A full-drive two-joint five-finger dexterous hand and robot

Abstract

The application relates to a full-drive two-joint five-finger dexterous hand and a robot, which comprises a palm, a four-finger module, a thumb module, a force control module and a control module; the four-finger module comprises a finger structure, the finger structure comprises a finger distal segment, a finger proximal segment, a support, a first driving part and a second driving part; the thumb module comprises a fixing frame, a thumb proximal segment, a thumb distal segment, a third driving part, a fourth driving part, a fifth driving part and a rotating block; full-degree-of-freedom control is realized through a plurality of independent direct-drive joints, the problem of poor grasping flexibility caused by insufficient driving sources of a traditional underactuated dexterous hand is solved, and the defect of reliability reduction caused by redundant transmission chains in a full-drive scheme is avoided. On the premise of guaranteeing bionics, the finger layout is simplified through a two-joint structure, and the control complexity is reduced. And based on the force control module and the control module, real-time contact force sensing and dynamic grasping strategy adjustment are realized, and the problems of insufficient force control precision and poor dynamic grasping adaptability are solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a fully driven two-joint, five-finger dexterous hand and robot. Background Technology

[0002] In the field of robotics, dexterous hands, as the core component of end effectors, directly affect operational flexibility and scene adaptability due to their degree-of-freedom configuration, drive type, and transmission efficiency. Existing dexterous hand technologies can be divided into two categories: underactuated and fully actuated. The former controls multiple joints with a small number of drive sources, relying on mechanical constraints to achieve adaptive grasping, but is limited by insufficient degrees of freedom, making it difficult to meet the requirements of high-precision operation. The latter has an equal number of drive sources as degrees of freedom, which can independently control the movement of each joint, but often results in bulky size or reduced reliability due to complex transmission systems.

[0003] Among current mainstream drive solutions, chord-wire transmission is widely used due to its lightweight advantage. However, its reliance on pulley guiding mechanisms can easily lead to frictional losses and nonlinear hysteresis, affecting the accuracy of dynamic response. In addition, finger structure design also faces contradictions. While multi-joint (such as three-joint) layouts enhance biomimicry, they significantly increase control complexity; while two-joint structures, if lacking degree-of-freedom optimization, can easily lead to insufficient operational flexibility. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of traditional underactuated dexterous hands being unable to meet the requirements of high-precision operation, and fully actuated dexterous hands being bulky or having reduced reliability due to their long transmission chains.

[0005] To solve the above-mentioned technical problems, the present invention provides a fully driven two-joint five-finger dexterous hand, comprising, palm; The four-finger module includes four finger structures connected parallel to the palm. Each finger structure includes a distal phalanx, a proximal phalanx, a support, a first driving part, and a second driving part. One end of the proximal phalanx is provided with a first pin and a second pin that are parallel to each other, and the other end is connected to a first rotating shaft parallel to the two pins. One end of the support is connected to the palm, and the other end is movably connected to the first pin. Two sliders are slidably connected to the support. Each slider is movably connected to the second pin via a push rod. The first driving part is mounted on the support to drive the two sliders to slide synchronously or differentially. One end of the distal phalanx is connected to the first rotating shaft, and the second driving part is mounted on the proximal phalanx to drive the first rotating shaft to rotate. The thumb module includes a fixing frame, a proximal thumb segment, a distal thumb segment, a third drive unit, a fourth drive unit, a fifth drive unit, and a rotating block. One end of the proximal thumb segment is rotatably connected to one end of the distal thumb segment. The proximal thumb segment is equipped with a third drive unit for driving the distal thumb segment to rotate thereon. The end of the proximal thumb segment away from the distal thumb segment is connected to a second rotating shaft driven by the fourth drive unit. One end of the rotating block is connected to the second rotating shaft, and the other end is rotatably connected to the fixing frame mounted on the palm. The fifth drive unit is mounted on the fixing frame for driving the rotating block to rotate.

