A dexterous hand

Abstract

This application relates to the field of robotics, and in particular to a dexterous hand, comprising a palm module, bendable finger modules, and a drive assembly for bending the finger modules. Multiple finger modules are mounted on the palm module. The finger modules are highly elastic and flexible structures. The drive assembly includes tendon cords and a first drive mechanism. The first drive mechanism is disposed on the finger modules. One end of the tendon cord is connected to the first drive mechanism, and the other end is connected to the finger module. The tendon cord is located on the palmar side of the finger module. An auxiliary rebound device is provided on the finger module. When bending the finger module is required, the first drive mechanism drives the tendon cord to move, and the tendon cord applies tension to the finger module, causing the finger module to bend in a predetermined direction. When straightening the finger module is required, the first drive mechanism drives the tendon cord to move in the opposite direction, reducing the tension applied by the tendon cord to the finger module. The auxiliary rebound device drives the finger module to return to its original position, preventing permanent deformation of the finger module that would prevent it from not fully returning to its original position.

Description

Technical Field

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

[0002] As a novel type of end effector, the dexterous hand plays a crucial role in the interaction between robots and their environment. Since the 1970s, extensive research has been conducted both domestically and internationally on dexterous hands, evolving from three-finger to five-finger systems, from industrial applications to everyday life, and from simple grasping to dexterous manipulation, all in an effort to solve complex practical problems. A dexterous hand is an intelligent, general-purpose robotic arm developed for multitasking; dexterous grasping is a prerequisite for task operation. Dexterity refers to the variability of hand posture; the higher this variability, the more dexterous the hand is considered. Robotic dexterous hands, structurally and functionally inspired by the human hand, can flexibly manipulate objects, achieving flexible grasping and meeting diverse work requirements. They can achieve precise and reliable grasping control, thus enabling refined operations.

[0003] Depending on the material, dexterous hands can be divided into two categories: rigid hands and soft hands. Soft hands have stronger environmental adaptability and interactive safety than rigid hands, and are suitable for grasping objects with fragile and easily damaged surfaces. However, flexible materials are prone to permanent deformation during long-term use, which can cause the dexterous hand to fail to return to its normal position after bending. Utility Model Content

[0004] Therefore, it is necessary to provide a dexterous hand that can prevent permanent deformation of the flexible structure of the dexterous hand from causing it to malfunction and extend its service life.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A dexterous hand is provided, comprising a palm module, bendable finger modules, and a drive assembly capable of driving the finger modules to bend. Multiple finger modules are respectively mounted on the palm module. Each finger module is a highly elastic, flexible structure. The drive assembly includes a tendon cord and a first drive mechanism. The first drive mechanism is disposed on the finger module. One end of each tendon cord is connected to the first drive mechanism, and the other end is connected to the finger module. The tendon cord is located on the palmar side of the finger module. An auxiliary rebound device is provided on the finger module.

[0006] In this invention, when the finger module needs to be bent, the first drive mechanism drives the tendon rope to move, and the tendon rope applies tension to the finger module, causing the finger module to bend in a predetermined direction. When the finger module needs to be straightened, the first drive mechanism drives the tendon rope to move in the opposite direction, reducing the tension applied by the tendon rope to the finger module. The auxiliary rebound device drives the finger module to reset, preventing permanent deformation of the finger module that would prevent it from being unable to fully reset.

[0007] Furthermore, the finger module includes a finger skeleton, finger bases, and phalanges. Several finger bases are fixedly mounted on the finger skeleton, and the finger skeleton is fixedly connected to the finger bases. The finger skeleton is a flexible structure, and the phalanges are rigid structures. Several phalanges are fixedly mounted on the finger skeleton. A first driving mechanism is disposed on the finger bases, and the tendon cords are connected to the phalanges. The first driving mechanism drives the tendon cords to move, which in turn pulls the phalanges, causing the finger skeleton to deform and rotate around adjacent phalanges closer to the palm module, simulating the movement of human hand fingers. The first driving mechanism also drives the tendon cords to move in the opposite direction, reducing the tension exerted by the tendon cords on the phalanges, and allowing the finger skeleton to return to its original position under the action of its own elasticity and the elasticity of the auxiliary rebound device.

[0008] Furthermore, the auxiliary rebound device includes several reset elastic elements, which are connected between the finger base and the phalanx, as well as between adjacent phalanges. A first drive mechanism drives the tendon cord to pull the phalanx, causing the finger skeleton between the finger base and the phalanx, and between adjacent phalanges, to bend under force, thus simulating the bending of a human hand finger. The first drive mechanism then reverses the movement of the tendon cord, causing the finger skeleton to reset under the action of its own elasticity and the elasticity of the reset elastic elements.

