Dexterous hands and robots

Abstract

The present disclosure relates to the field of robotics, and in particular to a dexterous hand and a robot, which solves the problem in the related art that the dexterous hand cannot have both a high degree of freedom and a small size. The dexterous hand includes a palm base, a plurality of finger assemblies and a plurality of drive assemblies, and the plurality of drive assemblies drive the movement of the plurality of finger assemblies, so that the dexterous hand has a high degree of freedom. The drive assembly includes a driving source, a screw, a screw slider and a potentiometer. The output shaft of the driving source is connected to the screw to drive the screw to rotate. The screw slider is screwed to the screw and is rotatably connected to the knuckles of the finger assembly. The screw slider includes an identification hole that passes through the screw slider along the extension direction of the screw. The potentiometer is inserted into the identification hole and is connected to the side of the driving source or one end close to the output shaft, and is arranged parallel to the screw. The potentiometer does not need to occupy the axial space of the driving source, so that the size of the dexterous hand is smaller. Therefore, the dexterous hand can have both a high degree of freedom and a small size.

Description

Technical Field

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

[0002] With the continuous advancement of humanoid robot-related technologies, industrial automation technology is gradually shifting from industrial robots that perform single, repetitive tasks to humanoid robots that perform complex and varied tasks. During this transformation, the robot's end effector has changed from a specialized tool to a general-purpose tool similar to a human hand. A dexterous hand is a humanoid-like end effector used to perform diverse tasks such as grasping, manipulation, and perception. In order for a dexterous hand to perform the same functions as a human hand, the design requirements for the dexterous hand are higher, requiring not only a high degree of freedom but also a small size.

[0003] However, the dexterous hand in the related art cannot achieve both high degree of freedom and small size. Summary of the Invention

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

[0005] In the first aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm substrate; a plurality of finger assemblies connected to the palm substrate, the finger assemblies comprising a plurality of knuckles; a plurality of drive assemblies, arranged on the palm substrate or the knuckles, respectively connected to at least one knuckle of each of the plurality of finger assemblies, and configured to drive the plurality of finger assemblies to move; wherein the drive assembly comprises: a drive source comprising an output shaft; a screw rod connected to the output shaft and rotated under the drive of the output shaft; a screw rod slider, threadedly connected to the screw rod and rotatably connected to the knuckles of the finger assemblies, the screw rod slider comprising an identification hole passing through the screw rod slider along the extension direction of the screw rod; a potentiometer, passed through the identification hole, connected to the side of the drive source or one end close to the output shaft, and arranged parallel to the screw rod, the potentiometer being configured to detect the position of the screw rod slider.

[0006] In some embodiments, the screw slider includes a guide hole passing through the screw slider along the extension direction of the screw, and the drive assembly also includes: a guide rod, which is passed through the guide hole, connected to the drive source, and arranged parallel to the screw; and / or, the thread of the screw for threaded connection with the 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. 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 including a first support member, 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 member, the first middle finger joint is rotatably connected to the first root finger joint, and the first middle finger joint and the first distal finger joint are transmission-connected; at least one second finger assembly, the second finger assembly including a second support member, a second root finger joint, a second middle finger joint and a second distal finger joint, the second support member is connected to the palm base plate, the second root finger joint is universally connected to the second support member, 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 including a third support member, a third root finger joint, a third middle finger joint and a third distal finger joint, the third support member is connected to the palm base plate, the third finger joint is rotatably connected to the third support, and the third 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 provided with a It is placed on the first phalanx and is transmission-connected to the first middle phalanx, configured to drive the first middle phalanx and the first distal phalanx to couple and link together. The second first drive component is set on the first phalanx and is transmission-connected to the first support member, configured to drive the first phalanx to flex and extend. The third first drive component is rotatably connected to the first support member, configured to drive the first support member to swing. The fourth first drive component is set on the palm base plate and is connected to the third first drive component, configured to drive the third first drive component to spin. At least three second drive components are all set on the palm base plate, the first second drive component and the second second drive component are both transmission-connected to the second phalanx, configured to drive the second phalanx to swing sideways and flex and extend. The third second drive component is transmission-connected to the second middle phalanx, configured to drive the second middle phalanx to couple and link together with the second distal phalanx. At least one third drive component is set on the palm base plate and connected to the third phalanx, configured to drive the third phalanx, the third middle phalanx and the third distal phalanx to couple and link together.

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

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

[0011] In some embodiments, the first middle phalanx and the first root phalanx are rotatably connected around a first axis, 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 and the first middle phalanx are rotatably connected around a second axis, and the second axis is parallel to the first axis; the first finger assembly further includes: a first connecting rod, a first end of the first connecting rod is rotatably connected to the first phalanx around a third axis, and a second end of the first connecting rod is rotatably connected to the first distal phalanx around a fourth axis, wherein the third axis and the fourth axis are both parallel to the first axis, and on 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 first driving assembly 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 sliding groove, the toggled portion extends into the first sliding groove, and the first sliding groove includes a first side wall and a second side wall arranged opposite to each other 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 part, and during the rotation of the toggled part around the first axis, the first side wall or the second side wall abuts against the toggled part to toggle the toggled part around the first axis; the first support member is rotatably connected to the first finger joint around a fifth axis, and the fifth axis is parallel to the first axis, the first support member has a second sliding groove, and the second sliding groove includes a third side wall and a fourth side wall which are oppositely arranged in a direction perpendicular to the first axis; the second first driving assembly includes a second driving body and a second driving part, the second driving body is connected to the second driving part, and is used to drive the second driving part to move along a second straight line relative to the second driving body, the second driving part extends into the second sliding groove, and 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 finger joint around the fifth axis, the second driving part abuts against the third side wall or the fourth side wall to drive the first finger joint to rotate around the fifth axis.

[0012] In some embodiments, the dexterous hand includes a palm side and a palm back side that are relatively arranged; the second support member can be rotatably connected to the palm base plate around a sixth axis, and the sixth axis is parallel to the direction from the palm side to the palm back side; the second finger joint is rotatably connected to the second support member around a seventh axis, and the seventh axis is perpendicular to the sixth axis, and the second finger joint includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located in the circumference of the sixth axis; the second finger assembly also includes: a first connecting rod assembly, the first end of the first connecting rod assembly is movably connected to the first connecting portion, wherein the first second drive assembly The first connecting rod assembly is movably connected to the second end of the first connecting rod assembly, and is used to drive the second end of the first connecting rod assembly to move along a third straight line; a second connecting rod assembly, the first end of the second connecting rod assembly is movably connected to the second connecting part, wherein the second second driving assembly is movably connected to the second end of the second connecting rod assembly, and is used to drive the second end of the second connecting rod assembly to move along a fourth straight line; a finger joint assembly is rotatably connected to the second finger joint around an eighth axis, and the eighth axis is parallel to the seventh axis; a first connecting member includes a third connecting part, a fourth connecting part and a fifth connecting part connected to each other, and the third connecting part is located between the first connecting part and the second connecting part, and is connected to the The second finger joint is rotatably connected around a ninth axis, the ninth axis is parallel to the seventh axis, and the first connecting portion and the second connecting portion are relatively arranged along the ninth axis; a second connecting rod, the first end of the second connecting rod is rotatably connected to the fourth connecting portion around a tenth axis, the second end of the second connecting rod is rotatably connected to the finger joint assembly around an eleventh axis, and the tenth axis and the eleventh axis are both parallel to the seventh axis; a third connecting rod assembly, the first end of the third connecting rod 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 connecting rod assembly, for driving the second end of the third connecting rod assembly to rotate along a fifth straight line movement; wherein the third second drive assembly is located on a side of the first second drive assembly and the second second drive assembly facing the dorsal side of the palm; the fifth straight line can be parallel to the palm base plate, and on a plane perpendicular to the seventh axis, the distance between the orthogonal projection of the fifth straight line and the orthogonal projection of the third straight line in the extension direction of the sixth axis gradually decreases along the fifth straight line toward the second knuckle, and on a plane perpendicular to the seventh axis, the distance between the orthogonal projection of the fifth straight line and the orthogonal projection of the fourth straight line in the extension direction of the sixth axis gradually decreases along the fifth straight line toward the second knuckle;The knuckle assembly includes a second middle knuckle and a second distal knuckle, and further includes: a third connecting rod, a first end of the third connecting rod being rotatably connected to the second knuckle about the eighth axis, and a second end of the third connecting rod being rotatably connected to the second knuckle about the eleventh axis; the second middle knuckle and the second knuckle being rotatably connected about a twelfth axis, the twelfth axis being parallel to the seventh axis; the second distal knuckle being rotatably connected to the second end of the third connecting rod about a thirteenth axis, and being rotatably connected to the second middle knuckle about a fourteenth axis, the thirteenth axis and the fourteenth axis being both parallel to the seventh axis; and, on a plane perpendicular to the seventh axis, a line connecting the eighth axis and the thirteenth axis intersects a line connecting the twelfth axis and the fourteenth axis.