[0006] In one embodiment of the present invention, the first driving unit includes two first driving sources arranged in parallel on the bracket. The output ends of the first driving sources are coaxially connected to a lead screw via a coupling, and the two lead screws are threadedly connected to the two sliders respectively.

[0007] In one embodiment of the present invention, a first ball joint is coaxially disposed at the middle position of the first pin, and two second ball joints are coaxially disposed on the second pin and symmetrically arranged in their length direction. One end of the bracket is provided with a connecting part, and a first spherical hole is opened on the connecting part and movably connected to the first ball joint through the first spherical hole. One end of each of the two push rods is provided with a second spherical hole and movably connected to a second ball joint through the second spherical hole.

[0008] In one embodiment of the present invention, two slide rails extending along their length are symmetrically arranged on the bracket, and the two sliders are slidably connected to the two slide rails respectively. One end of each slider is provided with a threaded hole for connecting with the lead screw, and the other end is connected to a third ball joint. The end of the push rod away from the second ball joint is provided with a third spherical hole and is movably connected to the third ball joint through the third spherical hole.

[0009] In one embodiment of the present invention, the second driving part includes a second driving source, a first bevel gear and a second bevel gear. The second driving source is mounted on the proximal phalanx of the finger. The first bevel gear is coaxially disposed at the output end of the second driving source. The first bevel gear meshes with the second bevel gear coaxially connected to a first rotating shaft.

[0010] In one embodiment of the present invention, the third driving part includes a third driving source, a connecting rod and a connecting rod pin. The third driving source is mounted on the proximal phalanx of the thumb, and the connecting rod pin is connected to the distal phalanx of the thumb. One end of the connecting rod is rotatably connected to the output end of the third driving source, and the other end is rotatably connected to the connecting rod pin.

[0011] In one embodiment of the present invention, the fourth drive unit includes a fourth drive source, a third bevel gear and a fourth bevel gear. The fourth drive source is connected to the proximal phalanx of the thumb, and the output end of the fourth drive source is connected to the third bevel gear. The third bevel gear meshes with the fourth bevel gear coaxially connected to the second rotating shaft.

[0012] In one embodiment of the present invention, the fifth driving unit includes a fifth driving source, the fifth driving source is mounted on a fixed frame, the output end of the fifth driving source is coaxially connected to a rack, and a gear that meshes with the rack is connected to the rotating block.

[0013] In one embodiment of the present invention, a force control module is included, the force control module including a first force control sensor mounted on the surface of the distal phalanx of the finger and a second force control sensor mounted on the surface of the distal phalanx of the thumb.

[0014] A robot comprising a fully driven two-joint, five-fingered dexterous hand as described in any of the preceding claims.

[0015] The technical solution of the present invention has the following advantages compared with the prior art: This invention discloses a fully driven two-joint five-finger dexterous hand and robot, comprising a palm, a four-finger module, and a thumb module. Both the four-finger and thumb modules adopt a two-joint configuration, but through structural optimization, they achieve the functions of a three-joint hand. This allows for both strong enveloping grasping and precise fingertip pinching, exhibiting dexterity far exceeding traditional two-joint hands while maintaining lower control complexity than three-joint hands. The four-finger module features an innovative "dual-drive source differential" four-finger structure, cleverly achieving composite motion of two degrees of freedom through a dual-drive source mechanism, greatly simplifying the structure. The thumb module controls the movement of the thumb's three degrees of freedom through three independent drive modules, enabling the thumb to perform an opposing palmar motion, allowing the thumb to form a stable grasping force cone with the other four fingers from any angle. Furthermore, the entire drive structure employs rigid transmission, completely eliminating the nonlinearity, hysteresis, and frictional loss problems associated with tendon transmission. Force transmission is direct, efficient, and responsive, with extremely high control precision. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the overall structure of a fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the four-finger module and thumb module of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 3This is a schematic diagram of the finger structure of a fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first drive unit of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the second drive unit of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the thumb module of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the third drive unit of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the fourth drive unit of the fully driven two-joint five-finger dexterous hand according to a preferred embodiment of the present invention.

