Dexterous hand and robot

Abstract

The application provides a dexterous hand and a robot, and belongs to the technical field of robots. The dexterous hand comprises a palm part, a finger driving device, a thumb driving device, a thumb part and a plurality of finger parts; the finger part is movably connected with the palm part along a first direction, the finger part comprises a plurality of knuckle parts, and the plurality of knuckle parts are rotatably connected; the thumb part is movably connected with the palm part along a second direction, the thumb part comprises a plurality of thumb knuckles, and the plurality of thumb knuckles are rotatably connected; the output end of the finger driving device is movably connected with the finger part, and the finger driving device is used for controlling the finger part to swing along a first degree of freedom direction and / or a second degree of freedom direction; and the output end of the thumb driving device is movably connected with the thumb part, and the thumb driving device is used for controlling the thumb part to swing along the first degree of freedom direction and / or the second degree of freedom direction. The dexterous hand provided by the application can increase the degrees of freedom of swinging of the finger part and the thumb part, and improve the flexibility of movement of the finger part and the thumb part in the dexterous hand.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dexterous hand and a robot. Background Technology

[0002] With the continuous development of technology, ordinary manual methods can no longer meet the demands of productivity, and industrial development is increasingly inseparable from the application of robots. Driven by robotics technology, the types of robots are becoming more and more diversified. Among them, service robots used in restaurants, shopping malls, and other similar settings require high dexterity in their hands, and dexterous hands are gradually becoming a development trend. Their humanoid appearance and grasping methods will give people a more approachable impression.

[0003] The current dexterous hand has a complex structure, and the entire dexterous hand actuator requires a large volume. Although each finger joint can rotate, the fingers can only swing in one direction of freedom, resulting in low finger dexterity. This leads to a single grasping pattern and low utilization rate of the dexterous hand. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a dexterous hand and robot.

[0005] This application provides the following technical solution: a dexterous hand having intersecting first and second directions, including:

[0006] Palm area;

[0007] Multiple finger portions, each finger portion being movably connected to the palm portion along the first direction, each finger portion including multiple knuckle portions, the multiple knuckle portions being rotatably connected to each other;

[0008] The thumb portion is movably connected to the palm portion along the second direction, and the thumb portion includes multiple thumb segments that are rotatably connected to each other.

[0009] A finger drive device and a thumb drive device are respectively disposed in the palm part. The output end of the finger drive device is movably connected to the finger part and is used to control the finger part to swing along the first degree of freedom direction and / or the second degree of freedom direction.

[0010] The output end of the thumb drive device is movably connected to the thumb and is used to control the thumb to swing along the first degree of freedom and / or the second degree of freedom.

[0011] In some embodiments, the palm portion includes a housing and a frame and a main control board disposed within the housing;

[0012] The finger drive device and the thumb drive device are respectively located on one side of the frame and are electrically connected to the main control board.

[0013] In some embodiments, the plurality of finger joints includes a first drive motor, a third transmission assembly, a first finger joint, and a second finger joint, wherein the first finger joint and the second finger joint are rotatably connected.

[0014] The first drive motor is disposed in the first finger joint, and the third transmission assembly includes a worm gear, a worm shaft, and a first transmission shaft. The worm gear is disposed in the first finger joint and is connected to the output end of the first drive motor.

[0015] The turbine meshes with the worm gear, the first drive shaft passes through the turbine and is connected to the second finger joint.

[0016] In some embodiments, the finger driving device includes a first motor, a second motor, a first transmission assembly, and a second transmission assembly;

[0017] The output end of the first motor is connected to the finger part via the first transmission assembly in the direction of the first degree of freedom.

[0018] The output end of the second motor is connected to the finger part via the second transmission component in the direction of the second degree of freedom.

[0019] In some embodiments, the end of the first knuckle portion opposite to the second knuckle portion is provided with a first connecting portion and a second connecting portion;

[0020] The first transmission assembly includes a first lead screw, a first nut, and a first connecting rod. The first nut is connected to the first lead screw in a transmission connection. The first lead screw is connected to the output end of the first motor. The end of the first nut facing away from the first motor is rotatably connected to one end of the first connecting rod. The end of the first connecting rod facing away from the first nut is rotatably connected to the first connecting part.

[0021] The second transmission assembly includes a second lead screw and a second nut. The second nut is connected to the second lead screw in a transmission connection. The second lead screw is connected to the output end of the second motor. The end of the second nut facing away from the second motor is rotatably connected to the second connecting part.

[0022] In some embodiments, the end of the first nut away from the first motor is provided with a first bearing, the first connecting rod is rotatably connected to the first bearing, and the end of the first connecting rod away from the first bearing is rotatably connected to the first connecting part.

[0023] The second nut has a second bearing and a first connecting shaft at the end opposite to the second motor. One end of the first connecting shaft is connected to the inner ring of the second bearing, and the other end of the first connecting shaft passes through the second connecting part and is rotatably connected to the frame.

[0024] In some embodiments, the dexterous hand includes a first position detection circuit board and a second position detection circuit board, wherein the first position detection circuit board and the second position detection circuit board are electrically connected to the main control board respectively;

[0025] The first position detection circuit board is disposed on one side of the first nut, and the second position detection circuit board is disposed on one side of the second nut.

[0026] In some embodiments, the thumb drive device includes a third motor, a fourth motor, and a third transmission assembly, wherein the output ends of the third motor and the fourth motor are both connected to the thumb via the third transmission assembly.

