Dexterous hand and robot

Abstract

The invention relates to the technical field of dexterous hands, in particular to a dexterous hand and a robot, and solves the problems that the dexterous hand is complex in structure and difficult to disassemble and assemble. The dexterous hand comprises a palm assembly, a finger assembly and a first locking piece. The palm assembly comprises a palm body and a first connecting piece which are connected with each other, and the first connecting piece is provided with a connecting hole penetrating through the first connecting piece. The finger assembly comprises a finger body and a second connecting piece which are connected with each other, the second connecting piece is provided with a connecting shaft, the finger body abuts against the first side of the first connecting piece, and the connecting shaft penetrates through the connecting hole. The first locking piece comprises a first locking limiting part and a first locking connecting part which are connected with each other, the first locking limiting part abuts against the second side of the first connecting piece, and the first locking connecting part is detachably connected with the connecting shaft. The modularized finger assemblies can form the dexterous hand in the mode that the hole shafts are connected in an inserted mode and the first locking pieces are locked, the structure of the dexterous hand is simplified, and the disassembly and assembly convenience of the dexterous hand is improved.

Description

Technical Field

[0001] This application relates to the field of dexterous hand technology, specifically to a dexterous hand and a robot. Background Technology

[0002] With the continuous advancement of humanoid robot technologies, industrial automation is gradually shifting from industrial robots performing single, repetitive tasks to humanoid robots performing complex and varied tasks. In this transformation, robot end effectors are evolving from specialized tools to general-purpose, human-hand-like tools. A dexterous hand is a type of humanoid robot end effector used to perform diverse tasks such as grasping, manipulating, and sensing. The structural complexity and ease of assembly and disassembly of a dexterous hand directly impact its manufacturing and maintenance costs.

[0003] However, the dexterous hand in the relevant technology has a complex structure and is difficult to assemble and disassemble. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a dexterous hand and a robot, which solves the problems of complex structure and difficult assembly and disassembly of the dexterous hand.

[0005] In a first aspect, embodiments of this application provide a dexterous hand, comprising: a palm assembly including interconnected palm bodies and at least one first connector, the first connector having a connecting hole extending through the first connector; at least one finger assembly including interconnected finger bodies and at least one second connector, the second connector having a connecting shaft, the finger body abutting against a first side of the first connector, the connecting shaft passing through the connecting hole; and a first locking member including interconnected first locking limiting portion and first locking connecting portion, the first locking limiting portion abutting against a second side of the first connector, the first locking connecting portion being detachably connected to the connecting shaft.

[0006] In some embodiments, the inner wall of the connecting hole includes a first limiting plane extending along the extending direction of the connecting hole, and the outer side of the connecting shaft includes a second limiting plane extending along the extending direction of the connecting shaft, the second limiting plane abutting against the first limiting plane.

[0007] In some embodiments, the palm assembly further includes: an annular member connected to the first connector and located on a first side of the first connector, the finger body passing through the annular member, and at least a portion of the outer surface of the finger body abutting against the inner wall of the annular member.

[0008] In some embodiments, the connecting shaft has a threaded hole, and the first locking connection portion has an external thread, so that the first locking connection portion and the connecting shaft are screwed together through the external thread and the threaded hole; the dexterous hand further includes: a washer disposed between the first connector and the first locking limiting portion, the washer including a first annular segment and a second annular segment connected to each other, the inner diameter of the first annular segment being larger than the inner diameter of the second annular segment, the first annular segment being at least partially fitted onto the connecting shaft, and the side of the first annular segment away from the second annular segment abutting against the second side of the first connector, the second annular segment being fitted onto the first locking connection portion, and the side of the second annular segment away from the first annular segment abutting against the first locking limiting portion.

[0009] In some embodiments, one of the finger components of the dexterous hand is a thumb component, and the other finger component of the dexterous hand is a middle finger component. The palm body has a first plane perpendicular to the thickness direction of the palm body and passing through the palm body, and a second plane parallel to the thickness direction of the palm body, parallel to the width direction of the palm body, and located on the side of the palm body away from the middle finger component. The palm component further includes a mounting member connecting the annular member and the palm body, wherein, when the thumb component is in an extended state, the thumb component faces the palm side of the dexterous hand and is located between the second plane and the middle finger component. The axis of the annular member is set at a first acute angle with the first plane, and the axis of the annular member of the thumb component is set at a second acute angle with the second plane.

[0010] In some embodiments, the mounting member includes: a first mounting plate having at least one first mounting hole extending along the thickness direction of the palm body; a second mounting plate perpendicularly connected to the first mounting plate and having at least one second mounting hole extending along the width direction of the palm body; a second locking member including a second locking limiting portion and a second locking connecting portion connected to each other, the second locking limiting portion abutting against the side of the first mounting plate away from the palm body, and the second locking connecting portion being screwed to the palm body; and a third locking member including a third locking limiting portion and a third locking connecting portion connected to each other, the third locking limiting portion abutting against the side of the second mounting plate away from the palm body, and the third locking connecting portion being screwed to the palm body.

[0011] In some embodiments, the palm body includes: a housing having a receiving space and a first opening facing the palm side, the first opening communicating the receiving space and the outside, the thumb assembly being at least partially disposed in the receiving space and extending out of the receiving space from the first opening.

[0012] In some embodiments, the receiving space communicates with the space enclosed by the inner wall of the annular member through the connecting hole, and the housing also has a second opening facing the palm side, the second opening communicating with the receiving space and the outside; the palm body further includes: a cover plate, which is detachably connected to the housing and covers the second opening.

[0013] In some embodiments, the finger body includes: at least two knuckle drive components, each knuckle drive component including a drive structure and an output structure connected by a transmission connection, the drive structure being configured to drive the output structure to rotate; at least one first connecting component connecting adjacent knuckle drive components, wherein a first end of the first connecting component is detachably connected to the output structure of one of the adjacent knuckle drive components, and a second end of the first connecting component is detachably connected to the drive structure or the output structure of the other adjacent knuckle drive component, wherein the drive structure of one of the adjacent knuckle drive components is detachably connected to the second connecting member.

