Dexterous hand

Abstract

The application discloses a dexterous hand, comprising a palm, a four-finger module and a thumb module. The four-finger module comprises four single-finger modules with the same structure, each single-finger module comprising a knuckle mechanical structure, a bending power structure and a side swing power structure; the knuckle mechanical structure comprises a four-finger proximal phalanx, a four-finger middle phalanx and a four-finger distal phalanx connected in turn, and adjacent knuckles are coupled and linked through a pull rod; the bending power structure drives the four-finger proximal phalanx to bend and drives the remaining knuckles to link; the side swing power structure drives the finger to swing through differential motion of two power output ends. The thumb module comprises a thumb mechanical structure, a thumb bending structure embedded in the proximal phalanx, a thumb swing structure and a thumb rotating structure. The application has the advantages of compact structure, accurate transmission and strong composite motion capability, and can simulate complex grasping actions of a human hand.

Description

Technical Field

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

[0002] With the rapid development of robotics technology, especially in the fields of humanoid robots and service robots, dexterous hands, as end effectors, are crucial for completing delicate and complex tasks. A high-performance dexterous hand needs to have degrees of freedom similar to the human hand, flexible grasping ability, and reliable force perception to stably grasp and dexterously manipulate objects of various irregular shapes.

[0003] Existing dexterous hand designs have many shortcomings: on the one hand, the transmission structure between the finger joints in many designs is complex, often using multi-link or multi-gear mechanisms, resulting in large finger size and increased weight, which is not conducive to the miniaturization and lightweighting of dexterous hands; on the other hand, bending drive and lateral swing drive are usually independent of each other and adopt a discrete layout, resulting in loose structure at the root of the finger, inaccurate motion coupling, and difficulty in achieving natural and smooth humanoid compound movements.

[0004] Furthermore, the existing structure lacks an effective reset protection mechanism and a lateral force cancellation mechanism, which easily generates lateral force during movement. Long-term operation can lead to damage to the drive components and affect service life. At the same time, the linkage between the knuckles is not precise, making it difficult to simulate the natural bending and lateral swinging movements of the human hand, thus limiting the grasping effect and operational flexibility of a dexterous hand.

[0005] In particular, the design of the thumb is crucial in existing dexterous hands. The thumb's oppositional movement is the core of grasping and manipulation. However, many designs have insufficient thumb freedom, a small range of motion, or complex and bulky drive structures, which affect the coordination and grasping ability of the whole hand.

[0006] Therefore, developing a dexterous hand with a compact structure, reasonable degree-of-freedom configuration, flexible movement, and reliable transmission is of great practical significance for improving the overall performance of robot end effectors. Summary of the Invention

[0007] The present invention aims to solve the above-mentioned problems existing in the prior art and provide a multi-degree-of-freedom dexterous hand with a compact structure, high flexibility and good integration.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A dexterous hand includes a palm, a four-finger module, and a thumb module. The palm serves as the mounting base. The four-finger module comprises four identical single-finger modules mounted on the palm. Each single-finger module includes a knuckle mechanism, a bending power structure, and a lateral swinging force structure. The knuckle mechanism includes four proximal knuckles, four middle knuckles, and four distal knuckles that are rotatably connected in sequence, with multiple levers coupling adjacent knuckles. The power output end of the bending power structure is connected to the proximal knuckles of the knuckle mechanism, driving the proximal knuckles to bend, and driving the remaining knuckles to bend in conjunction through the coupling effect of the levers. The lateral swinging force structure has at least two power output ends, respectively connected to different connection points of the proximal knuckles of the knuckle mechanism. Through differential movement of the at least two power output ends, the knuckle mechanism is driven to swing laterally relative to the palm. The thumb module is mounted on the palm and includes a thumb mechanism, a thumb bending structure, a thumb swinging structure, and a thumb rotation structure. The thumb mechanical structure includes the distal phalanx, middle phalanx, and proximal phalanx of the thumb, which are rotatably connected in sequence. The thumb bending structure is embedded within the proximal phalanx, and its power output end is connected to the middle phalanx of the thumb to drive thumb bending. The thumb swinging structure is installed at the base of the thumb, and its power output end is connected to the proximal phalanx of the thumb to drive the thumb mechanical structure to swing laterally. The thumb rotating structure is installed on the palm, and its power output end is connected to the thumb swinging structure to drive the thumb mechanical structure to rotate.

[0009] Furthermore, the knuckle mechanical structure also includes: a first pull rod and a second pull rod disposed within the middle knuckle of the four fingers and parallel to each other, the upper ends of the first pull rod and the second pull rod being connected to the distal knuckle of the four fingers, and the lower ends being connected to a triangular connector disposed on the proximal knuckle of the four fingers; a third pull rod and a triangular pull rod disposed within the proximal knuckle of the four fingers, the upper end of the third pull rod being connected to the middle knuckle of the four fingers, the lower end being connected to the first point of the triangular pull rod, and the second point and the third point of the triangular pull rod being connected to the bending power structure and the lateral swing force structure, respectively; and a reset assembly connected between the distal knuckle of the four fingers and the triangular connector.

