two first lateral swing driving components and one second lateral swing driving component, and the index finger to also have independent swinging functions, making the dexterous hand more flexible and able to meet the needs of various complex tasks.

[0072] Furthermore, the first and second lateral swing drive components overlap with the palm substrate in their orthographic projections along a direction perpendicular to the palm substrate. Both the first and second lateral swing drive components are elongated. The extension direction of the first lateral swing drive component is parallel to the extension direction of the extended fingers on which it is located, such that at least a portion of the first and second lateral swing drive components are located in the palm of the dexterous hand, rather than entirely in the fingers. This is beneficial for reducing the size of the little finger and / or ring finger and the size of the index finger. Moreover, the first and second lateral swing drive components have a smaller impact on the width and thickness of the dexterous hand's palm, which is beneficial for reducing the width and thickness of the dexterous hand's palm.

[0073] Meanwhile, since the middle finger does not have a corresponding lateral swing drive component, the side of the first lateral swing drive component connected to the finger on the side of the middle finger away from the index finger is left empty. The second lateral swing drive component is adjacent to the first lateral swing drive component, and its extension direction intersects the extension direction of the index finger when it is extended. One end of the second lateral swing drive component extends towards the middle finger, leaving the area on the side of the first lateral swing drive component facing the second lateral swing drive component and the side of the second lateral swing drive component away from the index finger empty. This area, which is the thumb mounting area, can be used to mount the thumb, making the thumb's mounting position closer to the middle and index fingers, thereby reducing the length of the dexterous hand's palm. This layout makes the dexterous hand's structure compact, allowing multiple fingers of the dexterous hand to have independent lateral swing functions while also maintaining a small size, making the dexterous hand adaptable to a wider range of application scenarios.

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

[0075] Specifically, the first lateral swing drive assembly 16, located on the little finger 12, drives the little finger 12 to swing around the first axis L1. The first lateral swing drive assembly 16, located on the ring finger 13, drives the ring finger 13 to swing around the second axis. The second lateral swing drive assembly 17 drives the index finger 15 to swing around the third axis. This precisely controls the swinging motion of each finger, ensuring the coordination of the dexterous hand 10.

[0076] like Figures 5 to 6 As shown, 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 base plate 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, which extends circumferentially along a first axis L1 or a second axis.

[0077] The first rotation drive member 161 has an elongated shape. The first rotation drive member 161 can be disposed on the little finger 12, located on the side of the first axis L1 opposite to the fingertip of the little finger 12, and the extension direction of the first rotation drive member 161 is parallel to the extension direction of the little finger 12 when extended. The first rotation drive member 161 can also be disposed on the ring finger 13, located on the side of the second axis opposite to the fingertip of the ring finger 13, and the extension direction of the first rotation drive member 161 is parallel to the extension direction of the ring finger 13 when extended.

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

[0079] Specifically, the first engaging member 160, the first rotary driving member 161, and the second engaging member 162 for driving the little finger 12 to swing are correspondingly arranged with respect to the little finger 12. The first engaging member 160, the first rotary driving member 161, and the second engaging member 162 for driving the ring finger 13 to swing are correspondingly arranged with respect to 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 is understandable that the first rotary drive component 161, as a component driving the first engaging component 160 and the second engaging component 162, generally occupies a large volume proportion in the first lateral swing drive assembly 16. Therefore, the shape of the first rotary drive component 161 includes an elongated shape, which allows the first lateral swing drive assembly 16 to possess the aforementioned technical effects brought about by the elongated shape of the first lateral swing drive assembly 16. For example, the first lateral swing drive assembly has a smaller impact on the width and thickness of the dexterous hand 10's palm, which is beneficial for reducing the width and thickness of the dexterous hand's palm.

[0081] For example, the second meshing member 162 may be a helical gear, and the first meshing tooth 1600 may be a helical tooth meshing with the helical gear. For example, the second meshing member 162 may be a spur gear, and the first meshing tooth 1600 may be a spur tooth meshing with the spur gear. For example, the second meshing member 162 may not be a complete gear. For example, the second meshing member 162 includes a plurality of teeth circumferentially distributed around the fourth axis L4. The angle of the arc formed by the plurality of teeth may be greater than 0 degrees and less than 360 degrees.

[0082] In some application scenarios, such as Figure 6 As shown, the first rotary drive 161 drives the second meshing member 162 to rotate clockwise around the fourth axis L4. Since the second meshing member 162 and the first meshing member 160 mesh, the second meshing member 162 moves counterclockwise along the arc formed by multiple first meshing teeth 1600, causing the little finger 12 to rotate counterclockwise around the first axis L1, thereby realizing the side swing of the little finger 12.

[0083] Exemplarily, the first rotary drive 161 may include one or more combinations of the following drive structures: an electric motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, and a transmission belt. Exemplarily, the first rotary drive 161 may include a servo motor system. For example, the first rotary drive 161 may include a servo motor.

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

[0085] Existing technologies typically achieve lateral movement of dexterous hand fingers by pushing and pulling a support member with a telescopic rod. This telescopic rod is usually arranged along the width of the palm, requires a large movement space, and is prone to locking, resulting in a larger palm width and unstable lateral movement of the dexterous hand fingers. The proposed solution achieves lateral movement of the dexterous hand fingers by using a first rotary drive member and engaging a first and second meshing member. This solution is simple, compact, easy, precise, and reliable to control, allows for flexible arrangement, requires less movement space, and is less prone to locking. This helps reduce the size of the dexterous hand palm and ensures smooth lateral movement of the fingers.

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

[0087] The second rotary drive member 171 is adjacent to the first rotary drive member 161, disposed on the index finger 15, and 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 an elongated shape. The extension direction of the second rotary drive member 171 intersects the extension direction of the index finger 15 when it is extended, and one end of the second rotary drive member 171 extends toward the middle finger 14. The fourth engaging member 172 is connected to the second rotary drive member 171, engages with the third engaging member 170, and is capable of rotating around a fifth axis under the drive of the second rotary drive member 171. The fifth axis is parallel to the third axis.

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

[0089] In some embodiments, such as Figures 4 to 6 As shown, in the case where the second side swing drive assembly 17 includes a third engagement member 170, a second rotary drive member 171 and a fourth engagement member 172, the third engagement member 170 is located on the side of the fourth engagement member 172 opposite to the thumb mounting area 110.

