Dexterous hand fingers, dexterous hand, and robot
By designing cross-axis and drive components, the problem of dexterous fingers struggling to achieve abduction and adduction degrees of freedom was solved, improving the biomimetic performance and grip strength of dexterous hands.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI WUJI TECH CO LTD
- Filing Date
- 2024-12-03
- Publication Date
- 2026-06-05
AI Technical Summary
Existing technologies struggle to achieve the degrees of freedom of abduction and adduction after already achieving dexterity in bending fingers toward the palm and extending them away from the palm.
The first rotating shaft within the cross-axis assembly enables the dexterous hand's fingers to bend toward the palm and extend away from the palm, while the first bushing enables the dexterous hand's fingers to abduct and adduct. The first and second drive components drive the first rotating shaft and the first bushing respectively, thus achieving rotation with multiple degrees of freedom.
It improves the biomimetic properties of the dexterous hand's fingers, making them closer to the natural movement of the human hand, and enhances the dexterous hand's flexibility and grip strength.
Smart Images
Figure CN122143082A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of humanoid robot technology, specifically relating to a dexterous hand finger, a dexterous hand, and a robot. Background Technology
[0002] With the gradual development of embodied intelligence, humanoid robots have developed rapidly.
[0003] The goal of developing humanoid robots is to replace humans in performing as many tasks as possible. According to relevant statistics, the human hand is the most frequently used part of the human body when performing daily tasks. Therefore, the development of dexterous hands is particularly crucial and important in the development of humanoid robots.
[0004] Furthermore, the dexterity of a dexterous hand is determined by the number of its degrees of freedom; the more degrees of freedom, the greater the dexterity. For example, in a human hand, fingers can not only bend towards the palm to form a fist, but also extend away from the palm until the fingers and palm are on the same plane. They can also abduct and adduct to open and close the palm. This requires achieving two different active degrees of freedom at the connection between the fingers and palm. While existing technology already provides the degree of freedom for bending fingers towards the palm, achieving an additional degree of freedom for abduction becomes extremely difficult due to the spatial constraints at the connection between the palm and fingers.
[0005] Therefore, existing technologies face the problem that after achieving the degree of freedom of dexterous fingers bending toward the palm and extending away from the palm, it is quite difficult to achieve the degree of freedom of dexterous fingers abducting and adducting. Summary of the Invention
[0006] This application provides a dexterous hand finger, a dexterous hand, and a robot. The dexterous hand finger achieves the degree of freedom of bending towards the palm and extending away from the palm through a first rotating shaft in a cross-axis assembly, and achieves the degree of freedom of abduction and adduction through a first bushing, thereby improving the biomimetic performance of the dexterous hand finger.
[0007] A first aspect of this application provides a dexterous hand finger, including: a cross-axis assembly, a knuckle assembly, and a metacarpal assembly; The cross-axis assembly includes a first rotating shaft and a first bushing, the first rotating shaft and the first bushing are fixedly connected, and the minimum included angle between the first axis and the second axis is ≥80°; The knuckle assembly is rotatably connected to the first rotating shaft. The outer shell of the knuckle assembly is fitted onto the first rotating shaft. The knuckle assembly contains a first drive assembly. The output end of the first drive assembly is connected to the first rotating shaft for transmission. The first drive assembly outputs torque to make the knuckle assembly rotate around the first axis. The metacarpal assembly is equipped with a second drive assembly. The output end of the second drive assembly is connected to the first bushing. The second drive assembly outputs torque to make the metacarpal assembly rotate around the second axis. Among them, the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the first bushing.
[0008] In one possible implementation, the minimum spacing between the first axis and the second axis is ≤15mm.
[0009] In one possible implementation, the minimum included angle between the first axis and the second axis is 90°.
[0010] In one possible implementation, the knuckle assembly includes: a proximal knuckle, a middle knuckle, and a distal knuckle; The first end of the proximal phalanx is provided with a first drive component, the output end of the first drive component is connected to the first rotating shaft for transmission, the first end of the proximal phalanx is sleeved on the first rotating shaft, the second end of the proximal phalanx is connected to the first end of the middle phalanx for transmission, and the second end of the middle phalanx is connected to the distal phalanx for transmission.
