Bionic dexterous hand

Abstract

The invention relates to the technical field of manipulators, and discloses a bionic dexterous hand. The bionic dexterous hand comprises a palm mechanism, a thumb mechanism and at least one finger mechanism, the rotary driving assembly is used for driving the first side-sway driving assembly to rotate around a first axis, the first side-sway driving assembly is used for driving the first near knuckle to perform side-sway motion around a second axis, and the first driving part is in driving connection with the first near knuckle and is used for driving the first middle knuckle assembly to perform flexion and extension motion; the second driving part is in driving connection with the first far knuckle assembly and is used for driving the first far knuckle assembly to bend and stretch; the first far knuckle assembly is used for driving the first fingertip to bend and stretch; the second side-sway driving assembly is used for driving the second near knuckle assembly to make side-sway motion around a sixth axis, and the second near knuckle assembly is used for driving the second middle knuckle assembly to make flexion and extension motion; the second middle knuckle assembly is used for driving the second far knuckle assembly to bend and stretch, and the second far knuckle assembly is used for driving the second fingertip to bend and stretch.

Description

Technical Field

[0001] This invention relates to the field of robotic hand technology, and more particularly to a bionic dexterous hand. Background Technology

[0002] In the current era of rapid development in robotics technology, bionic dexterous hands, as key execution components in the field of robotics, play a crucial role. However, current designs of bionic dexterous hands are hampered by insufficient flexibility. Traditional dexterous hands have limited degrees of freedom, generally only capable of simple grasping and placing actions. This severely restricts their end-effector posture adjustment capabilities when facing complex tasks, making it difficult for them to adapt to objects of different shapes, sizes, and textures with the same flexibility as human hands, or to perform fine operations in various spatial postures. This significantly limits the application scope and performance improvement of robots.

[0003] Therefore, there is an urgent need for a bionic dexterous hand to solve the aforementioned problems. Summary of the Invention

[0004] Based on the above, the purpose of this invention is to provide a bionic dexterous hand that increases the number of degrees of freedom and flexibility of the bionic dexterous hand, thereby meeting the needs of use.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A bionic dexterous hand includes a palm mechanism, a thumb mechanism, and at least one finger mechanism disposed in the palm mechanism;

[0007] The thumb mechanism includes a rotation drive assembly, a first lateral swing drive assembly, a first proximal phalanx, a first middle phalanx assembly, a first distal phalanx assembly, and a first fingertip connected in sequence. The rotation drive assembly and the first lateral swing drive assembly are disposed within the palm mechanism. The rotation drive assembly drives the first lateral swing drive assembly to rotate about a first axis, which is perpendicular to the palm mechanism. The first lateral swing drive assembly drives the first proximal phalanx to laterally swing about a second axis, which is perpendicular to the first axis. The first middle phalanx assembly includes a first drive component and a second drive component connected to each other. The first drive component drives and connects to the first proximal phalanx and drives the first middle phalanx assembly to flex and extend. The second drive component drives and connects to the first distal phalanx assembly and drives the first distal phalanx assembly to flex and extend. The first distal phalanx assembly drives the first fingertip to flex and extend.

[0008] The finger mechanism includes a second lateral swing drive assembly, a second proximal phalanx assembly, a second middle phalanx assembly, a second distal phalanx assembly, and a second fingertip connected in sequence. The second lateral swing drive assembly is disposed within the palm mechanism. The second lateral swing drive assembly is used to drive the second proximal phalanx assembly to laterally swing about a sixth axis, which is perpendicular to the palm mechanism. The second proximal phalanx assembly is used to drive the second middle phalanx assembly to flex and extend. The second middle phalanx assembly is used to drive the second distal phalanx assembly to flex and extend. The second distal phalanx assembly is used to drive the second fingertip to flex and extend.

[0009] As a preferred technical solution for a bionic dexterous hand, the bionic dexterous hand is a five-fingered bionic dexterous hand, which includes four finger mechanisms.

[0010] As a preferred technical solution for a bionic dexterous hand, the rotary drive assembly includes a first drive motor, a first gear, and a rotary connector. The rotary connector is rotatably connected to the palm mechanism. The rotary connector is provided with a first toothed portion. A first lateral swing drive assembly is connected to the rotary connector. The first drive motor is driven and connected to the first gear. The first gear is meshed with the first toothed portion. The first drive motor is located on the side of the first gear closer to the palm. The first lateral swing drive assembly is connected to the side of the rotary connector closer to the palm.

[0011] As a preferred technical solution for a bionic dexterous hand, the rotary drive assembly further includes a crossed roller bearing, and the rotary connector is rotatably connected to the palm mechanism via the crossed roller bearing.

[0012] As a preferred technical solution for a bionic dexterous hand, the first side-swing drive assembly includes a second dual-axis motor, which is connected to the rotary connector. The first proximal phalanx is provided with a second transmission hole and a second drive hole at intervals at one end near the second dual-axis motor. The second dual-axis motor is provided with a second drive shaft extending along the extension direction of the second axis. One end of the second drive shaft is rotatably connected to the second transmission hole, and the other end is drivenly connected to the second drive hole.

[0013] As a preferred technical solution for a bionic dexterous hand, the first side-swing drive assembly further includes a second bearing. The inner wall of the second drive hole is polygonal. The outer wall shape of the end of the second drive shaft near the second drive hole matches the inner wall shape of the second drive hole. The end of the second drive shaft is inserted into the second drive hole, and the other end of the second drive shaft is rotatably connected to the second transmission hole through the second bearing.

