Dexterous finger module and dexterous hand

Abstract

The utility model provides a kind of dexterous finger module and dexterous hand, dexterous finger module includes finger structure and finger root pedestal, the finger structure includes multiple knuckle housings and multiple knuckle servos being set in multiple knuckle housings inside, multiple the knuckle housings are sequentially rotationally connected, each The knuckle servo drive corresponding knuckle housing rotation being set, one knuckle servo is the first servo of drive finger structure relative to finger root pedestal rotation, finger structure further includes first connecting piece and first transmission assembly, first servo is connected with first transmission assembly, the movement output end of first transmission assembly is fixedly connected with first connecting piece.The utility model provides a kind of dexterous finger module and dexterous hand, with more active degree of freedom, without using the mode of rope drive coupling to drive knuckle housing rotation, service life is longer, control difficulty is lower.Moreover, the dexterous finger module of the utility model is independent module, and convenient maintenance and replacement.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and more specifically, relates to a dexterous finger module and a dexterous hand. Background Technology

[0002] Dexterous hands are an important component of humanoid robots. To make their movements more similar to those of a human hand, they generally have a high degree of freedom. Current dexterous hands are generally tethered multi-DOF dexterous hands, which achieve underactuated transmission through tethered coupling. This approach has problems such as high control difficulty, lifespan issues due to tether wear and breakage, and elastic deformation, making it unsuitable for use in actual material handling production environments. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a dexterous finger module and a dexterous hand to solve the technical problems existing in the prior art, such as low degree of active freedom, high difficulty in control, and short lifespan.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a dexterous finger module is provided, including a finger structure and a finger root base. The finger structure includes multiple knuckle shells and multiple knuckle servos disposed inside the multiple knuckle shells. The multiple knuckle shells are rotatably connected in sequence, and each knuckle servo drives the corresponding knuckle shell to rotate. One of the knuckle servos is the first servo that drives the finger structure to rotate relative to the finger root base. The finger structure also includes a first connector and a first transmission assembly. The first servo is connected to the first transmission assembly, and the motion output end of the first transmission assembly is fixedly connected to the first connector.

[0005] Optionally, the plurality of knuckle housings includes a first knuckle housing, a second knuckle housing, and a third knuckle housing, wherein the finger root base, the first knuckle housing, the second knuckle housing, and the third knuckle housing are rotatably connected in sequence; the plurality of knuckle servos include a first servo, a second servo, and a third servo, wherein the first servo drives the first knuckle housing to rotate relative to the finger root base, the second servo drives the second knuckle housing to rotate relative to the first knuckle housing, and the third servo drives the third knuckle housing to rotate relative to the second knuckle housing, wherein the first servo and the second servo are both disposed within the first knuckle housing, and the third servo is disposed within the second knuckle housing.

[0006] Optionally, the orientation of the motion output end of the first servo motor is opposite to the orientation of the motion output end of the second servo motor.

[0007] Optionally, the finger root base has a first receiving space, at least a portion of the first transmission component is disposed within the first connector and at least a portion of the first transmission component is located in the first receiving space, and the first connector is fixedly connected to the first finger joint housing.

[0008] Optionally, the finger root base includes a finger root base plate and two finger root spacers spaced apart along a first direction, the finger root base plate connecting the two finger root spacers; the first transmission assembly includes a first worm and a first worm wheel meshing with each other, the first servo motor being connected to the first worm, the first worm wheel being fixedly connected to the first connecting member, and the central axis of the first worm wheel being parallel to the first direction.

[0009] Optionally, the second knuckle housing has a second receiving space at one end near the first knuckle housing, and the finger structure further includes a second connector, which is fixedly connected to the first knuckle housing; the finger structure further includes a second transmission assembly, at least a portion of which is disposed within the second connector and located in the second receiving space, the second transmission assembly is connected to the second servo motor, and the motion output end of the second transmission assembly is fixedly connected to the second knuckle housing.

