High speed adaptive dexterous hand and robot

Abstract

This invention relates to the field of robotics, providing a high-speed adaptive dexterous hand and a robot. The high-speed adaptive dexterous hand includes a palm base and a thumb unit and two bi-finger units connected to the palm base. Each bi-finger unit includes two fingers, a finger driver, a transmission assembly, a differential, and two finger drive wheels. The two fingers are connected to the palm base. The finger driver is located on the palm base, the transmission assembly is located at the output end of the finger driver, the differential is connected to the transmission assembly, and the finger drive wheels are located at both ends of the differential. The finger drive wheels are connected to the fingers, and the finger driver drives the finger drive wheels to rotate through the transmission assembly and the differential, thereby driving the fingers to perform flexion movements. This invention achieves adaptive flexion movements of the fingers through the coordinated design of the palm base, thumb unit, and bi-finger units, combined with a differential and a drive mechanism. It solves the problems of complex manual coordination and difficulty in adapting to changes in object shape in existing technologies, and has the advantages of simplified operation, improved grasping adaptability, and response efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to high-speed adaptive dexterous hands and robots. Background Technology

[0002] The mainstream 6- to 8-DOF five-finger dexterity hand designs focus on the comprehensive optimization of flexibility, load capacity, and cost within limited space. Drive systems generally employ a combination of electric actuators and rotary motors, with transmission mechanisms primarily based on rigid linkage structures, relying on rigid components to directly transmit force and motion. A few solutions attempt pure tendon-wire transmission, using ropes that simulate human tendons to achieve long-distance power transmission. However, with each finger controlled independently, when performing multi-finger collaborative tasks, such as simultaneously driving two fingers to contact an object, manual coordination between different fingers is required. This cumbersome process significantly reduces the dexterity hand's response efficiency in dynamic environments. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention proposes a high-speed adaptive dexterous hand, which aims to simplify operation, improve grasping adaptability and response efficiency.

[0004] The present invention also proposes a robot.

[0005] A high-speed adaptive dexterous hand according to a first aspect of the present invention includes: Hand base; A thumb unit and two two-finger units are connected to the palm base. Each two-finger unit includes two fingers, a finger driver, a transmission assembly, a differential, and two finger drive wheels. The two fingers are connected to the palm base. The finger driver is located on the palm base. The transmission assembly is located at the output end of the finger driver. The differential is connected to the transmission assembly. The finger drive wheels are located at both ends of the differential and are connected to the fingers. The finger driver drives the finger drive wheels to rotate through the transmission assembly and the differential, thereby driving the fingers to perform flexion movements.

[0006] The high-speed adaptive dexterous hand according to embodiments of the present invention achieves adaptive flexion movement of the fingers through the coordinated design of the palm base, thumb unit and two-finger unit, combined with differential and drive mechanism. It solves the problems of complex manual coordination and difficulty in adapting to changes in object shape in the prior art, and has the advantages of simplified operation, improved grasping adaptability and response efficiency.

[0007] According to one embodiment of the present invention, each finger includes a finger base, a first phalanx, a second phalanx, and a third phalanx. The finger base is connected to the palm base. 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. The second phalanx is hinged to the third phalanx to form a tip joint. The two-finger unit further includes two drive tendon cords and two guide wheel sets. One drive tendon cord and one guide wheel set are provided for one finger. Each guide wheel set is provided on one finger. One end of the drive tendon cord is connected to the finger drive wheel, and the other end passes around the guide wheel set and connects to the fingertip of the finger. The finger drive wheel realizes the coupled flexion movement of the finger by traction of the drive tendon cord.

[0008] According to one embodiment of the present invention, the transmission assembly includes a first bevel gear and a second bevel gear, the first bevel gear being disposed at the output end of the finger drive member, the second bevel gear being sleeved on the differential, and the first bevel gear meshing with the second bevel gear.

[0009] According to one embodiment of the present invention, both ends of the differential are connected to bearing seats, a finger drive wheel is rotatably disposed on a bearing seat, the bearing seat is provided with a stop block, the finger drive wheel is provided with a zero-position stop plate, the zero-position stop plate is adapted to abut against the stop block to limit the rotation angle of the finger drive wheel.

