A fully actuated dexterous hand and robot

Abstract

The utility model discloses a kind of full drive dexterous hand and robot, it is related to dexterous hand technical field.The utility model's full drive dexterous hand includes palm plate, drive block, first drive component and thumb component, the drive block position adjustable is located palm plate front side, the first drive component includes the drive module of rotation in drive block, the thumb component is pivotally connected in drive module and includes pivotally connected first joint module and first fingertip, the drive module and first joint module structure are same and all include shell and position adjustable adjustment block in shell, the shell is used to with adjacent shell or first fingertip rotation connection, the adjustment block is used to drive adjacent shell or fingertip rotation by driving piece.The utility model's full drive dexterous hand is simplified structure by modularization and independently driven joint module, enhances the holding effect when dexterous hand holds, guarantees the flexibility and reliability when dexterous hand holds article.

Description

Technical Field

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

[0002] With the widespread application of bionic hands, also known as dexterous hands, in fields such as automated production, surgery, artificial intelligence, and micromanipulation, higher demands are being placed on the operational precision, flexibility, and adaptability of dexterous hands. While traditional robotic hands can perform basic grasping operations, they still have significant limitations in terms of fine control, complex task execution, and flexibility. For example, traditional robotic arms often fail to meet the requirements of high precision and flexibility when performing demanding tasks such as precision assembly, micromanipulation, and surgery. Related technologies, in order to improve the dexterity of dexterous hands, suffer from complex structural designs and require external actuators, increasing the complexity and difficulty of control. Furthermore, dexterous hands, during use, pose risks such as limited grip effectiveness and the risk of slipping from grasped objects. Utility Model Content

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

[0004] Therefore, this utility model embodiment proposes a fully driven dexterous hand. This fully driven dexterous hand realizes independent driving of each joint of the thumb component through modularly set joint modules, 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.

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

[0006] The fully driven dexterous hand of this utility model embodiment includes:

[0007] Palm;

[0008] The device includes a drive block, a first drive assembly, and a thumb assembly. The drive block is positioned adjustable in the left-right direction on the front side of the palm plate. The first drive assembly includes a drive module rotatably disposed on the drive block. The thumb assembly includes a first joint module and a first fingertip pivotally connected. The first joint module is pivotally connected to the drive module.

[0009] The drive module and the first joint module have the same structure and both include a housing and an adjustable block disposed on the housing. The housing is used to rotatably connect with the adjacent housing or the first fingertip. A drive member is rotatably disposed on the adjustment block, and the other end of the drive member is used to rotatably connect with the adjacent housing or the first fingertip.

[0010] The fully driven dexterous hand of this utility model embodiment achieves independent driving of each joint of the thumb component and finger component through modularly set joint modules, 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 holding, ensuring the flexibility and reliability of the dexterous hand when holding objects.

[0011] In some embodiments, the first drive assembly includes a first fixed seat, a rotating seat, a first gear, and a second gear. The first fixed seat is fixedly disposed on the drive block, the rotating seat is disposed on the first fixed seat, the drive module is fixedly disposed on the rotating seat, the first gear is rotatably disposed on the drive block, and the second gear is fixedly disposed on the rotating seat and meshes with the first gear for transmission. The first gear is used to drive the second gear to rotate so as to drive the thumb assembly to rotate.

[0012] In some embodiments, the first drive assembly includes a guide plate, the first gear is eccentrically provided with a guide rod, the guide plate is disposed on the palm plate and has a guide groove, the guide groove includes a first groove segment and a second groove segment arranged sequentially along the left-right direction, the second groove segment is parallel to the palm plate, the first groove segment is an arc groove or is arranged at an angle with the second groove segment, the guide rod is slidably assembled in the guide groove, and the first groove segment is used to drive the guide rod to rotate relative to the drive block to drive the first gear to rotate when the drive block moves along the left-right direction.

[0013] In some embodiments, the palm plate is provided with a mounting hole, and the palm plate is provided with a fixing frame corresponding to the mounting hole. A drive screw is rotatably provided inside the fixing frame, and the drive block is slidably and anti-rotationally assembled to the fixing frame. The drive block and the drive screw are threadedly engaged.

[0014] In some embodiments, the device further includes a first motor, which is mounted on the fixed frame. The output end of the first motor is provided with a third gear, the drive screw is provided with a fourth gear, and the fixed frame is rotatably provided with a fifth gear, which meshes with the third gear and the fourth gear.

[0015] In some embodiments, the device further includes a plurality of second drive components and a plurality of finger components. The plurality of second drive components are spaced apart and fixedly disposed on the rear side of the palm plate. The plurality of finger components are disposed in a one-to-one correspondence with the second drive components and include a second joint module, a third joint module and a second fingertip that are pivotally connected in sequence. The second drive components are pivotally connected to the second joint modules and are used to drive the finger components to swing in the left-right direction.

