Multi-degree-of-freedom full-drive dexterous hand and robot

Abstract

The utility model discloses a multi-degree-of-freedom all-drive dexterous hand and robot, the multi-degree-of-freedom all-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor, wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, finger joints can move more directly and sensitively, finer and more complex actions can be achieved, and flexibility of fingers is greatly enhanced. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand technology, specifically to a multi-degree-of-freedom fully driven dexterous hand and robot. Background Technology

[0002] With the continuous development of technology, bionic hands have shown enormous application potential in numerous fields such as medical rehabilitation, industrial production, aerospace, and service robots. Bionic hands aim to mimic the structure and function of the human hand, providing users with a more natural and flexible operating experience. In the design of bionic hands, the joint drive structure is a key component in realizing its function, directly affecting the flexibility, motion precision, and overall performance of the bionic hand.

[0003] Currently, most bionic hand joint drive structures on the market generally employ a combination of a conventional motor and a common speed reducer. The working principle of this drive structure is that the conventional motor provides power, while the common speed reducer reduces the motor's output speed while increasing torque to meet the needs of the bionic hand's joint drive. However, this combination method suffers from low space utilization, reduced finger dexterity, and increased control difficulty. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, embodiments of this utility model propose a multi-degree-of-freedom fully driven dexterous hand and robot.

[0006] This utility model embodiment of a multi-degree-of-freedom fully driven dexterous hand includes a palm and multiple fingers, which are spaced apart on the palm. Each finger includes a proximal phalanx, a middle phalanx, a distal phalanx, a first motor, a second motor, a third motor, and a fourth motor. Each of the first, second, third, and fourth motors is a frameless torque motor. The frameless torque motor includes a stator, a rotor, and an output shaft. The rotor is located inside the stator, and the output shaft is connected to the rotor. The stator of the first motor is connected to the palm, and the output shaft of the first motor is perpendicular to the palm surface and connected to the stator of the second motor. The output shaft of the second motor is connected to the proximal phalanx. The proximal phalanx is pivotally connected to the middle phalanx via the third motor, and the middle phalanx is pivotally connected to the distal phalanx via the fourth motor. The first, second, third, and fourth motors cooperate to drive the fingers to bend or extend in order to grasp or release objects.

[0007] In some embodiments, the frameless torque motor further includes a circuit board, which is connected to the stator signal.

[0008] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand of this utility model includes a harmonic reducer. The harmonic reducer includes a flexible wheel, a fixed rigid wheel, a rotating rigid wheel, and a reduction shaft. The reduction shaft is coaxially arranged and rotatably connected to the output shaft of the frameless torque motor. The fixed rigid wheel is sleeved on the reduction shaft and connected to the stator of the frameless torque motor. The rotating rigid wheel is sleeved on the reduction shaft and spaced apart from the fixed rigid wheel. A portion of the external teeth of the flexible wheel meshes with the internal teeth of the fixed rigid wheel, and another portion of the external teeth of the flexible wheel meshes with the internal teeth of the rotating rigid wheel. The output shaft of the frameless torque motor is connected to the flexible wheel for transmission, so that the flexible wheel drives the rotating rigid wheel to rotate the reduction shaft.

[0009] In some embodiments, the output shaft of the frameless torque motor has a first cylinder and a second cylinder on the end face adjacent to the flexure. The first cylinder and the second cylinder are centrally symmetrical about the output shaft of the frameless torque motor. A first drive wheel is rotatably provided on the first cylinder, and a second drive wheel is rotatably provided on the second cylinder. The outer peripheral surfaces of the first drive wheel and the second drive wheel abut against the inner peripheral surface of the flexure, for driving the flexure to rotate.

[0010] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand of this utility model includes a protective shell, which covers the frameless torque motor and the harmonic reducer, and the reduction shaft extends out of the protective shell.

[0011] In some embodiments, the protective housing has a first housing wall and a second housing wall that are axially opposite to each other along the output shaft. A first support bearing is provided on the first housing wall, and a second support bearing is provided on the second housing wall. The output shaft has a through hole for the reduction shaft to pass through. One end of the reduction shaft passes through the through hole, through the stator and the rotor, and is connected to the first support bearing. The other end of the reduction shaft is connected to the second support bearing.