[0009] Furthermore, the finger module comprises five components, designated as the thumb module, index finger module, middle finger module, ring finger module, and little finger module. The thumb module includes two phalanges. Based on the distance between the phalanges and the palm module, the two sequentially connected phalanges are designated as the first proximal phalange and the first distal phalange, from near to far. The finger base fixedly connected to the first proximal phalange is designated as the first finger base, and the tendon cord connected to the first distal phalange is designated as the first tendon cord. The index finger module, the middle finger module, the ring finger module, and the little finger module have the same structure. The index finger module includes three phalanges. Based on the distance between the phalanges and the palm module, the three sequentially connected phalanges are designated as the second proximal phalange, the middle phalange, and the second distal phalange, from near to far. The finger base fixedly connected to the second proximal phalange is designated as the second finger base, and the tendon cord connected to the second distal phalange is designated as the second tendon cord. The system includes a thumb module with two phalanges and modules for the index, middle, ring, and little fingers with three phalanges each, enabling dexterous hands to more realistically mimic the structure and movement of the human hand. When the thumb module bends, its first drive mechanism drives the first tendon cord to move, which pulls the first distal phalanx, causing the thumb module's finger skeleton to bend. The first distal phalanx rotates around the first proximal phalanx, and the first proximal phalanx rotates around the base of the first finger, thus mimicking the thumb's bending motion. The first drive mechanism of the thumb module also drives the first tendon cord to move in the opposite direction. Under the combined action of the elastic force of the finger skeleton and the elastic force of the return elastic element, the first proximal and first distal phalanges... The index finger module's first drive mechanism drives the second tendon cord to move, which pulls the second distal phalanx, causing the index finger module's finger skeleton to bend. The second distal phalanx rotates around the middle phalanx, the middle phalanx rotates around the second proximal phalanx, and the second proximal phalanx rotates around the second finger base, thus mimicking the index finger's bending motion. The index finger module's first drive mechanism drives the second tendon cord to move in the opposite direction, and the second proximal phalanx, middle phalanx, and second distal phalanx are reset under the combined action of the finger skeleton's elasticity and the reset elastic element's elasticity, thus mimicking the index finger's straightening motion. The movement patterns of the middle finger module, ring finger module, and little finger module are the same as those of the index finger module.

[0010] Further, the finger skeleton of the thumb module is referred to as the first skeleton, and the finger skeleton of the index finger module is referred to as the second skeleton; the first skeleton includes a first proximal skeleton and a first distal skeleton, and the second skeleton includes a second proximal skeleton, a middle skeleton, and a second distal skeleton; the first proximal skeleton is connected between the first finger base and the first proximal phalanx, the first distal skeleton is connected between the first proximal phalanx and the first distal phalanx, the second proximal skeleton is connected between the second finger base and the second proximal phalanx, the middle skeleton is connected between the second proximal phalanx and the middle phalanx, and the second distal skeleton is connected between the middle phalanx and the second distal phalanx; the thickness of the first distal skeleton is greater than the thickness of the first proximal skeleton, and the thicknesses of the second proximal skeleton, the middle skeleton, and the second distal skeleton increase sequentially. The thickness of the first distal phalanx is greater than that of the first proximal phalanx, resulting in greater stiffness of the first distal phalanx and greater damping of the first distal phalanx rotation. This causes the first proximal phalanx to deform before the first distal phalanx when the first tendon pulls on the first distal phalanx, and the first proximal phalanx to rotate before the first distal phalanx. When the first tendon releases, the first distal phalanx rotates before the first proximal phalanx, better mimicking the movement of the thumb; the second proximal phalanx, middle... The thickness of the skeleton and the second distal skeleton increases sequentially, which in turn increases the stiffness of the second proximal skeleton, the middle skeleton and the second distal skeleton. The damping of the rotation of the second proximal phalanx, the middle phalanx and the second distal phalanx increases sequentially. When the first tendon cord pulls the second distal phalanx, the second proximal phalanx, the middle phalanx and the second distal phalanx rotate sequentially. When the first tendon cord is released, the second distal phalanx, the middle phalanx and the second proximal phalanx rotate in opposite directions sequentially, better mimicking the movement of the index finger, middle finger, ring finger and little finger.

[0011] Further, the reset elastic element connected between the first proximal phalanx and the first finger base is denoted as the first proximal elastic element, and the reset elastic element connected between the first distal phalanx and the first proximal phalanx is denoted as the first distal elastic element. The stiffness of the first distal elastic element is greater than that of the first proximal elastic element. The reset elastic element connected between the second proximal phalanx and the second finger base is denoted as the second proximal elastic element, the reset elastic element connected between the middle phalanx and the second proximal phalanx is denoted as the middle elastic element, and the reset elastic element connected between the second distal phalanx and the middle phalanx is the second distal elastic element. The stiffness of the second proximal elastic element, the middle elastic element, and the second distal elastic element increases sequentially. The stiffness of the first distal elastic element is greater than that of the first proximal elastic element, ensuring that when the first proximal phalanx and the first distal phalanx are reset, the elastic force of the first distal elastic element is greater than that of the first proximal elastic element, thus ensuring that the first distal phalanx resets before the first proximal phalanx. The stiffness of the second proximal elastic element, the middle elastic element, and the second distal elastic element increases sequentially, ensuring that when the second proximal phalanx, the middle phalanx, and the second distal phalanx are reset, the elastic force of the second proximal elastic element, the middle elastic element, and the second distal elastic element increases sequentially, thus ensuring that the second distal phalanx, the middle phalanx, and the second proximal phalanx reset sequentially. The stiffness difference between each reset elastic element allows each phalanx to maintain a predetermined movement sequence even when the finger skeleton is permanently deformed and cannot reset normally.

[0012] Furthermore, the thumb module also includes a thumb base, a third finger base, and a third skeleton. The third finger base is mounted on the palm module, the thumb base is fixedly connected to the first finger base, one end of the third skeleton is fixedly connected to the third finger base, and the other end is fixedly connected to the thumb base. A second driving mechanism is provided on the third finger base, and a third tendon is connected between the second driving mechanism and the thumb base. The second driving mechanism drives the third tendon to move, pulling the first finger base and causing the third skeleton to deform. The first finger base and the thumb base rotate around the third finger base. The combined action of the first and third driving mechanisms gives the thumb module two degrees of freedom, allowing it to mimic both the bending and swinging movements of the thumb base, further enhancing the biomimetic effect.

