Dexterous hand and robot

Abstract

The present application relates to the technical field of robots, and discloses a dexterous hand and a robot, wherein the dexterous hand comprises a palm piece, a wrist assembly and a finger assembly, the wrist assembly is arranged on the palm piece, the finger assembly is arranged on the palm piece and located on the side of the palm piece away from the wrist assembly, the finger assembly comprises multiple spaced finger structures, each finger structure comprises a mounting seat and at least two knuckles, the mounting seat is arranged on the palm piece, the mounting seat and the knuckles are rotationally connected in sequence, and the rotation axes of the mounting seat and the knuckles and the rotation axes of each two adjacent knuckles are located on the midline in the thickness direction of the palm piece, so that each finger structure can move close to or away from the palm piece on both sides in the thickness direction of the palm piece, and bidirectional mutual use of the fingers of the dexterous hand is realized.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a dexterous hand and a robot. Background Technology

[0002] With the rapid development of robotics technology, bionic dexterous hands, as end effectors of robots, have been widely used in service robots, medical prosthetics, and industrial precision assembly due to their advantages such as multiple degrees of freedom and the ability to simulate human hand movements. Dexterous hands typically consist of a palm structure and multiple finger structures. The finger structures are connected by joints to achieve movements such as bending and extending, thereby completing operations such as grasping and pinching objects.

[0003] Currently, the dexterity fingers commonly found on the market typically employ an offset structural design for the rotational connections between the finger joints. This means that the rotation axis of the joint is usually located on one side of the finger's thickness. This structural design restricts the finger's movement to one fixed side, i.e., the palm, during bending motions. Summary of the Invention

[0004] The main objective of this invention is to provide a dexterous hand and robot that enable bidirectional interoperability of the fingers of the dexterous hand.

[0005] To achieve the above objectives, the dexterous hand proposed in this invention includes: Palm-sized piece; Wrist assembly, the wrist assembly being disposed on the palm component; and A finger assembly is disposed on the palm component and located on the side of the palm component facing away from the wrist component. The finger assembly includes a plurality of spaced finger structures. Each finger structure includes a mounting base and at least two phalanges. The mounting base is disposed on the palm component. The mounting base and each of the phalanges are rotatably connected in sequence. The rotation axis of the phalanges and the mounting base, as well as the rotation axis of each pair of adjacent phalanges, are located on the centerline of the thickness direction of the palm component, so that each finger structure can move closer to or further away from the palm component on both sides of the thickness direction of the palm component.

[0006] In one embodiment, the knuckle includes a phalanx and a drive mechanism; The driving device is located on the finger bone and connected to the finger bone of the adjacent finger joint or the mounting base. The driving device is used to drive the adjacent finger joint or the mounting base to rotate.

[0007] In one embodiment, the dexterous hand further includes a cable, the knuckles and the drive device forming a communicating cable passage, the cable being electrically connected to the drive device and passing through the cable passage.

[0008] In one embodiment, the plurality of finger structures include a thumb structure and a four-finger structure; The thumb structure and the four-finger structure are set at an angle.

[0009] In one embodiment, the palm component has a clearance portion, which is symmetrically disposed on both sides of the palm component along the thickness direction.

[0010] In one embodiment, the palm component has a plurality of spaced mounting portions; The mounting base of the finger structure is connected to the mounting part in a one-to-one correspondence, and the two side walls of the palm component in the thickness direction are symmetrically arranged along each mounting part.

[0011] In one embodiment, the wrist assembly includes a base, a motion platform, and a drive module; The movable platform is hinged to the base and connected to the palm component. The movable platform has four traction positions arranged in a rectangular shape. The drive module includes two drive components with output shafts and two ropes. The two ends of one rope are respectively connected to two diagonally opposite traction positions and are wound and fixed to one output shaft. The two ends of the other rope are respectively connected to two other diagonally opposite traction positions and are wound and fixed to another output shaft. The winding directions of the two ends of the ropes are opposite.

[0012] In one embodiment, the wrist assembly further includes a cord end connection assembly and a cord, the cord end connection assembly including an external mounting member and an internal fixing member; The external mounting component is disposed on the movable platform and has a receiving groove and a first through hole, the first through hole being located at the bottom of the receiving groove; The inner fixing member is disposed in the receiving groove and is rotatably connected to the groove wall of the receiving groove. The inner fixing member is used to fix the rope that passes through the first through hole. The rope is connected to the output shaft.

[0013] In one embodiment, the drive module includes an output component, an input component, and a fixing component; The output component is disposed on the base and includes a worm gear and the output shaft. The worm gear is disposed inside the base, and the output shaft is coaxially connected to the worm gear and extends to the outside of the base. The input component is disposed within the base and includes a worm and a drive member. The drive member is connected to the worm and can drive the worm to rotate. The worm meshes with the worm wheel. The input component is movably disposed relative to the base along the radial direction of the worm. The fastener is located on the base and is used to fix the position of the input component.

[0014] The present invention also proposes a robot including the aforementioned dexterous hand.

[0015] In the technical solution of this invention, the axis of rotation of each finger joint, i.e., the centerline direction, is set on the centerline of the palm component in the thickness direction. This makes the movement space of the finger joint symmetrical on the palm side and the back of the hand in the thickness plane and not restricted by the offset structure, thereby realizing the bidirectional movement capability of the finger joint in both the front and back directions. This structural design gives the finger structure geometric symmetry in the thickness direction. This finger structure can be used for both the left and right hands of a dexterous hand. When used for the left hand, the finger joint rotates on the side of the palm component facing the thickness direction to achieve grasping. When used for the right hand, the finger component is simply installed on the right side of the palm component based on the left hand, and rotated towards or away from the other side of the palm component in the thickness direction. There is no need to design and manufacture different finger structures for the left and right hands separately, which helps to reduce production costs, simplify assembly processes, and reduce the types of parts. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a structure of an embodiment of the dexterous hand provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the first part of the embodiment; Figure 3 for Figure 1 A schematic diagram of the second part of the structure in the embodiment; Figure 4 for Figure 1 A schematic diagram of the third part of the structure in the embodiment; Figure 5 for Figure 1 A schematic diagram of the fourth part of the embodiment; Figure 6 for Figure 5 A cross-sectional structural diagram of the structure in the diagram; Figure 7 for Figure 1 A schematic diagram of the fourth part of the embodiment from another perspective; Figure 8 for Figure 1A schematic diagram of the fifth part of the embodiment; Figure 9 for Figure 7 A cross-sectional structural diagram of the structure in the diagram; Figure 10 for Figure 9 A magnified view of a section at point A in the middle; Figure 11 for Figure 1 A schematic diagram of the sixth part of the embodiment; Figure 12 for Figure 11 A magnified view of a section at point B in the middle; Figure 13 for Figure 11 A cross-sectional structural diagram of the structure.

