dexterous hand fingers, dexterous hands, and humanoid robots

Abstract

The utility model discloses a finger of dexterous hand, dexterous hand and humanoid robot belong to humanoid robot field, solved each finger joint's activity range problem of too big, the technical scheme of solving this problem mainly includes finger base, finger body and transmission mechanism, transmission mechanism drives finger body to bend to the front side of finger base and / or swing to both sides, and finger body includes the first knuckle, second knuckle and third knuckle that are hingedly in turn, and the first knuckle is equipped with first limit structure, and first limit structure restricts the angle of rotation of the first knuckle to the rear side of finger base, and the second knuckle is equipped with second limit structure, and second limit structure restricts the angle of rotation of the second knuckle to the rear side of the first knuckle, and restricts the angle of rotation of the third knuckle to the rear side of the second knuckle. The utility model mainly restricts the activity range of each knuckle, reduces the damage of knuckle excessive after rotation to knuckle connecting part.

Description

Technical Field

[0001] This utility model demonstrates the fingers of a dexterous hand, a dexterous hand, and a humanoid robot, belonging to the field of humanoid robot technology. Background Technology

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, dexterous hands, as key components for robots to perform functions and interact with humans, have received increasing attention and research. The research on bionic dexterous hands not only has significant scientific importance, but also shows great potential in practical applications. The design inspiration of bionic dexterous hands comes from the morphology, structure, and functional characteristics of organisms. By applying these characteristics to the design of dexterous hands, a perfect integration of biology, mechanics, and engineering technology is achieved. Its structural design makes dexterous hands closer to the movement and operation of human hands, which provides the possibility for achieving more natural and efficient human-computer interaction.

[0003] For example, patent CN119567298A discloses a dexterous hand finger based on linkage transmission, including a finger base, a finger body, and a driver. The finger body includes a first phalanx and a second phalanx. The slider of the first transmission component is connected to the second phalanx, and the slider of the second transmission component is connected to the first phalanx. The driver drives the second phalanx to bend through the first transmission component, and the driver drives the first phalanx to bend and / or swing through the second transmission component. In the above patent, the finger body is prone to excessive bending towards the rear of the finger base, and the lateral swing amplitude of the finger body is too large, exceeding the reasonable range of human movement. There are unnecessary movement angles. Since there is no limit to the range of movement between each phalanx, when each phalanx rotates excessively backward, the connection parts of each phalanx may become loose or even break, which may easily cause damage to the finger body. Utility Model Content

[0004] The purpose of this invention is to solve the problem of excessive range of motion of each finger joint. To this end, it provides fingers of a dexterous hand, a dexterous hand, and a humanoid robot. Through a first limiting structure and a second limiting structure, the range of motion of each finger joint is limited, thereby reducing damage to the joint connection points after excessive finger joint movement.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] The fingers of a dexterous hand include a finger base, a finger body, and a transmission mechanism. The transmission mechanism drives the finger body to bend towards the front of the finger base and / or swing to both sides. The finger body includes a first phalanx, a second phalanx, and a third phalanx that are hinged in sequence. The first phalanx is provided with a first limiting structure that limits the angle of rotation of the first phalanx towards the rear of the finger base. The second phalanx is provided with a second limiting structure that limits the angle of rotation of the second phalanx towards the rear of the first phalanx and also limits the angle of rotation of the third phalanx towards the rear of the second phalanx.

[0007] The beneficial effects of using this utility model are:

[0008] In this invention, the first limiting structure restricts the rotation of the first phalanx towards the rear of the finger base, while the second limiting structure simultaneously restricts the rotation of both the second and third phalanxes. The first and second limiting structures clearly limit the range of motion of the first, second, and third phalanxes, and also clearly define their boundaries, making finger movement more controllable. Operators can precisely control the range of motion of each phalanx, enabling the fingers to perform more precise tasks and significantly improving the accuracy and success rate of finger operations. Furthermore, the first and second limiting structures simulate real fingers. The bionic fingers exhibit natural and realistic movement characteristics, making them more capable of mimicking human finger movements and achieving a higher level of simulation. Secondly, when the first, second, and third phalanges move backward to their maximum extent, both the first and second limiting structures act as limiters. These structures disperse the force generated when the phalanges rotate excessively backward, reducing the force on the connecting parts and preventing loosening or even breakage due to excessive backward rotation. This helps extend the lifespan of the connecting parts and ensures precise and reliable movement.