[0012] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand of this utility model further includes a third support bearing, which is mounted on the reduction shaft, and the output shaft is mounted on the third support bearing.

[0013] In some embodiments, the protective housing includes a housing body and an end cap, each of the stator and the fixed rigid wheel is connected to the housing body, the end cap is detachably connected to the housing body, a first support bearing is disposed on the housing body, and a second support bearing is disposed on the end cap.

[0014] In some embodiments, the palm includes a first palm plate and a second palm plate, the first palm plate and the second palm plate being arranged in an L-shape, and the plurality of fingers including a thumb, index finger, middle finger, ring finger and little finger, the thumb being disposed on the first palm plate, and the index finger, the middle finger, the ring finger and the little finger being disposed alternately on the second palm plate.

[0015] The robot of this utility model embodiment includes the multi-degree-of-freedom fully driven dexterous hand described in any of the above embodiments.

[0016] This embodiment of the multi-degree-of-freedom fully driven dexterous hand uses a frameless torque motor. The frameless torque motor has a compact structure, eliminates the need for an additional reducer, and reduces the space occupied by the drive structure. This makes the internal structure of the bionic hand simpler, providing more space for the layout of the fingers and improving the overall compactness and miniaturization of the bionic hand.

[0017] Traditional drive structures can impair finger dexterity. In this invention, a frameless torque motor directly drives the finger joints, reducing intermediate transmission links. This direct drive method makes finger joint movement more direct and sensitive, enabling more precise and complex movements, greatly enhancing finger dexterity, and allowing the bionic hand to better simulate the natural movements of the human hand.

[0018] This invention uses a frameless torque motor, which is relatively simple to control. The frameless torque motor can achieve precise adjustment of output torque and speed through precise current control, reducing nonlinear factors and transmission errors caused by intermediate components such as speed reducers. This allows the control system to more accurately control finger movements, reducing the complexity and difficulty of control. Attached Figure Description

[0019] Figure 1 This is a front view of a multi-degree-of-freedom fully driven dexterous hand according to an embodiment of this utility model.

[0020] Figure 2 This is a rear view of the multi-degree-of-freedom fully driven dexterous hand according to an embodiment of the present invention.

[0021] Figure 3 This is a side view of a multi-degree-of-freedom fully driven dexterous hand according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the connection between the frameless torque motor and the harmonic reducer in an embodiment of this utility model.

[0023] Figure 5 This is an exploded view of the connection between the frameless torque motor and the harmonic reducer in an embodiment of this utility model.

[0024] Figure 6This is an exploded view of the connection between the frameless torque motor and the harmonic reducer in an embodiment of this utility model.

[0025] Figure label:

[0026] 100. Multi-DOF Full-Drive Dexterous Hand; 1. Palm; 101. First Palm Plate; 102. Second Palm Plate; 2. Fingers; 201. Proximal Finger; 202. Middle Finger; 203. Distal Finger; 204. First Motor; 205. Second Motor; 206. Third Motor; 207. Fourth Motor; 3. Stator; 4. Rotor; 5. Output Shaft; 6. Circuit Board; 7. Harmonic Reducer; 701. Flexible Wheel; 702. Fixed Rigid Wheel; 703. Rotating Rigid Wheel; 704. Reduction Shaft; 8. First Cylinder; 9. Second Cylinder; 10. First Drive Wheel; 11. Second Drive Wheel; 12. Protective Shell; 1201. First Shell Wall; 1202. Second Shell Wall; 1203. Shell Body; 1204. End Cap; 13. First Support Bearing; 14. Second Support Bearing; 15. Third Support Bearing. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] like Figures 1 to 6 As shown, the multi-degree-of-freedom fully driven dexterous hand 100 of this utility model embodiment includes a palm 1 and multiple fingers 2. The multiple fingers 2 are spaced apart on the palm 1, and each finger 2 includes a proximal phalanx 201, a middle phalanx 202, a distal phalanx 203, a first motor 204, a second motor 205, a third motor 206, and a fourth motor 207, wherein each of the first motor 204, the second motor 205, the third motor 206, and the fourth motor 207 is a frameless torque motor.

