A multi-degree-of-freedom fully driven dexterous hand and robot

Abstract

This invention discloses a multi-degree-of-freedom fully actuated dexterous hand and robot, relating to the field of dexterous hand technology. The multi-degree-of-freedom fully actuated dexterous hand of this invention includes a palm plate, a thumb assembly, and finger assemblies. The thumb assembly is located on the front side of the palm plate, and multiple finger assemblies are located on the top of the palm plate and spaced apart. The thumb assembly is adjustable in position along the left-right direction of the palm plate to be positioned opposite one of the multiple finger assemblies. The thumb assembly includes a distal phalanx and multiple drive units disposed between the distal phalanx and the palm plate. The drive units enable the bending or extension of the thumb assembly and finger assemblies. This multi-degree-of-freedom fully actuated dexterous hand simplifies the structure and facilitates control through modular and independently actuated drive units. The movement of the thumb assembly relative to the palm plate enhances the gripping effect during dexterous hand grasping, ensuring the flexibility and reliability of the dexterous hand when holding objects.

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, also known as dexterous hands, have shown enormous application potential in many fields such as medical rehabilitation, industrial production, aerospace, and service robots. Dexterous hands aim to simulate the structure and function of the human hand, providing users with a more natural and flexible operating experience.

[0003] In related technologies, the common approach to increase the applicability and flexibility of dexterous hands is to maximize their degree of freedom. However, this increases the dexterity of the hand, but also leads to complex structural designs and the need for external actuators, which significantly increases the overall size of the hand and the complexity and difficulty of controlling it. In addition, when using a dexterous hand, there is a risk that the grip is less effective and that the held object is prone to slipping. Utility Model Content

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

[0005] Therefore, this utility model proposes a multi-degree-of-freedom fully driven dexterous hand. This multi-degree-of-freedom fully driven dexterous hand realizes independent driving of each joint of the thumb component and finger component through a modularly set drive unit, which simplifies the structure and facilitates control. At the same time, the movement of the thumb component relative to the palm plate enhances the gripping effect of the thumb component and finger component when gripping, ensuring the flexibility and reliability of the dexterous hand when gripping objects.

[0006] This utility model embodiment also proposes a robot.

[0007] The multi-degree-of-freedom fully actuated dexterous hand of this utility model embodiment includes:

[0008] Palm;

[0009] A thumb assembly and a finger assembly are provided. The thumb assembly is located on the front side of the palm plate, and the finger assemblies are located on the top of the palm plate and are spaced apart. The thumb assembly is adjustable in position along the left and right direction of the palm plate to be opposite to one of the multiple finger assemblies. The thumb assembly is used to bend when holding an object to fit with the opposite bent finger assembly.

[0010] The thumb assembly includes a first drive unit, a second drive unit, and a first distal phalanx. The first drive unit and the second drive unit have the same structure and each includes a drive housing and a drive motor that are fixedly connected. The output shaft of the drive motor of the first drive unit is connected to the palm plate. The drive housing of the second drive unit is fixedly connected to the drive housing of the first drive unit. The drive motor of the second drive unit is located above its drive unit. The first distal phalanx is fixedly located on the output shaft of the drive motor of the second drive unit.

[0011] The multi-degree-of-freedom fully driven dexterous hand of this utility model realizes independent driving of each joint of the thumb component through a modularly set drive unit, which simplifies the structure and facilitates control. At the same time, the movement of the thumb component relative to the palm plate enhances the gripping effect of the thumb component and finger components when gripping, ensuring the flexibility and reliability of the dexterous hand when holding objects.

[0012] In some embodiments, the device further includes a third drive unit and a first connecting frame. The third drive unit has the same structure as the first drive unit. The drive housing of the third drive unit is adjustable in position along the left-right direction and is disposed on the palm plate. The output shaft of the drive motor of the third drive unit extends in the up-down direction. The first connecting frame includes a first plate and a first connecting lug and a second connecting lug respectively disposed on both sides of the first plate. The first connecting lug is fixedly connected to the output shaft of the drive motor of the third drive unit, and the second connecting lug is fixedly connected to the output shaft of the drive motor of the first drive unit. The extension direction of the output shaft of the drive motor of the first drive unit is perpendicular to the extension direction of the output shaft of the drive motor of the third drive unit.