[0013] Further, the first driving mechanism includes a rotary motor and a winding wheel. The rotary motor is fixedly connected to the finger base, and its output end is fixedly connected to the axis of the winding wheel. A winding hole is provided on the phalanx. One end of the tendon cord is fixedly connected to the winding wheel and wound around it. The other end of the tendon cord is fixedly connected to the phalanx located at the end of the finger module. The tendon cord passes through the winding hole. The rotary motor fixedly connected to the first finger base is designated as the first rotary motor, and the winding wheel fixedly connected to the first rotary motor is designated as the first winding wheel. The rotary motor fixedly connected to the second finger base is designated as the second rotary motor, and the winding wheel fixedly connected to the second rotary motor is designated as the second winding wheel. When the finger module needs to be bent, the rotary motor drives the winding wheel to rotate. The rotation of the winding wheel tightens the tendon cord, which then winds around the winding wheel, causing each phalanx to rotate. When the finger module needs to be straightened, the rotary motor reverses direction, driving the winding wheel to rotate in the opposite direction. The tendon cord loosens, and each phalanx returns to its original position under the elastic force of the finger skeleton and the reset elastic element.

[0014] Furthermore, the hand module includes a hand base, a front cover, a rear cover, and a mounting plate. The mounting plate is fixedly mounted on the hand base, and the finger module is mounted on the mounting plate. The front cover and the rear cover are respectively mounted on both sides of the mounting plate. The front cover, the rear cover, and the mounting plate form a mounting cavity. The mounting cavity has an opening for the finger module to pass through, and the connection point between the finger module and the mounting plate is located within the mounting cavity. When installing the dexterous hand, the mounting plate is mounted on the hand base, the finger module is mounted on the mounting plate, and the front cover and the rear cover are respectively mounted on both sides of the mounting plate. The front cover and the rear cover protect the portion of the finger module located within the mounting cavity and other components within the mounting cavity.

[0015] Furthermore, the finger base has beveled surfaces on both the side opposite to the knuckle and the opposite sides between the knuckles. The ligature hole is located on the beveled surface, and the normal to the bevel is located on the palmar side of the finger module. This reduces friction between the tendon ligament and the ligature hole, thereby reducing tendon ligament wear and extending its service life.

[0016] The beneficial effects of this utility model are: 1. When the finger module needs to be bent, the first drive mechanism drives the tendon rope to move, and the tendon rope applies tension to the finger module, causing the finger module to bend in a predetermined direction. When the finger module needs to be straightened, the first drive mechanism drives the tendon rope to move in the opposite direction, reducing the tension applied by the tendon rope to the finger module. The auxiliary rebound device drives the finger module to reset, preventing permanent deformation of the finger module from causing incomplete reset and extending the service life of the dexterous hand; 2. The stiffness difference between each reset elastic element allows each phalanx to maintain a predetermined movement sequence even when the finger skeleton is permanently deformed and cannot reset normally. Attached Figure Description

[0017] Figure 1 This is a first structural schematic diagram of the dexterous hand of this utility model; Figure 2 This is a schematic diagram of the second structure of the dexterous hand of this utility model; Figure 3 This is an exploded view of the structure of the dexterous hand of this utility model; Figure 4 This is a first structural schematic diagram of the index finger module of the dexterous hand of this utility model; Figure 5 This is a schematic diagram of the second structure of the index finger module of the dexterous hand of this utility model; Figure 6 This is a first structural schematic diagram of the thumb module of the dexterous hand of this utility model; Figure 7 This is a schematic diagram of the second structure of the thumb module of the dexterous hand of this utility model; Figure 8 This is a first structural schematic diagram of the mounting plate for the dexterous hand of this utility model.

[0018] In the attached diagram: 1. Finger module; 11. Finger skeleton; 12. Finger base; 13. Knuckle; 14. Thumb module; 141. First finger base; 142. Third finger base; 143. First proximal phalanx; 144. First distal phalanx; 1441. Fixing nut; 1442. Fixing screw; 145. First proximal skeleton; 146. First distal skeleton; 147. Third skeleton; 148. Thumb base; 15. Index finger module; 151. Second finger base; 152. Second proximal phalanx; 153. Middle phalanx; 154. Second distal phalanx; 155. Second proximal skeleton; 156. Middle skeleton; 157. Second distal skeleton; 16. 17. Middle finger module; 18. Ring finger module; 19. Little finger module; 2. First drive mechanism; 20. First rotary motor; 21. Second rotary motor; 22. First rope winding wheel; 23. Second rope winding wheel; 24. Second rope winding wheel; 3. Second drive mechanism; 31. Third rotary motor; 32. Third rope winding wheel; 4. Tendon rope; 41. First tendon rope; 42. Second tendon rope; 43. Third tendon rope; 5. Reset elastic element; 51. First proximal elastic element; 52. First distal elastic element; 53. Second proximal elastic element; 54. Middle elastic element; 55. Second distal elastic element; 6. Palm module; 61. Palm base; 62. Front cover; 63. Rear cover; 64. Mounting plate; 641. Fixing hole. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Example 1 like Figures 1 to 8 The first embodiment of the dexterous hand of this utility model is shown. A dexterous hand is provided, including a palm module 6, a bendable finger module 1, and a driving component that can drive the finger module 1 to bend. Multiple finger modules 1 are respectively installed on the palm module 6. The finger module 1 is a highly elastic flexible structure. The driving component includes a tendon cord 4 and a first driving mechanism 2. The first driving mechanism 2 is disposed on the finger module 1. One end of the tendon cord 4 is connected to the first driving mechanism 2, and the other end is connected to the finger module 1. The tendon cord 4 is located on the palm side of the finger module 1. An auxiliary rebound device is provided on the finger module 1.

