Dexterous hand and robot

Abstract

The application discloses a dexterous hand and a robot, which comprises a palm part, a finger part connected with the palm part, the finger part comprising a finger joint driver, a fingertip knuckle and at least one intermediate knuckle, the fingertip knuckle being connected with the intermediate knuckle, the intermediate knuckle being connected with the palm part, the finger joint driver being arranged at a finger joint position of the finger part and being used for controlling the fingertip knuckle and the intermediate knuckle to rotate, and a finger flexible circuit board arranged at the back of the finger part, part of the finger flexible circuit board being laid in a fingertip groove formed by the finger joint driver and the fingertip knuckle and a knuckle groove formed by the finger joint driver and the intermediate knuckle. The scheme can improve the flexibility and accuracy of the dexterous hand control.

Description

Technical Field

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

[0002] In existing dexterous hand applications, cables are typically used to connect various sensors and actuators within the dexterous hand's fingers. However, this method is prone to cable tangling as the dexterous hand's fingers move. Once tangled, the cables not only interfere with the normal movement trajectory of the fingers, reducing their accuracy and dexterity, but may also cause signal transmission obstruction or instability, affecting the accurate acquisition of sensor data and the precise control of the actuators.

[0003] In addition, cables are prone to wear and tear during long-term use. Wear-out cables not only pose safety hazards, such as short circuits and open circuits, which may cause equipment failure or even damage, but also increase system maintenance costs and repair difficulty. Utility Model Content

[0004] This application provides at least one dexterous hand and robot that can improve the flexibility and precision of dexterous hand manipulation.

[0005] The first aspect of this application provides a dexterous hand, comprising: a palm portion; a finger portion connected to the palm portion, the finger portion including a knuckle actuator, a fingertip knuckle, and at least one intermediate knuckle, the fingertip knuckle being connected to the intermediate knuckle, the intermediate knuckle being connected to the palm portion, the knuckle actuator being disposed at the knuckle position of the finger portion, the knuckle actuator being used to control the rotation of the fingertip knuckle and the intermediate knuckle; and a flexible circuit board for fingers disposed at the back of the fingers, a portion of the flexible circuit board being laid in a fingertip groove formed by the knuckle actuator and the fingertip knuckle and a knuckle groove formed by the knuckle actuator and the intermediate knuckle.

[0006] Preferably, the fingertip knuckle includes a fingertip knuckle body, a sensor mounting module, a fingertip clamping assembly, a fingertip back cover, a fingertip side cover, and a fingertip washer. A flexible finger circuit board is disposed on the top of the fingertip knuckle body, the fingertip back cover is disposed on the top of the flexible finger circuit board, the sensor mounting module is disposed on the bottom of the fingertip knuckle body, and the sensor mounting module is used to mount the fingertip sensor; the fingertip clamping assembly is mounted on the side of the fingertip knuckle body, and one end of the fingertip clamping assembly near the palm and the other end of the fingertip knuckle body near the palm form the fingertip recessed connection part of the fingertip knuckle; the fingertip side cover is disposed on the outside of the fingertip clamping assembly; the fingertip washer is disposed in the fingertip recessed connection part and is used to fix the finger joint actuator.

[0007] Preferably, the intermediate phalanx includes an intermediate phalanx body, a phalanx clamping assembly, a phalanx dorsal cover, a phalanx side cover, and a phalanx washer. The knuckle actuator includes a first knuckle actuator and a second knuckle actuator. A flexible finger circuit board is disposed above the intermediate phalanx body, and the phalanx dorsal cover is disposed above the flexible finger circuit board. The phalanx clamping assembly is mounted on the side of the intermediate phalanx body. The end of the intermediate phalanx body near the palm and the end of the phalanx clamping assembly near the palm form a knuckle recessed connection portion of the intermediate phalanx. The end of the intermediate phalanx body away from the palm is a knuckle protrusion connection portion. The fingertip recessed connection portion and the knuckle protrusion connection portion are connected by the first knuckle actuator and form a fingertip groove. The knuckle recessed connection portion and the palm portion are connected by the second knuckle actuator and form a knuckle groove. The knuckle side cover is disposed on the outside of the phalanx clamping assembly. The knuckle washer is disposed in the knuckle recessed connection portion for fixing the knuckle actuator.