[0013] In some embodiments, the third finger joint is rotatably connected to the third support member around a fifteenth axis; the third middle finger joint is rotatably connected to the third finger joint around a sixteenth axis; the third distal finger joint is rotatably connected to the third middle finger joint around a seventeenth axis; the third drive assembly is configured to drive the third finger joint to rotate around the fifteenth axis; the third finger assembly further includes: a fourth connecting rod assembly, the first end of the fourth connecting rod assembly is rotatably connected to the third support member around an eighteenth axis; a fifth connecting rod assembly, the first end of the fifth connecting rod assembly includes a sixth connecting portion and a seventh connecting portion, the sixth connecting portion is rotatably connected to the second end of the fourth connecting rod assembly around the tenth axis Nine axes are rotatably connected, the seventh connecting part is rotatably connected to the third finger joint around the twentieth axis, and the second end of the fifth connecting rod assembly is rotatably connected to the third distal finger joint around the 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 on a section perpendicular to the fifteenth axis, the line connecting the fifteenth axis and the twentieth axis intersects with the line connecting the eighteenth axis and the nineteenth axis, and the line connecting the sixteenth axis and the seventeenth axis intersects with the line connecting the twentieth axis and the twenty-first axis.

[0014] In some embodiments, the dexterous hand has a palm side and a back of the palm side arranged opposite to each other along a first direction, and the dexterous hand also includes: a driving plate, arranged on the side of the palm substrate close to the back of the palm side, wherein the driving component arranged on the palm substrate is located on the side of the driving plate close to the palm side; a control plate, arranged on the side of the palm substrate close to the back of the palm side, and arranged adjacent to the driving plate, wherein the driving component arranged on the palm substrate is located on the side of the control plate close to the palm side.

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

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

[0017] The dexterous hand provided by the embodiment of the present disclosure utilizes multiple drive components to drive the movement of multiple finger components, which can achieve a high degree of freedom. The drive component utilizes a potentiometer to detect the position of the screw slider. The potentiometer is connected to the side of the drive source or one end close to the output shaft, and is arranged parallel to the screw, without occupying the axial space of the drive source. The drive component in the related art usually utilizes an encoder to detect the output position. 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 smaller size. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0019] Figure 1 Shown is a schematic structural diagram of the palm back side of a dexterous hand provided in one embodiment of the present disclosure.

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

[0021] Figure 3 Shown is a schematic structural diagram of a finger assembly and a drive assembly provided in one embodiment of the present disclosure.

[0022] Figure 4 Shown is a schematic structural diagram of a drive assembly provided in one embodiment of the present disclosure.

[0023] Figure 5 Shown is a schematic structural diagram of a drive assembly provided in another embodiment of the present disclosure.

[0024] Figure 6 Shown is a schematic structural diagram of a first finger assembly and a first drive assembly provided in one embodiment of the present disclosure.

[0025] Figure 7Shown is a schematic structural diagram of the first finger assembly provided by an embodiment of the present disclosure, excluding the first finger joint and the first driving assembly.

[0026] Figure 8 Shown is a schematic structural diagram of a second finger assembly and a second drive assembly provided in one embodiment of the present disclosure.

[0027] Figure 9 Shown is a schematic structural diagram of a third finger assembly and a third drive assembly provided in one embodiment of the present disclosure.

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

[0029] Figure 11 FIG. 1 is a side view of a dexterous hand excluding a palm substrate provided by an embodiment of the present disclosure.

[0030] Figure 12 Shown is a side view of a dexterous hand provided according to another embodiment of the present disclosure.

[0031] Figure 13 Shown is a schematic structural diagram of a first finger assembly provided in one embodiment of the present disclosure.

[0032] Figure 14 Shown is a bottom view of a first finger assembly provided according to an embodiment of the present disclosure.

[0033] Figure 15 Shown is a structural schematic diagram of a portion of a first finger assembly and a portion of a first drive assembly provided in one embodiment of the present disclosure.

[0034] Figure 16 Shown is a structural schematic diagram of a first driving unit provided in one embodiment of the present disclosure.

[0035] Figure 17 Shown is a schematic structural diagram of a portion of a first finger assembly and a portion of a first drive assembly provided in another embodiment of the present disclosure.

[0036] Figure 18 Shown is a schematic structural diagram of a portion of a first finger assembly and a portion of a first drive assembly provided in another embodiment of the present disclosure.

[0037] Figure 19 Shown Figure 14 A cross-sectional view of the first finger assembly along the AA direction is shown.

[0038] Figure 20 Shown is a schematic structural diagram of a second finger assembly and a palm substrate provided in one embodiment of the present disclosure.

[0039] Figure 21Shown is a right side view of a second finger assembly and a palm substrate provided by an embodiment of the present disclosure.

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

[0041] Figure 23 Shown is a schematic structural diagram of a second finger assembly provided in one embodiment of the present disclosure.

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

[0043] Figure 25 Shown is a right side view of a second finger assembly provided according to an embodiment of the present disclosure.

[0044] Figure 26 Shown Figure 24 A cross-sectional view of the second finger assembly is shown along the BB direction.

[0045] Figure 27 Shown is a schematic structural diagram of a second support member and a second finger joint provided in an embodiment of the present disclosure.

[0046] Figure 28 Shown is a schematic structural diagram of a second support member provided in one embodiment of the present disclosure.

[0047] Figure 29 Shown is a structural schematic diagram of the second finger assembly provided by an embodiment of the present disclosure without the second support member.

[0048] Figure 30 Shown is a schematic structural diagram of the second distal phalanx provided in an embodiment of the present disclosure.

[0049] Figure 31 Shown is a schematic structural diagram of the second distal phalanx provided in another embodiment of the present disclosure.

[0050] Figure 32 Shown is a schematic structural diagram of a second drive assembly provided in one embodiment of the present disclosure.

[0051] Figure 33 Shown is a rear view of a third finger assembly provided in accordance with an embodiment of the present disclosure.

[0052] Figure 34 Shown Figure 33 A cross-sectional view of the third finger assembly in the GG direction is shown.

[0053] Figure 35 Shown Figure 34 A partial enlarged view of the third finger assembly in the H area is shown.

[0054] Figure 36 Shown is a schematic structural diagram of a dexterous hand provided in another embodiment of the present disclosure.

[0055] Figure 37 Shown is a schematic structural diagram of the palm back side of a dexterous hand provided in another embodiment of the present disclosure.

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

[0057] Figure 39 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0058] Reference numerals:

[0059] 1. Robot; 10. Dexterous hand; 1001. Palm side; 1002. Dorsal side; 100. Palm base plate; 200. Finger assembly; 210. Knuckle; 201. First finger assembly; 2011. First support member; 2111. Second slide; 2112. Third side wall; 2114. Fourth side wall; 2012. First root knuckle; 2102. First root knuckle housing; 2013. First middle knuckle; 2113. Plugging portion; 2014. First distal knuckle; 2015. First connecting rod; 202. Second finger assembly; 2021. Second support member; 2022. Second root knuckle; 2122. First connecting portion; 2222. Second connecting portion; 2023. Second middle knuckle; 2024. Second distal knuckle 2025, first link assembly; 2026, second link assembly; 2027, finger joint assembly; 2127, third link; 2028, first connecting member; 2128, third connecting portion; 2228, fourth connecting portion; 2328, fifth connecting portion; 2029, second link; 2030, third link assembly; 203, third finger assembly; 2031, third support member; 2032, third finger joint; 2132, eighth connecting portion; 2232, ninth connecting portion; 2332, tenth connecting portion; 2432, eleventh connecting portion; 2033, third middle phalanx; 2133, twelfth connecting portion; 2233, thirteenth connecting portion; 2034, third distal phalanx; 2134, fourteenth connecting portion; 22 34. Fifteenth connecting portion; 2035. Fourth connecting rod assembly; 2036. Fifth connecting rod assembly; 2136. Sixth connecting portion; 2236. Seventh connecting portion; 300. Driving assembly; 310. Driving source; 3110. Output shaft; 320. Screw rod; 3210. Threaded portion; 330. Screw slider; 3301. Marking 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 portion; 3111. First chute; 3112. First side wall; 3113. Second side wall; 3012. Second driving body; 3013. Second driving portion; 302 , second drive assembly; 303, third drive assembly; 400, drive board; 500, control board; 600, heat sink; 700, wrist assembly; 800, housing; 810, first palm back shell; 820, second palm back shell; 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, 18th axis; L19, 19th axis; L20, 20th axis; L21, 21st axis; L22, 22nd axis; X1, first direction; X2, second direction; X3, third direction; SL1, first straight line; SL2, second straight line; SL3, third straight line; SL4, fourth straight line; SL5, fifth straight line. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0061] Figure 1 Shown is a schematic structural diagram of the palm back side of a dexterous hand provided in one 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 drive assembly provided in one embodiment of the present disclosure. Figure 4 Shown is a schematic structural diagram of a drive assembly provided in one embodiment of the present disclosure. Figure 5 FIG. 1 is a schematic diagram of the structure of a drive assembly provided by another embodiment of the present disclosure. Figures 1 to 3 As shown, the dexterous hand 10 includes a palm base 100 , a plurality of finger assemblies 200 and a plurality of drive assemblies 300 .

