Dexterous hand and robot

Abstract

The application relates to a dexterous hand and a robot. The dexterous hand comprises a palm, a first finger, and a second finger. The first finger comprises a first phalanx and a second phalanx. The first phalanx is rotatably connected to the palm. The second phalanx is rotatably connected to the first phalanx away from the palm. The second phalanx is provided with a first sensor. The wire of the first sensor extends to the palm along the sidewall of at least one of the second phalanx and the first phalanx, and is connected to a controller of the palm. The wire abrasion is reduced, the wire is protected, and the effectiveness of data acquisition and transmission is ensured.

Description

Technical Field

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

[0002] A dexterous hand is a high-degree-of-freedom robotic end effector that simulates the functions of a human hand. Through multi-joint, multi-modal perception and intelligent control technologies, it enables the grasping, manipulation and interaction of complex objects.

[0003] In related technologies, various sensors are typically installed between the dexterous hand and other components to collect and analyze data on the hand's movements. These sensors transmit data to the robot's processor via wiring.

[0004] However, the wiring in related technologies is prone to wear and tear, leading to data acquisition and transmission failures. Utility Model Content

[0005] Based on this, embodiments of this application provide a dexterous hand and robot that can reduce wear on wiring, protect wiring, and ensure the effectiveness of data acquisition and transmission.

[0006] On one hand, embodiments of this application provide a dexterous hand, including:

[0007] palm;

[0008] The first finger connects to the movement of the palm;

[0009] The first finger includes a first phalanx and a second phalanx. The first phalanx is rotatably connected to the palm, and the second phalanx is rotatably connected to the end of the first phalanx away from the palm.

[0010] The second phalanx is provided with a first sensor, the wiring of which extends at least partially along the sidewall of at least one of the second and first phalanges to the palm and is connected to a controller in the palm.

[0011] In one implementation, the second phalanx has a recess that is connected to the side wall of the second phalanx; the wiring limit is located within the recess.

[0012] In one implementation, the second phalanx has a limiting protrusion located within a recess, and a first limiting channel is formed between the limiting protrusion and the sidewall of the recess, with the wiring limited within the first limiting channel a.

[0013] In one implementation, the first finger further includes a third phalanx located between the second and first phalanges, one end of which is rotatably connected to the first phalanx and the other end of which is rotatably connected to the second phalanx; the wiring extends at least partially along the sidewall of the third phalanx.

[0014] In one implementation, the side wall of the third phalanx is provided with a first limiting member, and the first limiting member and the first limiting channel are located on the same side of the first finger.

[0015] The first limiting member and the side wall of the third phalanx form a second limiting channel, and the wiring is run through the second limiting channel.

[0016] In one implementation, the third phalanx includes a first arm, a second arm, and a reinforcing arm. The first and second arms extend in the same direction, while the reinforcing arm extends in a different direction than the first and second arms. The reinforcing arm is connected between the first and second arms.

[0017] The first limiting member is located on the side wall of the first arm, the second limiting channel is opposite to the reinforcing arm, the part of the wiring is located on the reinforcing arm and extends to the side of the second arm away from the first arm.

[0018] In one implementation, a second limiting member is provided on the side of the second arm away from the first arm, and a third limiting channel is formed between the second limiting member and the second arm.

[0019] The second limiting member is located between the first limiting member and the palm; the extension direction of the third limiting channel is inclined relative to the extension direction of the second arm.

[0020] The wiring is routed through the third limiting channel and extends to the palm of the hand.

[0021] In one implementation, the second arm has a guide on the side opposite to the first arm; the wiring is located on the palm side of the guide.

[0022] In one implementation, a circuit board is provided at a preset position of the first finger;

[0023] The trace extends along one side wall of the first finger to near the circuit board, then crosses the first finger and reaches the other side wall of the first finger to avoid the circuit board.

[0024] On the other hand, embodiments of this application provide a robot, including the dexterous hand provided in the foregoing embodiments of this application.

