Dexterous hand finger, dexterous hand and robot
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SHANGHAI WUJI TECH CO LTD
- Filing Date
- 2026-01-27
- Publication Date
- 2026-08-06
Smart Images
Figure CN2026075217_06082026_PF_FP_ABST
Abstract
Description
Dexterous hand fingers, dexterous hand and robots Technical Field
[0001] This application belongs to the field of humanoid robot technology, specifically relating to a dexterous hand finger, a dexterous hand, and a robot. Background Technology
[0002] Humanoid robots are highly anthropomorphic and can replace humans in performing a large amount of irregular and repetitive labor in many scenarios. Therefore, humanoid robots have huge market application prospects, and the humanoid robot industry has entered a period of rapid development.
[0003] Furthermore, the dexterous hand, one of the most important components of humanoid robots, has also experienced rapid technological development. As a commonly used component to replace humans in performing a large amount of irregular and repetitive labor, the dexterous hand can be classified into the following technical routes according to its driving method: (1) motor drive, (2) hydraulic / pneumatic drive, and (3) tendon cable drive. Due to the large size and difficulty in maintenance of hydraulic drive; the difficulty in achieving precise position control of pneumatic drive, the limited output capacity and the need for an air source; and the low fatigue strength of tendon cable drive, each of these technical route defects is difficult to overcome. Therefore, motor drive has become the most mainstream driving method for dexterous hands. However, the use of motor drive inevitably requires the installation of a corresponding transmission mechanism in the dexterous hand.
[0004] Furthermore, dexterous hands need to mimic the movement of human fingers as closely as possible, and conform to the movement path of human fingers. Existing dexterous hands are usually limited by the excessive size of the transmission mechanism itself, resulting in differences from the movement of human fingers and deviations from the movement path of human fingers, thus leading to poor biomimetic performance of dexterous hands. Technical issues
[0005] This application provides a dexterous hand finger, a dexterous hand, and a robot. The metacarpal assembly outputs torque at a first pivot, which is transmitted to a second pivot through a linkage assembly. By setting the radius of the second pivot to be smaller than that of the first pivot, the distance between the axes of the second and second pivots is smaller, thereby better simulating the movement of human hand fingers and better conforming to the movement path of human hand fingers, thus improving the biomimetic performance of the dexterous hand finger. Technical solutions
[0006] In a first aspect, embodiments of this application provide a dexterous hand finger, which includes: a metacarpal assembly, a connecting and fixing frame, a link assembly, and a finger bone assembly;
[0007] The metacarpal assembly is fixedly connected to the first end of the connecting and fixing frame, and the metacarpal assembly is provided with a first output shaft extending outward;
[0008] The first end of the connecting rod assembly is drivenly connected to the first output shaft, the second end of the connecting rod assembly is rotatably connected to the second end of the connecting fixing frame, and the third end of the connecting rod assembly is fixedly connected to the finger bone assembly.
[0009] The linkage assembly is used to transmit the torque output from the first output shaft to the first rotating shaft, so that the finger bone assembly rotates around the first rotating shaft. The first rotating shaft is the axis of rotation of the rotation center at the rotational connection between the second end of the linkage assembly and the second end of the connecting bracket.
[0010] In one possible implementation, the linkage assembly includes: a first link, a second link, and a third link;
[0011] The first end of the first link is driven to the first output shaft, the second end of the first link is driven to the first end of the second link, the second end of the second link is driven to the first end of the third link, the second end of the third link is rotatably connected to the second end of the connecting bracket, and the third end of the third link is fixedly connected to the finger bone assembly.
[0012] In one possible implementation, a first limiting region is provided outside the metacarpal assembly near the first output shaft;
[0013] The first connecting rod rotates within the first limiting area with the central axis of the first output shaft as its center.
[0014] In one possible implementation, the first end and the third end of the third link are located at the two ends of the third link, respectively, and the second end of the third link is located between the two ends of the third link.
[0015] In one possible implementation, the phalanx assembly includes: a proximal phalanx, a mid-phalanx, and a distal phalanx;
[0016] The first end of the proximal phalanx is fixedly connected to the third end of the connecting rod assembly, the second end of the proximal phalanx is drivenly connected to the first end of the middle phalanx, and the second end of the middle phalanx is drivenly connected to the distal phalanx.