[0011] In one possible implementation, a third drive assembly is provided in the second end of the proximal phalanx. The output shaft portion of the third drive assembly is located outside the proximal phalanx and is drively connected to the first end of the middle phalanx. The third drive assembly outputs torque to make the middle phalanx rotate about a third axis, which is the central axis of the output shaft of the third drive assembly.
[0012] In one possible implementation, a fourth drive assembly is provided in the second end of the middle phalanx. The output end of the fourth drive assembly is located outside the middle phalanx and is connected to the distal phalanx via a transmission. The fourth drive assembly outputs torque to make the distal phalanx rotate about a fourth axis, which is the central axis of the output shaft of the fourth drive assembly.
[0013] In one possible implementation, the first drive assembly, the third drive assembly, and the fourth drive assembly each include: a first power source and a first transmission assembly; The first power source is fixed inside the knuckle, and the output end of the first power source is connected to the first end of the first transmission assembly, while the second end of the first transmission assembly is connected to the first rotating shaft.
[0014] In one possible implementation, the first transmission component is a planetary reducer.
[0015] In one possible implementation, the second drive component includes: a second power source and a second transmission component; The second power source is fixed inside the metacarpal assembly. The output end of the second power source is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the first bushing.
[0016] In one possible implementation, the second transmission component includes: n gears, where n is a positive integer; The output of the second power source is transmitted to the first bushing through the meshing and / or coaxial transmission of n gears.
[0017] In one possible implementation, when n is greater than 1, the n gears include m pairs of helical gears, where m is a positive integer less than or equal to n.
[0018] In one possible implementation, when m is an even number, m pairs of helical gears are evenly distributed on two opposite sides, and the axial loads generated by the helical gears on the two opposite sides are opposite.
[0019] In one possible implementation, the output end of the second transmission component is a "D" shaped shaft, and the first bushing is a bushing with a "D" shaped hole; The first bushing is fitted onto the output end of the second transmission assembly.
[0020] A second aspect of this application provides a dexterous hand, which includes at least one dexterous hand finger as described above, and a palmar skeleton, wherein the dexterous hand finger portion is located within the palmar skeleton and is fixedly connected thereto.
[0021] A third aspect of this application provides a robot, which includes: the aforementioned dexterous hand and a robot body, wherein the dexterous hand is connected to the robot body.
[0022] This application provides a dexterous hand finger, a dexterous hand, and a robot. The dexterous hand finger includes: a cross-axis assembly comprising a first rotating shaft and a first bushing, the first rotating shaft being fixedly connected to the first bushing, and the minimum included angle between the first axis and the second axis being ≥80°; the first axis being the central axis of the first rotating shaft, and the second axis being the central axis of the first bushing; a first drive assembly being provided within a phalange assembly, the output end of the first drive assembly being drively connected to the first rotating shaft; and a second drive assembly being provided within a metacarpal assembly, the output end of the second drive assembly being drively connected to the first bushing. Thus, since the cross-axis assembly includes a first rotating shaft and a first bushing, and the minimum included angle between the first axis and the second axis is ≥80°, after achieving the degree of freedom of the dexterous hand finger to bend toward the palm and extend away from the palm through the first bushing, the degree of freedom of the dexterous hand finger to abduct and adduct can be achieved through the first rotating shaft. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 One of the structural schematic diagrams of a dexterous hand provided in the embodiments of this application; Figure 2 A second schematic diagram of the structure of a dexterous hand provided in the embodiments of this application; Figure 3 One of the exploded structural diagrams of the fingers of a dexterous hand provided in an embodiment of this application; Figure 4 A second exploded view of the fingers of a dexterous hand provided in an embodiment of this application; Reference numerals: Dexterous hand 1000; Dexterous hand finger 100; Dexterous hand thumb 200; Hand skeleton 300; Metacarpal assembly 10; Cross axis assembly 20; First pivot 21; First bushing 22; First axis L1; Second axis L2; Knuckle assembly 30; Proximal phalanx 33; Middle phalanx 32; Distal phalanx 31. Detailed Implementation
[0025] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0026] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0027] First, it should be noted that the dexterous hand finger 100 provided in this application embodiment can be used as any one or more of the thumb, index finger, middle finger, ring finger or little finger in the dexterous hand, and no further restrictions are imposed here.
