Direct-driven finger and full-direct-driven dexterous hand

Abstract

The invention discloses a direct-drive finger and a full-direct-drive dexterous hand, and relates to the technical field of dexterous hands, the finger comprises a first mounting seat connected with a palm part, and a first joint, a first phalanx, a second joint and a second phalanx which are sequentially connected outwards from the palm part; the first joint comprises a first driving unit, the first driving unit comprises a first shell, a first motor and a first rotating shaft mounted on the first shell, the first phalanx is fixedly arranged on the first shell, the first shell is connected with the first mounting seat through the first rotating shaft, and the first motor drives the first shell through the first rotating shaft; the first shell is turned over around the axis of the first rotating shaft relative to the first mounting seat, and fingers can be turned over towards the palm inner surface; the second joint can drive the second phalanx so that the fingers can bend towards the metacarpal inner face. According to the technical scheme, the problem that fingers cannot be turned over to the maximum degree can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hands, and particularly to a direct-drive finger and a fully direct-drive dexterous hand. Background Art

[0002] In existing dexterous hands, when the fingers are bent, a lead screw and a movable rod structure are adopted. The rotation of the lead screw can drive the movable rod to reciprocate along the axis of the lead screw, thereby pushing and pulling the finger joints, and then realizing the bending of the finger joints.

[0003] However, the lead screw and movable rod structure has the following problems:

[0004] 1. Limited by the length of the lead screw itself, the finger joints cannot be flipped to the maximum extent.

[0005] 2. The lead screw and movable rod structure will occupy a large space inside the finger joints, which is not conducive to the miniaturization design of the fingers, and thus not conducive to the miniaturization design of the dexterous hand. Summary of the Invention

[0006] In order to solve at least one of the above technical problems, the object of the present invention is to provide a direct-drive finger and a fully direct-drive dexterous hand.

[0007] To achieve the above object, the finger proposed by the present invention is applied to a dexterous hand. The dexterous hand includes a palm part, and the finger is installed on the palm part. The finger includes:

[0008] A first mounting seat connected to the palm part, a first joint, a first phalanx, a second joint, and a second phalanx connected in sequence outward from the palm part;

[0009] The first joint includes a first driving unit. The first driving unit includes a first housing, a first motor, and a first rotating shaft installed in the first housing. The first phalanx is fixedly arranged on the first housing. The first housing is connected to the first mounting seat through the first rotating shaft. The first motor drives the first housing through the first rotating shaft, so that the first housing rotates relative to the first mounting seat around the axis of the first rotating shaft, and can make the finger flip towards the inner surface of the palm.

[0010] The second joint can drive the second phalanx to make the finger bend towards the inner surface of the palm.

[0011] The technical solution of the present invention uses a first motor to drive the first housing to flip through a first rotating shaft, and then drives the finger to flip. Compared with the way of driving the finger to flip by pushing and pulling with a lead screw and a movable rod in the prior art, it can avoid the limitation of the physical stroke (the limitation of the length of the lead screw itself). Compared with the prior art, it can increase the flipping angle of the finger, and thus solve the technical problems existing in the prior art.

[0012] In one embodiment, the first driving unit further includes a first transmission component. The first motor is installed on the first housing, the first rotating shaft is fixedly provided on the first mounting seat, and the first transmission component connects the first rotating shaft and the first motor to increase the torque transmitted from the first motor to the first rotating shaft.

[0013] And / or, the first phalanx includes two first connecting plates, and the first driving unit is arranged between the two first connecting plates.

[0014] In one embodiment, the second joint includes a second driving unit. The second driving unit includes a second housing, a second rotating shaft installed on the second housing, a second motor, and a second transmission component. The second rotating shaft is fixedly provided on the first phalanx.

[0015] The second transmission component connects the second rotating shaft and the second motor to increase the torque transmitted from the second motor to the second rotating shaft. The second motor can drive the second housing through the second rotating shaft, so that the second housing rotates around the second rotating shaft.

[0016] The second phalanx can follow the rotation of the second housing, and the second phalanx is fixedly provided on the second housing.

[0017] In one embodiment, the finger further includes a third phalanx and a third joint.

[0018] The third joint includes a third driving unit. The third driving unit includes a third housing, a third rotating shaft installed on the third housing, a third motor, and a third transmission component. The third rotating shaft is fixedly provided on the second phalanx.

[0019] The third transmission component connects the third rotating shaft and the third motor to increase the torque transmitted from the third motor to the third rotating shaft. The third motor can drive the third housing through the third rotating shaft, so that the third housing rotates around the axis of the third rotating shaft. The third phalanx is fixedly provided on the third housing and can follow the rotation of the third housing, and can bend the finger towards the palmar surface.

[0020] And / or, the second phalanx includes two second connecting plates, and the second driving unit and the third driving unit are arranged between the two second connecting plates.

[0021] In one embodiment, the finger includes a fourth driving unit fixedly provided on the palm part. The fourth driving unit includes a fourth rotating shaft, and the fourth rotating shaft can drive the first mounting seat to swing the finger and make the two fingers approach or separate from each other.

[0022] In one embodiment, the fourth driving unit further includes a fourth housing fixedly arranged on the palm part, a fourth motor and a fourth transmission assembly mounted in the fourth housing. The fourth rotating shaft is mounted in the fourth housing. The fourth motor can drive the fourth rotating shaft through the fourth transmission assembly, and the fourth transmission assembly is used to increase the torque transmitted from the fourth motor to the third rotating shaft.

[0023] The present invention also provides a direct drive finger applied to a dexterous hand. The dexterous hand includes a palm part, and the finger is mounted on the palm part. The finger includes:

[0024] a second mounting seat mounted on the palm part, a driving module, a fifth joint mounted on the second mounting seat, and a fifth phalanx;

[0025] The driving module includes a seventh driving unit fixedly arranged on the palm part. The seventh driving unit includes a seventh rotating shaft. The seventh rotating shaft can drive the second mounting seat to rotate around the axis of the seventh rotating shaft. The driving module enables the finger to have a first position and a second position relative to the palm part;

[0026] In the first position, the fifth joint can drive the fifth phalanx so that the fingertip of the finger approaches or moves away from the circumferential side of the palm part;

[0027] In the second position, the fifth joint can drive the fifth phalanx so that the fingertip of the finger approaches or moves away from the inner palm surface of the palm part.

[0028] The technical solution of the present invention drives the second mounting seat to rotate around the axis of the seventh rotating shaft through the seventh rotating shaft. Compared with the prior art in which a lead screw and a movable rod are used to push and pull to drive the finger to flip, it can avoid the limitation of the physical stroke (the limitation of the length of the lead screw itself). Compared with the prior art, it can increase the flipping angle of the finger, thereby solving the technical problems existing in the prior art.

