Multi-degree-of-freedom full-drive dexterous hand and robot

Abstract

The invention discloses a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor; wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hands, and particularly to multi-degree-of-freedom fully-driven dexterous hands and robots. Background Art

[0002] With the continuous development of technology, bionic hands have shown great application potential in many fields such as medical rehabilitation, industrial production, aerospace, and service robots. Bionic hands are designed to simulate the structure and function of the human hand, providing users with a more natural and flexible operation experience. In the design of bionic hands, the joint drive structure is a key part to achieve its function, which directly affects the flexibility, motion accuracy, and overall performance of bionic hands.

[0003] Currently, the joint drive structures of most bionic hands on the market generally adopt the form of combining conventional motors with ordinary speed reducers. The working principle of this drive structure is that the conventional motor provides power, and the ordinary speed reducer is used to reduce the rotational speed of the motor output and increase the torque to meet the requirements of bionic hand joint drive. However, the combination of the two has problems such as low space utilization, affecting finger flexibility, and high control difficulty. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0005] To this end, an embodiment of the present invention provides a multi-degree-of-freedom fully-driven dexterous hand and a robot.

[0006] The multi-degree-of-freedom fully-driven dexterous hand according to an embodiment of the present invention includes a palm and a plurality of fingers. The plurality of fingers are spaced on the palm. The finger includes a proximal phalanx, a middle phalanx, a distal phalanx, a first motor, a second motor, a third motor, and a fourth motor. Each of the first motor, the second motor, the third motor, and the fourth motor is a frameless torque motor. The frameless torque motor includes a stator, a rotor, and an output shaft. The rotor is arranged inside the stator, and the output shaft is connected to the rotor. The stator of the first motor is connected to the palm. The output shaft of the first motor is perpendicular to the palm surface and is connected to the stator of the second motor. The output shaft of the second motor is connected to the proximal phalanx. The proximal phalanx is pivotally connected to the middle phalanx through the third motor. The middle phalanx is pivotally connected to the distal phalanx through the fourth motor. The first motor, the second motor, the third motor, and the fourth motor cooperate to drive the finger to bend or extend to grasp or release an object.

[0007] In some embodiments, the frameless torque motor further includes a circuit board, and the circuit board is signal-connected to the stator.

[0008] In some embodiments, the multi-degree-of-freedom fully-driven dexterous hand of the embodiments of the present invention includes a harmonic reducer. The harmonic reducer includes a flexible gear, a fixed rigid gear, a rotating rigid gear, and a reduction shaft. The reduction shaft is coaxially arranged with the output shaft of the frameless torque motor and is rotatably connected thereto. The fixed rigid gear is sleeved on the reduction shaft and is connected to the stator of the frameless torque motor. The rotating rigid gear is sleeved on the reduction shaft and is arranged at an interval from the fixed rigid gear. A part of the external teeth of the flexible gear meshes with the internal teeth of the fixed rigid gear, and another part of the external teeth of the flexible gear meshes with the internal teeth of the rotating rigid gear. The output shaft of the frameless torque motor is in transmission connection with the flexible gear, so that the flexible gear drives the rotating rigid gear to drive the reduction shaft to rotate.

[0009] In some embodiments, the output shaft of the frameless torque motor has a first cylinder and a second cylinder on the end face adjacent to the flexible gear. The first cylinder and the second cylinder are centrosymmetric about the output shaft of the frameless torque motor. A first driving wheel is rotatably provided on the first cylinder, and a second driving wheel is rotatably provided on the second cylinder. The outer peripheral surfaces of the first driving wheel and the second driving wheel abut against the inner peripheral surface of the flexible gear for driving the flexible gear to rotate.

[0010] In some embodiments, the multi-degree-of-freedom fully-driven dexterous hand of the embodiments of the present invention includes a protective housing. The protective housing covers the frameless torque motor and the harmonic reducer, and the reduction shaft extends out of the protective housing.

[0011] In some embodiments, the protective housing has a first housing wall and a second housing wall opposite to each other along the axial direction of the output shaft. A first support bearing is provided on the first housing wall, and a second support bearing is provided on the second housing wall. The output shaft has a through hole for the reduction shaft to pass through. One end of the reduction shaft passes through the stator and the rotor through the through hole and is connected to the first support bearing, and the other end of the reduction shaft is connected to the second support bearing.