[0010] Furthermore, the bending power structure includes: a four-finger single-finger bending drive motor; a first transmission component connected between the output end of the four-finger single-finger bending drive motor and the second point of the triangular pull rod, used to transmit the motion of the four-finger single-finger bending drive motor to the triangular pull rod; when the four-finger single-finger bending drive motor is activated, the triangular pull rod is driven to swing through the first transmission component, and then the middle phalanx of the four fingers is driven to rotate through the third pull rod, and the distal phalanx of the four fingers is driven to rotate in conjunction through the first pull rod and the second pull rod.

[0011] Furthermore, the lateral swing force structure includes: a first drive motor for four-finger lateral swing and a second drive motor for four-finger lateral swing; the first drive motor for four-finger lateral swing and the second drive motor for four-finger lateral swing are universally connected to both sides of the third point of the triangular pull rod; a single-finger base, fixedly connected to the palm; a swing seat, the lower end of which is rotatably mounted on the single-finger base, and the proximal knuckle of the four fingers is connected to the swing seat; when the first drive motor for four-finger lateral swing and the second drive motor for four-finger lateral swing move differentially, the third point of the triangular pull rod is spatially displaced, thereby driving the proximal knuckle of the four fingers to swing around the swing seat.

[0012] Furthermore, the four-finger single-finger bending drive motor, the four-finger single-finger side-swing first drive motor, and the four-finger single-finger side-swing second drive motor are arranged in a triangular pattern.

[0013] Furthermore, the thumb mechanical structure also includes: a thumb lever disposed within the middle phalanx of the thumb, the upper end of which is connected to the distal phalanx of the thumb and the lower end of which is connected to the proximal phalanx of the thumb, for achieving passive bending of the distal phalanx of the thumb; and a proximal phalanx shell, including a first shell and a second shell that are joined together.

[0014] Furthermore, the thumb bending structure includes a thumb bending drive motor embedded in the shell of the thumb proximal phalanx, and the thumb bending drive motor is connected to the middle phalanx of the thumb; the thumb bending structure also includes a thumb lateral bending drive motor, and the thumb lateral bending drive motor is connected to the output end of the thumb swing structure.

[0015] Furthermore, the thumb rotation structure includes: a rotating gear rotatably mounted on the palm; and a thumb rotation motor fixed on the palm, which meshes with the rotating gear.

[0016] Furthermore, the thumb swing structure includes a swing gear pivotally connected to a rotating gear, and a servo motor embedded in the rotating gear. The proximal phalanx of the thumb is pivotally connected to the front end of the swing gear, and the output end of the thumb lateral bending drive motor is connected to the swing gear.

[0017] Furthermore, the reset component is a tension spring.

[0018] The dexterous hand provided by this invention has the following beneficial effects: 1. The dexterous hand of this invention has a total of 21 degrees of freedom, including 16 active degrees of freedom and 5 passive degrees of freedom, which can realistically simulate the complex grasping and palm-opposing movements of the human hand. The specific degree of freedom is as follows: The index, middle, ring, and little fingers of the four-finger module each have four active degrees of freedom, including the proximal phalanx bending degree of freedom, the middle phalanx bending degree of freedom, and the distal phalanx bending degree of freedom driven by the four-finger single-finger bending drive motor through the triangular tie rod and tie rod assembly, and the lateral swing degree of freedom achieved by the differential drive of the four-finger single-finger lateral swing first drive motor and the four-finger single-finger lateral swing second drive motor.

[0019] The thumb module has five degrees of freedom, including the thumb middle phalanx bending degree of freedom driven by the thumb bending drive motor, the thumb proximal phalanx bending degree of freedom driven by the thumb lateral bending drive motor, the thumb swinging degree of freedom driven by the servo motor, the thumb rotational degree of freedom driven by the thumb rotation motor, and the thumb distal phalanx bending degree of freedom driven by the thumb lever passively coupled when the thumb middle phalanx bends.

[0020] 2. The four-finger module adopts a triangular motor layout, integrating the bending drive motor and the side swing drive motor at the base of the finger, making the structure at the base of the finger more compact and maximizing space utilization; the thumb module embeds the bending motor in the vicinity of the finger joint and the swing servo motor in the rotating gear, forming an integrated structure. The overall hand structure is compact, which is conducive to the miniaturization and weight reduction of the dexterous hand.

[0021] 3. Precise and reliable transmission: The four-finger module achieves dynamic coupling and decoupling of bending and lateral swing through the triangular tie rod, with a clear transmission path and precise motion control; the thumb module forms a universal connection through the Y-shaped link and ball joint link, which can adapt to the transmission of motion in different directions, and the transmission is precise and reliable.

[0022] 4. The four-finger module is equipped with a return spring, which can automatically return to the straight state after the finger is bent. At the same time, it plays a buffering role in the impact of external force to avoid damage to the drive components. The guide rail and guide groove of the guide mechanism cooperate to effectively counteract the lateral force generated when the E-shaped linkage moves, protect the motor push rod from damage, and significantly extend its service life.

[0023] 5. The four-finger module can realize a combination of bending and lateral movement, while the thumb module can realize a combination of bending, swinging and rotating movement, which can realistically simulate the complex grasping and palm-on-palm movements of the human hand, significantly improving the operational flexibility of the dexterous hand.

