Dexterous hand and robot

Abstract

The invention discloses a dexterous hand and a robot, and relates to the technical field of robots, the dexterous hand comprises a palm main body, and the palm main body is further provided with a palm surface located between a wrist end and a finger end; the thumb and the auxiliary fingers can be bent relative to the palm main body so as to move towards or away from each other; at least one of the fingertip part of the thumb and the fingertip part of the auxiliary finger is provided with a first image acquisition piece, the palm surface is provided with at least one second image acquisition piece, and the control module is suitable for jointly controlling the movement of the thumb and the auxiliary finger according to image information acquired by the first image acquisition piece and the second image acquisition piece. The dexterous hand is high in degree of freedom, high in movement stability, high in gripping force, capable of achieving more accurate movement so as to achieve accurate gripping of objects and capable of gripping finer and softer objects, high in integration level, small in overall size, light in weight, low in cost and beneficial to achieving light weight of a robot.

Description

Technical Field

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

[0002] Dexterous hands, as highly biomimetic robotic end effectors, are designed to mimic the structure and function of the human hand. They play a crucial role in robot-environment interaction and are widely used in aerospace, medical surgery, and intelligent manufacturing, and are expected to become one of the core technologies in the development of humanoid robots. The human hand possesses highly complex motor capabilities, with a complete hand having 21 to 23 degrees of freedom: the thumb has 5 degrees of freedom (2 CMC joints, 2 MCP joints, and 1 DIP joint), while the other fingers typically have 4 degrees of freedom (2 MCP joints, and 1 PIP and DIP joint). It is worth noting that, apart from the thumb, the carpometacarpal joints (CMC) of the ring and little fingers have a certain degree of freedom of movement. Although the range of motion is small, they play a key role in finger-to-finger manipulation and fine motor skills. Therefore, the actual motor requirements of a complete human hand are close to 23 degrees of freedom.

[0003] In related technologies, dexterous hands require highly complex mechanisms to meet the high degree of freedom requirements, resulting in large size, heavy weight, and poor motion stability. In other words, existing dexterous hands cannot achieve high degree of freedom within a limited volume while ensuring high grip strength, light weight, and precise movements. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a dexterous hand with high degrees of freedom, high motion stability, and high gripping force, enabling more precise movements for accurate object grasping. It can also grasp more delicate and soft objects, and has high integration, small overall size, light weight, and low cost, which is conducive to the lightweighting of robots.

[0005] A dexterous hand according to an embodiment of the present invention includes: a palm body having a wrist end and finger ends facing away from each other, the palm body further having a palm surface located between the wrist end and the finger ends; a thumb and at least two auxiliary fingers, the thumb being movably mounted on the palm surface, and the at least two auxiliary fingers being movably mounted on the finger ends, the thumb and the auxiliary fingers being configured to bend relative to the palm body to move toward or away from each other; a control module, a first image acquisition device and a second image acquisition device, at least one of the fingertips of the thumb and the auxiliary fingers being provided with the first image acquisition device, and the palm surface being provided with at least one second image acquisition device, the control module being adapted to jointly control the movement of the thumb and the auxiliary fingers based on image information acquired by the first image acquisition device and the second image acquisition device.

[0006] According to embodiments of the present invention, the dexterous hand, by setting the thumb and auxiliary fingers to bend relative to the main body of the palm to move towards or away from each other, can realize a variety of complex grasping actions such as pinching and gripping, and has high degree of freedom, high motion stability, and high gripping force. By setting a first image acquisition element at least one of the fingertips of the thumb and auxiliary fingers, and setting at least one second image acquisition element on the palm surface, the control module can jointly control the movement of the thumb and auxiliary fingers according to the image information acquired by the first image acquisition element and the second image acquisition element, so that the dexterous hand can achieve more precise movements to achieve precise grasping of objects, and can also grasp more delicate and soft objects. Moreover, this dexterous hand has high integration, small overall size, light weight, and low cost, which is conducive to realizing the lightweighting of robots.

[0007] According to some embodiments of the present invention, in a dexterous hand, the wrist end and the finger ends are distributed along a first direction, there are two auxiliary fingers, and the two auxiliary fingers are spaced apart on the finger ends along a second direction, the first direction intersecting the second direction; wherein, there are two second image acquisition devices, and the two second image acquisition devices are spaced apart on the palm surface along the second direction.

[0008] According to some embodiments of the present invention, in a dexterous hand, two second image acquisition devices are respectively located on both sides of the thumb;

[0009] And / or, the two second image acquisition devices are symmetrically distributed with respect to the first direction; And / or, in the projection along the second direction, the projection of the thumb lies between the projections of the two auxiliary fingers.

[0010] According to some embodiments of the present invention, the dexterous hand has a protruding boss area on the palm surface, the boss area being spaced apart from the fingertips, an open mounting hole being provided in the boss area, the thumb being movably mounted in the mounting hole, and both second image acquisition components being located in the boss area.

[0011] According to some embodiments of the present invention, the first image acquisition device includes a first camera, a fingertip receiving cavity is formed in the fingertip of the thumb and / or the fingertip of the auxiliary finger, the side of the fingertip facing the palm is constructed as a transparent body, and the first camera is located in the fingertip receiving cavity and is adapted to take pictures outward from the transparent body; And / or, the second image acquisition device includes a second camera, the second camera being exposed on the palm surface and adapted to capture images facing upwards toward the side near the fingertips.

[0012] According to some embodiments of the present invention, the dexterous hand further includes a first driving component and a second driving component, the first driving component being connected to the auxiliary finger to drive the auxiliary finger to move relative to the palm body, and the second driving component being connected to the thumb to drive the thumb to move relative to the palm body; The palm body has a receiving space, and both the first driving component and the second driving component are configured to be at least partially located within the receiving space.

[0013] According to some embodiments of the present invention, in a dexterous hand, the first driving component includes a first driving member and a pushing structure, the auxiliary finger includes a first phalanx, the first phalanx is rotatable relative to the palm body, the output end of the first driving member is connected to the pushing structure, and the pushing structure is connected to the first phalanx, so that the first driving member drives the first phalanx to rotate through the pushing structure.

[0014] According to some embodiments of the present invention, the dexterous hand has a mounting base on the palm body, the first phalanx is rotatably connected to the mounting base, the auxiliary finger further includes a second phalanx, the first phalanx has a first connector, one end of the first connector is rotatably connected to the mounting base about a first axis and the other end is rotatably connected to the second phalanx about a second axis, the first phalanx and the second phalanx are rotatably connected, and when the first phalanx rotates relative to the mounting base, the first connector drives the second phalanx to rotate relative to the first phalanx.

[0015] According to some embodiments of the present invention, the dexterous hand, the second driving component includes a second driving member, a first transmission member, a third driving member, a second transmission member, and a support rod, the thumb includes a finger root component, the finger root component is connected to the support rod, the finger root component includes a second connecting member and a joint unit, the second connecting member and the joint unit are movably connected relative to each other; The first transmission component is sleeved outside the support rod and is rotatable relative to the support rod about a third axis perpendicular to the central axis of the support rod. The second driving component is poweredly connected to the first transmission component. The second transmission component is sleeved outside the support rod and is movably connected relative to the joint unit. The second transmission component is rotatable relative to the first transmission component about the central axis of the support rod. The third driving component is poweredly connected to the support rod.

[0016] The present invention also proposes a robot.

[0017] The robot according to embodiments of the present invention includes the dexterous hand described in any of the foregoing embodiments.