[0014] As a preferred technical solution for a bionic dexterous hand, the first driving component includes a first dual-axis motor, a first connector and a second connector. The first dual-axis motor is provided with a first drive shaft. The first connector and the second connector are connected to the first proximal phalanx. The first connector is provided with a first transmission hole. The second connector is provided with a first drive hole. One end of the first drive shaft is rotatably connected to the first transmission hole, and the other end is drivenly connected to the first drive hole.

[0015] As a preferred technical solution for a bionic dexterous hand, the first lateral swing drive assembly, the first middle phalanx assembly, the first distal phalanx assembly, the second lateral swing drive assembly, the second proximal phalanx assembly, the second middle phalanx assembly, and the second distal phalanx assembly all use the same motor.

[0016] As a preferred technical solution for a bionic dexterous hand, the second lateral swing drive assembly includes a lateral swing drive motor and a connecting frame. The lateral swing drive motor is installed in the palm mechanism, and a second gear is installed at the output end of the lateral swing drive motor. The connecting frame is connected to the second proximal phalanx assembly, and a second tooth is provided at one end of the connecting frame near the lateral swing drive motor. The second gear is meshed with the second tooth.

[0017] As a preferred technical solution for a bionic dexterous hand, the thumb mechanism and the four finger mechanisms are in an extended state, and the thumb mechanism and the four finger mechanisms are not higher than the palm side of the palm mechanism.

[0018] As a preferred technical solution for a bionic dexterous hand, the palm mechanism is provided with a clearance groove, the end portion of the thumb mechanism away from the first fingertip is located in the clearance groove, and the thumb mechanism can be tilted to a negative angle.

[0019] As a preferred technical solution for a bionic dexterous hand, the finger mechanism can be one, two, three, five, or six.

[0020] As a preferred technical solution for a bionic dexterous hand, silicone is adhered to the side of the second middle phalanx component, the second distal phalanx component, and the first distal phalanx component near the palm; silicone is adhered to the side of the first distal phalanx component near the palm.

[0021] As a preferred technical solution for a bionic dexterous hand, when the finger mechanism and the thumb mechanism are in an extended state, and the thumb mechanism is perpendicular to the palm mechanism (0° position), the first lateral swing drive component rotates around the first axis in an angle range of -45° to 60°; the first proximal phalanx lateral swings around the second axis in an angle range of 0° to 90°; the first middle phalanx component flexes and extends in an angle range of 0° to 90°; the first distal phalanx component flexes and extends in an angle range of 0° to 110°; and the first fingertip flexes and extends in an angle range of 0° to 110°.

[0022] The second proximal phalanx assembly has a lateral swing angle range of -20° to 20° around the sixth axis; the second middle phalanx assembly has a flexion-extension angle range of 0° to 110°; the second distal phalanx assembly has a flexion-extension angle range of 0° to 110°; and the second fingertip has a flexion-extension angle range of 0° to 110°.

[0023] As a preferred technical solution for a bionic dexterous hand, sensors are installed on the first fingertip and / or the second fingertip.

[0024] As a preferred technical solution for a bionic dexterous hand, it further includes a wire harness connected to the sensor, the rotation drive assembly, the first lateral swing drive assembly, the first drive component, the second drive component, the first distal phalanx assembly, the second lateral swing drive assembly, the second proximal phalanx assembly, the second middle phalanx assembly, and the second distal phalanx assembly. The wire harness is bent into a U-shape between the first middle phalanx assembly and the first distal phalanx assembly, between the first distal phalanx assembly and the first fingertip, between the second proximal phalanx assembly and the second middle phalanx assembly, between the second middle phalanx assembly and the second distal phalanx assembly, and between the second distal phalanx assembly and the second fingertip, with the opening of the U-shape facing the back of the hand.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention provides a bionic dexterous hand. In the thumb mechanism, a rotational drive component can drive a first lateral swing drive component to rotate around a first axis; the first lateral swing drive component can drive a first proximal phalanx to laterally swing around a second axis; a first drive component can drive a first middle phalanx component to flex and extend; a second drive component can drive a first distal phalanx component to flex and extend; and the first distal phalanx component can drive a first fingertip to flex and extend. Therefore, the thumb mechanism has five degrees of freedom. In the finger mechanism, a second lateral swing drive component can drive a second proximal phalanx component to laterally swing around a sixth axis; the second proximal phalanx component can drive a second middle phalanx component to flex and extend; the second middle phalanx component can drive a second distal phalanx component to flex and extend; and the second distal phalanx component can drive a second fingertip to flex and extend. Therefore, the finger mechanism has one lateral swing and three flexion and extension degrees of freedom. Thus, compared to the prior art, this invention increases the number of degrees of freedom in the finger and thumb mechanisms of the bionic dexterous hand, improves the flexibility of the bionic dexterous hand, and meets usage requirements.