[0008] Preferably, the finger portion includes a first intermediate phalanx and a second intermediate phalanx, the phalanx groove includes a first phalanx groove and a second phalanx groove, and the phalanx actuator includes a first phalanx actuator, a second phalanx actuator, and a third phalanx actuator; the first phalanx protrusion connecting portion of the first intermediate phalanx is connected to the fingertip recess connecting portion through the first phalanx actuator, and forms a fingertip groove; the second phalanx recess connecting portion of the second intermediate phalanx is connected to the palm portion through the second phalanx actuator, and forms a first phalanx groove; the second phalanx protrusion connecting portion of the second intermediate phalanx is connected to the first phalanx recess connecting portion of the first intermediate phalanx through the third phalanx actuator, and forms a second phalanx groove.

[0009] Preferably, the flexible finger circuit board includes a branch circuit board, which is electrically connected to the joint actuator.

[0010] Preferably, the dexterous hand also includes a lateral swing driver, which is located at the connection between the finger part and the palm part. The lateral swing driver is used to drive the lateral swing movement of the finger part and is electrically connected to the flexible circuit board of the finger.

[0011] Preferably, a dexterous hand base is provided at the bottom of the palm part, and the dexterous hand is connected to an external device through the dexterous hand base.

[0012] Preferably, the base of the dexterous hand is provided with an external mechanical interface, through which the dexterous hand connects to external devices.

[0013] Preferably, the dexterous hand base is provided with a power interface and an information communication interface on its side, and the flexible circuit board of the finger is electrically connected to the power interface and the information communication interface respectively.

[0014] The second aspect of this application provides a robot that includes the dexterous hand described in the first aspect above.

[0015] In the above solution, the dexterous hand includes a palm and several fingers. Flexible circuit boards are installed in the fingers, replacing traditional cables with these boards located on the back of the fingers. Partially embedded in grooves formed by the knuckle actuators, fingertips, and middle knuckles, this effectively avoids cable tangling. This design makes the dexterous hand more flexible and precise during movement, while also improving signal transmission stability. The use of flexible circuit boards reduces safety hazards caused by cable wear, such as short circuits or open circuits, thereby extending the dexterous hand's lifespan and reducing maintenance costs.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand of this application;

[0019] Figure 2 This is a schematic diagram of the structure of one embodiment of the finger part of this application;

[0020] Figure 3 This is a schematic diagram of the structure of one embodiment of the present application when the finger is bent;

[0021] Figure 4 This is a schematic diagram of the structure of one embodiment of the fingertip joint of this application;

[0022] Figure 5 This is an exploded schematic diagram of an embodiment of the fingertip joint of this application;

[0023] Figure 6 This is a schematic diagram of the structure of one embodiment of the intermediate finger joint of this application;

[0024] Figure 7 This is an exploded view of an embodiment of the middle finger joint of this application;

[0025] Figure 8 This is a schematic diagram of the structure of an embodiment of the flexible finger circuit board of this application. Detailed Implementation

[0026] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0027] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0028] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of one embodiment of the dexterous hand 100 of this application. Figure 2 This is a schematic diagram of the structure of one embodiment of the finger portion 120 of this application. The dexterous hand 100 includes a palm portion 110, a finger portion 120, and a flexible finger circuit board 130. The finger portion 120 is connected to the palm portion 110 and includes a knuckle actuator 121, a fingertip knuckle 122, and at least one intermediate knuckle 123. The fingertip knuckle 122 is connected to the intermediate knuckle 123, and the intermediate knuckle 123 is connected to the palm portion 110. The knuckle actuator 121 is disposed at the knuckle position of the finger portion 120 and is used to control the rotation of the fingertip knuckle 122 and the intermediate knuckle 123. The flexible finger circuit board 130 is disposed on the back of the finger of the finger portion 120, and a portion of the flexible finger circuit board 130 is laid in the fingertip groove 124 formed by the knuckle actuator 121 and the fingertip knuckle 122, and the knuckle groove 125 formed by the knuckle actuator 121 and the intermediate knuckle 123.