[0090] Multiple second meshing teeth 1700 are distributed along a second arc, which extends circumferentially along a third axis. A third meshing member 170 is disposed on the palm base plate 11 and meshes with a fourth meshing member 172. Therefore, the third meshing member 170 can be disposed circumferentially on the fourth meshing member 172.

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

[0092] For example, such as Figure 6 As shown, in the case where the first lateral swing drive assembly 16 disposed on 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 closer to the fingertip after the ring finger 13 is extended. This arrangement allows for more free space on the side of the first lateral swing drive assembly 16 away from the ring finger 13, and other components can be disposed closer to the ring finger 13, which is beneficial for further extending the palm length of the small dexterity hand 10.

[0093] The dexterous hand provided in this embodiment includes a second side-swing drive assembly comprising 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, rather than on the side of the fourth engaging member close to the thumb mounting area. This allows the third engaging member to be located away from the thumb mounting area, making the thumb positioned closer to the index finger, which is beneficial for further reducing the length of the dexterous hand's palm.

[0094] In some embodiments, such as Figures 3 to 6 As 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 base plate 11 includes a palm side 111 and a palm back side 112 disposed opposite to each other, and the third engaging member 170 and the fourth engaging member 172 are disposed 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 hand substrate 11 that simulates the palm of a human or animal hand. The back side 112 is the side of the hand substrate 11 that simulates the back of a human or animal hand. The palm side 111 and the back side 112 are arranged opposite each other along the thickness direction of the hand substrate 11.

[0096] Since the thumb 18 is usually mounted on the palm side 111, the third engagement member 170 and the fourth engagement member 172 are located on the side of the second rotary drive member 171 facing the back of the hand, which will give the palm side 111 of the thumb mounting area 110 more space, thereby making it easier to mount the thumb 18 on the palm side 111 of the thumb mounting area 110, which facilitates the assembly and maintenance of the dexterous hand 10.

[0097] For example, such as Figure 5As shown, when the first lateral swing drive assembly 16 includes a first engaging member 160, a first rotary drive member 161, and a second engaging member 162, the palm base plate 11 includes a palm side 111 and a back side 112 disposed opposite to each other. The first engaging member 160 and the second engaging member 162 are disposed on the side of the first rotary drive member 161 facing the back side 112. This facilitates the assembly and maintenance of the dexterous hand 10.

[0098] The dexterous hand provided in this embodiment includes a second lateral swing drive assembly comprising a third engaging member, a second rotary drive member, and a fourth engaging member. The palm base plate includes a palm side and a palm back side arranged opposite to each other. The third engaging member and the fourth engaging member are disposed on the side of the second rotary drive member facing the palm back side, so that the side of the thumb mounting area facing the palm side has more space, thereby facilitating the placement of the thumb on the side of the thumb mounting area facing the palm side, and facilitating the assembly and maintenance of the dexterous hand.

[0099] In some embodiments, such as Figure 4 , Figure 11 and Figure 12 As shown, the little finger 12 is rotatably connected to the palm base plate 11 around the first axis L1, the ring finger 13 is rotatably connected to the palm base plate 11 around the second axis, and the index finger 15 is rotatably connected to the palm base plate 11 around the 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, ring finger 13, middle finger 14, and index finger 15 include: a connecting assembly 102, a first knuckle 103, and a knuckle rotation drive assembly 104. When the little finger 12, ring finger 13, or index finger 15 includes the connecting assembly 102, the connecting assembly 102 is rotatably connected to the palm base plate 11. When the middle finger 14 includes the connecting assembly 102, the connecting assembly 102 is fixedly connected to the palm base plate 11. Exemplarily, the little finger 12, ring finger 13, middle finger 14, and index finger 15 all include the connecting assembly 102, the first knuckle 103, and the knuckle rotation drive assembly 104.

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

[0102] like Figures 11 to 16As shown, the first knuckle 103 is rotatably connected to the connecting palm assembly 102 around the sixth axis L6, which is perpendicular to the first axis L1. The knuckle rotation drive assembly 104 is disposed on the connecting palm assembly 102 and is connected to or abuts against the first knuckle 103, for driving the first knuckle 103 to rotate around the sixth axis L6.

[0103] When the little finger 12 includes the connecting palm assembly 102, the first lateral swing drive assembly 16 corresponding to the little finger 12 is connected to the connecting palm assembly 102 and located on the side of the knuckle rotation drive assembly 104 away from the first knuckle 103. When the ring finger 13 includes the connecting palm assembly 102, the first lateral swing drive assembly 16 corresponding to the ring finger 13 is connected to the connecting palm assembly 102 and located on the side of the knuckle rotation drive assembly 104 away from the first knuckle 103. When the index finger 15 includes the connecting palm assembly 102, the second lateral swing drive assembly 17 is connected to the connecting palm assembly 102 and located on the side of the knuckle rotation drive assembly 104 away from the first knuckle 103.

[0104] Figures 11 to 16 The structure of the little finger 12 is shown. The specific structures of the ring finger 13, middle finger 14, and index finger 15 can be referenced to the little finger 12. Exemplarily, the little finger 12 includes a connecting palm assembly 102, a first knuckle 103, and a knuckle rotation drive assembly 104, which are correspondingly arranged with a first lateral swing drive assembly 16 disposed on the little finger 12. The ring finger 13 includes a connecting palm assembly 102, a first knuckle 103, and a knuckle rotation drive assembly 104, which are correspondingly arranged with a first lateral swing drive assembly 16 disposed on the ring finger 13. The index finger 15 includes a connecting palm assembly 102, a first knuckle 103, and a knuckle rotation drive assembly 104, which are correspondingly arranged with a second lateral swing drive assembly 17.

[0105] The knuckle rotation drive assembly 104 can be any structure capable of driving the first knuckle 103 to rotate about the sixth axis L6. Exemplarily, the knuckle rotation drive assembly 104 may include one or more combinations of the following drive structures: a motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, and a transmission belt. Exemplarily, the knuckle rotation drive assembly 104 may include a motor and a linkage assembly. One end of the linkage assembly is rotatably connected to the first knuckle 103, and the other end of the linkage assembly is connected to the output shaft of the motor. The rotational motion of the motor's output shaft is transmitted to the first knuckle 103 via the linkage assembly.

