Dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and solves the problem that a dexterous hand in the related technology cannot have a high degree of freedom and a small size at the same time. The dexterous hand comprises the palm base plate, the multiple finger assemblies and the multiple driving assemblies, the multiple driving assemblies drive the multiple finger assemblies to move, and therefore the dexterous hand has the high degree of freedom. The driving assembly comprises a driving source, a lead screw, a lead screw sliding block and a potentiometer, an output shaft of the driving source is connected with the lead screw to drive the lead screw to rotate, and the lead screw sliding block is in threaded connection with the lead screw and is rotationally connected with the knuckles of the finger assembly. The lead screw sliding block comprises an identification hole penetrating through the lead screw sliding block in the extending direction of the lead screw, the potentiometer penetrates through the identification hole, is connected with the side face of the driving source or the end, close to the output shaft, of the driving source and is parallel to the lead screw, the potentiometer does not need to occupy the axial space of the driving source, and the size of the dexterous hand is small. Therefore, the dexterous hand can have a high degree of freedom and a small size at the same time.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and particularly to a dexterous hand and a robot. Background Art

[0002] With the continuous progress of technologies related to humanoid robots, industrial automation technology is gradually shifting from performing single repetitive tasks represented by industrial robots to performing complex and variable tasks represented by humanoid robots. In this transformation process, the end effector of the robot changes from the role of a dedicated tool to the role of a general tool similar to a human hand. A dexterous hand is an end effector of a robot similar to a human hand, which is used to perform diverse tasks such as grasping, manipulating, and sensing. In order to enable the dexterous hand to perform the same functions as a human hand, higher design requirements are imposed on the dexterous hand. It is not only required that the dexterous hand has a high degree of freedom, but also that the size of the dexterous hand is small.

[0003] However, the dexterous hands in related technologies cannot have both a high degree of freedom and a small size. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a dexterous hand and a robot, which solve the problem that the dexterous hands in related technologies cannot have both a high degree of freedom and a small size.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous hand, including: a palm substrate; a plurality of finger assemblies connected to the palm substrate, the finger assemblies including a plurality of phalanges; a plurality of driving assemblies disposed on the palm substrate or the phalanges, respectively connected to at least one of the phalanges of the plurality of finger assemblies, and configured to drive the plurality of finger assemblies to move; wherein, the driving assembly includes: a driving source including an output shaft; a lead screw connected to the output shaft and rotating under the drive of the output shaft; a lead screw slider screwed to the lead screw and rotatably connected to the phalanx of the finger assembly, the lead screw slider including an identification hole penetrating through the lead screw slider along the extension direction of the lead screw; a potentiometer passing through the identification hole, connected to the side surface of the driving source or one end close to the output shaft, and arranged parallel to the lead screw, the potentiometer being configured to detect the position of the lead screw slider.

[0006] In some embodiments, the lead screw slider includes a guiding hole penetrating through the lead screw slider along the extension direction of the lead screw, and the driving assembly further includes: a guiding rod passing through the guiding hole, connected to the driving source, and arranged parallel to the lead screw; and / or, the thread of the lead screw for screwing with the lead screw slider includes a trapezoidal thread.

[0007] In some embodiments, the screw slider includes: a first component having the guide hole and the identification hole; a second component connected to the first component and connected between the guide hole and the identification hole, and during the sliding process of the screw slider, the second component can be located between the guide rod and the potentiometer.

[0008] In some embodiments, the plurality of finger assemblies include: at least one first finger assembly, the first finger assembly includes a first support, a first root finger joint, a first middle finger joint and a first distal finger joint, the first root finger joint is rotatably connected to the first support, the first middle finger joint is rotatably connected to the first root finger joint, and the first middle finger joint is transmission-connected to the first distal finger joint; at least one second finger assembly, the second finger assembly includes a second support, a second root finger joint, a second middle finger joint and a second distal finger joint, the second support is connected to the palm base plate, the second root finger joint is universally connected to the second support, the second middle finger joint is rotatably connected to the second root finger joint, and the second middle finger joint is transmission-connected to the second distal finger joint; at least one third finger assembly, the third finger assembly includes a third support, a third root finger joint, a third middle finger joint and a third distal finger joint, the third support is connected to the palm base plate, the third root finger joint is rotatably connected to the third support, and the third root finger joint, the third middle finger joint and the third distal finger joint are transmission-connected; the plurality of drive assemblies include: at least four first drive assemblies, the first of which is a first drive assembly having a The first driving assembly is arranged on the first knuckle and is transmission-connected with the first middle knuckle, and is configured to drive the first middle knuckle and the first distal knuckle to couple and link together. The second first driving assembly is arranged on the first knuckle and is transmission-connected with the first support, and is configured to drive the first knuckle to flex and extend. The third first driving assembly is rotatably connected with the first support, and is configured to drive the first support to swing. The fourth first driving assembly is arranged on the palm base plate, and is connected with the third first driving assembly, and is configured to drive the third first driving assembly to spin. At least three second driving assemblies are all arranged on the palm base plate. The first second driving assembly and the second second driving assembly are both transmission-connected with the second knuckle, and are configured to drive the second knuckle to swing sideways and flex and extend. The third second driving assembly is transmission-connected with the second middle knuckle, and is configured to drive the second middle knuckle to couple and link with the second distal knuckle. At least one third driving assembly is arranged on the palm base plate, and is connected with the third knuckle, and is configured to drive the third knuckle, the third middle knuckle and the third distal knuckle to couple and link together.

[0009] In some embodiments, the first finger assembly is a thumb assembly, the number of the second finger assemblies is two, namely an index finger assembly and a middle finger assembly respectively, and the number of the third finger assemblies is two, namely a ring finger assembly and a little finger assembly respectively.

[0010] In some embodiments, the dexterous hand has a palm side and a back side oppositely arranged along a first direction. When the second finger assembly is in an extended state, the extending direction of the second finger assembly is a second direction, the palm width direction of the dexterous hand is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; wherein, the fourth first driving assembly extends along the third direction, the third first driving assembly and the fourth first driving assembly are stacked along the first direction, and both the third first driving assembly and the fourth first driving assembly are arranged at one end of the second driving assembly far from the second finger assembly; wherein, both the first second driving assembly and the second second driving assembly extend along a direction forming an acute angle with the second direction and are arranged side by side along the third direction, the third second driving assembly extends along the second direction and is stacked with the first second driving assembly and the second second driving assembly along the first direction; wherein, the third driving assembly extends along a direction forming an acute angle with the second direction and is arranged side by side with the first second driving assembly and the second second driving assembly along the third direction.

[0011] In some embodiments, the first middle phalanx is rotatably connected to the first proximal phalanx about a first axis. The first middle phalanx includes a toggled portion located circumferentially about the first axis. The first distal phalanx is rotatably connected to the first middle phalanx about a second axis, and the second axis is parallel to the first axis. The first finger assembly further includes: a first link, the first end of the first link is rotatably connected to the first proximal phalanx about a third axis, and the second end of the first link is rotatably connected to the first distal phalanx about a fourth axis. Wherein, both the third axis and the fourth axis are parallel to the first axis. In a cross-section perpendicular to the first axis, the line connecting the first axis and the second axis intersects the line connecting the third axis and the fourth axis. The first of the first driving assemblies includes a first driving portion capable of moving along a first straight line. The first driving portion has a first chute, and the toggled portion extends into the first chute. The first chute includes a first side wall and a second side wall oppositely arranged in a direction perpendicular to the first axis. The first side wall and the second side wall are respectively arranged on both sides of the toggled portion. During the rotation of the toggled portion about the first axis, the first side wall or the second side wall abuts against the toggled portion to toggle the toggled portion to rotate about the first axis. The first support member is rotatably connected to the first proximal phalanx about a fifth axis, and the fifth axis is parallel to the first axis. The first support member has a second chute, and the second chute includes a third side wall and a fourth side wall oppositely arranged in a direction perpendicular to the first axis. The second of the first driving assemblies includes a second driving body and a second driving portion. The second driving body is connected to the second driving portion and is used to drive the second driving portion to move relative to the second driving body along a second straight line. The second driving portion extends into the second chute. The third side wall and the fourth side wall are respectively arranged on both sides of the second driving portion. During the rotation of the first proximal phalanx about the fifth axis, the second driving portion abuts against the third side wall or the fourth side wall to drive the first proximal phalanx to rotate about the fifth axis.

[0012] In some embodiments, the dexterous hand includes a palm side and a back side which are oppositely arranged; the second support member can be rotatably connected to the palm substrate about a sixth axis, and the sixth axis is parallel to the direction in which the palm side faces the back side; the second phalanx is rotatably connected to the second support member about a seventh axis, and the seventh axis is perpendicular to the sixth axis. The second phalanx includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located in the circumferential direction of the sixth axis; the second finger assembly further includes: a first link assembly, the first end of the first link assembly is movably connected to the first connecting portion, wherein, the first second driving component is movably connected to the second end of the first link assembly for driving the second end of the first link assembly to move along a third straight line; a second link assembly, the first end of the second link assembly is movably connected to the second connecting portion, wherein, the second second driving component is movably connected to the second end of the second link assembly for driving the second end of the second link assembly to move along a fourth straight line; a phalanx assembly, which is rotatably connected to the second phalanx about an eighth axis, and the eighth axis is parallel to the seventh axis; a first connecting member, including a connected third connecting portion, a fourth connecting portion and a fifth connecting portion, the third connecting portion is located between the first connecting portion and the second connecting portion and is rotatably connected to the second phalanx about a ninth axis, the ninth axis is parallel to the seventh axis, and the first connecting portion and the second connecting portion are oppositely arranged along the ninth axis; a second link, the first end of the second link is rotatably connected to the fourth connecting portion about a tenth axis, the second end of the second link is rotatably connected to the phalanx assembly about an eleventh axis, and both the tenth axis and the eleventh axis are parallel to the seventh axis; a third link assembly, the first end of the third link assembly is movably connected to the fifth connecting portion, wherein, the third second driving component is movably connected to the second end of the third link assembly for driving the second end of the third link assembly to move along a fifth straight line; wherein, the third second driving component is located on the side facing the back side of the first second driving component and the second second driving component; the fifth straight line can be parallel to the palm substrate, in a plane perpendicular to the seventh axis, the distance between the positive projection of the fifth straight line and the positive projection of the third straight line in the extending direction of the sixth axis gradually decreases along the direction of the fifth straight line towards the second phalanx, and in a plane perpendicular to the seventh axis, the distance between the positive projection of the fifth straight line and the positive projection of the fourth straight line in the extending direction of the sixth axis gradually decreases along the direction of the fifth straight line towards the second phalanx;Wherein, the phalanx assembly includes the second middle phalanx and the second distal phalanx, and the phalanx assembly further includes: a third link, a first end of the third link is rotatably connected to the second phalanx about the eighth axis and rotatably connected to a second end of the second link about the eleventh axis; wherein, the second middle phalanx is rotatably connected to the second phalanx about a twelfth axis, and the twelfth axis is parallel to the seventh axis; the second distal phalanx is rotatably connected to a second end of the third link about a thirteenth axis and rotatably connected to the second middle phalanx about a fourteenth axis, and both the thirteenth axis and the fourteenth axis are parallel to the seventh axis; wherein, in a plane perpendicular to the seventh axis, a connection line between the eighth axis and the thirteenth axis intersects a connection line between the twelfth axis and the fourteenth axis.;