[0018] The advantages that the robot and the dexterous hand mentioned above have over existing technologies are the same, and will not be repeated here.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a dexterous hand according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a dexterous hand according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of a dexterous hand according to an embodiment of the present invention. Figure 3 ; Figure 4 This is a cross-sectional view of a dexterous hand according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the dexterous hand according to an embodiment of the present invention when the hand body is not assembled. Figure 1 ; Figure 6 This is a schematic diagram of the structure of the dexterous hand according to an embodiment of the present invention when the hand body is not assembled. Figure 2 ; Figure 7This is an exploded view of the auxiliary finger and the first driving component according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the auxiliary finger and the first driving component according to an embodiment of the present invention. Figure 1 ; Figure 9 yes Figure 8 Cross-sectional view at point AA; Figure 10 This is a schematic diagram of the structure of the auxiliary finger and the first driving component according to an embodiment of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the structure of the second phalanx and the first drive assembly according to an embodiment of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the structure of the second phalanx and the first drive assembly according to an embodiment of the present invention. Figure 2 ; Figure 13 This is a schematic diagram of the structure of the thumb and the second drive component according to an embodiment of the present invention. Figure 1 ; Figure 14 This is a cross-section of the thumb and the second drive assembly according to an embodiment of the present invention. Figure 1 ; Figure 15 This is a schematic diagram of the structure of the thumb and the second drive component according to an embodiment of the present invention. Figure 2 ; Figure 16 This is a schematic diagram of the structure of the thumb and the second drive component according to an embodiment of the present invention. Figure 3 ; Figure 17 This is a cross-section of the thumb and the second drive assembly according to an embodiment of the present invention. Figure 2 ; Figure 18 This is an exploded view of the thumb and the second drive assembly according to an embodiment of the present invention; Figure 19 This is a schematic diagram of the structure of the thumb tip assembly according to an embodiment of the present invention; Figure 20 This is a schematic diagram of the structure of the second driving component according to an embodiment of the present invention; Figure 21 This is a schematic diagram of the structure of the fingertip according to an embodiment of the present invention; Figure 22 yes Figure 21 Cross-sectional view at BB; Figure 23 This is an exploded view of the fingertip according to an embodiment of the present invention; Figure 24This is a schematic diagram of the structure of the palm body (first palm body) according to an embodiment of the present invention. Figure 1 ; Figure 25 This is a schematic diagram of the structure of the palm body (first palm body) according to an embodiment of the present invention. Figure 2 .

[0021] Figure label: Dexterity 100 Hand body 1, First palm body 11, second palm body 12, wrist end 13, fingertips 14, palm surface 15, palm back surface 151, back of hand 152, boss area 151, mounting hole 1511, mounting part 1512, first mounting opening 15121, second mounting opening 15122. The components include: a accommodating space 16, a mounting base 17, a base 18, a first support member 181, a second support member 182, a third support member 183, and a partition plate 19. Thumb 2, Finger root assembly 21, second connector 211, joint unit 212, first joint 2121, second joint 2122, third joint 2123, third connector 212, fourth connector 213, finger root body 214, first pivot 2141, second pivot 2142, fourth pivot 2143 finger center component 22, fifth connector 221, finger center body 222, third pivot part 2221, seventh pivot part 2222. Fingertip assembly 23, sixth connector 231, fifth pivot 2311, sixth pivot 2312, fingertip body 232, Auxiliary finger 3, first knuckle 31, first connector 311, second knuckle 32 First image acquisition device 41, first camera 411, circuit board 412, lighting module 413. Second image acquisition device 42, second camera 421 Fingertip portion 51, fingertip receiving cavity 511, transparent body 512, fixing member 513, silicone layer 514. First drive assembly 6, first drive component 61, push structure 62, first push component 621, first push component 622. Second drive assembly 7, second drive component 71, first transmission component 72, third drive component 73, second transmission component 74, support rod 75. First transmission assembly 76, first drive rod 761, first rod portion 7611, second rod portion 7612, lead screw 762. Second transmission assembly 77, second drive rod 771, third drive rod 772. First rotating shaft 81, second rotating shaft 82, third rotating shaft 83, fourth rotating shaft 84, transmission bearing 85, inner ring 851, outer ring 852, ball joint 86, first elastic element 87. Control module 9. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, 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, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The following is for reference. Figures 1-25 The present invention describes a dexterous hand 100 with high degrees of freedom, high motion stability, and high gripping force, which can achieve more precise movements to accurately grasp objects. It can also grasp more delicate and soft objects, and has high integration, small overall size, light weight, and low cost, which is conducive to the lightweighting of robots.

[0026] like Figures 1-25As shown, a dexterous hand 100 according to an embodiment of the present invention includes: a palm body 1, a thumb 2, at least two auxiliary fingers 3, a control module 9, a first image acquisition unit 41, and a second image acquisition unit 42.

[0027] The main body of the hand 1 is the core support and fixing structure of the dexterous hand 100. It fixes the fingers and connects to the wrist, providing a stable platform for the movement of each finger. The main body of the hand 1 can integrate various mechanisms to achieve coordinated movement of the wrist and fingers. The main body of the hand 1 has a wrist end 13 and a finger end 14 that are opposite to each other. That is, the wrist end 13 is located at one end of the main body of the hand 1, and the finger end 14 is located at the other end of the main body of the hand 1. The wrist end 13 is used to connect to the wrist, and the finger end 14 is used to connect to the fingers.

[0028] The main body of the hand 1 also has a palm surface 15 located between the wrist end 13 and the finger end 14. The palm surface 15 is used to provide a support surface for the grasped object to ensure that the grasped object can be stably held in the hand and prevent it from falling.

[0029] The thumb 2 is the key finger for the dexterous hand 100 to achieve fine operation and stable grasping of objects. The auxiliary fingers 3 can be set to two, three, four, etc. The auxiliary fingers 3 can work together with the thumb 2 to assist the thumb 2 in achieving various grasping operations.

[0030] The thumb 2 is movably mounted on the palm 15, and at least two auxiliary fingers 3 are movably mounted on the fingertips 14. The thumb 2 and auxiliary fingers 3 are configured to bend relative to the palm body 1 to move toward or away from each other. In other words, the thumb 2 is mounted on the palm 15 and can move relative to the palm 15, and each auxiliary finger 3 is mounted on the fingertip 14 and can move relative to the fingertip 14. The thumb 2 can bend relative to the main body of the palm to move closer to or away from the auxiliary finger 3, and the auxiliary finger 3 can also bend relative to the main body of the palm to move closer to or away from the thumb 2, thereby realizing a variety of grasping and releasing operations, such as wrapping grasping, pinching, hooking and other grasping operations; in other words, the thumb 2 and the auxiliary finger 3 can each perform multi-degree-of-freedom movements. The auxiliary finger 3 can perform flexion, extension, lateral swing and other movements, and the thumb 2 can perform complex movements such as flexion, extension, rotation, lateral swing, and palm opposition. The auxiliary finger 3 and the thumb 2 cooperate with each other to realize a variety of complex grasping actions and achieve reliable grasping. In other words, the dexterous hand 100 has degrees of freedom, high movement stability and high gripping force.

[0031] The dexterous hand 100 includes a control module 9, a first image acquisition element 41, and a second image acquisition element 42. At least one of the fingertip 51 of the thumb 2 and the fingertip 51 of the auxiliary finger 3 is provided with the first image acquisition element 41, and at least one second image acquisition element 42 is provided on the palm surface 15. The control module 9 is adapted to jointly control the movement of the thumb 2 and the auxiliary finger 3 based on the image information acquired by the first image acquisition element 41 and the second image acquisition element 42.