[0027] In some embodiments, the third transmission assembly includes a third lead screw, a third nut, a fourth lead screw, a fourth nut, and a transmission structure;

[0028] The third lead screw is connected to the output end of the third motor, the third nut is rotatably connected to the third lead screw, the fourth lead screw is connected to the output end of the fourth motor, and the fourth nut is rotatably connected to the fourth lead screw;

[0029] The third nut and the fourth nut are respectively connected to the thumb via a transmission structure.

[0030] In some embodiments, the transmission structure includes a third bearing, a third oscillating member, a fourth bearing, a fourth oscillating member, a fifth bearing, a sixth bearing, a fifth oscillating member, and a connecting member;

[0031] The third bearing is disposed at the end of the third nut away from the third motor, one end of the third swing member is rotatably connected to the third bearing, the other end of the third swing member is connected to the fifth bearing, and the fifth bearing is rotatably connected to one end of the fifth swing member;

[0032] The fourth bearing is disposed at the end of the fourth nut away from the fourth motor; one end of the fourth swing member is rotatably connected to the fourth bearing; the other end of the fourth swing member is rotatably connected to the sixth bearing; and the sixth bearing is rotatably connected to one end of the fifth swing member.

[0033] The connector passes through the fifth bearing and is rotatably connected to the fifth swing member. The end of the fifth swing member facing away from the third motor is connected to the thumb.

[0034] In some embodiments, the dexterous hand includes a third position detection circuit board and a fourth position detection circuit board, which are electrically connected to the main control board respectively.

[0035] The third position detection circuit board is disposed on one side of the third nut, and the fourth position detection circuit board is disposed on one side of the fourth nut.

[0036] In some embodiments, the plurality of thumb segments include a first thumb segment and a second thumb segment, one end of the first thumb segment is connected to the end of the fifth swing member opposite to the third motor, and the end of the first thumb segment opposite to the fifth swing member is rotatably connected to the second thumb segment.

[0037] Secondly, this application provides a robot including the aforementioned dexterous hand.

[0038] The embodiments of this application have the following advantages: This application rotatably connects the fingers and thumb to the palm, drives the fingers to swing along the first degree of freedom and / or the second degree of freedom via a finger driving device, and drives the thumb to swing along the first degree of freedom and / or the second degree of freedom via a thumb driving device. At the same time, multiple phalanges and multiple thumb phalanges are rotatably connected to each other, so that the fingers and thumb can move flexibly. The coordination of the fingers and thumb can improve the dexterity of the hand, and each finger does not interfere with each other, thereby further improving the flexibility of the finger and thumb movements in the dexterity hand and increasing the diversity of the grasping patterns of the dexterity hand.

[0039] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This application provides a schematic diagram of the structure of a dexterous hand from one perspective, illustrating some embodiments thereof.

[0042] Figure 2 This invention provides a first-view structural schematic diagram of the internal structure of a dexterous hand according to some embodiments of the present application;

[0043] Figure 3 This invention provides a second-view structural schematic diagram of the internal structure of a dexterous hand according to some embodiments of the present application;

[0044] Figure 4This application provides a third-view structural schematic diagram of the internal structure of a dexterous hand according to some embodiments;

[0045] Figure 5 It shows Figure 4 Enlarged view of section A in the middle;

[0046] Figure 6 This invention provides a fourth-view structural schematic diagram of the internal structure of a dexterous hand according to some embodiments of the present application;

[0047] Figure 7 It shows Figure 6 Enlarged view of section B in the middle.

[0048] Explanation of key component symbols:

[0049] 100 - Palm part; 200 - Third position detection circuit board; 300 - Fourth position detection circuit board; 400 - Finger part; 500 - Thumb part; 110 - Housing; 120 - Frame; 130 - Main control board; 131 - First control board; 132 - Second control board; 600 - Finger drive device; 700 - Thumb drive device; 410 - First drive motor; 420 - Third transmission structure; 430 - First knuckle part; 440 - Second knuckle part; 421 - Turbine; 422 - Worm gear; 423 - First transmission shaft; 610 - First motor; 620 - Second motor; 630 - First transmission assembly; 640 - Second transmission assembly; 431 - First connecting part; 432 - Second connecting part; 631 - First lead screw; 632 - First nut; 63 3-First connecting rod; 634-First gearbox; 641-Second lead screw; 642-Second nut; 643-Second gearbox; 650-First bearing; 660-Second bearing; 670-First connecting shaft; 800-First position detection circuit board; 900-Second position detection circuit board; 710-Third motor; 720-Fourth motor; 730-Third transmission assembly; 731-Third lead screw; 732-Third nut; 733-Fourth lead screw; 734-Fourth nut; 735-Transmission structure; 7351-Third bearing; 7352-Third swinging component; 7353-Fourth bearing; 7354-Fourth swinging component; 7355-Fifth bearing; 7356-Sixth bearing; 7357-Fifth swinging component; 7358-Connector; 510-First thumb joint; 520-Second thumb joint.

[0050] Z - First direction; Y - Second direction; X - Third direction. Detailed Implementation

[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0052] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0056] like Figures 1 to 7 As shown, this application provides a dexterous hand with intersecting first direction Z and second direction Y, mainly used to improve the dexterity of the finger part 400 in the dexterous hand and the accuracy of finger control.

