Dexterous hand and robot

Abstract

The application relates to a dexterous hand and a robot. The hand comprises a palm, a finger movably connected to the palm, the finger comprising a first knuckle, a second knuckle and a third knuckle, the first knuckle being rotatably connected to the palm, the second knuckle being rotatably connected to one end of the first knuckle away from the palm, the third knuckle being rotatably connected to one end of the second knuckle away from the first knuckle, a driving connecting rod having one end rotatably connected to the third knuckle and the other end rotatably connected to the first knuckle, and in the case that the second knuckle rotates relative to the first knuckle, the third knuckle rotates synchronously and rotates relative to the second knuckle under the drive of the driving connecting rod.

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, drive motors are typically installed at the finger joints to rotate the fingers, thereby enabling the execution of various movements of the dexterous hand. However, the finger joint structure in these dexterous hands is complex and easily damaged. Utility Model Content

[0004] Based on this, embodiments of this application provide a dexterous hand and robot, which improves the dexterous hand's ability to perform precise operations on complex movements and expands the application range of the dexterous hand. The structure of the dexterous hand's finger joints is simplified, thereby increasing their lifespan.

[0005] On one hand, embodiments of this application provide a dexterous hand, including:

[0006] palm; and

[0007] Fingers are connected to the palm in movement;

[0008] The first, second, and third phalanges of the fingers are rotatably connected to the palm, the second phalanges are rotatably connected to the end of the first phalanges away from the palm, and the third phalanges are rotatably connected to the end of the second phalanges away from the first phalanges.

[0009] A drive link, one end of which is rotatably connected to the third finger joint, and the other end of which is rotatably connected to the first finger joint;

[0010] When the second knuckle rotates relative to the first knuckle, the third knuckle rotates synchronously and, driven by the drive linkage, rotates relative to the second knuckle.

[0011] In one implementation, the first phalanx is rotatably connected to the palm via a first rotating axis; the second phalanx is rotatably connected to the end of the first phalanx away from the palm via a third rotating axis.

[0012] The third phalanx is rotatably connected to the second phalanx via a fourth rotating axis;

[0013] With the third knuckle extended, the hinge point between the drive link and the third knuckle is located on the side of the fourth rotation axis away from the palm.

[0014] In one implementation, a first reset member is also included, which is used to drive the third phalanx to rotate relative to the second phalanx so that the finger is in an extended state.

[0015] In one implementation, the first reset element includes a torsion spring sleeved on the fourth rotating shaft; one end of the torsion spring is fixedly connected to the second finger joint, and the other end of the torsion spring is fixedly connected to the third finger joint.

[0016] In one implementation, the second phalanx is provided with a first limiting part, and one end of the torsion spring is limited to the first limiting part;

[0017] The third phalanx is provided with a second limiting part, and the other end of the torsion spring is limited to the second limiting part.

[0018] In one implementation, the first limiting part has a limiting groove, the opening of which faces the palm side, and one end of the torsion spring is inserted into the limiting groove and abuts against the bottom wall of the limiting groove; and / or

[0019] The second limiting part includes a limiting hole that penetrates the side wall of the third finger joint, and the other end of the torsion spring passes through the limiting hole.

[0020] In one implementation, the first knuckle is fixedly connected to the first rotating shaft, which is rotatably connected to the palm; a first spool is sleeved on the first rotating shaft, and the first spool is fixed to the first rotating shaft in the circumferential direction; a first power rope is wound on the first spool, one end of the first power rope is fixedly connected to the first spool, and the other end of the first power rope extends toward the palm;

[0021] The palm is equipped with a first driving component, and the output end of the first driving component is equipped with a third pulley. The other end of the first power rope is connected to the third pulley.

[0022] In one implementation, the second phalanx is fixedly connected to the third rotating shaft; the third rotating shaft is rotatably connected to the first phalanx.

[0023] A second thread pulley is fitted on the third rotating shaft. The second thread pulley is fixed to the third rotating shaft in the circumferential direction. A second power rope is provided on the second thread pulley. One end of the second power rope is fixedly connected to the second thread pulley, and the other end of the second power rope extends toward the palm.

[0024] The palm is equipped with a third drive unit, and the output end of the third drive unit is equipped with a fourth pulley. The other end of the second power rope is connected to the fourth pulley.

[0025] In one implementation, the other end of the drive link is rotatably connected to the end of the first phalanx facing the second phalanx;

[0026] And / or,

[0027] The rotational hinge point between the drive link and the third phalanx is located on the palm side, while the rotational hinge point between the drive link and the first phalanx is located on the back side of the hand.

[0028] On the other hand, embodiments of this application provide a robot, including the dexterous hand provided in the foregoing embodiments of this application.

[0029] The dexterous hand and robot provided in this application embodiment connect fingers that move on the palm. Thus, when the fingers move relative to the palm, the angle between the fingers and the gripping space can be changed, facilitating the dexterous hand to perform grasping actions. Each finger may include a first phalanx, a second phalanx, and a third phalanx. The first phalanx is rotatably connected to the palm, the second phalanx is rotatably connected to the end of the first phalanx away from the palm, and the third phalanx is rotatably connected to the end of the second phalanx away from the first phalanx. A drive link is provided, with one end rotatably connected to the third phalanx and the other end rotatably connected to the first phalanx. Thus, during the rotation of the second phalanx relative to the first phalanx, the third phalanx, connected to the second phalanx, also rotates along with it. Simultaneously, the drive linkage rotates, reducing the distance between the hinge points at both ends of the drive linkage along the extension direction of either the first or second finger in its extended state. This causes the drive linkage to pull the third phalanx, resulting in the third phalanx rotating relative to the second phalanx while rotating synchronously with the second finger. Driving the third phalanx to rotate relative to the second phalanx via the drive linkage facilitates complex grasping movements by the dexterous hand. Furthermore, it eliminates the need for an additional power source at the joint between the third and second phalanxes, simplifying the joint structure and reducing the overall size of the dexterous hand. This enhances the dexterous hand's ability to perform precise and complex operations, expands its application range, and extends the lifespan of the finger joints. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand provided in some embodiments of this application.

[0031] 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.

[0032] Figure 3 This is a cross-sectional view of a second finger in a dexterous hand provided in some embodiments of this application.

[0033] Figure 4 This is a schematic diagram of a structure in which a second finger in a dexterous hand cooperates with a first driving member, according to some embodiments of this application.

[0034] Figure 4a This is a cross-sectional view of a dexterous hand provided in some embodiments of this application, along the palmar direction parallel to the palm.

[0035] Figure 4b This is another cross-sectional view of the dexterous hand provided in some embodiments of this application.

