Dexterous hand and robot

Abstract

The present disclosure relates to the technical field of robots, in particular to a dexterous hand and a robot, which solves the problems of single configuration of the dexterous hand and limited application scenarios. The dexterous hand comprises a palm base plate, at least three self-rotation driving assemblies and at least three finger assemblies. The at least three finger assemblies are driven by the at least three self-rotation driving assemblies to rotate around the first axis, the second axis and the third axis respectively, so as to realize at least three-finger configuration of the dexterous hand. At least two finger assemblies can rotate around the first axis and the second axis respectively to be oppositely arranged, and at least one finger assembly can rotate around the third axis to be close to the palm base plate, that is, at least one finger assembly close to the palm base plate is equivalent to being folded with the palm base plate, which does not affect the movement of the other at least two finger assemblies, realizes at least two-finger configuration of the dexterous hand, realizes switching of different numbers of finger configurations of the dexterous hand, and thus makes the dexterous hand applicable to various application scenarios.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, in particular to a dexterous hand and a robot. BACKGROUND

[0002] The end effector of a robot, in particular a dexterous hand, is a key device for a work robot to interact with the outside environment and complete complex tasks. In the field of intelligent robots, the design and function of the end effector of a robot directly affect the work efficiency and task adaptability of the robot. Traditional dexterous hands are usually fixed in a single configuration (such as a two-finger configuration, a three-finger configuration or a five-finger configuration). Such fixed configuration design is not flexible enough when facing different work scenarios. For example, for regular-shaped workpieces, a two-finger configuration dexterous hand can meet the demand. The two-finger configuration dexterous hand is simple, compact and easy to maintain, and has relatively low power consumption. However, the two-finger configuration dexterous hand is prone to cause object deformation or poor grasping stability when grasping thin-walled parts or irregular-shaped objects, because it can only provide two-point contact. In contrast, a three-finger configuration dexterous hand can form a more stable grasp through triangular support, and the force distribution is more uniform, which is suitable for grasping complex workpieces.

[0003] Therefore, how to flexibly switch the configuration of a dexterous hand according to the specific application scenario and the demand of the interactive object has become a technical problem to be solved. SUMMARY

[0004] Therefore, the embodiments of the present disclosure provide a dexterous hand and a robot, which solve the problem of single configuration of a traditional dexterous hand and limited application scenarios.

[0005] In a first aspect, the embodiments of the present disclosure provide a dexterous hand, comprising: a palm substrate; at least three self-rotation driving assemblies arranged on the palm substrate; and at least three finger assemblies respectively connected with the at least three self-rotation driving assemblies, the at least three finger assemblies being respectively self-rotatable about a first axis, a second axis and a third axis under the driving of the at least three self-rotation driving assemblies, the first axis being parallel to the second axis, and the extension direction of the third axis intersecting with the extension direction of the first axis, wherein at least two of the finger assemblies are respectively self-rotatable about the first axis and the second axis to be oppositely arranged, and at least one of the finger assemblies is self-rotatable about the third axis to be close to the palm substrate.

[0006] In some embodiments, the self-rotation driving assembly capable of driving the finger assembly to self-rotate about the first axis and the self-rotation driving assembly capable of driving the finger assembly to self-rotate about the second axis are arranged on the two sides of the self-rotation driving assembly capable of driving the finger assembly to self-rotate about the third axis.

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

[0008] In some embodiments, the number of the finger assemblies is three, and the number of the self-rotation driving assemblies is three. The finger assembly comprises a root knuckle connected with the self-rotation driving assembly and self-rotating under the driving of the self-rotation driving assembly, and a knuckle assembly rotatably connected with the root knuckle. The rotation axis of the knuckle assembly and the root knuckle is perpendicular to the self-rotation axis of the root knuckle. Under the driving of the three self-rotation driving assemblies respectively, the rotation axis of the knuckle assembly and the root knuckle of each of the three finger assemblies can form an isosceles triangle. Under the driving of the three self-rotation driving assemblies respectively, the rotation axis of the knuckle assembly and the root knuckle of each of the three finger assemblies can be parallel, and two of the finger assemblies rotating around the first axis and the second axis respectively and the finger assembly rotating around the third axis can be oppositely arranged. Under the driving of the three self-rotation driving assemblies respectively, two of the finger assemblies can rotate around the first axis and the second axis respectively to be oppositely arranged, and the rotation axis of the knuckle assembly and the root knuckle of each of the two finger assemblies is parallel, and the knuckle assembly of the other finger assembly can be rotated to be close to the palm base plate.