[0029] The frameless torque motor includes a stator 3, a rotor 4, and an output shaft 5. The rotor 4 is located inside the stator 3, and the output shaft 5 is connected to the rotor 4. The stator 3 of the first motor 204 is connected to the palm 1, and the output shaft 5 of the first motor 204 is perpendicular to the palm surface of the palm 1 and connected to the stator 3 of the second motor 205. The output shaft 5 of the second motor 205 is connected to the proximal phalanx 201. The proximal phalanx 201 is pivotally connected to the middle phalanx 202 via a third motor 206, and the middle phalanx 202 is pivotally connected to the distal phalanx 203 via a fourth motor 207. The first motor 204, the second motor 205, the third motor 206, and the fourth motor 207 work together to drive the fingers 2 to bend or extend in order to grasp or release objects.

[0030] The multi-degree-of-freedom fully driven dexterous hand 100 of this utility model embodiment consists of a palm 1 and multiple fingers 2. Each finger 2 includes a proximal phalanx 201, a middle phalanx 202, a distal phalanx 203, and four frameless torque motors (first motor 204, second motor 205, third motor 206, and fourth motor 207). Its working principle is as follows:

[0031] The frameless torque motor includes a stator 3, a rotor 4, and an output shaft 5. The rotor 4 is located inside the stator 3, and the output shaft 5 is connected to the rotor 4. This structure allows the motor to directly output a large torque, providing the power basis for the movement of the finger 2.

[0032] The stator 3 of the first motor 204 is connected to the palm 1, and the output shaft 5 is set perpendicular to the palm surface of the palm 1 and connected to the stator 3 of the second motor 205. The function of the first motor 204 is to drive the second motor 205 and the subsequent finger 2 to make a certain angle adjustment in the direction perpendicular to the palm surface of the palm 1, so as to provide the initial direction and position adjustment for the overall movement of the finger 2.

[0033] The output shaft 5 of the second motor 205 is connected to the proximal phalanx 201, and it is mainly responsible for driving the movement of the proximal phalanx 201, enabling the proximal phalanx 201 to flex or extend relative to the palm 1. The third motor 206 is located between the proximal phalanx 201 and the middle phalanx 202, allowing the proximal phalanx 201 and the middle phalanx 202 to be pivotally connected, driving the middle phalanx 202 to flex or extend relative to the proximal phalanx 201. The fourth motor 207 is located between the middle phalanx 202 and the distal phalanx 203, allowing the middle phalanx 202 and the distal phalanx 203 to be pivotally connected, driving the distal phalanx 203 to flex or extend relative to the middle phalanx 202.

[0034] Through the coordination of the first motor 204, the second motor 205, the third motor 206, and the fourth motor 207, each finger 2 can perform bending or extending movements. When the finger 2 bends, it can grasp an object; when the finger 2 extends, it releases the object, thus completing the entire grasping and releasing operation.

[0035] The multi-degree-of-freedom fully driven dexterous hand 100 of this embodiment adopts a frameless torque motor. The frameless torque motor has a compact structure and does not require an additional reducer, reducing the space occupied by the drive structure. This makes the internal structure of the bionic hand simpler, providing more space for the layout of each part of the fingers 2, which is conducive to improving the overall compactness and miniaturization of the bionic hand.

[0036] Traditional drive structures can affect the dexterity of finger 2. In this invention, a frameless torque motor can directly drive the joint of finger 2, reducing intermediate transmission links. This direct drive method makes the movement of the joint of finger 2 more direct and sensitive, enabling more precise and complex movements, greatly enhancing the dexterity of finger 2, and allowing the bionic hand to better simulate the natural movements of the human hand.

[0037] This invention uses a frameless torque motor, which is relatively simple to control. The frameless torque motor can achieve precise adjustment of output torque and speed through precise current control, reducing nonlinear factors and transmission errors caused by intermediate links such as reducers. This allows the control system to more accurately control the movement of finger 2, reducing the complexity and difficulty of control.