[0036] Figure 5 This is a schematic diagram of another structure of the second phalanx in a dexterous hand provided in some embodiments of this application.

[0037] Figure 5a This is another cross-sectional view of a dexterous hand along the palmar direction parallel to the palm, provided in some embodiments of this application.

[0038] Figure 6 This is a schematic diagram of the topology of a dexterous hand drive linkage driving the third phalanx provided in some embodiments of this application.

[0039] Figure 7 yes Figure 5 A magnified view of a portion of point A in the middle.

[0040] Figure 8 This is a schematic diagram of the structure of the first finger in a dexterous hand provided in some embodiments of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10-Dexterous hands;

[0043] 11-Palm; 12-First finger; 13-Second finger; 14-Drive linkage;

[0044] 101-First knuckle; 102-Second knuckle; 103-Third knuckle; 111-First drive member; 112-Second drive member; 113-Third drive member; 114-Winding wheel; 121-Second base; 131-First base; 141-First hinge point; 142-Second hinge point;

[0045] 1011-First rotating shaft; 1012-Second rotating shaft; 1013-Second reset member; 1014-First power rope; 1021-Third rotating shaft; 1022-First limiting part; 1023-Second power rope; 1031-Fourth rotating shaft; 1032-First reset member; 1033-Second limiting part; 1111-First worm gear; 1112-First turbine; 1113-Gearbox; 1121-Second worm gear; 1122-Second turbine; 1211-Second guide member; 1212-Third guide member; 1311-First guide member;

[0046] 1011a - First thread pulley; 1011b - Guide pulley; 1022a - Limiting groove; 1021a - Second thread pulley. Detailed Implementation

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] In view of the technical problems existing in the related technologies, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0054] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand provided in some embodiments of this application.

[0055] 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 the electronic components on the circuit board can emit control signals to control the complex movements of the dexterous hand 10.

[0056] In some examples, a dexterous hand may include fingers. The fingers may be actively connected to the palm 11.

[0057] In some examples, refer to Figure 1 As shown, the fingers may include a first finger 12. The first finger 12 may be movably connected to the palm 11.

[0058] 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.

[0059] In some examples, refer to Figure 1 As shown, a finger 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.

[0060] 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 of the palm 11, and the second finger 13 can be located on the second side of the palm 11; the first side and the second side have different directions.

[0061] In some examples, there may be multiple second fingers 13. Multiple second fingers 13 may be arranged side by side on the palm 11.

[0062] In some examples, the second finger 13 can include four.

[0063] In some examples, for ease of explanation, the embodiments of this application use one of the second fingers 13 as a specific example for illustration. However, it should be noted that the embodiments of this application are also applicable to the first finger or other fingers.

[0064] 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.

[0065] In some examples, refer to Figure 2 As shown, a finger may include a first phalanx 101. The first phalanx 101 may be a phalanx where the finger connects to the palm 11. It is also commonly referred to as the proximal phalanx.

[0066] In some examples, refer to Figure 2 As shown, the fingers can be rotatably connected to the palm 11 via a first rotation axis 1011. The first rotation axis 1011 can be rotatably connected to the palm 11. The axis of the first rotation axis 1011 can be parallel or approximately parallel to the palm surface of the palm 11.

[0067] In some examples, the first knuckle 101 can be fixedly connected to the first rotating shaft 1011. That is, when the first rotating shaft 1011 rotates relative to the palm 11, the first knuckle 101 can rotate synchronously under the drive of the first rotating shaft 1011.

[0068] Figure 3 This is a cross-sectional view of a second finger in a dexterous hand provided in some embodiments of this application.

[0069] In some examples, refer to Figure 3 As shown, in some examples of embodiments of this application, a first spool 1011a may be fitted onto the first rotating shaft 1011.

[0070] In some examples, the first thread pulley 1011a can be fixed to the first rotation shaft 1011 in the circumferential direction. For example, the first thread pulley 1011a can be splined with the first rotation shaft 1011, thereby fixing the first thread pulley 1011a to the first rotation shaft 1011 in the circumferential direction.

[0071] In some examples, the first spool 1011a can be fixedly connected to the first rotating shaft 1011. For example, the first spool 1011a can be fixed to the first rotating shaft 1011 by means of screws, bolts or threaded rods.

[0072] In some examples, refer to Figure 3 As shown, a first power rope 1014 can be fitted onto the first reel 1011a. One end of the first power rope 1014 can be fixedly connected to the first reel 1011a.

[0073] In some examples, the other end of the first power rope 1014 can extend toward the palm 11.

[0074] In some examples, the other end of the first power cord 1014 can be wound from the side of the first spool 1011a away from the palm 11 to the palm side of the first knuckle 101 and extend toward the palm 11.

[0075] In some examples, the first power cord 1014 may include any one of a braided cord, a steel wire rope, or a tendon cord. The first power cord 1014 may be a transmission element that mimics a human tendon, and may be made of high-strength fibers (such as dyneema) or metal wires. The first power cord 1014 can transmit power to drive joint movement through tension.

[0076] Figure 4 This is a schematic diagram of a structure in which a second finger in a dexterous hand cooperates with a first driving member, according to some embodiments of this application.

[0077] In some examples, refer to Figure 4 As shown, the dexterous hand 10 may include a first driving member 111. The first driving member 111 may be disposed on the palm 11.

[0078] In some examples, the first power cord 1014 can be connected to the power output end of the first drive member 111. That is, when the power output end of the first drive member 111 rotates, it can pull the first power cord 1014, causing the first power cord 1014 to tighten towards the palm 11. During the tightening process of the first power cord 1014 towards the palm 11, the first power cord 1014 can pull the first spool 1011a to rotate. When the first spool 1011a rotates, the first spool 1011a drives the first rotating shaft 1011 to rotate, thereby causing the first knuckle 101, which is fixedly connected to the first rotating shaft 1011, to bend and grip the palm 11.

[0079] In some examples, the output end of the first drive member 111 may be provided with a third pulley. The other end of the first power rope 1014 may be connected to the third pulley.

[0080] In some examples, the first drive 111 may include a motor capable of forward and reverse rotation. For example, the first drive 111 may include one of a servo motor, a stepper motor, or a synchronous motor.

[0081] like Figure 4 As shown, the third reel can be one of the winding reels 114. The output end of the first drive member 111 can be connected to the winding reel 114; the other end of the first power rope 1014 can be wound around the winding reel 114. When the first drive member 111 drives the winding reel 114 to rotate, the winding reel 114 pulls and winds the first power rope 1014, thereby tightening the first power rope 1014 toward the palm 11.

