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 the problem of the thickness of the finger of dexterous hand, the technical scheme of solving this problem mainly includes finger base and finger body, be equipped with a plurality of transmission mechanism on the finger base, transmission mechanism is driven under the drive of finger drive motor and controls the activity of finger body, and the finger base includes first mounting panel, and transmission mechanism is distributed in the both sides of first mounting panel, and the top of first mounting panel is rotatably connected with a plurality of guide pulleys, and transmission mechanism includes the sliding block of sliding installation in the finger base and is connected with the traction rope of sliding block, and the number of three of traction rope, sliding block and guide pulley is same, and after the traction rope is passed through the guide pulley, extends respectively in the both sides of first mounting panel, and finger drive motor positive and negative output is driven the sliding block sliding through the traction rope. The utility model is mainly used for making the assembly of sliding block and finger base more compact, and reduces the thickness of finger.

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 driver drives the finger body to move through a transmission mechanism, which includes a guide rail and a slider, with the slider sliding along the guide rail. In the aforementioned patent, a first pulley is rotatably connected to the top of the guide rail, and the first pulley is located between the guide rail and the finger base. This increases the distance between the guide rail and the finger base, thereby increasing the space occupied by the transmission mechanism on the finger base and resulting in an increase in the thickness of the dexterous hand's fingers. In addition, the guide rail and the finger base are separated by the first pulley, resulting in a smaller contact area between the guide rail and the finger base, which reduces the load-bearing capacity of the guide rail and makes it more prone to deformation. Utility Model Content

[0004] The purpose of this invention is to solve the problem of excessive finger thickness in dexterous hands. To this end, it provides dexterous hand fingers, a dexterous hand, and a humanoid robot. By installing guide wheels on the top of the first mounting plate, the assembly of the slider and the finger base can be made more compact, thus reducing the thickness of the fingers.

[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 and a finger body. The finger base is equipped with several transmission mechanisms. The transmission mechanisms control the movement of the finger body under the drive of the finger drive motor. The finger base includes a first mounting plate. The transmission mechanisms are distributed on both sides of the first mounting plate. Several guide wheels are rotatably connected to the top of the first mounting plate. The transmission mechanism includes a slider that is slidably mounted on the finger base and a traction rope connected to the slider. The number of traction ropes, sliders, and guide wheels is the same. The traction ropes extend to both sides of the first mounting plate after passing around the guide wheels. The finger drive motor outputs in both directions to drive the slider to slide through the traction ropes.

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

[0008] The finger base described in this invention includes a first mounting plate, and a transmission mechanism including a slider and a traction rope. A guide wheel is located at the top of the first mounting plate, and the traction rope passes around the guide wheel and connects to the slider. The transmission mechanism is distributed on both sides of the first mounting plate, which fully utilizes the space of the finger base, making the assembly of the finger base and the transmission mechanism more compact. It also prevents mutual interference between the transmission mechanisms on both sides of the first mounting plate, giving the finger more flexibility. Furthermore, placing the guide wheel at the top of the first mounting plate allows the slider to be closer to the finger base, reducing the distance between them and significantly reducing the thickness of the finger. This results in a more compact assembly of the transmission mechanism and the finger base, and a smaller, more aesthetically pleasing shape for the dexterous hand. Secondly, the number of the traction rope, slider, and guide wheel are equal. The traction rope extends to both sides of the first mounting plate after passing around the guide wheel, making the arrangement of the traction rope more regular and reducing the possibility of entanglement, thus making the movement of the finger more stable and reliable.