[0009] Preferably, the first phalanx includes a lateral swing link and a first phalanx link. The lateral swing link is hinged to the finger base, and the first phalanx link is hinged to both the lateral swing link and the transmission mechanism. The first phalanx link rotates relative to the lateral swing link to achieve rotation of the first phalanx. The first limiting structure is a first limiting block disposed on the first phalanx link and the lateral swing link. The two first limiting blocks abut against each other to limit the angle of rotation of the first phalanx toward the rear of the finger base. Using the aforementioned technical solution, the lateral swing link and the first finger joint link are restricted by two abutting first limiting blocks to limit the rearward rotation angle of the first finger joint link. This reduces the possibility of stress concentration at the hinge point between the first finger joint link and the lateral swing link due to excessive rearward rotation, ensuring a stable and reliable hinge connection. Furthermore, without the first limiting structure, the first finger joint may experience motion errors due to inertia, wear, and other factors during repeated movements, resulting in inconsistent rotation angles. The first limiting structure clearly defines the movement boundary of the first finger joint, ensuring it stops at the same extreme position each time, reducing motion errors and improving the repeatability and consistency of the first finger joint's movement. Secondly, when abutting against the two first limiting blocks, the blocks provide a stable support point for the first finger joint link, allowing it to remain stably in this state, thus improving the positioning accuracy and stability of the first finger joint.

[0010] Preferably, the middle part of the lateral swing link is rotatably connected to the finger base, and both ends of the lateral swing link extend towards the first phalanx link and are hinged to the first phalanx link. The lateral swing link rotates relative to the finger base to realize the lateral swing of the finger body. The first limiting block of the lateral swing link is formed on the upper side of the end of the lateral swing link. By adopting the aforementioned technical solution, the first limiting block is located on the upper side of the end of the lateral swing link, which can effectively reduce the possibility of stress concentration at the hinge of the first phalanx link and the lateral swing link due to excessive rearward rotation of the lateral swing link. In addition, when the two first limiting blocks abut against each other, the force on the hinge can be distributed to the two first limiting blocks, reducing damage to the hinge and helping to extend the service life of the first phalanx.

[0011] Preferably, the second phalanx includes a second phalanx link, with its two ends hinged to the first phalanx and the third phalanx respectively. A transmission mechanism is connected to the second phalanx link to drive the second phalanx link to rotate relative to the first phalanx. A third link is rotatably connected between the first phalanx and the third phalanx, and the third link is arranged crosswise with the second phalanx link. The second limiting structure is a second limiting block disposed on the second phalanx link or the third link. By adopting the aforementioned technical solution, the second limiting block can restrict the crossing angle between the second phalanx link and the third link, thereby simultaneously restricting excessive backward rotation of the second and third phalanges. The second limiting block not only clarifies the range of motion of the second and third phalanges, but also keeps the overall structure of the second phalanx simple, with almost no impact on its overall weight. In addition, the second limiting block can also reduce the possibility of stress concentration at both ends of the second phalanx link and the third link due to excessive backward rotation of the second and third phalanges, reducing the possibility of loosening or even breakage at the connection between the second and third phalanges and between the second and first phalanges, thus giving the overall structure of the finger better integrity and reliability.

[0012] Preferably, the third link has a through hole for the second finger joint link to pass through, the second limiting block is disposed on the outside of the second finger joint link and is located on the rear side of the third link, and the second limiting block abuts against the third link to limit the minimum included angle between the second finger joint link and the third link.

[0013] Preferably, the transmission mechanism includes a third limiting structure that restricts the lateral swing angle of the finger body. By employing the aforementioned technical solution, the third limiting mechanism clearly defines the swing boundaries of the finger body on both sides, making finger movement more controllable. Operators can precisely control the swing angle of the finger body, significantly improving the accuracy and success rate of finger operations. Furthermore, the third limiting mechanism can also prevent the finger body from colliding with adjacent fingers due to excessive swing amplitude, and can reduce the possibility of adjacent fingers becoming entangled, thus ensuring a stable and safe range of motion for each finger of the dexterous hand.