[0017] In one possible implementation, the proximal phalanx includes: a first driving body and a second driving body fixedly connected to the first driving body;
[0018] The first drive body is provided with a first motor and a first transmission assembly. The first motor is fixed in the first drive body. The output shaft of the first motor is connected to the first end of the first transmission assembly. The second end of the first transmission assembly is fixedly connected to the third end of the connecting rod assembly.
[0019] The second drive body is equipped with a second motor and a second transmission assembly. The second motor is fixed in the second drive body. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the middle finger bone.
[0020] In one possible implementation, the first transmission assembly includes: 2N first gears, a first interleaved shaft transmission mechanism, and a first fixed shaft;
[0021] 2N first gears mesh sequentially, wherein the first first gear is sleeved on the output shaft of the first motor, the 2Nth first gear is sleeved on the first end of the first interlaced shaft transmission mechanism, the second end of the first interlaced shaft transmission mechanism is fixedly connected to the first end of the first fixed shaft, and the second end of the first fixed shaft is fixedly connected to the third end of the connecting rod assembly, where N is a positive integer.
[0022] In one possible implementation, the first interleaved shaft transmission mechanism includes: a first worm and a first worm wheel;
[0023] The 2Nth first gear is sleeved on the first end of the first worm, the second end of the first worm meshes with the first worm wheel for transmission, and the first worm is sleeved on the first end of the first fixed shaft and fixedly connected.
[0024] When the output shaft of the first motor outputs torque, the torque is transmitted to the first worm and the first worm wheel, so that the proximal phalanx rotates around the central axis of the first fixed shaft.
[0025] In one possible implementation, the distance between the center of the first rotating shaft and the central axis of the first fixed shaft is less than or equal to 8 mm.
[0026] In one possible implementation, the second transmission assembly includes: 2N second gears, a second interleaved shaft transmission mechanism, and a second rotating shaft;
[0027] 2N second gears mesh sequentially, wherein the first second gear is fitted onto the output shaft of the second motor, the 2Nth second gear is fitted onto the first end of the second intersecting shaft transmission mechanism, the second end of the second intersecting shaft transmission mechanism is connected to the first end of the second rotating shaft, and the second end of the second rotating shaft is connected to the middle finger bone. N is a positive integer.
[0028] In one possible implementation, the second interleaved shaft transmission mechanism includes: a second worm and a second worm wheel;
[0029] The 2Nth second gear is sleeved on the first end of the second worm, the second end of the second worm meshes with the second worm wheel for transmission, and the second worm wheel is connected to the first end of the second rotating shaft for transmission.
[0030] When the output shaft of the second motor outputs torque, the torque is transmitted to the second worm and the second worm wheel, so that the middle finger bone rotates around the central axis of the second rotating shaft.
[0031] In one possible implementation, the mid-phalanges include: a third motor and a third transmission assembly;
[0032] The third motor is fixed inside the middle finger bone. The output shaft of the third motor is connected to the first end of the third transmission component, and the second end of the third transmission component is connected to the distal finger bone.
[0033] In one possible implementation, the third transmission component includes: 2N third gears, a third interleaved shaft transmission mechanism, and a third rotating shaft;
[0034] 2N third gears mesh sequentially. The first third gear is mounted on the output shaft of the third motor, and the 2Nth third gear is mounted on the first end of the third intersecting shaft transmission mechanism. The second end of the intersecting shaft transmission mechanism is connected to the first end of the third rotating shaft, and the second end of the third rotating shaft is connected to the distal phalanx. N is a positive integer.
[0035] In one possible implementation, the third interleaved shaft transmission mechanism includes: a third worm and a third worm wheel;
[0036] The 2Nth third gear is sleeved on the first end of the third worm, the second end of the third worm meshes with the third worm wheel, the third worm wheel is sleeved on the first end of the third rotating shaft and fixedly connected, and the second end of the third rotating shaft is connected to the distal finger bone transmission.
[0037] When the output shaft of the third motor outputs torque, the torque is transmitted to the third worm and the third worm wheel, so that the distal phalanx rotates around the central axis of the third rotating shaft.
[0038] In one possible implementation, a second limiting region is provided outside the second end of the second driving body;
[0039] The middle phalanx rotates within the second limiting area with the central axis of the second rotating shaft as the center.
[0040] In one possible implementation, a third limiting region is provided outside the second end of the middle phalanx;
[0041] Among them, the distal phalanx rotates within the third limiting area with the central axis of the third rotation axis as the center.
