A heavy load variable configuration dexterous hand and robot

Abstract

This application provides a heavy-duty, variable-configuration dexterous hand and robot, including a palm shell assembly, a fixed finger assembly, and a movable finger assembly. The fixed finger assembly includes a first bending unit fixedly connected to the palm shell assembly. The movable finger assembly includes a second bending unit and a swinging unit hinged to each other. The swinging unit is fixedly connected to the palm shell assembly and drives the second bending unit to swing. Both the first and second bending units are equipped with worm gear reducers for driving the fixed finger assembly and the movable finger assembly to bend relative to the palm shell assembly. The swinging of the movable finger assembly can change the relative position between the fixed finger assembly and the movable finger assembly, allowing the dexterous hand to form a split-finger configuration or a fused-finger configuration. This application can meet the driving requirements of multi-degree-of-freedom bending of the dexterous hand's fingers and realizes the variable adjustment of the dexterous hand's configuration to be applicable to a wider range of application scenarios.

Description

Technical Field

[0001] This application relates to the field of robot design, and more specifically, to a heavy-duty, variable-configuration dexterous hand and robot. Background Technology

[0002] Current dexterous hand transmission methods include chord drives, linkage drives, gear drives, and belt drives. Among these, chord drives are the most widely used. The chords, to a certain extent, mimic the tendon structure of the human hand. Chord drives allow large actuators to be positioned away from the actuator, reducing the load and inertia at the end effector, increasing gripping speed, and significantly improving dexterity. Furthermore, chord drives are suitable for applications with limited space and a large number of degrees of freedom, saving more space than linkage drives. However, chord drives also have their application challenges, including relatively weak load capacity, large variations in preload, and decreasing efficiency with increasing load.

[0003] Linkage drives transmit finger movement and power via rigid links, enabling the grasping of large objects with a compact design and allowing for enveloping grips. However, linkage drives are difficult to control over long distances, prone to ejection, have limited gripping space, and suffer from large size and mass, as well as inflexible movement. Gear drives, also a type of rigid transmission, are complex in their transmission method, heavy, and require a preload mechanism to eliminate backlash.

[0004] Therefore, there is an urgent need for a dexterous hand with direct drive and variable configuration that can efficiently output power to the joints that need to move in order to reduce transmission losses, and can switch the configuration of the dexterous hand to be suitable for more application scenarios. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this application is to provide a heavy-duty variable configuration dexterous hand and robot.

[0006] According to one aspect of this application, a dexterous hand with a heavy-load variable configuration is provided, comprising: Hand shell assembly; A finger-fixing assembly includes a first bending unit, which is fixedly connected to the palm shell assembly; The movable finger assembly includes a second bending unit and a swinging unit hinged to each other. The swinging unit is fixedly connected to the radial or ulnar side of the palm shell assembly and is used to drive the second bending unit to swing, so that the movable finger assembly can swing relative to the palm shell assembly. Both the first bending unit and the second bending unit are equipped with a worm gear reducer for driving the fixed finger assembly and the movable finger assembly to bend relative to the palm shell assembly; the swinging of the movable finger assembly is used to change the relative position between the fixed finger assembly and the movable finger assembly, so that the dexterous hand forms a split finger configuration or a fused finger configuration.

[0007] Optionally, both the first bending unit and the second bending unit include a proximal joint shell, a distal joint shell, a metacarpophalangeal joint force transmission plate, a proximal joint force transmission plate, a fingertip base, a proximal joint module, a metacarpophalangeal joint module, and a gear unit; the metacarpophalangeal joint module, the proximal joint shell, the distal joint shell, and the fingertip base are arranged sequentially along the palm to the fingertip direction, and both the metacarpophalangeal joint module and the proximal joint module adopt a worm gear reducer; The rear end of the proximal joint shell is connected to a metacarpophalangeal joint force transmission plate, and the output shaft of the metacarpophalangeal joint module is connected to the metacarpophalangeal joint force transmission plate for driving the proximal joint shell to rotate through the metacarpophalangeal joint force transmission plate; the rear end of the distal joint shell is connected to a proximal joint force transmission plate, the shell of the proximal joint module is connected inside the proximal joint shell, and the output shaft of the proximal joint module is connected to the proximal joint force transmission plate for driving the distal joint shell to rotate through the proximal joint force transmission plate; the front end of the distal joint shell is movably connected to the fingertip base through a gear unit. The outer shell of the metacarpophalangeal joint module in the first bending unit is fixedly connected to the middle of the palm shell assembly.

[0008] Optionally, the first bending unit and the second bending unit further include a proximal joint angle sensor, a metacarpophalangeal joint angle sensor, and an angle sensor sensing magnet; the proximal joint angle sensor is connected to the proximal joint force transmission plate, the metacarpophalangeal joint angle sensor is connected to the metacarpophalangeal joint force transmission plate, and the outer shell of the metacarpophalangeal joint module and the proximal joint outer shell are both provided with angle sensor sensing magnets. When the metacarpophalangeal joint force transmission plate and the proximal joint force transmission plate rotate, the proximal joint angle sensor and the metacarpophalangeal joint angle sensor respectively sense the change in the magnetic field of the two angle sensor magnets, thereby obtaining the real-time rotation angle, angular displacement and speed information of the metacarpophalangeal joint force transmission plate and the proximal joint force transmission plate.