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

[0107] For example, such as Figure 16 As shown, the actuating member 1041 has a groove, and the first phalanx 103 has a pulsated portion 1030 that extends into the groove. The groove has a first sidewall 1042 and a second sidewall 1043 disposed opposite to each other. The first sidewall 1042 is located on the side of the pulsated portion 1030 facing the palm side 101, and the second sidewall 1043 is located on the side of the pulsated portion 1030 facing the back side 100. When the actuating member 1041 rotates towards the palm side 101, the second sidewall 1043 abuts against the pulsated portion 1030 to actuate the pulsated portion 1030 about the sixth axis L6 towards the palm side 101. When the actuating member 1041 rotates towards the back side 100, the first sidewall 1042 abuts against the pulsated portion 1030 to actuate the pulsated portion 1030 about the sixth axis L6 towards the back side 100. The first knuckle 103 reciprocates around the sixth axis L6 by means of the knuckle rotation drive 1040 and the actuator 1041. The structure is simple and compact, which helps to reduce the volume of the knuckle rotation drive assembly 104, thereby reducing the size of the dexterous hand 10.

[0108] For example, such as Figure 14 and Figure 16 As shown, the knuckle rotation drive assembly 104 may further include a toggle engagement member 1044. The toggle member 1041 is also an engagement member. The toggle member 1041 is rotatably connected to the connecting palm assembly 102 about an axis parallel to the extension direction of the sixth axis L6. The knuckle rotation drive member 1040 is connected to the toggle engagement member 1044 and drives the toggle engagement member 1044 to rotate about an axis parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14, or index finger 15 after extension. The knuckle rotation drive member 1040 has an elongated shape, and its extension direction is parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14, or index finger 15 after extension.

[0109] Because the actuating member 1041 rotates about an axis parallel to the extension direction of the sixth axis L6, and the actuating engagement member 1044 rotates about an axis parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14, or index finger 15 after extension, 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 extension, the actuating member 1041 and the actuating 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 extension. Since the knuckle rotation drive 1040 has an elongated shape and its extension direction is parallel to the extension direction of the little finger 12, ring finger 13, middle finger 14 or index finger 15 after extension, the circumferential dimension of the little finger 12, ring finger 13, middle finger 14 or index finger 15 can be set to be smaller.

[0110] For example, the knuckle rotation drive 1040 may include a servo motor. For instance, the knuckle rotation drive 1040 may include a servo motor.

[0111] For example, at least a portion of the connecting palm assembly 102 is located in the first receiving space 114 hereinafter.

[0112] The dexterous hand provided in this embodiment may include a connecting palm assembly, a first phalanx, and a phalanx rotation drive assembly for the little finger, ring finger, middle finger, or index finger. The connecting palm assembly is rotatably connected to the palm base plate. The first phalanx is rotatably connected to the connecting palm assembly around a sixth axis, which is perpendicular to the first axis. The phalanx rotation drive assembly is disposed on the connecting palm assembly and connected to or abutting against the first phalanx to drive the first phalanx to rotate around the sixth axis. A first lateral swing drive assembly corresponding to the little finger may be connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx. A first lateral swing drive assembly corresponding to the ring finger may be connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx. A second lateral swing drive assembly may be connected to the connecting palm assembly and located on the side of the phalanx rotation drive assembly away from the first phalanx. This allows the first phalanxes of the little finger, ring finger, middle finger, and index finger to rotate, further improving the dexterity of the hand.

[0113] Furthermore, connecting the knuckle rotation drive assembly in series with the first or second lateral swing drive assembly, rather than in parallel, helps reduce the circumferential dimensions of the combination of the fingers and the lateral swing drive assembly in a dexterous hand, and also helps reduce the thickness and width of the hand's palm.

[0114] Meanwhile, the knuckle rotation drive component is disposed on the palm-connecting component, and the palm-connecting component is rotatably connected to the palm base plate. Part of the knuckle rotation drive component and the palm-connecting component can be disposed on the palm base plate, and part of the knuckle rotation drive component and the palm-connecting component are located in the first accommodating space. This helps to reduce the length of the little finger, ring finger, middle finger or index finger extending out of the first accommodating space, thereby reducing the length of the dexterous hand when it is extended.

[0115] In some embodiments, such as Figure 5 As shown, the projection of the connecting palm assembly 102 onto the palm base 11 in a direction perpendicular to the palm base 11 overlaps with the palm base 11. This allows at least a portion of the connecting palm assembly 102 to be located within the first accommodating space 114, enabling a smaller extension length of the little finger, ring finger, middle finger, or index finger from the first accommodating space 114, thus reducing the length required for dexterity hand extension. Exemplarily, the projection of the knuckle rotation drive assembly 104 onto the palm base 11 in a direction perpendicular to the palm base 11 can also overlap with the palm base 11.

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

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

[0118] The connecting arm assembly 102, the first phalanx 103, the first link assembly 106, and the second phalanx 105 form a four-bar linkage. In this four-bar linkage, the connecting arm assembly 102 acts as a frame, the first phalanx 103 and the first link assembly 106 act as two connecting rods, the second phalanx 105 acts as a link, and the first phalanx 103 is the driving member. In some applications, the little finger 12 also includes the second phalanx 105 and the first link assembly 106. The phalanx rotation drive assembly 104 drives the first phalanx 103 to rotate counterclockwise relative to the connecting arm assembly 102 around the sixth axis L6. The rotation of the first phalanx 103 is transmitted to the second phalanx 105 through the first link assembly 106, causing the second phalanx 105 to rotate counterclockwise relative to the first phalanx 103 around the seventh axis L7, thus achieving the bending of the little finger 12.

[0119] For example, such as Figure 13 and Figure 15 As shown, the first linkage assembly 106 may include two first linkages 1060. One end of each first linkage 1060 is respectively disposed on opposite sides of the second phalanx 105 along the extension direction of the ninth axis L9. The other ends of each first linkage 1060 are respectively disposed on opposite sides of the connecting palm assembly 102 along the extension direction of the eighth axis L8. One end of each first linkage 1060 is rotatably connected to the connecting palm assembly 102 around the eighth axis L8, and the other end of each first linkage 1060 is rotatably connected to the second phalanx 105 around the ninth axis L9. Because the two first linkages 1060 are spaced apart along the extension direction of the eighth axis L8, they are beneficial for resisting external radial torque, making it less likely for the fingers of the dexterous hand 10 to deviate along the extension direction of the eighth axis L8, thus improving the movement stability of the dexterous hand 10.

[0120] For example, the first link 1060 can be a straight rod, a bent rod, or an arc-shaped rod. The shapes of the first links can be the same or different. The specific shape and number of the first links 1060 can be set according to actual needs, and this embodiment does not impose specific limitations.