[0042] Secondly, embodiments of this application provide a dexterous hand, which includes the dexterous hand fingers of any of the above-mentioned types and a metacarpal topology, wherein the dexterous hand finger portion is located within the metacarpal topology and is fixedly connected.
[0043] Thirdly, embodiments of this application provide a robot, including a dexterous hand as described above, and a robot body, wherein the dexterous hand is connected to the robot body. Beneficial effects
[0044] This application provides a dexterous hand finger, a dexterous hand, and a robot. The dexterous hand finger includes: a cross-axis assembly comprising a first rotating shaft and a first bushing, the first rotating shaft being fixedly connected to the first bushing, and the minimum included angle between the first axis and the second axis being ≥80°; the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the first bushing; a first drive assembly is provided within the phalanx assembly, and the output end of the first drive assembly is drively connected to the first rotating shaft; a second drive assembly is provided within the metacarpal assembly, and the output end of the second drive assembly is drively connected to the first bushing; thus, the rotation axis of the phalanx assembly is transmitted from the axis of the first output shaft to the second axis, which is closer to the rotation axis of the abduction degree of freedom of the dexterous hand finger, thereby better conforming to the movement mode and movement path of the human hand finger, and thus improving the biomimetic performance of the dexterous hand. Attached Figure Description
[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0046] Figure 1 is a schematic diagram showing the position of the fingers of a dexterous hand in a human hand according to an embodiment of this application;
[0047] Figure 2 is a schematic diagram of the structure of the fingers of a dexterous hand provided in an embodiment of this application;
[0048] Figure 3 is one of the exploded structural diagrams of the fingers of a dexterous hand provided in the embodiments of this application;
[0049] Figure 4 is a second schematic diagram of the exploded structure of the fingers of a dexterous hand provided in the embodiments of this application;
[0050] Reference numerals: Dexterous hand 1000; Dexterous hand finger 100; Metacarpal assembly 10, First limiting area 101; Connecting fixing frame 20; Link assembly 30, First link 301, Second link 302, Third link 303; Finger bone assembly 40, Proximal phalanx 401, First drive body 4011, Second drive body 4012, Mid-terminal phalanx 402, Distal phalanx 403; First output shaft L1, First rotating shaft L2, First fixed shaft L3, Second rotating shaft L4, Third rotating shaft L5. The best embodiment of the present invention
[0051] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0052] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application 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, a 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.
[0053] For ease of explanation, the embodiments in this application are described using the fingers of the right hand. Correspondingly, to implement the left hand, it is only necessary to mirror the structure of the right hand, and no further limitations are imposed here.
[0054] Referring to Figure 1, Figure 1 is a schematic diagram of the position of the fingers of a dexterous hand in a human hand according to an embodiment of this application;
[0055] Referring to Figure 2, Figure 2 is a structural schematic diagram 100 of a dexterous hand finger provided in an embodiment of this application. The dexterous hand finger 100 includes: a metacarpal assembly 10, a connecting and fixing frame 20, a connecting rod assembly 30, and a finger bone assembly 40.
[0056] The metacarpal assembly 10 is fixedly connected to the first end of the connecting and fixing frame 20, and the metacarpal assembly 10 is provided with an outwardly extending first output shaft L1;
[0057] The first end of the connecting rod assembly 30 is connected to the first output shaft L1 for transmission, the second end of the connecting rod assembly 30 is rotatably connected to the second end of the connecting fixing frame 20, and the third end of the connecting rod assembly 30 is fixedly connected to the finger bone assembly 40.
[0058] The connecting rod assembly 30 is used to transmit the torque output from the first output shaft L1 to the first rotating shaft L2, so that the finger bone assembly 40 rotates around the first rotating shaft L2. The first rotating shaft L2 is the axis of rotation of the second end of the connecting rod assembly 30 and the second end of the connecting fixing frame 20.
[0059] It should be noted that the connecting bracket 20 can be fixed to the metacarpal assembly 10 on one side, or on both sides, or it can be sleeved on the metacarpal assembly 10. Further fixing and connection methods can be adhesive or welding, and no further restrictions are made here.