[0029] In one embodiment, the seventh driving unit further includes a seventh housing, a seventh motor and a seventh transmission assembly mounted in the seventh housing. The seventh rotating shaft is mounted in the seventh housing, and the seventh housing is fixedly arranged on the palm part;

[0030] The seventh motor drives the seventh rotating shaft through the seventh transmission assembly, and the seventh transmission member is used to increase the torque transmitted from the seventh motor to the seventh rotating shaft;

[0031] The driving module further includes an eighth driving unit and a third mounting seat. The eighth driving unit includes an eighth housing, an eighth rotating shaft mounted in the eighth housing, an eighth motor, and an eighth transmission assembly. The eighth housing is fixedly arranged on the second mounting seat. The eighth rotating shaft can drive the third mounting seat to rotate the third mounting seat around the axis of the eighth rotating shaft;

[0032] The eighth motor drives the eighth rotating shaft through the eighth transmission assembly. The eighth transmission member is used to increase the torque transmitted from the eighth motor to the eighth rotating shaft. The fifth joint is mounted on the third mounting seat;

[0033] At the first position, the eighth rotating shaft is parallel to the inner palm surface; at the second position, the eighth rotating shaft is perpendicular to the inner palm surface.

[0034] In an embodiment, the fifth joint includes a fifth driving unit. The fifth driving unit includes a fifth housing, a fifth rotating shaft mounted in the fifth housing, a fifth motor, and a fifth transmission assembly. The fifth rotating shaft is fixedly arranged on the third mounting seat. At the first position, the axis of the fifth rotating shaft is perpendicular to the palm surface;

[0035] The fifth transmission assembly connects the fifth rotating shaft and the fifth motor, and is used to increase the torque transmitted from the fifth motor to the fifth rotating shaft. The fifth motor can drive the fifth housing through the fifth rotating shaft to make the fifth housing flip around the fifth rotating shaft;

[0036] The fifth phalanx can follow the flipping of the fifth housing, and the fifth phalanx is fixedly arranged on the fifth housing;

[0037] And / or, the finger further includes a sixth joint and a sixth phalanx;

[0038] The sixth joint includes a sixth driving unit. The sixth driving unit includes a sixth housing, a sixth rotating shaft mounted in the sixth housing, a sixth motor, and a sixth transmission assembly. The sixth rotating shaft is fixedly arranged on the fifth phalanx;

[0039] The sixth transmission assembly connects the sixth rotating shaft and the sixth motor, and is used to increase the torque transmitted from the sixth motor to the sixth rotating shaft. The sixth motor can drive the sixth housing through the sixth rotating shaft to make the sixth housing flip around the sixth rotating shaft;

[0040] The sixth phalanx can follow the flipping of the sixth housing, and the sixth phalanx is fixedly arranged on the sixth housing.

[0041] The present invention also provides a fully direct-driven dexterous hand, which includes a palm part, at least one first finger and at least one second finger mounted on the palm part; the first finger is any finger including a first joint as described above, and the second finger is any finger including a fifth joint as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0043] Figure 1 FIG. is a schematic structural diagram of an embodiment of the fully direct-driven dexterous hand provided by the present invention;

[0044] Figure 2 is Figure 1 a schematic structural diagram of the first finger in the dexterous hand;

[0045] Figure 3 is Figure 1 a schematic structural diagram of the second finger in the dexterous hand;

[0046] Figure 4 FIG. is a schematic structural diagram of the drive unit in the dexterous hand provided by the present invention;

[0047] Figure 5 FIG. is a schematic structural diagram of another embodiment of the drive unit in the dexterous hand provided by the present invention;

[0048] Figure 6 FIG. is a schematic exploded view of an embodiment of the drive unit in the dexterous hand provided by the present invention;

[0049] Figure 7 FIG. is a cross-sectional view of an embodiment of the drive unit in the dexterous hand provided by the present invention;

[0050] Figure 8 FIG. is a cross-sectional view of another embodiment of the drive unit in the dexterous hand provided by the present invention;

[0051] Figure 9 FIG. is a schematic structural diagram of an embodiment of the toroidal enveloping worm provided by the present invention.

[0052] Description of the reference numerals in the drawings:

[0053] 100, palm part;

[0054] 200, First finger; 210, First mounting seat; 220, First joint; 221, First driving unit; 230, First phalanx; 231, First connecting plate; 240, Second joint; 241, Second driving unit; 250, Second phalanx; 251, Second connecting plate; 260, Third joint; 261, Third driving unit; 280, Fourth driving unit;

[0055] 300, Second finger; 310, Fifth joint; 311, Fifth driving unit; 320, Fifth phalanx; 330, Sixth joint; 331, Sixth driving unit; 350, Driving module; 351, Seventh driving unit; 352, Eighth driving unit; 360, Second mounting seat; 370, Third mounting seat;

[0056] 400, Driving unit; 410, Housing; 411, Annular groove; 420, Ring enveloping worm; 421, Rod body; 422, Teeth; 430, Helical gear shaft; 431, Helical gear part; 432, Shaft part; 440, Motor; 450, Planetary reduction structure; 451, First planetary disk; 452, Second planetary disk; 453, Protective shell; 460, Eccentric sleeve; 461, Annular protrusion; 462, First sleeve body; 463, Second sleeve body; 470, Positioning bearing; 480, First bearing; 490, Second bearing; 510, Driving plate; 511, Connecting wire; 520, Sealing ring.

[0057] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0060] In addition, if the embodiments of the present invention involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0061] When the fingers in the existing dexterous hands bend, a lead screw and movable rod structure is adopted. When the lead screw rotates, it can drive the movable rod to reciprocate along the axis of the lead screw, thereby pushing and pulling the finger joints, and then realizing the bending of the finger joints.

[0062] However, there are the following problems with the lead screw and movable rod structure:

[0063] 1. Limited by the length of the lead screw itself, the finger joints cannot be flipped to the maximum extent.

[0064] 2. The method of adopting the lead screw and movable rod structure will occupy a relatively large space inside the finger joints, which is not conducive to the miniaturization design of the fingers, and thus not conducive to the miniaturization design of the dexterous hand.

[0065] The present invention proposes a direct drive finger applied to a dexterous hand. The dexterous hand includes a palm part 100, and the finger is installed on the palm part 100.