[0025] The dexterous hand and robot provided in this application embodiment feature a first finger movably connected to the palm. The first finger includes a first phalanx and a second phalanx. The first phalanx is rotatably connected to the palm, and the second phalanx is rotatably connected to the end of the first phalanx furthest from the palm. This allows the first finger to grip and unfold by rotating the second phalanx relative to the first phalanx, and vice versa, thus improving the dexterity of the hand. In this embodiment, a first sensor is provided on the second phalanx. The first sensor can collect data such as touch and pressure on the second phalanx and transmit this data to a controller in the palm for processing via a wiring path. By extending at least a portion of the first sensor wiring along the sidewall of at least one of the second and first phalanxes, the friction caused by the rotation of the second and first phalanxes relative to the first phalanx is reduced, thus reducing wear on the wiring, ensuring the effectiveness and accuracy of data collection and transmission, and extending the lifespan of the dexterous hand. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand provided in some embodiments of this application.

[0027] Figure 2 This is a schematic diagram of the structure of a second finger in a dexterous hand provided in some embodiments of this application.

[0028] Figure 3 This is a schematic diagram of another structure of the second finger in a dexterous hand provided in some embodiments of this application.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10-Dexterous hands;

[0031] 11-Palm; 12-First finger; 13-Second finger;

[0032] 101 - First phalanx; 102 - Second phalanx; 103 - Third phalanx;

[0033] 1031-First limiting component; 1031a-Second limiting channel; 1032-Circuit board; 1033-First support arm; 1034-Second support arm; 1034a-Mounting hole; 1035-Reinforcing arm; 1036-Second limiting component; 1036a-Third limiting channel; 1021-Wire routing; 1022-Recessed part; 1023-Limiting protrusion; 1023a-First limiting channel. Detailed Implementation

[0034] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0035] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0036] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0040] Figure 1 This is a schematic diagram of the overall structure of the receipt provided in some embodiments of this application.

[0041] In some examples, refer to Figure 1 As shown, this application embodiment provides a dexterous hand 10. The dexterous hand 10 may include a palm 11. The palm 11 may have a palm frame (not labeled in the figure). The palm 11 may be provided with a circuit board, and electronic components on the circuit board 1032 can emit control signals to control the complex movements of the dexterous hand 10. For example, the circuit board may be provided with a controller, and the control signals emitted by the controller can control the complex movements of the dexterous hand 10.

[0042] In some examples, refer to Figure 1 As shown, the dexterous hand 10 may include a first finger 12. The first finger 12 may be movably connected to the palm 11.

[0043] In some examples, the first finger 12 may be the thumb of the dexterous hand 10. The active connection between the first finger 12 and the palm 11 may include at least one of rotation and swinging. That is, the first finger 12 may rotate relative to the palm 11; or, the first finger 12 may swing relative to the palm 11; or, the first finger 12 may both rotate and swing relative to the palm 11.

[0044] In some examples, the first finger 12 can be any one of the index, middle, ring, or little fingers of the dexterous hand 10.

[0045] In some examples, refer to Figure 1 As shown, the dexterous hand 10 may include a second finger 13. The second finger 13 may be movably connected to the palm 11. It is understood that in some examples of the embodiments of this application, the movable connection method between the second finger 13 and the palm 11 may be the same as, similar to or similar to the movable connection method of the first finger 12; for details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated here.

[0046] In some examples, refer to Figure 1 As shown, the direction of extension of the second finger 13 may differ from that of the first finger 12. For example, refer to... Figure 1 As shown, the first finger 12 can be located on the first side (such as the front side) of the palm 11, and the second finger 13 can be located on the second side (such as the left or right side) of the palm 11; the first side and the second side are different.

[0047] In some examples, for ease of explanation, one of the first fingers 12 is used as a specific example in some examples of embodiments of this application.

[0048] In some examples, the first finger 12 may include a first phalanx 101 and a second phalanx 102.

[0049] In some examples, the first phalanx 101 can be rotatably connected to the palm 11. The first phalanx 101 can be driven by a motor to rotate relative to the palm 11. It is understood that in some examples of the embodiments of this application, the rotatable connection method between the first phalanx 101 and the palm 11 can be the same as, similar to or similar to, the rotatable connection method in the related art. The embodiments of this application will not elaborate further on this.

[0050] In some examples, the second phalanx 102 may be rotatably connected to the end of the first phalanx 101 away from the palm 11. It can be understood that the second phalanx 102 may be located at the end of the first phalanx 101 away from the palm 11 when the finger is extended. It should be noted that the second phalanx 102 may be directly rotatably connected to the first phalanx 101, or it may be rotatably connected to the first phalanx 101 through other phalanges (such as the third phalanx 103).

