Three-fingered hand and robot

Abstract

The present application relates to the technical field of robots, and provides a three-fingered hand and a robot, the three-fingered hand comprising a palm base and three fingers connected to the palm base, each of the fingers comprising a finger base, three knuckles, a driving member, a transmission assembly and a linkage assembly, the finger base being arranged on the palm base, the three knuckles being hingedly connected in sequence, and one of the knuckles being hingedly connected to the finger base; the linkage assembly being connected to the knuckles, the driving member being connected to the linkage assembly through the transmission assembly to drive the knuckles to make flexion and extension movements, and the knuckles being adapted to rotate coaxially when not encountering an obstacle. The driving member drives the knuckles to make flexion and extension movements through the transmission assembly and the linkage assembly, and the knuckles are adapted to rotate coaxially when not encountering an obstacle, thereby solving the problem of low load caused by direct connection driving, and having the advantages of improving the grasping efficiency and operation continuity.

Description

Technical Field

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

[0002] Currently, three-finger dexterous hands have significant application value in robotic systems, but existing technologies have obvious limitations. Most products on the market use direct-drive servo motors. While this structure is simple to implement, it lacks sufficient output torque, resulting in low overall load capacity and an inability to effectively handle grasping medium-weight objects in real-world scenarios. Some designs employ a gripper-like layout, but its rigid mechanical structure limits the grasping range and its adaptability to different object shapes, making it difficult to achieve human-like dexterity. Regarding finger configuration, most three-finger dexterous hands use a two-knuckle design, including only the root and fingertip joints. While this simplified design reduces manufacturing costs and control complexity, it severely restricts the diversity of grasping functions. Specifically, the two-knuckle structure cannot form a continuous bending arc when grasping irregular objects or performing full-palm wrapping movements, resulting in insufficient contact surface and poor grasping stability. When performing delicate fingertip pinching operations, such as handling small or fragile items, its insufficient freedom of movement easily leads to operation failure. In theory, the three-joint design more closely resembles the natural anatomy of the human hand, providing a smoother motion trajectory and a more fitting grasping effect. However, in existing implementations, the coordination mechanism between the joints has flaws, especially in obstacle-free environments, where multiple joints cannot rotate coaxially, resulting in an inconsistent grasping process and reduced overall operational efficiency and biomimetic level. Furthermore, the singular nature of the actuation scheme further limits the dexterous hand's adaptability in complex environments, failing to meet the demands of high-precision grasping tasks. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in related technologies. To this end, this invention proposes a three-finger dexterous hand, designed to improve grasping efficiency and operational fluency.

[0004] The present invention also proposes a robot.

[0005] A three-finger dexterous hand according to a first aspect of the present invention includes: Palm base; The three fingers connected to the palm base each include a finger base, three phalanges, a drive component, a transmission component, and a linkage assembly. The finger base is located on the palm base, and the three phalanges are hinged sequentially, with one of the phalanges hinged to the finger base. The linkage assembly connects multiple phalanges respectively, and the drive component is connected to the linkage assembly through the transmission component to drive multiple phalanges to perform flexion and extension movements. The multiple phalanges are suitable for coaxial rotation when they do not encounter an obstacle.

[0006] According to an embodiment of the present invention, the three-finger dexterous hand drives the finger joints to flex and extend through the transmission assembly and the linkage assembly, and achieves coaxial rotation when not encountering an obstacle. This solves the problem of low load in the direct drive of the prior art, and has the advantages of improving grasping efficiency and operation continuity.

[0007] According to one embodiment of the present invention, the three phalanges include a first phalanx, a second phalanx, and a third phalanx. The first phalanx is hinged to the finger base to form a root joint, the first phalanx is hinged to the second phalanx to form a middle joint, and the second phalanx is hinged to the third phalanx to form a tip joint. The first phalanx has a first movement path, and the second and third phalanges have second movement paths. In the first movement path, the first, second, and third phalanges do not contact any external object, and all three phalanges rotate about the root joint. In the second movement path, the first phalanx contacts an external object, the second phalanx rotates about the middle joint, and the third phalanx rotates about the tip joint.

[0008] According to one embodiment of the present invention, the transmission assembly includes a plurality of gears, which mesh sequentially and are respectively connected to the drive member and the connecting rod assembly.

[0009] According to one embodiment of the present invention, the linkage assembly includes: A first link, one end of which is connected to the finger root joint; The second link, one end of which is connected to the end of the first link away from the finger root joint; The third link, one end of which is connected to the middle finger joint, and the other end of which is connected to the end of the second link away from the first link; The fourth link has one end connected to the end of the third link away from the middle joint of the finger, and the other end connected to the third phalanx.

