An underactuated-full actuated dual-mode robot multi-fingered hand

Abstract

The application discloses a kind of underdrive-full drive dual-mode robot multi-fingered hand, belong to robot technical field, the dexterous hand includes palm and several fingers;Each finger is provided with tendon rope transmission system, second drive component, third drive component, fourth drive component and fifth drive component;The finger includes base, base joint, proximal phalanx, middle phalanx, distal phalanx and is sequentially connected;The base is fixed on palm;The application designs a two-degree-of-freedom finger base joint and mode switching mechanism based on face gear, can allow dexterous hand to work in full drive mode or underdrive mode, reduce the control complexity of dual-mode coupling by mechanical structure.The application first proposes and realizes the dual-mode of rigid dexterous hand, ensures the human dexterity of dexterous hand, realizes the highly integrated design to dexterous hand, enhances the versatility of dexterous hand.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a multi-fingered dexterous hand for a robot with a dual-mode of underactuation and full actuation. Background Technology

[0002] Both robotic arms and humanoid robots require end effectors to interact with the outside world and complete various tasks. Common end effectors include two-finger parallel grippers, welding torches, and grinding heads. However, most of these end effectors are designed for specific tasks and cannot complete various complex tasks in different scenarios such as industrial automation, home service, and special missions.

[0003] The human hand has 21 degrees of freedom, including 5 for the thumb and 4 for each of the four forefingers from the index finger to the little finger. Taking the four forefingers as an example, from proximal to distal, the metacarpophalangeal joint (MCP) has two degrees of freedom: flexion / extension and adduction / abduction. The proximal interphalangeal joint (PIP) and distal interphalangeal joint (DIP) each have one degree of freedom for flexion / extension. These numerous degrees of freedom endow the human hand with powerful manipulative capabilities.

[0004] A dexterous hand is a general-purpose robotic end effector designed to mimic the appearance, structure, and function of a human hand. Currently, common dexterous hands are either underactuated (the number of actuators is less than the number of degrees of freedom) or fully actuated (the number of actuators equals the number of degrees of freedom). The advantages of underactuated hands are simple structure and control, shape adaptability when grasping objects, and the ability to be lightweight and small, resulting in lower cost. The disadvantage is limited functionality, making them difficult to adapt to complex tasks such as dexterous manipulation. The advantages of fully actuated hands are powerful functionality, with each joint actively controllable, theoretically capable of mimicking all human hand movements. The disadvantages are that they are heavier and larger than underactuated hands, have more complex control, and are more expensive. Underactuated and fully actuated dexterous hands are suitable for different tasks, and there is no clear superiority of one over the other. Currently, no single dexterous hand encompasses both modes, allowing users or robots to autonomously select the working mode based on the task. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a dual-mode robot multi-fingered dexterous hand that integrates both underactuated and fully actuated modes on a single dexterous hand, thereby improving the task adaptability of the dexterous hand.

[0006] The objective of this invention is achieved through the following technical solution: a multi-fingered dexterous hand of a dual-mode robot, comprising a palm and several fingers; each finger is provided with a tendon-wire transmission system, a third drive component, a fourth drive component, and a fifth drive component; each finger includes a base, a base joint, a proximal phalanx, a middle phalanx, and a distal phalanx connected in sequence; the base is fixed on the palm;

[0007] The base joint and the proximal phalanx, the proximal phalanx and the intermediate phalanx, the intermediate phalanx and the distal phalanx rotate around the MCP joint auxiliary shaft, the PIP joint shaft and the DIP joint shaft in turn, and each joint shaft is provided with a face gear clutch assembly; each face gear clutch assembly comprises a micro driver, a shift fork, a movable face gear and a fixed face gear, the movable face gear and the fixed face gear are sleeved on the joint shaft, and the shift fork and the movable face gear are fixedly connected; the micro driver drives the shift fork to move linearly in the axial direction, thereby driving the movable face gear to move linearly in the axial direction, so as to realize the meshing and separation between the movable face gear and the fixed face gear; the fixed face gear on the MCP joint auxiliary shaft is fixed with the proximal phalanx, the fixed face gear on the PIP joint shaft is fixed with the intermediate phalanx, and the fixed face gear on the DIP joint shaft is fixed with the distal phalanx;

[0008] When the movable face gear and the fixed face gear are meshed, the third driving assembly, the fourth driving assembly and the fifth driving assembly are used to drive the respective movable face gears to rotate, thereby driving the fixed face gears to rotate, so as to realize the bending and stretching movement of the fingers;

[0009] When the movable face gear and the fixed face gear are separated, the tendon rope transmission system is used to realize the bending and stretching movement of the fingers.

[0010] Further, the tendon rope transmission system comprises a first driving assembly, a first tendon rope pulley, a second tendon rope pulley, a third tendon rope pulley, a fourth tendon rope pulley, a fifth tendon rope pulley, a sixth tendon rope pulley, a seventh tendon rope pulley, a first tendon rope tube, a second tendon rope tube, a third tendon rope tube and a corner shaft sleeve;

[0011] The first tendon rope pulley is arranged on the base;

[0012] The second tendon rope pulley, the third tendon rope pulley and the corner shaft sleeve are arranged on the base joint;

[0013] The fourth tendon rope pulley, the fifth tendon rope pulley and the first tendon rope tube are arranged on the proximal phalanx;

[0014] The sixth tendon rope pulley, the seventh tendon rope pulley and the second tendon rope tube are arranged on the intermediate phalanx;

[0015] The third tendon rope tube is arranged on the distal phalanx;

[0016] The distal end of the bending tendon rope is fixed on the distal phalanx, passes through the third tendon rope tube, the second tendon rope tube and the first tendon rope tube in turn, reverses around the third tendon rope pulley and the corner shaft sleeve, and then reaches the first tendon rope pulley after passing around the second tendon rope pulley;

[0017] The distal end of the extension tendon rope is fixed on the distal phalanx, sequentially passes through the seventh tendon rope pulley, the sixth tendon rope pulley, the fifth tendon rope pulley, the fourth tendon rope pulley, the third tendon rope pulley, and reverses through the corner shaft sleeve, and then reaches the first tendon rope pulley after passing through the second tendon rope pulley;

[0018] When the movable face gear and the fixed face gear are separated, the first driving assembly is used to drive the first tendon rope pulley to rotate, so as to realize the bending and stretching movement of the fingers.

[0019] Further, the first driving assembly comprises a first driver, a first bevel gear, a second bevel gear, a first worm, a first worm shaft, a first worm wheel and a first worm wheel shaft.

