Linkage-driven finger assembly, dexterous hand and robot

Abstract

This application relates to the field of robot design technology, and more particularly to a linkage-driven finger assembly, a dexterous hand, and a robot. The finger assembly includes a proximal phalanx, a middle phalanx, and a distal phalanx hinged sequentially. A first linear drive mechanism drives the proximal phalanx via a first link. A second linear drive mechanism couples a single linear motion to the middle and distal phalanges via a second link mechanism including a drive rod and a follower, driving them to bend. This solution effectively overcomes the low precision of chordal transmission in existing technologies; simultaneously, by replacing gear transmission with linear drive, it avoids the problems of complex, bulky, and high inertia issues associated with gear mechanisms, significantly simplifying the structure and improving the lightweight and response speed of the finger assembly.

Description

Technical Field

[0001] This application relates to the field of robot design technology, and more particularly to a link-driven finger assembly, a dexterous hand, and a robot. Background Technology

[0002] Currently, the mainstream transmission methods for dexterous hands mainly include chord drive and gear drive. Among them, chord drive has low transmission accuracy; while gear drive has a complex structure, high cost, is not conducive to manufacturing and maintenance, and is heavy, which is not conducive to structural lightweighting.

[0003] Therefore, developing a lightweight, high-rigidity linkage-driven finger assembly capable of independent or coupled movement of multiple finger joints has become a pressing technical problem in the field. Summary of the Invention

[0004] The purpose of this application is to provide a linkage-driven finger assembly to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this application provides the following technical solution: A linkage-driven finger assembly includes: a proximal phalanx, a middle phalanx, and a distal phalanx hinged sequentially; a first linear drive mechanism, a first linkage mechanism, a second linear drive mechanism, and a second linkage mechanism; The first linear drive mechanism has a first prismatic joint that can reciprocate along a straight line; the second linear drive mechanism has a second prismatic joint that can reciprocate along a straight line. The first linkage mechanism is connected between the first sliding joint and the proximal phalanx; The second linkage mechanism includes a drive rod and a follower. One end of the drive rod is hinged to the second sliding joint, and the other end is hinged to the first hinge point of the follower. The second hinge point of the follower is hinged to the distal phalanx, and the third hinge point is hinged to the proximal phalanx.

[0006] Furthermore, the first hinge point, the second hinge point, and the third hinge point are not collinear.

[0007] Furthermore, it also includes a preload spring, one end of which is connected to the proximal phalanx or a component fixedly connected to the proximal phalanx, and the other end is connected to the middle phalanx or a component fixedly connected to the middle phalanx.

[0008] Furthermore, both the first linear drive mechanism and the second linear drive mechanism include a drive motor and a ball screw pair connected to the output of the drive motor, and both the first sliding pair and the second sliding pair are the screw nut of the ball screw pair.

[0009] Furthermore, at least one of the middle phalanx and the proximal phalanx is provided with a first limiting structure, which is used to limit the bending angle of at least one of the middle phalanx and the distal phalanx.

[0010] Furthermore, at least one of the middle phalanx and the proximal phalanx is provided with a second limiting structure, which is used to limit the extension angle of at least one of the middle phalanx and the distal phalanx.

[0011] Furthermore, it also includes a support base, on which the proximal phalanx is rotatably mounted via a pivot.

[0012] Furthermore, the support base is provided with a clearance hole; the first movable pair is movably inserted into the clearance hole.

[0013] A dexterous hand is proposed, comprising a palm and a linkage-driven finger assembly as described above, wherein the palm is connected to the proximal phalanx; a first linear drive mechanism is disposed inside the palm, and a first sliding joint is connected to the proximal phalanx via the first linkage mechanism; a second linear drive mechanism is disposed inside the proximal phalanx or in the root region of the proximal phalanx, and the second sliding joint is connected to the middle phalanx and the distal phalanx via the second linkage mechanism.

[0014] A robot, including the aforementioned dexterous hand, is also proposed.