[0012] In some embodiments, the multi-degree-of-freedom fully-driven dexterous hand of the embodiments of the present invention further includes a third support bearing. The third support bearing is sleeved on the reduction shaft, and the output shaft is sleeved on the third support bearing.

[0013] In some embodiments, the protective housing includes a housing body and an end cover. Each of the stator and the fixed rigid gear is connected to the housing body, the end cover is detachably connected to the housing body, the first support bearing is provided on the housing body, and the second support bearing is provided on the end cover.

[0014] In some embodiments, the palm includes a first palm plate and a second palm plate, the first palm plate and the second palm plate are arranged in an L shape, and the plurality of fingers include a thumb, an index finger, a middle finger, a ring finger, and a little finger. The thumb is provided on the first palm plate, and the index finger, the middle finger, the ring finger, and the little finger are arranged at intervals on the second palm plate.

[0015] The robot according to an embodiment of the present invention includes the multi-degree-of-freedom fully-driven dexterous hand described in any one of the above embodiments.

[0016] The multi-degree-of-freedom fully-driven dexterous hand according to an embodiment of the present invention uses frameless torque motors. The frameless torque motors have a compact structure and do not require an additional speed reducer, reducing the space occupied by the drive structure. This makes the internal structure of the bionic hand more concise, provides more space for the layout of each part of the finger, and is beneficial to improving the overall compactness and miniaturization degree of the bionic hand.

[0017] The traditional drive structure will affect the flexibility of the finger. In the present invention, the frameless torque motor can directly drive the finger joint, reducing the intermediate transmission link. This direct drive method makes the movement of the finger joint more direct and sensitive, can achieve more precise and complex movements, greatly enhances the flexibility of the finger, and enables the bionic hand to better simulate the natural movement of the human hand.

[0018] The present invention uses frameless torque motors, and their control is relatively simple. The frameless torque motor can accurately adjust the output torque and speed through precise current control, reducing the non-linear factors and transmission errors brought by intermediate links such as speed reducers, enabling the control system to more accurately control the movement of the finger, and reducing the complexity and difficulty of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a front view of the multi-degree-of-freedom fully-driven dexterous hand according to an embodiment of the present invention.

[0020] Figure 2 is a rear view of the multi-degree-of-freedom fully-driven dexterous hand according to an embodiment of the present invention.

[0021] Figure 3 is a side view of the multi-degree-of-freedom fully-driven dexterous hand according to an embodiment of the present invention.

[0022] Figure 4 is a schematic structural diagram of the connection between the frameless torque motor and the harmonic reducer according to an embodiment of the present invention.

[0023] Figure 5 is an exploded schematic diagram of the connection between the frameless torque motor and the harmonic reducer according to an embodiment of the present invention.

[0024] Figure 6It is an exploded schematic diagram of the connection between the frameless torque motor and the harmonic reducer according to the embodiments of the present invention.

[0025] Reference numerals:

[0026] 100, multi-degree-of-freedom fully-driven dexterous hand; 1, palm; 101, first palm plate; 102, second palm plate; 2, finger; 201, proximal phalanx; 202, middle phalanx; 203, distal phalanx; 204, first motor; 205, second motor; 206, third motor; 207, fourth motor; 3, stator; 4, rotor; 5, output shaft; 6, circuit board; 7, harmonic reducer; 701, flexspline; 702, fixed rigid gear; 703, rotating rigid gear; 704, reduction shaft; 8, first cylinder; 9, second cylinder; 10, first driving wheel; 11, second driving wheel; 12, protective shell; 1201, first shell wall; 1202, second shell wall; 1203, shell body; 1204, end cover; 13, first support bearing; 14, second support bearing; 15, third support bearing. Detailed implementation manners

[0027] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0028] As Figures 1 to 6 shown, the multi-degree-of-freedom fully-driven dexterous hand 100 according to the embodiments of the present invention includes a palm 1 and a plurality of fingers 2. The plurality of fingers 2 are spaced on the palm 1. The finger 2 includes a proximal phalanx 201, a middle phalanx 202, a distal phalanx 203, a first motor 204, a second motor 205, a third motor 206 and a fourth motor 207, and each of the first motor 204, the second motor 205, the third motor 206 and the fourth motor 207 is a frameless torque motor.