[0060] This application provides a dexterous hand finger 100, which includes: a metacarpal assembly 10, a connecting bracket 20, a link assembly 30, and a finger bone assembly 40; the metacarpal assembly 10 is fixedly connected to a first end of the connecting bracket 20, and the metacarpal assembly 10 has a first output shaft L1 extending outward; the first end of the link assembly 30 is throttlely connected to the first output shaft L1, the second end of the link assembly 30 is rotatably connected to the second end of the connecting bracket 20, and the third end of the link assembly 30 is fixedly connected to the finger bone assembly 40; wherein, the link assembly 30 is used to transmit the torque output by the first output shaft L1 to a first rotating shaft L2, so that the finger bone assembly 40 rotates around the first rotating shaft L2, and the first rotating shaft L2 is the axis of rotation of the rotation center at the rotatable connection between the second end of the link assembly 30 and the second end of the connecting bracket 20. In this way, the rotation axis of the finger bone assembly 40 is transmitted from the axis of the first output shaft L1 to the first rotating shaft L2, and the rotation axis of the extension degree of freedom of the dexterous hand finger 100 is closer to the movement mode and movement path of the human hand finger, thereby improving the bionic performance of the dexterous hand.
[0061] Referring to Figure 3, which is one of the exploded structural diagrams of the fingers of a dexterous hand provided in the embodiments of this application, in some embodiments, the link assembly 30 includes: a first link 301, a second link 302 and a third link 303;
[0062] The first end of the first link 301 is connected to the first output shaft L1 via a transmission connection. The second end of the first link 301 is connected to the first end of the second link 302 via a transmission connection. The second end of the second link 302 is connected to the first end of the third link 303 via a transmission connection. The second end of the third link 303 is rotatably connected to the second end of the connecting fixing bracket 20. The third end of the third link 303 is fixedly connected to the finger bone assembly 40.
[0063] It should be understood that when the first output shaft L1, which extends outward within the metacarpal assembly 10, transmits torque outward, the first connecting rod 301, which is fixed on the first output shaft L1, rotates with the first output shaft L1 and transmits torque. The first connecting rod 301 transmits the torque to the third connecting rod 303 through the second connecting rod 302.
[0064] It should be understood that the first end and the third end of the third link 303 are the two end points of the third link 303, and the second end of the third link 303 is the middle end point of the third link 303 located between the first end and the third end. The second end of the third link 303 is rotatably connected to the second end of the connecting fixing frame 20, so that when the first end of the third link 303 is rotated, the third end of the third link 303 will rotate around the first rotating axis L2, thereby realizing the bending action of the dexterous hand finger 100.
[0065] Optionally, in some embodiments, a first limiting region 101 is provided outside the metacarpal assembly 10 near the first output shaft L1;
[0066] The first connecting rod 301 rotates within the first limiting area 101 with the central axis of the first output shaft L1 as the center.
[0067] In this embodiment, by providing a first limiting region 101 near the first output shaft L1 outside the metacarpal assembly 10, the first connecting rod 301 rotates within the first limiting region 101 with the central axis of the first output shaft L1 as the center. This causes the third end of the third connecting rod 303, which is indirectly connected to it, to also rotate within a certain angle range, which is more in line with the rotation mode and movement path of human hand fingers, thereby improving the biomimetic performance of the dexterous hand finger 100.
[0068] Optionally, in some embodiments, the first end and the third end of the third link 303 are located at the two ends of the third link 303, respectively, and the second end of the third link 303 is located between the two ends of the third link 303.
[0069] It should be understood that when the first output shaft L1, which extends outward within the metacarpal assembly 10, transmits torque outward, the first connecting rod 301, which is fixed on the first output shaft L1, rotates with the first output shaft L1 and transmits torque. The first connecting rod 301 transmits the torque to the third connecting rod 303 through the second connecting rod 302.
[0070] Optionally, in some embodiments, the phalanx assembly 40 includes: a proximal phalanx 401, a mid-phalanx 402, and a distal phalanx 403;
[0071] The first end of the proximal phalanx 401 is fixedly connected to the third end of the connecting rod assembly 30, the second end of the proximal phalanx 401 is drivenly connected to the first end of the middle phalanx 402, and the second end of the middle phalanx 402 is drivenly connected to the distal phalanx 403.
[0072] In this embodiment of the application, the finger bone component 40 is divided into proximal finger bone 401, middle finger bone 402 and distal finger bone 403 in the manner described above, thereby improving the biomimetic performance of the dexterous hand finger 100.