[0020] The first driver is fixed on the base and used to drive the first bevel gear to rotate; the first bevel gear and the second bevel gear are in meshing connection; the second bevel gear is fixedly connected with the first worm; the first worm and the first worm wheel are in meshing connection; the first worm shaft and the first worm wheel shaft are both fixed on the base; the first worm is installed on the first worm shaft; the first worm wheel is installed on the first worm wheel shaft; and the first tendon rope pulley is fixed on the first worm wheel.

[0021] The second tendon rope pulley and the third tendon rope pulley are arranged at an angle of 90°.

[0022] Further, each finger is further provided with a second driving assembly, which is used to realize the adduction and abduction movement of the fingers.

[0023] The second driving assembly comprises a second driver, a third bevel gear, a fourth bevel gear, a second worm, a second worm shaft, a second worm wheel, a second worm wheel shaft, a rocker and a side swing connecting rod.

[0024] The second driver is fixed on the base and used to drive the third bevel gear to rotate; the third bevel gear and the fourth bevel gear are in meshing connection; the fourth bevel gear is fixedly connected with the second worm; the second worm and the second worm wheel are in meshing connection; the second worm shaft and the second worm wheel shaft are both fixed on the base; the second worm is installed on the second worm shaft; the second worm wheel is installed on the second worm wheel shaft; the second worm wheel is fixedly connected with the rocker; and the rocker is connected with the side swing connecting rod.

[0025] The base joint comprises an arcuate rod, a side swing rocker and an MCP joint main shaft.

[0026] The arcuate rod is sleeved on the MCP joint main shaft; the side swing rocker is fixed on the arcuate rod and connected with the side swing connecting rod; the length of the side swing rocker is equal to that of the rocker; and the side swing rocker, the side swing connecting rod and the rocker constitute a parallelogram mechanism.

[0027] The MCP joint main shaft is further provided with an angle sensor for measuring the angle of the arcuate rod rotating around the MCP joint main shaft.

[0028] Further, the third driving assembly comprises a third driver, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, an eighth bevel gear, a third worm, a third worm shaft, a third worm wheel, a third worm wheel shaft, a first idler and a flange spur gear;

[0029] The third driver is fixed on the base for driving the fifth bevel gear to rotate; the fifth bevel gear and the sixth bevel gear are in meshing connection, the sixth bevel gear is fixedly connected with the third worm, and the third worm and the third worm wheel are in meshing connection; the third worm shaft and the third worm wheel shaft are both fixed on the base, the third worm is installed on the worm shaft, and the third worm wheel is installed on the worm wheel shaft; the third worm wheel is fixedly connected with the flange spur gear, and the first idler and the flange spur gear are in meshing connection; the seventh bevel gear comprises a bevel gear and a spur gear, and the bevel gear and the spur gear are fixedly connected or integrated as a whole; the first idler is in meshing connection with the spur gear of the seventh bevel gear, and the bevel gear of the seventh bevel gear is in meshing connection with the eighth bevel gear; the eighth bevel gear is connected with the movable face gear on the MCP joint sub-shaft through a key.

[0030] Further, the fourth driving assembly comprises a fourth driver, a first gear, a second idler, a first small bevel gear, a first large bevel gear, a fourth worm, a fourth worm wheel, a fourth worm shaft;

[0031] The fourth driver is fixed on the proximal phalanx for driving the first gear to rotate; the first gear and the second idler are in meshing connection; the first small bevel gear comprises a bevel gear part and a spur gear part, the spur gear part is in meshing connection with the second idler, and the bevel gear part is in meshing connection with the first large bevel gear; the bevel gear part and the spur gear part are fixedly connected or integrated as a whole; the first large bevel gear is fixedly connected with the fourth worm, and the fourth worm and the fourth worm wheel are in meshing connection; the fourth worm shaft and the fourth worm wheel shaft are both fixed on the proximal phalanx, the fourth worm is installed on the fourth worm shaft, and the fourth worm wheel is installed on the fourth worm wheel shaft; the fourth worm wheel is connected with the movable face gear on the PIP joint shaft through a key.

[0032] Further, the fifth driving assembly comprises a fifth driver, a second gear, a third idler, a second small bevel gear, a second large bevel gear, a fifth worm, a fifth worm wheel, a fifth worm shaft;

[0033] The fifth actuator is fixed on the middle finger joint and is used to drive the second gear to rotate; the second gear and the third idler gear are meshed; the second small bevel gear includes a bevel gear part and a cylindrical gear part, the cylindrical gear part meshes with the third idler gear, and the bevel gear part meshes with the second large bevel gear, the bevel gear part and the cylindrical gear part are fixedly connected or integrated; the second large bevel gear is fixedly connected to the fifth worm, and the fifth worm and the fifth worm wheel are meshed; the fifth worm shaft and the fifth worm wheel shaft are both fixed on the middle finger joint, the fifth worm is mounted on the fifth worm shaft, and the fifth worm wheel is mounted on the fifth worm wheel shaft; the fifth worm wheel is connected to the movable surface gear on the DIP joint shaft by a key.

[0034] Furthermore, angle sensors are provided on the MCP joint sub-axis, PIP joint axis, and DIP joint axis to measure the bending angle at each joint of the finger.

[0035] Furthermore, the movable surface gear is sleeved on the joint shaft, and the joint shaft also includes: ball guide sleeves provided on the MCP joint sub-shaft, PIP joint shaft, and DIP joint shaft; the movable surface gear is sleeved on the ball guide sleeves.

[0036] Furthermore, the distal phalanx is equipped with a fingertip force sensor to sense the magnitude of the grasping force of the dexterous hand.

[0037] The beneficial effects of this invention are:

[0038] 1. Integrating both underactuated and fully actuated modes into a single dexterous hand improves its task adaptability.

[0039] 2. A novel two-degree-of-freedom finger base joint was designed. The actuator is located away from the joint through a bevel gear pair, idler wheel, and parallelogram mechanism. The second and third tendon rope pulleys are arranged at 90° on the base joint and are respectively installed on the main shaft and secondary shaft of the MCP joint, which can reduce the complexity of dual-mode motion coupling.

[0040] 3. The face gear clutch assembly is designed to flexibly switch between underdrive and full drive modes. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the entire Dexterous Hand.

[0043] Figure 2 Fig. 1 is a schematic diagram of the motion freedom of the dexterous hand.

