A pinch dexterous hand and robot

Abstract

The utility model discloses a pair of pinching dexterous hand and robot relates to dexterous hand technical field. The utility model discloses a pair of pinching dexterous hand, including palm plate, thumb subassembly, a plurality of finger subassembly, drive piece and adjusting assembly, thumb subassembly is located at the front side of palm plate, a plurality of finger subassembly interval is located at the top of palm plate along left and right direction, drive piece is located at palm plate along left and right direction position adjustable, adjusting assembly is located at palm plate and is used to drive drive piece and has a plurality of adjusting positions to move, at adjusting position, thumb subassembly with a one of a plurality of finger subassembly is opposite, thumb subassembly and finger subassembly are used to bend when holding article and mutually adhere. The utility model discloses a pair of pinching dexterous hand can realize thumb subassembly and finger subassembly's pair of pinching when holding article, increase the holding effect to article, guarantee dexterous hand's stability and reliability when holding article.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand technology, specifically to a pinching dexterous hand and robot. Background Technology

[0002] With the increasing application of bionic hands, also known as dexterous hands, in fields such as automated production, surgery, artificial intelligence, and micromanipulation, higher demands are being placed on the operational precision, flexibility, and adaptability of dexterous hands. While traditional robotic hands can perform basic grasping operations, they still have significant limitations in terms of precise control, complex task execution, and flexibility. For example, when using dexterous hands, there is a risk of limited grip effectiveness and the grasped object easily slipping out. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, this utility model embodiment proposes a pinching dexterous hand, which can realize the pinching of the thumb component and the finger component when holding an object, thereby increasing the gripping effect and ensuring the stability and reliability of the dexterous hand when holding the object.

[0005] This utility model embodiment also proposes a robot.

[0006] The pinching dexterity hand of this utility model embodiment includes:

[0007] Palm;

[0008] A thumb assembly and multiple finger assemblies, wherein the thumb assembly is disposed on the front side of the palm plate, and the multiple finger assemblies are spaced apart on the top of the palm plate in a left-right direction;

[0009] A drive block and an adjustment assembly are provided. The drive block is positioned adjustable in the left-right direction on the palm plate. The adjustment assembly is provided on the palm plate and is used to drive the drive block to move to have multiple adjustment positions. In the adjustment position, the thumb assembly is opposite to one of the multiple finger assemblies. The thumb assembly and the finger assemblies are used to bend and fit together when holding an object.

[0010] The pinching dexterous hand of this utility model embodiment can achieve pinching of the thumb component and finger component when holding an object, thereby increasing the gripping effect and ensuring the stability and reliability of the dexterous hand when holding the object.

[0011] In some embodiments, the adjustment assembly includes a first adjustment motor, an adjustment screw, and an adjustment block. The adjustment screw is rotatably mounted on the palm plate. The first adjustment motor is driven by the adjustment screw. The adjustment block is threadedly connected to the adjustment screw and fixedly connected to the drive block. The first adjustment motor is used to drive the adjustment screw to rotate so as to drive the adjustment block and the drive block to move relative to the palm plate.

[0012] In some embodiments, the adjusting assembly includes a first gear and a second gear, the first gear being fixedly disposed on the output shaft of the first adjusting motor, and the second gear being fixedly disposed on the adjusting screw and meshing with the first gear for transmission; or, the output shaft of the first adjusting motor and the adjusting screw are coaxially disposed, and the output shaft of the first adjusting motor and the adjusting screw are connected by a coupling.

[0013] In some embodiments, the adjustment assembly includes a rack, a second adjustment motor, and a third gear. The rack extends in a left-right direction and is fixedly mounted on the palm plate. The second adjustment motor is fixedly mounted on the drive block, and the output shaft of the second adjustment motor is fixedly mounted with the third gear. The third gear meshes with the rack for transmission.

