Dexterous hands, fingers, and robots

Abstract

This disclosure relates to the field of robotics, specifically to a dexterous hand finger, a dexterous hand, and a robot, solving the problem of simultaneously achieving both grasping envelope and size in a dexterous hand finger. The dexterous hand finger includes a support component, a first phalanx component, a second phalanx component, a third phalanx component, a first link component, a second link component, and a drive component. The drive component drives the first phalanx component to rotate. The second phalanx component is rotatably connected to the first phalanx component, and the third phalanx component is rotatably connected to the second phalanx component. The first link component rotatably connects the support component to the second link component, and the second link component rotatably connects the first phalanx component to the third phalanx component. This achieves coupling and linkage of the first, second, and third phalanx components using a single drive component, first link component, and second link component, thereby improving grasping envelope while maintaining the finger's size.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, specifically to a dexterous hand finger, a dexterous hand, and a robot. Background Technology

[0002] With the continuous advancement of humanoid robot technologies, industrial automation is gradually shifting from industrial robots performing single, repetitive tasks to humanoid robots performing complex and varied tasks. In this transformation, robot end effectors are evolving from specialized tools to general-purpose, hand-like tools. A dexterous hand is a type of humanoid robot end effector used to perform diverse tasks such as grasping, manipulating, and sensing. The quality of the grasping envelope of a dexterous hand's fingers directly affects the quality of its grasping envelope.

[0003] However, the linkage-driven methods used in related technologies for dexterous hand fingers typically only achieve coupling and linkage between two knuckles, resulting in poor grasping envelope of the dexterous hand fingers. To improve the grasping envelope of dexterous hand fingers, related technologies also employ multiple driving components to drive at least three knuckles of the dexterous hand fingers, leading to a complex structure and large size of the dexterous hand fingers. Utility Model Content

[0004] In view of this, embodiments of the present disclosure provide a dexterous hand finger, a dexterous hand, and a robot, which solves the problem of not being able to simultaneously take into account the grasping envelope and size of the dexterous hand finger.

[0005] In a first aspect, embodiments of this disclosure provide a dexterous hand finger, comprising: a support assembly; a first phalanx assembly rotatably connected to the support assembly about a first axis; a second phalanx assembly rotatably connected to the first phalanx assembly about a second axis; a third phalanx assembly rotatably connected to the second phalanx assembly about a third axis; a first link assembly, a first end of the first link assembly rotatably connected to the support assembly about a fourth axis; and a second link assembly, the first end of the second link assembly including a first connecting portion and a second connecting portion, the first connecting portion being rotatably connected to the second end of the first link assembly about a fifth axis, and the second connecting portion being rotatably connected to the first phalanx assembly. The first link assembly is rotatably connected about a sixth axis, and the second end of the second link assembly is rotatably connected to the third phalanx assembly about a seventh axis. A drive assembly, connected to the first phalanx assembly, is configured to drive the first phalanx assembly to rotate about the first axis. The first axis, second axis, third axis, fourth axis, fifth axis, sixth axis, and seventh axis are all parallel. In a cross-section perpendicular to the first axis, the line connecting the first axis and the sixth axis intersects the line connecting the fourth axis and the fifth axis, and the line connecting the second axis and the third axis intersects the line connecting the sixth axis and the seventh axis.

[0006] In some embodiments, the drive assembly includes: a drive source including an output shaft; a lead screw connected to the output shaft and rotating under the drive of the output shaft; and a lead screw slider screwed to the lead screw and rotatably connected to the first knuckle assembly about an eighth axis, the eighth axis being parallel to the first axis.

[0007] In some embodiments, the lead screw slider includes a guide hole extending through the lead screw slider along the extension direction of the lead screw, and the drive assembly further includes: a guide rod passing through the guide hole, connected to the drive source, and arranged parallel to the lead screw; and / or, the lead screw slider includes a marking hole extending through the lead screw slider along the extension direction of the lead screw, and the drive assembly further includes: a potentiometer passing through the marking hole, connected to a side of the drive source or an end near the output shaft, and arranged parallel to the lead screw, the potentiometer being configured to detect the position of the lead screw slider; and / or, the thread of the lead screw for screwing into the lead screw slider includes a trapezoidal thread.

[0008] In some embodiments, when the drive assembly includes the guide rod and the potentiometer, the lead screw slider includes: a first component having the guide hole and the marking hole; and a second component connected to the first component and located between the guide hole and the marking hole, wherein the second component can be positioned between the guide rod and the potentiometer during the sliding of the lead screw slider.

[0009] In some embodiments, on a cross section perpendicular to the first axis, the line connecting the first axis and the sixth axis is a first-length line, the line connecting the fourth axis and the fifth axis is a first-length line, the line connecting the second axis and the third axis is a first-length line, the line connecting the sixth axis and the seventh axis is a first-length line, the line connecting the first axis and the fourth axis is a second-length line, the line connecting the fifth axis and the sixth axis is a second-length line, the line connecting the second axis and the sixth axis is a second-length line, and the line connecting the third axis and the seventh axis is a second-length line; wherein the ratio of the length of the first-length line to the length of the second-length line ranges from 2 to 5.