[0009] In some embodiments, the root knuckle comprises a ring-shaped connecting portion, an inner side surface of the ring-shaped connecting portion is sleeved on the output shaft of the self-rotation driving assembly, and a knuckle connecting portion is connected with the ring-shaped connecting portion and rotatably connected with the knuckle assembly. The dexterous hand further comprises a support assembly connected with the palm base plate, and at least three first bearings, an outer ring of the first bearing is connected with the support assembly, and an inner ring of the first bearing is sleeved on an outer side surface of the ring-shaped connecting portion.

[0010] In some embodiments, the knuckle assembly comprises: a proximal knuckle body, a first end of the proximal knuckle body rotatably connected with the root knuckle; a first driving member arranged in the proximal knuckle body; a first gear in transmission connection with the first driving member, rotating around a fourth axis under the driving of the first driving member, the first gear having a first through hole; a second gear coaxially arranged with the first gear and capable of being in transmission connection with the root knuckle, the second gear having a second through hole; an elastic member, a first end of the elastic member abutting against an end face of the second gear away from the first gear, the elastic member having a third through hole extending from the first end of the elastic member to a second end of the elastic member; and a locking member comprising a first limiting portion, a connecting portion and a second limiting portion connected in sequence, the first limiting portion abutting against an end face of the first gear away from the second gear, the connecting portion sequentially passing through the first through hole, the second through hole and the third through hole, and the second limiting portion abutting against the second end of the elastic member.

[0011] In some embodiments, the knuckle assembly further comprises: a third gear coaxially connected with an output shaft of the first driving member and in mesh with the first gear, the third gear rotating around a fifth axis under the driving of the first driving member, the first gear rotating around the fourth axis under the driving of the third gear, the fifth axis being parallel to the fourth axis, the third gear having a smaller number of teeth than the first gear; a fourth gear rotatably connected with the proximal knuckle body and in mesh with the second gear, the fourth gear rotating around a sixth axis under the driving of the second gear, the sixth axis being parallel to the fifth axis, the fourth gear having a larger number of teeth than the second gear; a fifth gear in mesh with the fourth gear, the fifth gear rotating around a seventh axis under the driving of the fourth gear, the seventh axis being parallel to the sixth axis, the fifth gear having a larger number of teeth than the fourth gear; and a first speed reducer arranged in the proximal knuckle body, an input end of the first speed reducer coaxially connected with the fifth gear, and an output end of the first speed reducer connected with the root knuckle.

[0012] In some embodiments, the knuckle assembly further comprises: a distal knuckle body; a second driving member arranged in the proximal knuckle body; a sixth gear connected with the second driving member and rotating around an eighth axis under the driving of the second driving member; a seventh gear rotatably connected with the proximal knuckle body and meshing with the sixth gear to rotate around a ninth axis under the driving of the sixth gear, the ninth axis being parallel to the eighth axis, the seventh gear having a number of teeth greater than that of the sixth gear; an eighth gear coaxially arranged with the seventh gear and rotating around the ninth axis with the seventh gear, the eighth gear having a number of teeth less than that of the seventh gear; a ninth gear meshing with the eighth gear to rotate around a tenth axis under the driving of the eighth gear, the tenth axis being parallel to the ninth axis, the ninth gear having a number of teeth greater than that of the eighth gear; and a second speed reducer arranged in the proximal knuckle body, an input end of the second speed reducer being coaxially connected with the ninth gear, and an output end of the second speed reducer being connected with the distal knuckle body.

[0013] In some embodiments, the proximal knuckle body comprises a first shaft portion coaxially arranged with the output end of the first speed reducer and arranged opposite to the output end of the first speed reducer in the extension direction of the seventh axis, and a second shaft portion coaxially arranged with the output end of the second speed reducer and arranged opposite to the output end of the second speed reducer in the extension direction of the tenth axis, the root knuckle being rotatably connected with the first shaft portion, and the distal knuckle body being rotatably connected with the second shaft portion; wherein the first shaft portion has a first wire hole, the second shaft portion has a second wire hole, the proximal knuckle body has a third wire hole and a fourth wire hole, the first wire hole being in communication with the third wire hole and the outside, and the second wire hole being in communication with the fourth wire hole and the outside; and the dexterous hand further comprises a driving board connected with the proximal knuckle body, the third wire hole and the fourth wire hole both extending to the driving board, wherein a cable can pass through the first wire hole, the third wire hole and be connected with the driving board in sequence, and the cable can also pass through the second wire hole, the fourth wire hole and be connected with the driving board in sequence.