[0013] In some embodiments, a slide block is further included, which extends along the left-right direction and is fixedly disposed on the palm plate, and the drive housing of the third drive unit is slidably disposed on the slide block.

[0014] In some embodiments, a fourth driving unit is further included. The fourth driving unit has the same structure as the first driving unit. The driving housing of the fourth driving unit is fixedly disposed on the palm plate and fixedly connected to the slide. A driving plate is fixedly disposed on the output shaft of the driving motor of the fourth driving unit. A driving groove is provided on the driving plate. A sliding member is provided on the driving housing of the third driving unit corresponding to the driving groove. The sliding member is slidably assembled in the driving groove.

[0015] In some embodiments, the palm plate is provided with a receiving cavity, and the fourth driving unit is disposed in the receiving cavity.

[0016] In some embodiments, an L-shaped fixing plate is further included, one end of which is detachably connected to the drive housing of the fourth drive unit, and the other end of which is detachably connected to the palm plate.

[0017] In some embodiments, the drive plate includes a first plate segment and a second plate segment arranged at an angle, and the angle between the first plate segment and the second plate segment is an obtuse angle. The first plate segment is fixedly connected to the output shaft of the drive motor of the fourth drive unit, and the drive groove is provided on the second plate segment.

[0018] In some embodiments, the finger assembly includes a fifth drive unit, a sixth drive unit, a seventh drive unit, and a second distal phalanx. The fifth drive unit, the sixth drive unit, the seventh drive unit, and the first drive unit have the same structure. The output shaft of the drive motor of the fifth drive unit is connected to the palm plate. The drive housing of the sixth drive unit is fixedly connected to the drive housing of the fifth drive unit. The drive housing of the seventh drive unit is fixedly connected to the output shaft of the drive motor of the sixth drive unit. The second distal phalanx is fixedly connected to the output shaft of the drive motor of the seventh drive unit.

[0019] In some embodiments, the system further includes an eighth drive unit and a second connecting frame. The eighth drive unit has the same structure as the first drive unit. The drive housing of the eighth drive unit is fixedly disposed on the palm plate corresponding to the finger assembly. The second connecting frame includes a second plate. The output shaft of the drive motor of the eighth drive unit and the output shaft of the drive motor of the fifth drive unit are respectively fixedly disposed on both sides of the second plate. The output shaft of the drive motor of the eighth drive unit extends in the front-back direction, and the extension direction of the output shaft of the drive motor of the fifth drive unit is perpendicular to the extension direction of the output shaft of the drive motor of the eighth drive unit.

[0020] In some embodiments, the drive motor is a geared motor, and the output shaft of the geared motor passes through and extends to both axial sides of the geared motor.

[0021] The robot of this utility model embodiment includes the multi-degree-of-freedom fully driven dexterous hand of any of the above embodiments. Attached Figure Description

[0022] Figure 1 This is a first-person view structural diagram of a multi-degree-of-freedom fully driven dexterous hand according to an embodiment of the present invention.

[0023] Figure 2 This is a second-view structural schematic diagram of the multi-degree-of-freedom fully driven dexterous hand according to an embodiment of the present invention.

[0024] Figure 3This is a schematic diagram of the structure of the multi-degree-of-freedom fully driven dexterous hand in the embodiment of this utility model.

[0025] Figure 4 This is another structural schematic diagram of the multi-degree-of-freedom fully driven dexterous hand holding the object according to an embodiment of this utility model.

[0026] Figure 5 This is a schematic diagram showing the connection between the thumb assembly and the third drive unit in a multi-degree-of-freedom fully driven dexterous hand according to an embodiment of this utility model.

[0027] Figure 6 This is a schematic diagram of the structure of the first drive unit in the multi-degree-of-freedom fully driven dexterous hand according to an embodiment of the present invention.