[0024] 6. The four fingers have identical structures, which facilitates manufacturing and maintenance; the functional modules of the thumb are clearly divided, which facilitates debugging and upgrades and reduces manufacturing costs.

[0025] 7. The thumb module integrates the thumb flexion drive motor and the thumb lateral flexion drive motor within the near-knuckle shell, and embeds the oscillation servo motor within the groove of the rotating gear, forming a highly integrated structure that significantly saves space and makes the thumb base more compact. A Y-shaped linkage structure adds two degrees of freedom between the motor output and the middle knuckle of the thumb, providing a larger flexion angle. The sliding engagement of the linear movable hole and the transmission pin shaft enables a combined oscillation and flexion motion, allowing the thumb to flex synchronously while oscillating laterally, realistically simulating the palm-against-palm movement of a human hand. The integrated design of the rotating gear and the oscillation gear allows the thumb to rotate as a whole in addition to oscillation, further enhancing the thumb's movement flexibility and grasping adaptability. Attached Figure Description

[0026] Figure 1 , Figure 2 These are schematic diagrams of the three-dimensional structure from different perspectives in this application; Figure 3 , Figure 4 This is a three-dimensional structural diagram of the single-finger module from different perspectives in this application; Figure 5 This is a schematic diagram of the internal structure of the knuckle mechanism in this application; Figure 6 Exploded views of the linkage structure of the single-finger module in this application; Figure 7 This is a schematic diagram of the bending dynamic structure and lateral oscillation force structure of this application; Figure 8 This is a schematic diagram of the lateral oscillation force structure assembly in this application; Figure 9 This is an exploded view of the structure of the first transmission component of this application; Figure 10 Exploded view of the guiding mechanism and swing seat structure of this application; Figure 11 , Figure 12 These are schematic diagrams of the thumb module of this application from different perspectives; Figure 13 This is a schematic diagram of the internal structure of the thumb module in this application; Figure 14 This is a schematic diagram showing the assembly positions of the thumb bending drive motor and the thumb lateral bending drive motor of this application; Figure 15 This is a schematic diagram of the thumb lateral bending drive motor assembly according to this application; Figure 16 This is a schematic diagram showing the connection between the thumb lateral flexion drive motor and the thumb middle phalanx shell of this application; Figure 17 This is an exploded view of the thumb rotation structure of this application; Figure 18This is a schematic diagram of the thumb swing structure of this application; Figure 19 This is a schematic diagram of the rotating gear structure of this application.

[0027] Figure label: 1 represents the palm, 11 represents a single finger base, and 12 represents the mounting base; 2 is a four-finger module, 20 is a single-finger module, 21 is a knuckle mechanical structure, 211 is the proximal knuckle of the four fingers, 2111 is the outer shell of the proximal knuckle of the four fingers, 2112 is the second protective layer, 212 is the middle knuckle of the four fingers, 2121 is the outer shell of the middle knuckle of the four fingers, 2122 is the first protective layer, 213 is the distal knuckle of the four fingers, 2131 is the fingertip sensor of the four fingers, 2132 is the fingertip base of the four fingers, 214 is the first pull rod, 215 is the second pull rod, 216 is the triangular connector, 217 is the third pull rod, 218 is the triangular pull rod, 2181 is the first point, 2182 is the second point, 2183 is the third point, 219 is the reset assembly, 22 is the bending power structure, 221 is the four-finger single-finger bending drive motor, and 222 is the first transmission group. Components: 2221 is an E-shaped connecting rod, 22211 is a guide groove, 2222 is a T-shaped connecting rod, 2223 is a C-shaped connecting rod, 2224 is a first ball joint connecting rod, 23 is a side swing force structure, 231 is a four-finger / single-finger side swing first drive motor, 232 is a four-finger / single-finger side swing second drive motor, 233 is a swing seat, 2331 is a pivot, 2332 is a bearing, 234 is a universal transmission assembly, 2342 is a second ball joint connecting rod, 2343 is a third ball joint connecting rod, 2344 is a fourth C-shaped connecting rod, 2345 is a second C-shaped connecting rod, 2346 is a fifth C-shaped connecting rod, 2347 is a third C-shaped connecting rod, 24 is a four-finger base, 25 is a guide mechanism, 251 is a guide hole, 252 is a limiting block, and 2521 is a guide rail; 3 represents the thumb module, 31 represents the thumb mechanical structure, 311 represents the distal phalanx of the thumb, 3111 represents the thumb fingertip sensor, 312 represents the middle phalanx of the thumb, 3121 represents the thumb pull rod, 3122 represents the outer shell of the middle phalanx of the thumb, 313 represents the proximal phalanx of the thumb, 3131 represents the first outer shell, 3132 represents the second outer shell, 3133 represents the third protective layer, 32 represents the thumb bending structure, 321 represents the thumb bending drive motor, 3211 represents the first Y-shaped connecting rod, 322 represents the thumb lateral bending drive motor, and 322 represents the thumb bending drive motor. 1 is the second Y-shaped connecting rod, 3222 is the transmission pin, 33 is the thumb swing structure, 331 is the swing gear, 3311 is the straight movable hole, 3312 is the rotating shaft, 3313 is the pivot point, 3314 is the second transmission gear, 332 is the servo motor, 3321 is the second transmission gear, 34 is the thumb rotation structure, 341 is the rotating gear, 3411 is the groove, 3412 is the rotating shaft, 3414 is the first transmission gear, 342 is the thumb rotation motor, and 3421 is the first transmission gear. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Embodiments provided by the present invention This embodiment provides a dexterous hand, such as Figures 1 to 19 As shown, it includes a palm 1, a four-finger module 2, and a thumb module 3. This dexterous hand has 21 degrees of freedom and can simulate the complex grasping and palm-oping movements of a human hand.

