Dexterous hand, embodied intelligent robot

Abstract

The application provides a dexterous hand and a body-intelligent robot, and relates to the technical field of robots, so as to solve one of the technical problems of complex structure of the dexterous hand, difficulty in self-adaptive grasping and high cost. The dexterous hand comprises a mounting seat, a first finger and at least one second finger, the first finger and the at least one second finger are oppositely and spacedly arranged to form a holding space; the first finger and the second finger are arranged on the mounting seat; the second finger comprises a distal finger segment, a proximal finger segment, a driven rod, a driving rod, an elastic element and a first driving mechanism arranged on the mounting seat; the distal finger segment, the proximal finger segment, the driving rod and the driven rod are sequentially and movably connected to form a four-bar linkage structure; one end of the proximal finger segment, which is away from the distal finger segment, is movably connected with the mounting seat; one end of the driving rod, which is away from the driven rod, is movably connected with the mounting seat. The dexterous hand has simple structure, self-adaptability and low cost.

Description

Technical Field

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

[0002] In related technologies, the complex structure of dexterous hands has obvious shortcomings in terms of lightweight and low-cost applications. Rigid linkage transmission lacks flexible buffering, which can easily cause damage or instability when grasping fragile or irregularly shaped objects. Dexterous hands cannot achieve both a simplified structure and stable adaptive grasping ability. Summary of the Invention

[0003] The purpose of this invention is to provide a dexterous hand, an embodied intelligent robot, to solve one of the technical problems of dexterous hands being complex in structure, difficult to adaptively grasp, and high in cost.

[0004] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a dexterous hand, including a mounting base, a first finger and at least one second finger, wherein the first finger and the at least one second finger are arranged at intervals relative to each other to form a gripping space; both the first finger and the second finger are disposed on the mounting base. The second finger includes a distal finger segment, a proximal finger segment, a driven rod, a driving rod, an elastic element, and a first drive mechanism disposed on the mounting base; a portion of the distal finger segment, the proximal finger segment, the driving rod, and the driven rod are sequentially and movably connected end to end to form a four-bar linkage structure; The end of the proximal finger segment opposite to the distal finger segment is movably connected to the mounting base; the end of the driving rod opposite to the driven rod is movably connected to the mounting base. The connection portion between the proximal finger and the mounting base is the same as the connection portion between the drive rod and the mounting base; the elastic element abuts between the drive rod and the proximal finger. The first drive mechanism is movably connected to the end of the active rod opposite to the proximal finger segment.

[0005] According to at least one embodiment of the present invention, the dexterous hand further includes a second drive mechanism disposed on the mounting base, and the first finger is throttle-connected to the second drive mechanism; The number of second fingers is multiple, and the multiple second fingers are arranged side by side on the mounting base. The first finger is rotatably mounted on the mounting base in a preset plane, wherein the preset plane is parallel to the palm surface of the dexterous hand.

[0006] According to at least one embodiment of the present invention, the second drive mechanism includes a second servo motor and a servo disk that is pulsatorically connected to the second servo motor, the first finger is disposed on the servo disk, and the servo disk is further provided with a limiting rod; The mounting base is also provided with two limiting blocks, and the limiting rod is located between the two limiting blocks.

[0007] According to at least one embodiment of the present invention, the active rod and the mounting base are both hinged to the proximal finger segment via a first hinge shaft, and the elastic element is disposed on the first hinge shaft; When the first drive mechanism pushes the active rod to swing away from the mounting base, the active rod pushes the proximal finger segment to rotate through the elastic element, so that the driven rod and the proximal finger segment drive the distal finger segment to rotate.

[0008] According to at least one embodiment of the present invention, when the first driving mechanism drives the second finger to return to its original position, the active lever drives the distal finger segment to rotate through the driven lever, so that the proximal finger segment returns to its original position under the action of the distal finger segment and the elastic element.

[0009] According to at least one embodiment of the present invention, the distal finger segment has a hinge segment extending toward a gripping surface away from the distal finger segment, the hinge segment being close to the proximal finger segment; The hinge portion between the driven rod and the distal finger segment is located near the end of the hinge segment that faces away from the gripping surface.