[0014] In some embodiments, the adjustment assembly includes a first guide wheel, a second guide wheel, a synchronizing element, and a third adjustment motor. The first guide wheel and the second guide wheel are spaced apart in the left-right direction and rotatably disposed on the palm plate. The synchronizing element is sleeved on the first guide wheel and the second guide wheel. The driving block is disposed between the first guide wheel and the second guide wheel, and a fixing element connected to the synchronizing element is fixedly disposed on the driving block. The third adjustment motor is fixedly disposed on the palm plate and is drively connected to the first guide wheel or the second guide wheel. The third adjustment motor is used to drive the first guide wheel or the second guide wheel to rotate so as to drive the synchronizing element to rotate.

[0015] In some embodiments, the adjustment assembly includes a first guide, a second guide, a connector, and a fourth adjustment motor. The first guide and the second guide are spaced apart on the palm plate in a left-right direction. The drive block is disposed between the first guide and the second guide. The fourth adjustment motor is fixedly disposed on the palm plate and between the first guide and the second guide. The connector is wound around the output shaft of the fourth adjustment motor and its two ends pass around the first guide and the second guide respectively and are connected to the drive block.

[0016] In some embodiments, the adjustment assembly employs a rodless cylinder and includes a cylinder bracket, a cylinder barrel, and a pneumatic slider. The cylinder barrel is mounted on the palm plate via the cylinder bracket and extends in the left-right direction. The pneumatic slider is slidably mounted on the cylinder barrel and fixedly connected to the drive block.

[0017] In some embodiments, a fixing frame is further included. The palm plate is provided with mounting holes extending in the left-right direction. The fixing frame is disposed in the mounting holes. The fixing frame is provided with guide rails. The drive block is provided with a slide table that is slidably engaged with the guide rails.

[0018] In some embodiments, a rotating component is further included, which is disposed between the thumb component and the drive block, and is used to drive the thumb component to rotate in order to adjust the posture of the thumb component.

[0019] The robot of this utility model embodiment includes the pinching dexterity hand of any of the above embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the pinching dexterity hand according to an embodiment of the present invention.

[0021] Figure 2 This is a first-view structural schematic diagram of the adjustment component in the pinching dexterity hand according to an embodiment of the present invention.

[0022] Figure 3 This is a second-view structural schematic diagram of the adjustment component in the pinching dexterity hand according to an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the adjustment component in the pinching dexterity hand according to another embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the adjustment component in the pinching dexterity hand according to another embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of the adjustment component in the pinching dexterity hand according to another embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the structure of the adjustment component in the pinching dexterity hand according to another embodiment of the present invention.

[0027] Figure label:

[0028] Palm plate 1; Mounting hole 101;

[0029] Thumb component 2;

[0030] Finger component 3;

[0031] Drive block 4; Slide table 401;

[0032] Adjustment component 5; First adjustment motor 501; Adjustment screw 502; Adjustment block 503; First gear 504; Second gear 505; Rack 506; Second adjustment motor 507; Third gear 508; First guide wheel 509; Second guide wheel 510; Synchronizer 511; Third adjustment motor 512; Fixing component 513; First guide component 514; Second guide component 515; Connector 516; Fourth adjustment motor 517; Cylinder bracket 518; Cylinder barrel 519; Pneumatic slider 520;

[0033] Fixed frame 6; guide rail 601;

[0034] Rotating component 7; drive motor 701; connecting lug 702. Detailed Implementation

[0035] 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.

[0036] like Figures 1 to 7 As shown, the pinching dexterous hand of this utility model embodiment includes a palm plate 1, a thumb assembly 2, multiple finger assemblies 3, a drive block 4, and an adjustment component 5. The width direction of the palm plate 1 is defined as the left-right direction, the length direction of the palm plate 1 is defined as the up-down direction, and the thickness direction of the palm plate 1 is defined as the front-back direction. The thumb assembly 2 is located on the front side of the palm plate 1, and the multiple finger assemblies 3 are spaced apart on the top of the palm plate 1 along the left-right direction. The drive block 4 is located on the palm plate 1 with adjustable position along the left-right direction. The adjustment component 5 is located on the palm plate 1 and is used to drive the drive block 4 to move to have multiple adjustable positions. In the adjusted position, the thumb assembly 2 is opposite to one of the multiple finger assemblies 3, and the thumb assembly 2 and the finger assemblies 3 are used to bend and fit together when holding an object.