[0044] Figure 3 Fig. 2 is a schematic diagram of a single finger of the dexterous hand.

[0045] Figure 4 Fig. 3 is a schematic diagram of the palm part of the dexterous hand.

[0046] Figure 5 Fig. 4 is a schematic diagram of the base of a single finger of the dexterous hand.

[0047] Figure 6 Fig. 5 is a schematic diagram of the base joint part of a single finger of the dexterous hand.

[0048] Figure 7 Fig. 6 is a schematic diagram of the proximal phalanx part of a single finger of the dexterous hand.

[0049] Figure 8 Fig. 7 is a schematic diagram of the middle phalanx part of a single finger of the dexterous hand.

[0050] Figure 9 Fig. 8 is a schematic diagram of the distal phalanx part of a single finger of the dexterous hand.

[0051] Figure 10 Fig. 9 is a schematic diagram of the working principle of the underactuated mode of the dexterous hand.

[0052] Figure 11 Fig. 10 is a schematic diagram of the working principle of the fully actuated mode of the dexterous hand.

[0053] Figure 12 Fig. 11 is a schematic diagram of the working principle of the face gear clutch mechanism of the dexterous hand.

[0054] Figure 13 Fig. 12 is a schematic diagram of the finger base joint advantage of the dexterous hand. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific description of the embodiments is only used to illustrate how to implement the present application for those skilled in the art, and is not used to exhaust all possible ways of the present application, nor is it used to limit the specific implementation scope of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of the present application.

[0056] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0057] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be bolted, or it can be glued, or it can be riveted; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] The present application provides an underactuated-full actuated dual-mode robot multi-fingered hand. Referring to Figures 1 to 3 The multi-fingered hand includes a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, and a palm 5. The thumb 1, the index finger 2, the middle finger 3, and the ring finger 4 are completely identical in structure, so the present application only selects the thumb 1 for description. The present embodiment takes four fingers as an example, but this is not a limitation, and those skilled in the art can also design three-fingered, five-fingered or other multi-fingered hands.

[0059] The thumb 1 includes a base 11, a finger base joint 12, a proximal phalanx 13, a middle phalanx 14, and a distal phalanx 15.

[0060] Referring to Figure 2 Each finger has four degrees of freedom, including: two axes intersecting rotation degrees of freedom at the finger base joint 12; one rotation degree of freedom at the PIP joint between the proximal phalanx 13 and the middle phalanx 14; and one rotation degree of freedom at the DIP joint between the middle phalanx 14 and the distal phalanx 15. The whole hand has a total of 16 degrees of freedom. Figure 2 The curved arrow marked with "+" indicates the positive direction of joint rotation, and the straight arrow indicates the positive direction of angular velocity vector when the joint rotates in the positive direction according to the right-hand rule.

[0061] The tendon drive system comprises a first driving assembly 113, a first tendon pulley 1138, a second tendon pulley 1232, a third tendon pulley 1231, a fourth tendon pulley 137, a fifth tendon pulley 136, a sixth tendon pulley 146, a seventh tendon pulley 145, a first tendon tube 139, a second tendon tube 148, a third tendon tube 154, and a corner shaft sleeve 1233.

[0062] The first tendon pulley 1138 is arranged on the base 11.

[0063] The second tendon pulley 1232, the third tendon pulley 1231, and the corner shaft sleeve 1233 are arranged on the base joint 12.

[0064] The fourth tendon pulley 137, the fifth tendon pulley 136, and the first tendon tube 139 are arranged on the proximal phalanx 13.

[0065] The sixth tendon pulley 146, the seventh tendon pulley 145, and the second tendon tube 148 are arranged on the middle phalanx 14.

[0066] The third tendon tube 154 is arranged on the distal phalanx 15.

[0067] The distal end of the bending tendon B is fixed on the distal phalanx 15, sequentially passes through the third tendon tube 154, the second tendon tube 148, and the first tendon tube 139, then reverses direction around the third tendon pulley 1231 and the corner shaft sleeve 1233, and then reaches the first tendon pulley 1138 after passing around the second tendon pulley 1232.

[0068] The distal end of the extension tendon E is fixed on the distal phalanx 15, sequentially passes around the seventh tendon pulley 145, the sixth tendon pulley 146, the fifth tendon pulley 136, the fourth tendon pulley 137, the third tendon pulley 1231, and the corner shaft sleeve 1233, and then reaches the first tendon pulley 1238 after passing around the second tendon pulley 1232.

[0069] When the movable face gear and the fixed face gear are separated, the first driving assembly 113 is used to drive the first tendon pulley 1138 to rotate, realizing the bending and extension movement of the finger.

[0070] In an embodiment, referring to Figure 3 、 Figure 5 The base 11 comprises a front plate 111, a back plate 112, a first driving assembly 113, a second driving assembly 114, and a third driving assembly 115.

[0071] The front plate 111 and the back plate 112 are connected.

[0072] In an embodiment, the first driving assembly 113 comprises a first driver 1131, a first bevel gear 1132, a second bevel gear 1133, a first worm 1134, a first worm shaft 1135, a first worm wheel 1136, and a first worm wheel shaft 1137.

[0073] The first driver 1131 is fixed on the front plate 111.

[0074] According to an embodiment of the present application, the first driver 1131 can be an outer rotor brushless DC motor.

[0075] The first bevel gear 1132 is fixed on the outer rotor of the first driver 1131 and rotates with the first driver 1131.

[0076] The second bevel gear 1133 is engaged with the first bevel gear 1132 and forms a 90° transmission, the second bevel gear 1133 is fixedly connected with the first worm 1134, and the first worm 1134 rotates with the second bevel gear 1133.

[0077] The first worm 1134 is installed on the first worm shaft 1135.

[0078] The first worm wheel 1136 is installed on the first worm wheel shaft 1137, and the first worm wheel 1136 is engaged with the first worm 1134 to form a worm and gear pair, which has a force amplification effect. The torque output by the first driver 1131 is finally transmitted to the first worm wheel 1136 for amplification and output.

[0079] The first tendon pulley 1138 is fixed on the first worm wheel 1136 and rotates with the first worm wheel 1136.

[0080] The first worm shaft 1135 and the first worm wheel shaft 1137 are installed on the back plate 112.

[0081] In an embodiment, the second driving assembly 114 comprises a second driver 1141, a third bevel gear 1142, a fourth bevel gear 1143, a second worm 1144, a second worm shaft 1145, a second worm wheel 1146, a second worm wheel shaft 1147, a rocker 1148, and a side swing connecting rod 1149.

