Dexterous hand and robot

Abstract

The invention relates to a dexterous hand and a robot. Comprising a palm; the fingers are movably connected with the palm; the fingers comprise first knuckles, second knuckles and third knuckles, the first knuckles are rotatably connected with the palm, the second knuckles are rotatably connected to the ends, away from the palm, of the first knuckles, and the third knuckles are rotatably connected to the ends, away from the first knuckles, of the second knuckles; one end of the driving connecting rod is rotatably connected with the third knuckle, and the other end of the driving connecting rod is rotatably connected with the first knuckle; and under the condition that the second knuckles rotate relative to the first knuckles, the third knuckles rotate synchronously and rotate relative to the second knuckles under the driving of the driving connecting rods.

Description

TECHNICAL FIELD

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

[0002] The dexterous hand is a high-degree-of-freedom robot end effector simulating the function of a human hand, which realizes the grasping, operation and interaction of complex objects through multi-joint, multi-modal sensing and intelligent control technology.

[0003] In the related art, a driving motor is usually arranged at a finger joint to drive the rotation of a finger segment, thereby realizing the execution of various actions of the dexterous hand. However, the dexterous hand in the related art has a complex finger joint structure and is prone to damage. SUMMARY

[0004] Therefore, the embodiments of the present application provide a dexterous hand and a robot, which improve the fine operation capability of the dexterous hand on complex actions and expand the application range of the dexterous hand. The structure of the finger joint of the dexterous hand is simplified, and the service life of the finger joint of the dexterous hand is improved.

[0005] In one aspect, the embodiments of the present application provide a dexterous hand, comprising:

[0006] a palm; and

[0007] a finger movably connected to the palm;

[0008] a first segment, a second segment and a third segment of the finger, the first segment being rotatably connected to the palm, the second segment being rotatably connected to one end of the first segment away from the palm, and the third segment being rotatably connected to one end of the second segment away from the first segment;

[0009] a driving link, one end of the driving link being rotatably connected to the third segment, and the other end of the driving link being rotatably connected to the first segment;

[0010] In the case that the second segment rotates relative to the first segment, the third segment rotates synchronously and rotates relative to the second segment under the driving of the driving link.

[0011] In one implementation, the first segment is rotatably connected to the palm through a first rotation axis; the second segment is rotatably connected to one end of the first segment away from the palm through a third rotation axis;

[0012] the third segment is rotatably connected to the second segment through a fourth rotation axis;

[0013] In the case that the third segment is in an extended state, the hinge point of the driving link and the third segment is located on the side of the fourth rotation axis away from the palm.

[0014] In an implementation manner, the first reset member is further configured to drive the third knuckle to rotate relative to the second knuckle, so that the finger is in the stretched state.

[0015] In an implementation manner, the first reset member comprises a torsion spring, the torsion spring is sleeved on the fourth rotating shaft, one end of the torsion spring is fixedly connected with the second knuckle, and the other end of the torsion spring is fixedly connected with the third knuckle.

[0016] In an implementation manner, the second knuckle is provided with a first limiting portion, and one end of the torsion spring is limited in the first limiting portion.

[0017] The third knuckle is provided with a second limiting portion, and the other end of the torsion spring is limited in the second limiting portion.

[0018] In an implementation manner, the first limiting portion has a limiting slot, the slot opening of the limiting slot faces the palm side, one end of the torsion spring is inserted into the limiting slot, and the other end of the torsion spring abuts against the bottom wall of the limiting slot; and / or

[0019] The second limiting portion comprises a limiting hole, the limiting hole penetrates through the side wall of the third knuckle, and the other end of the torsion spring is inserted into the limiting hole.

[0020] In an implementation manner, the first knuckle is fixedly connected with the first rotating shaft, the first rotating shaft is rotatably connected with the palm, the first rotating shaft is sleeved with a first wire wheel, the first wire wheel is fixed with the first rotating shaft in the circumferential direction of the first rotating shaft, the first wire wheel is wound with a first power rope, one end of the first power rope is fixedly connected with the first wire wheel, and the other end of the first power rope extends to the palm.

[0021] The palm is provided with a first driving member, the output end of the first driving member is provided with a third wire wheel, and the other end of the first power rope is connected with the third wire wheel.

[0022] In an implementation manner, the second knuckle is fixedly connected with the third rotating shaft, and the third rotating shaft is rotatably connected with the first knuckle.

[0023] The third rotating shaft is sleeved with a second wire wheel, the second wire wheel is fixed with the third rotating shaft in the circumferential direction of the third rotating shaft, the second wire wheel is provided with a second power rope, one end of the second power rope is fixedly connected with the second wire wheel, and the other end of the second power rope extends to the palm.

[0024] The palm is provided with a third driving member, the output end of the third driving member is provided with a fourth wire wheel, and the other end of the second power rope is connected with the fourth wire wheel.

[0025] In an implementation manner, the other end of the driving connecting rod is rotatably connected with the first knuckle, and the other end of the driving connecting rod extends to the second knuckle.

[0026] And / or,

[0027] The rotation hinge point of the driving link and the third finger is located on the palm side, and the rotation hinge point of the driving link and the first finger is located on the back side.

[0028] In another aspect, the embodiments of the present application provide a robot comprising the dexterous hand provided by the foregoing embodiments of the present application.

[0029] The dexterous hand and the robot provided by the embodiments of the present application can change the angle and holding space between the fingers by movably connecting the fingers to the palm. In this way, the fingers can change the angle and holding space when moving relative to the palm, facilitating the dexterous hand to perform a gripping action. The fingers can include a first finger joint, a second finger joint, and a third finger joint. The first finger joint is rotatably connected to the palm. The second finger joint is rotatably connected to one end of the first finger joint away from the palm. The third finger joint is rotatably connected to one end of the second finger joint away from the first finger joint. A driving link is provided to rotatably connect one end of the driving link to the third finger joint and rotatably connect the other end of the driving link to the first finger joint. In this way, during the rotation of the second finger joint relative to the first finger joint, the third finger joint also rotates with the second finger joint because the third finger joint is connected to the second finger joint. On this basis, the driving link also rotates, and the distance between the hinge points of the two ends of the driving link along the extension direction of the first finger or the second finger in the unfolded state is reduced, so that the driving link pulls the third finger joint, and the third finger joint is pulled to rotate relative to the second finger joint by the driving link while synchronously rotating with the second finger joint. The third finger joint can be driven to rotate relative to the second finger joint by the driving link, facilitating the dexterous hand to perform complex gripping actions. Moreover, an additional power source does not need to be provided at the rotation joint of the third finger joint and the second finger joint, which can simplify the joint structure of the third finger joint and the second finger joint, thereby reducing the size of the entire dexterous hand, facilitating the dexterous hand to perform delicate and complex operations, improving the delicate operation ability of the dexterous hand for complex actions, expanding the application range of the dexterous hand, and prolonging the service life of the finger joint of the dexterous hand. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of the dexterous hand provided by some embodiments of the present application.

[0031] Figure 2 is a schematic diagram of a structure of the second finger in the dexterous hand provided by some embodiments of the present application.