[0051] In some examples, a drive element can be provided at the rotational joint between the second phalanx 102 and the first phalanx 101 or on the palm 11 to drive the rotation of the second phalanx 102, thereby causing the second phalanx 102 to rotate relative to the first phalanx 101.

[0052] In some examples, to improve the fine control of the dexterous hand 10, the second knuckle 102 may be equipped with a first sensor. The first sensor can collect relevant data when the second knuckle 102 performs fine operations. For example, the first sensor can collect touch data; or, the first sensor can collect pressure data.

[0053] In some examples, the first sensor may include a touch sensor.

[0054] In some examples, the first sensor may include a pressure sensor.

[0055] In some examples, at least a portion of the first sensor may be located on the palm side of the second phalanx 102.

[0056] In some examples, the first sensor may be located on the palm side of the second phalanx 102.

[0057] Figure 2 This is a schematic diagram of the structure of a second finger in a dexterous hand provided in some embodiments of this application.

[0058] In some examples, for ease of explanation, the embodiments of this application use a first finger 12 as a specific example for illustration. (Refer to...) Figure 2 As shown, at least a portion of the trace 1021 of the first sensor may extend along the sidewall of at least one of the second phalanx 102 and the first phalanx 101 to the palm 11.

[0059] In some examples, trace 1021 can be connected to the controller of palm 11.

[0060] In some examples, trace 1021 can transmit data acquired by the first sensor to the controller. The controller can then process the acquired data.

[0061] The dexterous hand 10 provided in this application embodiment features a first finger 12 movably connected to a palm 11. The first finger 12 includes a first phalanx 101 and a second phalanx 102. The first phalanx 101 is rotatably connected to the palm 11, and the second phalanx 102 is rotatably connected to the end of the first phalanx 101 away from the palm 11. Thus, by rotating the second phalanx 102 relative to the first phalanx 101, and the first phalanx 101 relative to the palm 11, the first finger 12 can be gripped and unfolded, improving the dexterity of the dexterous hand 10. In this application embodiment, a first sensor is provided on the second phalanx 102. The first sensor can collect data such as touch and pressure on the second phalanx 102 and transmit the data to a controller in the palm 11 for processing via a wiring 1021. By extending at least a portion of the trace 1021 of the first sensor along the sidewall of at least one of the second phalanx 102 and the first phalanx 101, the trace 1021 is routed along the sidewall of the second phalanx 102 and the first phalanx 101. When the first phalanx 101 and the second phalanx 102 rotate, the friction caused by the rotation of the second phalanx 102 and the first phalanx 101 on the trace 1021 can be reduced, thereby reducing the wear of the trace 1021, improving the effectiveness and accuracy of data acquisition and transmission, and extending the service life of the dexterous hand 10.

[0062] In some examples, refer to Figure 2 As shown, the second phalanx 102 may have a recess 1022 on the back side of the hand. The recess 1022 may be formed from the recess on the back side of the third phalanx 102.

[0063] In some examples, refer to Figure 2 As shown, the recess 1022 can communicate with the side wall of the second phalanx 102. That is, when the recess 1022 is formed on the back side of the second phalanx 102, the recess 1022 can extend to the side wall of the second phalanx 102.

[0064] In some examples, trace 1021 may be confined within recess 1022.

[0065] In some examples of embodiments of this application, a recess 1022 is provided on the back side of the second phalanx 102, the recess 1022 is connected to the side wall of the second phalanx 102, and the wiring 1021 is confined within the recess 1022. One end of the wiring 1021 is connected to a first sensor on the palm side of the second phalanx 102, and the other end is wound around to the side wall of the first finger 12. Before winding around the side wall of the first finger 12, the recess 1022 on the back of the second phalanx 102 is provided to limit the wiring 1021, which can reduce the distance that the wiring 1021 needs to be wound around the side wall of the second phalanx 102, reduce the bending arc that the wiring 1021 needs to be wound around, thereby reducing the wear on the wiring 1021 and effectively protecting the wiring 1021.

[0066] In some examples, refer to Figure 2 As shown, the recessed portion 1022 may be provided with a limiting protrusion 1023. That is, the limiting protrusion 1023 may be provided inside the recessed portion 1022.

[0067] In some examples, a first limiting channel 1023a can be formed between the limiting protrusion 1023 and the recess 1022. That is, there is a preset gap between the sidewalls of the limiting protrusion 1023 and the recess 1022, and the preset gap can serve as the first limiting channel 1023a. The wiring 1021 can be confined within the first limiting channel 1023a.