[0010] Optionally, the third phalanx housing has a third receiving space at one end near the second phalanx housing, and the second phalanx housing has an insert portion extending into the third receiving space; the finger structure further includes a third transmission component, and the motion output end of the third transmission component is fixedly connected to the third phalanx housing, and the third transmission component is at least partially located within the insert portion.

[0011] Optionally, the dexterous finger module further includes a lateral swing assembly for driving the finger structure to lateral swing. The lateral swing assembly includes a lateral swing servo, a lateral swing housing, and a lateral swing transmission assembly. The lateral swing transmission assembly is disposed within the lateral swing housing, and the lateral swing servo, the lateral swing transmission assembly, and the finger structure are connected in a transmission manner.

[0012] Optionally, each of the finger shells is provided with a tactile sensor on the surface for contact with the object to be grasped.

[0013] This utility model also provides a dexterous hand, including the aforementioned dexterous finger module.

[0014] The beneficial effects of the dexterous finger module and dexterous hand provided by this utility model are as follows: Compared with the prior art, the dexterous finger module of this utility model includes a finger structure, which includes multiple knuckle shells and multiple knuckle servos. Each knuckle servo is used to drive the corresponding knuckle shell to rotate, thereby realizing active drive of each knuckle shell. Thus, each dexterous finger module has multiple active degrees of freedom (the same number as its servos). Correspondingly, the dexterous hand has more active degrees of freedom, eliminating the need for cable-driven coupling to drive the knuckle shell rotation, resulting in a longer service life and lower control difficulty. Moreover, the dexterous finger module of this utility model is a structure independent of the hand, with each knuckle servo located inside the knuckle shell. Therefore, the dexterous finger module is an independent module, facilitating maintenance and replacement. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 A three-dimensional structural diagram of the dexterous finger module provided in the embodiments of this utility model;

[0017] Figure 2 A three-dimensional structural diagram of the first phalanx provided for an embodiment of this utility model;

[0018] Figure 3 An exploded view of the first phalanx provided for an embodiment of this utility model;

[0019] Figure 4 This is a cross-sectional view of an embodiment of the present invention at the first transmission component;

[0020] Figure 5 A three-dimensional structural diagram of the second and third phalanges provided for an embodiment of this utility model;

[0021] Figure 6 Exploded structural diagrams of the second and third phalanges provided for embodiments of this utility model;

[0022] Figure 7 This is an internal structural diagram of the side-swing assembly provided in an embodiment of the present utility model.

[0023] The following are the labeling elements in the figure:

[0024] 10-Finger structure; 11-Knuckle housing; 111-First knuckle housing; 112-Second knuckle housing; 1121-Second receiving space; 113-Third knuckle housing; 1131-Third receiving space; 114-First connector; 115-Second connector; 116-Embedded part; 12-Knuckle servo; 121-First servo; 122-Second servo; 123-Third servo; 13-First transmission assembly; 131-First worm; 132-First worm wheel; 133-First encoder; 134-Rotating ring; 14-Second transmission assembly; 141-Second worm; 142-Second worm wheel; 15-Third transmission assembly; 151-Third worm; 152-Third worm wheel; 16-Tactile sensor;

[0025] 20-Side sway assembly; 21-Side sway servo; 22-Side sway transmission assembly; 221-Side sway worm; 222-Side sway worm gear; 23-Side sway housing;

[0026] 30 - Finger root base; 31 - Finger root substrate; 32 - Finger root spacer; 33 - First receiving space. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

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

[0030] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] This invention provides a dexterous finger module and a dexterous hand. The dexterous finger module includes a finger structure 10, which comprises multiple sequentially rotating knuckle shells 11 and multiple knuckle servos 12 disposed inside the knuckle shells 11. Each knuckle servo 12 drives the corresponding knuckle shell 11 to rotate. Therefore, in this invention, the rotation of each knuckle shell 11 in the dexterous finger module is an active degree of freedom. The dexterous finger module has a high degree of active freedom and does not require a cable-driven mode, resulting in stable movement and a long service life. Furthermore, the dexterous finger module of this invention is an independent module that can be replaced individually, facilitating assembly, maintenance, and replacement.

