Modular dexterous hand and driving control method thereof

Abstract

The application relates to the field of robots and discloses a modular dexterous hand and a driving control method thereof. The modular dexterous hand comprises a palm part, a plurality of finger assemblies and a thumb assembly. At least one finger root driving device is arranged on the palm part and connected with a corresponding finger assembly. The finger root driving device comprises a first driving mechanism, a second driving mechanism and a differential output assembly. The two driving mechanisms drive the corresponding finger assembly to move around two different axes through the differential output assembly. A folding driving device is arranged on the palm part, and an output end of the folding driving device is connected with a movable support frame. At least one finger assembly is installed on the movable support frame through a corresponding finger root driving device, so that the folding driving device drives the movable support frame to move relative to the palm part. The thumb driving device drives the thumb assembly to move around different axes through a differential output assembly. The application can realize high-degree-of-freedom driving of the dexterous hand in a limited space, and can meet the requirements of torque output strength, control accuracy and compactness.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a modular dexterous hand and its drive control method. Background Technology

[0002] As the end effector of a robot, the dexterous hand usually needs to simulate the human hand to complete complex grasping and fine operations through the coordinated movement of multiple finger components and the thumb component. Therefore, it puts forward high requirements for the degree of freedom and control precision of the bending, lateral swinging, little finger folding and thumb compound movement.

[0003] In existing dexterous hands, one approach is to place the drive element inside the palm or arm and drive the movement of each finger joint through remote transmission mechanisms such as tendons, cables, and linkages. While this approach can reduce the load on the fingers, the transmission chain is long, which can easily lead to friction, elastic deformation, and backlash, affecting control accuracy and response speed. Another approach is to integrate the motor directly into the corresponding joint. However, the internal installation space of a dexterous hand is limited. If multiple drive mechanisms are set up separately to meet the requirements of higher degrees of freedom, it can easily lead to complex structures and increased volume in the palm and finger roots. Furthermore, the output torque and operational reliability of small motors are difficult to guarantee.

[0004] Therefore, how to reasonably arrange multiple modular direct drive joints within the limited installation space of the palm and fingers, so as to balance high degree of freedom, large torque, control precision and ease of assembly and maintenance, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a modular dexterous hand that rationally arranges multiple modular direct-drive joints within a limited palm and finger installation space, so as to balance high degree of freedom, large torque, control precision and ease of assembly and maintenance.

[0006] Another objective of this application is to provide a drive control method applicable to the aforementioned modular dexterous hand.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] A modular dexterous hand, comprising:

[0009] Palm portion, multiple finger components, and thumb component;

[0010] At least one finger root driving device is disposed on the palm and connected to the corresponding finger assembly. The finger root driving device includes a first driving mechanism, a second driving mechanism and a differential output component. The first driving mechanism and the second driving mechanism are respectively connected to the differential output component and drive the corresponding finger assembly to move around two different axes through the differential output component.

[0011] A folding drive device is disposed on the palm part, and the output end of the folding drive device is connected to a movable support frame. At least one finger assembly is mounted on the movable support frame through a corresponding finger root drive device. The folding drive device is used to drive the movable support frame to move relative to the palm part.

[0012] A thumb drive device is disposed on the palm and connected to the thumb assembly. The thumb drive device includes a differential output component, which drives the thumb assembly to move around different axes.

[0013] Preferably, in the above-mentioned modular dexterous hand, the palm part includes a palm shell and a support frame disposed within the palm shell, the support frame being provided with a mounting beam; the number of finger assemblies is four and each is connected to a corresponding finger root drive device, wherein at least three of the finger root drive devices are spaced apart on the mounting beam along the extension direction of the mounting beam.

[0014] Preferably, in the above-mentioned modular dexterous hand, the finger root drive device includes a gearbox housing, and the first drive mechanism and the second drive mechanism are both disposed inside the gearbox housing;

[0015] The first drive mechanism includes a first motor, a first transmission component, and a first planetary reduction component. The second drive mechanism includes a second motor, a second transmission component, and a second planetary reduction component. The first motor and the second motor are arranged side by side and their output ends are arranged in opposite directions. The first planetary reduction component and the second planetary reduction component are respectively connected to the differential output component through corresponding gear sets.

[0016] Preferably, in the above-mentioned modular dexterous hand, the differential output component includes two oppositely arranged input bevel gears and two oppositely arranged output bevel gears. The two input bevel gears are respectively connected to the corresponding gear sets, and the two output bevel gears are respectively meshed with the corresponding input bevel gears and are connected to the corresponding finger components for transmission.

[0017] Preferably, in the above-mentioned modular dexterous hand, the two output bevel gears are rotatably mounted on the finger connection part, and the finger connection part is connected to the corresponding finger assembly; the rotation axes of the two input bevel gears coincide to form a first axis, and the rotation axes of the two output bevel gears coincide to form a second axis, and the first axis and the second axis are arranged perpendicularly.

[0018] Preferably, in the above-mentioned modular dexterous hand, the two input bevel gears pass through a curved magnetic mounting base, one end of which is equipped with a first magnet; the two output bevel gears pass through a side-swing magnetic mounting base, one end of which is equipped with a second magnet.

[0019] Preferably, in the above-mentioned modular dexterous hand, the differential output component is a differential magnetic braiding component, which includes a first driven bevel gear, a second driven bevel gear, a third driven bevel gear, and a fourth driven bevel gear. The first driven bevel gear and the second driven bevel gear are arranged opposite to each other and are respectively connected to the gear sets of the first planetary reduction assembly and the second planetary reduction assembly. The third driven bevel gear and the fourth driven bevel gear are arranged opposite to each other and are respectively meshed with the first driven bevel gear and the second driven bevel gear. The finger assembly is connected to a connecting seat, and the connecting seat is provided with a side-swinging magnetic braiding seat. The third driven bevel gear is fixedly connected to the connecting seat, and the fourth driven bevel gear is rotatably disposed on the connecting seat.

[0020] Preferably, in the above-mentioned modular dexterous hand, the third driven bevel gear and the fourth driven bevel gear are both provided with mounting holes in the middle. The third driven bevel gear and the fourth driven bevel gear are respectively set at both ends of the side-swing magnetic bracing base through the corresponding mounting holes. A copper sleeve is fitted at the connection between the fourth driven bevel gear and the connecting base.

[0021] Preferably, in the above-mentioned modular dexterous hand, the finger root drive device further includes a finger root cover, which is disposed on the outside of the differential magnetic braiding assembly. The finger root cover is provided with a mounting boss, and the mounting boss is provided with a fixing seat. The fixing seat extends into the mounting hole of the fourth driven bevel gear and is connected to the side-swing magnetic braiding seat.

[0022] Preferably, in the above-mentioned modular dexterous hand, a radially magnetized second magnet is provided at one end of the lateral swing magnetic base near the third driven bevel gear, the second magnet is covered with a lateral swing sensing cable, and the finger root guard is provided with a groove for the lateral swing sensing cable to run through, the lateral swing sensing cable extending through the groove to the outside of the finger root guard.

[0023] Preferably, in the aforementioned modular dexterous hand, the finger root shield is constructed in an inverted C-shape, the finger root shield includes a detachably connected upper shield portion and a lower shield portion, and the outer side of the finger root shield is covered with a rubber layer.

[0024] Preferably, in the above-mentioned modular smart hand, a shim and a backlash-eliminating disc spring are provided between the mounting boss and the fourth driven bevel gear. The shim is provided on the mounting boss, and the backlash-eliminating disc spring is provided on the shim and abuts against the fourth driven bevel gear to provide axial preload to the fourth driven bevel gear.

[0025] Preferably, in the above-mentioned modular dexterous hand, the movable support frame is a little finger support frame, the four finger components include a little finger component, the finger root driving device corresponding to the little finger component is installed on the little finger support frame, and the folding driving device drives the little finger component to fold relative to the palm through the little finger support frame.

[0026] Preferably, in the above-mentioned modular dexterous hand, the folding drive device includes a mounting shell, a drive motor, a reduction assembly, and an output flange. The mounting shell is provided with a gear ring groove and a motor groove. The reduction assembly is installed in the gear ring groove, the drive motor is installed in the motor groove, and the output flange is connected to the output end of the reduction assembly and to the little finger support frame.

[0027] Preferably, in the above-mentioned modular dexterous hand, the reduction assembly includes a first planetary carrier, a second planetary carrier, and an output planetary carrier. The first planetary carrier is provided with a first planetary gear and a second sun gear, the second planetary carrier is provided with a second planetary gear and a third sun gear, and the output planetary carrier is provided with a third planetary gear. The first planetary gear, the second planetary gear, and the third planetary gear all mesh with the internal gear ring of the gear ring groove. The drive motor is connected to the first sun gear through a front gear set and drives the output flange to rotate sequentially through the first planetary carrier, the second planetary carrier, and the output planetary carrier.

[0028] Preferably, in the above-mentioned modular dexterous hand, the output planetary carrier is connected to a disc spring cover, and at least one disc spring is provided between the disc spring cover and the output flange. The side of the disc spring facing the output flange is conical. The disc spring cover applies a clamping force to the output flange through the disc spring and limits the maximum output torque of the folding drive device through the disc spring.

[0029] Preferably, in the above-mentioned modular dexterous hand, the deceleration assembly is provided with a plurality of placement slots, and each of the plurality of placement slots is provided with a rolling ball, which abuts against the axial end of at least one sun gear in the deceleration assembly to provide axial support for at least one sun gear.

[0030] Preferably, in the above-mentioned modular smart hand, the output flange is provided with a connecting protrusion and an annular groove, the connecting protrusion is connected and fixed to the little finger support frame, a needle roller bearing is provided in the groove that abuts radially against the mounting shell, and a ball bearing is provided on the outer edge of the output flange that abuts axially against the mounting shell.