[0030] The palm 1 serves as the mounting base for the entire dexterous hand. The palm 1 includes a base for fixing the four-finger module 2 and a mounting seat 12 for mounting the thumb module 3. The mounting seat 12 is located on the side of the palm 1 and has a bearing seat inside for mounting the thumb rotating structure 34.

[0031] The four-finger module 2 includes four identical single-finger modules 20, namely the index finger, middle finger, ring finger and little finger. Each single-finger module 20 includes a knuckle mechanical structure 21, a bending power structure 22 and a lateral swing force structure 23.

[0032] The knuckle mechanism 21 is the basic skeleton of the finger, including the proximal knuckles 211, middle knuckles 212, and distal knuckles 213 of the four fingers, which are rotatably connected in sequence. The knuckles are rotatably connected by pivots.

[0033] The distal phalanx 213 of the four fingers is the fingertip portion, and a fingertip sensor 2131 is provided at the fingertip position. The fingertip sensor 2131 is fixed to the fingertip base 2132 by screws and is used to sense the contact force during the grasping process. The fingertip base 2132 is located at the back of the distal phalanx 213 of the four fingers, serving as the connection interface with the middle phalanx 212 of the four fingers.

[0034] The four-finger middle phalanx 212 includes a four-finger middle phalanx shell 2121, and a first pull rod 214 and a second pull rod 215 disposed within the four-finger middle phalanx shell 2121. The ventral side of the four-finger middle phalanx shell 2121 is covered with a first protective layer 2122, which is made of flexible rubber material and is used to increase friction during gripping and protect the internal structure.

[0035] The first pull rod 214 and the second pull rod 215 are arranged parallel to each other inside the outer shell 2121 of the middle phalanx of the four fingers, and both are of equal length. The upper ends of the first pull rod 214 and the second pull rod 215 are connected to the fingertip base 2132 of the distal phalanx 213 of the four fingers via a pivot, and the lower ends are connected to the triangular connector 216 provided on the proximal phalanx 211 of the four fingers via a pivot. The first pull rod 214 and the second pull rod 215 are placed parallel in space and jointly control the movement of the distal phalanx 213 of the four fingers, ensuring the symmetry and stability of the distal phalanx movement.

[0036] The four-finger proximal joint 211 includes a four-finger proximal joint shell 2111, and a third pull rod 217 and a triangular pull rod 218 disposed within the four-finger proximal joint shell 2111. The ventral side of the four-finger proximal joint shell 2111 is covered with a second protective layer 2112, which is made of flexible rubber material and is used to increase friction during gripping and protect the internal structure.

[0037] The third pull rod 217 is installed at the front end of the four-finger proximal phalanx housing 2111. Its upper end is connected to the four-finger middle phalanx housing 2121 via a pivot, and its lower end is connected to the first point 2181 of the triangular pull rod 218 via a pivot.

[0038] The triangular tie rod 218 has a triangular structure, with its three corner points forming point 2181, point 2182, and point 2183, respectively. Point 2181 is connected to the lower end of the third tie rod 217 via a pivot, point 2182 is connected to the first ball joint 2224 of the bending power structure 22 via a pivot, and point 2183 is connected to the second ball joint 2342 and the third ball joint 2343 of the lateral swing force structure 23 via a pivot. The triangular tie rod 218 is a key hub for power transmission, transmitting the bending driving force and the lateral swing driving force to different positions.

[0039] The triangular connector 216 is fixedly mounted on the proximal phalanx 211 of the four fingers and is used to connect the lower ends of the first pull rod 214 and the second pull rod 215 as well as the lower end of the reset assembly 219, serving as a transfer structure for the linkage and reset of the distal phalanx.

[0040] The reset component 219 is a tension spring. The upper end of the reset component 219 is connected to the connecting shaft between the distal phalanx 213 and the middle phalanx 212 of the four fingers, and the lower end is connected to the triangular connector 216. The reset component 219 provides finger reset force, automatically returning the finger to a straight state after bending, and also acts as a buffer against external impacts, preventing damage to the driving components. During finger bending, the reset component 219 is stretched, storing elastic potential energy; when the driving force disappears, the elastic force of the reset component 219 restores the finger to a straight state.

[0041] The bending power structure 22 is installed in the four-finger base 24 at the base of the finger and includes a four-finger single-finger bending drive motor 221 and a first transmission component 222.