[0010] In some embodiments, the dexterous hand fingers have a palm side and a palm side, and the second linkage assembly includes: a linkage body, a first end of the linkage body including the second connecting portion, and a second end of the linkage body rotatably connected to the third phalanx assembly about the seventh axis; and a protruding structure connected to the palm side of the first end of the linkage body, the protruding structure including the first connecting portion.

[0011] In some embodiments, the first knuckle assembly includes: a left portion of a first knuckle rotatably connected to the second knuckle assembly about a second axis and rotatably connected to the second connecting portion about a sixth axis; a right portion of a first knuckle connected to the left portion of the first knuckle, rotatably connected to the second knuckle assembly about the second axis, and rotatably connected to the second connecting portion about the sixth axis; the support assembly includes: a first support member, a first end of the first linkage assembly rotatably connected to the first support member about a fourth axis; a second support member including a first support portion, a second support portion, and a third support portion connecting the first support portion and the second support portion, the first support member being at least partially disposed between the first support portion and the second support portion, the third support portion being connected to the first support member, the first support portion being rotatably connected to the left portion of the first knuckle about the first axis, and the second support portion being rotatably connected to the right portion of the first knuckle about the first axis.

[0012] In some embodiments, the third phalanx assembly includes: a third phalanx body rotatably connected to the second phalanx assembly about a third axis and rotatably connected to a second end of the second link assembly about a seventh axis; and a wrapping member wrapping at least a portion of the third phalanx body, wherein the density of the material of the wrapping member is less than the density of the material of the third phalanx body, and the elastic modulus of the material of the wrapping member is less than the elastic modulus of the material of the third phalanx body.

[0013] In some embodiments, the dexterous hand finger is the dexterous little finger or the dexterous ring finger.

[0014] Secondly, embodiments of this disclosure provide a dexterous hand, comprising: a palm base plate; and at least one dexterous hand finger as described in the first aspect, the dexterous hand finger being mounted on the palm base plate.

[0015] Thirdly, embodiments of this disclosure provide a robot comprising: at least one dexterous hand as described in the second aspect.

[0016] The dexterous hand fingers provided in this embodiment include a support assembly, a first phalanx assembly, a second phalanx assembly, a third phalanx assembly, a first link assembly, a second link assembly, and a drive assembly. The first phalanx assembly is rotatably connected to the support assembly about a first axis, the second phalanx assembly is rotatably connected to the first phalanx assembly about a second axis, the third phalanx assembly is rotatably connected to the second phalanx assembly about a third axis, and the first end of the first link assembly is rotatably connected to the support assembly about a fourth axis. The first end of the second link assembly includes a first connecting portion and a second connecting portion. The first connecting portion is rotatably connected to the second end of the first link assembly about a fifth axis, the second connecting portion is rotatably connected to the first phalanx assembly about a sixth axis, and the second end of the second link assembly is rotatably connected to the third phalanx assembly about a seventh axis. The drive component is connected to the first knuckle component to drive the first knuckle component to rotate around the first axis, and drives the second knuckle component to rotate around the second axis and the third knuckle component to rotate around the third axis through the first link component and the second link component. Therefore, the dexterous hand fingers realize the coupling and linkage of the first knuckle component, the second knuckle component and the third knuckle component by using a drive component, the first link component and the second link component, thereby improving the grasping envelope.

[0017] In addition, since the dexterous hand finger provided in this embodiment can realize the coupling and linkage of the first phalanx component, the second phalanx component and the third phalanx component using a single driving component, the structure of the dexterous hand finger is simplified and the size of the dexterous hand finger is reduced. That is, the dexterous hand finger provided in this embodiment improves the grasping envelope of the dexterous hand finger while ensuring the size of the dexterous hand finger. Attached Figure Description

[0018] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0019] Figure 1The diagram shown is a structural schematic of a dexterous hand finger according to an embodiment of this disclosure.

[0020] Figure 2 The image shown is a bottom view of the fingers of a dexterous hand according to an embodiment of this disclosure.

[0021] Figure 3 As shown Figure 2 The diagram shows a cross-sectional view of the fingers of a dexterous hand in the AA direction.

[0022] Figure 4 As shown Figure 3 The image shows a magnified view of the fingers of the dexterous hand in region B.

[0023] Figure 5 As shown Figure 3 The image shows a magnified view of the fingers of the dexterous hand in region C.

[0024] Figure 6 The diagram shown is a structural schematic of the fingers of a dexterous hand provided in another embodiment of this disclosure.

[0025] Figure 7 The diagram shown is a structural schematic of a driving component provided in an embodiment of this disclosure.

[0026] Figure 8 The diagram shown is a structural schematic of a driving component provided in another embodiment of this disclosure.

[0027] Figure 9 The diagram shown is a structural schematic of a dexterous hand finger excluding a driving component according to an embodiment of this disclosure.