[0031] Preferably, in the above-mentioned modular smart hand, a magnet seat is provided on the outside of the output flange, and a tile-shaped magnet for detecting the rotation angle of the output flange is installed on the magnet seat.

[0032] Preferably, in the above-mentioned modular dexterous hand, the thumb drive device includes a first servo drive branch and a second servo drive branch, which are respectively driven by the differential output component. The differential output component includes a transmission frame, a first thumb bevel gear and a second thumb bevel gear disposed opposite to each other, and a third thumb bevel gear and a fourth thumb bevel gear rotatably disposed in the transmission frame. The third thumb bevel gear and the fourth thumb bevel gear mesh with the first thumb bevel gear and the second thumb bevel gear respectively. The first servo drive branch is driven by the first thumb bevel gear, and the second servo drive branch is driven by the second thumb bevel gear. The fourth thumb bevel gear is connected to a tooth root joint, which is connected to the thumb component.

[0033] A drive control method for a modular dexterous hand, applied to any of the modular dexterous hands described above, includes at least the following steps:

[0034] The first and second drive mechanisms of the finger root drive device are controlled to output synchronously or asynchronously, so that the differential output component drives the corresponding finger component to move around two different axes;

[0035] The folding drive device is controlled to drive the movable support frame to move relative to the palm, thereby driving the finger assembly and the corresponding finger root drive device mounted on the movable support frame to move as a whole;

[0036] The thumb drive device is controlled to input power to the differential output component, so as to drive the thumb component to move around different axes through the differential output component.

[0037] As can be seen from the above technical solutions, one aspect of this application provides a modular dexterous hand, which mainly includes a palm, multiple finger components, a thumb component, a finger root driving device, a folding driving device, and a thumb driving device, and has at least the following beneficial effects:

[0038] 1. Multiple finger components, thumb components, at least one finger root drive device, folding drive device, and thumb drive device are all integrated into the palm. The finger components can be interchanged to form a modular whole hand drive architecture, which allows each drive power source to be centrally arranged, shortens the transmission path between the drive device and the corresponding motion joint, and reduces structural redundancy and transmission error caused by long-distance transmission.

[0039] 2. The first and second drive mechanisms in the finger root drive device respectively input power to the differential output component, and drive the corresponding finger components to move around two different axes through the differential output component. This enables the compound movement of the fingers within the limited palm installation space, while improving the output capability and movement coordination of the finger root drive.

[0040] Third, the folding drive device drives at least one finger component mounted on the movable support frame to move relative to the palm as a whole, so that the corresponding finger can further adjust its spatial posture relative to the palm based on its own finger root movement, thereby expanding the working space and grasping envelope of the dexterous hand.

[0041] Fourth, the thumb drive device drives the thumb component to move around different axes through the differential output component, so that the thumb can further have multi-directional posture adjustment capability, and can better adapt to target objects of different shapes, sizes and grasping angles. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of a dexterous hand structure provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the position structure of the little finger movable groove in a dexterous hand provided in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the structure of the dexterous hand housing after it is opened, according to an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the structure of a finger assembly provided in one embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of a finger root driving device provided in an embodiment of this application;

[0048] Figure 6 A side view of a finger root driving device provided in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the internal shaft side structure of a finger root driving device provided in an embodiment of this application;

[0050] Figure 8 This is a schematic diagram of the structure of a differential output component provided in an embodiment of this application;

[0051] Figure 9 This is a schematic diagram of the structure of a finger connector provided in an embodiment of this application;

[0052] Figure 10 This is a schematic diagram of the structure of a finger root driving device provided in another embodiment of this application;

[0053] Figure 11 A schematic diagram of another angle of the finger root driving device provided in another embodiment of this application;

[0054] Figure 12 A schematic diagram of the enclosure structure of a finger root guard provided in an embodiment of this application;

[0055] Figure 13 A cross-sectional view of the internal structure of a finger root guard provided in an embodiment of this application;

[0056] Figure 14 This is a schematic diagram of the structure of the lower protective cover portion provided in an embodiment of this application;

[0057] Figure 15 This is a schematic diagram of the structure of a folding drive device provided in an embodiment of this application;

[0058] Figure 16 for Figure 15 Detailed view of area A in the image;

[0059] Figure 17 This is a schematic diagram of the structure of the mounting shell provided in one embodiment of this application;

[0060] Figure 18 A partial cross-sectional structural diagram of an output flange provided in an embodiment of this application;

[0061] Figure 19 This is a schematic diagram of the structure of a deceleration assembly provided in another embodiment of this application;

[0062] Figure 20 This is a schematic diagram of the bottom structure of a thumb drive device provided in an embodiment of this application;

[0063] Figure 21 This is an isometric view of a thumb drive device provided in an embodiment of this application;

[0064] Figure 22 This is a schematic diagram of the differential output component provided in an embodiment of this application;

[0065] Figure 23 This is a schematic diagram of the structure of a thumb assembly provided in an embodiment of this application;

[0066] Figure 24 This is a cross-sectional structural diagram of a thumb assembly provided in an embodiment of this application.

[0067] in:

[0068] 100 - Modular dexterous hand; 110 - Palm section; 111 - Palm shell; 112 - Support frame; 113 - Mounting beam; 120 - Finger assembly; 121 - Finger connector; 122 - Little finger assembly; 130 - Thumb assembly; 131 - Proximal thumb joint; 132 - Intermediate thumb joint; 133 - Distal thumb joint; 140 - Movable support frame; 150 - Heat dissipation bracket; 160 - Wrist connector; 170 - Little finger movable groove; 180 - Two-dimensional force sensor; 190 - Connecting bracket;

[0069] 200 - Finger root drive device; 210 - First drive mechanism; 211 - First motor; 213 - First planetary reduction assembly; 214 - First gear set; 220 - Second drive mechanism; 221 - Second motor; 222 - Second transmission assembly; 223 - Second planetary reduction assembly; 224 - Second gear set; 230 - Gearbox housing; 231 - First side plate; 232 - Second side plate; 240 - Differential output assembly; 241 - Input bevel gear; 242 - Output bevel gear; 243 - Bending magnetic base; 244 - First magnet; 2 45-Side-swing magnetic braiding base; 246-Second magnet; 247-Side-swing sensor cable; 250-Differential magnetic braiding assembly; 251-First driven bevel gear; 252-Second driven bevel gear; 253-Third driven bevel gear; 254-Fourth driven bevel gear; 255-Connecting seat; 256-Mounting hole; 257-Copper sleeve; 260-Finger root guard; 261-Wire groove; 262-Mounting boss; 263-Fixing seat; 264-Washer; 265-Backlash-eliminating disc spring; 266-Upper guard section; 267-Lower guard section; 268-Rubber layer;

[0070] 300 - Folding drive device; 310 - Mounting housing; 311 - Gear ring groove; 312 - Motor groove; 313 - Internal gear ring; 314 - Mounting frame; 315 - First end cover; 316 - Second end cover; 320 - Drive motor; 330 - Reduction assembly; 331 - Front gear set; 3311 - First front gear; 3312 - Second front gear; 3313 - Third front gear; 332 - First sun gear; 333 - First planetary carrier; 334 335-First planetary gear; 336-Second sun gear; 337-Second planetary carrier; 338-Third sun gear; 339-Output planetary carrier; 340-Third planetary gear; 341-Disc spring cover; 342-Disc spring; 343-Placement slot; 344-Ball bearing; 350-Output flange; 351-Connecting protrusion; 352-Slide groove; 353-Needle roller bearing; 354-Ball bearing; 355-Magnet seat; 356-Wall-shaped magnet;

[0071] 400 - Thumb drive unit; 410 - First servo drive branch; 420 - Second servo drive branch; 430 - Differential output assembly; 431 - Transmission frame; 432 - First thumb bevel gear; 433 - Second thumb bevel gear; 434 - Third thumb bevel gear; 435 - Fourth thumb bevel gear; 436 - Tooth root joint;

[0072] L1 - First axis; L2 - Second axis; L3 - Third axis; L4 - Fourth axis; L5 - Fifth axis. Detailed Implementation

[0073] The core of this application is to disclose a modular dexterous hand that rationally arranges multiple modular direct-drive joints within a limited palm and finger installation space, so as to balance high degree of freedom, large torque, control precision and ease of assembly and maintenance.

[0074] Another objective of this application is to provide a drive control method applicable to the aforementioned modular dexterous hand.

[0075] To enable those skilled in the art to better understand the present application, embodiments of the present application will be described below with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the structures represented in the following embodiments are not limited to those necessary for the solution of the invention described in the claims.

[0076] like Figures 1 to 3As shown, one aspect of this application provides a modular dexterous hand 100, which includes a palm portion 110, multiple finger assemblies 120, a thumb assembly 130, at least one finger root drive device 200, a folding drive device 300, and a thumb drive device 400. The multiple finger assemblies 120 and the thumb assembly 130 are respectively connected to the palm portion 110 to jointly form a grasping execution mechanism that simulates the structure of a human hand. It should be noted that the multiple finger assemblies 120 are modular structures that can be replaced with each other to reduce the difficulty of inspection and maintenance of the modular dexterous hand 100.

[0077] And such Figure 3 , Figure 4 and Figure 5 As shown, at least one finger root drive device 200 is disposed on the palm portion 110 and connected to the corresponding finger component 120 to drive the finger component 120. Preferably, the finger root drive device 200 and the finger component 120 are arranged in a one-to-one correspondence. The folding drive device 300 is disposed on the palm portion 110 and is used to drive at least one finger component 120 to move relative to the palm portion 110, thereby increasing the degree of freedom of movement of the finger component 120 based on the finger root drive device 200. The thumb drive device 400 is disposed on the palm portion 110 and connected to the thumb component 130 to drive the thumb component 130.