[0017] Explanation of reference numerals in the accompanying drawings: 1. Hand; 11. Mounting bracket; 2. Four-finger module; 21. Finger structure; 211. Finger distal phalanx; 212. Finger proximal phalanx; 213. Bracket; 2131. Connecting part; 214. First drive unit; 2141. First drive source; 2142. Coupling; 2143. Lead screw; 215. Second drive unit; 2151. Second drive source; 2152. First bevel gear; 2153. Second bevel gear; 216. First pin; 217. Second pin; 218. First rotating shaft; 219. Slider; 2191. Third ball joint; 2110. Push rod; 2111 1. Torsion spring; 3. Thumb module; 31. Fixing bracket; 32. Thumb proximal phalanx; 33. Thumb distal phalanx; 34. Third drive unit; 341. Third drive source; 342. Connecting rod; 343. Connecting rod pin; 344. Fixing pin; 35. Fourth drive unit; 351. Fourth drive source; 352. Third bevel gear; 353. Fourth bevel gear; 36. Fifth drive unit; 361. Fifth drive source; 362. Rack; 363. Gear; 37. Rotating block; 38. Second rotating shaft; 39. Cuboid base; 4. Wrist mounting ring; 5. Force control module; 51. First force control sensor; 52. Second force control sensor. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0019] Example 1, refer to Figures 1-8 As shown, the present invention provides a fully driven two-joint five-finger dexterous hand, comprising, Palm 1; The four-finger module 2 includes four finger structures 21 connected parallel to the palm 1. Each finger structure 21 includes a distal phalanx 211, a proximal phalanx 212, a support 213, a first drive unit 214, and a second drive unit 215. One end of the proximal phalanx 212 is provided with a first pin 216 and a second pin 217 that are parallel to each other, and the other end is connected to a first rotating shaft 218 that is parallel to the two pins. One end of the support 213 is connected to the palm 1, and the other end is movably connected to the first pin 216. Two sliders 219 are slidably connected to the support 213. The two sliders 219 are movably connected to the second pin 217 through a push rod 2110. The first drive unit 214 is installed on the support 213 to drive the two sliders 219 to slide synchronously or differentially. One end of the distal phalanx 211 is connected to the first rotating shaft 218, and the second drive unit 215 is installed on the proximal phalanx 212 to drive the first rotating shaft 218 to rotate. The thumb module 3 includes a fixing frame 31, a proximal thumb 32, a distal thumb 33, a third drive unit 34, a fourth drive unit 35, a fifth drive unit 36, and a rotating block 37. One end of the proximal thumb 32 is rotatably connected to one end of the distal thumb 33. The third drive unit 34 for driving the distal thumb 33 to rotate on the proximal thumb 32 is mounted on the proximal thumb 32. The end of the proximal thumb 32 away from the distal thumb 33 is connected to a second rotating shaft 38 driven by the fourth drive unit 35. One end of the rotating block 37 is connected to the second rotating shaft 38, and the other end is rotatably connected to the fixing frame 31 mounted on the palm 1. The fifth drive unit 36 ​​is mounted on the fixing frame 31 for driving the rotating block 37 to rotate.

[0020] This invention discloses a fully driven two-joint five-finger dexterous hand. Both the four-finger module 2 and the thumb module 3 employ a two-joint configuration, but through structural optimization, they achieve the functions of a three-joint hand. This allows for both powerful enveloping grasps and precise fingertip pinching, offering far greater dexterity than traditional two-joint hands while maintaining lower control complexity than three-joint hands. The four-finger module 2 features an innovative "dual-drive source differential" four-finger structure, cleverly achieving composite motion of two degrees of freedom through a single dual-drive source mechanism, greatly simplifying the structure. The thumb module 3 controls the movement of the thumb's three degrees of freedom through three independent drive modules, enabling the thumb to perform an opposing palmar motion, allowing the thumb to form a stable grasping force cone with the other four fingers from any angle. Furthermore, the entire drive structure uses rigid transmission, completely eliminating the nonlinearity, hysteresis, and friction loss problems associated with tendon transmission. Force transmission is direct, efficient, and responsive, with extremely high control precision.