[0066] Please refer to Figure 1 、 Figure 2 In an embodiment of the present invention, the finger includes:

[0067] The first mounting seat 210 connected to the palm part 100, where the first mounting seat 210 can be rotatably mounted on the palm part 100 according to needs or fixed to the palm part 100; the first joint 220, the first phalanx 230, the second joint 240, and the second phalanx 250 connected in sequence outward from the palm part 100. It can be understood that connecting in sequence outward from the palm part 100 can be understood as the first joint 220, the first phalanx 230, the second joint 240, and the second phalanx 250 being arranged and connected in sequence starting from the palm part 100. It should be noted that the first joint 220 is mounted on the first mounting seat 210, the first phalanx 230 is connected to the first joint 220 and the second joint 240, and the second phalanx 250 is mounted on the second joint 240. It should be noted that in this embodiment, the finger has two joints and two phalanges, but this design is not limited thereto. In some embodiments, the finger also has a third joint 260 and a third phalanx. That is to say, the finger has three joints and three phalanges. Of course, for some needs, four joints and four phalanges can also be provided on the finger.

[0068] Further, the first joint 220 includes a first driving unit 221. The first driving unit 221 includes a first housing, a first motor, and a first rotating shaft mounted on the first housing. The first phalanx 230 is fixed to the first housing. The first housing is connected to the first mounting seat 210 through the first rotating shaft. The first motor drives the first housing through the first rotating shaft, so that the first housing rotates relative to the first mounting seat 210 around the axis of the first rotating shaft and can make the finger flip towards the inner surface of the palm. It should be noted that in this embodiment, the first rotating shaft is fixed to the first mounting seat 210, and the first motor is fixed to the first housing. When the first motor drives the first rotating shaft, at this time the first rotating shaft does not move, and the first motor can rotate around the axis of the first rotating shaft. Since the first motor is fixed to the first housing, when the first motor rotates around the axis of the first rotating shaft, it can drive the first housing to rotate around the axis of the first rotating shaft.

[0069] However, this design is not limited thereto. In some embodiments (not shown), the first motor is not mounted on the first housing but is placed outside the first housing and fixed. At this time, the first rotating shaft can rotate. When the first motor drives the first rotating shaft to rotate, the first rotating shaft can drive the first housing to rotate around its own axis. It should be noted that since the first phalanx 230 is fixed to the first housing, when the first housing flips, it can drive the first phalanx 230 to flip, and the purpose of making the finger flip towards the inner surface of the palm can be achieved according to different flipping directions. At the same time, it should be noted that since the first housing rotates around the axis of the first rotating shaft when flipping, and the first motor makes the first housing flip through the first rotating shaft, the purpose of finger flipping is thus achieved.

[0070] It can be understood that, by using the first motor to drive the first housing to flip through the first rotating shaft, and then driving the finger to flip, compared with the prior art method of driving the finger to flip by using a lead screw and a movable rod to push and pull, it can avoid the limitation of the physical stroke (the limitation of the length of the lead screw itself). Compared with the prior art, it can increase the flipping angle of the finger, thereby solving the technical problems existing in the prior art. At the same time, in this embodiment, the first motor is used to drive the first rotating shaft to realize the flipping of the first housing, so as to achieve the purpose of direct drive, which is more direct than the prior art method of the motor driving the rotating shaft and the rotating shaft driving the lead screw.

[0071] The second joint 240 can drive the second phalanx 250 to bend the finger towards the palmar surface. It should be noted that the second joint 240 includes a second driving unit 241. The second driving unit 241 can drive the second phalanx 250 to bend the finger towards the palmar surface by using the lead screw and movable rod method in the prior art, or can adopt the structure of the first joint 220, using the motor to drive the housing through the rotating shaft, so that the second joint 240 can drive the second phalanx 250 to the maximum extent to bend the finger towards the palmar surface. In this way, the bending degree of the finger can be as large as possible, so that when the finger is used, more delicate tools can be held, thereby improving the use effect of the dexterous hand.

[0072] Furthermore, it can be understood that when the finger including the first joint 220 is applied to the dexterous hand, it can be used as the index finger, or the middle finger, or the ring finger, or the little finger.

[0073] In one embodiment, it should be noted that in the prior art, a lead screw and a movable rod are used to drive the finger to flip. There is a certain distance between the connection point of the flipping axis of the finger and the movable rod, and this distance can form a moment arm to amplify the gripping force generated by the finger. In order to enable the first driving unit 221 to output a larger torque outward to increase the gripping force of the finger, further, the first driving unit 221 further includes a first transmission component installed thereon. The first motor is installed on the first housing, the first rotating shaft is fixedly arranged on the first mounting seat 210, and the first transmission component connects the first rotating shaft and the first motor. The first transmission component is used to increase the torque transmitted from the first motor to the first rotating shaft. It can be understood that the first motor is connected to the first rotating shaft through the first transmission component, and the torque generated by the first motor can be amplified after passing through the first transmission component, so that the amplified torque is reflected on the first rotating shaft. When the first rotating shaft fixes the first mounting seat 210, at this time, when the first motor drives the first housing to flip, it can drive the first housing to flip with the amplified torque, and then drive the first phalanx 230 to flip, thereby increasing the torque of the finger. Further, in some embodiments, the first transmission component can be implemented by a gear component to achieve speed reduction and torque increase, and increase the torque transmitted from the first motor to the first rotating shaft. Further, the gear component can be a worm and worm gear component.

[0074] In one embodiment, the first phalanx 230 includes two first connecting plates 231, and the first driving unit 221 is arranged between the two first connecting plates 231. It can be understood that a receiving space is formed between the two first connecting plates 231, and the first driving unit 221 is arranged in the receiving space. In this way, the structure of the first joint 220 and the first phalanx 230 can be made small and compact. At the same time, it should be noted that the first connecting plate 231 is fixedly arranged on the first housing by means of screw locking.

[0075] In one embodiment, the second joint 240 includes a second driving unit 241. The second driving unit 241 includes a second housing, a second rotating shaft installed on the second housing, a second motor, and a second transmission component. The second rotating shaft is fixedly arranged on the first phalanx 230. It should be noted that the second motor is fixedly arranged on the second housing;

[0076] The second transmission component is connected to the second rotating shaft and the second motor, and is used to increase the torque transmitted from the second motor to the second rotating shaft. The second motor can drive the second housing through the second rotating shaft, so that the second housing can be flipped around the second rotating shaft. Further, in this embodiment, the second rotating shaft is fixedly arranged on the first phalanx 230. At this time, when the second motor drives the second rotating shaft through the second transmission component, since the second rotating shaft is fixed, the second motor can be flipped around the axis of the second rotating shaft at this time. When the second motor is flipped around the axis of the second rotating shaft, the second housing can also be flipped following the flipping of the second motor. Further, the second phalanx 250 is fixedly arranged on the second housing. When the second housing is flipped, the second phalanx 250 can be flipped following the second housing. Further, in some embodiments, the second transmission component can adopt a gear component to achieve the purpose of increasing torque. It can be understood that when the second joint 240 adopts the above structure, the second joint 240 can drive the second phalanx 250 to be flipped to the greatest extent, so that the finger can be bent to the greatest extent, and the torque of the second phalanx 250 can be increased under the action of the second transmission component, thereby increasing the gripping force of the finger.