[0018] Explanation of icon numbers: 100. Dexterous Hand; 1. Hand Component; 11. Avoidance Part; 12. Mounting Part; 2. Wrist Assembly; 21. Base; 211. Mounting Protrusion; 212. Third Fixing Part; 213. Moving Part; 2131. Adjustment Hole; 22. Movable Platform; 221. Traction Position; 222. Hinge Hole; 23. Drive Module; 231. Drive Assembly; 2311. Output Shaft; 23111. Output Seat; 231111. First Limiting Slot; 23112. Locking Member; 232. Rope; 233. Output Assembly; 2331. Worm Gear; 234. Input Assembly; 2341. Worm; 2342. Drive Component; 235. Fixing Member; 236. Adjusting Screw; a. Adjustment Clearance; 24. First Driven Bearing; 241. First Fixing Part; 242. First Rotating Part; 2421. 25. Second driven bearing; 26. Ball part; 261. Assembly hole; 27. Rope end connection assembly; 271. External mounting part; 2711. Receiving groove; 2712. First through hole; 2713. Assembly part; 272. Internal fixing part; 2721. Second rotating part; 27211. Second through hole; 27212. Mounting groove; 27213. Side groove; 2722. Second fixing part; 273. Pad part; 2731. Third through hole; 3. Finger assembly; 31. Finger structure; 31a. Thumb structure; 31b. Four-finger structure; 311. Mounting seat; 312. Knuckle; 3121. Finger bone; 31211. First threading hole; 31212. Second threading hole; 31213. Wire receiving groove; 3122. Drive device; 31221. Shaft hole; 4. Cable.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0022] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0023] This invention proposes a dexterous hand 100. Figures 1 to 13 This is an embodiment of the present invention.

[0024] In this embodiment of the invention, the dexterous hand 100 includes a palm component 1, a wrist component 2, and a finger component 3. The wrist component 2 is disposed on the palm component 1, and the finger component 3 is disposed on the palm component 1 and located on the side of the palm component 1 facing away from the wrist component 2. The finger component 3 includes a plurality of spaced finger structures 31. Each finger structure 31 includes a mounting base 311 and at least two phalanges 312. The mounting base 311 is disposed on the palm component 1. The mounting base 311 and each phalange 312 are rotatably connected in sequence. The rotation axis of the phalanges 312 and the mounting base 311 and the rotation axis of each two adjacent phalanges 312 are located on the centerline of the thickness direction of the palm component 1, so that each finger structure 31 can move closer to or away from the palm component 1 on both sides of the thickness direction of the palm component 1.

[0025] In the technical solution of this invention, the axis of rotation of each phalanx 312, i.e., the centerline direction, is set on the centerline of the thickness direction of the palm part 1. This makes the movement space of the phalanx 312 symmetrical on the palm side and the back of the hand in the thickness plane and not restricted by the offset structure, thereby realizing the bidirectional movement capability of the phalanx 312 in both the front and rear directions. This structural design gives the finger structure 31 geometric symmetry in the thickness direction. The finger structure 31 can be used for both the left and right hands of the dexterous hand 100. When used for the left hand, the phalanx 312 rotates on the side facing the thickness direction of the palm part 1 to grasp. When used for the right hand, it is only necessary to install the finger assembly 3 on the right side of the palm part 1 based on the left hand and make it rotate towards or away from the other side in the thickness direction of the palm part 1. There is no need to design and manufacture different finger structures 31 for the left and right hands separately, which helps to reduce production costs, simplify assembly processes and reduce the types of parts.

[0026] In one embodiment, the phalanx 312 includes a phalanx 3121 and a drive device 3122; the drive device 3122 is disposed on the phalanx 3121 and connected to the phalanx 3121 or mounting base 311 of an adjacent phalanx 312, and the drive device 3122 is used to drive the adjacent phalanx 312 or mounting base 311 to rotate.

[0027] In this example, the drive device 3122 is connected to the phalanx 3121 of the adjacent phalanx 312 via a pin-shaft transmission structure. The drive device 3122 outputs power to drive the adjacent phalanx 312 to rotate relative to the mounting base 311. The drive device 3122 is integrated on the phalanx 3121 and directly drives the relative rotation of the adjacent joints, reducing the gap and slack problems caused by external rope transmission, improving the joint position control accuracy, and making the bidirectional bending action response of the finger more stable. At the same time, the integrated structure reduces the external exposed transmission components and reduces the risk of the transmission structure being snagged by foreign objects during grasping operations.

[0028] It should be noted that the bidirectional bending of the finger structure 31 in the thickness direction of the palm part 1 is specifically achieved by the drive device 3122. When the drive device 3122 outputs torque in different directions, the bending direction of each finger joint 312 is different. The relative movement of each finger joint 312 and the mounting base 311 together embodies the bidirectional bending of the finger structure 31.

[0029] Because there are many knuckles 312 and they need to perform complex movements, the knuckles 3121 and the drive unit require cables 4 for connection and control. However, during the frequent bending and stretching movements of the finger structure 31, the internally routed cables 4 are easily subjected to mechanical damage such as compression and wear, which in turn affects the stability of signal transmission and the service life of the finger structure 31.