[0029] In this application, by replacing the traditional cable with a flexible finger circuit board 130 located on the back of the finger and partially laying it in a groove formed by the knuckle actuator 121, the fingertip knuckle 122, and the middle knuckle 123, the problem of cable tangling can be effectively avoided. This design makes the dexterous hand 100 more flexible and precise during movement, while improving the stability of signal transmission. The use of the flexible finger circuit board 130 reduces safety hazards caused by cable wear, such as short circuits or open circuits, thereby extending the service life of the dexterous hand 100 and reducing maintenance costs. In addition, this structural design makes the finger part 120 of the dexterous hand 100 more compact and lightweight, improving the reliability and performance of the overall system. This technical solution significantly improves the operating accuracy and reliability of the dexterous hand 100 by optimizing the internal connection method, while simplifying the structural design and facilitating production and maintenance.

[0030] In some embodiments, to reduce the use of cables, a single, integral flexible circuit board 130 is used in each finger portion 120 to electrically connect with the sensors and joint actuators in the corresponding finger portion 120. Please refer to [reference needed]. Figure 2 (For ease of observation, Figure 2 The finger part 120 (the back of the finger is not drawn) and Figure 3The flexible circuit board 130 is laid out from the palm portion 110 towards the fingertip / knuckle 122. During the laying of the entire flexible circuit board 130, when passing through the fingertip groove 124 or knuckle groove 125, the side of the flexible circuit board 130 near the knuckle actuator 121 is fixed to the knuckle actuator 121, while the side near the fingertip / knuckle 122 or the middle knuckle 123 is suspended. Sufficient leeway is left in the grooves to prevent damage or breakage of the flexible circuit board 130 due to straightening when the finger portion 120 is at its maximum bending angle. Furthermore, fixing the flexible circuit board 130 to the knuckle actuator 121 restricts the wiring of the flexible circuit board 130, preventing displacement during dexterous hand movements. The method of fixing the flexible circuit board 130 to the knuckle actuator 121 can be adhesive or soldering, etc., and is not specifically limited here.

[0031] Please refer to the following: Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the structure of one embodiment of the fingertip joint 122 of this application. Figure 5 This is an exploded view of an embodiment of the fingertip joint 122 of this application. The fingertip joint 122 includes a fingertip joint body 1221, a sensor mounting module 1222, a fingertip clamping assembly 1223, a fingertip back cover plate 1224, a fingertip side cover plate 1225, and a fingertip gasket 1226. A flexible finger circuit board 130 is disposed on the top of the fingertip joint body 1221, and the fingertip back cover plate 1224 is disposed on top of the flexible finger circuit board 130, that is, the flexible finger circuit board 130 is disposed between the fingertip joint body 1221 and the fingertip back cover plate 1224. The sensor mounting module 1222 is disposed at the bottom of the fingertip joint body 1221. The sensor mounting module 1222 is used to mount a fingertip sensor. In addition, the sensor mounting module 1222 can also be used to mount a vision sensor, etc. A fingertip gripping component 1223 is mounted on the side of the fingertip knuckle body 1221. The end of the fingertip gripping component 1223 near the palm portion 110 and the end of the fingertip knuckle body 1221 near the palm portion 110 form the fingertip recessed connection portion of the fingertip knuckle 122. A fingertip side cover plate 1225 is disposed on the outside of the fingertip gripping component 1223 to cover and protect the fingertip gripping component 1223, while also making the fingertip knuckle 122 more concise and aesthetically pleasing. A fingertip washer 1226 is disposed within the fingertip recessed connection portion to fix the knuckle actuator 121.

[0032] This design optimizes the space utilization of the fingertip knuckle 122 through a multi-layered structural layout, improving the overall compactness and stability of the dexterous hand 100. The flexible finger circuit board 130 allows for efficient connection of electronic components and sensors, enhancing system reliability and response speed. The sensor mounting module 1222 is specifically designed for mounting fingertip sensors, helping to improve the sensitivity and accuracy of tactile detection. The connection between the fingertip gripping assembly 1223 and the fingertip knuckle body 1221 forms an optimized recessed structure, enhancing the ability and stability of gripping objects. The design of the fingertip side cover 1225 and fingertip gasket 1226 not only improves the product's aesthetics but also further enhances the overall structural durability and protective performance. This modular design allows for independent replacement and upgrades of individual components, significantly reducing maintenance costs and extending the lifespan of the dexterous hand 100.