[0014] In some embodiments, the dexterous hand further comprises: a tactile sensor disposed on an outer surface of the distal phalange body and configured to sense physical properties of an object in contact with the phalange assembly; and / or a pressure sensor disposed on an outer surface of the proximal phalange body and configured to detect pressure received by the proximal phalange body; and / or a distance sensor connected to the palm substrate and located between at least three of the finger assemblies, and configured to detect a distance between an object surrounding the dexterous hand and the dexterous hand; and / or a vision sensor connected to the palm substrate and located between at least three of the finger assemblies, and configured to detect a shape and pose of an object surrounding the dexterous hand; and / or an indicator light disposed on an outer surface of the proximal phalange body and configured to feedback a working state of the dexterous hand or a joint load of the dexterous hand through brightness and color.

[0015] In a second aspect, embodiments of the present disclosure provide a robot, comprising: at least one dexterous hand as described in the first aspect.

[0016] The dexterous hand provided by the embodiments of the present disclosure comprises a palm substrate, at least three self-rotation driving assemblies, and at least three finger assemblies. The at least three self-rotation driving assemblies are disposed on the palm substrate. The at least three finger assemblies are respectively connected to the at least three self-rotation driving assemblies, and the at least three finger assemblies are respectively self-rotated around the first axis, the second axis, and the third axis under the driving of the at least three self-rotation driving assemblies, thereby achieving at least three-finger configurations of the dexterous hand. In addition, at least two of the finger assemblies can be respectively self-rotated around the first axis and the second axis to be oppositely disposed, and at least one of the finger assemblies can be self-rotated around the third axis to be close to the palm substrate, that is, at least one of the finger assemblies close to the palm substrate is equivalent to being folded with the palm substrate, which does not affect the movement of the other at least two finger assemblies, thereby achieving at least two-finger configurations of the dexterous hand. In other words, by making the at least three finger assemblies self-rotate around the first axis, the second axis, and the third axis under the driving of the at least three self-rotation driving assemblies, the switching of different numbers of finger configurations of the dexterous hand can be achieved, thereby making the dexterous hand suitable for multiple application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which like reference characters designate the same elements throughout the drawings. The accompanying drawings which are incorporated in and constitute a part of the specification illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. In the drawings:

[0018] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand provided by an embodiment of the present disclosure.

[0019] Figure 2A side view of the dexterous hand is shown.

[0020] Figure 3 A front view of the dexterous hand is shown.

[0021] Figure 4 A structural schematic diagram of a two-finger configuration of the dexterous hand is shown.

[0022] Figure 5 A structural schematic diagram of a three-finger configuration of the dexterous hand is shown.

[0023] Figure 6 A top view of the three-finger configuration of the dexterous hand is shown.

[0024] Figure 7 A front view of Figure 2 A sectional view of the dexterous hand along the A-A direction is shown.

[0025] Figure 8 A front view of Figure 7 An enlarged view of the dexterous hand in the B region is shown.

[0026] Figure 9 A front view of Figure 2 A sectional view of the dexterous hand along the C-C direction is shown.

[0027] Figure 10 A front view of Figure 9 An enlarged view of the dexterous hand in the D region is shown.

[0028] Figure 11 A structural schematic diagram of a root knuckle is shown.

[0029] Figure 12 A structural schematic diagram of a finger assembly without a proximal knuckle body is shown.

[0030] Figure 13 A structural schematic diagram of a finger assembly without a proximal knuckle body from another perspective is shown.

[0031] Figure 14 A structural schematic diagram of a finger assembly is shown.

[0032] Figure 15 A top view of the finger assembly is shown.

[0033] Figure 16 A front view of Figure 15 A sectional view of the finger driving structure along the E-E direction is shown.

[0034] Figure 17 Fig. 3 shows a schematic diagram of a part of the structure of a finger assembly according to an embodiment of the present disclosure.

[0035] Figure 18 Fig. 4 shows a schematic diagram of the structure of a dexterous hand according to another embodiment of the present disclosure.

[0036] Figure 19 Fig. 5 shows a schematic diagram of the structure of a robot according to an embodiment of the present disclosure.

