CN118650648A - Dexterous fingers, dexterous hands and robots - Google Patents
Dexterous fingers, dexterous hands and robots Download PDFInfo
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- CN118650648A CN118650648A CN202410765906.6A CN202410765906A CN118650648A CN 118650648 A CN118650648 A CN 118650648A CN 202410765906 A CN202410765906 A CN 202410765906A CN 118650648 A CN118650648 A CN 118650648A
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- axis
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- knuckle
- side swing
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, which solve the problem that the motion accuracy and the size of the dexterous hand can not be simultaneously considered while the motion decoupling of the bending and the side swinging of the dexterous hand finger is realized. The smart finger includes a side swing assembly, a knuckle, a link assembly, a first drive assembly, and a second drive assembly. The side swing assembly, the knuckle, the connecting rod assembly and the first driving assembly form a crank sliding block mechanism, the knuckle can be driven to rotate around the second axis, and bending of the knuckle is achieved. The knuckle can rotate around the first axis under the drive of the second drive assembly, and the side swing of the knuckle is realized. The at least four connecting rods can rotate around the axes in at least three directions, so that motion decoupling of bending and side swinging is realized. The application does not need to use gear transmission with larger volume, reduces the size of the smart finger, and the transmission mode of the application is mainly connecting rod transmission, and has higher transmission efficiency compared with the gear transmission and tendon rope connection.
Description
Technical Field
The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, and can perform tasks such as moving, grabbing and the like through programming and automatic control. A dexterous hand is an end effector of a robot. The fingers of the smart hand are important components of the smart hand, and directly influence the movement function and compactness of the smart hand. Dexterous fingers typically require two degrees of freedom of motion, bending and sideways. The design difficulty of two degrees of freedom dexterous hand fingers is to achieve motion decoupling between the two degrees of freedom of bending and sideways.
At present, the motion decoupling between two degrees of freedom of bending and sideslip of the dexterous hand cannot be realized, and meanwhile, the motion precision and the size of the dexterous hand can not be considered.
Disclosure of Invention
In view of the above, the embodiment of the application provides a dexterous hand finger, a dexterous hand and a robot, which solve the problem that the motion accuracy and the size of the dexterous hand can not be simultaneously considered while the motion decoupling between two degrees of freedom of bending and side swinging of the dexterous hand finger is realized.
In a first aspect, embodiments of the present application provide a dexterous hand finger for use with a dexterous hand, the dexterous hand comprising a palm substrate and at least one of the dexterous hand fingers; wherein, the dexterous hand finger includes: the side swing assembly is rotatably connected with the palm substrate around a first axis; a knuckle rotatably connected with the side swing assembly about a second axis, the second axis being perpendicular to the first axis; the connecting rod assembly comprises at least four connecting rods which are rotatably connected in sequence, wherein a first connecting rod is rotatably connected with the knuckle around a third axis, the rotation axis between the at least four connecting rods at least comprises a fourth axis, a fifth axis and a sixth axis, the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and is perpendicular to the third axis, and the sixth axis is parallel to the fifth axis; the first driving assembly comprises a fixed piece and a movable piece which are connected with each other, the fixed piece is connected with the palm substrate, the last connecting rod is rotatably connected around a seventh axis relative to the movable piece, the seventh axis is perpendicular to the sixth axis and perpendicular to the first axis, the fixed piece can drive the movable piece to move along a first direction, the movable piece is used for driving the connecting rod assembly to move, the connecting rod assembly is used for driving the knuckle to rotate around the second axis, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis; and the second driving assembly is connected with the side swinging assembly and is configured to drive the side swinging assembly to rotate around the first axis relative to the palm substrate so as to drive the knuckle to rotate around the first axis by utilizing the side swinging assembly.
In some embodiments, the linkage assembly includes four of the links, a fourth of the links being a last of the links; the first connecting rod is rotatably connected with the second connecting rod around the fourth axis, the second connecting rod is rotatably connected with the third connecting rod around the fifth axis, and the third connecting rod is rotatably connected with the fourth connecting rod around the sixth axis.
In some embodiments, the side swing assembly has an arc groove, a cross section of the arc groove perpendicular to the second axis is in a circular arc shape, and a center of the circular arc is located on the second axis; wherein, smart hand finger still includes: the first limiting piece is connected with the knuckle and penetrates into the circular arc groove; wherein, during the rotation of the knuckle around the second axis, the first limiting piece moves along the extending direction of the circular arc groove, and two ends of the circular arc groove are configured to limit the rotation angle of the knuckle around the second axis.
In some embodiments, the knuckle has a first shaft bore and a first of the links has a second shaft bore; the first limiting piece comprises a first shaft-shaped structure, the first shaft-shaped structure penetrates into the first shaft hole and the second shaft hole respectively, so that the knuckle and the first connecting rod are rotatably connected around the first shaft-shaped structure, and the axis of the first shaft-shaped structure coincides with the third axis.