[0032] Specifically, the control module 9 is the core of the dexterous hand 100's precise operation. The first image acquisition unit 41 is used to acquire tactile information of objects and convert it into recognizable visual signals. The first image acquisition unit 41 can be constructed as a visual-tactile sensor, which can capture the deformation of the fingertip 51 during grasping, acquire tactile information, and convert this tactile information into high-resolution visual information. This enables precise measurement of various tactile information, helping the dexterous hand 100 to more accurately perceive the physical properties of objects, facilitating the control of gripping force and grasping method, and preventing damage or slippage of objects. The second image acquisition unit 42 is used to acquire visual information of objects in the operating environment, such as the shape, position, and posture of objects, helping the dexterous hand 100 to achieve precise grasping and placement.

[0033] The second image acquisition unit 42 can be set to one, two, three, or more. When multiple units are used, the dexterous hand 100 can acquire both planar image information and depth information of the object. Specifically, multiple second image acquisition units 42 can recover the three-dimensional information of the object through the principle of parallax, enabling more accurate object positioning and guiding the dexterous hand 100 to grasp the object more precisely. At the same time, multiple second image acquisition units 42 acquire image information from different angles and areas at multiple locations, expanding the field of view and thus avoiding collisions with the dexterous hand 100, improving its safety. The control module 9 is electrically connected to the first image acquisition unit 41 and the second image acquisition unit 42, so that the information acquired by the first image acquisition unit 41 and the second image acquisition unit 42 can be transmitted to the control module 9. After receiving the image information acquired by the first image acquisition unit 41 and the second image acquisition unit 42, the control module 9 can analyze this information to control the movement of the thumb 2 and the auxiliary finger 3 to achieve accurate operation. For example, when grasping an object, the second image acquisition unit 42 can provide the control module 9 with visual information of the object through the acquired image information, guiding the dexterous hand 100 to perform initial positioning and grasping; the first image acquisition unit 41 can provide the control module 9 with tactile information of the object through the acquired image information during the grasping process, helping the dexterous hand 100 to perform fine operation and adjustment. Thus, through the mutual supplementation of the information acquired by the first image acquisition unit 41 and the second image acquisition unit 42, the perception and operation capabilities of the dexterous hand 100 are improved.

[0034] The second image acquisition component 42 is integrated into the palm surface 15, enabling the dexterous hand 100 to autonomously identify and locate objects without relying on external devices. This improves the integration of the dexterous hand 100 without making its overall size too large. The first image acquisition component 41 has high spatial and force resolution, small overall size, and low cost, which reduces the size of the thumb 2 and auxiliary fingers 3, thus improving the integration of the dexterous hand 100, reducing costs, and enhancing the grasping precision of the dexterous hand 100. This allows the dexterous hand 100 to grasp more delicate and gentle objects.

[0035] Therefore, the dexterous hand 100 of the present invention has high degree of freedom, high motion stability, and high gripping force, which can achieve more precise movements to accurately grasp objects, and can also grasp more delicate and soft objects. At the same time, it has high integration, small overall size, light weight, and low cost, which is conducive to improving the lightweight of robots.

[0036] According to an embodiment of the present invention, the dexterous hand 100, by setting the thumb 2 and auxiliary fingers 3 to bend relative to the palm body 1 to move towards or away from each other, can realize a variety of complex grasping actions such as pinching and gripping, and has high degree of freedom, high motion stability, and high gripping force. By providing a first image acquisition element 41 at least one of the fingertips 51 of the thumb 2 and the fingertips 51 of the auxiliary fingers 3, and providing at least one second image acquisition element 42 on the palm surface 15, the control module 9 can jointly control the movement of the thumb 2 and the auxiliary fingers 3 according to the image information acquired by the first image acquisition element 41 and the second image acquisition element 42, so that the dexterous hand 100 can achieve more precise movements to achieve precise grasping of objects, and can also grasp more delicate and softer objects. Moreover, the dexterous hand 100 has high integration, small overall size, and low cost, which is conducive to realizing the lightweighting of robots.

[0037] In some embodiments, the wrist end 13 and the finger end 14 are distributed along a first direction, there are two auxiliary fingers 3, and the two auxiliary fingers 3 are distributed at intervals along a second direction on the finger end 14, and the first direction and the second direction intersect.

[0038] Specifically, such as Figure 1 As shown, the first direction is Figure 1 In the front-back direction shown, fingertip 14 is located at the front end of the palm body 1, and wrist end 13 is located at the rear end of the palm body 1. Thus, wrist end 13 and fingertip 14 are located at the front and rear ends of the palm body 1, respectively, i.e., at the two ends in the first direction. There are two auxiliary fingers 3; the structures of the two auxiliary fingers 3 can be the same or different. The second direction is... Figure 1 As shown in the diagram, two auxiliary fingers 3 are distributed along the left and right directions at the fingertips 14. This allows the thumb 2 and the two auxiliary fingers to achieve a high degree of biomimicry, facilitating grasping operations. Furthermore, by using two auxiliary fingers 3 in conjunction with the thumb 2, various grasping actions can be achieved. Reducing the number of auxiliary fingers 3 reduces the overall weight and size of the dexterous hand 100, resulting in a high degree of integration.

[0039] Furthermore, two second image acquisition devices 42 are provided, and the two second image acquisition devices 42 are distributed on the palm surface 15 at intervals along the second direction.

[0040] Specifically, such as Figure 1 As shown, the second direction is Figure 1As shown in the diagram, two second image acquisition units 42 are arranged in the left and right directions, and are distributed on the palm surface 15 at intervals along the left and right sides. Thus, the two second image acquisition units 42 can simulate the principle of human stereoscopic vision. First, by generating a high-resolution depth map through parallax, the surface contour, size and spatial position of objects can be accurately identified, and accurate three-dimensional spatial perception can be achieved. Furthermore, it can be combined with the first image acquisition unit 41 to realize the dynamic adjustment of the gripping force of the dexterous hand 100 to achieve complex posture gripping, thereby improving the operation accuracy and achieving precise positioning and precise gripping control. Second, the two second image acquisition units 42 are anti-occlusion and compensate for blind spots, providing more depth information, and are conducive to the dexterous hand 100 dynamically planning the path during movement to dynamically avoid obstacles and ensure safety, thereby improving the environmental adaptability of the dexterous hand 100.

[0041] It should also be noted that the palm surface 15 includes a palm face 151 and a back face 152 distributed along a third direction. Two second image acquisition elements 42 can be set on the palm face 151 to form a set of binocular cameras, or two second image acquisition elements 42 can be set on the back face 152 to form another set of binocular cameras. The two sets of binocular cameras work simultaneously to improve the working efficiency of the dexterous hand 100. One or two second image acquisition elements 42 can also be set on the wrist end 13 to provide more viewing angles, acquire more image information, cover more operating space, and when one of the second image acquisition elements 42 is blocked or damaged, the second image acquisition elements 42 from other viewing angles can still provide depth information, thereby improving the reliability of the dexterous hand 100.

[0042] In some embodiments, the two second image acquisition devices 42 are located on either side of the thumb 2.

[0043] Specifically, such as Figure 1 and Figure 3 As shown, in the second direction, i.e. the left and right direction, the two second image acquisition devices 42 are located on the left and right sides of the thumb 2, and the thumb 2 is located at the rear middle of the palm 15. Thus, the two second image acquisition devices 42 and the thumb 2 are effectively installed to prevent interference. At the same time, the field of view of the two second image acquisition devices 42 is not obstructed, and image information can be effectively acquired.

[0044] In other embodiments, the two second image acquisition elements 42 are symmetrically distributed with respect to the first direction.

[0045] Specifically, such as Figure 3 As shown, the first direction is Figure 3As shown in the front-back direction, the two second image acquisition units 42 are symmetrically distributed relative to the first direction. This allows the two second image acquisition units 42 to effectively simulate the principle of human stereoscopic vision, enabling the two image acquisition units to simultaneously capture images of the same scene from different perspectives, calculate object distances, and generate depth maps in real time. This provides the dexterous hand 100 with instinctive-level responsiveness for grasping, thereby enhancing the dexterous hand 100's three-dimensional perception, environmental adaptation, and interaction capabilities.