[0030] To solve the above problems, in one embodiment, the dexterous hand 100 further includes a cable 4, and the knuckle 312 and the drive device 3122 form a connected wire passage. The cable 4 is electrically connected to the drive device 3122 and passes through the wire passage.

[0031] In this example, cable 4 is electrically connected to drive device 3122, and cable 4 is threaded through the connected cable passage. Cable 4 is housed in the internal channel of knuckle 312, preventing cable 4 from being exposed on the outside of the finger. During repeated bidirectional bending movements of the finger, cable 4 is protected from external friction and impact damage. At the same time, cable 4 follows the internal space of knuckle 312 and will not interfere with the bidirectional rotation of the finger joint, preventing cable 4 from getting tangled or stuck, and improving the reliability of long-term reciprocating movements of dexterous hand 100.

[0032] It should be noted that the cable passage is composed of multiple hole structures, specifically including the central shaft hole 31221 of the drive device 3122, and the first cable hole 31211, the second cable hole 31212, and the cable receiving groove 31213 of the finger bone 3121, which are connected in sequence to form the cable passage. The gap between the first cable hole 31211 and the second cable hole 31212 can provide a limiting function for the cable 4.

[0033] In one embodiment, the plurality of finger structures 31 include a thumb structure 31a and a four-finger structure 31b; the thumb structure 31a and the four-finger structure 31b are arranged at an angle.

[0034] In this example, the mounting bases 311 of the thumb structure 31a and the four-finger structure 31b are rotatably connected to the corresponding finger joints 312 via pins; the thumb and the other four fingers are arranged at an angle, simulating the alignment of the human thumb. Combined with the bidirectional rotation capability of the fingers, it can achieve both conventional envelope grasping and pinching and fine picking operations, expanding the working posture range of the dexterous hand 100 and adapting to the diverse object grasping needs in industrial precision assembly and prosthetic scenarios.

[0035] It should be noted that the rotation of the root of the thumb structure 31a can be achieved through the rotatable connection between the mounting base 311 and the palm part 1. One end of the mounting base 311 can be sleeved on the shaft or columnar structure of the palm part 1 and rotatably connected thereto.

[0036] In one embodiment, the palm part 1 is provided with a relief portion 11, which is symmetrically disposed on both sides of the palm part 1 in the thickness direction.

[0037] In this example, the clearance part 11 provides space on both sides of the thickness direction of the palm part 1, namely the palm side and the back side of the hand. When the fingers rotate to a large angle position in both directions of the thickness of the palm, the clearance part 11 prevents the knuckles 312 from interfering with and colliding with the palm part 1, ensuring that the fingers can achieve a larger rotation stroke in both the palm and back directions, and fully releasing the activity space for bidirectional movement.

[0038] Specifically, the avoidance part 11 is mainly used to avoid the thumb.

[0039] In one embodiment, the palm component 1 has a plurality of spaced mounting portions 12; a mounting base 311 of a finger structure 31 is connected to a mounting portion 12 in a one-to-one correspondence, and the two side walls of the palm component 1 in the thickness direction are symmetrically arranged along each mounting portion 12.

[0040] In this example, the palm component 1 is provided with multiple spaced-apart mounting parts 12. The mounting base 311 of the individual finger structure 31 corresponds one-to-one with the individual mounting part 12. The mounting base 311 is connected to the mounting part 12 through a pin hinge structure. The two side walls of the palm component 1 in the thickness direction are symmetrically arranged along each mounting part 12. The palm component 1 itself maintains symmetry in the thickness direction along the mounting part 12, further matching the symmetrical design of the finger assembly 3. The same palm base part can also be adapted to the left and right dexterous hands 100, further reducing the types of molds for the palm component 1. The mounting parts 12 are set independently, and the disassembly and assembly of individual fingers do not interfere with each other, which facilitates the inspection and replacement of individual fingers and reduces the difficulty of later maintenance.

[0041] The following describes the specific implementation of the wrist component 2.

[0042] In one embodiment, the wrist assembly 2 includes a base 21, a movable platform 22, and a drive module 23. The movable platform 22 is hinged to the base 21 and connected to the palm component 1. The movable platform 22 has four traction positions 221 arranged in a rectangular shape. The drive module 23 includes two drive components 231 with output shafts 2311 and two ropes 232. The two ends of one rope 232 are respectively connected to two diagonally opposite traction positions 221 and are wound and fixed to one output shaft 2311. The two ends of the other rope 232 are respectively connected to two other diagonally opposite traction positions 221 and are wound and fixed to another output shaft 2311. The winding directions of the two ends of the ropes 232 are opposite.

[0043] The hinged connection between the mobile platform 22 and the base 21 provides the basis for realizing multi-degree-of-freedom swinging motions. During operation, two sets of drive components 231 drive the two traction ropes to retract and extend. Because the two ends of the traction ropes are wound in opposite directions, regardless of the rotation direction of the output end of the drive component 231, it can always ensure that one end is under tension. The pulling force of the diagonal traction position 221, combined with the hinged structure, drives the mobile platform 22 to complete multi-directional deflection. The entire transmission structure has no left- or right-hand-specific differential configuration and can be uniformly adapted for installation and use on both the left and right hands of the robot. Not only is it compatible with left- and right-hand assembly, eliminating the need for two separate sets of modeling, parameter design, and drafting work, it significantly reduces the workload of research and development. The reverse winding layout of the double diagonal traction ropes can also balance the traction force, making the swinging force of the mobile platform 22 uniform in all directions, improving the smoothness of wrist rotation and the accuracy of operation positioning.

[0044] In one embodiment, the output end includes an output seat 23111 and a locking member 23112. The output seat 23111 has a first limiting groove 231111. A traction rope passes through the first limiting groove 231111, and the two ends of the traction rope are wound around the outer peripheral wall of the output seat 23111 in opposite directions. The locking member 23112 is connected to the output seat 23111 and presses and limits part of the traction rope within the first limiting groove 231111.