[0028] Figure label:

[0029] Palm plate 1; Receiving cavity 11;

[0030] Thumb assembly 2; First drive unit 21; Drive housing 211; Drive motor 212; Second drive unit 22; First distal phalanx 23;

[0031] Finger assembly 3; fifth drive unit 31; sixth drive unit 32; seventh drive unit 33; second distal phalanx 34; connecting plate 35;

[0032] Third drive unit 4; Slider 41;

[0033] First connecting bracket 5; first plate 51; first connecting lug 52; second connecting lug 53;

[0034] Slide 6;

[0035] Fourth drive unit 7; Fixing plate 71;

[0036] Drive board 8; drive slide 81; first board segment 82; second board segment 83;

[0037] Eighth drive unit 9;

[0038] Second connecting bracket 10. Detailed Implementation

[0039] 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.

[0040] like Figures 1 to 6As shown, the multi-degree-of-freedom fully driven dexterous hand of this utility model embodiment includes a palm plate 1, a thumb assembly 2, and a finger assembly 3. 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 disposed on one side of the palm plate 1, and multiple finger assemblies 3 are disposed at the end of the palm plate 1 at intervals. The position of the thumb assembly 2 relative to the palm plate 1 in the left-right direction is adjustable so as to be opposite to one of the multiple finger assemblies 3. The thumb assembly 2 is used to bend when holding an object so as to fit with the opposite bent finger assembly 3.

[0041] The thumb assembly 2 includes a first drive unit 21, a second drive unit 22 and a first distal phalanx 23. The first drive unit 21 and the second drive unit 22 have the same structure and both include a drive housing 211 and a drive motor 212 that are fixedly connected.

[0042] The output shaft of the drive motor 212 of the first drive unit 21 is connected to the palm plate 1. The drive housing 211 of the second drive unit 22 is fixedly connected to the drive housing 211 of the first drive unit 21. The drive motor 212 of the second drive unit 22 is located above the drive motor 212, that is, on the side away from the palm plate 1. The first distal phalanx 23 is fixedly located on the output shaft of the drive motor 212 of the second drive unit 22.

[0043] The output shaft of the drive motor 212 of the first drive unit 21 is connected to the palm plate 1. The position of the thumb assembly 2 is adjusted by the movement of the first drive unit 21 relative to the palm plate 1. At the same time, the rotation of the output shaft of the drive motor 212 of the first drive unit 21 causes the thumb assembly 2 to bend or extend relative to the palm plate 1. The drive housing 211 of the first drive unit 21 and the drive housing 211 of the second drive unit 22 are detachably connected by bolts. The output shaft of the drive motor 212 of the second drive unit 22 is fixedly connected to the drive lug that is fixedly connected to the first distal phalanx 23. The rotation of the drive motor of the second drive unit 22 causes the first distal phalanx to rotate relative to the second drive unit 22.

[0044] When using the multi-degree-of-freedom fully driven dexterous hand of this utility model embodiment, when the dexterous hand grasps an object, the thumb component 2 moves in the left and right direction to align with one of the multiple finger components 3. The output shaft of the drive motor 212 of the first drive unit 21 drives the entire thumb component 2 to rotate towards the palm plate 1 to achieve the bending of the thumb component 2. The output shaft of the drive motor 212 of the second drive unit 22 drives the first distal phalanx 23 to rotate towards the palm plate 1. The bending adjustment of the thumb component 2 is achieved through the first drive unit 21 and the second drive unit 22, while the multiple finger components 3 are bent. After the thumb component 2 is bent and adjusted to the correct position, the first distal phalanx 23 fits against the finger component 3. At this time, the first distal phalanx 23 can be located on the outside of the bent finger component 3 or on the inside of the bent finger component 3, realizing the pinching of the thumb component 2 and the finger component 3 and the surrounding closed grip of the grasped object.