In some embodiments, the smart finger further comprises: and the second limiting piece is connected with the palm substrate and is configured to limit the rotation angle of the side swinging assembly relative to the palm substrate around the first axis.
In some embodiments, the roll assembly is rotatably coupled to the second stop about the first axis.
In some embodiments, the mount comprises: the first driving source is connected with the palm substrate; the screw rod is connected with the first driving source and is driven by the first driving source to rotate; wherein, the moving part includes: the screw rod nut is in threaded connection with the screw rod, and the last connecting rod is rotatably connected around the seventh axis relative to the screw rod nut.
In some embodiments, the roll assembly has a third shaft aperture and the palm substrate has a fourth shaft aperture; the smart hand finger further comprises: the first movable shaft penetrates into the third shaft hole and the fourth shaft hole respectively, so that the side swing assembly and the palm substrate are rotatably connected around the first movable shaft, and the axis of the first movable shaft coincides with the first axis; wherein the second drive assembly comprises: the side swing driving wheel is connected with the side swing assembly and is provided with a fifth shaft hole, and the side swing driving wheel is sleeved on the first movable shaft through the fifth shaft hole; the side swing driving rod is connected with the side swing driving wheel, and the extending direction of the side swing driving rod is crossed with the extending direction of the first movable shaft; the second driving source is connected with the palm substrate and the side swing driving rod and configured to drive the side swing driving rod to move, so that the side swing driving rod is utilized to drive the side swing driving wheel to rotate around the first movable shaft, and the side swing driving wheel drives the side swing assembly to rotate around the first axis.
In some embodiments, the roll drive bar and the link assembly are disposed on opposite sides of the roll assembly, respectively.
In a second aspect, embodiments of the present application provide a smart hand comprising: a palm substrate; at least one smart finger as mentioned in the first aspect is connected to the palm substrate.
In a third aspect, an embodiment of the present application provides a robot including: a main body; at least one smart hand as mentioned in the second aspect is connected to the body.
The smart finger provided by the embodiment of the application is applied to a smart hand and comprises a side swing assembly, a knuckle, a connecting rod assembly, a first driving assembly and a second driving assembly. Specifically, the roll assembly is rotatably coupled to the palm substrate about a first axis. The knuckle is rotatably connected with the side swing assembly about a second axis that is perpendicular to the first axis. The connecting rod assembly comprises at least four connecting rods which are sequentially and rotatably connected, wherein a first connecting rod is rotatably connected with the knuckle around a third axis, the rotation axis between the at least four connecting rods at least comprises a fourth axis, a fifth axis and a sixth axis, the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis. The first driving assembly comprises a fixed piece and a movable piece which are connected with each other, the fixed piece is connected with the palm substrate, the last connecting rod is rotatably connected around a seventh axis relative to the movable piece, the seventh axis is perpendicular to the sixth axis and perpendicular to the first axis, the fixed piece can drive the movable piece to move along a first direction, the movable piece is utilized to drive the connecting rod assembly to move, the connecting rod assembly is enabled to drive the knuckle to rotate around the second axis, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis. The second driving assembly is connected with the side swinging assembly and is configured to drive the side swinging assembly to rotate around the first axis relative to the palm substrate, so that the finger joints are driven to rotate around the first axis by the side swinging assembly.
In other words, the side swing assembly, the knuckle, the connecting rod assembly and the first driving assembly form a crank block mechanism which can drive the knuckle to rotate around the second axis, and bending of the knuckle is achieved. The knuckle can rotate around the first axis under the drive of the second drive assembly, and the side swing of the knuckle is realized. The connecting rod assembly comprises at least four connecting rods which are connected in turn in a rotatable manner, and the at least four connecting rods can rotate around axes in at least three directions, so that motion decoupling between two degrees of freedom of bending and side swinging is realized. In addition, through utilizing the link assembly to realize the transmission, need not use the gear drive of great volume, reduced the size of smart hand finger, make the size of smart hand finger more be close to the staff finger. In addition, the connection modes among the side swing assembly, the knuckle, the connecting rod assembly, the first driving assembly and the second driving assembly are mainly rotational connection, and compared with the tendon rope connection mode in the related art, the precision is higher, the transmission mode of the application is mainly connecting rod transmission, and compared with gear transmission and tendon rope connection, the transmission efficiency is higher. Therefore, the finger of the smart hand provided by the embodiment of the application can realize the motion decoupling between the two degrees of freedom of bending and side swinging of the finger of the smart hand, and simultaneously improve the motion precision of the smart hand and reduce the size of the smart hand.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing embodiments thereof in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts.
Fig. 1 is a schematic diagram of a smart finger according to an embodiment of the present application.
Fig. 2 is a side view of a smart finger according to an embodiment of the present application.
Fig. 3 is a front view of a smart finger according to an embodiment of the present application.
Fig. 4 is a schematic cross-sectional view of the smart finger of fig. 3 in the direction A-A.
Fig. 5 is a partial enlarged view of the finger of the smart hand shown in fig. 4 in region B.