[0029] The frameless torque motor includes a stator 3, a rotor 4 and an output shaft 5. The rotor 4 is arranged inside the stator 3. The output shaft 5 is connected to the rotor 4. The stator 3 of the first motor 204 is connected to the palm 1. The output shaft 5 of the first motor 204 is arranged perpendicular to the palm surface of the palm 1 and is connected to the stator 3 of the second motor 205. The output shaft 5 of the second motor 205 is connected to the proximal phalanx 201. The proximal phalanx 201 is pivotally connected to the middle phalanx 202 through the third motor 206. The middle phalanx 202 is pivotally connected to the distal phalanx 203 through the fourth motor 207. The first motor 204, the second motor 205, the third motor 206 and the fourth motor 207 cooperate to drive the finger 2 to bend or extend to grasp or release an object.

[0030] The multi - degree - of - freedom fully - driven dexterous hand 100 in the embodiment of the present invention is composed of a palm 1 and multiple fingers 2. The fingers 2 further include a proximal phalanx 201, a middle phalanx 202, a distal phalanx 203, and four frameless torque motors (a first motor 204, a second motor 205, a third motor 206, and a fourth motor 207). Its working principle is as follows:

[0031] The frameless torque motor includes a stator 3, a rotor 4, and an output shaft 5. The rotor 4 is located inside the stator 3, and the output shaft 5 is connected to the rotor 4. This structure enables the motor to directly output a relatively large torque, providing a power basis for the movement of the finger 2.

[0032] The stator 3 of the first motor 204 is connected to the palm 1, and the output shaft 5 is arranged perpendicular to the palm surface of the palm 1 and connected to the stator 3 of the second motor 205. The function of the first motor 204 is to drive the second motor 205 and the subsequent finger 2 part to make a certain angular adjustment in the direction perpendicular to the palm surface of the palm 1, providing an initial direction and position adjustment for the overall movement of the finger 2.

[0033] The output shaft 5 of the second motor 205 is connected to the proximal phalanx 201. It is mainly responsible for driving the movement of the proximal phalanx 201, enabling the proximal phalanx 201 to bend or extend relative to the palm 1. The third motor 206 is arranged between the proximal phalanx 201 and the middle phalanx 202, enabling the proximal phalanx 201 and the middle phalanx 202 to be pivotally connected, and driving the middle phalanx 202 to bend or extend relative to the proximal phalanx 201. The fourth motor 207 is located between the middle phalanx 202 and the distal phalanx 203, enabling the middle phalanx 202 and the distal phalanx 203 to be pivotally connected, and driving the distal phalanx 203 to bend or extend relative to the middle phalanx 202.

[0034] Through the cooperation of the first motor 204, the second motor 205, the third motor 206, and the fourth motor 207, each finger 2 can perform bending or extending actions. When the finger 2 bends, it can grasp an object; when the finger 2 extends, it releases the object, thus completing the entire grasping and releasing operation process.

[0035] The multi - degree - of - freedom fully - driven dexterous hand 100 in the embodiment of the present invention adopts a frameless torque motor. The frameless torque motor has a compact structure and does not require an additional speed reducer, reducing the space occupied by the drive structure. This makes the internal structure of the bionic hand more concise, provides more space for the layout of each part of the finger 2, and is conducive to improving the overall compactness and miniaturization degree of the bionic hand.

[0036] The traditional drive structure affects the flexibility of finger 2. In the present invention, the frameless torque motor can directly drive the joint of finger 2, reducing the intermediate transmission link. This direct drive method makes the movement of the joint of finger 2 more direct and sensitive, enabling more precise and complex movements, greatly enhancing the flexibility of finger 2, and allowing the bionic hand to better simulate the natural movements of the human hand.

[0037] The present invention uses a frameless torque motor, and its control is relatively simple. The frameless torque motor can achieve precise adjustment of the output torque and speed through precise current control, reducing the non-linear factors and transmission errors brought by intermediate links such as speed reducers, enabling the control system to more accurately control the movement of finger 2, and reducing the complexity and difficulty of control.