[0009] Optionally, the gear unit includes a first driven gear, a second driven gear, a fingertip gear, and a proximal joint drive gear; the front end of the distal joint housing is hinged to the rear end of the fingertip base via a pin, the front end of the proximal joint housing is provided with a proximal joint drive gear, the first driven gear and the second driven gear are located inside the distal joint housing, the rear end of the fingertip base is provided with a fingertip gear, and the proximal joint drive gear, the first driven gear, the second driven gear, and the fingertip gear mesh sequentially.

[0010] Optionally, a tension spring is connected between the distal joint housing and the fingertip base.

[0011] Optionally, the surface of the fingertip base is provided with a fingertip tactile sensor.

[0012] Optionally, the swing unit includes a swing joint module, a metacarpophalangeal joint shell, and a swing joint force transmission plate; the shell of the swing joint module is fixedly connected to the radial or ulnar side of the palm shell assembly, the upper and lower ends of the metacarpophalangeal joint shell are connected to the swing joint force transmission plate, and the output shaft of the swing joint module is connected to the swing joint force transmission plate for driving the metacarpophalangeal joint shell to swing through the swing joint force transmission plate. The outer shell of the metacarpophalangeal joint module in the second bending unit is fixedly connected to the outer shell of the metacarpophalangeal joint.

[0013] Optionally, the dexterous hand includes two fixed finger assemblies and two movable finger assemblies to form a four-finger dexterous hand structure; the two fixed finger assemblies form an inner finger group, and the two movable finger assemblies are located on both sides of the inner finger group. Both fixed finger assemblies extend along the length of the palm and are symmetrically arranged about the central axis of the palm shell assembly.

[0014] Optionally, the palm shell assembly is equipped with a six-dimensional force sensor.

[0015] According to another aspect of this application, a robot is provided, the robot comprising the aforementioned heavy-duty variable configuration dexterous hand.

[0016] This application provides a heavy-duty variable-configuration dexterous hand, which uses a worm gear reducer as a direct-drive transmission structure to drive the bending of the fixed finger assembly and the movable finger assembly. Leveraging the direct-drive transmission's characteristic of eliminating the need for connecting rods, key ropes, chains, and other transmission components, it provides highly efficient transmission for the bending motion of the finger assembly, reducing transmission losses and precisely adapting to the multi-degree-of-freedom bending drive requirements of the dexterous hand's fingers. By combining the fixed and movable finger assemblies, the variable adjustment of the dexterous hand's configuration is achieved, making it suitable for a wider range of applications.

[0017] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0018] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a heavy-duty variable configuration dexterous hand (180° finger-split mode) in one embodiment of this application. Figure 2 This is a three-dimensional schematic diagram of the finger-fixing component in one embodiment of this application; Figure 3 This is a planar schematic diagram of the fixed finger assembly in one embodiment of this application. Figure 1 Wherein, (a) is a top view of the fixed finger assembly, and (b) is... Figure 3 (a) is a cross-sectional view in the CC direction; Figure 4 This is a planar schematic diagram of the fixed finger assembly in one embodiment of this application. Figure 2 , where (a) is Figure 3 (b) is a sectional view in the EE direction; (b) is... Figure 3 (a) is a sectional view in the DD direction; Figure 5 This is a schematic diagram of the fixed finger movement state in one embodiment of this application, wherein (a) is a schematic diagram of the metacarpophalangeal joint module movement; and (b) is a schematic diagram of the proximal joint module movement. Figure 6 This is a three-dimensional schematic diagram of the movable finger component in one embodiment of this application; Figure 7 This is a planar schematic diagram of the movable finger component in one embodiment of this application. Figure 1 Wherein, (a) is a top view of the active finger component, and (b) is... Figure 7 (a) is a sectional view in the DD direction; Figure 8 This is a planar schematic diagram of the movable finger component in one embodiment of this application. Figure 2 , where (a) is Figure 7 (b) is a cross-sectional view in the FF direction; (b) is... Figure 7 (a) is a sectional view in the EE direction; Figure 9 This is a schematic diagram of the movement state of an active finger in one embodiment of this application, wherein (a) is a schematic diagram of the movement of the metacarpophalangeal joint module; (b) is a schematic diagram of the movement of the proximal joint module; and (c) is a schematic diagram of the movement of the swing joint module. Figure 10 This is a typical grasping illustration in the 180° finger-split mode of one embodiment of this application, wherein (a) is a schematic diagram of a dexterous hand; and (b) is a schematic diagram of grasping an object. Figure 11This is a typical grasping illustration in the 120° finger-split mode of one embodiment of this application, wherein (a) is a schematic diagram of a dexterous hand; and (b) is a schematic diagram of grasping an object. Figure 12 This is a typical grasping illustration in a four-finger grasping mode according to an embodiment of this application, wherein (a) is a diagram of a dexterous hand; and (b) is a diagram of grasping an object. Figure 13 This is a typical grasping illustration in a single-finger split-finger (simulating left and right hand) mode according to an embodiment of this application, wherein (a) is a schematic diagram of the dexterous left hand; (b) is a schematic diagram of the dexterous right hand; and (c) is a schematic diagram of grasping an object.