[0013] In some embodiments, the third phalanx is rotatably connected to the third support member about a fifteenth axis; the third middle phalanx is rotatably connected to the third phalanx about a sixteenth axis; the third distal phalanx is rotatably connected to the third middle phalanx about a seventeenth axis; the third driving assembly is configured to drive the third phalanx to rotate about the fifteenth axis; the third finger assembly further includes: a fourth link assembly, a first end of the fourth link assembly is rotatably connected to the third support member about an eighteenth axis; a fifth link assembly, a first end of the fifth link assembly includes a sixth connection portion and a seventh connection portion, the sixth connection portion is rotatably connected to a second end of the fourth link assembly about a nineteenth axis, the seventh connection portion is rotatably connected to the third phalanx about a twentieth axis, and a second end of the fifth link assembly is rotatably connected to the third distal phalanx about a twenty-first axis; wherein, the fifteenth axis, the sixteenth axis, the seventeenth axis, the eighteenth axis, the nineteenth axis, the twentieth axis and the twenty-first axis are all parallel, and in a cross-section perpendicular to the fifteenth axis, a connection line between the fifteenth axis and the twentieth axis intersects a connection line between the eighteenth axis and the nineteenth axis, and a connection line between the sixteenth axis and the seventeenth axis intersects a connection line between the twentieth axis and the twenty-first axis.

[0014] In some embodiments, the dexterous hand has a palm side and a back side disposed opposite to each other in a first direction, and the dexterous hand further includes: a driving board, disposed on a side of the palm substrate close to the back side, wherein the driving assembly disposed on the palm substrate is located on a side of the driving board close to the palm side; a control board, disposed on a side of the palm substrate close to the back side and adjacent to the driving board, wherein the driving assembly disposed on the palm substrate is located on a side of the control board close to the palm side.

[0015] In some embodiments, the dexterous hand further includes: a heat dissipation plate connected between the drive plate and the palm substrate.

[0016] In a second aspect, an embodiment of the present disclosure provides a robot, including: at least one dexterous hand as described in the first aspect.

[0017] The dexterous hand provided by the embodiment of the present disclosure drives the movement of multiple finger components by using multiple drive components, and can achieve a high degree of freedom. The drive component uses a potentiometer to detect the position of the screw rod slider. The potentiometer is connected to the side surface of the drive source or one end close to the output shaft, and is arranged parallel to the screw rod, without occupying the axial space of the drive source. In the related art, the drive component usually uses an encoder to detect the output position, and the encoder is usually coaxially arranged with the drive source, which will occupy the axial space of the drive component. In comparison, the drive component provided by the embodiment of the present disclosure occupies less space, making the size of the dexterous hand smaller. Therefore, the dexterous hand provided by the embodiment of the present disclosure can have both a high degree of freedom and a small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present disclosure will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present disclosure, and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure, and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0019] Figure 1 The figure shows a schematic structural diagram of the palm and back side of the dexterous hand provided by an embodiment of the present disclosure.

[0020] Figure 2 The figure shows a schematic structural diagram of the palm side of the dexterous hand provided by an embodiment of the present disclosure.

[0021] Figure 3 The figure shows a schematic structural diagram of the finger component and the drive component provided by an embodiment of the present disclosure.

[0022] Figure 4 The figure shows a schematic structural diagram of the drive component provided by an embodiment of the present disclosure.

[0023] Figure 5 The figure shows a schematic structural diagram of the drive component provided by another embodiment of the present disclosure.

[0024] Figure 6 The figure shows a schematic structural diagram of the first finger component and the first drive component provided by an embodiment of the present disclosure.

[0025] Figure 7The figure shows a schematic structural diagram of a first finger component excluding the first phalanx and the first driving component provided by an embodiment of the present disclosure.

[0026] Figure 8 The figure shows a schematic structural diagram of a second finger component and a second driving component provided by an embodiment of the present disclosure.

[0027] Figure 9 The figure shows a schematic structural diagram of a third finger component and a third driving component provided by an embodiment of the present disclosure.

[0028] Figure 10 The figure shows a schematic structural diagram of the palm side of a dexterous hand provided by another embodiment of the present disclosure.

[0029] Figure 11 The figure shows a side view of a dexterous hand without a palm substrate provided by an embodiment of the present disclosure.

[0030] Figure 12 The figure shows a side view of a dexterous hand provided by another embodiment of the present disclosure.

[0031] Figure 13 The figure shows a schematic structural diagram of a first finger component provided by an embodiment of the present disclosure.

[0032] Figure 14 The figure shows a bottom view of a first finger component provided by an embodiment of the present disclosure.

[0033] Figure 15 The figure shows a schematic structural diagram of a part of a first finger component and a part of a first driving component provided by an embodiment of the present disclosure.

[0034] Figure 16 The figure shows a schematic structural diagram of a first driving part provided by an embodiment of the present disclosure.

[0035] Figure 17 The figure shows a schematic structural diagram of a part of a first finger component and a part of a first driving component provided by another embodiment of the present disclosure.

[0036] Figure 18 The figure shows a schematic structural diagram of a part of a first finger component and a part of a first driving component provided by another embodiment of the present disclosure.

[0037] Figure 19 As shown Figure 14 The cross-sectional view of the first finger component shown in the A-A direction.

[0038] Figure 20 The figure shows a schematic structural diagram of a second finger component and a palm substrate provided by an embodiment of the present disclosure.

[0039] Figure 21The figure shows a right view of a second finger assembly and a palm substrate provided by an embodiment of the present disclosure.

[0040] Figure 22 The figure shows a rear view of a second finger assembly and a palm substrate provided by an embodiment of the present disclosure.

[0041] Figure 23 The figure shows a schematic structural diagram of a second finger assembly provided by an embodiment of the present disclosure.

[0042] Figure 24 The figure shows a front view of a second finger assembly provided by an embodiment of the present disclosure.

[0043] Figure 25 The figure shows a right view of a second finger assembly provided by an embodiment of the present disclosure.

[0044] Figure 26 The figure shows Figure 24 A cross-sectional view of the second finger assembly shown in the B-B direction.

[0045] Figure 27 The figure shows a schematic structural diagram of a second support member and a second finger phalanx provided by an embodiment of the present disclosure.

[0046] Figure 28 The figure shows a schematic structural diagram of a second support member provided by an embodiment of the present disclosure.

[0047] Figure 29 The figure shows a schematic structural diagram of a second finger assembly excluding the second support member provided by an embodiment of the present disclosure.

[0048] Figure 30 The figure shows a schematic structural diagram of a second distal phalanx provided by an embodiment of the present disclosure.

[0049] Figure 31 The figure shows a schematic structural diagram of a second distal phalanx provided by another embodiment of the present disclosure.

[0050] Figure 32 The figure shows a schematic structural diagram of a second drive assembly provided by an embodiment of the present disclosure.

[0051] Figure 33 The figure shows a rear view of a third finger assembly provided by an embodiment of the present disclosure.

[0052] Figure 34 The figure shows Figure 33 A cross-sectional view of the third finger assembly shown in the G-G direction.

[0053] Figure 35 The figure shows Figure 34 A partial enlarged view of the third finger assembly shown in the H region.

[0054] Figure 36 The figure shows a structural schematic diagram of a dexterous hand provided by another embodiment of the present disclosure.

[0055] Figure 37 The figure shows a structural schematic diagram of the palm and dorsal side of a dexterous hand provided by another embodiment of the present disclosure.

[0056] Figure 38 The figure shows a structural schematic diagram of the palm side of a dexterous hand provided by another embodiment of the present disclosure.

[0057] Figure 39 The figure shows a structural schematic diagram of a robot provided by an embodiment of the present disclosure.

[0058] Reference numerals: 1. Robot; 10. Dexterous hand; 1001. Palm side; 1002. Dorsal side of the palm; 100. Palm substrate; 200. Finger assembly; 210. Phalanx; 201. First finger assembly; 2011. First support; 2111. Second chute; 2112. Third side wall; 2114. Fourth side wall; 2012. First phalanx; 2102. First phalanx housing; 2013. First middle phalanx; 2113. Pushed part; 2014. First distal phalanx; 2015. First connecting rod; 202. Second finger assembly; 2021. Second support; 2022. Second phalanx; 2122. First connecting part; 2222. Second connecting part; 2023. Second middle phalanx; 2024. Second distal phalanx; 2025. First connecting rod assembly; 2026. Second connecting rod assembly; 2027. Phalanx assembly; 2127. Third connecting rod; 2028. First connecting piece; 2128. Third connecting part; 2228. Fourth connecting part; 2328. Fifth connecting part; 2029. Second connecting rod; 2030. Third connecting rod assembly; 203. Third finger assembly; 2031. Third support; 2032. Third phalanx; 2132. Eighth connecting part; 2232. Ninth connecting part; 2332. Tenth connecting part; 2432. Eleventh connecting part; 2033. Third middle phalanx; 2133. Twelfth connecting part; 2233. Thirteenth connecting part; 2034. Third distal phalanx; 2134. Fourteenth connecting part; 2234. Fifteenth connecting part; 2035. Fourth connecting rod assembly; 2036. Fifth connecting rod assembly; 2136. Sixth connecting part; 2236. Seventh connecting part; 300. Driving assembly; 310. Driving source; 3110. Output shaft; 320. Lead screw; 3210. Threaded part; 330. Lead screw slider; 3301. Identification hole; 3302. Guide hole; 3303. Threaded hole; 3310. First component; 3320. Second component; 340. Potentiometer; 350. Guide rod; 301. First driving assembly; 3011. First driving part; 3111. First chute; 3112. First side wall; 3113. Second side wall; 3012. Second driving body; 3013. Second driving part; 302. Second driving assembly; 303. Third driving assembly; 400. Driving board; 500. Control board; 600. Heat dissipation board; 700. Wrist assembly; 800. Housing; 810. First dorsal shell of the palm; 820. Second dorsal shell of the palm; 830. First palm shell; 840. Second palm shell; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; L9. Ninth axis; L10. Tenth axis; L11. Eleventh axis; L12. Twelfth axis; L13. Thirteenth axis; L14. Fourteenth axis; L15. Fifteenth axis; L16. Sixteenth axis; L17. Seventeenth axis;L18, the 18th axis; L19, the 19th axis; L20, the 20th axis; L21, the 21st axis; L22, the 22nd axis; X1, the first direction; X2, the second direction; X3, the third direction; SL1, the first straight line; SL2, the second straight line; SL3, the third straight line; SL4, the fourth straight line; SL5, the fifth straight line. Detailed implementation manners

