Underwater humanoid dexterous hand

Abstract

The invention provides an underwater humanoid dexterous hand, and particularly relates to the technical field of bionic machinery, according to the underwater humanoid dexterous hand, a spring electromagnet is used for locking a corresponding tendon rope group, then a soft body is driven to be connected into liquid, a sliding block slides on a sliding rod, the corresponding tendon rope group is pulled, and the tendon rope group is driven to rotate; the tendon rope set is driven to operate corresponding to the palm assembly or the finger assembly, object grabbing and other work are completed, the driving soft body is matched with hydraulic pressure to pull the tendon rope set to operate, and the robot can adapt to a deep water area and resist large water pressure.

Description

Technical Field

[0001] The invention relates to the technical field of bionic machinery, and in particular to an underwater humanoid dexterous hand. Background Art

[0002] In underwater environments, underwater robots are often used to complete underwater operations. The underwater robot has a robotic arm with an end effector installed at the end of the robotic arm. The robotic arm is responsible for the movement of the end effector underwater to ensure that the end effector reaches the target position.

[0003] The end effector is responsible for completing specific underwater work. There are many kinds of underwater work, and the end effector will be different depending on the underwater task, such as welding, drilling, cleaning, maintenance, object grasping, biological sampling, etc. According to the manufacturing material, it can be divided into rigid and flexible types. Rigid underwater grippers are the most widely used mainstream end effectors in the current underwater robot field. For rigid underwater grippers, they can only make opening and closing movements through single-degree-of-freedom rigid clamp-type grippers to complete the grasping of objects. This makes it difficult for such rigid underwater grippers to achieve non-destructive grasping of objects, and it is difficult to complete the salvage of fragile objects and non-destructive sampling of aquatic organisms. At the same time, due to the simple structure of the clamp, The hardness is large, so it is difficult to complete stable grasping of special-shaped or irregular objects according to the shape of the object; flexible underwater grippers are rarely used at present, because in the design process, it is necessary to consider the balance between the deformation ability of the soft material and the driving force. Too much soft material and too large thickness will lead to insufficient deformation ability of the gripper, insufficient grasping force, and inability to complete the grasping action. If the driving pressure is too high, the soft material will rupture under the pressure. Therefore, how to balance the grasping force of the gripper and the deformation ability of the soft fingers has always been a problem. Finally, due to the continuity of the flexible material itself, each finger of the flexible gripper has infinite degrees of freedom, which makes it impossible to control the gripper in a short time.

[0004] The existing underwater anthropomorphic dexterous hands are divided into two types: rigid joints and flexible joints, each with its own shortcomings. Currently, the driving force of underwater anthropomorphic dexterous hands usually comes from motors, but the sealing, pressure resistance and transmission force of motors are not suitable for underwater environments. The existing methods are to seal the motor in a pressure-resistant cavity, fill it with pressurized oil to maintain the pressure, make a dynamic seal on the output shaft of the motor, use gears or other transmission parts to transmit power, and use waterproof motors for driving. However, these solutions are not suitable for deep water areas and cannot withstand high water pressure. Summary of the invention

[0005] In order to solve the problem that the driving mechanism of the existing underwater bionic human dexterous hand cannot adapt to the deep water environment, the present invention proposes an underwater bionic human dexterous hand.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention proposes an underwater humanoid dexterous hand including a driving mechanism, the driving mechanism including a first mounting plate, a slider, a sliding rod and a second mounting plate, the first mounting plate is located on the top of the second mounting plate, the slider is arranged in the first mounting plate, a through hole is arranged on the slider, the sliding rod passes through the through hole and the two ends of the sliding rod are respectively fixedly connected to the first mounting plate and the second mounting plate;

[0008] A plurality of driving softwares are arranged on both sides of the top and bottom of the slider, and first end covers are arranged at both ends of the driving softwares. One end of the driving softwares at the top is connected to the slider through the first end cover, and the other end is connected to the first mounting plate through the first end cover. One end of the driving softwares at the bottom is connected to the slider through the first end cover, and the other end is connected to the second mounting plate through the first end cover. The driving softwares are provided with hydraulic joints.

[0009] A plurality of locking holes are arranged in the slider, each of which has a spring electromagnet. The driving mechanism also includes a tendon rope group, one end of each of which is connected to the first mounting plate, and the other end passes through the locking hole of the slider and the second mounting plate in sequence.