[0009] Preferably, the finger base is provided with three transmission mechanisms. Two of these mechanisms have sliders slidably mounted on the front side of the first mounting plate and connected to the portion of the traction rope on the front side of the first mounting plate. The slider of the third transmission mechanism is slidably mounted on the rear side of the first mounting plate and connected to the portion of the traction rope on the rear side of the first mounting plate. The first mounting plate has three independent and coaxially arranged guide wheels. Using the aforementioned technical solution, the traction rope extends to both sides of the first mounting plate after passing over the guide wheels. The transmission mechanism on the front side of the first mounting plate is connected to the portion of the traction rope on the front side of the first mounting plate, and the transmission mechanism on the rear side of the first mounting plate is also connected to the portion of the traction rope on the rear side of the first mounting plate. Distributing the three transmission mechanisms on both sides of the first mounting plate allows the transmission mechanisms to fully utilize the space of the phone base, reducing the width of the finger base and making the three transmission mechanisms more compact in the width direction of the finger base. Furthermore, the independent and coaxially arranged guide wheels reduce mutual interference between the guide wheels and lower the risk of transmission failure due to guide wheel malfunction.

[0010] Preferably, the guide wheels include a first guide wheel, a second guide wheel, and a third guide wheel. The second guide wheel is located between the first and third guide wheels. The traction rope connected to the slider on the rear side of the first mounting plate passes around the second guide wheel. The two sliders on the front side of the first mounting plate are parallel and spaced apart, and the traction ropes connected to the two sliders pass around the first and third guide wheels, respectively. Using the aforementioned technical solution, the two sliders on the front side of the first mounting plate correspond to the first and third guide wheels, respectively, and the slider on the rear side of the first mounting plate corresponds to the second guide wheel between the first and third guide wheels. The three sliders are arranged in a triangular pattern on the finger base, which can effectively improve the utilization rate of the space on the finger base, making the assembly of the transmission mechanism on the finger base more compact and reducing the overall volume of the finger. Furthermore, the arrangement of the three sliders can reduce the distance between the three guide wheels, making the guide wheel arrangement more compact. At the same time, the correspondence between the guide wheels and the sliders can keep the three traction ropes as parallel as possible, making the arrangement of the traction ropes more neat and orderly, further reducing the possibility of entanglement between the traction ropes, and making the finger movement more stable and reliable.

[0011] Preferably, the bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate. Each support base has three threading holes on both the front and rear sides of the first mounting plate. The traction rope passes through these threading holes from top to bottom and extends towards the finger-driven motor. Using the aforementioned technical solution, the threading holes can guide and limit the traction rope. Firstly, the threading holes guide the traction rope towards the finger-driven motor, making the arrangement of the traction rope more neat and orderly. Secondly, the threading holes can also separate the three traction ropes on the same side of the first mounting plate. Simultaneously, the threading holes can limit the swing amplitude of the traction rope, reducing the possibility of contact or even entanglement between the traction ropes on the same side of the first mounting plate, and also reducing the possibility of the traction rope detaching from the guide wheel.

[0012] Preferably, the traction rope extends to the threaded hole along the sliding direction of the slider after passing over the guide wheel. Using the aforementioned technical solution, the finger-driven motor outputs in both directions and drives the slider to slide via the traction rope. The extension direction of the traction rope between the guide wheel and the threaded hole is parallel to the sliding direction of the slider. The force exerted by the traction rope on the slider coincides with the sliding direction of the slider, thus maximizing the utilization of the tension force of the traction rope on the slider, reducing the force required for the slider to slide, making the slider slide more smoothly, and reducing the possibility of the slider getting stuck.

[0013] Preferably, the finger base further includes a second mounting plate and two mounting side plates connected to both sides of the second mounting plate. The first mounting plate, the second mounting plate, and the two mounting side plates form a receiving cavity, and the transmission mechanism located on the rear side of the first mounting plate is situated within the receiving cavity. Using the aforementioned technical solution, the two mounting side plates are fixed between the first and second mounting plates. The mounting side plates can improve the strength and stability of the first mounting plate, providing reliable support for the two transmission mechanisms on the front side of the first mounting plate.