[0038] In some embodiments, the frameless torque motor further includes a circuit board 6, and the circuit board 6 is signal-connected to the stator 3.

[0039] The circuit board 6 can serve as a control core to receive the command signals sent by the external control system. These command signals may include information such as the movement direction, angle, speed, etc. of finger 2. After receiving the signals, the circuit board 6 will process and analyze them, and then send corresponding control signals to the stator 3 according to the command requirements, thereby precisely adjusting the magnetic field generated by the stator 3.

[0040] The change in the magnetic field generated by the stator 3 drives the rotor 4 to rotate, which in turn drives the output shaft 5 to rotate, ultimately realizing various movements of finger 2. For example, when finger 2 needs to bend to grasp an object, the external control system sends a bending command to the circuit board 6. After processing, the circuit board 6 adjusts the magnetic field of the stator 3 to drive the joint of finger 2 to bend; when the object needs to be released, the circuit board 6 will change the magnetic field of the stator 3 according to the release command to make finger 2 extend.

[0041] By precisely controlling the current and magnetic field of the stator 3, the circuit board 6 can achieve high-precision adjustment of the output torque and speed of the motor. This means that the movement of the joint of finger 2 can more precisely follow the preset commands, thereby improving the accuracy of the bionic hand in grasping and operating objects. For example, when grasping some small or fragile items, the force and position of finger 2 can be more precisely controlled to avoid damage to the items due to inaccurate control.

[0042] The signal connection between the circuit board 6 and the stator 3 forms a relatively independent and complete control unit inside the motor. This is conducive to better integrating the motor with the control system of the entire bionic hand. When designing and manufacturing the bionic hand, it is more convenient to connect and communicate the circuit boards 6 of each motor with the main control system, reducing the external complex wiring and signal transmission links, and improving the stability and reliability of the system.

[0043] In some embodiments, as Figures 4 to 6 shown, the multi - degree - of - freedom fully - driven dexterous hand 100 of the embodiment of the present invention includes a harmonic reducer 7, and the harmonic reducer 7 includes a flexible gear 701, a fixed rigid gear 702, a rotating rigid gear 703, and a reduction shaft 704. The reduction shaft 704 is coaxially arranged with the output shaft 5 of the frameless torque motor and is rotatably connected thereto. The fixed rigid gear 702 is sleeved on the reduction shaft 704 and is connected to the stator 3 of the frameless torque motor. The rotating rigid gear 703 is sleeved on the reduction shaft 704 and is arranged at an interval from the fixed rigid gear 702. A part of the external teeth of the flexible gear 701 meshes with the internal teeth of the fixed rigid gear 702, and another part of the external teeth of the flexible gear 701 meshes with the internal teeth of the rotating rigid gear 703. The output shaft 5 of the frameless torque motor is in transmission connection with the flexible gear 701 so that the flexible gear 701 drives the rotating rigid gear 703 to drive the reduction shaft 704 to rotate.

[0044] Taking the frameless torque motor as the power source, its output shaft 5 starts to rotate. Since the reduction shaft 704 is coaxially arranged with the output shaft 5 of the frameless torque motor and is rotatably connected thereto, the power output by the frameless torque motor will be transmitted to the flexible gear 701 because the output shaft 5 of the frameless torque motor is in transmission connection with the flexible gear 701.

[0045] Driven by the output shaft 5 of the frameless torque motor, the flexible gear 701 deforms. A part of its external teeth meshes with the internal teeth of the fixed rigid gear 702, and another part meshes with the internal teeth of the rotating rigid gear 703. The fixed rigid gear 702 is sleeved on the reduction shaft 704 and is connected to the stator 3 of the frameless torque motor, and its position is fixed. When the flexible gear 701 rotates, due to its special meshing relationship with the two rigid gears, the rotating rigid gear 703 will rotate relative to the fixed rigid gear 702. The rotating rigid gear 703 is sleeved on the reduction shaft 704, and the rotation of the rotating rigid gear 703 will drive the reduction shaft 704 to rotate.