Fig. 6 is a schematic structural diagram of a smart finger according to another embodiment of the present application.
Fig. 7 is a front view of a smart finger according to another embodiment of the present application.
Fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present application.
Reference numerals:
1. A robot; 2. a main body; 3. a dexterous hand; 10. dexterous hand fingers; 100. a side swing assembly; 110. an arc groove; 200. a knuckle; 300. a connecting rod assembly; 310. a connecting rod; 311. a first link; 312. a second link; 313. a third link; 314. a fourth link; 400. a first drive assembly; 410. a fixing member; 411. a first driving source; 412. a screw rod; 420. a movable member; 421. a screw nut; 500. a second drive assembly; 510. a side swing driving wheel; 520. a side swing driving rod; 530. a second driving source; 600. a first limiting member; 610. a first shaft-like structure; 700. a second limiting piece; 810. a first movable shaft; 20. a palm substrate; l1, a first axis; l2, second axis; l3, a third axis; l4, fourth axis; l5, fifth axis; l6, sixth axis; l7, seventh axis; y1, a first direction; alpha, side swing angle.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, and can perform tasks such as moving, grabbing and the like through programming and automatic control. A dexterous hand is an end effector of a robot. The fingers of the smart hand are important components of the smart hand, and directly influence the movement function and compactness of the smart hand. Dexterous fingers typically require two degrees of freedom of motion, bending and sideways. The design difficulty of two degrees of freedom dexterous hand fingers is to achieve motion decoupling between the two degrees of freedom of bending and sideways.
Currently, there are two ways to achieve motion decoupling between two degrees of freedom, bending and yaw, one with gear drive and the other with tendon rope drive. For the gear transmission mode, the decoupling of bending and side swinging motions is realized mainly by adopting two pairs of gear differential motions. However, the volume of gears is generally large, resulting in a large size of the dexterous hand employing gear drive. For tendon rope transmission mode, the tendon rope is mainly used for passing through the center of each joint shaft of the finger to realize decoupling of bending and side swinging motions. However, it is difficult to ensure that the tendon rope passes strictly through the center of the joint shaft, and thus, there is a large decoupling error, resulting in lower accuracy of movement of the dexterous hand driven with the tendon rope. In addition, tendon ropes have the disadvantages of low service life, poor maintainability and the like.
In view of the above problems, embodiments of the present application provide a dexterous finger, which is applied to a dexterous hand, and includes a side swing assembly, a knuckle, a link assembly, a first driving assembly, and a second driving assembly. The side swing assembly is rotatably connected with the palm substrate around a first axis. The knuckle is rotatably connected with the side swing assembly about a second axis that is perpendicular to the first axis. The connecting rod assembly comprises at least four connecting rods which are sequentially and rotatably connected, the first connecting rod is rotatably connected with the knuckle around a third axis, the rotation axis between the at least four connecting rods at least comprises a fourth axis, a fifth axis and a sixth axis, wherein the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and perpendicular to the third axis, and the sixth axis is parallel to the fifth axis. The first driving assembly comprises a fixed piece and a movable piece which are connected with each other, the fixed piece is connected with the palm substrate, the last connecting rod is rotatably connected around a seventh axis relative to the movable piece, the seventh axis is perpendicular to the sixth axis and perpendicular to the first axis, wherein the fixed piece can drive the movable piece to move along a first direction, the movable piece is used for driving the connecting rod assembly to move, the connecting rod assembly drives the knuckle to rotate around a second axis, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis. The second driving component is connected with the side swinging component and is configured to drive the side swinging component to rotate around the first axis relative to the palm substrate so as to drive the knuckle to rotate around the first axis by utilizing the side swinging component.
The side swing assembly, the knuckle, the connecting rod assembly and the first driving assembly form a crank sliding block mechanism, the knuckle can be driven to rotate around the second axis, and bending of the knuckle is achieved. The knuckle can rotate around the first axis under the drive of the second drive assembly, and the side swing of the knuckle is realized. The connecting rod assembly comprises at least four connecting rods which are connected in turn in a rotatable manner, and the at least four connecting rods can rotate around axes in at least three directions, so that motion decoupling between two degrees of freedom of bending and side swinging is realized.
In addition, the smart finger provided by the embodiment of the application comprises the side swing assembly, the knuckle, the connecting rod assembly, the first driving assembly and the second driving assembly, namely, the connecting rod assembly is utilized to realize transmission, and gear transmission with larger volume is not needed, so that the size of the smart finger is reduced, and the size of the smart finger is more similar to that of a human finger.
In addition, the connection mode among the lateral swinging component, the knuckle, the connecting rod component, the first driving component and the second driving component of the smart finger is mainly rotary connection, and compared with the tendon rope connection mode in the related art, the precision is higher. Therefore, the finger of the smart hand provided by the embodiment of the application can realize the motion decoupling between the two degrees of freedom of bending and side swinging of the finger of the smart hand, and simultaneously improve the motion precision of the smart hand and reduce the size of the smart hand.