[0010] According to one embodiment of the present invention, the bearing housing is provided with two parallel guide posts, the two guide posts being perpendicular to the extension direction of the drive tendon rope, and the drive tendon rope passing between the two guide posts.

[0011] According to one embodiment of the present invention, the two-finger unit further includes two tension springs, each tension spring corresponding to one finger and located on the side of the finger opposite to the bending direction, one end of the tension spring being connected to the first phalanx and the other end being connected to the second phalanx.

[0012] According to one embodiment of the present invention, the two-finger unit further includes two torsion springs, each torsion spring corresponding to one finger, the torsion spring being disposed at the fingertip joint, the torque of the torsion spring being greater than the tension of the tension spring, so that the middle joint of the finger completes flexion before the fingertip joint.

[0013] According to one embodiment of the present invention, the finger includes a plurality of phalanges and a plurality of finger shells, wherein the plurality of phalanges of the same finger are hinged to each other, and each finger shell is fitted over one of the phalanges.

[0014] According to one embodiment of the present invention, the thumb unit includes a thumb, a thumb drive member, a thumb drive wheel, and a thumb drive rope. The thumb is connected to the palm base, the thumb drive member is disposed on the palm base, the thumb drive wheel is disposed at the output end of the thumb drive member, one end of the thumb drive rope is connected to the thumb drive wheel, and the other end is connected to the fingertip of the thumb. The thumb drive member is adapted to drive the thumb drive wheel to rotate, so as to drive the thumb drive rope to pull the thumb to perform flexion movement.

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

[0016] The robot according to an embodiment of the present invention includes the high-speed adaptive dexterous hand described above, and therefore has all the technical effects of the high-speed adaptive dexterous hand described above, 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 back of the hand structure of the high-speed adaptive dexterous hand provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the palm structure of the high-speed adaptive dexterous hand provided in an embodiment of the present invention.

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

[0022] Figure 4 This is a schematic diagram of the structure of a finger provided in an embodiment of the present invention.

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

[0024] Figure 6 yes Figure 5 A sectional view along direction A.

[0025] Figure 7This is a schematic diagram of the structure of the thumb unit provided in an embodiment of the present invention.

[0026] Figure label: 1. Hand base; 2. Thumb unit; 21. Thumb; 22. Thumb drive component; 23. Thumb drive wheel; 24. Thumb drive rope; 3. Two-finger unit; 31. Finger; 311. Finger base; 312. Finger root joint; 313. First phalanx; 314. Middle phalanx; 315. Second phalanx; 316. Finger tip joint; 317. Third phalanx; 319. Finger shell; 32. Finger drive component; 33. Transmission assembly; 331. First bevel gear; 332. Second bevel gear; 34. Differential; 341. Bearing seat; 3411. Stop block; 3412. Guide column; 35. Finger drive wheel; 351. Zero position stop plate; 36. Drive tendon rope; 37. Guide wheel assembly; 38. Tension spring. 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 dexterous hands generally focus on balancing flexibility, load capacity, and cost within a limited volume. In multi-finger (31-finger) coordinated operation, the individual control of each finger (31-finger) leads to complex overall operation, hindering efficient and adaptive grasping capabilities and limiting its application in complex environments.

[0033] Please refer to the following for details. Figures 1 to 3 This application proposes a high-speed adaptive dexterous hand, which achieves coupled driving of the fingers 31 by cleverly combining the finger drive component 32, the transmission component 33, and the differential 34, thereby simplifying multi-finger linkage operation and improving the adaptability and grasping efficiency of the dexterous hand. The dexterous hand includes a palm base 1 and a thumb unit 2 and two bi-finger units 3 connected to the palm base 1. Each bi-finger unit 3 includes two fingers 31, a finger drive component 32, a transmission component 33, a differential 34, and two finger drive wheels 35. The two fingers 31 are connected to the palm base 1. The finger drive component 32 is located on the palm base 1. The transmission component 33 is located at the output end of the finger drive component 32. The differential 34 is connected to the transmission component 33. The finger drive wheels 35 are located at both ends of the differential 34 and are connected to the fingers 31. The finger drive component 32 drives the finger drive wheels 35 to rotate through the transmission component 33 and the differential 34, thereby driving the fingers 31 to perform flexion movements.