[0046] After the reduction shaft 704 rotates, it transmits the power after reduction and torque amplification to the corresponding joints of the finger 2, such as the proximal phalanx 201, the middle phalanx 202, or the distal phalanx 203, driving the finger 2 to complete bending or stretching actions and realizing the function of grasping or releasing an object.

[0047] The harmonic reducer 7 has the characteristic of a high reduction ratio and can greatly increase the torque while reducing the rotational speed. Although the frameless torque motor itself can output a certain torque, it may not be sufficient in some scenarios where a large force is required to grasp an object. Through the reduction and torque - increasing effect of the harmonic reducer 7, the torque transmitted to the joints of the finger 2 is increased, thereby enhancing the ability of the bionic hand to grasp heavy objects and broadening the application range of the bionic hand. For example, it can be used to grasp heavier parts in industrial production.

[0048] The harmonic reducer 7 has high transmission accuracy and small backlash. During the process of the frameless torque motor outputting power and being transmitted through the harmonic reducer 7, the transmission error can be reduced, making the movement of the finger 2 joint more precise. This is very important for tasks that require fine operations, such as assisting patients in performing fine hand rehabilitation training in the field of medical rehabilitation, or performing tasks such as assembling small components in the aerospace field, which can improve the accuracy and success rate of operations.

[0049] Although the harmonic reducer 7 is added, the harmonic reducer 7 itself has a compact structure and small volume. Compared with traditional ordinary reducers, while realizing the functions of speed reduction and torque increase, it will not overly increase the overall volume and weight of the bionic hand. This enables the bionic hand to achieve more powerful functions while maintaining good space utilization, which is beneficial to improving the portability and practicality of the bionic hand.

[0050] In some embodiments, such as Figure 6 As shown, the output shaft 5 of the frameless torque motor has a first cylinder 8 and a second cylinder 9 on the end face adjacent to the flexspline 701. The first cylinder 8 and the second cylinder 9 are centrosymmetric about the output shaft 5 of the frameless torque motor. A first driving wheel 10 is rotatably provided on the first cylinder 8, and a second driving wheel 11 is rotatably provided on the second cylinder 9. The outer peripheral surfaces of the first driving wheel 10 and the second driving wheel 11 abut against the inner peripheral surface of the flexspline 701 for driving the flexspline 701 to rotate.

[0051] When the frameless torque motor starts and the output shaft 5 begins to rotate. Since the first cylinder 8 and the second cylinder 9 are provided on the end face of the output shaft 5 of the frameless torque motor adjacent to the flexspline 701 and are centrosymmetric about the output shaft 5, they will rotate synchronously with the output shaft 5. As the output shaft 5 rotates, the first driving wheel 10 and the second driving wheel 11 will rotate around their respective cylinders, and at the same time their outer peripheral surfaces abut against the inner peripheral surface of the flexspline 701. This abutting contact causes the first driving wheel 10 and the second driving wheel 11 to generate frictional force on the flexspline 701 during rotation, thereby driving the flexspline 701 to rotate. After the flexspline 701 rotates, according to the working principle of the harmonic reducer 7 described above, it drives the rotating rigid gear 703 to rotate, and finally drives the reduction shaft 704 to rotate, transmitting the power to the finger 2 joint to realize the bending or stretching movement of the finger 2.

[0052] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand 100 of the embodiment of the present invention includes a protective shell 12. The protective shell 12 covers the frameless torque motor and the harmonic reducer 7, and the reduction shaft 704 extends out of the protective shell 12.

[0053] The frameless torque motor provides power as a power source. After deceleration and torque increase by the harmonic reducer 7, during this process, the protective shell 12 covers the frameless torque motor and the harmonic reducer 7, without affecting the internal power transmission process. The output shaft 704 extends outside the protective shell 12, and can normally transmit the processed power to the corresponding joints of the finger 2, driving the finger 2 to complete actions such as bending or stretching, and realizing the functions of grasping or releasing an object. The protective shell 12 is like a "protective cover", creating a stable working environment for the internal key components, enabling the power transmission process to be free from external interference, and ensuring that the entire system operates continuously and stably according to the established working principle.

[0054] The protective shell 12 integrates the frameless torque motor and the harmonic reducer 7, making the entire driving part form a relatively independent and compact module. This modular design facilitates operations during the manufacturing, installation, and maintenance of the bionic hand. Manufacturers can more conveniently integrate this module into the overall structure of the bionic hand, and users can also more easily disassemble and replace the driving part during repair or upgrade.