[0027] Furthermore, since the first middle phalanx assembly includes interconnected first and second driving components in a back-to-back structure, on the one hand, while ensuring the number of degrees of freedom of the thumb assembly remains unchanged, no driving structure is needed within the first fingertip. The first and second fingertips can be reconstructed into arbitrary shapes to adapt to grasping operations. Simultaneously, fingertip tactile sensors or force sensors can be added to the first and second fingertips, supporting various possible expansions. On the other hand, the third axis of flexion and extension of the first middle phalanx assembly is located on the first proximal phalanx, the second axis of lateral swing of the thumb mechanism is located on the first proximal phalanx, and the first axis of rotation of the thumb mechanism is also located on the first proximal phalanx. The first, second, and third axes are close in distance and orthogonal, better reflecting the movement of the thumb, resulting in higher flexibility, greater human-likeness, and easier algorithmic control. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0029] Figure 1 This is one of the structural schematic diagrams of the bionic dexterous hand provided in a specific embodiment of the present invention;

[0030] Figure 2 This is an exploded view of the thumb mechanism provided in a specific embodiment of the present invention;

[0031] Figure 3This is a schematic diagram of the thumb mechanism provided in a specific embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the finger mechanism provided in a specific embodiment of the present invention;

[0033] Figure 5 This is the second structural schematic diagram of the bionic dexterous hand provided in a specific embodiment of the present invention;

[0034] Figure 6 This is the third structural schematic diagram of the bionic dexterous hand provided in a specific embodiment of the present invention.

[0035] The markings in the image are as follows:

[0036] 1. Hand mechanism; 11. Outer shell; 12. Inner shell; 13. Clearance groove;

[0037] 2. Thumb mechanism; 21. Rotary drive assembly; 211. First drive motor; 212. First gear; 213. Rotary connector; 2131. First tooth; 214. Crossed roller bearing; 215. Inner ring bearing cap; 216. Outer ring bearing cap; 22. First lateral swing drive assembly; 221. Second dual-axis motor; 2211. Second drive shaft; 222. Second bearing; 23. First proximal knuckle; 231. Second transmission hole; 232. Second drive hole; 24. First middle knuckle assembly; 241. First drive component; 2411. First dual-axis motor; 24111. First drive shaft; 2412. First connector; 24121. First transmission hole; 2413. Second connector; 2414. First fastening screw; 242. Second drive component; 25. First distal knuckle assembly; 26. First fingertip;

[0038] 3. Finger mechanism; 31. Second lateral swing drive assembly; 311. Lateral swing drive motor; 312. Connecting frame; 3121. Second tooth; 313. Second gear; 32. Second proximal phalanx assembly; 33. Second middle phalanx assembly; 34. Second distal phalanx assembly; 35. Second fingertip;

[0039] 4. Silicone; 5. Decorative cover; 6. Wrist adapter;

[0040] 1a, First axis; 2a, Second axis; 3a, Third axis; 4a, Fourth axis; 5a, Fifth axis; 6a, Sixth axis; 7a, Seventh axis; 8a, Eighth axis; 9a, Ninth axis. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0042] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 invention based on the specific circumstances.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0045] like Figures 1-4As shown, this embodiment provides a bionic dexterous hand, which includes a palm mechanism 1, a thumb mechanism 2, and at least one finger mechanism 3 disposed in the palm mechanism 1. The thumb mechanism 2 includes a rotation drive assembly 21, a first lateral swing drive assembly 22, a first proximal phalanx 23, a first middle phalanx assembly 24, a first distal phalanx assembly 25, and a first fingertip 26 connected in sequence. The rotation drive assembly 21 and the first lateral swing drive assembly 22 are disposed within the palm mechanism 1. The rotation drive assembly 21 drives the first lateral swing drive assembly 22 to rotate around a first axis 1a, which is perpendicular to the palm mechanism 1. The first lateral swing drive assembly 22 drives the first proximal phalanx 23 to swing laterally around a second axis 2a, which is perpendicular to the first axis 1a. The first middle phalanx assembly 24 includes a first drive component 241 and a second drive component 242 connected to each other. The first drive component 241 drives the first proximal phalanx 23 to swing laterally around a second axis 2a, which is perpendicular to the first axis 1a. The first middle phalanx assembly 24 includes a first drive component 241 and a second drive component 242 connected to each other. The first drive component 241 drives the first proximal phalanx 23 to swing laterally around a second axis 2a, which is perpendicular to the first axis 1a. The first proximal phalanx 23 is used to drive the flexion and extension of the first middle phalanx assembly 24; the second driving component 242 is connected to the first distal phalanx assembly 25 and is used to drive the flexion and extension of the first distal phalanx assembly 25; the first distal phalanx assembly 25 is used to drive the flexion and extension of the first fingertip 26; the finger mechanism 3 includes a second lateral swing driving component 31, a second proximal phalanx assembly 32, a second middle phalanx assembly 33, a second distal phalanx assembly 34, and a second fingertip 35 connected in sequence. The second lateral swing driving component 31 is disposed in the palm mechanism 1. The second lateral swing driving component 31 is used to drive the second proximal phalanx assembly 32 to laterally swing around the sixth axis 6a, the sixth axis 6a being perpendicular to the palm mechanism 1. The second proximal phalanx assembly 32 is used to drive the flexion and extension of the second middle phalanx assembly 33; the second middle phalanx assembly 33 is used to drive the flexion and extension of the second distal phalanx assembly 34; the second distal phalanx assembly 34 is used to drive the flexion and extension of the second fingertip 35.