[0015] The technical solutions provided in this application have the following advantages compared with the prior art: This application provides a linkage-driven finger assembly that directly and rigidly drives the proximal phalanx via a first linear drive mechanism and a first linkage mechanism, enabling its independent rotational bending. Simultaneously, through a rigid configuration formed by the drive rod and follower in the second linear drive mechanism and the second linkage mechanism, the linear motion of a single phalanx is decomposed and coupled to the middle and distal phalanges, achieving rotational bending of the middle and distal phalanges relative to the proximal phalanx. This achieves coordinated movement of the three phalanges with two sets of linear drives. Compared to traditional technologies, this solution effectively overcomes the low precision of tendon-chord transmission. Furthermore, by replacing gear transmission with linear drive, it avoids the problems of complex, bulky, and high inertia associated with gear mechanisms, significantly simplifying the structure and improving the lightweight and response speed of the finger assembly. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 A schematic diagram of the external structure of the finger assembly provided in an embodiment of this application; Figure 2 This is a schematic diagram of the internal structure of the finger assembly provided in an embodiment of this application; Figure 3 This is a schematic diagram showing the installation position of the preload spring in this application; Figure 4 This is a schematic diagram of the support base.

[0020] Explanation of reference numerals in the attached figures: 1. Proximal phalanx; 2. Middle phalanx; 3. Distal phalanx; 4. First linear drive mechanism; 41. First motor; 42. First sliding joint; 421. Push rod; 5. Second linear drive mechanism; 51. Second motor; 52. Second sliding joint; 6. First linkage mechanism; 7. Second linkage mechanism; 71. Drive rod; 72. Follower; 721. First hinge point; 722. Second hinge point; 723. Third hinge point; 8. Preload spring; 9. First fixed pin; 10. Second fixed pin; 11. First limiting structure; 12. Support base; 121. Clearance hole; 13. Rotating shaft; 14. Second limiting structure. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] To address the shortcomings of existing technologies, such as low transmission accuracy in chord drives and high weight and disadvantages in lightweight design of gear drives, this technical solution provides a linkage-driven finger assembly to solve the aforementioned technical problems.

[0025] Example 1 like Figures 1 to 4 As shown, a linkage-driven finger assembly (hereinafter referred to as the finger assembly) includes: a proximal phalanx 1, a middle phalanx 2, and a distal phalanx 3, which are hinged sequentially; a first linear drive mechanism 4, a first linkage mechanism 6, a second linear drive mechanism 5, and a second linkage mechanism 7; wherein, the first linear drive mechanism 4 has a first prismatic joint 42 that can reciprocate along a straight line; the second linear drive mechanism 5 has a second prismatic joint 52 that can reciprocate along a straight line; the first linkage mechanism 6 is connected between the first prismatic joint 42 and the proximal phalanx 1; the second linkage mechanism 7 includes a drive rod 71 and a follower 72, one end of the drive rod 71 is hinged to the second prismatic joint 52, and the other end is hinged to the first hinge point 721 of the follower 72; the second hinge point 722 of the follower 72 is hinged to the distal phalanx 3, and the third hinge point 723 is hinged to the proximal phalanx 1.

[0026] When the first linear drive mechanism 4 drives its first prismatic joint 42 to perform linear reciprocating movement, the first prismatic joint 42 drives the proximal phalanx 1 to rotate around its hinge point with the adjacent fixed component (e.g., palm or support base 12) through the first linkage mechanism 6 connected to it.

[0027] When the second linear drive mechanism 5 drives its second sliding joint 52 to reciprocate linearly, the second sliding joint 52 drives the driven member 72 to move via the drive rod 71 hinged to it. The first hinge point 721 of the driven member 72 moves under the drive of the drive rod 71. Since the driven member 72 is an integral component with a second hinge point 722 and a third hinge point 723, the rotation of its first hinge point 721 causes the entire driven member 72 to rotate, and this rotation is transmitted to the distal phalanx 3 via the second hinge point 722, causing the distal phalanx 3 to rotate around the hinge point between the distal phalanx 3 and the middle phalanx 2. Simultaneously, the movement of the first hinge point 721 of the driven member 72 under the drive of the drive rod 71 also transmits this rotation to the proximal phalanx 1 via the third hinge point 723, causing the middle phalanx 2 to rotate around its hinge point with the proximal phalanx 1. Thus, the middle phalanx 2 and the distal phalanx 3 simultaneously bend relative to the proximal phalanx 1.