[0057] The dexterous hand includes a palm portion 100, a finger actuator 600, a thumb actuator 700, a thumb portion 500, and multiple finger portions 400.

[0058] The finger driving device 600 and the thumb driving device 700 are respectively disposed in the palm part 100.

[0059] In addition, the number of fingers 400 can be any number of two or more values, and can be set according to the actual situation.

[0060] In this application, the following explanation is given using an example of four fingers (400 in total).

[0061] It should be noted that multiple finger portions 400 are movably connected to the palm portion 100 via the finger driving device 600, and all multiple finger portions 400 are located on the same side of the palm portion 100. It is understood that the finger portions 400 are capable of rotating relative to the palm portion 100.

[0062] In this embodiment, the output end of the finger driving device 600 is movably connected to the finger portion 400 to drive the finger portion to swing along a first degree of freedom direction and / or a second degree of freedom direction. It is understood that in some embodiments, the finger driving device 600 drives the finger portion 400 to swing along either the first or second degree of freedom direction; in other embodiments, the finger driving device 600 drives the finger portion 400 to swing along both the first and second degree of freedom directions.

[0063] In addition, the finger portion 400 includes multiple knuckle portions. It is understood that the number of knuckle portions can be any number of two or more values, and can be specifically set according to the actual situation.

[0064] In this embodiment, the multiple knuckles are rotatably connected, that is, two adjacent knuckles can rotate relative to each other to improve the dexterity of the fingers 400 in the dexterous hand.

[0065] In this embodiment, the thumb portion 500 is movably connected to one end of the palm portion 100 along the second direction Y via the thumb driving device 700, so that the thumb portion 500 can rotate relative to the palm portion 100.

[0066] In this embodiment, the output end of the thumb drive device 700 is movably connected to the thumb portion 500 to drive the thumb portion 500 to swing along a first degree of freedom direction and / or a second degree of freedom direction. It is understood that in some embodiments, the thumb drive device 700 drives the thumb portion to swing along either the first or second degree of freedom direction; in other embodiments, the thumb drive device 700 drives the thumb portion 500 to swing along both the first and second degree of freedom directions.

[0067] The thumb portion 500 includes multiple thumb segments. It can be understood that the number of thumb segments can be any number of two or more values, and can be specifically set according to the actual situation.

[0068] It is understood that this application rotatably connects the finger portion 400 and the thumb portion 500 to the palm portion 100 respectively, drives the finger portion 400 to swing along the first degree of freedom direction and / or the second degree of freedom direction through the finger driving device 600, and drives the thumb portion 500 to swing along the first degree of freedom direction and / or the second degree of freedom direction through the thumb driving device 700, while simultaneously rotatably connecting multiple finger joints and multiple thumb joints to each other, so that the finger portion 400 and the thumb portion 500 can move flexibly. The cooperation of the finger portion 400 and the thumb portion 500 can improve the dexterity of the hand, and each finger portion 400 does not interfere with each other, thereby further improving the degree of freedom of movement of the finger portion 400 and the thumb portion 500 in the dexterous hand.

[0069] like Figures 1 to 5 As shown, in some embodiments of this application, the palm portion 100 includes a housing 110 and a frame 120 and a main control board 130 disposed within the housing 110.

[0070] The connection method between the frame 120 and the shell 110 includes at least one of bolt connection, snap-fit, adhesive connection, magnetic connection, interference fit, and tenon and mortise connection, which can be specifically set according to the actual situation.

[0071] In this embodiment, the finger driving device 600 and the thumb driving device 700 are respectively disposed on one side of the frame 120 and electrically connected to the main control board 130, so that the main control board 130 can send control commands to the finger driving device 600 and the thumb driving device 700, and the finger driving device 600 and the thumb driving device 700 can recognize and execute the commands.

[0072] In addition, the output end of the finger driving device 600 is connected to the finger part 400 for transmission, so as to control the movement direction of the finger part 400 through the finger driving device 600.

[0073] Next, the output end of the thumb drive device 700 is connected to the thumb part 500 via a drive device so as to control the direction of movement of the thumb part 500 through the thumb drive device 700.

[0074] Understandably, the main control board 130 can control the thumb 500 and each finger 400 separately. That is, after the main control board 130 issues a control command, the finger driving device 600 recognizes the control command and controls the movement of the finger 400, or the thumb driving device 700 controls the movement of the thumb 500, so as to improve the flexibility of controlling the finger 400 and the thumb 500 separately and improve the dexterity of the hand.

[0075] like Figures 2 to 4 As shown, in some embodiments of this application, the plurality of finger joints include a first drive motor 410, a third transmission structure 420, a first finger joint 430 and a second finger joint 440, wherein the first finger joint 430 and the second finger joint 440 are rotatably connected.

[0076] It should be noted that one end of the first knuckle portion 430 is rotatably connected to the palm portion 100, and the other end of the first knuckle portion 430 is rotatably connected to the second knuckle portion 440.

[0077] The first drive motor 410 is disposed inside the first knuckle portion 430, and the output end of the first drive motor 410 faces the second knuckle portion 440.

[0078] In addition, the third transmission structure 420 includes a turbine 421, a worm gear 422 and a first transmission shaft 423. The worm gear 422 is disposed in the first finger joint 430 and is coaxially connected to the output end of the first drive motor 410, so that the output end of the first drive motor 410 can drive the worm gear 422 to rotate coaxially during the rotation of the output end of the first drive motor 410.