[0082] The second driver 1141 is fixed on the front plate 111.

[0083] According to an embodiment of the present application, the second driver 1141 can be an outer rotor brushless DC motor.

[0084] The third bevel gear 1142 is fixed on the outer rotor of the second driver 1141 and rotates with the second driver 1141.

[0085] The fourth bevel gear 1143 meshes with the third bevel gear 1142 and forms a 90° transmission.

[0086] The second worm 1144 is installed on the second worm shaft 1145, and the second worm 1144 is fixed on the fourth bevel gear 1143 and rotates together with the fourth bevel gear 1143.

[0087] The second worm 1144 meshes with the second worm gear 1146 to form a worm and gear pair, which has a force amplification effect. The torque output by the second driver 1141 is transmitted to the second worm gear 1146 for amplification and output.

[0088] The second worm gear 1146 is connected to the second worm gear shaft 1147.

[0089] The rocker 1148 is fixed on the second worm gear 1146 and rotates together with the second worm gear 1146.

[0090] The side swing connecting rod 1149 is connected to the rocker 1148.

[0091] The second worm shaft 1145 and the second worm gear shaft 1147 are installed on the back plate 112.

[0092] In an embodiment, referring to Figure 5 、 Figure 6 The third driving assembly 115 includes a third driver 11501, a fifth bevel gear 11502, a sixth bevel gear 11503, a third worm 11504, a third worm shaft 11505, a third worm gear 11506, a third worm gear shaft 11507, a flange spur gear 11508, a first idler 11509, a seventh bevel gear 11510, and an eighth bevel gear 11511.

[0093] The third driver 11501 is fixed on the front plate 111.

[0094] According to an embodiment of the present application, the third driver 11501 can be an outer rotor brushless DC motor.

[0095] The fifth bevel gear 11502 is fixed on the outer rotor of the third driver 11501 and rotates together with the third driver 11501.

[0096] The sixth bevel gear 11503 meshes with the fifth bevel gear 11502 and forms a 90° transmission.

[0097] The third worm 11504 is installed on the third worm shaft 11505, and the third worm 11504 is fixed on the sixth bevel gear 11503 and rotates together with the sixth bevel gear 11503.

[0098] The third worm 11504 meshes with the third worm wheel 11506 to form a worm wheel and worm pair, which has a force amplification effect. The torque output by the third driver 11501 is transmitted to the third worm wheel 11506 to amplify the output.

[0099] The flange spur gear 11508 is fixed on the third worm wheel 11506 and rotates with the third worm wheel 11506, and the third worm wheel 11506 is connected to the third worm shaft 11507.

[0100] The third worm shaft 11505 and the third worm shaft 11507 are installed on the back plate 112.

[0101] The first idler gear 11509 is installed on the front plate 111 and the back plate 112, and meshes with the flange spur gear 11508 to form a spur gear transmission.

[0102] The seventh bevel gear 11510 includes a bevel gear part and a spur gear part, which are integrated or fixedly connected, and the seventh bevel gear 11510 is connected to the MCP joint main shaft 126, and the spur gear part meshes with the first idler gear 11509 to form a spur gear pair.

[0103] The eighth bevel gear 11511 is connected to the MCP joint auxiliary shaft 127 and meshes with the bevel gear part of the seventh bevel gear 11510 to form a 90° transmission.

[0104] In an embodiment, referring to Figure 6 , the finger base joint 12 includes an arcuate rod 121, a first face gear clutch assembly 122, a third tendon pulley 1231, a second tendon pulley 1232, a rotation angle shaft sleeve 1233, a first angle sensor 1241, a second angle sensor 1242, a side swing rocker 125, a MCP joint main shaft 126, and a MCP joint auxiliary shaft 127.

[0105] The MCP joint main shaft 126 and the MCP joint auxiliary shaft 127 are arranged on the arcuate rod 121 in a "T" shape.

[0106] The arcuate rod 121 is connected to the MCP joint main shaft 126 and can rotate around the MCP joint main shaft 126, which is the adduction / abduction movement of the MCP joint of the dexterous hand finger, which can also be called side swing movement.

[0107] The first face gear clutch assembly 122 includes a first micro driver 1221, a first shift fork 1222, a first movable face gear 1223, a first fixed face gear 1224, and a first ball guide sleeve 1225.

[0108] The eighth bevel gear 11511 has a spline groove.

[0109] The first movable face gear 1223 is provided with a spline shaft, the outer wall of which is connected with the eighth bevel gear 11511, and can rotate with the eighth bevel gear 11511, but can also move linearly along the MCP joint auxiliary shaft 127. The inner wall of the first movable face gear 1223 is connected with the first ball guide sleeve 1225, which can reduce the friction when the first movable face gear 1223 moves linearly.

[0110] The first ball guide sleeve 1225 is connected on the MCP joint auxiliary shaft 127.

[0111] The first fixed face gear 1224 is fixed on the gantry rod 131 and connected with the MCP joint auxiliary shaft 127. When the first fixed face gear 1224 rotates around the MCP joint auxiliary shaft 127, the gantry rod 131 also rotates around the MCP joint auxiliary shaft 127, which is the flexion / extension movement of the MCP joint of the finger.

[0112] The first micro driver 1221 is fixed on the arcuate rod 121. According to an embodiment of the present application, the first micro driver 1221 can be a micro slide stepper motor.

[0113] The first yoke 1222 is fixed on the first micro driver 1221, and can move linearly along the screw shaft of the first micro driver 1221 with the slide of the first micro driver 1221.

[0114] The first yoke 1222 is connected on the first movable face gear 1223, and the linear reciprocating movement of the first yoke 1222 can drive the first movable face gear 1223 to move linearly reciprocating on the MCP joint auxiliary shaft 127. It can be understood that the first movable face gear 1223 can be separated or engaged with the first fixed face gear 1224, and further, the yoke, face gear and micro driver can be regarded as a micro clutch.

[0115] The first angle sensor 1241 is connected on the MCP joint auxiliary shaft 127, and can indicate the angle of the gantry rod 131 rotating around the MCP joint auxiliary shaft 127, i.e. the angle of the flexion / extension of the MCP joint of the finger.

[0116] The second angle sensor 1242 is connected on the MCP joint main shaft 126, and can indicate the angle of the arcuate rod 121 rotating around the MCP joint main shaft 126, i.e. the angle of the adduction / abduction of the MCP joint of the finger.