[0034] The high-speed adaptive dexterous hand provided in this application is structurally designed to achieve efficient and adaptive grasping functions. Specifically, the main structure of the high-speed adaptive dexterous hand includes a palm base 1, which can be formed by one-piece molding or by assembling multiple parts. Its material can be a high-strength lightweight material, such as aluminum alloy or engineering plastic, to provide stable support and reduce overall weight.

[0035] On the palm base 1, a thumb unit 2 and two bi-finger units 3 are connected. The thumb unit 2 can be designed to have independent movement capabilities to achieve flexible adjustment of the grasping posture. Each bi-finger unit 3 is configured to contain two fingers 31, which are mechanically connected to the palm base 1.

[0036] In each dual-finger unit 3, the finger 31 is driven by a finger actuator 32, which can be configured as a miniature servo motor, fixedly mounted inside or on the surface of the palm base 1 to ensure stable output of driving force. The output shaft of the finger actuator 32 is connected to a transmission assembly 33, which transmits the rotational or linear motion of the finger actuator 32 to the differential 34. For example, the transmission assembly 33 can be composed of a pair of spur gears, bevel gears, or a worm gear mechanism to achieve efficient power transmission.

[0037] The output end of the transmission assembly 33 is connected to the differential 34, which is configured to receive a single input power from the transmission assembly 33 and distribute it to the two finger drive wheels 35. The differential 34 can be in the form of a planetary gear differential or a bevel gear differential, etc. Its core function is to allow the two finger drive wheels 35 to rotate at different speeds when receiving the same input power, thereby realizing the adaptive movement of the two fingers 31.

[0038] Two finger drive wheels 35 are respectively located at both ends of the differential 34. These finger drive wheels 35 can be designed as reels or pulleys, and are connected to the corresponding fingers 31 via flexible connectors (such as ropes or wires). When the finger drive component 32 drives the differential 34 through the transmission assembly 33, the differential 34 transmits power to the finger drive wheels 35. The rotation of the finger drive wheels 35 then pulls the flexible connectors, thereby driving the fingers 31 to perform flexion movements. For example, the rotation of the finger drive wheels 35 can tighten the connecting rope, causing the finger joints 31 to bend sequentially, achieving a grasping and enveloping action on an object. This driving method allows the two fingers 31 to automatically adjust their respective flexion angles according to the shape of the object and the contact situation during the grasping process, thereby improving grasping adaptability.

[0039] Therefore, the high-speed adaptive dexterous hand provided in this application achieves adaptive flexion motion of the two-finger unit 3 by coupling the finger drive component 32, the transmission component 33, and the differential 34. When multiple fingers 31 are used for coordinated grasping, there is no need for individual precise control of each finger 31, thus significantly simplifying the operational complexity. For example, two fingers 31 are paired with one active drive degree of freedom: the index and middle fingers form one active drive degree of freedom, and the ring and little fingers form another. Thus, the dexterous hand can automatically adjust the posture of the fingers 31 according to the shape and position of the object being grasped, improving the efficiency and success rate of the grasping process and demonstrating stronger adaptability and practicality in complex and ever-changing application scenarios.

[0040] Please refer to the reference. Figure 3 , Figure 4 and Figure 5 This application further proposes that each finger 31 includes a finger base 311, a first phalanx 313, a second phalanx 315, and a third phalanx 317. The finger base 311 is connected to the palm base 1. The first phalanx 313 is hinged to the finger base 311 to form a root joint 312. The first phalanx 313 is hinged to the second phalanx 315 to form a middle joint 314. The second phalanx 315 is hinged to the third phalanx 317 to form a tip joint 316. The two-finger unit 3 also includes two drive tendon cords 36 and two guide wheel sets 37. One drive tendon cord 36 and one guide wheel set 37 are provided for one finger 31. Each guide wheel set 37 is provided on one finger 31. One end of the drive tendon cord 36 is connected to the finger drive wheel 35, and the other end passes around the guide wheel set 37 and connects to the fingertip of the finger 31. The finger drive wheel 35 realizes the coupled flexion movement of the finger 31 by traction of the drive tendon cord 36.