[0010] According to at least one embodiment of the present invention, the driven rod and the driving rod are hinged together by a second hinge axis; The first drive mechanism includes a drive rod, a first servo motor, and a rocker arm that is driveably connected to the first servo motor. One end of the drive rod is hinged to the drive rod via the second hinge shaft, and the other end of the drive rod is hinged to the rocker arm. The active rod, the drive rod, the rocker arm, and the mounting base form a four-bar linkage structure.

[0011] According to at least one embodiment of the present invention, both ends of the drive rod have ball heads, and the drive rod is hinged to the active rod and the rocker arm respectively through the two ball heads; or, The drive rod includes a universal joint link or a flexible cable; and / or, The active rod has two hinge lugs, and the two ends of the second hinge shaft are respectively rotatably disposed on the two hinge lugs; The second finger also includes a limiting ring sleeved on the second hinge shaft. The limiting ring is located between the two hinge ears and is used to reduce the connection gap between the drive rod and the active rod.

[0012] According to at least one embodiment of the present invention, the second finger further includes a first cover and a second cover, the first cover being detachably disposed on the side of the distal finger segment opposite to the gripping surface, and the second cover being detachably disposed on the side of the proximal finger segment opposite to the gripping surface. At least a portion of the driven rod and the driving rod are located within the second housing; and / or, The first finger also includes a third cover, which is detachably disposed on the side of the first finger opposite to the gripping surface.

[0013] In a second aspect, the present invention provides an embodied intelligent robot, including the dexterous hand described in the first aspect.

[0014] In one or more technical solutions provided in the exemplary embodiments of the present invention, at least one of the following beneficial effects can be achieved.

[0015] The dexterous hand provided in an exemplary embodiment of the present invention includes a mounting base, a first finger, and at least one second finger. The first finger can cooperate with the second finger to form a gripping space for holding an object. The second finger includes a distal segment, a proximal segment, a driven rod, a driving rod, an elastic element, and a driving mechanism disposed on the mounting base. The distal segment, proximal segment, driving rod, and driven rod are sequentially hinged to form a four-bar linkage. When the driving mechanism pushes the driving rod to rotate around the mounting base, the driving rod pushes the driven rod. Simultaneously, through the elastic element disposed between the driving rod and the proximal segment, the proximal segment also rotates around the mounting base. Thus, the driven rod and the proximal segment jointly drive the distal segment to rotate, achieving the bending of the second finger. When the first driving mechanism drives the second finger to return to its original position, the driving rod drives the distal segment to rotate through the driven rod, so that the proximal segment returns to its original position under the action of the distal segment and the elastic element. Meanwhile, although the four-bar linkage has two degrees of freedom, the flexible constraint of the elastic element and the motion restriction when in contact with the object being grasped allow the second finger to adaptively envelop the object's surface during grasping, and also maintain positional certainty at key contact points. Compared to existing technologies where each joint requires an independent drive motor, the dexterous hand provided by the exemplary embodiment of this invention uses only one first drive mechanism to control two phalanges for each second finger, simplifying the number of parts and reducing the complexity and manufacturing cost of the finger. Based on this, the dexterous hand provided by the exemplary embodiment of this invention can achieve both adaptability and positional certainty while maintaining a simple structure. Attached Figure Description

[0016] The accompanying drawings illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0017] Figure 1 This is an isometric structural schematic diagram of a dexterous hand (with a cover) according to an embodiment of the present invention; Figure 2 This is an isometric structural schematic diagram of a dexterous hand according to an embodiment of the present invention from another perspective. Figure 3 This is an isometric structural schematic diagram of a dexterous hand (without a cover) according to an embodiment of the present invention; Figure 4 This is a three-dimensional exploded structural diagram of the index finger according to an embodiment of the present invention; Figure 5 This is a three-dimensional exploded structural diagram of the middle finger according to an embodiment of the present invention; Figure 6 This is a three-dimensional exploded structural diagram of the first finger according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a dexterous hand holding a cylinder according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the state of a dexterous hand holding a block according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the state of the dexterous hand holding the plate according to an embodiment of the present invention.