[0019] In the diagram: 1. First movable finger assembly; 2. Second movable finger assembly; 3. Palm shell assembly; 4. Fixed finger assembly; 5. Six-dimensional force sensor; 101. Swing joint module; 102. Swing joint module bracket; 103. Metacarpophalangeal joint shell; 104. Proximal joint shell; 105. Distal joint shell; 106. Pin; 107. Protective shell; 108. Proximal joint angle sensor; 109. Angle sensor bracket; 110. Metacarpophalangeal joint angle sensor; 111. Swing joint force transmission plate; 112. Metacarpophalangeal joint force transmission plate; 113. Proximal joint force transmission plate; 114. First passive gear; 115. Second passive gear; 116. Fingertip tactile sensor; 117. Fingertip base; 118. Distal joint; 119. Tension spring; 120. Proximal joint; 121. Proximal joint module; 122. Metacarpophalangeal joint module; 123. Metacarpophalangeal joint; 124. Joint force transmission plate; 125. Joint housing; 126. Joint module output shaft; 127. Magnet bracket; 128. Angle sensor sensing magnet; 129. Magnetic angle sensor; 130. Fingertip gear; 131. Proximal joint drive gear; R1. Distal joint passive rotation. Detailed Implementation

[0020] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0021] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0022] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are 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.

[0023] 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 with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0024] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0026] Current dexterous hand transmission methods include chord drive, linkage drive, gear drive, and belt drive, among which chord drive is the most widely used solution. Chord drive allows large actuators to be located away from the actuator, reducing the load and inertia at the end effector and greatly improving flexibility. However, chord drive also has its application challenges, including relatively weak load capacity, large variations in preload, and decreasing efficiency with increasing load. Based on these issues, this application provides a heavy-duty variable configuration dexterous hand to solve the aforementioned problems.

[0027] Reference Figure 1As shown, this application provides a heavy-duty, variable-configuration dexterous hand, including a palm shell assembly 3, a fixed finger assembly 4, and a movable finger assembly, wherein: The finger fixing assembly 4 includes a first bending unit, which is fixedly connected to the palm shell assembly 3; The movable finger assembly includes a second bending unit and a swinging unit that are hinged to each other. The swinging unit is fixedly connected to the radial or ulnar side of the palm shell assembly 3 and is used to drive the second bending unit to swing, so that the movable finger assembly can swing relative to the palm shell assembly 3. Both the first and second bending units are equipped with worm gear reducers to drive the fixed finger assembly 4 and the movable finger assembly to bend relative to the palm shell assembly 3. The swinging of the movable finger assembly can change the relative position between the fixed finger assembly and the movable finger assembly, allowing the dexterous hand to form a split-finger configuration or a fused-finger configuration. Through the combination of the fixed finger assembly and the movable finger assembly, and the swinging of the movable finger assembly, the dexterous hand configuration can be variably adjusted to adapt to the grasping of various objects.

[0028] For example, a worm gear reducer can be used as a double-envelope worm gear reducer. Relying on the characteristic of multiple teeth meshing simultaneously in this transmission form, it provides high torque output and high transmission efficiency for the bending motion of the finger assembly.

[0029] This application provides a heavy-duty variable-configuration dexterous hand, which uses a worm gear reducer as a direct-drive transmission structure to drive the bending of the fixed finger assembly and the movable finger assembly. Leveraging the direct-drive transmission's characteristic of eliminating the need for connecting rods, key ropes, chains, and other transmission components, it provides highly efficient transmission for the bending motion of the finger assembly, reducing transmission losses and precisely adapting to the multi-degree-of-freedom bending drive requirements of the dexterous hand's fingers. By combining the fixed and movable finger assemblies, the variable adjustment of the dexterous hand's configuration is achieved, making it suitable for a wider range of applications.

[0030] This application addresses the shortcomings of existing dexterous hands, such as complex structure, low load capacity, and limited applicable scenarios. It adopts a miniature double-envelope worm gear reducer drive scheme, which is highly efficient, has a large load capacity, simple structure, good machinability and maintainability, and its variable configuration design makes it suitable for a wider range of applications.

