Dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and solves the problems that the dexterous hand is single in structure and limited in application scene. The dexterous hand comprises a palm base plate, at least three spinning driving assemblies and at least three finger assemblies. The at least three finger assemblies are driven by the at least three spinning driving assemblies to spin around the first axis, the second axis and the third axis respectively, and the at least three-finger configuration of the dexterous hand is achieved. The at least two finger assemblies can spin around the first axis and the second axis to be oppositely arranged, and at least one finger assembly can spin around the third axis to be close to the palm base plate, that is, the at least one finger assembly close to the palm base plate is equivalent to being folded on the palm base plate, and the actions of the other at least two finger assemblies are not affected; the configuration of at least two fingers of the dexterous hand is achieved, switching of different numbers of finger configurations of the dexterous hand is achieved, and therefore the dexterous hand is suitable for various application scenes.

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] A robot's end effector, particularly a dexterous hand, is a critical component for interacting with the external environment and completing complex tasks. In the field of intelligent robotics, the design and functionality of the robot's end effector directly impact the robot's operational efficiency and task adaptability. Traditional dexterous hands are typically fixed to a single configuration (such as two-, three-, or five-finger configurations). This fixed configuration lacks flexibility in adapting to diverse operational scenarios. For example, for regularly shaped workpieces, a two-finger dexterous hand can meet the requirements. This design is simple, compact, and easy to maintain, while also offering low power consumption. However, when grasping thin-walled or irregularly shaped objects, a two-finger dexterous hand can easily deform the object or suffer from poor grasping stability due to its limited two-point contact. In contrast, a three-finger dexterous hand, through triangular support, achieves a more stable grasp and more even force distribution, making it suitable for grasping complex workpieces.

[0003] Therefore, how to flexibly switch the configuration of the dexterous hand according to the specific application scenarios and the needs of interactive objects has become a technical problem that needs to be solved urgently. 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 problems of traditional dexterous hands having a single configuration and limited application scenarios.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm substrate; at least three spin drive components, arranged on the palm substrate; at least three finger components, respectively connected to the at least three spin drive components, wherein the at least three finger components spin around a first axis, a second axis and a third axis respectively under the respective driving of the at least three spin drive components, the first axis is parallel to the second axis, and the extension direction of the third axis intersects with the extension direction of the first axis; wherein at least two of the finger components can spin around the first axis and the second axis respectively to a relative position, and at least one finger component can spin around the third axis to be close to the palm substrate.

[0006] In some embodiments, the spin drive component capable of driving the finger assembly to spin around the first axis and the spin drive component capable of driving the finger assembly to spin around the second axis are separately arranged on both sides of the spin drive component capable of driving the finger assembly to spin around the third axis.

[0007] In some embodiments, the angle between the extension direction of the third axis and the extension direction of the first axis is 45°.

[0008] In some embodiments, the number of the finger assemblies is three, the number of the spin drive assemblies is three, and the finger assemblies include: a root knuckle, connected to the spin drive assembly, and spinning under the drive of the spin drive assembly; a finger joint assembly, rotatably connected to the root knuckle, and the rotation axis of the finger joint assembly and the root knuckle is perpendicular to the spin axis of the root knuckle; wherein, under the respective drive of the three spin drive assemblies, the rotation axis of the finger joint assembly and the root knuckle of the three finger assemblies can form an isosceles triangle with the root knuckle; wherein, under the respective drive of the three spin drive assemblies, the three finger assemblies The knuckle assembly of each finger assembly can be parallel to the rotation axis of the root knuckle, and the two finger assemblies that respectively rotate around the first axis and the second axis and the finger assembly that rotates around the third axis can be arranged relative to each other; wherein, under the separate driving of the three spin drive assemblies, the two finger assemblies can respectively rotate around the first axis and the second axis to be relatively arranged, and the knuckle assembly of each of the two finger assemblies is parallel to the rotation axis of the root knuckle, and the other finger assembly can rotate until the knuckle assembly included in the finger assembly is close to the palm substrate.

[0009] In some embodiments, the root knuckle includes: an annular connecting portion, the inner side surface of the annular connecting portion is sleeved on the output shaft of the spin drive assembly; a knuckle connecting portion, connected to the annular connecting portion and rotatably connected to the knuckle assembly; wherein, the dexterous hand also includes: a support assembly, connected to the palm base; at least three first bearings, the outer ring of the first bearing is connected to the support assembly, and the inner ring of the first bearing is sleeved on the outer side surface of the annular connecting portion.

[0010] In some embodiments, the finger joint assembly includes: a proximal finger joint body, the first end of the proximal finger joint body is rotatably connected to the root finger joint; a first driving member, which is arranged on the proximal finger joint body; a first gear, which is transmission-connected to the first driving member and rotates around a fourth axis under the drive of the first driving member, and the first gear has a first through hole; a second gear, which is coaxially arranged with the first gear and can be transmission-connected to the root finger joint, and the second gear has a second through hole; an elastic member, the first end of the elastic member abuts against the end face of the second gear away from the first gear, and the elastic member has a third through hole, and the third through hole extends from the first end of the elastic member to the second end of the elastic member; a locking member, including a first limiting portion, a connecting portion and a second limiting portion connected in sequence, the first limiting portion abuts against the end face of the first gear away from the second gear, the connecting portion passes through the first through hole, the second through hole and the third through hole in sequence, and the second limiting portion abuts against the second end of the elastic member.