[0042] The four-finger base 24 has three mounting cavities arranged in a triangular pattern inside, which are used to accommodate the four-finger single-finger bending drive motor 221, the four-finger single-finger lateral swing first drive motor 231, and the four-finger single-finger lateral swing second drive motor 232, respectively. The four-finger base 24 is fixedly connected to the single-finger base 11 of the palm 1.

[0043] The four-finger single-finger bending drive motor 221 is a linear motor, which is installed in the mounting cavity of the four-finger base 24, and its output end extends and retracts along the length of the finger.

[0044] The first transmission assembly 222 includes an E-shaped connecting rod 2221, a T-shaped connecting rod 2222, a C-shaped connecting rod 2223, and a first ball-head connecting rod 2224 connected in sequence. One end of the E-shaped connecting rod 2221 is fixedly connected to the output end of the four-finger single-finger bending drive motor 221, and the other end of the E-shaped connecting rod 2221 is hinged to one end of the T-shaped connecting rod 2222 via a pivot. The other end of the T-shaped connecting rod 2222 is hinged to one end of the C-shaped connecting rod 2223 via a pivot. The other end of the C-shaped connecting rod 2223 is fixedly connected to one end of the first ball-head connecting rod 2224. The other end of the first ball-head connecting rod 2224 is connected to the second point 2182 of the triangular tie rod 218 via a ball-head structure, forming a universal joint to accommodate motion transmission in different directions.

[0045] A guide mechanism 25 is provided within the four-finger base 24 to guide the linear movement of the E-shaped connecting rod 2221 and counteract the lateral force generated during movement. The guide mechanism 25 includes a guide hole 251 formed on the four-finger base 24 and a limiting block 252 embedded within the guide hole 251. The limiting block 252 forms protruding guide rails 2521 on both sides of the inner wall of the guide hole 251, and guide grooves 22211 are formed on both sides of the E-shaped connecting rod 2221 to slide with the guide rails 2521. The E-shaped connecting rod 2221 is installed within the guide hole 251, and linear guidance and lateral limiting are achieved through the cooperation of the guide grooves 22211 and the guide rails 2521. When the E-shaped connecting rod 2221 moves, the cooperation of the guide rails 2521 and the guide grooves 22211 effectively counteracts the lateral force, protecting the push rod of the four-finger single-finger bending drive motor 221 from damage.

[0046] When the four-finger single-finger bending drive motor 221 is activated, its output end pushes the E-shaped connecting rod 2221 to move linearly within the guide hole 251. The linear movement of the E-shaped connecting rod 2221 drives the T-shaped connecting rod 2222 to move, which in turn drives the C-shaped connecting rod 2223 to move. The C-shaped connecting rod 2223 transmits power to the first ball joint connecting rod 2224. The first ball joint connecting rod 2224 transmits power through its ball joint end to the second point 2182 of the triangular tie rod 218, driving the triangular tie rod 218 to swing around its third point 2183.

[0047] The swinging of the triangular lever 218 drives the movement of the third lever 217, which in turn drives the middle phalanx 212 of the four fingers to rotate around the axis connecting it to the proximal phalanx 211 of the four fingers. The rotation of the middle phalanx 212 drives the distal phalanx 213 of the four fingers to rotate around the axis connecting it to the middle phalanx 212 of the four fingers through the first lever 214 and the second lever 215, thereby realizing the coordinated bending of the distal phalanx 213, the middle phalanx 212, and the proximal phalanx 211 of the four fingers.

[0048] The lateral swing force structure 23 is installed in the four-finger base 24 and includes a four-finger single-finger lateral swing first drive motor 231, a four-finger single-finger lateral swing second drive motor 232, a swing seat 233, and a universal transmission assembly 234.

[0049] Both the first drive motor 231 and the second drive motor 232 for the four-finger single-finger lateral swing are linear motors, installed within the mounting cavity of the four-finger base 24, arranged in a triangular configuration with the four-finger single-finger flexion drive motor 221. Specifically, the four-finger single-finger flexion drive motor 221 is located in the middle, while the first drive motor 231 and the second drive motor 232 for the four-finger single-finger lateral swing are located on either side and arranged at an angle. This layout makes the structure at the base of the finger more compact and maximizes space utilization.

[0050] The universal joint drive assembly 234 includes a first side-swing drive assembly and a second side-swing drive assembly. The first side-swing drive assembly is connected to the output end of the four-finger / single-finger side-swing first drive motor 231 and the third point 2183 side of the triangular tie rod 218, and includes a fourth C-shaped link 2344, a second C-shaped link 2345, and a second ball-head link 2342 that are hinged in sequence. One end of the fourth C-shaped link 2344 is fixedly connected to the output end of the four-finger / single-finger side-swing first drive motor 231, and the other end of the fourth C-shaped link 2344 is hinged to one end of the second C-shaped link 2345. The other end of the second C-shaped link 2345 is hinged to one end of the second ball-head link 2342, and the other end of the second ball-head link 2342 is connected to the third point 2183 side of the triangular tie rod 218 through a ball-head structure.