[0014] In some embodiments, the output structure includes a first support shaft and a second support shaft disposed opposite to each other along the extension direction of the rotation axis of the output structure, the axes of the first support shaft and the second support shaft being collinear with the rotation axis of the output structure; the first connecting assembly includes: a first component having a first connecting hole and fitted onto the first support shaft, the first component also having a first mounting shaft on the side away from the first connecting hole in the extension direction of the rotation axis of the output structure, the axis of the first mounting shaft being parallel to the rotation axis of the output structure; a second component detachably connected to the first component, the second component having a second connecting hole, the second connecting hole and the first connecting hole being disposed opposite to each other along the extension direction of the rotation axis of the output structure, the second connecting hole being fitted onto the second support shaft, the second component also having a third mounting hole, the third mounting hole being fitted onto the first mounting shaft; a first locking member having a fourth locking limiting portion and a fourth locking connecting portion connected to each other, the fourth locking limiting portion abutting against the side of the second component away from the first connecting hole, the fourth locking connecting portion being detachably connected to the first mounting shaft.

[0015] Secondly, embodiments of this application provide a robot, comprising: a robot body; and at least one dexterous hand as described in the first aspect, connected to the robot body.

[0016] The dexterous hand provided in this application includes a palm assembly, at least one finger assembly, and a first locking member. The palm assembly includes interconnected palm bodies and at least one first connector, the first connector having a through-hole. The finger assembly includes interconnected finger bodies and at least one second connector, the second connector having a connecting shaft, the finger body abutting against a first side of the first connector, the connecting shaft passing through the connecting hole. The first locking member includes interconnected first locking limiting portion and first locking connecting portion, the first locking limiting portion abutting against a second side of the first connector, and the first locking connecting portion being detachably connected to the connecting shaft. The modular finger assembly can be assembled into a dexterous hand through hole-shaft insertion and locking with the first locking member, simplifying the structure of the dexterous hand and improving its ease of assembly and disassembly. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0018] Figure 1 The image shown is a front view of a dexterous hand provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a structural schematic of a hand assembly provided in an embodiment of this application.

[0020] Figure 3 The image shown is a top view of a hand assembly provided in an embodiment of this application.

[0021] Figure 4 As shown Figure 3 The hand assembly shown is a cross-sectional view along the AA direction.

[0022] Figure 5 The diagram shown is a structural schematic of a hand assembly provided in another embodiment of this application.

[0023] Figure 6 The diagram shown is a structural schematic of a finger assembly provided in an embodiment of this application.

[0024] Figure 7 The diagram shown is a structural schematic of the connecting shaft of a finger assembly provided in an embodiment of this application.

[0025] Figure 8 The image shown is a top view of a dexterous hand provided in an embodiment of this application.

[0026] Figure 9 As shown Figure 8The dexterous hand shown is in a cross-sectional view along the BB direction.

[0027] Figure 10 As shown Figure 9 The image shows a magnified view of the dexterous hand in region C.

[0028] Figure 11 The diagram shown is a structural schematic of a gasket provided in an embodiment of this application.

[0029] Figure 12 The diagram shown is a structural schematic of the annular component, the first mounting plate, and the second mounting plate provided in an embodiment of this application.

[0030] Figure 13 The image shown is a top view of a hand assembly provided in another embodiment of this application.

[0031] Figure 14 As shown Figure 13 The hand assembly shown is a cross-sectional view in the DD direction.

[0032] Figure 15 As shown Figure 14 The image shows a magnified view of the hand assembly in region F.

[0033] Figure 16 As shown Figure 13 The hand assembly shown is a cross-sectional view in the EE direction.

[0034] Figure 17 As shown Figure 16 The image shows a magnified view of the hand assembly in region G.

[0035] Figure 18 The figure shown is a schematic diagram of the structure of a hand body provided in an embodiment of this application.

[0036] Figure 19 The diagram shown is a structural schematic of a finger body provided in an embodiment of this application.

[0037] Figure 20 As shown Figure 19 The image shows a top view of the finger body.

[0038] Figure 21 As shown Figure 20 The image shows a cross-sectional view of the finger body along the HH direction.

[0039] Figure 22 As shown Figure 21 The image shows a magnified view of the finger body in region J.

[0040] Figure 23 As shown Figure 20 The finger body shown is a cross-sectional view in direction II.

[0041] Figure 24 As shown Figure 23 The image shows a magnified view of the finger body in region K.

[0042] Figure 25 The diagram shown is a structural schematic of a first connecting component provided in an embodiment of this application.

[0043] Figure 26 As shown Figure 25 The diagram shows the structure of the first connecting assembly excluding the fourth locking element.

[0044] Figure 27 As shown Figure 25 The diagram shown is a structural schematic of the first connecting assembly excluding the second component, the fourth locking member, and the fourth component.

[0045] Figure 28 As shown Figure 25 The rear view of the first connecting assembly shown excludes the second component and the fourth locking member.

[0046] Figure 29 The diagram shown is a structural schematic of the second component provided in an embodiment of this application.

[0047] Figure 30 As shown Figure 25 The first connecting assembly shown is a rear view excluding the fourth locking element.

[0048] Figure 31 The image shown is a side view of the fourth component and the fifth locking member provided in an embodiment of this application.

[0049] Figure 32 As shown Figure 25 The top view of the first connecting component is shown.

[0050] Figure 33 As shown Figure 32 The first connecting component shown is a top view in the LL direction.

[0051] Figure 34 The diagram shown is a structural schematic of the second component provided in another embodiment of this application.

[0052] Figure 35 As shown Figure 34 The top view of the second component shown.

[0053] Figure 36 As shown Figure 35 The second component shown is a cross-sectional view in the MM direction.

[0054] Figure 37 The image shown is a top view of a finger assembly provided in another embodiment of this application.

[0055] Figure 38 As shown Figure 37 The finger assembly shown is a cross-sectional view along the NN direction.

[0056] Figure 39 As shown Figure 38 The image shows a magnified view of the finger component in the Q region.

[0057] Figure 40 The diagram shown is a structural schematic of an inverted fourth component provided in an embodiment of this application.

[0058] Figure 41 As shown Figure 40 The bottom view of the fourth component shown.

[0059] Figure 42 As shown Figure 41 The fourth component shown is a cross-sectional view in the RR direction.

[0060] Figure 43 As shown Figure 37 The finger assembly shown is a cross-sectional view in the PP direction.

[0061] Figure 44 As shown Figure 43 The image shows a magnified view of the finger component in region S.

[0062] Figure 45 The diagram shown is a structural schematic of a first connecting component provided in another embodiment of this application.