[0117] The third tendon pulley 1231 is connected on the MCP joint auxiliary shaft 127.

[0118] The rotation shaft sleeve 1233 is installed on the arcuate lever 121, and the rotation shaft sleeve 1233 can rotate around its axis. It can be understood that the rotation shaft sleeve 1233 can be regarded as a micro fixed pulley, and the change of the movement direction of the tendon is realized.

[0119] The second tendon pulley 1232 is connected to the MCP joint main shaft 126 and is paired with the first tendon pulley 1138. It can be understood that the tendon forms a closed loop with the first tendon pulley 1138 below from the second tendon pulley 1232.

[0120] The side swing rocker 125 is fixed on the arcuate lever 121 and can rotate around the MCP joint main shaft 126 together with the arcuate lever 121.

[0121] The side swing rocker 125 is connected with the side swing connecting rod 1149; the length of the side swing rocker 125 is equal to that of the rocker 1148, and the side swing rocker 125, the side swing connecting rod 1149 and the rocker 1148 constitute a parallelogram mechanism. In the movement process, the side swing rocker 125 is always parallel to the rocker 1148, and the side swing connecting rod 1149 is always parallel to the center line of the side swing rocker 125 and the rocker 1148. It can be understood that the parallelogram mechanism can convert the movement of the second driver 1141 into the rotary movement of the arcuate lever 121 around the MCP joint main shaft 126, that is, the adduction / abduction movement of the MCP joint.

[0122] In an embodiment, referring to Figure 7 , the proximal phalanx 13 comprises a portal lever 131, a proximal phalanx 132, a fourth driving assembly 133, a second face gear clutch assembly 134, a third angle sensor 135, a fifth tendon pulley 136, a fourth tendon pulley 137, a PIP joint shaft 138, and a first tendon tube 139.

[0123] The portal lever 131 is connected to the arcuate lever 121 and can rotate around the MCP joint auxiliary shaft 127, which is the flexion / extension movement of the MCP joint of the dexterous hand finger.

[0124] The proximal phalanx 132 is fixed on the portal lever 131 and can rotate around the MCP joint auxiliary shaft 127 together with the portal lever 131.

[0125] In an embodiment, the fourth driving assembly 133 comprises a fourth driver 1331, a first gear 1332, a second idler 1333, a first small bevel gear 1334, a first large bevel gear 1335, a fourth worm 1336, a fourth worm wheel 1337, and a fourth worm shaft 1338.

[0126] The fourth driver 1331 is fixed on the proximal phalanx 132.

[0127] According to one embodiment of the present application, the fourth driver 1331 can be an outer rotor brushless DC motor.

[0128] The first gear 1332 is fixed on the fourth driver 1331 and rotates with the outer rotor to transmit torque.

[0129] The first gear 1332 and the second idler gear 1333 are in meshing connection; the first small bevel gear 1334 includes a bevel gear part and a cylindrical gear part, the cylindrical gear part is in meshing connection with the second idler gear 1333, and the bevel gear part is in meshing connection with the first large bevel gear 1335, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; it can be understood that the torque is transmitted to the first large bevel gear 1335 through the second idler gear 1333 and the first small bevel gear 1334.

[0130] The fourth worm 1336 is fixed on the first large bevel gear 1335 and rotates with the first large bevel gear 1335.

[0131] The fourth worm 1336 is connected to the fourth worm shaft 1338 and is in meshing connection with the fourth worm wheel 1337 to form a worm and wheel pair.

[0132] It can be understood that the torque is transmitted from the first large bevel gear 1335 to the fourth worm wheel 1337 through the fourth worm 1336. Due to the high speed reduction ratio of the worm and wheel mechanism, the torque output by the fourth worm wheel 1337 is amplified compared with the original torque output by the fourth driver 1331.

[0133] The second face gear clutch assembly 134 includes a second micro driver 1341, a second fork 1342, a second movable face gear 1343, a second fixed face gear 1344, and a second ball guide sleeve 1345.

[0134] The second micro driver 1341 is fixed on the proximal phalanx 132.

[0135] According to one embodiment of the present application, the second micro driver 1341 can be a micro slide stepping motor.

[0136] The second fork 1342 is fixed on the slide table of the second micro driver 1341 and can make reciprocating linear motion along the screw shaft direction together with the slide table.

[0137] The second movable face gear 1343 is connected to the second ball guide sleeve 1345 and is connected with the fourth worm wheel 1337. The fourth worm wheel 1337 is provided with a spline sliding groove, the second movable face gear 1343 can rotate with the fourth worm wheel 1337 and can also make reciprocating linear motion along the axial direction of the PIP joint shaft 138, and the second ball guide sleeve 1345 can reduce the friction when the second movable face gear 1343 makes linear motion.

[0138] The second ball guide 1345 is connected to the PIP joint shaft 138.

[0139] The second movable face gear 1343 is connected to the second shift fork 1342, which drives the second movable face gear 1343 to do reciprocating linear motion along the spline sliding groove, so that the second movable face gear 1343 can be engaged or disengaged with the second fixed face gear 1344.

[0140] The second fixed face gear 1344 is connected to the PIP joint shaft 138 and fixed to the middle phalanx 141. When the second movable face gear 1343 is engaged with the second fixed face gear 1344, the rotation of the fourth driver 1331 can realize the rotation of the middle phalanx 141.

[0141] The third angle sensor 135 and the fifth tendon pulley 136 are connected to the PIP joint shaft 138. The third angle sensor 135 can indicate the angle of rotation of the middle phalanx 141 relative to the proximal phalanx 132, i.e. the PIP joint angle.

[0142] The first tendon tube 139 is fixed to the proximal phalanx 132. The tendon is inserted into the tendon tube, and tightening the tendon can realize finger flexion.

[0143] In an embodiment, referring to Figure 8 , the middle phalanx 14 includes a middle phalanx 141, a fifth drive assembly 142, a third face gear clutch assembly 143, a fourth angle sensor 144, a seventh tendon pulley 145, a sixth tendon pulley 146, a DIP joint shaft 147, and a second tendon tube 148.

[0144] The fifth drive assembly 142 includes a fifth driver 1421, a second gear 1422, a third idler gear 1423, a second small bevel gear 1424, a second large bevel gear 1425, a fifth worm 1426, a fifth worm wheel 1427, and a fifth worm shaft 1428.

[0145] The fifth driver 1421 is fixed to the middle phalanx 141.

[0146] According to an embodiment of the present application, the fifth driver 1421 can be an outer rotor brushless DC motor.