[0018] Figure label: 11. Distal finger segment; 111. Articulated segment; 12. Proximal finger segment; 21. Driven rod; 22. Driving rod; 221. First hinge shaft; 222. Second hinge shaft; 223. Hinge lug; 30. Mounting bracket; 40. First servo motor; 41. Rocker arm; 42. Drive lever; 421. Ball joint; 422. Limit ring; 50. Cushioning pad; 61. First enclosure; 62. Second enclosure; 63. Third enclosure; 70. Elastic elements; 80. Object; 100. First finger; 101. Limit lever; 102. Second servo; 103. Steering wheel; 200. The second finger. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] Example 1 Figure 1 This is an isometric structural schematic diagram of a dexterous hand (with a cover) according to an embodiment of the present invention; Figure 3 This is an isometric structural schematic diagram of a dexterous hand (without a cover) according to an embodiment of the present invention; Figure 4 This is a three-dimensional exploded structural diagram of the index finger according to an embodiment of the present invention. (Combined with...) Figure 1 , Figure 3 and Figure 4 As shown, the dexterous hand of an exemplary embodiment of the present invention includes a mounting base 30, a first finger 100, and at least one second finger 200. The first finger 100 and the at least one second finger 200 are spaced apart to form a gripping space. Both the first finger 100 and the second finger 200 are disposed on the mounting base 30. The second finger 200 includes a distal phalanx 11, a proximal phalanx 12, a driven lever 21, a driven lever 22, an elastic element 70, and a first drive mechanism disposed on the mounting base 30. A portion of the distal phalanx 11 and the proximal phalanx 12 are also included. 12. The driving rod 22 and the driven rod 21 are movably connected end to end to form a four-bar linkage; the end of the proximal finger segment 12 opposite to the distal finger segment 11 is movably connected to the mounting base 30; the end of the driving rod 22 opposite to the driven rod 21 is movably connected to the mounting base 30; the connection part between the proximal finger segment 12 and the mounting base 30 is the same as the connection part between the driving rod 22 and the mounting base 30; the elastic element 70 is abutted between the driving rod 22 and the proximal finger segment 12; the first drive mechanism is movably connected to the end of the driving rod 22 opposite to the proximal finger segment 12.

[0021] In practical applications, the first finger 100 in a dexterous hand can correspond to the thumb on the palm, and the number of the second fingers 200 can be one, two, three, four or more. The following text will introduce the number of the second fingers 200 as two. The two second fingers 200 can correspond to the index finger and the middle finger on the palm respectively. Since the transmission structure and working principle of the index finger and the middle finger are roughly the same, the following text will mainly introduce the second finger 200 corresponding to the index finger as an example.

[0022] Figure 2 This is an isometric structural schematic diagram of a dexterous hand according to an embodiment of the present invention from another perspective. (Combined with...) Figure 1 and Figure 2 As shown, in the dexterous hand of an exemplary embodiment of the present invention, the first finger 100 on the palm is approximately opposite to the second finger 200 located at the index finger position, and the second finger 200 located at the middle finger position is arranged side by side with the second finger 200 located at the index finger position on the palm, thereby simulating the three-finger structure of the human hand, thus constructing a stable and flexible grip configuration that can adapt to objects of different sizes and shapes.

[0023] For example, the dexterous hand can grasp objects 80 of various shapes, such as cylinders, blocks, plates, or irregular shapes.

[0024] Figure 7This is a schematic diagram illustrating the state of a dexterous hand holding a cylinder according to an embodiment of the present invention. Figure 7 As shown, when the dexterous hand performs a grasping action, the two first drive mechanisms respectively drive the corresponding second fingers 200 (index and middle fingers) to bend, and work together with the first fingers 100 to firmly clamp the cylinder in the grasping space.

[0025] When a dexterous hand grasps the block, the first drive mechanism located at the index finger position drives the second finger 200 to bend, with the distal finger segment 11 cooperating with the first finger 100 to grip both sides of the block. Meanwhile, the second finger 200 located at the middle finger position adaptively adjusts its posture according to the width of the block; for example, the second finger 200 located at the middle finger position can reach its maximum bending degree. Figure 8 As shown, where, Figure 8 This is a schematic diagram of the state of a dexterous hand holding a block according to an embodiment of the present invention.

[0026] When a dexterous hand grasps the long, narrow board, the second finger 200, positioned at the position of the index and middle fingers, bends in coordination to form a stable support surface. Combined with the supporting action of the first finger 100, a clamping force is applied from both sides of the board, preventing slippage or tilting during the grasping process, thus enabling a stable grip on flat objects. Figure 9 As shown, where Figure 9 This is a schematic diagram of the state of the dexterous hand holding the plate according to an embodiment of the present invention.