[0028] In this process, the first linear drive mechanism 4 independently controls the proximal phalanx 1, while the second linear drive mechanism 5 couples and controls the middle phalanx 2 and the distal phalanx 3 via a follower 72. This design, where two sets of linear drive mechanisms control the corresponding phalanx movements, ensures high rigidity and precision while enabling flexible control of independent and coupled movements between multiple phalanges. This effectively solves the problems of low transmission precision and high inertia caused by the inherent characteristics of tendon-driven methods, such as rope elasticity and pulley friction.

[0029] In a preferred embodiment, the finger assembly is provided with a preload spring 8 to address the problems of transmission backlash, unstable movement, and reduced positioning accuracy caused by the linkage hinge gap.

[0030] like Figure 3 As shown, one end of the preload spring 8 is connected to the proximal phalanx 1 or a component fixedly connected to the proximal phalanx 1, and the other end is connected to the middle phalanx 2 or a component fixedly connected to the middle phalanx 2.

[0031] In detail, the pretension spring 8 has hooks (such as hooks or loops) at both ends for connection. The component is a pin; the pin defined in the cavity of the proximal phalanx 1 is a first fixing pin 9, whose two ends are fixedly connected to the inner wall of the proximal phalanx 1. The pin defined in the cavity of the middle phalanx 2 is a second fixing pin 10, whose two ends are fixedly connected to the inner wall of the middle phalanx 2. The hook at one end of the pretension spring 8 is fitted and fixed to the first fixing pin 9, and the hook at the other end is fitted and fixed to the second fixing pin 10. By tightening or pre-stretching, the pretension spring 8 is in a pre-tightened state when the finger is in its initial state (such as in an extended state).

[0032] It should be noted that the pretension spring 8 is located on the curved outer side of the finger assembly and is installed in a stretched state during the initial installation stage. Since the pretension spring 8 is always in a stretched state, its two ends are connected by the first fixing pin 9 and the second fixing pin 10 respectively, thereby continuously applying elastic tension to the proximal phalanx 1 and the middle phalanx 2, causing them to tend to move in the straightening direction.

[0033] In detail, the first linear drive mechanism 4, the first linkage mechanism 6, the second linear drive mechanism 5, and the second linkage mechanism 7 together constitute the transmission chain of the finger assembly. The elastic tension generated by the preload spring 8 can keep all the transmission joints in the transmission chain pressed against the side opposite to the direction of finger bending along the force transmission path of the first linkage mechanism 6 and the second linkage mechanism 7, thereby eliminating the reverse clearance caused by the fit clearance of each joint.

[0034] Furthermore, in a preferred embodiment, such as Figure 2 As shown, the first hinge point 721, the second hinge point 722, and the third hinge point 723 of the follower 72 in the finger assembly are not collinear. The positional relationship between the second hinge point 722 and the third hinge point 723 relative to the first hinge point 721 is configured such that when the middle phalanx 2 and the distal phalanx 3 are bent, the ratio of their angular displacements remains constant or changes according to a predetermined pattern.

[0035] Specifically, since the three hinge points are not collinear, when the drive rod 71 drives the first hinge point 721 to move, the entire driven member 72 acts as a rigid body, and its movement is completely constrained to a single plane. The second hinge point 722 and the third hinge point 723, as two fixed points on this rigid body, have their trajectories and speeds determined by the movement of the rigid body and their positions relative to the first hinge point 721. Thus, when the positions of the second hinge point 722 and the third hinge point 723 relative to the first hinge point 721 are configured in a specific ratio (for example, the line connecting these three points forms an equilateral triangle or a right triangle), the ratio of the angular displacement of the middle phalanx 2 to the distal phalanx 3 can remain constant during finger bending. This allows the two phalanges to bend uniformly as a whole, with a smooth movement trajectory and bending along a preset angle.

[0036] It should be noted that the follower 72 can adopt various specific structural forms, as long as it satisfies the core condition that the three hinge points are not collinear. For example, it can be a single plate-shaped or block-shaped connecting rod with its three hinge holes (i.e., three points) machined on the plate; it can also be a triangular frame structure formed by three rods hinged in pairs; or, its main cross-section can be rectangular, circular, or other shapes, but the structural parts used to connect the three hinge points still form a triangular relationship. The specific shape and internal structure of the follower 72 can be adjusted according to actual space constraints, strength requirements, or manufacturing costs, and this invention does not impose specific limitations on them.