[0037] Reference Signs:

[0038] 1. Robot; 10. Dexterous hand; 100. Palm base plate; 200. Self-rotating driving assembly; 210. Output shaft; 300. Finger assembly; 310. Root knuckle; 311. Annular connecting part; 312. Knuckle connecting part; 320. Knuckle assembly; 321. Proximal knuckle body; 3211. First shaft part; 3212. Second shaft part; 3213. First wire hole; 3214. Second wire hole; 3215. Third wire hole; 3216. Fourth wire hole; 3217. First proximal knuckle body; 3218. Second proximal knuckle body; 3219. Third proximal knuckle body; 3220. Fourth proximal knuckle body; 322. First driving part; 323. First gear; 3231. First through hole; 324. Second gear; 3241. Second through hole; 325. Elastic part; 3251. Third through hole; 326. Locking part; 3261. First limiting part; 3262. Connecting part; 3263. Second limiting part; 400. Supporting assembly; 510. First bearing; 610. Third gear; 620. Fourth gear; 630. Fifth gear; 640. First speed reducer; 710. Distal knuckle body; 720. Second driving part; 730. Sixth gear; 740. Seventh gear; 750. Eighth gear; 760. Ninth gear; 770. Second speed reducer; 780. Driving plate; 790. Cable; 810. Tactile sensor; 820. Pressure sensor; 830. Distance sensor; 840. Vision 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

[0039] With reference to the drawings and the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments of the present disclosure, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present disclosure.

[0040] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand provided by an embodiment of the present disclosure. Figure 2 Fig. 2 shows a side view of a dexterous hand provided by an embodiment of the present disclosure. Figure 3 Fig. 3 shows a front view of a dexterous hand provided by an embodiment of the present disclosure. Figure 4 Fig. 4 shows a structural schematic diagram of a two-finger configuration of a dexterous hand provided by an embodiment of the present disclosure. Figure 5 Fig. 5 shows a structural schematic diagram of a three-finger configuration of a dexterous hand provided by an embodiment of the present disclosure. Figure 6 Fig. 6 shows 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 in the figure, the dexterous hand 10 comprises a palm base plate 100, at least three self-rotating driving assemblies 200 and at least three finger assemblies 300.

[0041] Exemplarily, the palm base plate 100 can be a plate 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 self-rotating driving assemblies 200.

[0042] The at least three self-rotating driving assemblies 200 are arranged on the palm base plate 100. Exemplarily, the self-rotating driving assemblies 200 can be fixedly connected to the palm base plate 100 by means of bolt connection, clamping or the like.

[0043] The at least three finger assemblies 300 are connected with the at least three self-rotating driving assemblies 200 respectively. The at least three finger assemblies 300 are self-rotated around the first axis L1, the second axis L2 and the third axis L3 respectively under the driving of the at least three self-rotating driving assemblies 200 respectively. The first axis L1 is parallel to the second axis L2, and the extension direction of the third axis L3 intersects with the extension direction of the first axis L1. The at least two finger assemblies 300 can be self-rotated to be oppositely arranged around the first axis L1 and the second axis L2 respectively, and the at least one finger assembly 300 can be self-rotated to be close to the palm base plate 100 around the third axis L3.

[0044] As shown in the figure, Figure 1 and Figure 5As shown, at least three finger assemblies 300 are connected with at least three spin driving assemblies 200 respectively, and the at least three finger assemblies 300 are spun around the first axis L1, the second axis L2 and the third axis L3 respectively under the driving of the at least three spin driving assemblies 200 respectively, so as to realize at least three-finger configuration of the dexterous hand 10.

[0045] As shown, at least two finger assemblies 300 are capable of being spun around the first axis L1 and the second axis L2 respectively to be arranged oppositely, and at least one finger assembly 300 is capable of being spun around the third axis L3 to be close to the palm base plate 100, that is, at least one finger assembly 300 close to the palm base plate 100 is equivalent to being folded with the palm base plate 100, which does not affect the movement of the other at least two finger assemblies 300, and at least two-finger configuration of the dexterous hand 10 is realized. Figure 4 In other words, by making 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 driving of the at least three spin driving assemblies 200 respectively, the switching of different numbers of finger configurations of the dexterous hand 10 can be realized, so that the dexterous hand 10 is suitable for multiple application scenarios.

[0046] In some embodiments, as shown, the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the first axis L1 is arranged on one side of the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the third axis L3, and the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the second axis L2 is arranged on the other side of the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the third axis L3.

[0047] Figure 3 In some embodiments, as shown, the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the first axis L1 is arranged on one side of the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the third axis L3, and the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the second axis L2 is arranged on the other side of the spin driving assembly 200 capable of driving the finger assembly 300 to spin around the third axis L3.