[0051] The second side-swing transmission assembly is connected to the output end of the four-finger / single-finger side-swing second drive motor 232 and the other side of the third point 2183 of the triangular tie rod 218. It includes a fifth C-shaped link 2346, a third C-shaped link 2347, and a third ball-head link 2343 that are hinged in sequence. One end of the fifth C-shaped link 2346 is fixedly connected to the output end of the four-finger / single-finger side-swing second drive motor 232. The other end of the fifth C-shaped link 2346 is hinged to one end of the third C-shaped link 2347. The other end of the third C-shaped link 2347 is hinged to one end of the third ball-head link 2343. The other end of the third ball-head link 2343 is connected to the other side of the third point 2183 of the triangular tie rod 218 through a ball-head structure.

[0052] The swing base 233 has a Y-shaped structure. The upper end of the swing base 233 is connected to the proximal phalanx 211 of the four fingers via a pivot, and the lower end is rotatably mounted on the four-finger base 24 via a pivot 2331. A bearing 2332 is sleeved on the pivot 2331 and embedded within the four-finger base 24 to support the rotation of the swing base 233 and reduce friction. The swing base 233 is located at the central axis of the four-finger base 24, and its lower rotation center forms the rotation fulcrum for the lateral swing of the fingers.

[0053] When the first drive motor 231 and the second drive motor 232 of the four-finger single-finger lateral swing move differentially (one motor extends while the other retracts), they generate different displacements, which are transmitted to the third point 2183 of the triangular tie rod 218 through their respective transmission components. Since the two driving forces act on both sides of the third point 2183 of the triangular tie rod 218, the third point 2183 of the triangular tie rod 218 generates spatial displacement during differential movement. Under the constraint of the swing seat 233, this spatial displacement drives the proximal knuckle 211 of the four fingers, causing the entire finger to swing around the lower end of the swing seat 233, thus achieving the lateral swing motion of the finger. The universal joint structure formed by two C-shaped links and two ball-head links allows for more flexible finger movements while limiting excessive single-finger swing amplitude from affecting the overall movement.

[0054] When the first drive motor 231 for four-finger single-finger lateral swing and the second drive motor 232 for four-finger single-finger lateral swing move synchronously, that is, when the two motors extend or retract at the same time, they produce the same amount of displacement. At this time, the two sides of the third point 2183 of the triangular pull rod 218 are subjected to the same driving force, generating an auxiliary bending driving force in coordination with the four-finger single-finger bending drive motor 221, thereby enhancing the bending strength of the finger.

[0055] The thumb module 3 is mounted on the mounting base 12 of the palm 1 and includes a thumb mechanical structure 31, a thumb bending structure 32, a thumb swinging structure 33 and a thumb rotating structure 34.

[0056] The thumb mechanical structure 31 includes the distal phalanx 311, the middle phalanx 312, and the proximal phalanx 313 of the thumb, which are rotatably connected in sequence. The phalanxes are rotatably connected by a pivot, and a wear-resistant pad is provided at the pivot.

[0057] The distal phalanx 311 of the thumb is the fingertip portion, and a thumb tip sensor 3111 is located at the fingertip. The thumb tip sensor 3111 is used to sense the contact force during the grasping process.

[0058] The middle phalanx of the thumb 312 includes a thumb middle phalanx shell 3122 and a thumb lever 3121. The thumb lever 3121 is disposed within the middle phalanx of the thumb 312, with its upper end connected to the distal phalanx of the thumb 311 via a pivot, and its lower end connected to the proximal phalanx of the thumb 313 via a pivot. The thumb lever 3121 is used to achieve passive bending of the distal phalanx of the thumb 311: when the middle phalanx of the thumb 312 bends, the thumb lever 3121 drives the distal phalanx of the thumb 311 to bend in conjunction. Since the length of the thumb lever 3121 remains constant during movement, when the middle phalanx of the thumb 312 rotates around its connecting pivot with the proximal phalanx of the thumb 313, the thumb lever 3121 forces the distal phalanx of the thumb 311 to rotate around its connecting pivot with the middle phalanx of the thumb 312, thus achieving linkage.

[0059] The thumb proximal phalanx 313 includes a first outer shell 3131 and a second outer shell 3132 that engage with each other, together forming the thumb proximal phalanx outer shell. The first outer shell 3131 and the second outer shell 3132 internally form mounting cavities to accommodate a thumb flexion drive motor 321 and a thumb lateral flexion drive motor 322. The ventral side of the thumb proximal phalanx 313 has a third protective layer 3133 for increasing friction and protecting the internal structure.

[0060] The thumb bending structure 32 is embedded in the proximal phalanx 313 of the thumb and includes a thumb bending drive motor 321 and a thumb lateral bending drive motor 322.

[0061] The thumb flexion drive motor 321 is a miniature linear motor embedded in the first housing 3131. Its output end is connected to the middle phalanx of the thumb 312 via a first Y-shaped connecting rod 3211. One end of the first Y-shaped connecting rod 3211 is fixedly connected to the output end of the thumb flexion drive motor 321, and the other end is hinged to the middle phalanx housing 3122. When the thumb flexion drive motor 321 is activated, its output end pushes the first Y-shaped connecting rod 3211 to move. The first Y-shaped connecting rod 3211 drives the middle phalanx of the thumb 312 to bend around its connecting axis with the proximal phalanx of the thumb 313, while simultaneously driving the distal phalanx of the thumb 311 to bend passively via the thumb pull rod 3121. The structure of the Y-shaped connecting rod adds two degrees of freedom between the motor output and the middle phalanx of the thumb, providing a larger bending angle.