[0082] In some examples, the output end of the first driving member 111 can be connected to the winding wheel 114 via a reduction mechanism such as a worm gear or a worm wheel. It is understood that in some examples of the embodiments of this application, the worm gear or worm wheel transmission mechanism is only shown as a specific example and is not a specific limitation on the transmission mechanism. In other examples, the transmission mechanism can be other types of transmission mechanisms.

[0083] Figure 4a This is a cross-sectional view of a dexterous hand provided in some embodiments of this application, along the palmar direction parallel to the palm. Figure 4b This is another cross-sectional view of a dexterous hand provided in some embodiments of this application. Figure 4b The third driving member 113 is shown as a specific example. It can be understood that the first driving member 111 and the third driving member 113 have the same, similar or similar structures. This application embodiment will not elaborate further on this.

[0084] In some examples, refer to Figure 4a and Figure 4bAs shown, the hand 11 may be equipped with a gearbox 1113. The gearbox 1113 may contain a first worm gear 1111 and a first turbine gear 1112. The first turbine gear 1112 meshes with the first worm gear 1111. The first turbine gear 1112 may be connected to a winding reel 114 for transmission. For example, the winding reel 114 may be fixedly connected to the shaft of the first turbine gear 1112. The first turbine gear 1112 drives the winding reel 114 to rotate via the shaft.

[0085] In some examples, the first worm gear 1111 can be driven to the output end of the first drive member 111. For example, the output end of the first drive member 111 (or the third drive member 113) can be driven to the first worm gear 111 via a reducer or gearbox. The first drive member 111 (or the third drive member 113) can drive the first worm gear 1111 to rotate. This, in turn, drives the winding wheel 114 via the first turbine 1112 to wind or unwind the first power rope 1014.

[0086] The dexterous hand 10 provided in this embodiment of the application connects fingers that move on the palm 11. Thus, when the fingers move relative to the palm 11, the angle and gripping space between the fingers and the palm 11 can be changed, facilitating the dexterous hand 10 to perform grasping actions. Each finger includes a first phalanx 101, which is rotatably connected to the palm 11 via a first rotating shaft 1011. The first phalanx 101 is fixedly connected to the first rotating shaft 1011, and a first thread pulley 1011a is sleeved on the first rotating shaft 1011. The first thread pulley 1011a is fixed to the first rotating shaft 1011 in its circumferential direction. A first power rope 1014 is wound around the first thread pulley 1011a, with one end fixedly connected to the first thread pulley 1011a and the other end extending towards the palm 11. Thus, the first drive member 111 set on the palm 11 can pull the first power rope 1014. During the tightening process of the first power rope 1014, the first power rope 1014 drives the first spool 1011a to rotate. The first spool 1011a drives the first knuckle 101 to rotate relative to the palm 11 through the first rotating shaft 1011, thereby making the second finger 13 grip tightly.

[0087] In other words, in this embodiment of the application, the first phalanx 101 is driven to rotate by the first power rope 1014. Compared with the related technology, which uses a motor to directly drive the first phalanx 101 at the joint, the volume of the rotational joint between the first phalanx 101 and the palm 11 is reduced, thereby reducing the overall volume of the dexterous hand 10. This makes it easier for the dexterous hand 10 to perform fine and complex operations, improves the dexterous hand 10's ability to perform fine operations on complex movements, and expands the application range of the dexterous hand 10.

[0088] In some examples, refer to Figure 2 and Figure 4 As shown, taking the second finger 13 as an example, the dexterous hand 10 may include a first base 131, which is disposed between the second finger 13 and the palm 11. For example, a first base 131 is provided between each second finger 13 and the palm 11. The first base 131 can be rotatably connected to the palm 11 via a second rotating shaft 1012. The axial direction of the second rotating shaft 1012 may be different from the axial direction of the first rotating shaft 1011.

[0089] In some examples, refer to Figure 4 As shown, the axial direction of the first rotating shaft 1011 can be along... Figure 4 The direction is set as shown by the y-axis; the axial direction of the second rotation axis 1012 can be along... Figure 4 The direction setting is shown on the z-axis.

[0090] In some examples, the axial direction of the first rotation axis 1011 may be different from the axial direction of the second rotation axis 1012.

[0091] In some examples, the second rotating shaft 1012 may be fixedly connected to the first base 131. The second rotating shaft 1012 and the first base 131 may be a single piece.

[0092] In some examples, refer to Figure 3 As shown, the first rotating shaft 1011 can be disposed on the first base 131. The first rotating shaft 1011 can be rotatably connected to the first base 131 to realize the rotatable connection between the second finger 13 and the palm 11.

[0093] In some examples, the first base 131 may have a first mounting hole. The first mounting hole may extend through the first base 131. The first reel 1011a may be disposed within the first mounting hole.

[0094] In some examples of embodiments of this application, a first base 131 is provided, which is rotatably connected to the palm 11 via a second rotation shaft 1012, and the axial direction of the second rotation shaft 1012 is set to be different from the axial direction of the first rotation shaft 1011. The first rotation shaft 1011 passes through the first base 131 and is rotatably connected to the first base 131. In this way, the first phalanx 101 can rotate relative to the palm 11 under the drive of the first base 131, and can rotate relative to the base via the first rotation shaft 1011, thereby allowing the first phalanx 101 to have multiple rotational degrees of freedom relative to the palm 11. This can improve the degrees of freedom of the second finger 13, making it easier for the dexterous hand 10 to perform complex fine operations and expanding the application range of the dexterous hand 10.

[0095] Figure 5 This is a schematic diagram of another structure of the second phalanx in a dexterous hand provided in some embodiments of this application.

[0096] In some examples, refer to Figure 5 As shown, the dexterous hand may include a first guide 1311. The first guide 1311 may be located on the side of the first reel 1011a facing the palm 11, and the first guide 1311 is located between the first reel 1011a and the palm 11.

[0097] In some examples, the first guide 1311 may be disposed on the first base 131.

[0098] In some examples, the first guide 1311 may include a guide bearing. The guide bearing may be rotatably connected to the first base 131.

[0099] In some examples, refer to Figure 5 As shown, the first guide member 1311 may include two. The two first guide members 1311 may be arranged side by side along the axis of the first rotation shaft 1011.

[0100] In some examples, the first power cord 1014 may be threaded between and in contact with the two first guide members 1311. That is, the end of the first power cord 1014 facing the palm 11 may pass between the two first guide members 1311 and extend toward the palm 11, and be connected to the power output end of the first drive member 111.

[0101] In some examples, the gap between the two first guide members 1311 can be aligned with the groove on the first spool 1011a. This facilitates the first guide members 1311 in guiding the first power rope 1014.