[0063] Figure 46 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0064] Figure label:

[0065] 1. Robot; 10. Dexterous hand; 101. Palm side; 100. Hand assembly; 110. Hand body; 1101. First plane; 1102. Second plane; 1103. Mounting hole; 1110. Housing; 1111. Accommodating space; 1112. First opening; 1113. Second opening; 120. First connector; 1201. Connecting hole; 1202. First limiting plane; 130. Ring-shaped component; 140. Mounting component; 1410. First mounting plate; 1411. First mounting hole; 1420. Second mounting plate; 1421. Second mounting hole; 1430. Second locking component; 1431. Second locking limiting part; 1432. Second locking connecting part; 1440. Third locking component; 1441. Third locking limiting part; 1442, Third locking connecting part; 1120, Cover plate; 200, Finger assembly; 201, Thumb assembly; 202, Middle finger assembly; 203, Index finger assembly; 204, Ring finger assembly; 205, Little finger assembly; 210, Finger body; 2110, Knuckle drive assembly; 2111, Drive structure; 2311, Motor housing; 2411, Motor stator; 2511, Motor rotor; 2611, Motor shaft; 2112, Output structure; 2113, First support shaft; 2114, Second support shaft; 2115, Eighth limiting plane; 2116, Tenth limiting plane; 2120, First connecting assembly; 2121, First component part; 2122, Second component part; 212 3. Fourth locking element; 2124. First connecting hole; 2125. First mounting shaft; 2126. Second connecting hole; 2127. Third mounting hole; 2128. Fourth locking limiting part; 2129. Fourth locking connecting part; 2222. First limiting part; 2322. Fourth limiting plane; 2130. Third component; 2132. Third connecting hole; 2134. Dovetail groove; 2131. Fourth component; 2133. Fourth connecting hole; 2135. Limiting slide rail; 2136. Fifth limiting plane; 2137. Sixth limiting plane; 2138. Seventh limiting plane; 2139. Fifth locking element; 2140. Fifth locking limiting part; 2141. Fifth locking connecting part; 2142. Ninth limiting plane; 2 143. First limiting hole; 2144. First communicating hole; 2145. Sixth locking member; 2146. Sixth locking limiting part; 2147. Sixth locking connecting part; 2148. Eleventh limiting plane; 2149. Second limiting hole; 2150. Second communicating hole; 2151. Seventh locking member; 2152. Seventh locking limiting part; 2153. Seventh locking connecting part; 2154. First sliding groove; 2155. Second sliding groove; 220. Second connecting member; 2210. Connecting shaft; 2211. Second limiting plane; 2212. Threaded hole; 300. First locking member; 310. First locking limiting part; 320. First locking connecting part; 3201. External thread; 400. Washer; 410. First annular segment;420. Second annular segment; β. First acute angle; α. Second acute angle; 20. Robot body. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0067] Figure 1 The image shown is a front view of a dexterous hand provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a hand assembly provided in an embodiment of this application. Figure 3 The image shown is a top view of a hand assembly provided in an embodiment of this application. Figure 4 As shown Figure 3 The hand assembly shown is a cross-sectional view along the AA direction. Figure 5 The diagram shown is a structural schematic of a hand assembly provided in another embodiment of this application. Figure 6 The diagram shown is a structural schematic of a finger assembly provided in an embodiment of this application. Figure 7 The diagram shown is a structural schematic of the connecting shaft of a finger assembly provided in an embodiment of this application. Figure 8 The image shown is a top view of a dexterous hand provided in an embodiment of this application. Figure 9 As shown Figure 8 The dexterous hand shown is in a cross-sectional view along the BB direction. Figure 10 As shown Figure 9 The image shows a magnified view of the dexterous hand in region C.

[0068] like Figures 1 to 10 As shown, the dexterous hand 10 includes a palm assembly 100, at least one finger assembly 200, and a first locking member 300. The palm assembly 100 includes an interconnected palm body 110 and at least one first connector 120, the first connector 120 having a connecting hole 1201 passing through it. The finger assembly 200 includes interconnected finger bodies 210 and at least one second connector 220, the second connector 220 having a connecting shaft 2210. The finger body 210 abuts against a first side of the first connector 120, and the connecting shaft 2210 passes through the connecting hole 1201. The first locking member 300 includes an interconnected first locking limiting portion 310 and a first locking connecting portion 320, the first locking limiting portion 310 abuts against a second side of the first connector 120, and the first locking connecting portion 320 is detachably connected to the connecting shaft 2210.

[0069] The modular finger assembly 200 can be assembled into a dexterous hand 10 by means of hole shaft insertion and locking with the first locking member 300, which simplifies the structure of the dexterous hand 10 and improves the ease of assembly and disassembly of the dexterous hand 10.

[0070] For example, the dexterous hand 10 includes a five-finger assembly 200, which consists of a thumb, index finger, middle finger, ring finger, and little finger, thereby improving the anthropomorphism and grasping ability of the dexterous hand 10.

[0071] For example, the palm assembly 100 includes five first connectors 120, each finger assembly 200 includes a second connector 220, and the dexterous hand 10 includes five first locking members 300. The five first connectors 120, five second connectors 220, and five first locking members 300 correspond one-to-one so that the five modular finger assemblies 200 are all connected to the palm assembly 100 by means of hole-shaft insertion and locking with the first locking members 300 to form the dexterous hand 10.

[0072] For example, the first locking element 300 may be a screw, bolt, etc.

[0073] In some embodiments, such as Figure 3 , Figure 7 and Figure 10 As shown, the inner wall of the connecting hole 1201 includes a first limiting plane 1202 extending along the extending direction of the connecting hole 1201, and the outer side of the connecting shaft 2210 includes a second limiting plane 2211 extending along the extending direction of the connecting shaft 2210. The second limiting plane 2211 abuts against the first limiting plane 1202.

[0074] By having the second limiting plane 2211 abut against the first limiting plane 1202, the connecting shaft 2210 is prevented from rotating relative to the palm assembly 100 around the axis of the connecting shaft 2210, thereby improving the stability of the connection between the finger assembly 200 and the palm assembly 100.

[0075] In some embodiments, such as Figures 2 to 5 ,as well as Figure 10 As shown, the palm assembly 100 also includes an annular member 130, which is connected to the first connector 120 and located on the first side of the first connector 120. The finger body 210 passes through the annular member 130, and at least a portion of the outer surface of the finger body 210 abuts against the inner wall of the annular member 130.

[0076] When installing the finger assembly 200, the finger assembly 200 can be inserted into the annular member 130 first, then the connecting shaft 2210 can be inserted into the connecting hole 1201, and then locked using the first locking member 300 to facilitate the installation of the finger assembly 200. In addition, at least a portion of the outer surface of the finger body 210 abuts against the inner wall of the annular member 130, further preventing the finger assembly 200 from rotating relative to the palm assembly 100, and further improving the stability of the connection between the finger assembly 200 and the palm assembly 100.