[0062] Multiple finger assemblies 200 are connected to the palm base 100, and each finger assembly 200 includes multiple knuckles 210. Multiple drive assemblies 300 are disposed on the palm base 100 or the knuckles 210 and are connected to at least one knuckle 210 of each of the multiple finger assemblies 200. The multiple drive assemblies 300 are configured to drive the multiple finger assemblies 200 to move, thereby providing the dexterous hand 10 with a high degree of freedom.

[0063] like Figures 3 to 5As shown, the drive assembly 300 includes a drive source 310, a screw rod 320, a screw rod slider 330 and a potentiometer 340. The drive source 310 includes an output shaft 3110, and the screw rod 320 is connected to the output shaft 3110 and rotates under the drive of the output shaft 3110. The screw rod slider 330 is screwed to the screw rod 320 and is rotatably connected to the finger joint 210 of the finger assembly 200. The screw rod slider 330 includes an identification hole 3301 that passes through the screw rod slider 330 along the extension direction of the screw rod 320. The potentiometer 340 is inserted into the identification hole 3301. The potentiometer 340 is connected to the side of the drive source 310 or one end close to the output shaft 3110 and is arranged parallel to the screw rod 320. The potentiometer 340 is configured to detect the position of the screw rod slider 330.

[0064] In the related art, in order to detect the position of the output shaft 3110 of the drive assembly 300, it is necessary to install an encoder at the end of the drive assembly 300 away from the output shaft 3110. The encoder is coaxially arranged with the output shaft 3110, resulting in a larger dimension of the drive assembly 300 along the axial direction of the output shaft 3110, thereby resulting in a longer length of the dexterous hand in the extension direction of the dexterous hand. The dexterous hand 10 provided in the embodiment of the present disclosure utilizes a potentiometer 340 to detect the position of the lead screw slider 330, and the potentiometer 340 is connected to the side of the drive 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 drive assembly 300, and there is no need to occupy the axial space of the drive source 310, thereby further reducing the dimension of the dexterous hand 10 in the extension direction of the dexterous hand 10. Therefore, the dexterous hand 10 provided in the embodiment of the present disclosure can have both a high degree of freedom and a small size.

[0065] Exemplarily, the driving source 310 is a structure such as a motor, a rotary cylinder, etc.

[0066] For example, Figure 4 As shown, the screw slider 330 also includes a threaded hole 3303 that passes through the screw slider 330 along the extension direction of the screw rod 320. The outer side surface of the screw rod 320 has a threaded portion 3210, and the threaded portion 3210 is inserted into the threaded hole 3303 to achieve threaded connection between the screw slider 330 and the screw rod 320.

[0067] In order to make the dexterous hand play the same function as the human hand and ensure the overall movement performance of the dexterous hand, the number of finger components of the dexterous hand is usually imitated the number of fingers of the human hand. Figure 1 and Figure 2 As shown, the number of finger assemblies 200 of the dexterous hand 10 is five, namely a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly.

[0068] In some embodiments, as Figure 4 and Figure 5As shown, the screw slider 330 includes a guide hole 3302 that passes through the screw slider 330 along the extension direction of the screw 320, and the drive assembly 300 also includes a guide rod 350. The guide rod 350 is inserted into the guide hole 3302, connected to the drive source 310, and arranged parallel to the screw 320.

[0069] The guide rod 350 is used to guide the movement of the screw slider 330, thereby further improving the movement accuracy of the screw slider 330.

[0070] For example, Figure 4 As shown, there are two guide holes 3302 and two guide rods 350. The two guide rods 350 are symmetrically arranged on both sides of the screw rod 320, and are respectively inserted into the two guide holes 3302 and connected to the drive source 310. The two guide rods 350 guide the movement of the screw slider 330, further improving the movement accuracy of the screw slider 330.

[0071] In some embodiments, the thread of the lead screw 320 for threaded connection with the lead screw slider 330 includes a trapezoidal thread. The trapezoidal thread can withstand a larger load, so as to improve the gripping load of the dexterous hand 10.

[0072] In some embodiments, as Figure 4 and Figure 5 As shown, the lead screw slider 330 includes a first component 3310 and a second component 3320. The first component 3310 has a guide hole 3302 and an identification hole 3301. The second component 3320 is connected to the first component 3310 and is connected between the guide hole 3302 and the identification hole 3301. During the sliding process of the lead screw slider 330, the second component 3320 can be located between the guide rod 350 and the potentiometer 340.

[0073] The second component 3320 can slide between the guide rod 350 and the potentiometer 340 , making full use of the space between the guide rod 350 and the potentiometer 340 , reducing the space occupied by the dexterous hand 10 , and improving the compactness of the dexterous hand 10 .

[0074] For example, Figure 4 As shown, the first component 3310 has a threaded hole 3303 , and two guide holes 3302 are symmetrically arranged on both sides of the threaded hole 3303 .

[0075] In some embodiments, as Figure 1 and Figure 2 As shown, the plurality of 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 .

[0076] like Figure 6 and Figure 7 As shown, the first finger assembly 201 includes a first support member 2011, a first phalanx 2012, a first middle phalanx 2013, and a first distal phalanx 2014. The first phalanx 2012 is rotatably connected to the first support member 2011, the first middle phalanx 2013 is rotatably connected to the first phalanx 2012, and the first middle phalanx 2013 is transmission-connected to the first distal phalanx 2014.

[0077] like Figure 8 As shown, the second finger assembly 202 includes a second support member 2021, a second root phalanx 2022, a second middle phalanx 2023, and a second distal phalanx 2024. The second support member 2021 is connected to the palm base 100, the second root phalanx 2022 is universally connected to the second support member 2021, the second middle phalanx 2023 is rotatably connected to the second root phalanx 2022, and the second middle phalanx 2023 is transmission-connected to the second distal phalanx 2024.

[0078] like Figure 9 As shown, the third finger assembly 203 includes a third support member 2031, a third phalanx 2032, a third middle phalanx 2033, and a third distal phalanx 2034. The third support member 2031 is connected to the palm base 100, the third phalanx 2032 is rotatably connected to the third support member 2031, and the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 are transmission-connected.

[0079] like Figures 6 to 9 As shown, the multiple drive assemblies 300 include 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 phalanx 2012 and is transmission-connected to the first middle phalanx 2013. It is configured to drive the first middle phalanx 2013 and the first distal phalanx 2014 to couple and link. The second first drive assembly 301 is disposed on the first phalanx 2012 and is transmission-connected to the first support member 2011. It is configured to drive the first phalanx 2012 to flex and extend. The third first drive assembly 301 is rotatably connected to the first support member 2011 and is configured to drive the first support member 2011 to swing. The fourth first drive assembly 301 is disposed on the palm base 100 and is connected to the third first drive assembly 301. It is configured to drive the third first drive assembly 301 to spin.

[0080] At least three second drive assemblies 302 are disposed on the palm base 100. The first and second second drive assemblies 302 are both in transmission connection with the second root phalanx 2022 and are configured to drive the second root phalanx 2022 to swing laterally and flex and extend. The third second drive assembly 302 is in transmission connection with the second middle phalanx 2023 and is configured to drive the second middle phalanx 2023 to couple with the second distal phalanx 2024.

[0081] At least one third driving component 303 is disposed on the palm base plate 100 and connected to the third phalanx 2032 , and is configured to drive the third phalanx 2032 , the third middle phalanx 2033 and the third distal phalanx 2034 to be coupled and linked.

[0082] At least four first drive assemblies 301 are used to achieve the coupling and linkage of the first middle phalanx 2013 and the first distal phalanx 2014 of the first finger assembly 201, the flexion and extension of the first phalanx 2012, the swinging of the first support member 2011, and the rotation of the first drive assembly 301, thus providing the first finger assembly 201 with four active degrees of freedom. Furthermore, at least three second drive assemblies 302 are used to achieve the lateral swing and flexion and extension of the second phalanx 2022 of the second finger assembly 202, as well as the coupling and linkage of the second middle phalanx 2023 and the second distal phalanx 2024, thus providing the second finger assembly 202 with three active degrees of freedom. Furthermore, at least one third drive assembly 303 is used to achieve the coupling and linkage of the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034 of the third finger assembly 203, thus providing the third finger assembly 203 with one active degree of freedom. Therefore, the dexterous hand 10 has a plurality of active degrees of freedom, ensuring the overall motion performance of the dexterous hand 10.