[0037] In summary, this technical solution transforms the motion control problem into a stable geometric design through the follower 72, enabling high-precision, high-reliability coordinated motion without relying on complex real-time control algorithms and sensor feedback, which can be guaranteed solely by the mechanical structure itself. This reduces the number of additional parts, thereby improving the lightweight and compactness of the finger assembly.

[0038] In a preferred embodiment, such as Figure 2 As shown, both the first linear drive mechanism 4 and the second linear drive mechanism 5 include a drive motor and a ball screw pair connected to the output of the drive motor. The first sliding pair 42 and the second sliding pair 52 are both the screw nut of the ball screw pair.

[0039] The drive motor of the first linear drive mechanism 4 is defined as the first motor 41, and the drive motor of the second linear drive mechanism 5 is defined as the second motor 51.

[0040] In this design, the lead screw nut (i.e., the first prismatic joint 42) of the first linear drive mechanism 4 is hinged to the first linkage mechanism 6, and the lead screw nut (i.e., the second prismatic joint 52) ​​of the second linear drive mechanism 5 is hinged to the drive rod 71 in the second linkage mechanism 7. By controlling the rotation duration or speed of the output ends of the first motor 41 and the second motor 51, that is, by controlling the linear displacement and speed of the two lead screw nuts, the rotation angle of the proximal phalanx 1 and the coupling bending angle of the middle and distal phalanges 3 are controlled through their respective linkage mechanisms.

[0041] It should be understood that this design utilizes the ball screw pair with its high transmission efficiency, high rigidity and good motion reversibility to achieve precise position control. Through the cooperation of the first motor 41, the second motor 51, the first linkage mechanism 6, and the second linkage mechanism 7, the finger assembly is able to respond quickly and make the required bending movements to grasp objects, thereby expanding its application scenarios.

[0042] It should be noted that the first linear drive mechanism 4 and the second linear drive mechanism 5 in this technical solution are not limited to the drive motor and ball screw pair described above, but also include any power device capable of outputting controllable linear reciprocating motion. This includes various technical implementation paths, such as electric cylinders, pneumatic cylinders, or hydraulic cylinders. As long as it has a linearly reciprocating "moving pair" output end and can drive subsequent linkage mechanisms through this moving pair, it falls within the scope of this invention.

[0043] Furthermore, in a preferred embodiment, such as Figure 4 As shown, the linkage-driven finger assembly also includes a support base 12, on which the proximal phalanx 1 is rotatably mounted via a pivot 13. It can be understood that the support base 12 serves as the fixed base for the entire finger module (which includes the proximal phalanx 1, middle phalanx 2, and distal phalanx 3), and the pivot 13 determines the axis of rotation of the proximal phalanx 1, which is also the fulcrum of the driving force of the first linkage mechanism 6. It should be noted that, to ensure unimpeded movement of the first linear drive mechanism 4, a clearance hole 121 is provided on the support base 12 corresponding to the movement path of the first prismatic joint 42. The push rod 421 in the first prismatic joint 42 passes through this clearance hole 121 before connecting to the first linkage mechanism 6 located in front of the support base 12. This design allows the push rod 421 in the first linear drive mechanism 42 to move freely through the clearance hole 121 on the support seat 12 when the first linear drive mechanism 4 drives its first sliding pair 42 to move linearly and reciprocate. Its movement path will not be blocked or interfered with by the support seat 12, thus ensuring the smoothness and integrity of the transmission action.

[0044] Secondly, in order to prevent damage to the internal mechanism due to excessive joint flexion, a first limiting structure 11 is provided on at least one of the middle phalanx 2 and the proximal phalanx 1; the first limiting structure 11 is used to limit the bending angle of at least one of the middle phalanx 2 and the distal phalanx 3.

[0045] It should be noted that this bending angle refers to the angle at which the fingers bend towards the palm.

[0046] Specifically, such as Figure 4 As shown, taking the limitation of the maximum bending angle of the middle phalanx 2 as an example, a first limiting structure 11 is provided on the distal side of the proximal phalanx 1 (the end of the proximal phalanx 1 closest to the middle phalanx 2 is defined as the distal end). When the middle phalanx 2 bends towards the palm, the shell surface of the middle phalanx 2 contacts the first limiting structure 11, preventing the middle phalanx 2 from continuing to bend through mechanical interference. Similarly, a first limiting structure 11 is provided on the end of the middle phalanx 2 closest to the distal phalanx 3 to limit the maximum bending angle of the distal phalanx 3.