[0021] Specifically, this dexterous hand structure has 15 degrees of freedom (3 degrees of freedom per finger), all of which are independently direct-drive designs. It employs a linkage and gear composite transmission mechanism, which uses high-precision linkage and gear components to accurately transmit finger movements, ensuring efficient and stable power output. Each finger in the four-finger module 2 has two independently driven joints at its base, allowing for flexible finger bending and lateral movements. The fingers use a two-joint structure, with the proximal phalanx 212 and distal phalanx 211 configured with another independent drive unit for direct drive of the distal phalanx 211, meeting high-precision operation requirements. The thumb module 3 has two degrees of freedom at its base, enabling thumb rotation and adduction. The proximal phalanx 32 and distal phalanx 33 of the thumb are configured with an independent drive unit for direct drive of the distal phalanx, allowing precise finger-to-finger alignment and fine manipulation such as two-finger grasping. Based on a force-position hybrid control algorithm, the dexterous hand can sense contact force in real time and adjust its grasping strategy to achieve adaptive grasping of precision objects and complex posture control. This invention improves flexibility while ensuring transmission torque and reliability through the synergistic optimization of direct drive joints and composite transmission systems, making it suitable for dynamic scenarios such as parts inspection and sorting, heavy load handling, and adaptation to flexible production lines.

[0022] Hand 1 is the basic support component of the fully driven two-joint five-finger dexterity hand. Its main function is to provide a stable mounting base for the four-finger module 2 and the thumb module 3, ensuring good stability and reliability of each finger module during movement. The structural design of Hand 1 needs to consider factors such as overall strength, rigidity, and weight, and is usually made of high-strength, lightweight materials, such as aluminum alloy and carbon fiber composite materials.

[0023] The four-finger module 2 includes four parallel finger structures 21 connected to the palm. The four finger structures 21 are designed and function identically, enabling synchronous or independent movement to simulate the coordinated operation of human four fingers. Each finger structure 21 includes a distal phalanx 211, a proximal phalanx 212, a support 213, a first drive unit 214, and a second drive unit 215. These components cooperate to achieve multi-degree-of-freedom movement of the finger. The proximal phalanx 212 is the intermediate connecting component of the finger structure 21. One end of it is equipped with a first pin 216 and a second pin 217 that are parallel to each other, and the other end is connected to a first rotating shaft 218 parallel to the two pins. The first pin 216 and the second pin 217 are mainly used to connect with the support 213 and the push rod 2110, realizing the movable connection between the proximal phalanx 212 and the support 213, and the transmission between the proximal phalanx 212 and the push rod 2110. The first rotating shaft 218 is used to connect with the distal phalanx 211, providing support and transmission for the rotation of the distal phalanx 211. The bracket 213 serves as a support and guide component for the finger structure 21, providing a platform for the installation and movement of components such as the first drive unit 214, slider 219, and push rod 2110. The bracket is connected to the mounting bracket 11 located in the palm. The distal phalanx 211 is the component that directly contacts the object being manipulated. One end of the distal phalanx 211 is connected to the first rotating shaft 218, allowing it to rotate with the first rotating shaft 218, thereby realizing the bending and extending movements of the distal phalanx 211, simulating the movement function of the human fingertip. Its surface is usually specially treated, such as increasing the coefficient of friction and improving wear resistance, to ensure sufficient friction when grasping objects, preventing objects from slipping, and improving the service life of the distal phalanx.