[0046] In other embodiments, in the projection along the second direction, the projection of the thumb 2 is located between the projections of the two auxiliary fingers 3.

[0047] Specifically, such as Figure 3 As shown, the second direction is Figure 3 In the left-right direction shown, the projection of the thumb 2 is located between the projections of the two auxiliary fingers 3, that is, one auxiliary finger 3 is located to the left of the thumb 2 and the other auxiliary finger 3 is located to the right of the thumb 2. Thus, the thumb 2 can flexibly cooperate with the two auxiliary fingers 3 to avoid interference, reduce the movement distance between the two auxiliary fingers 3 and the thumb 2, achieve quick gripping, and better control the gripping force.

[0048] In some embodiments, the palm surface 15 has a protruding boss area 151, which is spaced apart from the fingertips 14. An open mounting hole 1511 is provided in the boss area 151, and the thumb 2 is movably mounted in the mounting hole 1511. Both second image acquisition elements 42 are located within the boss area 151.

[0049] Specifically, such as Figure 1 , Figure 3 and Figure 24 As shown, in the third-party direction, i.e. Figure 1 In the vertical direction shown, the palm surface 15 has an upwardly protruding boss area 151. The boss area 151 can enhance the local strength of the palm body 1 and increase the local space to provide installation space for the two second image acquisition components 42. The two second image acquisition components 42 can be installed in the boss area 151 without increasing the volume of the entire dexterous hand 100 too much.

[0050] In some embodiments, the first image acquisition device 41 includes a first camera 411, a fingertip receiving cavity 51 is formed in the fingertip portion 51 of the thumb 2 and / or the fingertip portion 51 of the auxiliary finger 3, the side of the fingertip portion 51 facing the palm surface 15 is constructed as a transparent body 512, and the first camera 411 is located in the fingertip receiving cavity 511 and is adapted to take pictures outward from the transparent body 512.

[0051] Specifically, such as Figure 22 and Figure 23As shown, the first image acquisition device 41 includes a first camera 411, which is a miniature high-precision camera. The fingertip 51 of the thumb 2 and the fingertip 51 of the two auxiliary fingers 3 are hollow to form a fingertip receiving cavity 511. The side of the fingertip 51 facing the palm 15, i.e., the lower side of the fingertip 51, is constructed as a transparent body 512, which can be transparent acrylic. A silicone layer 514 is connected to the outside of the transparent body 512. The first camera 411 is located inside the fingertip receiving cavity 511. In other words, the first image acquisition device 41 is integrated into the fingertip 51. A fixing member 513 can also be provided in the fingertip receiving cavity 511 to install and fix the first camera 411 to ensure the installation stability of the first camera 411.

[0052] The field of view of the first camera 411 covers the entire transparent body 512 and the silicone layer 514. The first camera 411 adopts an industrial endoscope module. The first image acquisition device 41 also includes an illumination module 413, which is a ring of neutral white LED lights, i.e., an LED light source array, surrounding the lens of the first camera 411. The silicone layer 514 is designed with a human fingertip-like shape.

[0053] When an object comes into contact with the silicone layer 514, the silicone layer 514 deforms, and the light distribution changes accordingly. The first camera 411 captures these changing images from the transparent body 512, and after processing, obtains tactile information. In this embodiment, the method for converting physical contact into optical image information is a combination of marker displacement and reflective film. An array of markers and reflective pigments reflecting light can be applied to the surface of the silicone layer 514. When an object comes into contact with the surface of the silicone layer 514, the silicone layer 514 deforms. The intensity of the reflected light is related to the gradient of the deformed surface of the silicone layer 514. The image captured by the first camera 411 can be used to estimate the surface gradient, and then surface height information can be obtained through gradient reconstruction, thereby performing three-dimensional reconstruction of the contacting object. When grasping an object, the object acts on the surface of the silicone layer 514, causing the silicone layer 514 to deform, resulting in the movement of the markers. By capturing the two-dimensional displacement of the markers by the first camera 411, the system can obtain various tactile information, including shear force and sliding.

[0054] Therefore, this embodiment can accurately capture contact images of the contact surface by marking an array of points and depositing a reflective film on the surface of the silicone layer 514, analyze changes in the contact images, and accurately estimate tactile information such as force, shape, and slippage.

[0055] Among them, such as Figure 22 As shown, the first image acquisition device 41 also includes a circuit board 412, which is electrically connected to the control module 9 to transmit tactile information to the control module 9.

[0056] It should be noted that the first camera 411 adopts an industrial endoscope module. The industrial endoscope module is small in size, has a large field of view, and a short focal length. It can be installed in a small space, reducing the space occupied and improving the integration of the dexterous hand 100.

[0057] Furthermore, the silicone layer 514 includes transparent silicone rubber, black screen-printed markers, and opaque silver-gray silicone paint; the transparent silicone rubber is bonded and fixed to the transparent body 512; the black screen-printed markers are disposed between the transparent silicone rubber and the opaque silver-gray silicone paint to attach and set black circular array markers on the surface of the transparent silicone rubber; the opaque silver-gray silicone paint is sprayed on the transparent silicone rubber with black circular array markers as a reflective layer to prevent light from diffusely reflecting inside the sensor, and at the same time acts as a protective film during the contact between the sensor and the target.

[0058] Furthermore, the diameter of each black circular marker in the black circular array is 0.5mm-1.5mm; the maximum thickness of the transparent silicone rubber with the black circular array markers attached to the surface is less than or equal to 5mm; the contact life of the opaque film formed by the opaque silver-gray silicone paint is greater than or equal to 10,000 times, and the contact life of the coating formed by the opaque silver-gray silicone paint corresponding to the black circular array markers is greater than or equal to 10,000 times.

[0059] Furthermore, since the silicone layer 514 has a non-planar structure, the first camera 411 positioned above the silicone layer 514 provides oblique illumination. The original image of the silicone layer 514 captured by the first camera 411 is a distorted image, and due to uneven illumination intensity, the original image exhibits uneven lighting. The distortion correction process for the original image is as follows: Four control points are selected in both the target image and the original image, and image correction is performed using perspective transformation. The perspective transformation matrix H is calculated using the control points. Based on the perspective transformation matrix H, the perspective-transformed coordinates of each pixel in the original image are calculated. Bilinear interpolation is used to calculate the pixel values ​​in the transformed coordinates. All transformed pixels are then filled into a new image to generate a distorted corrected image.

[0060] Furthermore, an adaptive histogram equalization method is used to equalize the light intensity values ​​of the entire distortion-free image, resulting in a light intensity-equalized tactile image. Specifically, the distortion-free image is divided into multiple small regions, a histogram is calculated for each small region, a maximum value constraint is set for the histogram, and the constrained histograms are normalized and summed to obtain a cumulative histogram. The cumulative histogram is used to map the original pixel values ​​in each small region to the enhanced pixel values. Then, all small region images are merged into a complete image, and bilinear interpolation is used to smooth the transition between adjacent small regions, resulting in a final distortion-free and light intensity-equalized tactile image.

[0061] Thus, the spatial and mechanical resolutions of the first image acquisition unit 41 are effectively improved through the above settings.

[0062] In some embodiments, the second image acquisition device 42 includes a second camera 421, which is exposed on the palm surface 15 and adapted to capture images on the side facing upward toward the fingertips 14.