[0031] In some specific embodiments of this application, reference is made to Figures 2-3As shown, both the first bending unit and the second bending unit include a proximal joint housing 104, a distal joint housing 105, a metacarpophalangeal joint force transmission plate 112, a proximal joint force transmission plate 113, a fingertip base 117, a proximal joint module 121, a metacarpophalangeal joint module 122, and a gear unit; the metacarpophalangeal joint module 122, the proximal joint housing 104, the distal joint housing 105, and the fingertip base 117 are arranged sequentially from the palm to the fingertip, and both the metacarpophalangeal joint module 122 and the proximal joint module 121 adopt worm gear reducers; The rear end of the proximal joint housing 104 is connected to a metacarpophalangeal joint force transmission plate 112. The output shaft of the metacarpophalangeal joint module 122 is connected to the metacarpophalangeal joint force transmission plate 112 for driving the proximal joint housing 104 to rotate via the metacarpophalangeal joint force transmission plate 112. The rear end of the distal joint housing 105 is connected to a proximal joint force transmission plate 113. The housing of the proximal joint module 121 is connected inside the proximal joint housing 104, and the output shaft of the proximal joint module 121 is connected to the proximal joint force transmission plate 113 for driving the distal joint housing 105 to rotate via the proximal joint force transmission plate 113. The front end of the distal joint housing 105 is movably connected to the fingertip base 117 via a gear unit. The outer shell of the metacarpophalangeal joint module 122 in the first bending unit is fixedly connected to the middle of the palm shell assembly 3.

[0032] For example, in the embodiments of this application, the front end of the dexterous hand refers to the end near the fingertips, and the back end refers to the end near the palm side.

[0033] The embodiments described above in this application provide a direct-drive technology solution for worm gear reducers. Direct drive refers to driving without using transmission components (such as connecting rods, key ropes, chains, etc.), but by directly connecting the drive component (such as a worm gear reducer) to the joint rotation center. Specifically, the output shaft of the double-enveloping worm gear reducer in this application is directly connected to the joint force transmission plate, efficiently and directly outputting power to the joint that needs to move, reducing transmission losses. The direct-drive solution is simple in structure, highly manufacturable and maintainable, and has high transmission efficiency. The double-enveloping worm gear reducer has a large number of teeth meshing simultaneously, 3-5 times that of ordinary worm gears. Therefore, this double-enveloping worm gear reducer has a larger output torque, smaller backlash, and higher transmission efficiency, enabling it to achieve greater torque output.

[0034] In some specific embodiments of this application, reference is made to Figure 4As shown, the first bending unit and the second bending unit also include a proximal joint angle sensor 108, a metacarpophalangeal joint angle sensor 110, and an angle sensor sensing magnet 128; the proximal joint angle sensor 108 is connected to the proximal joint force transmission plate 113, the metacarpophalangeal joint angle sensor 110 is connected to the metacarpophalangeal joint force transmission plate 112, and the angle sensor sensing magnet 128 is provided on both the outer shell of the metacarpophalangeal joint module 122 and the proximal joint outer shell 104. When the metacarpophalangeal joint force transmission plate 112 and the proximal joint force transmission plate 113 rotate, the proximal joint angle sensor 108 and the metacarpophalangeal joint angle sensor 110 respectively sense the changes in the magnetic field of the two angle sensor sensing magnets 128, thereby obtaining the real-time rotation angle, angular displacement and speed information of the metacarpophalangeal joint force transmission plate 112 and the proximal joint force transmission plate 113.

[0035] In some specific embodiments of this application, the gear unit includes a first driven gear 114, a second driven gear 115, a fingertip gear 130, and a proximal joint drive gear 131; the front end of the distal joint housing 105 is hinged to the rear end of the fingertip base 117 via a pin 106; the front end of the proximal joint housing 104 is provided with the proximal joint drive gear 131; the first driven gear 114 and the second driven gear 115 are located inside the distal joint housing 105; the rear end of the fingertip base 117 is provided with the fingertip gear 130; and the proximal joint drive gear 131, the first driven gear 114, the second driven gear 115, and the fingertip gear 130 mesh sequentially.

[0036] In some specific embodiments of this application, a tension spring 119 is connected between the distal joint housing 105 and the fingertip base 117.

[0037] In the embodiments described above, the tension spring 119 is used to provide a certain preload to eliminate backlash between gears. The spring stiffness of the tension spring 119 is 0.1 N / mm to 0.3 N / mm, and the preload is 0.5 N to 1.5 N.

[0038] In some specific embodiments of this application, a fingertip tactile sensor 116 is provided on the surface of the fingertip base 117.

[0039] In the above embodiments of this application, by setting a fingertip tactile sensor 116, the sensor can sense touch and proximity during grasping, thereby improving the grasping success rate.

[0040] In some specific embodiments of this application, reference is made to Figures 6-8As shown, the swing unit includes a swing joint module 101, a metacarpophalangeal joint housing 103, and a swing joint force transmission plate 111. The housing of the swing joint module 101 is fixedly connected to the radial or ulnar side of the palm housing assembly 3. The upper and lower ends of the metacarpophalangeal joint housing 103 are connected to the swing joint force transmission plate 111. The output shaft of the swing joint module 101 is connected to the swing joint force transmission plate 111 and is used to drive the metacarpophalangeal joint housing 103 to swing through the swing joint force transmission plate 111. The outer shell of the metacarpophalangeal joint module 122 in the second bending unit is fixedly connected to the metacarpophalangeal joint outer shell 103.