[0032] Figure 3 is a sectional view of the second finger in the dexterous hand provided by some embodiments of the present application.

[0033] Figure 4 is a schematic diagram of a structure of the second finger and the first driving member in the dexterous hand provided by some embodiments of the present application.

[0034] Figure 4a is a sectional view of the dexterous hand along a palm surface direction parallel to the palm.

[0035] Figure 4b is another sectional view of the dexterous hand.

[0036] Figure 5 is another structural schematic view of the second knuckle in the dexterous hand.

[0037] Figure 5a is yet another sectional view of the dexterous hand along a palm surface direction parallel to the palm.

[0038] Figure 6 is a topological structural schematic view of the driving link driving the third knuckle in the dexterous hand.

[0039] Figure 7 is a partial enlarged view at A in Figure 5

[0040] Figure 8 is a structural schematic view of the first finger in the dexterous hand.

[0041] BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 10 - dexterous hand;

[0043] 11 - palm; 12 - first finger; 13 - second finger; 14 - driving link;

[0044] 101 - first knuckle; 102 - second knuckle; 103 - third knuckle; 111 - first driving member; 112 - second driving member; 113 - third driving member; 114 - winding wheel; 121 - second base; 131 - first base; 141 - first hinge point; 142 - second hinge point;

[0045] 1011 - first rotation shaft; 1012 - second rotation shaft; 1013 - second reset member; 1014 - first power rope; 1021 - third rotation shaft; 1022 - first limiting part; 1023 - second power rope; 1031 - fourth rotation shaft; 1032 - first reset member; 1033 - second limiting part; 1111 - first worm; 1112 - first turbine; 1113 - gear box; 1121 - second worm; 1122 - second turbine; 1211 - second guide member; 1212 - third guide member; 1311 - first guide member;

[0046] 1011a - first wire wheel; 1011b - guide wheel; 1022a - limiting slot; 1021a - second wire wheel. ​DETAILED DESCRIPTION

[0047] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application. It should be understood that the present application can be practiced with modification and alteration, and that the present application is not limited to the above described embodiments.

[0048] In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0049] In addition, if the terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features referred to. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0050] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] In the present application, unless specifically stated and limited otherwise, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0052] It should be noted that if an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not mean the only implementation.

[0053] In view of the technical problems existing in the related art, the embodiments of the present application will be described in detail below with reference to the drawings of the present application.

[0054] Figure 1 is a schematic diagram of the overall structure of the dexterous hand provided by some embodiments of the present application.

[0055] In some examples, referring to Figure 1 The present embodiment provides a dexterous hand 10. The dexterous hand 10 can include a palm 11. The palm 11 can have a palm frame (not numbered in the figure). The palm 11 can be provided with a circuit board, and electronic components on the circuit board can emit control signals to control the complex movements of the dexterous hand 10.

[0056] In some examples, the dexterous hand can include fingers. The fingers can be movably connected to the palm 11.

[0057] In some examples, referring to Figure 1 The fingers can include a first finger 12. The first finger 12 can be movably connected to the palm 11.

[0058] In some examples, the first finger 12 can be a thumb of the dexterous hand 10. The movable connection of the first finger 12 to the palm 11 can include at least one of rotation and swinging. That is, the first finger 12 can rotate relative to the palm 11; or the first finger 12 can swing relative to the palm 11; or the first finger 12 can rotate and swing relative to the palm 11.

[0059] In some examples, refer to Figure 1 As shown, a finger may include a second finger 13. The second finger 13 may be movably connected to the palm 11. It is understood that in some examples of the embodiments of this application, the movable connection method between the second finger 13 and the palm 11 may be the same as, similar to or similar to the movable connection method of the first finger 12; for details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated here.

[0060] In some examples, refer to Figure 1 As shown, the direction of extension of the second finger 13 may differ from that of the first finger 12. For example, refer to... Figure 1 As shown, the first finger 12 can be located on the first side of the palm 11, and the second finger 13 can be located on the second side of the palm 11; the first side and the second side have different directions.

[0061] In some examples, there may be multiple second fingers 13. Multiple second fingers 13 may be arranged side by side on the palm 11.

[0062] In some examples, the second finger 13 can include four.

[0063] In some examples, for ease of explanation, the embodiments of this application use one of the second fingers 13 as a specific example for illustration. However, it should be noted that the embodiments of this application are also applicable to the first finger or other fingers.

[0064] Figure 2 This is a schematic diagram of the structure of a second finger in a dexterous hand provided in some embodiments of this application.

[0065] In some examples, refer to Figure 2 As shown, a finger may include a first phalanx 101. The first phalanx 101 may be a phalanx where the finger connects to the palm 11. It is also commonly referred to as the proximal phalanx.

[0066] In some examples, refer to Figure 2 As shown, the fingers can be rotatably connected to the palm 11 via a first rotation axis 1011. The first rotation axis 1011 can be rotatably connected to the palm 11. The axis of the first rotation axis 1011 can be parallel or approximately parallel to the palm surface of the palm 11.

[0067] In some examples, the first knuckle 101 can be fixedly connected to the first rotating shaft 1011. That is, when the first rotating shaft 1011 rotates relative to the palm 11, the first knuckle 101 can rotate synchronously under the drive of the first rotating shaft 1011.

[0068] Figure 3 This is a cross-sectional view of a second finger in a dexterous hand provided in some embodiments of this application.

[0069] In some examples, referring to FIG. 1A, in some examples of the embodiments of the present application, a first wire wheel 1011a can be sleeved on the first rotating shaft 1011. Figure 3

[0070] In some examples, the first wire wheel 1011a can be fixed with the first rotating shaft 1011 in the circumferential direction of the first rotating shaft 1011. For example, the first wire wheel 1011a can be spline-fitted with the first rotating shaft 1011, so that the first wire wheel 1011a is fixed with the first rotating shaft 1011 in the circumferential direction of the first rotating shaft 1011.

[0071] In some examples, the first wire wheel 1011a can be fixedly connected with the first rotating shaft 1011. For example, the first wire wheel 1011a can be fixed on the first rotating shaft 1011 by means of a screw, a bolt or a screw rod.

[0072] In some examples, referring to FIG. 1A, in some examples of the embodiments of the present application, a first wire wheel 1011a can be sleeved on the first rotating shaft 1011. Figure 3

[0073] In some examples, the other end of the first power rope 1014 can extend towards the palm 11.

[0074] In some examples, the other end of the first power rope 1014 can extend towards the palm 11.

[0075] In some examples, the first power rope 1014 can include any one of a woven rope, a steel wire rope or a tendon rope. The first power rope 1014 can be a transmission element simulating human tendon, which can be a high-strength fiber (such as Dyneema) or a metal wire, etc. The first power rope 1014 can drive the joint movement by transmitting power through tension.

[0076] Figure 4 FIG. 1B is a structural schematic diagram of the cooperation between the second finger and the first driving member in the dexterous hand according to some embodiments of the present application.