In addition, the service lives and maintainability of the side swing assembly, the knuckle, the connecting rod assembly, the first driving assembly and the second driving assembly of the smart finger are longer than those of the tendon rope, so that the smart finger is longer in service life and better in maintainability compared with the smart finger driven by the tendon rope.
The specific structure of the dexterous hand finger, the dexterous hand and the robot are described below with reference to the drawings and the specific embodiments.
Fig. 1 is a schematic diagram of a smart finger according to an embodiment of the present application. Fig. 2 is a side view of a smart finger according to an embodiment of the present application. Fig. 3 is a front view of a smart finger according to an embodiment of the present application. Fig. 4 is a schematic cross-sectional view of the smart finger of fig. 3 in the direction A-A. Fig. 5 is a partial enlarged view of the finger of the smart hand shown in fig. 4 in region B. Fig. 6 is a schematic structural diagram of a smart finger according to another embodiment of the present application. Fig. 7 is a front view of a smart finger according to another embodiment of the present application. Fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 1 to 8, the smart finger 10 includes a side swing assembly 100, a knuckle 200, a link assembly 300, a first drive assembly 400, and a second drive assembly 500.
The dexterous finger 10 is applied to the dexterous hand 3. The dexterous hand 3 is applied to the robot 1. Illustratively, the robot 1 includes a main body 2 and a smart hand 3, the smart hand 3 being provided to the main body 2. The main body 2 may be a body part of a humanoid robot or an arm part of an industrial robot, and the present application is not particularly limited.
The dexterous hand 3 comprises a palm substrate 20 and at least one dexterous finger 10. The dexterous finger 10 is disposed on a palm substrate 20. The palm substrate 20 may be connected to the main body 2. The palm substrate 20 may be a plate-like structure resembling a palm.
The roll assembly 100 is rotatably coupled to the palm substrate 20 about a first axis L1. The first axis L1 may be perpendicular to the palm substrate 20. The first axis L1 is the yaw axis of the smart finger 10. The side swing assembly 100 may have a U-shaped structure as shown in fig. 1, an L-shaped structure, or a rectangular structure, and the present application is not limited thereto. Illustratively, the roll assembly 100 may be integrally formed or may be assembled from a plurality of parts.
Knuckle 200 is rotatably coupled to side swing assembly 100 about a second axis L2. The second axis L2 is perpendicular to the first axis L1. The second axis L2 is the bending axis of the smart finger 10. Knuckle 200 may be a knuckle that is connected to a root joint. Only knuckle 200 is shown in the drawings, and in practice, smart finger 10 may also include a middle knuckle connected to knuckle 200, and a finger tip connected to the middle knuckle.
As shown in fig. 2, the linkage assembly 300 includes at least four links 310 rotatably connected in sequence. First link 310 is rotatably coupled to knuckle 200 about a third axis L3. The third axis L3 is parallel to the second axis L2. As shown in fig. 1 and 5, the rotational axes between the at least four links 310 include at least a fourth axis L4, a fifth axis L5, and a sixth axis L6. The fourth axis L4 is perpendicular to the third axis L3, the fifth axis L5 is perpendicular to the fourth axis L4 and perpendicular to the third axis L3, and the sixth axis L6 is parallel to the fifth axis L5.
Illustratively, the connecting rod 310 may be a straight rod, a curved rod, or other irregular shapes, and the present application is not limited in particular. In practical applications, the connecting rod 310 may have some bending structures, void structures, etc. according to the available space conditions, so as to make full use of the space and improve the compactness of the smart finger 10. The number of the links 310 included in the link assembly 300 may be four, five, six, or more, and the present application is not particularly limited.
The first driving assembly 400 includes a fixed member 410 and a movable member 420 connected to each other. The fixed member 410 is connected to the palm substrate 20, and the last link 310 is rotatably connected to the movable member 420 about a seventh axis L7, where the seventh axis L7 is perpendicular to the sixth axis L6 and perpendicular to the first axis L1. The fixed member 410 can drive the movable member 420 to move along the first direction Y1, so that the movable member 420 drives the link assembly 300 to move, and the link assembly 300 drives the knuckle 200 to rotate around the second axis L2, and the first direction is perpendicular to the sixth axis L6 and perpendicular to the seventh axis L7.
The relative rotation between the above-described members may be realized by hinging or by other structures, and the present application is not limited to a specific rotation method as long as the rotation about the corresponding axis is realized. For example, the two parts that are relatively rotated may each be provided with a shaft hole, and then the two parts that are relatively rotated by penetrating the respective shaft holes of the two parts with one movable shaft. Illustratively, bearings may also be provided between the moveable shaft and the two components to increase rotational flexibility.