[0037] Specifically, the finger component 3 has two, three, or more fingers. Preferably, the finger component 3 has four fingers, namely the first finger, the second finger, the third finger, and the fourth finger. When the adjustment component 5 controls the movement of the drive block 4, the four finger components 3 have a first position, a second position, a third position, and a fourth position, respectively. In the first position, the thumb component 2 is opposite to the first finger. When holding an object, both the thumb component 2 and the first finger are bent to achieve a pinching fit. The thumb component 2 and the first finger achieve a closed grip around the object to be held. Similarly, the thumb component 2 achieves a pinching fit with the second finger, the third finger, and the fourth finger, respectively, in the second, third, and fourth positions.

[0038] In use, the dexterous hand of this utility model controls the drive block 4 to move relative to the palm plate 1 in the left and right direction through the adjustment component 5. The drive block 4 drives the thumb component 2 to have multiple adjustment positions relative to the multiple finger components 3. When the drive block 4 and the thumb component 2 move to the corresponding adjustment position, the thumb component 2 and the corresponding finger component 3 bend at the same time to achieve pinching and fitting after surrounding the object to be held. The thumb component 2 and the corresponding finger component 3 form a ring-shaped closed grip on the object to be held, which improves the stability and reliability of the dexterous hand when holding the object and ensures the gripping effect of the dexterous hand on the object.

[0039] In some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the adjustment assembly 5 includes a first adjustment motor 501, an adjustment screw 502, and an adjustment block 503. The adjustment screw 502 is rotatably mounted on the palm plate 1. The first adjustment motor 501 is connected to the adjustment screw 502 in a transmission manner. The adjustment block 503 is threadedly connected to the adjustment screw 502 and fixedly connected to the drive block 4. The first adjustment motor 501 is used to drive the adjustment screw 502 to rotate so as to drive the adjustment block 503 and the drive block 4 to move relative to the palm plate 1.

[0040] Specifically, the first adjusting motor 501 is fixedly mounted on the palm plate 1 via a bracket. The adjusting screw 502 is rotatably mounted on the palm plate 1 via a lug and a bearing. Both the output shaft of the first adjusting motor 501 and the adjusting screw 502 extend in the left-right direction. The adjusting block 503 is threaded onto the adjusting screw 502. The driving block 4 is adjustable in position in the left-right direction on the palm plate 1. That is, the connection between the driving block 4 and the palm plate 1 restricts the movement direction of the driving block 4. The driving block 4 further constrains the adjusting block 503 fixedly mounted on the driving block 4. The rotation of the first adjusting motor 501 drives the adjusting screw 502, which is connected to it. The adjusting screw 502 drives the adjusting rod to move, thereby controlling the movement of the thumb assembly 2. The operation is convenient, safe, and reliable. Furthermore, the driving block 4 can be reset and adjusted by adjusting the rotation direction of the first adjusting motor 501, making adjustment convenient.

[0041] Optionally, a reducer is connected to the output shaft of the first adjusting motor 501. The reducer is fixedly connected to the palm plate 1, and the output end of the reducer is connected to the adjusting screw 502.