[0077] In some examples, referring to FIG. 1A, in some examples of the embodiments of the present application, a first wire wheel 1011a can be sleeved on the first rotating shaft 1011. Figure 4

[0078] ​​​In some examples, the first power rope 1014 can be in transmission connection with the power output end of the first driving member 111. That is, the power output end of the first driving member 111, when rotating, can pull the first power rope 1014 to tighten the first power rope 1014 towards the palm 11, and in the process of tightening the first power rope 1014 towards the palm 11, the first power rope 1014 can pull the first wire wheel 1011a to rotate; when the first wire wheel 1011a rotates, the first wire wheel 1011a drives the first rotating shaft 1011 to rotate, thereby driving the first knuckle 101 fixedly connected with the first rotating shaft 1011 to bend and clench relative to the palm 11.

[0079] In some examples, the output end of the first driving member 111 can be provided with a third wire wheel. The other end of the first power rope 1014 can be connected with the third wire wheel.

[0080] In some examples, the first driving member 111 can include a motor that can be forward rotated and reverse rotated. For example, the first driving member 111 can include one of a servo motor, a step motor or a synchronous motor.

[0081] As shown in Figure 4 , the third wire wheel can be one of the winding wheels 114. The output end of the first driving member 111 can be in transmission connection with the winding wheel 114; the other end of the first power rope 1014 can be wound on the winding wheel 114, and in the process of driving the winding wheel 114 to rotate by the first driving member 111, the winding wheel 114 pulls and winds the first power rope 1014, thereby tightening the first power rope 1014 towards the palm 11.

[0082] In some examples, the output end of the first driving member 111 can be in transmission connection with the winding wheel 114 through a reduction mechanism such as a worm gear or a worm. It can be understood that in some examples of the embodiments of the present application, the worm gear or the worm is only shown as a specific example, and is not a specific limitation of the transmission mechanism. In other examples, the transmission mechanism can be other types of transmission mechanisms.

[0083] Figure 4a is a sectional view of the dexterous hand provided by some embodiments of the present application along the direction parallel to the palm surface of the palm. Figure 4b is another sectional view of the dexterous hand provided by some embodiments of the present application. In Figure 4b is shown as a specific example of the third driving member 113, and it can be understood that the first driving member 111 and the third driving member 113 have the same, similar or analogous structure, and the embodiments of the present application will not be described again.

[0084] In some examples, referring to Figure 4a and Figure 4bAs shown, the palm 11 can be provided with a gear box 1113. The gear box 1113 can be provided with a first worm 1111 and a first turbine 1112. The first turbine 1112 is engaged with the first worm 1111. The first turbine 1112 can be drivingly connected with the winding wheel 114. For example, the winding wheel 114 can be fixedly connected to a rotating shaft of the first turbine 1112. The first turbine 1112 drives the winding wheel 114 to rotate through the rotating shaft.

[0085] In some examples, the first worm 1111 can be drivingly connected with an output end of the first driving member 111. For example, the output end of the first driving member 111 (or the third driving member 113) can be drivingly connected with the first worm 111 through a speed reducer or a gearbox, etc. The first driving member 111 (or the third driving member 113) can drive the first worm 1111 to rotate. Thus, the winding wheel 114 is driven by the first turbine 1112 to wind or unwind the first power rope 1014.

[0086] The dexterous hand 10 provided by the embodiments of the present application can be connected with the fingers movably on the palm 11. In this way, when the fingers move relative to the palm 11, the angle and the holding space between the fingers and the palm 11 can be changed, so as to facilitate the dexterous hand 10 to realize the gripping action. The fingers include a first finger joint 101, which is rotatably connected with the palm 11 through a first rotating shaft 1011. The first finger joint 101 is fixedly connected with the first rotating shaft 1011 and is provided with a first wire wheel 1011a sleeved on the first rotating shaft 1011. The first wire wheel 1011a is fixed on the first rotating shaft 1011 in the circumferential direction of the first rotating shaft 1011. A first power rope 1014 is wound on the first wire wheel 1011a. One end of the first power rope 1014 is fixedly connected with the first wire wheel 1011a, and the other end of the first power rope 1014 extends to the palm 11. In this way, the first driving member 111 provided on the palm 11 can pull the first power rope 1014. In the process of tightening the first power rope 1014, the first power rope 1014 drives the first wire wheel 1011a to rotate. The first wire wheel 1011a drives the first finger joint 101 to rotate relative to the palm 11 through the first rotating shaft 1011, so as to make the second finger 13 grip tightly.

[0087] That is, in the embodiments of the present application, the first finger joint 101 is driven to rotate through the first power rope 1014. Compared with the related art in which a motor is arranged at the joint to directly drive the first finger joint 101, the volume of the rotating joint of the first finger joint 101 and the palm 11 is reduced, so as to reduce the volume of the entire dexterous hand 10. This facilitates the dexterous hand 10 to perform fine and complex operations, improves the fine operation ability of the dexterous hand 10 on complex actions, and expands the application range of the dexterous hand 10.

[0088] In some examples, with reference to Figure 2 andFigure 4 As shown, taking the second finger 13 as an example, the dexterous hand 10 may include a first base 131, which is disposed between the second finger 13 and the palm 11. For example, a first base 131 is provided between each second finger 13 and the palm 11. The first base 131 can be rotatably connected to the palm 11 via a second rotating shaft 1012. The axial direction of the second rotating shaft 1012 may be different from the axial direction of the first rotating shaft 1011.

[0089] In some examples, refer to Figure 4 As shown, the axial direction of the first rotating shaft 1011 can be along... Figure 4 The direction is set as shown by the y-axis; the axial direction of the second rotation axis 1012 can be along... Figure 4 The direction setting is shown on the z-axis.

[0090] In some examples, the axial direction of the first rotation axis 1011 may be different from the axial direction of the second rotation axis 1012.

[0091] In some examples, the second rotating shaft 1012 may be fixedly connected to the first base 131. The second rotating shaft 1012 and the first base 131 may be a single piece.

[0092] In some examples, refer to Figure 3 As shown, the first rotating shaft 1011 can be disposed on the first base 131. The first rotating shaft 1011 can be rotatably connected to the first base 131 to realize the rotatable connection between the second finger 13 and the palm 11.

[0093] In some examples, the first base 131 may have a first mounting hole. The first mounting hole may extend through the first base 131. The first reel 1011a may be disposed within the first mounting hole.

[0094] In some examples of embodiments of this application, a first base 131 is provided, which is rotatably connected to the palm 11 via a second rotation shaft 1012, and the axial direction of the second rotation shaft 1012 is set to be different from the axial direction of the first rotation shaft 1011. The first rotation shaft 1011 passes through the first base 131 and is rotatably connected to the first base 131. In this way, the first phalanx 101 can rotate relative to the palm 11 under the drive of the first base 131, and can rotate relative to the base via the first rotation shaft 1011, thereby allowing the first phalanx 101 to have multiple rotational degrees of freedom relative to the palm 11. This can improve the degrees of freedom of the second finger 13, making it easier for the dexterous hand 10 to perform complex fine operations and expanding the application range of the dexterous hand 10.