[0102] In some examples, the first guide 1311 can be fixed to the first base 131 by means of components such as bolts, screws or threaded rods.

[0103] In some examples, the axis of rotation of the first guide member 1311 relative to the first base 131 may be different from the axis of the first power rope 1014. For example, the axis of rotation of the first guide member 1311 relative to the first base 131 may be in a different direction from the axis of the first power rope 1014; or, the axis of rotation of the first guide member 1311 relative to the first base 131 may be perpendicular to the axis of the first power rope 1014.

[0104] In some examples of embodiments of this application, a first guide member 1311 is provided and positioned between the first reel 1011a and the palm 11. Two first guide members 1311 are provided, arranged side-by-side along the axis of the first rotation shaft 1011, with the first power rope 1014 passing between them. Thus, when the first drive member 111 drives the first power rope 1014, the two first guide members 1311 can guide the first power rope 1014, ensuring it remains wound within the groove of the first reel 1011a. This improves the accuracy of the first power rope 1014 winding during bending and resetting of the first knuckle 101, ensuring the stability of the dexterous hand 10 in supporting complex and delicate operations.

[0105] In some examples, refer to Figure 4 As shown, a second driving member 112 may be provided on the palm 11. The power output end of the second driving member 112 may be connected to the first base 131 for transmission. The second driving member 112 may drive the first base 131 and the second rotating shaft 1012 to rotate.

[0106] In some examples, the second drive 112 may include a motor capable of both forward and reverse rotation. For example, the second drive 112 may include any one of a servo motor, a stepper motor, or a synchronous motor.

[0107] In some examples, the second drive unit 112 can be connected to the first base 131 via a transmission structure such as a gearbox or gearbox.

[0108] In some examples, the output shaft of the gearbox or transmission can be splined to the first base 131, thereby driving the first base 131 to swing relative to the palm 11.

[0109] Figure 5a This is another cross-sectional view of the dexterous hand provided in this application embodiment, along the palmar direction parallel to the palm.

[0110] In some examples, the palm 11 may be provided with a second worm gear 1121 and a second turbine gear 1122. The second turbine gear 1122 may mesh with the second worm gear 1121.

[0111] In some examples, the output of the second drive component 112 can be connected to the second worm gear 1121 via a gearbox, reducer, etc., and power is transmitted to the second worm gear 1121. The rotation of the second worm gear 1121 transmits power to the second turbine 1122.

[0112] In some examples, the shaft of the second turbine 1122 can be fixedly connected to the first base 131. For example, the shaft of the second turbine 1122 can be fixedly connected to the first base 131 by screws. Alternatively, the shaft of the second turbine 1122 can be fixedly connected to the first base 131 by splines, pins, interference fits, bonding, or welding.

[0113] In some examples, the second turbine 1122 transmits power to the first base 131 and drives the first base 131 to rotate, thereby enabling the fingers to swing relative to the palm 11.

[0114] In some examples of embodiments of this application, a second driving member 112 is provided on the palm 11, and the power output end of the second driving member 112 is connected to the first base 131 for transmission, thereby driving the first base 131 and the second rotating shaft 1012 to rotate. This facilitates the control of the rotation angle of the first base 131 via the second driving member 112, thereby controlling the swing angle of the second finger 13 relative to the palm 11, increasing the degree of freedom of movement of the second finger 13 relative to the palm 11, and facilitating the dexterous hand 10 to perform complex and precise operations.

[0115] In some examples, refer to Figure 2 and Figure 5 As shown, the dexterous hand 10 includes a second reset member 1013. One end of the second reset member 1013 can be connected to the first phalanx 101. The other end of the second reset member 1013 can be connected to the first base 131.

[0116] In some examples, the second reset member 1013 can be used to drive the first phalanx 101 to rotate relative to the palm 11 toward the side away from the palm. That is, the second reset member 1013 can drive the first phalanx 101 to rotate to an extended state relative to the palm 11.

[0117] In one application scenario of this application embodiment, using Figure 5 Let's take an example. When the first driving member 111 pulls the first power rope 1014 towards the palm 11, the first power rope 1014 tightens and drives the first reel 1011a to rotate. The rotation of the first reel 1011a drives the first rotating shaft 1011 to rotate, thereby causing the first knuckle 101 to move along... Figure 5 The first phalanx 101 rotates in the direction indicated by the middle arrow a, thereby causing the first phalanx 101 to perform a gripping action.

[0118] In some examples, along the first phalanx 101 Figure 5During the rotation in the direction indicated by the middle arrow a, the second reset member 1013 can store force. After the first knuckle 101 completes the gripping action, the first drive member 111 can move in the opposite direction. At this time, the force stored on the second reset member 1013 is released, causing the first knuckle 101 to rotate relative to the palm 11 in a direction away from the palm. At this time, the first rotating shaft 1011 drives the first spool 1011a to rotate, thereby winding the first power rope 1014 onto the first spool 1011a.

[0119] In some examples, the second reset element 1013 may include a torsion spring. The torsion spring may be located on the palm side of the first phalanx 101, with one end connected to the first phalanx 101 and the other end connected to the first base 131. It should be noted that the specific form of the second reset element 1013 in the embodiments of this application is not limited, and it may be a torsion spring, a tension spring, or other reset elements.

[0120] In some examples of embodiments of this application, a second reset member 1013 is provided on the first phalanx 101, with one end of the second reset member 1013 connected to the first phalanx 101 and the other end connected to the first base 131. Thus, when the first drive member 111 releases the first power cord 1014, the second reset member 1013 can drive the first phalanx 101 to rotate relative to the palm 11 for extended reset, eliminating the need for other active power sources and saving energy for the dexterous hand 10. This also reduces the overall volume of the first phalanx 101, facilitating complex and delicate operations by the dexterous hand 10.

[0121] In some examples, refer to Figure 5 As shown, the second reset member 1013 may include a tension spring. The tension spring may be located on the back of the hand side of the first knuckle 101. One end of the tension spring may be connected to the first base 131. The other end of the tension spring may be connected to the first knuckle 101.

[0122] In some examples, the end of the tension spring can be secured using bolts, screws, or threaded rods. This improves the stability of the tension spring connection and ensures the effectiveness of the tension spring in driving the first finger joint 101.