[0047] Furthermore, a first limiting structure 11 can be simultaneously provided on the proximal phalanx 1 and the middle phalanx 2 to limit the maximum bending angle of the middle phalanx 2 and the maximum bending angle of the distal phalanx 3, respectively, thereby achieving dual limiting protection for the bending stroke of the middle phalanx 2 and the distal phalanx 3, and avoiding damage to the internal transmission mechanism due to excessive joint flexion.

[0048] like Figure 2 As shown, in some embodiments, at least one of the middle phalanx 2 and the proximal phalanx 1 is provided with a second limiting structure 14, which is used to limit the extension angle of at least one of the middle phalanx 2 and the distal phalanx 3.

[0049] For example, a second limiting structure 14 can be provided on the proximal phalanx 1 near the middle phalanx 2. When the middle phalanx 2 extends toward the back of the hand, the end of the middle phalanx 2 near the proximal phalanx 1 can be abutted and limited by the second limiting structure 14, thereby preventing the middle phalanx 2 from continuing to extend and keeping the middle phalanx 2 in an upright extended state relative to the proximal phalanx 1.

[0050] For example, a second limiting structure 14 can be provided at the end of the middle phalanx 2 near the distal phalanx 3 to limit the maximum extension angle of the distal phalanx 3 relative to the middle phalanx 2.

[0051] Furthermore, a second limiting structure 14 can be simultaneously provided on the proximal phalanx 1 and the middle phalanx 2 to limit the extension angle of the middle phalanx 2 and the extension angle of the distal phalanx 3, respectively, thereby achieving dual limiting of the overall extension posture of the finger.

[0052] Example 2 This application also proposes a dexterous hand, which further includes a palm and a linkage-driven finger assembly as described above, wherein the palm is connected to the proximal phalanx 1; a first linear drive mechanism 4 is disposed inside the palm, and a first sliding joint 42 is connected to the proximal phalanx 1 via a first linkage mechanism 6; a second linear drive mechanism 5 is disposed inside the proximal phalanx 1 or in the root region of the proximal phalanx 1, and a second sliding joint 52 is connected to the middle phalanx 2 and the distal phalanx 3 via a second linkage mechanism 7.

[0053] In detail, the main body of the first linear drive mechanism 4 (such as the first motor 41 and the first sliding joint 42) is located within the internal space of the palm. The first sliding joint 42 is connected by a first linkage mechanism 6 located between the palm shell and the proximal phalanx 1, thereby realizing the transmission of the proximal phalanx 1. This layout moves the first motor 41 and the first sliding joint 42, which occupy the main mass and volume of the first linear drive mechanism 4 that drives the proximal phalanx 1, into the palm, thereby reducing the weight and volume of the finger part.

[0054] The main body of the second linear drive mechanism 5 is located in the internal cavity of the proximal phalanx 1, or adjacent to the root region of the proximal phalanx 1 (i.e., near its hinge point with the palm). Its second sliding joint 52 is connected to the middle phalanx 2 and the distal phalanx 3 via the second linkage mechanism 7. This design makes the mechanism driving the coupled movement of the middle phalanx 2 and the distal phalanx 3 very close to the driven joint (e.g., the proximal phalanx 1), shortening the transmission path, further optimizing the mass distribution of the finger, and avoiding the problem of arranging bulky drive elements in the slender phalanx portion.

[0055] When the fingers need to be driven, the first linear drive mechanism 4, located inside the palm, begins to operate. Its first prismatic joint 42 moves linearly inside the palm and is transmitted through the first linkage mechanism 6, driving the proximal phalanx 1 to rotate around its hinge point with the palm. Simultaneously, the second linear drive mechanism 5, located inside or at the root of the proximal phalanx 1, operates independently. The linear motion of its second prismatic joint 52 is transmitted through the second linkage mechanism 7 (drive rod 71 and follower 72), also located in the region of the proximal phalanx 1. Because the second linear drive mechanism 5 is directly connected to the drive rod 71 through its second prismatic joint 52, the physical distance between the second linear drive mechanism 5 and the second linkage mechanism 7 is very short. After being decomposed by the follower 72, this motion synchronously drives the middle phalanx 2 and the distal phalanx 3 to achieve coupled bending. Furthermore, the second linear drive mechanism 5 is located at the base of the proximal phalanx 1, while the first linear drive mechanism 4 is located inside the palm. This compact arrangement between the first linear drive mechanism 4 and the second linear drive mechanism 5 shortens the transmission path length of the entire transmission chain, making the force transmission more direct and efficient.