[0121] The dexterous hand provided in this embodiment has a second phalanx that is rotatably connected to the first phalanx around a seventh axis, which is parallel to the sixth axis. One end of the first linkage assembly is rotatably connected to the connecting palm assembly around an eighth axis, and the other end of the first linkage assembly is rotatably connected to the second phalanx around a ninth axis. Both the eighth and ninth axes are parallel to the sixth axis. On a plane perpendicular to the sixth axis, the line connecting the sixth and seventh axes intersects the line connecting the eighth and ninth axes. The connecting palm assembly, the first phalanx, the first linkage assembly, and the second phalanx form a four-bar linkage mechanism, which realizes the coupling of the movement of the first and second phalanxes. This allows the rotation of the first phalanx to be transmitted to the second phalanx through the first linkage assembly, thereby enabling the bending and extension of the fingers of the dexterous hand. The structure is simple, rigid, stable, and reliable, and can precisely control the movement trajectory and movement form of the fingers of the dexterous hand, thus meeting the needs of various complex tasks.

[0122] Furthermore, since the first linkage assembly couples the movement of the first and second phalanges, no other driving element is required to bend the second phalanges toward the palm side of the first phalanges. Therefore, the length of the first phalanges and the first linkage assembly can be reduced to allow for a smaller finger length in a dexterous hand.

[0123] In some embodiments, such as Figure 14 and Figure 15As shown, the little finger 12, ring finger 13, middle finger 14, and index finger 15 each have a backside 100 and a palmside 101 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 connector 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 connector 107 and an elastic member 108.

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

[0125] Since the first connector 107 is disposed on the first phalanx 103 and located on the side of the seventh axis L7 facing the back of the hand 100, one end of the elastic member 108 is connected to the side of the second phalanx 105 facing the back of the hand 100, and the other end of the elastic member 108 is connected to the connector 19, when the second phalanx 105 rotates relative to the first phalanx 103 towards the palm side 101, the first connector 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 relative to the first phalanx 103 towards the back of the hand 100.

[0126] In some embodiments, the knuckle rotation drive assembly 104 achieves the reciprocating rotation of the first knuckle 103 around the sixth axis L6 by abutting against the first knuckle 103. For example, the first knuckle 103 reciprocates around the sixth axis L6 by abutting against the first sidewall 1042 and the second sidewall 1043. The first knuckle 103 is driven to rotate around the sixth axis L6 only after the first sidewall 1042 or the second sidewall 1043 rotates to abut against the first knuckle 103. That is to say, there may be a situation where the knuckle rotation drive assembly 104 does not abut against the first knuckle 103, resulting in a large gap between the first knuckle 103 and the second knuckle 105 on the back of the hand 100.

[0127] By providing the first connector 107 and the elastic element 108, when the knuckle rotation drive assembly 104 is not in contact with the first knuckle 103, the elastic element 108 causes the second knuckle 105 to rotate relative to the first knuckle 103 toward the back of the hand 100, thereby eliminating the gap between the first knuckle 103 and the second knuckle 105 on the back of the hand 100. Since the connecting palm assembly 102, the first knuckle 103, and the second knuckle 105 are coupled through the first connecting rod assembly 106, the gap between the connecting palm assembly 102, the first knuckle 103, and the second knuckle 105 on the back of the hand 100 is eliminated.

[0128] Furthermore, because the elastic element 108, when stretched, will cause the second phalanx 105 to tend to rotate relative to the first phalanx 103 toward the back of the hand 100, therefore, as Figure 14 As shown, the knuckle rotation drive assembly 104 can be configured to abut only against the side of the first knuckle 103 facing the back of the hand 100, without abutting against the side of the first knuckle 103 facing the palm 101. In this way, the second knuckle 105 can rotate relative to the first knuckle 103 facing the back of the hand 100 by means of the tension provided by the elastic member 108, thereby realizing the extension of the fingers of the dexterous hand 10. This is beneficial to further simplify the structure of the dexterous hand 10 and reduce the size of the dexterous hand 10.

[0129] For example, the elastic element 105 may be made of an elastic material or may have elasticity through an elastic structure. For example, the elastic element 108 may include a spring, a rubber cord, or a silicone elastic band, etc.

[0130] The dexterous hand provided in this embodiment further includes a first connector and an elastic member in the little finger, ring finger, middle finger, or index finger. The first connector is disposed on the first phalanx and 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 phalanx facing the back of the hand, and the other end of the elastic member is connected to the first connector. When the little finger, ring finger, middle finger, or index finger connected to the elastic member is extended, the elastic member is in a stretched state or an undeformed state. Since the elastic member is stretched when the second phalanx rotates relative to the first phalanx towards the palm, the second phalanx tends to rotate relative to the first phalanx towards the back of the hand. This eliminates the gap between the connecting palm assembly, the first phalanx, and the second phalanx on the back of the hand when the phalanx rotation drive assembly reciprocates around the sixth axis by abutting against the first phalanx.

[0131] Furthermore, since the elastic element, when stretched, causes the second phalanx to tend to rotate relative to the first phalanx toward the back of the hand, the phalanx rotation drive assembly can be configured to abut only against the side of the first phalanx facing the back of the hand, without abutting against the side of the first phalanx facing the palm. Thus, the tension provided by the elastic element causes the second phalanx to rotate relative to the first phalanx toward the back of the hand, enabling the extension of the fingers of the dexterous hand. This helps to further simplify the structure of the dexterous hand, reduce its size, and make the structure of the dexterous hand more compact.

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

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

[0134] A thumb connecting assembly 180 is disposed in the thumb mounting area 110. A first thumb phalanx 181 is rotatably connected to the thumb connecting assembly 180 about the tenth axis L10. A second thumb phalanx 182 is rotatably connected to the first thumb phalanx 181 about the eleventh axis L11, which is parallel to the tenth axis L10. A third thumb phalanx 183 is rotatably connected to the second thumb phalanx 182 about the twelfth axis L12, which 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 knuckle 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 section perpendicular to the tenth axis L10, the line connecting the tenth axis L10 and the eleventh axis L11 intersects the line connecting 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 knuckle 181 about the fifteenth axis L15, and the other end of the third link assembly 185 is rotatably connected to the third thumb knuckle 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 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 drive assembly 186 is disposed on the first thumb knuckle 181 and is connected to or abuts against the second thumb knuckle 182, for driving the second thumb knuckle 182 to rotate about the eleventh axis L11.

