Dexterous hand and robot

Abstract

The utility model provides a kind of dexterous hand and robot, dexterous hand includes palm and multiple fingers, finger includes: fingertip;Knuckle, one end of knuckle is connected with fingertip, the other end of knuckle is connected with palm;First joint module, first joint module can be used to connect fingertip and knuckle, first joint module includes first motor, first transmission component and torque monitoring component, first transmission component has input and output;Wherein, the output shaft of first motor and the input of first transmission component transmission connection, torque monitoring component is set to the position of output, and with output transmission connection.Torque monitoring component is arranged in the output of first transmission component along transmission path and with output transmission connection, can directly collect after the real output torque of joint of multistage transmission, substantially eliminate torque loss and detection deviation caused by transmission loss, improve the accuracy of dexterous hand finger joint torque detection, improve the reliability of man-machine interaction.

Description

Technical Field

[0001] This utility model belongs to the field of bionic robot technology, specifically relating to a dexterous hand and a robot. Background Technology

[0002] Bionic dexterous hands rely on finger joints to perform delicate operations such as gripping. Joint torque detection is the core foundation for achieving compliant force control and adaptive grasping. Existing dexterous hands typically place torque sensors at the high-speed input end between the motor and gear transmission components. These sensors can only collect the raw torque output from the motor and cannot distinguish between torque losses caused by gear meshing friction, bearing wear, and tooth backlash. Furthermore, the torque from the motor end is amplified through multiple gear stages, simultaneously amplifying transmission errors and friction losses. This results in a significant deviation from the final calculated true joint output torque, easily leading to problems such as crushing or breaking workpieces, slippage during gripping, and force control vibration during the grasping process. Utility Model Content

[0003] This invention provides a dexterous hand and robot to solve the problem of large joint torque detection errors.

[0004] To solve the above-mentioned technical problems, this utility model is implemented as follows: In a first aspect, embodiments of this application provide a dexterous hand, the dexterous hand comprising a palm and multiple fingers, the fingers including: fingertip; A knuckle, one end of which is connected to the fingertip, and the other end of which is connected to the palm; A first joint module, which can be used to connect the fingertip and the knuckle, includes a first motor, a first transmission component and a torque monitoring component, wherein the first transmission component has an input end and an output end. The output shaft of the first motor is connected to the input end of the first transmission component, and the torque monitoring component is located at the output end and is connected to the output end.

[0005] Optionally, the torque monitoring component includes a torque sensor, which is fixedly connected to the output end of the first transmission component along the rotation axis direction of the output end of the first transmission component; or, The torque monitoring component includes a torque sensor and a transmission component. The transmission component is connected to the output end of the first transmission component, and the torque sensor is fixedly connected to the transmission component.

[0006] Optionally, the first transmission assembly includes at least: a first gear, a second gear, a third gear, a fourth gear, a fifth gear, and a sixth gear; The first gear is the input end of the first transmission assembly, the output end of the first motor is fixedly connected to the first gear, the first gear meshes with the second gear, the second gear meshes with the third gear, the third gear meshes with the fourth gear, the fourth gear meshes with the fifth gear, the fifth gear meshes with the sixth gear, and the sixth gear is the output end of the first transmission assembly; Along the radial direction of the output shaft of the first motor, the fifth gear is disposed between the first motor and the sixth gear, and the fifth gear is disposed between the fourth gear and the first motor.

[0007] Optionally, the third gear and the fifth gear are coaxially arranged; and / or, The fourth gear and the sixth gear are coaxially arranged; and / or, At least one of the second gear, the third gear, the fourth gear, and the fifth gear is a double gear, wherein the small gear of one double gear meshes with the large gear of the other double gear.

[0008] Optionally, the transmission ratio from the first gear to the sixth gear ranges from 150 to 260, and / or the module of the first gear, the second gear, the third gear, the fourth gear, the fifth gear, and the sixth gear ranges from 0.2 to 0.35, and / or the number of teeth of the first gear, the second gear, the third gear, the fourth gear, the fifth gear, and the sixth gear ranges from 10 to 50.

[0009] Optionally, the first joint module further includes an angle sensor; Along the radial direction of the output shaft of the first motor, the angle sensor is disposed within the gap between the first motor and the transmission assembly, and the angle sensor is used to obtain the rotation angle of a gear in the transmission assembly.

[0010] Optionally, the dexterous hand further includes a second joint module, which can be used to connect the knuckles to the palm; The second joint module includes: a second motor, a third motor, a second transmission assembly, a third transmission assembly, and a differential; The output shaft of the second motor is connected to the input end of the second transmission component, the output shaft of the third motor is connected to the input end of the third transmission component, and the differential is connected to the output ends of the second transmission component and the third transmission component, respectively.

[0011] Optionally, along the axial direction of the second motor, the second transmission assembly and the third transmission assembly at least partially overlap.

[0012] Optionally, along the axial direction of the second motor, at least a portion of the gears in the second transmission assembly do not extend beyond the end of the second motor; and / or, Along the axial direction of the third motor, at least a portion of the gears in the third transmission assembly do not extend beyond the end of the third motor; and / or, The second motor is parallel to the axis of the third motor, and along the radial direction of the second motor, the second motor and the third motor at least partially overlap.

[0013] Secondly, embodiments of this application provide a robot, which includes the dexterous hand described in any of the preceding claims.