[0011] In some embodiments, the finger joint assembly also includes: a third gear, coaxially connected to the output shaft of the first driving member and meshing with the first gear, the third gear rotates around the fifth axis under the drive of the first driving member, and the first gear rotates around the fourth axis driven by the third gear, the fifth axis is parallel to the fourth axis, and the number of teeth of the third gear is smaller than the number of teeth of the first gear; a fourth gear, rotatably connected to the proximal finger joint body and meshing with the second gear, rotates around the sixth axis driven by the second gear, the sixth axis is parallel to the fifth axis, and the number of teeth of the fourth gear is greater than the number of teeth of the second gear; a fifth gear, meshing with the fourth gear, rotates around the seventh axis driven by the fourth gear, the seventh axis is parallel to the sixth axis, and the number of teeth of the fifth gear is greater than the number of teeth of the fourth gear; a first reducer, arranged on the proximal finger joint body, the input end of the first reducer is coaxially connected to the fifth gear, and the output end of the first reducer is connected to the root finger joint.

[0012] In some embodiments, the finger joint assembly also includes: a distal finger joint body; a second drive member, arranged on the proximal finger joint body; a sixth gear, connected to the second drive member, and rotates around the eighth axis under the drive of the second drive member; a seventh gear, rotatably connected to the proximal finger joint body and meshing with the sixth gear, rotates around the ninth axis driven by the sixth gear, the ninth axis is parallel to the eighth axis, and the number of teeth of the seventh gear is greater than the number of teeth of the sixth gear; an eighth gear, coaxially arranged and connected with the seventh gear, rotates around the ninth axis with the seventh gear, and the number of teeth of the eighth gear is less than the number of teeth of the seventh gear; a ninth gear, meshing with the eighth gear, rotates around the tenth axis driven by the eighth gear, the tenth axis is parallel to the ninth axis, and the number of teeth of the ninth gear is greater than the number of teeth of the eighth gear; a second reducer, arranged on the proximal finger joint body, the input end of the second reducer is coaxially connected to the ninth gear, and the output end of the second reducer is connected to the distal finger joint body.

[0013] In some embodiments, the proximal phalanx body includes a first shaft portion and a second shaft portion, the first shaft portion is coaxially arranged with the output end of the first reducer and is arranged opposite to the output end of the first reducer in the extension direction of the seventh axis, the second shaft portion is coaxially arranged with the output end of the second reducer and is arranged opposite to the output end of the second reducer in the extension direction of the tenth axis, the root phalanx is rotatably connected to the first shaft portion, and the distal phalanx body is rotatably connected to the second shaft portion; wherein the first shaft portion has a first wiring hole, and the second The shaft has a second wiring hole, the proximal phalanx body has a third wiring hole and a fourth wiring hole, the first wiring hole connects the third wiring hole and the outside world, and the second wiring hole connects the fourth wiring hole and the outside world; the dexterous hand also includes: a driving plate, connected to the proximal phalanx body, the third wiring hole and the fourth wiring hole both extend to the driving plate, wherein the cable can pass through the first wiring hole and the third wiring hole in sequence and be connected to the driving plate, and the cable can also pass through the second wiring hole and the fourth wiring hole in sequence and be connected to the driving plate.

[0014] In some embodiments, the dexterous hand further includes: a tactile sensor, disposed on the outer surface of the distal phalanx body, configured to sense the physical properties of an object in contact with the phalanx assembly; and / or a pressure sensor, disposed on the outer surface of the proximal phalanx body, configured to detect the pressure exerted on the proximal phalanx body; and / or a distance sensor, connected to the palm substrate, located between at least three of the finger assemblies, configured to detect the distance between the objects around the dexterous hand and the dexterous hand; and / or a visual sensor, connected to the palm substrate, located between at least three of the finger assemblies, configured to detect the shape and posture of objects around the dexterous hand; and / or an indicator light, disposed on the outer surface of the proximal phalanx body, configured to feedback the working status of the dexterous hand or the joint load of the dexterous hand through brightness and color.

[0015] 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.

[0016] The dexterous hand provided by the embodiment of the present disclosure includes a palm base plate, at least three spin drive components and at least three finger components. The at least three spin drive components are arranged on the palm base plate. The at least three finger components are respectively connected to the at least three spin drive components, and the at least three finger components are respectively driven by the at least three spin drive components to spin around the first axis, the second axis and the third axis, respectively, to achieve at least three-finger configuration of the dexterous hand. In addition, at least two finger components can be respectively rotated around the first axis and the second axis to be relatively arranged, and at least one finger component can be rotated around the third axis to be close to the palm base plate, that is, at least one finger component close to the palm base plate is equivalent to being folded with the palm base plate, without affecting the movement of the other at least two finger components, thereby achieving at least two-finger configuration of the dexterous hand. In other words, by making the at least three finger components spin around the first axis, the second axis and the third axis respectively under the drive of the at least three spin drive components, it is possible to switch between different number of finger configurations of the dexterous hand, thereby making the dexterous hand suitable for a variety of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0019] Figure 2Shown is a side view of a dexterous hand provided according to an embodiment of the present disclosure.

[0020] Figure 3 Shown is a front view of a dexterous hand provided by an embodiment of the present disclosure.

[0021] Figure 4 Shown is a structural schematic diagram of a two-finger configuration of a dexterous hand provided by an embodiment of the present disclosure.

[0022] Figure 5 Shown is a structural schematic diagram of a three-finger configuration of a dexterous hand provided in one embodiment of the present disclosure.

[0023] Figure 6 Shown is a top view of a three-finger configuration of a dexterous hand provided by an embodiment of the present disclosure.

[0024] Figure 7 Shown Figure 2 The cross-sectional view of the dexterous hand along the AA direction is shown.