[0033] Please continue reading. Figure 5 The end of the fingertip knuckle body 1221 furthest from the palm portion 110 serves as a mounting base, while the end of the fingertip knuckle body 1221 closest to the palm portion 110 serves as a fingertip connecting portion. The bottom of the mounting base is used to mount the sensor mounting module 1222 and also provides some support for the sensor mounting module 1222. The sensor mounting module 1222 can be mounted to the bottom of the mounting base by means of snap-fit, screws, etc. The fingertip connecting portion and the fingertip clamping assembly 1223 together form the fingertip recessed connecting portion. The fingertip connecting portion has a circular groove, in which the fingertip washer 1226 is placed. The fingertip clamping assembly 1223 has a circular through hole. The fingertip clamping assembly 1223 is mounted on the side of the fingertip knuckle body 1221 by screws, and the fingertip side cover plate 1225 is mounted on the outer periphery of the fingertip clamping assembly 1223 by screws. One end of the knuckle actuator 121 is placed in a circular groove and abuts against the fingertip washer 1226. The other end of the knuckle actuator 121 passes through a circular through hole and abuts against the fingertip side cover plate 1225.

[0034] Please refer to the following: Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the structure of one embodiment of the intermediate finger 123 of this application. Figure 7This is an exploded view of an embodiment of the intermediate phalanx 123 of this application. The intermediate phalanx 123 includes an intermediate phalanx body 1231, a phalanx clamping assembly 1232, a phalanx dorsal cover plate 1233, a phalanx side cover plate 1234, and a phalanx gasket 1235. A flexible finger circuit board 130 is disposed on the upper part of the intermediate phalanx body 1231, and the phalanx dorsal cover plate 1233 is disposed on the upper part of the flexible finger circuit board 130, that is, the flexible finger circuit board 130 is disposed between the intermediate phalanx body 1231 and the phalanx dorsal cover plate 1233. The phalanx clamping assembly 1232 is mounted on the side of the intermediate phalanx body 1231. The end of the intermediate phalanx body 1231 near the palm portion 110 and the end of the phalanx clamping assembly 1232 near the palm portion 110 form the phalanx recessed connecting portion of the intermediate phalanx 123. The knuckle actuator 121 includes a first knuckle actuator 1211 and a second knuckle actuator 1212. The end of the middle knuckle body 1231 furthest from the palm portion 110 is a knuckle protrusion connecting portion. The fingertip recess connecting portion and the knuckle protrusion connecting portion are connected by the first knuckle actuator 1211, and the fingertip recess connecting portion and the first knuckle actuator 1211 form a fingertip groove 124. The knuckle recess connecting portion and the palm portion 110 are connected by the second knuckle actuator 1212, and the knuckle recess connecting portion and the second knuckle actuator 1212 form a knuckle groove 125. A knuckle side cover plate 1234 is disposed on the outside of the knuckle clamping assembly 1232, and a knuckle washer 1235 is disposed within the knuckle recess connecting portion for fixing the knuckle actuator 121.

[0035] The design of the middle knuckle 123 improves the flexibility and stability of the finger section 120. The flexible circuit board 130 on the finger makes signal transmission more reliable, while the knuckle back cover 1233 protects the circuit board from external impacts. The knuckle gripping assembly 1232 enhances structural strength, ensuring stability when grasping objects. The first knuckle actuator 1211 and the second knuckle actuator 1212 control the range of motion of the fingertip and knuckle, respectively, enabling the dexterous hand 100 to achieve more precise movements. The knuckle washer 1235 fixes the position of the knuckle actuator 121, preventing it from loosening or shifting, further improving the reliability of the structure. The overall design makes the dexterous hand 100 more flexible, stable, and durable during operation.

[0036] The intermediate knuckle body 1231 is the supporting structure for the intermediate knuckle 123, connecting the palm portion 110 and the fingertip knuckle 122. A flexible finger circuit board 130 is mounted on the intermediate knuckle body 1231, providing a signal transmission path for the finger portion 120. A knuckle back cover 1233 covers the flexible finger circuit board 130, providing protection. A knuckle clamping assembly 1232 is mounted on one side of the intermediate knuckle body 1231 to stabilize the intermediate knuckle 123 structure. The knuckle recess connection and the knuckle protrusion connection are connected by a first knuckle actuator 1211, forming a movable joint of the fingertip knuckle 122. The knuckle recess connection and the palm portion 110 are connected by a second knuckle actuator 1212, forming another movable joint of the knuckle.