[0041] Specifically, the finger base 311 is the fundamental part connecting the finger 31 to the palm base 1, providing stable support. The first phalanx 313, the second phalanx 315, and the third phalanx 317 are the main segments constituting the finger 31, which are connected by a hinge structure to form the root joint 312, the middle joint 314, and the tip joint 316. The root joint 312 connects the finger base 311 to the first phalanx 313, the middle joint 314 connects the first phalanx 313 to the second phalanx 315, and the tip joint 316 connects the second phalanx 315 to the third phalanx 317. This multi-joint structure is the basis for achieving dexterity and fine manipulation, enabling the finger 31 to perform multi-stage flexion movements, simulating the flexibility of a human hand grasping.

[0042] The drive tendon cord 36 is a flexible transmission element used to convert the rotational motion of the finger drive wheel 35 into traction force on the finger 31. It is typically made of high-strength, low-elasticity materials, such as steel wire rope or polymer fiber rope, to ensure transmission efficiency and precision. The drive tendon cord 36 connects to the finger drive wheel 35 at one end and to the fingertip of the finger 31 at the other end, forming a force transmission path.

[0043] The guide wheel assembly 37 is located on the finger 31 and its function is to guide the path of the drive tendon chord 36, ensuring that the drive tendon chord 36 can smoothly and effectively transmit traction force during the flexion of the finger 31 and achieve the preset joint coupling movement. The guide wheel assembly 37 is usually composed of one or more small-diameter pulleys or guide pins, which are strategically arranged on each phalanx of the finger 31 so that when the drive tendon chord 36 is pulled, the effective lever arm of the tendon chord is changed, causing each phalanx to flex in a certain sequence and proportion.

[0044] One end of the drive tendon cord 36 is securely connected to the finger drive wheel 35. When the finger drive wheel 35 rotates, the tendon cord is pulled or released. The other end of the tendon cord passes around the guide wheel assembly 37 located on the finger 31 and finally connects to the fingertip of the finger 31. This allows a single rotational input from the finger drive wheel 35 to act simultaneously on multiple phalanges of the finger 31 through the traction of the drive tendon cord 36, thereby achieving coordinated flexion of the root joint 312, the middle joint 314, and the tip joint 316.

[0045] like Figure 3 As shown, this application further proposes that the transmission assembly 33 includes a first bevel gear 331 and a second bevel gear 332. The first bevel gear 331 is disposed at the output end of the finger drive member 32, and the second bevel gear 332 is sleeved on the differential 34, and the first bevel gear 331 meshes with the second bevel gear 332.

[0046] Specifically, the transmission assembly 33 is a key component connecting the finger drive 32 and the differential 34. Its main function is to effectively transmit the rotational motion and torque generated by the finger drive 32 to the differential 34. The first bevel gear 331 is the driving gear in the transmission assembly 33, which is mounted on the output shaft of the finger drive 32. The second bevel gear 332 is the driven gear in the transmission assembly 33, which is sleeved on the differential 34 and forms a meshing transmission pair with the first bevel gear 331. Through the meshing of the first bevel gear 331 and the second bevel gear 332, the rotational motion of the finger drive 32 is transmitted to the differential 34, thereby driving the finger drive wheel 35.

[0047] Through the above technical solution, the transmission component 33, composed of the first bevel gear 331 and the second bevel gear 332, can realize the power transmission between intersecting shafts, so that the output shaft of the finger drive 32 and the input shaft of the differential 34 can be arranged at a certain angle, thereby optimizing the overall structural layout and improving the compactness of the system.