[0137] Specifically, the thumb connecting assembly 180, the first thumb knuckle 181, the second thumb knuckle 182, the third thumb knuckle 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 connecting assembly 180 corresponds to the frame, the first thumb knuckle 181 and the second link assembly 184 correspond to two connecting rods, the second thumb knuckle 182 corresponds to the link, and the second thumb knuckle 182 is the driving member. In the second four-bar linkage, the first thumb knuckle 181 corresponds to the frame, the second thumb knuckle 182 and the third link assembly 185 correspond to two connecting rods, the third thumb knuckle 183 corresponds to the link, and the second thumb knuckle 182 is the driving member. When the second thumb knuckle 182 rotates around the eleventh axis L11, under the coupling effect provided by the second link assembly 184 and the third link assembly 185, the first thumb knuckle 181 and the third thumb knuckle 183 will rotate in the same direction as the second thumb knuckle 182 around the tenth axis L10 and the twelfth axis L2, respectively.

[0138] For example, the circumferential dimensions of the first thumb phalanx 181, the second thumb phalanx 182, and the third thumb phalanx 183 decrease sequentially.

[0139] The structure of the thumb rotation drive assembly 186 is similar to that of the knuckle rotation drive assembly 104. The specific structure, working principle, working process, and technical effects of the thumb rotation drive assembly 186 can be found in the knuckle rotation drive assembly 104, and will not be described in detail here. The second link assembly 184 and the third link assembly 185 are similar in structure to the first link assembly 106. The specific structure and technical effects of the second link assembly 184 and the third link assembly 185 can be found in the first link assembly 106, and will not be described in detail here.

[0140] The dexterous hand provided in this application embodiment includes a thumb comprising at least three phalanges. A thumb rotation drive assembly is disposed on the first thumb phalange, rather than on the palm base, which helps reduce the size of the dexterous hand. Furthermore, in a cross-section perpendicular to the tenth axis, the line connecting the tenth and eleventh axes intersects the line connecting the thirteenth and fourteenth axes, and the line connecting the eleventh and twelfth axes intersects the line connecting the fifteenth and sixteenth axes. This forms two series-connected four-bar linkages between the thumb connecting assembly, the first thumb phalange, the second thumb phalange, the third thumb phalange, the second link assembly, and the third link assembly. While the thumb rotation drive assembly, located within the thumb itself, drives the second thumb phalange to rotate, the first and third thumb phalanges rotate synchronously with the second thumb phalange, enabling the thumb to bend and extend. The structure is simple, compact, highly rigid, stable, and reliable, and can precisely control the thumb's movement trajectory and form, thereby meeting the needs of various complex tasks.

[0141] Furthermore, since the thumb rotation drive assembly, the second link assembly, and the third link assembly work together to enable the bending and extension of the thumb, no other drive structures related to thumb flexion and extension need to be set in the third thumb phalanx. The length of the third link assembly can also be set to be smaller, which allows the lengths of the second and third thumb phalanxes to be set to be smaller, thereby allowing the length of the thumb to be set to be smaller and the weight of the thumb to be set to be smaller. This can effectively reduce the size of the dexterous hand and make the dexterous hand adaptable to a wider range of application scenarios.

[0142] Meanwhile, the first thumb joint is the joint closest to the palm of the dexterous hand, which allows the circumferential dimension of the first thumb joint to be designed to be larger. The thumb rotation drive component is set in the first thumb joint to make full and reasonable use of the space in the thumb.

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

[0144] The thumb lateral swing drive assembly 188 is connected to the support member 187 and is used to drive the support member 187 to reciprocate around the seventeenth axis L17, which 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 lateral swing drive assembly 188 and is used to drive the thumb lateral swing drive assembly 188 to reciprocate around the eighteenth axis L18, which is perpendicular to the seventeenth axis L17 and the palm base plate 11.

[0145] Specifically, the seventeenth axis L17 is parallel to the palm base plate 11. Exemplarily, the thumb lateral movement drive assembly 188 and the spin drive assembly 189 may include one or more combinations of the following drive structures: an electric motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, and a drive belt. Exemplarily, the thumb lateral movement drive assembly 188 or the spin drive assembly 189 may include a servo motor system. For example, the thumb lateral movement drive assembly 188 or the spin drive assembly 189 may include a servo motor.

[0146] For example, such as Figure 22 and Figure 23 As shown, the output end of the thumb lateral movement drive assembly 188 is connected to the support member 187 to drive the support member 187 to reciprocate about the seventeenth axis L17. The output end of the thumb lateral movement drive assembly 188 extends along the seventeenth axis L17. The lateral movement drive assembly 30 is typically smaller in size along the dimension perpendicular to the eighteenth axis L18. This arrangement allows for a smaller length of the thumb 18.

[0147] For example, such as Figure 22 and Figure 23 As shown, the thumb lateral movement drive assembly 188 includes a thumb lateral movement drive member 1880 and a lateral movement connector 1881. The lateral movement drive member 1880 is disposed on the spin drive assembly 189 and connected to the lateral movement connector 1881, for driving the lateral movement connector 1881 to reciprocate around the seventeenth axis L17. The lateral movement connector 1881 is connected to the support member 187. The support member 187 is not directly connected to the output end of the thumb lateral movement drive member 1880, but achieves reciprocating rotation around the seventeenth axis L17 through connection with the lateral movement connector 1881, so as to change the orientation of the thumb lateral movement drive member 1880, facilitate the routing of the thumb lateral movement drive member 1880, and enable the thumb lateral movement drive member 1880 to be electrically connected to the circuit board of the dexterous hand 10.

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

[0149] The second spin engagement member 1892 engages with the first spin engagement member 1891 and is connected to the thumb lateral swing drive assembly 188. The second spin engagement member 1892 rotates around the eighteenth axis L18 under the drive of the first spin engagement member 1891. A rotating base 1893 is disposed on the palm base plate 11, and the second spin engagement member 1892 and the rotating base 1893 are rotatably connected around the eighteenth axis L18.

[0150] Since the dimension of the spin drive 1890 along the extension direction of 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 drive 1890, so that the extension direction of the nineteenth axis L19 is parallel to the palm base plate 11. The spin drive 1890 can directly drive the thumb side swing drive assembly 188 to rotate without extending along the eighteenth axis L18, so that the dimension of the thumb 18 along the extension direction of the eighteenth axis L18 can be set to be smaller.

[0151] For example, 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 gear, and the second spin engagement member 1892 can be a helical gear. This allows the first spin engagement member 1891 to be disposed on the circumferential side of the second spin engagement member 1892, rather than on the end face, which helps to reduce the dimension of the thumb 18 along the extension direction of the eleventh axis L11.