[0010] According to one embodiment of the present invention, the three fingers include a thumb, the base of the thumb being rotatably connected to the palm base such that the thumb has a left-hand position and a right-hand position, in the left-hand position the thumb is located on a first side of the palm base, and in the right-hand position the thumb is located on a second side of the palm base, the first side and the second side being opposite sides of the palm base.

[0011] According to one embodiment of the present invention, a left clearance groove is provided on the first side of the palm base, and a right clearance groove is provided on the second side of the palm base, the left clearance groove and the right clearance groove being used to accommodate the portion of the thumb.

[0012] According to one embodiment of the present invention, two of the three fingers are symmetrically arranged on the palm base.

[0013] According to one embodiment of the present invention, the drive unit is provided with an encoder.

[0014] According to one embodiment of the present invention, the phalanx includes phalanges and phalanges, the three phalanges of the same finger are hinged to each other, and each phalange is fitted over one of the phalanges.

[0015] According to a second aspect of the present invention, a robot includes a body and the aforementioned three-finger dexterous hand, the three-finger dexterous hand being disposed on the body.

[0016] The robot according to an embodiment of the present invention includes the aforementioned three-finger dexterous hand, and therefore possesses all the technical effects of the aforementioned three-finger dexterous hand, which will not be repeated here.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a three-finger dexterous hand provided in an embodiment of the present invention.

[0020] Figure 2 This is a front view of a three-finger dexterous hand provided in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of a finger provided in an embodiment of the present invention.

[0022] Figure 4 This is a cross-sectional view of a finger provided in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the internal structure of a finger provided in an embodiment of the present invention.

[0024] Figure 6This is a cross-sectional view of the internal structure of a finger provided in an embodiment of the present invention.

[0025] Figure 7 This is a cross-sectional view of a three-finger dexterous hand provided in an embodiment of the present invention.

[0026] Figure label: 1. Palm base; 11. First side; 12. Second side; 13. Right recess groove; 2. Finger; 20. Finger base; 21. Finger root joint; 22. First phalanx; 23. Middle phalanx; 24. Second phalanx; 25. Finger tip joint; 26. Third phalanx; 27. Drive component; 28. Transmission assembly; 281. Gear; 29. ​​Linkage assembly; 291. First link; 292. Second link; 293. Third link; 294. Fourth link; 201. Finger bone; 202. Finger shell; 3. Thumb. Detailed Implementation

[0027] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0030] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0032] Traditional three-finger dexterous hands often use direct-drive servo motors, which limits their load capacity. In terms of the two-finger structure, most adopt a double-knuckle design. While this simplifies engineering, it sacrifices the diversity of grasping postures and the ability to adapt to complex objects, making it difficult to achieve precise manipulation or full-palm envelopment grasping, thus limiting its biomimetic capabilities and application range.

[0033] Please refer to the following for details. Figures 1 to 4 This application proposes a three-finger dexterous hand, comprising a palm base 1 and three fingers 2 connected to the palm base 1. Each finger 2 is provided with a finger base 20, three phalanges, a drive member 27, a transmission assembly 28, and a linkage assembly 29. The finger base 20 is disposed on the palm base 1, the three phalanges are hinged sequentially, and one phalange is hinged to the finger base 20. The linkage assembly 29 connects to the multiple phalanges respectively, and the drive member 27 is connected to the linkage assembly 29 through the transmission assembly 28 to drive the multiple phalanges to perform flexion and extension movements. Furthermore, the multiple phalanges are adapted to rotate coaxially when not encountering an obstacle.

[0034] Specifically, the hand base 1 can be designed as a single molded part, for example, formed by injection molding or 3D printing, to provide a stable foundation. Alternatively, the hand base 1 can also be assembled from multiple parts by bolting, riveting, or welding, to accommodate different manufacturing processes and material choices.

[0035] The three fingers 2 connected to the palm base 1 can be fixedly connected to the palm base 1, for example, by directly fixing the finger base 20 to the palm base 1 with bolts. Alternatively, the fingers 2 can be designed to be detachably connected, for example by a snap-fit ​​or quick-release mechanism, to facilitate maintenance or replacement.

[0036] Each finger 2 includes a finger base 20, three knuckles, a drive element 27, a transmission assembly 28, and a linkage assembly 29. The finger base 20, serving as the connection point between the finger 2 and the palm base 1, can be an independent structural component. The three knuckles are the main moving parts of the finger 2, connected by hinges. The drive element 27 can be a miniature servo motor, providing the power required for movement. The transmission assembly 28 converts the rotational motion of the drive element 27 into linear or oscillating motion of the linkage assembly 29, for example, through belt drive, chain drive, or a simple gear set 281. The linkage assembly 29 is responsible for transmitting the motion of the transmission assembly 28 to the knuckles, enabling flexion and extension of the knuckles.