[0048] This application further proposes that bearing housings 341 are connected to both ends of the differential 34. The bearing housings 341 serve as support structures to fix and support the rotating components of the finger drive wheel 35, ensuring its stable operation in a predetermined position. Specifically, a finger drive wheel 35 is rotatably mounted on a bearing housing 341, which typically integrates bearings, such as ball bearings or sliding bearings, to reduce friction and allow the finger drive wheel 35 to rotate smoothly, thereby efficiently converting the power transmitted by the differential 34 into the flexion action of the finger 31.

[0049] To address the issue of potentially excessive rotation angle of the finger drive wheel 35, a stop block 3411 is provided on the bearing housing 341, and a zero-position stop plate 351 is provided on the finger drive wheel 35. The stop block 3411 can be a protrusion, pin, or limiting plate fixed to the bearing housing 341 to define the maximum or minimum rotation range of the finger drive wheel 35. The zero-position stop plate 351 is a component that rotates with the finger drive wheel 35, such as a radially extending flange, a specially shaped edge, or an additional limiting plate. When the finger drive wheel 35 rotates, the zero-position stop plate 351 moves accordingly and abuts against the stop block 3411 when it reaches a preset limit position. This mechanical limiting mechanism effectively prevents the finger drive wheel 35 from exceeding its safe or design-permitted rotation range. For example, when the finger 31 is fully flexed or extended to its limit position, the contact between the zero-position stop 351 and the stop block 3411 can provide a clear physical boundary, thereby preventing the drive tendon 36 from being overstretched or the finger 31 joint from being subjected to excessive torque.

[0050] This application further proposes that two parallel guide posts 3412 are provided on the bearing housing 341, the two guide posts 3412 are perpendicular to the extension direction of the drive tendon rope 36, and the drive tendon rope 36 passes between the two guide posts 3412.

[0051] Specifically, the guide posts 3412 are structural components used to precisely guide and constrain the movement path of the drive tendon cord 36. These guide posts 3412 are typically made of materials with low coefficients of friction and high wear resistance, such as engineering plastics (e.g., polyoxymethylene (POM), polytetrafluoroethylene (PTFE)) or precision-machined and surface-hardened metals, to ensure smooth sliding of the drive tendon cord 36 during high-speed reciprocating motion and to minimize frictional resistance and wear. The two guide posts 3412 are designed to be parallel to each other on the bearing housing 341, forming a precisely controlled channel that effectively restricts the lateral freedom of the drive tendon cord 36, preventing unnecessary lateral swaying or offset during force application or movement. Simultaneously, the axial direction of the two guide posts 3412 is set perpendicular to the extension direction of the drive tendon cord 36, helping to ensure a smooth transition of the drive tendon cord 36 between the guide posts 3412 and avoiding jamming or additional friction due to improper angles.

[0052] Through the above technical solution, the running path of the drive tendon rope 36 is precisely guided and stably constrained, effectively avoiding the deviation, loosening or shaking that may occur when the drive tendon rope 36 is in high-speed motion or under force changes, thereby significantly improving the stability and reliability of the drive tendon rope 36 transmission.

[0053] like Figure 6 As shown, this application further proposes that the two-finger unit 3 also includes two tension springs 38, each tension spring 38 is set for one finger 31 and is located on the side of the finger 31 away from the bending direction. One end of the tension spring 38 is connected to the first phalanx 313 and the other end is connected to the second phalanx 315.

[0054] Specifically, the tension spring 38 is a helical spring, typically with hooks or connecting structures at both ends. It elongates under tension and returns to its original length through its elastic restoring force after the tension is released. In this embodiment, the main function of the tension spring 38 is to provide a continuous, outward stretching force to assist the extension movement of the finger 31, or to actively pull the knuckle back to its extended position when the drive tendon 36 is relaxed.

[0055] The tension spring 38 is located on the side of the finger 31 opposite to the flexion direction. This means the tension spring 38 is positioned on the dorsal side of the finger 31, opposite to the adduction direction of the knuckles when the finger 31 flexes. This ensures that when the finger 31 flexes under the traction of the drive tendon 36, the distance between the knuckles increases on the dorsal side, thus stretching the tension spring 38 and allowing it to accumulate elastic potential energy. When the drive tendon 36 relaxes, the tension spring 38 releases its accumulated potential energy, generating an outward pulling force that causes the finger 31 to extend. The tension spring 38 can be fixed to the dorsal surface of the knuckle or in a pre-reserved mounting groove within the knuckle using a small mounting base, connecting pin, or integrally molded structural component to ensure its stability and reliability during finger 31 movement.