[0014] Preferably, the transmission mechanism includes a first transmission component and a second transmission component. Both the first and second transmission components include a cross link. The first transmission component is connected to the first phalanx via the cross link to drive the first phalanx to rotate and / or oscillate laterally. The second transmission component is connected to the second phalanx via the cross link to drive the second phalanx to rotate. A third limiting structure is disposed on the cross link of the first transmission component. Using the aforementioned technical solution, the cross link enables the first phalanx to move flexibly in multiple directions, allowing the fingers to perform complex operations. The first phalanx can better adjust its posture through rotation and lateral oscillation, thereby better conforming to the surface of the object and achieving stable grasping by a dexterous hand.

[0015] Preferably, the cross link includes a link body, an upper cross shaft hinged to the first or second phalanx, and a lower cross shaft hinged to the transmission mechanism. Both the upper and lower cross shafts include two bushings with their rotation axes perpendicular to each other. The third limiting structure includes a third limiting block, which is located on the outer periphery of the bushings whose rotation axis is parallel to the swing axis of the first phalanx. The third limiting block abuts against the link body or the first phalanx to limit the swing range of the finger body.

[0016] Preferably, the upper cross shaft of the first transmission member includes a first bushing hinged to the connecting rod body and a second bushing hinged to the first finger joint. The rotation axis of the first bushing is parallel to the swing axis of the first finger joint. A third limiting block is disposed on the outer periphery of the first bushing and abuts against the connecting rod body to limit the swing range of the finger body.

[0017] This invention also demonstrates a dexterous hand, comprising a palm and at least two fingers movable in the palm, the fingers being the fingers of a dexterous hand as described in any of the preceding inventions.

[0018] This utility model also demonstrates a humanoid robot, including a torso and an arm connected to the torso, the end of which is provided with a dexterous hand as described above.

[0019] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the structure of the fingers of the dexterous hand of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the finger body in the dexterous hand of this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the first phalanx of the finger in the dexterous hand of this utility model;

[0024] Figure 4 This is a partial structural diagram of the finger body in the dexterous hand of this utility model;

[0025] Figure 5 This is a schematic diagram of the cross-shaped linkage in the fingers of the dexterous hand of this utility model.

[0026] Figure 6 This is a schematic diagram of the structure of the dexterous hand of this utility model.

[0027] Reference numerals: 1. Arm; 11. Finger drive motor; 12. Wrist drive motor; 2. Palm; 3. Finger; 31. Finger base; 32. Transmission mechanism; 321. Slider; 322. Guide rail; 323. Traction rope; 33. Cross link; 330. Link body; 331. Lower cross shaft; 332. Upper cross shaft; 3321. First bushing; 3322. Second bushing; 333. Third limiting block; 4. Finger body; 41. First knuckle. ; 411, First finger joint connecting rod; 4111, First hinge end; 4112, Second hinge end; 4113, Third hinge end; 4114, Fourth hinge end; 412, Side swing connecting rod; 4121, Side swing pivot; 413, First connecting rod; 414, Second connecting rod; 415, First limiting block; 42, Second finger joint; 421, Second finger joint connecting rod; 4211, Through hole; 422, Third connecting rod; 423, Second limiting block; 43, Third finger joint. Detailed Implementation

[0028] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] Example 1:

[0032] like Figures 1 to 5As shown in the figure, this embodiment illustrates a finger 3 of a dexterous hand, including a finger base 31 and a finger body 4. The finger base 31 is mounted on the palm 2 of the dexterous hand, and the finger body 4 is movably connected to the top of the finger base 31. The finger base 31 is provided with several transmission mechanisms 32, and the dexterous hand is provided with several finger drive motors 11. The transmission mechanism 32 includes a guide rail 322, a slider 321, and a traction rope 323, wherein the guide rail 322 is fixed to the finger base 31, and the guide rail 322 is along the length direction of the finger base 31. The slider 321 is slidably connected to the finger base 31. The two ends of the traction rope 323 are wound around the output shaft of the finger drive motor 11 in opposite directions. The finger base 31 is also provided with a guide wheel. The traction rope 323 passes around the guide wheel and is connected to the slider 321. The top of the slider 321 is connected to the finger body 4. The finger drive motor 11 drives the slider 321 to slide through the traction rope 323. The slider 321 slides to control the movement of the finger body 4, thereby realizing the bending and lateral swinging of the finger body 4.