[0123] In some examples, the first rotation axis 1011 may be located on the side facing the palm 11 where the tension spring connects to the first base 131. That is, when the first knuckle 101 is in a straightened state (e.g., ... Figure 5 As shown in the state), along the extension direction of the first phalanx 101 (e.g. Figure 5 (As shown by the x-axis), the distance between the connection point of the tension spring and the first finger joint 101 and the first rotating shaft 1011 can be greater than the distance between the two ends of the tension spring. Thus, along the first finger joint 101... Figure 5When the spring rotates in the direction indicated by the middle arrow a, the position where the tension spring is connected to the first finger joint 101 rotates to below the first rotating shaft 1011. At this time, the distance between the two ends of the tension spring increases, thereby allowing the tension spring to store force.

[0124] In some examples of embodiments of this application, a tension spring is used as the second reset member 1013. The tension spring is positioned on the back side of the first knuckle 101. One end of the tension spring is connected to the first base 131, and the other end is connected to the first knuckle 101. Thus, during the rotation of the first knuckle 101 relative to the palm 11 while performing a gripping action, the tension spring can store force. When the first drive member 111 releases the first power rope 1014, the stored force of the tension spring is released, thereby driving the first knuckle 101 along... Figure 5 Rotation in the opposite direction indicated by the middle arrow a. By using a tension spring as the second reset element 1013, the second reset element 1013 can be positioned on the back of the hand side of the first phalanx 101, reducing the space occupied by the second reset element 1013 on the palm side of the first phalanx 101, thus facilitating complex and delicate operations by the first phalanx 101. This can improve the applicability of the dexterous hand 10.

[0125] In some examples, refer to Figure 5 As shown, two second reset members 1013 may be provided. The two second reset members 1013 may be arranged side by side on the back of the hand of the first phalanx 101. That is, the two second reset members 1013 may be arranged side by side along the axial direction of the first rotation axis 1011.

[0126] In some examples of embodiments of this application, by arranging two second reset members 1013 side by side on the back of the hand of the first phalanx 101, the two second reset members 1013 can provide a reset force to the first phalanx 101 in parallel. Thus, the reset forces provided by the two second reset members 1013 can be balanced axially along the first rotation axis 1011, ensuring that the first phalanx 101 is subjected to balanced forces axially along the first rotation axis 1011 during its rotation relative to the first base 131 via the first rotation; this improves the stability of the rotation of the first phalanx 101 and enhances the stability of the dexterous hand 10 in performing complex and precise operations.

[0127] In some examples, refer to Figures 2-5 As shown, the second finger 13 may include a second phalanx 102. The second phalanx 102 may be located at the end of the first phalanx 101 away from the back of the hand.

[0128] In some examples, the second finger 13 may include a third rotation axis 1021. The third rotation axis 1021 may be fixedly connected to the second phalanx 102. It is understood that in some examples of the embodiments of this application, the connection method between the third rotation axis 1021 and the second phalanx 102 may be the same as, similar to or similar to the connection method between the first phalanx 101 and the first rotation axis 1011 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated here.

[0129] In some examples, the third rotation axis 1021 may be rotatably connected to the first phalanx 101. The third rotation axis 1021 may be rotatably connected to the end of the first phalanx 101 away from the palm 11.

[0130] In some examples, refer to Figure 2 and Figure 3 As shown, a second thread pulley 1021a can be sleeved on the third rotating shaft 1021. The second thread pulley 1021a and the third rotating shaft 1021 can be fixedly connected in the circumferential direction of the third rotating shaft 1021. It is understood that the connection method between the second thread pulley 1021a and the third rotating shaft 1021 can be the same, similar, or analogous to the connection method between the first thread pulley 1011a and the first rotating shaft 1011 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application; further details will not be repeated in this embodiment.

[0131] In some examples, refer to Figure 3 As shown, a second power rope 1023 may be provided on the second reel 1021a. One end of the second power rope 1023 may be fixedly connected to the second reel 1021a, and the other end of the second power rope 1023 may extend toward the palm 11.

[0132] In some examples, the second reel 1021a is wound around the palm side of the third rotating shaft 1021 from the side opposite to the palm 11 and extends toward the palm 11.

[0133] It is understood that in some examples of the embodiments of this application, the connection method between the second power rope 1023 and the second reel 1021a may be the same as, similar to or similar to the connection method between the first power rope 1014 and the first reel 1011a 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 here.

[0134] In some examples, refer to Figure 4 As shown, the dexterous hand 10 may include a third drive member 113. The third drive member 113 may be disposed on the palm 11. The power output end of the third drive member 113 may be connected to the second power rope 1023 for transmission.

[0135] In other words, in some examples of the embodiments of this application, when the power output end of the third driving member 113 drives the second power rope 1023, the second power rope 1023 is tightened. At this time, the second power rope 1023 pulls the second spool 1021a to rotate. The rotation of the second spool 1021a drives the third rotating shaft 1021 to rotate, thereby driving the second finger joint 102 to rotate relative to the first finger joint 101.

[0136] In some examples, the output end of the third drive element 113 may be equipped with a fourth pulley. The other end of the second drive rope 1023 may be connected to the fourth pulley. For example... Figure 4 As shown, the fourth reel can be another winding reel 114.

[0137] It is understood that in some examples of the embodiments of this application, the type of the third driving component 113 may be the same as, similar to or similar to the type of the first driving component 111. For details, please refer to the detailed description of the first driving component 111 in the foregoing embodiments of this application. The embodiments of this application will not repeat the details.

[0138] In some examples of embodiments of this application, a third rotating shaft 1021 is rotatably arranged at the end of the first phalanx 101 away from the palm 11, and a second phalanx 102 is fixedly arranged on the third rotating shaft 1021. Additionally, a second spool 1021a is sleeved on the third rotating shaft 1021, and the second spool 1021a is fixed to the third rotating shaft 1021 along its axial direction. One end of a second power rope 1023 is fixedly connected to the second spool 1021a, and the second power rope 1023 extends towards the palm 11. The second power rope 1023 is connected to the power output end of the third driving member 113. In this way, the third drive unit 113 can be set on the palm 11, and the bending, gripping and opening of the third rotation shaft 1021 can be controlled by the second power rope 1023. Compared with the prior art (the drive motor is placed at the finger joints of the dexterous hand), the overall volume near the third rotation shaft 1021 can be reduced, which makes it easier for the third rotation shaft 1021 to perform complex and delicate operations, improves the ability of the dexterous hand 10 to perform complex and delicate operations, and expands the applicability of the dexterous hand 10.

[0139] In some examples, refer to Figure 3 As shown, a guide wheel 1011b may be provided on the first rotating shaft 1011. The guide wheel 1011b and the first thread wheel 1011a may be arranged side by side along the axial direction of the first rotating shaft 1011.