[0045] In this example, the two ends of the traction rope are wound around the outer periphery of the output seat 23111 in opposite directions. The locking member 23112 is assembled onto the output seat 23111 and compresses and confines the partial structure of the traction rope within the first limiting groove 231111. The non-end sections of the traction rope are fixed by the dual constraint of the groove and the locking member 23112. On the one hand, the first limiting groove 231111 and the locking member 23112 can jointly provide radial and axial positioning and locking for the traction rope, preventing slippage and misalignment. The two ends of the rope, wound in opposite directions, are pressed and fixed by the locking member 23112, preventing the traction rope from loosening or slipping under tension, and ensuring stable transmission of driving power to the moving platform 22. On the other hand, the locking member 23112 is detachable. After the traction rope wears or breaks, the locking member 23112 can be quickly released to replace the rope, simplifying the wrist maintenance process.

[0046] The output seat 23111 is the main structure of the output end, used to output torque. Depending on the direction of the output torque, the different tilt directions of the movable platform 22 can be controlled by winding the traction rope. The structure of the locking part 23112 is not limited. A threaded hole can be formed on the output seat 23111. The screw is used to connect the output seat 23111 to the output seat 23111, and the traction rope is limited and fixed by the nut.

[0047] In one embodiment, the output ends of the two drive components 231 are arranged back to back and located on the same rotation axis.

[0048] In this example, the coaxial back-to-back layout can significantly reduce the radial space occupied by the drive module 23, reduce the overall size of the base 21, and make the wrist assembly 2 more integrated, adapting to the narrow end-effector installation space of the robotic arm. The forces of the dual drive assemblies 231 are offset by each other along the same axis, reducing the load on the base 21, reducing the structural deformation caused by long-term reciprocating wrist swing, and improving the service life of the whole machine. The symmetrical and standardized layout structure has no distinction between left and right assembly. When assembling the left and right hands, the installation position and assembly process of the drive assembly 231 are completely consistent, which can further unify the assembly process and eliminate the difference in tooling requirements between the left and right hands.

[0049] In one embodiment, the wrist assembly 2 further includes two first driven bearings 24, each first driven bearing 24 including a first fixed part 241 and a first rotating part 242; the two first driven bearings 24 are respectively disposed on the side wall of the base 21 where the two output ends are located, the first fixed part 241 is connected to the base 21, the first rotating part 242 is sleeved on the first fixed part 241 and rotatably connected to the first fixed part 241, and the first rotating part 242 abuts against the traction rope; a traction rope connects an output end and a first driven bearing 24 located on the back side of this output end.

[0050] In this example, the first fixing part 241 is tightly fixed to the base 21 to fix its position. The first rotating part 242 can rotate relative to the first fixing part 241, and its outer wall is in contact with the traction rope. A single traction rope extends from the corresponding output end and passes around the first driven bearing 24 matched on the back side of the output end. The first driven bearing 24 changes the traction direction of the traction rope and supports and guides the rope. The first driven bearing 24 rotates synchronously with the sliding of the traction rope, converting the sliding friction between the traction rope and the side wall of the base 21 into rolling friction, reducing the wear rate of the traction rope and extending the replacement cycle of the traction rope. The first driven bearing 24 can also limit the trajectory of the traction rope, regulate the traction angle of the traction rope to the traction position 221, and improve the accuracy of wrist swing control.

[0051] In one embodiment, the first rotating part 242 is provided with a second limiting groove 2421; the second limiting groove 2421 is arranged in a ring and is formed on the outer peripheral wall of the first rotating part 242; part of the structure of the traction rope is located in the second limiting groove 2421.

[0052] In this example, the traction rope is partially embedded in the second limiting groove 2421 during its routing. The groove wall restricts the lateral displacement of the traction rope, keeping it always within the groove. This prevents the traction rope from veering off course or derailing from the surface of the second rotating part 2721 of the first driven bearing 24, ensuring the stability of the traction force transmission path and preventing wrist movement from jamming or misalignment. Furthermore, the annular groove is a rotationally symmetrical structure, eliminating the need for left- or right-hand orientation distinctions during assembly and simplifying the assembly process.

[0053] In one embodiment, the first driven bearing 24 is located below the traction position 221 and between two adjacent traction positions 221.

[0054] In this example, after the traction rope is led out from the output end, it passes through the first driven bearing 24 and then connects upwards to the corresponding diagonal traction positions 221. The first driven bearing 24 is located in the middle position below the traction position 221, which can balance the traction stroke of two adjacent traction positions 221, so that the effective length difference of the traction ropes corresponding to the four traction positions 221 is reduced. The swing stroke and response speed of the movable platform 22 in all directions are kept balanced, and there will be no situation where one side responds quickly and the other side responds slowly. The drive and guide components are concentrated in the base 21 (below the movable platform 22). The upper movable platform 22 is unobstructed by components, which can increase the range of motion of the wrist swing and adapt to various grasping and deflection operation postures of the robot's left and right hands.

[0055] In one embodiment, the wrist assembly 2 further includes a second driven bearing 25, which abuts against the supporting traction rope; the traction rope is spaced apart from the outer wall of the base 21.

[0056] In this example, the outer wall of the second driven bearing 25 abuts against the traction rope and provides support. The second driven bearing 25 raises the height of the traction rope, so that the entire traction rope maintains a gap with the outer wall of the base 21 and does not directly contact the outer wall of the base 21. This avoids friction with the hard outer wall of the base 21, avoids damage and fraying caused by scratching the rope, greatly extends the service life of the traction rope, and also avoids friction noise between the traction rope and the housing of the base 21, reducing noise during robot operation.

[0057] The second driven bearing 25 has a similar structure to the first driven bearing 24, consisting of a first fixed part 241 and a second rotating part 2721. An annular limiting groove is formed on the outer wall of the second rotating part 2721 to accommodate the movement of the traction rope and limit the movement trajectory of the traction rope.