[0048] For example, the included 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°. In some embodiments, as shown, the included angle β between the extension direction of the third axis L3 and the extension direction of the first axis L1 is 45°. According to calculation and experimental verification, when the included angle β between the extension direction of the third axis L3 and the extension direction of the first axis L1 is 45°, the dexterity of the space between the three finger assemblies 300 of the dexterous hand 10 can be guaranteed to be the highest. Figure 2

[0049] ​​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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] Figure 7 Shown Figure 2 The cross-sectional view of the dexterous hand along the AA direction is shown.Figure 8 Fig. 1 shows a schematic view of a dexterous hand according to an embodiment of the present disclosure. Figure 7 Fig. 2 shows a partial enlarged view of the dexterous hand in region B. Figure 9 Fig. 3 shows a schematic view of a dexterous hand according to an embodiment of the present disclosure. Figure 2 Fig. 4 shows a sectional view of the dexterous hand along direction C-C. Figure 10 Fig. 5 shows a schematic view of a dexterous hand according to an embodiment of the present disclosure. Figure 9 Fig. 6 shows a partial enlarged view of the dexterous hand in region D. Figure 11 Fig. 7 shows a schematic view of a structure of a root knuckle provided by an embodiment of the present disclosure. In some embodiments, as shown in Fig. 7, the root knuckle 310 comprises a ring-shaped connecting portion 311 and a knuckle connecting portion 312. Figures 7 to 11 Fig. 8 shows a schematic view of a structure of a root knuckle provided by an embodiment of the present disclosure.

[0055] The inner side surface of the ring-shaped connecting portion 311 is sleeved on the output shaft 210 of the self-rotation driving assembly 200. The knuckle connecting portion 312 is connected with the ring-shaped connecting portion 311 and rotatably connected with the knuckle assembly 320. The dexterous hand 10 further comprises a support assembly 400 and at least three first bearings 510. The support assembly 400 is connected with the palm base plate 100. The outer ring of the first bearing 510 is connected with the support assembly 400, and the inner ring of the first bearing 510 is sleeved on the outer side surface of the ring-shaped connecting portion 311.

[0056] The root knuckle 310 can be connected with the output shaft 210 of the self-rotation driving assembly 200 and can be supported by the support assembly 400 through the first bearing 510, realizing double support of the root knuckle 310 and making the self-rotation of the root knuckle 310 more stable.

[0057] Figure 12 Fig. 11 shows a schematic view of a structure of a finger assembly without a proximal knuckle body provided by an embodiment of the present disclosure. Figure 13 Fig. 12 shows a schematic view of a structure of a finger assembly without a proximal knuckle body provided by an embodiment of the present disclosure from another perspective. Figure 14 Fig. 13 shows a schematic view of a structure of a finger assembly provided by an embodiment of the present disclosure. Figure 15 Fig. 14 shows a top view of a finger assembly provided by an embodiment of the present disclosure. Figure 16 Fig. 15 shows a schematic view of a structure of a finger assembly provided by an embodiment of the present disclosure. Figure 15 Fig. 16 shows a sectional view of the finger driving structure along direction E-E. In some embodiments, as shown in Fig. 16, the knuckle assembly 320 comprises 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. Figures 12 to 16 Fig. 17 shows a schematic view of a structure of a finger assembly provided by an embodiment of the present disclosure.

[0058] The first end of the proximal knuckle body 321 is rotatably connected with the root knuckle 310. The proximal knuckle body 321 can be integrally formed or separately arranged. Exemplarily, as shown in Fig. 17, the proximal knuckle body 321 comprises a first knuckle body 3211 and a second knuckle body 3212. Figure 16As shown, the proximal knuckle body 321 can include a first proximal knuckle body 3217, a second proximal knuckle body 3218, a third proximal knuckle body 3219, and a fourth proximal knuckle body 3220.

[0059] The first driving member 322 is arranged on the proximal knuckle body 321. The first driving member 322 can be arranged on any part of the proximal knuckle body 321 according to actual needs. For example, as shown in FIG. 3, the first driving member 322 is arranged on the proximal knuckle body 321. Figure 16 As shown, the first driving member 322 is arranged in the space surrounded by the second proximal knuckle body 3218, the third proximal knuckle body 3219, and the fourth proximal knuckle body 3220, facilitating fixation of the first driving member 322. Exemplarily, the first driving member 322 can be a motor, a rotary cylinder, or other driving structure capable of outputting a rotating force.