[0073] Referring to Figure 4, which is a second exploded structural diagram of the fingers of a dexterous hand provided in an embodiment of this application, the proximal phalanx 401 includes: a first driving body 4011 and a second driving body 4012 fixedly connected to the first driving body 4011;
[0074] The first drive body 4011 is provided with a first motor and a first transmission assembly. The first motor is fixed inside the first drive body 4011. The output shaft of the first motor is connected to the first end of the first transmission assembly. The second end of the first transmission assembly is fixedly connected to the third end of the connecting rod assembly 30.
[0075] The second drive body 4012 is equipped with a second motor and a second transmission assembly. The second motor is fixed inside the second drive body 4012. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the middle finger bone 402.
[0076] It should be noted that by including a first drive body 4011 and a second drive body 4012 fixedly connected to the first drive body 4011 within the proximal phalanx 401, the proximal phalanx 401 simultaneously possesses a power source for driving the middle phalanx 402 and the linkage assembly 30, thereby increasing the number of active degrees of freedom of the dexterous hand fingers 100 and thus improving the bionic performance of the dexterous hand fingers 100.
[0077] Optionally, in some embodiments, the first transmission assembly includes: 2N first gears, a first interlaced shaft transmission mechanism, and a first fixed shaft L3;
[0078] 2N first gears mesh sequentially, wherein the first first gear is sleeved on the output shaft of the first motor, the 2Nth first gear is sleeved on the first end of the first interlaced shaft transmission mechanism, the second end of the first interlaced shaft transmission mechanism is fixedly connected to the first end of the first fixed shaft L3, and the second end of the first fixed shaft L3 is fixedly connected to the third end of the connecting rod assembly 30, where N is a positive integer.
[0079] In this embodiment of the application, by means of the first interlaced shaft transmission mechanism, a compact spatial layout can be achieved while realizing the vertical offset of the central axis of torque power.
[0080] Furthermore, by setting the second end of the first intersecting shaft transmission mechanism to be fixedly connected to the first end of the first fixed shaft L3, and the second end of the first fixed shaft L3 to be fixedly connected to the third end of the connecting rod assembly 30, this method can enable the first motor located in the first drive body 4011 to achieve the active degree of freedom of the dexterous hand finger 100 to extend outward through reverse drive, thereby improving the bionic performance of the dexterous hand finger 100.
[0081] Optionally, in some embodiments, the first interleaved shaft transmission mechanism includes: a first worm and a first worm wheel;
[0082] The 2Nth first gear is sleeved on the first end of the first worm, the second end of the first worm meshes with the first worm wheel for transmission, and the first worm is sleeved on the first end of the first fixed shaft L3 and fixedly connected.
[0083] When the output shaft of the first motor outputs torque, the torque is transmitted to the first worm and the first worm wheel, so that the proximal phalanx 401 rotates around the central axis of the first fixed shaft L3.
[0084] In this embodiment of the application, by setting an interleaved shaft transmission mechanism in the form of a first worm and a first worm wheel, the service life of the interleaved shaft transmission mechanism can be improved, thereby improving the service life of the dexterous hand finger 100.
[0085] Optionally, in some embodiments, the distance between the center of the first rotating shaft L2 and the central axis of the first fixed shaft L3 is less than or equal to 8 mm.
[0086] In this embodiment of the application, by making the distance between the center of the first rotating shaft L2 and the central axis of the first fixed shaft L3 less than or equal to 8mm, the bending degree of freedom and abduction degree of freedom of the dexterous hand finger 100 can be realized. The rotation axes of these two active degrees of freedom are closer, which is more in line with the rotation axis center point of the dexterous hand finger 100 and improves the bionic performance of the dexterous hand finger 100.
[0087] Optionally, in some embodiments, the second transmission assembly includes: 2N second gears, a second interleaved shaft transmission mechanism, and a second rotating shaft L4;
[0088] 2N second gears mesh sequentially, wherein the first second gear is fitted onto the output shaft of the second motor, the 2Nth second gear is fitted onto the first end of the second intersecting shaft transmission mechanism, the second end of the second intersecting shaft transmission mechanism is connected to the first end of the second rotating shaft L4, and the second end of the second rotating shaft L4 is connected to the middle finger bone 402. N is a positive integer.