[0056] When finger 31 is flexed, the middle joint 314 bends, increasing the relative distance between the first phalanx 313 and the second phalanx 315 on the dorsal side, and the tension spring 38 is stretched. When the finger drive wheel 35 stops pulling the drive tendon cable 36, the contractile force of the tension spring 38 acts on the first phalanx 313 and the second phalanx 315, causing the middle joint 314 to straighten, thereby achieving the extension movement of finger 31.

[0057] This application further proposes to provide two torsion springs (not shown) in the two-finger unit 3, each torsion spring corresponding to one finger 31. A torsion spring is a mechanical element capable of storing and releasing energy through torsional deformation, with one end fixed and the other end acting on a rotatable component to provide a restoring torque. In this application, the torsion spring is used to provide a preset torque at the fingertip joint 316 to influence the flexion characteristics of the fingertip joint 316. It can be made of a highly elastic material, such as stainless steel or carbon steel, and designed according to the required torque magnitude and installation space.

[0058] Specifically, a torsion spring is located at the fingertip joint 316, allowing it to directly act on the flexion movement of the fingertip joint 316, providing resistance or assisting force. For example, one end of the torsion spring can be fixed to the second phalanx 315, while the other end acts on the third phalanx 317, thereby generating a torque at the fingertip joint 316 that resists flexion.

[0059] Furthermore, the torsion spring has a greater torque than the tension spring 38. The torsion spring generates a stronger resistance torque against flexion at the fingertip joint 316 than the tension spring 38 generates a stronger flexion-assisting force or extension-restoring force at the middle joint 314. The tension spring 38 typically influences the movement of the middle joint 314 by providing a restoring force in the extension direction. This mechanical advantage can be achieved by designing the parameters of the torsion spring and tension spring 38, ensuring that the fingertip joint 316 exhibits greater flexion resistance in the initial stage. Thus, during the flexion of the finger 31, the middle joint 314 flexes before the fingertip joint 316. When the finger 31 begins to grasp an object and is subjected to a driving force, the middle joint 314 will flex to a greater extent first, while the fingertip joint 316 will flex relatively later or only begin to flex after the middle joint 314 has flexed to a certain extent.

[0060] Through the above technical solution, during the flexion of finger 31, the torsion spring at the fingertip joint 316 provides a torque greater than the tension of the tension spring 38, causing the fingertip joint 316 to exhibit greater flexion resistance in the initial stage. Therefore, when the drive tendon 36 pulls the finger 31, the middle joint 314 can flex preferentially before the fingertip joint 316. This controlled flexion sequence, especially the prior flexion of the middle joint 314, enables dexterous hands to better achieve adaptive envelope grasping when grasping objects of different shapes, improving the stability and reliability of grasping, and avoiding problems such as unstable grasping or object slippage caused by premature flexion of the fingertip joint 316.

[0061] Please refer to the reference. Figure 4 and Figure 6 This application further proposes that the aforementioned finger 31 includes multiple phalanges and multiple finger shells 319, with the multiple phalanges of the same finger 31 hinged to each other, and each finger shell 319 fitted over one phalange.

[0062] Specifically, multiple phalanges are the basic units that constitute the internal support structure of the finger 31. They are usually rod-shaped or block-shaped rigid components, and their main function is to provide skeletal support for the finger 31, determining the overall shape and strength of the finger 31. Phalanges can be made of a variety of materials, such as metals (e.g., aluminum alloys, titanium alloys) to provide high strength and lightweight properties; they can also be made of engineering plastics (e.g., polyoxymethylene (POM), polyetheretherketone (PEEK)) or composite materials to balance strength, weight, and processing costs.