[0079] In this embodiment, the turbine 421 meshes with the worm gear 422 so that the worm gear 422 can drive the turbine 421 to rotate synchronously during rotation.

[0080] It should be noted that the first drive shaft 423 passes through the turbine 421 and connects the first drive shaft 423 to the second finger joint 440, so that the turbine 421 can drive the second finger joint 440 to rotate relative to the first finger joint 430 in the first degree of freedom direction during the rotation of the turbine 421.

[0081] like Figures 3 to 6 As shown, in some embodiments of this application, the finger driving device 600 includes a first motor 610, a second motor 620, a first transmission component 630, and a second transmission component 640.

[0082] The output end of the first motor 610 is connected to the finger part 400 along the first degree of freedom through the first transmission component 630, so that the finger part 400 can be driven to rotate along the first degree of freedom through the output end of the first motor 610 via the first transmission component 630.

[0083] In addition, the output end of the second motor 620 is connected to the finger part 400 via the second transmission assembly 640 in the direction of the second degree of freedom.

[0084] It is understood that the finger portion 400 provided in this application can rotate relative to the palm portion 100 in the first degree of freedom direction and the second degree of freedom direction. By connecting multiple phalanges in the first degree of freedom direction, the degree of freedom of movement of the finger portion 400 is further improved, and the flexibility of the finger portion 400 is enhanced.

[0085] There is a gap between the first motor 610 and the second motor 620.

[0086] like Figures 4 to 7 As shown, in some embodiments of this application, the first knuckle portion 430 is provided with a first connecting portion 431 and a second connecting portion 432 at the end opposite to the second knuckle portion 440, and there is a gap between the first connecting portion 431 and the second connecting portion 432.

[0087] The first transmission assembly 630 includes a first lead screw 631, a first nut 632, and a first connecting rod 633. The first nut 632 is drivenly connected to the first lead screw 631. The first lead screw 631 is connected to the output end of the first motor 610. In this embodiment, the output end of the first motor 610 and the first lead screw 631 are coaxially connected so that the first lead screw 631 can rotate synchronously during the rotation of the output end of the first motor 610, and the first nut 632 can move along the axial direction of the first lead screw 631 during the rotation of the first lead screw 631.

[0088] It should be noted that the first nut 632 is slidably limited to the frame 120 along the first direction Z, so that the first lead screw 631 can drive the first nut 632 to move along the first direction Z during rotation. Since the end of the first nut 632 away from the first motor 610 is rotatably connected to one end of the first connecting rod 633, and the end of the first connecting rod 633 away from the first nut 632 is rotatably connected to the first connecting part 431.

[0089] It is understandable that when the first nut 632 moves along the first direction Z, it can push the first connecting rod 633 to rotate along the first degree of freedom. As the first connecting rod 633 rotates along the first degree of freedom, it can drive the first connecting part 431 to rotate along the first degree of freedom, thereby driving the finger part 400 to rotate along the first degree of freedom.

[0090] In addition, the second transmission assembly 640 includes a second lead screw 641 and a second nut 642. The second nut 642 is connected to the second lead screw 641 in a transmission manner. In this embodiment, the second nut 642 is sleeved on the second lead screw 641. The second lead screw 641 is connected to the output end of the second motor 620 so that the output end of the second motor 620 can drive the second lead screw 641 to rotate synchronously during rotation.

[0091] It should be noted that in this application, the second nut 642 is slidably limited to the frame 120 along the first direction Z, so that the second lead screw 641 can drive the second nut 642 to move along the first direction Z during rotation. Since the end of the second nut 642 opposite to the second motor 620 is rotatably connected to one end of the second bearing 660, and the end of the second bearing 660 opposite to the second nut 642 is rotatably connected to the second connecting part 432.

[0092] It is understandable that when the second nut 642 moves along the first direction Z, it can push the second bearing 660 to rotate along the second degree of freedom. As the second bearing 660 rotates along the second degree of freedom, it can drive the second connecting part 432 to rotate along the second degree of freedom, thereby driving the finger part 400 to rotate along the second degree of freedom.

[0093] like Figures 5 to 7 As shown, in some embodiments of this application, the first nut 632 is provided with a first bearing 650 at the end opposite to the first motor 610. The outer ring of the first bearing 650 is connected to the first nut 632, and the axis of the first bearing 650 is parallel to the second direction Y. One end of the first connecting rod 633 is connected to the inner ring of the first bearing 650, and the first connecting rod 633 and the first bearing 650 are rotatably connected in the direction of the first degree of freedom. The end of the first connecting rod 633 opposite to the first bearing 650 is rotatably connected to the first connecting part 431, thereby rotatably connecting the first nut 632 and the first connecting part 431 through the first bearing 650 and the first connecting rod 633.

[0094] The second nut 642 has a second bearing 660 and a first connecting shaft 670 at the end opposite to the second motor 620. The outer ring of the second bearing 660 is connected to the second nut 642, and the axis of the second bearing 660 is parallel to the second direction Y. One end of the first connecting shaft 670 is connected to the inner ring of the second bearing 660, and the other end of the first connecting shaft 670 passes through the second connecting part 432. The end of the first connecting shaft 670 opposite to the second nut 642 is rotatably connected to the frame 120, thereby rotatably connecting the finger part 400 to the frame 120.