[0010] Furthermore, a relay module is also arranged on the slider, and the relay module includes a watertight joint and a relay control board, and the relay control board is connected to each of the spring electromagnets.

[0011] Furthermore, a first tensioning mechanism and a second tensioning mechanism are also provided on the first mounting plate, the first tensioning mechanism includes a first tensioning wheel and a first tensioning spring arranged on both sides of the first tensioning wheel, the second tensioning mechanism includes a second tensioning wheel and a second tensioning spring arranged on both sides of the second tensioning wheel, the first tensioning wheel is arranged on the second mounting plate and close to the center, a plurality of second tensioning wheels are arranged around the second mounting plate, and the first tensioning wheel and the second tensioning wheel are arranged on the second mounting plate through a fixing plate.

[0012] Furthermore, it also includes a wrist assembly, which includes a third mounting plate and a flexible drive unit. A plurality of flexible drive units are arranged between the third mounting plate and the second mounting plate, and the tops and bottoms of the plurality of flexible drive units are fixedly connected to the third mounting plate and the first mounting plate respectively.

[0013] Furthermore, the flexible driving unit includes a hollow elastomer and deformation limiting fibers, the deformation limiting fibers are wound around the outside of the elastomer, and second end covers are respectively provided at the top and bottom of the elastomer. The bottom and top of the elastomer are respectively fixedly connected to the first mounting plate and the third mounting plate through the second end covers, and a hydraulic interface is also provided at the bottom of the elastomer.

[0014] Furthermore, the palm assembly includes a palm mounting plate, a back-of-hand shell and a palm shell, the palm mounting plate is rotatably connected to the third mounting plate, and the back-of-hand shell and the palm shell are respectively fixed on both sides of the palm mounting plate.

[0015] Furthermore, it also includes a finger assembly, which includes a first finger joint, and the first finger joint includes a first metacarpal bone, a first proximal phalanx, a first middle phalanx and a first distal phalanx. One side of the first metacarpal bone is fixed to the palm mounting plate, and the other side is connected to the first proximal phalanx through the metacarpophalangeal joint. One side of the first middle phalanx is connected to the first metacarpal bone through a flexible joint, and the other side is connected to the first middle phalanx through a flexible joint. The first metacarpal bone and the first proximal phalanx, the first proximal phalanx and the first middle phalanx, and the first middle phalanx and the first distal phalanx are all connected to a first return spring on the same side.

[0016] Furthermore, the finger assembly also includes a second finger joint, the second finger joint includes a first angular bone, a second metacarpal bone, a second proximal phalanx and a second distal phalanx, one side of the first angular bone is fixed to the palm mounting plate, and the other side is connected to the second metacarpal bone through the metacarpophalangeal joint, one side of the second proximal phalanx is connected to the second distal phalanx through a flexible joint, and the other side is connected to the second metacarpal bone through a flexible joint, the second proximal phalanx and the second distal joint, and the second metacarpal bone and the second proximal phalanx are connected on the same side through the second return spring, and the second metacarpal bone and the first angular bone are connected through a second return spring located on the adjacent side of the other second return springs.

[0017] Further, the tendon rope group includes a first tendon rope and a second tendon rope, wherein:

[0018] One end of part of the first tendon rope is fixedly connected to the first tensioning wheel, and the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first metacarpal bone, the first proximal phalanx, the first middle phalanx and is connected to the first distal phalanx, or the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first angular bone, the second metacarpal bone, the second proximal phalanx and is connected to the second distal phalanx;

[0019] Another part of the first tendon rope has one end fixedly connected to the first tensioning wheel, and the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first metacarpal bone and is connected to the first proximal phalanx, or the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first angular bone and is connected to the second metacarpal bone.

[0020] Furthermore, each of the second tensioning wheels corresponds to two second tendon ropes, and the two second tendon ropes on the second tensioning wheel vertically penetrate the locking hole and the first mounting plate in sequence and cross-penetrate through the third mounting plate in opposite directions to be connected to the palm mounting plate.

[0021] Beneficial effects of the present invention:

[0022] (1) The underwater anthropomorphic dexterous hand proposed in the present invention uses a spring electromagnet to lock the corresponding tendon rope group, and then drives the software to access the liquid, so that the slider slides and pulls the corresponding tendon rope group, thereby driving the tendon rope group corresponding to the palm component or finger component to operate to complete object grasping and other tasks. The driving software is used in conjunction with hydraulics to pull the tendon rope group to operate, which can adapt to deep water areas and resist high water pressure.