[0078] In the above structure, the drive device is centrally arranged in the palm part 110, which can shorten the transmission path between the drive source and the corresponding motion joint, thereby reducing the transmission error and structural redundancy caused by long-distance transmission. Based on this, the finger root drive device 200 specifically includes a first drive mechanism 210, a second drive mechanism 220 and a differential output component 240. The first drive mechanism 210 and the second drive mechanism 220 are respectively connected to the differential output component 240 to realize two power inputs to the differential output component 240. At the same time, after the two power inputs are combined or distributed by the differential output component 240, they drive the corresponding finger component 120 to move around two different axes, so that the finger component 120 can achieve compound movement at a finger root position. For a single finger component 120, under the driving action of the finger root drive device 200, it can achieve movement around two different axes through structural settings, thereby meeting the swinging and rotation requirements during the grasping process.

[0079] And such Figure 3As shown, the output end of the folding drive device 300 is connected to a movable support frame 140. At the same time, at least one finger component 120 is mounted on the movable support frame 140 through a corresponding finger root drive device 200. When the folding drive device 300 is working, it can drive the movable support frame 140, the finger root drive device 200 and the corresponding finger component 120 to move relative to the palm 110, thereby further expanding the spatial range of motion of the finger component 120. This allows the finger component 120 to move around two different axes under the drive of the finger root drive device 200, and also to bend further toward the palm 110 under the drive of the folding drive device 300, thus achieving more complex grasping requirements.

[0080] It should be noted that multiple finger components 120 can adopt the same or similar modular structure and can form a detachable connection with the corresponding finger root drive device 200. Both the thumb component 130 and the finger components 120 can be individually detached from the palm portion 110 according to maintenance or replacement needs. Through modular design, when one of the finger components 120 or the thumb component 130 is worn, damaged, or needs to be replaced, it is not necessary to disassemble the entire palm portion 110; only the corresponding component needs to be removed, which helps reduce maintenance costs and improve manufacturing efficiency.

[0081] Based on the above structure, the thumb drive device 400 includes a differential output component 430. The thumb drive device 400 drives the thumb component 130 to move around different axes through the differential output component 430, enabling the thumb component 130 to have multi-directional posture adjustment capabilities. Through the above structure, both the finger component 120 and the thumb component 130 provided in this application embodiment can obtain multiple active movement directions within a compact palm space, thereby improving the adaptability of the modular dexterous hand 100 when grasping target objects of different shapes, sizes, and placement angles.

[0082] To further optimize the above technical solution, in some embodiments of this application, such as Figure 1 and Figure 3As shown, the palm portion 110 includes a palm housing 111 and a support frame 112 disposed within the palm housing 111. The palm housing 111 forms the outer contour of the palm portion 110 and shields and protects the internal drive devices, transmission components, and electrical components. The support frame 112, disposed within the palm housing 111, provides a stable mounting base for each drive device, preventing each drive device from directly relying on the palm housing 111 to bear the transmission load. Specifically, the support frame 112 is provided with a mounting beam 113, which extends along the arrangement direction of the multiple finger assemblies 120 to provide a regular and compact mounting position for the multiple finger root drive devices 200. Based on this structure, there are four finger assemblies 120 to cooperate with the thumb assembly 130 to realize the five-finger structure of a dexterous hand. At the same time, each of the four finger assemblies 120 is connected to a finger root drive device 200, so that each finger assembly 120 can independently obtain active movement capability at the finger root.

[0083] It should be noted that an installation cavity can be formed within the palm housing 111, and the support frame 112, finger root drive device 200, folding drive device 300, and thumb drive device 400 can all be arranged within the installation cavity. Simultaneously, a little finger movement groove 170 can be provided in the palm housing 111 at the position corresponding to the little finger component 122, so that the little finger component 122 and the corresponding little finger support frame have sufficient movement space during folding, avoiding interference between the little finger component 122 and the palm housing 111.

[0084] Based on this, such as Figure 3 As shown, at least three finger root drive devices 200 are spaced apart on the mounting beam 113 along its extension direction. These multiple finger root drive devices 200 can form a modular arrangement within the palm portion 110, facilitating control of the spacing between adjacent finger root drive devices 200 and ensuring uniformity in the mounting reference of each finger assembly 120. Furthermore, in some preferred embodiments of this application, the three finger root drive devices 200 corresponding to the three finger assemblies 120 (excluding the little finger assembly 122) are spaced apart on the mounting beam 113. This allows the little finger assembly 122 to have an independent finger root drive device 200 and a movable support frame 140, thereby enabling the thumb assembly 130 and the little finger assembly 122 to have independent driving capabilities and higher degrees of freedom, further meeting the degree of freedom requirements of dexterous hand structures in the process of improving the precision of movement.

[0085] In a preferred structure, the palm shell 111 can be a structure in which the upper and lower shell parts are snapped together and detachably connected, so as to facilitate the assembly and maintenance of the internal support frame 112, finger root drive device 200 and other drive components. At the same time, the support frame 112 can be fixed to the palm shell 111 by screws, pins or snap-fit ​​structures.

[0086] Through the division of labor and cooperation between the palm shell 111 and the support frame 112, the palm shell 111 mainly undertakes the functions of shape protection and local protection, while the support frame 112 mainly undertakes the functions of positioning the drive device and load transmission, thereby improving the assembly stability of the entire hand structure.

[0087] Based on the above embodiments, in order to fulfill the driving requirements of the finger root driving device 200 on the finger assembly 120, such as Figures 4 to 7 As shown, the finger root drive device 200 specifically includes a gearbox housing 230. The first drive mechanism 210 and the second drive mechanism 220 are both disposed inside the gearbox housing 230. The gearbox housing 230 provides a common mounting reference for the two drive mechanisms, so that the relative position between the two drive mechanisms can be kept stable and the transmission deviation caused by assembly errors can be reduced.

[0088] The first drive mechanism 210 includes a first motor 211, a first transmission assembly 212, and a first planetary reduction assembly 213. Correspondingly, the second drive mechanism 220 includes a second motor 221, a second transmission assembly 222, and a second planetary reduction assembly 223. The power output from the first motor 211 is transmitted to the first planetary reduction assembly 213 via the first transmission assembly 212, and the power output from the second motor 221 is transmitted to the second planetary reduction assembly 223 via the second transmission assembly 222, thus forming two independent reduction and torque amplification power paths to meet the driving torque requirements of the finger root drive device 200 on the finger assembly 120. Furthermore, based on the above structure, the first motor 211 and the second motor 221 are arranged side-by-side with their output ends facing opposite directions. This arrangement allows the two motors to form an approximately symmetrical layout within the gearbox housing 230, avoiding the problem of excessively large local dimensions of the gearbox housing 230 caused by arranging the two motors in the same direction. Figure 5 and Figure 8 As shown, the first planetary reduction assembly 213 and the second planetary reduction assembly 223 are respectively connected to the differential output assembly 240 through corresponding gear sets, so that the two power sources after reduction and torque amplification can be concentrated and input into the differential output assembly 240.

[0089] In the operation of the finger root drive device 200 provided in this embodiment, the first motor 211 and the second motor 221 can be controlled independently. The first transmission component 212 and the second transmission component 222 are used to adjust the transmission direction and position between the motor output end and the corresponding planetary reduction component. The first planetary reduction component 213 and the second planetary reduction component 223 are used to increase the output torque. By integrating the motor, transmission component, and planetary reduction component into the gearbox housing 230, the finger root drive device 200 can form an independent drive module, improving output torque and transmission stability while ensuring a compact structure. It should also be noted that the first motor 211 and the second motor 221 can be servo motors, stepper motors, or other motors capable of controlled output speed and direction.

[0090] It should be noted that, as Figure 4 and Figure 8 As shown, a first side plate 231 and a second side plate 232 can be respectively provided on both sides of the gearbox housing 230. The first side plate 231 and the second side plate 232 are used to close both sides of the gearbox housing 230 and provide installation positions for the first gear set 214 and the second gear set 224. The first gear set 214 and the second gear set 224 can each include a first gear, a second gear and a third gear that mesh in sequence. The first gear is connected to the output end of the corresponding planetary reduction assembly, the third gear is connected to the corresponding input end of the differential output assembly 240 or the differential magnetic encoder assembly 250, and the second gear is disposed between the first gear and the third gear to adjust the transmission direction and center distance to achieve the transmission requirements.

[0091] Based on the above embodiments, corresponding to the first drive mechanism 210 and the second drive mechanism 220, as follows: Figure 8 As shown, the differential output component 240 in the finger root drive device 200 includes two oppositely arranged input bevel gears 241 and two oppositely arranged output bevel gears 242. The two input bevel gears 241 are respectively connected to the gear sets corresponding to the first drive mechanism 210 and the second drive mechanism 220, thereby receiving the power output from the first drive mechanism 210 and the second drive mechanism 220 respectively. The two output bevel gears 242 mesh with their corresponding input bevel gears 241 and are connected to the corresponding finger component 120 for transmission, enabling the two input power sources to be combined or distributed through the bevel gear meshing relationship.

[0092] It should be noted that the relative arrangement of the two input bevel gears 241 shortens the transmission distance between the two power inputs, while the relative arrangement of the two output bevel gears 242 concentrates the power output to the base of the finger assembly 120. When the two input bevel gears 241 rotate in the same or similar motion state, the differential output assembly 240 combines the two power inputs into a single power source to drive the finger assembly 120 in one main motion direction. When the two input bevel gears 241 move at different speeds or in different directions, relative motion occurs between the two output bevel gears 242, causing the finger assembly 120 to move in the other direction, thus achieving lateral swaying of the finger assembly 120. Therefore, the first drive mechanism 210 and the second drive mechanism 220 do not need to be separately configured with long-distance output mechanisms; the same differential output assembly 240 can be used to achieve movement of the finger assembly 120 on two different axes.