[0016] The second joint module, the third joint module and the first joint module have the same structure. The housing is used to rotatably connect with the adjacent housing or the first fingertip or the second fingertip. The adjustment block is rotatably provided with a driving member. The other end of the driving member is used to rotatably connect with the adjacent housing or the first fingertip or the second fingertip.

[0017] In some embodiments, the second drive assembly includes a second fixed base, a first connector, a direct drive assembly, a second connector, and a third connector. The second fixed base is fixedly disposed on the palm plate. The first connector is rotatably disposed on the second fixed base, and its other end is rotatably connected to the corresponding housing. The rotation axis between the first connector and the second fixed base is perpendicular to the rotation axis between the first connector and the housing. Two direct drive assemblies are provided and fixedly disposed on the second fixed base at intervals in the left-right direction. The moving end of the direct drive assembly is adjustable in the up-down direction. The second connector is rotatably disposed on the moving end of the direct drive assembly. The two ends of the third connector are rotatably connected to the second connector and the corresponding housing, respectively. The rotation axis between the second connector and the moving end of the direct drive assembly extends in the front-back direction and is perpendicular to the rotation axis between the second connector and the third connector. The rotation axis between the second connector and the third connector extends in the left-right direction and is parallel to the rotation axis between the third connector and the housing.

[0018] In some embodiments, the first joint module includes an adjustment rod and a second motor. The housing includes a detachably connected upper shell and a lower shell. The upper shell has a first elongated hole, and the lower shell has a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole restrict an adjustment cavity. The adjustment block slides and is anti-rotatingly engaged with the adjustment cavity. The adjustment rod is rotatably disposed in the adjustment cavity and threadedly engaged with the adjustment block. The second motor is arranged in parallel with the adjustment rod and is connected for transmission.

[0019] In some embodiments, the upper shell has a first clearance portion corresponding to the first elongated hole, and the lower shell has a second clearance portion corresponding to the second elongated hole.

[0020] In some embodiments, the output end of the second motor is provided with a sixth gear, and the adjusting rod is provided with a seventh gear that meshes with the sixth gear.

[0021] The robot of this utility model embodiment includes the 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 the 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 fully driven dexterous hand according to an embodiment of the present invention.

[0024] Figure 3 This is a first-view connection diagram of the thumb assembly and the first drive assembly in a fully driven dexterous hand according to an embodiment of the present invention.

[0025] Figure 4 This is a second-view structural schematic diagram of the thumb assembly and the first drive assembly in a fully driven dexterous hand according to an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of the fully driven dexterous hand finger assembly according to an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of the first joint module in the fully driven dexterous hand according to an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the installation of the fully driven dexterous hand adjustment block according to an embodiment of the present invention.

[0029] Figure label:

[0030] Palm plate 1; Mounting hole 11;

[0031] Drive block 2; drive screw 21; first motor 22; third gear 23; fourth gear 24; fifth gear 25;

[0032] First drive assembly 3; drive module 31; first fixed base 32; rotating base 33; first gear 34; guide rod 341; second gear 35; guide plate 36; guide groove 37; first groove segment 371; second groove segment 372;

[0033] Thumb assembly 4; First joint module 41; Housing 411; Upper housing 4111; Lower housing 4112; First clearance part 4113; Second clearance part 4114; Adjusting block 412; Adjusting rod 413; Second motor 414; Sixth gear 415; Seventh gear 416; Sensor base 417; Displacement sensor 418; Sensor brush 419; First fingertip 42;

[0034] Second drive assembly 5; second fixed base 51; first connector 52; connecting bearing 53; direct drive assembly 54; second connector 55; third connector 56;

[0035] Finger component 6; second joint module 61; third joint module 62; second fingertip 63;

[0036] Drive component 7;

[0037] Mounting bracket 8;

[0038] Main control board 9. Detailed Implementation

[0039] The embodiments of this utility model are described in detail below, with examples of the embodiments shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0040] like Figures 1 to 7 As shown, the fully driven dexterous hand of this utility model embodiment includes a palm plate 1, a driving block 2, a first driving component 3, a thumb component 4, multiple second driving components 5, and multiple finger components 6. 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.