[0033] In this embodiment, the finger body 4 includes a first phalanx 41, a second phalanx 42, and a third phalanx 43 that are hinged sequentially. The first phalanx 41 is movably connected to the top of the finger base 31. One end of the second phalanx 42 is hinged to the first phalanx 41, and the other end is hinged to the third phalanx 43. The first phalanx 41 is provided with a first limiting structure that limits the angle of rotation of the first phalanx 41 toward the rear of the finger base 31. The second phalanx 42 is provided with a second limiting structure that limits the angle of rotation of the second phalanx 42 toward the rear of the first phalanx 41 and also limits the angle of rotation of the third phalanx 43 toward the rear of the second phalanx 42.

[0034] In this embodiment, the first limiting structure restricts the rotation of the first phalanx 41 towards the rear of the finger base 31, while the second limiting structure simultaneously restricts the rotation of the second phalanx 42 and the third phalanx 43. The first and second limiting structures clearly limit the range of motion of the first phalanx 41, the second phalanx 42, and the third phalanx 43, and also clearly define their activity boundaries. This makes the movement of the finger 3 more controllable, allowing the operator to precisely control the range of motion of each phalanx, enabling the finger 3 to perform more precise operational tasks and significantly improving the accuracy and success rate of finger 3 operations. Furthermore, the first and second limiting structures... The bionic finger 3 simulates the physiological movement characteristics of a real finger 3, making its movement more natural and realistic, and better able to imitate the movements of a human finger 3, thus achieving a higher level of simulation. Secondly, when the first phalanx 41, the second phalanx 42, and the third phalanx 43 move backward to their maximum extent, both the first and second limiting structures can play a limiting role. The first and second limiting structures can disperse the force generated when the phalanx rotates excessively backward, reduce the force on the connection parts of each phalanx, and prevent the connection parts from loosening or even breaking due to excessive backward rotation of the phalanx. This helps to extend the service life of the connection parts and ensures that the connection parts maintain precise and reliable movement.

[0035] Specifically, such as Figure 2As shown, in this embodiment, the first phalanx 41 includes a lateral swing link 412 and a first phalanx link 411. The lateral swing link is hinged to the finger base 31, and the first phalanx link 411 is simultaneously hinged to the lateral swing link 412 and the transmission mechanism 32. The first phalanx link 411 rotates relative to the lateral swing link 412 to realize the rotation of the first phalanx 41, that is, to realize the bending of the finger body 4. The first limiting structure is a first limiting block 415 disposed on the first phalanx link 411 and the lateral swing link 412. The two first limiting blocks 415 abut against each other to limit the angle of rotation of the first phalanx 41 towards the rear of the finger base 31. The lateral swing link 412 and the first phalanx link 411 limit the angle of rotation of the first phalanx link 411 towards the rear through the two abutting first limiting blocks 415, reducing the excessive rearward rotation of the first phalanx link 411 and the lateral swing link 32. The possibility of stress concentration at the hinge of 412 ensures the stability and reliability of the hinge between the first finger link 411 and the side swing link 412. Furthermore, without the first limiting structure, the first finger 41 might experience motion errors due to inertia, wear, or other factors during repeated movements, resulting in inconsistent rotation angles. The first limiting structure clearly defines the movement boundary of the first finger 41, ensuring it stops at the same extreme position each time, reducing motion errors and improving the repeatability and consistency of the first finger 41's movement. Secondly, when the first finger link 411 abuts against the two first limiting blocks 415, the two blocks provide a stable support point, allowing the first finger 41 to remain stably in this state, thus improving its positioning accuracy and stability.