Illustratively, the mount 410 may be a motor and a screw. The movable member 420 may be a lead screw nut. The motor drives the screw rod to rotate, and the screw rod drives the screw rod nut to move along the first direction Y1. Illustratively, the fixing member 410 may be a cylinder tube structure of the cylinder, and the fixing member 420 may be a cylinder rod structure of the cylinder, and the cylinder tube structure drives the cylinder rod structure to expand and contract in the Y1 direction, i.e., to realize movement of the cylinder rod structure in the Y1 direction.
The second driving assembly 500 is connected to the side swing assembly 100, and is configured to drive the side swing assembly 100 to rotate around the first axis L1 relative to the palm substrate 20, so as to drive the knuckle 200 to rotate around the first axis L1 by using the side swing assembly 100. Illustratively, the second drive assembly 500 may be a motor, i.e., directly utilizing the motor to drive the roll assembly 100 for rotation. For example, the second driving assembly 500 may include a motor and a pulley transmission assembly, i.e., the motor drives the pulley transmission assembly to rotate, and the pulley transmission assembly drives the side swing assembly 100 to rotate.
The side swing assembly 100, knuckle 200, connecting rod assembly 300 and first drive assembly 400 form a slider-crank mechanism. Specifically, as shown in fig. 2, knuckle 200 may be considered a crank of a slider-crank mechanism, link assembly 300 may be considered a link of a slider-crank mechanism, and movable member 420 of first drive assembly 400 may be considered a slider of a slider-crank mechanism. The crank block mechanism can drive the knuckle 200 to rotate around the second axis L2, and bending of the knuckle 200 is achieved.
The knuckle 200 is rotatable about the first axis L1 under the drive of the second drive assembly 500, enabling yaw of the knuckle 200.
The linkage assembly 300 includes at least four links 310 rotatably connected in sequence, and the at least four links 310 are capable of rotating about at least three directional axes, thereby achieving decoupling of motion between two degrees of freedom of bending and yaw. Specifically, at least four links 310 are rotatable about a third axis L3, a fourth axis L4, a fifth axis L5, a sixth axis L6, and a seventh axis L7, respectively, while the fourth axis L4 is perpendicular to the third axis L3, the fifth axis L5 is perpendicular to the fourth axis L4 and perpendicular to the third axis L3, the sixth axis L6 is parallel to the fifth axis L5, and the seventh axis L7 is perpendicular to the sixth axis L6 and perpendicular to the first axis L1. In other words, when knuckle 200 is laterally swung about first axis L1, linkage assembly 300 is able to rotate with knuckle 200 without affecting the bending of knuckle 200, i.e., the bending and lateral swinging of knuckle 200 are independent of each other.
Illustratively, the angle of the crank rotation axis of the conventional crank slider mechanism to the sliding direction of the slider is 90 degrees, and the position and posture of the crank rotation axis remain unchanged. While the posture of the crank rotation axis (i.e., the second axis L2) of the present application is changed, as shown in fig. 7, when the knuckle 200 generates the yaw angle α, the angle between the crank rotation axis (i.e., the second axis L2) and the sliding direction of the slider (i.e., the moving direction of the movable member 420, i.e., the first direction Y1) becomes the difference between 90 degrees and the yaw angle α. In other words, the connecting rod assembly 300 of the present application is a spatial connecting rod assembly, and the side swing assembly 100, knuckle 200, connecting rod assembly 300 and first drive assembly 400 of the present application form a spatial crank block mechanism.
In addition, the smart finger 10 provided in the embodiment of the present application includes the side swing assembly 100, the knuckle 200, the link assembly 300, the first driving assembly 400 and the second driving assembly 500, that is, the link assembly 300 is utilized to realize transmission, and no gear transmission with larger volume is needed, so that the size of the smart finger 10 is reduced, and the size of the smart finger 10 is more similar to that of a human finger. In practical application, the ratio of the size of the smart finger 10 to the size of the finger of the human hand can be 1:1.
In addition, the connection modes of the side swing assembly 100, the knuckle 200, the connecting rod assembly 300, the first driving assembly 400 and the second driving assembly 500 of the smart finger 10 provided by the embodiment of the application are mainly rotational connection, and compared with the tendon rope connection mode of the related art, the precision is higher, the transmission mode of the smart finger 10 is mainly link transmission, and compared with the transmission efficiency of gear transmission and tendon rope connection, the transmission mode of the smart finger 10 is higher. Therefore, the smart finger 10 provided by the embodiment of the application can realize the motion decoupling between the two degrees of freedom of bending and lateral swinging of the smart finger 10, and simultaneously improve the motion precision of the smart finger 10, reduce the size of the smart finger 10, reduce the weight of the smart finger 10 and facilitate the integration of the smart finger 10.
In addition, the connecting rod assembly 300 has high rigidity and strength, so the connecting rod assembly 300 is adopted as transmission, the strength of the finger 10 of the dexterous hand is better, and the transmission efficiency is higher.
In addition, the lateral swing assembly 100, the knuckle 200, the connecting rod assembly 300, the first driving assembly 400 and the second driving assembly 500 of the smart finger 10 provided by the embodiment of the application have longer service life and better maintainability than those of a tendon rope, so that the smart finger 10 provided by the embodiment of the application has longer service life and better maintainability than those of a smart hand driven by the tendon rope.