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0060] Figure 1 Shown is a schematic structural diagram of the palm and back of a dexterous hand provided by an embodiment of the present disclosure. Figure 2 Shown is a schematic structural diagram of the palm side of a dexterous hand provided by an embodiment of the present disclosure. Figure 3 Shown is a schematic structural diagram of a finger assembly and a driving assembly provided by an embodiment of the present disclosure. Figure 4 Shown is a schematic structural diagram of a driving assembly provided by an embodiment of the present disclosure. Figure 5 Shown is a schematic structural diagram of a driving assembly provided by another embodiment of the present disclosure. As Figures 1 to 3 Shown, the dexterous hand 10 includes a palm substrate 100, a plurality of finger assemblies 200, and a plurality of driving assemblies 300.

[0061] The plurality of finger assemblies 200 are connected to the palm substrate 100, and the finger assemblies 200 include a plurality of phalanges 210. The plurality of driving assemblies 300 are disposed on the palm substrate 100 or the phalanges 210 and are respectively connected to at least one phalanx 210 of each of the plurality of finger assemblies 200. The plurality of driving assemblies 300 are configured to drive the plurality of finger assemblies 200 to move, so that the dexterous hand 10 has a high degree of freedom.

[0062] As Figures 3 to 5As shown, the driving assembly 300 includes a driving source 310, a lead screw 320, a lead screw slider 330, and a potentiometer 340. The driving source 310 includes an output shaft 3110. The lead screw 320 is connected to the output shaft 3110 and rotates under the drive of the output shaft 3110. The lead screw slider 330 is screwed to the lead screw 320 and is rotatably connected to the knuckle 210 of the finger assembly 200. The lead screw slider 330 includes an identification hole 3301 penetrating the lead screw slider 330 along the extension direction of the lead screw 320. The potentiometer 340 is inserted into the identification hole 3301. The potentiometer 340 is connected to the side surface of the driving source 310 or one end close to the output shaft 3110 and is arranged parallel to the lead screw 320. The potentiometer 340 is configured to detect the position of the lead screw slider 330.

[0063] In the related art, in order to detect the position of the output shaft 3110 of the driving assembly 300, an encoder needs to be installed at one end of the driving assembly 300 away from the output shaft 3110. The encoder is coaxially arranged with the output shaft 3110, resulting in a larger size of the driving assembly 300 along the axial direction of the output shaft 3110, and thus a larger length of the dexterous hand in the extension direction of the dexterous hand. The dexterous hand 10 provided by the embodiments of the present disclosure uses the potentiometer 340 to detect the position of the lead screw slider 330, and the potentiometer 340 is connected to the side surface of the driving source 310 or one end close to the output shaft 3110 and is arranged parallel to the lead screw 320. There is no need to install an encoder at the end of the driving assembly 300, and there is no need to occupy the axial space of the driving source 310, thereby further reducing the size of the dexterous hand 10 in the extension direction of the dexterous hand 10. Therefore, the dexterous hand 10 provided by the embodiments of the present disclosure can have both a high degree of freedom and a small size.

[0064] Exemplarily, the driving source 310 is a structure such as a motor or a rotary cylinder.

[0065] Exemplarily, as Figure 4 shown, the lead screw slider 330 further includes a threaded hole 3303 penetrating the lead screw slider 330 along the extension direction of the lead screw 320. The outer side surface of the lead screw 320 has a threaded portion 3210, and the threaded portion 3210 penetrates into the threaded hole 3303 to achieve the screwing connection between the lead screw slider 330 and the lead screw 320.

[0066] In order to enable the dexterous hand to perform the same functions as the human hand and ensure the overall motion performance of the dexterous hand, the number of finger assemblies of the dexterous hand usually imitates the number of human hand fingers. Exemplarily, as Figure 1 and Figure 2 shown, the dexterous hand 10 has five finger assemblies 200, namely a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly.

[0067] In some embodiments, as Figure 4 and Figure 5As shown, the lead screw slider 330 includes a guiding hole 3302 that penetrates the lead screw slider 330 along the extending direction of the lead screw 320. The driving assembly 300 further includes a guiding rod 350. The guiding rod 350 is inserted into the guiding hole 3302, is connected to the driving source 310, and is arranged in parallel with the lead screw 320.

[0068] The movement of the lead screw slider 330 is guided by the guiding rod 350, further improving the movement accuracy of the lead screw slider 330.

[0069] Exemplarily, as Figure 4 shown, the number of the guiding holes 3302 is two, and the number of the guiding rods 350 is two. The two guiding rods 350 are symmetrically arranged on both sides of the lead screw 320, are respectively inserted into the two guiding holes 3302, and are both connected to the driving source 310. The movement of the lead screw slider 330 is guided by the two guiding rods 350, further improving the movement accuracy of the lead screw slider 330.

[0070] In some embodiments, the thread of the lead screw 320 for screwing with the lead screw slider 330 includes a trapezoidal thread. The trapezoidal thread can bear a large load to improve the grasping load of the dexterous hand 10.

[0071] In some embodiments, as Figure 4 and Figure 5 shown, the lead screw slider 330 includes a first component part 3310 and a second component part 3320. The first component part 3310 has a guiding hole 3302 and an identification hole 3301. The second component part 3320 is connected to the first component part 3310 and is connected between the guiding hole 3302 and the identification hole 3301. During the sliding process of the lead screw slider 330, the second component part 3320 can be located between the guiding rod 350 and the potentiometer 340.

[0072] The second component part 3320 can slide between the guiding rod 350 and the potentiometer 340, making full use of the space between the guiding rod 350 and the potentiometer 340, reducing the space occupied by the dexterous hand 10, and improving the compactness of the dexterous hand 10.

[0073] Exemplarily, as Figure 4 shown, the first component part 3310 has a threaded hole 3303, and the two guiding holes 3302 are symmetrically arranged on both sides of the threaded hole 3303.

[0074] In some embodiments, as Figure 1 and Figure 2 shown, the multiple finger assemblies 200 include at least one first finger assembly 201, at least one second finger assembly 202, and at least one third finger assembly 203.

[0075] As Figure 6 andFigure 7 As shown, the first finger assembly 201 includes a first support 2011, a first proximal phalanx 2012, a first middle phalanx 2013, and a first distal phalanx 2014. The first proximal phalanx 2012 is rotatably connected to the first support 2011, the first middle phalanx 2013 is rotatably connected to the first proximal phalanx 2012, and the first middle phalanx 2013 and the first distal phalanx 2014 are drivingly connected.

[0076] As Figure 8 shown, the second finger assembly 202 includes a second support 2021, a second proximal phalanx 2022, a second middle phalanx 2023, and a second distal phalanx 2024. The second support 2021 is connected to the palm substrate 100, the second proximal phalanx 2022 is gimbal-connected to the second support 2021, the second middle phalanx 2023 is rotatably connected to the second proximal phalanx 2022, and the second middle phalanx 2023 and the second distal phalanx 2024 are drivingly connected.

[0077] As Figure 9 shown, the third finger assembly 203 includes a third support 2031, a third proximal phalanx 2032, a third middle phalanx 2033, and a third distal phalanx 2034. The third support 2031 is connected to the palm substrate 100, the third proximal phalanx 2032 is rotatably connected to the third support 2031, and the third proximal phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 are drivingly connected.

[0078] As Figures 6 to 9 shown, the plurality of drive assemblies 300 includes at least four first drive assemblies 301, at least three second drive assemblies 302, and at least one third drive assembly 303. The first first drive assembly 301 is disposed on the first proximal phalanx 2012 and is drivingly connected to the first middle phalanx 2013, and is configured to drive the first middle phalanx 2013 and the first distal phalanx 2014 to couple and move. The second first drive assembly 301 is disposed on the first proximal phalanx 2012 and is drivingly connected to the first support 2011, and is configured to drive the first proximal phalanx 2012 to flex. The third first drive assembly 301 is rotatably connected to the first support 2011 and is configured to drive the first support 2011 to swing. The fourth first drive assembly 301 is disposed on the palm substrate 100 and is connected to the third first drive assembly 301 and is configured to drive the third first drive assembly 301 to spin.

[0079] At least three second drive components 302 are disposed on the palm base plate 100. The first second drive component 302 and the second second drive component 302 are both connected to the second root finger joint 2022, and are configured to drive the second root finger joint 2022 to swing sideways and flex and extend. The third second drive component 302 is connected to the second middle finger joint 2023, and is configured to drive the second middle finger joint 2023 to couple and link with the second distal finger joint 2024.

[0080] At least one third driving component 303 is disposed on the palm base plate 100 and connected to the third finger joint 2032 , and is configured to drive the third finger joint 2032 , the third middle finger joint 2033 and the third distal finger joint 2034 to be coupled and linked.

[0081] At least four first drive components 301 are used to realize the coupling and linkage of the first middle phalanx 2013 and the first distal phalanx 2014 of the first finger component 201, the flexion and extension of the first phalanx 2012, the swing of the first support member 2011 and the spin of the first drive component 301, so that the first finger component 201 has four active degrees of freedom. In addition, at least three second drive components 302 are used to realize the side swing and flexion and extension of the second phalanx 2022 of the second finger component 202, and the coupling and linkage of the second middle phalanx 2023 and the second distal phalanx 2024, so that the second finger component 202 has three active degrees of freedom. In addition, at least one third drive component 303 is used to realize the coupling and linkage of the third phalanx 2032, the third middle phalanx 2033 and the third distal phalanx 2034 of the third finger component 203, so that the third finger component 203 has one active degree of freedom. Therefore, the dexterous hand 10 has more active degrees of freedom, which ensures the overall motion performance of the dexterous hand 10.