[0095] Figure 5 This is a schematic diagram of another structure of the second phalanx in a dexterous hand provided in some embodiments of this application.

[0096] In some examples, referring to FIG. 13A, Figure 5 As shown, the dexterous hand can include a first guide 1311. The first guide 1311 can be located on a side of the first wire wheel 1011a facing the palm 11, and the first guide 1311 is located between the first wire wheel 1011a and the palm 11.

[0097] In some examples, the first guide 1311 can be provided on the first base 131.

[0098] In some examples, the first guide 1311 can include a guide bearing. The guide bearing can be rotatably connected with the first base 131.

[0099] In some examples, referring to FIG. 13A, Figure 5 As shown, the first guide 1311 can include two. The two first guides 1311 can be arranged side by side along the axis of the first rotation shaft 1011.

[0100] In some examples, the first power cord 1014 can be provided between the two first guides 1311 and in contact with the two first guides 1311. That is, one end of the first power cord 1014 facing the palm 11 can pass between the two first guides 1311 and extend towards the palm 11, and be drivingly connected with the power output end of the first driving member 111.

[0101] In some examples, the gap between the two first guides 1311 can be opposite to the wire groove on the first wire wheel 1011a. In this way, the first guide 1311 can guide the first power cord 1014.

[0102] In some examples, the first guide 1311 can be fixed to the first base 131 by means of bolts, screws or threaded rods.

[0103] In some examples, the rotation axis of the first guide 1311 relative to the first base 131 can be different from the axis of the first power cord 1014. For example, the rotation axis of the first guide 1311 relative to the first base 131 can be different from the direction of the axis of the first power cord 1014; or the rotation axis of the first guide 1311 relative to the first base 131 can be perpendicular to the axis of the first power cord 1014.

[0104] In some examples of the embodiments of the present application, the first guide 1311 is arranged between the first rotating shaft 1011a and the palm 11. The two first guides 1311 are arranged side by side along the axis of the first rotating shaft 1011, and the first power rope 1014 passes between the two first guides 1311. In this way, when the first driving member 111 drives the first power rope 1014, the two first guides 1311 can guide the first power rope 1014, so that the first power rope 1014 can always be wound in the wire groove of the first wire wheel 1011a, and the accuracy of winding of the first power rope 1014 during bending and resetting of the first knuckle 101 can be improved, and the stability of the dexterous hand 10 in supporting complex and delicate operations can be ensured.

[0105] In some examples, referring to Figure 4 As shown in the figure, the palm 11 can be provided with a second driving member 112. The power output end of the second driving member 112 can be in transmission connection with the first base 131. The second driving member 112 can drive the first base 131 and the second rotating shaft 1012 to rotate.

[0106] In some examples, the second driving member 112 can include a motor that can rotate forward and reverse. For example, the second driving member 112 can include any one of a servo motor, a stepper motor or a synchronous motor.

[0107] In some examples, the second driving member 112 can be in transmission connection with the first base 131 through a gear box or a transmission box.

[0108] In some examples, the output shaft of the gear box or the transmission box can be in spline connection with the first base 131, so as to drive the first base 131 to swing relative to the palm 11.

[0109] Figure 5a is another cross-sectional view of the dexterous hand provided by the embodiments of the present application along the direction parallel to the palm surface of the palm.

[0110] In some examples, the palm 11 can be provided with a second worm 1121 and a second turbine 1122. The second turbine 1122 can be in meshing connection with the second worm 1121.

[0111] In some examples, the output end of the second driving member 112 can be in transmission connection with the second worm 1121 through a transmission box, a speed reducer or the like, and transmit power to the second worm 1121. The second worm 1121 rotates and transmits power to the second turbine 1122.

[0112] In some examples, the shaft of the second turbine 1122 can be fixedly connected to the first base 131. For example, the shaft of the second turbine 1122 can be fixedly connected to the first base 131 by screws. Alternatively, the shaft of the second turbine 1122 can be fixedly connected to the first base 131 by splines, pins, interference fits, bonding, or welding.

[0113] In some examples, the second turbine 1122 transmits power to the first base 131 and drives the first base 131 to rotate, thereby enabling the fingers to swing relative to the palm 11.

[0114] In some examples of embodiments of this application, a second driving member 112 is provided on the palm 11, and the power output end of the second driving member 112 is connected to the first base 131 for transmission, thereby driving the first base 131 and the second rotating shaft 1012 to rotate. This facilitates the control of the rotation angle of the first base 131 via the second driving member 112, thereby controlling the swing angle of the second finger 13 relative to the palm 11, increasing the degree of freedom of movement of the second finger 13 relative to the palm 11, and facilitating the dexterous hand 10 to perform complex and precise operations.

[0115] In some examples, refer to Figure 2 and Figure 5 As shown, the dexterous hand 10 includes a second reset member 1013. One end of the second reset member 1013 can be connected to the first phalanx 101. The other end of the second reset member 1013 can be connected to the first base 131.

[0116] In some examples, the second reset member 1013 can be used to drive the first phalanx 101 to rotate relative to the palm 11 toward the side away from the palm. That is, the second reset member 1013 can drive the first phalanx 101 to rotate to an extended state relative to the palm 11.

[0117] In one application scenario of this application embodiment, using Figure 5 Let's take an example. When the first driving member 111 pulls the first power rope 1014 towards the palm 11, the first power rope 1014 tightens and drives the first reel 1011a to rotate. The rotation of the first reel 1011a drives the first rotating shaft 1011 to rotate, thereby causing the first knuckle 101 to move along... Figure 5 The first phalanx 101 rotates in the direction indicated by the middle arrow a, thereby causing the first phalanx 101 to perform a gripping action.

[0118] In some examples, along the first phalanx 101 Figure 5In the process of rotating in the direction indicated by the middle arrow a, the second reset member 1013 can accumulate force. After the first knuckle 101 completes the gripping action, the first driving member 111 can act in reverse, at which time the force accumulated on the second reset member 1013 is released, causing the first knuckle 101 to rotate relative to the palm 11 in a direction away from the palm center, at which time the first rotating shaft 1011 drives the first wire wheel 1011a to rotate, thereby winding the first power rope 1014 on the first wire wheel 1011a.

[0119] In some examples, the second reset member 1013 can include a torsional spring. The torsional spring can be arranged on the palm side of the first knuckle 101, one end of the torsional spring being connected to the first knuckle 101 and the other end of the torsional spring being connected to the first base 131. It should be noted that the specific form of the second reset member 1013 in the embodiments of the present application is not limited and can be a torsional spring or other reset member such as a tension spring.

[0120] In some examples of the embodiments of the present application, by arranging the second reset member 1013 on the first knuckle 101, one end of the second reset member 1013 being connected to the first knuckle 101 and the other end of the second reset member 1013 being connected to the first base 131. In this way, in the case where the first driving member 111 releases the first power rope 1014, the second reset member 1013 can drive the first knuckle 101 to rotate relative to the palm 11 to perform the stretching reset, without the need for other active power sources, which can save the energy consumption of the dexterous hand 10. Reduce the overall volume of the first knuckle 101. Facilitate the dexterous hand 10 to perform complex and delicate operations.