In some embodiments, as shown in fig. 3-5, the linkage assembly 300 includes four links 310, a first link 311, a second link 312, a third link 313, and a fourth link 314, respectively. The fourth link 314 is the last link. The first link 311 is rotatably connected to the second link 312 about the fourth axis L4, the second link 312 is rotatably connected to the third link 313 about the fifth axis L5, and the third link 313 is rotatably connected to the fourth link 314 about the sixth axis L6.
Illustratively, a first end of first link 311 is rotatably coupled to knuckle 200 about a third axis L3. The second end of the first link 311 is rotatably connected to the first end of the second link 312 about the fourth axis L4. The second end of the second link 312 is rotatably connected to the first end of the third link 313 about the fifth axis L5. The second end of the third link 313 is rotatably connected with the first end of the fourth link 314 about a sixth axis L6. The second end of the fourth link 314 is rotatably coupled to the movable member 420 about a seventh axis L7.
By including four links 310 in the linkage assembly 300, the yaw and bending motions of the dexterous hand finger 10 are decoupled, avoiding redundant structures and providing a simpler structure.
In some embodiments, the roll assembly 100 has a circular arc groove 110, where a cross section of the circular arc groove 110 perpendicular to the second axis L2 is circular arc shaped, and a center of the circular arc is located on the second axis L2. The smart finger 10 further includes: the first stopper 600.
The first stopper 600 is coupled to the knuckle 200 and penetrates into the circular arc groove 110. During the rotation of the knuckle 200 about the second axis L2, the first stop 600 moves in the extending direction of the circular arc groove 110, and both ends of the circular arc groove 110 are configured to limit the rotation angle of the knuckle 200 about the second axis L2.
The first limiting member 600 may be fixedly connected to the knuckle 200 or movably connected to the knuckle 20, which is not particularly limited in the present application. The first stopper 600 may be cylindrical or arc-shaped, and the present application is not particularly limited.
The rotation angle of the knuckle 200 about the second axis L2 may be 60 degrees, 90 degrees, 120 degrees, etc., and the present application is not particularly limited. In practical applications, the length of the circular arc groove 110 may be set according to practical needs, so as to define the rotation angle of the knuckle 200 about the second axis L2.
By providing the circular arc groove 110 and the first limiting member 600, the rotation angle of the knuckle 200 about the second axis L2 can be defined, so that a suitable bending angle is set for the knuckle 200, so that the bending angle of the dexterous hand finger 10 is closer to the human hand, or the suitable bending angle of the dexterous hand finger 10 is set according to the specific scene requirement.
In some embodiments, knuckle 200 has a first shaft bore and first link 311 has a second shaft bore. The first limiting member 600 includes a first shaft-like structure 610, and the first shaft-like structure 610 is respectively inserted into the first shaft hole and the second shaft hole, so that the knuckle 200 and the first link 311 are rotatably connected around the first shaft-like structure 610. The axis of the first shaft-like structure 610 coincides with the third axis L3.
In other words, the first limiting member 600 can limit the rotation angle of the knuckle 200 about the second axis L2 and can also be used as the rotation axis of the knuckle 200 and the first link 311, so that the structure of the smart finger 10 can be simplified, and the size of the smart finger 10 can be further reduced.
In some embodiments, the smart finger 10 further comprises: the second stopper 700. The second limiting member 700 is connected to the palm substrate 20 and configured to limit a rotation angle of the side swing assembly 100 relative to the palm substrate 20 about the first axis L1.
The second stopper 700 may be any shaped structure as long as it can limit the rotation angle of the roll assembly 100 with respect to the palm substrate 20 about the first axis L1, and the present application is not particularly limited. The second limiting member 700 may be integrally formed with the palm substrate 20, or may be separately disposed from the palm substrate 20.
By providing the second limiting member 700, the rotation angle of the sideslip assembly 100 about the first axis L1 relative to the palm substrate 20, that is, the sideslip angle of the dexterous finger 10, may be limited, so that the sideslip angle of the dexterous finger 10 is closer to the human hand, or an appropriate sideslip angle of the dexterous finger 10 may be set according to the specific scene requirement.
In some embodiments, the roll assembly 100 is rotatably coupled with the second stop 700 about the first axis L1. The second limiting member 700 may be fixedly connected with the palm substrate 20, or may be detachably connected with the palm substrate 20. The second limiting member 700 may be considered as a joint base of the smart finger 10, i.e. the structure of the smart finger 10 may be integrated on the joint base and then connected to the palm substrate 20, facilitating the manufacture of the smart hand 3.
In some embodiments, the mount 410 includes: a first drive source 411 and a screw 412. The first driving source 411 is connected to the palm substrate 20. The screw 412 is connected to the first driving source 411, and rotates under the driving of the first driving source 411. The movable member 420 includes: a lead screw nut 421. The lead screw nut 421 is screwed with the lead screw 412, and the last link 310 is rotatably connected with respect to the lead screw nut 421 about the seventh axis L7.