[0082] For example, Figures 6 to 9 As shown, four first drive components 301 are arranged corresponding to a first finger component 201, three second drive components 302 are arranged corresponding to a second finger component 202, and one third drive component 303 is arranged corresponding to a third finger component 203, so as to make use of a smaller number of drive components 300 as much as possible to enable the dexterous hand 10 to have a higher degree of freedom. In addition, the size of the dexterous hand 10 can also be ensured to be small.

[0083] Exemplarily, the above-mentioned transmission connection can be realized by transmission modes such as gear transmission and chain transmission.

[0084] Exemplarily, the above-mentioned universal connection can be realized by structures such as a universal joint, a ball and socket joint, and an elastic coupling.

[0085] Exemplarily, the driving component can be driven by a motor, an electric cylinder, an electric push rod, a linear module, a pneumatic cylinder, etc.

[0086] Exemplarily, the first finger component 201, the second finger component 202, and the third finger component 203 are all axisymmetric structures.

[0087] Coupled linkage refers to the relationship of interaction and influence between two or more components, systems, or processes. This relationship can be a direct physical connection or an indirect interaction through a certain medium or mechanism. For example, the first middle phalanx 2013 and the first distal phalanx 2014 are drivingly connected, the first first driving component 301 is drivingly connected to the first middle phalanx 2013, the first first driving component 301 drives the first middle phalanx 2013 to move, and the first middle phalanx 2013 drives the first distal phalanx 2014 to move, achieving the coupled linkage between the first middle phalanx 2013 and the first distal phalanx 2014. For example, the second middle phalanx 2023 and the second distal phalanx 2024 are drivingly connected, the third second driving component 302 is drivingly connected to the second middle phalanx 2023, the third second driving component 302 drives the second middle phalanx 2023 to move, and the second middle phalanx 2023 drives the second distal phalanx 2024 to move, achieving the coupled linkage between the second middle phalanx 2023 and the second distal phalanx 2024. For example, the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 are drivingly connected, the third driving component 303 drives the third phalanx 2032 to move, the third phalanx 2032 drives the third middle phalanx 2033 to move, and the third middle phalanx 2033 drives the third distal phalanx 2034 to move, achieving the coupled linkage between the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034.

[0088] In some embodiments, as Figure 2 shown, the first finger component 201 is a thumb component, the number of the second finger components 202 is two, namely an index finger component and a middle finger component respectively, and the number of the third finger components 203 is two, namely a ring finger component and a little finger component respectively.

[0089] The thumb component of the dexterous hand 10 has four active degrees of freedom, the index finger component and the middle finger component each have three active degrees of freedom, and the ring finger component and the little finger component each have one active degree of freedom. Therefore, the dexterous hand 10 has twelve active degrees of freedom. When the dexterous hand 10 performs tasks, higher requirements are imposed on the active degrees of freedom, load capacity, movement speed, etc. of the thumb component, the index finger component, and the middle finger component. Based on the above considerations, the thumb component, the index finger component, and the middle finger component have higher active degrees of freedom, thereby ensuring the overall movement performance of the dexterous hand 10.

[0090] In some embodiments, as Figures 10 to 12As shown, the dexterous hand 10 has a palm side 1001 and a back side 1002 that are oppositely arranged along a first direction X1. When the second finger assembly 202 is in an extended state, the extending direction of the second finger assembly 202 is a second direction X2, and the palm width direction of the dexterous hand 10 is a third direction X3. The first direction X1, the second direction X2, and the third direction X3 are perpendicular to each other. The fourth first driving assembly 301 extends along the third direction X3, the third first driving assembly 301 and the fourth first driving assembly 301 are stacked along the first direction X1, and both the third first driving assembly 301 and the fourth first driving assembly 301 are disposed at one end of the second driving assembly 302 away from the second finger assembly 202. The first second driving assembly 302 and the second second driving assembly 302 both extend along a direction that forms an acute angle with the second direction X2 and are arranged side by side along the third direction X3. The third second driving assembly 302 extends along the second direction X2 and is stacked with the first second driving assembly 302 and the second second driving assembly 302 along the first direction X1. The third driving assembly 303 extends along a direction that forms an acute angle with the second direction X2 and is arranged side by side with the first second driving assembly 302 and the second second driving assembly 302 along the third direction X3.

[0091] The layout of the multiple driving assemblies 300 of the dexterous hand 10 is compact, reasonably utilizing the space of the palm substrate 100 and reducing the size of the dexterous hand 10.

[0092] The first second driving assembly 302 and the second second driving assembly 302 both extend along a direction that forms an acute angle with the second direction X2 and are arranged side by side along the third direction X3. The third second driving assembly 302 extends along the second direction X2 and is stacked with the first second driving assembly 302 and the second second driving assembly 302 along the first direction X1, such that the end of the first second driving assembly 302 and the second second driving assembly 302 facing the second finger assembly 202 is closer to the back side 1002 than the end of the first second driving assembly 302 and the second second driving assembly 302 away from the second finger assembly 202, making the circumferential dimension of the end of the second phalanx 2022 away from the second middle phalanx 2023 smaller and closer to the shape of a human finger. At the same time, the space occupied by the first second driving assembly 302, the second second driving assembly 302, and the third second driving assembly 302 in the palm is close to the shape of a human palm, which is conducive to making full use of the space of the palm part.

[0093] In some embodiments, such as Figure 6 、 Figure 7 、and Figures 13 to 19As shown, the first middle phalanx 2013 is rotatably connected to the first proximal phalanx 2012 about a first axis L1. The first middle phalanx 2013 includes a toggled portion 2113 which is circumferentially located about the first axis L1. The first distal phalanx 2014 is rotatably connected to the first middle phalanx 2013 about a second axis L2, and the second axis L2 is parallel to the first axis L1. The first finger assembly 201 further includes a first link 2015. The first end of the first link 2015 is rotatably connected to the first proximal phalanx 2012 about a third axis L3, and the second end of the first link 2015 is rotatably connected to the first distal phalanx 2014 about a fourth axis L4. Both the third axis L3 and the fourth axis L4 are parallel to the first axis L1. In a cross-section perpendicular to the first axis L1, the connection line between the first axis L1 and the second axis L2 intersects with the connection line between the third axis L3 and the fourth axis L4. The first first driving assembly 301 includes a first driving portion 3011 which is capable of moving along a first straight line SL1. The first driving portion 3011 has a first sliding groove 3111, and the toggled portion 2113 extends into the first sliding groove 3111. The first sliding groove 3111 includes a first side wall 3112 and a second side wall 3113 which are oppositely arranged along a direction perpendicular to the first axis L1, and the first side wall 3112 and the second side wall 3113 are respectively arranged on both sides of the toggled portion 2113. During the rotation of the toggled portion 2113 about the first axis L1, the first side wall 3112 or the second side wall 3113 abuts against the toggled portion 2113 to toggle the toggled portion 2113 to rotate about the first axis L1. The first support 2011 is rotatably connected to the first proximal phalanx 2012 about a fifth axis L5, and the fifth axis L5 is parallel to the first axis L1. The first support 2011 has a second sliding groove 2111, and the second sliding groove 2111 includes a third side wall 2112 and a fourth side wall 2114 which are oppositely arranged along a direction perpendicular to the first axis L1. The second first driving assembly 301 includes a second driving body 3012 and a second driving portion 3013. The second driving body 3012 is connected to the second driving portion 3013 and is used to drive the second driving portion 3013 to move relative to the second driving body 3012 along a second straight line SL2. The second driving portion 3013 extends into the second sliding groove 2111, and the third side wall 2112 and the fourth side wall 2114 are respectively arranged on both sides of the second driving portion 3013. During the rotation of the first proximal phalanx 2012 about the fifth axis L5, the second driving portion 3013 abuts against the third side wall 2112 or the fourth side wall 2114 to drive the first proximal phalanx 2012 to rotate about the fifth axis L5.

[0094] The dexterous hand 10 provided by the embodiment of the present disclosure has the first driving part 3011 capable of moving along the first straight line SL1, the moved part 2113 extends into the first sliding groove 3111 of the first driving part 3011, the first side wall 3112 and the second side wall 3113 are relatively arranged in a direction perpendicular to the first axis L1, the first side wall 3112 and the second side wall 3113 are respectively arranged on both sides of the moved part 2113, and during the rotation of the moved part 2113 around the first axis L1, the first side wall 3112 or the second side wall 3113 abuts against the moved part 2113, so that the first driving part 3011 can move the moved part 2113 to rotate around the first axis L1, and the structure for realizing the rotation of the first middle finger joint 2013 is simple and compact, which is conducive to reducing the size of the dexterous hand 10. In addition, since the first slide groove 3111 provides movement space for the rotation of the driven part 2113, the first first drive component 301 can be fixed on the first finger joint 2012 without the need to be rotatably connected to the first finger joint 2012, thereby avoiding the first first drive component 301 from occupying more space of the first finger joint 2012 and reducing the size of the first finger joint 2012.

[0095] In addition, the first finger joint 2012, the first middle finger joint 2013, the first distal finger joint 2014 and the first connecting rod 2015 of the first finger assembly 201 provided in the embodiment of the present disclosure form a four-bar linkage mechanism, which realizes the coupling and linkage of the first middle finger joint 2013 and the first distal finger joint 2014, and realizes that the first middle finger joint 2013 and the first distal finger joint 2014 are bent toward the palm side of the dexterous hand 10 as a whole, and the structure is simple, rigid, stable and reliable. In addition, the fingertips of human hands usually move in coupling with the finger joints adjacent to the fingertips and are difficult to move independently, making the movements of the dexterous hand 10 more anthropomorphic. At the same time, the size of the first finger joint 2012 can usually be designed to be larger than that of the first middle finger joint 2013 and the first distal finger joint 2014. The structure that drives the coupling movement of the first middle finger joint 2013 and the first distal finger joint 2014 is arranged on the first finger joint 2012, which is conducive to making full use of the space at the first finger joint 2012, so that the dexterous hand 10 is more human-like.