[0045] When the dexterous hand releases the object, the output shaft of the drive motor 212 of the first drive unit 21 drives the entire thumb assembly 2 to rotate away from the palm plate 1 to extend the thumb assembly 2. The output shaft of the drive motor 212 of the second drive unit 22 drives the first distal phalanx 23 to rotate away from the palm plate 1, while extending multiple finger assemblies 3. This releases the thumb assembly 2 and finger assemblies 3 from the grasped object, and moves the thumb assembly 2 relative to the palm plate 1 to reset and restore the thumb assembly 2.

[0046] The multi-degree-of-freedom fully driven dexterous hand of this utility model embodiment achieves independent driving of each joint of the thumb component 2 through a modularly configured driving unit, which simplifies the driving method, facilitates individual control of each joint, and is easy to operate and control the dexterous hand. At the same time, the movement of the thumb component 2 relative to the palm plate 1 enhances the gripping effect when the thumb component 2 and the finger component 3 are gripping, ensuring the flexibility and reliability of the dexterous hand when holding objects.

[0047] It should be noted that the adjustable position of the thumb assembly 2 relative to the palm plate 1 along the first direction for alignment with one of the multiple finger assemblies 3 means: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the finger components 3 are arranged in four intervals, namely the first component, the second component, the third component, and the fourth component. When the thumb component 2 moves along the width direction of the palm plate 1, as shown... Figure 3 As shown, thumb component 2 can be aligned with the first component, such as... Figure 4 As shown, thumb component 2 can also be aligned with the second component, and secondly, thumb component 2 can also be aligned with the third or fourth component (not shown in the figure).

[0048] Optionally, the drive motor 212 is a geared motor, such as a frameless torque motor. The output shaft of the geared motor passes through and extends to both sides of the axial direction of the geared motor. It can be connected to two drive lugs on the drive housing 211 at both ends of the output shaft of the drive motor 212, which ensures the connection strength between two adjacent drive housings 211 and ensures the reliability of the dexterous hand during operation.

[0049] In some embodiments, such as Figure 1 , Figure 3 and Figure 5 As shown, it also includes a third drive unit 4 and a first connecting frame 5. The third drive unit 4 has the same structure as the first drive unit 21 and includes a drive housing 211 and a drive motor 212 that are fixedly connected. The drive housing 211 of the third drive unit 4 is adjustable in position along the left and right direction and is located on the palm plate 1. The output shaft of the drive motor 212 of the third drive unit 4 extends along the up and down direction. The first connecting frame 5 includes a first plate 51 and a first connecting lug 52 and a second connecting lug 53 respectively located on both sides of the first plate 51. The first connecting lug 52 is fixedly connected to the output shaft of the drive motor 212 of the third drive unit 4, and the second connecting lug 53 is fixedly connected to the output shaft of the drive motor 212 of the first drive unit 21. The extension direction of the output shaft of the drive motor 212 of the first drive unit 21 is perpendicular to the extension direction of the output shaft of the drive motor 212 of the third drive unit 4.

[0050] Specifically, the third drive unit 4 has the same structure as the first drive unit 21 and includes a drive housing 211 and a drive motor 212 that are fixedly connected. The drive housing 211 of the third drive unit 4 is adjustable in position along the left and right direction and is located on the palm plate 1. The output shaft of the drive motor 212 of the third drive unit 4 extends along the up and down direction. Two first connecting lugs 52 are provided at intervals on the first plate 51 of the first connecting frame 5. The two first connecting lugs 52 are fixed to both ends of the output shaft of the drive motor 212 of the third drive unit 4. Two second connecting lugs are provided at intervals on the side of the first plate 51 that is away from the first connecting lugs 52. 53. The line connecting the two second connecting lugs 53 is perpendicular to the connection direction of the two first connecting lugs 52. The two ends of the output shaft of the drive motor 212 of the first drive unit 21 are fixedly connected to the two second connecting lugs 53 respectively. When the dexterous hand is working, the drive motor 212 in the third drive unit 4 rotates, which drives the thumb assembly 2 to sway and rotate relative to the palm plate 1 through the first connecting frame 5. The drive motor 212 of the first drive unit 21 connected to the first connecting frame 5 rotates, which in turn drives the thumb assembly 2 to bend or extend relative to the palm plate 1, greatly improving the flexibility of the thumb assembly 2.