[0025] Figure 8 Shown Figure 7 A partial enlarged view of area B of the dexterous hand is shown.

[0026] Figure 9 Shown Figure 2 The cross-sectional view of the dexterous hand along the CC direction is shown.

[0027] Figure 10 Shown Figure 9 A partial enlarged view of area D of the dexterous hand is shown.

[0028] Figure 11 Shown is a schematic structural diagram of a root knuckle provided by an embodiment of the present disclosure.

[0029] Figure 12 Shown is a structural schematic diagram of a finger assembly provided by an embodiment of the present disclosure without the proximal phalanx body.

[0030] Figure 13 Shown is a structural schematic diagram of a finger assembly excluding the proximal phalanx body from another perspective provided by an embodiment of the present disclosure.

[0031] Figure 14 Shown is a schematic structural diagram of a finger assembly provided in one embodiment of the present disclosure.

[0032] Figure 15 Shown is a top view of a finger assembly provided according to an embodiment of the present disclosure.

[0033] Figure 16 Shown Figure 15 The cross-sectional view of the finger drive structure in the EE direction is shown.

[0034] Figure 17 Shown is a schematic diagram of a finger assembly provided by an embodiment of the present disclosure, with the proximal phalanx body removed as a partial structure.

[0035] Figure 18 Shown is a schematic structural diagram of a dexterous hand provided in another embodiment of the present disclosure.

[0036] Figure 19 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0037] Reference numerals: 1. Robot; 10. Dexterous hand; 100. Palm substrate; 200. Spin drive assembly; 210. Output shaft; 300. Finger assembly; 310. Root knuckle; 311. Ring connector; 312. Knuckle connector; 320. Knuckle assembly; 321. Proximal knuckle body; 3211. First shaft; 3212. Second shaft; 3213. First wiring hole; 3214. Second wiring hole; 3215. Third wiring hole; 3216. Fourth wiring hole; 3217, first proximal phalanx body; 3218, second proximal phalanx body; 3219, third proximal phalanx body; 3220, fourth proximal phalanx body; 322, first driving member; 323, first gear; 3231, first through hole; 324, second gear; 3241, second through hole; 325, elastic member; 3251, third through hole; 326, locking member; 3261, first limiting portion; 3262, connecting portion; 3263, second limiter; 400, support assembly; 510, first bearing; 610, third gear; 620, fourth gear; 630, fifth gear; 640, first reducer; 710, distal knuckle body; 720, second drive member; 730, sixth gear; 740, seventh gear; 750, eighth gear; 760, ninth gear; 770, second reducer; 780, drive plate; 790, cable; 810, tactile sensor Device; 820, pressure sensor; 830, distance sensor; 840, visual sensor; 850, indicator light; 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; β, angle. DETAILED DESCRIPTION

[0038] 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.

[0039] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure. Figure 2 Shown is a side view of a dexterous hand provided according to an embodiment of the present disclosure. Figure 3 Shown is a front view of a dexterous hand provided by an embodiment of the present disclosure. Figure 4 Shown is a structural schematic diagram of a two-finger configuration of a dexterous hand provided by an embodiment of the present disclosure. Figure 5 Shown is a structural schematic diagram of a three-finger configuration of a dexterous hand provided in one embodiment of the present disclosure. Figure 6 FIG. 1 is a top view of a three-finger configuration of a dexterous hand provided by an embodiment of the present disclosure. Figures 1 to 6 As shown, the dexterous hand 10 includes a palm base 100 , at least three spin drive components 200 and at least three finger components 300 .

[0040] For example, the palm substrate 100 may be a plate-shaped structure, a frame structure, or a special-shaped structure, as long as it can play a supporting role and can be used to support the spin drive assembly 200 .

[0041] At least three spin drive components 200 are provided on the palm base plate 100. For example, the spin drive components 200 can be fixedly connected to the palm base plate 100 by bolt connection, clamping, etc.

[0042] At least three finger assemblies 300 are connected to at least three spin drive assemblies 200, respectively. Driven by the at least three spin drive assemblies 200, the at least three finger assemblies 300 spin around a first axis L1, a second axis L2, and a third axis L3, respectively. The first axis L1 is parallel to the second axis L2, and the third axis L3 extends in a direction that intersects the direction of the first axis L1. At least two finger assemblies 300 can spin around the first axis L1 and the second axis L2 until they are opposite each other, and at least one finger assembly 300 can spin around the third axis L3 until it is close to the palm base 100.

[0043] like Figure 1 and Figure 5As shown, at least three finger assemblies 300 are respectively connected to at least three spin drive assemblies 200. The at least three finger assemblies 300 spin around the first axis L1, the second axis L2 and the third axis L3 respectively under the respective driving of the at least three spin drive assemblies 200, thereby realizing at least a three-finger configuration of the dexterous hand 10.

[0044] like Figure 4 As shown, at least two finger assemblies 300 can rotate around the first axis L1 and the second axis L2 to relative positions, respectively, and at least one finger assembly 300 can rotate around the third axis L3 to be close to the palm substrate 100. That is, the at least one finger assembly 300 close to the palm substrate 100 is equivalent to being folded with the palm substrate 100, without affecting the movements of the other at least two finger assemblies 300, thereby realizing at least a two-finger configuration of the dexterous hand 10.

[0045] In other words, by making at least three finger assemblies 300 spin around the first axis L1, the second axis L2 and the third axis L3 respectively driven by at least three spin drive assemblies 200, it is possible to switch between different numbers of finger configurations of the dexterous hand 10, thereby making the dexterous hand 10 suitable for a variety of application scenarios.