[0038] In some embodiments, the frameless torque motor further includes a circuit board 6, which is signal-connected to the stator 3.

[0039] Circuit board 6 can act as a control core, receiving command signals from an external control system. These command signals may include information such as the direction, angle, and speed of finger 2 movement. After receiving the signals, circuit board 6 processes and analyzes them, and then sends corresponding control signals to stator 3 according to the command requirements, thereby precisely adjusting the magnetic field generated by stator 3.

[0040] The change in the magnetic field generated by stator 3 drives rotor 4 to rotate, which in turn drives output shaft 5 to rotate, ultimately enabling various movements of finger 2. For example, when finger 2 needs to bend to grasp an object, the external control system sends a bending command to circuit board 6. After processing, circuit board 6 adjusts the magnetic field of stator 3, causing the motor to drive the joint of finger 2 to bend. When it is necessary to release an object, circuit board 6 will change the magnetic field of stator 3 according to the release command, allowing finger 2 to extend.

[0041] By precisely controlling the current and magnetic field of stator 3, circuit board 6 can achieve high-precision adjustment of the motor's output torque and speed. This means that the movement of finger 2 joints can be more accurately performed according to preset instructions, thereby improving the accuracy of the bionic hand in grasping and manipulating objects. For example, when grasping small or fragile items, the force and position of finger 2 can be controlled more precisely, avoiding damage to the items due to inaccurate control.

[0042] The signal connection between circuit board 6 and stator 3 creates a relatively independent and complete control unit within the motor. This facilitates better integration of the motor with the overall control system of the bionic hand. During the design and manufacture of the bionic hand, it is easier to connect and communicate between the circuit boards 6 of each motor and the main control system, reducing complex external wiring and signal transmission links, and improving the system's stability and reliability.

[0043] In some embodiments, such as Figures 4 to 6 As shown, the multi-degree-of-freedom fully driven dexterous hand 100 of this embodiment includes a harmonic reducer 7, which includes a flexible wheel 701, a fixed rigid wheel 702, a rotating rigid wheel 703, and a reduction shaft 704. The reduction shaft 704 is coaxially and rotatably connected to the output shaft 5 of the frameless torque motor. The fixed rigid wheel 702 is sleeved on the reduction shaft 704 and connected to the stator 3 of the frameless torque motor. The rotating rigid wheel 703 is sleeved on the reduction shaft 704 and spaced apart from the fixed rigid wheel 702. A portion of the external teeth of the flexible wheel 701 meshes with the internal teeth of the fixed rigid wheel 702, and another portion of the external teeth of the flexible wheel 701 meshes with the internal teeth of the rotating rigid wheel 703. The output shaft 5 of the frameless torque motor is connected to the flexible wheel 701 for transmission, so that the flexible wheel 701 drives the rotating rigid wheel 703 to rotate the reduction shaft 704.

[0044] The frameless torque motor serves as the power source, and its output shaft 5 begins to rotate. Since the reduction shaft 704 is coaxially and rotatably connected to the output shaft 5 of the frameless torque motor, the power output by the frameless torque motor is transmitted to the flexible wheel 701, because the output shaft 5 of the frameless torque motor is connected to the flexible wheel 701 in a transmission manner.

[0045] The flexible wheel 701 deforms under the drive of the output shaft 5 of the frameless torque motor. Part of its external teeth meshes with the internal teeth of the fixed rigid wheel 702, and another part meshes with the internal teeth of the rotating rigid wheel 703. The fixed rigid wheel 702 is mounted on the reduction shaft 704 and connected to the stator 3 of the frameless torque motor; its position is fixed. When the flexible wheel 701 rotates, due to its special meshing relationship with the two rigid wheels, the rotating rigid wheel 703 will rotate relative to the fixed rigid wheel 702. The rotating rigid wheel 703 is mounted on the reduction shaft 704, and the rotation of the rotating rigid wheel 703 will drive the reduction shaft 704 to rotate.

[0046] After the reduction shaft 704 rotates, the power after reduction and torque amplification is transmitted to the corresponding joints of the finger 2, such as the proximal phalanx 201, the middle phalanx 202, or the distal phalanx 203, driving the finger 2 to complete bending or extending movements, thereby realizing the function of grasping or releasing objects.