[0093] Furthermore, the bevel gear meshing structure can change the direction of power transmission, so that the arrangement direction of the motor and planetary reduction assembly forms a reasonable angle with the motion axis of the finger assembly 120, thereby improving the utilization rate of the internal space of the palm 110 and reducing the axial dimension of the finger root drive device 200.

[0094] Based on the above structure, such as Figure 4 , Figure 8 and Figure 9 As shown, the bottom of the finger assembly 120 is also provided with a finger connection part 121 connected to the finger root drive device 200. Specifically, two output bevel gears 242 are rotatably mounted on the finger connection part 121. The finger connection part 121 serves as both the mounting base for the output bevel gears 242 and the connection interface between the finger root drive device 200 and the finger assembly 120, so that the motion output by the differential output assembly 240 can be directly transmitted to the finger assembly 120. Furthermore, the two output bevel gears 242 are arranged opposite to each other on both sides of the finger connection part 121, which can keep the finger connection part 121 relatively balanced when subjected to force, reducing the off-center load caused by unilateral transmission.

[0095] Specifically, in this embodiment, the rotation axes of the two input bevel gears 241 coincide to form a first axis L1, and the rotation axes of the two output bevel gears 242 coincide to form a second axis L2. The first axis L1 and the second axis L2 are arranged perpendicularly. Through this axial arrangement, the rotation of the input bevel gears 241 can be converted into the rotation of the output bevel gears 242 around the vertical axis via bevel gear meshing, thereby changing the direction of power output within a compact space. The two different rotation axes can also correspond to different movement directions of the finger assembly 120 at the finger root, allowing the finger assembly 120 to obtain compound movement capabilities at a single connection position. During operation, the finger connection part 121 moves along with the movement of the output bevel gears 242, driving the finger assembly 120 to move. Since the output bevel gears 242 are directly mounted on the finger connection part 121, the power can be applied to the finger assembly 120 without passing through a long connecting rod or tendon, reducing transmission backlash and elastic deformation, thereby improving the position control accuracy and response speed of the finger root movement of the finger assembly 120.

[0096] To achieve the stable force transmission requirement of the differential output component 240, such as Figure 8As shown, based on the above embodiment, the two input bevel gears 241 in the differential output assembly 240 pass through a bent magnetic base 243. A first magnet 244 is installed at one end of the bent magnetic base 243. The bent magnetic base 243 serves as both a rotational support structure for the two input bevel gears 241 and a stable mounting position for the first magnet 244. Similarly, the two output bevel gears 242 pass through a side-swing magnetic base 245. A second magnet 246 is installed at one end of the side-swing magnetic base 245. The side-swing magnetic base 245 also serves as both a support structure for the two output bevel gears 242 and a mounting base for the second magnet 246. In this embodiment, the curved magnetic braiding base 243 and the side-swing magnetic braiding base 245 provide a bearing foundation for the input bevel gear 241 and the output bevel gear 242, ensuring the consistency of the rotation axes of the two input bevel gears 241 and the two output bevel gears 242. At the same time, by placing the first magnet 244 at the end of the curved magnetic braiding base 243, the first magnet 244 can change its angle accordingly with the curved magnetic braiding base 243 when the input bevel gear 241 rotates, thereby facilitating the external detection element to obtain the angle information of one direction of movement of the finger assembly 120. By placing the second magnet 246 at the end of the side-swing magnetic braiding base 245, the position or angle of the second magnet 246 can change accordingly when the output bevel gear 242 or the side-swing magnetic braiding base 245 moves, thereby facilitating the detection of the angle information of another direction of movement of the finger assembly 120. The above structure integrates the rotation support function and the angle detection function on the same magnetic braiding base, eliminating the need to set up a large detection bracket on the outside of the finger root drive device 200, which helps to reduce the size of the assembly. Meanwhile, the first magnet 244 and the second magnet 246 correspond to different motion axes, which enables the angle detection of the two degrees of freedom to be independent of each other, reduces interference between detection signals, and improves the accuracy of finger root motion control.

[0097] In addition, it should be noted that, as Figure 9As shown, the finger connector 121 may further include a two-dimensional force sensor 180 and a connecting bracket 190. The two-dimensional force sensor 180 can be disposed at the bottom of the finger assembly 120, and the connecting bracket 190 is connected to the two-dimensional force sensor 180. The two-dimensional force sensor 180 can detect the normal and tangential forces experienced by the finger assembly 120 during grasping, thereby providing feedback information for grasping force control and slip judgment. The connecting bracket 190 can adopt a Y-shaped structure to improve the connection stability between the finger connector 121 and the finger assembly 120 and provide an installation position for the side-swing magnetic base 245. With the above structure, the finger root drive device 200 can not only output movement in two directions, but also acquire the movement angle and grasping force information of the finger root position. The information provided by the two-dimensional force sensor 180, the first magnet 244, and the second magnet 246 can be used together for closed-loop control, enabling the dexterous hand to more accurately adjust the output force and movement position when grasping fragile, soft, or irregularly shaped objects.

[0098] Furthermore, such as Figure 10 and Figure 11As shown, in some other embodiments of this application, the differential output component 240 can also be configured as a differential magnetic drive component 250. Specifically, the differential magnetic drive component 250 includes a first driven bevel gear 251, a second driven bevel gear 252, a third driven bevel gear 253, and a fourth driven bevel gear 254. The first driven bevel gear 251 and the second driven bevel gear 252 are arranged opposite to each other and are respectively connected to the gear sets corresponding to the first planetary reduction component 213 and the second planetary reduction component 223, thereby receiving the power after reduction and torque amplification from the two paths respectively. The third driven bevel gear 253 and the fourth driven bevel gear 254 are arranged opposite to each other and mesh with the first driven bevel gear 251 and the second driven bevel gear 252 respectively to form a compact bevel gear differential transmission structure. Correspondingly, the finger assembly 120 is connected to a connecting seat 255, on which a lateral swing magnetic braiding seat 245 is provided. The third driven bevel gear 253 is fixedly connected to the connecting seat 255, and the fourth driven bevel gear 254 is rotatably disposed on the connecting seat 255. In this embodiment, by fixing one driven bevel gear to the connecting seat 255 and rotating the other driven bevel gear relative to the connecting seat 255, the two input forces can be converted into the overall movement of the connecting seat 255 or the relative movement between the driven bevel gears under different control states. Specifically, when the first driven bevel gear 251 and the second driven bevel gear 252 move synchronously according to a predetermined relationship, the third driven bevel gear 253 can drive the connecting seat 255 and the finger assembly 120 to move as a whole to achieve bending freedom. When the first driven bevel gear 251 and the second driven bevel gear 252 move asynchronously, the third driven bevel gear 253 and the fourth driven bevel gear 254 generate relative movement, thereby realizing the movement of the finger assembly 120 in another direction and achieving lateral swing freedom. While maintaining the dual-input differential drive function, this structure integrates the side-swing magnetic base 245 required for angle detection onto the connecting base 255, which is beneficial to further improve the integration and motion stability of the finger root drive device 200.

[0099] To further optimize the above technical solutions, such as Figure 12 and Figure 13 As shown, both the third driven bevel gear 253 and the fourth driven bevel gear 254 have mounting holes 256 in their middle portions. Simultaneously, the third driven bevel gear 253 and the fourth driven bevel gear 254 are respectively positioned at both ends of the side-swing magnetic braiding base 245 through the corresponding mounting holes 256, allowing the side-swing magnetic braiding base 245 to simultaneously provide a positioning reference for the two opposing driven bevel gears. The mounting holes 256 also reduce the weight of the third driven bevel gear 253 and the fourth driven bevel gear 254 and allow the two driven bevel gears to be arranged around the same support structure, thereby improving the coaxiality of the differential magnetic braiding assembly 250.

[0100] It should also be noted that a copper sleeve 257 is fitted at the connection between the fourth driven bevel gear 254 and the connecting seat 255. The copper sleeve 257 is located between the fourth driven bevel gear 254 and the connecting seat 255 and is used to provide sliding support when the fourth driven bevel gear 254 rotates relative to the connecting seat 255. Since the copper sleeve 257 has good wear resistance and self-lubricating properties, it can reduce the frictional resistance when the fourth driven bevel gear 254 rotates and reduce the wear and gaps generated at the connection after long-term use.

[0101] In the above embodiment, the fourth driven bevel gear 254 can rotate stably around the corresponding support position on the lateral swing magnetic base 245 or the connecting base 255. The copper sleeve 257 continuously bears the radial load between the fourth driven bevel gear 254 and the connecting base 255, and transfers the direct contact friction to the surface of the copper sleeve 257. Therefore, the fourth driven bevel gear 254 can maintain smooth rotation during differential motion, reducing motion lag caused by excessive frictional resistance, thereby improving the control accuracy of the lateral swing motion of the finger assembly 120. In other embodiments, the copper sleeve 257 can also be replaced by a bushing, rolling bearing, or other support member that can reduce rotational friction.

[0102] Furthermore, in some embodiments of this application, the finger root drive device 200 further includes a finger root shield 260, which covers the outside of the differential magnetic encoder assembly 250. It should be noted that the finger root shield 260 is used to shield the first driven bevel gear 251, the second driven bevel gear 252, the third driven bevel gear 253, and the fourth driven bevel gear 254, reducing the risk of foreign objects entering the bevel gear meshing area and reducing the possibility of direct contact between the user or external objects and the moving gears. Figure 14 As shown, a mounting boss 262 is provided inside the finger root guard 260, and a fixing seat 263 is provided on the mounting boss 262. The fixing seat 263 extends into the mounting hole 256 of the fourth driven bevel gear 254 and is connected to the side-swing magnetic braiding base 245. It should be noted that the mounting boss 262 can provide a stable support base for the fixing seat 263. After the fixing seat 263 passes through or extends into the mounting hole 256 of the fourth driven bevel gear 254, it can keep the side-swing magnetic braiding base 245 in a certain position relative to the finger root guard 260. Thus, the side-swing magnetic braiding base 245 no longer relies solely on the connecting seat 255 for support, but forms an additional positioning with the finger root guard 260 through the fixing seat 263, which is beneficial to improving the assembly stability of the entire differential magnetic braiding assembly 250.