[0032] The dexterous finger module provided in the embodiments of this utility model will now be described.

[0033] Please refer to the following: Figures 1 to 5 The dexterous finger module includes a finger structure 10 and a finger root base 30. The finger structure 10 includes multiple knuckle shells 11 and multiple knuckle servos 12 disposed inside the multiple knuckle shells 11. The multiple knuckle shells 11 are rotatably connected in sequence. Each knuckle servo 12 drives the corresponding knuckle shell 11 to rotate. One of the knuckle servos 12 is the first servo 121 that drives the finger structure 10 to rotate relative to the finger root base 30. The finger structure 10 also includes a first connector 114 and a first transmission assembly 13. The first servo 121 is connected to the first transmission assembly 13. The motion output end of the first transmission assembly 13 is fixedly connected to the first connector 114.

[0034] A dexterous hand typically has five dexterous finger modules, and the structures of these modules may be identical or different. Multiple knuckle shells 11 of the finger structure 10 are connected sequentially. Each knuckle shell 11 is the outer shell structure of the finger, analogous to a knuckle of a human finger. Knuckle servos 12 are the power components used to output rotational motion. Generally, the dexterous finger module corresponding to the thumb has two knuckle shells 11, and the dexterous finger modules corresponding to the other four fingers have three knuckle shells 11. Multiple knuckle servos 12 are located inside the knuckle shells 11. This can be understood as one knuckle servo 12 being located inside one knuckle shell 11, or multiple knuckle servos 12 being simultaneously located inside the same knuckle shell 11; in short, all multiple knuckle servos 12 are located inside the dexterous finger module. The number of knuckle servos 12 is the same as the number of knuckle housings 11. Each knuckle servo 12 drives the rotation of each knuckle housing 11 in a one-to-one correspondence. It can be understood that the first knuckle servo 12 drives the first knuckle housing 11 to rotate, the second knuckle servo 12 drives the second knuckle housing 11 to rotate, and so on.

[0035] The first transmission assembly 13 is the transmission component between the first servo motor 121 and the finger structure 10. The connection between the first servo motor 121 and the first transmission assembly 13 means that the motion output end of the first servo motor 121 is connected to the motion input end of the first transmission assembly 13. When the first servo motor 121 is working, the first transmission assembly 13 is also working. Since the finger root base 30 is connected to the motion output end of the first transmission assembly 13, and the finger root base 30 is fixed, the movement of the first transmission assembly 13 will reversely drive the first connecting member 114 and the finger structure 10 to rotate relative to the finger root base 30. It can be understood that the first servo motor 121 is used to realize the lateral swinging motion of the finger structure 10.

[0036] For ease of description, the length direction of the rotation axis of the finger housing 11 is set as the first direction, and the length direction of the rotation axis of each finger housing 11 is the first direction.

[0037] The dexterous finger module in the above embodiment includes a finger structure 10, which comprises multiple knuckle housings 11 and multiple knuckle servos 12. Each knuckle servo 12 drives the corresponding knuckle housing 11 to rotate, thereby enabling active drive of each knuckle housing 11. Thus, each dexterous finger module has multiple active degrees of freedom (the same number as its servos). Consequently, the dexterous hand has more active degrees of freedom, eliminating the need for cable-driven coupling to rotate the knuckle housings 11, resulting in a longer service life and lower control difficulty. Furthermore, the dexterous finger module of this invention is an independent structure separate from the hand, with each knuckle servo 12 housed inside the knuckle housing 11. Therefore, the dexterous finger module is an independent module, facilitating maintenance and replacement.