[0041] The drive block 2 is adjustable in position along the left and right direction and is located on the front side of the palm plate 1. The first drive component 3 includes a drive module 31 rotatably mounted on the drive block 2. The thumb component 4 includes a first joint module 41 and a first fingertip 42 pivotally connected. The first joint module 41 is pivotally connected to the drive module 31. Multiple second drive components 5 are spaced apart and fixedly mounted on the top of the palm plate 1. Multiple finger components 6 are arranged one-to-one with the second drive components 5 and include a second joint module 61, a third joint module 62 and a second fingertip 63 pivotally connected in sequence. The second drive components 5 are pivotally connected to the second joint module 61 and are used to drive the finger components 6 to swing in the left and right direction.

[0042] The drive module 31, the first joint module 41, the second joint module 61 and the third joint module 62 have the same structure and each includes a housing 411 and an adjustable block 412 disposed on the housing 411. The housing 411 is used to rotatably connect with the adjacent housing 411 or the first fingertip 42 or the second fingertip 63. The adjustment block 412 is rotatably provided with a drive member 7, and the other end of the drive member 7 is used to rotatably connect with the adjacent housing 411 or the first fingertip 42 or the second fingertip 63.

[0043] Specifically, in the thumb assembly 4, the housing 411 in the first joint module 41 is rotatably connected to the housing 411 in the drive module 31. The adjustment block 412 provided on the housing 411 in the drive module 31 drives the first joint module 41 to rotate relative to the drive module 31 through the drive member 7. The housing 411 in the first joint module 41 is rotatably connected to the first fingertip 42. The adjustment block 412 provided on the housing 411 in the first joint module 41 drives the first fingertip 42 to rotate relative to the first joint module 41 through the drive member 7.

[0044] In the finger assembly 6, the housing 411 in the second joint module 61 is rotatably connected to the housing 411 in the third joint module 62. The adjustment block 412 provided on the housing 411 in the second joint module 61 drives the third joint module 62 to rotate relative to the second joint module 61 through the driving member 7. The housing 411 in the third joint module 62 is rotatably connected to the housing 411 in the fourth joint module. The adjustment block 412 provided on the housing 411 in the third joint module 62 drives the fourth joint module to rotate relative to the third joint module 62 through the driving member 7. The housing 411 in the fourth joint module is rotatably connected to the second fingertip 63. The adjustment block 412 provided on the housing 411 in the fourth joint module drives the second fingertip 63 to rotate relative to the fourth joint module through the driving member 7.

[0045] In use, the fully driven dexterous hand of this utility model moves along the palm plate 1 when the dexterous hand grasps an object, so that the thumb assembly 4 is opposite one of the multiple finger assemblies 6. At the same time, the gripping posture of the thumb assembly 4 is adjusted by the rotation of the drive module 31 relative to the drive block 2, so that when the thumb assembly 4 is bent, the plane on which the thumb assembly 4 is located is perpendicular to the palm plate 1. The drive module 31 drives the first joint module 41 to bend towards the palm plate 1 through the corresponding adjustment block 412 and drive member 7. The first joint module 41 drives the first fingertip 42 to bend towards the palm plate 1 through the corresponding adjustment block 412 and drive member 7. The second drive component 5 drives the corresponding finger component 6 to bend towards the palm plate 1. The second joint module 61 in the finger component 6 drives the third joint module 62 to bend towards the palm plate 1 through the corresponding adjustment block 412 and drive component 7. The third joint module 62 drives the second fingertip 63 to bend towards the palm plate 1 through the corresponding adjustment block 412 and drive component 7. The thumb component 4 and the opposite finger component 6 pinch each other and at least partially fit together to form a ring-shaped closed grip on the object to be held. By gripping with the thumb component 4 and the finger component 6 at the same time, the gripping effect when the dexterous hand grasps the object is increased.

[0046] When the dexterous hand releases an object, the drive module 31 drives the first joint module 41 to extend away from the palm plate 1 through the corresponding adjustment block 412 and drive component 7. The first joint module 41 drives the first fingertip 42 to extend away from the palm plate 1 through the corresponding adjustment block 412 and drive component 7. The second drive component 5 drives the corresponding finger component 6 to extend away from the palm plate 1 as a whole. The second joint module 61 in the finger component 6 drives the third joint module 62 to extend away from the palm plate 1 through the corresponding adjustment block 412 and drive component 7. The third joint module 62 drives the second fingertip 63 to extend away from the palm plate 1 through the corresponding adjustment block 412 and drive component 7. At the same time, the thumb component 4 is restored and reset by the movement of the drive block 2 relative to the palm plate 1 and the rotation of the drive module 31 relative to the drive block 2.

[0047] The fully driven dexterous hand of this utility model embodiment uses modularly configured joint modules and drive modules 31 to facilitate the industrial production of dexterous hand joint components, reduce processing costs, and achieve independent drive of each joint of thumb component 4 and finger component 6 through joint modules, simplifying the structure and facilitating control. At the same time, the movement of thumb component 4 relative to palm plate 1 and the rotation of thumb component 4 relative to drive block 2 enhance the gripping effect of dexterous hand when holding objects, ensuring the flexibility and reliability of dexterous hand when holding objects.