[0051] By setting the third drive unit 4 and the first connecting frame 5, the thumb assembly 2 can bend and extend while achieving lateral rotation relative to the palm plate 1, thereby increasing the degree of freedom and dexterity of the thumb assembly 2 and facilitating the improvement of dexterity and applicability of the hand.

[0052] In some embodiments, such as Figure 1 and Figure 5 As shown, it also includes a slide 6, which extends in the left and right direction and is fixedly mounted on the palm plate 1. The drive housing 211 of the third drive unit 4 is slidably mounted on the slide 6.

[0053] Specifically, the slide block 6 is provided with two limiting grooves that extend along the length of the slide block 6 at intervals. The drive housing 211 of the third drive unit 4 is threadedly connected to the limiting grooves with limiting bolts. The limiting bolts slide in the limiting grooves to ensure the restriction of the movement direction of the third drive unit 4, thereby ensuring the reliability and stability of the entire thumb assembly 2 during operation.

[0054] In some embodiments, such as Figure 4 and Figure 5 As shown, it also includes a fourth drive unit 7. The fourth drive unit 7 has the same structure as the first drive unit 21 and includes a drive housing 211 and a drive motor 212 that are fixedly connected. The drive housing 211 of the fourth drive unit 7 is fixedly mounted on the palm plate 1 and fixedly connected to the slide 6. A drive plate 8 is fixedly mounted on the output shaft of the drive motor 212 of the fourth drive unit 7. A drive groove 81 is provided on the drive plate 8. A sliding member 41 is provided on the drive housing 211 of the third drive unit 4 corresponding to the drive groove 81. The sliding member 41 is slidably assembled in the drive groove 81.

[0055] Specifically, the drive housing 211 of the fourth drive unit 7 is fixedly connected to the palm plate 1, the slide 6 is fixed to the front side of the fourth drive unit 7, and drive plates 8 are fixedly provided at both ends of the output shaft of the drive motor 212 of the fourth drive unit 7. The two drive plates 8 are symmetrically arranged on both sides of the drive housing 211 of the fourth drive unit 7. The drive plates 8 are provided with drive grooves 81. The drive housing 211 of the third drive unit 4 is provided with sliding members 41 on both sides corresponding to the drive grooves 81. The sliding members 41 are slidably assembled in the drive grooves 81. When the drive motor 212 of the fourth drive unit 7 rotates, it drives the drive plates 8 to rotate around the output shaft of the drive motor 212 of the fourth drive unit 7. Under the constraint of the slide 6 on the drive housing 211 of the third drive unit 4, the drive plates 8 drive the drive housing 211 of the third drive unit 4 to move relative to the slide 6 through the drive grooves 81, thereby realizing the adjustment of the position of the third drive unit 4 and the first connecting frame 5, and thus realizing the adjustment of the position of the thumb assembly 2. The adjustment is convenient and the drive is reliable, so as to increase the reliability of the thumb assembly 2 and the finger assembly 3 when gripping objects.

[0056] Optionally, the sliding member 41 is a guide bolt threaded onto the drive housing 211 of the third drive unit 4. The guide bolt facilitates the disassembly and assembly of the sliding member 41, making maintenance convenient.

[0057] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the palm plate 1 is provided with a receiving cavity 11, and the fourth drive unit 7 is located in the receiving cavity 11. By providing the receiving cavity 11, the drive motor 212 and drive housing 211 of the fourth drive unit 7 can be hidden, thereby reducing the exposed connecting parts at the connection position between the thumb assembly 2 and the palm plate 1, reducing the interference of the dexterous hand with the object being held during operation, and facilitating the use of the dexterous hand.

[0058] In some embodiments, such as Figure 5 As shown, it also includes an L-shaped fixing plate 71. One end of the fixing plate 71 is detachably connected to the drive housing 211 of the fourth drive unit 7, and the other end of the fixing plate 71 is detachably connected to the palm plate 1.