[0038] Please refer to some embodiments of this utility model. Figures 1 to 5 The plurality of knuckle housings 11 include a first knuckle housing 111, a second knuckle housing 112, and a third knuckle housing 113. The finger root base 30, the first knuckle housing 111, the second knuckle housing 112, and the third knuckle housing 113 are rotatably connected in sequence. The plurality of knuckle servos 12 include a first servo 121, a second servo 122, and a third servo 123. The first servo 121 drives the first knuckle housing 111 to rotate relative to the finger root base 30. The second servo 122 drives the second knuckle housing 112 to rotate relative to the first knuckle housing 111. The third servo 123 drives the third knuckle housing 113 to rotate relative to the second knuckle housing 112. The first servo 121 and the second servo 122 are disposed inside the first knuckle housing 111, and the third servo 123 is disposed inside the second knuckle housing 112.

[0039] The finger root base 30 is the root structure of the finger of the dexterous finger module. Driven by the first servo motor 121, the first phalanx housing 111 rotates relative to the finger root base 30. Driven by the second servo motor 122, the second phalanx housing 112 rotates relative to the first phalanx housing 111. Driven by the third servo motor 123, the third phalanx housing 113 rotates relative to the second phalanx housing 112, thereby realizing the bending movement of the three phalanxes.

[0040] The first phalanx shell 111 and its internal structure can be referred to as the first phalanx, the second phalanx shell 112 and its internal structure can be referred to as the second phalanx, and the third phalanx shell 113 and its internal structure can be referred to as the third phalanx.

[0041] By setting the first servo motor 121 and the second servo motor 122 in the first knuckle housing 111 and the third servo motor 123 in the second knuckle housing 112, the internal space of the knuckle housing 11 is rationally arranged and utilized, so that each knuckle servo motor 12 can be set inside the knuckle housing 11 to form an independent dexterous finger module.

[0042] Please refer to some embodiments of this utility model. Figure 3The orientation of the output end of the first servo motor 121 is opposite to that of the output end of the second servo motor 122. The first servo motor 121 drives the first knuckle housing 111 to rotate relative to the finger root base 30; therefore, the output end of the first servo motor 121 is close to the rotatable connection between the first knuckle housing 111 and the finger root base 30. The second servo motor 122 drives the second knuckle housing 112 to rotate relative to the first knuckle housing 111; therefore, the output end of the second servo motor 122 is close to the rotatable connection between the first knuckle housing 111 and the second knuckle housing 112. In other words, the output end of the first servo motor 121 faces the root of the first knuckle housing 111 (the rotatable connection between the first knuckle housing 111 and the finger root base 30), and the output end of the second servo motor 122 faces the top of the first knuckle housing 111 (the rotatable connection between the first knuckle housing 111 and the second knuckle housing 112).

[0043] The orientation of the motion output end of the first servo motor 121 is opposite to that of the motion output end of the second servo motor 122, which can make the position distribution of the motion output ends of the servo motors more reasonable. The first servo motor 121 and the second servo motor 122 can both be set in the first finger joint housing 111.

[0044] In other embodiments, the rotation axis of the motion output end of the first servo motor 121 is set at an obtuse angle to the rotation axis of the motion output end of the second servo motor 122, which can also meet the requirement of driving the first finger housing 111 and the second finger housing 112 to rotate respectively.

[0045] In other embodiments, the number of knuckle housings 11 and knuckle servos 12 may also be two, forming a dexterous finger module corresponding to the thumb.

[0046] Please refer to some embodiments of this utility model. Figures 1 to 3 The finger root base 30 has a first receiving space 33. At least a portion of the first transmission component 13 is disposed within the first connector 114 and at least a portion of the first transmission component 13 is located within the first receiving space 33. The first connector 114 is fixedly connected to the first knuckle shell 111. The first connector 114 is a shell structure and is disposed between the finger root base 30 and the first knuckle shell 111. The function of the first connector 114 is to cover the first transmission component 13. The first connector 114 is fixedly connected to the first knuckle shell 111, and a portion of the first connector 114 is located within the first receiving space 33, thereby covering the first transmission component 13 located within the first receiving space 33.