[0041] For example, the swing joint module 101 may employ a double-envelope worm gear reducer. The housing of the swing joint module 101 is fixedly connected to the palm housing assembly via the swing joint module bracket 102. With the length direction of the palm as the z-axis, the width direction of the palm as the x-axis, and the thickness direction of the palm as the y-axis, the z-axis, x-axis, and y-axis are perpendicular to each other. The finger fixing assembly extends along the z-axis direction, the output axis of the swing joint module 101 is parallel to the y-axis, and the output axes of the proximal joint module 121 and the metacarpophalangeal joint module 122 are both parallel to the x-axis.

[0042] In some specific embodiments of this application, the dexterous hand includes two fixed finger assemblies 4 and two movable finger assemblies to form a four-finger dexterous hand structure; the two fixed finger assemblies 4 form an inner finger group, and the two movable finger assemblies are respectively located on both sides of the inner finger group. Both fixed finger assemblies 4 extend along the length of the palm and are symmetrically arranged with the central axis of the palm shell assembly 3 as the axis of symmetry.

[0043] For example, two movable finger components are respectively disposed on the radial and ulnar sides of the palm housing assembly 3.

[0044] In the above embodiments of this application, a dexterous hand design with variable configuration is adopted. By swinging the movable finger component, the relative position between the fixed finger component and the movable finger component is changed, so that the dexterous hand can freely switch between two-finger split mode, four-finger parallel mode, and left- or right-hand mode, making it suitable for a wider range of application scenarios.

[0045] Specifically, refer to Figure 10 The diagram shows a typical grasping action in the 180° finger-spreading mode of this embodiment. In this mode, the fixed finger assembly 4 is located on the front side of the palm shell assembly 3, and the movable finger assembly is located on the rear side of the palm shell assembly 3. The axes of the fixed finger assembly 4 and the movable finger assembly are parallel and form an angle of 180°. (Refer to...) Figure 11The diagram shows a typical grasping action in the 120° finger-spreading mode of this embodiment. In this mode, the fixed finger assembly 4 is located on the front side of the palm shell assembly 3, and the movable finger assembly is located on the rear side of the palm shell assembly 3. The angle between the fixed finger assembly 4 and the movable finger assembly is 120°. (Refer to...) Figure 12 The diagram shown illustrates a typical grasping motion in a four-finger parallel gripping mode according to an embodiment of this application. In this parallel gripping mode, both the fixed finger assembly 4 and the movable finger assembly are located on the front side of the palm shell assembly 3. The axes of the fixed finger assembly 4 and the movable finger assembly are parallel and form an angle of 0°. (Refer to...) Figure 13 The diagram shows a typical grasping pattern in the single-finger and split-finger modes simulating the left and right hands respectively in the embodiments of this application. In this mode, the fixed finger component 4 and one movable finger component are located on the front side of the palm shell component 3, and the other movable finger component is located on the rear side of the palm shell component 3.

[0046] A six-dimensional force sensor 5 is provided on the palm shell assembly 3.

[0047] In the above embodiments of this application, the six-dimensional force sensor 5 is used to provide real-time feedback on the force applied to the dexterous hand in any direction.

[0048] This application adopts a four-finger structure, in which two fingers are fixed fingers (i.e., fixed finger components 4) are set in the middle, and two movable fingers are set on both sides, namely the first movable finger component 1 and the second movable finger component 2. The movable finger components can rotate arbitrarily around the rotation axis / output axis of the swing joint module 101. The fixed finger components 4 and the movable finger components are respectively connected to designated positions on the palm shell component 3. A six-dimensional force sensor 5 is set on the surface of the palm shell component 3 so as to provide real-time feedback on the force in any direction of the dexterous hand.

[0049] The metacarpophalangeal joint module 122, the metacarpophalangeal joint force transmission plate 112, and the proximal joint shell 104 constitute the metacarpophalangeal joint 123. The proximal joint module 121, the proximal joint force transmission plate 113, and the distal joint shell 105 constitute the proximal joint 120. The distal joint shell 105, the gear unit, and the fingertip base 117 constitute the distal joint 118. Furthermore, two fixed finger components 4 are disposed at the front end of the dexterous hand. Each dexterous hand has three degrees of freedom, two of which are active degrees of freedom, namely the metacarpophalangeal joint 123 and the proximal joint 120, which are driven by the metacarpophalangeal joint module 122 and the proximal joint module 121, respectively. The other is a passive degree of freedom, which is formed by the sequential meshing of the proximal joint active gear 131, the first passive gear 114, the second passive gear 115 and the fingertip gear 130 on the distal joint housing 105. When the proximal joint module 121 transmits power to the distal joint housing 105 through the proximal joint force transmission plate 113, the first passive gear 114 and the second passive gear 115 rotate around the proximal joint module 121 with the distal joint housing 105. At the same time, the first passive gear 114 and the second passive gear 115 rotate on their own axis, transmitting power to the fingertip base 117. The fingertip base 117 rotates, forming the passive degree of freedom.