[0028] Secondly, it should be noted that, for ease of explanation, the embodiments of this application only use the right hand for description. Correspondingly, to implement the left hand, it is only necessary to mirror the right hand structure.
[0029] See Figure 1 and Figure 2 , Figure 1 This is one of the structural schematic diagrams of a dexterous hand provided in the embodiments of this application. Figure 2 This is the second schematic diagram of a dexterous hand provided in the embodiments of this application. For ease of description, the following description uses the fingers 100 of the dexterous hand as the index finger, middle finger, ring finger, and little finger.
[0030] according to Figure 1 and Figure 2 It can be seen that four of the above-mentioned dexterous hand fingers 100 can exist simultaneously in a dexterous hand, and each dexterous hand finger 100 can be detached from the dexterous hand individually, achieving a modular setting, which facilitates the replacement of damaged dexterous hand fingers 100 in the dexterous hand and makes maintenance easy.
[0031] See Figure 3 , Figure 3 This is one of the exploded structural diagrams of a dexterous hand finger 100 provided in the embodiments of this application. The dexterous hand finger 100 includes: a cross axis assembly 20, a knuckle assembly 30, and a metacarpal assembly 10. The cross-axis assembly 20 includes a first rotating shaft 21 and a first bushing 22. The first rotating shaft 21 and the first bushing 22 are fixedly connected. The minimum included angle between the first axis L1 and the second axis L2 is ≥80°.
[0032] The knuckle assembly 30 is rotatably connected to the first rotating shaft 21. The outer shell of the knuckle assembly 30 is fitted onto the first rotating shaft 21. The knuckle assembly 30 is provided with a first drive assembly. The output end of the first drive assembly is connected to the first rotating shaft 21 for transmission. The first drive assembly outputs torque to make the knuckle assembly 30 rotate around the first axis L1. The metacarpal assembly 10 is provided with a second drive assembly. The output end of the second drive assembly is connected to the first bushing 22 for transmission. The second drive assembly outputs torque to make the metacarpal assembly 10 rotate around the second axis L2. Among them, the first axis L1 is the central axis of the first rotating shaft 21, and the second axis L2 is the central axis of the first bushing 22.
[0033] It should be understood that the cross shaft assembly 20 includes a first rotating shaft 21 and a first bushing 22. First, the first rotating shaft 21 and the first bushing 22 can be directly fixedly connected or indirectly fixedly connected. Second, the first rotating shaft 21 and the first bushing 22 can be welded or integrally formed; there are no further restrictions here.
[0034] It should be noted that the minimum included angle between the first axis L1 and the second axis L2 is ≥80°. The two non-parallel first axis L1 and the second axis L2 have two included angles, which are the minimum included angle and the maximum included angle, respectively. The maximum included angle and the minimum included angle are complementary. Therefore, while limiting the minimum included angle to ≥80°, the maximum included angle is also limited to ≤100°. The reason for this setting is that if the minimum included angle between the first axis L1 and the second axis L2 is ≤80°, the first axis L1 and the second axis L2 tend to be parallel. This would cause the rotation arc of the first rotating shaft 21 and the rotation arc of the first bushing 22 to lie on two planes that tend to be parallel. Since the rotation arcs of the bending freedom and abduction freedom of the human hand are located on two mutually perpendicular planes, the bionic performance of the dexterous hand finger 100 would be poor. By limiting the minimum included angle between the first axis L1 and the second axis L2 to ≥80°, the bionic performance of the dexterous hand finger 100 is improved.
[0035] It should be understood that the aforementioned bending degree of freedom refers to the degree of freedom of the dexterous hand's fingers 100 to bend toward the palm and extend away from the palm; the aforementioned abduction degree of freedom refers to the degree of freedom of the dexterous hand's fingers 100 to abduct and adduct.