[0055] In some embodiments, the protective shell 12 has a first shell wall 1201 and a second shell wall 1202 that are axially opposite along the output shaft 5. A first support bearing 13 is provided on the first shell wall 1201, and a second support bearing 14 is provided on the second shell wall 1202. The output shaft 5 has a through hole for the output shaft 704 to pass through. One end of the output shaft 704 passes through the stator 3 and the rotor 4 through the through hole and is connected to the first support bearing 13, and the other end of the output shaft 704 is connected to the second support bearing 14.

[0056] Due to the precise support of the first support bearing 13 and the second support bearing 14 for the output shaft 704, the radial runout and axial end play of the output shaft 704 during rotation are reduced. This enables the output shaft 704 to more precisely transmit power to the finger 2 joints, improving the accuracy and repeatability of the finger 2 movement. In scenarios that require fine operations, such as grasping tiny objects or performing precision assembly, high-precision transmission can ensure that the bionic hand accurately completes the task.

[0057] The stable support structure can reduce the risk of wear and damage between the output shaft 704 and other components. The use of bearings reduces the direct contact between the output shaft 704 and the protective shell 12, avoiding damage to the components caused by heat and wear particles generated by friction. This extends the service life of the output shaft 704 and the entire drive system, reduces the failures and maintenance times caused by component damage, and improves the reliability and stability of the bionic hand.

[0058] In some embodiments, the multi - degree - of - freedom fully - driven dexterous hand 100 of the embodiments of the present invention further includes a third support bearing 15. The third support bearing 15 is sleeved on the reduction shaft 704, and the output shaft 5 is sleeved on the third support bearing 15.

[0059] The output shaft 5 of the frameless torque motor rotates, transmits power to the flexspline 701, and drives the reduction shaft 704 to rotate through the harmonic reducer 7. At this time, the third support bearing 15 is sleeved on the reduction shaft 704, and the output shaft 5 is sleeved on the third support bearing 15. This means that the third support bearing 15 plays a key role in connecting and supporting between the output shaft 5 and the reduction shaft 704. It allows the output shaft 5 and the reduction shaft 704 to maintain a stable positional relationship during relative rotation, enabling power to be smoothly transmitted from the output shaft 5 to the reduction shaft 704, and then to the finger 2 joint to achieve the bending and stretching movements of the finger 2.

[0060] During the relative rotation of the output shaft 5 and the reduction shaft 704, the third support bearing 15 can effectively reduce the direct friction between the two. At the same time, it can also buffer the vibration and shock generated by rotation, avoiding interference of these factors on the power transmission process, and ensuring the stable and efficient operation of the entire transmission system.

[0061] In some embodiments, the protective housing 12 includes a housing body 1203 and an end cover 1204. Each of the stator 3 and the fixed rigid gear 702 is connected to the housing body 1203, and the end cover 1204 is detachably connected to the housing body 1203. The first support bearing 13 is provided on the housing body 1203, and the second support bearing 14 is provided on the end cover 1204.

[0062] For example, the end cover 1204 is connected to the housing body 1203 by screws. The end cover 1204 is detachably connected to the housing body 1203, and together with the housing body 1203, it forms a relatively enclosed space, wrapping components such as the frameless torque motor and the harmonic reducer 7. The first support bearing 13 is installed on the housing body 1203, and the second support bearing 14 is installed on the end cover 1204. The two jointly support the reduction shaft 704 to ensure the stable rotation of the reduction shaft 704 and achieve the smooth transmission of power.

[0063] During the assembly process, since the end cover 1204 is detachable, components such as the stator 3 and the fixed rigid gear 702 can be first installed on the housing body 1203, and then other related components such as the output shaft 5 of the frameless torque motor, the flexspline 701, the rotating rigid gear 703, and the reduction shaft 704 are installed in place in sequence. Finally, the end cover 1204 is installed. This step - by - step installation method makes the installation operation of each component more convenient and can improve the production and assembly efficiency.