[0046] In the thumb mechanism 2, the rotation drive assembly 21 can drive the first lateral swing drive assembly 22 to rotate around the first axis 1a; the first lateral swing drive assembly 22 can drive the first proximal phalanx 23 to laterally swing around the second axis 2a; the first drive component 241 can drive the first middle phalanx assembly 24 to flex and extend, the second drive component 242 can drive the first distal phalanx assembly 25 to flex and extend, and the first distal phalanx assembly 25 can drive the first fingertip 26 to flex and extend. Therefore, the thumb mechanism 2 has five degrees of freedom. In the finger mechanism 3, the second lateral swing drive assembly 31 can drive the second proximal phalanx assembly 32 to laterally swing around the sixth axis 6a, the second proximal phalanx assembly 32 can drive the second middle phalanx assembly 33 to flex and extend; the second middle phalanx assembly 33 can drive the second distal phalanx assembly 34 to flex and extend, and the second distal phalanx assembly 34 can drive the second fingertip 35 to flex and extend. Therefore, the finger mechanism 3 has one lateral swing and three flexion and extension degrees of freedom. Therefore, compared with existing technologies, the number of degrees of freedom of the finger mechanism 3 and thumb mechanism 2 in the bionic dexterous hand has been increased, thereby improving the flexibility of the bionic dexterous hand and meeting the usage requirements.

[0047] Furthermore, since the first middle phalanx assembly 24 includes a first driving component 241 and a second driving component 242 connected to each other, and the first driving component 241 and the second driving component 242 are back-to-back structures, on the one hand, while ensuring that the number of degrees of freedom of the thumb assembly remains unchanged, there is no need to set a driving structure in the first fingertip 26. The first fingertip 26 and the second fingertip 35 can be reconstructed into structures of arbitrary shapes to adapt to grasping operations. At the same time, fingertip 26 and the second fingertip 35 can also be equipped with fingertip tactile sensors or force sensors, supporting a variety of possible expansions. On the other hand, the third axis 3a of flexion and extension of the first middle phalanx assembly 24 is located on the first proximal phalanx 23, the second axis 2a of the lateral swing of the thumb mechanism 2 is located on the first proximal phalanx 23, and the first axis 1a of the rotation of the thumb mechanism 2 is also located on the first proximal phalanx 23. The first axis 1a, the second axis 2a and the third axis 3a are close in distance and orthogonal, which is more in line with the movement of the thumb, has higher flexibility, is more human-like and easier to solve and control by algorithms.

[0048] In one embodiment, such as Figure 1 As shown, the bionic dexterous hand is a five-fingered bionic dexterous hand, comprising four finger mechanisms 3. These four finger mechanisms 3 have a total of sixteen degrees of freedom. Therefore, the bionic dexterous hand has twenty-one degrees of freedom, which is an increase in the number of degrees of freedom compared to existing technologies.

[0049] In one embodiment, the finger mechanism 3 may be one, two, three, five, or six. For example, as shown... Figure 5 and Figure 6 As shown, when there are three finger mechanisms 3, the three finger mechanisms 3 have a total of twelve degrees of freedom, and the bionic dexterous hand has seventeen degrees of freedom.

[0050] It should be noted that the number of finger mechanisms 3 can be adapted to production needs, and all of these are within the scope of protection of this application.

[0051] In one embodiment, a sensor is mounted on the first fingertip 26 and / or the second fingertip 35. The sensor may be a fingertip tactile sensor or a force sensor.

[0052] like Figures 1-3 As shown, in this embodiment, the palm mechanism 1 includes an outer shell 11 and an inner shell 12. The outer shell 11 is detachably connected to the inner shell 12 to form a receiving cavity. The inner shell 12 is located on one side of the palm, and the outer shell 11 is located on one side of the back of the hand.

[0053] In this embodiment, the rotary drive assembly 21 includes a first drive motor 211, a first gear 212, and a rotary connector 213. The rotary connector 213 is rotatably connected to the palm mechanism 1. The rotary connector 213 is provided with a first toothed portion 2131. The first side-swing drive assembly 22 is connected to the rotary connector 213. The first drive motor 211 is driven and connected to the first gear 212. The first gear 212 is meshed with the first toothed portion 2131. The first drive motor 211 is located on the side of the first gear 212 closer to the palm. The first side-swing drive assembly 22 is connected to the side of the rotary connector 213 closer to the palm. In this embodiment, the first drive motor 211 and the first gear 212 are positioned on one side of the first side-swing drive assembly 22. This provides clearance for the installation of the first side-swing drive assembly 22, making full and reasonable use of the space in the hand mechanism 1. Furthermore, when the first drive motor 211 drives the first gear 212 to rotate, it can simultaneously drive the first tooth 2131, the rotating connector 213, the first side-swing drive assembly 22, the first proximal phalanx 23, the first middle phalanx assembly 24, the first distal phalanx assembly 25, and the first fingertip 26 to rotate around the first axis 1a. In this embodiment, the first drive motor 211 is located on the side of the first gear 212 closest to the hand, and the first drive motor 211 is connected to the inner wall of the inner shell 12 by screws. The first side-swing drive assembly 22 is located on the side of the first tooth 2131 closest to the hand, which reduces the thickness of the hand mechanism 1.

[0054] Preferably, the rotary drive assembly 21 further includes a crossed roller bearing 214, and the rotary connector 213 is rotatably connected to the palm mechanism 1 via the crossed roller bearing 214. The thumb mechanism 2 uses the crossed roller bearing 214 to improve the load-bearing capacity of the thumb mechanism 2, and the rotary connector 213 is driven by the first gear 212, which allows the first drive motor 211 to be installed inside the palm mechanism 1, making the palm mechanism 1 neater.