[0042] In some embodiments, such as Figure 2 and Figure 3As shown, the adjustment component 5 includes a first gear 504 and a second gear 505. The first gear 504 is fixedly mounted on the output shaft of the first adjustment motor 501, and the second gear 505 is fixedly mounted on the adjustment screw 502 and meshes with the first gear 504 for transmission. Alternatively, the output shaft of the first adjustment motor 501 and the adjustment screw 502 are coaxially arranged. The output shaft of the first adjustment motor 501 and the adjustment screw 502 are connected by a coupling. The transmission between the first adjustment motor 501 and the adjustment screw 502 is realized through gear transmission, which is reliable. Furthermore, the moving speed of the drive block 4 can be controlled by selecting the first gear 504 and the second gear 505 with different transmission ratios, thereby achieving precise control of the movement of the thumb component 2 and ensuring the reliability and stability of the hand when holding objects.

[0043] In some embodiments, the first adjusting motor 501 and the adjusting screw 502 can be connected by a transmission belt.

[0044] In some embodiments, such as Figure 4 As shown, the adjustment assembly 5 includes a rack 506, a second adjustment motor 507 and a third gear 508. The rack 506 extends in the left and right direction and is fixedly mounted on the palm plate 1. The second adjustment motor 507 is fixedly mounted on the drive block 4, and the output shaft of the second adjustment motor 507 is fixedly mounted with the third gear 508. The third gear 508 meshes with the rack 506 for transmission.

[0045] Specifically, the rack 506 is detachably mounted on the palm plate 1 by bolts, and the rack 506 extends in the left and right direction. The second adjusting motor 507 is fixedly mounted on the drive block 4. When the second adjusting motor 507 rotates, it drives the third gear 508 to rotate. Under the constraint of the rack 506 and the drive block 4, the third gear 508 drives the drive block 4 and the thumb assembly 2 to move in the left and right direction, which is convenient for adjustment. The drive block 4 can be reset and adjusted by adjusting the rotation direction of the second adjusting motor 507.

[0046] Optionally, a U-shaped bracket is fixedly provided on the drive block 4, the second adjusting motor 507 is fixedly provided on the U-shaped bracket, and the output shaft of the second adjusting motor 507 rotates through the U-shaped bracket. The third gear 508 is fixedly provided on the output shaft of the second adjusting motor 507 and located inside the U-shaped bracket. The third gear 508 meshes with the rack 506 for transmission.

[0047] Optionally, the third adjusting motor 512 is fixedly installed on the left or right side of the drive block 4, and the output shaft of the third adjusting motor 512 extends in the vertical direction.

[0048] In some embodiments, such as Figure 5As shown, the adjustment assembly 5 includes a first guide wheel 509, a second guide wheel 510, a synchronizing element 511, and a third adjustment motor 512. The first guide wheel 509 and the second guide wheel 510 are spaced apart in the left and right direction and rotatably mounted on the palm plate 1. The synchronizing element 511 is sleeved on the first guide wheel 509 and the second guide wheel 510. The drive block 4 is located between the first guide wheel 509 and the second guide wheel 510, and a fixing element 513 connected to the synchronizing element 511 is fixedly mounted on the drive block 4. The third adjustment motor 512 is fixedly mounted on the palm plate 1 and is connected to the first guide wheel 509 or the second guide wheel 510 for transmission. The third adjustment motor 512 is used to drive the first guide wheel 509 or the second guide wheel 510 to rotate so as to drive the synchronizing element 511 to rotate.

[0049] Specifically, the first guide wheel 509 and the second guide wheel 510 are rotatably mounted on the palm plate 1, and the rotation axes of the first guide wheel 509 and the second guide wheel 510 extend in the vertical direction. The synchronizing element 511 is tensioned and sleeved on the first guide wheel 509 and the second guide wheel 510. The third adjusting motor 512 is fixedly mounted on the palm plate 1, and the output shaft of the third adjusting motor 512 is fixedly connected to the rotating shaft of the second guide wheel 510. The rotation of the third adjusting motor 512 drives the second guide wheel 510 to rotate, and the second guide wheel 510 drives the tensioned and sleeved synchronizing element 511 to perform conveying. Alternatively, the output shaft of the third adjusting motor 512 is fixedly connected to the rotating shaft of the first guide wheel 509. The rotation of the third adjusting motor 512 drives the first guide wheel 509 to rotate, and the first guide wheel 509 drives the tensioned synchronizing element 511 to convey. The driving block 4 is fixedly connected to the synchronizing element 511 through the fixing element 513. During the conveying process of the synchronizing element 511, the driving block 4 is moved. By adjusting the rotation direction of the third adjusting motor 512, the conveying direction of the synchronizing element 511 can be switched, which facilitates the reset and adjustment of the driving block 4. The operation is convenient and the transmission is reliable.