[0058] In one embodiment, the wrist assembly 2 further includes a spherical member 26 disposed on the base 21, and the movable platform 22 is formed with a hinge hole 222; the wall of the hinge hole 222 is arc-shaped; the spherical member 26 is partially located in the hinge hole 222 and is movably connected to the wall of the hinge hole 222.

[0059] In this example, a spherical component 26 is used in conjunction with an arc-shaped hinge hole 222 to achieve the hinge between the base 21 and the movable platform 22. The spherical component 26 is partially embedded inside the hinge hole 222 and slides and moves with the arc-shaped hole wall, thus forming a universal hinge structure. This allows the movable platform 22 to rotate with multiple degrees of freedom without dead angles. Compared with the pivot hinge, this greatly improves wrist flexibility and can meet the complex grasping and flipping needs of both left and right hands. In addition, the spherical hinge is a centrally symmetrical structure. The spherical component 26 and the hinge hole 222 have no left or right adaptation difference. The same spherical component 26 can be assembled to the left and right wrists, maintaining the universality of the components. It also has good wear resistance, reduces the hinge gap caused by long-term high-frequency wrist swing, and ensures stable long-term operation accuracy.

[0060] In one embodiment, the sphere 26 has a mounting hole 261 and the base 21 has a mounting protrusion 211; the mounting hole 261 extends radially along the sphere 26 and is fixed in place by engaging with the mounting protrusion 211.

[0061] In this example, a through-hole 261 is radially formed inside the ball component 26, and an outwardly protruding mounting protrusion 211 is integrally formed on the base 21. The ball component 26 is fitted into the mounting protrusion 211 through the radial mounting hole 261 to complete the alignment and locking, realizing the detachable assembly of the ball component 26 and the base 21. No angle calibration is required during assembly, and the installation process of the ball component 26 for the left and right wrists is completely consistent, improving assembly efficiency. The detachable structure can be disassembled and replaced separately after the ball component 26 is worn, without the need to disassemble the base 21 as a whole, which simplifies the maintenance process. Moreover, the protrusion and the mounting hole 261 are standardized matching structures, without special dimensions for the left and right hands, further consolidating the advantages of the overall universal design of the wrist.

[0062] In one embodiment, the outer periphery of the mounting protrusion 211 is provided with external threads, and the inner wall of the assembly hole 261 of the spherical part 26 is formed with internal threads. The two are assembled and fixed by threaded connection.

[0063] The following describes the specific implementation of the rope end connection component 27.

[0064] In one embodiment, the wrist assembly 2 further includes a rope end connection assembly 27 and a rope 232. The rope end connection assembly 27 includes an outer mounting member 271 and an inner fixing member 272. The outer mounting member 271 is disposed on the movable platform 22 and forms a receiving groove 2711 and a first through hole 2712. The first through hole 2712 is located at the bottom of the receiving groove 2711. The inner fixing member 272 is disposed in the receiving groove 2711 and is rotatably connected to the groove wall of the receiving groove 2711. The inner fixing member 272 is used to fix the rope 232 that passes through the first through hole 2712. The rope 232 is connected to the output shaft 2311.

[0065] The cord 232 passes through the first through hole 2712 at the bottom of the groove of the outer mounting part 271 and is fixed to the inner fixing part 272. The inner fixing part 272 can rotate freely relative to the outer mounting part 271. When the wrist joint changes its pitch and yaw posture, and the force angle of the cord 232 shifts accordingly, the inner fixing part 272 adaptively rotates with the direction of the tension of the cord 232, so that the force direction of the cord 232 at the outlet position of the inner fixing part 272 always remains straight with the clamping area of ​​the cord 232. This eliminates the bend angle generated by the cord 232 at the fixed position of the cord end, avoids the cord 232 from continuously bearing dynamic bending load, reduces local compression and alternating bending wear of the cord 232, alleviates fiber fatigue damage of the cord 232, reduces the risk of surface wear, filament breakage and plastic deformation, maintains the accuracy of the cord drive transmission, extends the service life of the cord 232, and improves the continuous operation stability of the cord drive wrist joint.

[0066] In one embodiment, the inner fixing member 272 has a second through hole 27211; the second through hole 27211 is opposite to the first through hole 2712, the diameter of the second through hole 27211 is smaller than the diameter of the first through hole 2712, and the second through hole 27211 is used for the rope 232 to pass through.

[0067] In this example, the rope 232 passes through the first through hole 2712 and the second through hole 27211 in sequence to complete the installation. The first through hole 2712 provides sufficient room for movement, while the smaller second through hole 27211 defines the clamping position of the rope 232. The rope 232 is constrained in the area of ​​the second through hole 27211 of the inner fixing member 272, and a gap is formed between the first through hole 2712 and the second through hole 27211. During the adaptive rotation of the inner fixing member 272 with the tension of the rope 232, the first through hole 2712 will not interfere with the rotation of the rope 232 and the inner fixing member 272. At the same time, the second through hole 27211 neatly constrains the direction of the rope 232, preventing the rope 232 from moving laterally and causing edge cutting and wear, ensuring that the force on the rope 232 is concentrated in axial tension, further avoiding irregular bending of the rope 232, stabilizing the transmission route, and reducing positioning errors.

[0068] In one embodiment, the inner fixing member 272 includes a second rotating part 2721 and a second fixing part 2722; the second rotating part 2721 has a second through hole 27211 and is rotatably connected to the groove wall of the receiving groove 2711; the second fixing part 2722 is detachably connected to the second rotating part 2721 and is used to fix the rope 232.

[0069] In this example, the second rotating part 2721 undertakes the adaptive rotation adjustment function, and the second fixed part 2722 independently realizes the clamping and locking of the rope 232. The two can be disassembled and assembled. During the assembly and maintenance stage, the second fixed part 2722 and the second rotating part 2721 can be separated to facilitate the insertion, replacement, and tension adjustment of the rope 232 without the need to completely disassemble the rope end connecting component 27. During the operation, the second rotating part 2721 rotates independently with the tension, and the second fixed part 2722 rotates synchronously to keep the rope 232 clamped and not loose. This balances the adaptive adjustment function with the convenience of disassembly and maintenance, reduces the difficulty of repairing and replacing the rope 232 of the robot wrist, and ensures the reliability of the rope 232 clamping, preventing the rope 232 from slipping and causing transmission deviation under long-term alternating loads.