[0047] By setting the first transmission component 13, the first servo motor 121 and the first knuckle housing 111 can be connected by transmission, so that the first knuckle housing 111 can rotate around the finger root base 30. Moreover, the finger root base 30 has a first accommodating space 33, and the first transmission component 13 is set in the first accommodating space 33 of the finger root base 30, making full use of the internal space of the finger root base 30, and making the internal structure of the dexterous finger module more compact.

[0048] Please refer to some embodiments of this utility model. Figure 3 , Figure 4 and Figure 6 The finger root base 30 includes a finger root base plate 31 and two finger root spacer plates 32 spaced apart along a first direction. The finger root base plate 31 connects to the two finger root spacer plates 32. The first transmission assembly 13 includes a first worm gear 131 and a first worm wheel 132 that mesh with each other. A first servo motor 121 is connected to the first worm gear 131, and the first worm wheel 132 is fixedly connected to a first connecting member 114. The central axis of the first worm wheel 132 is parallel to the first direction. The two finger root spacer plates 32 and the finger root base plate 31 form a first receiving space 33. The outer diameter of the first worm wheel 132 is relatively large. When the central axis of the first worm wheel 132 is parallel to the first direction, the larger plane of the first worm wheel 132 is parallel to both finger root spacer plates 32. Therefore, the internal space of the finger root base plate 31 can be fully utilized. When the first servo motor 121 is working, the first worm gear 131 rotates, which drives the first worm wheel 132 to rotate. Correspondingly, the first connecting member 114 and the first finger housing 111 rotate, thereby realizing the rotation of the first finger housing 111.

[0049] The first transmission assembly 13 includes a first worm 131 and a first worm wheel 132 that mesh with each other. The first worm 131 and the first worm wheel 132 occupy less space and have a larger transmission ratio, making them more suitable for the fine movements of the fingers. Moreover, the first worm wheel 132 is located between two finger root spacers 32, which saves and utilizes the first accommodating space 33 as much as possible, making the structural distribution more reasonable and compact.

[0050] In some embodiments, the first receiving space 33 is a U-shaped groove, which can form a receiving space without affecting the rotation of the first finger shell 111.

[0051] In some embodiments, the two ends of the first worm gear 132 are directly or indirectly rotatably connected to the two finger root spacers 32, so that the first worm gear 132 is rotatably mounted between the two finger root spacers 32.

[0052] Optionally, a rotating ring 134 is provided at one axial end of the first worm gear 132. The rotating ring 134 rotates synchronously with the first worm gear 132, and the other end of the rotating ring 134 is rotatably disposed on one of the finger root spacers 32.

[0053] Optionally, a first encoder 133 is provided at the other axial end of the first worm gear 132. The first encoder 133 is used to detect the rotation angle and position of the first finger housing 111.

[0054] Optionally, the other axial end of the first worm gear 132 can be rotatably connected to another finger root spacer 32 via a first connector 114. The first connector 114 has an insert portion 116 that extends into the other finger root spacer 32, and a bearing is provided between the two to realize the rotatable connection between the first worm gear 132 and the finger root spacer 32.

[0055] Please refer to some embodiments of this utility model. Figure 3 and Figure 5 The second knuckle housing 112 has a second receiving space 1121 at one end near the first knuckle housing 111. The finger structure 10 also includes a second connector 115, which is fixedly connected to the first knuckle housing 111. The finger structure 10 also includes a second transmission assembly 14, at least a portion of which is disposed within the second connector 115 and located in the second receiving space 1121. The second transmission assembly 14 is connected to the second servo motor 122, and its motion output end is fixedly connected to the second knuckle housing 112. The second transmission assembly 14 is a transmission component between the second servo motor 122 and the second knuckle housing 112. The connection between the second servo motor 122 and the second transmission assembly 14 means that the motion output end of the second servo motor 122 is connected to the motion input end of the second transmission assembly 14. When the second servo motor 122 is working, the second transmission assembly 14 is working, causing the second knuckle housing 112 to rotate relative to the first knuckle housing 111. The second connector 115 is a housing structure and is disposed between the first phalanx housing 111 and the second phalanx housing 112. The function of the second connector 115 is to cover the second transmission assembly 14. The second connector 115 is fixedly connected to the second phalanx housing 112, and a portion of the second connector 115 is located within the second receiving space 1121, thereby covering the second transmission assembly 14 located within the second receiving space 1121.