[0095] It is understood that in this application, the first connecting part 431 is rotatably connected to the first nut 632 via the first connecting rod 633 and the first bearing 650 to form a first rotating structure between the finger part 400 and the first nut 632. The second connecting part 432 is rotatably connected to the second connecting part 432 via the second bearing 660 and the first connecting shaft 670 to form a second rotating structure between the finger part 400 and the second nut 642. The first bearing 650 and the second bearing 660 can limit the finger part 400 along the first degree of freedom direction to ensure the flexibility and stability of the finger part 400 during rotation along the first degree of freedom direction.

[0096] Specifically, when the first motor 610 drives the first lead screw 631 to rotate, the first lead screw 631 rotates relative to the first nut 632 and drives the first nut 632 to move along the first direction Z. The first nut 632 pushes the first connecting rod 633 to rotate relative to the first nut 632 and the first connecting part 431, thereby providing a thrust to the finger part 400 through the first connecting rod 633 and driving the finger part 400 to rotate along the axis of the first connecting shaft 670, so as to form an adjustment of the finger part 400 along the first degree of freedom direction.

[0097] When the second motor 620 drives the second lead screw 641 to rotate, the second lead screw 641 rotates relative to the second nut 642 and drives the second nut 642 to move along the first direction Z. The second nut 642 pushes the second bearing 660 and the second connecting part 432 to move synchronously along the first direction Z, and drives the finger part 400 to adjust along the second degree of freedom direction. This realizes the adjustment of the finger part 400 along the first degree of freedom direction and the second degree of freedom direction, so as to improve the flexibility of the control of the finger part 400 and improve the degree of freedom of the finger part 400.

[0098] It should be noted that the first degree of freedom refers to movement along the direction perpendicular to the second direction Y. The second degree of freedom refers to movement along the direction perpendicular to the first direction Z.

[0099] like Figure 4 and Figure 5As shown, in some embodiments of this application, the dexterous hand includes a first position detection circuit board 800 and a second position detection circuit board 900, which are electrically connected to the main control board 130 respectively.

[0100] The first position detection circuit board 800 is disposed on one side of the first nut 632 to detect the distance the first nut 632 moves along the first direction Z and to detect the position of the first nut 632 in the first direction Z.

[0101] In addition, the second position detection circuit board 900 is disposed on one side of the second nut 642 so as to detect the distance the second nut 642 moves along the first direction Z and the position of the second nut 642 in the first direction Z.

[0102] Understandably, the first position detection circuit board 800 monitors the position and movement distance of the first nut 632 in real time and sends the detection data to the main control board 130 via a signal. The angle of rotation of the finger 400 along the first degree of freedom is calculated by acquiring the movement distance of the first nut 632. Similarly, the second position detection circuit board 900 monitors the position and movement distance of the second nut 642 in real time and sends the detection data to the main control board 130. The angle of rotation of the finger 400 along the second degree of freedom is calculated by acquiring the movement distance of the second nut 642. This improves the accuracy of controlling the finger 400 in both the first and second degrees of freedom, thereby increasing both the degree of freedom of dexterity hand movement and the accuracy of dexterity hand control.

[0103] like Figure 6 and Figure 7 As shown, in some embodiments of this application, the thumb drive device 700 includes a third motor 710, a fourth motor 720, and a third transmission assembly 730. The output ends of the three motors and the output end of the fourth motor 720 are respectively connected to the thumb part 500 through the third transmission assembly 730. The third motor 710 controls the thumb part 500 to swing along the second degree of freedom direction through the third transmission assembly 730, and the fourth motor 720 controls the thumb part 500 to swing along the first degree of freedom direction through the third transmission assembly 730, so as to improve the degree of freedom and flexibility of the thumb part 500.

[0104] It is understandable that the output terminals of the third motor 710 and the fourth motor 720 are rotatably connected to the third transmission assembly 730, and the third transmission assembly 730 is rotatably connected to the thumb part 500.

[0105] like Figure 6 and Figure 7 As shown, in some embodiments of this application, the third transmission assembly 730 includes a third lead screw 731, a third nut 732, a fourth lead screw 733, a fourth nut 734, and a transmission structure 735.

[0106] The third lead screw 731 is connected to the output end of the third motor 710. The third nut 732 is rotatably sleeved on the third lead screw 731, thus rotatably connecting the third nut 732 and the third lead screw 731. This allows the third lead screw 731 to rotate under the drive of the third motor 710, thereby moving the third nut 732 along the second direction Y. It should be noted that the side wall of the third nut 732 is provided with a third limiting member, which is slidably connected to the frame 120 along the second direction Y. This third limiting member and the frame 120 form a limiting and guiding function, thereby limiting and guiding the third nut 732 along the second direction Y to prevent the third nut 732 from rotating relative to the frame 120, ensuring the stability and smoothness of the movement of the third nut 732 along the second direction Y.

[0107] Furthermore, the fourth lead screw 733 is connected to the output end of the fourth motor 720, and the fourth nut 734 is rotatably sleeved on the fourth lead screw 733, thus rotatably connecting the fourth nut 734 and the fourth lead screw 733. This allows the fourth lead screw 733 to rotate under the drive of the fourth motor 720, thereby moving the fourth nut 734 along the second direction Y. It should be noted that the side wall of the fourth nut 734 is provided with a fourth limiting member, which is slidably connected to the frame 120 along the second direction Y. This fourth limiting member and the frame 120 form a limiting and guiding function, thereby limiting and guiding the fourth nut 734 along the second direction Y to prevent the fourth nut 734 from rotating relative to the frame 120, ensuring the stability and smoothness of the fourth nut 734's movement along the second direction Y.