[0050] Optionally, the synchronizing element 511 is a chain, and the first guide wheel 509 and the second guide wheel 510 are sprockets.

[0051] Optionally, the synchronizing element 511 is a conveyor belt, and the first guide wheel 509 and the second guide wheel 510 are belt pulleys.

[0052] Optionally, the fixing member 513 includes a fixing frame with a U-shaped cross-section, including two vertical plates and a horizontal plate disposed between the vertical plates. A fixing groove is defined between the two vertical plates and the horizontal plate. The synchronizing member 511 is tensioned on the first guide wheel 509 and the second guide wheel 510 to define a first synchronizing segment and a second synchronizing segment that are parallel to each other between the first guide wheel 509 and the second guide wheel 510. The second synchronizing segment passes through the fixing groove. Bolts are threadedly connected to the vertical plates. By tightening the bolts, the drive block 4 is pressed against the second synchronizing segment to achieve the connection between the synchronizing member 511 and the synchronizing member 4.

[0053] In some embodiments, such as Figure 6 As shown, the adjustment assembly 5 includes a first guide 514, a second guide 515, a connector 516, and a fourth adjustment motor 517. The first guide 514 and the second guide 515 are spaced apart on the palm plate 1 in the left-right direction. The drive block 4 is located between the first guide 514 and the second guide 515. The fourth adjustment motor 517 is fixedly mounted on the palm plate 1 and located between the first guide 514 and the second guide 515. The connector 516 is wound around the output shaft of the fourth adjustment motor 517 and its two ends pass around the first guide 514 and the second guide 515 respectively and are connected to the drive block 4.

[0054] Specifically, the drive block 4 is adjustable in the left-right direction and is positioned on the palm plate 1 to have a left limit position and a right limit position. The first guide 514 is located to the left of the left limit position and above the drive block 4. The second guide 515 is located to the right of the right limit position and above the drive block 4. The fourth adjustment motor 517 is located between the first guide 514 and the second guide 515 and above the drive block 4. The connector 516 is a connecting chain or connecting belt and includes a first connecting segment and a second connecting segment. The end of the first connecting segment away from the second connecting segment has a first end, and the end of the second connecting segment away from the first connecting segment has a second end. The first connecting segment is wound counterclockwise around the output shaft of the fourth adjustment motor 517, and the first end passes around the first guide 514 and connects to the drive block 4. The second connecting segment is wound clockwise around the output shaft of the fourth adjustment motor 517 in the opposite direction to the winding direction of the first connecting segment, and the second end passes around the second guide 515 and connects to the drive block 4.

[0055] When the fourth adjusting motor 517 rotates counterclockwise, it releases the first connecting segment and simultaneously retracts the second connecting segment. The connecting piece 516 pulls the drive block 4 to move to the right, so that the thumb assembly 2 moves to the right. When the fourth adjusting motor 517 rotates clockwise, it retracts the first connecting segment and simultaneously releases the second connecting segment. The connecting piece 516 pulls the drive block 4 to move to the left, so that the thumb assembly 2 moves to the left. During the operation of the fourth adjusting motor 517, the length of the entire connecting piece 516 does not change. The first end and the second end pull the drive block 4 in two directions, ensuring the stability of the position of the drive block 4 relative to the palm plate 1.