[0050] The structure of the fixed finger component 4 is as follows Figures 2-5As shown. The metacarpophalangeal joint module 122 is located at the very end of the finger fixing assembly 4. The rear end of the proximal joint housing 104 is set as a half-protruding arc, with a circular hole in the middle of the arc. The circular hole mates with the output shaft of the metacarpophalangeal joint module 122. The end face of the metacarpophalangeal joint force transmission plate 112 is provided with a protruding keyway, which mates with the groove-shaped keyway on the output shaft of the metacarpophalangeal joint module 122 to output the power of the metacarpophalangeal joint module 122. The threaded through hole provided on the metacarpophalangeal joint force transmission plate 112 mates with the thread on the proximal joint housing 104 to ensure that the power is transmitted to the proximal joint housing 104. On the other side of the proximal joint housing 104, a metacarpophalangeal joint force transmission plate 112 is also provided. An angle sensor bracket 109 is fixed on the outer side of the metacarpophalangeal joint force transmission plate 112. The metacarpophalangeal joint angle sensor 110 is fixed on the outside of the angle sensor bracket 109. An angle sensor magnet 128 is provided above the metacarpophalangeal joint angle sensor 110, and is concentrically arranged with the metacarpophalangeal joint angle sensor 110 at a distance of 0.2-0.5mm. The angle sensor magnet 128 is connected to the housing of the metacarpophalangeal joint module 122 through the magnet bracket 127, and they remain relatively stationary. The metacarpophalangeal joint angle sensor 110 rotates under the drive of the metacarpophalangeal joint force transmission plate 112. At this time, the metacarpophalangeal joint angle sensor 110 and the angle sensor magnet 128 rotate relative to each other, which can accurately measure the rotation angle of the metacarpophalangeal joint 123. The magnet bracket 127 serves both to support the angle sensor sensing magnet 128 and as a protective shell 107 to structurally protect the angle sensor sensing magnet 128 from external impacts that could cause structural damage.

[0051] The front end of the proximal joint housing 104 is configured as a half-protruding arc-shaped gear with a concentric circular hole in the middle. This circular hole is coaxial with the output shaft of the proximal joint module 121 (with a gap in the middle). The end face of the proximal joint force transmission plate 113 is provided with a protruding keyway. This keyway cooperates with the groove-shaped keyway on the output shaft of the proximal joint module 121 to output power from the proximal joint module 121. The threaded through hole provided in the proximal joint force transmission plate 113 cooperates with the thread on the distal joint housing 105 to ensure that power is transmitted to the distal joint housing 105. On the other side of the distal joint housing 105, a proximal joint force transmission plate 113 is also provided. An angle sensor bracket 109 is fixed on the outer side of the proximal joint force transmission plate 113. The proximal joint angle sensor 108 is fixed on the outside of the angle sensor bracket 109. An angle sensor magnet 128 is designed above the proximal joint angle sensor 108. It is concentrically arranged with the proximal joint angle sensor 108 and the distance is 0.2-0.5mm. The angle sensor magnet 128 is connected to the proximal joint housing 104 through the magnet bracket 127 and remains relatively stationary. The proximal joint angle sensor 108 rotates under the drive of the proximal joint force transmission plate 113. At this time, the proximal joint angle sensor 108 and the angle sensor magnet 128 rotate relative to each other, which can accurately measure the rotation angle of the proximal joint 120.

[0052] Reference Figure 4 As shown, the transmission methods of the metacarpophalangeal joint and the proximal joint are the same. The joint module output shaft 126 is connected to the joint force transmission plate 124. The joint force transmission plate 124 is installed on the joint housing 125 so as to drive the joint housing 125 to move through the joint force transmission plate 124. The joint force transmission plate 124 can be equipped with a magnetic angle sensor 129 to measure the change of joint angle.

[0053] Two gears of equal module are provided in the middle of the distal joint housing 105, namely the first driven gear 114 and the second driven gear 115. The two gears mesh with the gears on the proximal joint housing 104 and rotate around the gears on the proximal joint housing 104. A circular hole is provided at the front end of the distal joint housing 105, which is connected to the fingertip base 117 by a pin 106. A fingertip gear 130 is also provided at the front end of the fingertip base 117. The fingertip gear 130 meshes with the second driven gear 115 to transmit the rotation to the fingertip base 117. A schematic diagram of the passive rotation R1 of the distal joint is shown below. Figure 5 As shown, a fingertip tactile sensor 116 is installed above the fingertip base 117 to determine whether the dexterous hand has grasped an object and the pressure of the object's contact.

[0054] A tension spring 119 is provided between the lower part of the distal joint housing 105 and the lower part of the fingertip base 117 to provide a certain preload to eliminate backlash between the gears. The finger fixing assembly 4 is fixed to the palm housing assembly 3 through the threaded hole on the metacarpophalangeal joint module at a preset distance (50-100mm).