[0064] In some embodiments, the palm 1 includes a first palm plate 101 and a second palm plate 102, and the first palm plate 101 and the second palm plate 102 are arranged in an L shape. The plurality of fingers 2 include a thumb, an index finger, a middle finger, a ring finger, and a little finger. The thumb is provided on the first palm plate 101, and the index finger, middle finger, ring finger, and little finger are spaced apart and provided on the second palm plate 102.

[0065] As Figures 1 to 3 shown, the L-shaped arrangement of the first palm plate 101 and the second palm plate 102 mimics the basic structure of the human palm 1. When a human grasps an object, the thumb moves relative to the other four fingers to achieve the grasping action. In this embodiment, the thumb is provided on the first palm plate 101, and the index finger, middle finger, ring finger, and little finger are spaced apart and provided on the second palm plate 102. This layout enables the bionic hand to simulate the natural grasping method of the human hand. When an object needs to be grasped, each finger 2 bends or extends according to a predetermined program under the action of driving structures such as frameless torque motors and harmonic reducers 7, and the thumb cooperates with the other four fingers to form different grasping postures to adapt to objects of different shapes, sizes, and weights.

[0066] The movement of each finger 2 is controlled by its own independent driving system (such as a frameless torque motor, etc.), but they need to cooperate with each other. For example, when grasping a cylindrical object, the thumb will bend relative to the other four fingers to form a circular grasping force to fix the object in the hand. In this process, the driving systems of each finger 2 will accurately control the bending angle and strength of the finger 2 according to the characteristics of the object and the required grasping strength to achieve a stable and effective grasp.

[0067] By separately arranging the thumb and the other four fingers on different palm 1 plates, the bionic hand can achieve various grasping methods, such as pinching, grasping, holding, etc., similar to the operating functions of the human hand. This diverse grasping method enables the bionic hand to play a role in different application scenarios. For example, in medical rehabilitation, it helps patients perform various hand movement trainings, and in industrial production, it completes the grasping and assembly of parts of different shapes.

[0068] This humanoid structure design improves the operation flexibility of the bionic hand. Compared with some mechanical grippers with simple structures, the bionic hand in this embodiment can more naturally adapt to the shape and position of the object and achieve more precise operations. For example, when grasping some objects with irregular shapes, each finger 2 can be flexibly adjusted according to the contour of the object to ensure a stable grasp.

[0069] The thumb and the other four fingers are oppositely arranged on the L-shaped palm plate 1, and this layout enables each finger 2 to form a stable grip force balance when grasping an object. The thumb can provide a supporting force opposite to that of the other four fingers, enhancing the stability of the grip. For example, when grasping a heavier object, the coordinated action of the thumb and the other four fingers can better disperse the weight of the object and prevent the object from slipping.

[0070] The index finger, middle finger, ring finger, and little finger are spaced on the second palm plate 102, and they can cooperate with each other to adjust the position and bending degree of the fingers 2 according to the size and shape of the object. The multiple fingers 2 act simultaneously, increasing the contact area with the object and further improving the stability of the grasp.

[0071] The present invention also discloses a robot, including the multi-degree-of-freedom fully-driven dexterous hand described in any one of the above embodiments.

[0072] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention.

[0073] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0074] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0076] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0077] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-degree-of-freedom fully-driven dexterous hand, characterized in that, Comprising: a palm (1); and a plurality of fingers (2), the plurality of fingers (2) being spaced apart on the palm (1), each of the fingers (2) including a proximal phalanx (201), a middle phalanx (202), a distal phalanx (203), a first motor (204), a second motor (205), a third motor (206) and a fourth motor (207), wherein each of the first motor (204), the second motor (205), the third motor (206) and the fourth motor (207) is a frameless torque motor, the frameless torque motor including a stator (3), a rotor (4) and an output shaft (5), the rotor (4) being disposed inside the stator (3), the output shaft (5) being connected to the rotor (4), the stator (3) of the first motor (204) being connected to the palm (1), the output shaft (5) of the first motor (204) being perpendicular to the palm surface of the palm (1) and connected to the stator (3) of the second motor (205), the output shaft (5) of the second motor (205) being connected to the proximal phalanx (201), the proximal phalanx (201) being pivotally connected to the middle phalanx (202) via the third motor (206), the middle phalanx (202) being pivotally connected to the distal phalanx (203) via the fourth motor (207), the first motor (204), the second motor (205), the third motor (206) and the fourth motor (207) cooperating to drive the finger (2) to bend or extend to grasp or release an object.