[0089] In this embodiment of the application, by means of a second interlaced shaft transmission mechanism, a compact spatial layout can be achieved while realizing the vertical offset of the central axis of torque power.
[0090] Furthermore, by setting the second end of the second intersecting shaft transmission mechanism to be connected to the first end of the second rotating shaft L4, and the second end of the second rotating shaft L4 to be connected to the middle finger bone 402, the second motor located in the second drive body 4012 can realize the active degree of freedom of bending the middle finger bone 402, thereby improving the bionic performance of the dexterous hand finger 100.
[0091] Optionally, in some embodiments, the second interleaved shaft transmission mechanism includes: a second worm and a second worm wheel;
[0092] The 2Nth second gear is sleeved on the first end of the second worm, the second end of the second worm meshes with the second worm wheel for transmission, and the second worm wheel is connected to the first end of the second rotating shaft L4 for transmission.
[0093] When the output shaft of the second motor outputs torque, the torque is transmitted to the second worm and the second worm wheel, so that the middle finger bone 402 rotates around the central axis of the second rotating shaft L4.
[0094] In this embodiment of the application, by setting the two intersecting shaft transmission mechanism as a second worm and a second worm wheel, the service life of the intersecting shaft transmission mechanism can be improved, thereby improving the service life of the dexterous hand finger 100.
[0095] Optionally, in some embodiments, the mid-phalanges 402 includes: a third motor and a third transmission assembly;
[0096] The third motor is fixed inside the middle finger bone 402. The output shaft of the third motor is connected to the first end of the third transmission component, and the second end of the third transmission component is connected to the distal finger bone 403.
[0097] In this embodiment, a third motor is fixed inside the middle phalanx 402. The output shaft of the third motor is connected to the first end of the third transmission assembly, and the second end of the third transmission assembly is connected to the distal phalanx 403. This allows the distal phalanx 403 to rotate, improving the biomimetic performance of the dexterous hand fingers 100.
[0098] Optionally, in some embodiments, the third transmission assembly includes: 2N third gears, a third interleaved shaft transmission mechanism, and a third rotating shaft L5;
[0099] 2N third gears mesh sequentially. The first third gear is mounted on the output shaft of the third motor, and the 2Nth third gear is mounted on the first end of the third intersecting shaft transmission mechanism. The second end of the intersecting shaft transmission mechanism is connected to the first end of the third rotating shaft L5. The second end of the third rotating shaft L5 is connected to the distal phalanx 403. N is a positive integer.
[0100] In this embodiment, by using a third interlaced shaft transmission mechanism, a compact spatial layout can be achieved while realizing the vertical offset of the central axis of torque power.
[0101] Furthermore, by setting the second end of the third intersecting shaft transmission mechanism to be connected to the first end of the third rotating shaft L5, and the second end of the third rotating shaft L5 to be connected to the distal phalanx 403, this method can realize the active degree of freedom of the third motor located in the middle phalanx 402 to bend the distal phalanx 403 through 2N third gears, the third intersecting shaft transmission mechanism and the third rotating shaft L5, thereby improving the biomimetic performance of the dexterous hand finger 100.
[0102] Optionally, in some embodiments, the third interleaved shaft transmission mechanism includes: a third worm and a third worm wheel;
[0103] The 2Nth third gear is sleeved on the first end of the third worm, the second end of the third worm meshes with the third worm wheel, the third worm wheel is sleeved on the first end of the third rotating shaft L5 and fixedly connected, and the second end of the third rotating shaft L5 is connected to the distal phalanx 403 for transmission.
[0104] When the output shaft of the third motor outputs torque, the torque is transmitted to the third worm and the third worm wheel, so that the distal phalanx 403 rotates around the central axis of the third rotating shaft L5.
[0105] In this embodiment of the application, by setting the three intersecting shaft transmission mechanism as a third worm and a third worm wheel, the service life of the intersecting shaft transmission mechanism can be improved, thereby improving the service life of the dexterous hand finger 100.
[0106] Optionally, in some embodiments, a second limiting region is provided outside the second end of the second drive body 4012;
[0107] Among them, the middle phalanx 402 rotates within the second limiting area with the central axis of the second rotating shaft L4 as the center.
[0108] It should be understood that, through the above method, the rotation angle range of the middle phalanx 402 can be made to better match the rotation angle range of human hand fingers, thereby improving the biomimetic performance of the dexterous hand finger 100.