[0060] The first gear 323 is in transmission connection with the first driving member 322 and rotates around the fourth axis L4 under the driving 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. Exemplarily, the first gear 323 and the second gear 324 can both be a straight gear, a helical gear, or the like, which is not limited in the present disclosure.

[0061] 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. Exemplarily, the elastic member 325 is a spring, a rubber member, or other structure having elasticity. In some embodiments, the elastic member 325 is a compression spring. The compression spring has simple structure, stable performance, and strong carrying capacity, and as a standard part, it is convenient for designers to select a compression spring meeting the compression force requirement.

[0062] 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 sequentially passes through the first through hole 3231, the second through hole 3241, and the third through hole 3251. The second limiting portion 3263 abuts against the second end of the elastic member 325.

[0063] The first driving member 322 drives the first gear 323 to rotate around the fourth axis L4. In the normal transmission process (i.e., without overload phenomenon), 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 driving of the root knuckle 310 by the knuckle assembly 320.

[0064] In the normal transmission process, the compression force of the elastic member 325 can compress the first gear 323 and the second gear 324 in the axial direction of the first gear 323, so that the second gear 324 can rotate coaxially with the first gear 323, thereby realizing force transmission. When an overload occurs, the excessive torque or stress cannot compress the first gear 323 and the second gear 324 in the axial direction of the first gear 323, so that the second gear 324 slips with the first gear 323, reduces the transmission of torque or stress, and reduces the probability of damage to the knuckle assembly 320 caused by overload.

[0065] In some embodiments, as shown in FIG. 6, Figure 12 The third gear 610 is coaxially connected with the output shaft of the first driving member 322 and is engaged with the first gear 323. The third gear 610 rotates around the fifth axis L5 under the drive of the first driving member 322. The first gear 323 rotates around the fourth axis L4 under the drive of the third gear 610. The fifth axis L5 is parallel to the fourth axis L4, that is, the first gear 323 and the third gear 610 are arranged side by side, which reduces the size of the knuckle assembly 320 in the extension direction of the fourth axis L4. In addition, the number of teeth of the third gear 610 is less than that of the first gear 323, which realizes the effect of speed reduction.

[0066] Exemplarily, the third gear 610 can be a spur gear, a helical gear, etc., which is not limited in the present disclosure. Exemplarily, the first gear 323 and the third gear 610 are externally engaged.

[0067] In some embodiments, as shown in FIG. 6, Figure 13 The fourth gear 620 is rotatably connected with the proximal knuckle body 321 and is engaged with the second gear 324, which rotates around the sixth axis L6 under the drive of the second gear 324. The fifth gear 630 is engaged with the fourth gear 620 and rotates around the seventh axis L7 under the drive of the fourth gear 620. The first speed reducer 640 is arranged in the proximal knuckle body 321. The input end of the first speed reducer 640 is coaxially connected with the fifth gear 630, and the output end of the first speed reducer 640 is connected with the root knuckle 310. In other words, the second gear 324, the fourth gear 620, the fifth gear 630, and the first speed reducer 640 form a transmission chain to drive the root knuckle 310 to rotate.

[0068] 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 knuckle assembly 320 in the extension direction of the sixth axis L6.

[0069] 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.

[0070] The number of teeth of the fourth gear 620 is greater than that of the second gear 324, and the number of teeth of the fifth gear 630 is greater than that of the fourth gear 620, achieving the effect of speed reduction and torque increase.

[0071] Exemplarily, the first speed reducer 640 can be a planetary speed reducer, a harmonic speed reducer, etc., which is not limited in the present disclosure.

[0072] In some embodiments, as shown in FIGS. 1, 2 and 3, the knuckle assembly 320 further comprises a proximal knuckle body 321, a first driving member 322, a first gear 323, a second gear 324, a third gear 325, a fourth gear 326 and a first speed reducer 340. Figure 12 and Figure 13 As shown in FIGS. 1, 2 and 3, the knuckle assembly 320 further comprises a distal knuckle 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 speed reducer 770.

[0073] The second driving member 720 is arranged on the proximal knuckle body 321. Exemplarily, the second driving member 720 can be a motor, a rotary cylinder or other driving structure capable of outputting a rotary force.

[0074] The sixth gear 730 is connected with the second driving member 720 and rotates around an eighth axis L8 under the driving of the second driving member 720. The seventh gear 740 is rotatably connected with the proximal knuckle body 321 and meshes with the sixth gear 730, rotating around a ninth axis L9 under the driving of the sixth gear 730. The eighth gear 750 is coaxially arranged with the seventh gear 740 and rotates around the ninth axis L9 with the seventh gear 740. The ninth gear 760 meshes with the eighth gear 750 and rotates around a tenth axis L10 under the driving of the eighth gear 750. The second speed reducer 770 is arranged on the proximal knuckle body 321. The input end of the second speed reducer 770 is coaxially connected with the ninth gear 760, and the output end of the second speed reducer 770 is connected with the distal knuckle 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 knuckle body 710 to rotate.