[0063] Specifically, such as Figure 4 , Figure 24 and Figure 25 As shown, the protruding area 151 has a mounting portion 1512 extending downwards and inwards towards the palm body 1. The second camera 421 is located within the mounting portion 1512. The mounting portion 1512 has a first mounting opening 15121 that opens outwards. One end of the second camera 421 is mounted at the first mounting opening 15121, so that the second camera 421 is exposed on the palm surface 15. The first mounting opening 15121 opens upwards and forwards, so that the second camera 421 can shoot towards the side of the palm surface 15 near the fingertips 14, covering the upper and frontal field of view of the palm surface 15. This maximizes the field of view of the second camera 421, allowing the second image acquisition unit 42 to acquire more image information, which is beneficial for accurate object grasping.

[0064] like Figure 24 and Figure 25 As shown, the mounting part 1512 also has a second mounting port 15122, which is located inside the palm body 1. The other end of the second camera 421 can be installed at the second mounting port 15122 to achieve the hidden installation of the second image acquisition component 42, which can effectively protect the second image acquisition component 42.

[0065] In some embodiments, the dexterous hand 100 further includes a first drive component 6 and a second drive component 7. The first drive component 6 is connected to an auxiliary finger 3 to drive the auxiliary finger 3 to move relative to the palm body 1. The auxiliary finger 3 can perform flexion, extension and / or lateral movement relative to the palm body 1. The second drive component 7 is connected to a thumb 2 to drive the thumb 2 to move relative to the palm body 1. The thumb 2 can perform flexion, extension and / or lateral movement relative to the palm body 1, as well as twisting or rotating movement.

[0066] Therefore, by effectively driving the auxiliary finger 3 and the thumb 2 through the first driving component 6 and the second driving component 7, the auxiliary finger 3 and the thumb 2 can be controlled to cooperate effectively, closely resembling the movement of a human hand, and realizing various grasping operations.

[0067] In some embodiments, a receiving space 16 is formed within the palm body 1, and the first driving component 6 and the second driving component 7 are both configured to be at least partially located within the receiving space 16.

[0068] Specifically, such as Figure 4 and Figure 5 As shown, the palm body 1 is hollow inside to form a receiving space 16. It is provided with two first driving components 6 and two auxiliary fingers 3. The two first driving components 6 drive the two auxiliary fingers 3 to move relative to the palm body 1 in a one-to-one correspondence. At least part of the first driving component 6 and at least part of the second driving component 7 are located in the receiving space 16.

[0069] Among them, the two first drive components 6 and the second drive component 7 are along the second direction, i.e. Figure 5 As shown, the second drive component 7 is located between the two first drive components 6, thereby making full use of the internal space of the palm body 1, realizing the reliable installation of each drive component, improving space utilization, improving the integration of the dexterous hand 100, avoiding interference between various structures, and ensuring that the thumb 2 and auxiliary fingers 3 can move flexibly.

[0070] In other embodiments, such as Figure 5 As shown, a partition plate 19 can also be provided in the accommodating space 16 to divide the accommodating space 16 into an upper accommodating space and a lower accommodating space. The control module 9 is installed in the upper accommodating space, and the first drive assembly 6 and two second drive assemblies 7 are installed in the lower accommodating space to prevent the control module 9 from interfering with the first drive assembly 6 and the two second drive assemblies 7.

[0071] In some embodiments, the palm body 1 includes a first palm body 11 and a second palm body 12, the first palm body 11 and the second palm body 12 being connected along a third direction and jointly defining an accommodating space 16.

[0072] Specifically, such as Figure 1 and Figure 2 As shown, the third party is Figure 1 In the vertical direction shown, the first palm body 11 is the upper part of the palm body 1 and has a downward-open receiving groove, and the second palm body 12 is the lower part of the palm body 1 and has an upward-open receiving groove. The first palm body 11 and the second palm body 12 are connected in the vertical direction to form an integral palm body 1 and form a closed receiving space 16, which can effectively protect the structure within the receiving space 16.

[0073] By designing the main body 1 of the hand as a split type, it is easier to install and disassemble the internal structure of the main body 1, thus improving the convenience of assembly and disassembly.

[0074] In some embodiments, the first driving component 6 includes a first driving member 61 and a pushing structure 62. The auxiliary finger 3 includes a first phalanx 31, which is rotatable relative to the palm body 1. The output end of the first driving member 61 is connected to the pushing structure 62, and the pushing structure 62 is connected to the first phalanx 31, so that the first driving member 61 drives the first phalanx 31 to rotate through the pushing structure 62.

[0075] Specifically, the first driving member 61 is a power source used to provide power. The output end of the first driving member 61 is connected to the push structure 62 so that the power of the first driving member 61 can be transmitted to the push structure 62 to drive the push structure 62 to move. The push structure 62 is connected to the first phalanx 31 so that when the push structure 62 moves, it can drive the first phalanx 31 to move, so that the first phalanx 31 rotates relative to the palm body 1, thereby realizing the power transmission from the first driving member 61 to the first phalanx 31 and realizing the rotation of the first phalanx 31 relative to the palm body 1, that is, realizing the flexion and extension movement of the first phalanx 31.

[0076] In some embodiments, the palm body 1 is provided with a mounting base 17, the first phalanx 31 is rotatably connected to the mounting base 17, the auxiliary finger 3 also includes a second phalanx 32, the first phalanx 31 is provided with a first connector 311, one end of the first connector 311 is rotatably connected to the mounting base 17 about a first axis and the other end is rotatably connected to the second phalanx 32 about a second axis, the first phalanx 31 and the second phalanx 32 are rotatably connected, when the first phalanx 31 rotates relative to the mounting base 17, the first connector 311 drives the second phalanx 32 to rotate relative to the first phalanx 31.

[0077] Specifically, such as Figures 7-12 As shown, the palm body 1 is provided with a mounting base 17, that is, the mounting base 17 and the palm body 1 can be integrated, or the mounting base 17 can be fixedly connected to the palm body 1. The first phalanx 31 is rotatably connected to the mounting base 17 through the first rotating shaft 81, that is, the first rotating shaft 81 passes through the first phalanx 31 and the mounting base 17, so that the first phalanx 31 can rotate around the first rotating shaft 81, realizing the rotation of the first phalanx 31 relative to the mounting base 17, that is, realizing the rotation of the first phalanx 31 relative to the palm body 1.

[0078] like Figures 7-12As shown, the auxiliary finger 3 also includes a second phalanx 32. The interior of the first phalanx 31 is hollow, and a first connector 311 is disposed inside the first phalanx 31. A second rotating shaft 82 passes through the mounting base 17 and one end of the first connector 311, and the first connector 311 can rotate around the second rotating shaft 82. The axis of the second rotating shaft 82 is the first axis, thus realizing the rotatable connection between one end of the first connector 311 and the mounting base 17 around the first axis. A third rotating shaft 83 passes through the second phalanx 32 and the other end of the first connector 311, and the second connector 311 can rotate around the third rotating shaft 83. The axis of the third rotating shaft 83 is the second axis, thus realizing the rotatable connection between the other end of the first connector 311 and the second phalanx 32. A fourth rotating shaft 84 passes through the second phalanx 32 and the first phalanx 31, and the second phalanx 32 can rotate around the fourth rotating shaft 84, thus realizing the rotatable connection between the first phalanx 31 and the second phalanx 32.

[0079] Therefore, when the pushing structure 62 pushes the first phalanx 31 to rotate around the first pivot 81 relative to the mounting base 17, the first phalanx 31 will drive the first connecting member 311 to rotate around the second pivot 82 relative to the mounting base 17. During this process, the torque is transmitted from one end of the first connecting member 311 to the other end of the first connecting member 311. The other end of the first connecting member 311 drives the second phalanx 32 to rotate around the third pivot 83. At the same time, the second phalanx 32 rotates around the fourth pivot 84 relative to the first phalanx 31. Thus, when the first phalanx 31 rotates relative to the mounting base 17, the first connecting member 311 drives the second phalanx 32 to rotate relative to the first phalanx 31. That is, through the linkage of the first phalanx 31 and the second phalanx 32, the second phalanx 32 can perform flexion and extension movements relative to the first phalanx 31.