[0077] For example, there are five annular members 130, and each of the five annular members 130 is connected to one of the five first connecting members 120. For example, the palm body 110, the first connecting members 120 and the annular members 130 can be an integral structure or a separate structure.

[0078] For example, the four first connectors 120 are arranged sequentially along the width direction of the palm assembly 100, and their heights are different along the length direction of the palm assembly 100, so that when the four finger assemblies 200 are of the same length, the arrangement of the four finger assemblies 200 on the palm assembly 100 is close to the arrangement of the index finger, middle finger, ring finger and little finger on the palm of a human hand, further improving the anthropomorphism of the dexterous hand 10.

[0079] For example, another first connector 120 is disposed on the side of the hand assembly 100 near the arm of the dexterous hand 10, and the angle between the axis of the corresponding annular member 130 and the plane where the hand body 110 is located is an acute angle, so that the arrangement of the other finger assembly 200 on the hand assembly 100 is close to the arrangement of the thumb on the palm of a human hand, further improving the anthropomorphism of the dexterous hand 10.

[0080] In some embodiments, such as Figure 10 As shown, the connecting shaft 2210 has a threaded hole 2212, and the first locking connection part 320 has an external thread 3201, so that the first locking connection part 320 and the connecting shaft 2210 are screwed together by the external thread 3201 and the threaded hole 2212. The connection method between the first locking connection part 320 and the connecting shaft 2210 is simple, which further improves the ease of disassembly and assembly of the first locking member 300.

[0081] Figure 11 The diagram shown is a structural schematic of a gasket provided in an embodiment of this application.

[0082] like Figure 10 and Figure 11As shown, the dexterous hand 10 also includes a washer 400, which is disposed between the first connector 120 and the first locking limiting portion 310. The washer 400 includes a first annular segment 410 and a second annular segment 420 connected to each other, wherein the inner diameter of the first annular segment 410 is larger than the inner diameter of the second annular segment 420. The first annular segment 410 is at least partially fitted onto the connecting shaft 2210, and the side of the first annular segment 410 away from the second annular segment 420 abuts against the second side of the first connector 120. The second annular segment 420 is fitted onto the first locking connecting portion 320, and the side of the second annular segment 420 away from the first annular segment 410 abuts against the first locking limiting portion 310.

[0083] By adding a gasket 400 between the first connector 120 and the first locking limit portion 310, the contact area between the first locking limit portion 310 and the second side of the first connector 120 is increased, thereby improving the contact stability between the first locking limit portion 310 and the second side of the first connector 120. In addition, it can also prevent the first connector 120 from being damaged due to excessive force applied to the second side of the first connector 120 when the first locking member 300 is locking because the contact area between the first locking limit portion 310 and the second side of the first connector 120 is too small.

[0084] For example, the gasket 400 can be a one-piece structure or a split structure.

[0085] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 and Figure 8 As shown, one finger component 200 of the dexterous hand 10 is the thumb component 201, and the other finger component 200 of the dexterous hand 10 is the middle finger component 202. The palm body 110 has a first plane 1101 that is perpendicular to the thickness direction of the palm body 110 and passes through the palm body 110, and a second plane 1102 that is parallel to the thickness direction of the palm body 110, parallel to the width direction of the palm body 110, and located on the side of the palm body 110 away from the middle finger component 202.

[0086] The palm assembly 100 also includes a mounting member 140, which connects the annular member 130 and the palm body 110. When the thumb assembly 201 is in the extended state, it faces the palm side 101 of the dexterous hand 10 and is located between the second plane 1102 and the middle finger assembly 202. The axis of the annular member 130 forms a first acute angle β with the first plane 1101, and the axis of the annular member 130 of the thumb assembly 201 forms a second acute angle α with the second plane 1102.

[0087] By defining the initial posture of the thumb assembly 201 by the mounting part 140, the anthropomorphism of the dexterous hand 10 is further enhanced.

[0088] Specifically, the thumb assembly 201 is in an extended state, that is, the thumb assembly 201 is neither tilted to the side nor bent.

[0089] For example, the dexterous hand 10 also includes an index finger component 203, a ring finger component 204, and a little finger component 205. For example, the middle finger component 202, index finger component 203, ring finger component 204, and little finger component 205 have the same structure, which further simplifies the structure of the dexterous hand 10 and improves the ease of manufacturing the dexterous hand 10.

[0090] For example, the mounting member 140 and the ring member 130 can be an integral structure or a separate structure.

[0091] Figure 12 The diagram shown is a structural schematic of the annular component, the first mounting plate, and the second mounting plate provided in an embodiment of this application. Figure 13 The image shown is a top view of a hand assembly provided in another embodiment of this application. Figure 14 As shown Figure 13 The hand assembly shown is a cross-sectional view in the DD direction. Figure 15 As shown Figure 14 The image shows a magnified view of the hand assembly in region F. Figure 16 As shown Figure 13 The hand assembly shown is a cross-sectional view in the EE direction. Figure 17 As shown Figure 16 The image shows a magnified view of the hand assembly in region G.

[0092] In some embodiments, such as Figure 5 , Figures 12 to 17As shown, the mounting member 140 includes a first mounting plate 1410, a second mounting plate 1420, a second locking member 1430, and a third locking member 1440. The first mounting plate 1410 has at least one first mounting hole 1411 extending along the thickness direction of the palm body 110. The second mounting plate 1420 is perpendicularly connected to the first mounting plate 1410 and has at least one second mounting hole 1421 extending along the width direction of the palm body 110. The second locking member 1430 includes a second locking limiting portion 1431 and a second locking connecting portion 1432 connected to each other. The second locking limiting portion 1431 abuts against the side of the first mounting plate 1410 away from the palm body 110, and the second locking connecting portion 1432 is screwed to the palm body 110. The third locking member 1440 includes a third locking limiting part 1441 and a third locking connecting part 1442 connected to each other. The third locking limiting part 1441 abuts against the side of the second mounting plate 1420 away from the palm body 110, and the third locking connecting part 1442 is screwed to the palm body 110.

[0093] The mounting component 140 is installed on the palm body 110 along the thickness direction and the width direction of the palm body 110 to prevent the mounting component 140 from rotating relative to the palm body 110 and improve the connection stability between the mounting component 140 and the palm body 110.

[0094] For example, the first mounting plate 1410 has a plurality of first mounting holes 1411, and the number of second locking members 1430 is plurality of, with each of the plurality of second locking members 1430 corresponding to one of the plurality of first mounting holes 1411. The second locking connection portion 1432 of the second locking member 1430 passes through the corresponding first mounting hole 1411 and is screwed to the palm body 110.