[0037] The finger base 20 can be directly fixed to the surface of the palm base 1, for example, by screws or adhesive. As a preferred embodiment, the finger base 20 can be partially embedded in the groove of the palm base 1 to provide a more compact structure and stronger connection stability.

[0038] The three phalanges can be hinged sequentially via pins or flexible hinges to form a multi-joint structure. The phalanx closest to the finger base 20 is hinged to the finger base 20, serving as the root joint of finger 2. For example, the phalanges can be connected using simple single-axis hinges, allowing flexion and extension movements within a single plane.

[0039] Linkage assembly 29 can connect multiple finger joints to achieve interlocking of the finger joints. For example, linkage assembly 29 can consist of a series of rigid links connected to connection points on each finger joint via pins. In one implementation, linkage assembly 29 can be designed to connect directly to the side or interior of each finger joint to coaxially or coordinate the movement of the finger joints during actuation.

[0040] The output shaft of the drive element 27 can be connected to the input end of the linkage assembly 29 via the transmission assembly 28. For example, the rotational motion of the drive element 27 can be transmitted to the initial link of the linkage assembly 29 via a simple gear 281 or pulley system, thereby driving the entire linkage assembly 29 to move. The motion of the linkage assembly 29 is then converted into the flexion and extension motion of the knuckles. This indirect drive method helps to arrange the drive element 27 inside the finger base 20 or the palm base 1 to optimize the overall size and appearance of the finger 2.

[0041] like Figure 6As shown, when not encountering an obstacle, multiple knuckles are adapted to rotate coaxially. In free movement, the knuckles can maintain a preset relative angular relationship, such as all knuckles simultaneously flexing and extending at the same angular velocity, or moving in a specific proportional relationship. For example, all knuckles extend in the same straight line and swing around the end of the knuckle closest to the finger base 20 as the center. This coaxial rotation can be achieved through the geometric design of the linkage assembly 29, ensuring that the finger 2 can move as a whole in a coordinated manner without external intervention, such as forming a smooth curved arc.

[0042] This application effectively solves the problem of insufficient load capacity in existing three-finger dexterous hands by adopting a three-joint structure and a drive mechanism where the drive component 27 is connected to the linkage assembly 29 via the transmission assembly 28. Simultaneously, the articulated design of the multiple joints and the coordinated action of the linkage assembly 29 enable the fingers 2 to achieve a more natural bending arc and a more closely fitting grasp, significantly improving the diversity of grasping postures and the adaptability to complex objects, thereby enhancing the biomimetic performance and application flexibility of the dexterous hand.

[0043] like Figure 4 and Figure 6 As shown, this application further proposes that the three phalanges include a first phalanx 22, a second phalanx 24, and a third phalanx 26. The first phalanx 22 is hinged to the finger base 20 and forms a root joint 21. The first phalanx 22 is hinged to the second phalanx 24 and forms a middle joint 23. The second phalanx 24 is hinged to the third phalanx 26 and forms a tip joint 25. The first phalanx 22 has a first movement path, and the second phalanx 24 and the third phalanx 26 have second movement paths. In the first movement path, the first phalanx 22, the second phalanx 24, and the third phalanx 26 do not contact external objects, and all three phalanxes rotate about the root joint 21. In the second movement path, the first phalanx 22 comes into contact with an external object, the second phalanx 24 rotates about the middle joint 23, and the third phalanx 26 rotates about the tip joint 25.

[0044] Specifically, the three phalanges include a first phalanx 22, a second phalanx 24, and a third phalanx 26. This clarifies the structural composition of the finger 2, meaning each finger 2 consists of three independent phalanges. This is closer to the natural structure of the human hand, providing a physical basis for more precise and flexible grasping movements. This three-phalanx design allows the finger 2 to form a more natural arc when bent, thus better encompassing objects of different shapes. The first phalanx 22 is hinged to the finger base 20, forming a root joint 21. The root joint 21 is the first point of rotation connecting the finger 2 to the finger base 20 and is the starting joint for the movement of the finger 2. The hinge can be made using a pin connection, a ball joint connection, or a flexible hinge, ensuring that the first phalanx 22 can rotate relative to the finger base 20, providing a basis for the overall flexion and extension movements of the finger 2. The first phalanx 22 is hinged to the second phalanx 24, forming a medial joint 23. The medial joint 23 is the connection point between the first phalanx 22 and the second phalanx 24, allowing the second phalanx 24 to rotate relative to the first phalanx 22. The hinge structure can be implemented using a pin connection, a gear 281 transmission hinge, or a linkage mechanism hinge, allowing the finger 2 to bend in segments, increasing the degree of freedom of the finger 2. The second phalanx 24 is hinged to the third phalanx 26, forming a fingertip joint 25. The fingertip joint 25 is the connection point between the second phalanx 24 and the third phalanx 26, allowing the third phalanx 26 to rotate relative to the second phalanx 24. Similar to the medial joint 23, its hinge method can be a pin connection, a flexible material connection, or a micro-linkage mechanism, further enhancing the flexibility of the fingertip 2 and its adaptability to object details.