[0028] Figure 10 As shown Figure 9 The image shown is a magnified view of a dexterous hand finger in region K, excluding the driving components.

[0029] Figure 11 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this disclosure.

[0030] Figure 12 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0031] Figure label:

[0032] 11. Robot; 1. Dexterous hand; 1001. Palm side; 1002. Palmar side; 10. Dexterous hand fingers; 100. Support assembly; 110. First support member; 120. Second support member; 1210. First support part; 1220. Second support part; 1230. Third support part; 200. First knuckle assembly; 2010. Third connecting part; 2020. Fourth connecting part; 2030. Fifth connecting part; 2040. Sixth Connecting part; 210, left part of the first phalanx; 220, right part of the first phalanx; 300, second phalanx assembly; 3010, seventh connecting part; 3020, eighth connecting part; 400, third phalanx assembly; 4010, ninth connecting part; 4020, tenth connecting part; 410, third phalanx body; 4110, fingertip; 4120, finger pad; 420, wrapping part; 500, first link assembly; 501, through hole; 600, second link assembly 610. Linkage assembly; 620. Protruding structure; 6010. First connecting part; 6020. Second connecting part; 700. Drive assembly; 710. Drive source; 7110. Output shaft; 720. Lead screw; 7210. Threaded part; 730. Lead screw slider; 7301. Guide hole; 7302. Marking hole; 7303. Threaded hole; 7310. First component; 7320. Second component; 740. Guide rod; 7 50. Potentiometer; 800. First rubber sleeve; 900. First outer shell; 1000. Second rubber sleeve; 1100. Second outer shell; 1200. Sensor; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; 20. Palm base plate; 30. Dexterous middle finger; 40. Dexterous index finger; 50. Dexterous thumb. Detailed Implementation

[0033] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0034] Figure 1 The diagram shown is a structural schematic of a dexterous hand finger according to an embodiment of this disclosure. Figure 2 The image shown is a bottom view of the fingers of a dexterous hand according to an embodiment of this disclosure. Figure 3 As shown Figure 2 The diagram shows a cross-sectional view of the fingers of a dexterous hand in the AA direction. Figure 4 As shown Figure 3 The image shows a magnified view of the fingers of a dexterous hand in region B. (See attached image.) Figures 1 to 4As shown, the dexterous hand finger 10 includes a support component 100, a first knuckle component 200, a second knuckle component 300, a third knuckle component 400, a first link component 500, a second link component 600, and a drive component 700.

[0035] The first knuckle assembly 200 is rotatably connected to the support assembly 100 about a first axis L1. The second knuckle assembly 300 is rotatably connected to the first knuckle assembly 200 about a second axis L2. The third knuckle assembly 400 is rotatably connected to the second knuckle assembly 300 about a third axis L3. The first end of the first link assembly 500 is rotatably connected to the support assembly 100 about a fourth axis L4. The first end of the second link assembly 600 includes a first connecting portion 6010 and a second connecting portion 6020. The first connecting portion 6010 is rotatably connected to the second end of the first link assembly 500 about a fifth axis L5. The second connecting portion 6020 is rotatably connected to the first knuckle assembly 200 about a sixth axis L6. The second end of the second link assembly 600 is rotatably connected to the third knuckle assembly 400 about a seventh axis L7. The drive assembly 700 is connected to the first knuckle assembly 200 and is configured to drive the first knuckle assembly 200 to rotate about the first axis L1. The first axis L1, the second axis L2, the third axis L3, the fourth axis L4, the fifth axis L5, the sixth axis L6, and the seventh axis L7 are all parallel. On a section perpendicular to the first axis L1, the line connecting the first axis L1 and the sixth axis L6 intersects the line connecting the fourth axis L4 and the fifth axis L5, and the line connecting the second axis L2 and the third axis L3 intersects the line connecting the sixth axis L6 and the seventh axis L7.

[0036] The dexterous hand finger 10 utilizes a drive component 700, a first link component 500, and a second link component 600 to achieve the coupling and linkage of the first knuckle component 200, the second knuckle component 300, and the third knuckle component 400, thereby improving the grasping envelope of the dexterous hand finger 10.

[0037] In addition, since the dexterous hand finger 10 can achieve the coupling and linkage of the first knuckle component 200, the second knuckle component 300 and the third knuckle component 400 using a single drive component 700, the structure of the dexterous hand finger 10 is simplified and the size of the dexterous hand finger 10 is reduced. That is, while ensuring the size of the dexterous hand finger 10, the grasping envelope of the dexterous hand finger 10 is improved.