[0152] The dexterous hand provided in this embodiment includes a thumb connection assembly comprising a support member, a thumb lateral swing drive assembly, and a spin drive assembly. The first thumb knuckle is rotatably connected to the support member around the tenth axis. One end of the second linkage assembly is rotatably connected to the support member around the thirteenth axis. The thumb lateral swing drive assembly is connected to the support member and is used to drive the support member to reciprocate around the seventeenth axis, which is perpendicular to the tenth axis. The spin drive assembly is disposed in the thumb mounting area and is connected to the thumb lateral swing drive assembly, and is used to drive the thumb lateral swing drive assembly to reciprocate around the eighteenth axis, which is perpendicular to the seventeenth axis and the palm base plate. This allows the thumb to perform lateral swing and spin movements, enhancing the dexterity of the hand.

[0153] In other words, the thumb of a dexterous hand can have three active degrees of freedom: active lateral swing, active rotation, and active flexion / extension. The little finger, ring finger, and index finger can each have two active degrees of freedom: active lateral swing and active flexion / extension. The middle finger can have one active degree of freedom. Therefore, the thumb, little finger, ring finger, middle finger, and index finger of a dexterous hand have a total of four active degrees of freedom, five active degrees of freedom, and one active degree of rotation. Thus, assuming a dexterous hand has the same five fingers as a human hand, it can have at least 10 active degrees of freedom, classifying it as a medium-to-high degree-of-freedom dexterous hand with high dexterity.

[0154] Meanwhile, because the three drive components—spin drive component, thumb lateral swing drive component, and thumb rotation drive component—are connected in series rather than in parallel, the circumferential dimension of the thumb is smaller. Since the spin drive component is located on the palm base plate, the area occupied by the thumb on the palm base plate is smaller. Furthermore, the aforementioned series sequence allows the spin drive component to avoid lateral swinging, thus avoiding excessive space occupation due to the swinging of the spin drive component. This increases the dexterity of the fingers of the dexterous hand while reducing the size of the palm base plate, resulting in a compact and reliable structure.

[0155] In some embodiments, such as Figure 4 , Figure 22 and Figure 23 As 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 opposite to each other. The finger side 1894 is provided with the middle finger 14, and the wrist side 1895 can be used to provide 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. This arrangement allows space to be left on the finger side 1895 of the spin drive member 1890 and the second spin engagement member 1892 to avoid the first lateral swing drive assembly 16.

[0156] For example, such as Figure 4 , Figure 22 and Figure 23 As shown, the spin actuator 1890 has an elongated shape, and its extension direction is parallel to the extension direction of the nineteenth axis L19. The nineteenth axis L19 is parallel to the palm base plate 11 and perpendicular to the extension direction of the middle finger 14 after it is extended.

[0157] In some embodiments, such as Figure 4 , Figure 22 and Figure 23As shown, the spin actuator 1890 is located on the side of the thumb lateral actuator 1880 facing the back of the hand 112. This arrangement allows the thumb lateral actuator 1880 and the palm base plate 11 of the back of the hand 112 to be spaced apart, leaving space between them to accommodate the second lateral assembly 17. This brings the second lateral assembly 17 closer to the spin actuator 1890, making the structure of the dexterous hand 10 more compact.

[0158] For example, such as Figure 4 , Figure 22 and Figure 23 As shown, the projection of the second lateral swing assembly 17 onto the palm substrate 11 in a direction perpendicular to the palm substrate 11 overlaps with the projection of the thumb lateral swing drive assembly 188 onto the palm substrate 11 in a direction perpendicular to the palm substrate 11. This arrangement brings the spin drive member 1890 closer to the second lateral swing assembly 17, making the structure of the dexterous hand 10 more compact. Exemplarily, the dimension of the second lateral 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 obstructing the thumb lateral swing drive assembly 188.

[0159] In some embodiments, such as Figure 2 , Figure 3 , Figure 8 and Figure 9 As shown, the palm base plate 11 has a palm side 111 and a back side 112 disposed opposite to each other. The dexterous hand 10 also 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 base plate 11 and is located on the side of the palm base plate 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 may also be disposed on the back side 112. The second circuit board 20 is disposed on the wrist structure 19.

[0160] Since the size of dexterous hands in existing technologies is typically the size of an adult's hand, with a relatively large circumferential dimension of the wrist structure, the circuit boards in existing dexterous hands are all located at the wrist for easy connection to the robot's main body. To reduce the size of the wrist area of ​​the dexterous hand 10, in addition to the wrist structure 19, a circuit board can also be located on the palm base 11. The first circuit board 22 can be located on the palm side 111 or the back of the hand side 112, thereby splitting the entire circuit board into at least one first circuit board 22 and a second circuit board 20. Furthermore, the dispersed arrangement of the circuit boards also facilitates heat dissipation for the dexterous hand.

[0161] Exemplarily, a first circuit board 22 is provided on the palm side 111 and 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 base plate 11, and the other side is used to connect to the main body 30 of the robot 1. The hollow structure extends through the wrist structure 19 along the direction from the palm base plate 11 toward the main body 30. Exemplarily, the first circuit boards 22 can all be located in the first accommodating space 114.

[0162] The dexterous hand provided in this embodiment can have a circuit board set in the wrist structure and a circuit board set in the palm substrate. The first circuit board can be set on the palm side or on the back side, thereby splitting the entire circuit board into at least one first circuit board and a second circuit board, reducing the circumferential size of the wrist structure.

[0163] In some embodiments, such as Figures 1 to 7 As 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 in the thumb mounting area 110.

[0164] The second sub-substrate 115 is disposed on the back of the hand 112. The second sub-substrate 115 and the first sub-substrate 113 are engaged to form a first receiving space 114. The first receiving space 114 has a first opening 117 and a second opening 118 disposed opposite to each other along the direction of the wrist structure 19 toward the middle finger 14. The first receiving space 114 accommodates two first lateral swing drive components 16 and a second lateral swing drive component 17. The first opening 117 is provided with the wrist structure 19. The little finger 12, ring finger 13, middle finger 14 and index finger 15 extend out of the first receiving space 114 through the second opening 118. The thumb 18 extends out of the first receiving space 114 through a notch 1130.