[0121] In some examples, referring to Figure 5 As shown, the second reset member 1013 can include a tension spring. The tension spring can be arranged on the back side of the first knuckle 101. One end of the tension spring can be connected to the first base 131. The other end of the tension spring can be connected to the first knuckle 101.

[0122] In some examples, the end of the tension spring can be fixed by a bolt, screw or screw rod, etc. In this way, the stability of the connection of the tension spring can be improved, and the effectiveness of the driving of the first knuckle 101 by the tension spring can be ensured.

[0123] In some examples, the first rotating shaft 1011 can be located on the side of the first base 131 towards the palm 11 at the position where the tension spring is connected to the first base 131. That is, in the state where the first knuckle 101 is in the straightened state (for example, the state shown in Figure 5 In the direction indicated by the x-axis in Figure 5 In this way, in the direction of extension of the first knuckle 101 (for example, the direction indicated by the x-axis in Figure 5In the case of rotating in the direction indicated by the middle arrow a, the position of the tension spring connected with the first phalanx 101 is rotated to below the first rotation shaft 1011, at this time, the distance between the two ends of the tension spring is increased, so that the tension spring is charged.

[0124] In some examples of the embodiments of the present application, the tension spring is used as the second reset member 1013. The tension spring is arranged on the back side of the first phalanx 101. One end of the tension spring is connected with the first base 131, and the other end of the tension spring is connected with the first phalanx 101. In this way, in the process of the first phalanx 101 rotating relative to the palm 11 to perform the gripping action, the tension spring can be charged, and in the case of the first driving member 111 releasing the first power rope 1014, the charge of the tension spring is released, so as to drive the first phalanx 101 to rotate relative to the first base 131 along the direction indicated by the middle arrow a. Figure 5 In the case of rotating in the direction indicated by the middle arrow a, the position of the tension spring connected with the first phalanx 101 is rotated to below the first rotation shaft 1011, at this time, the distance between the two ends of the tension spring is increased, so that the tension spring is charged.

[0125] In some examples, referring to FIG. 1, the second reset member 1013 can be arranged on the back side of the first phalanx 101. Figure 2-5 In some examples, referring to FIG. 1, the second reset member 1013 can be arranged on the back side of the first phalanx 101.

[0126] In some examples of the embodiments of the present application, by arranging two second reset members 1013 side by side on the back side of the first phalanx 101, the two second reset members 1013 can provide reset forces to the first phalanx 101 side by side. In this way, the reset forces provided by the two second reset members 1013 can be balanced in the axial direction of the first rotation shaft 1011, so that the first phalanx 101 is balanced in force in the axial direction of the first rotation shaft 1011 in the process of rotating relative to the first base 131 by the first rotation, and the stability of the first phalanx 101 rotating is improved, and the stability of the dexterous hand 10 performing complex and delicate operations is improved.

[0127] In some examples, referring to FIG. 1, the second reset member 1013 can be arranged on the back side of the first phalanx 101. Figure 2 In some examples, referring to FIG. 1, the second reset member 1013 can be arranged on the back side of the first phalanx 101.

[0128] In some examples, the second finger 13 may include a third rotation axis 1021. The third rotation axis 1021 may be fixedly connected to the second phalanx 102. It is understood that in some examples of the embodiments of this application, the connection method between the third rotation axis 1021 and the second phalanx 102 may be the same as, similar to or similar to the connection method between the first phalanx 101 and the first rotation axis 1011 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated here.

[0129] In some examples, the third rotation axis 1021 may be rotatably connected to the first phalanx 101. The third rotation axis 1021 may be rotatably connected to the end of the first phalanx 101 away from the palm 11.

[0130] In some examples, refer to Figure 3 and Figure 3 As shown, a second thread pulley 1021a can be sleeved on the third rotating shaft 1021. The second thread pulley 1021a and the third rotating shaft 1021 can be fixedly connected in the circumferential direction of the third rotating shaft 1021. It is understood that the connection method between the second thread pulley 1021a and the third rotating shaft 1021 can be the same, similar, or analogous to the connection method between the first thread pulley 1011a and the first rotating shaft 1011 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application; further details will not be repeated in this embodiment.

[0131] In some examples, refer to Figure 4 As shown, a second power rope 1023 may be provided on the second reel 1021a. One end of the second power rope 1023 may be fixedly connected to the second reel 1021a, and the other end of the second power rope 1023 may extend toward the palm 11.

[0132] In some examples, the second reel 1021a is wound around the palm side of the third rotating shaft 1021 from the side opposite to the palm 11 and extends toward the palm 11.

[0133] It is understood that in some examples of the embodiments of this application, the connection method between the second power rope 1023 and the second reel 1021a may be the same as, similar to or similar to the connection method between the first power rope 1014 and the first reel 1011a in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0134] In some examples, refer to Figure 4 As shown, the dexterous hand 10 may include a third drive member 113. The third drive member 113 may be disposed on the palm 11. The power output end of the third drive member 113 may be connected to the second power rope 1023 for transmission.

[0135] That is, in some examples of the embodiments of the present application, the power output end of the third driving member 113 drives the second power cord 1023 to be taut, at which time the second power cord 1023 pulls the second wire wheel 1021a to rotate, the second wire wheel 1021a drives the third rotating shaft 1021 to rotate, thereby driving the second knuckle 102 to rotate relative to the first knuckle 101.

[0136] In some examples, the output end of the third driving member 113 can be provided with a fourth wire wheel. The other end of the second power cord 1023 can be connected with the fourth wire wheel. As shown in Figure 3 The fourth wire wheel can be another winding wheel 114.

[0137] It can be understood that in some examples of the embodiments of the present application, the type of the third driving member 113 can be the same, similar or analogous to the type of the first driving member 111, and specific details can be referred to the foregoing description of the first driving member 111 of the embodiments of the present application, which will not be repeated herein.

[0138] In some examples of the embodiments of the present application, the third rotating shaft 1021 is arranged at the end of the first knuckle 101 away from the palm 11, and the second knuckle 102 is fixedly arranged on the third rotating shaft 1021. In addition, the second wire wheel 1021a is sleeved on the third rotating shaft 1021, and in the axial direction of the third rotating shaft 1021, the second wire wheel 1021a is fixed with the third rotating shaft 1021, and one end of the second power cord 1023 is fixedly connected with the second wire wheel 1021a, and the second power cord 1023 extends towards the palm 11. The second power cord 1023 is drivingly connected with the power output end of the third driving member 113. In this way, the third driving member 113 can be arranged on the palm 11, and the bending gripping and opening of the third rotating shaft 1021 can be controlled by the second power cord 1023. Compared with the prior art (the driving motor is placed at the knuckle joint of the dexterous hand), the overall volume near the third rotating shaft 1021 can be reduced, the third rotating shaft 1021 can perform complex and delicate operations more easily, the ability of the dexterous hand 10 to perform complex and delicate operations is improved, and the application range of the dexterous hand 10 is improved.