[0080] In practical design, such as Figure 9 As shown, the pushing structure 62 includes a first pushing member 621 and a second pushing member 622. The output end of the first driving member 61 can be connected to the first pushing member 621. The first pushing member 621 and the second pushing member 622 are connected. The second pushing member 622 is sleeved outside the first rotating shaft 81. The first driving member 61 can push the first pushing member 621 to move linearly towards the first phalanx 31. When the first pushing member 621 moves, it can push the second pushing member 622 to rotate around the first rotating shaft 81, thereby driving the first phalanx 31 to rotate around the first rotating shaft 81. The first driving member 61 can be configured as a drive motor, such as a linear motor.

[0081] Of course, the first driving component 61 can also be constructed as a rotary motor, and the pushing structure 62 can be constructed as a ball screw 2, so that the pushing structure 62 can perform linear motion to drive the first phalanx 31 to rotate around the first rotating shaft 81. This can be flexibly configured according to requirements. Alternatively, the first driving component 61 can be constructed as a two-degree-of-freedom motor, meaning that the motor shaft of the first driving component 61 can perform both linear pushing motion and rotational motion. The motor shaft can be directly connected to the pushing structure 62 to drive the pushing structure 62 to perform linear motion and / or rotational motion. When performing linear motion, it drives the first phalanx 31 to rotate around the first rotating shaft 81; when performing rotational motion, it drives the first phalanx 31 to rotate together, thus allowing the first phalanx 31 to perform both flexion-extension and rotational motions.

[0082] In other embodiments, such as Figure 9 As shown, there is a first elastic element 87 between the pushing structure 62 and the first connecting member 311. When the first elastic element 87 is subjected to external force, it can undergo elastic deformation to generate elastic force. The elastic force of the first elastic element 87 can make the first phalanx 31 rotate stably without excessive bending, and at the same time, it is beneficial for the first phalanx 31 to straighten.

[0083] For example, the first elastic element 87 can be configured as a spring, an elastic rope, etc. When the first phalanx 31 bends toward the palm 15, the first elastic element 87 extends, which can buffer the movement of the first phalanx 31 and ensure that the first phalanx 31 bends stably. When the first phalanx 31 bends away from the palm 15, that is, straightens, the elastic force of the first elastic element 87 to restore the elastic deformation will help the first phalanx 31 straighten.

[0084] In some embodiments, the second drive assembly 7 includes a second drive member 71, a first transmission member 72, a third drive member 73, a second transmission member 74, and a support rod 75. The thumb 2 includes a finger root assembly 21, which is connected to the support rod 75. The finger root assembly 21 includes a second connector 211 and a joint unit 212, which are movably connected to each other.

[0085] Specifically, both the second drive member 71 and the third drive member 73 are power sources. The second drive member 71 drives the thumb 2 to perform flexion, extension, and / or lateral movement, while the third drive member 73 drives the thumb 2 to perform twisting or rotational movements. The support rod 75 supports the finger root assembly 21, and the second connector 211 is connected to the joint unit 212 and can move relative to it. In practical design, the second drive member 71 can be configured as a drive motor, and the third drive member 73 can be configured as a servo motor.

[0086] Furthermore, the first transmission member 72 is sleeved outside the support rod 75, and the first transmission member 72 is rotatable relative to the support rod 75 about a third axis perpendicular to the central axis of the support rod 75. The second driving member 71 is poweredly connected to the first transmission member 72. The second transmission member 74 is sleeved outside the support rod 75 and is movably connected relative to the joint unit 212. The second transmission member 74 is rotatable relative to the first transmission member 72 about the central axis of the support rod 75. The third driving member 73 is poweredly connected to the support rod 75.

[0087] Specifically, such as Figures 13-15 As shown, the base 18 is provided with a support rod 75, which provides the installation position and rotation fulcrum for the thumb 2 of the entire dexterous hand 100, and at the same time provides a power transmission path for the third drive component 73 to achieve effective torque transmission. The finger root assembly 21 is connected to the support rod 75. The finger root assembly 21 includes a second connector 211 and a joint unit 212. The second connector 211 and the joint unit 212 are movably connected to each other, realizing the angle change of the thumb 2 in multiple directions. This simulates the compound movement ability of the human thumb or other fingers at the metacarpophalangeal joint, realizing bionics at the finger root.

[0088] The first transmission member 72 enables independent rotation around the third axis. The first transmission member 72 is sleeved on the support rod 75. The first transmission member 72 can rotate around the third axis, which is perpendicular to the central axis of the support rod 75. This creates a movement similar to finger flexion and / or lateral swing. The second drive member 71 is poweredly connected to the first transmission member 72 and drives the first transmission member 72 to rotate around the third axis, thereby causing the entire finger root assembly 21 to deflect at an angle. Here, the third axis extends perpendicular to the central axis of the support rod 75 (that is, the third axis extends along the radial direction of the support rod 75). Furthermore, by placing the first drive member 61 on the base 18, the mass at the end of the thumb 2 is reduced, and the dynamic response speed is improved.

[0089] The second transmission member 74 realizes the rotational movement of the central axis of the support rod 75. The second transmission member 74 is sleeved on the support rod 75 and is movably connected to the joint unit 212. At the same time, it can rotate relative to the first transmission member 72 around the central axis of the support rod 75. The third driving member 73 is poweredly connected to the support rod 75 to drive the support rod 75 to rotate itself, thereby driving the second transmission member 74 to rotate, realizing the twisting or rotating action of the thumb 2 (e.g., the thumb 2 palmar movement).

[0090] In other words, by driving the first transmission member 72 to rotate around the third axis through the second driving member 71, the finger root assembly 21 can move, and the flexion, extension and / or lateral swing of the thumb 2 can be realized independently. By driving the support rod 75 to rotate around its own axis through the third driving member 73, the second transmission member 74 can be rotated. The rotation of the second transmission member 74 can drive the finger root assembly 21 to move, and the twisting or rotation of the thumb 2 can be realized independently. When the first transmission member 72 and the second transmission member 74 cooperate, a range of motion close to that of the base of a human finger can be achieved.

[0091] In some embodiments, the second driving member 71 and the first transmission member 72 are poweredly connected via a first transmission assembly 76. The first transmission assembly 76 includes a first driving rod 761 and a lead screw 762. One end of the first driving rod 761 is movably connected to the first transmission member 72, and the other end of the first driving rod 761 is movably connected to the lead screw 762. The second driving member 71 is driven by the lead screw 762 to drive the first transmission member 72 to rotate relative to the support rod 75 about a first axis. Figure 13 , Figure 14 and Figure 15 As shown, it can be understood that the first drive rod 761 includes a first rod portion 7611 and a second rod portion 7612, with the first rod portion 7611 and the second rod portion 7612 connected sequentially. The first rod portion 7611 is connected along the front-back direction (e.g., ...). Figure 15 The second rod 7612 extends in the vertical direction (as shown in the front-back direction), and extends in the vertical direction (as shown in the back-to-back direction). Figure 15 Extending in the vertical direction (as shown), the lead screw 762 is connected to the second driving member 71 to drive the lead screw 762 to rotate around its own axis. At the same time, the lead screw 762 converts the rotational motion into linear motion. One end of the first driving rod 761 is rotatably connected to the first transmission member 72, and the other end of the first driving rod 761 is rotatably connected to the lead screw 762.