[0068] In some examples, refer to Figure 2 As shown, the limiting protrusion 1023 can be an arc-shaped protrusion. The outer convex arc surface of the arc-shaped protrusion can face the first limiting channel 1023a. In this way, the contact between the cable 1021 and the arc-shaped protrusion is smooth, which can reduce the damage to the cable 1021 caused by the arc-shaped protrusion.

[0069] In some examples of embodiments of this application, a limiting protrusion 1023 is provided within the recess 1022, and a first limiting channel 1023a is formed between the limiting protrusion 1023 and the recess 1022, with the wiring 1021 confined within the first limiting channel 1023a. Thus, the limiting protrusion 1023 can confine the wiring 1021 within the first limiting channel 1023a, ensuring that the wiring 1021 moves within the first limiting channel 1023a. This reduces wear on the wiring 1021, ensures effective transmission of data collected by the first sensor, and extends the service life of the dexterous hand 10.

[0070] In some examples, the first finger 12 may include the third phalanx 103.

[0071] In some examples, the third phalanx 103 may be located between the second phalanx 102 and the first phalanx 101. One end of the third phalanx 103 may be rotatably connected to the first phalanx 101. The other end of the third phalanx 103 may be rotatably connected to the second phalanx 102. That is, in some examples of embodiments of this application, the second phalanx 102 may be connected to the first phalanx 101 via the third phalanx 103.

[0072] It is understood that in some examples of the embodiments of this application, the driving method for the rotation of the third phalanx 103 relative to the second phalanx 102 may be the same as, similar to or similar to the driving method for the rotation of the second phalanx 102 relative to the first phalanx 101. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0073] Alternatively, in some examples, the second knuckle 102 and the third knuckle 103 can be connected by a linkage. When the third knuckle 103 rotates relative to the first knuckle 101, the linkage can drive the second knuckle 102 to rotate relative to the third knuckle 103. This allows the second knuckle 102 to rotate relative to the third knuckle 103 under the influence of the third knuckle 103 and the linkage. This eliminates the need for a separate power source, saving energy for the dexterous hand 10, reducing its size, and facilitating the dexterous hand 10 to perform complex and delicate operations.

[0074] In some examples, refer to Figure 2 As shown, the side wall of the third phalanx 103 may be provided with a first limiting member 1031. The first limiting member 1031 and the first limiting channel 1023a may be located on the same side of the second finger 13. That is to say, when the wiring 1021 runs from the first limiting channel 1023a to the first limiting member 1031, the wiring 1021 does not need to cross the entire finger, which can reduce the span of the wiring 1021 and thus reduce the wear on the wiring 1021.

[0075] In some examples, the first limiting member 1031 and the third phalanx 103 can be detachably connected. For example, the second limiting member 1036 can be connected to the third phalanx 1036 by screws, bolts, or threaded rods. It is understood that in some examples, the first limiting member 1031 can be connected to the third phalanx 103 by a snap-fit ​​mechanism.

[0076] In some examples, refer to Figure 2 The first limiting member 1031 and the sidewall of the third phalanx 103 can form a second limiting channel 1031a. The wiring 1021 can pass through the second limiting channel 1031a. That is, in this embodiment, the wiring 1021 can be limited to the sidewall of the third phalanx 103 by the second limiting member 1036, thereby ensuring that the wiring 1021 runs along the sidewall of the third phalanx 103.

[0077] In some examples of embodiments of this application, a first limiting member 1031 is provided on the side wall of the third phalanx 103, the first limiting member 1031 and the first limiting channel 1023a are located on the same side of the third phalanx 103; and a second limiting channel 1031a is constructed between the first limiting member 1031 and the side wall of the third phalanx 103, and the wiring 1021 can be passed through the second limiting channel 1031a; in this way, the wiring 1021 can be limited to the side wall of the third phalanx 103 by the second limiting channel 1031a; thereby ensuring that the wiring 1021 runs along the side wall of the third phalanx 103, which can reduce the wear of the wiring 1021 during the bending and stretching of the third phalanx 103, extend the service life of the wiring 1021, that is, extend the service life of the dexterous hand 10.

[0078] In some examples, refer to Figure 2 As shown, the first limiting member 1031 can be configured as a curved arc structure, thereby forming a second limiting channel 1031a between the first limiting member 1031 and the side wall of the third phalanx 103.