[0139] In some examples, referring to Figure 2-5 As shown in the figure, the first rotating shaft 1011 can be provided with a guide wheel 1011b. The guide wheel 1011b and the first wire wheel 1011a can be arranged side by side along the axial direction of the first rotating shaft 1011.

[0140] In some examples, the guide wheel 1011b is rotatably mounted on the first rotation axis 1011 around its circumference. That is, the guide wheel 1011b and the first rotation axis 1011 can rotate freely along their circumference. When the first rotation axis 1011 rotates, its rotation does not affect the guide wheel 1011b. Similarly, when the guide wheel 1011b rotates, its rotation does not affect the rotation of the first rotation axis 1011.

[0141] In some examples, a portion of the second power rope 1023 may be located on the peripheral wall of the guide wheel 1011b.

[0142] In some examples, the second power rope 1023 can pass through the first mounting hole of the first base 131 and is located on the peripheral wall of the guide wheel 1011b. That is, the guide wheel 1011b can tension the second power rope 1023, making it easier for the second power rope 1023 to pass around the first rotating shaft 1011 and avoiding interference between the second power rope 1023 and the first rotating shaft 1011.

[0143] In some examples, when the second power rope 1023 is tightened at the power output end of the third drive member 113, the second power rope 1023 can be tightened towards the palm 11. At this time, the movement of the second power rope 1023 drives the guide wheel 1011b to rotate. The rotation of the guide wheel 1011b does not affect the first rotating shaft 1011. The rotation of the guide wheel 1011b can guide the second power rope 1023, ensuring that the second power rope 1023 can always be wound around the second spool 1021a. The second power rope 1023 drives the second spool 1021a to rotate, thereby driving the third rotating shaft 1021 to rotate relative to the first knuckle 101.

[0144] In some examples of embodiments of this application, a guide wheel 1011b is provided on the first rotating shaft 1011, and the guide wheel 1011b is rotatably connected to the first rotating shaft 1011 along the circumference of the first rotating shaft 1011. Thus, at least a portion of the second power rope 1023 is located on the peripheral wall of the guide wheel 1011b. When the second power rope 1023 is driven by the third driving member 113, the guide wheel 1011b can guide the second power rope 1023, ensuring that the second power rope 1023 is always wound around the second spool, thereby improving the stability of the second power rope 1023 driving the third rotating shaft 1021.

[0145] In some examples, refer to Figure 2 As shown, the second finger 13 may include a third phalanx 103. The third phalanx 103 may be rotatably connected to the end of the second phalanx 102 away from the first phalanx 101.

[0146] In some examples, the second phalange 102 can drive the third phalange 103 to rotate synchronously when the second phalange 102 rotates relative to the first phalange 101, and the third phalange 103 can rotate relative to the second phalange 102 under the synchronous rotation driving force.

[0147] In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 5 and Figure 2 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 6 In some examples, referring to FIG. 2, the other end of the driving link 14 can be rotatably connected to the first phalange 101 at an end facing the second phalange 102. In this way, the length of the driving link 14 can be shortened, the space occupied by the driving link 14 can be reduced, and the overall volume of the finger can be reduced.

[0148] In some examples, referring to FIG. 2, the rotation hinge point of the driving link 14 and the third phalange 103 can be a first hinge point. The first hinge point can be located on the palm side of the third phalange 103.

[0149] In some examples, referring to FIG. 2, the rotation hinge point of the driving link 14 and the first phalange 101 can be a second hinge point 142. The second hinge point 142 can be located on the back side. In this way, when the driving link 14 drives the third phalange 103, it can ensure that the driving link 14 drives the third phalange 103 towards the palm side, ensuring the accuracy of the rotation bending direction of the third phalange 103, and improving the accuracy of the dexterous hand 10 in performing a gripping action.

[0150]

[0151] FIG. 3 is a schematic diagram of a topology structure of a driving link driving a third phalange in a dexterous hand according to some embodiments of the present application. Figure 6 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101.

[0152] In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 6 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 6 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 6 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 6 In some examples, referring to FIG. 1, the dexterous hand 10 can include a driving link 14. Referring to FIG. 2, one end of the driving link 14 can be rotatably connected to the third phalange 103. The other end of the driving link 14 can be rotatably connected to the first phalange 101. Figure 2(Rotating in the direction indicated by arrow b) Since the third knuckle 103 is connected to the second knuckle 102, the second knuckle 102 drives the third knuckle 103 to rotate synchronously. On this basis, the drive link 14 also rotates, which reduces the distance between the first hinge point 141 and the second hinge point 142 along the extension direction of the first knuckle 101. At this time, the drive link 14 pulls the third knuckle 103 toward the palm through the first hinge point 141, so that the third knuckle 103 transitions to a bent and clenched state.

[0153] In some examples of embodiments of this application, a drive link 14 is provided, with one end of the drive link 14 rotatably connected to the third phalanx 103 and the other end of the drive link 14 rotatably connected to the first phalanx 101. Thus, during the rotation of the second phalanx 102 relative to the first phalanx 101, since the third phalanx 103 is connected to the second phalanx 102, the third phalanx 103 also rotates with the second phalanx 102. Furthermore, the drive link 104 also rotates, reducing the distance between the hinge points at both ends of the drive link 104 along the extension direction of either the first finger 12 or the second finger 13 in its unfolded state. This causes the drive link 14 to pull the third phalanx 103, so that the third phalanx 103, rotating synchronously with the second finger 13, is pulled by the drive link 14 to rotate relative to the second phalanx 102. The third phalanx 103 can be driven to rotate relative to the second phalanx 102 via the drive link 14, facilitating the execution of complex grasping actions by the dexterous hand 10. Furthermore, the absence of an additional power source at the joint between the third phalanx 103 and the second phalanx 102 simplifies the joint structure. This reduces the overall size of the dexterous hand 10, making it easier to perform precise and complex operations, improving its ability to perform complex movements with precision, and expanding its application range. It also extends the lifespan of the dexterous finger joints.

[0154] In some examples, refer to Figure 5 and Figure 2 As shown, the third phalanx 103 may be provided with a fourth rotating shaft 1031. The fourth rotating shaft 1031 may be rotatably connected to the second phalanx 102.

[0155] In some examples, the fourth rotating shaft 1031 may be configured in the same, similar, or analogous manner as the first rotating shaft 1011 and the third rotating shaft 1021. For details, please refer to the detailed description of the foregoing embodiments of this application. This will not be repeated in the embodiments of this application.

[0156] In some examples, with the third knuckle 103 in an extended state, the hinge point (i.e., the first junction point) between the drive link 14 and the third knuckle 103 can be located on the side of the fourth rotation axis 1031 away from the palm 11.