[0108] In this embodiment, the third nut 732 and the fourth nut 734 are respectively connected to the thumb portion 500 via a transmission structure 735. It should be noted that when the third motor 710 controls the rotation of the third lead screw 731, the third nut 732 moves along the second direction Y via the third lead screw 731, and the thumb portion 500 moves along the first degree of freedom direction via the transmission structure 735. Similarly, when the fourth motor 720 controls the rotation of the fourth lead screw 733, the fourth nut 734 moves along the second direction Y via the fourth lead screw 733, and the thumb portion 500 moves along the second degree of freedom direction via the transmission structure 735. This allows for control of the thumb portion 500 along multiple degrees of freedom, improving the flexibility of the thumb portion 500.

[0109] It should be noted that the dexterous hand has a third direction X that is perpendicular to both the first direction Z and the second direction Y.

[0110] like Figure 6 and Figure 7 As shown, in some embodiments of this application, the transmission structure 735 includes a third bearing 7351, a third swing member 7352, a fourth bearing 7353, a fourth swing member 7354, a fifth bearing 7355, a sixth bearing 7356, a fifth swing member 7357, and a connecting member 7358.

[0111] The third bearing 7351 is disposed at the end of the third nut 732 away from the third motor 710, the outer ring of the third bearing 7351 is connected to the third nut 732, and the axis of the third bearing 7351 is parallel to the first direction Z.

[0112] In addition, one end of the third swing member 7352 is rotatably connected to the third bearing 7351. Specifically, the end of the third swing member 7352 near the third nut 732 is connected to the inner ring of the third bearing 7351, thereby rotatably connecting the third swing member 7352 to the third nut 732 along an axis parallel to the first direction Z through the third bearing 7351, so that the third swing member 7352 can swing relative to the third nut 732 along the first degree of freedom direction.

[0113] In this embodiment, the other end of the third swing member 7352 is connected to the fifth bearing 7355. That is, the end of the third swing member 7352 facing away from the third bearing 7351 is connected to the fifth bearing 7355, specifically, the end of the third swing member 7352 facing away from the third bearing 7351 is connected to the outer ring of the fifth bearing 7355. The axis of the fifth bearing 7355 is parallel to the third direction X, and the fifth bearing 7355 is rotatably connected to one end of the fifth swing member 7357. Specifically, the inner ring of the fifth bearing 7355 is connected to the fifth swing member 7357 via a connector 7358, thereby allowing the fifth swing member 7357 to be rotatably connected to the third swing member 7352 along the second degree of freedom direction via the fifth bearing 7355.

[0114] In this embodiment, the fourth bearing 7353 is disposed at the end of the fourth nut 734 away from the fourth motor 720, the outer ring of the fourth bearing 7353 is connected to the fourth nut 734, and the axis of the fourth bearing 7353 is parallel to the third direction X.

[0115] In addition, one end of the fourth swing member 7354 is rotatably connected to the fourth bearing 7353. Specifically, the end of the fourth swing member 7354 near the fourth nut 734 is connected to the inner ring of the fourth bearing 7353, thereby rotatably connecting the fourth swing member 7354 to the fourth nut 734 along an axis parallel to the third direction X through the fourth bearing 7353, so that the fourth swing member 7354 can swing relative to the fourth nut 734 in the direction of the second degree of freedom.

[0116] It should be noted that the other end of the fourth swing member 7354 is connected to the sixth bearing 7356. That is, the end of the fourth swing member 7354 facing away from the fourth bearing 7353 is connected to the sixth bearing 7356, specifically, the end of the fourth swing member 7354 facing away from the fourth bearing 7353 is connected to the outer ring of the sixth bearing 7356. The axis of the sixth bearing 7356 is parallel to the first direction Z. The sixth bearing 7356 is rotatably connected to one end of the fifth swing member 7357, meaning the fifth swing member 7357 can swing relative to the fourth swing member 7354 along the first degree of freedom direction.

[0117] In this embodiment, the connector 7358 passes through the fifth bearing 7355, that is, the connector 7358 is connected to the inner ring of the fifth bearing 7355, and the end of the connector 7358 facing away from the fifth bearing 7355 is rotatably connected to the fifth swing member 7357, so as to improve the stability of the fifth swing member 7357 swinging relative to the third swing member 7352 and the fourth swing member 7354 in the first degree of freedom direction and the second degree of freedom direction.

[0118] It should be noted that the end of the fifth swing member 7357 that is away from the third motor 710 is connected to the thumb part 500, so that when the fifth swing member 7357 swings along the first degree of freedom, it can drive the thumb part 500 to swing synchronously along the first degree of freedom. When the fifth swing member 7357 swings along the second degree of freedom, it can drive the thumb part 500 to swing synchronously along the second degree of freedom, so as to achieve flexibility and stability in controlling the degree of freedom of the thumb part 500.

[0119] like Figure 7 As shown, in some embodiments of this application, the dexterous hand includes a third position detection circuit board 200 and a fourth position detection circuit board 300, which are electrically connected to the main control board 130 respectively.

[0120] The third position detection circuit board 200 is disposed on one side of the third nut 732 to detect the distance the third nut 732 moves along the second direction Y and to detect the position of the third nut 732 in the second direction Y.