[0023] (2) The underwater anthropomorphic dexterous hand proposed by the present invention has multiple degrees of freedom, and can achieve multiple degrees of freedom such as pitch, yaw, rotation, and extension, and each finger can move independently through a separate tendon rope, so that more types of work can be completed.

[0024] (3) The underwater anthropomorphic dexterous hand parts proposed in the present invention have good structural openness, and are mostly thin shells, with uniform force, and no need to consider issues such as pressure resistance. At the same time, the electrical components are sealed with epoxy resin potting glue, and there will be no corrosion problems, which can ensure the feasibility of underwater work.

[0025] (4) The underwater anthropomorphic dexterous hand proposed by the present invention uses flexible joints to develop fingers, so that the fingers have the ability of passive deformation and can automatically adapt to the shape of the object during the process of grasping the object. At the same time, when contacting the target object, it will not cause damage to the target object and has impact resistance.

[0026] (5) The underwater anthropomorphic dexterous hand proposed by the present invention uses cylindrical flexible joints as the metacarpophalangeal joints of the fingers, which realizes the flexion movement of the fingers toward the radioulnar sides and the bending and straightening movement toward the dorsal sides of the palm, thereby improving the flexibility of the fingers and being able to complete more types of movements and tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an overall diagram of the underwater humanoid dexterous hand of the present invention;

[0028] Figure 2 It is a structural diagram of the first finger joint of the underwater humanoid dexterous hand of the present invention;

[0029] Figure 3 A structural diagram of the second finger joint of the underwater humanoid dexterous hand of the present invention;

[0030] Figure 4 This is a structural diagram of the palm mounting plate of the underwater humanoid dexterous hand of the present invention;

[0031] Figure 5 This is a structural diagram of the back of hand shell of the underwater humanoid dexterous hand of the present invention;

[0032] Figure 6 This is a structural diagram of the palm shell of the underwater humanoid dexterous hand of the present invention;

[0033] Figure 7 It is a structural diagram of the wrist assembly of the underwater humanoid dexterous hand of the present invention;

[0034] Figure 8 This is a structural diagram of the flexible drive unit of the underwater humanoid dexterous hand of the present invention;

[0035] Fig. 9 It is a structural diagram of the driving mechanism of the underwater humanoid dexterous hand of the present invention;

[0036] Fig.10 The structure diagram of the driving software of the underwater humanoid dexterous hand of the present invention;

[0037] Fig.11 It is a structural diagram of a slider of the underwater humanoid dexterous hand of the present invention;

[0038] Fig.12 This is a structural diagram of the second mounting plate of the underwater humanoid dexterous hand of the present invention;

[0039] Fig.13 It is a structural diagram of the first tensioning mechanism of the underwater humanoid dexterous hand of the present invention;

[0040] Fig.14 It is a structural diagram of the second tensioning mechanism of the underwater humanoid dexterous hand of the present invention;

[0041] In the figure: driving mechanism 1, first mounting plate 11, slider 12, second mounting plate 13, fixing plate 131, driving software 14, hydraulic joint 141, first end cover 15, spring electromagnet 16, relay module 17, relay control board 171, watertight joint 172, slide bar 18, first tensioning mechanism 2, first tensioning spring 21, first tensioning wheel 22, second tensioning mechanism 3, second tensioning spring 31, second tensioning wheel 32, wrist assembly 4, third mounting plate 41, flexible driving unit 42, hollow elastic body 421 , deformation limiting fiber 422, second end cap 423, hydraulic interface 424, palm assembly 5, palm mounting plate 51, back of hand shell 52, palm shell 53, finger assembly 6, first metacarpal 61, first proximal phalanx 62, first middle phalanx 63, first distal phalanx 64, first return spring 65, first angular bone 66, second metacarpal 67, second proximal phalanx 68, second distal phalanx 69, second return spring 610, flexible joint 611, metacarpophalangeal joint 612, tendon rope group 7, first tendon rope 71, second tendon rope 72;

[0042] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0043] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0044] Please refer to Figure 1-Figure 14 The present invention proposes an underwater humanoid dexterous hand including a driving mechanism 1, the driving mechanism 1 including a first mounting plate 11, a slider 12, a slide bar 18 and a second mounting plate 13, the first mounting plate 11 is located on the top of the second mounting plate 13, the slide bar 12 is arranged in the first mounting plate 11, a through hole is arranged on the slide bar 12, the slide bar 18 passes through the through hole and the two ends of the slide bar 18 are respectively fixedly connected to the first mounting plate 11 and the second mounting plate 13;