[0140] In some examples, the guide wheel 1011b is rotatably mounted on the first rotation axis 1011 around its circumference. That is, the guide wheel 1011b and the first rotation axis 1011 can rotate freely along their circumference. When the first rotation axis 1011 rotates, its rotation does not affect the guide wheel 1011b. Similarly, when the guide wheel 1011b rotates, its rotation does not affect the rotation of the first rotation axis 1011.

[0141] In some examples, a portion of the second power rope 1023 may be located on the peripheral wall of the guide wheel 1011b.

[0142] In some examples, the second power rope 1023 can pass through the first mounting hole of the first base 131 and is located on the peripheral wall of the guide wheel 1011b. That is, the guide wheel 1011b can tension the second power rope 1023, making it easier for the second power rope 1023 to pass around the first rotating shaft 1011 and avoiding interference between the second power rope 1023 and the first rotating shaft 1011.

[0143] In some examples, when the second power rope 1023 is tightened at the power output end of the third drive member 113, the second power rope 1023 can be tightened towards the palm 11. At this time, the movement of the second power rope 1023 drives the guide wheel 1011b to rotate. The rotation of the guide wheel 1011b does not affect the first rotating shaft 1011. The rotation of the guide wheel 1011b can guide the second power rope 1023, ensuring that the second power rope 1023 can always be wound around the second spool 1021a. The second power rope 1023 drives the second spool 1021a to rotate, thereby driving the third rotating shaft 1021 to rotate relative to the first knuckle 101.

[0144] In some examples of embodiments of this application, a guide wheel 1011b is provided on the first rotating shaft 1011, and the guide wheel 1011b is rotatably connected to the first rotating shaft 1011 along the circumference of the first rotating shaft 1011. Thus, at least a portion of the second power rope 1023 is located on the peripheral wall of the guide wheel 1011b. When the second power rope 1023 is driven by the third driving member 113, the guide wheel 1011b can guide the second power rope 1023, ensuring that the second power rope 1023 is always wound around the second spool, thereby improving the stability of the second power rope 1023 driving the third rotating shaft 1021.

[0145] In some examples, refer to Figures 2-5 As shown, the second finger 13 may include a third phalanx 103. The third phalanx 103 may be rotatably connected to the end of the second phalanx 102 away from the first phalanx 101.

[0146] In some examples, when the second phalanx 102 rotates relative to the first phalanx 101, the second phalanx 102 can drive the third phalanx 103 to rotate synchronously, and the third phalanx 103 can rotate relative to the second phalanx 102 under the synchronous rotational force.

[0147] In some examples, refer to Figure 2 and Figure 5 As shown, the dexterous hand 10 may include a drive link 14. (Refer to...) Figure 2 As shown, one end of the drive link 14 can be rotatably connected to the third phalanx 103. The other end of the drive link 14 can be rotatably connected to the first phalanx 101.

[0148] In some examples, the other end of the drive link 14 can be rotatably connected to the end of the first phalanx 101 facing the second phalanx 102. In this way, the length of the drive link 14 can be shortened, reducing the space occupied by the drive link 14 in the finger and reducing the overall volume of the finger.

[0149] In some examples, the rotational hinge point between the drive link 14 and the third knuckle 103 can be the first junction point. The first junction point can be located on the palm side of the third knuckle 103.

[0150] In some examples, the rotational hinge point between the drive link 14 and the first phalanx 101 can be a second hinge point 142. The second hinge point 142 can be located on the back of the hand. In this way, when the drive link 14 drives the third phalanx 103, it can be ensured that the drive link 14 drives the third phalanx 103 toward the palm side, ensuring the accuracy of the rotational bending direction of the third phalanx 103 and improving the accuracy of the dexterous hand 10 in performing grasping actions.

[0151] Figure 6 This is a schematic diagram of the topology of a dexterous hand drive linkage driving the third phalanx provided in some embodiments of this application.

[0152] In some examples, refer to Figure 6 As shown, Figure 6 The solid line in the middle shows a schematic diagram of the structure in which either the first finger 12 or the second finger 13 is in the unfolded state. Figure 6 The dotted line portion shows a schematic diagram of either the first finger 12 or the second finger 13 in a grasping state. For ease of explanation, the example of the first phalanx 101 remaining stationary can be used. (Refer to...) Figure 6 As shown, when the second phalanx 102 rotates relative to the first phalanx 101 (i.e., along...) Figure 6(Rotating in the direction indicated by arrow b) Since the third knuckle 103 is connected to the second knuckle 102, the second knuckle 102 drives the third knuckle 103 to rotate synchronously. On this basis, the drive link 14 also rotates, which reduces the distance between the first hinge point 141 and the second hinge point 142 along the extension direction of the first knuckle 101. At this time, the drive link 14 pulls the third knuckle 103 toward the palm through the first hinge point 141, so that the third knuckle 103 transitions to a bent and clenched state.

[0153] In some examples of embodiments of this application, a drive link 14 is provided, with one end of the drive link 14 rotatably connected to the third phalanx 103 and the other end of the drive link 14 rotatably connected to the first phalanx 101. Thus, during the rotation of the second phalanx 102 relative to the first phalanx 101, since the third phalanx 103 is connected to the second phalanx 102, the third phalanx 103 also rotates with the second phalanx 102. Furthermore, the drive link 104 also rotates, reducing the distance between the hinge points at both ends of the drive link 104 along the extension direction of either the first finger 12 or the second finger 13 in its unfolded state. This causes the drive link 14 to pull the third phalanx 103, so that the third phalanx 103, rotating synchronously with the second finger 13, is pulled by the drive link 14 to rotate relative to the second phalanx 102. The third phalanx 103 can be driven to rotate relative to the second phalanx 102 via the drive link 14, facilitating the execution of complex grasping actions by the dexterous hand 10. Furthermore, the absence of an additional power source at the joint between the third phalanx 103 and the second phalanx 102 simplifies the joint structure. This reduces the overall size of the dexterous hand 10, making it easier to perform precise and complex operations, improving its ability to perform complex movements with precision, and expanding its application range. It also extends the lifespan of the dexterous finger joints.

[0154] In some examples, refer to Figure 2 and Figure 5 As shown, the third phalanx 103 may be provided with a fourth rotating shaft 1031. The fourth rotating shaft 1031 may be rotatably connected to the second phalanx 102.

[0155] In some examples, the fourth rotating shaft 1031 may be configured in the same, similar, or analogous manner as the first rotating shaft 1011 and the third rotating shaft 1021. For details, please refer to the detailed description of the foregoing embodiments of this application. This will not be repeated in the embodiments of this application.

[0156] In some examples, with the third knuckle 103 in an extended state, the hinge point (i.e., the first junction point) between the drive link 14 and the third knuckle 103 can be located on the side of the fourth rotation axis 1031 away from the palm 11.