[0027] Furthermore, in order to solve the problem of slippage caused by the unstable center of gravity of the object 80 when the dexterous hand holds the object, the dexterous hand of the exemplary embodiment of the present invention also includes a second drive mechanism disposed on the mounting base 30, and the first finger 100 is connected to the second drive mechanism in a transmission manner; the first finger 100 is rotatably disposed on the mounting base 30 in a preset plane, wherein the preset plane is parallel to the palm surface of the dexterous hand.

[0028] Combination Figure 8 and Figure 9 As shown, the second drive mechanism may include a second servo motor 102 and a servo disc 103 that is drively connected to the second servo motor 102. The first finger 100 is disposed on the servo disc 103. The second servo motor 102 is disposed on the mounting base 30. By driving the servo disc 103 to rotate, it drives the first finger 100 to rotate in a preset plane, thereby adjusting the relative positional relationship of the first finger 100 with respect to the two second fingers 200. For example, the first finger 100 can swing from the position opposite the second finger 200 located at the index finger to the position opposite the second finger 200 located at the middle finger, so as to dynamically match the object 80 with different center of gravity distributions, so that the resultant force line of the gripping point passes through the center of mass of the object 80, which can enhance the stability of the grip and effectively reduce the risk of the object 80 rotating or slipping during the gripping process.

[0029] Furthermore, to address the potential for excessive travel during the swinging of the first finger 100 and the resulting risks of mechanical interference or structural damage, an exemplary embodiment of the present invention includes two limiting blocks on the mounting base 30 and a limiting rod 101 on the rudder disc 103, as shown below. Figure 6 As shown, where, Figure 6 This is a three-dimensional exploded structural diagram of the first finger according to an embodiment of the present invention.

[0030] In practical use, the limiting rod 101 can be a screw extending from the servo disc. When the second servo motor 102 drives the servo disc 103 to rotate, the limiting rod 101 moves accordingly. When the limiting rod 101 abuts against either limiting block, the rotation of the servo disc 103 is physically blocked, thereby limiting the swing range of the first finger 100 and preventing the internal transmission components from jamming or rigidly colliding with adjacent structures due to excessive rotation. This mechanical limiting structure not only simplifies the control logic but also improves the durability and safety of the dexterous hand. At the same time, for the second servo motor 102, the two physical limiting blocks not only serve as travel limits but also as mechanical reference points for the initial position of the second servo motor 102, which can assist the dexterous hand in completing zero-point calibration. Each time it starts, the second servo motor 102 can drive the limiting rod 101 to touch the limiting block to establish the reference zero point, resulting in higher precision in controlling the angle of the first finger 100.

[0031] The following is combined with Figures 3-4 as well as Figure 8 The working principle of the second finger 200 when a dexterous hand grasps an object 80 is further explained.

[0032] It should be noted that the first drive mechanism can be a linear motion mechanism, such as a linear motor, hydraulic cylinder, electric cylinder, or pneumatic cylinder. For example, the piston rod of a pneumatic cylinder is hinged to the drive rod 22 via the second hinge shaft 222, and the cylinder body is hinged to the mounting base 30.

[0033] For example, the driven rod 21 and the driving rod 22 are hinged together by the second hinge shaft 222; the first drive mechanism includes a drive rod 42, a first servo motor 40 and a rocker arm 41 that is drivenly connected to the first servo motor 40. One end of the drive rod 42 is hinged to the driving rod 22 by the second hinge shaft 222, and the other end of the drive rod 42 is hinged to the rocker arm 41; the driving rod 22, the drive rod 42, the rocker arm 41 and the mounting base 30 form a four-bar linkage structure.

[0034] Taking the second finger 200 located at the index finger position as an example, the second finger 200 includes a distal finger segment 11 and a proximal finger segment 12. The distal finger segment 11 has a hinge segment 111 extending in a direction away from the gripping surface of the distal finger segment 11, and the hinge segment 111 is close to the proximal finger segment 12; the hinge portion between the driven rod 21 and the distal finger segment 11 is close to the end of the hinge segment 111 that is away from the gripping surface.

[0035] For example, the main body of the distal finger segment 11 is the same as the main body of the proximal finger segment 12, both being plate-like structures to form a gripping surface. The two plate-like structures are arranged approximately parallel when the fingers are not bent, while the hinge segment 111 is perpendicular to the main body of the distal finger segment 11, that is, the distal finger segment 11 has an L-shaped structure.