[0083] 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, it can also ensure that the size of the dexterous hand 10 is small.

[0084] For example, the above-mentioned transmission connection can be achieved through transmission modes such as gear transmission and chain transmission.

[0085] For example, the aforementioned universal connection can be realized by structures such as a universal joint, a ball and socket joint, and an elastic coupling.

[0086] For example, the driving component can be driven by a motor, an electric cylinder, an electric push rod, a linear module, a pneumatic cylinder, etc.

[0087] Exemplarily, the first finger assembly 201 , the second finger assembly 202 , and the third finger assembly 203 are all axisymmetric structures.

[0088] Coupling refers to the interaction and influence between two or more components, systems, or processes. This relationship can be a direct physical connection or an indirect interaction achieved through some medium or mechanism. For example, the first middle phalanx 2013 and the first distal phalanx 2014 are in a transmission connection, the first first drive assembly 301 is in a transmission connection with the first middle phalanx 2013, the first first drive assembly 301 drives the first middle phalanx 2013 to move, and the first middle phalanx 2013 drives the first distal phalanx 2014 to move, thus achieving coupling and 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 in a transmission connection, the third second drive assembly 302 is in a transmission connection with the second middle phalanx 2023, the third second drive assembly 302 drives the second middle phalanx 2023 to move, and the second middle phalanx 2023 drives the second distal phalanx 2024 to move, thus achieving coupling and 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 transmission-connected, the third drive assembly 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, thereby realizing the coupling and linkage of the third phalanx 2032, the third middle phalanx 2033 and the third distal phalanx 2034.

[0089] In some embodiments, as Figure 2 As shown, the first finger component 201 is a thumb component, the number of the second finger components 202 is two, namely the index finger component and the middle finger component, and the number of the third finger components 203 is two, namely the ring finger component and the little finger component.

[0090] The thumb assembly of the dexterous hand 10 has four active degrees of freedom, the index and middle finger assemblies each have three, and the ring and pinky finger assemblies each have one, totaling twelve active degrees of freedom. When performing tasks, the dexterous hand 10 places high demands on the active degrees of freedom, load capacity, and movement speed of the thumb, index, and middle finger assemblies. Based on these considerations, the thumb, index, and middle finger assemblies have a high degree of active freedom, thereby ensuring the overall movement performance of the dexterous hand 10.

[0091] In some embodiments, as Figures 10 to 12As shown, the dexterous hand 10 has a palm side 1001 and a palm back side 1002 arranged opposite to each other along a first direction X1. When the second finger assembly 202 is in an extended state, the extension direction of the second finger assembly 202 is the second direction X2, and the palm width direction of the dexterous hand 10 is the third direction X3. The first direction X1, the second direction X2, and the third direction X3 are perpendicular to each other. The fourth first drive assembly 301 extends along the third direction X3. The third first drive assembly 301 and the fourth first drive assembly 301 are stacked along the first direction X1, and the third first drive assembly 301 and the fourth first drive assembly 301 are both arranged at the end of the second drive assembly 302 away from the second finger assembly 202. The first second drive assembly 302 and the second second drive assembly 302 both extend in a direction forming an acute angle with the second direction X2 and are arranged side by side along the third direction X3. The third second drive assembly 302 extends along the second direction X2 and is stacked along the first direction X1 with the first second drive assembly 302 and the second second drive assembly 302. The third drive assembly 303 extends along a direction forming an acute angle with the second direction X2 and is arranged side by side with the first second drive assembly 302 and the second second drive assembly 302 along the third direction X3.

[0092] The layout of the multiple driving components 300 of the dexterous hand 10 is compact, which reasonably utilizes the space of the palm base plate 100 and reduces the size of the dexterous hand 10.

[0093] The first second drive assembly 302 and the second second drive assembly 302 both extend in a direction forming an acute angle with the second direction X2 and are arranged side by side along the third direction X3. The third second drive assembly 302 extends in the second direction X2 and is stacked with the first second drive assembly 302 and the second second drive assembly 302 along the first direction X1. This allows the ends of the first and second second drive assemblies 302, 302, facing the second finger assembly 202 to be closer to the dorsal palm side 1002 than the ends of the first and second second drive assemblies 302, 302, facing away from the second finger assembly 202. This allows the circumferential dimension of the end of the second root phalanx 2022, facing away from the second middle phalanx 2023, to be smaller, more closely resembling the shape of a human finger. Furthermore, the space occupied by the first, second, and third second drive assemblies 302, 302, and 302 in the palm of the hand approximates the shape of a human palm, thereby fully utilizing the space in the palm.

[0094] In some embodiments, as Figure 6 、 Figure 7 ,as well as Figures 13 to 19As shown, the first middle phalanx 2013 is rotatably connected to the first root phalanx 2012 about a first axis L1. The first middle phalanx 2013 includes a plucking portion 2113 located circumferentially to the first axis L1. The first distal phalanx 2014 is rotatably connected to the first middle phalanx 2013 about a second axis L2, which is parallel to the first axis L1. The first finger assembly 201 also includes a first connecting rod 2015. The first end of the first connecting rod 2015 is rotatably connected to the first root phalanx 2012 about a third axis L3, and the second end of the first connecting rod 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 line connecting the first axis L1 and the second axis L2 intersects the line connecting the third axis L3 and the fourth axis L4. The first first drive assembly 301 includes a first drive portion 3011, which is movable along a first straight line SL1. The first drive portion 3011 has a first slot 3111, into which the toggled portion 2113 extends. The first slot 3111 includes a first sidewall 3112 and a second sidewall 3113, which are arranged opposite each other in a direction perpendicular to the first axis L1. The first sidewall 3112 and the second sidewall 3113 are respectively disposed on either side of the toggled portion 2113. During rotation of the toggled portion 2113 about the first axis L1, the first sidewall 3112 or the second sidewall 3113 abuts against the toggled portion 2113, thereby causing the toggled portion 2113 to rotate about the first axis L1. The first support member 2011 is rotatably connected to the first finger joint 2012 about a fifth axis L5, which is parallel to the first axis L1. The first support member 2011 has a second slot 2111, which includes a third sidewall 2112 and a fourth sidewall 2114 arranged opposite each other in a direction perpendicular to the first axis L1. The second first drive assembly 301 includes a second drive body 3012 and a second drive portion 3013. The second drive body 3012 is connected to the second drive portion 3013 and is configured to drive the second drive portion 3013 to move relative to the second drive body 3012 along the second straight line SL2. The second drive portion 3013 extends into the second slot 2111, with the third sidewall 2112 and the fourth sidewall 2114 respectively disposed on either side of the second drive portion 3013. During rotation of the first phalanx 2012 about the fifth axis L5, the second drive portion 3013 abuts against the third sidewall 2112 or the fourth sidewall 2114, thereby driving the first phalanx 2012 to rotate about the fifth axis L5.

[0095] 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 arranged relative to each other in 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 moved part 2113. 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, so that 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 moved part 2113, the first first drive component 301 can be fixed on the first finger joint 2012 without the need for a rotatable connection with the first finger joint 2012, thereby avoiding the first first drive component 301 occupying more space of the first finger joint 2012 and reducing the size of the first finger joint 2012.

[0096] In addition, the first finger joint 2012, the first middle finger joint 2013, the first distal finger joint 2014, and the first connecting rod 215 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. The structure is simple, rigid, stable and reliable. In addition, the fingertips of human hands usually move in a coupled manner with the adjacent finger joints 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 generally be designed to be larger than the first middle finger joint 2013 and the first distal finger joint 2014. The structure that drives the coupled movement of the first middle finger joint 2013 and the first distal finger joint 2014 is arranged on the first finger joint 2012, which helps to fully utilize the space at the first finger joint 2012, making the dexterous hand 10 more human-like.

[0097] In addition, in the dexterous hand 10 provided in this embodiment, since the second driving part 3013 can move along the second straight line SL2 relative to the second driving body 3012, the second driving part 3013 extends into the second slide 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 finger joint 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 component 301 can drive the first finger joint 2012 to rotate around the fifth axis L5, so that the structure for realizing the rotation of the first finger joint 2012 is simple and compact, which is conducive to reducing the size of the dexterous hand 10. In addition, since the second slide groove 2111 provides movement space for the rotation of the second drive part 3013, the second 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 second first drive component 301 occupying more space of the first finger joint 2012 and reducing the size of the first finger joint 2012.

[0098] For example, Figure 13 and Figure 17 As shown, the first finger joint 2012 includes two first finger joint shells 2102 arranged relatively along the extension direction of the first axis L1, and the first first drive component 301 and the second first drive component 301 are both located in the accommodating space formed by the first finger joint shells 2102, further reducing the space occupied by the first first drive component 301 and the second first drive component 301 in the first finger joint 2012, thereby reducing the size of the first finger joint 2012.