[0038] For example, such as Figure 4As shown, on a section perpendicular to the first axis L1, the orthographic projections of the first axis L1, second axis L2, third axis L3, fourth axis L4, fifth axis L5, sixth axis L6, and seventh axis L7 are points D, E, F, G, H, I, and J, respectively. The line connecting point D and point G is represented by link DG. The line connecting point D and point I is represented by link DI. The line connecting point G and point H is represented by link GH. The line connecting point H and point I is represented by link HI. Links DG, DI, GH, and HI form the first four-bar linkage. Link DG is the first frame of the first four-bar linkage, link DI is the first crank of the first four-bar linkage, link HI is the first link of the first four-bar linkage, and link GH is the first rocker arm of the first four-bar linkage. The first crank is the driving rod, which moves under the drive of the drive assembly 700, the first connecting rod assembly 500 and the second connecting rod assembly 600. The first crank drives the first connecting rod and the first rocker arm in sequence, thereby realizing the bending and extension of the second knuckle assembly 300.

[0039] Furthermore, the line connecting point E and point I is represented by link EI, and the line connecting point E and point F is represented by link EF. The line connecting point I and point J is represented by link IJ. The line connecting point F and point J is represented by link FJ. Links EI, EF, IJ, and FJ form a second four-bar linkage. Link EI is the second frame of the second four-bar linkage, link IJ is the second crank of the second four-bar linkage, link FJ is the second link of the second four-bar linkage, and link EF is the second rocker arm of the second four-bar linkage. The second crank is the driving link, moving under the drive of the drive assembly 700, the first link assembly 500, and the second link assembly 600. The second crank sequentially drives the second link and the second rocker arm, realizing the bending and extension of the third knuckle assembly 400. Therefore, the dexterous hand finger 10 realizes the coupling and linkage of the first knuckle assembly 200, the second knuckle assembly 300, and the third knuckle assembly 400 by utilizing the drive assembly 700, the first four-bar linkage, and the second four-bar linkage.

[0040] For example, such as Figure 1 and Figure 2 As shown, the first knuckle assembly 200, the second knuckle assembly 300, the third knuckle assembly 400, the first link assembly 500, and the second link assembly 600 are all axisymmetric structures, and the axis of symmetry lies on a cross-section perpendicular to the first axis L1. For example, the cross-sectional shape of the second knuckle assembly 300 can be U-shaped, trapezoidal, or other types of symmetrical structures.

[0041] For example, the first link assembly 500 can be a straight or curved rod, and can be a solid or hollow rod. For example, the second link assembly 600 can be a straight or curved rod, and can be a solid or hollow rod. Compared to a straight rod, a curved rod can provide avoidance during the bending and extending of the dexterous hand fingers 10, thereby preventing interference between adjacent structures, and can also limit the range of motion of the link. A hollow rod is lighter than a solid rod, which can reduce the weight of the dexterous hand fingers 10.

[0042] For example, the drive assembly 700 can be driven by a motor, electric cylinder, electric actuator, linear module, pneumatic cylinder, etc. For example, Figure 1 As shown, the first link assembly 500 may be provided with a through hole 501 to facilitate wiring.

[0043] For example, such as Figure 1 , Figure 2 and Figure 4 As shown, the first end of the first knuckle assembly 200 includes a third connecting portion 2010 and a fourth connecting portion 2020, and the second end of the first knuckle assembly 200 includes a fifth connecting portion 2030 and a sixth connecting portion 2040. The first end of the second knuckle assembly 300 includes a seventh connecting portion 3010, and the second end of the second knuckle assembly 300 includes an eighth connecting portion 3020. The first end of the third knuckle assembly 400 includes a ninth connecting portion 4010 and a tenth connecting portion 4020. The third connecting portion 2010 is connected to the drive assembly 700, the fourth connecting portion 2020 is rotatably connected to the support assembly 100 about a first axis L1, the fifth connecting portion 2030 and the seventh connecting portion 3010 are rotatably connected about a second axis L2, the sixth connecting portion 2040 and the second connecting portion 2020 are rotatably connected about a sixth axis L6, and the eighth connecting portion 3020 and the ninth connecting portion 4010 are rotatably connected about a third axis L3. The tenth connecting part 4020 is rotatably connected to the second end of the second connecting rod assembly 600 around the seventh axis L7.

[0044] Figure 6 The diagram shown is a structural schematic of the fingers of a dexterous hand according to another embodiment of this disclosure. Figure 6As shown, the dexterous hand finger 10 also includes a first rubber sleeve 800, a first outer shell 900, a second rubber sleeve 1000, and a second outer shell 1100. The first rubber sleeve 800 and the first outer shell 900 are respectively disposed around the periphery of the first link assembly 500 and the periphery of the first knuckle assembly 200, and the first rubber sleeve 800 is connected to the first outer shell 900 to cover a portion of the first link assembly 500 and a portion of the first knuckle assembly 200. The second rubber sleeve 1000 and the second outer shell 1100 are respectively disposed around the periphery of the second link assembly 600 and the periphery of the second knuckle assembly 300, and the second rubber sleeve 1000 is connected to the second outer shell 1100 to cover a portion of the second link assembly 600 and a portion of the second knuckle assembly 300. The first link assembly 500 and the first knuckle assembly 200 are partially encased by the first rubber sleeve 800 and the first outer shell 900, and the second link assembly 600 and the second knuckle assembly 300 are partially encased by the second rubber sleeve 1000 and the second outer shell 1100, in order to protect the first link assembly 500, the first knuckle assembly 200, the second link assembly 600 and the second knuckle assembly 300, while improving the overall aesthetics of the dexterous hand fingers 10.