[0024] The structural design of the thumb module 3 differs from that of the four-finger module, offering greater freedom of movement and enabling more flexible motion. This simulates the unique movement functions of the human thumb, such as opposition, lateral movement, flexion, extension, and rotation, allowing it to work in conjunction with the four-finger module for more stable and precise grasping and manipulation. The fixing frame 31 is fixedly connected to the mounting bracket within the palm 1, providing a stable mounting foundation for the thumb module 3 and ensuring it does not wobble or shift during movement, thus improving the accuracy and stability of thumb movement. Simultaneously, the structural design of the fixing frame 31 accommodates the installation requirements of each component of the thumb module 3, providing reasonable installation space for each component and facilitating assembly and adjustment. The rotational connection between the proximal phalanx 32 and the distal phalanx 33 of the thumb increases the thumb's freedom of movement, allowing the distal phalanx 33 to flexibly bend and extend according to the shape and position of the object being manipulated, improving the thumb's grasping adaptability and flexibility.

[0025] Reference Figure 3 , Figure 4 and Figure 5As shown, the first drive unit 214 further includes two first drive sources 2141 parallel to each other on the bracket 213. The output ends of the first drive sources 2141 are coaxially connected to a lead screw 2143 via couplings 2142. The two lead screws 2143 are threadedly connected to two sliders 219. Specifically, the first drive source 2141 uses a servo motor. Servo motors have advantages such as high control precision, fast response speed, and stable output torque, providing reliable power for the sliding of the sliders 219. The couplings 2142 are used to compensate for the coaxiality error between the output shaft of the first drive source 2141 and the lead screw 2143, preventing vibration or jamming of the lead screw 2143 during rotation due to coaxiality error, and ensuring smooth transmission. More preferably, the bottom of the first drive source 2141 (which can be a hollow cup geared motor) is embedded in the stepped groove at the bottom of the bracket 213 and forms a detachable connection with the internal threaded hole of the bracket 213 through the thread on the motor output shaft side. The central wiring through hole (with a diameter smaller than the groove) at the bottom of the groove ensures reliable wiring of the motor leads. The bracket 213 adopts a split structure, and the side plate assembly where the threaded hole is located is detachable to enable quick installation and maintenance of the motor. At the same time, a coupling 2142 support seat is set at a symmetrical position on the side plate, and the axial displacement of the coupling 2142 is constrained by the double-sided fixing plates.

[0026] Furthermore, a first ball joint is coaxially arranged at the middle position of the first pin 216, and two second ball joints are coaxially arranged symmetrically along their length on the second pin 217. One end of the bracket 213 has a connecting part 2131, which has a first spherical hole and is movably connected to the first ball joint. One end of each of the two push rods 2110 has a second spherical hole and is movably connected to a second ball joint. Specifically, the cooperation between the ball joints and the spherical holes enables the movable connection between the push rod 2110 and the slider 219, the push rod 2110 and the proximal phalanx of the finger 212, and the bracket 213 and the proximal phalanx of the finger 212. This makes the relative movement between the components more flexible, enabling multi-angle rotation and oscillation, avoiding the motion constraints and interference problems existing in traditional rigid connection methods. This connection method can better adapt to the changes in the relative positions of the components during finger movement, ensuring the smoothness and stability of finger movement, while also reducing wear between components and improving the service life of the entire finger structure.

[0027] Furthermore, the bracket 213 is symmetrically equipped with two slide rails extending along its length. Two sliders 219 are slidably connected to the two slide rails, and one end of each slider 219 has a threaded hole for connection with the lead screw 2143, while the other end is connected to a third ball joint 2191. The end of the push rod 2110 away from the second ball joint has a third spherical hole and is movably connected to the third ball joint 2191 through the third spherical hole. Specifically, the design of the slide rails and sliders 219 can precisely guide the movement of the sliders 219, ensuring that the two sliders 219 remain parallel during sliding, avoiding tilting or deviation, thereby ensuring that the push rod 2110 can accurately push the proximal phalanx 212 of the finger, improving the accuracy of finger movement. The engagement between the threaded hole on the slider 219 and the lead screw 2143 converts the rotational motion of the first drive unit 214 into the linear motion of the slider 219. This results in high transmission efficiency and precision, enabling precise control of the sliding distance and speed of the slider 219, thereby achieving precise control of the movement angle and speed of the proximal phalanx. The engagement between the third ball joint 2191 on the slider 219 and the push rod 2110 allows for flexible rotation between the push rod 2110 and the slider 219 at multiple angles, avoiding rigid constraints during movement, reducing wear between components, and improving the service life of the entire finger structure.