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

[0166] The dexterous hand provided in this embodiment has a first sub-sub-base plate and a second sub-sub-base plate fastened together to form a first accommodating space. The first accommodating space can accommodate three side-swing driving components and the parts of each finger that are connected to the palm base plate, so that the three side-swing driving components and the parts of each finger that are connected to the palm base plate are not exposed to the outside world, the three side-swing driving components and the parts of each finger that are connected to the palm base plate are protected, and the dexterous hand is more aesthetically pleasing.

[0167] In some embodiments, such as Figure 3 as well as Figures 7 to 9 As shown, the first circuit board 22 is disposed on the back of the hand side 112. The second sub-substrate 115 has an annular protrusion 1150 on the side facing the back of the hand side 112. The palm substrate 11 also 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 of the hand side 112, and engages with the annular protrusion 1150 to form a second receiving space 119, which accommodates the first circuit board 22.

[0168] The dexterous hand provided in this embodiment has an annular protrusion on the side of the second sub-substrate facing the back of the hand. The hand substrate also includes a third sub-substrate, which is located on the side of the second sub-substrate facing the back of the hand and engages with the annular protrusion to form a second accommodating space. The second accommodating space accommodates the first circuit board. The annular protrusion and the third sub-substrate engage to form a second accommodating space that protrudes from the second sub-substrate to protect the first circuit board. The protrusion on the back of the hand increases the thickness of the hand corresponding to the protrusion, which is beneficial for resisting external impacts. In addition, the protrusion enhances the technological feel of the dexterous hand and improves the user's visual experience.

[0169] In some embodiments, such as Figure 3 and Figure 7 As shown, the palm base plate 11 has a palm side 111 and a back side 112 disposed opposite to each other. The dexterous hand 10 also includes a first tactile sensor 21. The first tactile sensor 21 is disposed on the back side 112.

[0170] The first tactile sensor 21 can be used to sense whether the back of the dexterous hand 10 is in contact with an external object, so as to prevent the back of the dexterous hand 10 from hitting a person or object. For example, the first tactile sensor 21 is electrically connected to the first circuit board 22 disposed on the back of the hand side 112.

[0171] For example, the dexterous hand 10 may also include at least one second tactile sensor 23. The second tactile sensor 23 may be disposed on the surface of the fingertip 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 external objects contacted by the fingers of the dexterous hand 10, and can also be used to sense the magnitude of the force exerted by the dexterous hand 10 when grasping an object in real time.

[0172] For example, such as Figure 14 and Figure 21 As shown, the dexterous hand 10 may also 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 exerted by the dexterous hand 10 when grasping 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] The dexterous hand provided in this embodiment has a first tactile sensor on the back of the hand, which can be used to sense whether the back of the dexterous hand is in contact with an external object, so as to prevent the back of the dexterous hand from hitting people or objects, making the dexterous hand suitable for companion robots and improving the user experience.

[0174] like Figure 10 As shown, this application also provides a robot 1. Robot 1 includes at least one dexterous hand 10 mentioned in the above embodiments.

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

[0176] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0177] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0178] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0179] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A dexterous hand characterized by, The dexterous hand comprises: a palm base plate; a small finger and / or a ring finger rotatably connected with the palm base plate; a middle finger connected with the palm base plate; an index finger rotatably connected with the palm base plate; at least one first side swing driving assembly arranged on the small finger and / or the ring finger and in transmission connection with the palm base plate, for driving the small finger and / or the ring finger to swing, the first side swing driving assembly has an overlapping part with the palm base plate in a direction perpendicular to the palm base plate, the shape of the first side swing driving assembly comprises a strip shape, in the case that the first side swing driving assembly is arranged on the small finger, the extension direction of the first side swing driving assembly is parallel to the extension direction of the small finger when the small finger is stretched, and in the case that the first side swing driving assembly is arranged on the ring finger, the extension direction of the first side swing driving assembly is parallel to the extension direction of the ring finger when the ring finger is stretched; a second side swing driving assembly adjacent to the first side swing driving assembly, arranged on the index finger and in transmission connection with the palm base plate, for driving the index finger to swing, the second side swing driving assembly has an overlapping part with the palm base plate in a direction perpendicular to the palm base plate, the shape of the second side swing driving assembly comprises a strip shape, the extension direction of the second side swing driving assembly intersects with the extension direction of the index finger when the index finger is stretched, and one end of the second side swing driving assembly extends towards the middle finger; a thumb mounted on a thumb mounting area of the palm base plate, the thumb mounting area is located on the side of the first side swing driving assembly close to the second side swing driving assembly, and on the side of the second side swing driving assembly away from the index finger; wherein the dexterous hand comprises the small finger and the ring finger, and the small finger and the ring finger are rotatably connected with the palm base plate; the number of the first side swing driving assemblies is two, the two first side swing driving assemblies are arranged adjacently and respectively arranged on the small finger and the ring finger, for driving the small finger and the ring finger to swing, the extension direction of the first side swing driving assembly arranged on the small finger is parallel to the extension direction of the small finger when the small finger is stretched, and the extension direction of the first side swing driving assembly arranged on the ring finger is parallel to the extension direction of the ring finger when the ring finger is stretched; wherein the small finger is rotatably connected with the palm base plate around a first axis, the ring finger is rotatably connected with the palm base plate around a second axis, and the index finger is rotatably connected with the palm base plate around a third axis, and the first axis, the second axis and the third axis are all perpendicular to the palm base plate; the first side swing driving assembly comprises: a first engaging member arranged on the palm base plate, the first engaging member comprises a plurality of first engaging teeth, and the plurality of first engaging teeth are distributed along a first arc line, and the first arc line extends along the circumferential direction of the first axis or the second axis; The first rotation driving member is in a shape of a long strip, is arranged on the little finger, and is located on a side of the first axis away from the finger tip of the little finger. An extension direction of the first rotation driving member is parallel to an extension direction of the little finger when the little finger is stretched. Alternatively, the first rotation driving member is arranged on the ring finger, and is located on a side of the second axis away from the finger tip of the ring finger. The extension direction of the first rotation driving member is parallel to an extension direction of the ring finger when the ring finger is stretched. The second meshing member is connected with the first rotation driving member, meshes with the first meshing member, and is capable of rotating around a fourth axis under the driving of the first rotation driving member. The fourth axis is parallel to the first axis. And / or, The second side swing driving assembly comprises: The third meshing member is arranged on the palm substrate. The third meshing member comprises a plurality of second meshing teeth. The plurality of second meshing teeth are distributed along a second arc line. The second arc line extends along the circumferential direction of the third axis. The second rotation driving member is adjacent to the first rotation driving member, is arranged on the index finger, and is located on a side of the third axis away from the finger tip of the index finger. The second rotation driving member is in a shape of a long strip. An extension direction of the second rotation driving member intersects an extension direction of the index finger when the index finger is stretched. One end of the second rotation driving member extends towards the middle finger. The fourth meshing member is connected with the second rotation driving member, meshes with the third meshing member, and is capable of rotating around a fifth axis under the driving of the second rotation driving member. The fifth axis is parallel to the third axis.