[0046] In some embodiments, as Figure 3 As shown, the spin drive assembly 200 capable of driving the finger assembly 300 to spin around the first axis L1 and the spin drive assembly 200 capable of driving the finger assembly 300 to spin around the second axis L2 are arranged on either side of the spin drive assembly 200 capable of driving the finger assembly 300 to spin around the third axis L3. With this arrangement, when the dexterous hand 10 is in a three-finger configuration, the finger assembly 300 spinning around the third axis L3 can form a finger-to-finger position similar to that of a human thumb and index or middle finger with the finger assembly 300 spinning around the first axis L1 and the finger assembly 300 spinning around the second axis L2.

[0047] For example, the angle β between the extension direction of the third axis L3 and the extension direction of the first axis L1 ranges from 0° to 90°. Figure 2 As shown, the angle β between the extension direction of the third axis L3 and the extension direction of the first axis L1 is 45°. Calculations and experiments have verified that the angle β between the extension direction of the third axis L3 and the extension direction of the first axis L1 is 45°, which can ensure the highest dexterity in the space between the three finger assemblies 300 of the dexterous hand 10.

[0048] In some embodiments, there are three finger assemblies 300 and three spin drive assemblies 200. The finger assembly 300 includes a root knuckle 310 and a knuckle assembly 320. The root knuckle 310 is connected to the spin drive assembly 200 and spins under the drive of the spin drive assembly 200. The knuckle assembly 320 is rotatably connected to the root knuckle 310. The rotation axis of the knuckle assembly 320 and the root knuckle 310 is perpendicular to the spin axis of the root knuckle 310.

[0049] For example, Figure 5 and Figure 6 As shown, under the respective driving of the three spin drive assemblies 200 , the rotation axes of the respective finger joint assemblies 320 and the root finger joint 310 of the three finger assemblies 300 can form an isosceles triangle.

[0050] Specifically, if Figure 5 and Figure 6 As shown, the rotation axes of the knuckle assemblies 320 and the root knuckle 310 of each of the three finger assemblies 300 are the eleventh axis L11, the twelfth axis L12, and the thirteenth axis L13, respectively. The eleventh axis L11, the twelfth axis L12, and the thirteenth axis L13 form an isosceles triangle, facilitating a stable triangular support for the three finger assemblies 300. This improves the grasping capability and stability of the dexterous hand 10, making it suitable for grasping workpieces with more complex structures.

[0051] For example, Figure 4 As shown, under the separate driving of the three spin drive components 200, the rotation axes of the finger joint components 320 and the root finger joint 310 of each of the three finger components 300 can be parallel, and the two finger components 300 that respectively rotate around the first axis L1 and the second axis L2 and the finger component 300 that rotates around the third axis L3 can be arranged relative to each other, thereby imitating the finger-to-finger state of the human hand, improving the degree of anthropomorphism of the dexterous hand 10, and also forming a stable triangular support, thereby improving the grasping ability and stability of the dexterous hand 10, and being suitable for grasping workpieces with more complex structures.

[0052] For example, under the separate driving of the three spin drive components 200, the two finger components 300 can respectively spin around the first axis L1 and the second axis L2 to a relative position, and the respective finger joint components 320 of the two finger components 300 are parallel to the rotation axis of the root joint 310, and the other finger component 300 can spin until the finger joint component 320 included in the finger component 300 is close to the palm substrate 100, realizing the two-finger configuration of the dexterous hand 10, which has a simple, compact and easy to maintain structure and has low power consumption.

[0053] Figure 7 Shown Figure 2 The cross-sectional view of the dexterous hand along the AA direction is shown. Figure 8 Shown Figure 7 A partial enlarged view of area B of the dexterous hand is shown. Figure 9 Shown Figure 2 The cross-sectional view of the dexterous hand along the CC direction is shown. Figure 10 Shown Figure 9 A partial enlarged view of area D of the dexterous hand is shown. Figure 11 FIG. 1 is a schematic diagram of the structure of the root knuckle provided by an embodiment of the present disclosure. Figures 7 to 11 As shown, the root knuckle 310 includes a ring-shaped connecting portion 311 and a knuckle connecting portion 312 .

[0054] The inner surface of the annular connection portion 311 fits over the output shaft 210 of the spin drive assembly 200. The knuckle connection portion 312 is connected to the annular connection portion 311 and is rotatably connected to the knuckle assembly 320. The dexterous hand 10 also includes a support assembly 400 and at least three first bearings 510. The support assembly 400 is connected to the palm base 100. The outer ring of the first bearing 510 is connected to the support assembly 400, and the inner ring of the first bearing 510 fits over the outer surface of the annular connection portion 311.

[0055] The root knuckle 310 can be connected to the output shaft 210 of the spin drive assembly 200 and can also be supported by the support assembly 400 through the first bearing 510, thereby achieving double support for the root knuckle 310 and making the spin of the root knuckle 310 more stable.

[0056] Figure 12 Shown is a structural schematic diagram of a finger assembly provided by an embodiment of the present disclosure without the proximal phalanx body. Figure 13 Shown is a structural schematic diagram of a finger assembly excluding the proximal phalanx body from another perspective provided by an embodiment of the present disclosure. Figure 14 Shown is a schematic structural diagram of a finger assembly provided in one embodiment of the present disclosure. Figure 15 Shown is a top view of a finger assembly provided according to an embodiment of the present disclosure. Figure 16 Shown Figure 15 The cross-sectional view of the finger drive structure shown in FIG. Figures 12 to 16 As shown, the knuckle assembly 320 includes a proximal knuckle body 321 , a first driving member 322 , a first gear 323 , a second gear 324 , an elastic member 325 and a locking member 326 .