[0147] The second gear 1422 is fixed to the fifth driver 1421 and rotates with the outer rotor to transmit torque.

[0148] The second gear 1422 and the third idler gear 1423 are in meshing connection; the second bevel pinion 1424 comprises a bevel gear part and a cylindrical gear part, the cylindrical gear part is in meshing connection with the third idler gear 1423, and the bevel gear part is in meshing connection with the large bevel gear, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; it can be understood that the torque is transmitted to the second large bevel gear 1425 through the third idler gear 1423 and the second bevel pinion 1424. The fifth worm 1426 is fixed on the second large bevel gear 1425 and rotates together with the second large bevel gear 1425.

[0149] The fifth worm 1426 is fixed on the fifth worm shaft 1428.

[0150] It can be understood that the torque is transmitted from the second large bevel gear 1425 to the fifth worm wheel 1427 through the fifth worm 1426. Due to the high speed reduction ratio of the worm gear mechanism, the torque output by the fifth worm wheel 1427 is amplified compared with the original torque output by the fifth driver 1421.

[0151] In an embodiment, the third face gear clutch assembly 143 comprises a third micro driver 1431, a third fork 1432, a third movable face gear 1433, a third fixed face gear 1434, and a third ball guide sleeve 1435.

[0152] The third micro driver 1431 is fixed on the middle phalanx 141.

[0153] According to an embodiment of the present application, the third micro driver 1431 can be a micro slide stage stepper motor.

[0154] The third fork 1432 is fixed on the slide stage of the third micro driver 1431 and can make reciprocating linear motion along the screw shaft direction together with the slide stage.

[0155] The third movable face gear 1433 is connected to the DIP joint shaft 147 and connected to the fifth worm wheel 1427. The fifth worm wheel 1427 is provided with a spline sliding groove, and the third movable face gear 1433 can rotate together with the fifth worm wheel 1427.

[0156] The third movable face gear 1433 is connected to the third fork 1432, and the third fork 1432 drives the third movable face gear 1433 to make reciprocating linear motion along the spline sliding groove, so that the third movable face gear 1433 can be in meshing connection or separation with the third fixed face gear 1434.

[0157] The third fixed face gear 1434 is connected to the DIP joint shaft 147 and fixed on the distal phalanx 151 and can move together with the distal phalanx 151.

[0158] The fourth angle sensor 144 is connected to the DIP joint axis 147 and can indicate the angle of rotation of the distal phalanx 151 relative to the intermediate phalanx 141, i.e., the DIP joint angle of the finger.

[0159] Reference Figure 9 The distal phalanx 15 includes a distal phalanx 151, a sensor base 152, a fingertip force sensor 153, and a third tendon cord tube 154.

[0160] The distal phalanx 151 is connected to the DIP joint axis 147.

[0161] The fingertip force sensor 153 is fixed on the sensor base 152. The purpose of setting up the fingertip force sensor is to allow the dexterous hand to sense the magnitude of the grasping force.

[0162] Both the sensor base 152 and the third tendon cord tube 154 are fixed to the distal phalanx 151.

[0163] Reference Figure 1 , Figure 4 The palm 5 includes a U-shaped palm plate 51, a palm side protective shell 52, a back of the hand shell 53, a palm outer shell 54, and a palm side protective shell 55.

[0164] The thumb 1, index finger 2, middle finger 3, and ring finger 4 are all fixed on the U-shaped plate 51 of the palm.

[0165] The palm side protective shell 52, back of hand shell 53, palm shell 54, and palm side protective shell 55 are all fixedly connected to the palm U-shaped plate 51, specifically by adhesive bonding. The purpose of setting the above shells or protective shells is to decorate or protect the circuit board.

[0166] Reference Figure 10 According to a first embodiment of the present invention, the dexterous hand operates in underdrive mode. The first micro-actuator 1221, the second micro-actuator 1341, and the third micro-actuator 1431 all move to their left extreme positions. The first fork 1222, the second fork 1342, and the third fork 1432 respectively drive the first movable surface gear 1223, the second movable surface gear 1343, and the third movable surface gear 1433 to perform linear motion, thereby separating them from the first fixed surface gear 1224, the second fixed surface gear 1344, and the third fixed surface gear 1434, respectively. In this case, the torque output by the third actuator 1151, the fourth actuator 1331, and the fifth actuator 1421 cannot drive joint flexion / extension. The distal end of the finger flexion tendon rope B is fixed to the distal phalanx 151, and sequentially passes through the third tendon rope tube 154, the second tendon rope tube 148, and the first tendon rope tube 139 to reach the finger base joint 12. At the finger base joint 12, the flexion tendon rope B... Figure 10The extension tendon E is fixed at the distal phalanx 151 by the way of the third tendon pulley 1231 about one quarter of a circle and changes direction through the corner shaft sleeve 1233, reaches the second tendon pulley 1232 about three quarters of a circle and reaches the first tendon pulley 1138. The flexion tendon B is fixed at the proximal phalanx 111 by the way of the fourth tendon pulley 137 about one quarter of a circle and changes direction through the corner shaft sleeve 1373, reaches the fifth tendon pulley 136 about three quarters of a circle and reaches the first tendon pulley 1138. At the first tendon pulley 1138, the flexion tendon B and the extension tendon E are fused (the flexion tendon B and the extension tendon E cannot be located at the same side of the first tendon pulley 1138). It can be understood that the first driver 1131 indirectly drives the first tendon pulley 1138 to rotate clockwise or counterclockwise, thereby causing the underactuated flexion or extension of the finger. Figure 10 The extension tendon E is fixed at the distal phalanx 151 by the way of the third tendon pulley 1231 about one quarter of a circle and changes direction through the corner shaft sleeve 1233, reaches the second tendon pulley 1232 about three quarters of a circle and reaches the first tendon pulley 1138. The flexion tendon B is fixed at the proximal phalanx 111 by the way of the fourth tendon pulley 137 about one quarter of a circle and changes direction through the corner shaft sleeve 1373, reaches the fifth tendon pulley 136 about three quarters of a circle and reaches the first tendon pulley 1138. At the first tendon pulley 1138, the flexion tendon B and the extension tendon E are fused (the flexion tendon B and the extension tendon E cannot be located at the same side of the first tendon pulley 1138). It can be understood that the first driver 1131 indirectly drives the first tendon pulley 1138 to rotate clockwise or counterclockwise, thereby causing the underactuated flexion or extension of the finger. Figure 10 The extension tendon E is fixed at the distal phalanx 151 by the way of the third tendon pulley 1231 about one quarter of a circle and changes direction through the corner shaft sleeve 1233, reaches the second tendon pulley 1232 about three quarters of a circle and reaches the first tendon pulley 1138. The flexion tendon B is fixed at the proximal phalanx 111 by the way of the fourth tendon pulley 137 about one quarter of a circle and changes direction through the corner shaft sleeve 1373, reaches the fifth tendon pulley 136 about three quarters of a circle and reaches the first tendon pulley 1138. At the first tendon pulley 1138, the flexion tendon B and the extension tendon E are fused (the flexion tendon B and the extension tendon E cannot be located at the same side of the first tendon pulley 1138). It can be understood that the first driver 1131 indirectly drives the first tendon pulley 1138 to rotate clockwise or counterclockwise, thereby causing the underactuated flexion or extension of the finger.