[0014] Preferably, the transmission mechanism further includes a guide rail. The guide rail of the transmission mechanism located within the accommodating cavity is fixedly installed on the mounting side plate, and the guide rail of the transmission mechanism located on the front side of the first mounting plate is fixedly installed on the side of the first mounting plate facing away from the accommodating cavity. Using the aforementioned technical solution, the guide rail is directly fixed to the first mounting plate, allowing the guide rail to fit snugly against the first mounting plate, increasing the contact area between the guide rail and the first mounting plate. The first mounting plate provides reliable support for the guide rail, reducing the possibility of deformation and helping to extend the service life of the guide rail. Furthermore, the guide rail of the transmission mechanism located within the accommodating cavity being fixed to the mounting side plate reduces the distance between the first and second mounting plates, thereby reducing the thickness of the finger base and making the finger structure of the dexterous hand more compact and its shape more small and aesthetically pleasing.

[0015] Preferably, the bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively, and the support base supports the guide rail. Using the aforementioned technical solution, the support base provides reliable support to the bottom end of the guide rail, reducing the possibility of downward displacement of the guide rail and making the fixation between the guide rail and the finger base more stable and secure. In addition, the support base can also form a limiting structure at the bottom end of the guide rail, preventing the slider from detaching from the bottom end of the guide rail, making the assembly of the slider and the guide rail more stable and reliable.

[0016] Preferably, the top of the front side of the first mounting plate is provided with two protrusions spaced apart, and a rotating shaft is provided between the two protrusions. The guide wheel is rotatably mounted on the rotating shaft, and the guide rail is located between the protrusions and the support base. Using the aforementioned technical solution, the rotating shaft is positioned between the two protrusions. The protrusions can increase the thickness of the top of the first mounting plate, providing a stronger mounting position for the rotating shaft, reducing the possibility of the rotating shaft detaching from the first mounting plate, and providing an effective and reliable mounting foundation for the stable operation of the guide wheel. In addition, the protrusions can also form a limiting structure at the top of the guide rail, preventing the slider from detaching from the top of the guide rail, making the assembly of the slider and the guide rail more stable and reliable.

[0017] Preferably, one end of the traction rope is wrapped around the output shaft of the finger drive motor, and the other end passes around the guide wheel and is wrapped back to the output end of the finger drive motor in the opposite direction. The finger drive motor drives the output shaft to rotate in both directions to drag the sliding slider back and forth through the traction rope.

[0018] This invention also demonstrates a dexterous hand, including an arm and a palm movably connected to the arm, the palm including a palm support and at least two fingers mounted on the palm support, the fingers being the fingers of a dexterous hand as described in any of the preceding inventions.

[0019] 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.

[0020] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the structure of the fingers of the dexterous hand of this utility model;

[0023] Figure 2 This is a schematic diagram of the finger base and transmission mechanism in the dexterous hand of this utility model.

[0024] Figure 3 This is a schematic diagram of the structure of the finger base in the dexterous hand of this utility model;

[0025] Figure 4 This is a schematic diagram of the structure of the finger body in the dexterous hand of this utility model;

[0026] Figure 5 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; 310. Receiving cavity; 311. First mounting plate; 312. Second mounting plate; 313. Mounting side plate; 314. Support base; 3141. Wire hole; 315. Protrusion; 32. Transmission mechanism; 321. Slider; 322. Guide rail; 323. Traction rope; 33. Cross linkage; 34. Guide wheel; 341. First guide wheel; 342. Second guide wheel; 343. Third guide wheel; 4. Finger body; 41. First knuckle; 411. First knuckle link; 412. Side swing link; 413. First link; 414. Second link; 42. Second knuckle; 421. Second knuckle link; 422. Third link; 43. Finger tip. 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 4 As shown in the figure, this embodiment demonstrates a finger 3 of a dexterous hand, including a finger base 31 and a finger body 4. The finger base 31 is installed 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 finger drive motors 11 are connected to the transmission mechanisms 32 through traction ropes 323. The transmission mechanisms 32 are connected to the finger body 4 through transmission ropes 323. The finger drive motors 11 drive the transmission mechanisms 32 to move through the traction ropes 323, and the transmission mechanisms 32 control the finger body 4 to move, so as to realize the bending and lateral swinging of the finger body 4.