[0037] Please continue reading. Figure 7 The end of the middle knuckle body 1231 furthest from the palm portion 110 is the actuator mounting part, and the end of the middle knuckle body 1231 closest to the palm portion 110 is the knuckle connecting part. The actuator mounting part is used to mount the knuckle actuator 121. The knuckle connecting part and the fingertip clamping assembly 1223 together form the knuckle recessed connecting part. The knuckle connecting part also has a circular groove, in which the knuckle washer 1235 is placed. The knuckle clamping assembly 1232 has a circular through hole. The knuckle clamping assembly 1232 is mounted on the side of the middle knuckle body 1231 by screws, and the knuckle side cover plate 1234 is mounted on the outer periphery of the knuckle clamping assembly 1232 by screws. One end of the knuckle actuator 121 is placed in the circular groove and abuts against the knuckle washer 1235, and the other end of the knuckle actuator 121 passes through the circular through hole and abuts against the knuckle side cover plate 1234.

[0038] Please refer to the following: Figure 4 and Figure 6 After the finger joint driver 121 is installed in the driver mounting part of the middle phalanx body 1231, the driver mounting part is inserted into the fingertip recessed connection part of the fingertip phalanx 122. The fingertip phalanx body 1221 and the fingertip clamping assembly 1223 abut against the finger joint driver 121 to complete the connection between the middle phalanx 123 and the fingertip phalanx 122.

[0039] In some implementations, please refer to [the relevant documentation]. Figure 2The finger portion 120 includes a first intermediate phalanx 12301 and a second intermediate phalanx 12302. The knuckle groove 125 includes a first knuckle groove 1251 and a second knuckle groove 1252. The knuckle actuator 121 includes a first knuckle actuator 1211, a second knuckle actuator 1212, and a third knuckle actuator 1213. The first knuckle protrusion connecting portion of the first intermediate phalanx 12301 (i.e., the end of the first intermediate phalanx 12301 away from the palm portion 110) is connected to the fingertip recess connecting portion of the fingertip phalanx 122 through the first knuckle actuator 1211, and the fingertip phalanx 122 and the first knuckle actuator 1211 form the fingertip groove 124. The second knuckle recessed connecting portion of the second intermediate phalanx 12302 (i.e., the end of the second intermediate phalanx 12302 near the palm portion 110) is connected to the palm portion 110 via the second knuckle actuator 1212, and the second intermediate phalanx 12302 and the second knuckle actuator 1212 form the first knuckle groove 1251. The second knuckle protruding connecting portion of the second intermediate phalanx 12302 (i.e., the end of the second intermediate phalanx 12302 away from the palm portion 110) is connected to the first knuckle recessed connecting portion of the first intermediate phalanx 12301 (i.e., the end of the first intermediate phalanx 12301 near the palm portion 110) via the third knuckle actuator 1213, and the first intermediate phalanx 12301 and the third knuckle actuator 1213 form the second knuckle groove 1252.

[0040] This design enables the finger section 120 of the dexterous hand 100 to achieve more flexible and precise movements. Three independent joint actuators 121 control different joints of the finger section 120, improving overall operational accuracy. Simultaneously, because each joint has a clearly defined connection structure, excessive bending or deformation of the finger section 120 during movement is effectively prevented, thus extending the lifespan of the dexterous hand.

[0041] In this embodiment, the first intermediate phalanx 12301 and the second intermediate phalanx 12302 have the same structure, both including an intermediate phalanx body 1231, a phalanx clamping assembly 1232, a phalanx back cover plate 1233, a phalanx side cover plate 1234 and a phalanx washer 1235. Their specific connection method will not be described in detail here.

[0042] Please continue reading. Figure 2 The dexterous hand 100 also includes a lateral swing driver 140, which is located at the connection position between the finger part 120 and the palm part 110. The lateral swing driver 140 is used to drive the finger part 120 to perform lateral swing movements (such as left and right swings). The lateral swing driver 140 is electrically connected to the flexible circuit board 130 of the finger.

[0043] In this embodiment, the knuckle actuator 121 and the lateral swing actuator 140 at the connection between the finger part 120 and the palm part 110 are independently configured. The knuckle actuator 121 and the lateral swing actuator 140 can be controlled separately or simultaneously.

[0044] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of one embodiment of the flexible finger circuit board 130 of this application. The flexible finger circuit board 130 includes a branch circuit board, and the flexible finger circuit board 130 is electrically connected to the joint actuator 121 through the branch circuit board.