[0075] 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, reducing the size of the knuckle assembly 320 in the extension direction of the ninth axis L9.

[0076] 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 knuckle assembly 320 in the extension direction of the fourth axis L4.

[0077] 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, achieving the effect of speed reduction and torque increase.

[0078] Exemplarily, the second speed reducer 770 can be a planetary speed reducer, a harmonic speed reducer, etc., and the present disclosure does not make specific limitations.

[0079] Both the first driving member 322 and the second driving member 720 are arranged on the proximal knuckle body 321, so that the first driving member 322 and the second driving member 720 can drive the bending of the root knuckle 310 and the distal knuckle body 710 without needing to bypass the rotation axis of the root knuckle 310 and the distal knuckle body 710, that is, direct driving is achieved, without the need for long-distance transmission by tendons / links, reducing the size of the knuckle assembly 320 and improving the compactness and integration of the dexterous hand 10.

[0080] In some embodiments, as shown in Figure 14 and Figure 15 The proximal knuckle 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 speed reducer 640 and arranged opposite to the output end of the first speed 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 speed reducer 770 and arranged opposite to the output end of the second speed reducer 770 in the extension direction of the tenth axis L10, the root knuckle 310 is rotatably connected with the first shaft portion 3211, and the distal knuckle body 710 is rotatably connected with the second shaft portion 3212.

[0081] In other words, the root knuckle 310 is rotatably connected with the first shaft portion 3211 and connected with the output end of the first speed reducer 640, achieving double support of the root knuckle 310 and improving the stability of the rotation of the root knuckle 310. The distal knuckle body 710 is rotatably connected with the second shaft portion 3212 and connected with the output end of the second speed reducer 770, achieving double support of the distal knuckle body 710 and improving the stability of the rotation of the distal knuckle body 710.

[0082] As shown in Figure 14 and Figure 15 The first shaft portion 3211 has a first wire hole 3213, and the second shaft portion 3212 has a second wire hole 3214.

[0083] Figure 17 Fig. 3 shows a schematic diagram of a part of the finger assembly without the proximal phalanx body according to an embodiment of the present disclosure. Figure 17 As shown, the proximal phalanx body 321 has a third wire hole 3215 and a fourth wire hole 3216. The first wire hole 3213 is in communication with the third wire hole 3215 and the outside world, and the second wire hole 3214 is in communication with the fourth wire hole 3216 and the outside world.

[0084] As shown in Figs. 3 and 4, the dexterous hand 10 further comprises a driving board 780. The driving board 780 is connected to the proximal phalanx body 321, and the third wire hole 3215 and the fourth wire hole 3216 both extend to the driving board 780. The cable 790 can pass through the first wire hole 3213, the third wire hole 3215, and be connected to the driving board 780 in sequence, and the cable 790 can also pass through the second wire hole 3214, the fourth wire hole 3216, and be connected to the driving board 780 in sequence, realizing internal wiring, reducing the exposure of the cable 790, improving the service life of the cable 790, and beautifying the appearance of the product. Figure 12 Figure 13 As shown in Figs. 3 and 4, the dexterous hand 10 further comprises a driving board 780. The driving board 780 is connected to the proximal phalanx body 321, and the third wire hole 3215 and the fourth wire hole 3216 both extend to the driving board 780. The cable 790 can pass through the first wire hole 3213, the third wire hole 3215, and be connected to the driving board 780 in sequence, and the cable 790 can also pass through the second wire hole 3214, the fourth wire hole 3216, and be connected to the driving board 780 in sequence, realizing internal wiring, reducing the exposure of the cable 790, improving the service life of the cable 790, and beautifying the appearance of the product.

[0085] Figure 18 Fig. 5 shows a schematic diagram of the structure of the dexterous hand according to another embodiment of the present disclosure.