[0033] In this embodiment, the finger base 31 includes a first mounting plate 311, and a transmission mechanism 32 is distributed on both sides of the first mounting plate 311. A plurality of guide wheels 34 are rotatably connected to the top of the first mounting plate 311. The transmission mechanism 32 includes a slider 321 slidably mounted on the finger base 31 and a traction rope 323 connected to the slider 321. The slider 321 can slide along the length direction of the finger base 31. The top of the slider 321 is connected to the finger body 4. The two ends of the traction rope 323 are wound around the output shaft of the finger drive motor 11 in opposite directions. The slider 321 is connected to the traction rope 323. The number of the traction rope 323, the slider 321 and the guide wheels 34 are the same. After the traction rope 323 passes around the guide wheels 34, it extends to both sides of the first mounting plate 311. The finger drive motor 11 outputs in both directions to drive the slider 321 to slide through the traction rope 323. The sliding controls the movement of the finger body 4.

[0034] In this embodiment, the finger base 31 includes a first mounting plate 311, and the transmission mechanism 32 includes a slider 321 and a traction rope 323. A guide wheel 34 is provided at the top of the first mounting plate 311, and the traction rope 323 passes around the guide wheel 34 and connects to the slider 321. The transmission mechanisms 32 are distributed on both sides of the first mounting plate 311, which can fully utilize the space of the finger base 31, making the assembly of the finger base 31 and the transmission mechanism 32 more compact. It also prevents mutual interference between the transmission mechanisms 32 on both sides of the first mounting plate 311, giving the finger body 4 more flexibility. Furthermore, the guide wheel 34 is positioned on the first mounting plate... The top of 311 allows the slider 321 to be closer to the finger base 31, reducing the distance between the slider 321 and the finger base 31. This significantly reduces the thickness of the finger 3, making the assembly of the transmission mechanism 32 and the finger base 31 more compact and the dexterous hand more compact and aesthetically pleasing. Secondly, the number of the traction rope 323, slider 321, and guide wheel 34 are the same. The traction rope 323 extends to both sides of the first mounting plate 311 after passing around the guide wheel 34, making the arrangement of the traction rope 323 more regular and reducing the possibility of the traction rope 323 getting tangled together, so that the movement of the finger body 4 is more stable and reliable.

[0035] like Figure 1 and Figure 2As shown, in this embodiment, the finger base 31 is provided with three transmission mechanisms 32. A first mounting plate 311 is formed on the front side of the finger base 31. The sliders 321 of two transmission mechanisms 32 are slidably mounted on the front side of the first mounting plate 311 and connected to the portion of the traction rope 323 on the front side of the first mounting plate 311. The slider 321 of the other transmission mechanism 32 is slidably mounted on the rear side of the first mounting plate 311 and connected to the portion of the traction rope 323 on the rear side of the first mounting plate 311. The first mounting plate 311 is provided with three independent and coaxially arranged guide wheels 34. The traction ropes 323 of the three transmission mechanisms 32 are respectively wound around one guide wheel 34. After the traction rope 323 is wound around the guide wheel 34, the two ends of the traction rope 323 are separated. The transmission mechanism 32 extends downwards on both the front and rear sides of the first mounting plate 311. The transmission mechanism 32 located on the front side of the first mounting plate 311 is connected to the portion of the traction rope 323 located on the front side of the first mounting plate 311, and the transmission mechanism 32 located on the rear side of the first mounting plate 311 is connected to the portion of the traction rope 323 located on the rear side of the first mounting plate 311. Distributing the three transmission mechanisms 32 on both sides of the first mounting plate 311 allows the transmission mechanisms 32 to make full use of the space of the mobile phone base, which can reduce the width of the finger base 31 and make the three transmission mechanisms 32 more compact in the width direction of the finger base 31. In addition, the independent and coaxially arranged guide wheels 34 reduce mutual interference between the guide wheels 34 and reduce the risk of transmission failure due to guide wheel 34 failure.