[0063] The primary function of the finger shell 319 is to protect internal finger bones, drive tendons 36, and other delicate components from external impacts, dust, liquids, and other environmental factors, while also providing the external shape and tactile feel of the finger 31. The finger shell 319 can be made from a variety of materials, including flexible materials such as silicone or thermoplastic polyurethane (TPU), to provide better cushioning and gripping friction, and to mimic the feel of human skin. The surface of the finger shell 319 can be textured to further increase gripping friction. Various connection methods can be used between the finger shell 319 and the finger bones, such as clips, screws, or adhesives, to ensure its stability and prevent it from falling off during movement or under stress.

[0064] The finger shell 319 is designed as a single piece, fitting into the finger bone through elastic deformation or sliding. During installation, space can be reserved inside the finger shell 319 for wiring or sensor installation, and sufficient clearance can be ensured between the finger shell 319 and the finger bone to avoid motion interference, or the correct installation position of the finger shell 319 can be ensured through an internal limiting structure.

[0065] Please refer to the reference. Figure 1 and Figure 7 This application further proposes that the thumb unit 2 includes a thumb 21, a thumb drive member 22, a thumb drive wheel 23, and a thumb drive rope 24. The thumb 21 is connected to the palm base 1, the thumb drive member 22 is disposed on the palm base 1, the thumb drive wheel 23 is disposed at the output end of the thumb drive member 22, one end of the thumb drive rope 24 is connected to the thumb drive wheel 23, and the other end is connected to the fingertip of the thumb 21. The thumb drive member 22 is adapted to drive the thumb drive wheel 23 to rotate, so as to drive the thumb drive rope 24 to pull the thumb 21 to perform flexion movement.

[0066] Specifically, the thumb unit 2 is a crucial component of the dexterous hand, designed to provide the thumb 21 with the necessary independence and flexibility to cooperate with the other fingers 31 in performing various grasping tasks. The structure of the thumb 21 can be similar to the other fingers 31, but its position and range of motion on the palm are typically unique to achieve envelopment of the grasped object. The thumb actuator 22, responsible for powering the thumb 21, can be a miniature servo motor whose output shaft is connected to the thumb drive wheel 23. The thumb actuator 22 should possess sufficient torque and precision to ensure the stability and controllability of the thumb 21's movement. The thumb drive wheel 23 receives the power from the thumb actuator 22 and transmits it to the thumb drive cord 24. The thumb drive cord 24 is a flexible transmission element connecting the thumb drive wheel 23 and the fingertip of the thumb 21. Typically made of high-strength, low-elasticity materials such as steel wire rope, Kevlar rope, or polymer fiber rope, its function is to convert the rotational motion of the drive wheel into traction force on the thumb 21, enabling the thumb 21 to flex.

[0067] By configuring the thumb unit 2 with an independent thumb drive component 22, a thumb drive wheel 23, and a thumb drive cord 24, this application achieves independent drive and precise control of the thumb 21. This independent drive mechanism allows the thumb 21 to flexibly adjust its flexion angle and position according to the shape and size of the object being grasped, thereby forming a stable gripping posture with the two-finger unit 3.

[0068] In one embodiment, the high-speed adaptive dexterous hand has 15 joint degrees of freedom and 3 actuation degrees of freedom. That is, the thumb 21 and each finger 31 each have 3 joint degrees of freedom, and the thumb unit 2 and the two bi-finger units 3 each have 3 actuation degrees of freedom.

[0069] This application further proposes a robot, which includes a body and the aforementioned high-speed adaptive dexterous hand, wherein the high-speed adaptive dexterous hand is disposed on the body.

[0070] Specifically, the body is the main structure of the robot, providing physical support, power transmission, and control interfaces for the aforementioned high-speed adaptive dexterous hand. The body can take various forms depending on different application scenarios and functional requirements. For example, the body can be a mobile platform, such as a chassis equipped with wheeled, tracked, or legged movement mechanisms, enabling autonomous movement on the ground; it can also be a fixed base for stably mounting the robot in a specific work area, such as a fixed workstation on a production line; furthermore, the body can be a multi-degree-of-freedom robotic arm, using joint movements to precisely position the dexterous hand at any location in three-dimensional space to perform complex grasping and manipulation tasks. The body typically integrates core components such as a power module, main controller, communication module, and drive actuators, providing the necessary energy and commands for the normal operation of the dexterous hand.