[0045] Figure 7 The diagram shown is a structural schematic of a driving component provided in an embodiment of this disclosure. Figure 3 , Figure 6 and Figure 7 As shown, the drive assembly 700 includes a drive source 710, a lead screw 720, and a lead screw slider 730. The drive source 710 includes an output shaft 7110, and the lead screw 720 is connected to the output shaft 7110 and rotates under the drive of the output shaft 7110. The lead screw slider 730 is screwed to the lead screw 720 and is rotatably connected to the first finger assembly 200 about an eighth axis L8, which is parallel to the first axis L1.

[0046] In related technologies, to ensure the accuracy of movement and prevent the drive component from jamming, a guide bearing is usually installed between the output shaft of the drive component and the knuckle assembly to correct errors such as axial misalignment generated during the movement of the drive component. The drive component 700 uses a lead screw 720 and a lead screw slider 730 to drive the first knuckle assembly 200, resulting in more precise movement. It eliminates the need for a guide bearing between the drive component 700 and the first knuckle assembly 200, reducing the length of the dexterous hand finger 10 in its extension direction. Exemplarily, unless otherwise specified, the extension direction of the dexterous hand finger 10 in this embodiment refers to the direction in which the dexterous hand finger 10 is positioned... Figure 1 The direction of extension of the dexterous hand fingers 10 in the extended position shown.

[0047] For example, the drive source 710 can be a servo motor, a stepper motor, etc.

[0048] Furthermore, compared to dexterous hand fingers using chord drives, the use of a drive assembly 700 in conjunction with the first link assembly 500 and the second link assembly 600 enhances the load-bearing capacity of the dexterous hand finger 10. Specifically, both the first link assembly 500 and the second link assembly 600 are rigid structures, while chord drives are elastic. Since the load-bearing capacity of linkage structures is generally greater than that of chord drives, the use of the drive assembly 700 in conjunction with the first link assembly 500 and the second link assembly 600 in the dexterous hand finger 10 results in a significantly higher load-bearing capacity.

[0049] In some embodiments, such as Figure 7 As shown, the lead screw slider 730 includes a guide hole 7301 extending through the lead screw 720 along its extension direction. The drive assembly 700 also includes a guide rod 740. The guide rod 740 passes through the guide hole 7301, is connected to the drive source 710, and is arranged parallel to the lead screw 720.

[0050] The guide rod 740 is used to guide the movement of the lead screw and slider 730, which further improves the movement accuracy of the lead screw and slider 730.

[0051] For example, such as Figure 7 As shown, there are two guide holes 7301 and two guide rods 740. The two guide rods 740 are symmetrically arranged on both sides of the lead screw 720 and pass through the two guide holes 7301 respectively, and are both connected to the drive source 710. The two guide rods 740 guide the movement of the lead screw slider 730, further improving the movement accuracy of the lead screw slider 730.

[0052] For example, such as Figure 7 As shown, the lead screw slider 730 also includes a threaded hole 7303 extending through the lead screw slider 730 along the extension direction of the lead screw 720. The threaded hole 7303 is located between two guide holes 7301. The outer surface of the lead screw 720 has a threaded portion 7210, which is inserted into the threaded hole 7303 to realize the screw connection between the lead screw slider 730 and the lead screw 720.

[0053] Figure 8 The diagram shown is a structural schematic of a driving component provided in another embodiment of this disclosure. Figure 8 As shown, the lead screw slider 730 includes a marking hole 7302 extending through the lead screw 720 along its extension direction. The drive assembly 700 also includes a potentiometer 750. The potentiometer 750 passes through the marking hole 7302, is connected to the side of the drive source 710 or one end near the output shaft 7110, and is arranged parallel to the lead screw 720. The potentiometer 750 is configured to detect the position of the lead screw slider 730.

[0054] In related technologies, to detect the position of the output shaft 7110 of the drive assembly 700, an encoder needs to be installed at the end of the drive assembly 700 away from the output shaft 7110. The encoder is coaxially positioned with the output shaft 7110, resulting in a larger dimension of the drive assembly 700 along the axial direction of the output shaft 7110, which in turn leads to a larger length of the dexterous hand finger in its extension direction. By using a potentiometer 750 to detect the position of the lead screw slider 730, an encoder is not required at the end of the drive assembly 700, further reducing the length of the dexterous hand finger 10 in its extension direction.

[0055] In some embodiments, the thread of the lead screw 720 for screwing into the lead screw slider 730 includes a trapezoidal thread. The trapezoidal thread is capable of withstanding a larger load to improve the grip load of the dexterous hand fingers 10.