[0092] Specifically, when the lead screw 762 moves toward the first drive rod 761, the first drive rod 761 pushes the first transmission member 72 to rotate around the first axis, realizing the bending movement of the thumb 2; when the lead screw 762 moves away from the first drive rod 761, the first drive rod 761 pulls the first transmission member 72 to rotate around the first axis, realizing the straightening movement of the thumb 2. This improves the repeatability and positioning accuracy of the thumb 2's movement. Because the lead screw 762 and the first drive rod 761 are rigidly coupled, slippage, loosening, or breakage is unlikely, resulting in high mechanical rigidity and reliability. Furthermore, the lead screw 762, in conjunction with the first drive member 761, can output a large pushing and pulling force, driving the first transmission member 72 to overcome friction and load resistance, achieving strong gripping and starting capabilities, and enhancing the gripping force of the dexterous hand 100.

[0093] Furthermore, the movement distance of the lead screw 762 in a straight line limits the degree of bending and straightening of the thumb 2, preventing the thumb 2 from bending or straightening too much (i.e., bending in the opposite direction), thus preventing damage to the thumb 2 and reducing the failure rate of the thumb 2.

[0094] In some embodiments, a transmission bearing 85 is connected between the first transmission member 72 and the second transmission member 74. The transmission bearing 85 is sleeved on the support rod 75, and a ball joint 86 connects the support rod 75 and the transmission bearing 85. Figure 13 , Figure 14 As shown, the transmission bearing 85 includes an inner ring 851 and an outer ring 852. The first transmission member 72 is connected to the outer ring 852, and the second transmission member 74 is connected to the inner ring 851. This enables the independent movement of the first transmission member 72 and the second transmission member 74, avoiding interference between the flexion and rotation movements of the thumb 2. A ball joint 86 is provided between the inner ring 851 and the support rod 75, and the second transmission member 74 is located between the inner ring 851 and the ball joint 86. This enables multi-directional tilting movement between the support rod 7511 and the transmission bearing 85 within a certain angle range. This simulates the natural accompanying rotation (such as linkage effect) of the metacarpophalangeal joint (MCP) of the human hand during flexion and extension, making the finger movement closer to biomechanical characteristics and enhancing grip adaptability and operational smoothness.

[0095] In actual design, the transmission bearing 85 can be a rolling bearing.

[0096] In some embodiments, the third driving member 73 is poweredly connected to the support rod 75 via a second transmission assembly 77. The second transmission assembly 77 is connected between the third driving member 73 and the support rod 75. The second transmission assembly 77 includes a second driving rod 771 and a third driving rod 772. One end of the second driving rod 771 is connected to the support rod 75, and the other end of the second driving rod 771 is rotatably connected to one end of the third driving rod 772. The third driving member 73 is drivenly connected to the other end of the third driving rod 772 to drive the second transmission member 74 to rotate relative to the first transmission member 72 about the central axis of the support rod 75. (Refer to...) Figure 13 and Figure 19 As shown, it can be understood that when the third driving member 73 rotates, the third driving rod 772 produces a swinging or linear reciprocating motion. One end of the second driving rod 771 is rotatably connected to the third driving rod 772, transmitting power to the second driving rod 771. The other end of the second driving rod 771 is connected to the support rod 75 to drive the support rod 75 to rotate around its own axis (i.e., the support rod 75 rotates around the central axis), thereby realizing the rotational freedom of the thumb 2 around the central axis of the support rod 75 (such as the thumb's palm-on-palm, rotational grip, etc.).

[0097] In other feasible embodiments, the second transmission component 77 may be a gear drive or a synchronous belt drive.

[0098] In some embodiments, the joint unit 212 includes: a first joint member 2121221, a second joint member 2122, and a third joint member 2123. One end of the first joint member 2121 is rotatably connected to the second joint member 2122, and the other end of the first joint member 2121 is rotatably connected to the third joint member 2123. Both ends of the second joint member 2122 are rotatably connected to the second transmission member 74, and both ends of the third joint member 2123 are rotatably connected to the first connecting member 311.

[0099] like Figure 13 , Figure 14 and Figure 15 As shown, it can be understood that the first joint 2121 is along the vertical direction (e.g., Figures 13-14 Extending in the vertical direction (as shown), the second joint 2122 and the third joint 2123 both extend in the horizontal direction (as shown). Figures 13-14 Extending in the left-right direction (as shown), the second joint 2122 and the second transmission member 74 are rotatable relative to each other along the left-right rotation axis; the third joint 2123 and the first connecting member 311 are rotatable relative to each other along the left-right rotation axis; the first joint 2121 and the second joint 2122 are rotatable relative to each other along the front-back rotation axis; and the first joint 2121 and the third joint 2123 are rotatable relative to each other along the front-back rotation axis. Thus, by setting the joint unit 212, the multi-degree-of-freedom composite motion of the thumb 2 is realized, simulating the accompanying motion of the human hand during grasping (such as the slight rotation that naturally occurs during flexion and extension), making the movement of the thumb 2 more natural and smooth, and improving the grasping success rate of the dexterous hand 100.

[0100] In other embodiments, the joint unit 212 may be configured as a universal coupling, a fisheye bearing, or a spherical bearing.

[0101] In some embodiments, the finger root assembly 21 further includes: a third connector 212, a fourth connector 213, and a finger root body 214. The third connector 212 is connected to the support rod 75. One end of the second connector 211 is rotatably connected to the third connector 212. The finger root body 214 has a first pivot portion 2141 and a second pivot portion 2142. The third connector 212 is connected to the first pivot portion 2141, the fourth connector 213 is connected to the second pivot portion 2142, and the other end of the second connector 211 is rotatably connected to the fourth connector 213.

[0102] like Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17As shown, it can be understood that when the second driving member 71 drives the first transmission member 72 to swing, the first transmission member 72 drives the second connecting member 211 to rotate around the axis of the second connecting member 211 and the third connecting member 212. The movement of the second connecting member 211 is transmitted to the second pivot part 2142 of the finger root body 214 through the fourth connecting member 213. The finger root body 214 rotates around the first pivot part 2141 as the center of rotation and performs flexion, extension or abduction movements around the axis perpendicular to the support rod 75 (i.e., the third axis). This forms the flexion and extension movements of the human metacarpophalangeal joint, which enhances the movement flexibility and structural rigidity of the thumb 2 at the base.

[0103] In some embodiments, the thumb 2 further includes: a middle finger component 22, which is rotatably connected to the root finger component 21. The middle finger component 22 includes: a fifth connector 22171 and a middle finger body 22272. The middle finger body 222 has a third pivot portion 2221. The middle finger body 222 and the root finger body 214 are connected to the third pivot portion 2221 through a second pivot portion 2142. The root finger body 214 has a fourth pivot portion 2143. One end of the fifth connector 221 is connected to the fourth pivot portion 2143.

[0104] like Figure 14 , Figure 16 , Figure 17 and Figure 18 As shown, it can be understood that when the second driving member 71 drives the finger root body 214 to swing around the first pivot part 2141, it drives the entire finger root assembly 21 to move. At the same time, since one end of the fifth connecting member 221 is connected to the fourth pivot part 2143 of the finger root body 214, when the finger root body 214 moves, the fifth connecting member 221 moves accordingly. The movement of the fifth connecting member 221 pushes or pulls the middle finger body 222, causing it to flex and extend synchronously around the joint axis formed by the third pivot part 2221 and the second pivot part 2142. This achieves linkage-like flexion similar to that of a human finger, that is, the finger root and the middle finger phalanx bend in tandem, realizing the enveloping grasp and fine pinching of objects of different shapes, forming a natural grasping action. The second driving member 71 can drive the finger root and the middle finger phalanx to move in linkage, improving the power transmission efficiency and reducing driving redundancy.