The first driving source 411 may be a motor or a rotary electric cylinder, and the present application is not particularly limited as long as it can provide a rotational force.
Through the cooperation of lead screw 412 and lead screw nut 421, realize the crooked drive of dexterous finger 10, lead screw 412 can enough drive lead screw nut 421 and carry out rectilinear motion, can be for the direction of lead screw nut 421 again, simple structure, the driving effect is good.
In some embodiments, the roll assembly 100 has a third shaft bore. The palm substrate 20 has a fourth shaft hole. The smart finger 10 further includes: first movable shaft 810. The first movable shaft 810 penetrates into the third shaft hole and the fourth shaft hole, respectively, so that the side swing assembly 100 and the palm substrate 20 are rotatably connected around the first movable shaft 810. The axis of the first movable shaft 810 coincides with the first axis L1.
The fourth shaft hole may be disposed in the second stopper 700, or may be disposed in another structure connected to the palm substrate 20.
The second driving assembly 500 includes: a roll drive wheel 510, a roll drive rod 520, and a second drive source 530. The roll driving wheel 510 is connected to the roll assembly 100, and the roll driving wheel 510 has a fifth shaft hole. The side swing driving wheel 510 is sleeved on the first movable shaft 810 through a fifth shaft hole. The roll driving lever 520 is connected to the roll driving wheel 510. The extending direction of the roll driving lever 520 crosses the extending direction of the first movable shaft 810. The second driving source 530 is connected to the palm substrate 20 and connected to the yaw driving lever 520, and is configured to drive the yaw driving lever 520 to move, so that the yaw driving lever 520 drives the yaw driving wheel 510 to rotate about the first movable shaft 810, and the yaw driving wheel 510 drives the yaw assembly 520 to rotate about the first axis L1.
The extension direction of the side swing driving lever 520 may be the same as the extension direction of the screw 412 to save space of the extension direction of the first movable shaft 810. The second driving source 530 may be a motor, a rotary electric cylinder, a gas cylinder, or the like, and the present application is not particularly limited.
In some embodiments, the yaw drive rod 520 and the link assembly 300 are disposed on opposite sides of the yaw assembly 100, respectively, to avoid interference between the yaw drive rod 520 and the link assembly 300.
The embodiment of the application also provides a smart hand 3 which is applied to the robot 1. As shown in fig. 8, the smart hand 3 includes: palm substrate 20 and smart finger 10 as mentioned in the above embodiments. The dexterous finger 10 is disposed on the palm substrate 20 and connected to the palm substrate 20.
Since the dexterous hand 3 includes the dexterous finger 10, the robot 1 further has all technical features and technical effects of the dexterous finger 10, which are not described herein.
The embodiment of the application also provides a robot 1. As shown in fig. 8, the robot 1 includes a main body 2 and the smart hand 3 mentioned in the above embodiment. The dexterous hand 3 is connected with the main body 2.
Since the robot 1 includes the dexterous hand 3 mentioned in the above embodiment, the robot 1 has all technical features and technical effects of the dexterous hand 3, which are not described herein.
In the embodiments of the present application, if the connection form is not specifically limited, the connection form may be a detachable connection form such as a bolt and nut, a screw, a buckle, a magnetic attraction, or the like. If there is no particular need for a form of non-removable mating in the partial connection, the non-removable connection may be made by welding, adhesive bonding, or the like.
Reference in the specification to "one embodiment," "an embodiment," etc., means that a particular feature, structure, or characteristic may be included in the embodiments described, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
It should be understood that "on … …", "above … …" and "above … …" in this disclosure should be interpreted in the broadest sense so that "on … …" means not only "directly on something" but also includes "on something" with intermediate features or layers therebetween, and "above … …" or "above … …" includes not only "on something" or "above" but also "above something" or "above" with no intermediate features or layers therebetween (i.e., directly on something).
Further, spatially relative terms, such as "below," "beneath," "above," "over," and the like, may be used herein for ease of description to describe one component or feature's relationship to another component or feature as illustrated. Spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (11)
1. The smart hand finger is characterized by being applied to a smart hand, wherein the smart hand comprises a palm substrate and at least one smart hand finger;
Wherein, the dexterous hand finger includes:
the side swing assembly is rotatably connected with the palm substrate around a first axis;
A knuckle rotatably connected with the side swing assembly about a second axis, the second axis being perpendicular to the first axis;
The connecting rod assembly comprises at least four connecting rods which are rotatably connected in sequence, wherein a first connecting rod is rotatably connected with the knuckle around a third axis, the rotation axis between the at least four connecting rods at least comprises a fourth axis, a fifth axis and a sixth axis, the third axis is parallel to the second axis, the fourth axis is perpendicular to the third axis, the fifth axis is perpendicular to the fourth axis and is perpendicular to the third axis, and the sixth axis is parallel to the fifth axis;
The first driving assembly comprises a fixed piece and a movable piece which are connected with each other, the fixed piece is connected with the palm substrate, the last connecting rod is rotatably connected around a seventh axis relative to the movable piece, the seventh axis is perpendicular to the sixth axis and perpendicular to the first axis, the fixed piece can drive the movable piece to move along a first direction, the movable piece is used for driving the connecting rod assembly to move, the connecting rod assembly is used for driving the knuckle to rotate around the second axis, and the first direction is perpendicular to the sixth axis and perpendicular to the seventh axis;
And the second driving assembly is connected with the side swinging assembly and is configured to drive the side swinging assembly to rotate around the first axis relative to the palm substrate so as to drive the knuckle to rotate around the first axis by utilizing the side swinging assembly.