[0057] The first end of the proximal phalanx body 321 is rotatably connected to the root phalanx 310. The proximal phalanx body 321 can be integrally formed or can be separately provided. Figure 16As shown, the proximal phalanx body 321 may include a first proximal phalanx body 3217 , a second proximal phalanx body 3218 , a third proximal phalanx body 3219 and a fourth proximal phalanx body 3220 .

[0058] The first driving member 322 is provided on the proximal phalanx body 321. The first driving member 322 can be provided on any part of the proximal phalanx body 321 according to actual needs. Figure 16 As shown, the first driving member 322 is disposed in the space enclosed by the second proximal phalanx body 3218, the third proximal phalanx body 3219, and the fourth proximal phalanx body 3220, to facilitate the fixation of the first driving member 322. For example, the first driving member 322 can be a driving structure capable of outputting rotational force, such as a motor or a rotary cylinder.

[0059] The first gear 323 is in transmission connection with the first driving member 322 and rotates about the fourth axis L4 under the drive of the first driving member 322. The first gear 323 has a first through-hole 3231. The second gear 324 is coaxially arranged with the first gear 323 and can be in transmission connection with the root knuckle 310. The second gear 324 has a second through-hole 3241. For example, the first gear 323 and the second gear 324 can each be a spur gear, a helical gear, or the like, which is not specifically limited in this disclosure.

[0060] The first end of the elastic member 325 abuts against the end face of the second gear 324 away from the first gear 323. The elastic member 325 has a third through hole 3251. The third through hole 3251 extends from the first end of the elastic member 325 to the second end of the elastic member 325. For example, the elastic member 325 is an elastic structure such as a spring or rubber member. In some embodiments, the elastic member 325 is a compression spring. Compression springs have a simple structure, stable performance, and strong load-bearing capacity. As standard components, compression springs facilitate designers to select compression springs that meet compression force requirements.

[0061] The locking member 326 includes a first limiting portion 3261, a connecting portion 3262 and a second limiting portion 3263 connected in sequence, the first limiting portion 3261 abuts against the end face of the first gear 323 away from the second gear 324, the connecting portion 3262 passes through the first through hole 3231, the second through hole 3241 and the third through hole 3251 in sequence, and the second limiting portion 3263 abuts against the second end of the elastic member 325.

[0062] The first driving member 322 is used to drive the first gear 323 to rotate around the fourth axis L4. During normal transmission (i.e., no overload occurs), the first gear 323 drives the second gear 324 to rotate coaxially, and the second gear 324 drives the root knuckle 310 to rotate, thereby realizing the use of the knuckle assembly 320 to drive the rotation of the root knuckle 310.

[0063] During normal transmission, the compressive force of the elastic member 325 can compress the first gear 323 and the second gear 324 along the axial direction of the first gear 323, allowing the second gear 324 to rotate coaxially with the first gear 323, thereby achieving force transmission. In the event of an overload, excessive torque or stress prevents the compressive force of the elastic member 325 from axially compressing the first gear 323 and the second gear 324, causing slippage between the second gear 324 and the first gear 323. This reduces the transmission of torque or stress and reduces the probability of damage to the knuckle assembly 320 due to overload.

[0064] In some embodiments, as Figure 12 As shown, the knuckle assembly 320 also includes a third gear 610. The third gear 610 is coaxially connected to the output shaft of the first drive member 322 and meshes with the first gear 323. Driven by the first drive member 322, the third gear 610 rotates about the fifth axis L5. Driven by the third gear 610, the first gear 323 rotates about the fourth axis L4. The fifth axis L5 is parallel to the fourth axis L4, meaning that the first gear 323 and the third gear 610 are arranged side by side. This reduces the size of the knuckle assembly 320 in the direction extending from the fourth axis L4. Furthermore, the third gear 610 has fewer teeth than the first gear 323, achieving a reduction in speed.

[0065] For example, the third gear 610 may be a spur gear, a helical gear, etc., which is not specifically limited in the present disclosure. For example, the first gear 323 is externally meshed with the third gear 610 .

[0066] In some embodiments, as Figure 13 As shown, the finger joint assembly 320 also includes a fourth gear 620, a fifth gear 630, and a first reducer 640. The fourth gear 620 is rotatably connected to the proximal finger joint body 321 and meshes with the second gear 324. Driven by the second gear 324, it rotates about the sixth axis L6. The fifth gear 630 meshes with the fourth gear 620 and rotates about the seventh axis L7 driven by the fourth gear 620. The first reducer 640 is disposed on the proximal finger joint body 321. The input end of the first reducer 640 is coaxially connected to the fifth gear 630, and the output end of the first reducer 640 is connected to the root finger joint 310. In other words, the second gear 324, the fourth gear 620, the fifth gear 630, and the first reducer 640 form a transmission chain to drive the root finger joint 310 to rotate.

[0067] The sixth axis L6 is parallel to the fifth axis L5, and the seventh axis L7 is parallel to the sixth axis L6, that is, the second gear 324 and the fourth gear 620 are arranged side by side, and the fourth gear 620 and the fifth gear 630 are arranged side by side, which reduces the size of the finger joint assembly 320 in the extension direction of the sixth axis L6.

[0068] Exemplarily, the sixth axis L6 is parallel to the fourth axis L4, that is, the third gear 610, the second gear 324, the fourth gear 620 and the fifth gear 630 are all arranged side by side, further reducing the size of the knuckle assembly 320 in the extension direction of the fourth axis L4.