[0056] Prior to this, the first guide 514 and the second guide 515 are rotatably mounted on the palm plate 1, which converts the sliding friction between the connector 516 and the first guide 514 and the second guide 515 during the retraction or release process into rolling friction, thereby reducing the wear of the connector 516, improving the service life of the connector 516, and ensuring the reliability of the connector 516 in adjusting the position of the drive block 4.

[0057] Optionally, the first guide 514 and the second guide 515 are guide wheels with grooves.

[0058] In some embodiments, such as Figure 7 As shown, the adjustment component 5 adopts a rodless cylinder and includes a cylinder bracket 518, a cylinder barrel 519 and a pneumatic slider 520. The cylinder bracket 518 is set on the palm plate 1, the cylinder barrel 519 is set on the palm plate 1 through the cylinder bracket 518 and extends in the left and right direction, and the pneumatic slider 520 is slidably set on the cylinder barrel 519 and fixedly connected to the drive block 4.

[0059] The rodless cylinder is used, and the movement of the pneumatic slider 520 relative to the cylinder 519 drives the drive block 4 to move, thereby adjusting the position of the thumb component 2. It is easy to install and convenient to operate, and can achieve precise control of the position of the thumb component 2, which is convenient for dexterous hands to perform gripping operations.

[0060] It should be noted that rodless cylinders are existing technology, and their specific structure and working principle will not be described in detail here.

[0061] In some embodiments, such as Figures 1 to 7 As shown, it also includes a fixed frame 6, a mounting hole 101 extending in the left and right direction on the palm plate 1, the fixed frame 6 is located in the mounting hole 101, the fixed frame 6 is provided with a guide rail 601, and the drive block 4 is provided with a slide table 401 that is slidably engaged with the guide rail 601.

[0062] Specifically, the mounting frame is provided with mounting holes 101 on the rear side of the palm plate 1. The guide rail 601 is provided on the mounting frame and extends in the left and right direction. The cross-section of the guide rail 601 is T-shaped. A slide table 401 is slidably provided on the guide rail 601. The slide table 401 is fixedly connected to the drive block 4. The drive block 4 slides relative to the palm plate 1 in the left and right direction through the slide rail and the slide table 401, which is convenient for processing. The mounting holes 101 and the fixed frame 6 are provided to avoid setting too many parts on the front side of the palm plate 1, which would affect the gripping effect between the thumb component 2 and the finger component 3 when the thumb component 2 is bent.

[0063] In some embodiments, such as Figure 3 As shown, it also includes a rotating component 7, which is located between the thumb component 2 and the drive block 4. The rotating component 7 is used to drive the thumb component 2 to rotate in order to adjust the posture of the thumb component 2.

[0064] Specifically, the rotating component 7 includes a drive motor 701. The output shaft of the drive motor 701 extends in the vertical direction and passes through and extends to both sides of the drive motor 701's axial direction. The output shaft of the drive motor 701 is fixedly provided with a connecting lug 702. The other end of the connecting lug 702 is fixedly connected to the thumb component 2. When the drive motor 701 rotates, the thumb component 2 rotates relative to the drive block 4 through the connecting lug 702. When holding an object, the thumb component 2 can be rotated to adjust its working posture, so that the thumb component 2 bends and extends in the front-back direction to facilitate pinching and fitting with the finger component 3. After releasing the object, the thumb component 2 can be rotated to adjust its working posture, so that the thumb component 2 bends and extends in the left-right direction, improving the dexterity of the thumb component 2 and the dexterous hand.

[0065] The robot according to an embodiment of the present invention is described below.

[0066] The robot of this utility model embodiment includes the pinching dexterity hand of any of the above embodiments.