[0014] In this embodiment, the torque monitoring component is arranged along the transmission path at the output end of the first transmission component and is connected to the output end for transmission. It can directly collect the actual output torque of the joint after multiple stages of transmission, eliminate torque loss caused by gear friction, bearing resistance, and backlash at each stage, basically eliminate the detection offset caused by transmission loss, improve the accuracy of torque detection of finger joints in dexterous hands, and enhance the reliability of human-computer interaction. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a first joint module in a dexterous hand provided in an embodiment of this application; Figure 2 This is an embodiment of the present application. Figure 1 Another schematic diagram of the first joint module; Figure 3 This is an embodiment of the present application. Figure 1 Another schematic diagram of the first joint module; Figure 4 This is an embodiment of the present application. Figure 3 A schematic diagram of the first joint module along direction A; Figure 5 This is a schematic diagram of another first joint module in the dexterous hand provided in the embodiments of this application; Figure 6 This is an embodiment of the present application. Figure 5 Another schematic diagram of the first joint module; Figure 7 This is an embodiment of the present application. Figure 5 Another schematic diagram of the first joint module; Figure 8 This is an embodiment of the present application. Figure 7 A schematic diagram of the first joint module along direction B; Figure 9 This is a schematic diagram of a second joint module in a dexterous hand provided in an embodiment of this application; Figure 10 This is an embodiment of the present application. Figure 9 Another schematic diagram of the second joint module; Figure 11 This is an embodiment of the present application. Figure 9 Another schematic diagram of the second joint module; Figure 12 This is an embodiment of the present application. Figure 9 Another schematic diagram of the second joint module; Figure 13 This is an embodiment of the present application. Figure 9 Side view of the second joint module; Figure 14 This is an embodiment of the present application. Figure 13 A schematic diagram of the second joint module along the C direction; Figure 15 This is an embodiment of the present application. Figure 14 A schematic diagram of the second joint module along the D direction.

[0017] Explanation of reference numerals in the attached figures: 10. First joint module; 101. First motor; 102. First transmission assembly; 1021. First gear; 1022. Second gear; 1023. Third gear; 1024. Fourth gear; 1025. Fifth gear; 1026. Sixth gear; 103. Torque monitoring assembly; 1031. Torque sensor; 20. Second joint module; 201. Second motor; 202. Third motor; 203. Second transmission assembly; 2031. Seventh gear ; 2032, Eighth gear; 2033, Ninth gear; 2034, Tenth gear; 2035, Eleventh gear; 2036, Twelfth gear; 2037, First bevel gear; 204, Third transmission assembly; 2041, Thirteenth gear; 2042, Fourteenth gear; 2043, Fifteenth gear; 2044, Sixteenth gear; 2045, Seventeenth gear; 2046, Eighteenth gear; 2047, Second bevel gear; 205, Differential. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0019] The terms "first," "second," etc., used in the specification and claims of this utility model are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this utility model can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings, through specific examples and application scenarios.

[0021] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 This application provides a dexterous hand, which includes a palm and multiple fingers. Each finger includes: a fingertip; a knuckle, one end of which is connected to the fingertip and the other end of which is connected to the palm; and a first joint module 10, which is used to connect the fingertip and the knuckle. The first joint module 10 includes a first motor 101, a first transmission component 102, and a torque monitoring component 103. The first transmission component 102 has an input end and an output end. The output shaft of the first motor 101 is connected to the input end of the first transmission component 102, and the torque monitoring component 103 is located at the output end and is connected to the output end.

[0022] A dexterous hand is a biomimetic robot's mechanical hand, consisting of a palm and multiple fingers, capable of mimicking the human hand to perform fine operations such as grasping and pinching. The palm serves as the mounting base for the fingers, supporting all the fingers and acting as the overall support structure. Each finger includes a knuckle and a fingertip. The fingertip is the very tip of the finger, directly contacting the object and serving as the primary contact and gripping surface. The knuckle is the middle section of the finger, connecting the fingertip to the palm and transmitting power.

[0023] The first joint module 10 enables the bending or extending motion of the fingertip relative to the knuckle. It includes: a first motor 101 providing rotational driving force, a first transmission component 102 transmitting power, and a torque monitoring component 103 detecting the joint's output torque. The first transmission component 102 has an input end and an output end. The input end is connected to the output shaft of the motor to receive motor power, and the output end outputs torque to drive the fingertip to swing. The first transmission component 102 amplifies the motor's output torque. The torque monitoring component is connected to the output end of the first transmission component 102, enabling real-time detection of the joint's output torque.

[0024] If the torque monitoring component 103 is located at the input end of the motor, motor friction, transmission pair wear, and reducer clearance friction will all be included in the measurement value, making it impossible to obtain the true load torque acting on the fingertip. In this application, the torque monitoring component 103 is located at the output end of the transmission component, on the side closer to the fingertip. The measured torque is the effective torque actually output by the fingertip, which can eliminate internal friction losses in the transmission mechanism. The torque measurement result is accurate and truly reflects the contact force between the fingertip and the object. Based on real-time fingertip torque data, the control system can calculate the fingertip contact force, which can prevent the object from being damaged due to excessive force when grasping fragile items. When the fingertip accidentally encounters an obstacle, the torque monitoring component 103 can collect the signal and transmit the signal to the controller and other components to realize actions such as rebound and avoidance, improving the reliability of human-machine interaction of the dexterous hand. Continuous monitoring of joint output torque can identify abnormal loads, such as jamming, sticking, transmission failure, and other fault conditions, facilitating online fault detection and improving the reliability of dexterous hand operation. In addition, the torque monitoring component 103 is located at the output end of the first transmission component 102, which can reduce wiring and is conducive to the miniaturization of the dexterous hand.

[0025] Some fingers have only one phalanx, called the first phalanx. In this case, one end of the first phalanx is connected to the fingertip, and the other end is connected to the palm. Other fingers have two phalanxes, namely the first phalanx and the second phalanx. One end of the first phalanx is connected to the fingertip through a first joint module 10, and the other end is connected to the second phalanx. One end of the second phalanx is connected to the first phalanx through a first joint module 10, and the other end is connected to the palm. The specific transmission route of the first transmission component 102 in the first joint module 10 within the first and second phalanxes can be set according to actual needs.