[0036] It should be noted that in this embodiment, the three transmission mechanisms 32 are the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, wherein the first transmission mechanism and the third transmission mechanism are located on the front side of the first mounting plate 311, and the second transmission mechanism is located on the rear side of the first mounting plate 311.

[0037] Specifically, such as Figure 2As shown, in this embodiment, the three guide wheels 34 are a first guide wheel 341, a second guide wheel 342, and a third guide wheel 343. The second guide wheel 342 is located between the first guide wheel 341 and the third guide wheel 343. The traction rope 323 connected to the slider 321 located behind the first mounting plate 311 passes around the second guide wheel 342. The two sliders 321 located in front of the first mounting plate 311 are parallel and spaced apart. The traction ropes 323 connected to the two sliders 321 pass around the first guide wheel 341 and the third guide wheel 343, respectively. It should be noted that the sliders 321 of the three transmission mechanisms 32 are the first slider, the second slider, and the third slider, respectively. The sliders are slidably mounted on the front side of the first mounting plate 311, and the second slider is mounted on the rear side of the first mounting plate 311. The first slider is connected to the traction rope 323 that passes around the first guide wheel 341, and the connection position between the first slider and the traction rope 323 is below the first guide wheel 341. The second slider is connected to the traction rope 323 that passes around the second guide wheel 342, and the connection position between the second slider and the traction rope 323 is below the second guide wheel 342. The third slider is connected to the traction rope 323 that passes around the third guide wheel 343, and the connection position between the third slider and the traction rope 323 is below the third guide wheel 343.

[0038] In this embodiment, the three sliders 321 are arranged in a triangular pattern on the finger base 31, which can effectively improve the utilization rate of the space of the finger base 31 by the sliders 321, make the assembly of the transmission mechanism 32 on the finger base 31 more compact, and reduce the overall volume of the finger 3. In addition, the arrangement structure of the three sliders 321 can also reduce the distance between the three guide wheels 34, making the arrangement of the guide wheels 34 more compact. At the same time, the correspondence between the guide wheels 34 and the sliders 321 can also keep the three traction ropes 323 as parallel as possible, making the arrangement of the traction ropes 323 more neat and orderly, further reducing the possibility of the traction ropes 323 getting tangled together, and making the movement of the finger 3 more stable and reliable.

[0039] Specifically, such as Figure 3As shown, the finger base 31 in this embodiment includes a first mounting plate 311, a second mounting plate 312, and two mounting side plates 313. The two mounting side plates 313 are connected to both sides of the second mounting plate 312. The first mounting plate 311 is fixedly connected to the second mounting plate 312 through the two mounting side plates 313. The first mounting plate 311, the second mounting plate 312, and the two mounting side plates 313 form a receiving cavity 310. The finger base 31 is a hollow tubular structure. The first transmission mechanism and the third transmission mechanism are installed on the side of the first mounting plate 311 facing away from the receiving cavity 310. The second transmission mechanism is installed inside the receiving cavity 310. The two mounting side plates 313 are fixed between the first mounting plate 311 and the second mounting plate 312. The mounting side plates 313 can improve the strength and stability of the first mounting plate 311 and provide reliable support for the two transmission mechanisms 32 on the front side of the first mounting plate 311.

[0040] It should be noted that in this embodiment, the first mounting plate 311, the second mounting plate 312, and the two mounting side plates 313 are all integral structures. The integral structure can enhance the overall strength of the finger base 31 and provide reliable mounting support for the transmission mechanism 32.

[0041] To reduce the weight of the finger base 31, at least one through hole is provided on the first mounting plate 311, the second mounting plate 312, and the mounting side plate 313 in this embodiment. By providing through holes, the weight of the first mounting plate 311, the second mounting plate 312, and the mounting side plate 313 can be reduced, thereby significantly reducing the overall weight of the finger base 31, making the overall structure of the dexterous hand lighter, which helps to reduce the energy consumption of the dexterous hand and improve the endurance of the humanoid robot. It should be noted that in this embodiment, the through hole in the first mounting plate 311 divides the first mounting plate 311 into two parts. That is, the through hole penetrates the first mounting plate 311 along the length direction of the first mounting plate 311, and the two parts of the first mounting plate 311 are respectively fixed to the ends of the two mounting side plates 313 away from the second mounting plate 312. The first transmission mechanism and the third transmission mechanism are respectively located on both sides of the through hole.