[0070] In one embodiment, the second rotating part 2721 is formed with a mounting groove 27212 and a side groove 27213; a second through hole 27211 is formed at the bottom of the mounting groove 27212; the side groove 27213 penetrates part of the side wall of the mounting groove 27212 and communicates with the second through hole 27211, and the side groove 27213 is used to accommodate the rope 232; the second fixing part 2722 is detachably connected to the groove wall of the mounting groove 27212 and is used to press and fix the rope 232 in the side groove 27213.

[0071] In this example, the rope 232 extends through the second through hole 27211 and is housed inside the side groove 27213. The second fixing part 2722 is inserted into the mounting groove 27212 and laterally presses the rope 232, thus pressing and limiting the rope 232 within the cavity of the side groove 27213. This lateral clamping structure eliminates the need for knotting or crimping the ends of the rope 232, avoiding stress concentration caused by deformation of the rope 232 ends. The side groove 27213 provides lateral limiting protection for the rope 232, and the pressing force of the second fixing part 2722 is evenly applied to the side wall of the rope 232. When the inner fixing part 272 rotates and adjusts, the rope 232 will not experience localized single-point compression damage, and the clamping area is subjected to uniform force. At the same time, the open side groove 27213 structure facilitates quick assembly and disassembly of the rope 232, improving assembly efficiency and suppressing localized crushing and fiber breakage of the rope 232.

[0072] In one embodiment, the wall of the mounting groove 27212 has an internal thread, the outer wall of the second fixing part 2722 has an external thread, and the second fixing part 2722 is threadedly connected to the wall of the mounting groove 27212.

[0073] In this example, the second fixing part 2722 is locked by being screwed into the mounting groove 27212. By rotating the second fixing part 2722, the squeezing pressure of the rope 232 inside the opposite groove 27213 can be continuously adjusted, which can precisely control the clamping pre-tension of the rope 232. This can prevent the rope 232 from slipping under tension and avoid excessive clamping force from damaging the internal fibers of the rope 232. The threaded connection is easy to install and remove, has excellent self-locking performance, and is not easy to loosen under high-frequency reciprocating vibration of the wrist, thus continuously ensuring the stability of the rope 232 clamping.

[0074] In one embodiment, the wall of the receiving groove 2711 is arc-shaped, and the outer wall of the inner fixing member 272 is arc-shaped, corresponding to the shape of the wall of the receiving groove 2711.

[0075] In this example, the arc-shaped groove wall and the arc-shaped outer wall form a rotary fit structure with surface contact. During the rotation of the inner fixing member 272, the contact stress is evenly distributed, and the rotary motion is smooth and not easy to jam. The arc-shaped mating surface can limit the radial displacement of the inner fixing member 272, prevent the inner fixing member 272 from moving laterally and squeezing the rope 232, and ensure that the inner fixing member 272 can only adaptively deflect along the set rotation axis, preventing jamming failure, and continuously realizing adaptive adjustment of the tension angle of the rope 232, ensuring stable operation during multi-angle wrist movements.

[0076] In one embodiment, the rope end connection assembly 27 further includes a padding member 273, which is located between the inner fixing member 272 and the outer mounting member 271, and is rotatably connected to the inner fixing member 272 and the outer mounting member 271.

[0077] In this example, the padding component 273 isolates the inner fixing component 272 from the outer mounting component 271, preventing direct frictional contact between the two rigid components. When the inner fixing component 272 continuously reciprocates relative to the outer mounting component 271, the friction position shifts to the padding component 273, protecting the outer mounting component 271 and the inner fixing component 272 from wear. The padding component 273 can be replaced separately, reducing the wear of the core components. At the same time, by filling the mating gap with the padding component 273, the shaking caused by the rotation gap can be reduced, the vibration impact can be weakened, and the gap shaking can be prevented from causing the rope 232 to bend additionally, further improving the stress condition of the rope 232.

[0078] In one embodiment, the padding member 273 is formed with a third through hole 2731, the diameter of the third through hole 2731 is smaller than the diameter of the first through hole 2712, and the third through hole 2731 is disposed opposite to the first through hole 2712.

[0079] In this example, the rope 232 passes through the first through hole 2712, the third through hole 2731, and the second through hole 27211 in sequence. The three through holes guide and constrain the rope 232 in sequence. The padding component 273 rotates synchronously with the mating surface. The third through hole 2731 rotates to adapt to the direction of the rope 232, regulates the movement path of the rope 232, prevents the rope 232 from continuously rubbing and wearing against the edge of the through hole, disperses the stress concentration at the inlet and outlet positions of the rope 232, and delays the damage to the surface of the rope 232.

[0080] In one embodiment, the active platform 22 is formed with an assembly groove, and the outer wall of the external mounting member 271 is formed with an assembly portion 2713; the assembly portion 2713 cooperates with the groove wall of the assembly groove, and the external mounting member 271 is installed in the assembly groove.

[0081] In this example, the entire rope end connection assembly 27 is integrated and installed inside the movable platform 22 by relying on the mating structure of the assembly part 2713 and the assembly slot. This achieves modular assembly and positioning, which restricts the rotation and displacement of the external mounting part 271 relative to the movable platform 22, ensuring that the position of the external mounting part 271 is fixed. This ensures that only the internal fixing part 272 independently completes adaptive rotational movement, preventing the external mounting part 271 from losing its orientation function due to tension shift. The modular structure facilitates the individual processing, disassembly, and replacement of the rope end connection assembly 27, simplifying the assembly and subsequent maintenance process of the wrist assembly 2, and adapting to the spatial arrangement requirements of the compact cable-driven wrist joint. The assembly structure between the assembly part 2713 and the assembly slot is not limited; assembly can be performed via threaded connection as shown in the figure, or directly fixed by welding or other methods.