[0099] The first side wall 3112 and the second side wall 3113 are arranged relative to each other in a direction perpendicular to the first axis L1, that is, the depth direction of the first sliding groove 3111 can be parallel to the first axis L1. This arrangement makes it easier for the first side wall 3112 and the second side wall 3113 to provide force to the moved part 2113.

[0100] For example, Figure 15 and Figure 16 As shown, the first driving portion 3011 moves away from the first phalanx 2012 along the first straight line SL1, the first side wall 3112 abuts against the moved portion 2113, and moves the moved portion 2113 to rotate about the first axis L1 toward the palm side of the dexterous hand 10. The first driving portion 3011 moves toward the first phalanx 2012 along the first straight line SL1, the second side wall 3113 abuts against the moved portion 2113, and moves the moved portion 2113 to rotate about the first axis L1 toward the back of the palm of the dexterous hand 10. During the rotation of the moved portion 2113 about the first axis L1, the moved portion 2113 moves in the first slot 3111.

[0101] Illustratively, the first sliding groove 3111 can be a straight groove or an arc-shaped groove. Illustratively, on a plane perpendicular to the first straight line SL1, during the rotation of the moved portion 2113 about the first axis L1, along the extension direction of the trajectory of the moved portion 2113, the dimensions of the orthographic projections of the first side wall 3112 and the second side wall 3113 can both be greater than or equal to the dimensions of the trajectory of the moved portion 2113.

[0102] The third side wall 2112 and the fourth side wall 2114 are arranged relative to each other in a direction perpendicular to the first axis L1, that is, the depth direction of the second slide groove 2111 can be parallel to the first axis L1. This arrangement facilitates the second driving part 3013 to abut against the third side wall 2112 or the fourth side wall 2114.

[0103] For example, Figure 18 and Figure 19 As shown, the second driving portion 3013 moves relative to the second driving body 3012 along the second straight line SL2, away from the first support member 2011. The fourth side wall 2114 abuts the second driving portion 3013, and the second driving portion 3013 drives the first phalanx 2012 to rotate toward the dorsal side of the dexterous hand 10. The second driving portion 3013 moves relative to the second driving body 3012 along the second straight line SL2, closer to the first support member 2011. The third side wall 2112 abuts the second driving portion 3013, and the second driving portion 3013 drives the first phalanx 2012 to rotate toward 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 slot 2111.

[0104] Illustratively, the second sliding groove 2111 can be a straight groove or an arc-shaped groove. Illustratively, on 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 extension 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 dimensions of the trajectory of the second driving portion 3013.

[0105] The first drive assembly 301 can include any structure capable of achieving linear motion of the drive unit. For example, the first drive assembly 301 can include one or more combinations 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 drive assembly 301 can include a linear servo. The drive unit of the first drive assembly 301 can be the output end of the linear servo.

[0106] Illustratively, the first support member 2011 may be connected to the palm base plate 100 .

[0107] In some embodiments, Figure 8 、 Figure 11、 Figure 12 ,as well as Figures 20 to 32As shown, the dexterous hand 10 includes a palm side 1001 and a dorsal side 1002 disposed opposite each other. A second support member 2021 is rotatably connected to the palm base 100 about a sixth axis L6, with the sixth axis L6 being parallel to the direction from the palm side 1001 toward the dorsal side 1002. A second finger joint 2022 is rotatably connected to the second support member 2021 about a seventh axis L7, with the seventh axis L7 being perpendicular to the sixth axis L6. The second finger joint 2022 includes a first connecting portion 2122 and a second connecting portion 2222, with the first connecting portion 2122 and the second connecting portion 2222 being located circumferentially with the sixth axis L6. The second finger assembly 202 also includes a first connecting rod assembly 2025, a second connecting rod assembly 2026, a finger joint assembly 2027, a first connecting member 2028, a second connecting rod 2029, and a third connecting rod assembly 2030. The first end of the first connecting rod assembly 2025 is movably connected to the first connecting portion 2122. The first second driving assembly 302 is movably connected to the second end of the first connecting rod assembly 2025, and is configured to drive the second end of the first connecting rod assembly 2025 to move along the third straight line SL3. The first end of the second connecting rod assembly 2026 is movably connected to the second connecting portion 2222. The second second driving assembly 302 is movably connected to the second end of the second connecting rod assembly 2026, and is configured to drive the second end of the second connecting rod assembly 2026 to move along the fourth straight line SL4. The knuckle assembly 2027 is rotatably connected to the second knuckle 2022 about the eighth axis L8, which is parallel to the seventh axis L7. The first connecting member 2028 includes a 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 finger joint 2022 about the ninth axis L9, which is parallel to the seventh axis L7. The first connecting portion 2122 and the second connecting portion 2222 are arranged opposite each other along the ninth axis L9. The first end of the second connecting rod 2029 is rotatably connected to the fourth connecting portion 2228 about the tenth axis L10. The second end of the second connecting rod 2029 is rotatably connected to the finger joint assembly 2027 about the eleventh axis L11, both of which are parallel to the seventh axis L7. The first end of the third connecting rod assembly 2030 is movably connected to the fifth connecting portion 2328. The third second driving assembly 302 is movably connected to the second end of the third connecting rod assembly 2030, for driving the second end of the third connecting rod assembly 2030 to move along the fifth straight line SL5. The third second drive assembly 302 is located on the side of the first and second second drive assemblies 302 facing the dorsal palm side 1002. The fifth straight line SL5 can be parallel to the palm base plate 100. On a plane perpendicular to the seventh axis L7, the distance between the orthographic projection of the fifth straight line SL5 and the orthographic projection of the third straight line SL3 in the extension direction of the sixth axis L6 gradually decreases along the fifth straight line SL5 toward the second phalanx 2022.On a plane perpendicular to the seventh axis L7 , a distance between an orthographic projection of the fifth straight line SL5 and an orthographic projection of the fourth straight line SL4 in the extending direction of the sixth axis L6 gradually decreases along the fifth straight line SL5 toward the second finger joint 2022 .

[0108] like Figures 23 to 26 As shown, the knuckle assembly 2027 includes a second middle knuckle 2023 and a second distal knuckle 2024. The knuckle assembly 2027 also includes a third connecting rod 2127. The first end of the third connecting rod 2127 is rotatably connected to the second knuckle 2022 about the eighth axis L8, and is rotatably connected to the second end of the second connecting rod 2029 about the eleventh axis L11. The second middle knuckle 2023 is rotatably connected to the second knuckle 2022 about the twelfth axis L12, which is parallel to the seventh axis L7. The second distal knuckle 2024 is rotatably connected to the second end of the third connecting rod 2127 about the thirteenth axis L13, and is rotatably connected to the second middle knuckle 2023 about the fourteenth axis L14, both of which are parallel to the seventh axis L7. On a plane perpendicular to the seventh axis L7 , a line connecting the eighth axis L8 and the thirteenth axis L13 intersects a line connecting the twelfth axis L12 and the fourteenth axis L14 .

[0109] Illustratively, the palm substrate 100 can be used to form the palm of the dexterous hand 10. Illustratively, the palm substrate 100 can be a plate-like structure, a frame structure, etc. Illustratively, the first axis L1 can be perpendicular to the palm substrate 100.

[0110] Specifically, the knuckles can be structural units segmented along the length extension direction of the dexterous hand finger assembly. The dexterous hand finger 10 can include multiple knuckles connected in sequence. The second knuckle 2022 can be one of the multiple knuckles included in the second finger assembly 202. Since the first connecting portion 2122 and the second connecting portion 2222 are located circumferentially of the sixth axis L6, the first connecting portion 2122 or the second connecting portion 2222 can be pushed around the sixth axis L6 to achieve the rotation of the second knuckle 2022 around the sixth axis L6 relative to the palm base plate 100, thereby performing a side swing action. Exemplarily, the first connecting portion 2122 and the second connecting portion 2222 are symmetrically arranged about a plane passing through the sixth axis L6 and perpendicular to the seventh axis L7.

[0111] For example, the above-mentioned movable connection can be achieved by means of a universal joint, a spherical bearing or a fisheye bearing.

[0112] 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 in 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 in 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 swinging motion, and the second finger joint 2022 can be rotated around the seventh axis L7, so that the second finger joint 2022 can be rotated relative to the palm base plate 100.

[0113] For example, the first and second connecting portions 2122 and 2222 can be located in corresponding areas of the palm base plate 100, and the first second drive assembly 302 can be located on the side of the first and second connecting portions 2122 and 2222 facing the knuckle assembly 2027. The second second drive assembly 302 can be located on the side of the first and second connecting portions 2122 and 2222 facing away from the knuckle assembly 2027. Driven by the first and second second drive assemblies 302 and 302, the second ends of the first and second connecting rod assemblies 2025 and 2026 simultaneously move toward or away from the second knuckle 2022 along the third and fourth straight lines SL3 and SL4, respectively, so that the second knuckle 2022 rotates about the sixth axis L6. If the second ends of the first and second connecting rod assemblies 2025 and 2026 move at different speeds, the second knuckle 2022 can further rotate about the seventh axis L7.