[0077] In one embodiment, the finger further includes a third phalanx (not shown) and a third joint 260;

[0078] The third joint 260 includes a third driving unit 261. The third driving unit 261 includes a third housing, a third rotating shaft installed in the third housing, a third motor, and a third transmission component. The third rotating shaft is fixedly arranged on the second phalanx 250, and the third motor is fixedly arranged on the third housing;

[0079] The third transmission assembly is connected to the third rotating shaft and the third motor, and is used to increase the torque transmitted from the third motor to the third rotating shaft. The third motor can drive the third housing through the third rotating shaft, so that the third housing can be turned around the axis of the third rotating shaft. The third phalanx is fixed on the third housing and can follow the turning of the third housing, and can bend the finger towards the palmar surface. Among them, the third phalanx is fixed on the third housing by means of screw locking. Further, in this embodiment, the third rotating shaft is fixed on the second phalanx 250. At this time, when the third motor drives the third rotating shaft through the third transmission assembly, since the third rotating shaft is fixed, the third motor can turn around the axis of the third rotating shaft at this time. When the third motor turns around the axis of the third rotating shaft, the third housing can also turn following the turning of the third motor. Further, the third phalanx is fixed on the third housing. When the third housing turns, the third phalanx can follow the turning of the third housing. Further, in some embodiments, the third transmission assembly can adopt a gear assembly to achieve the purpose of increasing torque. It can be understood that when the third joint 260 adopts the above structure, it can enable the third joint 260 to drive the third phalanx to turn to the greatest extent, so that the finger can be bent to the greatest extent, and under the action of the third transmission assembly, the torque of the third phalanx can be increased, thereby increasing the grip force of the finger.

[0080] In one embodiment, the second phalanx 250 includes two second connecting plates 251. The second driving unit 241 and the third driving unit 261 are arranged between the two second connecting plates 251. Among them, the second connecting plates 251 are fixed on the second housing by means of screw locking. It can be understood that a receiving space can also be formed between the two second connecting plates 251 at this time.

[0081] Further, in some embodiments, when the finger is bent towards the palm surface, the axes of the first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged as parallel to the palm surface as possible. Only in this way can the first phalanx 230, the second phalanx 250, and the third phalanx turn towards the palm surface when the finger is bent.

[0082] In one embodiment, the finger includes a fourth driving unit 280 fixedly arranged on the palm part 100. The fourth driving unit 280 includes a fourth rotating shaft which can drive the first mounting seat 210 to swing the finger and make the two fingers approach or separate from each other. Further, in this embodiment, the fourth driving unit 280 further includes a fourth motor. The fourth motor drives the fourth rotating shaft and then drives the first mounting seat 210 to swing the finger, where the finger swings around the axis of the fourth rotating shaft. It should be noted that at this time, the axis of the fourth rotating shaft can be arranged perpendicular to the palm surface, but this design is not limited thereto. In some embodiments, the axis of the fourth rotating shaft is arranged at a preset angle with the palm surface, and this angle can be an obtuse angle or an acute angle.

[0083] In one embodiment, the fourth driving unit 280 further includes a fourth housing fixedly arranged on the palm part 100, a fourth motor installed in the fourth housing and a fourth transmission assembly. The fourth rotating shaft is installed in the fourth housing. The fourth motor can drive the fourth rotating shaft through the fourth transmission assembly. The fourth transmission assembly is used to increase the torque transmitted by the fourth motor to the third rotating shaft. Further, in some embodiments, the fourth housing is fixedly arranged on the palm part 100 by means of screw attachment, and the fourth motor is fixedly arranged in the fourth housing. It can be understood that in this embodiment, the fourth motor is fixed and the fourth rotating shaft rotates. When the fourth rotating shaft rotates, it can drive the first mounting seat 210 to swing, and then realize the swinging of the finger. When two fingers are arranged on the dexterous hand, at this time, when the two fingers swing, they can approach or separate from each other. Further, the fourth transmission assembly can adopt a gear assembly to achieve the purpose of increasing the torque. It can be understood that the torque generated by the fourth motor is amplified by the gear assembly and then acts on the fourth rotating shaft, thereby increasing the torque for the fourth rotating shaft to drive the first mounting seat 210.

[0084] Different from the above finger, the present invention also proposes a direct-drive finger applied to a dexterous hand. The dexterous hand includes a palm part 100, and the finger is installed on the palm part 100.

[0085] Please refer to Figure 1 、 Figure 3 , in an embodiment of the present invention, the finger includes:

[0086] a second mounting seat 360 installed on the palm part 100, a driving module 350, a fifth joint 310 installed on the second mounting seat 360, and a fifth finger bone 320;

[0087] The driving module 350 includes a seventh driving unit 351 fixedly arranged on the palm part 100. The seventh driving unit 351 includes a seventh rotating shaft which can drive the second mounting seat 360 to rotate around the axis of the seventh rotating shaft. The driving module 350 enables the finger to have a first position and a second position relative to the palm part 100. It can be understood that the seventh driving unit 351 includes a seventh motor, and the seventh motor drives the seventh rotating shaft to rotate, so as to realize that the seventh rotating shaft drives the second mounting seat 360 to rotate around the axis of the seventh rotating shaft. It should be noted that the fifth joint 310 and the fifth phalanx 320 are both mounted on the second mounting seat 360. When the second mounting seat 360 rotates, the fifth joint 310 and the fifth phalanx 320 can also rotate accordingly. Thus, the finger referred to in this embodiment can also rotate. Since the seventh motor drives the second mounting seat 360 to rotate around the axis of the seventh rotating shaft through the seventh rotating shaft, compared with the prior art in which a lead screw and a movable rod are used to push and pull to drive the finger to flip, it can avoid the limitation of the physical stroke (the limitation of the length of the lead screw itself). Compared with the prior art, it can increase the flipping angle of the finger, thereby solving the technical problems existing in the prior art. At the same time, in this embodiment, the seventh motor is used to directly drive the seventh rotating shaft to realize the rotation of the second mounting seat 360 around the axis of the seventh rotating shaft, so as to achieve the purpose of direct drive. Compared with the prior art in which the motor drives the rotating shaft and the rotating shaft drives the lead screw, the method is more direct.

[0088] When in the first position, the fifth joint 310 can drive the fifth phalanx 320 to make the fingertip of the finger approach or move away from the peripheral side of the palm part 100.