[0056] In summary, by placing the large and heavy first linear drive mechanism 4, which drives the proximal phalanx 1, at the rear of the hand, and integrating the second linear drive mechanism 5, which drives the middle and distal phalanxes 2 and 3, into the proximal phalanx 1, the load on the fingers is significantly reduced. Simultaneously, the compact design of the entire transmission chain reduces the rotational inertia of the finger's moving parts, making the fingers more agile when starting, stopping, or changing direction, significantly improving dynamic response performance, and reducing errors and energy losses that may result from long-path transmission.

[0057] Example 3 This application also provides a robot including the aforementioned dexterous hand. The robot includes a robot body, a control system, and at least one dexterous hand as described above. The dexterous hand includes a linkage-driven finger assembly as described above. The finger assembly, serving as the robot's end effector, is mounted on the wrist or end flange of the robot's dexterous hand via its support 12. The robot's control system is electrically connected to the respective drive motors (first linear drive mechanism 4, second linear drive mechanism 5) in the finger assembly, for sending motion commands to the finger assembly to enable it to perform complex operational tasks.

[0058] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0059] In the description of this application, 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", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "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 this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring 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. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0064] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0065] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A linkage-driven finger assembly, characterized in that, include: The proximal phalanx, middle phalanx, and distal phalanx are hinged in sequence; a first linear drive mechanism, a first linkage mechanism, a second linear drive mechanism, and a second linkage mechanism; The first linear drive mechanism has a first prismatic joint that can reciprocate along a straight line; the second linear drive mechanism has a second prismatic joint that can reciprocate along a straight line. The first linkage mechanism is connected between the first sliding joint and the proximal phalanx; The second linkage mechanism includes a drive rod and a follower. One end of the drive rod is hinged to the second sliding joint, and the other end is hinged to the first hinge point of the follower. The second hinge point of the follower is hinged to the distal phalanx, and the third hinge point is hinged to the proximal phalanx.

2. The linkage-driven finger assembly according to claim 1, characterized in that, The first hinge point, the second hinge point, and the third hinge point are not collinear.

3. The linkage-driven finger assembly according to claim 1, characterized in that, It also includes a preload spring, one end of which is connected to the proximal phalanx or a component fixedly connected to the proximal phalanx, and the other end is connected to the middle phalanx or a component fixedly connected to the middle phalanx.

4. The linkage-driven finger assembly according to claim 1, characterized in that, Both the first linear drive mechanism and the second linear drive mechanism include a drive motor and a ball screw pair connected to the output of the drive motor. The first sliding pair and the second sliding pair are both screw nuts of the ball screw pair.

5. A linkage-driven finger assembly according to claim 1, characterized in that, At least one of the middle phalanx and the proximal phalanx is provided with a first limiting structure, which is used to limit the bending angle of at least one of the middle phalanx and the distal phalanx.

6. The linkage-driven finger assembly according to claim 1, characterized in that, At least one of the middle phalanx and the proximal phalanx is provided with a second limiting structure, which is used to limit the extension angle of at least one of the middle phalanx and the distal phalanx.

7. A linkage-driven finger assembly according to claim 1, characterized in that, It also includes a support base, on which the proximal phalanx is rotatably mounted via a pivot.

8. A linkage-driven finger assembly according to claim 7, characterized in that, The support base is provided with a clearance hole; the first movable pair is movably inserted into the clearance hole.

9. A dexterous hand, characterized in that, The invention includes a palm and a linkage-driven finger assembly according to any one of claims 1-8, wherein the palm is connected to the proximal phalanx; a first linear drive mechanism is disposed inside the palm, and a first sliding joint is connected to the proximal phalanx via the first linkage mechanism; a second linear drive mechanism is disposed inside the proximal phalanx or in the root region of the proximal phalanx, and the second sliding joint is connected to the middle phalanx and the distal phalanx via the second linkage mechanism.

10. A robot, characterized in that, Including the dexterous hand as described in claim 9.

Images