[0042] like Figure 2As shown, in this embodiment, the transmission mechanism 32 further includes a guide rail 322 fixed to the finger base 31. The guide rail 322 is laid along the length of the finger base 31. The slider 321 is slidably connected to the guide rail 322. The traction rope 323 drives the slider 321 to slide along the guide rail 322. The guide rails 322 of the first transmission mechanism and the third transmission mechanism are both installed on the front side of the first mounting plate 311, and the guide rails 322 of the first transmission mechanism and the third transmission mechanism are respectively located on both sides of the through hole. The guide rail 322 of the second transmission mechanism is installed on the mounting side plate 313, and the guide rail 322 of the second transmission mechanism is located in the accommodating cavity 310. The guide rail 322 is directly fixed to the first mounting plate 311, allowing it to fit snugly against the first mounting plate 311. This increases the contact area between the guide rail 322 and the first mounting plate 311, providing reliable support for the guide rail 322 and reducing the possibility of deformation. This helps extend the service life of the guide rail 322. In addition, the guide rail 322 of the transmission mechanism 32, located in the accommodating cavity 310, is fixed to the mounting side plate 313, which reduces the distance between the first mounting plate 311 and the second mounting plate 312. This reduces the thickness of the finger base 31, making the finger structure of the dexterous hand more compact and its shape more small and aesthetically pleasing.

[0043] Specifically, such as Figure 2 As shown, in this embodiment, the bottom of the first mounting plate 311 is provided with a support base 314. The support base 314 extends to the front and rear sides of the first mounting plate 311 respectively. The support base 314 is provided with three wire holes 3141 on both the front and rear sides of the first mounting plate 311. The traction rope 323 extends from top to bottom through the wire holes 3141 towards the finger drive motor 11. The wire holes 3141 are located below the guide wheels 34, and the three wire holes 3141 correspond to the three guide wheels 34 respectively. The wire holes 3141 can guide the traction rope 323. The guiding and limiting effects are as follows: First, the threading hole 3141 can guide the traction rope 323 to extend towards the finger drive motor 11, making the arrangement of the traction rope 323 more neat and orderly; secondly, the threading hole 3141 can also separate the three traction ropes 323 on the same side of the first mounting plate 311. At the same time, the threading hole 3141 can also limit the swing amplitude of the traction rope 323, reduce the possibility of the traction ropes 323 on the same side of the first mounting plate 311 coming into contact with each other or even getting tangled, and also reduce the possibility of the traction rope 323 leaving the guide wheel 34.

[0044] In addition, in this embodiment, the traction rope 323 extends along the sliding direction of the slider 321 to the thread hole 3141 after passing over the guide wheel 34. The slider 321 is located between the guide wheel 34 and the support base 314. The connection position between the slider 321 and the traction rope 323 is between the guide wheel 34 and the thread hole 3141. During the movement of the finger body 4, the finger drive motor 11 outputs in both directions and drives the slider 321 to slide through the traction rope 323. The extension direction of the traction rope 323 between the guide wheel 34 and the thread hole 3141 is parallel to the sliding direction of the slider 321. The force exerted by the traction rope 323 on the slider 321 coincides with the sliding direction of the slider 321. This allows for greater utilization of the tension of the traction rope 323 on the slider 321, reducing the force required for the slider 321 to slide, making the slider 321 slide more smoothly, and reducing the possibility of the slider 321 getting stuck.