[0028] Furthermore, the second drive unit 215 includes a second drive source 2151, a first bevel gear 2152, and a second bevel gear 2153. The second drive source 2151 is mounted on the proximal phalanx 212 of the finger. The first bevel gear 2152 is coaxially disposed at the output end of the second drive source 2151, and the first bevel gear 2152 meshes with the second bevel gear 2153, which is coaxially connected to the first rotating shaft 218. Specifically, the second drive unit 215 adopts a bevel gear transmission method, which can effectively transmit the rotational motion of the second drive source 2151 to the first rotating shaft 218, driving the distal phalanx 211 of the finger to rotate. The transmission ratio of the bevel gear transmission is stable, which can ensure the stability and accuracy of the rotational speed of the distal phalanx 211 of the finger. At the same time, its compact structure can realize power transmission in a limited space, which is conducive to the miniaturization design of the finger structure 21. More preferably, a torsion spring 2111 can be fitted on the first rotating shaft 218, with one end of the torsion spring 2111 abutting against the distal phalanx 211 of the finger and the other end abutting against the limiting part provided on the inner wall of the proximal phalanx 212 of the finger, thereby eliminating the gear meshing gap through elastic compensation.

[0029] Reference Figure 6 , Figure 7 and Figure 8As shown, the third drive unit 34 further includes a third drive source 341, a connecting rod 342, and a connecting rod pin 343. The third drive source 341 is mounted on the proximal phalanx of the thumb 32, and the connecting rod pin 343 is connected to the distal phalanx of the thumb 33. One end of the connecting rod 342 is rotatably connected to the output end of the third drive source 341, and the other end is rotatably connected to the connecting rod pin 343. Specifically, the third drive unit 34 adopts a linkage transmission method. The distal phalanx of the thumb 33 is rotatably connected to the proximal phalanx of the thumb 32 through a fixed pin 344, and the axis of this fixed pin 344 is staggered with that of the connecting rod pin 343. The third drive source 341 drives the connecting rod 342 to move, thereby causing the distal phalanx of the thumb 33 to rotate around the proximal phalanx of the thumb 32. The structure is simple and compact, the transmission is smooth and reliable, and it can achieve a large angle of rotation of the distal phalanx of the thumb, meeting the movement requirements of bending and extending of the distal phalanx of the thumb 33.

[0030] Furthermore, the fourth drive unit 35 includes a fourth drive source 351, a third bevel gear 352 and a fourth bevel gear 353. The fourth drive source 351 is connected to the proximal phalanx of the thumb 32. The output end of the fourth drive source 351 is connected to the third bevel gear 352. The third bevel gear 352 meshes with the fourth bevel gear 353, which is coaxially connected to the second rotating shaft 38. Specifically, a hollow cuboid base 39 is provided on the proximal phalanx 32 of the thumb. A fourth drive source 351 is provided in the cuboid base 39, and the output end of the fourth drive source 351 is connected to a third bevel gear 352. The third bevel gear 352 meshes with a fourth bevel gear 353 rotatably provided in the cuboid base 39. A second rotating shaft 38 is coaxially connected with the fourth bevel gear 353. The second rotating shaft 38 extends out of the cuboid base 39 and is connected to the rotating block 37 through a spline. The third bevel gear 352 is a small gear, and the fourth bevel gear 353 is a large gear. The small bevel gear and the large bevel gear form an orthogonal meshing transmission pair with a speed ratio of 1:2. Through power transmission, the second rotating shaft 38 obtains amplified torque.