[0114] Specifically, when the third second drive 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 is driven to rotate about the ninth axis L9. Simultaneously, 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 corresponds to the first frame, the first connecting member 2028 and the finger joint assembly 2027 correspond to the first connecting rod, and the second connecting rod 2029 corresponds to the first connecting rod. The first connecting member 2028 is the active member. This allows the third second drive assembly 302 to rotate the finger joint assembly 2027 about the eighth axis L8, enabling independent rotation of the finger joint assembly 2027 relative to the second finger joint 2022, thus providing the second finger assembly 202 with three active degrees of freedom.

[0115] Since the first second drive component 302, the second second drive component 302 and the third second drive component 302 are usually long strips 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 the plane perpendicular to the seventh axis L7, the orthographic projection of the fifth straight line SL5 and the distance between the orthographic projection of the fifth straight line SL5 and the orthographic projection of the third straight line SL3 in the extension direction of the sixth axis L6 gradually decrease along the fifth straight line SL5 toward the second finger joint 2022, which is conducive to making the end of the first second drive component 302 and the second second drive component 302 facing the finger joint component 2027 closer to the dorsal side 1002 than the end of the first second drive component 302 and the second second drive component 302 away from the finger joint component 2027.

[0116] In addition, the thickness of the side where the human palm is connected to the fingers is smaller than the thickness of the side connected to the wrist. The third second drive component 302 close to the dorsal side 1002 is arranged parallel to the palm substrate 100, and the first second drive component 302 and the second second drive component 302 are close to the palm side 1001. The ends of the first second drive component 302 and the second second drive component 302 facing the knuckle component 2027 are closer to the dorsal side 1002 than the ends of the first second drive component 302 and the second second drive component 302 away from the knuckle component 2027. This makes the circumferential size of the end of the second knuckle 2022 away from the knuckle component 2027 smaller and closer to the shape of a human finger. At the same time, the space occupied by the first second drive component 302, the second second drive component 302 and the third second drive component 302 in the palm is close to the shape of a human palm, which is conducive to fully utilizing the space in the palm part and improving the human-like degree of the palm of the dexterous hand 10.

[0117] For example, the first second drive assembly 302, the second second drive assembly 302, and the third second drive assembly 302 may all be elongated. The first second drive assembly 302 may extend along the direction of the third straight line SL3, the second second drive assembly 302 may extend along the direction of the fourth straight line SL4, and the third second drive assembly 302 may extend along the direction of the fifth straight line SL5.

[0118] Illustratively, 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 in a straight line. Illustratively, the first second drive assembly 302 may include one or more combinations 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 second drive assembly 302 may include a linear servo. The structures of the second and third second drive assemblies 302 may be similar to those of the first second drive assembly 302 and will not be further described here.

[0119] The dexterous hand 10 achieves rotation of the second finger joint 2022 about the sixth axis L6 and the seventh axis L7 by means of the first and second second drive assemblies 302 connected in parallel. This allows the second finger joint 2022 to swing sideways and rotate toward the palm side 1001 or the back of the palm 1002. The third second drive assembly 302 enables rotation of the finger joint assembly 2027 about the eighth axis L8, allowing the finger joint assembly 2027 to rotate toward the palm side 1001 or the back of the palm 1002, thereby providing the second finger assembly 202 with at least three active degrees of freedom. The structure of the drive assembly is relatively simple, and the structure that achieves the swing sideways and flexion and extension of the second finger assembly 202 does not require additional components such as gears and tendons. The structure is simple, highly rigid, stable, and reliable, and it is also conducive to reducing the size of the second finger assembly 202 and the dexterous hand 10.

[0120] In addition, the third second drive component 302 is located on the side of the first second drive component 302 and the second second drive component 302 facing the palm back side 1002, and the fifth straight line SL5 can be parallel to the palm base plate 100. On the plane perpendicular to the seventh axis L7, the distance between the orthographic projection of the fifth straight line SL5 and the orthographic projection of the fifth straight line SL5 and the orthographic projection of the third straight line SL3 in the extension direction of the sixth axis L6 gradually decreases along the direction of the fifth straight line SL5 toward the second root joint 2022, so that the first second drive component 302 and the second second drive component 302 facing the finger joint One end of component 2027 is closer to the dorsal side 1002 than the ends of the first second drive component 302 and the second second drive component 302 away from the knuckle component 2027, so that the circumferential size of the end of the second knuckle 2022 away from the knuckle component 2027 is smaller, which is closer to the shape of a human finger. At the same time, the space occupied by the first second drive component 302, the second second drive component 302 and the third second drive component 302 in the palm is close to the shape of a human palm, which is conducive to making full use of the space in the palm part and improving the human-like degree of the palm of the dexterous hand 10.

[0121] Specifically, if 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 points C, D, E, and F, respectively. The second finger joint 2022, the third connecting rod 2127, the second middle finger joint 2023, and the second distal finger joint 2024 form a second four-bar linkage. In this second four-bar linkage, the second finger joint 2022 corresponds to the second frame, the second middle finger joint 2023 and the third connecting rod 2127 correspond to the second connecting rod (i.e., the rocker), the second distal finger joint 2024 corresponds to the second connecting rod, and the third connecting rod 2127 is the active member.

[0122] In some application scenarios, such as Figure 26 and Figure 29 As shown, the second end of the second connecting rod 2029 drives the first end of the third connecting rod 2127 to rotate around the eighth axis L8 relative to the second phalanx 2022 toward the palm side 1001, and the third connecting rod 2127 drives the coupled second middle phalanx 2023 and the second distal phalanx 2024 to rotate toward the palm side 1001, thereby realizing the bending of the second middle phalanx 2023 and the second distal phalanx 2024 toward the palm side 1001.

[0123] For example, the third connecting rod 2127 can be a straight rod, a bent rod, or an arcuate rod. The specific shape and number of the third connecting rod 2127 can be set according to actual needs and are not specifically limited in this embodiment. For example, the second distal phalanx 2024 can serve as the fingertip of the second finger assembly 202.

[0124] The knuckle assembly 2027 of the second finger assembly 202 provided in the embodiment of the present disclosure includes a third connecting rod 2127, a second middle knuckle 2023, and a second distal knuckle 2024. The second knuckle 2022, the second middle knuckle 2023, and the second distal knuckle 2024 are rotatably connected in sequence, so that the second finger assembly 202 has at least three knuckles to complete more complex tasks. In addition, the second knuckle 2022, the third connecting rod 2127, the second middle knuckle 2023, and the second distal knuckle 2024 form a four-bar linkage mechanism, which achieves the coupling of the movement of the second middle knuckle 2023 and the second distal knuckle 2024. Under the drive of the third second drive assembly 302, the second middle knuckle 2023 and the second distal knuckle 2024 are bent toward the palm side 1001 as a whole. The structure is simple, rigid, stable, and reliable. Furthermore, the fingertips of human fingers usually move in coupling with the knuckles adjacent to the fingertips and are difficult to move independently, which makes the movement of the second finger assembly 202 of the dexterous hand 10 more anthropomorphic.

[0125] In some embodiments, as Figure 9 、 Figures 33 to 35As shown, the third finger joint 2032 is rotatably connected to the third support member 2031 about the fifteenth axis L15, the third middle finger joint 2033 is rotatably connected to the third finger joint 2032 about the sixteenth axis L16, and the third distal finger joint 2034 is rotatably connected to the third middle finger joint 2033 about the seventeenth axis L17. The third drive assembly 303 is configured to drive the third finger joint 2032 to rotate about the fifteenth axis L15. The third finger assembly 203 also includes a fourth connecting rod assembly 2035 and a fifth connecting rod assembly 2036. The first end of the fourth connecting rod 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 connecting portion 2136 and a seventh connecting portion 2236. The sixth connecting portion 2136 is rotatably connected to the second end of the fourth link assembly 2035 about the nineteenth axis L19. The seventh connecting portion 2236 is rotatably connected to the third distal phalanx 2032 about the twentieth axis L20. 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. On a cross section perpendicular to the fifteenth axis L15, the line connecting the fifteenth axis L15 and the twenty-first axis L20 intersects the line connecting the eighteenth axis L18 and the nineteenth axis L19. The line connecting the sixteenth axis L16 and the seventeenth axis L17 intersects the line connecting the twentieth axis L20 and the twenty-first axis L21.