[0021] In this invention, when the finger module 1 needs to be bent, the first drive mechanism 2 drives the tendon rope 4 to move, and the tendon rope 4 applies a pulling force to the finger module 1, causing the finger module 1 to bend in a predetermined direction. When the finger module 1 needs to be straightened, the first drive mechanism 2 drives the tendon rope 4 to move in the opposite direction, reducing the pulling force applied by the tendon rope 4 to the finger module 1. The auxiliary rebound device drives the finger module 1 to reset, preventing permanent deformation of the finger module 1 that would prevent it from being unable to fully reset.

[0022] like Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, the finger module 1 includes a finger skeleton 11, finger bases 12, and phalanges 13. Several finger bases 12 are fixedly mounted on the finger skeleton 11, and the finger skeleton 11 is fixedly connected to the finger bases 12. The finger skeleton 11 is a flexible structure, while the phalanges 13 are rigid structures. Several phalanges 13 are fixedly mounted on the finger skeleton 11. A first drive mechanism 2 is mounted on the finger bases 12, and tendon cords 4 are connected to the phalanges 13. The first drive mechanism 2 drives the tendon cords 4 to move, and the tendon cords 4 pull the phalanges 13 to move, causing the finger skeleton 11 to deform and rotate around the adjacent phalanges 13 closer to the palm module 6, simulating the movement of human hand fingers. The first drive mechanism 2 drives the tendon cords 4 to move in the opposite direction, reducing the tension applied by the tendon cords 4 to the phalanges 13, and the finger skeleton 11 is reset by its own elasticity and the elasticity of the auxiliary rebound device.

[0023] In this embodiment, the finger skeleton 11 is made of flexible TPU material, and the knuckle 13 is made of rigid PLA material. The finger skeleton 11 and the knuckle 13 are integrally formed by 3D printing, without the need for secondary assembly.

[0024] The auxiliary rebound device includes several reset elastic elements 5, which are connected between the finger base 12 and the knuckle 13, as well as between adjacent knuckles 13. The first drive mechanism 2 drives the tendon cord 4 to pull the knuckle 13, causing the finger skeleton 11 between the finger base 12 and the knuckle 13, as well as between adjacent knuckles 13, to bend under force, thus simulating the bending of a human hand finger in the finger module 1. The first drive mechanism 2 then drives the tendon cord 4 in the opposite direction, causing the finger skeleton 11 to reset under its own elasticity and the elasticity of the reset elastic elements 5. The reset elastic elements 5 can be one or more of the following elastic elements: torsion spring, tension spring, compression spring, leaf spring, spring coil, and elastic cord. The reset elastic element 5 in this embodiment is not intended to limit the invention. In this embodiment, the reset elastic element 5 is a tension spring, located on the back side of the finger module 1. The reset elastic elements 5 are fixed to the knuckle 13 by screws.

[0025] like Figure 1 and Figure 2 As shown, finger module 1 has five components, designated as thumb module 14, index finger module 15, middle finger module 16, ring finger module 17, and little finger module 18. Figure 6 and Figure 7 As shown, the thumb module 14 includes two phalanges 13. Based on the distance between the phalanges 13 and the palm module 6, the two sequentially connected phalanges 13 are designated as the first proximal phalanx 143 and the first distal phalanx 144 from proximal to distal. The finger base 12 fixedly connected to the first proximal phalanx 143 is designated as the first finger base 141, and the tendon ligament 4 connected to the first distal phalanx 144 is designated as the first tendon ligament 41. The index finger module 15, middle finger module 16, ring finger module 17, and little finger module 18 have the same structure, as shown... Figure 4 and Figure 5 As shown, the index finger module 15 includes three phalanges 13. Based on the distance between the phalanges 13 and the palm module 6, the three phalanges 13 connected in sequence are designated as the second proximal phalange 152, the middle phalange 153, and the second distal phalange 154 from near to far. The finger base 12 fixedly connected to the second proximal phalange 152 is designated as the second finger base 151, and the tendon cord 4 connected to the second distal phalange 154 is designated as the second tendon cord 42.