[0086] In some embodiments, as shown in Figs. 6 and 7, the dexterous hand 10 further comprises a tactile sensor 810. The tactile sensor 810 is arranged on the outer surface of the distal phalanx body 710 and is configured to perceive the physical properties of the object in contact with the phalanx assembly 320, thereby improving the perception and interaction capabilities of the phalanx assembly 320. Exemplarily, the tactile sensor 810 can be a six-dimensional force high-density tactile sensor to further improve the perception and interaction capabilities of the phalanx assembly 320. Figure 18 In some embodiments, as shown in Figs. 6 and 7, the dexterous hand 10 further comprises a pressure sensor 820. The pressure sensor 820 is arranged on the outer surface of the proximal phalanx body 321 and is configured to detect the pressure received by the proximal phalanx body 321, thereby improving the pressure perception capability of the proximal phalanx body 321. Exemplarily, the pressure sensor 820 can be a high-density pressure sensor to further improve the pressure perception capability of the proximal phalanx body 321.

[0087] Figure 18 Exemplarily, the outer surfaces of the proximal phalanx body 321 and the distal phalanx 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 phalanx assembly 320 interacts with the object, thereby improving the gripping capability of the dexterous hand 10.

[0088] Exemplarily, the outer surfaces of the proximal phalanx body 321 and the distal phalanx 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 phalanx assembly 320 interacts with the object, thereby improving the gripping capability of the dexterous hand 10.

[0089] ​​In some embodiments, as shown in FIG. 10, the dexterous hand 10 further comprises a distance sensor 830. The distance sensor is connected with the palm substrate and is located between at least three finger assemblies, and is configured to detect the distance between the object around the dexterous hand 10 and the dexterous hand 10. Exemplarily, the distance sensor 830 can be an infrared distance sensor, a laser distance sensor, an ultrasonic sensor, etc. Figure 18

[0090] In some embodiments, as shown in FIG. 11, the dexterous hand 10 further comprises a visual sensor 840. The visual sensor is connected with the palm substrate and is located between at least three finger assemblies, and is configured to detect the topography and pose of the object around the dexterous hand 10. Exemplarily, the visual sensor can be a camera, a video camera, a video recorder, a TOF sensor, etc. Figure 18

[0091] Figure 18 In some embodiments, as shown in FIG. 12, the dexterous hand 10 further comprises an indicator light 850, which is arranged on the outer surface of the proximal phalange body 321 and is configured to feedback the working state of the dexterous hand 10 or the load received by the dexterous hand 10 through brightness and color, further improve the interaction ability of the dexterous hand 10, and reduce the debugging time. Exemplarily, the indicator light 850 can be arranged in multiple brightness, and the greater the brightness, the greater the load received by the dexterous hand 10. Exemplarily, the indicator light 850 can be arranged in multiple colors, and green color represents a normal working state, and red color represents an abnormal working state.

[0092] Figure 19 FIG. 13 shows a structural schematic diagram of a robot provided by an embodiment of the present disclosure. As shown in FIG. 13, the robot 1 comprises at least one dexterous hand 10 in the above embodiments. Figure 19

[0093] Since the robot 1 comprises 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 here.

[0094] In the embodiments of the present disclosure, if the form of connection is not explicitly limited, the form of connection can be a detachable connection form through bolts, nuts, screws, buckles, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved through welding, bonding, etc.

[0095] In the description, “one embodiment”, “an embodiment”, and the like mean that the described embodiment can include a specific feature, structure, or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure, or characteristic in connection with other embodiments that are explicitly or implicitly described.​​​​

[0096] It should be understood that "on," "above," and "on top" in the disclosure should be interpreted in the broadest context possible so that "on" means not only "directly on" but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "on top" includes not only the meaning of "above" or "on top" but also the meaning of "above" or "on top" without intermediate features or layers therebetween (i.e., directly on).

[0097] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0098] It should be noted that, in the present document, the terms "comprising", "containing" or any other similar words are intended to encompass a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0099] The above description is only the preferred embodiment of the disclosure and is not intended to limit the disclosure. Any modification, equivalent replacement, etc. made within the spirit and principle of the disclosure shall be included in the protection scope of the disclosure.

Claims

1. A dexterous hand, characterized in that: include: palm baseplate; Three spin drive components are arranged on the palm substrate; Three finger assemblies are respectively connected to the three spin drive assemblies, and the three finger assemblies are respectively driven by the 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; The two finger assemblies can respectively rotate around the first axis and the second axis to be arranged opposite to each other, and one finger assembly can rotate around the third axis to be close to the palm substrate; Wherein, the finger assembly includes: 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 components, the rotation axis of the knuckle components and the root knuckle of each of the three finger components can form an isosceles triangle.

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: 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 can be arranged opposite to the finger assembly rotating around the third axis; 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 7, 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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