[0089] When in the second position, the fifth joint 310 can drive the fifth phalanx 320 to make the fingertip of the finger approach or move away from the inner palm surface of the palm part 100. It can be understood that when the finger including the fifth joint 310 is applied to a dexterous hand, it can be used as a thumb. Further, in some embodiments, the fifth joint 310 can adopt the method of a lead screw and a movable rod to drive the fifth phalanx 320 to flip, so that when in the first position, the fingertip of the finger approaches or moves away from the peripheral side of the palm part 100; when in the second position, the fingertip of the finger approaches or moves away from the inner palm surface of the palm part 100.

[0090] In one embodiment, the seventh driving unit 351 further includes a seventh housing, a seventh motor mounted on the seventh housing, and a seventh transmission assembly. The seventh rotating shaft is mounted on the seventh housing, and the seventh housing is fixedly arranged on the palm part 100. Among them, the seventh housing is fixedly arranged on the palm part 100 by means of screw locking, and the seventh motor is fixedly arranged on the seventh housing;

[0091] The seventh motor drives the seventh rotating shaft through the seventh transmission assembly, and the seventh transmission member is used to increase the torque transmitted from the seventh motor to the seventh rotating shaft; the seventh transmission assembly can adopt a gear assembly to achieve the purpose of increasing torque. It should be noted that the torque generated by the seventh motor is amplified by the seventh transmission assembly and then transmitted to the seventh rotating shaft.

[0092] The driving module 350 further includes an eighth driving unit 352 and a third mounting seat 370. The eighth driving unit 352 includes an eighth housing, an eighth rotating shaft mounted on the eighth housing, an eighth motor, and an eighth transmission assembly. The eighth housing is fixedly arranged on the second mounting seat 360. Specifically, the eighth housing is fixedly arranged on the second mounting seat 360 by means of screw locking. It should be noted that a cavity is provided in the second mounting seat 360, and the eighth housing is fixedly arranged in the cavity; the eighth rotating shaft can drive the third mounting seat 370 to rotate the third mounting seat 370 around the axis of the eighth rotating shaft.

[0093] The eighth motor drives the eighth rotating shaft through the eighth transmission assembly. The eighth transmission member is used to increase the torque transmitted from the eighth motor to the eighth rotating shaft. The fifth joint 310 is mounted on the third mounting seat 370. It should be noted that since the eighth motor is mounted on the eighth housing and the eighth housing is fixedly arranged on the second mounting seat 360, that is to say, at this time, the eighth motor can also be fixedly arranged on the second mounting seat 360. At this time, the eighth motor can drive the eighth rotating shaft through the eighth transmission assembly, and then the eighth rotating shaft drives the third mounting seat 370 to rotate, so as to realize the rotation of the fifth joint 310 and the fifth phalanx 320. It should be noted that at the first position, the eighth rotating shaft is parallel to the inner surface of the palm, and at the second position, the eighth rotating shaft is perpendicular to the inner surface of the palm. Further, in some embodiments, the eighth transmission assembly can adopt a gear assembly to achieve the purpose of increasing torque. It should be noted that since the third mounting seat 370 rotates around the axis of the eighth rotating shaft, during use at this time, the third mounting seat 370 can achieve a 360-degree full rotation, and then drive the fingers to rotate in all directions.

[0094] In one embodiment, the fifth joint 310 includes a fifth driving unit 311. The fifth driving unit 311 includes a fifth housing, a fifth rotating shaft mounted on the fifth housing, a fifth motor, and a fifth transmission assembly. The fifth rotating shaft is fixedly arranged on the third mounting seat 370. At the first position, the axis of the fifth rotating shaft is perpendicular to the palm surface.

[0095] The fifth transmission component is connected to the fifth rotating shaft and the fifth motor, and is used to increase the torque transmitted from the fifth motor to the fifth rotating shaft. The fifth motor can drive the fifth housing through the fifth rotating shaft, so that the fifth housing can be turned around the fifth rotating shaft. It should be noted that since the fifth rotating shaft is fixedly arranged on the third mounting seat 370, when the fifth motor drives the fifth rotating shaft through the fifth transmission component, the fifth rotating shaft is fixed. At this time, the fifth motor can be turned around the axis of the fifth rotating shaft. When the fifth motor is turned around the axis of the fifth rotating shaft, the fifth finger bone 320 is fixedly arranged on the fifth housing, and at this time, the fifth housing can also follow it to be turned. The fifth finger bone 320 is fixedly arranged on the fifth housing by means of screw locking. Further, in some embodiments, the fifth finger bone 320 can adopt the structure of the first finger bone 230, and its principle and effect will not be elaborated here.

[0096] In one embodiment, the finger further includes a sixth joint 330 and a sixth finger bone (not shown).

[0097] The sixth joint 330 includes a sixth driving unit 331. The sixth driving unit 331 includes a sixth housing, a sixth rotating shaft installed in the sixth housing, a sixth motor, and a sixth transmission component. The sixth rotating shaft is fixedly arranged on the fifth finger bone 320. The sixth rotating shaft can be fixedly arranged on the fifth finger bone 320 by means of screw locking. Similarly, this structure can also be adopted for the fixing methods of other rotating shafts and finger bones.

[0098] The sixth transmission component is connected to the sixth rotating shaft and the sixth motor, and is used to increase the torque transmitted from the sixth motor to the sixth rotating shaft. The sixth motor can drive the sixth housing through the sixth rotating shaft, so that the sixth housing can be turned around the sixth rotating shaft. It should be noted that the sixth motor drives the sixth rotating shaft through the sixth transmission component. Since the sixth rotating shaft is fixed, at this time, the sixth motor can be turned around the sixth rotating shaft. When the sixth motor is turned around the sixth rotating shaft, at this time, the sixth housing can follow to be turned. Since the sixth finger bone is fixedly arranged on the sixth housing, at this time, the sixth finger bone can follow the sixth housing to be turned. When the sixth finger bone is turned, the bending of the finger can be realized.

[0099] However, the present design is not limited thereto. In some embodiments, the finger including the fifth joint 310 and the fifth finger bone 320 may further include a seventh joint and a seventh finger bone.

[0100] Further, in some embodiments, refer to Figures 4 to 9, the aforementioned drive units 400 may all adopt the following structure, and the sizes of the drive units 400 of some joints may be different when in use; further, for the convenience of describing the drive unit 400, the first to eighth eyes are omitted herein. Further, the drive unit 400 includes a housing 410, a rotating shaft, a motor 440, and a transmission assembly.

[0101] Wherein, a first accommodation cavity and a second accommodation cavity that communicate with each other are formed in the housing 410, and through holes are formed in both opposite side walls of the second accommodation cavity.