[0056] By setting the second transmission component 14, the second servo motor 122 and the second knuckle housing 112 can be connected to drive the second knuckle housing 112 to rotate around the first knuckle housing 111. Moreover, the second knuckle housing 112 has a second receiving space 1121, and the second transmission component 14 is disposed in the second receiving space 1121 of the second knuckle housing 112, making full use of the internal space of the second knuckle housing 112 and making the internal structure of the dexterous finger module more compact.

[0057] In some embodiments, the second receiving space 1121 is a groove at the root of the second knuckle housing 112 (the end of the second knuckle housing 112 near the first knuckle housing 111), such that the second transmission assembly 14 is located precisely at the rotatable connection between the first knuckle housing 111 and the second knuckle housing 112.

[0058] In some embodiments, the second transmission assembly 14 includes a second worm gear 141 and a second worm wheel 142 that mesh with each other. A second servo motor 122 is connected to the second worm gear 141, and the second worm wheel 142 is fixedly connected to the second connecting member 115. The central axis of the second worm wheel 142 is parallel to a first direction. When the second servo motor 122 is working, it drives the second worm gear 141 to rotate, and then the second worm gear 141 drives the second worm wheel 142 to rotate. The rotation of the second worm wheel 142 drives the second connecting member 115 and the second knuckle housing 112 to rotate relative to the first knuckle housing 111. The engagement of the second worm gear 141 and the second worm wheel 142 occupies less space and has a larger transmission ratio, making it more suitable for the fine motor skills of the fingers.

[0059] Optionally, a second encoder is provided at one axial end of the second worm gear 142. The second encoder is used to detect the rotation angle and position of the second finger housing 112.

[0060] Please refer to some embodiments of this utility model. Figure 5 and Figure 6 The third phalanx housing 113 has a third receiving space 1131 at one end near the second phalanx housing 112, and the second phalanx housing 112 has an insert portion 116 extending into the third receiving space 1131. The finger structure 10 also includes a third transmission assembly 15, and the motion output end of the third transmission assembly 15 is fixedly connected to the third phalanx housing 113. The third transmission assembly 15 is at least partially located within the insert portion 116. The third transmission assembly 15 is a transmission component between the third servo motor 123 and the third phalanx housing 113. The connection between the third servo motor 123 and the third transmission assembly 15 means that the motion output end of the third servo motor 123 is connected to the motion input end of the third transmission assembly 15. When the third servo motor 123 is working, the third transmission assembly 15 is working, driving the third phalanx housing 113 to rotate relative to the second phalanx housing 112. The insert portion 116 serves to cover the third transmission assembly 15. The insert 116 is fixedly connected to the second knuckle housing 112, and a portion of the insert 116 is located within the third receiving space 1131, thereby covering the third transmission component 15 located within the third receiving space 1131.

[0061] By setting the third transmission component 15, the third servo motor 123 and the third knuckle housing 113 can be connected by transmission, so that the third knuckle housing 113 can rotate around the third knuckle housing 113. Moreover, the third knuckle housing 113 has a third receiving space 1131. The third transmission component 15 is set in the third receiving space 1131 of the third knuckle housing 113, making full use of the internal space of the third knuckle housing 113 and making the internal structure of the dexterous finger module more compact.

[0062] In some embodiments, the third receiving space 1131 is a groove at the root of the third phalanx housing 113 (the end of the third phalanx housing 113 near the second phalanx housing 112), such that the third transmission assembly 15 is located precisely at the rotatable connection between the second phalanx housing 112 and the third phalanx housing 113.