[0026] The system includes a thumb module 14 with two phalanges 13, and index finger modules 15, middle finger modules 16, ring finger modules 17, and little finger modules 18 with three phalanges 13, enabling the dexterous hand to more realistically mimic the structure and movement of the human hand. When the thumb module 14 is bent, the first drive mechanism 2 of the thumb module 14 drives the first tendon cord 41 to move. The first tendon cord 41 pulls the first distal phalanx 144, causing the finger skeleton 11 of the thumb module 14 to bend. The first distal phalanx 144 rotates around the first proximal phalanx 143, and the first proximal phalanx 143 rotates around the first finger base 141, thus mimicking the bending action of the thumb. The first drive mechanism 2 of the thumb module 14 drives the first tendon cord 41 to move in the opposite direction. Under the combined action of the elasticity of the finger skeleton 11 and the elasticity of the return elastic element 5, the first proximal phalanx 143 and the first distal phalanx 144 return to their original positions. The index finger module 15 is positioned to mimic the thumb's straightening motion. The first drive mechanism 2 of the index finger module 15 drives the second tendon cord 42 to move, which pulls the second distal phalanx 154, causing the finger skeleton 11 of the index finger module 15 to bend. The second distal phalanx 154 rotates around the middle phalanx 153, the middle phalanx 153 rotates around the second proximal phalanx 152, and the second proximal phalanx 152 rotates around the second finger base 151, thus mimicking the index finger's bending motion. The first drive mechanism 2 of the index finger module 15 drives the second tendon cord 42 to move in the opposite direction. The second proximal phalanx 152, the middle phalanx 153, and the second distal phalanx 154 are reset under the combined action of the elasticity of the finger skeleton 11 and the elasticity of the reset elastic element 5, thus mimicking the index finger's straightening motion. The movement of the middle finger module 16, the ring finger module 17, and the little finger module 18 is the same as that of the index finger module 15.

[0027] In this embodiment, as Figure 1 , Figure 4 As shown, both the first distal phalanx 144 and the second distal phalanx 154 are provided with an embedding groove, which is connected to the rope winding hole. A fixing nut 1441 is embedded in the embedding groove. The tendon rope 4 passes through the rope winding hole and is fixedly connected to the fixing nut 1441. The finger module 1 also includes a fixing screw 1442 that cooperates with the fixing nut 1441. By screwing the fixing screw 1442 into the fixing nut 1441, the tendon rope 4 can be pre-tightened and fixed.

[0028] like Figure 3As shown, the hand module 6 includes a hand base 61, a front cover 62, a rear cover 63, and a mounting plate 64. The mounting plate 64 is fixedly mounted on the hand base 61, and the finger module 1 is mounted on the mounting plate 64. The front cover 62 and the rear cover 63 are respectively mounted on the front and rear sides of the mounting plate 64. The front cover 62, the rear cover 63, and the mounting plate 64 form a mounting cavity. The mounting cavity has an opening for the finger module 1 to pass through, and the connection point between the finger module 1 and the mounting plate 64 is located inside the mounting cavity. When installing the dexterous hand, the mounting plate 64 is mounted on the hand base 61, the finger module 1 is mounted on the mounting plate 64, and the front cover 62 and the rear cover 63 are respectively mounted on the sides of the mounting plate 64. The front cover 62 and the rear cover 63 protect the portion of the finger module 1 located inside the mounting cavity and other components within the mounting cavity.

[0029] In this embodiment, as Figure 8 As shown, the shape of the mounting plate 64 is similar to that of a palm. Five finger bases 12 are fixedly connected to the mounting plate 64 by screws, and the finger skeleton 11 is parallel to the mounting plate 64. To better simulate a human hand, there are angles between the finger modules 1: the angle between the index finger module 15 and the middle finger module 16 is 3°, the angle between the middle finger module 16 and the ring finger module 17 is 3°, and the angle between the ring finger module 17 and the little finger module 18 is 5°. When the finger skeleton 11 is in its natural state, the angle between the back of the first distal phalanx 144 and the second distal phalanx 154 and the mounting plate 64 is 5°.

[0030] Example 2 This embodiment is the second embodiment of the dexterous hand of this utility model. This embodiment is similar to the first embodiment, except that, as Figures 4 to 7As shown, the finger skeleton 11 of the thumb module 14 is referred to as the first skeleton, and the finger skeleton 11 of the index finger module 15 is referred to as the second skeleton; the first skeleton includes a first proximal skeleton 145 and a first distal skeleton 146, and the second skeleton includes a second proximal skeleton 155, a middle skeleton 156, and a second distal skeleton 157; the first proximal skeleton 145 is connected between the first finger base 141 and the first proximal phalanx 143, and the first distal skeleton 146 is connected between the first proximal phalanx 143 and the first distal phalanx 147. Between the segments 144, the second proximal skeleton 155 is connected between the second finger base 151 and the second proximal phalanx 152, the middle skeleton 156 is connected between the second proximal phalanx 152 and the middle phalanx 153, and the second distal skeleton 157 is connected between the middle phalanx 153 and the second distal phalanx 154; the thickness of the first distal skeleton 146 is greater than the thickness of the first proximal skeleton 145, and the thicknesses of the second proximal skeleton 155, the middle skeleton 156 and the second distal skeleton 157 increase sequentially. The thickness of the first distal skeleton 146 is greater than the thickness of the first proximal skeleton 145, making the stiffness of the first distal skeleton 146 greater than that of the first proximal skeleton 145. This results in greater damping of the rotation of the first distal phalanx 144 than the rotation of the first proximal phalanx 143. Consequently, when the first tendon ligament 41 pulls on the first distal phalanx 144, the first proximal skeleton 145 deforms before the first distal skeleton 146, and the first proximal phalanx 143 rotates before the first distal phalanx 144. When the first tendon ligament 41 is released, the first distal phalanx 144 rotates before the first proximal phalanx 143, better mimicking the movement of the thumb; the second proximal skeleton 155, the middle skeleton... The thickness of the frame 156 and the second distal skeleton 157 increases sequentially, which increases the stiffness of the second proximal skeleton 155, the middle skeleton 156 and the second distal skeleton 157 sequentially. The damping of the rotation of the second proximal phalanx 152, the middle phalanx 153 and the second distal phalanx 154 increases sequentially. When the first tendon cord 41 pulls the second distal phalanx 154, the second proximal phalanx 152, the middle phalanx 153 and the second distal phalanx 154 rotate sequentially. When the first tendon cord 41 is released, the second distal phalanx 154, the middle phalanx 153 and the second proximal phalanx 152 rotate in opposite directions sequentially, better mimicking the movement of the index finger, middle finger, ring finger and little finger.