[0157] In some examples of embodiments of this application, a fourth rotation axis 1031 is provided on the third phalanx 103, and the fourth rotation axis 1031 is rotatably connected to the second phalanx 102. This facilitates the rotation of the third phalanx 103 relative to the second phalanx 102, making it easier for the dexterous hand 10 to perform complex and precise movements. When the third phalanx 103 is in an extended state, the hinge point between the drive link 14 and the third phalanx 103 is located on the side of the fourth rotation axis 1031 away from the palm 11. This facilitates the drive link 14 to pull the third phalanx 103 from the side of the fourth rotation axis 1031 away from the palm 11 to the side facing the palm 11; it also facilitates the third phalanx 103 to perform complex and precise operations, improving the dexterous hand 10's ability to perform complex and precise movements and expanding the application range of the dexterous hand 10.

[0158] In some examples, refer to Figure 2 and Figure 5 As shown, the dexterous hand may include a first reset member 1032. The first reset member 1032 can drive the third phalanx 103 to rotate relative to the second phalanx 102, so that the finger is in an extended state.

[0159] In some examples, one end of the first reset member 1032 may be connected to the second phalanx 102. The other end of the first reset member 1032 may be connected to the third phalanx 103.

[0160] In some examples, the first reset member 1032 may be the same as, similar to, or analogous to the second reset member 1013 described in detail in the foregoing embodiments of this application. For details, please refer to the detailed description in the foregoing embodiments of this application; further elaboration will not be repeated in the embodiments of this application. It should be noted that the specific form of the first reset member 1032 in the embodiments of this application is not limited; it may be a torsion spring, a tension spring, or other reset members.

[0161] In some examples, refer to Figure 2 and Figure 5 As shown, the first reset member 1032 may include a torsion spring. The torsion spring may be sleeved on the fourth rotating shaft 1031.

[0162] In some examples, one end of the torsion spring can be fixedly connected to the second knuckle 102. The other end of the torsion spring can be fixedly connected to the third knuckle 103.

[0163] In some examples, when the drive link 14 drives the third phalanx 103 to rotate relative to the second phalanx 102, the torsion spring can store force, and when the second phalanx 102 returns to its original extension relative to the first phalanx 101, the stored force of the torsion spring can be released, thereby driving the third phalanx 103 to rotate back to its original position relative to the second phalanx 102.

[0164] In some examples of embodiments of this application, the first reset member 1032 is set as a torsion spring, and the torsion spring is sleeved on the fourth rotation shaft 1031. One end of the torsion spring is fixedly connected to the second phalanx 102, and the other end of the torsion spring is fixed to the third phalanx 103. In this way, the torsion spring can be directly sleeved on the fourth rotation shaft 1031, which can reduce the space occupied by the first reset member 1032, reduce the volume of the rotation joint between the third phalanx 103 and the second phalanx 102, thereby reducing the overall volume of the dexterous hand 10. This facilitates the dexterous hand 10 in performing fine and complex operations, improves the dexterous hand 10's ability to perform fine operations on complex movements, and expands the application range of the dexterous hand 10.

[0165] In some examples, refer to Figure 2 and Figure 5 As shown, the second phalanx 102 may be provided with a first limiting part 1022.

[0166] In some examples, the first limiting part 1022 may be provided at the end of the second phalanx 102 facing the third phalanx 103.

[0167] In some examples, the first limiting part 1022 may be located on the side of the fourth rotation axis 1031 facing the palm 11.

[0168] In some examples, one end of the torsion spring may be confined to the first limiting part 1022.

[0169] Figure 7 yes Figure 5 A magnified view of a portion of point A in the middle.

[0170] In some examples, refer to Figure 5 and Figure 7 As shown, the third phalanx 103 may be provided with a second limiting part 1033. The other end of the torsion spring may be limited to the second limiting part 1033.

[0171] In some examples of embodiments of this application, by providing a first limiting part 1022 on the second phalanx 102 and limiting one end of the torsion spring to the first limiting part 1022, and by providing a second limiting part 1033 on the third phalanx 103 and limiting the other end of the torsion spring to the second limiting part 1033, the installation of the first reset member 1032 can be facilitated, and the installation and assembly efficiency of the dexterous hand 10 can be improved.

[0172] In some examples, refer to Figure 7 The first limiting part 1022 may have a limiting groove 1022a. The opening of the limiting groove 1022a may face the palm side.

[0173] In some examples, one end of the torsion spring can be inserted into the limiting groove 1022a and abut against the bottom wall of the limiting groove 1022a.

[0174] In some examples of embodiments of this application, a limiting groove 1022a is provided in the first limiting part 1022, and the opening of the limiting groove 1022a is set to face the palm side. When installing the torsion spring, one end of the torsion spring can be inserted into the limiting groove 1022a and abut against the bottom wall of the limiting groove 1022a. In this way, it is convenient for the torsion spring to cooperate with the limiting part, thereby improving the installation and assembly efficiency of the dexterous hand 10.

[0175] In some examples, refer to Figure 7 The second limiting part 1033 may include a limiting hole. The limiting hole may penetrate the side wall of the third finger joint 103. The other end of the torsion spring may pass through the limiting hole.

[0176] In some examples of embodiments of this application, the second limiting part 1033 is configured as a limiting hole penetrating the side wall of the third finger joint 103; the other end of the torsion spring passes through the limiting hole. In this way, the processing and forming of the second limiting part 1033 can be facilitated, and the installation and assembly of the torsion spring can be facilitated, thereby improving the installation and assembly efficiency of the dexterous hand 10.

[0177] Figure 8 This is a schematic diagram of the structure of the first finger in a dexterous hand provided in some embodiments of this application.

[0178] In some examples, the structure of the first finger 12 may be substantially the same as or similar to the structure of the second finger 13 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. This application only describes in detail the differences between the first finger 12 and the second finger 13.

[0179] In some examples, refer to Figure 8 As shown, the dexterous hand 10 may also include a second base 121. The second base 121 is disposed between the first finger 12 and the palm 11, and the second base 121 can be rotatably connected to the palm 11.

[0180] It is understood that in some examples of the embodiments of this application, the rotational connection between the second base 121 and the palm 11 may be the same as, similar to or similar to that of the first base 131. 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.

[0181] In some examples, refer to Figure 8 As shown, a second guide member 1211 may be provided on the second base 121. The first power rope 1014 of the first finger 12 may be wound around the periphery of the second guide member 1211.

[0182] In some examples, the second guide 1211 may include either the winding wheel 114 or a bearing.