[0095] For example, the second mounting plate 1420 has a second mounting hole 1421, and the number of third locking members 1440 is one. The palm body 110 has a mounting hole 1103 extending through the palm body 110 along its width direction. The third locking member 1440 passes through the mounting hole 1103, and the third locking connection portion 1442 of the third locking member 1440 passes through the second mounting hole 1421 and is screwed to the palm body 110.

[0096] Figure 18 The figure shown is a schematic diagram of the structure of a hand body provided in an embodiment of this application.

[0097] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 , Figure 14 and Figure 18As shown, the palm body 110 includes a housing 1110. The housing 1110 has a receiving space 1111 and a first opening 1112 facing the palm side 101, the first opening 1112 communicating with the receiving space 1111 and the outside. The thumb assembly 201 is at least partially disposed in the receiving space 1111 and extends out of the receiving space 1111 through the first opening 1112.

[0098] The thumb component 201 can occupy part of the receiving space 1111 of the palm component 100, improving the compactness of the dexterous hand 10.

[0099] For example, the housing 1110 is an integral structure, and the annular part 130 and the first connecting part 120 are both part of the housing 1110.

[0100] In some embodiments, such as Figure 2 , Figure 14 and Figure 18 As shown, the receiving space 1111 communicates with the space enclosed by the inner wall of the annular member 130 through the connecting hole 1201. The housing 1110 also has a second opening 1113 facing the palm side 101, which communicates with the receiving space 1111 and the outside.

[0101] The palm body 110 also includes a cover plate 1120, which is detachably connected to the housing 1110 and covers the second opening 1113.

[0102] For example, the first opening 1112 is connected to the second opening 1113.

[0103] In some embodiments, such as Figure 6 ,as well as Figures 19 to 24 As shown, the finger body 210 includes at least two knuckle drive assemblies 2110 and at least one first connecting assembly 2120. Each knuckle drive assembly 2110 includes a drive structure 2111 and an output structure 2112 connected by a transmission connection. The drive structure 2111 is configured to drive the output structure 2112 to rotate. At least one first connecting assembly 2120 connects adjacent knuckle drive assemblies 2110. A first end of the first connecting assembly 2120 is detachably connected to the output structure 2112 of one of the adjacent knuckle drive assemblies 2110, and a second end of the first connecting assembly 2120 is detachably connected to either the drive structure 2111 or the output structure 2112 of the other adjacent knuckle drive assembly 2110. The drive structure 2111 of one of the adjacent knuckle drive assemblies 2110 is detachably connected to a second connecting member 220.

[0104] The finger body 210 is composed of multiple modular knuckle drive components 2110 that are detachably connected by a first connecting component 2120. The finger body 210 has a simple and compact structure and is easy to assemble and disassemble.

[0105] like Figure 19 , Figure 21 and Figure 23 As shown, the finger body 210 includes two knuckle drive components 2110 and a first connecting component 2120. The first end of the first connecting component 2120 is detachably connected to the output structure 2112 of one knuckle drive component 2110, and the second end of the first connecting component 2120 is detachably connected to the output structure 2112 of the other knuckle drive component 2110.

[0106] For example, the drive structure 2111 is a motor, and the output structure 2112 is an output shaft. The output end of the motor is connected to the output shaft for transmission, so as to realize that the motor drives the output shaft to rotate.

[0107] For example, such as Figure 24 As shown, the drive structure 2111 includes a motor housing 2311, a motor stator 2411, a motor rotor 2511, and a motor shaft 2611. The motor stator 2411 is fixedly disposed relative to the motor housing 2311, the motor shaft 2511 is rotatably connected to the motor housing 2311, and the motor rotor 2511 is fitted onto the motor shaft 2611. The output end of the motor shaft 2611 is connected to the output structure 2112 for transmission. The motor housing 2311 serves as part of the housing of the finger body 210.

[0108] In some embodiments, such as Figure 21 and Figure 22 As shown, the output structure 2112 includes a first support shaft 2113 and a second support shaft 2114 that are arranged opposite to each other along the extension direction of the rotation axis of the output structure 2112. The axis of the first support shaft 2113 and the axis of the second support shaft 2114 are both collinear with the rotation axis of the output structure 2112.

[0109] like Figure 22 as well as Figures 25 to 29As shown, the first connecting assembly 2120 includes a first component 2121, a second component 2122, and a fourth locking member 2123. The first component 2121 has a first connecting hole 2124, which is fitted onto a first support shaft 2113. The first component 2121 also has a first mounting shaft 2125 on the side of the first component 2121 away from the first connecting hole 2124 along the extension direction of the rotation axis of the output structure 2112. The axis of the first mounting shaft 2125 is parallel to the rotation axis of the output structure 2112. The second component 2122 is detachably connected to the first component 2121 and has a second connecting hole 2126. The second connecting hole 2126 is positioned opposite to the first connecting hole 2124 along the extension direction of the rotation axis of the output structure 2112, and is fitted onto a second support shaft 2114. The second component 2122 also has a third mounting hole 2127, which is fitted onto the first mounting shaft 2125. The fourth locking member 2123 has a fourth locking limiting part 2128 and a fourth locking connecting part 2129 connected to each other. The fourth locking limiting part 2128 abuts against the side of the second component 2122 away from the first connecting hole 2124, and the fourth locking connecting part 2129 is detachably connected to the first mounting shaft 2125.

[0110] The first connecting component 2120 and the output structure 2112 of a knuckle drive component 2110 are detachably connected through a hole-shaft mating method, which is simple and further improves the ease of assembly and disassembly of the first connecting component 2120.

[0111] The first component 2121 and the second component 2122 are connected by a hole shaft, which simplifies the connection method and further improves the ease of assembly and disassembly of the first connecting assembly 2120.

[0112] When connecting the first connecting component 2120 to the output structure 2112 of a knuckle drive component 2110, the first connecting hole 2124 of the first component 2121 is first fitted onto the corresponding first support shaft 2113, then the second connecting hole 2126 of the second component 2122 is fitted onto the corresponding second support shaft 2114, and the second component 2122 is connected to the first component 2121. This facilitates installation and further improves the convenience of detachable connection between the first connecting component 2120 and the output structure 2112 of a knuckle drive component 2110 through the hole-shaft cooperation.

[0113] In addition, the first component 2121 and the second component 2122 are connected by a hole shaft and then fixed by a fourth locking member 2123, which improves the connection stability of the first component 2121 and the second component 2122, improves the mechanical strength of the first connecting assembly 2120, and enables the first connecting assembly 2120 to withstand a greater lifting force along the extension direction of the finger body 210.