[0105] In some embodiments, the thumb 2 further includes a fingertip assembly 23, which is rotatably connected to the middle finger assembly 22. The fingertip assembly 23 includes a sixth connector 231 and a fingertip body 232. The sixth connector 231 is connected to the fingertip body 232. A fifth pivot portion 2311 and a sixth pivot portion 2312 are formed on the sixth connector 231. The other end of the sixth connector 231 is connected to the fifth pivot portion 2311. A seventh pivot portion 2222 is formed on the middle finger body 222. The middle finger body 222 is connected to the sixth connector 231 through the sixth pivot portion 2312 and the seventh pivot portion 2222. Figures 13-18 As shown, it can be understood that when the second driving member 71 is activated, it drives the finger root body 214 to rotate around the first pivot part 2141. The finger root body 214 drives the sixth connecting member 231 to move. The sixth connecting member 231 pulls or pushes the finger, and the sixth connecting member 231 rotates around the joint axis formed by the sixth pivot part 2312 and the seventh pivot part 2222, thus driving the entire fingertip assembly 23 to complete the flexion action. That is, the fingertip assembly 23 and the middle finger assembly 22 are connected by the rotation of the sixth pivot part 2312 and the seventh pivot part 2222. Thus, the linkage flexion of the entire segment is realized, and the highly biomimetic fingers of the dexterous hand 100 are achieved. The first driving member 61 can drive the linkage movement of the finger root, middle finger joint and fingertip, which improves the power transmission efficiency, reduces driving redundancy, and achieves natural bending through the cooperation of multiple pivot parts, thus improving the compliance of the thumb 2.

[0106] In other feasible embodiments, the connector can be a rod, a tendon, or a gear coupling mechanism.

[0107] In some embodiments, such as Figure 13 and Figure 18 As shown, the base 18 includes: a first support member 181, a second support member 182, a third support member 183, and a mounting member. The first support member 181 is connected to the support rod 75, the second support member 182 is connected to the first support member 181, the second support member 182 is used to support the third drive member 73, the third support member 183 is used to support the second drive member 71, and the mounting member is connected to the second support member 182.

[0108] The present invention also proposes a robot.

[0109] The robot according to embodiments of the present invention includes the dexterous hand 100 of any of the above embodiments.

[0110] According to the embodiments of the present invention, by setting the dexterous hand 100 of the above embodiments, the overall performance of the robot is improved, the flexibility and accuracy of the robot are enhanced, the stability of the robot operation is ensured, and at the same time, due to its light weight and small size, the robot can be made lightweight.

[0111] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0112] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dexterous hand, characterized in that, include: The palm body (1) has a wrist end (13) and finger ends (14) that are opposite to each other, and the palm body (1) also has a palm surface (15) located between the wrist end (13) and the finger ends (14). A thumb (2) and at least two auxiliary fingers (3), the thumb (2) being movably mounted on the palm (15) and the at least two auxiliary fingers (3) being movably mounted on the fingertips (14), the thumb (2) and the auxiliary fingers (3) being configured to bend relative to the palm body (1) to move toward or away from each other; The control module (9), the first image acquisition device (41), and the second image acquisition device (42) are provided. At least one of the fingertip (51) of the thumb (2) and the fingertip (51) of the auxiliary finger (3) is provided with the first image acquisition device (41), and at least one of the palm surface (15) is provided with the second image acquisition device (42). The control module (9) is adapted to jointly control the movement of the thumb (2) and the auxiliary finger (3) based on the image information acquired by the first image acquisition device (41) and the second image acquisition device (42).

2. The dexterous hand according to claim 1, characterized in that, The wrist end (13) and the finger end (14) are distributed along a first direction, and there are two auxiliary fingers (3), which are distributed at intervals along a second direction on the finger end (14). The first direction and the second direction intersect. The second image acquisition device (42) is configured as two, and the two second image acquisition devices (42) are distributed at intervals along the second direction on the palm surface (15).

3. The dexterous hand according to claim 2, characterized in that, The two second image acquisition devices (42) are located on both sides of the thumb (2); And / or, the two second image acquisition devices (42) are symmetrically distributed with respect to the first direction; And / or, in the projection along the second direction, the projection of the thumb (2) is located between the projections of the two auxiliary fingers (3).

4. The dexterous hand according to claim 2, characterized in that, The palm surface (15) has a protruding boss area (151) that is spaced apart from the fingertips (14). The boss area (151) has an open mounting hole (1511) where the thumb (2) is movably mounted. Both second image acquisition devices (42) are located within the boss area (151).

5. The dexterous hand according to claim 1, characterized in that, The first image acquisition device (41) includes a first camera (411), and a fingertip receiving cavity (511) is formed in the fingertip (51) of the thumb (2) and / or the fingertip (51) of the auxiliary finger (3). The side of the fingertip (51) facing the palm (15) is constructed as a transparent body (512). The first camera (411) is located in the fingertip receiving cavity (511) and is adapted to take pictures outward from the transparent body (512). And / or, the second image acquisition device (42) includes a second camera (421) which is exposed on the palm surface (15) and adapted to capture images on the side facing upward toward the fingertips (14) above the palm surface (15).

6. The dexterous hand according to any one of claims 1-5, characterized in that, It also includes a first driving component (6) and a second driving component (7), wherein the first driving component (6) is connected to the auxiliary finger (3) to drive the auxiliary finger (3) to move relative to the palm body (1), and the second driving component (7) is connected to the thumb (2) to drive the thumb (2) to move relative to the palm body (1); The palm body (1) has a receiving space (16) formed therein, and the first driving component (6) and the second driving component (7) are both configured to be located at least partially within the receiving space (16).

7. The dexterous hand according to claim 6, characterized in that, The first driving component (6) includes a first driving member (61) and a pushing structure (62). The auxiliary finger (3) includes a first phalanx (31). The first phalanx (31) is rotatable relative to the palm body (1). The output end of the first driving member (61) is connected to the pushing structure (62). The pushing structure (62) is connected to the first phalanx (31) so that the first driving member (61) drives the first phalanx (31) to rotate through the pushing structure (62).

8. The dexterous hand according to claim 7, characterized in that, The main body of the palm (1) is provided with a mounting base (17). The first phalanx (31) is rotatably connected to the mounting base (17). The auxiliary finger (3) also includes a second phalanx (32). The first phalanx (31) is provided with a first connector (311). One end of the first connector (311) is rotatably connected to the mounting base (17) around a first axis and the other end is rotatably connected to the second phalanx (32) around a second axis. The first phalanx (31) and the second phalanx (32) are rotatably connected. When the first phalanx (31) rotates relative to the mounting base (17), it drives the second phalanx (32) to rotate relative to the first phalanx (31) through the first connector (311).

9. The dexterous hand according to claim 6, characterized in that, The second drive assembly (7) includes a second drive member (71), a first transmission member (72), a third drive member (73), a second transmission member (74), and a support rod (75). The thumb (2) includes a finger root assembly (21), which is connected to the support rod (75). The finger root assembly (21) includes a second connector (211) and a joint unit (212). The second connector (211) and the joint unit (212) are movably connected relative to each other. The first transmission member (72) is sleeved on the outside of the support rod (75), and the first transmission member (72) is rotatable relative to the support rod (75) about a third axis perpendicular to the central axis of the support rod (75). The second driving member (71) is poweredly connected to the first transmission member (72). The second transmission member (74) is sleeved on the outside of the support rod (75) and is movably connected relative to the joint unit (212). The second transmission member (74) is rotatable relative to the first transmission member (72) about the central axis of the support rod (75). The third driving member (73) is poweredly connected to the support rod (75).

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

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