[0183] In some examples, a third guide 1212 may be provided on the second base 121. The third guide 1212 may be offset from the second guide 1211. The second power rope 1023 of the first finger 12 may be wound around the periphery of the third guide 1212.

[0184] It is understood that in some examples of the embodiments of this application, the type of the third guide member 1212 may be the same as, similar to or similar to that of the second guide member 1211. For details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated here. It should be noted that the first power rope 1014 and the second power rope 1023 of the first finger 12 may have the same winding method and working principle as the first power rope 1014 and the second power rope 1023 of the second finger 13 described in the foregoing embodiments.

[0185] In some examples of embodiments of this application, a second base 121 is provided on the dexterous hand 10. The second base 121 is connected to the first phalanx 101 of the first finger 12 and is rotatably connected to the palm 11. Thus, the rotation of the second base 121 relative to the palm 11 can drive the entire first finger 12 to swing relative to the palm 11. A second guide 1211 and a third guide 1212 are provided on the second base 121. The first power rope 1014 of the first finger 12 is wound around the peripheral wall of the second guide 1211, and the second power rope 1023 of the first finger 12 is wound around the peripheral wall of the third guide 1212. In this way, the first power rope 1014 and the second power rope 1023 can be guided separately by the second guide 1211 and the third guide 1212, respectively, which facilitates the individual control of the extension of the first finger 12, improves the flexibility of the first finger 12, enhances the dexterity of the hand 10 in performing complex movements, and expands the application range of the dexterity of the hand 10.

[0186] In some examples, at least a portion of the first phalanx 101 is less brittle than the first base 131.

[0187] In some examples, the brittleness of the first phalanx 101 and the first base 131 can be tested by mechanical property testing methods, such as impact testing, tensile testing or bending testing.

[0188] In some examples, the brittleness of the first phalanx 101 and the first base 131 can be tested using the Duan Lei toughness test.

[0189] In some examples, the brittleness of the first phalanx 101 and the first base 131 can be tested using methods such as hardness testing or microstructure analysis.

[0190] It is understood that in the embodiments of this application, the brittleness test methods of the first phalanx 101 and the first base 131 are only shown as some specific examples and are not specific limitations on the brittleness test.

[0191] In some examples of embodiments of this application, the brittleness of at least a portion of the first phalanx 101 is set to be less than that of the first base 131. Thus, in the event of an impact to the first finger 12 or the second finger 13, the finger can break at the first phalanx 101, reducing the force transmitted to the first base 131. This effectively protects the transmission structure connected to the first base 131 and the first drive member 111, second drive member 112, and third drive member 113. This ensures the safety of the transmission structure and the first drive member 111, second drive member 112, and third drive member 113, reducing losses in the event of a collision with the dexterous hand 10.

[0192] On the other hand, embodiments of this application provide a robot, including the dexterous hand 10 provided in the foregoing embodiments of this application.

[0193] It should be noted that the robot provided in this application embodiment has the same or corresponding technical features as the dexterous hand provided in the foregoing embodiments of this application. Therefore, the robot provided in this application embodiment and the dexterous hand 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. This application embodiment will not repeat the details.

[0194] 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.

[0195] 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; as well as The fingers are movably connected to the palm; The finger includes a first phalanx, a second phalanx, and a third phalanx. The first phalanx is rotatably connected to the palm, the second phalanx is rotatably connected to the end of the first phalanx away from the palm, and the third phalanx is rotatably connected to the end of the second phalanx away from the first phalanx. A drive link, one end of which is rotatably connected to the third phalanx, and the other end of which is rotatably connected to the first phalanx; When the second phalanx rotates relative to the first phalanx, the third phalanx rotates synchronously and, driven by the drive linkage, rotates relative to the second phalanx.

2. The dexterous hand according to claim 1, characterized in that, The first phalanx is rotatably connected to the palm via a first rotating shaft; the second phalanx is rotatably connected to the end of the first phalanx away from the palm via a third rotating shaft. The third phalanx is rotatably connected to the second phalanx via a fourth rotating shaft; With the third phalanx extended, the hinge point between the drive link and the third phalanx is located on the side of the fourth rotation axis away from the palm.

3. The dexterous hand according to claim 2, characterized in that, It also includes a first reset member, which is used to drive the third phalanx to rotate relative to the second phalanx so that the finger is in an extended state.

4. The dexterous hand according to claim 3, characterized in that, The first reset component includes a torsion spring, which is sleeved on the fourth rotating shaft; one end of the torsion spring is fixedly connected to the second finger joint, and the other end of the torsion spring is fixedly connected to the third finger joint.

5. The dexterous hand according to claim 4, characterized in that, The second phalanx is provided with a first limiting part, and one end of the torsion spring is limited to the first limiting part; The third finger joint is provided with a second limiting part, and the other end of the torsion spring is limited to the second limiting part.

6. The dexterous hand according to claim 5, characterized in that, The first limiting part has a limiting groove, the opening of the limiting groove facing the palm side, one end of the torsion spring is inserted into the limiting groove and abuts against the bottom wall of the limiting groove; and / or The second limiting part includes a limiting hole that penetrates the side wall of the third finger joint, and the other end of the torsion spring passes through the limiting hole.

7. The dexterous hand according to any one of claims 2-6, characterized in that, The first knuckle is fixedly connected to the first rotating shaft, and the first rotating shaft is rotatably connected to the palm; a first spool is sleeved on the first rotating shaft, and the first spool is fixed to the first rotating shaft in the circumferential direction; a first power rope is wound on the first spool, one end of the first power rope is fixedly connected to the first spool, and the other end of the first power rope extends toward the palm; The palm is provided with a first driving component, and the output end of the first driving component is provided with a third pulley. The other end of the first power rope is connected to the third pulley.

8. The dexterous hand according to claim 7, characterized in that, The second phalanx is fixedly connected to the third rotating shaft; the third rotating shaft is rotatably connected to the first phalanx. A second spool is fitted onto the third rotating shaft, and the second spool is fixed to the third rotating shaft in the circumferential direction. A second power rope is provided on the second spool, one end of which is fixedly connected to the second spool, and the other end of which extends toward the palm. The palm is provided with a third driving component, and the output end of the third driving component is provided with a fourth spool. The other end of the second power rope is connected to the fourth spool.

9. The dexterous hand according to any one of claims 1-6, characterized in that, The other end of the drive linkage is rotatably connected to the end of the first phalanx facing the second phalanx; And / or, The rotational hinge point between the drive link and the third phalanx is located on the palm side, and the rotational hinge point between the drive link and the first phalanx is located on the back side of the hand.

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

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