[0036] Specifically, in this embodiment, the lateral swing link 412 has a lateral swing pivot 4121 in the middle. The lateral swing pivot 4121 is hinged to the finger base 31 and is horizontally arranged. Both ends of the lateral swing link 412 extend towards the first phalanx link 411 and are hinged to the first phalanx 41. The lateral swing link 412 is U-shaped and horizontally placed. One end of the first phalanx link 411 is located between the two ends of the lateral swing link 412. The lateral swing link 412 rotates around the lateral swing pivot 4121 to drive the finger body 4 to swing laterally. When the two ends of the lateral swing link 412 are at the same height, the finger body 4 can reach a straight state with the finger base 31. When the two ends of the lateral swing link 412 are not at the same height, the finger body 4 forms an angle with the side of the finger base 31. The first limiting block 415 of the lateral swing link 412 is formed in... On the upper side of the end of the side-swing link 412, the first limiting block 415 of the first knuckle link 411 is formed on the outer side of the first knuckle link 411. When the first knuckle link 411 rotates around the end of the side-swing link 412 toward the rear side of the finger base 31 to a certain angle, the two first limiting blocks 415 abut against each other to restrict the first knuckle link 411 from continuing to rotate backward. The first limiting block 415 is located on the upper side of the end of the side-swing link 412, which can effectively reduce the possibility of stress concentration at the hinge of the first knuckle link 411 and the side-swing link 412 due to excessive rearward rotation of the side-swing link 412. In addition, when the two first limiting blocks 415 abut against each other, the force on the hinge can be distributed to the two first limiting blocks 415, reducing damage to the hinge and helping to extend the service life of the first knuckle 41.

[0037] Specifically, such as Figure 2 and Figure 3 As shown, in this embodiment, the finger base 31 is provided with three transmission mechanisms 32. Two of the transmission mechanisms 32 are installed on the front side of the finger base 31 and are the first transmission components. The other transmission mechanism 32 is installed on the inner side of the finger base 31 and is the second transmission component. The first knuckle connecting rod 411 includes a first hinge end 4111 and a second hinge end 4112. The first knuckle connecting rod 411 is hinged to the end of the side swing connecting rod 412 through the first hinge end 4111. The first knuckle connecting rod 411 is connected to the end of the side swing connecting rod 412 through the first hinge end 4111. The second hinge end 4112 is connected to the slider 321 of the first transmission member. When the sliders 321 of the two first transmission members slide synchronously and in the same direction, the first transmission member drives the first finger joint connecting rod 411 to rotate around the first hinge end 4111, thereby realizing the bending of the first finger joint 41. When the sliding speed or sliding direction of the sliders 321 of the two first transmission members is different, the first finger joint connecting rod 411 drives the side swing connecting rod 412 to rotate around the side swing axis 4121, thereby realizing the lateral swing of the finger body 4.

[0038] Specifically, such as Figure 4As shown, in this embodiment, the second finger joint 42 includes a second finger joint connecting rod 421. The top end of the first finger joint connecting rod 411 is also provided with a third hinge end 4113 and a fourth hinge end 4114. The second finger joint connecting rod 421 is hinged to the third hinge end 4113. A first rotating shaft is provided at the second hinge end 4112 of the first finger joint connecting rod 411. The slider 321 of the first transmission member is connected to the first rotating shaft. A first connecting rod 413 is provided between the slider 321 of the second transmission member and the first rotating shaft. The top end of the first connecting rod 413 is rotatably connected to the second connecting rod 414. The top end of the second connecting rod 414 is rotatably connected to the second finger joint connecting rod 421. The slider 321 of the second transmission member slides along the guide rail 322 to drive the first connecting rod 413 and the second connecting rod 414 to move. The second connecting rod 414 drives the second finger joint connecting rod 421 to rotate around the third hinge end 4113 of the first finger joint connecting rod 411, so as to realize the bending of the second finger joint 42.

[0039] In this embodiment, the third phalanx 43 is rotatably connected to the top end of the second phalanx link 421. A third link 422 is provided between the third phalanx 43 and the first phalanx link 411. The third link 422 is hinged to the fourth hinge end 4114 of the first phalanx link 411. When the second phalanx link 421 rotates around the third hinge end 4113, the second phalanx link 421 will also drive the third phalanx 43 to move. Under the action of the third link 422, the third phalanx 43 will also rotate relative to the second phalanx link 421 to achieve the bending of the third phalanx 43.