[0047] The harmonic reducer 7 features a high reduction ratio, significantly increasing torque while reducing speed. While the frameless torque motor itself can output a certain amount of torque, it may not be sufficient for scenarios requiring significant force to grasp objects. Through the speed reduction and torque amplification effect of the harmonic reducer 7, the torque transmitted to the finger joint 2 is increased, thereby enhancing the bionic hand's ability to grasp heavy objects and broadening its application range. For example, it can be used in industrial production to grasp heavier parts.

[0048] The harmonic reducer 7 offers high transmission accuracy and low hysteresis. During the transmission of power from the frameless torque motor through the harmonic reducer 7, transmission errors are reduced, resulting in more precise movement of the finger joints. This is crucial for tasks requiring fine motor skills, such as assisting patients in delicate hand rehabilitation training in the medical field, or assembling tiny components in the aerospace industry, improving operational accuracy and success rates.

[0049] Although a harmonic reducer 7 has been added, the reducer itself is compact and small in size. Compared with traditional ordinary reducers, it achieves the function of speed reduction and torque increase without significantly increasing the overall size and weight of the bionic hand. This allows the bionic hand to achieve more powerful functions while maintaining good space utilization, which is beneficial to improving the portability and practicality of the bionic hand.

[0050] In some embodiments, such as Figure 6 As shown, the output shaft 5 of the frameless torque motor has a first cylinder 8 and a second cylinder 9 on its end face adjacent to the flexible wheel 701. The first cylinder 8 and the second cylinder 9 are centrally symmetrical about the output shaft 5 of the frameless torque motor. A first drive wheel 10 is rotatably mounted on the first cylinder 8, and a second drive wheel 11 is rotatably mounted on the second cylinder 9. The outer circumferential surfaces of the first drive wheel 10 and the second drive wheel 11 abut against the inner circumferential surface of the flexible wheel 701 to drive the flexible wheel 701 to rotate.

[0051] When the frameless torque motor starts, the output shaft 5 begins to rotate. Since the first cylinder 8 and the second cylinder 9 are located on the end face of the output shaft 5 adjacent to the flexible wheel 701 and are centrally symmetrical about the output shaft 5, they rotate synchronously with the output shaft 5. As the output shaft 5 rotates, the first drive wheel 10 and the second drive wheel 11 rotate around their respective cylinders, while their outer circumferential surfaces abut against the inner circumferential surface of the flexible wheel 701. This abutting contact causes the first drive wheel 10 and the second drive wheel 11 to generate friction on the flexible wheel 701 during rotation, thereby driving the flexible wheel 701 to rotate. After the flexible wheel 701 rotates, according to the working principle of the harmonic reducer 7 described above, it drives the rotating rigid wheel 703 to rotate, ultimately causing the reduction shaft 704 to rotate, transmitting power to the finger joint 2 to achieve the bending or extending movement of the finger 2.

[0052] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand 100 of this utility model includes a protective shell 12, which covers the frameless torque motor and harmonic reducer 7, with the reduction shaft 704 extending out of the protective shell 12.

[0053] The frameless torque motor provides power, which is reduced and increased in torque by the harmonic reducer 7. During this process, the protective shell 12 covers the frameless torque motor and the harmonic reducer 7, without affecting the internal power transmission process. The reduction shaft 704 extends out of the protective shell 12, enabling the processed power to be transmitted normally to the corresponding joints of the fingers 2, driving the fingers 2 to perform bending or extending movements, thus achieving the function of grasping or releasing objects. The protective shell 12 acts like a "protective shield," creating a stable working environment for the key internal components, preventing external interference in the power transmission process, and ensuring that the entire system operates continuously and stably according to its established working principle.

[0054] The protective shell 12 integrates the frameless torque motor and harmonic reducer 7, making the entire drive unit a relatively independent and compact module. This modular design facilitates operation during the manufacturing, installation, and maintenance of the bionic hand. Manufacturers can more easily integrate this module into the overall structure of the bionic hand, and users can more easily disassemble and replace the drive unit during maintenance or upgrades.