[0026] Regardless of the number of knuckles in a finger, the torque monitoring component 103 is arranged along the transmission path at the output end of the first transmission component 102 and is connected to the output end for transmission. It can directly collect the actual output torque of the joint after multiple stages of transmission, eliminate torque loss caused by gear friction, bearing resistance, and backlash at each stage, basically eliminate the detection offset caused by transmission loss, and improve the accuracy of torque detection.

[0027] Optionally, refer to Figure 3 In some embodiments, the torque monitoring component 103 includes a torque sensor 1031, which is fixedly connected to the output end of the first transmission component 102 along the rotation axis direction of the output end. In some embodiments, the torque monitoring component 103 includes a torque sensor 1031 and a transmission member, the transmission member being drively connected to the output end of the first transmission component 102, and the torque sensor 1031 being fixedly connected to the transmission member.

[0028] When the torque sensor 1031 is fixedly connected to the output end of the first transmission component 102, there are fewer parts, the structure is more compact, and it occupies less axial space, making it suitable for micro joints with extremely limited internal space in the fingertips. It can reduce connecting parts and reduce transmission clearance and friction loss. When the transmission component is connected to the output end of the first transmission component 102 and the torque sensor 1031 is fixedly connected to the transmission component, this setting has the ability to adjust the installation position. When the size of the output end mounting surface and the spatial layout do not allow the sensor to be directly connected, the position of the torque sensor 1031 can be flexibly adjusted by relying on the transmission component to avoid interference from surrounding cables, housings, and adjacent structures. At the same time, the sensor mounting interface can be standardized, reducing the difficulty of parts processing.

[0029] Whether directly fixed or rigidly connected via transmission components, the torque sensor 1031 is connected in series in the load transmission path. Power must pass through the sensor before being transmitted to the fingertip. During the transmission process, all the load torque borne by the fingertip can be completely transmitted to the torque sensor 1031, ensuring that the collected torque is the actual contact of the fingertip with the load and improving the accuracy of torque measurement.

[0030] Optionally, refer to Figure 3 , Figure 7 The first transmission assembly 102 includes at least: a first gear 1021, a second gear 1022, a third gear 1023, a fourth gear 1024, a fifth gear 1025, and a sixth gear 1026; the first gear 1021 is the input end of the first transmission assembly 102, the output end of the first motor 101 is fixedly connected to the first gear 1021, the first gear 1021 meshes with the second gear 1022, the second gear 1022 meshes with the third gear 1023, the third gear 1023 meshes with the fourth gear 1024, the fourth gear 1024 meshes with the fifth gear 1025, the fifth gear 1025 meshes with the sixth gear 1026, and the sixth gear 1026 is the output end of the first transmission assembly 102; along the radial direction of the output shaft of the first motor 101, the fifth gear 1025 is disposed between the first motor 101 and the sixth gear 1026, and the fifth gear 1025 is disposed between the fourth gear 1024 and the first motor 101.

[0031] The first transmission component 102 adopts a multi-stage gear transmission structure formed by the sequential meshing of six gears. The first gear 1021 is the input end that receives the power from the motor and transmits it to the sixth gear 1026 through sequential meshing. The sixth gear 1026 is the output end that outputs power outward. The multi-stage gear transmission can achieve a large reduction ratio and amplify the output torque of the first motor 101. Under the premise of selecting a small-volume, low-torque micro motor, it meets the clamping driving force required by the fingertip joint, which is conducive to reducing the overall size of the joint and adapting to the narrow built-in installation space of the dexterous fingertip. The gear transmission has high rigidity and controllable transmission clearance, reducing the interference of transmission elastic deformation on torque detection. Meanwhile, the fifth gear 1025 is radially positioned between the first motor 101 and the sixth gear 1026, and between the fourth gear 1024 and the first motor 101, along the output shaft of the motor. By constraining the position of the fifth gear 1025, the radial positions of each gear are rationally arranged, so that each gear is staggered and stored in the gap area between the outer side of the motor and the output end, forming a "Z"-shaped folded arrangement. This makes full use of the radially unused space inside the joint and avoids the excessive axial length of the joint caused by all gears being arranged in series along the axial direction. It effectively compresses the overall axial dimension of the first joint module 10, realizing the miniaturization and biomimetic design of the fingertip joint, making the shape of the dexterous hand's fingers closer to the size of the human hand.

[0032] Optionally, refer to Figure 3 , Figure 7 In some embodiments, the third gear 1023 and the fifth gear 1025 are coaxially arranged. This avoids the shift in the module's center of gravity caused by the accumulation of gears on one side, and also shortens the radial space occupied by the power transmission path. It better matches the layout of "the fifth gear 1025 being located between the motor and the sixth gear 1026", preventing interference between the gears and the motor housing.

[0033] In some embodiments, the fourth gear 1024 and the sixth gear 1026 are coaxially arranged. By directly arranging the torque monitoring component 103 on this coaxial shaft, the power output path is straighter, the torque transmission is more direct, torsional losses are further reduced, and the measurement accuracy of the output torque sensor 1031 is ensured.

[0034] Optionally, refer to Figure 3 , Figure 7 At least one of the second gear 1022, the third gear 1023, the fourth gear 1024 and the fifth gear 1025 is a double gear, in which the small gear of one double gear meshes with the large gear of the other double gear.