[0045] The first phalanx 22 has a first activity path, and the second phalanx 24 and the third phalanx 26 have second activity paths. "Activity path" refers to the movement trajectory and rotation pattern followed by the phalanx under different working states. The setting of the first and second activity paths is intended to distinguish the movement strategies of the finger 2 under two typical conditions: no load (not in contact with an object) and load (in contact with an object), in order to optimize grasping performance.

[0046] In the first movement path, the first phalanx 22, the second phalanx 24, and the third phalanx 26 do not contact external objects, and all three phalanxes rotate around the root joint 21. In this path, the finger 2 is in a free-moving state, for example, when approaching an object or adjusting a pre-grasping posture. All phalanges using the root joint 21 as a common rotation center means they bend or extend in a unified and coordinated manner, maintaining the synchronicity and smoothness of movement. This can be achieved through specific design of the linkage mechanism, matching of gear ratios, or synchronous control of the drive components.

[0047] In the second movement path, the first phalanx 22 contacts an external object, the second phalanx 24 rotates around the middle joint 23, and the third phalanx 26 rotates around the tip joint 25. When the first phalanx 22 contacts the external object, its movement is hindered, and the movement mode of finger 2 switches. The second phalanx 24 and the third phalanx 26 no longer rotate around the base joint 21, but instead rotate independently around their respective middle joint 23 and tip joint 25. This adaptive rotation mode allows finger 2 to flexibly adjust the posture of subsequent phalanges according to the shape and force of the object after contact, achieving flexible coverage and stable grasping of the object.

[0048] like Figure 6 As shown, this application further proposes that the transmission assembly 28 includes a plurality of gears 281, which mesh sequentially and are respectively connected to the drive member 27 and the connecting rod assembly 29.

[0049] In the design of the dexterous hand, the transmission component 28 employs a gear 281 structure to ensure the accuracy and reliability of power transmission. These gears 281 can be spur gears 281, which are simple in structure and easy to manufacture, suitable for power transmission between parallel shafts; they can also be helical gears 281, which offer smooth transmission and high load-bearing capacity, suitable for high-speed, heavy-load applications; or, depending on the actual space and transmission ratio requirements, planetary gear sets 281 or worm gear mechanisms, etc. By selecting appropriate gear 281 types and materials, a solid and efficient power foundation can be provided for the knuckle drive of the dexterous hand.

[0050] The gear 281 system of the transmission assembly 28 needs to be reliably mechanically connected to the drive member 27 and the connecting rod assembly 29 to achieve power input and output. Specifically, the output shaft of the drive member 27 can be directly connected to the first gear 281 in the transmission assembly 28, for example, through a keyed connection, splined connection, or integrated design, to ensure that the power of the drive member 27 can be input into the gear 281 transmission chain without loss. At the same time, the last gear 281 in the transmission assembly 28 or its output shaft is connected to the input end of the connecting rod assembly 29, for example, through a pin, connecting rod arm, or crank, to transmit the reduced or increased power to the connecting rod assembly 29, thereby driving the knuckles to perform flexion and extension movements.

[0051] This application further proposes a linkage assembly 29, which includes: a first linkage 291, a second linkage 292, a third linkage 293, and a fourth linkage 294. One end of the first linkage 291 is connected to the base of the finger joint 21; one end of the second linkage 292 is connected to the end of the first linkage 291 away from the base of the finger joint 21; one end of the third linkage 293 is connected to the middle of the finger joint 23, and the other end is connected to the end of the second linkage 292 away from the first linkage 291; one end of the fourth linkage 294 is connected to the end of the third linkage 293 away from the middle of the finger joint 23, and the other end is connected to the third phalanx 26.