[0055] In some embodiments, the protective housing 12 has a first housing wall 1201 and a second housing wall 1202 that are axially opposite to each other along the output shaft 5. A first support bearing 13 is provided on the first housing wall 1201, and a second support bearing 14 is provided on the second housing wall 1202. The output shaft 5 has a through hole for the reduction shaft 704 to pass through. One end of the reduction shaft 704 passes through the through hole, passes through the stator 3 and the rotor 4, and is connected to the first support bearing 13. The other end of the reduction shaft 704 is connected to the second support bearing 14.

[0056] The precise support provided by the first support bearing 13 and the second support bearing 14 to the reduction shaft 704 reduces radial runout and axial movement during rotation. This allows the reduction shaft 704 to transmit power to the finger joints more accurately, improving the precision and repeatability of finger movement. In scenarios requiring fine manipulation, such as grasping small objects or performing precision assembly, high-precision transmission ensures the bionic hand accurately completes its tasks.

[0057] A stable support structure reduces the risk of wear and damage between the reduction shaft 704 and other components. The use of bearings reduces direct contact between the reduction shaft 704 and the protective housing 12, preventing damage to components from heat generated by friction and wear particles. This extends the service life of the reduction shaft 704 and the entire drive system, reduces the number of failures and repairs caused by component damage, and improves the reliability and stability of the bionic hand.

[0058] In some embodiments, the multi-degree-of-freedom fully driven dexterous hand 100 of this utility model further includes a third support bearing 15, which is mounted on the reduction shaft 704, and the output shaft 5 is mounted on the third support bearing 15.

[0059] The frameless torque motor output shaft 5 rotates, transmitting power to the flexible wheel 701, which in turn drives the reduction shaft 704 to rotate via the harmonic reducer 7. At this time, the third support bearing 15 is mounted on the reduction shaft 704, and the output shaft 5 is also mounted on the third support bearing 15. This means that the third support bearing 15 plays a crucial role in connecting and supporting the output shaft 5 and the reduction shaft 704. It allows the output shaft 5 and the reduction shaft 704 to maintain a stable positional relationship during relative rotation, enabling power to be smoothly transmitted from the output shaft 5 to the reduction shaft 704, and then to the finger joint 2, thus achieving the bending and extending movements of the finger 2.

[0060] During the relative rotation of the output shaft 5 and the reduction shaft 704, the third support bearing 15 effectively reduces the direct friction between them. Simultaneously, it buffers vibrations and impacts generated by rotation, preventing these factors from interfering with the power transmission process and ensuring the stable and efficient operation of the entire transmission system.

[0061] In some embodiments, the protective shell 12 includes a shell body 1203 and an end cap 1204. Each of the stator 3 and the fixed rigid wheel 702 is connected to the shell body 1203, and the end cap 1204 is detachably connected to the shell body 1203. A first support bearing 13 is disposed on the shell body 1203, and a second support bearing 14 is disposed on the end cap 1204.

[0062] For example, the end cap 1204 is connected to the housing body 1203 by screws. The end cap 1204 is detachably connected to the housing body 1203, forming a relatively enclosed space together with the housing body 1203, enclosing components such as the frameless torque motor and harmonic reducer 7. The first support bearing 13 is mounted on the housing body 1203, and the second support bearing 14 is mounted on the end cap 1204. Together, they support the reduction shaft 704, ensuring stable rotation of the reduction shaft 704 and achieving smooth power transmission.

[0063] During assembly, since the end cover 1204 is detachable, components such as the stator 3 and the fixed rigid wheel 702 can be installed onto the housing body 1203 first. Then, other related components such as the output shaft 5 of the frameless torque motor, the flexible wheel 701, the rotating rigid wheel 703, and the reduction shaft 704 are installed in sequence. Finally, the end cover 1204 is installed. This step-by-step installation method makes the installation of each component more convenient and improves the efficiency of production assembly.