[0035] The transmission logic of the double gear system is as follows: the large gear receives power from the upper stage and outputs power through the coaxial small gear, which meshes with the large gear of the next stage double gear, thus achieving progressive speed reduction and torque increase. Utilizing the meshing structure of the large and small teeth of the double gear system, a single shaft can complete one stage of speed reduction; compared to simple single-gear meshing transmission, no additional shaft or bearings are needed to achieve speed reduction. Within the confined space of the fingertip joint, without significantly increasing the axial and radial dimensions of the module, a larger overall reduction ratio is achieved, continuously amplifying the motor's output torque. Smaller micro-motors can be used, facilitating miniaturization and weight reduction of dexterous fingertips.

[0036] At least one of the second gear 1022, the third gear 1023, the fourth gear 1024, and the fifth gear 1025 is configured as a double gear, with adjacent double gears transmitting power through meshing of a small gear and a large gear. This structure can achieve multi-stage reduction and torque increase without significantly increasing the space occupied by the joint, allowing for the use of a small drive motor and facilitating lightweight design of the fingertip joint. The coaxial connection of the large and small gears in the double gear configuration eliminates the relative rotational backlash between the paired gears, reduces the total backlash of the transmission chain, improves the accuracy of fingertip position control, and weakens the adverse effects of backlash disturbances on the torque monitoring signal, optimizing force control. This transmission method also facilitates matching with the predetermined gear space layout within the joint, avoiding structural interference; the meshing method of the small gear driving the large gear balances the tooth surface load, reduces gear wear, and extends the service life of the mechanism; and the transmission ratio can be adjusted simply by replacing different specifications of the double gears, facilitating rapid adaptation to different gripping conditions.

[0037] Optionally, refer to Figure 3 , Figure 7 The second gear 1022, the third gear 1023, the fourth gear 1024, and the fifth gear 1025 are all double gears; the large gears of the first gear 1021 and the second gear 1022 mesh, the small gear of the second gear 1022 meshes with the large gear of the third gear 1023, the small gear of the third gear 1023 meshes with the large gear of the fourth gear 1024, the small gear of the fourth gear 1024 meshes with the large gear of the fifth gear 1025, and the small gear of the fifth gear 1025 meshes with the sixth gear 1026.

[0038] By relying on multiple sets of double gears that sequentially mesh with larger gears to reduce speed step by step, multi-stage speed reduction and torque amplification can be achieved within the limited internal space of the fingertip joint without the need for additional shafts or increased module volume. Therefore, smaller and lower-power micro motors can be selected, significantly reducing the overall size and weight of the first joint module 10, adapting to the narrow installation space of the delicate fingertip, and facilitating the realization of a biomimetic miniaturized finger structure.

[0039] In a double-gear transmission, the large and small gears are rigidly connected to the same shaft, eliminating relative rotational clearance. The only clearance in the entire transmission chain exists at the meshing points of adjacent gears. Compared to transmission schemes using numerous independent single gears, this significantly reduces sources of clearance and lowers the overall transmission backlash. Power is gradually reduced and torque is increased, resulting in a smooth increase in load torque, preventing the final gear from suddenly experiencing massive impact loads. The small gear driving the large gear effectively distributes tooth surface contact stress, reducing the risk of gear wear, pitting, and tooth breakage. When a dexterous hand grasps an object and an impact occurs, the load is buffered in stages, enhancing the transmission mechanism's impact resistance and improving reliability during long-term reciprocating operations.

[0040] The reduction ratio at each stage is determined by the ratio of the number of teeth of the large and small gears in each set of double gears. Any set of double gears can be replaced individually to adjust the reduction ratio of a single stage. Without changing the installation position of the shaft or the joint housing, the overall transmission ratio of the entire transmission system can be flexibly adjusted to quickly adapt to different working conditions such as light-load fine operation and heavy-load stable clamping, thereby reducing the cost of modification.

[0041] Optionally, the transmission ratio of the first gear 1021 to the sixth gear 1026 ranges from 150 to 260, and / or the module of the first gear 1021, the second gear 1022, the third gear 1023, the fourth gear 1024, the fifth gear 1025, and the sixth gear 1026 ranges from 0.2 to 0.35, and / or the number of teeth of the first gear 1021, the second gear 1022, the third gear 1023, the fourth gear 1024, the fifth gear 1025, and the sixth gear 1026 ranges from 10 to 50.

[0042] The total transmission ratio of gears 1021 to 1026 is limited to 150 to 260. This ensures sufficient output torque when using a micro-drive motor, while avoiding response lag and reduced transmission efficiency caused by an excessively large transmission ratio. It balances fingertip gripping force and action response speed. The gear module is selected from 0.2 to 0.35. This ensures sufficient mechanical strength of the gear teeth and avoids the risk of tooth breakage while controlling the gear outer diameter and achieving a compact joint arrangement. The number of teeth on each gear is set from 10 to 50. This prevents undercutting caused by an excessively low number of teeth, improving gear durability. It also limits the maximum outer diameter of the gears, ensuring sufficient space inside the module to accommodate angle sensors, torque monitoring components 103, and wiring. At the same time, it allows for flexible matching of the tooth ratio of each stage of double gears, balancing the transmission load at each stage, making gear meshing smooth, reducing vibration and noise, and reducing sensor signal interference. Combined with position and torque dual closed-loop control, this further improves the stability of dexterous hand precision operation.