[0096] In addition, for the dexterous hand 10 provided in this embodiment, since the second driving part 3013 can move relative to the second driving body 3012 along the second straight line SL2, the second driving part 3013 extends into the second sliding groove 2111, and the third side wall 2112 and the fourth side wall 2114 are respectively arranged on both sides of the second driving part 3013. During the rotation of the first phalanx 2012 around the fifth axis L5, the second driving part 3013 abuts against the third side wall 2112 or the fourth side wall 2114, so that the second first driving assembly 301 can drive the first phalanx 2012 to rotate around the fifth axis L5. The structure for realizing the rotation of the first phalanx 2012 is simple and compact, which is beneficial to reducing the size of the dexterous hand 10. In addition, since the second sliding groove 2111 provides a movement space for the rotation of the second driving part 3013, the second first driving assembly 301 can be fixed to the first phalanx 2012 without being rotatably connected to the first phalanx 2012, avoiding the second first driving assembly 301 occupying more space of the first phalanx 2012 and reducing the size of the first phalanx 2012.

[0097] Exemplarily, as Figure 13 and Figure 17 shown, the first phalanx 2012 includes two first phalanx shells 2102 oppositely arranged along the extension direction of the first axis L1. Both the first first driving assembly 301 and the second first driving assembly 301 are located in the accommodation space formed by the first phalanx shells 2102, further reducing the space occupied by the first first driving assembly 301 and the second first driving assembly 301 in the first phalanx 2012 and reducing the size of the first phalanx 2012.

[0098] The first side wall 3112 and the second side wall 3113 are oppositely arranged along the direction perpendicular to the first axis L1. That is to say, the depth direction of the first sliding groove 3111 can be parallel to the first axis L1. Such a setting facilitates the first side wall 3112 and the second side wall 3113 to provide force to the part to be toggled 2113.

[0099] Exemplarily, as Figure 15 and Figure 16 shown, the first driving part 3011 moves away from the first phalanx 2012 along the first straight line SL1, the first side wall 3112 abuts against the part to be toggled 2113, and toggles the part to be toggled 2113 to rotate around the first axis L1 towards the palm side of the dexterous hand 10. The first driving part 3011 moves close to the first phalanx 2012 along the first straight line SL1, the second side wall 3113 abuts against the part to be toggled 2113, and toggles the part to be toggled 2113 to rotate around the first axis L1 towards the back side of the dexterous hand 10. During the rotation of the part to be toggled 2113 around the first axis L1, the part to be toggled 2113 moves in the first sliding groove 3111.

[0100] Exemplarily, the first chute 3111 may be a straight chute or an arc chute. Exemplarily, in a plane perpendicular to the first straight line SL1, during the rotation of the actuated portion 2113 about the first axis L1, along the extending direction of the trajectory of the actuated portion 2113, the dimensions of the orthographic projections of the first side wall 3112 and the second side wall 3113 may be both greater than or equal to the dimension of the trajectory of the actuated portion 2113.

[0101] The third side wall 2112 and the fourth side wall 2114 are oppositely arranged along a direction perpendicular to the first axis L1, that is to say, the depth direction of the second chute 2111 may be parallel to the first axis L1. Such an arrangement facilitates the abutment of the second driving portion 3013 against the third side wall 2112 or the fourth side wall 2114.

[0102] Exemplarily, as Figure 18 and Figure 19 shown, the second driving portion 3013 moves away from the first support member 2011 relative to the second driving main body 3012 along the second straight line SL2, the fourth side wall 2114 abuts against the second driving portion 3013, and the second driving portion 3013 drives the first phalanx 2012 to rotate towards the back of the palm of the dexterous hand 10. The second driving portion 3013 moves close to the first support member 2011 relative to the second driving main body 3012 along the second straight line SL2, the third side wall 2112 abuts against the second driving portion 3013, and the second driving portion 3013 drives the first phalanx 2012 to rotate towards the palm side of the dexterous hand 10. During the rotation of the first phalanx 2012 about the fifth axis L5, the second driving portion 3013 moves in the second chute 2111.

[0103] Exemplarily, the second chute 2111 may be a straight chute or an arc chute. Exemplarily, in a plane perpendicular to the first straight line SL1, during the rotation of the second driving portion 3013 about the first axis L1, along the extending direction of the trajectory of the second driving portion 3013, the dimensions of the orthographic projections of the third side wall 2112 and the fourth side wall 2114 are both greater than or equal to the dimension of the trajectory of the second driving portion 3013.

[0104] The first driving assembly 301 may include any structure capable of realizing the linear movement of the driving portion. Exemplarily, the first driving assembly 301 may include one or a combination of more than one of the following structures: a lead screw linear module, a synchronous belt linear module, a linear motor module, a cylinder piston and a telescopic rod. For example, the first driving assembly 301 may include a linear servo. The driving portion of the first driving assembly 301 may be the output end of the linear servo.

[0105] Exemplarily, the first support member 2011 may be connected to the palm substrate 100.

[0106] In some embodiments, Figure 8 、 Figure 11, Figure 12 , and Figures 20 to 32As shown, the dexterous hand 10 includes a palm side 1001 and a back side 1002 which are oppositely arranged. The second support member 2021 can be rotatably connected to the palm substrate 100 about the sixth axis L6, and the sixth axis L6 is parallel to the direction from the palm side 1001 towards the back side 1002. The second phalanx 2022 is rotatably connected to the second support member 2021 about the seventh axis L7, and the seventh axis L7 is perpendicular to the sixth axis L6. The second phalanx 2022 includes a first connecting portion 2122 and a second connecting portion 2222, and the first connecting portion 2122 and the second connecting portion 2222 are located in the circumferential direction of the sixth axis L6. The second finger assembly 202 further includes a first link assembly 2025, a second link assembly 2026, a phalanx assembly 2027, a first connecting member 2028, a second link 2029, and a third link assembly 2030. The first end of the first link assembly 2025 is movably connected to the first connecting portion 2122, and the first second driving assembly 302 is movably connected to the second end of the first link assembly 2025 for driving the second end of the first link assembly 2025 to move along the third straight line SL3. The first end of the second link assembly 2026 is movably connected to the second connecting portion 2222, and the second second driving assembly 302 is movably connected to the second end of the second link assembly 2026 for driving the second end of the second link assembly 2026 to move along the fourth straight line SL4. The phalanx assembly 2027 is rotatably connected to the second phalanx 2022 about the eighth axis L8, and the eighth axis L8 is parallel to the seventh axis L7. The first connecting member 2028 includes a connected third connecting portion 2128, a fourth connecting portion 2228, and a fifth connecting portion 2328. The third connecting portion 2128 is located between the first connecting portion 2122 and the second connecting portion 2222 and is rotatably connected to the second phalanx 2022 about the ninth axis L9, and the ninth axis L9 is parallel to the seventh axis L7, and the first connecting portion 2122 and the second connecting portion 2222 are oppositely arranged along the ninth axis L9. The first end of the second link 2029 is rotatably connected to the fourth connecting portion 2228 about the tenth axis L10, and the second end of the second link 2029 is rotatably connected to the phalanx assembly 2027 about the eleventh axis L11, and both the tenth axis L10 and the eleventh axis L11 are parallel to the seventh axis L7. The first end of the third link assembly 2030 is movably connected to the fifth connecting portion 2328, and the third second driving assembly 302 is movably connected to the second end of the third link assembly 2030 for driving the second end of the third link assembly 2030 to move along the fifth straight line SL5. The third second driving assembly 302 is located on the side towards the back side 1002 of the first second driving assembly 302 and the second second driving assembly 302. The fifth straight line SL5 can be parallel to the palm substrate 100, and in a plane perpendicular to the seventh axis L7, the distance between the positive projection of the fifth straight line SL5 and the positive projection of the third straight line SL3 in the extending direction of the sixth axis L6 gradually decreases along the direction of the fifth straight line SL5 towards the second phalanx 2022.On a plane perpendicular to the seventh axis L7, the distance between the positive projection of the fifth straight line SL5 and the positive projection of the fourth straight line SL4 in the extending direction of the sixth axis L6 gradually decreases along the direction of the fifth straight line SL5 towards the second phalanx 2022.

[0107] As Figures 23 to 26 shown, the phalanx assembly 2027 includes a second middle phalanx 2023 and a second distal phalanx 2024. The phalanx assembly 2027 further includes a third link 2127. The first end of the third link 2127 is rotatably connected to the second phalanx 2022 about the eighth axis L8 and is rotatably connected to the second end of the second link 2029 about the eleventh axis L11. The second middle phalanx 2023 is rotatably connected to the second phalanx 2022 about the twelfth axis L12, and the twelfth axis L12 is parallel to the seventh axis L7. The second distal phalanx 2024 is rotatably connected to the second end of the third link 2127 about the thirteenth axis L13 and is rotatably connected to the second middle phalanx 2023 about the fourteenth axis L14. Both the thirteenth axis L13 and the fourteenth axis L14 are parallel to the seventh axis L7. On a plane perpendicular to the seventh axis L7, the connection line between the eighth axis L8 and the thirteenth axis L13 intersects the connection line between the twelfth axis L12 and the fourteenth axis L14.

[0108] Exemplarily, the palm substrate 100 can be used to form the palm of the dexterous hand 10. Exemplarily, the palm substrate 100 can be a plate-like structure, a frame structure, etc. Exemplarily, the first axis L1 can be perpendicular to the palm substrate 100.

[0109] Specifically, the phalanx can be a structural unit segmented along the length extending direction of the dexterous hand finger assembly. The dexterous hand finger 10 can include a plurality of sequentially connected phalanges. The second phalanx 2022 can be one of the plurality of phalanges included in the second finger assembly 202. Since the first connecting portion 2122 and the second connecting portion 2222 are located in the circumferential direction of the sixth axis L6, the second phalanx 2022 can be rotated relative to the palm substrate 100 about the sixth axis L6 by pushing the first connecting portion 2122 or the second connecting portion 2222 around the sixth axis L6 to perform a side swing action. Exemplarily, the first connecting portion 2122 and the second connecting portion 2222 are symmetrically arranged with respect to a plane passing through the sixth axis L6 and perpendicular to the seventh axis L7.

[0110] Exemplarily, the above-mentioned movable connection can be realized by means of a universal joint, a spherical bearing or a fish-eye bearing, etc.

[0111] For example, by controlling the first second drive component 302 to drive the second end of the first connecting rod component 2025 to move at a speed and a direction along the third straight line SL3, and controlling the second second drive component 302 to drive the second end of the second connecting rod component 2026 to move at a speed and a direction along the fourth straight line SL4, the second finger joint 2022 can be rotated around the sixth axis L6 to achieve a side swing action, and the second finger joint 2022 can be rotated around the seventh axis L7, and the second finger joint 2022 can be rotated relative to the palm substrate 100.