[0079] It is understandable that in some examples, a recessed groove can be provided on the side wall of the third phalanx 103, and a first limiting member 1031 can be provided in the groove of the recessed groove, thereby forming a second limiting channel 1031a between the first limiting member 1031 and the recessed groove.

[0080] In some examples, refer to Figure 2 As shown, a circuit board 1032 is provided at a preset position of the first finger 12. In some embodiments, the preset position may be at the rotational joint between the third phalanx 103 and the first phalanx 101.

[0081] In some examples, refer to Figure 2 As shown, trace 1021 extends along one side wall of the first finger 12 to near the circuit board 1032, then crosses the first finger 12 and reaches the other side wall of the first finger 12 to avoid the circuit board.

[0082] In some embodiments, the extension direction of the second limiting channel 1031a may be consistent with the thickness direction of the first finger 12. That is, the wire 1021 can pass from the palm side of the second limiting channel 1031a to the back side of the hand, so that after the wire 1021 passes out of the second limiting channel 1031a, it can be located on the back side of the third phalanx 103 and cross the first finger 12.

[0083] In some examples of embodiments of this application, a circuit board 1032 is provided at the rotational joint between the third phalanx 103 and the first phalanx 101. This allows a second sensor to be mounted on the circuit board 1032, which can acquire the rotation angle of the third phalanx 103 relative to the first phalanx 101. This facilitates control of the rotation angle of the third phalanx 103, preventing excessive rotation of the third phalanx 103 from causing a collision with the palm 11, thus improving the safety of the dexterous hand 10. Furthermore, by setting the extension direction of the second limiting channel 1031a to be consistent with the thickness direction of the first finger 12, the wiring 1021 can be guided to the back of the third phalanx 103, preventing interference between the wiring 1021 and the circuit board 1032 and the second sensor. This reduces data signal interference and ensures the accuracy of data signal transmission via the wiring 1021.

[0084] In some examples, refer to Figure 2 As shown, the third phalanx 103 has a first rotation axis i1 between it and the first phalanx 101. The third phalanx 103 has a second rotation axis i2 between it and the second phalanx 102.

[0085] In some examples, refer to Figure 2 As shown, the first limiting member 1031 can be located between the first rotation axis i1 and the second rotation axis i2. In this way, the wiring 1021 located on the back side of the third phalanx 103 can be kept at a certain distance from both the first rotation axis i1 and the second rotation axis i2, which can reduce the wear of the wiring 1021 on the rotational joints between the third phalanx 103 and the first phalanx 101, and between the third phalanx 103 and the second phalanx 102, and effectively protect the wiring 1021.

[0086] In some examples of embodiments of this application, the first limiting member 1031 is disposed between the two rotating joints of the third phalanx 103, that is, the first limiting member 1031 is located between the first rotating axis i1 and the second rotating axis i2. In this way, the wiring 1021 located on the back side of the third phalanx 103 is kept at a certain distance from both rotating joints, reducing the wear of the wiring 1021 on the wiring 1021 when the rotating joints rotate, effectively protecting the wiring 1021, and improving the service life of the wiring 1021, that is, improving the service life of the dexterous hand 10.

[0087] In some examples, refer to Figure 2 As shown, the third phalanx 103 may include a first arm 1033. One end of the first arm 1033 may be rotatably connected to the first phalanx 101. The other end of the first arm 1033 may be rotatably connected to the third phalanx 103.

[0088] In some examples, refer to Figure 2As shown, the third phalanx 103 may include a second arm 1034. The extension direction of the second arm 1034 may be consistent with the extension direction of the first arm 1033. For example, the second arm 1034 may be arranged parallel to the first arm 1033. It is understood that in some examples of the embodiments of this application, the term "parallel" only means approximately parallel, not absolute parallel in a mathematical sense. Those skilled in the art will understand that due to the influence of factors such as processing technology and assembly errors, there may be a certain error between the extension directions of the second arm 1034 and the first arm 1033, and this error can be ignored by those skilled in the art.

[0089] In some examples, refer to Figure 2 As shown, the third phalanx 103 may include a reinforcing arm 1035. The extension direction of the reinforcing arm 1035 may be different from either the first arm 1033 or the second arm 1034. The reinforcing arm 1035 may be connected between the first arm 1033 and the second arm 1034.

[0090] In some examples, the reinforcing arm 1035 may be located on the back of the hand of the first arm 1033 and the second arm 1034.