[0043] In the first joint module 10 connected to the first phalanx, the total transmission ratio of the first gear 1021 to the sixth gear 1026 is 150 to 200, which can be 150, 155, 160, 180, 200, etc.; in the first joint module 10 connected to the second phalanx, the total transmission ratio of the first gear 1021 to the sixth gear 1026 is 200 to 260, which can be 200, 210, 220, 230, 240, 250, 260, etc. The transmission ratio of the first joint module 10 connected to the first phalanx is set to be relatively small, while a larger transmission ratio is used in the first joint module 10 connected to the second phalanx. Compared to the first joint module 10 connected to the first phalanx, it can amplify the output torque of the joint, improve the overall grip load capacity and joint stiffness of the finger, and adapt to the force conditions of bearing two levels of finger joint load; the first joint module 10 connected to the first phalanx adopts a relatively smaller transmission ratio, which improves the motion response speed of the fingertip joint and reduces the motion inertia of the fingertip under the condition that the load torque of the first joint module 10 connected to the first phalanx is small, which is conducive to completing the fine pinching operation of the fingertip; at the same time, it adapts to the narrow internal installation space of the fingertip of the first phalanx, reduces the number of gear stages, and is conducive to realizing the miniaturized bionic design of the finger, making the finger movement characteristics closer to the real movement law of the human hand.

[0044] For example, in one embodiment, the specific data of each gear in the first joint module 10 connected to the first phalanx are as follows: the first gear 1021 has 14 teeth, the second gear 1022 has 39 teeth on its large gear and 15 teeth on its small gear, the third gear 1023 has 34 teeth on its large gear and 12 teeth on its small gear, the fourth gear 1024 has 42 teeth on its large gear and 15 teeth on its small gear, and the fifth gear 1025 has 36 teeth on its large gear and 15 teeth on its small gear. The first gear has 13 teeth, and the sixth gear 1026 has 38 teeth. The transmission ratio of the first gear 1021 and the second gear 1022 is 2.79, the transmission ratio of the second gear 1022 and the third gear 1023 is 2.27, the transmission ratio of the third gear 1023 and the fourth gear 1024 is 3.5, the transmission ratio of the fourth gear 1024 and the fifth gear 1025 is 2.4, and the transmission ratio of the fifth gear 1025 and the sixth gear 1026 is 2.92. The total transmission ratio from the first gear 1021 to the sixth gear 1026 is approximately 155. The module of each gear is selected as 0.2 or 0.25. In the first joint module 10 connecting to the second phalanx, the specific data of each gear are as follows: the first gear 1021 has 12 teeth; the second gear 1022 has 39 large gear teeth and 16 small gear teeth; the third gear 1023 has 47 large gear teeth and 12 small gear teeth; the fourth gear 1024 has 41 large gear teeth and 13 small gear teeth; the fifth gear 1025 has 38 large gear teeth and 14 small gear teeth; the sixth gear... Gear 1026 has 37 teeth; the transmission ratio of the first gear 1021 and the second gear 1022 is 3.25, the transmission ratio of the second gear 1022 and the third gear 1023 is 2.94, the transmission ratio of the third gear 1023 and the fourth gear 1024 is 3.42, the transmission ratio of the fourth gear 1024 and the fifth gear 1025 is 2.92, and the transmission ratio of the fifth gear 1025 and the sixth gear 1026 is 2.64. The total transmission ratio from the first gear 1021 to the sixth gear 1026 is approximately 252; the module of each gear is selected as 0.25 or 0.3.

[0045] Optionally, refer to Figure 3 and Figure 7 The line connecting the radial center of the first gear 1021 and the radial center of the second gear 1022 forms a first angle α with the line connecting the radial center of the second gear 1022 and the radial center of the third gear 1023; the line connecting the radial center of the second gear 1022 and the radial center of the third gear 1023 forms a second angle β with the line connecting the radial center of the third gear 1023 and the radial center of the fourth gear 1024. (Reference) Figure 7In the first joint module 10 connected to the first phalanx, the first included angle α ranges from 125° to 145°, and the second included angle β ranges from 100° to 120°. For example, the first included angle α can be 125°, 130°, 135°, 140°, 145°, etc., and the second included angle β can be 100°, 105°, 110°, 115°, 120°, etc.; Reference Figure 3 In the first joint module 10 connected to the second phalanx, the range of the first included angle α is 150° to 170°, and the range of the second included angle β is 160° to 180°. For example, the first included angle α can be 150°, 155°, 150°, 165°, 170°, etc., and the second included angle β can be 160°, 165°, 170°, 175°, 180°, etc.

[0046] The first joint module corresponding to the first phalanx near the fingertip has a first included angle α set to 125° to 145° and a second included angle β set to 100° to 120°, so that the center line connecting the multi-stage gears forms a distinct bend, which is suitable for the narrow and biomimetic curved inner cavity space of the first phalanx. The multi-stage gears are arranged in a meandering manner along the contour of the phalanx to avoid spatial interference between gears, which is conducive to the miniaturization of the fingertip structure. At the same time, the bend arrangement can partially offset the radial force of gear meshing, reduce the load on the shaft and bearing, reduce vibration and jitter during the operation of the fingertip, and also reserve assembly gaps for torque monitoring components and angle sensors. The first joint module corresponding to the second phalanx closest to the palm has a first included angle α set to 150° to 170° and a second included angle β set to 160° to 180°. The center line of the gears is arranged in a near-straight line, resulting in a smooth transmission path, reduced transmission losses in multi-stage gears, improved joint transmission efficiency and overall rigidity, reduced lateral load on small-module gears, improved gear tooth stress conditions, and enhanced transmission reliability under heavy-duty gripping conditions. This also facilitates coaxial gear arrangement, simplifies the shaft structure, and reduces the difficulty of housing machining and module assembly. Different included angle settings are adopted for joint modules at different phalanx positions to balance the biomimetic dimensions of the dexterous hand, space utilization, and the load-bearing requirements of different joints.

[0047] For example, in one embodiment, in the first joint module 10 connected to the first phalanx, the first included angle α is 136° and the second included angle β is 114°; in the first joint module 10 connected to the second phalanx, the first included angle α is 160° and the second included angle β is 178°.