[0157] In some examples of the embodiments of the present application, the fourth rotating shaft 1031 is arranged at the third knuckle 103 and is rotatably connected with the second knuckle 102. In this way, the third knuckle 103 is facilitated to rotate relative to the second knuckle 102, and the dexterous hand 10 is facilitated to perform complex and delicate operation. In the case that the third knuckle 103 is in the stretched state, the hinged point of the driving link 14 and the third knuckle 103 is arranged at the side of the fourth rotating shaft 1031 away from the palm 11. In this way, the driving link 14 is facilitated to pull the third knuckle 103 from the side of the fourth rotating shaft 1031 away from the palm 11 to the side of the fourth rotating shaft 1031 toward the palm 11; and the third knuckle 103 is facilitated to perform complex and delicate operation, which improves the delicate operation capability of the dexterous hand 10 on complex operation and expands the application range of the dexterous hand 10.

[0158] In some examples, referring to Figs. 1 and 2, the dexterous hand can comprise a first reset member 1032. Figure 5 and Figure 2 In some examples, referring to Figs. 1 and 2, the dexterous hand can comprise a first reset member 1032. The first reset member 1032 can drive the third knuckle 103 to rotate relative to the second knuckle 102, so that the finger is in the stretched state.

[0159] In some examples, one end of the first reset member 1032 can be connected with the second knuckle 102. The other end of the first reset member 1032 can be connected with the third knuckle 103.

[0160] In some examples, the first reset member 1032 can be the same as, similar to or analogous to the second reset member 1013 described in detail in the foregoing embodiments of the present application. For details, reference can be made to the detailed description of the foregoing embodiments of the present application, and the present embodiment will not be described again. It should be noted that the specific form of the first reset member 1032 in the present embodiment is not limited, and can be a torsional spring or a tension spring or other reset member.

[0161] In some examples, referring to Figs. 1 and 2, the first reset member 1032 can comprise a torsional spring. The torsional spring can be sleeved on the fourth rotating shaft 1031. Figure 5 Figure 2 In some examples, one end of the torsional spring can be fixedly connected with the second knuckle 102. The other end of the torsional spring can be fixedly connected with the third knuckle 103.

[0162] In some examples, in the case that the driving link 14 drives the third knuckle 103 to rotate relative to the second knuckle 102, the torsional spring can store energy. In the case that the second knuckle 102 is reset and stretched relative to the first knuckle 101, the energy stored in the torsional spring can be released, thereby driving the third knuckle 103 to rotate and reset relative to the second knuckle 102.

[0163] In some examples, in the case that the driving link 14 drives the third knuckle 103 to rotate relative to the second knuckle 102, the torsional spring can store energy. In the case that the second knuckle 102 is reset and stretched relative to the first knuckle 101, the energy stored in the torsional spring can be released, thereby driving the third knuckle 103 to rotate and reset relative to the second knuckle 102.

[0164] ​In some examples of embodiments of this application, the first reset member 1032 is set as a torsion spring, and the torsion spring is sleeved on the fourth rotation shaft 1031. One end of the torsion spring is fixedly connected to the second phalanx 102, and the other end of the torsion spring is fixed to the third phalanx 103. In this way, the torsion spring can be directly sleeved on the fourth rotation shaft 1031, which can reduce the space occupied by the first reset member 1032, reduce the volume of the rotation joint between the third phalanx 103 and the second phalanx 102, thereby reducing the overall volume of the dexterous hand 10. This facilitates the dexterous hand 10 in performing fine and complex operations, improves the dexterous hand 10's ability to perform fine operations on complex movements, and expands the application range of the dexterous hand 10.

[0165] In some examples, refer to Figure 5 and Figure 7 As shown, the second phalanx 102 may be provided with a first limiting part 1022.

[0166] In some examples, the first limiting part 1022 may be provided at the end of the second phalanx 102 facing the third phalanx 103.

[0167] In some examples, the first limiting part 1022 may be located on the side of the fourth rotation axis 1031 facing the palm 11.

[0168] In some examples, one end of the torsion spring may be confined to the first limiting part 1022.

[0169] Figure 5 yes Figure 5 A magnified view of a portion of point A in the middle.

[0170] In some examples, refer to Figure 7 and Figure 7 As shown, the third phalanx 103 may be provided with a second limiting part 1033. The other end of the torsion spring may be limited to the second limiting part 1033.

[0171] In some examples of embodiments of this application, by providing a first limiting part 1022 on the second phalanx 102 and limiting one end of the torsion spring to the first limiting part 1022, and by providing a second limiting part 1033 on the third phalanx 103 and limiting the other end of the torsion spring to the second limiting part 1033, the installation of the first reset member 1032 can be facilitated, and the installation and assembly efficiency of the dexterous hand 10 can be improved.

[0172] In some examples, refer to Figure 7 The first limiting part 1022 may have a limiting groove 1022a. The opening of the limiting groove 1022a may face the palm side.

[0173] In some examples, one end of the torsion spring can be inserted into the limiting groove 1022a and abut against the bottom wall of the limiting groove 1022a.

[0174] In some examples of the embodiments of the present application, the first limiting part 1022 is provided with a limiting groove 1022a, and the slot of the limiting groove 1022a is arranged to face the palm side. When the torsion spring is installed, one end of the torsion spring can be inserted into the limiting groove 1022a and abut against the bottom wall of the limiting groove 1022a. In this way, the torsion spring is facilitated to cooperate with the limiting part, and the installation and assembly efficiency of the dexterous hand 10 is improved.

[0175] In some examples, referring to Figure 8 As described above, the second limiting part 1033 can include a limiting hole. The limiting hole can pass through the side wall of the third finger joint 103. The other end of the torsion spring can pass through the limiting hole.

[0176] In some examples of the embodiments of the present application, the second limiting part 1033 is provided as a limiting hole passing through the side wall of the third finger joint 103, and the other end of the torsion spring passes through the limiting hole. In this way, the processing and forming of the second limiting part 1033 are facilitated, and the installation and assembly of the torsion spring are facilitated, and the installation and assembly efficiency of the dexterous hand 10 is improved.

[0177] Figure 8 FIG. 1 is a structural schematic view of a dexterous hand according to some embodiments of the present application.

[0178] In some examples, the structure of the first finger 12 can be substantially the same as or similar to the structure of the second finger 13 in the foregoing embodiments of the present application, and specific reference can be made to the detailed description of the foregoing embodiments of the present application. The embodiments of the present application only describe the differences between the first finger 12 and the second finger 13 in detail.

[0179] In some examples, referring to Figure 8 As shown in FIG. 1, the dexterous hand 10 can further include a second base 121. The second base 121 is arranged between the first finger 12 and the palm 11, and the second base 121 can be rotationally connected with the palm 11.

[0180] It can be understood that in some examples of the embodiments of the present application, the rotational connection manner of the second base 121 with the palm 11 can be the same as, similar to, or analogous to that of the first base 131, and specific reference can be made to the detailed description of the foregoing embodiments of the present application. The embodiments of the present application will not be described again.

[0181] In some examples, referring to ​ As shown in FIG. 1, the second base 121 can be provided with a second guide piece 1211. The first power cord 1014 of the first finger 12 can be wound around the peripheral wall of the second guide piece 1211.

[0182] In some examples, the second guide piece 1211 can include any one of a winding wheel 114 or a bearing.