2. The multi-degree-of-freedom fully-driven dexterous hand according to claim 1, wherein The frameless torque motor further includes a circuit board (6), the circuit board (6) being signal-connected to the stator (3).

3. The multi-degree-of-freedom fully-driven dexterous hand according to claim 2, wherein, Comprising a harmonic reducer (7), the harmonic reducer (7) including a flexspline (701), a fixed circular spline (702), a rotating circular spline (703) and a reduction shaft (704), the reduction shaft (704) being coaxially disposed with and rotatably connected to the output shaft (5) of the frameless torque motor, the fixed circular spline (702) being sleeved on the reduction shaft (704) and connected to the stator (3) of the frameless torque motor, the rotating circular spline (703) being sleeved on the reduction shaft (704) and spaced apart from the fixed circular spline (702), a part of the external teeth of the flexspline (701) meshing with the internal teeth of the fixed circular spline (702), another part of the external teeth of the flexspline (701) meshing with the internal teeth of the rotating circular spline (703), the output shaft (5) of the frameless torque motor being in transmission connection with the flexspline (701) so that the flexspline (701) drives the rotating circular spline (703) to drive the reduction shaft (704) to rotate.

4. The multi-degree-of-freedom fully-driven dexterous hand according to claim 3, wherein, The output shaft (5) of the frameless torque motor has a first cylinder (8) and a second cylinder (9) on the end face adjacent to the flexspline (701). The first cylinder (8) and the second cylinder (9) are centrosymmetric about the output shaft (5) of the frameless torque motor. A first driving wheel (10) is rotatably provided on the first cylinder (8), and a second driving wheel (11) is rotatably provided on the second cylinder (9). The outer circumferential surfaces of the first driving wheel (10) and the second driving wheel (11) abut against the inner circumferential surface of the flexspline (701) to drive the flexspline (701) to rotate.

5. The multi-degree-of-freedom fully-driven dexterous hand according to claim 4, wherein It includes a protective housing (12). The protective housing (12) covers the frameless torque motor and the harmonic reducer (7), and the reduction shaft (704) extends outside the protective housing (12).

6. The multi-degree-of-freedom fully-driven dexterous hand according to claim 5, wherein The protective housing (12) has a first housing wall (1201) and a second housing wall (1202) axially opposite along the output shaft (5). A first support bearing (13) is provided on the first housing wall (1201), and a second support bearing (14) is provided on the second housing wall (1202). The output shaft (5) has a through hole for the reduction shaft (704) to pass through. One end of the reduction shaft (704) passes through the stator (3) and the rotor (4) through the through hole and is connected to the first support bearing (13), and the other end of the reduction shaft (704) is connected to the second support bearing (14).

7. The multi-degree-of-freedom fully-driven dexterous hand according to claim 6, wherein It further includes a third support bearing (15). The third support bearing (15) is sleeved on the reduction shaft (704), and the output shaft (5) is sleeved on the third support bearing (15).

8. The multi-degree-of-freedom fully-driven dexterous hand according to claim 7, wherein, The protective housing (12) includes a housing body (1203) and an end cover (1204). Each of the stator (3) and the fixed ring gear (702) is connected to the housing body (1203). The end cover (1204) is detachably connected to the housing body (1203). The first support bearing (13) is provided on the housing body (1203), and the second support bearing (14) is provided on the end cover (1204).

9. The multi-degree-of-freedom fully-driven dexterous hand according to claim 1, characterized in that, The palm (1) includes a first palm plate (101) and a second palm plate (102). The first palm plate (101) and the second palm plate (102) are arranged in an L shape. The plurality of fingers (2) include a thumb, an index finger, a middle finger, a ring finger, and a little finger. The thumb is provided on the first palm plate (101), and the index finger, the middle finger, the ring finger, and the little finger are arranged at intervals on the second palm plate (102).

10. A robot, characterized in that, It includes the multi - degree - of - freedom fully - driven dexterous hand according to any one of claims 1 - 9.

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