[0052] Specifically, the first link 291, as the starting component of the link assembly 29, primarily functions to transmit the initial motion from the drive member 27 to the root joint 21 of the finger 2, serving as the starting link of the entire knuckle kinematic chain. The first link 291 can be made of high-strength, lightweight materials (such as aluminum alloy or carbon fiber composites), with one end fixedly connected to a specific connection point on the root joint 21 via a pin or flexible hinge to ensure reliable and smooth motion transmission. Furthermore, the first link 291 can also be designed with an adjustable length or connection angle, for example, through a threaded adjustment mechanism or replaceable connectors, to facilitate fine-tuning of the initial posture or range of motion of the knuckle in different application scenarios.

[0053] The second link 292 is an intermediate component connecting the first link 291 and the third link 293. Its function is to extend the motion transmitted by the first link 291 further towards the fingertip and coordinate the linkage between the finger joints during the movement of the finger 2. The second link 292 can be a one-piece rigid structure, connected to the end of the first link 291 away from the finger root joint 21 via a pin or ball joint, ensuring the accuracy and stability of motion transmission.

[0054] The third link 293 is a key component connecting the middle finger joint 23 and the second link 292. It plays a crucial role in finger joint movement, receiving motion from the second link 292 and directly acting on the middle finger joint 23, while also providing a connection point for the fourth link 294. One end of the third link 293 is connected to the middle finger joint 23 via a pin or pivot, while the other end is connected to the end of the second link 292 furthest from the first link 291 via a similar hinge, forming part of a stable four-bar linkage. Simultaneously, the third link 293 can integrate sensors (such as force sensors or angle sensors) to monitor the force or bending angle of the middle finger joint 23 in real time, providing feedback to the dexterity hand's control system, thereby enabling more precise grasping force control or posture adjustment.

[0055] The fourth link 294 is the end component of the link assembly 29. Its main function is to transmit motion to the third phalanx 26 and work in conjunction with the third link 293 to achieve independent movement of the fingertip joint 25 and envelope grasping of objects. One end of the fourth link 294 is connected to the end of the third link 293 away from the middle phalanx 23 via a pin or flexible connection, while the other end is directly hinged to the connection point of the third phalanx 26 to ensure flexible movement of the fingertip. In addition, the fourth link 294 can be designed with a lightweight hollow structure to reduce the overall weight of the finger 2 while maintaining sufficient strength and rigidity to ensure stable operation during high-speed or high-load grasping.

[0056] Through the above technical solution, the linkage assembly 29 constructs a precise four-bar linkage mechanism through a specific connection method of the first link 291, the second link 292, the third link 293, and the fourth link 294, enabling the movement of the drive component 27 to be efficiently and accurately transmitted to each finger joint. In the initial state, the first link 291 and the second link 292 are set at an acute angle, and the third link 293 and the fourth link 294 are set at an acute angle. When the first link 291 is driven to rotate, the second link 292 moves adaptively. If the finger 2 does not contact an obstacle at this time, the second link 292 will push the fourth link 294 to move forward without triggering the relative rotation of the third link 293 and the fourth link 294, thereby ensuring that the first finger joint 22, the second finger joint 24, and the third finger joint 26 achieve coaxial rotation under the drive of the finger root joint 21, maintaining the overall coordination and smoothness of the finger 2. When finger 2 contacts an external object, the fourth link 294 rotates relative to the third link 293 under the push of the second link 292, meaning the third knuckle 26 rotates accordingly. This allows finger 2 to achieve adaptive and independent rotation of the middle knuckle 23 and the fingertip knuckle 25 depending on the point of contact. This design significantly improves the flexibility and precision of the three-finger dexterity hand during grasping, enabling it to simulate more precise operations and exhibit stronger adaptability to complex objects. It overcomes the problems of inaccurate motion transmission and insufficient joint coordination caused by the unclear structure of the traditional link assembly 29.

[0057] like Figure 2 As shown, this application proposes an improved three-finger dexterous hand, which, based on the above-mentioned three-finger dexterous hand, includes a thumb 3 among the three fingers 2. The finger base 20 of the thumb 3 is rotatably connected to the palm base 1 so that the thumb 3 has a left hand position and a right hand position. In the left hand position, the thumb 3 is located on the first side 11 of the palm base 1, and in the right hand position, the thumb 3 is located on the second side 12 of the palm base 1. The first side 11 and the second side 12 are the two sides of the palm base 1 facing away from each other.

[0058] Specifically, this three-finger dexterous hand clearly defines its basic structure as including a thumb (3), which conforms to the biomimetic structure of the human hand, laying the foundation for more natural and flexible grasping and manipulation. The thumb (3) plays a key role in human hand function, being crucial for actions such as gripping and pinching. Typically, the thumb (3) differs structurally from the other two fingers (2) (such as the index and middle fingers), for example, in its position or connection method, to adapt to its specific needs in grasping tasks.