[0121] In addition, the fourth position detection circuit board 300 is disposed on one side of the fourth nut 734 to detect the distance the fourth nut 734 moves along the second direction Y, and to detect the position of the fourth nut 734 in the second direction Y.

[0122] Understandably, the third position detection circuit board 200 monitors the position and movement distance of the third nut 732 in real time and sends the detection data to the main control board 130 via a signal. The angle of rotation of the thumb 500 along the first degree of freedom is calculated by acquiring the movement distance of the third nut 732. Similarly, the fourth position detection circuit board 300 monitors the position and movement distance of the fourth nut 734 in real time and sends the detection data to the main control board 130 via a signal. The angle of rotation of the finger 400 along the second degree of freedom is calculated by acquiring the movement distance of the fourth nut 734. This improves the accuracy of controlling the thumb 500 in both the first and second degrees of freedom, thereby increasing both the degree of freedom of dexterity hand movement and the accuracy of dexterity hand control.

[0123] like Figures 1 to 7 As shown, in some embodiments of this application, the plurality of thumb joints includes a first thumb joint 510 and a second thumb joint 520. One end of the first thumb joint 510 is connected to the end of the fifth swing member 7357 opposite to the third motor 710. It can be understood that when the third motor 710 drives the third lead screw 731 to rotate, the third lead screw 731 drives the third nut 732 to move along the second direction Y, and the third nut 732 pushes the third swing member 7352 to swing along the first degree of freedom direction. At this time, the fourth motor 720 is in a standby or off state, that is, the fourth swing member 7354 is stationary relative to the fourth motor 720. The sixth bearing 7356, located at the end of the fourth swing member 7354 opposite to the fourth motor 720, provides a rotational support point for the fifth swing member 7357, so that the fifth swing member 7357 swings along the first degree of freedom direction under the pushing action of the third swing member 7352, thereby driving the thumb 500 to swing along the first degree of freedom direction.

[0124] When the fourth motor 720 drives the fourth lead screw 733 to rotate, the fourth lead screw 733 drives the fourth nut 734 to move along the second direction Y, and the fourth nut 734 pushes the fourth swing member 7354 to swing along the second degree of freedom. At this time, the third motor 710 is in standby or off state, that is, the third swing member 7352 is stationary relative to the third motor 710. The fifth bearing 7355, which is set at the end of the third swing member 7352 away from the third motor 710, provides a rotational support point for the fifth swing member 7357, so that the fifth swing member 7357 swings along the second degree of freedom under the pushing action of the fourth swing member 7354, thereby driving the thumb part 500 to swing along the second degree of freedom.

[0125] Furthermore, the end of the first thumb joint 510 facing away from the fifth swing member 7357 is rotatably connected to the second thumb joint 520. Since the thumb 500 can swing along the first degree of freedom direction and the second degree of freedom direction, by rotatably connecting the first thumb joint 510 and the second thumb joint 520, control of the thumb 500 along multiple degree of freedom directions can be achieved, thereby further improving the flexibility of the thumb 500.

[0126] like Figure 3 and Figure 4 As shown, in some embodiments of this application, the dexterous hand further includes a first control board 131 and a second control board 132 electrically connected to the main control board 130. The first control board 131 is connected to the first motor 610 and controls the rotation direction and rotation angle of the output shaft of the first motor 610. The first control board 131 is also connected to the second motor 620 and controls the rotation direction and rotation angle of the output shaft of the second motor 620. The second control board 132 is connected to the third motor 710 and controls the rotation direction and rotation angle of the output shaft of the third motor 710. The second control board 132 is also connected to the fourth motor 720 and controls the rotation direction and rotation angle of the output shaft of the fourth motor 720, so as to further improve the accuracy of the dexterous hand control.

[0127] like Figure 3 and Figure 4 As shown, in some embodiments of this application, the first transmission assembly 630 further includes a first gearbox 634. The output shaft of the first motor 610 is connected to the first lead screw 631 via the first gearbox 634 to increase the output torque and improve the accuracy of controlling the rotation angle of the first motor 610 to the first lead screw 631, thereby improving the accuracy of controlling the movement distance of the first nut 632 along the first direction Z, and thus improving the accuracy of controlling the swing angle of the finger 400 along the first degree of freedom direction.

[0128] In addition, the second transmission assembly 640 also includes a second gearbox 643. The output shaft of the second motor 620 is connected to the second lead screw 641 through the second gearbox 643 to increase the output torque and improve the accuracy of the control of the rotation angle of the second motor 620 on the second lead screw 641, thereby improving the accuracy of the control of the movement distance of the second nut 642 along the first direction Z, and thus improving the accuracy of the control of the swing angle of the finger part 400 along the second degree of freedom direction.

[0129] This application also provides a robot including the dexterous hand described in any of the foregoing embodiments.

[0130] It should be noted that the robot provided in this application has the structure of the dexterous hand described in any of the above embodiments, and the beneficial effects thereof, which will not be elaborated here.