[0040] Specifically, in this embodiment, the second knuckle link 421 and the third link 422 are arranged in a cross configuration. The third link 422 has a through hole 4211 through which the second knuckle link 421 passes. The second limiting block 423 is disposed on the outer side of the second knuckle link 421 and is located behind the third link 422. The second limiting block 423 abuts against the third link 422 to limit the minimum included angle between the second knuckle link 421 and the third link 422. The second limiting block 423 can limit the crossing angle between the second knuckle link 421 and the third link 422, thereby simultaneously limiting the second knuckle 42 and the third knuckle 42. 3. Excessive rearward rotation: The second limiting block 423 not only clearly defines the range of motion of the second phalanx 42 and the third phalanx 43, but also keeps the overall structure of the second phalanx 42 simple, with almost no impact on the overall weight of the second phalanx 42. In addition, the second limiting block 423 can also reduce the possibility of stress concentration at both ends of the second phalanx link 421 and the third link 422 due to excessive rearward rotation of the second phalanx 42 and the third phalanx 43, and reduce the possibility of loosening or even breakage at the connection between the second phalanx 42 and the first phalanx 41, so that the overall structure of the finger 3 has better integrity and reliability.

[0041] It is understandable that in other embodiments, the second limiting block 423 may also be disposed on the second finger joint link 421 and located in front of the third link 422; or, the second limiting block 423 may also be disposed in the through hole 4211 of the third connecting rod.

[0042] Specifically, such as Figure 5 As shown, in this embodiment, the transmission mechanism 32 further includes a cross link 33, which is rotatably connected to the top of the slider 321. The cross link 33 of the first transmission member is hinged to the second hinge end 4112 of the first knuckle link 411. The first transmission member drives the first knuckle 41 to rotate and / or swing laterally through the cross link 33. The cross link 33 of the second transmission member is hinged to the end of the first link 413. The second transmission member adjusts the rotation of the second knuckle 42 through the cross link 33. The cross link 33 of the first transmission member is provided with a third limiting structure, which limits the angle of lateral swing of the finger body 4. The third limiting block 333 defines the swing boundaries of the finger body 4 on both sides, so that the finger 3 The activity is more controllable, and the operator can precisely control the swing angle of the finger body 4, which can significantly improve the accuracy and success rate of finger 3 operation; in addition, the third limiting block 333 can also limit the collision of the finger body 4 with adjacent fingers 3 due to excessive swing amplitude, and can also reduce the possibility of two adjacent fingers 3 getting entangled, so that each finger 3 of the dexterous hand can have a stable and safe range of motion; secondly, the cross linkage 33 can enable the first phalanx 41 to move flexibly in multiple directions, so that the finger 3 can perform complex operations. The first phalanx 41 can better adjust its posture through rotation and lateral swing, and thus better fit with the surface of the object, so as to achieve stable grasping of the dexterous hand.

[0043] Specifically, in this embodiment, the cross link 33 includes a link body 330, an upper cross shaft 332, and a lower cross shaft 331. The upper cross shaft 332 is rotatably connected to the top end of the link body 330, and the lower cross shaft 331 is rotatably connected to the bottom end of the link body 330. Both the top and bottom ends of the link body 330 are provided with hinge grooves. Both the upper cross shaft 332 and the lower cross shaft 331 include two bushings with mutually perpendicular rotation axes. The two bushings are a first bushing 3321 and a second bushing 3322, respectively. The first bushing 3321 is inserted into the hinge groove and hinged to the link body 330. A third limiting block 333 is disposed on the outer periphery of the first bushing 3321. The third limiting block 333 abuts against the link body 330 to limit the swing range of the finger body 4.

[0044] Specifically, in this embodiment, the third limiting block 333 is disposed on the outside of the first bushing 3321 of the upper cross shaft 332 of the first transmission member. The first bushing 3321 of the first transmission member is hinged to the connecting rod body 330, and the second bushing 3322 of the first transmission member is hinged to the first finger joint connecting rod 411. The rotation axis of the first bushing 3321 is parallel to the swing axis of the first finger joint 41. There are two third limiting blocks 333, which are respectively disposed on opposite sides of the first bushings 3321 of the two first transmission members. Of course, it can be understood that the two third limiting blocks 333 can also be disposed on opposite sides of the first bushings 3321 of the two first transmission members. Of course, it can be understood that in other embodiments, two third limiting blocks 333 can also be disposed on both sides of the same first bushing 3321.