[0102] The transmission assembly includes an annular enveloping worm 420, a helical gear shaft 430, and a planetary reduction structure 450. The helical gear shaft 430 includes a helical gear portion 431 and a shaft portion 432, and the aforementioned rotating shaft is configured as the shaft portion in the helical gear shaft 430.

[0103] The annular enveloping worm 420 is arranged in the first accommodation cavity, and one end of the annular enveloping worm 420 is exposed outside the housing 410; the helical gear shaft 430 is arranged in the second accommodation cavity, the helical gear shaft 430 meshes with the annular enveloping worm 420, both ends of the helical gear shaft 430 respectively pass through the two through holes, and the axis of the annular enveloping worm 420 is perpendicular to the axis of the helical gear shaft 430; the planetary reduction structure 450 is connected to the output shaft of the motor 440 and the end of the annular enveloping worm 420 that is exposed outside the housing 410;

[0104] Further, according to the working scenario of the rotating shaft, when the rotating shaft is fixed, the motor 440 can rotate around the axis of the rotating shaft, thereby driving the housing 410 to rotate around the axis of the rotating shaft. When the rotating shaft rotates, at this time, the motor 440 and the housing 410 are fixed, and at this time, the motor 440 can drive the rotating shaft, so that the rotating shaft drives the components installed on the rotating shaft to rotate, such as the first mounting seat 210 and the third mounting seat 370.

[0105] Further, the housing 410 includes two side plates, and the two side plates enclose to form the first accommodation cavity and the second accommodation cavity. The two side plates are connected by screws, so as to facilitate the assembly of the drive unit 400, that is, the annular enveloping worm 420, the helical gear shaft 430, and the motor 440 can be assembled to one of the side plates first, and then the two side plates are connected to complete the assembly.

[0106] The axis of the annular enveloping worm 420 is perpendicular to the axis of the helical gear shaft 430. The perpendicular arrangement can better install the motor 440 at the finger joint of the robot, reduce the space required for the installation of the drive unit 400, facilitate the installation of the drive unit 400 in the space formed by the phalanges, thereby reducing the size of the phalanges, and further achieving the purpose of reducing the size of the finger and solving the technical problems existing in the prior art.

[0107] The planetary reduction structure 450 can reduce the high-speed rotation of the motor 440 to a lower speed suitable for finger joint movement, while correspondingly increasing the output torque, enabling the finger joints to generate sufficient force for precise motion control.

[0108] Specifically, in one embodiment, referring to Figure 9 , the hourglass worm 420 includes a rod body 421 and a plurality of teeth 422 provided on the rod body 421. The plurality of teeth 422 form a transmission section. The helical gear shaft 430 meshes with the transmission section. From the middle of the transmission section to both ends of the transmission section, the outer diameter of the teeth 422 gradually increases. That is, the height of the teeth 422 at both ends of the transmission section is greater than the height of the teeth 422 in the middle of the transmission section. The plurality of teeth 422 are distributed in a similar arc shape. In this way, when the helical gear shaft 430 meshes with the hourglass worm 420, multi-tooth meshing can be achieved, thereby generating a greater output torque and further amplifying the torque transmitted from the motor 440 to the rotating shaft. In addition, by setting the dimensions of the hourglass worm 420 and the helical gear shaft 430, the hourglass worm 420 helical gear transmission mechanism can have a self-locking ability without designing an additional locking mechanism.

[0109] Furthermore, in one embodiment, referring to Figure 5 、 Figure 6 、 Figure 8, the driving unit 400 further includes an eccentric sleeve 460. The eccentric sleeve 460 is rotatably disposed in the first accommodating cavity. A through hole is provided in the middle of the eccentric sleeve 460, and eccentric holes are provided at both ends of the eccentric sleeve 460. The enveloping hourglass worm 420 is disposed in the eccentric sleeve 460. Both ends of the enveloping hourglass worm 420 are respectively rotatably disposed in an eccentric hole. A partial structure of the helical gear shaft 430 passes through the through hole and meshes with the enveloping hourglass worm 420. It can be understood that an eccentric hole is a hole whose center is not the same as the axis of the eccentric sleeve 460. Thus, by rotatably disposing both ends of the enveloping hourglass worm 420 in an eccentric hole respectively, when the eccentric sleeve 460 rotates, the enveloping hourglass worm 420 will rotate around the axis of the eccentric sleeve 460 under the limitation of the eccentric hole, that is, the distance between the axis of the enveloping hourglass worm 420 and the axis of the helical gear shaft 430 can be changed, so as to be applicable to phalanges of different sizes. Among them, in order to facilitate the installation and rotation of the eccentric sleeve 460, two relatively arranged circular holes communicating with the first accommodating cavity are provided on the housing 410. The eccentric sleeve 460 includes a first sleeve body 462 and a second sleeve body 463. The first sleeve body 462 and the second sleeve body 463 are spliced to form the eccentric sleeve 460. The first sleeve body 462 and the second sleeve body 463 are respectively exposed outside the housing 410 through the two circular holes. One end of the enveloping hourglass worm 420 passes through the first sleeve body 462 and is connected to the planetary reduction structure 450. Cross slots are provided on opposite sides of one end of the second sleeve body 463 exposed outside the housing 410. Thus, it is convenient to rotate the second sleeve body 463 through tools such as a screwdriver, and further drive the enveloping hourglass worm 420 in the eccentric sleeve 460 to rotate, so as to achieve the purpose of changing the distance between the axis of the enveloping hourglass worm 420 and the axis of the helical gear shaft 430.

[0110] In one embodiment, referring to Figure 5 , Figure 7 , an annular groove 411 is formed on the inner wall of the first accommodating cavity; an annular protrusion 461 is formed on the outer wall of the eccentric sleeve 460, and the annular protrusion 461 is clamped in the annular groove 411. The cooperation of the annular protrusion 461 and the annular groove 411 can provide a mechanical lock, thereby restricting the position of the eccentric sleeve 460 relative to the housing 410. Thus, during the rotation of the eccentric sleeve 460, it can be ensured that there is no relative movement relative to the housing 410, and during the process of the motor 440 driving the enveloping hourglass worm 420 to rotate, the eccentric sleeve 460 will not be displaced.

[0111] Furthermore, in one embodiment, referring to Figure 6 , Figure 7, on one side of the eccentric sleeve 460 facing the motor 440, there is an installation hole communicating with the eccentric hole, and one end of the toroidal enveloping worm 420 passes through the installation hole and is connected to the planetary reduction structure 450; the driving unit 400 further includes a positioning bearing 470, and the positioning bearing 470 is arranged in the installation hole and sleeved on the toroidal enveloping worm 420. The positioning bearing 470 is arranged in the installation hole and sleeved on the toroidal enveloping worm 420, providing additional support and positioning. This helps to reduce the swing and deformation of the toroidal enveloping worm 420 during high-speed rotation or when bearing a large torque, enhances the structural stability of the entire transmission mechanism, and ensures that the finger joint can still operate stably under working conditions with high load or high-precision requirements.