[0131] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0132] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0133] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A dexterous hand having a first direction, a second direction, and a third direction that are mutually perpendicular to each other, characterized in that, include: Palm area; Multiple finger portions, each finger portion being movably connected to the palm portion along the first direction, each finger portion including multiple knuckle portions, the multiple knuckle portions being rotatably connected to each other; The thumb portion is movably connected to the palm portion along the second direction, and the thumb portion includes multiple thumb segments that are rotatably connected to each other. A finger drive device and a thumb drive device are respectively disposed in the palm part. The output end of the finger drive device is movably connected to the finger part and is used to control the finger part to swing along the first degree of freedom direction and / or the second degree of freedom direction. The output end of the thumb drive device is movably connected to the thumb and is used to control the thumb to swing along the first degree of freedom and / or the second degree of freedom. The thumb drive device includes a third motor, a fourth motor, and a third transmission assembly. The output ends of the third motor and the fourth motor are both connected to the thumb via the third transmission assembly. The third transmission assembly includes a third lead screw, a third nut, a fourth lead screw, a fourth nut, and a transmission structure; The third lead screw is connected to the output end of the third motor, the third nut is rotatably connected to the third lead screw, the fourth lead screw is connected to the output end of the fourth motor, and the fourth nut is rotatably connected to the fourth lead screw; The third nut and the fourth nut are respectively connected to the thumb via a transmission structure; The transmission structure includes a third bearing, a third oscillating component, a fourth bearing, a fourth oscillating component, a fifth bearing, a sixth bearing, a fifth oscillating component, and a connecting component; The third bearing is disposed at the end of the third nut away from the third motor, one end of the third swing member is rotatably connected to the third bearing, the other end of the third swing member is connected to the fifth bearing, and the fifth bearing is rotatably connected to one end of the fifth swing member; The fourth bearing is disposed at the end of the fourth nut away from the fourth motor; one end of the fourth swing member is rotatably connected to the fourth bearing; the other end of the fourth swing member is rotatably connected to the sixth bearing; and the sixth bearing is rotatably connected to one end of the fifth swing member. The connector passes through the fifth bearing and is rotatably connected to the fifth swing member. The end of the fifth swing member that is away from the third motor is connected to the thumb part. Wherein, the axis of the third bearing is parallel to the first direction, the axis of the fourth bearing is parallel to the third direction, the axis of the fifth bearing is parallel to the third direction, and the axis of the sixth bearing is parallel to the first direction.

2. The dexterous hand according to claim 1, characterized in that, The palm portion includes a housing and a frame and a main control board disposed within the housing; The finger drive device and the thumb drive device are respectively located on one side of the frame and are electrically connected to the main control board.

3. The dexterous hand according to claim 2, characterized in that, The plurality of finger joints includes a first drive motor, a third transmission structure, a first finger joint, and a second finger joint, wherein the first finger joint and the second finger joint are rotatably connected. The first drive motor is disposed in the first finger joint, and the third transmission structure includes a worm gear, a worm shaft, and a first transmission shaft. The worm shaft is disposed in the first finger joint and is connected to the output end of the first drive motor. The turbine meshes with the worm gear, the first drive shaft passes through the turbine and is connected to the second finger joint.

4. The dexterous hand according to claim 3, characterized in that, The finger driving device includes a first motor, a second motor, a first transmission assembly, and a second transmission assembly; The output end of the first motor is connected to the finger part via the first transmission assembly in the direction of the first degree of freedom. The output end of the second motor is connected to the finger part via the second transmission component in the direction of the second degree of freedom.

5. The dexterous hand according to claim 4, characterized in that, The first phalanx portion has a first connecting portion and a second connecting portion at the end opposite to the second phalanx portion; The first transmission assembly includes a first lead screw, a first nut, and a first connecting rod. The first nut is connected to the first lead screw in a transmission connection. The first lead screw is connected to the output end of the first motor. The end of the first nut facing away from the first motor is rotatably connected to one end of the first connecting rod. The end of the first connecting rod facing away from the first nut is rotatably connected to the first connecting part. The second transmission assembly includes a second lead screw and a second nut. The second nut is connected to the second lead screw in a transmission connection. The second lead screw is connected to the output end of the second motor. The end of the second nut facing away from the second motor is rotatably connected to the second connecting part.

6. The dexterous hand according to claim 5, characterized in that, The first nut has a first bearing at the end opposite to the first motor, the first connecting rod is rotatably connected to the first bearing, and the end of the first connecting rod opposite to the first bearing is rotatably connected to the first connecting part. The second nut has a second bearing and a first connecting shaft at the end opposite to the second motor. One end of the first connecting shaft is connected to the inner ring of the second bearing, and the other end of the first connecting shaft passes through the second connecting part and is rotatably connected to the frame.

7. The dexterous hand according to claim 5, characterized in that, The dexterous hand includes a first position detection circuit board and a second position detection circuit board, which are electrically connected to the main control board respectively. The first position detection circuit board is disposed on one side of the first nut, and the second position detection circuit board is disposed on one side of the second nut.

8. The dexterous hand according to claim 2, characterized in that, The dexterous hand includes a third position detection circuit board and a fourth position detection circuit board, which are electrically connected to the main control board respectively. The third position detection circuit board is disposed on one side of the third nut, and the fourth position detection circuit board is disposed on one side of the fourth nut.

9. The dexterous hand according to claim 1, characterized in that, The plurality of thumb segments includes a first thumb segment and a second thumb segment. One end of the first thumb segment is connected to the end of the fifth swing member that is away from the third motor, and the end of the first thumb segment that is away from the fifth swing member is rotatably connected to the second thumb segment.

10. A robot, characterized in that, Includes the dexterous hand as described in any one of claims 1 to 9.

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