[0091] In some examples of embodiments of this application, a first arm 1033 and a second arm 1034 are provided, with the first arm 1033 and the second arm 1034 extending in the same direction; and a reinforcing arm 1035 is provided on the back side of the first arm 1033 and the second arm 1034 to connect the first arm 1033 and the second arm 1034; in this way, the stability of the rotation of the third phalanx 103 can be ensured and the strength of the third phalanx 103 can be improved.

[0092] In some examples, refer to Figure 2 The first limiting member 1031 may be disposed on the side wall of the first support arm 1033. The second limiting channel 1031a may be opposite to the reinforcing arm 1035. A portion of the wiring 1021 may be located on the reinforcing arm 1035 and extend to the side of the second support arm 1034 opposite to the first support arm 1033.

[0093] In other words, in some examples of the embodiments of this application, after the wiring 1021 passes through the second limiting channel 1031a, it can run from the back of the hand side of the reinforcing arm 1035 and run to the side of the second arm 1034 away from the first arm 1033.

[0094] In some examples of embodiments of this application, by providing the first limiting member 1031 on the side wall of the first support arm 1033, and setting the second limiting channel 1031a opposite to the reinforcing arm 1035, the portion of the wiring 1021 is located in the reinforcing arm 1035. This facilitates extending the wiring 1021 to the side of the second support arm 1034 away from the first support arm 1033. Furthermore, on the back of the hand side of the third phalanx 103, the reinforcing arm 1035 facilitates limiting the wiring 1021, ensuring a certain distance between the wiring 1021 and the rotary joints at both ends of the third phalanx 103, thereby reducing wear on the wiring 1021 caused by the rotary joints.

[0095] Figure 3 This is a schematic diagram of another structure of the second finger in a dexterous hand provided in some embodiments of this application.

[0096] In some examples, refer to Figure 3 As shown, a second limiting member 1036 may be provided on the side of the second arm 1034 opposite to the first arm 1033. A third limiting channel 1036a may be formed between the second limiting member 1036 and the second arm 1034.

[0097] It is understood that in some instances of the embodiments of this application, the setting method of the second limiting member 1036 may be the same as, similar to or similar to the setting method of the first limiting member 1031 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details.

[0098] In some examples, the second limiting member 1036 may be located on the side of the first limiting member 1031 closer to the palm 11. That is, the second limiting member 1036 may be located between the first limiting member 1031 and the palm 11, meaning that the distance between the second limiting member 1036 and the palm 11 may be less than the distance between the first limiting member 1031 and the palm 11. It can be understood that in the embodiments of this application, the distance between the second limiting member 1036 and the palm 11 being less than the distance between the first limiting member 1031 and the palm 11 may refer to the situation when the third phalanx 103 is in an extended state.

[0099] In some examples, refer to Figure 3 As shown, the extension direction of the third limiting channel 1036a can be inclined relative to the extension direction of the second arm 1034. That is, there can be a certain angle between the extension direction of the third limiting channel 1036a and the extension direction of the second arm 1034. This facilitates the transition of the wiring 1021 located on the back of the hand to the side of the second arm 1034 opposite to the first arm 1033.

[0100] In some examples, refer to Figure 3As shown, the wiring 1021 can be threaded through the third limiting channel 1036a and extend to the palm 11.

[0101] In some examples of embodiments of this application, a second limiting member 1036 is provided on the side of the second arm 1034 opposite to the first arm 1033, and a third limiting channel 1036a is formed between the second limiting member 1036 and the second arm 1034; the wiring 1021 passes through the third limiting channel 1036a. This facilitates the confinement of the wiring 1021 to the side wall of the second arm 1034 by the second limiting member 1036 and the third limiting channel 1036a, making it easier for the wiring 1021 to travel along the side wall of the second arm 1034. This reduces wear on the wiring 1021 during the rotation of the third knuckle 103, effectively protects the wiring 1021, and extends its service life.

[0102] In addition, in some embodiments of this application, the second limiting member 1036 is disposed between the first limiting member 1031 and the palm 11, and the extending direction of the third limiting channel 1036a is inclined relative to the extending direction of the second arm 1034. Thus, there can be a certain angle between the extending direction of the third limiting channel 1036a and the extending direction of the second arm 1034, facilitating the transition of the wiring 1021 located on the back of the hand to the side of the second arm 1034 opposite to the first arm 1033.