[0071] By integrating a high-speed adaptive dexterous hand into the machine body, the machine body provides the necessary support and a mobile platform for the dexterous hand, so that the dexterous hand is no longer limited to operation in a fixed position, but can be deployed to different work areas or perform grasping tasks while moving.

[0072] 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 high-speed adaptive dexterous hand, characterized in that, include: Palm base; A thumb unit and two two-finger units are connected to the palm base. Each two-finger unit includes two fingers, a finger driver, a transmission assembly, a differential, and two finger drive wheels. The two fingers are connected to the palm base. The finger driver is located on the palm base. The transmission assembly is located at the output end of the finger driver. The differential is connected to the transmission assembly. The finger drive wheels are located at both ends of the differential and are connected to the fingers. The finger driver drives the finger drive wheels to rotate through the transmission assembly and the differential, thereby driving the fingers to perform flexion movements.

2. The high-speed adaptive dexterous hand according to claim 1, characterized in that, Each finger includes a finger base, a first phalanx, a second phalanx, and a third phalanx. The finger base is connected to the palm base. 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. The second phalanx is hinged to the third phalanx to form a tip joint. The two-finger unit also includes two drive tendon cords and two guide wheel assemblies. One drive tendon cord and one guide wheel assembly are provided for one finger. Each guide wheel assembly is provided on one finger. One end of the drive tendon cord is connected to the finger drive wheel, and the other end passes around the guide wheel assembly and connects to the fingertip of the finger. The finger drive wheel achieves coupled flexion movement of the finger by traction of the drive tendon cord.

3. The high-speed adaptive dexterous hand according to claim 1, characterized in that, The transmission assembly includes a first bevel gear and a second bevel gear. The first bevel gear is located at the output end of the finger drive, and the second bevel gear is sleeved on the differential. The first bevel gear meshes with the second bevel gear.

4. The high-speed adaptive dexterous hand according to claim 2, characterized in that, Both ends of the differential are connected to bearing seats. A finger drive wheel is rotatably mounted on one of the bearing seats. The bearing seat is provided with a stop block. The finger drive wheel is provided with a zero-position stop plate. The zero-position stop plate is adapted to abut against the stop block to limit the rotation angle of the finger drive wheel.

5. The high-speed adaptive dexterous hand according to claim 4, characterized in that, The bearing housing is provided with two parallel guide posts, which are perpendicular to the extension direction of the drive tendon rope, and the drive tendon rope passes between the two guide posts.

6. The high-speed adaptive dexterous hand according to claim 2, characterized in that, The two-finger unit also includes two tension springs, each tension spring corresponding to one finger and located on the side of the finger facing away from the bending direction. One end of the tension spring is connected to the first phalanx and the other end is connected to the second phalanx.

7. The high-speed adaptive dexterous hand according to claim 6, characterized in that, The two-finger unit also includes two torsion springs, each torsion spring corresponding to one finger. The torsion spring is located at the fingertip joint, and the torque of the torsion spring is greater than the tension of the tension spring, so that the middle joint of the finger completes flexion before the fingertip joint.

8. The high-speed adaptive dexterous hand according to claim 1, characterized in that, The finger includes multiple phalanges and multiple finger shells, with the multiple phalanges of the same finger hinged to each other, and each finger shell fitted over one of the phalanges.

9. The high-speed adaptive dexterous hand according to any one of claims 1 to 8, characterized in that, The thumb unit includes a thumb, a thumb drive component, a thumb drive wheel, and a thumb drive rope. The thumb is connected to the palm base. The thumb drive component is located on the palm base. The thumb drive wheel is located at the output end of the thumb drive component. One end of the thumb drive rope is connected to the thumb drive wheel, and the other end is connected to the fingertip of the thumb. The thumb drive component is adapted to drive the thumb drive wheel to rotate, so as to drive the thumb drive rope to pull the thumb to perform flexion movement.

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

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