[0064] In some embodiments, the palm 1 includes a first palm plate 101 and a second palm plate 102, which are arranged in an L-shape. Multiple fingers 2 include a thumb, index finger, middle finger, ring finger, and little finger. The thumb is located on the first palm plate 101, and the index finger, middle finger, ring finger, and little finger are spaced apart on the second palm plate 102.

[0065] like Figures 1 to 3 As shown, the first palm plate 101 and the second palm plate 102 are arranged in an L-shape to mimic the basic structure of a human hand 1. When a human grasps an object, the thumb moves relative to the other four fingers to achieve a grasping action. In this embodiment, the thumb is located on the first palm plate 101, and the index, middle, ring, and little fingers are spaced apart on the second palm plate 102. This arrangement allows the bionic hand to simulate the natural grasping method of the human hand. When it is necessary to grasp an object, each finger 2, under the action of the frameless torque motor, harmonic reducer 7, and other driving structures, bends or extends according to a predetermined program. The thumb and the other four fingers cooperate to form different grasping postures to adapt to objects of different shapes, sizes, and weights.

[0066] The movement of each finger 2 is controlled by its own independent drive system (such as a frameless torque motor), but they also need to cooperate with each other. For example, when grasping a cylindrical object, the thumb bends relative to the other four fingers to form a circular gripping force, fixing the object in the hand. In this process, the drive system of each finger 2 precisely controls the bending angle and force of the finger 2 according to the characteristics of the object and the required gripping force, so as to achieve a stable and effective grasp.

[0067] By placing the thumb and the other four fingers on separate palm plates, the bionic hand can achieve various grasping methods, such as pinching, grasping, and holding, similar to the operational functions of the human hand. This diverse grasping method allows the bionic hand to play a role in different application scenarios, such as assisting patients in various hand movement training in medical rehabilitation, and completing the grasping and assembly of parts of different shapes in industrial production.

[0068] This humanoid structural design enhances the operational flexibility of the bionic hand. Compared to some simple mechanical grippers, the bionic hand in this embodiment can adapt more naturally to the shape and position of objects, achieving more precise operations. For example, when grasping irregularly shaped objects, each finger 2 can flexibly adjust according to the object's contour to ensure a stable grip.

[0069] The thumb is positioned opposite the other four fingers on the L-shaped palm 1. This arrangement allows the fingers 2 to form a stable gripping force balance when grasping an object. The thumb provides a supporting force opposite to that of the other four fingers, enhancing grip stability. For example, when grasping a heavier object, the coordinated action of the thumb and other four fingers better distributes the object's weight, preventing it from slipping.

[0070] The index, middle, ring, and little fingers are spaced apart on the second palm plate 102. They can work together to adjust the position and curvature of the fingers 2 according to the size and shape of the object. The simultaneous action of multiple fingers 2 increases the contact area with the object, further improving the stability of the grasp.

[0071] This utility model also discloses a robot, including the multi-degree-of-freedom fully driven dexterous hand described in any of the above embodiments.

[0072] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0075] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-degree-of-freedom fully driven dexterous hand, characterized in that, include: Palm (1); and Multiple fingers (2) are spaced apart on the palm (1). Each finger (2) includes a proximal phalanx (201), a middle phalanx (202), a distal phalanx (203), a first motor (204), a second motor (205), a third motor (206), and a fourth motor (207). Each of the first motor (204), the second motor (205), the third motor (206), and the fourth motor (207) is a frameless torque motor. Each frameless torque motor includes a stator (3), a rotor (4), and an output shaft (5). The rotor (4) is located inside the stator (3), and the output shaft (5) is connected to the rotor (4). The stator (3) of the first motor (204) is connected to the output shaft (5). The first motor (204) is connected to the palm (1). The output shaft (5) of the first motor (204) is set perpendicular to the palm surface of the palm (1) and connected to the stator (3) of the second motor (205). The output shaft (5) of the second motor (205) is connected to the proximal phalanx (201). The proximal phalanx (201) is pivotally connected to the middle phalanx (202) through the third motor (206). The middle phalanx (202) is pivotally connected to the distal phalanx (203) through the fourth motor (207). The first motor (204), the second motor (205), the third motor (206) and the fourth motor (207) cooperate to drive the fingers (2) to bend or extend in order to grasp or release objects.