[0036] A portion of the distal finger segment 11 (hinged segment 111), the proximal finger segment 12, the driving rod 22, and the driven rod 21 are sequentially hinged to form another four-bar structure. Together with the four-bar structure formed by the driving rod 22, the drive rod 42, the rocker arm 41, and the mounting base 30, they form two sets of four-bar structures for the second finger 200, thus forming a simplified underactuated system for the second finger 200.

[0037] For example, the elastic element 70 can be a torsion spring; the driving rod 22 and the mounting base 30 are both hinged to the proximal finger segment 12 through the first hinge shaft 221, and the torsion spring is provided on the first hinge shaft 221; one end of the torsion spring abuts against the proximal finger segment 12, and the other end abuts against the driving rod 22.

[0038] When the drive rod 42 pushes the active rod 22 to swing away from the mounting base 30, the active rod 22 pushes the proximal finger segment 12 to rotate via the torsion spring, so that the driven rod 21 and the proximal finger segment 12 drive the distal finger segment 11 to rotate. That is, when the drive rod 42 pushes the active rod 22 to rotate counterclockwise around the first hinge axis 221, the torsion spring is compressed and accumulates elastic potential energy, and the active rod 22 drives the proximal finger segment 12 to rotate counterclockwise around the first hinge axis 221; at the same time, the driven rod 21 in the four-bar linkage moves accordingly, and the cooperation of the driven rod 21 and the proximal finger segment 12 drives the distal finger segment 11 to rotate counterclockwise around its hinge point with the proximal finger segment 12, realizing finger bending. Since the proximal finger segment 12 in this four-bar linkage is not fixed, it has two degrees of freedom and belongs to an underactuated mechanism.

[0039] When the drive rod 42 moves the second finger 200 back to its original position, the drive rod 22 drives the distal finger segment 11 to rotate via the driven rod 21, so that the proximal finger segment 12 returns to its original position under the action of the distal finger segment 11 and the elastic element 70. Specifically, the drive rod 22 rotates clockwise around the first hinge axis 221, and the compressed torsion spring releases its elastic potential energy. Under the combined action of the distal finger segment 11 and the release of the elastic potential energy of the torsion spring, the proximal finger segment 12 rotates clockwise to reset.

[0040] During the bending and resetting process of the second finger 200, the rocker arm 41 reciprocates under the drive of the first servo motor 40, thereby driving the drive rod 42 to reciprocate, which in turn drives the active rod 22 to rotate around the first hinge axis 221, that is, around the mounting base 30. Since the first servo motor 40 and the mounting base 30 are fixed and act as a frame, the four-bar structure formed by the active rod 22, the drive rod 42, the rocker arm 41 and the mounting base 30 has only one degree of freedom. Therefore, the movement of the active rod 22 is deterministic.

[0041] When the distal segment 11 of the second finger 200 first contacts the object 80, it stops rotating due to the obstruction of the object 80. Since the four-bar linkage is a whole, the position of the distal segment 11 is definite. When the proximal segment 12 first contacts the object 80, it stops rotating due to obstruction. At this time, the second finger 200 still has one degree of freedom, that is, the distal segment 11 can continue to rotate until it contacts the object 80 and completes the adaptive envelope. Since a torsion spring is provided between the proximal segment 12 and the active rod 22 in the four-bar linkage, the transmission structure has a certain degree of flexibility and buffering, thus effectively absorbing impact energy during gripping, making it less likely to cause damage or gripping failure when grasping fragile or irregularly shaped objects 80.

[0042] As can be seen from the above, although the second finger 200 is a two-degree-of-freedom underactuated system, the flexible constraint of the torsion spring and the motion restriction when the object 80 contacts it enable the second finger 200 to adaptively envelop the surface of the object 80 during the grasping process, while maintaining positional certainty at key contact points, thus reducing the risk of motion runaway common in underactuated systems. In other words, the second finger 200 only requires one first servo motor 40 to achieve the grasping function, and through the coordinated motion of two sets of four-bar linkages, it solves the technical problem of positional uncertainty in underactuated motion, achieving both adaptive grasping and positional certainty while maintaining a simplified structure.