[0059] like Figure 7 As shown, to achieve flexible adjustment of the thumb 3 position, a rotatable connection is used between the finger base 20 of the thumb 3 and the palm base 1. This connection allows the thumb 3 to rotate relative to the palm base 1, thereby changing the overall orientation or position of the thumb 3. The rotatable connection can be achieved through various mechanical structures, such as a rotary joint, a bearing-fitted shaft structure, or a gear transmission mechanism to achieve rotation of the thumb base. The purpose is to enable the thumb 3 to have both left-hand and right-hand positions. These two positions are preset, stable working postures, corresponding to the relative posture of the thumb 3 when the dexterous hand is operating as the left or right hand, and are the core of achieving the versatility of the dexterous hand. For example, a shaft is provided in the palm base 1, through which the finger base 20 of the thumb 3 rotates relative to the palm base 1, thereby achieving overall rotation of the thumb 3.

[0060] In the left-hand position, the thumb 3 is located on the first side 11 of the palm base 1, which provides a clear geometric constraint for the dexterous hand to simulate the left-hand grasping posture. The first side 11 can be a specific edge or region of the palm base 1, for example, its left edge when the palm base 1 is flat. The rotation mechanism of the thumb 3 positions it on this side and may ensure its stability through a locking mechanism. Correspondingly, in the right-hand position, the thumb 3 is located on the second side 12 of the palm base 1. The second side 12 can be another specific edge or region of the palm base 1, for example, its right edge when the palm base 1 is flat. Similar to the first side 11, the rotation mechanism of the thumb 3 positions it on this side.

[0061] It is worth noting that the first side 11 and the second side 12 are designed to be opposite sides of the palm base 1. This relative relationship ensures that the thumb 3 can effectively cross from one side to the other when switching between the two positions, thus simulating the symmetry of the left and right thumbs 3. For example, if the palm base 1 is a rectangle, the first side 11 could be one of its long sides, and the second side 12 could be its opposite long side.

[0062] Through the aforementioned technical solution, the rotational connection between the thumb 3 and the palm base 1 allows the dexterous hand to flexibly switch the thumb 3 to either the left or right hand position according to actual operational needs. This switchable thumb 3 position greatly expands the dexterous hand's grasping range and adaptability, enabling it to simulate the grasping patterns of the human hand's left and right hands, thus efficiently grasping objects of different shapes and orientations. For example, when a left-hand grasping operation is required, the thumb 3 can be adjusted to the first side 11; when a right-hand grasping operation is required, the thumb 3 can be adjusted to the second side 12. This allows a single three-finger dexterous hand to perform the functions of both hands without replacing or reconfiguring hardware, significantly improving the dexterous hand's versatility and operational efficiency, reducing usage costs, and simplifying the design of the robot system. In other words, the three-finger dexterous hand has 10 joint degrees of freedom and 4 active degrees of freedom.

[0063] This application further proposes that the first side 11 of the palm base 1 is provided with a left clearance groove, and the second side 12 of the palm base 1 is provided with a right clearance groove 13, the left clearance groove and the right clearance groove 13 being used to accommodate the portion of the thumb 3.

[0064] The left clearance groove refers to a recessed area or space reserved on the first side 11 of the palm base 1. Its function is to effectively accommodate part of the thumb 3's structure when the thumb 3 rotates to the left-hand position, thereby preventing mechanical interference between the thumb 3 and the palm base 1. Specifically, the left clearance groove can be designed with a geometry that matches the specific contour of the thumb 3 in the left-hand position; for example, it can be an arc-shaped groove or a rectangular groove with a specific depth. Furthermore, the left clearance groove can also be designed as a detachable or adjustable structure by partially removing material from the first side 11 of the palm base 1 or by adopting a modular design, providing the necessary clearance space when the thumb 3 rotates.

[0065] The right clearance groove 13 refers to a recessed area or space reserved on the second side 12 of the palm base 1. Its function is to effectively accommodate part of the thumb 3's structure when the thumb 3 rotates to the right-hand position, thereby preventing mechanical interference between the thumb 3 and the palm base 1. Specifically, the right clearance groove 13 can be designed with a geometry that matches the specific contour of the thumb 3 in the right-hand position; for example, it can be an arc-shaped groove or a rectangular groove with a specific depth. Furthermore, the right clearance groove 13 can also be designed as a detachable or adjustable structure by partially removing material from the second side 12 of the palm base 1 or by adopting a modular design, to provide the necessary clearance space when the thumb 3 rotates.