[0109] Optionally, in some embodiments, a third limiting region is provided outside the second end of the middle phalanx 402;
[0110] Among them, the distal phalanx 403 rotates within the third limiting area with the central axis of the third rotating shaft L5 as the center.
[0111] It should be understood that, through the above method, the rotation angle range of the distal phalanx 403 can be made to better match the rotation angle range of the human hand fingers, thereby improving the biomimetic performance of the dexterous hand fingers 100.
[0112] Secondly, embodiments of this application provide a dexterous hand 1000, which includes the dexterous hand fingers 100 of any of the above-mentioned features, and a metacarpal topology, wherein the dexterous hand fingers 100 are partially located within the metacarpal topology and are fixedly connected.
[0113] In this embodiment of the application, the dexterous hand 1000 includes the dexterous hand fingers 100 described in any of the above-mentioned embodiments, thereby enabling the dexterous hand 1000 with the dexterous hand fingers 100 to have higher biomimetic performance.
[0114] Thirdly, embodiments of this application provide a robot including a dexterous hand 1000 as described above, and a robot body, wherein the dexterous hand 1000 is connected to the robot body. A second aspect of embodiments of this application provides a dexterous hand 1000, which includes at least one dexterous hand finger 100 as described above, and a hand skeleton, wherein the dexterous hand finger 100 is partially located within and fixedly connected to the hand skeleton.
[0115] In this embodiment, the robot has good biomimetic performance by having the aforementioned dexterous hand 1000 and a robot body, with the dexterous hand 1000 connected to the robot body.
[0116] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
Claims
1. A dexterous hand finger, characterized in that, The dexterous hand fingers include: a metacarpal assembly, a connecting and fixing frame, a link assembly, and a finger bone assembly; The metacarpal assembly is fixedly connected to the first end of the connecting and fixing frame, and the metacarpal assembly is provided with a first output shaft extending outward; The first end of the connecting rod assembly is drivenly connected to the first output shaft, the second end of the connecting rod assembly is rotatably connected to the second end of the connecting fixing frame, and the third end of the connecting rod assembly is fixedly connected to the finger bone assembly. The connecting rod assembly is used to transmit the torque output from the first output shaft to the first rotating shaft, so that the finger bone assembly rotates around the first rotating shaft. The first rotating shaft is the axis of rotation of the rotation center at the rotational connection between the second end of the connecting rod assembly and the second end of the connecting fixing frame.
2. The dexterous hand finger according to claim 1, characterized in that, The linkage assembly includes: a first link, a second link, and a third link; The first end of the first connecting rod is driven to the first output shaft, the second end of the first connecting rod is driven to the first end of the second connecting rod, the second end of the second connecting rod is driven to the first end of the third connecting rod, the second end of the third connecting rod is rotatably connected to the second end of the connecting fixing frame, and the third end of the third connecting rod is fixedly connected to the finger bone assembly.
3. The dexterous hand finger according to claim 2, characterized in that, A first limiting area is provided on the outside of the metacarpal assembly near the first output shaft; The first connecting rod rotates within the first limiting area with the central axis of the first output shaft as its center.
4. The dexterous hand finger according to claim 2, characterized in that, The first end and the third end of the third link are located at the two ends of the third link, respectively, and the second end of the third link is located between the two ends of the third link.
5. The dexterous hand finger according to claim 1, characterized in that, The phalangeal assembly includes: proximal phalanges, middle phalanges and distal phalanges; The first end of the proximal phalanx is fixedly connected to the third end of the linkage assembly, the second end of the proximal phalanx is drivenly connected to the first end of the middle phalanx, and the second end of the middle phalanx is drivenly connected to the distal phalanx.
6. The dexterous hand finger according to claim 5, characterized in that, The proximal phalanx includes: a first driving body and a second driving body fixedly connected to the first driving body; The first drive body is provided with a first motor and a first transmission assembly. The first motor is fixed in the first drive body. The output shaft of the first motor is connected to the first end of the first transmission assembly. The second end of the first transmission assembly is fixedly connected to the third end of the connecting rod assembly. The second drive body is provided with a second motor and a second transmission assembly. The second motor is fixed in the second drive body. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the middle finger bone.