[0055] Two sets of movable finger assemblies are provided on both sides of the palm shell assembly 3. The structure of the movable finger assembly is as follows: the swing joint module 101 is fixed to the palm shell assembly 3 by the swing joint module bracket 102. The swing joint module 101 is located between the Y-shaped metacarpophalangeal joint shells 103. The end faces of the upper and lower swing joint force transmission plates 111 are provided with protruding keyways. These keyways cooperate with the groove-shaped keyways on the output shaft of the swing joint module 101 to output the power of the swing joint module 101. The threaded through holes provided on the swing joint force transmission plates 111 cooperate with the threads on the metacarpophalangeal joint shells 103 to ensure that the power is transmitted to the metacarpophalangeal joint shells 103. The metacarpophalangeal joint shells 103 are provided with threaded holes corresponding to the metacarpophalangeal joint module 122 to fix the metacarpophalangeal joint module 122 to the metacarpophalangeal joint shells 103.

[0056] The structure of the active finger component is as follows Figures 6-9 As shown, the rear end of the proximal joint housing 104 is configured as a semi-protruding arc with a circular hole in the middle. The circular hole mates with the output shaft of the metacarpophalangeal joint module 122. The end face of the metacarpophalangeal joint force transmission plate 112 is provided with a protruding keyway, which mates with the groove-shaped keyway on the output shaft of the metacarpophalangeal joint module 122 to output the power of the metacarpophalangeal joint module 122. The threaded through hole on the metacarpophalangeal joint force transmission plate 112 mates with the thread on the proximal joint housing 104 to ensure that the power is transmitted to the proximal joint housing 104. On the other side of the proximal joint housing 104, a metacarpophalangeal joint force transmission plate 112 is also provided. An angle sensor bracket 109 is fixed on the outer side of the metacarpophalangeal joint force transmission plate 112. The metacarpophalangeal joint angle sensor 110 is fixed on the outside of the angle sensor bracket 109. An angle sensor magnet 128 is provided above the metacarpophalangeal joint angle sensor 110, and is concentrically arranged with the metacarpophalangeal joint angle sensor 110 at a distance of 0.2-0.5mm. The angle sensor magnet 128 is connected to the housing of the metacarpophalangeal joint module 122 through the magnet bracket 127, and they remain relatively stationary. The metacarpophalangeal joint angle sensor 110 rotates under the drive of the metacarpophalangeal joint force transmission plate 112. At this time, the metacarpophalangeal joint angle sensor 110 and the angle sensor magnet 128 rotate relative to each other, which can accurately measure the rotation angle of the metacarpophalangeal joint 123.

[0057] The front end of the proximal joint housing 104 is configured as a half-protruding arc-shaped gear with a concentric circular hole in the middle. This circular hole is coaxial with the output shaft of the proximal joint module 121 (with a gap in the middle). The end face of the proximal joint force transmission plate 113 is provided with a protruding keyway. This keyway cooperates with the groove-shaped keyway on the output shaft of the proximal joint module 121 to output power from the proximal joint module 121. The threaded through hole provided in the proximal joint force transmission plate 113 cooperates with the thread on the distal joint housing 105 to ensure that power is transmitted to the distal joint housing 105. On the other side of the distal joint housing 105, a proximal joint force transmission plate 113 is also provided. An angle sensor bracket 109 is fixed on the outer side of the proximal joint force transmission plate 113. The proximal joint angle sensor 108 is fixed on the outside of the angle sensor bracket 109. An angle sensor magnet 128 is designed above the proximal joint angle sensor 108. It is concentrically arranged with the proximal joint angle sensor 108 and the distance is 0.2-0.5mm. The angle sensor magnet 128 is connected to the proximal joint housing 104 through the magnet bracket 127 and remains relatively stationary. The proximal joint angle sensor 108 rotates under the drive of the proximal joint force transmission plate 113. At this time, the proximal joint angle sensor 108 and the angle sensor magnet 128 rotate relative to each other, which can accurately measure the rotation angle of the proximal joint 120.

[0058] Two gears of equal module are provided in the middle of the distal joint housing 105, namely the first driven gear 114 and the second driven gear 115. The two gears mesh with the gears on the proximal joint housing 104 and rotate around the gears on the proximal joint housing 104. A circular hole is provided at the front end of the distal joint housing 105, which is connected to the fingertip base 117 by a pin 106. A fingertip gear 130 is also provided at the front end of the fingertip base 117. The fingertip gear 130 meshes with the second driven gear 115 to transmit the rotation to the fingertip base 117. A schematic diagram of the passive rotation R1 of the distal joint is shown below. Figure 9 As shown. A fingertip tactile sensor 116 is installed above the fingertip base 117 to determine whether the dexterous hand has grasped an object and the pressure of the object's contact.

[0059] A tension spring 119 is provided between the lower part of the distal joint housing 105 and the lower part of the fingertip base 117 to provide a certain preload to eliminate backlash between gears. Two movable finger assemblies are respectively fixed to the protruding steps on both sides of the palm housing assembly 3. A six-dimensional force sensor 5 is provided on the palm housing assembly 3 to receive forces from all directions of the heavy-duty dexterous hand.

[0060] Based on the same inventive concept, another embodiment of this application provides a robot, which includes the heavy-duty variable-configuration dexterous hand of the above embodiment.