[0048] Optionally, the first joint module 10 also includes an angle sensor; along the radial direction of the output shaft of the first motor 101, the angle sensor is disposed in the gap between the first motor 101 and the transmission assembly, and the angle sensor is used to obtain the rotation angle of a gear in the transmission assembly.

[0049] There is a natural radial gap between the outer wall of the motor and the multi-stage gear transmission assembly. This solution places the angle sensor in this gap without taking up additional axial dimensions of the joint, and without lengthening the overall length of the finger. Unlike the external sensor and axial stacking layout, it can maintain the compact bionic shape of the fingertip joint, avoid the interference of grasping caused by excessively long fingers, and adapt to the narrow fingertip installation space of dexterous hands.

[0050] The angle sensor is located in the area between the motor and the gear set, near the motor control harness. This allows for centralized cable management, reducing the need for long cables and preventing cables from crossing the gear meshing area. This lowers the risk of cables being scratched or entangled by the gears, thus improving the reliability of the mechanism.

[0051] Optionally, along the radial direction of the output shaft of the first motor 101, the angle sensor is disposed within the gap between the first motor 101 and the fifth gear 1025.

[0052] The fifth gear 1025 is positioned between the first motor 101 and the sixth gear 1026, naturally forming a radial gap between the outer wall of the motor and the fifth gear 1025. The angle sensor is housed in this gap, eliminating the need for additional housing space, extending the axial length of the joint, or altering the original arrangement of the motor and gears at each stage. This maximizes the compact size of the first joint module 10, ensuring the miniaturized bionic design of the fingertip and preventing structural interference during grasping.

[0053] Optionally, refer to Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 The dexterous hand also includes a second joint module 20, which can be used to connect the knuckles and the palm. The second joint module 20 includes a second motor 201, a third motor 202, a second transmission component 203, a third transmission component 204, and a differential 205. The output shaft of the second motor 201 is connected to the input end of the second transmission component 203, the output shaft of the third motor 202 is connected to the input end of the third transmission component 204, and the differential 205 is connected to the output ends of the second transmission component 203 and the third transmission component 204, respectively.

[0054] When the finger includes only the first phalanx, the second joint module 20 connects the palm and the end of the first phalanx away from the fingertip; when the finger includes both the first and second phalanxes, the second joint module 20 connects the palm and the end of the second joint module 20 away from the first phalanx.

[0055] The second motor 201 and the third motor 202 serve as two independent power sources. When the two motors rotate in the same direction and at the same speed, the differential 205 outputs synchronously to drive the knuckles to achieve finger flexion and extension. When the two motors rotate in opposite directions, the differential action inside the differential 205 drives the knuckles to achieve finger lateral swing. Only one set of joint output mechanism is needed to complete the two degrees of freedom of flexion and extension and lateral swing at the same time. There is no need to arrange two sets of independent swing shafts, which greatly simplifies the joint structure, helps to control the size of the finger root module, and meets the bionic compact design requirements of dexterous hands.

[0056] The flexion and extension movements and the lateral swing movements can be independently controlled by adjusting the speed of two motors, and the two types of movements have good decoupling characteristics. The controller can separately plan the finger flexion angle and the lateral swing angle, which facilitates complex posture adjustments, such as adjusting the finger envelope angle and fine-tuning the object alignment when grasping irregular objects, thereby improving the dexterity of the hand's grasping ability and operational flexibility.

[0057] Optionally, refer to Figure 13 , Figure 14 , Figure 15 Along the axial direction of the second motor 201, the second transmission assembly 203 and the third transmission assembly 204 at least partially overlap.

[0058] In this embodiment, the second transmission component 203 and the third transmission component 204 are arranged in an axially overlapping manner, making full use of the same axial interval to accommodate two sets of transmission components. This effectively reduces the overall axial dimension of the second joint module 20, avoids excessive length and bulkiness at the finger root position, maintains the biomimetic shape of the fingers, and reduces the probability of interference between the joint shell and the workpiece during grasping. The axial nesting and overlapping of the two sets of transmission components frees up space that can be used to arrange components such as the differential 205, bearings, wiring channels, and limiting structures. At the same time, it can shorten the power transmission distance between the motor, transmission components, and differential 205, making the entire power chain layout more compact and suitable for the narrow installation space where the palm and finger joints connect.

[0059] Optionally, refer to Figure 13 , Figure 14 , Figure 15 In some embodiments, along the axial direction of the second motor 201, at least a portion of the gears in the second transmission assembly 203 do not extend beyond the end of the second motor 201; in some embodiments, along the axial direction of the third motor 202, at least a portion of the gears in the third transmission assembly 204 do not extend beyond the end of the third motor 202; in some embodiments, the axes of the second motor 201 and the third motor 202 are parallel, and along the radial direction of the second motor 201, the second motor 201 and the third motor 202 at least partially overlap. The above embodiments can be implemented individually or in combination.

[0060] By positioning the gears in the transmission assembly within the boundaries of both ends of the motor, and ensuring that the gears do not protrude outwards from the motor ends, it is possible to prevent the transmission gears from extending outwards along the motor axis. This maximizes control over the total axial length of a single "motor + transmission assembly" and prevents an increase in axial dimensions after the motor and transmission are connected in series. The gears are radially shielded and protected by the motor body, reducing the probability of the gears being directly impacted by external forces during grabbing and collisions.

[0061] The second motor 201 and the third motor 202 have parallel axes and overlap radially, rather than being placed side-by-side. This arrangement compresses the overall radial width of the combined motors. If the motors were arranged side-by-side, the radial dimension would be the sum of the outer diameters of the two motors. The overlapping radial layout reduces the radial dimension of the second joint module 20, preventing the finger root joint from becoming too wide laterally and maintaining the slender, biomimetic shape of the fingers. It also allows the second transmission component 203 and the third transmission component 204 to be closer together, facilitating the connection of the two transmission components to the differential 205 and shortening the power transmission path to the differential 205.