[0055] Specifically, the rotary drive assembly 21 also includes an inner ring bearing cover 215 and an outer ring bearing cover 216. The inner ring bearing cover 215 is connected to the rotary connector 213. The bearing cover and the rotary connector 213 clamp the inner ring of the crossed roller bearing 214. The outer ring bearing cover 216 is connected to the hand mechanism 1. The outer ring bearing cover 216 and the hand mechanism 1 clamp the outer ring of the crossed roller bearing 214. This realizes that the rotary connector 213 is rotatably connected to the hand mechanism 1 through the crossed roller bearing 214, thereby improving the rotational reliability and stability of the rotary connector 213.

[0056] Furthermore, the first lateral swing drive assembly 22 includes a second dual-axis motor 221, which is connected to the rotary connector 213. The first proximal phalanx 23 has a second transmission hole 231 and a second drive hole 232 spaced apart at one end near the second dual-axis motor 221. The second dual-axis motor 221 has a second drive shaft 2211 extending along the second axis 2a. One end of the second drive shaft 2211 is rotatably connected to the second transmission hole 231, and the other end is drivenly connected to the second drive hole 232. When the second dual-axis motor 221 drives the second drive shaft 2211 to rotate, it can drive the thumb mechanism 2 to perform a lateral swing motion around the second axis 2a.

[0057] Specifically, the first lateral swing drive assembly 22 also includes a second bearing 222. The inner wall of the second drive hole 232 is polygonal. The outer wall shape of the end of the second drive shaft 2211 near the second drive hole 232 matches the inner wall shape of the second drive hole 232. The end of the second drive shaft 2211 is inserted into the second drive hole 232, realizing the drive connection of the second drive shaft 2211 to the second drive hole 232 and preventing slippage between the second drive shaft 2211 and the second drive hole 232 when the second drive shaft 2211 rotates. The other end of the second drive shaft 2211 is rotatably connected to the second transmission hole 231 through the second bearing 222, realizing the rotatable connection of the second drive shaft 2211 to the second transmission hole 231 through the second bearing 222. Both ends of the second drive shaft 2211 are supported, which improves the stability of the second dual-axis motor 221 and enables high torque drive of the thumb mechanism 2 to perform lateral swing motion.

[0058] Furthermore, the first drive component 241 includes a first dual-axis motor 2411, a first connector 2412, and a second connector 2413. The first dual-axis motor 2411 is provided with a first drive shaft 24111. The first connector 2412 and the second connector 2413 are connected to the first proximal phalanx 23. The first connector 2412 is provided with a first transmission hole 24121, and the second connector 2413 is provided with a first drive hole. One end of the first drive shaft 24111 is rotatably connected to the first transmission hole 24121, and the other end is drivenly connected to the first drive hole. The first drive shaft 24111 extends along a third axis 3a, which is perpendicular to the second axis 2a. When the first dual-axis motor 2411 drives the first drive shaft 24111 to rotate, since the first proximal phalanx 23 is stationary, the first middle phalanx assembly 24 performs flexion and extension movements around the third axis 3a.

[0059] The structure of the first drive shaft 24111 driving and connected to the first drive hole is the same as the structure of the second drive shaft 2211 driving and connected to the second drive hole 232. The structure of the first drive shaft 24111 rotatably connected to the first transmission hole 24121 is also the same as the structure of the second drive shaft 2211 rotatably connected to the second transmission hole 231. Preferably, the first drive component 241 further includes a first fastening screw 2414. A threaded hole is provided at one end of the first drive shaft 24111 near the first drive hole. The first fastening screw 2414 passes through the first drive hole and is threaded into the threaded hole, improving the connection stability between the first dual-axis motor 2411 and the second connector 2413. A first wiring hole is provided at one end of the first drive shaft 24111 near the first transmission hole 24121, through which the wiring harness of the first dual-axis motor 2411 is connected to an external device.

[0060] In one embodiment, the structure in which the second driving component 242 drives the first distal phalanx assembly 25 to flex and extend around the fourth axis 4a is the same as the structure in which the first driving component 241 drives the first proximal phalanx 23, and will not be described again here.

[0061] In one embodiment, the structure in which the first distal phalanx assembly 25 drives the first fingertip 26 to flex and extend around the fifth axis 5a is the same as the structure in which the first lateral swing drive assembly 22 drives the connection to the first proximal phalanx 23, and will not be described again here.

[0062] It should be noted that the third axis 3a, the fourth axis 4a, and the fifth axis 5a are set in parallel.

[0063] like Figure 1 and Figure 4 As shown, the second lateral swing drive assembly 31 further includes a lateral swing drive motor 311 and a connecting frame 312. The lateral swing drive motor 311 is installed inside the palm mechanism 1. A second gear 313 is installed at the output end of the lateral swing drive motor 311. The connecting frame 312 is connected to the second proximal knuckle assembly 32. A second tooth 3121 is provided at one end of the connecting frame 312 near the lateral swing drive motor 311. The second gear 313 is meshed with the second tooth 3121. The output shaft of the lateral swing drive motor 311 extends along the sixth axis 6a. When the lateral swing drive motor 311 drives the second gear 313 to rotate, it can drive the connecting frame 312 to rotate around the sixth axis 6a, thereby realizing the lateral swing movement of the fingers around the sixth axis 6a.