[0126] The dexterous hand 10 utilizes a third drive assembly 303, a fourth link assembly 2035, and a fifth link assembly 2036 to achieve the coupling and linkage of the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034, thereby improving the grasping envelope of the third finger assembly 203. Furthermore, because the dexterous hand 10 utilizes a single third drive assembly 303 to achieve the coupling and linkage of the third phalanx 2032, the third middle phalanx 2033, and the third distal phalanx 2034, the structure of the dexterous hand 10 is simplified and the size of the dexterous hand 10 is reduced. In other words, the dexterous hand 10 improves its grasping envelope while maintaining its size.

[0127] For example, Figure 35As shown, on a cross section perpendicular to the fifteenth axis L15, the orthographic projections of 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 respectively at points I, J, K, M, N, P, and Q. The line between points I and M represents rod IM. The line between points I and P represents rod IP. The line between points M and N represents rod MN. The line between points N and P represents rod NP. Rod IM, rod IP, rod MN, and rod NP form a 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 an active rod, which moves under the drive of the third driving assembly 303, the fourth connecting rod assembly 2035 and the fifth connecting rod assembly 2036. The third crank drives the third connecting rod and the third rocker to move in turn, thereby realizing the bending and extension of the third middle finger joint 2033.

[0128] In addition, the line between points J and P is represented by rod JP, and the line between points J and K is represented by rod JK. The line between points P and Q is represented by rod PQ. The line between points K and Q is represented by rod KQ. Rod JP, rod JK, rod PQ, and rod KQ form a 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 active rod and moves under the drive of the third drive assembly 303, the fourth connecting rod assembly 2035, and the fifth connecting rod assembly 2036. The fourth crank drives the fourth connecting rod and the fourth rocker to move in turn, achieving flexion and extension of the third distal phalanx 2034. Therefore, the dexterous hand 10 utilizes the third driving assembly 303, the third four-bar linkage and the fourth four-bar linkage to achieve the coupling linkage of the third root phalanx 2032, the third middle phalanx 2033 and the third distal phalanx 2034.

[0129] For example, Figure 9 and Figure 35 As shown, the screw slider 330 of the third driving assembly 303 is rotatably connected to the third finger joint 2032 around the twenty-second axis L22, and the twenty-second axis L22 is parallel to the fifteenth axis L15.

[0130] For example, 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 drive 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 around the seventeenth axis L17. The fifteenth connecting portion 2234 is rotatably connected to the second end of the fifth connecting rod assembly 2036 around the twenty-first axis L21.

[0131] In some embodiments, as Figure 36 As shown, the dexterous hand 10 further includes a drive board 400 and a control board 500. The drive board 400 is disposed on the side of the palm base plate 100 near the dorsal side 1002. The drive assembly 300 disposed on the palm base plate 100 is located on the side of the drive board 400 near the palm side 1001. The control board 500 is disposed on the side of the palm base plate 100 near the dorsal side 1002, adjacent to the drive board 400. The drive assembly 300 disposed on the palm base plate 100 is located on the side of the control board 500 near the palm side 1001.

[0132] In the prior art, the drive board 400 and control board 500 of the dexterous hand 10 are typically mounted on the palm substrate 100 near the wrist, resulting in a larger size for the dexterous hand 10. However, the dexterous hand 10 provided in the disclosed embodiments utilizes a drive board 400 and a control board 500 mounted on the palm substrate 100 near the dorsal side 1002. This eliminates the need for the drive board 400 and the control board 500 to occupy the space near the wrist, making the layout of the dexterous hand 10 more compact and reducing the size of the dexterous hand 10 in the second direction X2. Furthermore, heat generated by the drive board 400 and the control board 500 can be transferred to the palm substrate 100, facilitating heat dissipation from the drive board 400 and the control board 500.

[0133] In some embodiments, as Figure 36 As shown, the dexterous hand 10 further includes a heat sink 600. The heat sink 600 is connected between the driving board 400 and the palm base board 100. The heat generated by the driving board 400 can be dissipated through the heat sink 600.

[0134] For example, the heat dissipation plate 600 may be made of a material with good thermal conductivity, such as aluminum, copper, or graphite.

[0135] Exemplarily, fins are provided on a side of the heat dissipation plate 600 away from the driving plate 400 to further improve the heat dissipation effect.

[0136] For example, Figure 36 As shown, the dexterous hand 10 also includes a wrist assembly 700, which is connected to the end of the palm substrate 100 away from the finger assembly 200. The heat generated by the drive board 400 and the control board 500 is transferred to the palm substrate 100, and then transferred from the palm substrate 100 to the wrist assembly 700 to further improve the heat dissipation effect.

[0137] For example, Figure 36 and Figure 37 As shown, the dexterous hand 10 also includes a shell 800, which wraps the palm base plate 100, multiple drive components 300, the drive board 400, the control board 500, the heat dissipation plate 600 and part of the wrist component 700, plays a protective role, and at the same time, improves the appearance of the dexterous hand 10.

[0138] For example, the housing 800 can be integrally formed or can be split. Figure 37 and Figure 38 As shown, the housing 800 is provided in separate parts, including a first palm-back housing 810, a second palm-back housing 820, a first palm housing 830, and a second palm housing 840. The first palm-back housing 810 and a portion of the second palm-back housing 820 are located on the palm-back side 1002 and are detachably connected. The end of the second palm-back housing 820 near the wrist assembly 700 surrounds the wrist assembly 700 and is detachably connected to the wrist assembly 700. The first palm housing 830 and the second palm housing 840 are located on the palm side 1001. The first palm housing 830 and the first palm-back housing 810 are arranged opposite each other along a first direction X1 and are detachably connected. The end of the first palm housing 830 near the wrist assembly 700 contacts the end of the second palm-back housing 820 surrounding the wrist assembly 700. The second palm housing 840 is located in the middle area of ​​the first palm housing 830 near the palm side 1001 and is detachably connected to the first palm housing 830. For example, the material of the second palm shell 840 can be rubber, plastic, etc., so as to increase the friction between the shell 800 and the object when the dexterous hand 10 grasps the object, thereby improving the grasping stability.

[0139] Figure 39 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 39As shown, the robot 1 includes at least one dexterous hand 10 mentioned in the above embodiment. For example, the robot 1 can be a humanoid robot, a collaborative robot, a handling robot, etc.

[0140] 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 described in detail here.

[0141] In the various embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as a bolt, screw, slider, screw, buckle, magnet, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be achieved through welding, bonding, etc.

[0142] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0143] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0144] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0145] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0146] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A dexterous hand, characterized in that: include: palm baseplate; a plurality of finger assemblies connected to the palm substrate, wherein the finger assemblies include a plurality of knuckles; a plurality of driving assemblies, disposed on the palm substrate or the finger joints, respectively connected to at least one of the finger joints of the plurality of finger assemblies, and configured to drive the plurality of finger assemblies to move; Wherein, the driving component includes: a drive source, including an output shaft; A screw rod is connected to the output shaft and rotates under the drive of the output shaft; a screw slider, threadedly connected to the screw and rotatably connected to the knuckle of the finger assembly, the screw slider comprising an identification hole penetrating the screw slider along an extension direction of the screw; a potentiometer, which is inserted into the identification hole, connected to the side of the driving source or one end close to the output shaft, and arranged parallel to the screw rod, and is configured to detect the position of the screw rod slider; The plurality of finger assemblies include: At least one first finger assembly, the first finger assembly comprising a first support member, a first finger joint, a first middle finger joint, a first distal finger joint and a first connecting rod, the first finger joint being rotatably connected to the first support member, the first middle finger joint being rotatably connected to the first finger joint around a first axis, the first middle finger joint comprising a toggled portion, the toggled portion being located in a circumferential direction of the first axis, the first distal finger joint being rotatably connected to the first middle finger joint around a second axis, the second axis being parallel to the first axis, the first end of the first connecting rod being rotatably connected to the first finger joint around a third axis, the second end of the first connecting rod being rotatably connected to the first distal finger joint around a fourth axis, wherein the third axis and the fourth axis are both parallel to the first axis, and on 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 plurality of drive components include: at least four first drive assemblies, a first first drive assembly being provided at the first root phalanx and being transmission-connected to the first middle phalanx, being configured to drive the first middle phalanx and the first distal phalanx to be coupled and linked, a second first drive assembly being provided at the first root phalanx and being transmission-connected to the first support member, being configured to drive the first root phalanx to flex and extend, a third first drive assembly being rotatably connected to the first support member, being configured to drive the first support member to swing, and a fourth first drive assembly being provided at the palm base plate and being connected to the third first drive assembly, being configured to drive the third first drive assembly to spin; wherein the first first driving assembly includes a first driving portion, the first driving portion being capable of moving along a first straight line, wherein the first driving portion has a first sliding groove, the toggled portion extends into the first sliding groove, the first sliding groove 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 being respectively arranged on both sides of the toggled portion, and during the rotation of the toggled portion around the first axis, the first side wall or the second side wall abuts against the toggled portion to toggle the toggled portion to rotate around the first axis, thereby realizing the rotation of the first middle finger joint around the first axis; In which, the first support member is rotatably connected to the first finger joint around a fifth axis, the fifth axis is parallel to the first axis, the first support member has a second slide groove, the second slide groove includes a third side wall and a fourth side wall oppositely arranged in a direction perpendicular to the first axis; the second first driving assembly includes a second driving body and a second driving part, the second driving body is connected to the second driving part, and is used to drive the second driving part to move along a second straight line relative to the second driving body, the second driving part extends into the second slide groove, the third side wall and the fourth side wall are respectively arranged on both sides of the second driving part, and in the process of the first finger joint rotating around the fifth axis, the second driving part abuts against the third side wall or the fourth side wall to drive the first finger joint to rotate around the fifth axis.