[0112] In order to improve the service life, in this embodiment, referring to Figure 6 , Figure 7 , Figure 8 , the driving unit 400 further includes two first bearings 480, and the two first bearings 480 are arranged in the first accommodating cavity, and the two first bearings 480 are respectively sleeved on both ends of the toroidal enveloping worm 420. Similarly, the driving unit 400 further includes two second bearings 490, and the two second bearings 490 are arranged in the second accommodating cavity, and the two second bearings 490 are respectively sleeved on both ends of the helical gear shaft 430. The settings of the first bearing 480 and the second bearing 490 can reduce the direct contact between the toroidal enveloping worm 420 and the inner wall of the housing 410, and between the helical gear shaft 430 and the inner wall of the housing 410, thereby reducing friction and wear, improving the rotation efficiency, and also helping to extend the service life. The first bearing 480 and the second bearing 490 can also provide stable support points, helping to maintain the positions of the toroidal enveloping worm 420 and the helical gear shaft 430 and ensuring stability. Among them, when the eccentric sleeve 460 is provided, the first bearing 480 is correspondingly arranged in the eccentric sleeve 460.

[0113] Furthermore, in an embodiment, referring to Figure 4 , the driving unit 400 further includes a driving plate 510, and the driving plate 510 is electrically connected to the motor 440; the housing 410 is formed with a receiving groove for receiving the connecting wire 511 of the driving plate 510. The driving plate 510 is electrically connected to the motor 440 and the connecting wire 511 of the driving plate 510 is received through the receiving groove on the housing 410. This design realizes the compact integration of electrical components. In a limited space, the driving plate 510 and its connecting wire 511 are reasonably arranged, avoiding the clutter of lines and external interference, making the entire transmission mechanism cleaner and more orderly, improving the space utilization efficiency, and realizing the closed-loop control of the driving unit 400 by adopting the driving plate, thereby realizing the closed-loop control of the direct-drive finger.

[0114] Specifically, in an embodiment, referring to Figure 6, the planetary reduction structure 450 includes a first planetary disk 451, a second planetary disk 452, three first planetary gears (not visible in the figure), three second planetary gears (not visible in the figure), a first sun gear (not visible in the figure), and a second sun gear (not visible in the figure); a first output rod and three first input rods are respectively provided on both sides of the first planetary disk 451, the second planetary disk 452 is provided with three second input rods, each first planetary gear is sleeved on a first input rod, each second planetary gear is sleeved on a second input rod, the first sun gear is sleeved on the output shaft of the motor 440 and meshes with the three first planetary gears, the second sun gear is sleeved on the first output rod and meshes with the three second planetary gears, and the toroidal enveloping worm 420 is connected to and the end exposed outside the housing 410 is inserted into the second planetary disk 452 in a limited way. Through the meshing of the first sun gear with the three first planetary gears and the meshing of the second sun gear with the three second planetary gears, two-stage reduction is achieved. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor 440 to a lower speed suitable for the movement of finger joints, and at the same time significantly increasing the output torque, enabling the finger joints to generate sufficient force for precise motion control. In addition, the planetary reduction structure 450 further includes a protective housing 453, the protective housing 453 is connected to the housing 410 and the outer housing of the motor 440, and the first planetary disk 451, the second planetary disk 452, the three first planetary gears, the three second planetary gears, the first sun gear, and the second sun gear are all located inside the protective housing 453.

[0115] Further, in an embodiment, referring to Figure 6 , Figure 8 , an annular mounting groove is formed on the pore wall of the through hole; the toroidal enveloping worm 420 helical gear transmission mechanism of the robot finger joint further includes two sealing rings 520, the two sealing rings 520 are respectively sleeved on both ends of the helical gear shaft 430, and each sealing ring 520 is hermetically embedded in an annular mounting groove. The sealing rings 520 are sleeved on both ends of the helical gear shaft 430, and each sealing ring 520 is hermetically embedded in an annular mounting groove, which can effectively prevent dust, moisture or other pollutants from entering the first accommodation cavity and protect each component from wear or corrosion. In addition, lubricating oil is usually provided in the first accommodation cavity and the second accommodation cavity, and the lubricating oil can provide lubrication for the toroidal enveloping worm 420, the helical gear shaft 430, the first bearing 480 and the second bearing 490. In this case, the provision of the sealing rings 520 can also prevent the lubricating oil from leaking internally, ensure that each component is continuously lubricated, and help extend the service life of each component.

[0116] Specifically, in one embodiment, the transmission ratio of the drive unit 400 is from 10:1 to 30:1. That is, it has a relatively high reduction ratio, which can provide precise speed control, thus ensuring the accuracy of the movement of the robot finger. In addition, it also ensures the flexibility and adaptability of the drive unit 400 in different application scenarios.

[0117] The distance between the axis of the hourglass worm 420 and the axis of the helical gear shaft 430 is from 3 mm to 8 mm. That is, the center distance between the hourglass worm 420 and the helical gear shaft 430 is from 3 mm to 8 mm. In this way, by changing the center distance between the hourglass worm 420 and the helical gear shaft 430, the transmission mechanism can be applied to robot fingers of different sizes.

[0118] The module of the hourglass worm 420 and the module of the helical gear shaft 430 are both m, where 0.15 ≤ m ≤ 0.5. The module within this range can ensure the accuracy and stability of the transmission mechanism.

[0119] The present invention also proposes a fully direct - drive dexterous hand. Referring to Figure 1 , the dexterous hand includes a palm part 100, at least one of the first fingers 200 mounted on the palm part 100, and at least one of the second fingers 300. The first finger 200 includes a first joint 220, and the second finger 300 includes a fifth joint 310. The specific structures of the first finger 200 and the second finger 300 refer to the above - mentioned embodiments. Since this dexterous hand adopts all the technical solutions of the above - mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above - mentioned embodiments, which will not be elaborated one by one here. Further, in some embodiments, the palm part 100 is provided with an installation cavity, and the first mounting seat 210 and the second mounting seat 360 are both mounted in the installation cavity.

[0120] The above - mentioned are only exemplary embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields is included in the protection scope of the present invention.