[0064] In one embodiment, the structure in which the second proximal phalanx assembly 32 drives the second middle phalanx assembly 33 to perform flexion and extension movements around the seventh axis 7a is the same as the structure in which the first lateral swing drive assembly 22 drives the first proximal phalanx 23, and will not be described again here. The connecting bracket 312 is connected to the motor of the second proximal phalanx assembly 32.

[0065] In one embodiment, the structure in which the second middle phalanx assembly 33 drives the second distal phalanx assembly 34 to flex and extend around the eighth axis 8a is the same as the structure in which the first lateral swing drive assembly 22 drives the connection to the first proximal phalanx 23, and will not be described again here.

[0066] In one embodiment, the structure in which the second distal phalanx assembly 34 drives the second fingertip 35 to flex and extend around the ninth axis 9a is the same as the structure in which the first lateral swing drive assembly 22 drives the connection to the first proximal phalanx 23, and will not be described again here.

[0067] It should be noted that the seventh axis 7a, the eighth axis 8a, and the ninth axis 9a are arranged in parallel and are all perpendicular to the sixth axis 6a.

[0068] Preferably, the lengths of the motors of the second distal phalanx assembly 34 and the second middle phalanx assembly 33 extend along the length direction of the finger assembly, and the length of the motor of the second proximal phalanx assembly 32 extends along the direction of the sixth axis 6a, thereby reducing the distance between the sixth axis 6a and the seventh axis 7a. In this embodiment, the distance between the sixth axis 6a and the seventh axis 7a is small, so that the lateral sixth axis 6a is as close as possible to the second proximal phalanx assembly 32, thus improving the flexibility of the finger mechanism 3.

[0069] Preferably, the first lateral swing drive assembly 22, the first middle phalanx assembly 24, the first distal phalanx assembly 25, the second lateral swing drive assembly 31, the second proximal phalanx assembly 32, the second middle phalanx assembly 33, and the second distal phalanx assembly 34 use the same motor. On the one hand, the combination of motors realizes the full degree of freedom configuration of the bionic dexterous hand; on the other hand, since the motors are the same, modular management is convenient.

[0070] In this embodiment, the bionic dexterous hand also includes a wire harness connected to the sensor, rotation drive assembly 21, first lateral swing drive assembly 22, first drive component 241, second drive component 242, first distal phalanx assembly 25, second lateral swing drive assembly 31, second proximal phalanx assembly 32, second middle phalanx assembly 33, and second distal phalanx assembly 34. The wire harness is bent into a U-shape between the first middle phalanx assembly 24 and the first distal phalanx assembly 25, between the first distal phalanx assembly 25 and the first fingertip 26, between the second proximal phalanx assembly 32 and the second middle phalanx assembly 33, between the second middle phalanx assembly 33 and the second distal phalanx assembly 34, and between the second distal phalanx assembly 34 and the second fingertip 35, with the opening of the U-shape facing the back of the hand. This U-shaped opening design allows the U-shaped wire harness to unfold during flexion and extension of each joint, preventing wire pulling and improving operational reliability.

[0071] In this embodiment, the wire harness is attached to the surface of the motor within the first drive component 241, the second drive component 242, the first distal phalanx assembly 25, the second proximal phalanx assembly 32, the second middle phalanx assembly 33, and the second distal phalanx assembly 34. The motor surface and / or the inner wall of the decorative cover 5 can be provided with grooves to accommodate the wire harness, thereby improving the stability of the wire harness.

[0072] In this embodiment, the motors in the first drive component 241, the second drive component 242, the first distal phalanx assembly 25, the second proximal phalanx assembly 32, the second middle phalanx assembly 33, and the second distal phalanx assembly 34 are provided with two interfaces. The two interfaces of some motors are respectively connected to the wiring harness. For example, for the motor located in the middle, one interface is connected to the previous motor through the wiring harness, and the other interface is connected to the next motor through the wiring harness. Alternatively, one interface of some motors is connected to the wiring harness. For example, for the motor at the end, only one interface is connected to the previous motor through the wiring harness.

[0073] like Figure 1 As shown, preferably, the thumb mechanism 2 and the four-finger mechanism 3 are in an extended state, and neither the thumb mechanism 2 nor the four-finger mechanism 3 is higher than the palm side of the hand mechanism 1, so that the bionic dexterous hand can make full contact with the flat object. It can be understood that when doing push-ups, the entire palm can contact the ground, and there will be no situation where one side is raised due to the thumb mechanism 2. The existing dexterous hand does not have this structural function.

[0074] More preferably, the palm mechanism 1 is provided with a clearance groove 13, and the end portion of the thumb mechanism 2 away from the first fingertip 26 is located within the clearance groove 13, and the thumb mechanism 2 can be tilted to a negative angle. To ensure the thumb mechanism 2 has sufficient space for movement, the palm mechanism 1 provides spatial clearance through the clearance groove 13, ensuring that the thumb mechanism 2 has a large range of motion.

[0075] like Figure 5 and Figure 6 As shown, in one embodiment, silicone 4 is adhered to the side of the second middle knuckle assembly 33, the second distal knuckle assembly 34, and the first distal knuckle assembly 25 near the palm; silicone 4 is also adhered to the side of the first distal knuckle assembly 25 near the palm. Silicone 4 can increase the friction between the finger mechanism 3 and the thumb mechanism 2 and the object, and can also reduce wear between the finger mechanism 3 and the thumb mechanism 2 and the object.