[0056] In some embodiments, such as Figure 7 and Figure 8 As shown, when the drive assembly 700 includes a guide rod 740 and a potentiometer 750, the lead screw slider 730 includes a first component 7310 and a second component 7320. The first component 7310 has a guide hole 7301 and a marking hole 7302. The second component 7320 is connected to the first component 7310 and is located between the guide hole 7301 and the marking hole 7302. During the sliding of the lead screw slider 730, the second component 7320 can be positioned between the guide rod 740 and the potentiometer 750.

[0057] The second component 7320 can slide between the guide rod 740 and the potentiometer 750, making full use of the space between the guide rod 740 and the potentiometer 750, reducing the space occupied by the dexterous hand fingers 10, and improving the compactness of the dexterous hand fingers 10.

[0058] For example, such as Figure 6 As shown, the second component 7320 is rotatably connected to the first knuckle assembly 200 about the eighth axis L8, thereby enabling the lead screw slider 730 and the first knuckle assembly 200 to be rotatably connected about the eighth axis L8. For example, as... Figure 7 As shown, the first component 7310 has a threaded hole 7303.

[0059] In some embodiments, such as Figure 4As shown, on a cross-section perpendicular to the first axis L1, the lines connecting the first axis L1 and the sixth axis L6 are of the first length; the lines connecting the fourth axis L4 and the fifth axis L5 are of the first length; the lines connecting the second axis L2 and the third axis L3 are of the first length; and the lines connecting the sixth axis L6 and the seventh axis L7 are of the first length. The lines connecting the first axis L1 and the fourth axis L4 are of the second length; the lines connecting the fifth axis L5 and the sixth axis L6 are of the second length; the lines connecting the second axis L2 and the sixth axis L6 are of the second length; and the lines connecting the third axis L3 and the seventh axis L7 are of the second length. The ratio of the length of the first length line to the length of the second length line ranges from 2 to 5.

[0060] The lengths of the individual phalanges of the dexterous hand finger 10 (e.g., the first phalange assembly 200, the second phalange assembly 300, and the third phalange assembly 400) generally mimic the length of a human finger phalange. Therefore, under normal circumstances, the lengths of the individual phalanges of the dexterous hand finger 10 are within a roughly defined range. However, it is difficult to mimic the thickness of the individual phalanges of the dexterous hand finger 10 as finely as human finger phalanges. By setting the ratio range between the length of the first length connection line and the length of the second length connection line, the space occupied by the first link assembly 500 and the second link assembly 600 in the direction perpendicular to the extension direction of the dexterous hand finger 10 can be reduced, making the dexterous hand finger 10 finer.

[0061] For example, the specific lengths of the four lines connecting the first type of length can be the same or different. That is, on a cross section perpendicular to the first axis L1, the lengths of the lines connecting the first axis L1 and the sixth axis L6, the fourth axis L4 and the fifth axis L5, the second axis L2 and the third axis L3, and the sixth axis L6 and the seventh axis L7 can be the same or different. Similarly, the specific lengths of the four lines connecting the second type of length can be the same or different. That is, on a cross section perpendicular to the first axis L1, the lengths of the lines connecting the first axis L1 and the fourth axis L4, the fifth axis L5 and the sixth axis L6, the second axis L2 and the sixth axis L6, and the third axis L3 and the seventh axis L7 can be the same or different.

[0062] The lengths of the first and second length lines can be set according to actual needs, as long as the ratio of the length of the first to the length of the second length line is within the range of 2 to 5. For example, the length of the first length line can be 5cm, and the length of the second length line can be 1cm, 2cm, 2.5cm, etc. Alternatively, the length of the first length line can be 7cm, and the length of the second length line can be 1.5cm, 2cm, 3cm, 3.5cm, etc.

[0063] In some embodiments, such as Figure 3 and Figure 4 As shown, the dexterous hand fingers 10 have a palm side 1001 and a palmar side 1002. The second linkage assembly 600 includes a linkage body 610 and a protruding structure 620. The first end of the linkage body 610 includes a second connecting portion 6020, and the second end of the linkage body 610 is rotatably connected to the third knuckle assembly 400 about the seventh axis L7. The protruding structure 620 is connected to the side of the first end of the linkage body 610 near the palmar side 1002, and the protruding structure 620 includes a first connecting portion 6010.

[0064] By defining the shape of the second link assembly 600, the second link assembly 600 will not move outside a preset range during the bending and extending of the dexterous hand fingers 10. The preset range is a pre-set range of the thickness values ​​of the dexterous hand fingers 10.

[0065] In some embodiments, such as Figure 4 , Figure 9 and Figure 10 As shown, the first knuckle assembly 200 includes a left portion 210 and a right portion 220 of the first knuckle. The left portion 210 is rotatably connected to the second knuckle assembly 300 about a second axis L2 and rotatably connected to the second connecting portion 6020 about a sixth axis L6. The right portion 220 is connected to the left portion 210 of the first knuckle, rotatably connected to the second knuckle assembly 300 about a second axis L2, and rotatably connected to the second connecting portion 6020 about a sixth axis L6. The support assembly 100 includes a first support member 110 and a second support member 120. The first end of the first connecting rod assembly 500 is rotatably connected to the first support member 110 about a fourth axis L4. The second support member 120 includes a first support portion 1210, a second support portion 1220, and a third support portion 1230 connecting the first support portion 1210 and the second support portion 1220. The first support member 110 is at least partially disposed between the first support portion 1210 and the second support portion 1220, and the third support portion 1230 is connected to the first support member 110. The first support portion 1210 is rotatably connected to the left portion 210 of the first knuckle about the first axis L1, and the second support portion 1220 is rotatably connected to the right portion 220 of the first knuckle about the first axis L1.