[0031] In this embodiment, when 3D printing the finger skeleton 11, the density of the finger skeleton 11 can be adjusted by adjusting the material infill rate, so that the density of the first proximal skeleton 145 is less than that of the first distal skeleton 146, and the densities of the second proximal skeleton 155, the middle skeleton 156, and the second distal skeleton 157 increase sequentially. This results in a smaller density in the part of the finger skeleton 11 with a large deformation range and a larger density in the part with a small deformation range. While increasing the stiffness difference between different parts of the finger skeleton 11, this can reduce the wear and permanent deformation of the finger skeleton 11 and extend its service life.

[0032] The reset elastic element 5 connecting the first proximal phalanx 143 and the first finger base 141 is designated as the first proximal elastic element 51, and the reset elastic element 5 connecting the first distal phalanx 144 and the first proximal phalanx 143 is designated as the first distal elastic element 52. The stiffness of the first distal elastic element 52 is greater than that of the first proximal elastic element 51. The reset elastic element 5 connecting the second proximal phalanx 152 and the second finger base 151 is designated as the second proximal elastic element 53, the reset elastic element 5 connecting the middle phalanx 153 and the second proximal phalanx 152 is designated as the middle elastic element 54, and the reset elastic element 5 connecting the second distal phalanx 154 and the middle phalanx 153 is designated as the second distal elastic element 55. The stiffness of the second proximal elastic element 53, the middle elastic element 54, and the second distal elastic element 55 increases sequentially. The stiffness of the first distal elastic element 52 is greater than that of the first proximal elastic element 51, so that when the first proximal phalanx 143 and the first distal phalanx 144 are reset, the elastic force of the first distal elastic element 52 is greater than that of the first proximal elastic element 51, ensuring that the first distal phalanx 144 resets before the first proximal phalanx 143; the stiffness of the second proximal elastic element 53, the middle elastic element 54, and the second distal elastic element 55 increases sequentially, so that when the second proximal phalanx 152, the middle phalanx 153, and the second distal phalanx 154 are reset, the elastic force of the second proximal elastic element 53, the middle elastic element 54, and the second distal elastic element 55 increases sequentially, ensuring that the second distal phalanx 154, the middle phalanx 153, and the second proximal phalanx 152 reset sequentially; the stiffness difference between each reset elastic element 5 allows each phalanx 13 to maintain a predetermined movement sequence even when the finger skeleton 11 is permanently deformed and cannot reset normally.

[0033] like Figure 6 and Figure 7 As shown, the thumb module 14 also includes a thumb base 148, a third finger base 142, and a third skeleton 147. The third finger base 142 is mounted on the palm module 6. The thumb base 148 is fixedly connected to the first finger base 141. One end of the third skeleton 147 is fixedly connected to the third finger base 142, and the other end is fixedly connected to the thumb base 148. A second driving mechanism 3 is provided on the third finger base 142, and a third tendon 43 is connected between the second driving mechanism 3 and the thumb base 148. The second driving mechanism 3 drives the third tendon 43 to move, and the third tendon 43 pulls the first finger base 141, causing the third skeleton 147 to deform. The first finger base 141 and the thumb base 148 rotate around the third finger base 142. The combined action of the first driving mechanism 2 and the third driving mechanism gives the thumb module 14 two degrees of freedom, which can imitate the bending of the thumb and the swinging of the base, further improving the bionic effect.

[0034] Example 3 This embodiment is the third embodiment of the dexterous hand of this utility model. This embodiment is similar to embodiment two, except that, as Figures 4 to 7 As shown, the first drive mechanism 2 includes a rotary motor and a rope-winding wheel. The rotary motor is fixedly connected to the finger base 12, and the output end of the rotary motor is fixedly connected to the axis of the rope-winding wheel. The phalanx 13 is provided with a rope-winding hole. One end of the tendon rope 4 is fixedly connected to the rope-winding wheel and wound around the rope-winding wheel. The other end of the tendon rope 4 is fixedly connected to the phalanx 13 located at the end of the finger module 1. The tendon rope 4 passes through the rope-winding hole. The rotary motor fixedly connected to the first finger base 141 is referred to as the first rotary motor 21, and the rope-winding wheel fixedly connected to the first rotary motor 21 is referred to as the first rope-winding wheel 23. The rotary motor fixedly connected to the second finger base 151 is referred to as the second rotary motor 22, and the rope-winding wheel fixedly connected to the second rotary motor 22 is referred to as the second rope-winding wheel 24. When the finger module 1 needs to be bent, the rotary motor drives the rope wheel to rotate. The rotation of the rope wheel causes the tendon rope 4 to tighten and wrap around the rope wheel, causing each finger joint 13 to rotate. When the finger module 1 needs to be straightened, the rotary motor reverses, driving the rope wheel to rotate in the opposite direction. The tendon rope 4 loosens, and each finger joint 13 returns to its original position under the elastic force of the finger skeleton 11 and the reset elastic element 5. In this embodiment, the first rotary motor 21 and the second rotary motor 22 are worm gear motors. The mounting plate 64 of the palm module 6 is provided with five fixing holes 641 that cooperate with the rotary motors. When installing the second finger base 151 and the third finger base 142, the third rotary motor 31 and the four second rotary motors 22 are respectively embedded in the five fixing holes 641 to strengthen the fixing effect on the rotary motors and improve the stability of the rotary motors.