[0036] It should also be noted that the first rotating shaft 21 can be understood as a solid rotating shaft or a solid rotating shaft with a partially hollow structure; the first bushing 22 can be understood as a rotating shaft with an axial through hole.
[0037] Explanation of the working principle of abduction degree of freedom: Since the outer shell of the knuckle assembly 30 is sleeved on the first rotating shaft 21, the first drive assembly is fixed inside the outer shell of the knuckle assembly 30. When the output end of the first drive assembly inside the knuckle assembly 30 starts to output torque, the knuckle assembly 30 rotates relative to the cross shaft assembly 20 around the first axis L1, thereby simulating the abduction or retraction of a human hand.
[0038] Explanation of the working principle of bending degree of freedom: The metacarpal assembly 10 is provided with a second drive assembly. The output end of the second drive assembly is connected to the first bushing 22. The second drive assembly is fixed inside the metacarpal assembly 10. Therefore, when the second drive assembly outputs torque, the cross shaft assembly 20 rotates relative to the metacarpal assembly 10 around the second axis L2, thereby simulating the bending or stretching of a human hand.
[0039] This application provides a dexterous hand finger 100, a dexterous hand, and a robot. The dexterous hand finger 100 includes: a cross-axis assembly 20 including a first rotating shaft 21 and a first bushing 22, the first rotating shaft 21 and the first bushing 22 being fixedly connected, and the minimum included angle between the first axis L1 and the second axis L2 being ≥80°; the first axis L1 is the central axis of the first rotating shaft 21, and the second axis L2 is the central axis of the first bushing 22; a first drive assembly is provided in the phalange assembly 30, and the output end of the first drive assembly is connected to the first rotating shaft 21; a second drive assembly is provided in the metacarpal assembly 10, and the output end of the second drive assembly is connected to the first bushing 22. Thus, since the cross-axis assembly 20 includes the first rotating shaft 21 and the first bushing 22, the dexterous hand finger 100 can achieve the degree of freedom of bending towards the palm and extending away from the palm through the first bushing 22, and then the dexterous hand finger 100 can achieve the degree of freedom of abduction and adduction through the first rotating shaft 21.
[0040] Optionally, in some embodiments, the minimum spacing between the first axis L1 and the second axis L2 is ≤15mm.
[0041] In this embodiment of the application, the minimum distance between the first axis L1 and the second axis L2 is ≤15mm. This limitation is intended to improve the biomimetic performance of the dexterous hand finger 100. Analyzing the structure of the human hand, taking the middle finger as an example, the distance between the central axes of the bending and abduction degrees of freedom of the middle finger is almost zero. Therefore, setting the minimum distance between the first axis L1 and the second axis L2 to ≤15mm can more closely approximate the structure of the human hand, thereby improving the biomimetic performance of the dexterous hand finger 100.
[0042] Optionally, in some embodiments, the minimum included angle between the first axis L1 and the second axis L2 is 90°.
[0043] In this embodiment of the application, by making the minimum included angle between the first axis L1 and the second axis L2 = 90°, the first axis L1 and the second axis L2 are made perpendicular to each other, thereby more closely approximating the structure of a real human hand and improving the biomimetic performance of the dexterous hand fingers 100.
[0044] See Figure 4 , Figure 4 This is the second exploded structural diagram of a dexterous hand finger 100 provided in the embodiments of this application. The phalanx assembly 30 includes: a proximal phalanx 33, a middle phalanx 32, and a distal phalanx 31. The first end of the proximal phalanx 33 is provided with a first drive component, the output end of the first drive component is connected to the first rotating shaft 21 for transmission, the first end of the proximal phalanx 33 is sleeved on the first rotating shaft 21, the second end of the proximal phalanx 33 is connected to the first end of the middle phalanx 32 for transmission, and the second end of the middle phalanx 32 is connected to the distal phalanx 31 for transmission.