[0066] The function of the left and right clearance slots 13 is to provide the necessary space for the thumb 3 in different rotational positions. By precisely designing the size and shape of these clearance slots, it can be ensured that when the thumb 3 rotates from the left hand position to the right hand position or in the opposite direction, parts that may collide with the palm base 1 (such as the edge of the thumb base, specific parts of the knuckle, or driving parts) can smoothly enter or leave these reserved spaces.

[0067] like Figure 1 and Figure 2 As shown, this application further proposes that two of the three fingers 2 are symmetrically arranged on the palm base 1. Here, "two of the three fingers 2" refers to the two fingers 2 other than the thumb 3 among the three fingers 2 included in a three-finger dexterity hand. These two fingers 2 typically undertake the main grasping and support functions, working in conjunction with the rotatable thumb 3 to complete the grasping operation of objects. "Symmetrically arranged on the palm base 1" means that the layout of these two non-thumb 3 fingers 2 on the palm base 1 is mirror-symmetrical. There are several ways to achieve this symmetrical arrangement. For example, it can be achieved by pre-setting two identical or mirror-symmetrical mounting interfaces on the palm base 1.

[0068] Based on the fact that the thumb 3 can rotate to adapt to the left and right hand positions, two of the three fingers 2, which are not the thumb 3, are symmetrically positioned on the palm base 1. This effectively solves the problems of poor grasping balance, limited grasping range, and insufficient flexibility that may be caused by changes in the thumb 3 position. Specifically, when the thumb 3 is adjusted to the left or right hand position according to the grasping needs, the two symmetrically positioned fingers 2 can ensure that even support and enveloping force are provided during the grasping process. This symmetry makes the grasping torque distribution more balanced, avoiding object tilting or instability caused by asymmetrical layout, thus significantly improving the stability and reliability of the dexterous hand in different grasping postures. In addition, the symmetrical layout also helps to expand the effective grasping range and enhances the dexterous hand's adaptability to objects of various shapes and sizes, making the entire grasping process more flexible and efficient, and further optimizing the overall grasping performance and bionic capabilities of the three-finger dexterous hand.

[0069] This application proposes an improvement in which an encoder is provided on the drive component 27 of the aforementioned three-finger dexterous hand.

[0070] An encoder is a device that converts mechanical motion (such as rotation or linear displacement) into electrical signals. Its main function is to provide accurate feedback information about the position, speed, or direction of moving parts. By installing an encoder on the drive unit 27, the motion state of the drive unit 27 can be monitored in real time and accurately, thereby significantly improving the control accuracy of knuckle motion.

[0071] Please refer to the reference. Figure 3 and Figure 5 This application further proposes that the phalanx includes phalanges 201 and phalanges 202, with the three phalanges 201 of the same finger 2 hinged to each other, and each phalange 202 fitted over one phalange 201.

[0072] Specifically, the knuckle is the basic unit constituting finger 2. It enables the bending and extension movements of finger 2 through hinges and is the core structure for dexterous hands to perform grasping and manipulation functions. The knuckle typically consists of an internal skeleton and an external cover; its material selection and structural design directly affect the strength, flexibility, and durability of finger 2. The phalanx 201 is the internal support structure constituting the knuckle, providing the main mechanical strength and joint connection points for finger 2. Phalanx 201 is typically made of high-strength materials, such as aluminum alloy, stainless steel, or high-performance engineering plastics, to withstand the stresses generated during grasping and manipulation. The shape and size of phalanx 201 are precisely designed to ensure smooth hinges with adjacent phalanx 201 and to provide installation space for internal transmission components. The finger shell 202 is the outer protective layer of the knuckle, its main function being to enclose and protect the internal phalanx 201 and other precision components from impacts, wear, and contamination from the external environment. The design of the finger shell 202 can take into account its surface texture to enhance friction during grasping or provide a more biomimetic appearance. Each finger shell 202 is fitted over a finger bone 201. This fitting relationship allows the finger shell 202 to tightly cover the outside of the finger bone 201, forming a complete protective layer. The engagement between the finger shell 202 and the finger bone 201 can be achieved through snap-fit, screw fixing, bonding, or interference fit, ensuring that the finger shell 202 will not fall off or shift during finger movement. This design not only provides physical protection but also helps maintain the overall streamlined appearance and compact structure of the finger 2.

[0073] This application proposes a robot, including a body and a three-finger dexterous hand, the three-finger dexterous hand being disposed on the body.