[0048] Optionally, the second drive assembly 5 and the finger assembly 6 are each provided with four, and the palm plate 1 is provided with fixing holes of different lengths for the four finger assemblies 6, so that the arrangement of the four finger assemblies 6 after installation is the same as that of the four fingers of a human hand.

[0049] It should be noted that, at the thumb assembly 4 position, the drive block 2 can move the thumb assembly 4 as a whole, giving the thumb assembly 4 a first degree of freedom. The drive module 31 drives the thumb assembly 4 to rotate relative to the drive block 2, giving the thumb assembly 4 a second degree of freedom. The first joint module 41 rotates relative to the drive module 31, giving the thumb assembly 4 a third degree of freedom. The first fingertip 42 rotates relative to the first joint module 41, giving the thumb assembly 4 a fourth degree of freedom. At the finger assembly 6 position, the second drive assembly 5 drives the finger assembly 6 to swing left and right, giving the finger assembly 6 a first degree of freedom. The second joint module 61 is pivotally connected to the second drive assembly 5, giving the finger assembly 6 a second degree of freedom. The third joint module 62 is pivotally connected to the second joint module 61, giving the finger assembly 6 a third degree of freedom. The second fingertip 63 is pivotally connected to the third joint module 62, giving the finger assembly 6 a fourth degree of freedom. There are four finger assemblies 6, meaning the total degree of freedom of the fully driven dexterous hand is 20 degrees of freedom.

[0050] Optionally, an adapter plate is provided at the end of the palm plate 1 away from the finger assembly 6, the adapter plate being used for quick connection and disconnection with the robotic arm.

[0051] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the first drive assembly 3 includes a first fixed base 32, a rotating base 33, a first gear 34, and a second gear 35. The first fixed base 32 is fixedly mounted on the drive block 2, the rotating base 33 is mounted on the first fixed base 32, the drive module 31 is fixedly mounted on the rotating base 33, the first gear 34 is rotatably mounted on the drive block 2, and the second gear 35 is fixedly mounted on the rotating base 33 and meshes with the first gear 34 for transmission. The first gear 34 is used to drive the second gear 35 to rotate so as to drive the thumb assembly 4 to rotate.

[0052] Specifically, the first fixed seat 32 is cylindrical and is fixedly installed on the left or right side of the drive block 2 to reduce the overall thickness of the dexterous hand. The rotating seat 33 is rotatably installed on the first fixed seat 32. The housing 411 of the drive module 31 is fixedly installed above the first fixed seat 32 to be close to the finger assembly 6. The first gear 34 is rotatably installed below the drive block 2, and the second gear 35 is fixedly installed below the rotating seat 33. The rotation of the first gear 34 drives the rotation of the second gear 35, thereby adjusting the posture of the finger assembly 6 so that the thumb assembly 4 and the finger assembly 6 can pinch and fit together, making operation convenient.

[0053] In some embodiments, such as Figure 4 As shown, the first drive assembly 3 includes a guide plate 36, and the first gear 34 is eccentrically provided with a guide rod 341. The guide plate 36 is provided on the palm plate 1 and has a guide groove 37. The guide groove 37 includes a first groove segment 371 and a second groove segment 372 arranged sequentially in the left-right direction. The second groove segment 372 is parallel to the palm plate 1. The first groove segment 371 is an arc-shaped groove or is arranged at an angle with the second groove segment 372. The guide rod 341 is slidably assembled in the guide groove 37. The first groove segment 371 is used to drive the guide rod 341 to rotate relative to the drive block 2 to drive the first gear 34 to rotate when the drive block 2 moves in the left-right direction.

[0054] Specifically, the guide plate 36 is mounted on the palm plate 1 corresponding to the drive block 2. The guide plate 36 is L-shaped and detachably connected to the palm plate 1 by bolts or screws. The vertical section of the guide plate 36 is provided with a guide groove 37 including a first groove section 371 and a second groove section 372. The first groove section 371 is an arc-shaped groove or inclined, and the distance between the first groove section 371 and the palm plate 1 gradually decreases along the direction close to the second groove section 372. The second groove section 372 is parallel to the palm plate 1. The drive block 2 drives the first gear 34 along the first groove section 371. During the movement of 71 towards the second groove 372, as the guide rod 341 moves within the first groove 371, the distance between the guide rod 341 and the palm plate 1 gradually decreases. Since the guide rod 341 is eccentrically positioned on the first output wheel, the guide rod 341 drives the first gear 34 to rotate under the force of the first groove 371, which in turn drives the second gear 35 to rotate. After the guide rod 341 enters the second groove 372, the distance between the guide rod 341 and the guide plate 36 is fixed, thereby locking the first gear 34 and locking the posture of the thumb assembly 4.