[0082] The following describes the implementation method of back clearance adjustment of drive module 23.

[0083] In one embodiment, the drive module 23 includes an output component 233, an input component 234, and a fixing member 235. The output component 233 is disposed on the base 21 and includes a worm gear 2331 and an output shaft 2311. The worm gear 2331 is disposed inside the base 21, and the output shaft 2311 is coaxially connected to the worm gear 2331 and extends to the outside of the base 21. The input component 234 is disposed inside the base 21 and includes a worm 2341 and a drive member 2342. The drive member 2342 is connected to the worm 2341 and can drive the worm 2341 to rotate. The worm 2341 meshes with the worm gear 2331, and the input component 234 is movably disposed relative to the base 21 along the radial direction of the worm 2341. The fixing member 235 is disposed on the base 21 and is used to fix the position of the input component 234.

[0084] The output component 233 remains in a fixed position relative to the base 21. Only the input component 234, which carries the worm 2341 and the drive component 2342, translates radially along the worm 2341. By changing the radial position of the worm 2341 relative to the worm wheel 2331, the meshing clearance between the worm wheel 2331 and the worm 2341 is adjusted, thereby achieving backlash adjustment of the reducer. Unlike the traditional adjustment method of radially moving the worm wheel 2331, the worm wheel 2331 and the output shaft 2311 always remain in a fixed coaxial state. The backlash adjustment action will not cause the worm wheel 2331 and the output shaft 2311 to undergo radial displacement. The coaxiality and rotational accuracy of the output shaft 2311 are not affected by the adjustment operation, which can avoid the end positioning error caused by the displacement of the output shaft 2311. While completing the backlash adjustment and optimizing the transmission smoothness, the output accuracy of the drive module 23 is guaranteed.

[0085] In one embodiment, the base 21 includes a third fixed part 212 and a movable part 213; the movable part 213 is movably connected to the third fixed part 212 along the radial direction of the worm gear 2341; the fixing member 235 is used to fix the position of the movable part 213 relative to the third fixed part 212; the output component 233 is located in the third fixed part 212, and the input component 234 is located in the movable part 213.

[0086] In this example, the base 21 is split into a third fixed part 212 and a moving part 213 that cooperate with each other. The output component 233 is integrated and installed on the third fixed part 212. During operation, its position remains constant, and the worm gear 2331 and the output shaft 2311 will not be displaced. The input component 234 is integrated on the moving part 213. The radial sliding of the moving part 213 relative to the third fixed part 212 synchronously drives the worm 2341 to move, thereby centrally realizing the adjustment of the meshing clearance. This split base 21 structure concentrates all the adjustment movement on the moving part 213 that carries the input component 234, realizing the physical isolation between the adjustment unit and the output unit, effectively preventing the adjustment process from interfering with the coaxial accuracy of the output component 233. At the same time, it facilitates modular assembly, independent disassembly and assembly of the input component 234, and simplifies the assembly of parts and the subsequent maintenance process.

[0087] In one embodiment, the third fixing part 212 is formed with a locking hole, and the moving part 213 is formed with an adjusting hole 2131; the length direction of the adjusting hole 2131 is arranged in the same direction as the radial direction of the worm 2341; the projection of the locking hole on the moving part 213 is located inside the adjusting hole 2131; the fixing member 235 passes through the adjusting hole 2131 and is detachably connected to the hole wall of the locking hole.

[0088] In this example, the adjusting hole 2131 provides a travel range for the moving part 213 along the radial direction of the worm 2341. The moving part 213 can slide freely within the length range of the adjusting hole 2131, driving the worm 2341 to finely adjust the meshing clearance. After the backlash parameter is adjusted, the fixing member 235 is connected to the locking hole on the third fixing part 212 through the adjusting hole 2131 to lock the moving part 213 and fix its position. The adjusting hole 2131 restricts the moving part 213 to only move in the preset radial direction, limiting the lateral displacement of the moving part 213 and ensuring that the worm 2341 always moves closer to or further away from the worm wheel 2331 in a precise radial direction. This prevents the worm 2341 from wobbling, causing poor meshing and increased local wear, and improves the guiding accuracy of the backlash adjustment process.

[0089] In one embodiment, the adjustment hole 2131 is an oblong hole.

[0090] In this example, compared to other elongated holes, the oblong hole has a continuous long stroke range along the radial direction of the worm 2341, which can provide a continuously adjustable sliding range for the moving part 213 to meet the diverse backlash parameter adjustment requirements under different working conditions; the straight side walls of the oblong hole can form a lateral limit on the fixing part 235, continuously restricting the lateral movement of the moving part 213 before and after locking, ensuring that the sliding direction of the moving part 213 is strictly along the radial direction of the worm 2341; at the same time, the oblong hole has a mature processing technology, which is easy to control the dimensional accuracy, adapts to the small and compact internal installation space of the reducer, and reduces the processing cost of parts.

[0091] In one embodiment, the wall of the locking hole is formed with an internal thread, and the fastener 235 is formed with an external thread; the fastener 235 is threadedly connected to the wall of the locking hole.

[0092] In this example, the fixing member 235 can be a screw, using a threaded locking method. Loosening the fixing member 235 releases the locking state of the moving part 213, allowing the moving part 213 to slide and adjust the backlash. After adjusting to the target meshing clearance, tighten the fixing member 235, relying on the self-locking ability of the thread to securely lock the position of the moving part 213. The threaded connection structure is simple to operate, the locking force is controllable, and it is not easy to loosen on its own under the high-frequency reciprocating and reversing vibration of the robot wrist. It can maintain the adjusted backlash value for a long time, avoid backlash drift after long-term operation, and continuously ensure transmission accuracy and motion stability.

[0093] In one embodiment, an adjustment gap a is formed between the third fixed part 212 and the moving part 213 in the radial direction of the worm 2341. The adjustment gap a is used to avoid the moving part 213 from moving toward the third fixed part 212.