[0045] The bending and swinging of the finger body 4 are described below:

[0046] When it is necessary to control the bending of the first phalanx 41, in this embodiment, the finger drive motors 11 corresponding to the first transmission mechanism 32 and the third transmission mechanism 32 are started synchronously. The finger drive motors 11 rotate synchronously in the forward direction to drive the sliders 321 of the first transmission mechanism 32 and the third transmission mechanism 32 to slide downward along the guide rail 322 via the traction rope 323. The two sliders 321 keep synchronous and slide downward along the guide rail 322 in the same direction. The sliders 321 pull the first rotating shaft downward through the cross link 33. The first rotating shaft acts on the first phalanx link 411, causing the first phalanx link 411 to rotate around the first hinge. The end 4111 rotates downward, thereby achieving the bending of the first phalanx 41; when it is necessary to control the first phalanx 41 to reset, the finger drive motors 11 corresponding to the first transmission mechanism 32 and the third transmission mechanism 32 are controlled to rotate synchronously in reverse, so that the sliders 321 of the first transmission mechanism 32 and the third transmission mechanism 32 slide upward synchronously along the guide rail 322. The slider 321 pushes the first rotation upward through the cross link 33, and the first rotating shaft 2 acts on the first phalanx link 411, so that the first phalanx link 411 rotates upward around the first hinge end 4111 to achieve the reset of the first phalanx 41.

[0047] When it is necessary to control the bending of the second knuckle 42, in this embodiment, the finger drive motor 11 corresponding to the second transmission mechanism 32 rotates forward. The finger drive motor 11 drives the slider 321 of the second transmission mechanism 32 to slide downward along the guide rail 322 via the traction rope 323. The slider 321 drives the first connecting rod 413 to rotate downward around the first rotating axis via the cross connecting rod 33. During the rotation, the first connecting rod 413 pulls the second connecting rod 414 downward, and the second connecting rod 414 pulls the second knuckle connecting rod 421 to rotate downward around the second rotating axis. The second knuckle 42 is bent; when it is necessary to control the second knuckle 42 to return to its original position, the finger drive motor 11 corresponding to the second transmission mechanism 32 is reversed, causing the slider 321 of the second transmission mechanism 32 to slide upward along the guide rail 322. The slider 321 drives the first connecting rod 413 to rotate upward around the first rotating axis through the cross connecting rod 33. During the rotation, the first connecting rod 413 pushes the second connecting rod 414 upward, and the second connecting rod 414 pushes the second knuckle connecting rod 421 to rotate upward around the second rotating axis, so as to achieve the return of the second knuckle 42.

[0048] When it is necessary to control the finger body 4 to swing, the finger drive motors 11 corresponding to the first transmission mechanism 32 and the third transmission mechanism 32 in this embodiment are activated. The two finger drive motors 11 control the two sliders 321 to slide at different speeds through the traction rope 323, or the two finger drive motors 11 rotate in opposite directions so that the two sliders 321 slide in opposite directions, so that the two sliders 321 are at different heights of the guide rail 322. The two sliders 321 drive the first rotating shaft to swing through the cross link 33. The cross link 33 acts on the first knuckle link 411. The first knuckle link 411 drives the side swing link 412 to rotate through the first hinge end 4111, thereby realizing the swing of the finger body 4. When the two sliders 321 return to the same height, the finger body 4 and the finger base 31 can return to their original state.

[0049] Example 2:

[0050] like Figure 6 As shown, this embodiment illustrates a dexterous hand, including an arm 1 and a palm 2, wherein the palm 2 is movably disposed at the end of the arm 1. The palm 2 includes a palm 2 support and at least two fingers 3 mounted on the palm 2 support. The arm 1 is provided with a plurality of wrist drive motors 12 and finger drive motors 11, wherein the finger drive motors 11 control the movement of the fingers 3, and the wrist drive motors 12 control the movement of the palm 2 support relative to the arm 1. The fingers 3 are the same as those of the dexterous hand described in Embodiment 1.

[0051] Example 3:

[0052] This embodiment illustrates a humanoid robot, including a torso and an arm connected to the torso, the end of which is provided with a dexterous hand as described in Embodiment 2.