[0055] The first slot 371 allows for adjustment of the thumb assembly 4's posture while the drive block 2 moves, making operation convenient, reducing the need for an electric drive unit, simplifying the structure, and facilitating precise control of the thumb assembly 4. Meanwhile, the second slot 372 locks the first gear 34 via the guide rod 341, ensuring the stability of the thumb assembly 4 during use and guaranteeing the flexibility and reliability of the dexterous hand when holding objects.

[0056] Preferably, when the guide rod 341 is at the end of the first groove 371 away from the second groove 372, the thumb assembly 4 has a first working posture. At this time, the thumb can bend or extend in a direction parallel to the palm plate 1. That is, during the bending or extending process of the thumb assembly 4, the vertical distance between each joint of the thumb assembly 4 and the palm plate 1 does not change. When the guide rod 341 is in the second groove 372, the thumb assembly 4 has a second working posture. At this time, the thumb assembly 4 can bend or extend in a direction perpendicular to the palm plate 1. That is, during the bending process of the thumb assembly 4, the distance between the corresponding joint of the thumb assembly 4 and the palm plate 1 decreases, and during the extending process of the thumb assembly 4, the distance between the corresponding joint of the thumb assembly 4 and the palm plate 1 increases. This ensures that when the guide rod 341 reaches the second groove 372, the thumb assembly 4 is in the optimal gripping posture, so that the thumb assembly 4 and the finger assembly 6 can pinch and fit together, further increasing the reliability of the dexterous hand when holding the object.

[0057] In some embodiments, such as Figure 1 , Figure 3 and Figure 4As shown, the palm plate 1 is provided with a mounting hole 11, and a fixing frame 8 is provided on the palm plate 1 corresponding to the mounting hole 11. A drive screw 21 extending in the left and right direction is rotatably provided in the fixing frame 8. The drive block 2 is slidably and anti-rotationally assembled on the fixing frame 8. The drive block 2 and the drive screw 21 are threadedly engaged.

[0058] The mounting hole 11 and the fixing bracket 8 allow the drive screw 21 to be located on the rear side of the palm plate 1. With a fixed thickness of the dexterous hand, this avoids the components mounted on one side of the palm plate 1 becoming too bulky and interfering with the operation of the dexterous hand, thus improving the flexibility and overall aesthetics of the dexterous hand during use. At the same time, the fixing bracket 8 protects the drive screw 21, ensuring its reliability and stability when driving the drive block 2, making it safe and reliable.

[0059] Optionally, the mounting bracket 8 is provided with a guide rail for guiding and constraining the drive block 2.

[0060] In some embodiments, such as Figure 3 and Figure 4 As shown, it includes a first motor 22, which is mounted on a fixed frame 8. The output end of the first motor 22 is provided with a third gear 23, and a fourth gear 24 is provided on the drive screw 21. A fifth gear 25 is rotatably mounted on the fixed frame 8. The fifth gear 25 meshes with the third gear 23 and also meshes with the fourth gear 24.

[0061] The power output between the first motor 22 and the drive screw 21 is ensured by gear transmission, which ensures the reliability of the thumb assembly 4 during movement. At the same time, the fifth gear 25 is set as an intermediate transmission gear. While ensuring the transmission connection between the first motor 22 and the drive screw 21, the diameter of the third gear 23 and the fourth gear 24 is reduced, thereby avoiding the third gear 23 and the fourth gear 24 from being too large and increasing the thickness of the dexterous hand, which facilitates the simplification of the dexterous hand.

[0062] Optionally, a first reducer is provided between the first motor 22 and the third gear 23, an encoder electrically connected to the first motor 22 is provided on one side of the first motor 22, and a first drive plate electrically connected to the encoder is provided on the fixing frame 8.

[0063] In some embodiments, such as Figure 2 and Figure 5 As shown, the second drive assembly 5 includes a second fixed base 51 and a first connector 52. The second fixed base 51 is fixedly mounted on the palm plate 1. The first connector 52 is rotatably mounted on the second fixed base 51 and its other end is rotatably connected to the corresponding housing 411. The rotation axis between the first connector 52 and the second fixed base 51 is perpendicular to the rotation axis between the first connector 52 and the housing 411.