[0103] During assembly, the above structure can first mate the side-swing magnetic braiding base 245 with the third driven bevel gear 253, the fourth driven bevel gear 254 and the connecting base 255, and then insert the fixing base 263 into the mounting hole 256 of the fourth driven bevel gear 254 and connect it with the side-swing magnetic braiding base 245. This assembly method can utilize the internal space of the finger root guard 260 to form a hidden fixing structure, avoiding the fixing parts from being exposed in the gear meshing area, and at the same time facilitating the improvement of the radial positioning accuracy of the differential magnetic braiding assembly 250.

[0104] To further optimize the above technical solution, in some embodiments of this application, such as Figure 12 , Figure 13 and Figure 14 As shown, a radially magnetized second magnet 246 is provided at one end of the lateral swing magnetic base 245 near the third driven bevel gear 253. The second magnet 246 is covered with a lateral swing sensing cable 247. When the second magnet 246 moves with the lateral swing magnetic base 245 or its associated moving parts, the direction of its magnetic field changes relative to the lateral swing sensing cable 247. The detection element on the lateral swing sensing cable 247 can obtain the corresponding angle information according to the change of magnetic field. The radially magnetized second magnet 246 can match the direction of magnetic field change with the detection direction of lateral swing movement, thereby improving the sensitivity of angle detection.

[0105] Correspondingly, the finger root cover 260 has a groove 261 for the lateral sway sensing cable 247 to run through, extending the lateral sway sensing cable 247 to the outside of the finger root cover 260 via the groove 261. The groove 261 restricts the extension path of the lateral sway sensing cable 247, allowing it to be led out from inside the finger root cover 260 in a predetermined direction, preventing it from entering the bevel gear meshing area or being squeezed by moving parts during the movement of the finger assembly 120. By integrating the second magnet 246, the lateral sway sensing cable 247, and the groove 261 into the internal space of the finger root cover 260, this embodiment can achieve lateral sway angle detection and detection line lead-out without significantly increasing the overall size of the finger root drive device 200. At the same time, the groove 261 can also reduce the free swing of the lateral sway sensing cable 247, reducing the risk of damage to the cable due to repeated bending or contact with gears, and improving the reliability of the detection signal transmission.

[0106] Furthermore, in some embodiments of this application, the finger root shield 260 has a reverse C-shaped structure. The reverse C-shaped structure can provide an opening for the connection and movement of the finger assembly 120 while covering the differential magnetic braiding assembly 250, so as to avoid the finger root shield 260 interfering with the finger assembly 120 during the movement of the finger assembly 120. This shape can also make the finger root shield 260 form a shield from the outside and end sides of the gear assembly, thereby improving the protection range. Furthermore, the finger root cover 260 includes a detachably connected upper cover portion 266 and a lower cover portion 267. The upper cover portion 266 and the lower cover portion 267 can be combined and fixed into one piece by screws, pins, clips or other detachable connection methods. When assembling the differential magnetic braiding assembly 250, the upper cover portion 266 and the lower cover portion 267 can be separated first, and then the differential magnetic braiding assembly 250 can be installed into the finger root cover 260. Finally, the two cover portions are snapped together and fixed, thereby reducing the assembly difficulty. Similarly, during maintenance, one of the cover portions can be removed to expose the internal gears and sensing components, which is convenient for inspection or replacement.

[0107] Based on this, such as Figure 12 As shown, the outer side of the finger root guard 260 is covered with a rubber layer 268. The rubber layer 268 forms a flexible outer surface. When the modular dexterous hand 100 grasps a target object or comes into contact with the external environment, the rubber layer 268 can cushion the impact and reduce the risk of the hard guard directly colliding with the target object. At the same time, the rubber layer 268 can also improve the tactile softness of the finger root, reduce sharp external edges, and improve the safety of the dexterous hand in interactive operations.

[0108] Furthermore, in some embodiments of this application, a shim 264 and a backlash-eliminating disc spring 265 are provided between the mounting boss 262 and the fourth driven bevel gear 254. The shim 264 is disposed on the mounting boss 262, and the backlash-eliminating disc spring 265 is disposed on the shim 264 and abuts against the fourth driven bevel gear 254 to provide axial preload to the fourth driven bevel gear 254. After assembly, the backlash-eliminating disc spring 265 is in a compressed state, and its elastic restoring force acts on the fourth driven bevel gear 254, causing the fourth driven bevel gear 254 to tend towards a predetermined meshing position. Through this axial preload, this embodiment can reduce the meshing clearance between the fourth driven bevel gear 254 and the first driven bevel gear 251 and the second driven bevel gear 252, reducing the idle travel and impact generated during the reversing of the differential magnetic encoder assembly 250. Correspondingly, during operation, when the first drive mechanism 210 or the second drive mechanism 220 changes its output direction, the fourth driven bevel gear 254 can maintain stable meshing contact under the preload of the backlash-eliminating disc spring 265, reducing instantaneous disengagement and impact between gears caused by backlash. Therefore, this embodiment can improve the transmission smoothness and angle control accuracy of the differential magnetic encoder assembly 250.

[0109] Furthermore, it should be noted that the shim 264 can also be used to adjust the initial compression of the backlash-free disc spring 265, thereby setting the preload according to actual needs. In other feasible embodiments of this application, the number or thickness of the shims 264 is adjusted according to the assembly clearance.

[0110] Furthermore, in the modular dexterous hand 100 provided in the embodiments of this application, such as Figure 1 , Figure 2 and Figure 15 As shown, to meet the requirements of its refined movement, the folding drive device 300 needs to drive the little finger component 122, so that the little finger component 122 and the thumb component 130 have a freer driving mode to adapt to more complex grasping needs. Specifically, in some embodiments of this application, the movable support frame 140 is a little finger support frame, the four finger components 120 include the little finger component 122, the finger root drive device 200 corresponding to the little finger component 122 is installed on the little finger support frame, and the folding drive device 300 drives the little finger component 122 to fold relative to the palm part 110 through the little finger support frame. With the above structure, the little finger component 122 can not only realize the movement of its own finger root by relying on the corresponding finger root drive device 200, but also change its overall position relative to the palm part 110 under the drive of the folding drive device 300.

[0111] Specifically, the little finger support serves as the common mounting base for the little finger component 122 and the corresponding finger root drive device 200, enabling them to be combined to form a relatively independent little finger module. When the folding drive device 300 is working, its output end drives the little finger support to rotate, which in turn drives the corresponding finger root drive device 200 and the little finger component 122 to move as a whole. This causes the little finger component 122 to fold relative to the palm position of the hand 110. This movement can simulate the spatial posture changes of the human little finger when it is drawn towards the palm or spread outward, thereby improving the grasping accuracy and flexibility of the modular dexterous hand 100. In actual grasping, when the target object is small or located at the edge of the palm, the folding drive device 300 can drive the little finger support towards the palm, making the little finger component 122 form a more enveloping grasping posture with other finger components 120. When it is necessary to spread the hand or avoid the target object, the folding drive device 300 can drive the little finger support in the opposite direction, causing the little finger component 122 to move away from the palm. As a result, the workspace and posture adjustment capability of the little finger component 122 are improved, which helps to enhance the adaptability of the whole hand when grasping different target objects.

[0112] To further optimize the above technical solution, in some embodiments of this application, such as Figure 15 and Figure 16As shown, the folding drive device 300 specifically includes a mounting housing 310, a drive motor 320, a reduction gear assembly 330, and an output flange 350, wherein, as Figure 17 As shown, the mounting housing 310 has a gear ring groove 311 and a motor groove 312. The reduction gear assembly 330 is installed in the gear ring groove 311, and the drive motor 320 is installed in the motor groove 312. By setting the gear ring groove 311 and the motor groove 312 separately in the mounting housing 310, the drive motor 320 and the reduction gear assembly 330 can have relatively independent installation spaces, while maintaining a stable transmission position between them. The output flange 350 is connected to the output end of the reduction gear assembly 330 and to the little finger support frame. The power output by the drive motor 320 is reduced and amplified by the reduction gear assembly 330 and then transmitted to the output flange 350. The output flange 350 further drives the little finger support frame to move relative to the palm part 110. Since the output flange 350 serves as both the output component of the reduction gear assembly 330 and the mounting component of the little finger support frame, the number of intermediate connecting parts between the folding drive device 300 and the little finger support frame can be reduced, improving transmission efficiency.

[0113] In some embodiments, the mounting housing 310 may include a mounting frame 314 and a first end cap 315 and a second end cap 316 respectively disposed at both ends of the mounting frame 314. The mounting frame 314 is used to form a gear ring groove 311 and a motor groove 312, and the first end cap 315 and the second end cap 316 are used to close and protect the internal transmission components from both ends. The drive motor 320, the reduction assembly 330, and the output flange 350 are sequentially fitted along a predetermined axis to form an integrated drive module of the folding drive device 300. Through this integrated structure, the folding drive device 300 can output a large folding torque in a small volume and is easy to assemble into the palm part 110 to meet the integrated assembly requirements.