[0066] Both the first knuckle assembly 200 and the support assembly 100 are separate structures, which facilitates assembly. In addition, the first support portion 1210 and the second support portion 1220 respectively support the left part 210 and the right part 220 of the first knuckle of the first knuckle assembly 200, thereby improving the load-bearing capacity of the dexterous hand fingers 10.

[0067] For example, the left portion 210 and the right portion 220 of the first phalanx are detachably connected, which improves the load-bearing capacity of the dexterous hand fingers 10 while facilitating assembly. For example, the detachable connection described above can be achieved through detachable connection forms such as bolts and nuts, screws, clips, and magnetic attraction.

[0068] In some embodiments, such as Figures 3 to 5 As shown, the third knuckle assembly 400 includes a third knuckle body 410 and a wrapping member 420. The third knuckle body 410 is rotatably connected to the second knuckle assembly 300 about a third axis L3, and rotatably connected to the second end of the second link assembly 600 about a seventh axis L7. The wrapping member 420 wraps at least a portion of the third knuckle body 410. The density of the material of the wrapping member 420 is less than the density of the material of the third knuckle body 410, and the elastic modulus of the material of the wrapping member 420 is less than the elastic modulus of the material of the third knuckle body 410.

[0069] The third knuckle assembly 400 is composed of two different materials. The third knuckle body 410 is typically made of metals such as steel or aluminum, which have high density and high elastic modulus, and is used for support to ensure the load-bearing capacity of the third knuckle assembly 400. The wrapping component 420 is typically made of plastic or rubber, which have low density and low elastic modulus, reducing the weight of the third knuckle assembly 400 and facilitating the installation of tactile sensors.

[0070] For example, such as Figure 5 As shown, the third knuckle assembly 400 includes a fingertip 4110 and a finger pad 4120. Exemplarily, as... Figure 5 As shown, the dexterous hand finger 10 also includes a sensor 1200. For example, the sensor 1200 is disposed at a position corresponding to the fingertip 4110 and the fingertip 4120. Exemplarily, the sensor 1200 is a tactile sensor.

[0071] In some embodiments, the dexterous hand finger 10 is the dexterous hand little finger or the dexterous hand ring finger.

[0072] The dexterous hand finger 10 utilizes an active degree of freedom to achieve the coupling and linkage of the first phalanx component 200, the second phalanx component 300, and the third phalanx component 400, making the structure of the dexterous hand finger 10 simpler, more compact, and smaller in size, making it more suitable for the little finger or ring finger of a dexterous hand.

[0073] Figure 11 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this disclosure. Figure 11 As shown, the dexterous hand 1 includes at least one dexterous hand finger 10 mentioned in the above embodiments and a palm base plate 20, with the dexterous hand finger 10 mounted on the palm base plate 20.

[0074] For example, such as Figure 11 As shown, the dexterous hand 1 includes five fingers: two dexterous fingers 10, a dexterous middle finger 30, a dexterous index finger 40, and a dexterous thumb 50. The two dexterous fingers 10 are the dexterous little finger and the dexterous ring finger. Exemplarily, the structure of the dexterous middle finger 30, the dexterous index finger 40, and the dexterous thumb 50 can also be the same as that of the dexterous fingers 10.

[0075] Since the dexterous hand 1 includes the dexterous hand fingers 10, the dexterous hand 1 has all the technical features and effects of the dexterous hand fingers 10, which will not be described in detail here.

[0076] Figure 12 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure. Figure 12 As shown, robot 11 includes at least one dexterous hand 1 as mentioned in the above embodiments. Exemplarily, robot 11 may be a humanoid robot, a collaborative robot, a transport robot, etc.

[0077] Since robot 11 includes dexterous hand 1, robot 11 has all the technical features and effects of dexterous hand 1, which will not be described in detail here.

[0078] In the embodiments of this disclosure, unless the form of connection is explicitly defined, the connection can be a detachable connection such as a bolt, screw, slider, clip, or magnetic connection. In some connections where there is no particular requirement for a non-detachable fit, a non-detachable connection can be achieved through welding, bonding, or other methods.