[0045] By electrically connecting the flexible finger circuit board 130 to the joint actuator 121 via a branch circuit board, independent control of each joint can be achieved, improving the operational precision and flexibility of the dexterous hand 100. The design of the branch circuit board not only optimizes the signal transmission path but also improves the reliability and maintainability of the system, enabling the dexterous hand 100 to perform better in complex tasks.

[0046] The flexible finger circuit board 130 is a key component of the dexterous hand 100, which is electrically connected to the knuckle actuator 121 via a branch circuit board. The branch circuit board acts as an intermediate connecting device, responsible for transmitting control signals and power to ensure that each knuckle can operate independently. This design makes the fingers more flexible and precise in actions such as bending and grasping.

[0047] Specifically, the branch circuit board includes a first branch circuit board 1301, a second branch circuit board 1302, a third branch circuit board 1303, and a fourth branch circuit board 1304. The first branch circuit board 1301 is electrically connected to the first knuckle driver 1211, the second branch circuit board 1302 is electrically connected to the second knuckle driver 1212, the third branch circuit board 1303 is electrically connected to the third knuckle driver 1213, and the fourth branch circuit board 1304 is electrically connected to the side swing driver 140.

[0048] Please continue reading. Figure 1 The palm part 110 has a dexterous hand base 150 at the bottom, and the dexterous hand 100 is connected to an external device through the dexterous hand base 150.

[0049] The presence of the dexterous hand base 150 makes it easier to integrate the dexterous hand 100 with other devices, while also improving the convenience of installation and disassembly. This design also distributes external loads, reducing the pressure directly borne by the palm part 110, thereby extending the service life of the dexterous hand 100. In addition, the dexterous hand base 150 can also serve as a mounting platform for other sensors or actuators, further expanding the functionality of the dexterous hand.

[0050] The dexterous hand base 150 is mounted on the lower region of the palm portion 110 to support and secure the dexterous hand 100. The design of the dexterous hand base 150 allows the dexterous hand 100 to connect to external devices. This design can be achieved using various materials and structures, such as the dexterous hand base 150 made of high-strength plastic, metal, or other composite materials, and can be connected to external devices via threaded connections, snap-fit ​​connections, or welding.

[0051] Specifically, the bottom of the dexterous hand base 150 is provided with an external mechanical interface 1501. The dexterous hand 100 connects to external devices or to the robotic arm of a robot through the external mechanical interface 1501. The external mechanical interface 150 can be a magnetic interface, a snap-fit ​​interface, a screw interface, etc., and no specific limitation is made here.

[0052] This design allows the Dexterous Hand 100 to be easily integrated with other external devices, enhancing its functional expandability and adaptability. The introduction of the external mechanical interface 1501 improves the operational flexibility and versatility of the Dexterous Hand 100, making it suitable for a wider range of scenarios and application needs.

[0053] In some embodiments, a power interface 1502 and an information communication interface 1503 are also provided on the side of the dexterous hand base 150, and the flexible finger circuit board 130 is electrically connected to the power interface 1502 and the information communication interface 1503 respectively. The information communication interface 1503 can be an Ethernet interface, an optical fiber interface, an antenna port, etc., and is not specifically limited here.

[0054] The power interface 1502 provides stable power to the dexterous hand 100, ensuring its normal operation. The information communication interface 1503 enables the dexterous hand 100 to easily exchange data with other devices, facilitating remote control and status monitoring. Furthermore, this design enhances the system's scalability and flexibility, allowing for the selection of different interface types or numbers based on actual needs. In this way, not only is the functionality of the dexterous hand improved, but its adaptability to various application scenarios is also enhanced.

[0055] Specifically, the power interface 1502 provides power to the dexterous hand 100 and can use a standard physical interface, such as a USB interface or a Power over Ethernet interface. The information communication interface 1503 enables data interaction between the dexterous hand 100 and external devices and can include a wired network interface or a wireless network interface, such as Wi-Fi or Bluetooth. The flexible finger circuit board 130 is the internal circuit system of the dexterous hand 100, responsible for transmitting control signals and power to the various finger components.

[0056] This application provides a robot including the dexterous hand 100 described above.