[0183] In some examples, the second base 121 can be provided with a third guide 1212. The third guide 1212 can be arranged in a staggered manner with the second guide 1211. The second power cord 1023 of the first finger 12 can be wound around the peripheral wall of the third guide 1212.

[0184] It can be understood that, in some examples of the embodiments of the present application, the third guide 1212 can be of the same type, similar type or similar to the second guide 1211. For details, reference can be made to the foregoing detailed description of the embodiments of the present application, which will not be repeated herein. It should be noted that the winding manner and working principle of the first power cord 1014 and the second power cord 1023 of the first finger 12 can be the same as those of the first power cord 1014 and the second power cord 1023 of the second finger 13 described in the foregoing embodiments.

[0185] In some examples of the embodiments of the present application, the second base 121 is arranged on the dexterous hand 10, the second base 121 is connected with the first knuckle 101 of the first finger 12, and the second base 121 is rotatably connected with the palm 11. In this way, the rotation of the second base 121 relative to the palm 11 can drive the entire first finger 12 to swing relative to the palm 11. The second guide 1211 and the third guide 1212 are arranged on the second base 121, the first power cord 1014 of the first finger 12 is wound around the peripheral wall of the second guide 1211, and the second power cord 1023 of the first finger 12 is wound around the peripheral wall of the third guide 1212. In this way, the second guide 1211 and the third guide 1212 can respectively guide the first power cord 1014 and the second power cord 1023 individually, which facilitates the independent control of the stretching of the first finger 12, improves the flexibility of the first finger 12, improves the fine operation ability of the dexterous hand 10 for complex actions, and expands the application range of the dexterous hand 10.

[0186] In some examples, the brittleness of at least part of the first knuckle 101 is less than the brittleness of the first base 131.

[0187] In some examples, the brittleness of the first knuckle 101 and the first base 131 can be tested by a mechanical property test, such as an impact test, a tensile test or a bending test.

[0188] In some examples, the brittleness of the first knuckle 101 and the first base 131 can be tested by a segment toughness test.

[0189] In some examples, the brittleness of the first knuckle 101 and the first base 131 can be tested by a hardness test or a microstructure analysis.

[0190] It can be understood that the brittle test mode of the first phalanx 101 and the first base 131 is only shown as some specific examples in the embodiments of the present application, and is not a specific limitation of the brittle test.

[0191] In some examples of the embodiments of the present application, the brittleness of at least part of the first phalanx 101 is set to be less than the brittleness of the first base 131. In this way, in the case that the first finger 12 or the second finger 13 is hit, the force transmitted to the first base 131 can be reduced by breaking from the first phalanx 101, and the transmission structure and the first driving member 111, the second driving member 112 and the third driving member 113 connected with the first base 131 can be effectively protected. The safety of the transmission structure and the first driving member 111, the second driving member 112 and the third driving member 113 can be ensured, and the loss in the case of collision of the dexterous hand 10 is reduced.

[0192] On the other hand, the embodiments of the present application provide a robot comprising the dexterous hand 10 provided by the foregoing embodiments of the present application.

[0193] It should be noted that the robot provided by the embodiments of the present application has the same or corresponding technical features as the dexterous hand provided by the foregoing embodiments of the present application, and therefore the robot provided by the embodiments of the present application can have the same or similar technical effects as the dexterous hand provided by the foregoing embodiments of the present application. For details, reference can be made to the detailed description of the foregoing embodiments of the present application, and the embodiments of the present application will not be described again.

[0194] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0195] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent application scope. It should be noted that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A dexterous hand, characterized in that, include: palm; as well as The fingers are movably connected to the palm; The finger includes a first phalanx, a second phalanx, and a third phalanx. The first phalanx is rotatably connected to the palm, the second phalanx is rotatably connected to the end of the first phalanx away from the palm, and the third phalanx is rotatably connected to the end of the second phalanx away from the first phalanx. A drive link, one end of which is rotatably connected to the third phalanx, and the other end of which is rotatably connected to the first phalanx; When the second phalanx rotates relative to the first phalanx, the third phalanx rotates synchronously and, driven by the drive linkage, rotates relative to the second phalanx.

2. The dexterous hand according to claim 1, characterized in that, The first phalanx is rotatably connected to the palm via a first rotating shaft; the second phalanx is rotatably connected to the end of the first phalanx away from the palm via a third rotating shaft. The third phalanx is rotatably connected to the second phalanx via a fourth rotating shaft; With the third phalanx extended, the hinge point between the drive link and the third phalanx is located on the side of the fourth rotation axis away from the palm.

3. The dexterous hand according to claim 2, characterized in that, It also includes a first reset member, which is used to drive the third phalanx to rotate relative to the second phalanx so that the finger is in an extended state.

4. The dexterous hand according to claim 3, characterized in that, The first reset component includes a torsion spring, which is sleeved on the fourth rotating shaft; one end of the torsion spring is fixedly connected to the second finger joint, and the other end of the torsion spring is fixedly connected to the third finger joint.

5. The dexterous hand according to claim 4, characterized in that, The second phalanx is provided with a first limiting part, and one end of the torsion spring is limited to the first limiting part; The third finger joint is provided with a second limiting part, and the other end of the torsion spring is limited to the second limiting part.

6. The dexterous hand according to claim 5, characterized in that, The first limiting part has a limiting groove, the opening of the limiting groove facing the palm side, one end of the torsion spring is inserted into the limiting groove and abuts against the bottom wall of the limiting groove; and / or The second limiting part includes a limiting hole that penetrates the side wall of the third finger joint, and the other end of the torsion spring passes through the limiting hole.

7. The dexterous hand according to any one of claims 2-6, characterized in that, The first knuckle is fixedly connected to the first rotating shaft, and the first rotating shaft is rotatably connected to the palm; a first spool is sleeved on the first rotating shaft, and the first spool is fixed to the first rotating shaft in the circumferential direction; a first power rope is wound on the first spool, one end of the first power rope is fixedly connected to the first spool, and the other end of the first power rope extends toward the palm; The palm is provided with a first driving component, and the output end of the first driving component is provided with a third pulley. The other end of the first power rope is connected to the third pulley.

8. The dexterous hand according to claim 7, characterized in that, The second phalanx is fixedly connected to the third rotating shaft; the third rotating shaft is rotatably connected to the first phalanx. A second spool is fitted onto the third rotating shaft, and the second spool is fixed to the third rotating shaft in the circumferential direction. A second power rope is provided on the second spool, one end of which is fixedly connected to the second spool, and the other end of which extends toward the palm. The palm is provided with a third driving component, and the output end of the third driving component is provided with a fourth pulley. The other end of the second power rope is connected to the fourth pulley.

9. The dexterous hand according to any one of claims 1-6, characterized in that, The other end of the drive linkage is rotatably connected to the end of the first phalanx facing the second phalanx; And / or, The rotational hinge point between the drive link and the third phalanx is located on the palm side, and the rotational hinge point between the drive link and the first phalanx is located on the back side of the hand.

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

Images