[0167] Referring to Figure 11 , according to the second embodiment of the present application, the dexterous hand works in the full drive mode. The first micro driver 1221, the second micro driver 1341, and the third micro driver 1431 are all moved to the right limit position, and the first shift fork 1222, the second shift fork 1342, and the third shift fork 1432 respectively drive the first movable face gear 1223, the second movable face gear 1343, and the third movable face gear 1433 to do linear motion, thereby respectively engaging with the first fixed face gear 1224, the second fixed face gear 1344, and the third fixed face gear 1434. In this case, the third driver 1151, the fourth driver 1331, and the fifth driver 1421 can output torque through gears, worms, worm gears, and face gears to drive the joint to flex / extend.

[0168] Referring to Figure 12, further explain the working principle of the application in switching between the two modes. Take the second face gear clutch assembly 134 as an example, the axial relative distance between the second fixed face gear 1344 and the fourth worm gear 1337 is constant. The second movable face gear 1343 and the second fixed face gear 1344 are both distributed with teeth and tooth grooves, and further, the second movable face gear 1343 is distributed with a spline shaft. The fourth worm gear 1337 is provided with a spline groove, which can not only drive the second movable face gear 1343 to rotate, but also allow the second movable face gear 1343 to slide linearly along the groove. The second fork 1342 can be engaged with the flange on the second movable face gear 1343, thereby driving the second movable face gear 1343 to make axial reciprocating linear motion. In the full drive mode, the second fork 1342 drives the second movable face gear 1343 to mesh with the second fixed face gear 1344, and the torque can be output from the fourth driver 1421, transmitted to the second fixed face gear 1344 through the fourth worm gear 1337, and then drive the joint motion; in the underdrive mode, the second fork 1342 drives the second movable face gear 1343 to separate from the second fixed face gear 1344, and the joint motion is only realized by the tendon motion driven by the first driver 1131.

[0169] Referring to Figure 13 , further explain the superiority of the metacarpophalangeal joint in the dual-mode motion compatibility of the application. To realize underdrive, the bending tendon B, the stretching tendon E, the third tendon pulley 1231, the rotation shaft sleeve 1233, the second tendon pulley 1232 and the first tendon pulley 1138 are needed. Due to the existence of the bearing in the tendon pulley, the motion of the joint in the full drive mode will not excessively affect the displacement of the tendon. To realize the motion of the two degrees of freedom of the metacarpophalangeal joint in the full drive mode, the second drive assembly 114, the third drive assembly 115, the arcuate rod 121, the side swing rocker 125 and the gantry rod 131 are needed. Similarly, in the underdrive mode, due to the existence of the bearing in the gear, the tendon pulley and the worm gear, the displacement of the tendon will not excessively affect the motion of the gear train. In summary, the metacarpophalangeal joint has superiority in dual-mode motion compatibility, which reduces the control complexity.

[0170] The above embodiments are only used to illustrate the design idea and characteristics of the application, and the purpose is to enable those skilled in the art to understand the content of the application and implement it, and the protection scope of the application is not limited to the above embodiments. Therefore, any equivalent changes or modifications made according to the principles and design ideas disclosed by the application are within the protection scope of the application.

Claims

1. An underactuated-full actuated dual-mode robotic multi-fingered hand, characterized in that, The hand includes a palm and several fingers, each of which is provided with a tendon transmission system, a third driving assembly, a fourth driving assembly and a fifth driving assembly. The fingers include a base, a base joint, a proximal phalanx, an intermediate phalanx, a distal phalanx and are sequentially connected. The base joint and the proximal phalanx, the proximal phalanx and the intermediate phalanx, and the intermediate phalanx and the distal phalanx are sequentially rotated around an MCP joint auxiliary shaft, a PIP joint shaft and a DIP joint shaft, and a face gear clutch assembly is arranged at each joint shaft. Each face gear clutch assembly includes a micro driver, a shift fork, a movable face gear and a fixed face gear, the movable face gear and the fixed face gear are sleeved on the joint shaft, and the shift fork and the movable face gear are fixedly connected. The micro driver drives the shift fork to move linearly in the axial direction, thereby driving the movable face gear to move linearly in the axial direction, so as to realize the engagement and separation between the movable face gear and the fixed face gear. The fixed face gear on the MCP joint auxiliary shaft is fixed with the proximal phalanx, the fixed face gear on the PIP joint shaft is fixed with the intermediate phalanx, and the fixed face gear on the DIP joint shaft is fixed with the distal phalanx. When the movable face gear and the fixed face gear are engaged, the third driving assembly, the fourth driving assembly and the fifth driving assembly are used to drive the corresponding movable face gears to rotate, thereby driving the fixed face gears to rotate, so as to realize the bending and stretching movement of the fingers. When the movable face gear and the fixed face gear are separated, the tendon transmission system is used to realize the bending and stretching movement of the fingers. The tendon transmission system includes a first driving assembly, a first tendon pulley, a second tendon pulley, a third tendon pulley, a fourth tendon pulley, a fifth tendon pulley, a sixth tendon pulley, a seventh tendon pulley, a first tendon tube, a second tendon tube, a third tendon tube and a corner shaft sleeve. The first tendon pulley is arranged on the base. The second tendon pulley, the third tendon pulley and the corner shaft sleeve are arranged on the base joint. The fourth tendon pulley, the fifth tendon pulley and the first tendon tube are arranged on the proximal phalanx. The sixth tendon pulley, the seventh tendon pulley and the second tendon tube are arranged on the intermediate phalanx. The third tendon tube is arranged on the distal phalanx. The distal end of the bending tendon is fixed on the distal phalanx, sequentially passes through the third tendon tube, the second tendon tube and the first tendon tube, reverses through the corner shaft sleeve after winding around the third tendon pulley, and then reaches the first tendon pulley after winding around the second tendon pulley. The distal end of the stretching tendon is fixed on the distal phalanx, sequentially winds around the seventh tendon pulley, the sixth tendon pulley, the fifth tendon pulley, the fourth tendon pulley, the third tendon pulley and reverses through the corner shaft sleeve, and then reaches the first tendon pulley after winding around the second tendon pulley. When the movable face gear and the fixed face gear are separated, the first driving assembly is used to drive the first tendon pulley to rotate, so as to realize the bending and stretching movement of the fingers. Each finger is also provided with a second driving assembly, which is used to realize the adduction and abduction movement of the fingers. The second driving assembly includes a second driver, a third bevel gear, a fourth bevel gear, a second worm, a second worm shaft, a second worm wheel, a second worm wheel shaft, a rocker and a side swing connecting rod. The second driver is fixed on the base and used to drive the third bevel gear to rotate; the third bevel gear and the fourth bevel gear are in meshing connection, the fourth bevel gear is fixedly connected with the second worm, and the second worm and the second worm wheel are in meshing connection; the second worm shaft and the second worm wheel shaft are both fixed on the base, the second worm is installed on the second worm shaft, and the second worm wheel is installed on the second worm wheel shaft; the second worm wheel is fixedly connected with the rocker, and the rocker is connected with the side swing connecting rod; The base joint comprises an arcuate rod, a side swing rocker and an MCP joint main shaft; The arcuate rod is sleeved on the MCP joint main shaft, and the side swing rocker is fixed on the arcuate rod and connected with the side swing connecting rod; the length of the side swing rocker is equal to that of the rocker, and the side swing rocker, the side swing connecting rod and the rocker form a parallelogram mechanism; An angle sensor is further arranged on the MCP joint main shaft and used to measure the angle of the arcuate rod rotating around the MCP joint main shaft.