[0045] It should be noted that when the dexterous hand fingers 100 are in an extended state, the end of the proximal phalanx 33 away from the fingertip is the first end of the proximal phalanx 33, and the end of the proximal phalanx 33 closer to the fingertip is the second end of the proximal phalanx 33.
[0046] It should be noted that when the dexterous hand fingers 100 are in an extended state, the end of the middle phalanx 32 that is away from the fingertip is the first end of the middle phalanx 32, and the end of the middle phalanx 32 that is closer to the fingertip is the second end of the middle phalanx 32.
[0047] In this embodiment, the knuckle assembly 30 is further subdivided into a proximal knuckle 33, a mid-range knuckle 32, and a distal knuckle 31. A first driving component is located at the first end of the proximal knuckle 33, and its output is connected to a first rotating shaft 21. The first end of the proximal knuckle 33 is fitted onto the first rotating shaft 21. The second end of the proximal knuckle 33 is connected to the first end of the mid-range knuckle 32, and the second end of the mid-range knuckle 32 is connected to the distal knuckle 31. This allows the knuckle assembly 30 to not only achieve the bending and abduction degrees of freedom between the fingers of a real human hand, but also the bending degrees of freedom of the distal knuckle 31 and the mid-range knuckle 32, thereby improving the biomimetic performance of the dexterous hand fingers 100.
[0048] Optionally, in some embodiments, a third drive assembly is provided in the second end of the proximal phalanx 33. The output shaft portion of the third drive assembly is located outside the proximal phalanx 33 and is drively connected to the first end of the middle phalanx 32. The third drive assembly outputs torque to make the middle phalanx 32 rotate about a third axis, which is the central axis of the output shaft of the third drive assembly.
[0049] In this embodiment, the output shaft of the third drive component is located outside the proximal phalanx 33 and is connected to the first end of the middle phalanx 32 via a transmission connection. The output shaft of the third drive component and the middle phalanx 32 can be fixedly arranged so that when the output shaft of the third drive component outputs torque to rotate, it drives the middle phalanx 32 to rotate relative to the proximal phalanx 33, thereby realizing the bending freedom of the middle phalanx 32 and improving the biomimetic performance of the dexterous hand finger 100.
[0050] Optionally, in some embodiments, a fourth drive assembly is provided in the second end of the middle phalanx 32. The output end portion of the fourth drive assembly is located outside the middle phalanx 32 and is connected to the distal phalanx 31 in a transmission manner. The fourth drive assembly outputs torque to make the distal phalanx 31 rotate about a fourth axis, which is the central axis of the output shaft of the fourth drive assembly.
[0051] In this embodiment, a fourth driving component is provided in the second end of the middle phalanx 32. This can be understood as the fourth driving component being fixedly installed in the middle phalanx 32. At the same time, the output shaft of the fourth driving component can be fixedly installed with the distal phalanx 31. Therefore, when the fourth driving component outputs torque, the output shaft of the fourth driving component starts to rotate, thereby driving the distal phalanx 31 to start rotating relative to the middle phalanx 32, thereby realizing the bending degree of freedom of the distal phalanx 31 on the dexterous hand finger 100 and improving the bionic performance of the dexterous hand finger 100.
[0052] Optionally, in some embodiments, the first drive component, the third drive component, and the fourth drive component each include: a first power source and a first transmission component; The first power source is fixed inside the knuckle, and the output end of the first power source is connected to the first end of the first transmission assembly, while the second end of the first transmission assembly is connected to the first rotating shaft 21.
[0053] In this embodiment of the application, the first power source can be understood as a motor, which outputs torque and transmits the torque through the first transmission component.
[0054] Furthermore, the first transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand fingers 100.
[0055] Optionally, in some embodiments, the first transmission component is a planetary reducer.
[0056] In this embodiment of the application, by setting the first transmission component as a planetary reducer, the size of the first transmission component can be reduced while the load-bearing capacity of the first transmission component can be improved.
[0057] Optionally, in some embodiments, the second drive component includes: a second power source and a second transmission component; The second power source is fixed inside the metacarpal assembly 10. The output end of the second power source is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the first bushing 22.