[0103] In some examples, the second arm 1034 may have a guide (not shown in the figure) on the side opposite to the first arm 1033.

[0104] In some examples, the wiring 1021 can be located on the palm side of the guide. That is, in some examples of the embodiments of this application, after the wiring 1021 runs from the reinforcing arm 1035 to the side of the second arm 1034 away from the first arm 1033, the wiring 1021 can be routed to the palm side of the guide, and then pass through the third limiting channel 1036a, thereby guiding the wiring 1021, facilitating the smooth transition of the wiring 1021 to the third limiting channel 1036a, and reducing wear on the wiring 1021.

[0105] In some examples, the guide may include a guide wheel.

[0106] In some examples, the guide may include a guide bearing.

[0107] In some examples, the guide may include a guide post.

[0108] In some examples, refer to Figure 3As shown, the second arm 1034 may be provided with a mounting hole 1034a. A guide may be installed in the mounting hole 1034a and protrude from the side of the second arm 1034 opposite to the first arm 1033.

[0109] In some examples, mounting hole 1034a may include a threaded hole. The guide may be mounted on the second arm 1034 by screws, bolts, or threaded rods.

[0110] On the other hand, embodiments of this application provide a robot, including the dexterous hand 10 provided in the foregoing embodiments of this application.

[0111] It is understood that the robots provided in some examples of the embodiments of this application have the same or corresponding technical features as the dexterous hand 10 provided in the foregoing embodiments of this application. Therefore, the robots provided in the embodiments of this application and the dexterous hand 10 provided in the foregoing embodiments of this application may have the same or similar technical effects. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A dexterous hand, characterized in that, include: palm; The first finger is movably connected to the palm. The first finger includes a first phalanx and a second phalanx, the first phalanx being rotatably connected to the palm, and the second phalanx being rotatably connected to the end of the first phalanx away from the palm; The second phalanx is provided with a first sensor, the wiring of which extends at least partially along the sidewall of at least one of the second phalanx and the first phalanx to the palm and is connected to a controller of the palm.

2. The dexterous hand according to claim 1, characterized in that, The second phalanx has a recessed portion, which is connected to the side wall of the second phalanx; the wiring limit is located within the recessed portion.

3. The dexterous hand according to claim 2, characterized in that, The second phalanx is provided with a limiting protrusion, which is located inside the recess. A first limiting channel is formed between the limiting protrusion and the sidewall of the recess, and the wiring is limited within the first limiting channel.

4. The dexterous hand according to claim 3, characterized in that, The first finger also includes a third phalanx, which is located between the second phalanx and the first phalanx. One end of the third phalanx is rotatably connected to the first phalanx, and the other end of the third phalanx is rotatably connected to the second phalanx. The trace extends at least partially along the sidewall of the third phalanx.

5. The dexterous hand according to claim 4, characterized in that, The side wall of the third phalanx is provided with a first limiting member, and the first limiting member and the first limiting channel are located on the same side of the first finger. The first limiting member and the side wall of the third finger joint form a second limiting channel, and the wiring passes through the second limiting channel.

6. The dexterous hand according to claim 5, characterized in that, The third phalanx includes a first arm, a second arm, and a reinforcing arm. The first arm and the second arm extend in the same direction, while the reinforcing arm extends in a different direction than the first arm and the second arm. The reinforcing arm is connected between the first arm and the second arm. The first limiting member is disposed on the side wall of the first support arm, the second limiting channel is opposite to the reinforcing arm, and part of the wiring is located on the reinforcing arm and extends to the side of the second support arm away from the first support arm.

7. The dexterous hand according to claim 6, characterized in that, The second arm is provided with a second limiting member on the side opposite to the first arm, and a third limiting channel is formed between the second limiting member and the second arm; The second limiting member is located between the first limiting member and the palm; the extension direction of the third limiting channel is inclined relative to the extension direction of the second arm; The wiring is routed through the third limiting channel and extends to the palm.

8. The dexterous hand according to claim 6 or 7, characterized in that, The second arm has a guide on the side opposite to the first arm; the wiring is located on the palm side of the guide.

9. The dexterous hand according to any one of claims 1 to 7, characterized in that, A circuit board is provided at a predetermined position of the first finger; The trace extends along one side wall of the first finger, then crosses the first finger and reaches the other side wall of the first finger to avoid the circuit board.

10. A robot, characterized in that, Including the dexterous hand as described in any one of claims 1-9.

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