[0059] Specifically, the fixing plate 71 includes a vertically arranged vertical plate and a horizontal plate. The vertical plate is connected to the drive housing 211 of the fourth drive unit 7 by bolts or screws, and the horizontal plate is connected to the palm plate 1 by bolts or screws. When disassembly and maintenance are required, the drive housing 211 of the fourth drive unit 7 and the palm plate 1 can be quickly disassembled and assembled, which is convenient for operation and maintenance.

[0060] In some embodiments, such as Figure 5 As shown, the drive plate 8 includes a first plate segment 82 and a second plate segment 83 arranged at an angle, and the angle between the first plate segment 82 and the second plate segment 83 is an obtuse angle. The first plate segment 82 is fixedly connected to the output shaft of the drive motor 212 of the fourth drive unit 7, and the drive groove 81 is provided on the second plate segment 83.

[0061] By setting the first plate segment 82 and the second plate segment 83 of the drive plate 8 at an angle and limiting the angle, when the drive plate 8 drives the slider 41 and the drive housing 211 of the third drive unit 4 to move relative to the slide block 6, compared with the drive plate 8 which extends in a single direction, the relative movement of the drive housing 211 of the third drive unit 4 and the slider 41 can be smoother, which facilitates precise control of the position of the third drive unit 4 and is safe and reliable.

[0062] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the finger assembly 3 includes a fifth drive unit 31, a sixth drive unit 32, a seventh drive unit 33, and a second distal phalanx 34. The fifth drive unit 31, the sixth drive unit 32, the seventh drive unit 33, and the first drive unit 21 have the same structure and include a drive housing 211 and a drive motor 212 that are fixedly connected. The output shaft of the drive motor 212 of the fifth drive unit 31 is connected to the palm plate 1. The drive housing 211 of the sixth drive unit 32 is fixedly connected to the drive housing 211 of the fifth drive unit 31. The drive housing 211 of the seventh drive unit 33 is fixedly connected to the output shaft of the drive motor 212 of the sixth drive unit 32. The second distal phalanx 34 is fixedly connected to the output shaft of the drive motor 212 of the seventh drive unit 33.

[0063] Specifically, the output shaft of the drive motor 212 of the fifth drive unit 31 is connected to the palm plate 1. The rotation of the output shaft of the drive motor 212 of the fifth drive unit 31 causes the finger assembly 3 to bend or extend relative to the palm plate 1. The two sides of the drive housing 211 of the fifth drive unit 31 are detachably connected to the connecting plate 35 by bolts, and the connecting plate 35 is detachably connected to the drive housing 211 of the sixth drive unit 32 by bolts. The drive motor 212 of the sixth drive unit 32 is located on the side of the drive housing 211 of the sixth drive unit 32 away from the fifth drive unit 31. The output shaft of the drive motor 212 of the sixth drive unit 32 is fixedly provided with a drive lug that is fixedly connected to the drive housing 211 of the seventh drive unit 33. The output shaft of the drive motor 212 of the seventh drive unit 33 is fixedly connected with a drive lug that is fixedly connected to the second distal phalanx 34.

[0064] When the dexterous hand grasps an object, the output shaft of the drive motor 212 of the fifth drive unit 31 drives the entire finger assembly 3 to rotate towards the palm plate 1 to achieve bending of the finger assembly 3. The output shaft of the drive motor 212 of the sixth drive unit 32 drives the seventh drive unit 33 to rotate towards the palm plate 1. The output shaft of the drive motor 212 of the seventh drive unit 33 drives the second distal phalanx 34 to rotate towards the palm plate 1 to achieve bending of the finger assembly 3.