[0062] In some implementations, reference Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15 ,in, Figure 14 The line with the arrow indicates the transmission direction of the second transmission component. Figure 15The lines with arrows indicate the transmission direction of the third transmission component. The second transmission component 203 includes at least: a seventh gear 2031, an eighth gear 2032, a ninth gear 2033, a tenth gear 2034, an eleventh gear 2035, a twelfth gear 2036, and a first bevel gear 2037. The seventh gear 2031 is the input end of the second transmission component 203. The output end of the second motor 201 is fixedly connected to the seventh gear 2031. The seventh gear 2031 meshes with the eighth gear 2032, the eighth gear 2032 meshes with the ninth gear 2033, the ninth gear 2033 meshes with the tenth gear 2034, the tenth gear 2034 meshes with the eleventh gear 2035, the eleventh gear 2035 meshes with the twelfth gear 2036, and the twelfth gear 2036 meshes with the first bevel gear 2037. The first bevel gear 2037 is the input end of the second transmission component 203. The output end; the third transmission component 204 includes at least: a thirteenth gear 2041, a fourteenth gear 2042, a fifteenth gear 2043, a sixteenth gear 2044, a seventeenth gear 2045, an eighteenth gear 2046, and a second bevel gear 2047. The thirteenth gear 2041 is the input end of the third transmission component 204. The output end of the third motor 202 is fixedly connected to the thirteenth gear 2041. The thirteenth gear 2041 meshes with the fourteenth gear 2042. The fourteenth gear 2042 meshes with the fifteenth gear 2043. The fifteenth gear 2043 meshes with the sixteenth gear 2044. The sixteenth gear 2044 meshes with the seventeenth gear 2045. The seventeenth gear 2045 meshes with the eighteenth gear 2046. The eighteenth gear 2046 meshes with the second bevel gear 2047. The second bevel gear 2047 is the output end of the third transmission component 204.

[0063] The second transmission component 203 and the third transmission component 204 each adopt a transmission scheme in which a six-stage cylindrical gear series meshing drives a bevel gear, which can achieve a large reduction ratio and effectively amplify the output torque of the second motor 201 and the third motor 202 to meet the load requirements of the finger joint. The second motor 201 and the third motor 202 can be small motors, which is conducive to the lightweight and compact design of the module. The cylindrical gear can only transmit power along the motor axis, and the end bevel gear can change the power transmission direction to complete the positive reversal of the transmission direction. This allows the parallel arrangement of the two motors and their multi-stage cylindrical gear sets to adapt to the installation position of the differential 205, achieving a compact nested layout of the joint. At the same time, the rigid meshing transmission can stably transmit torque, and the two transmission links are symmetrically configured, which is convenient for the coordinated control of the two motors. The two transmission chains have the same structure and symmetrical transmission characteristics, which facilitates the matching and debugging of the control system. The regular multi-stage gear structure makes it easy to realize the axial nesting arrangement of gears and motors. Combined with the spatial configuration of radial overlap of the two motors, the overall volume of the second joint module 20 is reduced, ensuring that the two power lines are smoothly delivered to the differential 205, and stably realizing the dual-degree-of-freedom movement of finger flexion and extension and lateral swing.

[0064] In some embodiments, at least one of the eighth gear 2032, the ninth gear 2033, the tenth gear 2034, the eleventh gear 2035, and the twelfth gear 2036 is a double gear, and at least one of the fourteenth gear 2042, the fifteenth gear 2043, the sixteenth gear 2044, the seventeenth gear 2045, and the eighteenth gear 2046 is a double gear. This structure can achieve multi-stage speed reduction and torque increase without significantly increasing the space occupied. At this time, a small drive motor can be used, which is convenient for lightweight joint design.

[0065] In some embodiments, the eighth gear 2032, the ninth gear 2033, the tenth gear 2034, the eleventh gear 2035, and the twelfth gear 2036 are all double gears. The seventh gear 2031 meshes with the large gear of the eighth gear 2032, the small gear of the eighth gear 2032 meshes with the large gear of the ninth gear 2033, the small gear of the ninth gear 2033 meshes with the large gear of the tenth gear 2034, the small gear of the tenth gear 2034 meshes with the large gear of the eleventh gear 2035, the small gear of the eleventh gear 2035 meshes with the large gear of the twelfth gear 2036, and the small gear of the twelfth gear 2036 meshes with the first bevel gear 2037. Gears 2042 (14th), 2043 (15th), 2044 (16th), 2045 (17th), and 2046 (18th) are all double gears. Gears 2041 (13th) meshes with the large gear of gear 2042 (14th). Gear 2042 (14th) meshes with the large gear of gear 2043 (15th). Gear 2043 (15th) meshes with the large gear of gear 2044 (16th). Gear 2044 (16th) meshes with the large gear of gear 2045 (17th). Gear 2045 (17th) meshes with the large gear of gear 2046 (18th). Gear 2046 (18th) meshes with the second bevel gear 2047.

[0066] In a double-gear transmission, the large and small gears are rigidly connected to the same shaft, eliminating relative rotational clearance. The only clearance in the entire transmission chain exists at the meshing points of adjacent gears. Compared to transmission schemes using numerous independent single gears, this significantly reduces sources of clearance and lowers the overall transmission backlash. Power is gradually reduced and torque is increased, resulting in a smooth increase in load torque, preventing the final gear from suddenly experiencing massive impact loads. The small gear driving the large gear effectively distributes tooth surface contact stress, reducing the risk of gear wear, pitting, and tooth breakage. When a dexterous hand grasps an object and an impact occurs, the load is buffered in stages, enhancing the transmission mechanism's impact resistance and improving reliability during long-term reciprocating operations.