[0112] For example, the first connection part 2122 and the second connection part 2222 may be located in the area corresponding to the palm base plate 100, and the first second driving component 302 may be located on the side of the first connection part 2122 and the second connection part 2222 facing the finger joint component 2027. The second second driving component 302 may be located on the side of the first connection part 2122 and the second connection part 2222 away from the finger joint component 2027. Under the drive of the first second driving component 302 and the second second driving component 302, the second end of the first connecting rod component 2025 and the second end of the second connecting rod component 2026 move simultaneously along the third straight line SL3 and the fourth straight line SL4 toward the second finger joint 2022 or move simultaneously away from the second finger joint 2022, so that the second finger joint 2022 rotates around the sixth axis L6. When the moving speeds of the second end of the first connecting rod component 2025 and the second end of the second connecting rod component 2026 are different, the second finger joint 2022 may further rotate around the seventh axis L7.

[0113] Specifically, when the third second driving assembly 302 drives the second end of the third connecting rod assembly 2030 to move along the fifth straight line SL5, the first connecting member 2028 will be driven to rotate around the ninth axis L9. At the same time, the second finger joint 2022, the first connecting member 2028, the second connecting rod 2029 and the finger joint assembly 2027 form a first four-bar linkage. The second finger joint 2022 is equivalent to the first frame, the first connecting member 2028 and the finger joint assembly 2027 are equivalent to the first connecting rod, the second connecting rod 2029 is equivalent to the first connecting rod, and the first connecting member 2028 is an active member, so that the third second driving assembly 302 can make the finger joint assembly 2027 rotate around the eighth axis L8, realize the independent rotation of the finger joint assembly 2027 relative to the second finger joint 2022, so that the second finger assembly 202 has three active degrees of freedom.

[0114] Since the first second driving component 302, the second second driving component 302, and the third second driving component 302 are generally elongated and extend along the extension directions of the third straight line SL3, the fourth straight line SL4, and the fifth straight line SL5 respectively, on a plane perpendicular to the seventh axis L7, the positive projection of the fifth straight line SL5 and the distance between the positive projection of the fifth straight line SL5 and the positive projection of the third straight line SL3 in the extension direction of the sixth axis L6 gradually decrease along the direction of the fifth straight line SL5 towards the second phalanx 2022, which is beneficial to making the ends of the first second driving component 302 and the second second driving component 302 facing the phalanx assembly 2027 closer to the dorsal side 1002 than the ends of the first second driving component 302 and the second second driving component 302 away from the phalanx assembly 2027.

[0115] Moreover, the thickness of the side of the human palm where it is connected to the fingers is smaller than the thickness of the side where it is connected to the wrist. The third second driving component 302 close to the dorsal side 1002 is arranged parallel to the palm substrate 100. The first second driving component 302 and the second second driving component 302 are close to the palmar side 1001, and the ends of the first second driving component 302 and the second second driving component 302 facing the phalanx assembly 2027 are closer to the dorsal side 1002 than the ends of the first second driving component 302 and the second second driving component 302 away from the phalanx assembly 2027, making the circumferential dimension of the end of the second phalanx 2022 away from the phalanx assembly 2027 smaller and more conforming to the shape of the human finger. At the same time, it makes the space occupied by the first second driving component 302, the second second driving component 302, and the third second driving component 302 in the palm close to the shape of the human palm, which is beneficial to making full use of the space of the palm part and improving the humanoid degree of the palm of the dexterous hand 10.

[0116] Exemplarily, the shapes of the first second driving component 302, the second second driving component 302, and the third second driving component 302 may all include an elongated shape. The first second driving component 302 may extend along the extension direction of the third straight line SL3, the second second driving component 302 may extend along the extension direction of the fourth straight line SL4, and the third second driving component 302 may extend along the extension direction of the fifth straight line SL5.

[0117] Exemplarily, the first second drive assembly 302, the second second drive assembly 302, and the third second drive assembly 302 may include any structure capable of driving an object to move linearly. Exemplarily, the first second drive assembly 302 may include a combination of one or more of the following structures: a lead screw linear module, a timing belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the first second drive assembly 302 may include a linear servo. The structures of the second second drive assembly 302 and the third second drive assembly 302 may be similar to that of the first second drive assembly 302, which will not be elaborated here.

[0118] The dexterous hand 10 realizes the rotation of the second phalanx 2022 around the sixth axis L6 and the seventh axis L7 through the first second drive assembly 302 and the second second drive assembly 302 in parallel, so that the second phalanx 2022 can have the functions of lateral swing and rotation towards the palm side 1001 or the back of the hand side 1002. The rotation of the phalanx assembly 2027 around the eighth axis L8 is realized through the third second drive assembly 302, so that the phalanx assembly 2027 has the function of rotating towards the palm side 1001 or the back of the hand side 1002, so that the second finger assembly 202 has at least three active degrees of freedom. The structure of the drive assembly is relatively simple, and additional components such as gears and tendon ropes do not need to be provided for the structure realizing the lateral swing and flexion / extension of the second finger assembly 202. The structure is simple, has high rigidity, is stable and reliable, and is beneficial to reducing the size of the second finger assembly 202 and the dexterous hand 10.

[0119] In addition, the third second drive assembly 302 is located on the side of the first second drive assembly 302 and the second second drive assembly 302 towards the back of the hand side 1002. The fifth straight line SL5 can be parallel to the palm substrate 100. In the plane perpendicular to the seventh axis L7, the positive projection of the fifth straight line SL5 and the distance between the positive projection of the fifth straight line SL5 and the positive projection of the third straight line SL3 in the extending direction of the sixth axis L6 both gradually decrease along the direction of the fifth straight line SL5 towards the second phalanx 2022, so that the end of the first second drive assembly 302 and the second second drive assembly 302 towards the phalanx assembly 2027 is closer to the back of the hand side 1002 than the end of the first second drive assembly 302 and the second second drive assembly 302 away from the phalanx assembly 2027, making the circumferential dimension of the end of the second phalanx 2022 away from the phalanx assembly 2027 smaller and closer to the shape of a human finger. At the same time, the space occupied by the first second drive assembly 302, the second second drive assembly 302, and the third second drive assembly 302 in the palm is close to the shape of a human palm, which is beneficial to making full use of the space of the palm part and improving the human-like degree of the palm of the dexterous hand 10.

[0120] Specifically, as Figure 26As shown, on a plane perpendicular to the seventh axis L7, the projection points of the eighth axis L8, the twelfth axis L12, the thirteenth axis L13, and the fourteenth axis L14 are point C, point D, point E, and point F respectively. The second phalanx 2022, the third link 2127, the second middle phalanx 2023, and the second distal phalanx 2024 form a second four-bar linkage. In the second four-bar linkage, the second phalanx 2022 is equivalent to the second frame, the second middle phalanx 2023 and the third link 2127 are equivalent to the second crank (i.e., rocker), the second distal phalanx 2024 is equivalent to the second link, and the third link 2127 is the driving member.

[0121] In some application scenarios, such as Figure 26 and Figure 29 As shown, the second end of the second link 2029 drives the first end of the third link 2127 to rotate around the eighth axis L8 relative to the second phalanx 2022 towards the palm side 1001. The third link 2127 drives the coupled second middle phalanx 2023 and second distal phalanx 2024 to rotate towards the palm side 1001, realizing the bending of the second middle phalanx 2023 and the second distal phalanx 2024 towards the palm side 1001.

[0122] Exemplarily, the third link 2127 can be a straight rod, a bent rod, or an arc-shaped rod. The specific shape and quantity of the third link 2127 can be set according to actual requirements, and no specific limitation is made in this embodiment. Exemplarily, the second distal phalanx 2024 can be used as the fingertip of the second finger assembly 202.

[0123] The phalanx assembly 2027 of the second finger assembly 202 provided by the embodiments of the present disclosure includes the third link 2127, the second middle phalanx 2023, and the second distal phalanx 2024. The second phalanx 2022, the second middle phalanx 2023, and the second distal phalanx 2024 are sequentially rotatably connected, so that the second finger assembly 202 has at least three phalanges to complete more complex tasks. In addition, the second phalanx 2022, the third link 2127, the second middle phalanx 2023, and the second distal phalanx 2024 form a four-bar linkage, realizing the coupling of the movements of the second middle phalanx 2023 and the second distal phalanx 2024. Driven by the third second driving component 302, the second middle phalanx 2023 and the second distal phalanx 2024 are bent towards the palm side 1001 as a whole, with a simple structure, high rigidity, stability, and reliability. Moreover, the fingertips of the human hand usually move in a coupled manner with the phalanges adjacent to the fingertips and are difficult to move independently, making the movements of the second finger assembly 202 of the dexterous hand 10 more anthropomorphic.

[0124] In some embodiments, such as Figure 9 、 Figures 33 to 35As shown, the third phalanx 2032 is rotatably connected to the third support member 2031 about the fifteenth axis L15, the third middle phalanx 2033 is rotatably connected to the third phalanx 2032 about the sixteenth axis L16, the third distal phalanx 2034 is rotatably connected to the third middle phalanx 2033 about the seventeenth axis L17, and the third drive assembly 303 is configured to drive the third phalanx 2032 to rotate about the fifteenth axis L15. The third finger assembly 203 further includes a fourth link assembly 2035 and a fifth link assembly 2036. The first end of the fourth link assembly 2035 is rotatably connected to the third support member 2031 about the eighteenth axis L18. The first end of the fifth link assembly 2036 includes a sixth connection portion 2136 and a seventh connection portion 2236. The sixth connection portion 2136 is rotatably connected to the second end of the fourth link assembly 2035 about the nineteenth axis L19, the seventh connection portion 2236 is rotatably connected to the third phalanx 2032 about the twentieth axis L20, and the second end of the fifth link assembly 2036 is rotatably connected to the third distal phalanx 2034 about the twenty-first axis L21. The fifteenth axis L15, the sixteenth axis L16, the seventeenth axis L17, the eighteenth axis L18, the nineteenth axis L19, the twentieth axis L20, and the twenty-first axis L21 are all parallel. In a cross-section perpendicular to the fifteenth axis L15, the connection line between the fifteenth axis L15 and the twentieth axis L20 intersects the connection line between the eighteenth axis L18 and the nineteenth axis L19, and the connection line between the sixteenth axis L16 and the seventeenth axis L17 intersects the connection line between the twentieth axis L20 and the twenty-first axis L21.