[0074] The body refers to the main structure of the robot, serving as the basic platform that supports and connects the robot's various functional components. It provides physical support and spatial layout for the robot's movement, perception, decision-making, and execution. Specifically, the body can be a common robotic arm structure found in industrial robots, composed of multiple joints and links, achieving multi-degree-of-freedom movement driven by motors, with tools or actuators mounted at its end effector. Alternatively, the body can be the chassis or torso of a mobile robot or service robot, integrating a walking mechanism, power supply, control unit, etc., and reserving interfaces for mounting a manipulator or dexterous hand. In this application, the body serves as the mounting carrier for a three-finger dexterous hand, providing it with a stable working environment and necessary power and communication interfaces, forming the foundation for realizing the dexterous hand's functions.

[0075] A three-finger dexterous hand is a bionic robotic hand with three fingers (2) designed to mimic the grasping and manipulating abilities of a human hand. It typically possesses multiple knuckles and actuation mechanisms, enabling precise grasping, pinching, and manipulation. The three-finger dexterous hand is integrated into the robot's main structure via mechanical or electrical connections. Specifically, it can be mounted on the robot's end effector interface using standardized flanges or connectors, allowing for quick replacement and versatility.

[0076] The body, as the robot's main structure, provides a stable mounting platform and mobility for the three-finger dexterous hand, ensuring its stability and precision when performing grasping and manipulation tasks. Furthermore, based on its high load capacity, multi-joint coaxial rotation, and adaptive grasping capabilities, the three-finger dexterous hand can perform precise manipulation and enveloping grasping of objects of different shapes and sizes.

[0077] Finally, it should be noted that the above embodiments are only for illustrating the present invention and not for limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be covered within the scope of the claims of the present invention.

Claims

1. A three-finger dexterous hand, characterized in that, include: Palm base; The three fingers connected to the palm base each include a finger base, three phalanges, a drive component, a transmission component, and a linkage assembly. The finger base is located on the palm base, and the three phalanges are hinged sequentially, with one of the phalanges hinged to the finger base. The linkage assembly connects multiple phalanges respectively, and the drive component is connected to the linkage assembly through the transmission component to drive multiple phalanges to perform flexion and extension movements. The multiple phalanges are suitable for coaxial rotation when they do not encounter an obstacle.

2. The three-finger dexterous hand according to claim 1, characterized in that, The three phalanges include a first phalanx, a second phalanx, and a third phalanx. The first phalanx is hinged to the base of the finger to form a root joint. The first phalanx is hinged to the second phalanx to form a middle joint. The second phalanx is hinged to the third phalanx to form a tip joint. The first phalanx has a first movement path, and the second and third phalanges have second movement paths. In the first movement path, the first, second, and third phalanges do not contact any external object, and all three phalanges rotate about the root joint. In the second movement path, the first phalanx contacts an external object, the second phalanx rotates about the middle joint, and the third phalanx rotates about the tip joint.

3. The three-finger dexterous hand according to claim 1, characterized in that, The transmission assembly includes multiple gears that mesh sequentially and are respectively connected to the drive member and the connecting rod assembly.

4. The three-finger dexterous hand according to claim 2, characterized in that, The linkage assembly includes: A first link, one end of which is connected to the finger root joint; The second link, one end of which is connected to the end of the first link away from the finger root joint; The third link, one end of which is connected to the middle finger joint, and the other end of which is connected to the end of the second link away from the first link; The fourth link has one end connected to the end of the third link away from the middle joint of the finger, and the other end connected to the third phalanx.

5. The three-finger dexterous hand according to any one of claims 1 to 4, characterized in that, The three fingers include a thumb, the base of which is rotatably connected to the palm base, such that the thumb has a left-hand position and a right-hand position. In the left-hand position, the thumb is located on a first side of the palm base, and in the right-hand position, the thumb is located on a second side of the palm base. The first side and the second side are opposite sides of the palm base.

6. The three-finger dexterous hand according to claim 5, characterized in that, The first side of the palm base is provided with a left clearance groove, and the second side of the palm base is provided with a right clearance groove. The left clearance groove and the right clearance groove are used to accommodate the thumb portion.

7. The three-finger dexterous hand according to claim 5, characterized in that, Of the three fingers, two are symmetrically positioned on the base of the palm.

8. The three-finger dexterous hand according to any one of claims 1 to 4, characterized in that, The drive unit is equipped with an encoder.

9. The three-finger dexterous hand according to any one of claims 1 to 4, characterized in that, The phalanx includes phalanges and phalanges, with the three phalanges of the same finger hinged together, and each phalange fitting over one of the phalanges.

10. A robot, characterized in that, It includes a body and a three-finger dexterous hand as described in any one of claims 1 to 9, wherein the three-finger dexterous hand is disposed on the body.

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