[0067] The reduction ratio at each stage is determined by the ratio of the number of teeth of the large and small gears in each set of double gears. Any set of double gears can be replaced individually to adjust the reduction ratio of a single stage. Without changing the installation position of the shaft or the joint housing, the overall transmission ratio of the entire transmission system can be flexibly adjusted to quickly adapt to different working conditions such as light-load fine operation and heavy-load stable clamping, thereby reducing the cost of modification.

[0068] This application also provides a robot, which includes the dexterous hand of any of the claims above.

[0069] The torque monitoring component 103 is arranged along the transmission path at the output end of the first transmission component 102 and is connected to the output end for transmission. It can directly collect the actual output torque of the joint after multiple stages of transmission, eliminating torque loss caused by friction of gears at each stage, bearing resistance, and backlash, and basically eliminating the detection offset caused by transmission loss, thereby improving the accuracy of torque detection of the finger joints of the dexterous hand. Applying the above-mentioned dexterous hand to robots can improve the accuracy of torque measurement results, truly reflect the contact force between the robot's fingertips and objects, and improve the reliability of human-computer interaction.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A dexterous hand, characterized in that, The dexterous hand includes a palm and multiple fingers, the fingers including: fingertip; A knuckle, one end of which is connected to the fingertip, and the other end of which is connected to the palm; A first joint module (10) is used to connect the fingertip and the knuckle. The first joint module (10) includes a first motor (101), a first transmission component (102), and a torque monitoring component (103). The first transmission component (102) has an input end and an output end. The output shaft of the first motor (101) is connected to the input end of the first transmission assembly (102), and the torque monitoring assembly (103) is located at the output end and is connected to the output end.

2. The dexterous hand according to claim 1, characterized in that, The torque monitoring component (103) includes a torque sensor (1031), which is fixedly connected to the output end of the first transmission component (102) along the rotation axis direction of the output end of the first transmission component (102); or, The torque monitoring component (103) includes a torque sensor (1031) and a transmission component. The transmission component is connected to the output end of the first transmission component (102), and the torque sensor (1031) is fixedly connected to the transmission component.

3. The dexterous hand according to claim 1, characterized in that, The first transmission assembly (102) includes at least: a first gear (1021), a second gear (1022), a third gear (1023), a fourth gear (1024), a fifth gear (1025), and a sixth gear (1026). The first gear (1021) is the input end of the first transmission assembly (102). The output end of the first motor (101) is fixedly connected to the first gear (1021). The first gear (1021) meshes with the second gear (1022). The second gear (1022) meshes with the third gear (1023). The third gear (1023) meshes with the fourth gear (1024). The fourth gear (1024) meshes with the fifth gear (1025). The fifth gear (1025) meshes with the sixth gear (1026). The sixth gear (1026) is the output end of the first transmission assembly (102). Along the radial direction of the output shaft of the first motor (101), the fifth gear (1025) is disposed between the first motor (101) and the sixth gear (1026), and the fifth gear (1025) is disposed between the fourth gear (1024) and the first motor (101).

4. The dexterous hand according to claim 3, characterized in that, The third gear (1023) and the fifth gear (1025) are coaxially arranged; and / or, The fourth gear (1024) and the sixth gear (1026) are coaxially arranged; and / or, At least one of the second gear (1022), the third gear (1023), the fourth gear (1024) and the fifth gear (1025) is a double gear, and the small gear of one double gear meshes with the large gear of the other double gear.

5. The dexterous hand according to claim 3, characterized in that, The transmission ratio from the first gear (1021) to the sixth gear (1026) ranges from 150 to 260, and / or the module of the first gear (1021), the second gear (1022), the third gear (1023), the fourth gear (1024), the fifth gear (1025), and the sixth gear (1026) ranges from 0.2 to 0.35, and / or the number of teeth of the first gear (1021), the second gear (1022), the third gear (1023), the fourth gear (1024), the fifth gear (1025), and the sixth gear (1026) ranges from 10 to 50.

6. The dexterous hand according to claim 3, characterized in that, The first joint module (10) also includes an angle sensor; Along the radial direction of the output shaft of the first motor (101), the angle sensor is disposed in the gap between the first motor (101) and the transmission assembly, and the angle sensor is used to obtain the rotation angle of a gear in the transmission assembly.

7. The dexterous hand according to any one of claims 1-6, characterized in that, The dexterous hand also includes a second joint module (20), which can be used to connect the knuckles to the palm; The second joint module (20) includes: a second motor (201), a third motor (202), a second transmission assembly (203), a third transmission assembly (204), and a differential (205); The output shaft of the second motor (201) is connected to the input end of the second transmission assembly (203), the output shaft of the third motor (202) is connected to the input end of the third transmission assembly (204), and the differential (205) is connected to the output ends of the second transmission assembly (203) and the third transmission assembly (204) respectively.

8. The dexterous hand according to claim 7, characterized in that, Along the axial direction of the second motor (201), the second transmission assembly (203) and the third transmission assembly (204) at least partially overlap.

9. The dexterous hand according to claim 7, characterized in that, Along the axial direction of the second motor (201), at least a portion of the gears in the second transmission assembly (203) do not extend beyond the end of the second motor (201); and / or, Along the axial direction of the third motor (202), at least a portion of the gears in the third transmission assembly (204) do not extend beyond the end of the third motor (202); and / or, The second motor (201) is parallel to the axis of the third motor (202), and along the radial direction of the second motor (201), the second motor (201) and the third motor (202) at least partially overlap.

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

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