[0058] It should be noted that the second power source can be understood as an electric motor.
[0059] In this embodiment, the second driving component is configured to include a second power source and a second driving component, with the second power source fixed within the metacarpal component 10. The output end of the second power source is connected to the first end of the second transmission component, and the second end of the second transmission component is connected to the first bushing 22. This allows the reduction ratio of the second transmission component to be set as needed, thereby enabling the output end of the second driving component to obtain a suitable torque. This improves the gripping force at the metacarpophalangeal joints of the dexterous hand 100, making it closer to the gripping force of a human hand, and thus enhancing the biomimetic performance of the dexterous hand 100.
[0060] Optionally, in some embodiments, the second transmission component includes n gears, where n is a positive integer; The output of the second power source is transmitted to the first bushing 22 through the meshing and / or coaxial transmission of n gears.
[0061] In this embodiment, the second transmission component includes n gears, where n is a positive integer; the output end of the second power source is transmitted to the first bushing 22 through the meshing and / or coaxial transmission between the n gears. This allows the second drive component to perform more stable transmission and increases its service life, thereby extending the service life of the dexterous hand finger 100.
[0062] Optionally, in some embodiments, when n is greater than 1, the n gears include m pairs of helical gears, where m is a positive integer less than or equal to n.
[0063] In this embodiment of the application, by including m pairs of helical gears among the n gears when n is greater than 1, where m is a positive integer less than or equal to n, the torque bearing capacity of the second transmission component can be improved, thereby improving the gripping force of the dexterous hand fingers 100.
[0064] Optionally, in some embodiments, when m is an even number, m pairs of helical gears are evenly distributed on two opposite sides, and the axial loads generated by the helical gears on the two opposite sides are opposite.
[0065] In this embodiment, when m is an even number, m pairs of helical gears are evenly distributed on two opposite sides, and the axial loads generated by the helical gears on the two opposite sides are opposite. In this way, the axial loads generated by the helical gears on the two opposite sides can be opposite, thereby canceling out the axial loads on the two opposite sides, reducing the wear of the helical gears, reducing the wear of the second transmission component, and thus improving the service life of the dexterous hand finger 100.
[0066] Optionally, in some embodiments, the output end of the second transmission component is a "D" shaped shaft, and the first bushing 22 is a bushing with a "D" shaped hole; The first bushing 22 is fitted onto the output end of the second transmission assembly.
[0067] In this embodiment of the application, by setting the output end of the second transmission component to a "D" shaped shaft and the first bushing 22 to a bushing with a "D" shaped hole, the "D" shaped shaft and the bushing with the "D" shaped hole are nested and fitted together, simplifying the connection relationship, making it easier to manufacture, and reducing production costs.
[0068] A second aspect of the present application provides a dexterous hand, which includes at least one dexterous hand finger 100 as described above, and a palmar skeleton 300, wherein the dexterous hand finger 100 is partially located within the palmar skeleton 300 and fixedly connected thereto.
[0069] In the embodiments of this application, the dexterous hand includes at least one dexterous hand finger 100 as described above, and a palm skeleton 300, with the dexterous hand finger 100 partially located within and fixedly connected to the palm skeleton 300, thereby enabling the dexterous hand with the dexterous hand finger 100 to have high biomimetic performance.
[0070] Optionally, in some embodiments, the dexterous hand further includes a dexterous thumb, the dexterous thumb 200 being partially located within and fixedly connected to the hand skeleton.
[0071] In this embodiment of the application, the dexterous hand also includes a dexterous thumb 200, which is located within the hand skeleton and fixedly connected, thereby improving the biomimetic performance of the dexterous hand.
[0072] A third aspect of this application provides a robot, including: the aforementioned dexterous hand, and a robot body, wherein the dexterous hand is connected to the robot body.
[0073] In this embodiment, the robot has good biomimetic performance by having the aforementioned dexterous hand and a robot body, with the dexterous hand connected to the robot body.