[0045] It should be noted that in this embodiment, the traction rope 323 of the same transmission mechanism 32 is a whole, and the slider 321 is connected to a part of the traction rope 323. During the movement of the traction rope 323 driven by the finger drive motor 11, the traction rope 323 synchronously pulls the slider to slide along the guide rail 322. Of course, it can be understood that in other embodiments, the traction rope 323 of the same transmission mechanism 32 can also be two ropes. One end of the traction rope 323 is wrapped around the output shaft of the finger drive motor 11, and the other end passes around the guide wheel 34 and is connected to the top of the slider 321. The other traction rope 323 is wrapped around the output shaft of the finger drive motor 11 in the opposite direction, and the other end is connected to the bottom of the slider 321 from bottom to top.

[0046] Specifically, in this embodiment, the bottom end of the guide rail 322 abuts against the upper surface of the support base 314, and the support base 314 provides support for the guide rail 322. Two protrusions 315 are spaced apart at the top of the front side of the first mounting plate 311, and a rotating shaft is provided between the two protrusions 315. The guide wheel 34 is rotatably mounted on the rotating shaft. The top end of the guide rail 322 abuts against the lower surface of the protrusions 315, and the guide rail 322 is positioned between the protrusions 315 and the support base 314. In this embodiment, the support base 314 provides reliable support for the bottom end of the guide rail 322, reducing the possibility of downward displacement of the guide rail 322 and making the fixation of the guide rail 322 to the finger base 31 more stable and secure. Additionally, the support base 314 can also... The bottom end of the guide rail 322 forms a limiting structure, and the support seat 314 can restrict the slider 321 from detaching from the bottom end of the guide rail 322. The protrusion 315 can also form a limiting structure at the top end of the guide rail 322, which can restrict the slider 321 from detaching from the top end of the guide rail 322, making the assembly of the slider 321 and the guide rail 322 more stable and reliable. In addition, the rotating shaft is set between the two protrusions 315. The protrusions 315 can increase the thickness of the top end of the first mounting plate 311, providing a stronger mounting position for the rotating shaft, reducing the possibility of the rotating shaft detaching from the first mounting plate 311, and providing an effective and reliable mounting foundation for the stable operation of the guide wheel 34.

[0047] Specifically, such as Figure 4 As shown, in this embodiment, the finger body 4 includes a first phalanx 41, a second phalanx 42, and a fingertip 43. The first phalanx 41 is hinged to the top of the finger base 31, and the second phalanx 42 is hinged to the top of the first phalanx 41. The first phalanx 4121 includes a lateral swing link 412 and a first phalanx link 411. The first phalanx link 411 has a first hinge end, a second hinge end, and a third hinge end. The middle part of the lateral swing link 412 is rotatably connected to the second mounting plate 312 of the finger base 31. The two ends of the lateral swing link 412 are bent and extend towards the first phalanx link 411. The two ends of the lateral swing link 412 are hinged to the first hinge end of the first phalanx link 411, and the second hinge end is hinged to the second hinge end. The first end is provided with a first rotating shaft. The sliders 321 of the first transmission mechanism and the third transmission mechanism are both hinged to the first rotating shaft through a cross link 33. The second finger joint 42 includes a second finger joint link 421. The third hinge end is provided with a second rotating shaft. The second finger joint link 421 is hinged to the second rotating shaft. The top end of the slider 321 of the second transmission mechanism is connected to a cross link 33. The cross link 33 is rotatably connected to the first rotating shaft with a first link 413. The first link 413 is rotatably connected to the second finger joint link 421 with a second link 414. The third finger joint is rotatably connected to the second finger joint link 421. The end of the third finger joint is rotatably connected to the end of the first finger joint link 411 with a third link 422.

[0048] The bending and swinging of the finger body 4 are described below:

[0049] 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 and third transmission mechanisms start synchronously. The finger drive motors 11 rotate synchronously in the forward direction to drive the sliders 321 of the first and third transmission mechanisms 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 end 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 and the third transmission mechanism are controlled to reverse synchronously, so that the sliders 321 of the first transmission mechanism and the third transmission mechanism 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, thereby achieving the reset of the first phalanx 41.

[0050] 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 rotates forward. The finger drive motor 11 drives the slider 321 of the second transmission mechanism 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 is reversed, causing the slider 321 of the second transmission mechanism 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.