[0062] The thumb lateral flexion drive motor 322 is a miniature linear motor, embedded in the second housing 3132, and positioned vertically above the thumb flexion drive motor 321. Its output end is connected to the swing gear 331 of the thumb swing structure 33 via a second Y-shaped connecting rod 3221. One end of the second Y-shaped connecting rod 3221 is fixedly connected to the output end of the thumb lateral flexion drive motor 322, and the other end is slidably engaged with the movable hole 3311 at the front end of the swing gear 331 via a transmission pin 3222. When the thumb lateral flexion drive motor 322 is activated, its output end pushes the second Y-shaped connecting rod 3221 to move, driving the thumb proximal phalanx 313 to bend relative to the swing gear 331 via the transmission pin 3222.

[0063] The thumb-rotating structure 34 includes a rotating gear 341 and a thumb-rotating motor 342. The rotating gear 341 has an irregular shape with multiple grooves 3411 on its back to accommodate the transmission gears of the servo motor 332 and the thumb-rotating motor 342. The rotating gear 341 is rotatably mounted on the mounting base 12 via a rotating shaft 3412. A bearing is sleeved on the rotating shaft 3412 and embedded in the mounting base 12 to support the rotation of the rotating gear 341 and reduce friction.

[0064] The thumb rotary motor 342 is a miniature servo motor, fixed on the mounting base 12. Its output end is provided with a first transmission gear 3421, and the inner side of the groove 3411 of the rotary gear 341 is provided with a first transmission tooth 3414. The first transmission gear 3421 meshes with the first transmission tooth 3414. When the thumb rotary motor 342 is working, it drives the rotary gear 341 to rotate around its central axis through the first transmission gear 3421.

[0065] The thumb oscillation structure 33 includes an oscillation gear 331 and a servo motor 332. The oscillation gear 331 has a Y-shaped structure, and its rear end is pivotally connected to the front of the rotating gear 341 via a pivot shaft, allowing it to oscillate relative to the rotating gear 341. The front end of the oscillation gear 331 has a connecting part with a straight movable hole 3311, which is an elongated through hole. The proximal knuckle of the thumb 313 is pivotally connected to the front end of the oscillation gear 331 via the pivot point 3313. The second Y-shaped connecting rod 3221 of the thumb lateral bending drive motor 322 is slidably engaged within the straight movable hole 3311 via a transmission pin 3222.

[0066] The servo motor 332 is a miniature servo motor, completely housed within the groove 3411 on the back of the rotating gear 341, forming an integrated structure. The rear end of the oscillating gear 331 has a second transmission tooth 3314 extending through to the back of the rotating gear 341. The output end of the servo motor 332 has a second transmission gear 3321, which meshes with the second transmission tooth 3314 on the back of the rotating gear 341, driving the oscillating gear 331 to oscillate around its rear end shaft 3312.

[0067] When the servo motor 332 is working, it drives the oscillating gear 331 to oscillate relative to the rotating gear 341, thereby causing the thumb proximal phalanx 313 connected to the front end of the oscillating gear 331 to oscillate laterally, realizing the thumb's palmar motion. When the oscillating gear 331 oscillates, its slotted movable hole 3311 slides relative to the transmission pin 3222, driving the thumb proximal phalanx 313 to bend around its pivot point 3313 with the oscillating gear 331, realizing a combined oscillating and bending motion.

[0068] When the thumb rotation motor 342 is working, it drives the rotation gear 341 to rotate, thereby causing the entire thumb swing structure 33 and thumb bending structure 32 mounted on it to rotate together, realizing the overall rotation of the thumb.

[0069] Finally, it should be noted that although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dexterous hand, characterized in that, Includes a palm (1), a four-finger module (2), and a thumb module (3); The palm (1) serves as the mounting base; The four-finger module (2) includes four single-finger modules (20) with the same structure, which are installed on the palm (1). Each single-finger module (20) includes a knuckle mechanical structure (21), a bending power structure (22) and a lateral swing force structure (23). The knuckle mechanical structure (21) includes four proximal knuckles (211), four middle knuckles (212), and four distal knuckles (213) that are rotatably connected in sequence, and multiple pull rods are provided between adjacent knuckles for coupling and linkage; The power output end of the bending power structure (22) is connected to the four proximal phalanges (211) of the knuckle mechanical structure (21) to drive the four proximal phalanges (211) to bend, and to drive the other phalanges to bend in conjunction through the coupling effect of the pull rod; The lateral swing force structure (23) is provided with at least two power output ends, which are respectively connected to different connection points of the proximal phalanx (211) of the knuckle mechanical structure (21). Through differential motion of at least two power output ends, the knuckle mechanical structure (21) is driven to swing laterally relative to the palm (1). The thumb module (3) is installed on the palm (1) and includes a thumb mechanical structure (31), a thumb bending structure (32), a thumb swinging structure (33) and a thumb rotating structure (34); The thumb mechanical structure (31) includes the distal phalanx (311), the middle phalanx (312), and the proximal phalanx (313) of the thumb, which are rotatably connected in sequence; The thumb bending structure (32) is embedded in the proximal phalanx (313) of the thumb, and its power output end is connected to the middle phalanx (312) of the thumb to drive the thumb to bend; The thumb swing structure (33) is installed at the base of the thumb, and its power output end is connected to the proximal phalanx of the thumb (313) to drive the thumb mechanical structure (31) to swing laterally. The thumb rotation structure (34) is mounted on the palm (1), and its power output end is connected to the thumb swing structure (33) to drive the thumb mechanical structure (31) to rotate.