[0114] For example, the fourth locking element 2123 may be a screw, bolt, etc.

[0115] In some embodiments, such as Figure 22 , Figures 27 to 30 As shown, the first component 2121 has a first limiting groove 2103 on the side away from the first connecting hole 2124 in the extension direction of the rotation axis of the output structure 2112. The sidewall of the first limiting groove 2103 has at least one third limiting plane 2104. The third limiting plane 2104 is parallel to the axis of the first mounting shaft 2125, which is connected to the bottom of the first limiting groove 2103. The second component 2122 includes a first limiting part 2222, and a third mounting hole 2127 is provided in the first limiting part 2222. The first limiting part 2222 has at least one fourth limiting plane 2322 parallel to the axis of the third mounting hole 2127. The first limiting part 2222 is at least partially provided in the first limiting groove 2103, and at least one third limiting plane 2104 abuts against at least one fourth limiting plane 2322.

[0116] By abutting the third limiting plane 2104 and the fourth limiting plane 2322, the second component 2122 can be prevented from rotating relative to the first component 2121 around the axis of the first mounting shaft 2125, thereby improving the installation stability of the second component 2122 and the first component 2121.

[0117] In some embodiments, such as Figures 27 to 30 As shown, the first limiting groove 2103 includes a U-shaped groove 2203, and the three side walls of the U-shaped groove 2203 form three third limiting planes 2104. The opening of the U-shaped groove 2203 opposite to the side wall faces the second component 2122 to facilitate the assembly and disassembly of the second component 2122. The structure of the second component 2122 and the first component 2121 is simple and compact, and easy to process.

[0118] For example, the first limiting part 2222 has three fourth limiting planes 2322, which abut against the three third limiting planes 2104 respectively, further improving the installation stability of the second component 2122 and the first component 2121.

[0119] In some embodiments, such as Figure 19 , Figure 21 andFigure 23 As shown, the first end of the first connecting component 2120 is detachably connected to the output structure 2112 of the first knuckle drive component 2110 in the adjacent knuckle drive component 2110, and the second end of the first connecting component 2120 is detachably connected to the output structure 2112 of the second knuckle drive component 2110 in the adjacent knuckle drive component 2110.

[0120] like Figure 21 and Figure 22 As shown, the first connecting hole 2124 is fitted onto the first support shaft 2113 of the first knuckle drive assembly 2110, and the second connecting hole 2126 is fitted onto the second support shaft 2114 of the first knuckle drive assembly 2110. The second connecting hole 2126 and the first connecting hole 2124 are arranged opposite to each other along the extension direction of the rotation axis of the output structure 2112 of the first knuckle drive assembly 2110.

[0121] like Figure 23 and Figure 25 As shown, the first connecting assembly 2120 further includes a third component 2130 and a fourth component 2131. The third component 2130 is connected to the first component 2121 and has a third connecting hole 2132, which is fitted onto the first support shaft 2113 of the second knuckle drive assembly 2110. The fourth component 2131 is detachably connected to the third component 2130 and has a fourth connecting hole 2133. The fourth connecting hole 2133 and the third connecting hole 2132 are arranged opposite each other along the extension direction of the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110, and the fourth connecting hole 2133 is fitted onto the second support shaft 2114 of the second knuckle drive assembly 2110.

[0122] For example, the first component 2121 and the third component 2130 can be an integral structure or a separate structure.

[0123] By fitting the first connecting hole 2124 of the first connecting component 2120 onto the first support shaft 2113 of the first knuckle drive component 2110, the second connecting hole 2126 onto the second support shaft 2114 of the first knuckle drive component 2110, the third connecting hole 2132 onto the first support shaft 2113 of the second knuckle drive component 2110, and the fourth connecting hole 2133 onto the second support shaft 2114 of the second knuckle drive component 2110, the output structure 2112 of the first connecting component 2120 can be simultaneously connected to two adjacent knuckle drive components 2110. The first connecting component 2120 and the output structures 2112 of both knuckle drive components 2110 are all connected via holes and shafts, simplifying the connection method and further improving the ease of assembly and disassembly of the first connecting component 2120.

[0124] In some embodiments, the rotation axis of the output structure 2112 of the first knuckle drive assembly 2110 is perpendicular to the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110. The rotation axis of the output structure 2112 of the first knuckle drive assembly 2110 is the lateral swing axis of the finger body 210, and the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110 is the bending axis of the finger body 210.

[0125] When the drive structure 2111 of the first knuckle drive assembly 2110 drives the output structure 2112 to rotate, the output structure 2112 of the first knuckle drive assembly 2110 drives the first connecting assembly 2120 to rotate around the rotation axis of the output structure 2112. The first connecting assembly 2120 drives the second knuckle drive assembly 2110 to rotate, so that the second knuckle drive assembly 2110 rotates around the rotation axis of the output structure 2112 of the first knuckle drive assembly 2110, allowing the finger body 210 to swing to the side.

[0126] When the second knuckle drive assembly 2110 is in operation, the drive structure 2111 of the second knuckle drive assembly 2110 rotates about the rotation axis of the output structure 2112 relative to the output structure 2112 of the second knuckle drive assembly 2110, so as to realize that the drive structure 2111 of the second knuckle drive assembly 2110 rotates about the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110 relative to the first connecting assembly 2120 and the first knuckle drive assembly 2110, so that the finger body 210 can be bent.

[0127] In some embodiments, the rotation axis of the output structure 2112 of the first knuckle drive assembly 2110 is parallel to the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110, so as to realize the lateral swing of the first knuckle drive assembly 2110 and the second knuckle drive assembly 2110, or the bending of the first knuckle drive assembly 2110 and the second knuckle drive assembly 2110.

[0128] In some embodiments, such as Figure 26 , Figure 27 , Figures 31 to 33As shown, the third component 2130 has a dovetail groove 2134 extending in the direction of the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110. The fourth component 2131 has a limiting slide rail 2135, which has a fifth limiting plane 2136, a sixth limiting plane 2137, and a seventh limiting plane 2138. The limiting slide rail 2135 can slide into the dovetail groove 2134 in the direction of the rotation axis of the output structure 2112 of the second knuckle drive assembly 2110, so that the fifth limiting plane 2136, the sixth limiting plane 2137, and the seventh limiting plane 2138 abut against the two opposite side walls and the bottom of the dovetail groove 2134, respectively. The first connecting assembly 2120 also includes a fifth locking member 2139, which has a fifth locking limiting portion 2140 and a fifth locking connecting portion 2141 connected to each other. The fifth locking limit part 2140 abuts against the side of the third component part 2130 away from the limit slide rail 2135, and the fifth locking connection part 2141 is detachably connected to the limit slide rail 2135.