[0076] In one embodiment, a decorative cover 5 is installed on the side of the second middle knuckle assembly 33, the second distal knuckle assembly 34, the second fingertip 35, the first middle knuckle assembly 24, the first distal knuckle assembly 25, and the first fingertip 26 near the back of the hand.

[0077] In one embodiment, with the finger mechanism 3 and thumb mechanism 2 in an extended state, and the thumb mechanism 2 perpendicular to the palm mechanism 1, at this 0° position, the first lateral swing drive assembly 22 rotates around the first axis 1a in an angle range of -45° to 60°; the first proximal phalanx 23 laterally swings around the second axis 2a in an angle range of 0° to 90°; the first middle phalanx assembly 24 flexes and extends in an angle range of 0° to 90°; the first distal phalanx assembly 25 flexes and extends in an angle range of 0° to 110°; the first fingertip 26 flexes and extends in an angle range of 0° to 110°; the second proximal phalanx assembly 32 laterally swings around the sixth axis 6a in an angle range of -20° to 20°; the second middle phalanx assembly 33 flexes and extends in an angle range of 0° to 110°; the second distal phalanx assembly 34 flexes and extends in an angle range of 0° to 110°; and the second fingertip 35 flexes and extends in an angle range of 0° to 110°. This embodiment improves the flexibility of the bionic dexterous hand by employing the aforementioned finger mechanism 3 and thumb mechanism 2, thereby increasing the movable angle of each joint in the finger mechanism 3 and thumb mechanism 2.

[0078] In this embodiment, the hand mechanism 1 is also connected to a wrist adapter 6, which is used to connect to the robotic arm. The wrist adapter 6 is fixed to the hand mechanism 1 at one end by a screw, and the other end is fixed to the end of the robotic arm by a screw.

[0079] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A bionic dexterous hand, characterized in that, It includes a palm mechanism (1) and a thumb mechanism (2) and at least one finger mechanism (3) disposed in the palm mechanism (1). The thumb mechanism (2) includes a rotation drive assembly (21), a first lateral swing drive assembly (22), a first proximal phalanx (23), a first middle phalanx assembly (24), a first distal phalanx assembly (25), and a first fingertip (26) connected in sequence. The rotation drive assembly (21) and the first lateral swing drive assembly (22) are disposed within the palm mechanism (1). The rotation drive assembly (21) is used to drive the first lateral swing drive assembly (22) to rotate around a first axis (1a), which is perpendicular to the palm mechanism (1). The first lateral swing drive assembly (22) is used to drive the first proximal phalanx (23) to rotate around a first axis (1a). The second axis (2a) is laterally swaying, and the second axis (2a) is perpendicular to the first axis (1a); the first middle phalanx assembly (24) includes a first driving component (241) and a second driving component (242) connected to each other, the first driving component (241) drives and is connected to the first proximal phalanx (23) and is used to drive the first middle phalanx assembly (24) to flex and extend; the second driving component (242) drives and is connected to the first distal phalanx assembly (25) and is used to drive the first distal phalanx assembly (25) to flex and extend; the first distal phalanx assembly (25) is used to drive the first fingertip (26) to flex and extend; The finger mechanism (3) includes a second lateral swing drive assembly (31), a second proximal phalanx assembly (32), a second middle phalanx assembly (33), a second distal phalanx assembly (34), and a second fingertip (35) connected in sequence. The second lateral swing drive assembly (31) is disposed within the palm mechanism (1). The second lateral swing drive assembly (31) is used to drive the second proximal phalanx assembly (32) to laterally swing around a sixth axis (6a). The sixth axis (6a) is perpendicular to the palm mechanism (1). The second proximal phalanx assembly (32) is used to drive the second middle phalanx assembly (33) to flex and extend. The second middle phalanx assembly (33) is used to drive the second distal phalanx assembly (34) to flex and extend. The second distal phalanx assembly (34) is used to drive the second fingertip (35) to flex and extend.

2. The bionic dexterous hand according to claim 1, characterized in that, The bionic dexterous hand is a five-fingered bionic dexterous hand, which includes four finger mechanisms (3).

3. The bionic dexterous hand according to claim 1 or 2, characterized in that, The rotary drive assembly (21) includes a first drive motor (211), a first gear (212), and a rotary connector (213). The rotary connector (213) is rotatably connected to the palm mechanism (1). The rotary connector (213) is provided with a first toothed portion (2131). The first side-swing drive assembly (22) is connected to the rotary connector (213). The first drive motor (211) is driven and connected to the first gear (212). The first gear (212) is meshed with the first toothed portion (2131). The first drive motor (211) is located on the side of the first gear (212) closer to the palm. The first side-swing drive assembly (22) is connected to the side of the rotary connector (213) closer to the palm.

4. The bionic dexterous hand according to claim 3, characterized in that, The rotary drive assembly (21) further includes a cross roller bearing (214), and the rotary connector (213) is rotatably connected to the palm mechanism (1) via the cross roller bearing (214).