[0067] The robot of this utility model embodiment has a good gripping effect when holding objects, ensuring stability and reliability when holding objects.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0073] 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 dexterous hand for pinching, characterized in that, include: Palm; A thumb assembly and multiple finger assemblies, wherein the thumb assembly is disposed on the front side of the palm plate, and the multiple finger assemblies are spaced apart on the top of the palm plate in a left-right direction; A drive block and an adjustment assembly are provided. The drive block is positioned adjustable in the left-right direction on the palm plate. The adjustment assembly is provided on the palm plate and is used to drive the drive block to move to have multiple adjustment positions. In the adjustment position, the thumb assembly is opposite to one of the multiple finger assemblies. The thumb assembly and the finger assemblies are used to bend and fit together when holding an object.

2. The dexterous hand for pinching as described in claim 1, characterized in that, The adjustment assembly includes a first adjustment motor, an adjustment screw, and an adjustment block. The adjustment screw is rotatably mounted on the palm plate. The first adjustment motor is driven by the adjustment screw. The adjustment block is threaded to the adjustment screw and fixedly connected to the drive block. The first adjustment motor is used to drive the adjustment screw to rotate so as to drive the adjustment block and the drive block to move relative to the palm plate.

3. The dexterous hand for pinching as described in claim 2, characterized in that, The adjusting assembly includes a first gear and a second gear. The first gear is fixedly mounted on the output shaft of the first adjusting motor, and the second gear is fixedly mounted on the adjusting screw and meshes with the first gear for transmission. Alternatively, the output shaft of the first adjusting motor is coaxially arranged with the adjusting screw, and the output shaft of the first adjusting motor and the adjusting screw are connected by a coupling.

4. The dexterous hand for pinching as described in claim 1, characterized in that, The adjustment assembly includes a rack, a second adjustment motor, and a third gear. The rack extends in the left-right direction and is fixedly mounted on the palm plate. The second adjustment motor is fixedly mounted on the drive block, and the output shaft of the second adjustment motor is fixedly mounted with the third gear. The third gear meshes with the rack for transmission.

5. The dexterous hand for pinching as described in claim 1, characterized in that, The adjustment assembly includes a first guide wheel, a second guide wheel, a synchronizing element, and a third adjustment motor. The first and second guide wheels are spaced apart in the left-right direction and rotatably mounted on the palm plate. The synchronizing element is sleeved on the first and second guide wheels. The driving block is located between the first and second guide wheels, and a fixing element connected to the synchronizing element is fixedly mounted on the driving block. The third adjustment motor is fixedly mounted on the palm plate and is drively connected to the first or second guide wheel. The third adjustment motor is used to drive the first or second guide wheel to rotate, thereby driving the synchronizing element to rotate.

6. The dexterous hand for pinching as described in claim 1, characterized in that, The adjustment assembly includes a first guide member, a second guide member, a connector, and a fourth adjustment motor. The first guide member and the second guide member are spaced apart on the palm plate in the left-right direction. The drive block is located between the first guide member and the second guide member. The fourth adjustment motor is fixedly located on the palm plate and located between the first guide member and the second guide member. The connector is wound around the output shaft of the fourth adjustment motor and its two ends pass around the first guide member and the second guide member respectively and are connected to the drive block.

7. The dexterous hand for pinching as described in claim 1, characterized in that, The adjustment assembly uses a rodless cylinder and includes a cylinder bracket, a cylinder barrel, and a pneumatic slider. The cylinder barrel is mounted on the palm plate via the cylinder bracket and extends in the left-right direction. The pneumatic slider is slidably mounted on the cylinder barrel and is fixedly connected to the drive block.

8. The dexterous hand for pinching according to any one of claims 1-7, characterized in that, It also includes a fixed frame, the palm plate is provided with mounting holes extending in the left and right direction, the fixed frame is provided in the mounting holes, the fixed frame is provided with guide rails, and the drive block is provided with a slide table that is slidably engaged with the guide rails.

9. The dexterous hand for pinching according to any one of claims 1-7, characterized in that, It also includes a rotating component, which is disposed between the thumb component and the drive block, and is used to drive the thumb component to rotate in order to adjust the posture of the thumb component.

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

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