[0125] The dexterous hand 10 realizes the coupled linkage of the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 by using a third drive assembly 303, a fourth link assembly 2035, and a fifth link assembly 2036, improving the grasping envelope of the third finger assembly 203. In addition, since the dexterous hand 10 can realize the coupled linkage of the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 by using only one third drive assembly 303, the structure of the dexterous hand 10 is simplified and the size of the dexterous hand 10 is reduced. That is, while ensuring the size of the dexterous hand 10, the dexterous hand 10 improves the grasping envelope of the dexterous hand 10.

[0126] Exemplarily, as Figure 35As shown, on the cross-section perpendicular to the fifteenth axis L15, the orthographic projections of the fifteenth axis L15, sixteenth axis L16, seventeenth axis L17, eighteenth axis L18, nineteenth axis L19, twentieth axis L20, and twenty-first axis L21 are point I, point J, point K, point M, point N, point P, and point Q respectively. The connection line between point I and point M is denoted as rod IM. The connection line between point I and point P is rod IP. The connection line between point M and point N represents rod MN. The connection line between point N and point P represents rod NP. Rod IM, rod IP, rod MN, and rod NP form the third four-bar linkage. Rod IM is the third frame of the third four-bar linkage, rod IP is the third crank of the third four-bar linkage, rod NP is the third connecting rod of the third four-bar linkage, and rod MN is the third rocker of the third four-bar linkage. The third crank is the driving rod and moves under the drive of the third drive assembly 303, fourth link assembly 2035, and fifth link assembly 2036. The third crank drives the third connecting rod and the third rocker in sequence, realizing the bending and extension of the third middle phalanx 2033.

[0127] In addition, the connection line between point J and point P is denoted as rod JP, and the connection line between point J and point K is rod JK. The connection line between point P and point Q represents rod PQ. The connection line between point K and point Q represents rod KQ. Rod JP, rod JK, rod PQ, and rod KQ form the fourth four-bar linkage. Rod JP is the fourth frame of the fourth four-bar linkage, rod PQ is the fourth crank of the fourth four-bar linkage, rod KQ is the fourth connecting rod of the fourth four-bar linkage, and rod JK is the fourth rocker of the fourth four-bar linkage. The fourth crank is the driving rod and moves under the drive of the third drive assembly 303, fourth link assembly 2035, and fifth link assembly 2036. The fourth crank drives the fourth connecting rod and the fourth rocker in sequence, realizing the bending and extension of the third distal phalanx 2034. Therefore, the dexterous hand 10 realizes the coupled linkage of the third phalanx 2032, third middle phalanx 2033, and third distal phalanx 2034 by using the third drive assembly 303, the third four-bar linkage, and the fourth four-bar linkage.

[0128] Exemplarily, as Figure 9 and Figure 35 shown, the lead screw slider 330 of the third drive assembly 303 is rotatably connected to the third phalanx 2032 about the twenty-second axis L22, and the twenty-second axis L22 is parallel to the fifteenth axis L15.

[0129] Exemplarily, as Figure 9 、 Figures 33 to 35As shown, the first end of the third phalanx 2032 includes an eighth connecting portion 2132 and a ninth connecting portion 2232, and the second end of the third phalanx 2032 includes a tenth connecting portion 2332 and an eleventh connecting portion 2432. The first end of the third middle phalanx 2033 includes a twelfth connecting portion 2133, and the second end of the third middle phalanx 2033 includes a thirteenth connecting portion 2233. The first end of the third distal phalanx 2034 includes a fourteenth connecting portion 2134 and a fifteenth connecting portion 2234. The eighth connecting portion 2132 is rotatably connected to the lead screw slider 330 of the third driving assembly 303 about the twenty-second axis L22, the ninth connecting portion 2232 is rotatably connected to the third support member 2031 about the fifteenth axis L15, the tenth connecting portion 2332 is rotatably connected to the twelfth connecting portion 2133 about the sixteenth axis L16, and the eleventh connecting portion 2432 is rotatably connected to the seventh connecting portion 2236 about the twentieth axis L20. The thirteenth connecting portion 2233 is rotatably connected to the fourteenth connecting portion 2134 about the seventeenth axis L17. The fifteenth connecting portion 2234 is rotatably connected to the second end of the fifth link assembly 2036 about the twenty-first axis L21.

[0130] In some embodiments, as Figure 36 shown, the dexterous hand 10 further includes a driving board 400 and a control board 500. The driving board 400 is disposed on one side of the palm substrate 100 close to the back of the palm 1002. The driving assembly 300 disposed on the palm substrate 100 is located on one side of the driving board 400 close to the palm side 1001. The control board 500 is disposed on one side of the palm substrate 100 close to the back of the palm 1002 and is adjacent to the driving board 400. The driving assembly 300 disposed on the palm substrate 100 is located on one side of the control board 500 close to the palm side 1001.

[0131] In the related art, the driving board 400 and the control board 500 of the dexterous hand 10 are usually installed at one end of the palm substrate 100 of the dexterous hand 10 close to the wrist, resulting in a relatively large size of the dexterous hand 10. In the dexterous hand 10 provided by the embodiments of the present disclosure, by installing the driving board 400 and the control board 500 on one side of the palm substrate 100 close to the back of the palm 1002, it is not necessary to occupy the space at one end of the palm substrate 100 close to the wrist, making the layout of the dexterous hand 10 compact and reducing the size of the dexterous hand 10 in the second direction X2. In addition, the heat generated by the driving board 400 and the control board 500 can be transferred to the palm substrate 100, which is beneficial to the heat dissipation of the driving board 400 and the control board 500.

[0132] In some embodiments, as Figure 36 shown, the dexterous hand 10 further includes a heat dissipation board 600. The heat dissipation board 600 is connected between the driving board 400 and the palm substrate 100. The heat generated by the driving board 400 can be dissipated through the heat dissipation board 600.

[0133] Exemplarily, the material of the heat dissipation plate 600 can be a material with good thermal conductivity such as aluminum, copper, graphite, etc.

[0134] Exemplarily, fins are provided on the side of the heat dissipation plate 600 away from the driving plate 400 to further improve the heat dissipation effect.

[0135] Exemplarily, as Figure 36 shown, the dexterous hand 10 further includes a wrist component 700. The wrist component 700 is connected to one end of the palm substrate 100 away from the finger component 200. The heat generated by the driving plate 400 and the control plate 500 is transferred to the palm substrate 100 and then transferred from the palm substrate 100 to the wrist component 700 to further improve the heat dissipation effect.

[0136] Exemplarily, as Figure 36 and Figure 37 shown, the dexterous hand 10 further includes a housing 800. The housing 800 wraps the palm substrate 100, multiple driving components 300, the driving plate 400, the control plate 500, the heat dissipation plate 600 and a part of the wrist component 700, playing a protective role. At the same time, it improves the aesthetic appearance of the dexterous hand 10.

[0137] Exemplarily, the housing 800 can be integrally formed or can be separately provided. Exemplarily, as Figure 37 and Figure 38 shown, the housing 800 is separately provided. The housing 800 includes a first dorsal palm shell 810, a second dorsal palm shell 820, a first palmar shell 830 and a second palmar shell 840. The first dorsal palm shell 810 and a part of the second dorsal palm shell 820 are located on the dorsal palm side 1002 and are detachably connected. One end of the second dorsal palm shell 820 close to the wrist component 700 is arranged around the wrist component 700 and is detachably connected to the wrist component 700. The first palmar shell 830 and the second palmar shell 840 are located on the palmar side 1001. The first palmar shell 830 is oppositely arranged along the first direction X1 with the first dorsal palm shell 810 and is detachably connected. The end of the first palmar shell 830 close to the wrist component 700 contacts the end of the second dorsal palm shell 820 arranged around the wrist component 700. The second palmar shell 840 is located in the middle area on the side of the first palmar shell 830 close to the palmar side 1001 and is detachably connected to the first palmar shell 830. Exemplarily, the material of the second palmar shell 840 can be rubber, plastic, etc., so as to increase the friction between the housing 800 and the object when the dexterous hand 10 grasps an object and improve the grasping stability.

[0138] Figure 39 The following shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As Figure 39As shown, the robot 1 includes at least one dexterous hand 10 mentioned in the above embodiments. Exemplarily, the robot 1 can be a humanoid robot, a collaborative robot, a handling robot, etc.

[0139] Since the robot 1 includes the dexterous hand 10, the robot 1 has all the technical features and technical effects of the dexterous hand 10, which will not be elaborated here.

[0140] In the embodiments of the present disclosure, if the form of connection is not clearly defined, the form of connection can be a detachable connection form such as a bolt screw rod slider, a screw, a buckle, a magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable fit, non-detachable connection can be carried out by means of welding, bonding, etc.

[0141] The phrases "an embodiment" and "embodiments" mentioned in the specification indicate that the described embodiments may include specific features, structures or characteristics, but not necessarily each embodiment includes such specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining an embodiment to describe a specific feature, structure or characteristic, it is within the knowledge scope of those skilled in the art to implement such a feature, structure or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0142] It should be understood that the terms "on", "above" and "over" in the present disclosure should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but also can include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0143] In addition, for the convenience of description, spatial relative terms can be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature relative to other components or features as shown in the figure. The spatial relative terms are intended to include different orientations of the components in use or operation in addition to the orientation shown in the drawings. The device can have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive words used in the text can be interpreted accordingly.

[0144] It should be noted that in this text, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0145] The above are only the preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A dexterous hand, characterized in that, Comprising: Palm substrate; A plurality of finger assemblies, connected to the palm substrate, each finger assembly including a plurality of phalanges; A plurality of driving assemblies, disposed on the palm substrate or the phalanges, respectively connected to at least one of the phalanges of each of the plurality of finger assemblies, and configured to drive the plurality of finger assemblies to move; Wherein, the driving assembly includes: A driving source, including an output shaft; A lead screw, connected to the output shaft and rotated under the drive of the output shaft; A lead screw slider, threadedly engaged with the lead screw and rotatably connected to the phalanx of the finger assembly, the lead screw slider including an identification hole penetrating through the lead screw slider along the extension direction of the lead screw; A potentiometer, passing through the identification hole, connected to the side surface of the driving source or one end close to the output shaft, and disposed parallel to the lead screw, the potentiometer being configured to detect the position of the lead screw slider.

2. The dexterous hand according to claim 1, characterized in that, The lead screw slider includes a guiding hole penetrating through the lead screw slider along the extension direction of the lead screw, and the driving assembly further includes: A guiding rod, passing through the guiding hole, connected to the driving source, and disposed parallel to the lead screw; And / or, The thread of the lead screw for threadedly engaging with the lead screw slider includes a trapezoidal thread.