[0065] When the dexterous hand releases the object, the output shaft of the drive motor 212 of the fifth drive unit 31 drives the entire finger assembly 3 to rotate away from the palm plate 1 to extend the finger assembly 3. The output shaft of the drive motor 212 of the sixth drive unit 32 drives the seventh drive unit 33 to rotate away from the palm plate 1. The output shaft of the drive motor 212 of the seventh drive unit 33 drives the second distal phalanx 34 to rotate away from the palm plate 1 to extend the finger assembly 3.

[0066] The modular drive unit enables independent drive of each joint of the finger component 3, increasing the flexibility of the individual finger component 3 of the dexterous hand, simplifying the drive method, facilitating individual control of each joint, making operation convenient, and increasing the flexibility and reliability of the dexterous hand during use.

[0067] In some embodiments, such as Figure 2 , Figure 3 and Figure 4 As shown, it includes an eighth drive unit 9 and a second connecting frame 10. The eighth drive unit 9 has the same structure as the first drive unit 21 and includes a drive housing 211 and a drive motor 212 that are fixedly connected. The drive housing 211 of the eighth drive unit 9 is fixedly mounted on the palm plate 1 corresponding to the finger assembly 3. The second connecting frame 10 includes a second plate. The output shaft of the drive motor 212 of the eighth drive unit 9 and the output shaft of the drive motor 212 of the fifth drive unit 31 are respectively fixedly mounted on both sides of the second plate. The output shaft of the drive motor 212 of the eighth drive unit 9 extends in the front-back direction, and the extension direction of the output shaft of the drive motor 212 of the fifth drive unit 31 is perpendicular to the extension direction of the output shaft of the drive motor 212 of the eighth drive unit 9.

[0068] Specifically, the drive housing 211 of the eighth drive unit 9 is fixedly installed on the rear side of the palm plate 1. The output shaft of the drive motor 212 of the eighth drive unit 9 extends in the front-back direction. Two third connecting lugs are spaced apart on the second plate of the second connecting frame 10. The two third connecting lugs are fixed to both ends of the output shaft of the drive motor 212 of the eighth drive unit 9. Two fourth connecting lugs are spaced apart on the side of the second plate away from the third connecting lugs. The line direction of the connection between the two fourth connecting lugs is perpendicular to the connection direction of the two third connecting lugs. The two ends of the output shaft of the drive motor 212 of the fifth drive unit 31 are fixedly connected to the two fourth connecting lugs respectively. When the dexterous hand is working, the drive motor 212 of the eighth drive unit 9 rotates, which drives the finger assembly 3 to laterally rotate relative to the palm plate 1 through the second connecting frame 10. The drive motor 212 of the fifth drive unit 31 connected to the second connecting frame 10 rotates, which in turn drives the finger assembly 3 to bend or extend relative to the palm plate 1, greatly improving the flexibility of the finger assembly 3.

[0069] Optionally, the output shaft of the drive motor 212 is provided with a position detection unit, which is used to measure and record the rotation angle of the corresponding output shaft.

[0070] The robot according to an embodiment of the present invention is described below.

[0071] The robot of this utility model embodiment includes the multi-degree-of-freedom fully driven dexterous hand of any of the above embodiments.

[0072] The robot of this utility model embodiment has a multi-degree-of-freedom and fully driven dexterous hand. The driving method is simple, making it easy to control the dexterous hand and providing good flexibility and reliability when holding objects.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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 actuated dexterous hand, characterized by, include: Palm; A thumb assembly and a finger assembly are provided. The thumb assembly is located on the front side of the palm plate, and the finger assemblies are located on the top of the palm plate and are spaced apart. The thumb assembly is adjustable in position along the left and right direction of the palm plate to be opposite to one of the multiple finger assemblies. The thumb assembly is used to bend when holding an object to fit with the opposite bent finger assembly. The thumb assembly includes a first drive unit, a second drive unit, and a first distal phalanx. The first drive unit and the second drive unit have the same structure and each includes a drive housing and a drive motor that are fixedly connected. The output shaft of the drive motor of the first drive unit is connected to the palm plate. The drive housing of the second drive unit is fixedly connected to the drive housing of the first drive unit. The drive motor of the second drive unit is located above its drive unit. The first distal phalanx is fixedly located on the output shaft of the drive motor of the second drive unit.