[0114] Furthermore, based on the above embodiments, such as Figure 15 and Figure 16As shown, the reduction gear assembly 330 specifically includes a first planetary carrier 333, a second planetary carrier 336, and an output planetary carrier 339. The first planetary carrier 333 is equipped with a first planetary gear 334 and a second sun gear 335; the second planetary carrier 336 is equipped with a second planetary gear 337 and a third sun gear 338; and the output planetary carrier 339 is equipped with a third planetary gear 340. The first planetary gear 334, the second planetary gear 337, and the third planetary gear 340 all mesh with the internal gear ring 313 in the gear ring groove 311, allowing the three planetary transmission stages to share the gear ring structure within the mounting housing 310, reducing the number of independent gear ring components. The drive motor 320 is connected to the first sun gear 332 via a front gear set 331. In one specific structure, the front gear set 331 includes a first front gear 3311, a second front gear 3312, and a third front gear 3313 that mesh sequentially. The first front gear 3311 is connected to the output end of the drive motor 320, the third front gear 3313 is connected to the first sun gear 332, and the second front gear 3312 meshes with both the first front gear 3311 and the third front gear 3313. The power of the drive motor 320 is input to the first sun gear 332 after the transmission direction and transmission position are adjusted by the front gear set 331.

[0115] During operation, the first sun gear 332 drives the first planet gear 334 to rotate. The first planet gear 334 meshes with the internal gear ring 313, causing the first planet carrier 333 to revolve. The first planet carrier 333 drives the second sun gear 335 on it to rotate. The second sun gear 335 drives the second planet gear 337, which in turn causes the second planet carrier 336 to revolve. The second planet carrier 336 drives the third sun gear 338 to rotate. The third sun gear 338 drives the third planet gear 340, which in turn causes the output planet carrier 339 to rotate. The output planet carrier 339 ultimately drives the output flange 350 to rotate. Through the three-stage planetary transmission structure, the folding drive device 300 can obtain a large reduction ratio and output torque within a limited installation space, while maintaining a compact transmission structure and uniform load distribution.

[0116] Furthermore, it should be noted that, based on the above structure, the output planetary carrier 339 is connected to a disc spring cover 341, and at least one disc spring 342 is provided between the disc spring cover 341 and the output flange 350. The side of the disc spring 342 facing the output flange 350 is conical. The disc spring cover 341 applies a clamping force to the output flange 350 through the disc spring 342, and limits the maximum output torque of the flipping drive device 300 through the disc spring 342. After assembly, the disc spring 342 is in a compressed state, and its conical surface can form a stable contact with the output flange 350, converting the axial clamping force of the disc spring cover 341 into a frictional transmission force at the output flange 350.

[0117] Under normal load conditions, the output planetary carrier 339 drives the disc spring cover 341 to rotate. The disc spring cover 341 drives the output flange 350 to rotate synchronously through the clamping action between the disc spring 342 and the output flange 350, thereby transmitting the power of the reduction assembly 330 to the little finger support frame. When the external resistance on the output flange 350 exceeds the maximum transmission torque set by the disc spring 342, the conical structure of the disc spring 342 slips relative to the output flange 350, so that the excessive impact load cannot be directly transmitted to the output planetary carrier 339 and the internal gears, thus forming overload protection. Through this overload protection structure, when the little finger assembly 122 collides with an obstacle or is subjected to abnormal external force during the folding process, the gears, sun gear and planetary carrier inside the reduction assembly 330 can release some impact energy through slippage, reducing the risk of tooth surface damage, motor stall or transmission shaft deformation, and improving the safety of the modular dexterous hand 100.

[0118] It should be noted that the number, stacking method, and pre-compression of disc springs 342 can be adjusted according to the required maximum output torque, so that the folding drive device 300 has both high output capacity and overload safety.

[0119] Furthermore, in some other embodiments of this application, such as Figure 19 As shown, the reduction assembly 330 can also be provided with multiple placement slots 343, and each placement slot 343 contains a rolling ball 344. The rolling ball 344 abuts against the axial end of at least one sun gear in the reduction assembly 330 to provide axial support for at least one sun gear, while the placement slot 343 is used to define the position of the rolling ball 344 so that the rolling ball 344 can roll within a predetermined area and will not disengage from the support position during the operation of the reduction assembly 330.

[0120] It should be noted that in the aforementioned embodiments, the planetary carrier structure in the reduction assembly 330 precisely controls the axial clearance between the planetary gears and the planetary carrier by setting shims at the bottom of the planetary gears, thereby reducing unnecessary axial movement of the planetary gears. By selecting shims of different thicknesses, the meshing position of the gears can be adjusted to ensure correct gear alignment, thereby optimizing the smoothness of power transmission. Specifically, the shim has a central hole, and the sun gear passes through the central hole of the shim axially and is directly fixedly connected to the planetary carrier. The gap between the sun gear and the central hole of the shim is set, and the shim can adjust the axial clearance to compensate for the assembly error between the planetary gears and the planetary carrier, ensuring that the axial movement of the planetary gears is within a reasonable range, and bearing part of the axial component force generated by the planetary gears during operation, thus limiting the range of axial movement of the planetary gears. In this embodiment, the cooperation between the placement groove 343 and the ball 344 can directly abut against the corresponding sun gear in the axial direction to achieve axial positioning, that is, to achieve axial limit locking of the sun gear, thereby ensuring that the planetary carrier will not produce axial movement, eliminating axial movement, and achieving a better positioning effect.

[0121] It should also be noted that the multiple balls 344 can be arranged at the axial end of at least one of the first sun gear 332, the second sun gear 335 and the third sun gear 338, or they can be arranged at the ends of the multiple sun gears according to the internal space of the reduction assembly 330.

[0122] Furthermore, such as Figure 18 As shown, in the modular dexterous hand 100 provided in this embodiment, the output flange 350 of the folding drive device 300 is provided with a connecting protrusion 351 and an annular groove 352. The connecting protrusion 351 is fixedly connected to the little finger support frame and is used to transmit the folding torque between the output flange 350 and the little finger support frame. The connecting protrusion 351 can be connected to the little finger support frame by screws, pins or a fitting structure, thereby improving the connection strength and assembly positioning accuracy between the two. The groove 352 is provided with a needle roller bearing 353 that abuts radially against the mounting shell 310. The needle roller bearing 353 is used to bear the radial load on the output flange 350 during the folding process and transmit the radial load to the mounting shell 310. Since the needle roller bearing 353 has a small installation size in the radial direction, it is suitable to be arranged in the annular space between the output flange 350 and the mounting shell 310, and can provide a high radial load-bearing capacity in a limited space.

[0123] It should also be noted that the outer edge of the output flange 350 is provided with a ball bearing 354 that axially abuts against the mounting housing 310. The ball bearing 354 is used to bear the axial load on the output flange 350 and limit the axial position of the output flange 350 relative to the mounting housing 310. Through the combination of the needle roller bearing 353 and the ball bearing 354, the output flange 350 can obtain reliable support in both the radial and axial directions, preventing radial displacement or axial movement of the output flange 350 under load. As a result, the little finger support frame can maintain a stable axis of rotation during the folding process, improving the accuracy and load-bearing capacity of the folding movement.

[0124] Based on the above embodiments, such as Figure 15 As shown, a magnet seat 355 is also provided on the outer side of the output flange 350. The magnet seat 355 is equipped with a tile-shaped magnet 356 for detecting the rotation angle of the output flange 350. The magnet seat 355 provides a stable mounting position for the tile-shaped magnet 356, allowing the tile-shaped magnet 356 to rotate synchronously with the output flange 350. The arc-shaped structure of the tile-shaped magnet 356 can be adapted to the annular outer edge of the output flange 350, which is beneficial to make full use of the circumferential space of the output flange 350. In a preferred structure, the tile-shaped magnet 356 adopts an axial magnetization structure. When the output flange 350 drives the little finger support frame to rotate, the position of the tile-shaped magnet 356 relative to the mounting shell 310 or the corresponding detection element changes. The detection element obtains the rotation angle of the output flange 350 according to the change of magnetic field, thereby indirectly obtaining the folding angle of the little finger assembly 122 relative to the palm part 110.

[0125] By directly mounting the tile-shaped magnet 356 on the outside of the output flange 350, this embodiment can shorten the transmission distance between the angle detection position and the final output end, reducing detection errors caused by the internal transmission gap of the reduction assembly 330. Simultaneously, the magnet holder 355 ensures a stable relative position between the tile-shaped magnet 356 and the output flange 350, reducing detection deviations caused by magnet loosening during long-term use. Therefore, the folding drive device 300 can more accurately feedback the folding position of the little finger assembly 122, facilitating closed-loop control.

[0126] Furthermore, such as Figures 20 to 24As shown, in the modular dexterous hand 100 provided in this embodiment, the thumb drive device 400 includes two servo drive branches, namely a first servo drive branch 410 and a second servo drive branch 420, which are respectively connected to the differential output component 430. Each of the two servo drive branches outputs an independently controllable power source and is respectively connected to the corresponding input terminal of the differential output component 430. In a specific structure, each servo drive branch may include a servo motor, a drive reduction component, and a servo transmission component. The power output by the servo motor is reduced and amplified by the drive reduction component before being transmitted to the differential output component 430 via the servo transmission component.

[0127] The differential output assembly 430 includes a transmission frame 431, a first thumb bevel gear 432 and a second thumb bevel gear 433 disposed opposite to each other, and a third thumb bevel gear 434 and a fourth thumb bevel gear 435 rotatably disposed within the transmission frame 431. The third thumb bevel gear 434 and the fourth thumb bevel gear 435 mesh with the first thumb bevel gear 432 and the second thumb bevel gear 433 respectively. The first servo drive branch 410 is connected to the first thumb bevel gear 432, the second servo drive branch 420 is connected to the second thumb bevel gear 433, and the fourth thumb bevel gear 435 is connected to a tooth root joint 436, which is connected to the thumb assembly 130.

[0128] When the first servo drive branch 410 and the second servo drive branch 420 output synchronously according to a predetermined relationship, the differential output component 430 can drive the tooth root joint 436 to move the thumb component 130 in one main motion direction; when the two servo drive branches output at different speeds or directions, the bevel gear inside the differential output component 430 generates differential motion, causing the tooth root joint 436 to move the thumb component 130 around another axis. By adjusting the output relationship of the two servo drive branches, the thumb component 130 can achieve a compound motion of rotation and oscillation at the base of the finger, thereby improving the adaptability of the thumb component 130 to different gripping angles and the side of the target object.