Claims

1. A direct drive finger, characterized in that, Applied to a dexterous hand, the dexterous hand includes a palm part, and fingers are mounted on the palm part. The fingers include: A first mounting seat connected to the palm part, a first joint, a first phalanx, a second joint, and a second phalanx that are sequentially connected outward from the palm part; The first joint includes a first driving unit. The first driving unit includes a first housing, a first motor, and a first rotating shaft mounted on the first housing. The first phalanx is fixedly arranged on the first housing. The first housing is connected to the first mounting seat through the first rotating shaft. The first motor drives the first housing through the first rotating shaft, so that the first housing rotates relative to the first mounting seat around the axis of the first rotating shaft, and can make the finger rotate towards the inner surface of the palm; The second joint can drive the second phalanx to make the finger bend towards the inner surface of the palm.

2. The direct drive finger according to claim 1, wherein, The first driving unit further includes a first transmission component mounted thereon. The first motor is mounted on the first housing, and the first rotating shaft is fixedly arranged on the first mounting seat. The first transmission component connects the first rotating shaft and the first motor and is used to increase the torque transmitted from the first motor to the first rotating shaft; And / or, the first phalanx includes two first connecting plates, and the first driving unit is arranged between the two first connecting plates.

3. The direct-drive finger according to claim 2, wherein The second joint includes a second driving unit. The second driving unit includes a second housing, a second rotating shaft mounted on the second housing, a second motor, and a second transmission component. The second rotating shaft is fixedly arranged on the first phalanx; The second transmission component connects the second rotating shaft and the second motor and is used to increase the torque transmitted from the second motor to the second rotating shaft. The second motor can drive the second housing through the second rotating shaft, so that the second housing rotates around the second rotating shaft; The second phalanx can follow the rotation of the second housing, and the second phalanx is fixedly arranged on the second housing.

4. The direct drive finger according to claim 3, wherein The finger further includes a third phalanx and a third joint; The third joint includes a third driving unit. The third driving unit includes a third housing, a third rotating shaft mounted on the third housing, a third motor, and a third transmission component. The third rotating shaft is fixedly arranged on the second phalanx; The third transmission component connects the third rotating shaft and the third motor and is used to increase the torque transmitted from the third motor to the third rotating shaft. The third motor can drive the third housing through the third rotating shaft, so that the third housing rotates around the axis of the third rotating shaft. The third phalanx is fixedly arranged on the third housing and can follow the rotation of the third housing, and can make the finger bend towards the inner surface of the palm; And / or, the second phalanx includes two second connecting plates, and the second driving unit and the third driving unit are arranged between the two second connecting plates.

5. The direct drive finger according to claim 1, characterized in that, The finger includes a fourth driving unit fixedly arranged on the palm part. The fourth driving unit includes a fourth rotating shaft, and the fourth rotating shaft can drive the first mounting seat to make the finger swing and make the two fingers approach or separate from each other.

6. The direct drive finger according to claim 5, wherein The fourth driving unit further includes a fourth housing fixedly arranged on the palm part, a fourth motor and a fourth transmission assembly mounted on the fourth housing. The fourth rotating shaft is mounted on the fourth housing. The fourth motor can drive the fourth rotating shaft through the fourth transmission assembly, and the fourth transmission assembly is used for increasing the torque transmitted from the fourth motor to the third rotating shaft.

7. A direct drive finger, characterized in that, Applied to a dexterous hand, the dexterous hand includes a palm part, and fingers are mounted on the palm part. The fingers include: a second mounting seat mounted on the palm part, a driving module, a fifth joint mounted on the second mounting seat, and a fifth phalanx; The driving module includes a seventh driving unit fixedly arranged on the palm part. The seventh driving unit includes a seventh rotating shaft, and the seventh rotating shaft can drive the second mounting seat to rotate around the axis of the seventh rotating shaft. The driving module enables the finger to have a first position and a second position relative to the palm part; At the first position, the fifth joint can drive the fifth phalanx to make the fingertip of the finger approach or move away from the circumferential side of the palm part; At the second position, the fifth joint can drive the fifth phalanx to make the fingertip of the finger approach or move away from the inner palm surface of the palm part.

8. The direct drive finger according to claim 7, wherein The seventh driving unit further includes a seventh housing, a seventh motor and a seventh transmission assembly mounted on the seventh housing. The seventh rotating shaft is mounted on the seventh housing, and the seventh housing is fixedly arranged on the palm part; The seventh motor drives the seventh rotating shaft through the seventh transmission assembly, and the seventh transmission part is used for increasing the torque transmitted from the seventh motor to the seventh rotating shaft; The driving module further includes an eighth driving unit and a third mounting seat. The eighth driving unit includes an eighth housing, an eighth rotating shaft, an eighth motor and an eighth transmission assembly mounted on the eighth housing. The eighth housing is fixedly arranged on the second mounting seat, and the eighth rotating shaft can drive the third mounting seat to rotate around the axis of the eighth rotating shaft; The eighth motor drives the eighth rotating shaft through the eighth transmission assembly, and the eighth transmission part is used for increasing the torque transmitted from the eighth motor to the eighth rotating shaft. The fifth joint is mounted on the third mounting seat; At the first position, the eighth rotating shaft is parallel to the inner palm surface; at the second position, the eighth rotating shaft is perpendicular to the inner palm surface.

9. The direct drive finger according to claim 8, wherein, The fifth joint includes a fifth driving unit. The fifth driving unit includes a fifth housing, a fifth rotating shaft, a fifth motor and a fifth transmission assembly mounted on the fifth housing. The fifth rotating shaft is fixedly arranged on the third mounting seat. At the first position, the axis of the fifth rotating shaft is perpendicular to the palm surface; The fifth transmission assembly connects the fifth rotating shaft and the fifth motor and is used for increasing the torque transmitted from the fifth motor to the fifth rotating shaft. The fifth motor can drive the fifth housing through the fifth rotating shaft to make the fifth housing flip around the fifth rotating shaft; The fifth phalanx can follow the flipping of the fifth housing, and the fifth phalanx is fixedly arranged on the fifth housing; And / or, the finger further includes a sixth joint and a sixth phalanx; The sixth joint includes a sixth driving unit, and the sixth driving unit includes a sixth housing, a sixth rotating shaft installed in the sixth housing, a sixth motor, and a sixth transmission assembly. The sixth rotating shaft is fixedly arranged on the fifth phalanx; The sixth transmission assembly connects the sixth rotating shaft and the sixth motor and is used for increasing the torque transmitted from the sixth motor to the sixth rotating shaft. The sixth motor can drive the sixth housing through the sixth rotating shaft so that the sixth housing rotates around the sixth rotating shaft; The sixth phalanx can rotate following the sixth housing, and the sixth phalanx is fixedly arranged on the sixth housing.

10. A fully direct-driven dexterous hand, characterized in that, It includes a palm portion, at least one first finger and at least one second finger installed on the palm portion; The first finger is the direct drive finger according to any one of claims 1 to 6; the second finger is the direct drive finger according to any one of claims 7 to 9.

Images