[0064] Specifically, the second fixed base 51 is a plate and is detachably connected to the palm plate 1 by bolts or screws. The first connecting piece 52 is rotatably connected to the second fixed base 51 by a connecting bearing 53. When the dexterous hand is working, the finger assembly 6 can be adjusted relative to the palm plate 1 by the connecting bearing 53. The other end of the first connecting piece 52 is rotatably connected to the housing 411 in the second joint module 61 by a first hinge shaft. The axis of the connecting bearing 53 is perpendicular to the axis of the hinge shaft. When the dexterous hand holds or releases an object, the bending or stretching adjustment of the finger assembly 6 can be achieved by the first hinge shaft. By setting the first connecting piece 52, the connection structure is simplified and the reliable connection between the finger assembly 6 and the palm plate 1 is ensured.

[0065] In some embodiments, such as Figure 5 As shown, the second drive assembly 5 includes a direct drive assembly 54, a second connector 55, and a third connector 56. Two direct drive assemblies 54 are fixedly mounted on the second fixed base 51 at intervals along the left-right direction. The moving end of the direct drive assembly 54 is adjustable in the up-down direction. The second connector 55 is rotatably mounted on the moving end of the direct drive assembly 54. The two ends of the third connector 56 are rotatably connected to the second connector 55 and the corresponding housing 411, respectively. The rotation axis between the second connector 55 and the moving end of the direct drive assembly 54 extends along the front-back direction and is perpendicular to the rotation axis between the second connector 55 and the third connector 56. The rotation axis between the second connector 55 and the third connector 56 extends along the left-right direction and is parallel to the rotation axis between the third connector 56 and the housing 411.

[0066] Specifically, direct drive components 54 are spaced apart on the second fixed base 51 in the left-right direction. The moving end of the direct drive component 54 is rotatably connected to the second connector 55 via a second hinge shaft. The second connector 55 is rotatably connected to the third connector 56 via a third hinge shaft. The third connector 56 is rotatably connected to the housing 411 in the second joint module 61 via a fourth hinge shaft. The axis of the second hinge shaft extends in the front-back direction and is perpendicular to the axis of the third hinge shaft. The axis of the third hinge shaft is parallel to the axis of the fourth hinge shaft. The fourth hinge shaft extends in the left-right direction. When the second drive component 5 drives the finger component 6 to bend or extend, the moving ends of the two direct drive components 54 simultaneously extend or... By shortening the set distance, the housing 411 in the second joint module 61 is driven to rotate around the first hinge axis through the second connector 55 and the third connector 56. When the second drive assembly 5 drives the finger assembly 6 to sway, it moves through one or both of the moving ends of the direct drive assembly 54 so that there is a set difference in the distance between the two moving ends and the housing 411 in the second joint module 61. At this time, the first connector 52 rotates around the connecting bearing 53 and the second connector 55 rotates around the moving end of the corresponding direct drive assembly 54 to realize the lateral sway control of the finger assembly 6. The structure is simplified, which makes it easy to control the lateral sway of the finger assembly 6 and improves the flexibility and control accuracy when using the dexterous hand.

[0067] Optionally, the direct drive assembly 54 may employ linear drive components such as electric telescopic rods, pneumatic telescopic rods, or hydraulic telescopic rods.

[0068] In some embodiments, such as Figure 6 and Figure 7 As shown, the first joint module 41 includes an adjusting rod 413 and a second motor 414. The housing 411 includes a detachably connected upper shell 4111 and a lower shell 4112. The upper shell 4111 has a first elongated hole, and the lower shell 4112 has a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole restrict the adjustment cavity. The adjusting block 412 slides and is anti-rotatingly engaged with the adjustment cavity. The adjusting rod 413 is rotatably disposed in the adjustment cavity and is threadedly engaged with the adjusting block 412. The second motor 414 is arranged in parallel with the adjusting rod 413 and is connected for transmission.

[0069] Specifically, the upper shell 4111 has a first semi-groove corresponding to the first elongated hole for the adjustment rod 413 to pass through, and the lower shell 4112 has a second semi-groove corresponding to the second elongated hole for the adjustment rod 413 to pass through. The adjustment rod 413 is fixed by the first and second semi-grooves. Part of the adjustment rod 413 is located in the adjustment cavity defined by the first and second elongated holes. The adjustment block 412 is threadedly connected to the adjustment rod 413. The distance between the adjustment block 412 and the side wall of the adjustment cavity is less than the circumcircle corresponding to the cross section of the adjustment block 412. When the adjustment rod 413 rotates, it ensures that the adjustment block 412 can be driven to move in the left and right direction under the action of the adjustment cavity, thereby driving the drive component 7 to move, making adjustment convenient.