2. The dexterous hand of claim 1, wherein, In the case where the second side swing driving assembly comprises the third meshing member, the second rotation driving member, and the fourth meshing member, the third meshing member is located on a side of the fourth meshing member away from the thumb mounting area. The palm substrate comprises a palm side and a palm back side arranged oppositely. The third meshing member and the fourth meshing member are arranged on a side of the second rotation driving member facing the palm back side.

3. The dexterous hand of claim 1, wherein, The little finger and the palm substrate are rotatably connected around a first axis. The ring finger and the palm substrate are rotatably connected around a second axis. The index finger and the palm substrate are rotatably connected around 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 comprises: In the case where the little finger, the ring finger, or the index finger comprises the palm connecting assembly, the palm connecting assembly is rotatably connected with the palm substrate. In the case where the middle finger comprises the palm connecting assembly, the palm connecting assembly is fixedly connected with the palm substrate. A first knuckle is rotatably connected with the palm connecting assembly around a sixth axis. The sixth axis is perpendicular to the first axis. A knuckle rotation driving assembly is arranged on the palm connecting assembly, and is connected with or abuts against the first knuckle. The knuckle rotation driving assembly is used to drive the first knuckle to rotate around the sixth axis. In the case that the little finger comprises the palm connecting assembly, the first side swing driving assembly corresponding to the little finger is connected with the palm connecting assembly and located at a side of the knuckle rotation driving assembly far away from the first knuckle; in the case that the ring finger comprises the palm connecting assembly, the first side swing driving assembly corresponding to the ring finger is connected with the palm connecting assembly and located at a side of the knuckle rotation driving assembly far away from the first knuckle; in the case that the index finger comprises the palm connecting assembly, the second side swing driving assembly is connected with the palm connecting assembly and located at a side of the knuckle rotation driving assembly far away from the first knuckle.

4. The dexterous hand of claim 3, wherein, The palm connecting assembly has an overlap with the palm base plate in the direction perpendicular to the palm base plate.

5. The dexterous hand of claim 3, wherein, One or more of the little finger, the ring finger, the middle finger and the index finger further comprises: A second knuckle rotatably connected with the first knuckle about a seventh axis, the seventh axis being parallel to the sixth axis; A first connecting rod assembly, one end of the first connecting rod assembly being rotatably connected with the palm connecting assembly about an eighth axis, the other end of the first connecting rod assembly being rotatably connected with the second knuckle about a ninth axis, the eighth axis and the ninth axis both being parallel to the sixth axis, and the line connecting the sixth axis and the seventh axis intersecting the line connecting the eighth axis and the ninth axis in a plane perpendicular to the sixth axis.

6. The dexterous hand of claim 5, wherein, The little finger, the ring finger, the middle finger and the index finger each have a back side and a palm side oppositely arranged, and one or more of the little finger, the ring finger, the middle finger and the index finger further comprises: A first connecting member arranged on the first knuckle and located at a side of the seventh axis facing the back side; An elastic member, one end of the elastic member being connected with a side of the second knuckle facing the back side, the other end of the elastic member being connected with the first connecting member, the elastic member being in a stretched state or an undeformed state when the little finger, the ring finger, the middle finger or the index finger connected with the elastic member is stretched.

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

8. The dexterous hand of claim 7, wherein, The thumb connecting assembly comprises: a support, the first thumb knuckle is rotatably connected with the support about the tenth axis, and one end of the second linkage assembly is rotatably connected with the support about the thirteenth axis; a thumb side swing driving assembly connected with the support, for driving the support to reciprocatingly rotate about a seventeenth axis, the seventeenth axis being perpendicular to the tenth axis; a self-rotation driving assembly arranged on the thumb mounting area and connected with the thumb side swing driving assembly, for driving the thumb side swing driving assembly to reciprocatingly rotate about an eighteenth axis, the eighteenth axis being perpendicular to the seventeenth axis and the palm base plate.

9. The dexterous hand of any one of claims 1 to 8, wherein, The palm base plate has a palm side and a palm back side arranged oppositely; The dexterous hand further comprises: a wrist structure connected with the palm base plate and located on a side of the palm base plate away from the middle finger; at least one first circuit board arranged on the palm side or / and the palm back side; a second circuit board arranged on the wrist structure.

10. The dexterous hand of claim 9, wherein, The first circuit board is arranged on the palm back side; The palm base plate comprises: a first sub-base plate arranged on the palm side and having a notch arranged correspondingly to the thumb mounting area; a second sub-base plate arranged on the palm back side, the second sub-base plate and the first sub-base plate being clamped to form a first accommodating space, the first accommodating space having a first opening and a second opening arranged oppositely along the direction of the wrist structure towards the middle finger, the first accommodating space accommodating at least one of the first side swing driving assembly and the second side swing driving assembly, the first opening being provided with the wrist structure, the little finger and / or the ring finger, the middle finger and the index finger extending out of the first accommodating space through the second opening, the thumb extending out of the first accommodating space through the notch, and the second sub-base plate having a ring-shaped protruding portion on the side thereof facing the palm back side; a third sub-base plate located on the side of the second sub-base plate facing the palm back side and clamped with the ring-shaped protruding portion to form a second accommodating space, the second accommodating space accommodating the first circuit board; wherein, in the case that the dexterous hand comprises the little finger, the little finger is rotatably connected with the first sub-base plate and / or the second sub-base plate; in the case that the dexterous hand comprises the ring finger, the ring finger is rotatably connected with the first sub-base plate and / or the second sub-base plate; the middle finger is connected with the first sub-base plate and / or the second sub-base plate; The index finger is rotatably connected with 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 in transmission connection with the first sub-base plate and / or the second sub-base plate; The second side swing driving assembly is in transmission connection with the first sub-base plate and / or the second sub-base plate.

11. The dexterous hand of any one of claims 1 to 8, wherein, The palm base plate has a palm side and a back side arranged oppositely; The dexterous hand further comprises: A first touch sensor arranged on the back side.

12. A robot, characterized in that Further comprising: At least one dexterous hand according to any one of claims 1 to 11.

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