2. A dexterous hand according to claim 1, characterized in that, The knuckle mechanism (21) also includes: The first pull rod (214) and the second pull rod (215) are set inside the middle joint (212) of the four fingers and are parallel to each other. The upper ends of the first pull rod (214) and the second pull rod (215) are connected to the distal joint (213) of the four fingers, and the lower ends are connected to the triangular connector (216) set on the proximal joint (211) of the four fingers. The third pull rod (217) and the triangular pull rod (218) are located in the proximal joint (211) of the four fingers. The upper end of the third pull rod (217) is connected to the middle joint (212) of the four fingers, and the lower end is connected to the first point (2181) of the triangular pull rod (218). The second point (2182) and the third point (2183) of the triangular pull rod (218) are connected to the bending power structure (22) and the lateral swing force structure (23) respectively. The reset assembly (219) is connected between the distal phalanx of the four fingers (213) and the triangular connector (216).

3. A dexterous hand according to claim 2, characterized in that, The bending dynamic structure (22) includes: Four-finger single-finger bending drive motor (221); The first transmission component (222) is connected between the output end of the four-finger single-finger bending drive motor (221) and the second point (2182) of the triangular pull rod (218), and is used to transmit the motion of the four-finger single-finger bending drive motor (221) to the triangular pull rod (218). When the four-finger single-finger bending drive motor (221) is activated, the triangular pull rod (218) is driven to swing through the first transmission component (222), and then the middle finger joint (212) of the four fingers is driven to rotate through the third pull rod (217), and the distal finger joint (213) of the four fingers is driven to rotate in conjunction through the first pull rod (214) and the second pull rod (215).

4. A dexterous hand according to claim 1, characterized in that, The lateral oscillation force structure (23) includes: The first drive motor (231) for four-finger single-finger side swing and the second drive motor (232) for four-finger single-finger side swing; The first drive motor (231) for four-finger single-finger side swing and the second drive motor (232) for four-finger single-finger side swing are universally connected to both sides of the third point (2183) of the triangular tie rod (218); A single-finger base (11) is fixedly connected to the palm (1); The lower end of the swing base (233) is rotatably mounted on the single-finger base (11), and the four fingers near the phalanges (211) are connected to the swing base (233); When the four-finger single-finger side swing first drive motor (231) and the four-finger single-finger side swing second drive motor (232) move differentially, the third point (2183) of the triangular pull rod (218) is spatially displaced, thereby driving the four-finger proximal knuckle (211) to drive the knuckle mechanical structure (21) to swing around the swing seat (233).

5. A dexterous hand according to claim 1, characterized in that, The four-finger single-finger bending drive motor (221), the four-finger single-finger side-swing first drive motor (231), and the four-finger single-finger side-swing second drive motor (232) are arranged in a triangular pattern.

6. A dexterous hand according to claim 1, characterized in that, The thumb mechanical structure (31) also includes: A thumb lever (3121) is provided in the middle phalanx (312) of the thumb. The upper end of the thumb lever (3121) is connected to the distal phalanx (311) of the thumb, and the lower end is connected to the proximal phalanx (313) of the thumb. It is used to realize the passive bending of the distal phalanx (311). The thumb proximal phalanx shell includes a first shell (3131) and a second shell (3132) that engage with each other.

7. A dexterous hand according to claim 1, characterized in that, The thumb bending structure (32) includes a thumb bending drive motor (321) embedded in the shell of the thumb proximal phalanx, and the thumb bending drive motor (321) is connected to the middle phalanx of the thumb (312); the thumb bending structure (32) also includes a thumb lateral bending drive motor (322), and the thumb lateral bending drive motor (322) is connected to the output end of the thumb swing structure (33).

8. A dexterous hand according to claim 7, characterized in that, The thumb rotation structure (34) includes: A rotating gear (341) is rotatably mounted on the palm (1); A thumb-rotating motor (342) is fixed on the palm (1) and meshes with a rotating gear (341).

9. A dexterous hand according to claim 8, characterized in that, The thumb swing structure (33) includes a swing gear (331) pivotally connected to a rotating gear (341), and a servo motor (332) embedded in the rotating gear (341). The proximal phalanx of the thumb (313) is pivotally connected to the front end of the swing gear (331), and the output end of the thumb lateral bending drive motor (322) is connected to the swing gear (331).

10. A dexterous hand according to claim 1, characterized in that, The reset component (219) is a tension spring.

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