[0070] A second motor 414 and a reducer are provided between the upper shell 4111 and the lower shell 4112. The reducer achieves the purpose of speed reduction and torque increase. The second motor 414 and the adjusting rod 413 are arranged in parallel, which can effectively shorten the length of the shell 411, thereby facilitating the optimization of the overall volume of the joint module, further reducing the unit volume of the joint module, reducing the control difficulty of the dexterous hand, and improving the control accuracy.

[0071] The output end of the reducer is fixedly equipped with a sixth gear 415, and the adjusting rod 413 is fixedly equipped with a seventh gear 416. Both the sixth gear 415 and the seventh gear 416 are located between the upper shell 4111 and the lower shell 4112. The upper shell 4111 and the lower shell 4112 protect the meshing transmission of the sixth gear 415 and the seventh gear 416. At the same time, the gear transmission ensures the torque transmission efficiency and solves the problem of small transmission torque of the joint module. Support bearings are provided on both sides of the seventh gear 416 to fix the adjusting rod 413, ensuring the stability and reliability of the seventh gear 416 and the adjusting rod 413 during rotation.

[0072] Preferably, one side of the adjusting block 412 abuts against the side wall of the adjusting cavity.

[0073] In some embodiments, such as Figure 6 As shown, the upper shell 4111 has a first clearance portion 4113 corresponding to the first elongated hole, and the lower shell 4112 has a second clearance portion 4114 corresponding to the second elongated hole.

[0074] Specifically, the first clearance part 4113 is a groove corresponding to the first elongated hole, and the second clearance part 4114 is a groove corresponding to the second elongated hole. The drive member 7 is rotatably connected to the adjustment block 412 in the two grooves. It can reduce the unit volume of the joint module while keeping the maximum thickness of the housing 411 unchanged, reduce the impact of the connector on the thickness of the joint module after installation, and thus reduce the volume of the dexterous hand to improve the dexterity and control accuracy of the dexterous hand.

[0075] Preferably, the driving component 7 is an arc-shaped rod, and the center of the circle corresponding to the driving component 7 during installation is located on the side of the driving component 7 close to the housing 411, so as to avoid interference between the driving component 7 and the housing 411 during transmission.

[0076] In some embodiments, such as Figure 7As shown, a sensor base 417 is detachably provided between the upper shell 4111 and the lower shell 4112. One side of the sensor base 417 is provided with an adjustment groove, and the sensor base 417 is provided with a receiving groove. The displacement sensor 418 is provided in the receiving groove, and the sensor brush 419 is fixedly provided on the adjustment block 412. The other end of the sensor brush 419 abuts against the displacement sensor 418. When the adjustment block 412 moves, it drives the sensor brush 419 to move relative to the displacement sensor 418. The position of the adjustment block 412 is determined by the movement of the sensor brush relative to the displacement sensor 418, which facilitates the control of the displacement of the adjustment block 412 and ensures the control accuracy of the joint module during use.

[0077] In some embodiments, such as Figure 2 As shown, a main control board 9 is provided on the palm plate 1. The main control board 9 is electrically connected to the direct drive component 54. A second drive board is provided inside the housing 411, which is electrically connected to the second motor 414 and the displacement sensor 418. The first drive board and the second drive board are respectively connected to the main control board 9 for communication. The main control board 9 can individually control the movement of each joint module, the overall movement of the thumb component 4, and the lateral swing and bending of the finger component 6, thus ensuring the full drive operation and operational accuracy of the dexterous hand.

[0078] In some embodiments, the thumb assembly 4, the finger assembly 6, and the palm plate 1 are all equipped with tactile sensors. The tactile sensors are used to regulate the grasping force of the dexterous hand, thereby further increasing the grasping effect of the dexterous hand for use in various industry application scenarios.

[0079] The robot according to an embodiment of the present invention is described below.

[0080] The robot of this utility model embodiment includes the fully driven dexterous hand of any of the above embodiments.

[0081] The robot of this utility model embodiment has a multi-degree-of-freedom and fully driven dexterous hand with a simplified drive structure, which facilitates precise control of the dexterous hand and provides good flexibility and reliability when holding objects.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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 fully driven dexterous hand, characterized in that, include: Palm; The device includes a drive block, a first drive assembly, and a thumb assembly. The drive block is positioned adjustable in the left-right direction on the front side of the palm plate. The first drive assembly includes a drive module rotatably disposed on the drive block. The thumb assembly includes a first joint module and a first fingertip pivotally connected. The first joint module is pivotally connected to the drive module. The drive module and the first joint module have the same structure and both include a housing and an adjustable block disposed on the housing. The housing is used to rotatably connect with the adjacent housing or the first fingertip. A drive member is rotatably disposed on the adjustment block, and the other end of the drive member is used to rotatably connect with the adjacent housing or the first fingertip.