[0129] The connection structure of the dovetail groove 2134 and the limiting slide rail 2135 increases the connection strength between the third component 2130 and the fourth component 2131, enabling the first connecting assembly 2120 to withstand a greater lifting force along the extension direction of the finger body 210.

[0130] The fifth locking member 2139 is used to achieve precise positioning of the third component 2130 and the fourth component 2131, and to achieve detachable connection between the third component 2130 and the fourth component 2131. The connection method is simple and further improves the ease of assembly and disassembly of the first connecting component 2120.

[0131] For example, there are two fifth locking members 2139. The two fifth locking members 2139 are disposed opposite to each other on both sides of the limiting slide rail 2135 and are detachably connected to the limiting slide rail 2135, which further improves the positioning accuracy of the third component 2130 and the fourth component 2131, as well as the connection stability of the third component 2130 and the fourth component 2131.

[0132] For example, the fifth locking element 2139 may be a screw, bolt, etc.

[0133] Figure 34 The diagram shown is a structural schematic of the second component provided in another embodiment of this application. Figure 35 As shown Figure 34 The top view of the second component shown. Figure 36 As shown Figure 35 The second component shown is a cross-sectional view in the MM direction. Figure 37 The image shown is a top view of a finger assembly provided in another embodiment of this application.Figure 38 As shown Figure 37 The finger assembly shown is a cross-sectional view along the NN direction. Figure 39 As shown Figure 38 The image shows a magnified view of the finger component in the Q region. Figure 40 The diagram shown is a structural schematic of an inverted fourth component provided in an embodiment of this application. Figure 41 As shown Figure 40 The bottom view of the fourth component shown. Figure 42 As shown Figure 41 The fourth component shown is a cross-sectional view in the RR direction. Figure 43 As shown Figure 37 The finger assembly shown is a cross-sectional view in the PP direction. Figure 44 As shown Figure 43 The image shows a magnified view of the finger component in region S. Figure 45 The diagram shown is a structural schematic of a first connecting component provided in another embodiment of this application.

[0134] For example, such as Figures 34 to 39 As shown, the outer surface of the second support shaft 2114, which is connected to the second component 2122, has an eighth limiting plane 2115 extending along the extending direction of the second support shaft 2114. The sidewall of the second connecting hole 2126 of the second component 2122 has a ninth limiting plane 2142 extending along the extending direction of the second connecting hole 2126. The ninth limiting plane 2142 abuts against the eighth limiting plane 2115, and the bottom wall of the second connecting hole 2126 abuts against the end face of the corresponding second support shaft 2114. Exemplarily, the second component 2122 also has a first limiting hole 2143 and a first connecting hole 2144. The first connecting hole 2144 connects the first limiting hole 2143 and the second connecting hole 2126, and the size of the second connecting hole 2126 is larger than the size of the first connecting hole 2144, and the size of the first limiting hole 2143 is larger than the size of the first connecting hole 2144. The first connecting assembly 2120 also includes a sixth locking member 2145, which has a sixth locking limiting part 2146 and a sixth locking connecting part 2147 connected to each other. The sixth locking limiting part 2146 abuts against the bottom wall of the first limiting hole 2143, and the sixth locking connecting part 2147 passes through the first limiting hole 2143 and the first connecting hole 2144, and is detachably connected to the corresponding second support shaft 2114.

[0135] By utilizing the contact between the ninth limiting plane 2142 and the eighth limiting plane 2115, and the contact between the bottom wall of the second connecting hole 2126 and the end face of the second support shaft 2114, the second component 2122 can be prevented from rotating around the axis of the corresponding second support shaft 2114, thus improving the installation stability of the second component 2122 and the corresponding second support shaft 2114. Furthermore, by using the sixth locking member 2145 to lock the second component 2122 and the corresponding second support shaft 2114, the first component 2121 and the second component 2122 can be prevented from detaching from the corresponding output structure 2112.

[0136] For example, such as Figures 40 to 44 As shown, the outer surface of the second support shaft 2114, which is connected to the fourth component 2131, has a tenth limiting plane 2116 extending in the extending direction of the second support shaft 2114. The side wall of the fourth connecting hole 2133 of the fourth component 2131 has an eleventh limiting plane 2148 extending in the extending direction of the fourth connecting hole 2133. The eleventh limiting plane 2148 abuts against the tenth limiting plane 2116. The bottom wall of the fourth connecting hole 2133 abuts against the end face of the corresponding second support shaft 2114.

[0137] For example, the fourth component 2131 further includes a second limiting hole 2149 and a second connecting hole 2150. The second connecting hole 2150 connects the second limiting hole 2149 and the fourth connecting hole 2133, and the size of the fourth connecting hole 2133 is larger than the size of the second connecting hole 2150. The size of the second limiting hole 2149 is larger than the size of the second connecting hole 2150. The first connecting assembly 2120 also includes a seventh locking member 2151. The seventh locking member 2151 has a seventh locking limiting part 2152 and a seventh locking connecting part 2153 connected to each other. The seventh locking limiting part 2152 abuts against the bottom wall of the second limiting hole 2149, and the seventh locking connecting part 2153 passes through the second limiting hole 2149 and the second connecting hole 2150, and is detachably connected to the corresponding second support shaft 2114.

[0138] By utilizing the abutment between the eleventh limiting plane 2148 and the tenth limiting plane 2116, and the abutment between the bottom wall of the fourth connecting hole 2133 and the end face of the corresponding second support shaft 2114, the fourth component 2131 can be prevented from rotating relative to the corresponding second support shaft 2114 around the axis of the second support shaft 2114, thereby improving the installation stability of the fourth component 2131 and the corresponding second support shaft 2114. In addition, by using the seventh locking member 2151 to lock the fourth component 2131 and the corresponding second support shaft 2114, the third component 2130 and the fourth component 2131 can be prevented from falling off the corresponding output structure 2112.

[0139] For example, such as Figure 45As shown, the first component 2121 also has a first groove 2154. The bottom of the groove 2154 communicates with the first connecting hole 2124, and the opening of the groove 2154 extends to the edge of the first component 2121 so that the first support shaft 2113 corresponding to the first component 2121 can slide into the first groove 2154 from the opening of the first groove 2154 and align with the first connecting hole 2124 so that the first connecting hole 2124 can be fitted onto the corresponding first support shaft 2113.