[0063] In some embodiments, the third transmission assembly 15 includes a third worm gear 151 and a third worm wheel 152 that mesh with each other. A third servo motor 123 is connected to the third worm gear 151, and the third worm wheel 152 is fixedly connected to the third phalanx housing 113. The central axis of the third worm wheel 152 is parallel to a first direction. When the third servo motor 123 is working, it drives the third worm gear 151 to rotate, and then the third worm gear 151 drives the third worm wheel 152 to rotate. The rotation of the third worm wheel 152 drives the third phalanx housing 113 to rotate relative to the second phalanx housing 112. The engagement of the third worm gear 151 and the third worm wheel 152 occupies less space and has a larger transmission ratio, making it more suitable for the fine motor skills of the fingers.

[0064] Optionally, a third encoder is provided at one axial end of the third worm gear 152. The third encoder is used to detect the rotation angle and position of the third finger housing 113.

[0065] In some embodiments of this utility model, the first phalanx shell 111, the second phalanx shell 112, and the third phalanx shell 113 are formed by connecting one or more components, and their specific shapes and structural compositions are not limited here.

[0066] Please refer to some embodiments of this utility model. Figure 1 Each knuckle shell 11 has a tactile sensor 16 on its surface for contacting the object to be grasped. When two adjacent knuckle shells 11 are rotated, the dexterous finger module can contact and grasp the object when it is in a bent state. This bent state creates a gripping space, and the side of the knuckle shell 11 facing this gripping space is the surface for contacting the object, which can also be understood as the fingertip of the knuckle shell 11. The tactile sensor 16, located on the fingertip surface of the knuckle shell 11, facilitates more accurate feedback, perception, and grasping by the dexterous hand.

[0067] Please refer to some embodiments of this utility model. Figure 1 and Figure 7 The dexterous finger module also includes a lateral swing assembly 20 for driving the finger structure 10 to laterally swing. The lateral swing assembly 20 includes a lateral swing servo 21, a lateral swing housing 23, and a lateral swing transmission assembly 22. The lateral swing transmission assembly 22 is disposed within the lateral swing housing 23. The lateral swing servo 21, the lateral swing transmission assembly 22, and the finger structure 10 are sequentially connected for transmission. The lateral swing servo 21 is an electrically driven mechanism and is capable of outputting rotational motion. The rotational motion output by the lateral swing servo 21 drives the lateral swing transmission assembly 22 to move. The lateral swing transmission assembly 22 is capable of outputting rotational motion (lateral swing motion) in a second direction, which is perpendicular to the first direction, and then drives the finger structure 10 to laterally swing.

[0068] In some embodiments, the motion output end of the lateral swing transmission assembly 22 is fixedly connected to the finger root base 30, and the finger structure 10 is rotatably connected to the finger root base 30. In this way, when the lateral swing transmission assembly 22 is working, it can drive the finger root base 30 and the finger structure 10 to swing sideways together.

[0069] Optionally, the motion output end (side swing worm gear 222) of the side swing transmission assembly 22 is fixedly connected to the finger root base plate 31 of the finger root base 30.

[0070] In some embodiments, the lateral drive assembly 22 includes a lateral worm gear 222 and a lateral worm 221 that mesh with each other. The lateral servo 21 is connected to the lateral worm 221. When the lateral servo 21 is working, the lateral worm 221 rotates, the lateral worm gear 222 rotates, and thus drives the finger base 30 to rotate.

[0071] This invention also provides a dexterous hand, which includes the dexterous finger modules in any of the above embodiments. In the dexterous hand, the number of dexterous finger modules can be one or more, and the structures of each dexterous finger module can be the same or different. For example, one dexterous finger module may have three knuckle shells 11, and another dexterous finger module may have two knuckle shells 11.

[0072] The dexterous hand provided by this invention employs the aforementioned dexterous finger module. The dexterous finger module includes a finger structure 10, which comprises multiple knuckle housings 11 and multiple knuckle servos 12. Each knuckle servo 12 drives the corresponding knuckle housing 11 to rotate, thereby enabling active drive of each knuckle housing 11. Thus, each dexterous finger module has multiple active degrees of freedom (the same number as its servos). Consequently, the dexterous hand has a greater number of active degrees of freedom, eliminating the need for cable-driven coupling to rotate the knuckle housings 11, resulting in a longer service life and lower control difficulty. Furthermore, the dexterous finger module of this invention is an independent structure separate from the hand, with each knuckle servo 12 housed inside the knuckle housing 11. Therefore, the dexterous finger module is an independent module, facilitating maintenance and replacement.