[0035] like Figure 6 and Figure 7 As shown, the second drive mechanism 3 includes a third rotary motor 31 and a third rope-winding wheel 32. The third rotary motor 31 is fixedly connected to the third finger base 142, and the output end of the third rotary motor 31 is fixedly connected to the axis of the third rope-winding wheel 32. When the thumb module 14 needs to swing, the third rotary motor 31 drives the third rope-winding wheel 32 to rotate. The rotation of the third rope-winding wheel 32 causes the third tendon rope 43 to tighten and wrap around the third rope-winding wheel 32, causing the first finger base 141 to rotate, thus making the thumb module 14 swing. When the thumb module 14 needs to swing in the opposite direction, the third rotary motor 31 reverses, drives the third rope-winding wheel 32 to rotate in the opposite direction, the third tendon rope 43 relaxes, and the first finger base 141 resets under the elastic force of the third skeleton 147.

[0036] like Figure 4 and Figure 5As shown, the finger base 12 has bevels on the side opposite to the knuckle 13 and on the opposite sides between the knuckles 13. The lanyard hole is located on the bevel, and the normal to the bevel is located on the palmar side of the finger module 1. This reduces friction between the tendon tract 4 and the lanyard hole, thereby reducing wear on the tendon tract 4 and extending its service life.

[0037] The working principle of the dexterous hand in this embodiment is as follows: When the thumb module 14 is controlled to swing, the third rotary motor 31 drives the third rope wheel 32 to rotate. The rotation of the third rope wheel 32 causes the third tendon rope 43 to tighten and wrap around the third rope wheel 32, causing the first finger base 141 to rotate, thus causing the thumb module 14 to swing. When the thumb module 14 is controlled to swing in the opposite direction, the third rotary motor 31 reverses, drives the third rope wheel 32 to rotate in the opposite direction, the third tendon rope 43 relaxes, and the first finger base 141 resets under the elastic force of the third skeleton 147. When the thumb module 14 is bent, the first rotary motor 21 drives the first winding wheel 23. The rotation of the first winding wheel 23 causes the first tendon rope 41 to tighten and wrap around the first winding wheel 23. The first tendon rope 41 pulls the first distal phalanx 144, causing the first distal skeleton 146 and the first proximal skeleton 145 to bend successively. The first distal phalanx 144 rotates around the first proximal phalanx 143, and the first proximal phalanx 143 rotates around the first finger base 141. When the thumb module 14 is straightened, the first rotary motor 21 reverses and drives the first tendon rope 41 to move in the opposite direction. The first tendon rope 41 relaxes, and the first distal phalanx 144 and the first proximal phalanx 143 are reset successively under the combined action of the elasticity of the finger skeleton 11 and the elasticity of the reset elastic element 5.

[0038] When controlling the movement of the index finger module 15, the second rotary motor 22 drives the second rope wheel 24 to rotate. The rotation of the second rope wheel 24 causes the second tendon rope 42 to tighten and wrap around the second rope wheel 24. The second tendon rope 42 pulls the second distal phalanx 154, causing the finger skeleton 11 of the index finger module 15 to bend. The second distal phalanx 154 rotates around the middle phalanx 153, the middle phalanx 153 rotates around the second proximal phalanx 152, and the second proximal phalanx 152 rotates around the second finger base 151. When it is necessary to straighten the finger module 1, the second rotary motor 22 reverses, drives the second rope wheel 24 to rotate in the opposite direction, drives the second tendon rope 42 to move in the opposite direction, and the second tendon rope 42 relaxes. Each phalanx 13 is reset under the elastic force of the finger skeleton 11 and the reset elastic element 5. The movement patterns of the middle finger module 16, ring finger module 17, and little finger module 18 are the same as those of the index finger module 15.

[0039] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0040] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A dexterous hand, comprising a palm module (6), bendable finger modules (1), and a drive assembly capable of driving the finger modules (1) to bend, wherein a plurality of the finger modules (1) are respectively mounted on the palm module (6), characterized in that, The finger module (1) is a highly elastic flexible structure. The driving component includes a tendon cord (4) and a first driving mechanism (2). The first driving mechanism (2) is disposed on the finger module (1). One end of the tendon cord (4) is connected to the first driving mechanism (2), and the other end is connected to the finger module (1). The tendon cord (4) is located on the palmar side of the finger module (1). The finger module (1) is provided with an auxiliary rebound device. The finger module (1) includes a finger skeleton (11), a finger base (12), and a knuckle (13). Several finger bases (12) are fixedly installed on the finger. On the skeleton (11), the finger skeleton (11) is fixedly connected to the finger base (12). The finger skeleton (11) is a flexible structure, and the phalanx (13) is a rigid structure. Several phalanxes (13) are fixedly mounted on the finger skeleton (11). The first driving mechanism (2) is mounted on the finger base (12). The tendon cord (4) is connected to the phalanx (13). The auxiliary rebound device includes several reset elastic elements (5). The reset elastic elements (5) are connected between the finger base (12) and the phalanx (13) and between adjacent phalanxes (13).