[0053] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. The fingers of a dexterous hand, characterized in that, The device includes a finger base, a finger body, and a transmission mechanism. The transmission mechanism drives the finger body to bend towards the front of the finger base and / or swing to both sides. The finger body includes a first phalanx, a second phalanx, and a third phalanx that are hinged in sequence. The first phalanx is provided with a first limiting structure that limits the angle of rotation of the first phalanx towards the rear of the finger base. The second phalanx is provided with a second limiting structure that limits the angle of rotation of the second phalanx towards the rear of the first phalanx and also limits the angle of rotation of the third phalanx towards the rear of the second phalanx.

2. The fingers of a dexterous hand according to claim 1, characterized in that, The first phalanx includes a lateral swing link and a first phalanx link. The lateral swing link is hinged to the finger base. The first phalanx link is hinged to both the lateral swing link and the transmission mechanism. The first phalanx link rotates relative to the lateral swing link to achieve rotation of the first phalanx. The first limiting structure is a first limiting block disposed on the first phalanx link and the lateral swing link. The two first limiting blocks abut against each other to limit the angle of rotation of the first phalanx toward the rear of the finger base.

3. The fingers of a dexterous hand according to claim 2, characterized in that, The middle part of the lateral swing link is rotatably connected to the finger base, and both ends of the lateral swing link extend toward the first phalanx link and are hinged to the first phalanx link. The lateral swing link rotates relative to the finger base to realize the lateral swing of the finger body. The first limiting block of the lateral swing link is formed on the upper side of the end of the lateral swing link.

4. The fingers of a dexterous hand according to claim 1, characterized in that, The second phalanx includes a second phalanx link, the two ends of which are hinged to the first phalanx and the third phalanx respectively. A transmission mechanism is connected to the second phalanx link to drive the second phalanx link to rotate relative to the first phalanx. A third link is rotatably connected between the first phalanx and the third phalanx. The third link is arranged crosswise with the second phalanx link. The second limiting structure is a second limiting block set on the second phalanx link or the third link.

5. The fingers of a dexterous hand according to claim 4, characterized in that, The third link has a through hole for the second finger joint link to pass through. The second limiting block is located on the outside of the second finger joint link and is located on the rear side of the third link. The second limiting block abuts against the third link to limit the minimum included angle between the second finger joint link and the third link.

6. The fingers of a dexterous hand according to claim 1, characterized in that, The transmission mechanism is equipped with a third limiting structure that restricts the lateral swing angle of the finger body.

7. The fingers of a dexterous hand according to claim 6, characterized in that, The transmission mechanism includes a first transmission component and a second transmission component. Both the first and second transmission components include a cross link. The first transmission component is connected to the first phalanx via the cross link to drive the first phalanx to rotate and / or swing laterally. The second transmission component is connected to the second phalanx via the cross link to drive the second phalanx to rotate. A third limiting structure is provided on the cross link of the first transmission component.

8. The fingers of a dexterous hand according to claim 7, characterized in that, The cross link includes a link body, an upper cross shaft connected to the top of the link body, and a lower cross shaft connected to the bottom of the link body. Both the upper and lower cross shafts include two bushings with their rotation axes perpendicular to each other. The third limiting structure includes a third limiting block, which is located on the outer periphery of the bushings whose rotation axis is parallel to the swing axis of the first phalanx. The third limiting block abuts against the link body or the first phalanx to limit the swing range of the finger body.

9. The fingers of a dexterous hand according to claim 8, characterized in that, The upper cross shaft of the first transmission component includes a first bushing hinged to the connecting rod body and a second bushing hinged to the first finger joint. The rotation axis of the first bushing is parallel to the swing axis of the first finger joint. A third limiting block is disposed on the outer periphery of the first bushing and abuts against the connecting rod body to limit the swing range of the finger body.

10. A dexterous hand, characterized in that, It includes a palm and at least two fingers movable in the palm, the fingers being the fingers of a dexterous hand as described in any one of claims 1 to 9.

11. A humanoid robot, characterized in that, It includes a torso and an arm connected to the torso, the end of which is provided with a dexterous hand as described in claim 10.

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