[0051] When it is necessary to control the finger body 4 to swing, the finger drive motors 11 corresponding to the first and third transmission mechanisms 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, 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.

[0052] Example 2:

[0053] like Figure 5 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.

[0054] Example 3:

[0055] 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.

[0056] 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 and a finger body. The finger base is equipped with several transmission mechanisms, which control the movement of the finger body under the drive of a finger drive motor. The finger base includes a first mounting plate, and the transmission mechanisms are distributed on both sides of the first mounting plate. Several guide wheels are rotatably connected to the top of the first mounting plate. The transmission mechanism includes a slider that is slidably mounted on the finger base and a traction rope connected to the slider. The number of traction ropes, sliders, and guide wheels is the same. The traction ropes extend to both sides of the first mounting plate after passing over the guide wheels. The finger drive motor outputs in both directions to drive the slider to slide through the traction ropes.

2. The fingers of a dexterous hand according to claim 1, characterized in that, The finger base is provided with three transmission mechanisms. The sliders of two of the transmission mechanisms are slidably mounted on the front side of the first mounting plate and connected to the portion of the traction rope located on the front side of the first mounting plate. The slider of the other transmission mechanism is slidably mounted on the rear side of the first mounting plate and connected to the portion of the traction rope located on the rear side of the first mounting plate. The first mounting plate is provided with three independent and coaxially arranged guide wheels.

3. The fingers of a dexterous hand according to claim 2, characterized in that, The guide wheel includes a first guide wheel, a second guide wheel, and a third guide wheel. The second guide wheel is located between the first guide wheel and the third guide wheel. The traction rope connected to the slider located on the rear side of the first mounting plate passes around the second guide wheel. The two sliders located on the front side of the first mounting plate are parallel and spaced apart. The traction ropes connected to the two sliders pass around the first guide wheel and the third guide wheel, respectively.

4. The fingers of a dexterous hand according to claim 2, characterized in that, The bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively. The support base is provided with three wire holes on both the front and rear sides of the first mounting plate. The traction rope passes through the wire holes from top to bottom and extends to the finger drive motor.

5. The fingers of a dexterous hand according to claim 4, characterized in that, The traction rope passes around the guide wheel and extends along the sliding direction of the slider to the threading hole.

6. The fingers of a dexterous hand according to claim 1, characterized in that, The finger base also includes a second mounting plate and two mounting side plates connected to both sides of the second mounting plate. The first mounting plate, the second mounting plate and the two mounting side plates surround a receiving cavity, and the transmission mechanism located behind the first mounting plate is located in the receiving cavity.

7. The fingers of a dexterous hand according to claim 6, characterized in that, The transmission mechanism also includes a guide rail. The guide rail of the transmission mechanism located in the accommodating cavity is fixedly installed on the mounting side plate, and the guide rail of the transmission mechanism located on the front side of the first mounting plate is fixedly installed on the side of the first mounting plate facing away from the accommodating cavity.

8. The fingers of a dexterous hand according to claim 7, characterized in that, The bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively, and the support base provides support for the guide rail.

9. The fingers of a dexterous hand according to claim 1, characterized in that, The top of the front side of the first mounting plate is provided with two protrusions spaced apart, and a rotating shaft is provided between the two protrusions. The guide wheel is rotatably mounted on the rotating shaft, and the guide rail is located between the protrusions and the support base.

10. The fingers of a dexterous hand according to claim 1, characterized in that, One end of the traction rope is wrapped around the output shaft of the finger drive motor, and the other end goes around the guide wheel and is wrapped back to the output end of the finger drive motor in the opposite direction. The finger drive motor drives the output shaft to rotate in both directions to drag the sliding slider back and forth through the traction rope.

11. A dexterous hand, characterized in that, It includes an arm and a hand movably connected to the arm, the hand including a hand support and at least two fingers mounted on the hand support, the fingers being the fingers of a dexterous hand as described in any one of claims 1 to 10.

12. 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 11.

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