2. The dexterous hand according to claim 1, characterized in that: The screw slider includes a guide hole that passes through the screw slider along the extension direction of the screw, and the drive assembly further includes: A guide rod is inserted into the guide hole, connected to the driving source, and arranged parallel to the screw rod; and / or, The thread of the screw rod for threaded connection with the screw rod slider comprises a trapezoidal thread.

3. The dexterous hand according to claim 2, characterized in that: The screw slider comprises: The first component has the guide hole and the marking hole; The second component is connected to the first component and is connected between the guide hole and the identification hole. During the sliding process of the screw slider, the second component can be located between the guide 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 further comprises: at least one second finger assembly, the second finger assembly comprising a second support member, a second root phalanx, a second middle phalanx, and a second distal phalanx, the second support member being connected to the palm base plate, the second root phalanx being universally connected to the second support member, the second middle phalanx being rotatably connected to the second root phalanx, and the second middle phalanx being transmission-connected to the second distal phalanx; at least one third finger assembly, the third finger assembly comprising a third support member, a third phalanx, a third middle phalanx, and a third distal phalanx, the third support member being connected to the palm base plate, the third phalanx being rotatably connected to the third support member, and the third phalanx, the third middle phalanx, and the third distal phalanx being transmission-connected; The plurality of drive components further comprises: At least three second drive assemblies are disposed on the palm base plate, wherein the first second drive assembly and the second second drive assembly are both transmission-connected to the second root phalanx and configured to drive the second root phalanx to swing sideways and flex and extend, and the third second drive assembly is transmission-connected to the second middle phalanx and configured to drive the second middle phalanx to couple and link with the second distal phalanx; At least one third driving component is provided on the palm base plate and 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, characterized in that: The first finger component is a thumb component, the number of the second finger components is two, namely an index finger component and a middle finger component, and the number of the third finger components is two, namely a ring finger component and a little finger component.

6. The dexterous hand according to claim 4, characterized in that: The dexterous hand has a palm side and a palm back side arranged opposite to each other along a first direction; when the second finger assembly is in an extended state, the extension direction of the second finger assembly is a second direction; the palm width direction of the dexterous hand is a third direction; the first direction, the second direction and the third direction are perpendicular to each other; The fourth first drive assembly extends along the third direction, the third first drive assembly and the fourth first drive assembly are stacked along the first direction, and the third first drive assembly and the fourth first drive assembly are both arranged at an end of the second drive assembly away from the second finger assembly; The first second drive assembly and the second second drive assembly both extend in a direction forming an acute angle with the second direction and are arranged side by side along the third direction; the third second drive assembly extends in the second direction and is stacked with the first second drive assembly and the second second drive assembly along the first direction; The third drive assembly extends in a direction forming an acute angle with the second direction, and is arranged side by side with the first second drive assembly and the second second drive assembly along the third direction.

7. The dexterous hand according to claim 4, characterized in that: The dexterous hand comprises a palm side and a palm back side which are arranged opposite to each other; The second support member can be rotatably connected to the palm base plate around a sixth axis, and the sixth axis is parallel to the direction from the palm side to the palm back side; The second finger joint is rotatably connected to the second support member around a seventh axis, the seventh axis is perpendicular to the sixth axis, the second finger joint includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are located circumferentially of the sixth axis; The second finger assembly further includes: a first connecting rod assembly, wherein the first end of the first connecting rod assembly is movably connected to the first connecting portion, wherein the first second driving assembly is movably connected to the second end of the first connecting rod assembly, and is used to drive the second end of the first connecting rod assembly to move along a third straight line; a second connecting rod assembly, wherein the first end of the second connecting rod assembly is movably connected to the second connecting portion, wherein a second second driving assembly is movably connected to the second end of the second connecting rod assembly, and is used to drive the second end of the second connecting rod assembly to move along a fourth straight line; a finger joint assembly rotatably connected to the second finger joint about an eighth axis, wherein the eighth axis is parallel to the seventh axis; a first connecting member comprising a third connecting portion, a fourth connecting portion, and a fifth connecting portion connected to each other, the third connecting portion being located between the first connecting portion and the second connecting portion and being rotatably connected to the second finger joint about a ninth axis, the ninth axis being parallel to the seventh axis, the first connecting portion and the second connecting portion being disposed opposite each other along the ninth axis; a second connecting rod, wherein a first end of the second connecting rod is rotatably connected to the fourth connecting portion about a tenth axis, and a second end of the second connecting rod is rotatably connected to the finger joint assembly about an eleventh axis, and the tenth axis and the eleventh axis are both parallel to the seventh axis; a third connecting rod assembly, wherein the first end of the third connecting rod 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 connecting rod assembly, and is used to drive the second end of the third connecting rod assembly to move along the fifth straight line; wherein the third second drive assembly is located on a side of the first second drive assembly and the second second drive assembly facing the dorsal side of the palm; the fifth straight line can be parallel to the palm base plate, and on a plane perpendicular to the seventh axis, a distance between an orthogonal projection of the fifth straight line and an orthogonal projection of the third straight line in an extension direction of the sixth axis gradually decreases along the fifth straight line toward the second knuckle; and on a plane perpendicular to the seventh axis, a distance between an orthogonal projection of the fifth straight line and an orthogonal projection of the fourth straight line in an extension direction of the sixth axis gradually decreases along the fifth straight line toward the second knuckle; The knuckle assembly includes the second middle knuckle and the second distal knuckle, and the knuckle assembly further includes: a third connecting rod, a first end of the third connecting rod being rotatably connected to the second finger joint about the eighth axis, and a second end of the third connecting rod being rotatably connected to the second finger joint about the eleventh axis; Among them, the second middle phalanx and the second root phalanx are rotatably connected around the twelfth axis, and the twelfth axis is parallel to the seventh axis; the second distal phalanx and the second end of the third connecting rod are rotatably connected around the thirteenth axis, and are rotatably connected to the second middle phalanx around the fourteenth axis, and the thirteenth axis and the fourteenth axis are both parallel to the seventh axis; wherein, on a plane perpendicular to the seventh axis, the line connecting the eighth axis and the thirteenth axis intersects with the line connecting the twelfth axis and the fourteenth axis.

8. The dexterous hand according to claim 4, characterized in that: The third phalanx is rotatably connected to the third support member around a fifteenth axis; the third middle phalanx is rotatably connected to the third phalanx around a sixteenth axis; the third distal phalanx is rotatably connected to the third middle phalanx around a seventeenth axis; the third drive assembly is configured to drive the third phalanx to rotate around the fifteenth axis; The third finger assembly further includes: a fourth connecting rod assembly, a first end of the fourth connecting rod assembly being rotatably connected to the third support member about an eighteenth axis; a fifth connecting rod assembly, wherein the first end of the fifth connecting rod assembly includes a sixth connecting portion and a seventh connecting portion, the sixth connecting portion is rotatably connected to the second end of the fourth connecting rod assembly about a nineteenth axis, the seventh connecting portion is rotatably connected to the third distal phalanx about a twentieth axis, and the second end of the fifth connecting rod assembly is rotatably connected to the third distal phalanx about a twenty-first axis; Among them, 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. On the cross section perpendicular to the fifteenth axis, the line connecting the fifteenth axis and the twentieth axis intersects with the line connecting the eighteenth axis and the nineteenth axis, and the line connecting the sixteenth axis and the seventeenth axis intersects with the line connecting the twentieth axis and the twenty-first axis.

9. The dexterous hand according to any one of claims 1 to 3, characterized in that: The dexterous hand has a palm side and a palm back side arranged opposite to each other along a first direction, and the dexterous hand further includes: A driving plate is provided on a side of the palm base plate close to the back of the palm, wherein the driving component provided on the palm base plate is located on a side of the driving plate close to the palm side; The control board is arranged on the side of the palm base plate close to the palm back side and is adjacent to the drive board, wherein the drive component arranged on the palm base plate is located on the side of the control board close to the palm center side.

10. The dexterous hand according to claim 9, characterized in that: Also includes: The heat dissipation plate is connected between the driving plate and the palm substrate.

11. A robot, characterized in that: include: At least one dexterous hand according to any one of claims 1 to 10.

Images