[0073] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dexterous finger module, characterized in that, The device includes a finger structure and a finger root base. The finger structure includes multiple knuckle shells and multiple knuckle servos disposed inside the multiple knuckle shells. The multiple knuckle shells are rotatably connected in sequence. Each knuckle servo drives the corresponding knuckle shell to rotate. One of the knuckle servos is the first servo that drives the finger structure to rotate relative to the finger root base. The finger structure also includes a first connector and a first transmission assembly. The first servo is connected to the first transmission assembly, and the motion output end of the first transmission assembly is fixedly connected to the first connector.

2. The dexterous finger module as described in claim 1, characterized in that: The plurality of knuckle housings include a first knuckle housing, a second knuckle housing, and a third knuckle housing, and the finger root base, the first knuckle housing, the second knuckle housing, and the third knuckle housing are rotatably connected in sequence; the plurality of knuckle servos include a first servo, a second servo, and a third servo, the first servo driving the first knuckle housing to rotate relative to the finger root base, the second servo driving the second knuckle housing to rotate relative to the first knuckle housing, and the third servo driving the third knuckle housing to rotate relative to the second knuckle housing, the first servo and the second servo are both disposed within the first knuckle housing, and the third servo is disposed within the second knuckle housing.

3. The dexterous finger module as described in claim 2, characterized in that: The orientation of the motion output end of the first servo motor is opposite to that of the orientation of the motion output end of the second servo motor.

4. The dexterous finger module as described in claim 2, characterized in that: The finger root base has a first accommodating space, at least a portion of the first transmission component is disposed within the first connector and at least a portion of the first transmission component is located in the first accommodating space, and the first connector is fixedly connected to the first finger joint housing.

5. The dexterous finger module as described in claim 4, characterized in that: The finger root base includes a finger root base plate and two finger root spacers spaced apart along a first direction. The finger root base plate connects the two finger root spacers. The first transmission assembly includes a first worm and a first worm wheel that mesh with each other. The first servo motor is connected to the first worm, and the first worm wheel is fixedly connected to the first connecting member. The central axis of the first worm wheel is parallel to the first direction.

6. The dexterous finger module as described in claim 2, characterized in that: The second knuckle shell has a second receiving space at one end near the first knuckle shell. The finger structure also includes a second connector, which is fixedly connected to the first knuckle shell. The finger structure also includes a second transmission assembly, at least a portion of which is disposed within the second connector and located in the second receiving space. The second transmission assembly is connected to the second servo motor, and the motion output end of the second transmission assembly is fixedly connected to the second knuckle shell.

7. The dexterous finger module as described in claim 2, characterized in that: The third phalanx housing has a third receiving space at one end near the second phalanx housing, and the second phalanx housing has an insert portion that extends into the third receiving space; the finger structure also includes a third transmission component, and the motion output end of the third transmission component is fixedly connected to the third phalanx housing, and the third transmission component is at least partially located in the insert portion.

8. The dexterous finger module as described in any one of claims 1-7, characterized in that: The dexterous finger module also includes a lateral swing assembly for driving the finger structure to lateral swing. The lateral swing assembly includes a lateral swing servo, a lateral swing housing, and a lateral swing transmission assembly. The lateral swing transmission assembly is disposed within the lateral swing housing, and the lateral swing servo, the lateral swing transmission assembly, and the finger structure are connected in a transmission manner.

9. The dexterous finger module as described in any one of claims 1-7, characterized in that: Each of the finger joint housings has a tactile sensor on the surface that comes into contact with the object to be grasped.

10. A dexterous hand, characterized in that: Includes at least one dexterous finger module as described in any one of claims 1-9.

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