[0069] The number of teeth of the fourth gear 620 is greater than the number of teeth of the second gear 324 , and the number of teeth of the fifth gear 630 is greater than the number of teeth of the fourth gear 620 , thereby achieving the effect of reducing speed and increasing torque.

[0070] Exemplarily, the first reducer 640 may be a planetary reducer, a harmonic reducer, etc., which is not specifically limited in the present disclosure.

[0071] In some embodiments, as Figure 12 and Figure 13 As shown, the finger joint assembly 320 further includes a distal finger joint body 710 , a second driving member 720 , a sixth gear 730 , a seventh gear 740 , an eighth gear 750 , a ninth gear 760 and a second reducer 770 .

[0072] The second driving member 720 is provided on the proximal phalanx body 321. For example, the second driving member 720 can be a driving structure capable of outputting a rotational force, such as a motor or a rotary cylinder.

[0073] The sixth gear 730 is connected to the second driving member 720 and rotates about the eighth axis L8 under the drive of the second driving member 720. The seventh gear 740 is rotatably connected to the proximal phalanx body 321 and meshes with the sixth gear 730. Driven by the sixth gear 730, it rotates about the ninth axis L9. The eighth gear 750 is coaxially connected to the seventh gear 740 and rotates along with the seventh gear 740 about the ninth axis L9. The ninth gear 760 meshes with the eighth gear 750 and rotates about the tenth axis L10 under the drive of the eighth gear 750. The second reducer 770 is disposed on the proximal phalanx body 321. The input end of the second reducer 770 is coaxially connected to the ninth gear 760, and the output end of the second reducer 770 is connected to the distal phalanx body 710. In other words, the second driving member 720 , the sixth gear 730 , the seventh gear 740 , the eighth gear 750 , the ninth gear 760 and the second speed reducer 770 form a transmission chain to drive the distal phalanx body 710 to rotate.

[0074] The ninth axis L9 is parallel to the eighth axis L8, and the tenth axis L10 is parallel to the ninth axis L9. That is, the sixth gear 730 and the seventh gear 740 are arranged side by side, and the eighth gear 750 and the ninth gear 760 are arranged side by side, which reduces the size of the knuckle assembly 320 in the extension direction of the ninth axis L9.

[0075] Exemplarily, the ninth axis L9 is parallel to the fourth axis L4, that is, the third gear 610, the second gear 324, the fourth gear 620, the fifth gear 630, the sixth gear 730, the eighth gear 750 and the ninth gear 760 are all arranged side by side, further reducing the size of the finger joint assembly 320 in the extension direction of the fourth axis L4.

[0076] The number of teeth of the seventh gear 740 is greater than that of the sixth gear 730 , the number of teeth of the eighth gear 750 is less than that of the seventh gear 740 , and the number of teeth of the ninth gear 760 is greater than that of the eighth gear 750 , thereby achieving the effect of deceleration and torque increase.

[0077] Exemplarily, the second reducer 770 may be a planetary reducer, a harmonic reducer, etc., which is not specifically limited in the present disclosure.

[0078] The first driving member 322 and the second driving member 720 are both arranged on the proximal phalanx body 321, so that the first driving member 322 and the second driving member 720 can drive the bending of the root phalanx 310 and the distal phalanx body 710 without bypassing the rotation axis of the root phalanx 310 and the distal phalanx body 710, that is, direct drive is achieved, and there is no need to use tendons / connecting rods for long-distance transmission, which reduces the size of the phalanx assembly 320 and improves the compactness and integration of the dexterous hand 10.

[0079] In some embodiments, as Figure 14 and Figure 15 As shown, the proximal phalanx body 321 includes a first shaft portion 3211 and a second shaft portion 3212. The first shaft portion 3211 is coaxially arranged with the output end of the first reducer 640, and is arranged opposite to the output end of the first reducer 640 in the extension direction of the seventh axis L7. The second shaft portion 3212 is coaxially arranged with the output end of the second reducer 770, and is arranged opposite to the output end of the second reducer 770 in the extension direction of the tenth axis L10. The root phalanx 310 is rotatably connected to the first shaft portion 3211, and the distal phalanx body 710 is rotatably connected to the second shaft portion 3212.

[0080] In other words, the root phalanx 310 is rotatably connected to the first shaft 3211 and is also connected to the output end of the first reducer 640, providing dual support for the root phalanx 310 and improving the rotational stability of the root phalanx 310. The distal phalanx body 710 is rotatably connected to the second shaft 3212 and is also connected to the output end of the second reducer 770, providing dual support for the distal phalanx body 710 and improving the rotational stability of the distal phalanx body 710.

[0081] like Figure 14 and Figure 15 As shown, the first shaft portion 3211 has a first wiring hole 3213 , and the second shaft portion 3212 has a second wiring hole 3214 .

[0082] Figure 17 The figure shows a schematic diagram of the structure of the finger assembly provided by one embodiment of the present disclosure without the proximal phalanx body. Figure 17 As shown, the proximal phalanx body 321 has a third wiring hole 3215 and a fourth wiring hole 3216. The first wiring hole 3213 connects the third wiring hole 3215 with the outside world, and the second wiring hole 3214 connects the fourth wiring hole 3216 with the outside world.

[0083] like Figure 12 and Figure 13 As shown, the dexterous hand 10 also includes a drive plate 780. The drive plate 780 is connected to the proximal phalanx body 321, and the third wiring hole 3215 and the fourth wiring hole 3216 both extend to the drive plate 780. The cable 790 can pass through the first wiring hole 3213 and the third wiring hole 3215 in sequence and connect to the drive plate 780. The cable 790 can also pass through the second wiring hole 3214 and the fourth wiring hole 3216 in sequence and connect to the drive plate 780. This enables internal wiring, reduces the exposure of the cable 790, increases the life of the cable 790, and beautifies the product appearance.