[0031] Furthermore, the fifth drive unit 36 ​​includes a fifth drive source 361, which is mounted on the fixed frame 31. A rack 362 is coaxially connected to the output end of the fifth drive source 361, and a gear 363 meshing with the rack 362 is connected to the rotating block 37. The fifth drive unit 36 ​​employs a rack and pinion transmission method. The fifth drive source 361 drives the rack 362 to move, which in turn drives the gear 363 meshing with the rack 362 to rotate, causing the rotating block 37 to rotate, thus realizing the thumb's palm-to-palm and lateral swing movements. This transmission method is smooth and reliable, with an accurate transmission ratio, and can precisely control the rotation angle and speed of the rotating block, thereby achieving precise control of the thumb's palm-to-palm and lateral swing movements. This allows the thumb to better coordinate with the four fingers, improving the overall grasping ability and operational flexibility of the dexterous hand.

[0032] Furthermore, a wrist mounting ring 4 is installed at the rear end of the hand 1 (i.e., one end of the principle four-finger module). The wrist mounting ring 4 is equipped with a bolt connection structure for achieving a detachable and fixed connection between the dexterous hand and the end of the robotic arm. The hand 1 includes a palm shell and a back shell that fit together, forming an accommodating space between the palm shell and the back shell to accommodate the various internal components.

[0033] Furthermore, a force control module 5 is included, comprising a first force control sensor 51 mounted on the surface of the distal phalanx 211 of the finger and a second force control sensor 52 mounted on the surface of the distal phalanx 33 of the thumb. The force control sensors are tactile sensors at the fingertips, capable of monitoring three-dimensional force and proximity sensation, thereby sensing contact force and adjusting the grasping strategy. The fingertip tactile sensors employ an embedded mounting scheme, with their sensing surfaces conformally aligned with the palmar surface of the distal phalanx 211 (and the distal phalanx 33 of the thumb), achieving real-time detection of the contact force vector through a distributed piezoresistive array.

[0034] Furthermore, it includes a control module, which is connected to the first drive unit 214, the second drive unit 215, the third drive unit 34, the fourth drive unit 35, the fifth drive unit 36, the first force control sensor 51, and the second force control sensor 52, respectively.

[0035] Working principle: The movement process of the four-finger module: Proximal flexion and extension: When the two first drive sources 2141 synchronously drive the lead screw 2143 to rotate, the lead screw 2143 will drive the two sliders 219 to slide synchronously and in the same direction on the bracket 213. The two push rods 2110 will synchronously push or pull the second pin 217 under the push of the sliders 219. Since the first pin 216 is hinged to the bracket 213 through the first ball joint, the proximal phalanx 212 of the finger will flex or extend around the first pin 216 as the axis.

[0036] Pointing adjustment / lateral swing: When the two first drive sources 2141 are differential (one rotates forward and the other rotates in reverse or at different speeds), the two sliders 219 will slide relative to each other. At this time, the pushing force of the two push rods 2110 on the second pin 217 will generate a couple. This couple will force the proximal phalanx 212 of the finger to rotate laterally (adduct / abduct) around the connection position of the first pin 216 and the bracket 213, thereby realizing the lateral swing action of the finger.

[0037] Thumb module movement process: Thumb distal phalanx flexion and extension: The output end of the third drive source 341 extends and drives the thumb distal phalanx 33 to rotate relative to the thumb proximal phalanx 32 via the connecting rod 342.

[0038] Pointing adjustment: The fourth drive source 351 drives the second rotating shaft 38 to rotate through a bevel gear, thereby causing the proximal phalanx 32 and distal phalanx 33 of the thumb to rotate around the axis of the second rotating shaft 38, changing the fingertip orientation.

[0039] Opposition movement: The fifth drive source 361 drives the rotating block 37 to rotate on the fixed frame 31 through the meshing of the rack 362 and the gear 363, thereby driving the entire thumb module 3 (proximal and distal phalanges) to perform large-scale opening and closing and opposition movements relative to the palm 1, so that it can form an opposition with the other four fingers.