[0140] For example, such as Figure 45 As shown, the third component 2130 also has a second groove 2155. The bottom of the second groove 2155 communicates with the third connecting hole 2132, and the opening of the second groove 2155 extends to the edge of the third component 2130 so that the first support shaft 2113 corresponding to the third component 2130 can slide into the second groove 2155 from the opening of the second groove 2155 and align with the third connecting hole 2132 so that the third connecting hole 2132 can be fitted onto the corresponding first support shaft 2113.

[0141] Figure 46 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0142] like Figure 46 As shown, robot 1 includes at least one dexterous hand 10 provided in the above embodiments and robot body 20. The dexterous hand 10 is connected to robot body 20.

[0143] For example, the robot 1 includes two dexterous hands 10, which are respectively connected to the robot body 20 on opposite sides in the width direction of the robot body 20, further improving the anthropomorphism of the robot 1 and its grasping function.

[0144] Since robot 1 includes a dexterous hand 10, robot 1 possesses all the technical features and effects of the dexterous hand 10, which will not be elaborated here.

[0145] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0146] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0147] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0148] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0149] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dexterous hand, characterized in that, include: A palm assembly includes interconnected palm bodies and at least one first connector, the first connector having a connection hole extending through the first connector; At least one finger assembly, the finger assembly including finger bodies connected to each other and at least one second connector, the second connector having a connecting shaft, the finger body abutting against a first side of the first connector, the connecting shaft passing through the connecting hole; The first locking member includes a first locking limiting part and a first locking connecting part that are connected to each other. The first locking limiting part abuts against the second side of the first connecting member, and the first locking connecting part is detachably connected to the connecting shaft.

2. The dexterous hand according to claim 1, characterized in that, The inner wall of the connecting hole includes a first limiting plane extending along the extending direction of the connecting hole, and the outer side of the connecting shaft includes a second limiting plane extending along the extending direction of the connecting shaft, the second limiting plane abutting against the first limiting plane.

3. The dexterous hand according to claim 2, characterized in that, The hand assembly also includes: A ring-shaped component is connected to the first connecting component and located on the first side of the first connecting component. The finger body passes through the ring-shaped component, and at least a portion of the outer surface of the finger body abuts against the inner wall of the ring-shaped component.

4. The dexterous hand according to claim 1, characterized in that, The connecting shaft has a threaded hole, and the first locking connection part has an external thread, so that the first locking connection part and the connecting shaft are screwed together by the external thread and the threaded hole; The dexterous hand also includes: A gasket is disposed between the first connector and the first locking limiting part. The gasket includes a first annular segment and a second annular segment connected to each other. The inner diameter of the first annular segment is larger than the inner diameter of the second annular segment. The first annular segment is at least partially fitted onto the connecting shaft, and the side of the first annular segment away from the second annular segment abuts against the second side of the first connector. The second annular segment is fitted onto the first locking connecting part, and the side of the second annular segment away from the first annular segment abuts against the first locking limiting part.

5. The dexterous hand according to claim 3, characterized in that, One of the finger components of the dexterous hand is a thumb component, and the other finger component of the dexterous hand is a middle finger component. The palm body has a first plane that is perpendicular to the thickness direction of the palm body and passes through the palm body, and a second plane that is parallel to the thickness direction of the palm body, parallel to the width direction of the palm body, and located on the side of the palm body away from the middle finger component. The hand assembly also includes: The mounting component connects the annular component and the palm body. When the thumb assembly is in an extended state, the thumb assembly faces the palm side of the dexterous hand and is located between the second plane and the middle finger assembly. The axis of the annular component is set at a first acute angle with the first plane, and the axis of the annular component of the thumb assembly is set at a second acute angle with the second plane.

6. The dexterous hand according to claim 5, characterized in that, The mounting component includes: A first mounting plate has at least one first mounting hole extending along the thickness direction of the palm body; The second mounting plate is perpendicularly connected to the first mounting plate and has at least one second mounting hole extending along the width direction of the palm body; The second locking member includes a second locking limiting part and a second locking connecting part that are connected to each other. The second locking limiting part abuts against the side of the first mounting plate away from the palm body, and the second locking connecting part is screwed to the palm body. The third locking component includes a third locking limiting part and a third locking connecting part that are connected to each other. The third locking limiting part abuts against the side of the second mounting plate away from the palm body, and the third locking connecting part is screwed to the palm body.

7. The dexterous hand according to claim 5, characterized in that, The main body of the hand includes: The housing has a receiving space and a first opening facing the palm side, the first opening communicating the receiving space with the outside, the thumb assembly being at least partially disposed in the receiving space and extending out of the receiving space from the first opening.

8. The dexterous hand according to claim 7, characterized in that, The receiving space is connected to the space enclosed by the inner wall of the annular component through the connecting hole, and the housing also has a second opening facing the palm side, the second opening connecting the receiving space and the outside; The main body of the hand also includes: A cover plate is detachably connected to the housing and covers the second opening.

9. The dexterous hand according to any one of claims 1 to 8, characterized in that, The finger body includes: At least two knuckle drive assemblies, each knuckle drive assembly including a drive structure and an output structure that are connected by a transmission, the drive structure being configured to drive the output structure to rotate; At least one first connecting component connects adjacent knuckle drive components, wherein a first end of the first connecting component is detachably connected to the output structure of one of the adjacent knuckle drive components, and a second end of the first connecting component is detachably connected to the drive structure or the output structure of another of the adjacent knuckle drive components, wherein the drive structure of one of the adjacent knuckle drive components is detachably connected to the second connecting component.

10. The dexterous hand according to claim 9, characterized in that, The output structure includes a first support shaft and a second support shaft that are disposed opposite to each other along the extension direction of the rotation axis of the output structure, and the axes of the first support shaft and the second support shaft are both collinear with the rotation axis of the output structure. The first connection component includes: The first component has a first connecting hole and is fitted onto the first support shaft. The first component also has a first mounting shaft on the side away from the first connecting hole in the extension direction of the rotation axis of the output structure. The axis of the first mounting shaft is parallel to the rotation axis of the output structure. The second component is detachably connected to the first component. The second component has a second connecting hole, which is disposed opposite to the first connecting hole along the extension direction of the rotation axis of the output structure. The second connecting hole is fitted onto the second support shaft. The second component also has a third mounting hole, which is fitted onto the first mounting shaft. The first locking member has a fourth locking limiting part and a fourth locking connecting part that are connected to each other. The fourth locking limiting part abuts against the side of the second component that is away from the first connecting hole, and the fourth locking connecting part is detachably connected to the first mounting shaft.

11. A robot, characterized in that, include: Robot body; At least one dexterous hand as described in any one of claims 1 to 10 is connected to the robot body.

Images