2. The underactuated-full actuated dual-mode robotic multi-fingered hand according to claim 1, wherein, The first driving assembly comprises a first driver, a first bevel gear, a second bevel gear, a first worm, a first worm shaft, a first worm wheel and a first worm wheel shaft; The first driver is fixed on the base and used to drive the first bevel gear to rotate; the first bevel gear and the second bevel gear are in meshing connection, the second bevel gear is fixedly connected with the first worm, and the first worm and the first worm wheel are in meshing connection; the first worm shaft and the first worm wheel shaft are both fixed on the base, the first worm is installed on the first worm shaft, and the first worm wheel is installed on the first worm wheel shaft; the first tendon sheath pulley is fixed on the first worm wheel; The second tendon sheath pulley and the third tendon sheath pulley are arranged at an angle of 90°.

3. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The third driving assembly comprises a third driver, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, an eighth bevel gear, a third worm, a third worm shaft, a third worm wheel, a third worm wheel shaft, a first idler and a flange cylindrical gear; The third driver is fixed on the base and used to drive the fifth bevel gear to rotate; the fifth bevel gear and the sixth bevel gear are in meshing connection, the sixth bevel gear is fixedly connected with the third worm, and the third worm and the third worm wheel are in meshing connection; the third worm shaft and the third worm wheel shaft are both fixed on the base, the third worm is installed on the worm shaft, and the third worm wheel is installed on the worm wheel shaft; the third worm wheel is fixedly connected with the flange cylindrical gear, and the first idler and the flange cylindrical gear are in meshing connection; the seventh bevel gear comprises a bevel gear part and a cylindrical gear part, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated as a whole; the first idler is in meshing connection with the cylindrical gear part of the seventh bevel gear, and the bevel gear part of the seventh bevel gear is in meshing connection with the eighth bevel gear; The eighth bevel gear is connected with the movable face gear on the MCP joint sub-shaft through a key.

4. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The fourth driving assembly comprises a fourth driver, a first gear, a second idler, a first small bevel gear, a first large bevel gear, a fourth worm, a fourth worm wheel and a fourth worm shaft; The fourth driver is fixed on the proximal phalanx for driving the first gear to rotate; the first gear and the second idler gear are in meshing connection; the first small bevel gear comprises a bevel gear part and a cylindrical gear part, the cylindrical gear part is in meshing connection with the second idler gear, the bevel gear part is in meshing connection with the first large bevel gear, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; the first large bevel gear is fixedly connected with the fourth worm, and the fourth worm and the fourth worm wheel are in meshing connection; the fourth worm shaft and the fourth worm wheel shaft are both fixed on the proximal phalanx, the fourth worm is installed on the fourth worm shaft, and the fourth worm wheel is installed on the fourth worm wheel shaft; the fourth worm wheel is connected with the movable face gear on the PIP joint shaft through a key.

5. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The fifth driving assembly comprises a fifth driver, a second gear, a third idler gear, a second small bevel gear, a second large bevel gear, a fifth worm, a fifth worm wheel and a fifth worm shaft; The fifth driver is fixed on the middle phalanx for driving the second gear to rotate; the second gear and the third idler gear are in meshing connection; the second small bevel gear comprises a bevel gear part and a cylindrical gear part, the cylindrical gear part is in meshing connection with the third idler gear, the bevel gear part is in meshing connection with the second large bevel gear, and the bevel gear part and the cylindrical gear part are fixedly connected or integrated; the second large bevel gear is fixedly connected with the fifth worm, and the fifth worm and the fifth worm wheel are in meshing connection; the fifth worm shaft and the fifth worm wheel shaft are both fixed on the middle phalanx, the fifth worm is installed on the fifth worm shaft, and the fifth worm wheel is installed on the fifth worm wheel shaft; the fifth worm wheel is connected with the movable face gear on the DIP joint shaft through a key.

6. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The MCP joint shaft, the PIP joint shaft and the DIP joint shaft are all provided with an angle sensor for measuring the angle of bending of each joint of the finger.

7. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The movable face gear is sleeved on the joint shaft, and further comprises: the MCP joint shaft, the PIP joint shaft and the DIP joint shaft are provided with a ball guide sleeve; the movable face gear is sleeved on the ball guide sleeve.

8. The underactuated-full actuated dual-mode robotic multi-fingered hand of claim 1, wherein, The distal phalanx is provided with a fingertip force sensor for sensing the size of the grasping force of the dexterous hand.

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