[0057] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

Claims

1. A dexterous hand for use in robots, characterized in that, include: Palm area; The finger part is connected to the palm part. The finger part includes a knuckle actuator, a fingertip knuckle, and at least one intermediate knuckle. The fingertip knuckle is connected to the intermediate knuckle, and the intermediate knuckle is connected to the palm part. The knuckle actuator is disposed at the knuckle position of the finger part and is used to control the rotation of the fingertip knuckle and the intermediate knuckle. A flexible circuit board for fingers is disposed on the back of the finger, and a portion of the flexible circuit board is laid in the fingertip groove formed by the knuckle actuator and the fingertip knuckle and the knuckle groove formed by the knuckle actuator and the middle knuckle.

2. The dexterous hand according to claim 1, characterized in that, The fingertip joint includes a fingertip joint body, a sensor mounting module, a fingertip clamping assembly, a fingertip back cover, a fingertip side cover, and a fingertip gasket. The flexible circuit board is positioned on top of the fingertip joint body, and the fingertip back cover is positioned above the flexible circuit board. The sensor mounting module is located at the bottom of the fingertip joint body and is used to mount the fingertip sensor. The fingertip clamping assembly is mounted on the side of the fingertip joint body, with one end of the clamping assembly near the palm and the other end of the fingertip joint body near the palm forming a fingertip recessed connection portion. The fingertip side cover is located on the outer side of the fingertip clamping assembly. The fingertip gasket is located within the fingertip recessed connection portion and is used to fix the finger joint actuator.

3. The dexterous hand according to claim 2, characterized in that, The intermediate phalanx includes an intermediate phalanx body, a phalanx clamping assembly, a phalanx dorsal cover, a phalanx side cover, and a phalanx washer. The knuckle actuator includes a first knuckle actuator and a second knuckle actuator. The flexible circuit board for the finger is disposed above the intermediate phalanx body, and the phalanx dorsal cover is disposed above the flexible circuit board for the finger. The phalanx clamping assembly is mounted on the side of the intermediate phalanx body. The end of the intermediate phalanx body near the palm and the end of the phalanx clamping assembly near the palm form a knuckle recessed connection portion of the intermediate phalanx. The end of the intermediate phalanx body away from the palm is a knuckle protrusion connection portion. The fingertip recessed connection portion and the knuckle protrusion connection portion are connected by the first knuckle actuator and form the fingertip groove. The knuckle recessed connection portion and the palm are connected by the second knuckle actuator and form the knuckle groove. The knuckle side cover is disposed outside the knuckle clamping assembly. The knuckle washer is disposed inside the knuckle recessed connection portion for fixing the knuckle actuator.

4. The dexterous hand according to claim 2, characterized in that, The finger portion includes a first intermediate phalanx and a second intermediate phalanx. The phalanx groove includes a first phalanx groove and a second phalanx groove. The knuckle actuator includes a first knuckle actuator, a second knuckle actuator, and a third knuckle actuator. The first phalanx protrusion connecting portion of the first intermediate phalanx is connected to the fingertip recess connecting portion through the first knuckle actuator, and forms the fingertip groove. The second phalanx recess connecting portion of the second intermediate phalanx is connected to the palm portion through the second knuckle actuator, and forms the first phalanx groove. The second phalanx protrusion connecting portion of the second intermediate phalanx is connected to the first phalanx recess connecting portion of the first intermediate phalanx through the third knuckle actuator, and forms the second phalanx groove.

5. The dexterous hand according to claim 1, characterized in that, The flexible finger circuit board includes a branch circuit board, and the flexible finger circuit board is electrically connected to the joint actuator through the branch circuit board.

6. The dexterous hand according to claim 1, characterized in that, The dexterous hand also includes a lateral swing driver, which is disposed at the connection position between the finger part and the palm part. The lateral swing driver is used to drive the finger part to swing laterally, and the lateral swing driver is electrically connected to the flexible circuit board of the finger.

7. The dexterous hand according to claim 1, characterized in that, The bottom of the palm part is provided with a dexterous hand base, and the dexterous hand is connected to an external device through the dexterous hand base.

8. The dexterous hand according to claim 7, characterized in that, The base of the dexterous hand is provided with an external mechanical interface, through which the dexterous hand connects to external devices.

9. The dexterous hand according to claim 7, characterized in that, The dexterous hand base is provided with a power interface and an information communication interface on its side, and the flexible circuit board of the finger is electrically connected to the power interface and the information communication interface respectively.

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

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