2. The multi-degree-of-freedom fully driven dexterous hand according to claim 1, characterized in that, The frameless torque motor also includes a circuit board (6), which is signal connected to the stator (3).

3. The multi-degree-of-freedom fully driven dexterous hand according to claim 2, characterized in that, The system includes a harmonic reducer (7), which comprises a flexible wheel (701), a fixed rigid wheel (702), a rotating rigid wheel (703), and a reduction shaft (704). The reduction shaft (704) is coaxially and rotatably connected to the output shaft (5) of the frameless torque motor. The fixed rigid wheel (702) is sleeved on the reduction shaft (704) and connected to the stator (3) of the frameless torque motor. The rotating rigid wheel (703) is sleeved on the reduction shaft (704). The flexible wheel (701) is disposed on the fixed rigid wheel (702) at intervals. A portion of the external teeth of the flexible wheel (701) meshes with the internal teeth of the fixed rigid wheel (702), and another portion of the external teeth of the flexible wheel (701) meshes with the internal teeth of the rotating rigid wheel (703). The output shaft (5) of the frameless torque motor is connected to the flexible wheel (701) for transmission, so that the flexible wheel (701) drives the rotating rigid wheel (703) to drive the reduction shaft (704) to rotate.

4. The multi-degree-of-freedom fully driven dexterous hand according to claim 3, characterized in that, The output shaft (5) of the frameless torque motor has a first cylinder (8) and a second cylinder (9) on the end face adjacent to the flexible wheel (701). The first cylinder (8) and the second cylinder (9) are centrally symmetrical about the output shaft (5) of the frameless torque motor. A first drive wheel (10) is rotatably provided on the first cylinder (8), and a second drive wheel (11) is rotatably provided on the second cylinder (9). The outer peripheral surfaces of the first drive wheel (10) and the second drive wheel (11) abut against the inner peripheral surface of the flexible wheel (701) to drive the flexible wheel (701) to rotate.

5. The multi-degree-of-freedom fully driven dexterous hand according to claim 4, characterized in that, Includes a protective shell (12), which covers the frameless torque motor and the harmonic reducer (7), and the reduction shaft (704) extends out of the protective shell (12).

6. The multi-degree-of-freedom fully-driven dexterous hand according to claim 5, characterized in that, The protective shell (12) has a first shell wall (1201) and a second shell wall (1202) that are axially opposite to each other along the output shaft (5). A first support bearing (13) is provided on the first shell wall (1201), and a second support bearing (14) is provided on the second shell wall (1202). The output shaft (5) has a through hole for the reduction shaft (704) to pass through. One end of the reduction shaft (704) passes through the through hole, passes through the stator (3) and the rotor (4), and is connected to the first support bearing (13). The other end of the reduction shaft (704) is connected to the second support bearing (14).

7. The multi-degree-of-freedom fully driven dexterous hand according to claim 6, characterized in that, It also includes a third support bearing (15), which is mounted on the reduction shaft (704), and the output shaft (5) is mounted on the third support bearing (15).

8. The multi-degree-of-freedom fully-driven dexterous hand according to claim 7, characterized in that, The protective shell (12) includes a shell body (1203) and an end cap (1204). Each of the stator (3) and the fixed rigid wheel (702) is connected to the shell body (1203). The end cap (1204) is detachably connected to the shell body (1203). The first support bearing (13) is disposed on the shell body (1203), and the second support bearing (14) is disposed on the end cap (1204).

9. The multi-degree-of-freedom fully driven dexterous hand according to claim 1, characterized in that, The palm (1) includes a first palm plate (101) and a second palm plate (102), the first palm plate (101) and the second palm plate (102) are arranged in an L-shape, and the plurality of fingers (2) include a thumb, index finger, middle finger, ring finger and little finger, the thumb is located on the first palm plate (101), and the index finger, the middle finger, the ring finger and the little finger are spaced apart on the second palm plate (102).

10. A robot, characterized in that, Includes the multi-degree-of-freedom fully driven dexterous hand as described in any one of claims 1-9.

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