2. The dexterous hand finger of claim 1, wherein the linkage assembly comprises four of the links, a fourth of the links being a last of the links;
The first connecting rod is rotatably connected with the second connecting rod around the fourth axis, the second connecting rod is rotatably connected with the third connecting rod around the fifth axis, and the third connecting rod is rotatably connected with the fourth connecting rod around the sixth axis.
3. The dexterous hand finger of claim 1, wherein the side swing assembly has an arcuate slot having a cross-section perpendicular to the second axis in the shape of an arc with a center located on the second axis;
Wherein, smart hand finger still includes:
The first limiting piece is connected with the knuckle and penetrates into the circular arc groove;
Wherein, during the rotation of the knuckle around the second axis, the first limiting piece moves along the extending direction of the circular arc groove, and two ends of the circular arc groove are configured to limit the rotation angle of the knuckle around the second axis.
4. A dexterous hand finger according to claim 3, wherein the knuckle has a first shaft aperture and a first of the links has a second shaft aperture;
The first limiting piece comprises a first shaft-shaped structure, the first shaft-shaped structure penetrates into the first shaft hole and the second shaft hole respectively, so that the knuckle and the first connecting rod are rotatably connected around the first shaft-shaped structure, and the axis of the first shaft-shaped structure coincides with the third axis.
5. The smart hand finger of claim 1, further comprising:
And the second limiting piece is connected with the palm substrate and is configured to limit the rotation angle of the side swinging assembly relative to the palm substrate around the first axis.
6. The dexterous hand finger of claim 5, wherein the side swing assembly is rotatably coupled with the second stop member about the first axis.
7. A smart hand finger as claimed in any one of claims 1 to 6,
The fixing member includes:
The first driving source is connected with the palm substrate;
the screw rod is connected with the first driving source and is driven by the first driving source to rotate;
wherein, the moving part includes:
The screw rod nut is in threaded connection with the screw rod, and the last connecting rod is rotatably connected around the seventh axis relative to the screw rod nut.
8. The smart hand finger of any one of claims 1 to 6 wherein the side swing assembly has a third shaft aperture and the palm substrate has a fourth shaft aperture; the smart hand finger further comprises:
The first movable shaft penetrates into the third shaft hole and the fourth shaft hole respectively, so that the side swing assembly and the palm substrate are rotatably connected around the first movable shaft, and the axis of the first movable shaft coincides with the first axis;
Wherein the second drive assembly comprises:
the side swing driving wheel is connected with the side swing assembly and is provided with a fifth shaft hole, and the side swing driving wheel is sleeved on the first movable shaft through the fifth shaft hole;
the side swing driving rod is connected with the side swing driving wheel, and the extending direction of the side swing driving rod is crossed with the extending direction of the first movable shaft;
the second driving source is connected with the palm substrate and the side swing driving rod and configured to drive the side swing driving rod to move, so that the side swing driving rod is utilized to drive the side swing driving wheel to rotate around the first movable shaft, and the side swing driving wheel drives the side swing assembly to rotate around the first axis.
9. The dexterous hand finger of claim 8, wherein the side sway drive rod and the link assembly are disposed on opposite sides of the side sway assembly, respectively.
10. A smart hand, comprising:
a palm substrate;
At least one smart finger as claimed in any one of claims 1 to 9, connected to the palm substrate.
11. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps:
a main body;
At least one dexterous hand according to claim 10, connected to the body.
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| CN202410765906.6A CN118650648B (en) | 2024-06-13 | 2024-06-13 | Dexterous fingers, dexterous hands, and robots |
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| CN118650648B (en) | 2025-10-24 |
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Address after: 7th Floor, Building E2, Kangqiao Business Oasis, No. 2555 Xiupu Road, Pudong New Area, Shanghai, 201315 Patentee after: Zhixuan Innovation (Shanghai) Science and Technology Co., Ltd. Country or region after: China Address before: 7th Floor, Building E2, Kangqiao Business Oasis, No. 2555 Xiupu Road, Pudong New Area, Shanghai, 201315 Patentee before: Shanghai Zhiyuan Xinchuang Technology Co.,Ltd. Country or region before: China |