[0043] Combination such as Figure 3 and Figure 4 As shown, in the four-bar linkage structure formed by sequentially hinged parts of the distal finger segment 11 (hinged segment 111), the proximal finger segment 12, the driving rod 22, and the driven rod 21, the hinges between each link are connected by hinge shafts to ensure flexible rotation and stable connection between the links.

[0044] Taking the driving rod 22 as an example, the top end of the driving rod 22 has two hinge ears 223, and the two ends of the second hinge shaft 222 are respectively rotatably mounted on the two hinge ears 223. The driven rod 21 is hinged to the driven rod 21 through the second hinge shaft 222. The bottom end of the driving rod 22 also has two hinge ears 223, which match the two hinge ears 223 on the mounting base 30 and are hinged through the first hinge shaft 221 passing through the four hinge ears 223.

[0045] Figure 5 This is a three-dimensional exploded structural diagram of the middle finger according to an embodiment of the present invention. Figure 5 As shown, the second finger 200 located at the middle finger position has the same structure as the second finger 200 located at the index finger position. The difference is that the driven rod 21 in the second finger 200 located at the middle finger position is formed by two parallel rods to enhance structural rigidity and load-bearing capacity. At the same time, two torsion springs are provided on the first hinge shaft 221, which abut against the driving rod 22 and the proximal finger segment 12 respectively to provide a larger restoring torque and a cushioning effect, adapting to the higher mechanical requirements of the middle finger when gripping heavy objects.

[0046] In some embodiments, the drive rod 42 includes a universal joint link, a flexible cable, or a rigid rod. When the drive rod 42 is a rigid rod, both ends of the drive rod 42 have ball joints 421. The drive rod 42 is hinged to the drive rod 22 and the rocker arm 41 respectively through the two ball joints 421. Figure 3 and Figure 4 As shown.

[0047] Specifically, the drive rod 42 is connected to the drive rod 22 and the rocker arm 41 via the ball joint 421, and can also swing laterally while transmitting power, thus enhancing the redundancy of the second servo motor 102 drive. For example, when there is a deviation in the installation of the servo motor on the mounting base 30, the lateral swing of the drive rod 42 can automatically compensate for the installation error, so that the driving force can still be accurately transmitted to the drive rod 22.

[0048] Furthermore, in order to solve the technical problem of unstable transmission of the drive rod 42, the dexterous hand also includes a limiting ring 422 sleeved on the second hinge shaft 222. The limiting ring 422 is located between the two hinge ears 223 and is used to reduce the connection gap between the drive rod 42 and the active rod 22, restrict the axial movement of the drive rod 42 on the second hinge shaft 222, so as to make the transmission more stable.

[0049] For example, the limiting ring 422 can be an elastic limiting ring or a metal washer with a certain elasticity.

[0050] Figure 2 This is an isometric structural schematic diagram of a dexterous hand according to an embodiment of the present invention from another perspective. (Combined with...) Figure 1 and Figure 2 As shown, a buffer pad 50 is also provided on the gripping surface of the distal finger segment 11, the proximal finger segment 12 and the first finger 100. The buffer pad 50 is made of silicone or rubber material with a high coefficient of friction. The buffer pad 50 can reduce the risk of damaging the object 80 when grasping, and can also increase the contact friction and improve the gripping stability.

[0051] In some implementations, such as Figures 3-5As shown, the second finger 200 also includes a first cover 61 and a second cover 62. The first cover 61 is detachably disposed on the side of the distal finger segment 11 opposite to the gripping surface, and the second cover 62 is detachably disposed on the side of the proximal finger segment 12 opposite to the gripping surface. At least a portion of the driven rod 21 and the driving rod 22 are located inside the second cover 62. The first finger 100 also includes a third cover 63, which is detachably disposed on the side of the first finger 100 opposite to the gripping surface.

[0052] In practical applications, the first cover 61, the second cover 62, and the third cover 63 can be fixed to the corresponding finger joint body by means of clips or screws, which facilitates later maintenance; at the same time, the first cover 61, the second cover 62, and the third cover 63 can provide effective protection for the internal mechanism, preventing dust, oil and small foreign objects from entering the transmission joint, and extending the service life of the dexterous hand in complex industrial environments.

[0053] Example 2 An exemplary embodiment of the present invention also provides an embodied intelligent robot, including the dexterous hand described in Embodiment 1.