5. The bionic dexterous hand according to claim 3, characterized in that, The first side-swing drive assembly (22) includes a second dual-axis motor (221), which is connected to the rotary connector (213). The first proximal phalanx (23) is provided with a second transmission hole (231) and a second drive hole (232) at a distance from one end of the first proximal phalanx (221) near the second dual-axis motor (221). The second dual-axis motor (221) is provided with a second drive shaft (2211) extending along the extension direction of the second axis (2a). One end of the second drive shaft (2211) is rotatably connected to the second transmission hole (231), and the other end is driven connected to the second drive hole (232).

6. The bionic dexterous hand according to claim 5, characterized in that, The first side-swing drive assembly (22) also includes a second bearing (222). The inner wall of the second drive hole (232) is polygonal. The outer wall shape of the second drive shaft (2211) near the second drive hole (232) matches the inner wall shape of the second drive hole (232). The end of the second drive shaft (2211) is inserted into the second drive hole (232). The other end of the second drive shaft (2211) is rotatably connected to the second transmission hole (231) through the second bearing (222).

7. The bionic dexterous hand according to claim 1 or 2, characterized in that, The first driving component (241) includes a first dual-axis motor (2411), a first connector (2412), and a second connector (2413). The first dual-axis motor (2411) is provided with a first drive shaft (24111). The first connector (2412) and the second connector (2413) are connected to the first proximal phalanx (23). The first connector (2412) is provided with a first transmission hole (24121), and the second connector (2413) is provided with a first driving hole. One end of the first drive shaft (24111) is rotatably connected to the first transmission hole (24121), and the other end is drivenly connected to the first driving hole.

8. The bionic dexterous hand according to claim 1 or 2, characterized in that, The first side-swing drive assembly (22), the first middle finger joint assembly (24), the first distal finger joint assembly (25), the second side-swing drive assembly (31), the second proximal finger joint assembly (32), the second middle finger joint assembly (33), and the second distal finger joint assembly (34) all use the same motor.

9. The bionic dexterous hand according to claim 1 or 2, characterized in that, The second side-swing drive assembly (31) includes a side-swing drive motor (311) and a connecting frame (312). The side-swing drive motor (311) is installed inside the palm mechanism (1). A second gear (313) is installed at the output end of the side-swing drive motor (311). The connecting frame (312) is connected to the second proximal knuckle assembly (32). A second tooth (3121) is provided at one end of the connecting frame (312) near the side-swing drive motor (311). The second gear (313) is meshed with the second tooth (3121).

10. The bionic dexterous hand according to claim 1 or 2, characterized in that, The thumb mechanism (2) and the four finger mechanisms (3) are in an extended state, and neither the thumb mechanism (2) nor the four finger mechanisms (3) are higher than the palm side of the palm mechanism (1).

11. The bionic dexterous hand according to claim 1 or 2, characterized in that, The palm mechanism (1) is provided with a relief groove (13), the end portion of the thumb mechanism (2) away from the first fingertip (26) is located in the relief groove (13), and the thumb mechanism (2) can be tilted to a negative angle.

12. The bionic dexterous hand according to claim 1, characterized in that, The finger mechanism (3) can be one, two, three, five, or six.

13. The bionic dexterous hand according to claim 1 or 2, characterized in that, The second middle knuckle assembly (33), the second distal knuckle assembly (34) and the first distal knuckle assembly (25) are covered with silicone (4) on the side near the palm; the first distal knuckle assembly (25) is covered with silicone (4) on the side near the palm.

14. The bionic dexterous hand according to claim 1 or 2, characterized in that, When the finger mechanism (3) and the thumb mechanism (2) are in an extended state, and the thumb mechanism (2) is perpendicular to the palm mechanism (1), at this time as the 0° position, the first lateral swing drive assembly (22) rotates around the first axis (1a) at an angle range of -45° to 60°; the first proximal phalanx (23) lateral swings around the second axis (2a) at an angle range of 0° to 90°; the first middle phalanx assembly (24) flexes and extends at an angle range of 0° to 90°; the first distal phalanx assembly (25) flexes and extends at an angle range of 0° to 110°; the first fingertip (26) flexes and extends at an angle range of 0° to 110°. The second proximal phalanx assembly (32) has a lateral swing angle range of -20° to 20° around the sixth axis (6a); the second middle phalanx assembly (33) has a flexion-extension angle range of 0° to 110°; the second distal phalanx assembly (34) has a flexion-extension angle range of 0° to 110°; and the second fingertip (35) has a flexion-extension angle range of 0° to 110°.

15. The bionic dexterous hand according to claim 1 or 2, characterized in that, Sensors are installed on the first fingertip (26) and / or the second fingertip (35).

16. The bionic dexterous hand according to claim 15, characterized in that, It also includes a wire harness connected to the sensor, the rotation drive assembly (21), the first lateral swing drive assembly (22), the first drive component (241), the second drive component (242), the first distal phalanx assembly (25), the second lateral swing drive assembly (31), the second proximal phalanx assembly (32), the second middle phalanx assembly (33), and the second distal phalanx assembly (34). The wire harness is bent into a U-shape between the first middle phalanx assembly (24) and the first distal phalanx assembly (25), between the first distal phalanx assembly (25) and the first fingertip (26), between the second proximal phalanx assembly (32) and the second middle phalanx assembly (33), between the second middle phalanx assembly (33) and the second distal phalanx assembly (34), and between the second distal phalanx assembly (34) and the second fingertip (35). The opening of the U-shape faces the back of the hand.

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