[0084] Figure 18 Shown is a schematic structural diagram of a dexterous hand provided in another embodiment of the present disclosure.

[0085] In some embodiments, as Figure 18 As shown, the dexterous hand 10 further includes a tactile sensor 810. The tactile sensor 810 is disposed on the outer surface of the distal phalanx body 710 and is configured to sense the physical properties of objects in contact with the phalanx assembly 320, thereby enhancing the sensory and interactive capabilities of the phalanx assembly 320. For example, the tactile sensor 810 may be a high-density, six-dimensional force sensor to further enhance the sensory and interactive capabilities of the phalanx assembly 320.

[0086] In some embodiments, as Figure 18 As shown, the dexterous hand 10 further includes a pressure sensor 820. The pressure sensor 820 is disposed on the outer surface of the proximal phalanx body 321 and is configured to detect pressure applied to the proximal phalanx body 321, thereby enhancing the pressure sensing capability of the proximal phalanx body 321. For example, the pressure sensor 820 may be a high-density pressure sensor to further enhance the pressure sensing capability of the proximal phalanx body 321.

[0087] For example, the outer surfaces of the proximal phalange body 321 and the distal phalange body 710 can also be provided with soft glue, and the tactile sensor 810 and the pressure sensor 820 can be integrated into the soft glue. The soft glue can increase the friction when the phalange assembly 320 interacts with objects, improving the grasping ability of the dexterous hand 10.

[0088] In some embodiments, as Figure 18 As shown, the dexterous hand 10 further includes a distance sensor 830. The distance sensor is connected to the palm substrate and is located between at least three finger assemblies. It is configured to detect the distance between the dexterous hand 10 and objects around the dexterous hand 10. Exemplarily, the distance sensor 830 can be an infrared distance sensor, a laser distance sensor, an ultrasonic sensor, etc.

[0089] In some embodiments, as Figure 18 As shown, the dexterous hand 10 further includes a visual sensor 840. The visual sensor is connected to the palm substrate and is located between at least three finger assemblies. The visual sensor is configured to detect the shape and posture of objects around the dexterous hand 10. For example, the visual sensor can be a camera, a video camera, a video recorder, a TOF sensor, etc.

[0090] In some embodiments, as Figure 18 As shown, the dexterous hand 10 also includes an indicator light 850, which is disposed on the outer surface of the proximal phalanx body 321 and is configured to provide feedback on the working status of the dexterous hand 10 or the load applied to the dexterous hand 10 through brightness and color, further improving the interactive capabilities of the dexterous hand 10 and reducing debugging time. For example, the indicator light 850 can be set to multiple brightness levels, with higher brightness indicating a greater load applied to the dexterous hand 10. For example, the indicator light 850 can be set to multiple colors, with green indicating a normal working status and red indicating an abnormal working status.

[0091] Figure 19 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 19 As shown, the robot 1 includes at least one dexterous hand 10 in the above-mentioned embodiments.

[0092] 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.

[0093] 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 using bolts and nuts, screws, snaps, magnets, etc. In some connections, if there is no special requirement for a non-detachable connection form, a non-detachable connection may be achieved through welding, bonding, etc.

[0094] 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.

[0095] 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).

[0096] 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.

[0097] 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.

[0098] 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; at least three spin drive components, disposed on the palm substrate; At least three finger assemblies are respectively connected to the at least three spin drive assemblies, and the at least three finger assemblies are respectively driven by the at least three spin drive assemblies to spin around a first axis, a second axis, and a third axis, respectively, wherein the first axis is parallel to the second axis, and an extension direction of the third axis intersects an extension direction of the first axis; At least two of the finger assemblies can respectively rotate around the first axis and the second axis to be arranged relative to each other, and at least one of the finger assemblies can rotate around the third axis to be close to the palm substrate.

2. The dexterous hand according to claim 1, characterized in that: The spin drive component capable of driving the finger assembly to spin around the first axis and the spin drive component capable of driving the finger assembly to spin around the second axis are respectively arranged on both sides of the spin drive component capable of driving the finger assembly to spin around the third axis.

3. The dexterous hand according to claim 1, characterized in that: The included angle between the extension direction of the third axis and the extension direction of the first axis is 45°.

4. The dexterous hand according to claim 1, characterized in that: The number of the finger assemblies is three, the number of the spin drive assemblies is three, and the finger assemblies include: a root knuckle connected to the spin drive assembly and spinning under the drive of the spin drive assembly; a knuckle assembly rotatably connected to the root knuckle, wherein the rotation axis of the knuckle assembly and the root knuckle is perpendicular to the spin axis of the root knuckle; Wherein, under the respective driving of the three spin drive assemblies, the rotation axis of the knuckle assembly and the root knuckle of each of the three finger assemblies can form an isosceles triangle; Wherein, under the respective driving of the three spin drive assemblies, the rotation axis of the finger joint assembly and the root finger joint of each of the three finger assemblies can be parallel, and the two finger assemblies rotating around the first axis and the second axis respectively and the finger assembly rotating around the third axis can be arranged opposite to each other; Among them, under the separate driving of the three spin drive components, the two finger components can respectively spin around the first axis and the second axis to be relatively arranged, and the respective knuckle components of the two finger components are parallel to the rotation axis of the root knuckle, and the other finger component can spin until the knuckle component included in the finger component is close to the palm substrate.