[0129] It should be noted that, in some embodiments of this application, the thumb drive device 400 may further include a fixing plate and a drive housing. The fixing plate is used to connect to the support frame 112 or other mounting bases within the palm portion 110. The drive housing is connected to the fixing plate and is used to accommodate the first servo drive branch 410 and the second servo drive branch 420. The first servo drive branch 410 may include a first servo motor, a first drive reduction assembly, and a first servo transmission assembly. The second servo drive branch 420 may include a second servo motor, a second drive reduction assembly, and a second servo transmission assembly. The two servo drive branches are respectively arranged within the drive housing, which facilitates the formation of an independent thumb drive module.

[0130] Furthermore, a first magnetic braided connecting rod can be provided between the first thumb bevel gear 432 and the second thumb bevel gear 433, and a second magnetic braided connecting rod can be provided between the third thumb bevel gear 434 and the fourth thumb bevel gear 435. Angle detection magnets can be provided at the ends of both the first and second magnetic braided connecting rods to detect the angle information of the thumb drive device 400 in different movement directions. The tooth root joint 436 can adopt a Y-shaped structure, with one confluence end connected to the fourth thumb bevel gear 435 and the two connecting arms connected to the thumb assembly 130, thereby improving the connection stability between the tooth root joint 436 and the thumb assembly 130. Through the above structure, the thumb drive device 400 can not only realize dual-input differential drive but also detect the root position posture of the thumb assembly 130. The fixing plate and drive housing improve the installation stability of the two servo drive branches, while the Y-shaped tooth root joint 436 can reliably transmit the movement of the differential output component 430 to the thumb assembly 130.

[0131] It should also be specifically noted that the thumb assembly 130 may include a proximal thumb joint 131, a middle thumb joint 132, and a distal thumb joint 133. The proximal thumb joint 131 includes a proximal frame, a first thumb motor, a second thumb motor, a first thumb deceleration assembly, a second thumb deceleration assembly, a first thumb transmission assembly, and a second thumb transmission assembly. The first and second thumb motors can be located in the middle of the proximal frame, while the first and second thumb deceleration assemblies are respectively located at both ends of the proximal frame. The first and second thumb transmission assemblies are located between their respective motors and deceleration assemblies. This arrangement distributes the weight of the proximal thumb joint 131 between its two ends and the middle, avoiding the concentration of all driving components on one side. Correspondingly, the first thumb deceleration assembly can be rotatably connected to the tooth root joint 436 to drive the thumb assembly 130 to rotate around the third axis L3; the second thumb deceleration assembly can be connected to the middle thumb joint 132 to drive the middle thumb joint 132 to rotate around the fourth axis L4. The middle thumb joint 132 can be equipped with a third thumb motor, a third thumb transmission component, and a third thumb deceleration component. The third thumb motor inputs power to the third thumb deceleration component through the third thumb transmission component, and the third thumb deceleration component drives the distal thumb joint 133 to rotate around the fifth axis L5.

[0132] Through the aforementioned internal drive structure, the thumb assembly 130 can not only adjust its root posture under the drive of the thumb drive device 400, but also achieve multi-segment bending through the drive components inside each thumb segment. The cooperation of the proximal thumb segment 131, the middle thumb segment 132, and the distal thumb segment 133 can simulate the multi-joint movement of the human thumb, enabling the thumb assembly 130 to adjust its conforming posture according to the shape of the target object when grasping cylindrical, sheet-like, or irregular objects.

[0133] Furthermore, it should be noted that in some embodiments of this application, a heat dissipation bracket 150 may be provided at the bottom of the palm portion 110, and a circuit board may be provided on the heat dissipation bracket 150. The circuit board may be used to install motor drivers, controllers, and sensor interfaces, and the heat dissipation bracket 150 is used to conduct heat generated by the circuit board and various driving devices outward. A wrist connection portion 160 may be provided at the bottom of the heat dissipation bracket 150, and the wrist connection portion 160 is used to connect the modular dexterous hand 100 to a robotic arm or robot wrist. Through the combination of the heat dissipation bracket 150 and the wrist connection portion 160, the heat dissipation capacity of the dexterous hand during long-term operation can be improved while ensuring the stability of electrical and mechanical connections.

[0134] Furthermore, in another aspect of the embodiments of this application, a drive control method for a modular dexterous hand is also provided. This drive control method is applied to the modular dexterous hand 100 provided in any of the above embodiments. Specifically, the drive control method includes at least:

[0135] Step S1: Control the first drive mechanism 210 and the second drive mechanism 220 of the finger root drive device 200 to output synchronously or asynchronously, so that the differential output component 240 drives the corresponding finger component 120 to move around two different axes.

[0136] When the finger assembly 120 needs to perform a bending motion, the first drive mechanism 210 and the second drive mechanism 220 can be controlled to output according to a predetermined synchronous relationship. When the finger assembly 120 needs to perform a lateral swinging motion, the first drive mechanism 210 and the second drive mechanism 220 can be controlled to output at different speeds or directions, causing the differential output assembly 240 to produce differential motion. By changing the output relationship of the two drive mechanisms, the same set of finger root drive devices 200 can be used to achieve switching or compound motion of the finger assembly 120 in two degrees of freedom.

[0137] Step S2: Control the folding drive device 300 to drive the movable support frame 140 to move relative to the palm part 110, so as to drive the finger assembly 120 and the corresponding finger root drive device 200 mounted on the movable support frame 140 to move as a whole.

[0138] Step S2 can be executed before, after, or simultaneously with step S1. For example, when the little finger component 122 needs to be close to the palm, the folding drive device 300 can be controlled to adjust the spatial position of the little finger component 122 first, and then the corresponding finger root drive device 200 can be controlled to perform bending. Bending or lateral swinging actions can also be performed synchronously during the folding process.

[0139] Step S3: Control the thumb drive device 400 to input power to the differential output component 430 so as to drive the thumb component 130 to move around different axes through the differential output component 430.

[0140] By controlling the two power inputs of the thumb drive device 400 respectively, the thumb assembly 130 can be adjusted to a position that cooperates with the other finger assemblies 120. Through the coordinated control of steps S1 to S3, the modular dexterous hand 100 can adjust the movement state of the ordinary fingers, little finger, and thumb according to the position and shape of the target object, thereby improving the flexibility and control accuracy of the grasping action.

[0141] Based on the modular dexterous hand 100 and the drive control method described above, the modular dexterous hand 100 provided in this application embodiment can at least achieve the following operating states to meet different operating requirements:

[0142] State 1: The modular dexterous hand 100 is in its initial unfolded state, with each finger component 120 and thumb component 130 positioned in a ready-to-grasp position. The control device determines the target motion trajectory of each finger component 120, little finger component 122, and thumb component 130 based on the position, shape, and size of the target object.

[0143] State Two: The first drive mechanism 210 and the second drive mechanism 220 of the corresponding finger root drive device 200 are controlled to output synchronously or asynchronously. The two power sources are input to the differential output component 240 or the differential magnetic encoder component 250 via the corresponding planetary reduction assembly and gear set, causing the corresponding finger component 120 to bend around the first axis L1 or sway around the second axis L2. By adjusting the speed, direction, and output timing of the two drive mechanisms, the finger component 120 can perform a single degree of freedom motion or a composite motion of two degrees of freedom.

[0144] State 3: When it is necessary to adjust the spatial position of the little finger assembly 122 relative to the palm 110, the folding drive device 300 is activated. The power output from the drive motor 320 is transmitted to the little finger support frame via the front gear set 331, the multi-stage planetary reduction assembly, and the output flange 350. The little finger support frame drives the corresponding finger root drive device 200 and the little finger assembly 122 to fold relative to the palm 110. If the load exceeds the maximum transmission torque set by the disc spring 342 during the folding process, slippage occurs between the disc spring 342 and the output flange 350, thereby protecting the internal transmission structure.

[0145] State 4: The thumb drive device 400 is activated, and the first servo drive branch 410 and the second servo drive branch 420 respectively input power to the differential output component 430. By controlling the synchronous or differential output of the two servo drive branches, the tooth root joint 436 drives the thumb component 130 to move around different axes. Subsequently, the thumb joint drive structures inside the thumb component 130 can continue to operate according to the grasping needs, so that the thumb component 130 and other finger components 120 together envelop the target object.

[0146] State 5: During the grasping process, the first magnet 244, the second magnet 246, the tile-shaped magnet 356, and the optional two-dimensional force sensor 180 respectively provide feedback on the finger root angle, lateral swing angle, folding angle, and grasping force information. The control device adjusts the output of each drive device according to the feedback information, so that the modular dexterous hand 100 maintains grasping stability while avoiding applying excessive clamping force to the target object.

[0147] The terms "first," "second," "left side," and "right side," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units may not be defined in the listed steps or units, but may include steps or units not listed.

[0148] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A modular dexterous hand, characterized in that, include: The palm (110), multiple finger components (120) and thumb component (130); At least one finger root drive device (200) is disposed on the palm part (110) and connected to the corresponding finger assembly (120). The finger root drive device (200) includes a first drive mechanism (210), a second drive mechanism (220) and a differential output component (240). The first drive mechanism (210) and the second drive mechanism (220) are respectively connected to the differential output component (240) for transmission, and drive the corresponding finger assembly (120) to move around two different axes through the differential output component (240). A folding drive device (300) is disposed on the palm part (110). The output end of the folding drive device (300) is connected to a movable support frame (140). At least one finger assembly (120) is mounted on the movable support frame (140) through a corresponding finger root drive device (200). The folding drive device (300) is used to drive the movable support frame (140) to move relative to the palm part (110). A thumb drive device (400) is disposed on the palm part (110) and connected to the thumb assembly (130). The thumb drive device (400) includes a differential output component (430). The thumb drive device (400) drives the thumb assembly (130) to move around different axes through the differential output component (430).