2. The fully driven dexterous hand according to claim 1, characterized in that, The first drive assembly includes a first fixed base, a rotating base, a first gear, and a second gear. The first fixed base is fixedly disposed on the drive block, the rotating base is disposed on the first fixed base, the drive module is fixedly disposed on the rotating base, the first gear is rotatably disposed on the drive block, and the second gear is fixedly disposed on the rotating base and meshes with the first gear for transmission. The first gear is used to drive the second gear to rotate so as to drive the thumb assembly to rotate.

3. The fully driven dexterous hand according to claim 2, characterized in that, The first drive assembly includes a guide plate, and the first gear is eccentrically provided with a guide rod. The guide plate is disposed on the palm plate and has a guide groove. The guide groove includes a first groove segment and a second groove segment arranged sequentially along the left-right direction. The second groove segment is parallel to the palm plate. The first groove segment is an arc-shaped groove or is arranged at an angle with the second groove segment. The guide rod is slidably assembled in the guide groove. The first groove segment is used to drive the guide rod to rotate relative to the drive block to drive the first gear to rotate when the drive block moves along the left-right direction.

4. The fully driven dexterous hand according to claim 1, characterized in that, The palm plate is provided with mounting holes, and a fixing frame is provided on the palm plate corresponding to the mounting holes. A drive screw is rotatably provided inside the fixing frame. The drive block is slidably and anti-rotationally assembled on the fixing frame. The drive block and the drive screw are threadedly engaged.

5. The fully driven dexterous hand according to claim 4, characterized in that, It also includes a first motor, which is mounted on the fixed frame. The output end of the first motor is provided with a third gear, the drive screw is provided with a fourth gear, and the fixed frame is rotatably provided with a fifth gear, which meshes with the third gear and the fourth gear.

6. The fully actuated dexterous hand according to any one of claims 1-5, characterized in that, It also includes multiple second drive components and multiple finger components. The multiple second drive components are spaced apart and fixedly disposed on the rear side of the palm plate. The multiple finger components are arranged one-to-one with the second drive components and include a second joint module, a third joint module and a second fingertip that are pivotally connected in sequence. The second drive components are pivotally connected to the second joint modules and are used to drive the finger components to swing in the left and right direction. The second joint module, the third joint module and the first joint module have the same structure. The housing is used to rotatably connect with the adjacent housing or the first fingertip or the second fingertip. The adjustment block is rotatably provided with a driving member. The other end of the driving member is used to rotatably connect with the adjacent housing or the first fingertip or the second fingertip.

7. The fully driven dexterous hand according to claim 6, characterized in that, The second drive assembly includes a second fixed base, a first connector, a direct drive assembly, a second connector, and a third connector. The second fixed base is fixedly mounted on the palm plate. The first connector is rotatably mounted on the second fixed base, and its other end is rotatably connected to the corresponding housing. The rotation axis between the first connector and the second fixed base is perpendicular to the rotation axis between the first connector and the housing. Two direct drive assemblies are provided and fixedly mounted on the second fixed base at intervals in the left-right direction. The moving end of the direct drive assembly is adjustable in the up-down direction. The second connector is rotatably mounted on the moving end of the direct drive assembly. The two ends of the third connector are rotatably connected to the second connector and the corresponding housing, respectively. The rotation axis between the second connector and the moving end of the direct drive assembly extends in the front-back direction and is perpendicular to the rotation axis between the second connector and the third connector. The rotation axis between the second connector and the third connector extends in the left-right direction and is parallel to the rotation axis between the third connector and the housing.

8. The fully driven dexterous hand according to claim 1, characterized in that, The first joint module includes an adjustment rod and a second motor. The housing includes a detachably connected upper shell and a lower shell. The upper shell has a first elongated hole, and the lower shell has a second elongated hole corresponding to the first elongated hole. The first elongated hole and the second elongated hole restrict the adjustment cavity. The adjustment block slides and is anti-rotatingly engaged with the adjustment cavity. The adjustment rod is rotatably disposed in the adjustment cavity and threadedly engaged with the adjustment block. The second motor is arranged in parallel with the adjustment rod and is connected for transmission.

9. The fully driven dexterous hand according to claim 8, characterized in that, The upper shell is provided with a first clearance portion corresponding to the first elongated hole, the lower shell is provided with a second clearance portion corresponding to the second elongated hole, and / or, the output end of the second motor is provided with a sixth gear, and the adjusting rod is provided with a seventh gear that meshes with the sixth gear.

10. A robot, characterized in that, Includes the fully driven dexterous hand according to any one of claims 1-9.

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