5. The dexterous hand according to claim 4, characterized in that: The root knuckle comprises: an annular connecting portion, the inner side surface of which is sleeved on the output shaft of the spin drive assembly; a knuckle connecting portion connected to the annular connecting portion and rotatably connected to the knuckle assembly; Wherein, the dexterous hand further comprises: A support component connected to the palm base plate; At least three first bearings, the outer rings of the first bearings are connected to the support assembly, and the inner rings of the first bearings are sleeved on the outer side surface of the annular connecting portion.

6. The dexterous hand according to claim 4, characterized in that: The knuckle assembly comprises: a proximal phalanx body, wherein a first end of the proximal phalanx body is rotatably connected to the root phalanx; a first driving member, disposed on the proximal phalanx body; a first gear, drivingly connected to the first driving member and rotating around a fourth axis under the drive of the first driving member, wherein the first gear has a first through hole; a second gear, coaxially arranged with the first gear and capable of being transmission-connected to the root knuckle, the second gear having a second through hole; an elastic member, wherein a first end of the elastic member abuts against an end surface of the second gear away from the first gear, and the elastic member has a third through hole extending from the first end of the elastic member to the second end of the elastic member; The locking member includes a first limiting portion, a connecting portion, and a second limiting portion connected in sequence, the first limiting portion abuts against the end face of the first gear away from the second gear, the connecting portion passes through the first through hole, the second through hole, and the third through hole in sequence, and the second limiting portion abuts against the second end of the elastic member.

7. The dexterous hand according to claim 6, characterized in that: The knuckle assembly further comprises: a third gear coaxially connected to the output shaft of the first driving member and meshing with the first gear, the third gear rotating about a fifth axis under the drive of the first driving member, and the first gear rotating about the fourth axis under the drive of the third gear, the fifth axis being parallel to the fourth axis, and the number of teeth of the third gear being less than the number of teeth of the first gear; a fourth gear rotatably connected to the proximal phalanx body and meshing with the second gear, and driven by the second gear to rotate about a sixth axis, the sixth axis being parallel to the fifth axis, the fourth gear having a greater number of teeth than the second gear; a fifth gear meshing with the fourth gear and rotating about a seventh axis driven by the fourth gear, wherein the seventh axis is parallel to the sixth axis, and the number of teeth of the fifth gear is greater than the number of teeth of the fourth gear; The first reducer is arranged on the proximal phalanx body, the input end of the first reducer is coaxially connected to the fifth gear, and the output end of the first reducer is connected to the root phalanx.

8. The dexterous hand according to claim 6, characterized in that: The knuckle assembly further comprises: distal phalanx body; a second driving member, disposed on the proximal phalanx body; a sixth gear connected to the second driving member and driven by the second driving member to rotate around an eighth axis; a seventh gear rotatably connected to the proximal phalanx body and meshing with the sixth gear, driven by the sixth gear to rotate about a ninth axis, the ninth axis being parallel to the eighth axis, the seventh gear having a greater number of teeth than the sixth gear; an eighth gear, coaxially connected to the seventh gear and rotating along with the seventh gear about the ninth axis, wherein the number of teeth of the eighth gear is smaller than that of the seventh gear; a ninth gear meshing with the eighth gear and rotating about a tenth axis driven by the eighth gear, wherein the tenth axis is parallel to the ninth axis, and the number of teeth of the ninth gear is greater than the number of teeth of the eighth gear; The second reducer is arranged on the proximal phalanx body, the input end of the second reducer is coaxially connected to the ninth gear, and the output end of the second reducer is connected to the distal phalanx body.

9. The dexterous hand according to claim 8, characterized in that: The proximal phalanx body includes a first shaft portion and a second shaft portion, the first shaft portion is coaxially arranged with the output end of the first reducer and is arranged opposite to the output end of the first reducer in the extension direction of the seventh axis, the second shaft portion is coaxially arranged with the output end of the second reducer and is arranged opposite to the output end of the second reducer in the extension direction of the tenth axis, the root phalanx is rotatably connected to the first shaft portion, and the distal phalanx body is rotatably connected to the second shaft portion; The first shaft portion has a first wiring hole, the second shaft portion has a second wiring hole, the proximal phalanx body has a third wiring hole and a fourth wiring hole, the first wiring hole connects the third wiring hole with the outside world, and the second wiring hole connects the fourth wiring hole with the outside world; The dexterous hand also includes: A drive plate is connected to the proximal phalanx body, and the third wiring hole and the fourth wiring hole both extend to the drive plate, wherein the cable can pass through the first wiring hole and the third wiring hole in sequence and be connected to the drive plate, and the cable can also pass through the second wiring hole and the fourth wiring hole in sequence and be connected to the drive plate.

10. The dexterous hand according to claim 8, characterized in that: Also includes: a tactile sensor disposed on an outer surface of the distal phalanx body and configured to sense a physical characteristic of an object in contact with the phalanx assembly; and / or, a pressure sensor, disposed on an outer surface of the proximal phalanx body, configured to detect pressure exerted on the proximal phalanx body; and / or, a distance sensor connected to the palm substrate, located between at least three of the finger assemblies, and configured to detect a distance between an object around the dexterous hand and the dexterous hand; and / or, a visual sensor connected to the palm substrate, located between at least three of the finger assemblies, and configured to detect the shape and posture of objects around the dexterous hand; and / or, An indicator light is provided on the outer surface of the proximal phalanx body and is configured to provide feedback on the working status of the dexterous hand or the joint load of the dexterous hand through brightness and color.

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

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