[0040] In Example 2, the present invention also discloses a robot, including a fully driven two-joint five-fingered dexterous hand as in Example 1.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A fully driven two-joint, five-fingered dexterous hand, characterized in that: include, palm; The four-finger module includes four finger structures connected parallel to the palm. Each finger structure includes a distal phalanx, a proximal phalanx, a support, a first driving part, and a second driving part. One end of the proximal phalanx is provided with a first pin and a second pin that are parallel to each other, and the other end is connected to a first rotating shaft parallel to the two pins. One end of the support is connected to the palm, and the other end is movably connected to the first pin. Two sliders are slidably connected to the support. Each slider is movably connected to the second pin via a push rod. The first driving part is mounted on the support to drive the two sliders to slide synchronously or differentially. One end of the distal phalanx is connected to the first rotating shaft, and the second driving part is mounted on the proximal phalanx to drive the first rotating shaft to rotate. The thumb module includes a fixing frame, a proximal thumb segment, a distal thumb segment, a third drive unit, a fourth drive unit, a fifth drive unit, and a rotating block. One end of the proximal thumb segment is rotatably connected to one end of the distal thumb segment. The proximal thumb segment is equipped with a third drive unit for driving the distal thumb segment to rotate thereon. The end of the proximal thumb segment away from the distal thumb segment is connected to a second rotating shaft driven by the fourth drive unit. One end of the rotating block is connected to the second rotating shaft, and the other end is rotatably connected to the fixing frame mounted on the palm. The fifth drive unit is mounted on the fixing frame for driving the rotating block to rotate.

2. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The first drive unit includes two first drive sources arranged in parallel on the bracket. The output ends of the first drive sources are coaxially connected to a lead screw via a coupling. The two lead screws are threadedly connected to the two sliders respectively.

3. The fully driven two-joint five-finger dexterous hand according to claim 2, characterized in that: A first ball joint is coaxially arranged at the middle position of the first pin, and two second ball joints are coaxially arranged symmetrically along their length on the second pin. A connecting part is provided at one end of the bracket, and a first spherical hole is opened on the connecting part and movably connected to the first ball joint through the first spherical hole. A second spherical hole is opened at one end of each of the two push rods and movably connected to a second ball joint through the second spherical hole.

4. The fully driven two-joint five-finger dexterous hand according to claim 3, characterized in that: The bracket is symmetrically provided with two slide rails extending along its length. The two sliders are slidably connected to the two slide rails respectively. One end of each slider is provided with a threaded hole for connecting with the lead screw, and the other end is connected to a third ball joint. The end of the push rod away from the second ball joint is provided with a third spherical hole and is movably connected to the third ball joint through the third spherical hole.

5. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The second drive unit includes a second drive source, a first bevel gear, and a second bevel gear. The second drive source is mounted on the proximal phalanx of the finger. The first bevel gear is coaxially disposed at the output end of the second drive source. The first bevel gear meshes with the second bevel gear, which is coaxially connected to a first rotating shaft.

6. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The third drive unit includes a third drive source, a connecting rod, and a connecting rod pin. The third drive source is mounted on the proximal phalanx of the thumb, and the connecting rod pin is connected to the distal phalanx of the thumb. One end of the connecting rod is rotatably connected to the output end of the third drive source, and the other end is rotatably connected to the connecting rod pin.

7. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The fourth drive unit includes a fourth drive source, a third bevel gear, and a fourth bevel gear. The fourth drive source is connected to the proximal phalanx of the thumb, and the output end of the fourth drive source is connected to the third bevel gear. The third bevel gear meshes with the fourth bevel gear, which is coaxially connected to the second rotating shaft.

8. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The fifth drive unit includes a fifth drive source, which is mounted on a fixed frame. A rack is coaxially connected to the output end of the fifth drive source, and a gear that meshes with the rack is connected to the rotating block.

9. The fully driven two-joint five-finger dexterous hand according to claim 1, characterized in that: The device includes a force control module, which includes a first force control sensor mounted on the surface of the distal phalanx of the finger and a second force control sensor mounted on the surface of the distal phalanx of the thumb.

10. A robot, characterized in that: Including the fully driven two-joint five-finger dexterous hand as described in any one of claims 1-9.

Images