[0094] In this example, the adjustment clearance 'a' is a margin for the moving part 213 to feed towards the worm wheel 2331, allowing the worm 2341 to move closer to the worm wheel 2331 to reduce meshing backlash and eliminate transmission idle. The clearance boundary can act as a travel limit, preventing the moving part 213 from overfeeding and causing the worm 2341 and worm wheel 2331 to mesh too tightly, thus avoiding defects such as transmission jamming, frictional heat generation, and severe tooth surface wear. By limiting the maximum feed amount with the clearance, the difficulty of manual adjustment is reduced, and damage to parts caused by adjustment operation errors is avoided.

[0095] In one embodiment, the length of the adjustment gap a in the radial direction of the worm 2341 is d, where 0.04mm≤d≤0.20mm.

[0096] In this example, the adjustment gap 'a' is limited to the range of 0.04mm ≤ d ≤ 0.20mm. The lower limit of 0.04mm ensures sufficient adjustment range, effectively eliminating lag and vibration issues in the reversing transmission. The upper limit of 0.20mm prevents excessive feed of the worm gear 2341, avoiding excessive meshing preload that could lead to increased friction loss and excessive temperature rise. The size range is adapted to the precision transmission requirements of the wrists of collaborative robots and industrial robots, achieving precise control of the backlash within a reasonable range, balancing transmission accuracy and component lifespan.

[0097] In one embodiment, the drive module 23 further includes an adjusting screw 236; the adjusting screw 236 is disposed on the third fixed part 212 and rotatably connected to the third fixed part 212, and the adjusting screw 236 abuts against the moving part 213.

[0098] In this example, rotating the adjusting screw 236 can push the moving part 213 to slide smoothly along the radial direction of the worm 2341. The moving part 213 can be adjusted in small steps by relying on the threaded feed, which can finely adjust the position of the worm 2341 and achieve precise and continuous adjustment of the backlash. There is no need for manual direct pushing of the moving part 213, and the adjustment operation force is controllable, making it easy for the operator to obtain the ideal meshing clearance. In conjunction with the fixing part 235, the drive module 23 is locked. The adjusting screw 236 is used to complete the fine adjustment first, and then the moving part 213 is locked, which greatly improves the backlash adjustment accuracy, reduces the adjustment difficulty, and is suitable for the adjustment process of precision robot wrist assembly.

[0099] The present invention also proposes a robot, which includes the dexterous hand 100 described above. The specific structure of the dexterous hand 100 is as described in the above embodiments. Since the robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0100] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A dexterous hand, characterized in that, The dexterous hand includes: Palm-sized piece; Wrist assembly, the wrist assembly being disposed on the palm component; and A finger assembly is disposed on the palm component and located on the side of the palm component facing away from the wrist component. The finger assembly includes a plurality of spaced finger structures. Each finger structure includes a mounting base and at least two phalanges. The mounting base is disposed on the palm component. The mounting base and each of the phalanges are rotatably connected in sequence. The rotation axis of the phalanges and the mounting base and the rotation axis of each pair of adjacent phalanges are located on the centerline of the thickness direction of the palm component, so that each finger structure can move closer to or further away from the palm component on both sides of the thickness direction of the palm component. The palm component has a clearance portion, which is symmetrically arranged on both sides of the palm component along the thickness direction.

2. The dexterous hand as described in claim 1, characterized in that, The phalanx includes phalanges and a drive mechanism; The driving device is located on the finger bone and connected to the finger bone of the adjacent finger joint or the mounting base. The driving device is used to drive the adjacent finger joint or the mounting base to rotate.

3. The dexterous hand as described in claim 2, characterized in that, The dexterous hand also includes a cable, and the knuckles and the drive device form a connected cable passage. The cable is electrically connected to the drive device and passes through the cable passage.

4. The dexterous hand as described in any one of claims 1 to 3, characterized in that, The multiple finger structures include a thumb structure and a four-finger structure; The thumb structure and the four-finger structure are set at an angle.

5. The dexterous hand as described in any one of claims 1 to 3, characterized in that, The palm component has multiple spaced mounting portions; The mounting base of the finger structure is connected to the mounting part in a one-to-one correspondence, and the two side walls of the palm component in the thickness direction are symmetrically arranged along each mounting part.

6. The dexterous hand as described in any one of claims 1 to 3, characterized in that, The wrist assembly includes a base, a motion platform, and a drive module; The movable platform is hinged to the base and connected to the palm component. The movable platform has four traction positions arranged in a rectangular shape. The drive module includes two drive components with output shafts and two ropes. The two ends of one rope are respectively connected to two diagonally opposite traction positions and are wound and fixed to one output shaft. The two ends of the other rope are respectively connected to two other diagonally opposite traction positions and are wound and fixed to another output shaft. The winding directions of the two ends of the ropes are opposite.

7. The dexterous hand as described in claim 6, characterized in that, The wrist assembly also includes a cord end connection assembly and a cord, the cord end connection assembly including an external mounting component and an internal fixing component; The external mounting component is disposed on the movable platform and has a receiving groove and a first through hole, the first through hole being located at the bottom of the receiving groove; The inner fixing member is disposed in the receiving groove and is rotatably connected to the groove wall of the receiving groove. The inner fixing member is used to fix the rope that passes through the first through hole. The rope is connected to the output shaft.

8. The dexterous hand as described in claim 6, characterized in that, The drive module includes an output component, an input component, and a fixing component; The output component is disposed on the base and includes a worm gear and the output shaft. The worm gear is disposed inside the base, and the output shaft is coaxially connected to the worm gear and extends to the outside of the base. The input component is disposed within the base and includes a worm and a drive member. The drive member is connected to the worm and can drive the worm to rotate. The worm meshes with the worm wheel. The input component is movably disposed relative to the base along the radial direction of the worm. The fastener is located on the base and is used to fix the position of the input component.

9. A robot, characterized in that, Including a dexterous hand as described in any one of claims 1 to 8.

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