[0054] The technological advantages of the aforementioned embodied intelligent robot compared to existing technologies are the same as those of the aforementioned dexterous hand, and will not be repeated here.

[0055] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A dexterous hand, characterized in that, It includes a mounting base, a first finger, and at least one second finger, wherein the first finger and the at least one second finger are spaced apart to form a gripping space; both the first finger and the second finger are disposed on the mounting base. The second finger includes a distal finger segment, a proximal finger segment, a driven rod, a driving rod, an elastic element, and a first drive mechanism disposed on the mounting base; a portion of the distal finger segment, the proximal finger segment, the driving rod, and the driven rod are sequentially and movably connected end to end to form a four-bar linkage structure; The end of the proximal finger segment opposite to the distal finger segment is movably connected to the mounting base; the end of the driving rod opposite to the driven rod is movably connected to the mounting base. The connection portion between the proximal finger and the mounting base is the same as the connection portion between the drive rod and the mounting base; the elastic element abuts between the drive rod and the proximal finger. The first drive mechanism is movably connected to the end of the active rod opposite to the proximal finger segment.

2. The dexterous hand according to claim 1, characterized in that, The dexterous hand also includes a second drive mechanism disposed on the mounting base, and the first finger is connected to the second drive mechanism in a transmission manner; The number of second fingers is multiple, and the multiple second fingers are arranged side by side on the mounting base. The first finger is rotatably mounted on the mounting base in a preset plane, wherein the preset plane is parallel to the palm surface of the dexterous hand.

3. The dexterous hand according to claim 2, characterized in that, The second drive mechanism includes a second servo motor and a servo disc that is driven by the second servo motor. The first finger is disposed on the servo disc, and the servo disc is also provided with a limit rod. The mounting base is also provided with two limiting blocks, and the limiting rod is located between the two limiting blocks.

4. The dexterous hand according to claim 1, characterized in that, The active rod and the mounting base are both hinged to the proximal finger segment via a first hinge shaft, and the elastic element is disposed on the first hinge shaft; When the first drive mechanism pushes the active rod to swing away from the mounting base, the active rod pushes the proximal finger segment to rotate through the elastic element, so that the driven rod and the proximal finger segment drive the distal finger segment to rotate.

5. The dexterous hand according to claim 4, characterized in that, When the first drive mechanism drives the second finger to return to its original position, the active lever drives the distal finger segment to rotate through the driven lever, so that the proximal finger segment returns to its original position under the action of the distal finger segment and the elastic element.

6. The dexterous hand according to claim 1, characterized in that, The distal finger segment has a hinge segment extending toward the gripping surface away from the distal finger segment, the hinge segment being close to the proximal finger segment. The hinge portion between the driven rod and the distal finger segment is located near the end of the hinge segment that faces away from the gripping surface.

7. The dexterous hand according to claim 1, characterized in that, The driven rod and the driving rod are hinged together by a second hinge axis; The first drive mechanism includes a drive rod, a first servo motor, and a rocker arm that is driveably connected to the first servo motor. One end of the drive rod is hinged to the drive rod via the second hinge shaft, and the other end of the drive rod is hinged to the rocker arm. The active rod, the drive rod, the rocker arm, and the mounting base form a four-bar linkage structure.

8. The dexterous hand according to claim 7, characterized in that, Both ends of the drive rod have ball heads, and the drive rod is hinged to the active rod and the rocker arm respectively through the two ball heads; or, The drive rod includes a universal joint link or a flexible cable; and / or, The active rod has two hinge lugs, and the two ends of the second hinge shaft are respectively rotatably disposed on the two hinge lugs; The second finger also includes a limiting ring sleeved on the second hinge shaft. The limiting ring is located between the two hinge ears and is used to reduce the connection gap between the drive rod and the active rod.

9. The dexterous hand according to any one of claims 1-8, characterized in that, The second finger also includes a first cover and a second cover, the first cover being detachably disposed on the side of the distal finger segment opposite to the gripping surface, and the second cover being detachably disposed on the side of the proximal finger segment opposite to the gripping surface. At least a portion of the driven rod and the driving rod are located within the second housing; and / or, The first finger also includes a third cover, which is detachably disposed on the side of the first finger opposite to the gripping surface.

10. A embodied intelligent robot, characterized in that, Including the dexterous hand as described in any one of claims 1-9.

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