[0061] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0062] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A dexterous hand with a heavy-duty variable configuration, characterized in that, include: Palm shell assembly; A finger-fixing assembly includes a first bending unit, which is fixedly connected to the palm shell assembly; The movable finger assembly includes a second bending unit and a swinging unit hinged to each other. The swinging unit is fixedly connected to the radial or ulnar side of the palm shell assembly and is used to drive the second bending unit to swing, so that the movable finger assembly can swing relative to the palm shell assembly. Both the first bending unit and the second bending unit are equipped with a worm gear reducer for driving the fixed finger assembly and the movable finger assembly to bend relative to the palm shell assembly; the swinging of the movable finger assembly is used to change the relative position between the fixed finger assembly and the movable finger assembly, so that the dexterous hand forms a split finger configuration or a fused finger configuration.

2. A heavy-duty variable-configuration dexterous hand according to claim 1, characterized in that, Both the first bending unit and the second bending unit include a proximal joint shell, a distal joint shell, a metacarpophalangeal joint force transmission plate, a proximal joint force transmission plate, a fingertip base, a proximal joint module, a metacarpophalangeal joint module, and a gear unit; the metacarpophalangeal joint module, the proximal joint shell, the distal joint shell, and the fingertip base are arranged sequentially along the palm to the fingertip direction, and both the metacarpophalangeal joint module and the proximal joint module adopt a worm gear reducer; The rear end of the proximal joint shell is connected to a metacarpophalangeal joint force transmission plate. The output shaft of the metacarpophalangeal joint module is connected to the metacarpophalangeal joint force transmission plate for driving the proximal joint shell to rotate through the metacarpophalangeal joint force transmission plate. The rear end of the distal joint shell is connected to a proximal joint force transmission plate. The shell of the proximal joint module is connected inside the proximal joint shell, and the output shaft of the proximal joint module is connected to the proximal joint force transmission plate for driving the distal joint shell to rotate through the proximal joint force transmission plate. The front end of the distal joint shell is movably connected to the fingertip base via a gear unit; The outer shell of the metacarpophalangeal joint module in the first bending unit is fixedly connected to the middle of the palm shell assembly.

3. A heavy-duty variable-configuration dexterous hand according to claim 2, characterized in that, The first bending unit and the second bending unit further include a proximal joint angle sensor, a metacarpophalangeal joint angle sensor, and an angle sensor sensing magnet; the proximal joint angle sensor is connected to the proximal joint force transmission plate, the metacarpophalangeal joint angle sensor is connected to the metacarpophalangeal joint force transmission plate, and the outer shell of the metacarpophalangeal joint module and the proximal joint outer shell are both provided with angle sensor sensing magnets. When the metacarpophalangeal joint force transmission plate and the proximal joint force transmission plate rotate, the proximal joint angle sensor and the metacarpophalangeal joint angle sensor respectively sense the change in the magnetic field of the two angle sensor magnets, thereby obtaining the real-time rotation angle, angular displacement and speed information of the metacarpophalangeal joint force transmission plate and the proximal joint force transmission plate.

4. A heavy-duty variable-configuration dexterous hand according to claim 2, characterized in that, The gear unit includes a first driven gear, a second driven gear, a fingertip gear, and a proximal joint drive gear; the front end of the distal joint housing is hinged to the rear end of the fingertip base via a pin, the front end of the proximal joint housing is provided with the proximal joint drive gear, the first driven gear and the second driven gear are located inside the distal joint housing, and the rear end of the fingertip base is provided with the fingertip gear, and the proximal joint drive gear, the first driven gear, the second driven gear and the fingertip gear mesh sequentially.

5. A heavy-duty variable-configuration dexterous hand according to claim 2, characterized in that, A tension spring connects the distal joint shell to the fingertip base.

6. A heavy-duty variable-configuration dexterous hand according to claim 2, characterized in that, The surface of the fingertip base is equipped with a fingertip tactile sensor.

7. A heavy-duty variable-configuration dexterous hand according to claim 2, characterized in that, The swing unit includes a swing joint module, a metacarpophalangeal joint shell, and a swing joint force transmission plate; the shell of the swing joint module is fixedly connected to the radial or ulnar side of the palm shell assembly, and the upper and lower ends of the metacarpophalangeal joint shell are connected to the swing joint force transmission plate; the output shaft of the swing joint module is connected to the swing joint force transmission plate and is used to drive the metacarpophalangeal joint shell to swing through the swing joint force transmission plate. The outer shell of the metacarpophalangeal joint module in the second bending unit is fixedly connected to the outer shell of the metacarpophalangeal joint.

8. A heavy-duty variable-configuration dexterous hand according to claim 1, characterized in that, The dexterous hand includes two fixed finger assemblies and two movable finger assemblies to form a four-finger dexterous hand structure; the two fixed finger assemblies form an inner finger group, and the two movable finger assemblies are located on both sides of the inner finger group. Both fixed finger assemblies extend along the length of the palm and are symmetrically arranged about the central axis of the palm shell assembly.

9. A heavy-duty variable-configuration dexterous hand according to claim 1, characterized in that, The palm shell assembly is equipped with a six-dimensional force sensor.

10. A robot, characterized in that, The robot includes a dexterous hand with a heavy-duty variable configuration as described in any one of claims 1-9.

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