2. The modular dexterous hand according to claim 1, characterized in that, The palm portion (110) includes a palm housing (111) and a support frame (112) disposed within the palm housing (111), the support frame (112) being provided with a mounting beam (113); the number of the finger assemblies (120) is four and each is connected to a finger root drive device (200), wherein at least three of the finger root drive devices (200) are spaced apart on the mounting beam (113) along the extension direction of the mounting beam (113).

3. The modular dexterous hand according to claim 2, characterized in that, The finger root drive device (200) includes a gearbox housing (230), and the first drive mechanism (210) and the second drive mechanism (220) are both disposed inside the gearbox housing (230); The first drive mechanism (210) includes a first motor (211), a first transmission component (212), and a first planetary reduction component (213). The second drive mechanism (220) includes a second motor (221), a second transmission component (222), and a second planetary reduction component (223). The first motor (211) and the second motor (221) are arranged side by side and their output ends are arranged in opposite directions. The first planetary reduction component (213) and the second planetary reduction component (223) are respectively connected to the differential output component (240) through corresponding gear sets.

4. The modular dexterous hand according to claim 3, characterized in that, The differential output assembly (240) includes two oppositely arranged input bevel gears (241) and two oppositely arranged output bevel gears (242). The two input bevel gears (241) are respectively connected to the corresponding gear set, and the two output bevel gears (242) are respectively meshed with the corresponding input bevel gears (241) and are connected to the corresponding finger assembly (120) for transmission.

5. The modular dexterous hand according to claim 4, characterized in that, Two output bevel gears (242) are rotatably mounted on the finger connector (121), and the finger connector (121) is connected to the corresponding finger assembly (120); the rotation axes of the two input bevel gears (241) coincide to form a first axis (L1), and the rotation axes of the two output bevel gears (242) coincide to form a second axis (L2), and the first axis (L1) and the second axis (L2) are arranged perpendicularly.

6. The modular dexterous hand according to claim 5, characterized in that, The two input bevel gears (241) pass through a curved magnetic mounting base (243), one end of which is equipped with a first magnet (244); the two output bevel gears (242) pass through a side-swing magnetic mounting base (245), one end of which is equipped with a second magnet (246).

7. The modular dexterous hand according to claim 3, characterized in that, The differential output component (240) is a differential magnetic drive assembly (250), which includes a first driven bevel gear (251), a second driven bevel gear (252), a third driven bevel gear (253), and a fourth driven bevel gear (254). The first driven bevel gear (251) and the second driven bevel gear (252) are arranged opposite to each other and are respectively connected to the gear sets of the first planetary reduction assembly (213) and the second planetary reduction assembly (223). The third driven bevel gear (254) is a third driven bevel gear (255) and the fourth driven bevel gear (255). The moving bevel gear (253) and the fourth driven bevel gear (254) are arranged opposite to each other and mesh with the first driven bevel gear (251) and the second driven bevel gear (252) respectively; the finger assembly (120) is connected to a connecting seat (255), the connecting seat (255) is provided with a side-swing magnetic braiding seat (245), the third driven bevel gear (253) is fixedly connected to the connecting seat (255), and the fourth driven bevel gear (254) is rotatably arranged on the connecting seat (255).

8. The modular dexterous hand according to claim 7, characterized in that, The third driven bevel gear (253) and the fourth driven bevel gear (254) are both provided with mounting holes (256) in the middle. The third driven bevel gear (253) and the fourth driven bevel gear (254) are respectively set at both ends of the side-swing magnetic braiding base (245) through the corresponding mounting holes (256). A copper sleeve (257) is fitted at the connection between the fourth driven bevel gear (254) and the connecting base (255).

9. The modular dexterous hand according to claim 8, characterized in that, The finger root drive device (200) also includes a finger root cover (260), which covers the outside of the differential magnetic braiding assembly (250). The finger root cover (260) is provided with a mounting boss (262), and the mounting boss (262) is provided with a fixing seat (263). The fixing seat (263) extends into the mounting hole (256) of the fourth driven bevel gear (254) and is connected to the side-swing magnetic braiding seat (245).

10. The modular dexterous hand according to claim 9, characterized in that, The side-swing magnetic base (245) is provided with a radially magnetized second magnet (246) at one end near the third driven bevel gear (253). The second magnet (246) is covered with a side-swing sensing cable (247). The finger root cover (260) has a wire groove (261) for the side-swing sensing cable (247) to run through. The side-swing sensing cable (247) extends through the wire groove (261) to the outside of the finger root cover (260).

11. The modular dexterous hand according to claim 9, characterized in that, The finger root shield (260) is constructed in a reverse C-shape and includes a detachably connected upper shield portion (266) and a lower shield portion (267). The outer side of the finger root shield (260) is covered with a rubber layer (268).

12. The modular dexterous hand according to claim 9, characterized in that, A shim (264) and a backlash-eliminating disc spring (265) are provided between the mounting boss (262) and the fourth driven bevel gear (254). The shim (264) is provided on the mounting boss (262), and the backlash-eliminating disc spring (265) is provided on the shim (264) and abuts against the fourth driven bevel gear (254) to provide axial preload to the fourth driven bevel gear (254).

13. The modular dexterous hand according to claim 2, characterized in that, The movable support frame (140) is a little finger support frame. The four finger components (120) include a little finger component (122). The finger root drive device (200) corresponding to the little finger component (122) is installed on the little finger support frame (140). The folding drive device (300) drives the little finger component (122) to fold relative to the palm part (110) through the little finger support frame (140).

14. The modular dexterous hand according to claim 13, characterized in that, The folding drive device (300) includes a mounting shell (310), a drive motor (320), a reduction assembly (330), and an output flange (350). The mounting shell (310) is provided with a gear ring groove (311) and a motor groove (312). The reduction assembly (330) is installed in the gear ring groove (311), and the drive motor (320) is installed in the motor groove (312). The output flange (350) is connected to the output end of the reduction assembly (330) and to the little finger support frame (140).

15. The modular dexterous hand according to claim 14, characterized in that, The reduction gear assembly (330) includes a first planetary carrier (333), a second planetary carrier (336), and an output planetary carrier (339). The first planetary carrier (333) is provided with a first planetary gear (334) and a second sun gear (335). The second planetary carrier (336) is provided with a second planetary gear (337) and a third sun gear (338). The output planetary carrier (339) is provided with a third planetary gear (340). The first planetary gear (334), the second planetary gear (337), and the third planetary gear (340) all mesh with the internal gear ring (313) of the gear ring groove (311). The drive motor (320) is connected to the first sun gear (332) through a front gear set (331) and drives the output flange (350) to rotate in sequence through the first planetary carrier (333), the second planetary carrier (336), and the output planetary carrier (339).

16. The modular dexterous hand according to claim 15, characterized in that, The output planetary carrier (339) is connected to a disc spring cover (341). At least one disc spring (342) is provided between the disc spring cover (341) and the output flange (350). The side of the disc spring (342) facing the output flange (350) is conical. The disc spring cover (341) applies a clamping force to the output flange (350) through the disc spring (342) and limits the maximum output torque of the folding drive device (300) through the disc spring (342).

17. The modular dexterous hand according to claim 15, characterized in that, The deceleration assembly (330) is provided with a plurality of placement slots (343), and each of the plurality of placement slots (343) is provided with a rolling ball (344). The rolling ball (344) abuts against the axial end of at least one sun gear in the deceleration assembly (330) to provide axial support for at least one sun gear.

18. The modular dexterous hand according to claim 14, characterized in that, The output flange (350) is provided with a connecting protrusion (351) and an annular groove (352). The connecting protrusion (351) is connected and fixed to the little finger support frame (140). The groove (352) is provided with a needle roller bearing (353) that abuts radially against the mounting shell (310). The outer edge of the output flange (350) is provided with a ball bearing (354) that abuts axially against the mounting shell (310).

19. The modular dexterous hand according to claim 18, characterized in that, A magnet seat (355) is provided on the outside of the output flange (350), and a tile-shaped magnet (356) for detecting the rotation angle of the output flange (350) is installed on the magnet seat (355).

20. The modular dexterous hand according to claim 1, characterized in that, The thumb drive device (400) includes a first servo drive branch (410) and a second servo drive branch (420). The first servo drive branch (410) and the second servo drive branch (420) are respectively connected to the differential output assembly (430). The differential output assembly (430) includes a transmission frame (431), a first thumb bevel gear (432) and a second thumb bevel gear (433) arranged opposite to each other, and a third thumb bevel gear (434) and a fourth thumb bevel gear (435) rotatably arranged in the transmission frame (431). 5) The third thumb bevel gear (434) and the fourth thumb bevel gear (435) mesh with the first thumb bevel gear (432) and the second thumb bevel gear (433) respectively. The first servo drive branch (410) is driven to the first thumb bevel gear (432), and the second servo drive branch (420) is driven to the second thumb bevel gear (433). The fourth thumb bevel gear (435) is connected to a tooth root joint (436), and the tooth root joint (436) is connected to the thumb assembly (130).

21. A driving control method for a modular dexterous hand, characterized in that, An application to a modular dexterous hand as described in any one of claims 1 to 20, comprising at least the following steps: Step S1: Control the first drive mechanism (210) and the second drive mechanism (220) of the finger root drive device (200) to output synchronously or asynchronously, so that the differential output component (240) drives the corresponding finger component (120) to move around two different axes; Step S2: Control the folding drive device (300) to drive the movable support frame (140) to move relative to the palm part (110), so as to drive the finger assembly (120) and the corresponding finger root drive device (200) mounted on the movable support frame (140) to move as a whole; Step S3: Control the thumb drive device (400) to input power to the differential output component (430) so as to drive the thumb component (130) to move around different axes through the differential output component (430).

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