2. The dexterous hand according to claim 1, characterized in that, The finger module (1) has five components, designated as thumb module (14), index finger module (15), middle finger module (16), ring finger module (17), and little finger module (18). The thumb module (14) includes two phalanges (13). Based on the distance between the phalanges (13) and the palm module (6), the two sequentially connected phalanges (13) are designated as the first proximal phalange (143) and the first distal phalange (144) from near to far. The finger base (12) fixedly connected to the first proximal phalange (143) is designated as the first finger base (141), and the tendon cord (4) connected to the first distal phalange (144) is designated as the first tendon cord (41). The index finger module (15), the middle finger module (16), the ring finger module (17), and the little finger module (18) have the same structure. The index finger module (15) includes three phalanges (13). According to the distance between the phalanges (13) and the palm module (6), the three phalanges (13) connected in sequence are designated as the second proximal phalange (152), the middle phalange (153), and the second distal phalange (154) from near to far. The finger base (12) fixedly connected to the second proximal phalange (152) is designated as the second finger base (151), and the tendon cord (4) connected to the second distal phalange (154) is designated as the second tendon cord (42).

3. The dexterous hand according to claim 2, characterized in that, The finger skeleton (11) of the thumb module (14) is referred to as the first skeleton, and the finger skeleton (11) of the index finger module (15) is referred to as the second skeleton; the first skeleton includes a first proximal skeleton (145) and a first distal skeleton (146), and the second skeleton includes a second proximal skeleton (155), a middle skeleton (156), and a second distal skeleton (157); the first proximal skeleton (145) is connected between the first finger base (141) and the first proximal phalanx (143), and the first distal skeleton (146) is connected between the first proximal phalanx (143) and the first distal phalanx (144). Between the second proximal skeleton (155), the second proximal skeleton (155) is connected between the second finger base (151) and the second proximal phalanx (152), the middle skeleton (156) is connected between the second proximal phalanx (152) and the middle phalanx (153), and the second distal skeleton (157) is connected between the middle phalanx (153) and the second distal phalanx (154); the thickness of the first distal skeleton (146) is greater than the thickness of the first proximal skeleton (145), and the thicknesses of the second proximal skeleton (155), the middle skeleton (156), and the second distal skeleton (157) increase sequentially.

4. The dexterous hand according to claim 2, characterized in that, The reset elastic element (5) connecting the first proximal phalanx (143) and the first finger base (141) is designated as the first proximal elastic element (51), and the reset elastic element (5) connecting the first distal phalanx (144) and the first proximal phalanx (143) is designated as the first distal elastic element (52). The stiffness of the first distal elastic element (52) is greater than that of the first proximal elastic element (51); the reset elastic element (52) connecting the second proximal phalanx (152) and the second finger base (151) is designated as the first proximal elastic element (51). The reset elastic element (5) between the middle phalanx (153) and the second proximal phalanx (152) is referred to as the middle elastic element (54), and the reset elastic element (5) between the second distal phalanx (154) and the middle phalanx (153) is referred to as the second distal elastic element (55). The stiffness of the second proximal elastic element (53), the middle elastic element (54) and the second distal elastic element (55) increases sequentially.

5. The dexterous hand according to claim 2, characterized in that, The thumb module (14) further includes a thumb root (148), a third finger base (142), and a third skeleton (147). The third finger base (142) is mounted on the palm module (6). The thumb root (148) is fixedly connected to the first finger base (141). One end of the third skeleton (147) is fixedly connected to the third finger base (142), and the other end is fixedly connected to the thumb root (148). A second driving mechanism (3) is provided on the third finger base (142), and a third tendon cord (43) is connected between the second driving mechanism (3) and the thumb root (148).

6. The dexterous hand according to claim 2, characterized in that, The first drive mechanism (2) includes a rotary motor and a rope-winding wheel. The rotary motor is fixedly connected to the finger base (12). The output end of the rotary motor is fixedly connected to the axis of the rope-winding wheel. The phalanx (13) is provided with a rope-winding hole. One end of the tendon rope (4) is fixedly connected to the rope-winding wheel and wound around the rope-winding wheel. The other end of the tendon rope (4) is fixedly connected to the phalanx (13) located at the end of the finger module (1). The tendon rope (4) passes through the rope-winding hole. The rotary motor fixedly connected to the first finger base (141) is called the first rotary motor (21). The rope-winding wheel fixedly connected to the first rotary motor (21) is called the first rope-winding wheel (23). The rotary motor fixedly connected to the second finger base (151) is called the second rotary motor (22). The rope-winding wheel fixedly connected to the second rotary motor (22) is called the second rope-winding wheel (24).

7. The dexterous hand according to claim 6, characterized in that, The finger base (12) is provided with an inclined surface on the side opposite to the phalanx (13) and on the opposite side between the phalanxes (13). The rope hole is provided on the inclined surface, and the normal of the inclined surface is located on the palm side of the finger module (1).

8. The dexterous hand according to claim 1, characterized in that, The palm module (6) includes a palm base (61), a front cover (62), a rear cover (63), and a mounting plate (64). The mounting plate (64) is fixedly mounted on the palm base (61), and the finger module (1) is mounted on the mounting plate (64). The front cover (62) and the rear cover (63) are respectively mounted on both sides of the mounting plate (64). The front cover (62), the rear cover (63), and the mounting plate (64) form a mounting cavity. The mounting cavity has an opening for the finger module (1) to pass through. The connection position between the finger module (1) and the mounting plate (64) is located inside the mounting cavity.

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