3. The dexterous hand according to claim 2, characterized in that, The lead screw slider includes: A first component part, having the guiding hole and the identification hole; A second component part, connected to the first component part and connected between the guiding hole and the identification hole, and during the sliding process of the lead screw slider, the second component part can be located between the guiding rod and the potentiometer.

4. The dexterous hand according to any one of claims 1 to 3, characterized in that, The plurality of finger assemblies include: At least one first finger assembly, the first finger assembly including a first support member, a first proximal phalanx, a first middle phalanx, and a first distal phalanx, the first proximal phalanx being rotatably connected to the first support member, the first middle phalanx being rotatably connected to the first proximal phalanx, and the first middle phalanx and the first distal phalanx being in transmission connection; At least one second finger assembly, the second finger assembly including a second support member, a second proximal phalanx, a second middle phalanx, and a second distal phalanx, the second support member being connected to the palm substrate, the second proximal phalanx being gimbal-connected to the second support member, the second middle phalanx being rotatably connected to the second proximal phalanx, and the second middle phalanx and the second distal phalanx being in transmission connection; At least one third finger assembly, the third finger assembly including a third support member, a third proximal phalanx, a third middle phalanx, and a third distal phalanx, the third support member being connected to the palm substrate, the third proximal phalanx being rotatably connected to the third support member, and the third proximal phalanx, the third middle phalanx, and the third distal phalanx being in transmission connection; The plurality of driving assemblies include: At least four first driving components, the first of which is disposed on the first phalanx and is in transmission connection with the first middle phalanx, and is configured to drive the first middle phalanx and the first distal phalanx to be coupled and linked; the second of which is disposed on the first phalanx and is in transmission connection with the first support member, and is configured to drive the first phalanx to flex and extend; the third of which is rotatably connected to the first support member and is configured to drive the first support member to swing; the fourth of which is disposed on the palm substrate and is connected to the third first driving component, and is configured to drive the third first driving component to spin; At least three second driving components, all of which are disposed on the palm substrate. The first and the second second driving components are both in transmission connection with the second phalanx, and are configured to drive the second phalanx to swing laterally and flex and extend; the third second driving component is in transmission connection with the second middle phalanx, and is configured to drive the second middle phalanx and the second distal phalanx to be coupled and linked; At least one third driving component, which is disposed on the palm substrate and is connected to the third phalanx, and is configured to drive the third phalanx, the third middle phalanx and the third distal phalanx to be coupled and linked.

5. The dexterous hand according to claim 4, wherein The first finger assembly is a thumb assembly, the number of the second finger assemblies is two, which are an index finger assembly and a middle finger assembly respectively, and the number of the third finger assemblies is two, which are a ring finger assembly and a little finger assembly respectively.

6. The dexterous hand according to claim 4, characterized in that, The dexterous hand has a palm side and a back side that are oppositely disposed in a first direction. When the second finger assembly is in an extended state, the extending direction of the second finger assembly is a second direction, the palm width direction of the dexterous hand is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; Wherein, the fourth first driving component extends along the third direction, the third first driving component and the fourth first driving component are stacked along the first direction, and both the third first driving component and the fourth first driving component are disposed at one end of the second driving component away from the second finger assembly; Wherein, the first and the second second driving components both extend along a direction that forms an acute angle with the second direction and are arranged side by side along the third direction, the third second driving component extends along the second direction and is stacked with the first and the second second driving components along the first direction; Wherein, the third driving component extends along a direction that forms an acute angle with the second direction and is arranged side by side with the first and the second second driving components along the third direction.

7. The dexterous hand according to claim 4, wherein the first middle phalanx is rotatably connected to the first phalanx around a first axis, and the first middle phalanx includes a toggled portion, and the toggled portion is located in the circumferential direction of the first axis; The first distal phalanx is rotatably connected to the first middle phalanx about a second axis, and the second axis is parallel to the first axis; The first finger assembly further includes: a first link, a first end of the first link is rotatably connected to the first phalanx about a third axis, and a second end of the first link is rotatably connected to the first distal phalanx about a fourth axis, wherein the third axis and the fourth axis are both parallel to the first axis, and in a cross-section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the third axis and the fourth axis; The first of the first driving components includes a first driving part, the first driving part is capable of moving along a first straight line, wherein the first driving part has a first chute, the part to be toggled extends into the first chute, the first chute includes a first side wall and a second side wall oppositely arranged along a direction perpendicular to the first axis, the first side wall and the second side wall are respectively arranged on both sides of the part to be toggled, and during the rotation of the part to be toggled about the first axis, the first side wall or the second side wall abuts against the part to be toggled to toggle the part to be toggled to rotate about the first axis; The first support member is rotatably connected to the first phalanx about a fifth axis, the fifth axis is parallel to the first axis, the first support member has a second chute, the second chute includes a third side wall and a fourth side wall oppositely arranged along a direction perpendicular to the first axis; the second of the first driving components includes a second driving body and a second driving part, the second driving body is connected to the second driving part for driving the second driving part to move relative to the second driving body along a second straight line, the second driving part extends into the second chute, the third side wall and the fourth side wall are respectively arranged on both sides of the second driving part, and during the rotation of the first phalanx about the fifth axis, the second driving part abuts against the third side wall or the fourth side wall to drive the first phalanx to rotate about the fifth axis.

8. The dexterous hand according to claim 4, wherein The dexterous hand includes a palm side and a back side which are oppositely arranged; The second support member is capable of being rotatably connected to the palm substrate about a sixth axis, and the sixth axis is parallel to the direction from the palm side towards the back side; The second phalanx is rotatably connected to the second support member about a seventh axis, the seventh axis is perpendicular to the sixth axis, the second phalanx includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located circumferentially around the sixth axis; The second finger assembly further includes: A first link assembly, a first end of the first link assembly is movably connected to the first connecting portion, wherein the first of the second driving components is movably connected to a second end of the first link assembly for driving the second end of the first link assembly to move along a third straight line; The second link assembly, the first end of the second link assembly is movably connected to the second connecting portion, wherein the second second driving assembly is movably connected to the second end of the second link assembly for driving the second end of the second link assembly to move along a fourth straight line; The phalanx assembly is rotatably connected to the second phalanx about an eighth axis, and the eighth axis is parallel to the seventh axis; The first connecting member includes a third connecting portion, a fourth connecting portion and a fifth connecting portion connected together. The third connecting portion is located between the first connecting portion and the second connecting portion and is rotatably connected to the second phalanx about a ninth axis. The ninth axis is parallel to the seventh axis. The first connecting portion and the second connecting portion are oppositely arranged along the ninth axis; The second link, the first end of the second link is rotatably connected to the fourth connecting portion about a tenth axis, and the second end of the second link is rotatably connected to the phalanx assembly about an eleventh axis. Both the tenth axis and the eleventh axis are parallel to the seventh axis; The third link assembly, the first end of the third link assembly is movably connected to the fifth connecting portion, wherein the third second driving assembly is movably connected to the second end of the third link assembly for driving the second end of the third link assembly to move along a fifth straight line; Wherein, the third second driving assembly is located on the side facing the back of the hand of the first second driving assembly and the second second driving assembly; the fifth straight line can be parallel to the palm substrate. On a plane perpendicular to the seventh axis, the distance between the positive projection of the fifth straight line and the positive projection of the third straight line in the extending direction of the sixth axis gradually decreases along the direction of the fifth straight line towards the second phalanx. On a plane perpendicular to the seventh axis, the distance between the positive projection of the fifth straight line and the positive projection of the fourth straight line in the extending direction of the sixth axis gradually decreases along the direction of the fifth straight line towards the second phalanx; Wherein, the phalanx assembly includes the second middle phalanx and the second distal phalanx, and the phalanx assembly further includes: The third link, the first end of the third link is rotatably connected to the second phalanx about the eighth axis and is rotatably connected to the second end of the second link about the eleventh axis; Wherein, the second middle phalanx is rotatably connected to the second phalanx about a twelfth axis, and the twelfth axis is parallel to the seventh axis; the second distal phalanx is rotatably connected to the second end of the third link about a thirteenth axis and is rotatably connected to the second middle phalanx about a fourteenth axis. Both the thirteenth axis and the fourteenth axis are parallel to the seventh axis; wherein, on a plane perpendicular to the seventh axis, the connection line between the eighth axis and the thirteenth axis intersects the connection line between the twelfth axis and the fourteenth axis.

9. The dexterous hand according to claim 4, characterized in that, The third phalanx is rotatably connected to the third support member about a fifteenth axis; the third middle phalanx is rotatably connected to the third phalanx about a sixteenth axis; the third distal phalanx is rotatably connected to the third middle phalanx about a seventeenth axis; the third drive assembly is configured to drive the third phalanx to rotate about the fifteenth axis; The third finger assembly further includes: A fourth link assembly, the first end of the fourth link assembly is rotatably connected to the third support member about an eighteenth axis; A fifth link assembly, the first end of the fifth link assembly includes a sixth connection portion and a seventh connection portion, the sixth connection portion is rotatably connected to the second end of the fourth link assembly about a nineteenth axis, the seventh connection portion is rotatably connected to the third phalanx about a twentieth axis, and the second end of the fifth link assembly is rotatably connected to the third distal phalanx about a twenty-first axis; Wherein, the fifteenth axis, the sixteenth axis, the seventeenth axis, the eighteenth axis, the nineteenth axis, the twentieth axis and the twenty-first axis are all parallel, and in a cross-section perpendicular to the fifteenth axis, the line connecting the fifteenth axis and the twentieth axis intersects the line connecting the eighteenth axis and the nineteenth axis, and the line connecting the sixteenth axis and the seventeenth axis intersects the line connecting the twentieth axis and the twenty-first axis.

10. The dexterous hand according to any one of claims 1 to 3, characterized in that, The dexterous hand has a palm side and a back side disposed opposite to each other in a first direction, and the dexterous hand further includes: A drive plate, disposed on a side of the palm substrate close to the back side, wherein the drive assembly disposed on the palm substrate is located on a side of the drive plate close to the palm side; A control plate, disposed on a side of the palm substrate close to the back side, adjacent to the drive plate, wherein the drive assembly disposed on the palm substrate is located on a side of the control plate close to the palm side.

11. The dexterous hand according to claim 10, characterized in that, Further included: A heat dissipation plate, connected between the drive plate and the palm substrate.

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

Images