[0074] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
Claims
1. A dexterous hand finger, characterized in that, The dexterous hand fingers include: a cross-axis assembly, a knuckle assembly, and a metacarpal assembly; The cross-axis assembly includes a first rotating shaft and a first bushing, the first rotating shaft is fixedly connected to the first bushing, and the minimum included angle between the first axis and the second axis is ≥80°; The knuckle assembly is rotatably connected to the first rotating shaft, the outer shell of the knuckle assembly is sleeved on the first rotating shaft, the knuckle assembly is provided with a first drive assembly, the output end of the first drive assembly is connected to the first rotating shaft, and the first drive assembly outputs torque to make the knuckle assembly rotate around the first axis. The metacarpal assembly is provided with a second drive assembly. The output end of the second drive assembly is connected to the first bushing. The second drive assembly outputs torque to make the metacarpal assembly rotate around the second axis. Wherein, the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the first bushing.
2. The dexterous hand finger according to claim 1, characterized in that, The minimum distance between the first axis and the second axis is ≤15mm.
3. The dexterous hand finger according to claim 1, characterized in that, The minimum included angle between the first axis and the second axis is 90°.
4. The dexterous hand finger according to claim 1, characterized in that, The phalanx assembly includes: a proximal phalanx, a middle phalanx, and a distal phalanx; The first end of the proximal phalanx is provided with the first driving component, the output end of the first driving component is connected to the first rotating shaft, the first end of the proximal phalanx is sleeved on the first rotating shaft, the second end of the proximal phalanx is connected to the first end of the middle phalanx, and the second end of the middle phalanx is connected to the distal phalanx.
5. The dexterous hand finger according to claim 4, characterized in that, The second end of the proximal phalanx is provided with a third drive assembly. The output shaft portion of the third drive assembly is located outside the proximal phalanx and is connected to the first end of the middle phalanx. The third drive assembly outputs torque to make the middle phalanx rotate about a third axis, which is the central axis of the output shaft of the third drive assembly.
6. The dexterous hand finger according to claim 5, characterized in that, The second end of the middle phalanx is provided with a fourth drive component. The output end of the fourth drive component is located outside the middle phalanx and is connected to the distal phalanx via a transmission. The fourth drive component outputs torque to make the distal phalanx rotate around a fourth axis, which is the central axis of the output shaft of the fourth drive component.
7. The dexterous hand finger according to claim 6, characterized in that, The first drive component, the third drive component, and the fourth drive component each include: a first power source and a first transmission component; The first power source is fixed inside the knuckle, the output end of the first power source is connected to the first end of the first transmission component, and the second end of the first transmission component is connected to the first rotating shaft.
8. The dexterous hand finger according to claim 7, characterized in that, The first transmission component is a planetary reducer.
9. The dexterous hand finger according to claim 1, characterized in that, The second drive component includes: a second power source and a second transmission component; The second power source is fixed inside the metacarpal assembly, the output end of the second power source is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the first bushing.
10. The dexterous hand finger according to claim 9, characterized in that, The second transmission component includes: n gears, where n is a positive integer; The output end of the second power source is transmitted to the first bushing through the meshing and / or coaxial transmission between the n gears.
11. The dexterous hand finger according to claim 10, characterized in that, When n is greater than 1, the n gears include m pairs of helical gears, where m is a positive integer less than or equal to n.
12. The dexterous hand finger according to claim 11, characterized in that, When m is an even number, the m pairs of helical gears are evenly distributed on two opposite sides, and the axial loads generated by the helical gears on the two opposite sides are opposite.
13. The dexterous hand finger according to claim 9, characterized in that, The output end of the second transmission component is a "D" shaped shaft, and the first bushing is a bushing with a "D" shaped hole; The first bushing is fitted onto the output end of the second transmission assembly.
14. A dexterous hand, characterized in that, The dexterous hand includes at least one dexterous hand finger as described in any one of claims 1 to 13, and a palmar skeleton, wherein the dexterous hand finger portion is located within and fixedly connected to the palmar skeleton.
15. A robot, characterized in that, It includes a dexterous hand as described in claim 14, and a robot body, wherein the dexterous hand is connected to the robot body.