7. The dexterous hand finger according to claim 6, characterized in that, The first transmission assembly includes: 2N first gears, a first interlaced shaft transmission mechanism, and a first fixed shaft; The 2N first gears mesh sequentially, wherein the first first gear is sleeved on the output shaft of the first motor, the 2Nth first gear is sleeved on the first end of the first interlaced shaft transmission mechanism, the second end of the first interlaced shaft transmission mechanism is fixedly connected to the first end of the first fixed shaft, and the second end of the first fixed shaft is fixedly connected to the third end of the connecting rod assembly, where N is a positive integer.
8. The dexterous hand finger according to claim 7, characterized in that, The first interlaced shaft transmission mechanism includes: a first worm and a first worm wheel; The 2Nth first gear is sleeved on the first end of the first worm, the second end of the first worm meshes with the first worm wheel for transmission, and the first worm is sleeved on the first end of the first fixed shaft and fixedly connected. When the output shaft of the first motor outputs torque, the torque is transmitted to the first worm and the first worm wheel, so that the proximal phalanx rotates around the central axis of the first fixed shaft.
9. The dexterous hand finger according to claim 8, characterized in that, The distance between the center of the first rotating shaft and the central axis of the first fixed shaft is less than or equal to 8 mm.
10. The dexterous hand finger according to claim 6, characterized in that, The second transmission assembly includes: 2N second gears, a second interlaced shaft transmission mechanism, and a second rotating shaft; The 2N second gears mesh sequentially, wherein the first second gear is sleeved on the output shaft of the second motor, the 2Nth second gear is sleeved on the first end of the second intersecting shaft transmission mechanism, the second end of the second intersecting shaft transmission mechanism is connected to the first end of the second rotating shaft, and the second end of the second rotating shaft is connected to the middle finger bone. N is a positive integer.
11. The dexterous hand finger according to claim 10, characterized in that, The second interleaved shaft transmission mechanism includes: a second worm and a second worm wheel; The 2Nth second gear is sleeved on the first end of the second worm, the second end of the second worm meshes with the second worm wheel for transmission, and the second worm wheel is connected to the first end of the second rotating shaft for transmission. When the output shaft of the second motor outputs torque, the torque is transmitted to the second worm and the second worm wheel, so that the middle finger bone rotates around the central axis of the second rotating shaft.
12. The dexterous hand finger according to claim 5, characterized in that, The mid-phalanges include: a third motor and a third transmission assembly; The third motor is fixed inside the middle phalanx, and the output shaft of the third motor is connected to the first end of the third transmission assembly, while the second end of the third transmission assembly is connected to the distal phalanx.
13. The dexterous hand finger according to claim 12, characterized in that, The third transmission component includes: 2N third gears, a third interlaced shaft transmission mechanism, and a third rotating shaft; The 2N third gears mesh sequentially, wherein the first third gear is sleeved on the output shaft of the third motor, the 2Nth third gear is sleeved on the first end of the third interlaced shaft transmission mechanism, the second end of the interlaced shaft transmission mechanism is connected to the first end of the third rotating shaft, and the second end of the third rotating shaft is connected to the distal phalanx. N is a positive integer.
14. The dexterous hand finger according to claim 13, characterized in that, The third interlaced shaft transmission mechanism includes: a third worm and a third worm wheel; The 2Nth third gear is sleeved on the first end of the third worm, the second end of the third worm meshes with the third worm wheel, the third worm wheel is sleeved on the first end of the third rotating shaft and fixedly connected, and the second end of the third rotating shaft is connected to the distal phalanx transmission. When the output shaft of the third motor outputs torque, the torque is transmitted to the third worm and the third worm wheel, so that the distal phalanx rotates around the central axis of the third rotating shaft.
15. The dexterous hand finger according to claim 10, characterized in that, The second driving body has a second limiting area outside its second end; The middle phalanx rotates within the second limiting area with the central axis of the second rotating shaft as its center.
16. The dexterous hand finger according to claim 12, characterized in that, A third limiting area is provided outside the second end of the middle phalanx; The distal phalanx rotates within the third limiting region with the central axis of the third rotating shaft as its center.
17. A dexterous hand, characterized in that, The dexterous hand includes at least one dexterous hand finger as described in any one of claims 1 to 16, and a metacarpal topology, wherein the dexterous hand finger portion is located within and fixedly connected to the metacarpal topology.
18. A robot, characterized in that, It includes a dexterous hand as described in claim 17, and a robot body, wherein the dexterous hand is connected to the robot body.