2. The multi-degree-of-freedom fully actuated dexterous hand according to claim 1, characterized in that, It also includes a third drive unit and a first connecting frame. The third drive unit has the same structure as the first drive unit. The drive housing of the third drive unit is adjustable in position along the left-right direction and is located on the palm plate. The output shaft of the drive motor of the third drive unit extends in the up-down direction. The first connecting frame includes a first plate and a first connecting lug and a second connecting lug respectively located on both sides of the first plate. The first connecting lug is fixedly connected to the output shaft of the drive motor of the third drive unit, and the second connecting lug is fixedly connected to the output shaft of the drive motor of the first drive unit. The extension direction of the output shaft of the drive motor of the first drive unit is perpendicular to the extension direction of the output shaft of the drive motor of the third drive unit.

3. The multi-degree-of-freedom fully actuated dexterous hand according to claim 2, characterized in that, It also includes a slide block, which extends along the left-right direction and is fixedly mounted on the palm plate, and the drive housing of the third drive unit is slidably mounted on the slide block.

4. The multi-degree-of-freedom fully actuated dexterous hand according to claim 3, characterized in that, It also includes a fourth drive unit, which has the same structure as the first drive unit. The drive housing of the fourth drive unit is fixedly mounted on the palm plate and fixedly connected to the slide. A drive plate is fixedly mounted on the output shaft of the drive motor of the fourth drive unit. A drive groove is provided on the drive plate. A sliding member is provided on the drive housing of the third drive unit corresponding to the drive groove. The sliding member is slidably assembled in the drive groove.

5. The multi-degree-of-freedom fully actuated dexterous hand according to claim 4, characterized in that, The palm plate is provided with a receiving cavity, the fourth driving unit is disposed in the receiving cavity, and / or, it also includes an L-shaped fixing plate, one end of the fixing plate is detachably connected to the driving shell of the fourth driving unit, and the other end of the fixing plate is detachably connected to the palm plate.

6. The multi-degree-of-freedom fully actuated dexterous hand according to claim 4, characterized in that, The drive plate includes a first plate segment and a second plate segment arranged at an angle, and the angle between the first plate segment and the second plate segment is an obtuse angle. The first plate segment is fixedly connected to the output shaft of the drive motor of the fourth drive unit, and the drive groove is provided in the second plate segment.

7. The multi-degree-of-freedom fully actuated dexterous hand according to any one of claims 1-6, characterized in that, The finger assembly includes a fifth drive unit, a sixth drive unit, a seventh drive unit, and a second distal phalanx. The fifth drive unit, the sixth drive unit, the seventh drive unit, and the first drive unit have the same structure. The output shaft of the drive motor of the fifth drive unit is connected to the palm plate. The drive housing of the sixth drive unit is fixedly connected to the drive housing of the fifth drive unit. The drive housing of the seventh drive unit is fixedly connected to the output shaft of the drive motor of the sixth drive unit. The second distal phalanx is fixedly connected to the output shaft of the drive motor of the seventh drive unit.

8. The multi-degree-of-freedom fully actuated dexterous hand according to claim 7, characterized in that, It also includes an eighth drive unit and a second connecting frame. The eighth drive unit has the same structure as the first drive unit. The drive housing of the eighth drive unit is fixedly mounted on the palm plate corresponding to the finger assembly. The second connecting frame includes a second plate. The output shaft of the drive motor of the eighth drive unit and the output shaft of the drive motor of the fifth drive unit are respectively fixed on both sides of the second plate. The output shaft of the drive motor of the eighth drive unit extends in the front-back direction, and the extension direction of the output shaft of the drive motor of the fifth drive unit is perpendicular to the extension direction of the output shaft of the drive motor of the eighth drive unit.

9. The multi-degree-of-freedom fully actuated dexterous hand according to claim 1, characterized in that, The drive motor is a geared motor, and the output shaft of the geared motor passes through and extends to both sides of the axial direction of the geared motor.

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

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