[0079] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0080] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0081] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0082] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications or equivalent substitutions made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A dexterous hand finger, characterized by, include: Support components; The first finger joint assembly is rotatably connected to the support assembly about a first axis; The second knuckle assembly is rotatably connected to the first knuckle assembly about a second axis; The third knuckle assembly is rotatably connected to the second knuckle assembly about a third axis; A first link assembly, the first end of which is rotatably connected to the support assembly about a fourth axis; The second link assembly has a first end including a first connecting portion and a second connecting portion. The first connecting portion is rotatably connected to the second end of the first link assembly about a fifth axis. The second connecting portion is rotatably connected to the first knuckle assembly about a sixth axis. The second end of the second link assembly is rotatably connected to the third knuckle assembly about a seventh axis. A drive component, connected to the first knuckle component, is configured to drive the first knuckle component to rotate about the first axis; The first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, and the seventh axis are all parallel. On a cross section perpendicular to the first axis, the line connecting the first axis and the sixth axis intersects the line connecting the fourth axis and the fifth axis, and the line connecting the second axis and the third axis intersects the line connecting the sixth axis and the seventh axis.

2. The dexterous hand finger of claim 1, wherein, The driving component includes: The drive source includes the output shaft; The lead screw is connected to the output shaft and rotates under the drive of the output shaft; A lead screw slider is screwed to the lead screw and rotatably connected to the first knuckle assembly about an eighth axis, which is parallel to the first axis.

3. The dexterous hand finger according to claim 2, characterized in that, The lead screw slider includes a guide hole extending through the lead screw slider along the extension direction of the lead screw, and the drive assembly further includes: A guide rod passes through the guide hole, is connected to the drive source, and is arranged parallel to the lead screw; And / or, The lead screw slider includes a marking hole extending through the lead screw slider along the extension direction of the lead screw, and the drive assembly further includes: A potentiometer is inserted through the marking hole and connected to the side of the drive source or one end near the output shaft, and is arranged parallel to the lead screw. The potentiometer is configured to detect the position of the lead screw slider. And / or, The threads of the lead screw for screwing into the lead screw slider include trapezoidal threads.

4. The dexterous hand finger according to claim 3, characterized in that, In the case where the drive assembly includes the guide rod and the potentiometer, the lead screw slider includes: The first component has the guide hole and the marking hole; The second component is connected to the first component and is located between the guide hole and the marking hole. During the sliding of the lead screw slider, the second component can be positioned between the guide rod and the potentiometer.

5. The dexterous hand finger according to any one of claims 1 to 4, characterized in that, On a cross section perpendicular to the first axis, the line connecting the first axis and the sixth axis is a first-length line, the line connecting the fourth axis and the fifth axis is a first-length line, the line connecting the second axis and the third axis is a first-length line, the line connecting the sixth axis and the seventh axis is a first-length line, the line connecting the first axis and the fourth axis is a second-length line, the line connecting the fifth axis and the sixth axis is a second-length line, the line connecting the second axis and the sixth axis is a second-length line, and the line connecting the third axis and the seventh axis is a second-length line. The ratio of the length of the first type of connection to the length of the second type of connection is between 2 and 5.

6. The dexterous hand finger according to any one of claims 1 to 4, characterized in that, The dexterous hand fingers have a palm side and a palm-shaped side, and the second linkage assembly includes: The connecting rod body has a first end including the second connecting portion, and the second end of the connecting rod body is rotatably connected to the third finger joint assembly around the seventh axis; A protruding structure is connected to the side of the first end of the connecting rod body near the palm side, and the protruding structure includes the first connecting portion.

7. The dexterous hand finger according to any one of claims 1 to 4, characterized in that, The first knuckle component includes: The left part of the first phalanx is rotatably connected to the second phalanx assembly about the second axis, and rotatably connected to the second connecting part about the sixth axis; The right part of the first phalanx is connected to the left part of the first phalanx, is rotatably connected to the second phalanx assembly around the second axis, and is rotatably connected to the second connecting part around the sixth axis; The support components include: The first support member, wherein the first end of the first connecting rod assembly is rotatably connected to the first support member about the fourth axis; The second support member includes a first support portion, a second support portion, and a third support portion connecting the first support portion and the second support portion. The first support member is at least partially disposed between the first support portion and the second support portion. The third support portion is connected to the first support member. The first support portion is rotatably connected to the left part of the first knuckle about the first axis. The second support portion is rotatably connected to the right part of the first knuckle about the first axis.

8. The dexterous hand finger according to any one of claims 1 to 4, characterized in that, The third phalanx assembly includes: The third phalanx body is rotatably connected to the second phalanx assembly about the third axis, and rotatably connected to the second end of the second link assembly about the seventh axis; A wrapping element that wraps at least a portion of the third phalanx body, wherein the density of the material of the wrapping element is less than the density of the material of the third phalanx body, and the elastic modulus of the material of the wrapping element is less than the elastic modulus of the material of the third phalanx body.

9. The dexterous hand finger according to any one of claims 1 to 4, characterized in that, The dexterous hand finger is either the little finger or the ring finger of the dexterous hand.

10. A dexterous hand, characterized in that, include: Palm baseboard; At least one dexterous hand finger as described in any one of claims 1 to 9, the dexterous hand finger being mounted on the palm substrate.

11. A robot, characterized in that, include: At least one dexterous hand as described in claim 10.

Images