[0045] A plurality of driving software 14 are arranged on both sides of the top and bottom of the slider 12, and first end covers 15 are arranged at both ends of the driving software 14. One end of the driving software 14 at the top is connected to the slider 12 through the first end cover 15, and the other end is connected to the first mounting plate 11 through the first end cover 15. One end of the driving software 14 at the bottom is connected to the slider 12 through the first end cover 15, and the other end is connected to the second mounting plate 13 through the first end cover 15. A hydraulic joint 141 is arranged on the driving software 14;

[0046] A plurality of locking holes are arranged in the slider 12, each of which is provided with a spring electromagnet 16. The driving mechanism 1 also includes a tendon rope group 7, one end of each tendon rope group 7 is connected to the first mounting plate 11, and the other end passes through the locking hole of the slider 12 and the second mounting plate 13 in sequence.

[0047] In a specific embodiment, the slider 12 can move longitudinally on the slide rod 18. When the hydraulic connector 141 on the driving software 14 is connected to the liquid, the driving software 14 can expand axially, push the slider 12 to move, and then push the first end cover 15 and the slider 12 to move. A spring electromagnet 16 is provided in the slider 12. The spring electromagnet 16 is installed inside the slider 12 and can apply tension or release tension to the tendon rope group 7 so that the tendon rope group 7 is locked or disengaged from the slider 12. The tendon rope group 7 corresponds to the palm component 5 or the finger component 6. When working, the spring electromagnet 16 is first used to lock the corresponding tendon rope group 7, and then the driving software 14 is connected to the liquid, so that the slider 12 slides and pulls the corresponding tendon rope group 7, thereby driving the tendon rope group 7 to operate corresponding to the palm component 5 or the finger component 6 to complete the grasping of objects and other tasks. The present invention uses the driving software 14 to cooperate with the hydraulic pressure to pull the tendon rope group 7 to operate, which can adapt to deep water areas and resist greater water pressure.

[0048] In one embodiment, a plurality of sliders 12 can be provided. When more than two sliders 12 are provided, all sliders 12 are provided between the first mounting plate 11 and the second mounting plate 13, and adjacent sliders 12 are connected via the driving software 14 and the first end cover 15. Different tendon rope groups 7 can be locked by the spring electromagnet 16, and then the driving software 14 is used to drive the corresponding tendon rope group 7 to successively pull the corresponding palm component 5 or finger component 6 to work, so as to adapt to different tasks.

[0049] Furthermore, a relay module 17 is also provided on the slider 12 . The relay module 17 includes a watertight joint 172 and a relay control board 171 . The relay control board 171 is connected to each spring electromagnet 16 .

[0050] In a specific embodiment, the relay module 17 is used to control each spring electromagnet 16. The control line of the spring electromagnet 16 is integrated inside the slider 12 and gathered on the relay control board 171 in the relay module 17. The opening and closing of the spring electromagnet 16 is controlled by the relay control board 171. The relay control board 171 is waterproofed with a potting compound, and the control line of the relay control board 171 is integrated on a watertight joint 172 and connected to an external control system with a watertight cable to receive an external control signal. The relay module 17 is wrapped in an epoxy resin potting compound and sealed to prevent seawater corrosion.

[0051] Furthermore, a first tensioning mechanism 2 and a second tensioning mechanism 3 are also provided on the first mounting plate 11. The first tensioning mechanism 2 includes a first tensioning wheel 22 and a first tensioning spring 21 arranged on both sides of the first tensioning wheel 22. The second tensioning mechanism 3 includes a second tensioning wheel 32 and a second tensioning spring 31 arranged on both sides of the second tensioning wheel 32. The first tensioning wheel 22 is arranged on the second mounting plate 13 and close to the center. Multiple second tensioning wheels 32 are arranged around the second mounting plate 13. The first tensioning wheel 22 and the second tensioning wheel 32 are arranged on the second mounting plate 13 through a fixing plate 131.

[0052] In a specific embodiment, the fixing plate 131 is fixed to the second mounting plate 13, so that the first tensioning wheel 22 and the second tensioning wheel 32 can rotate on the second mounting plate 13, and grooves are provided on the first tensioning wheel 22 and the second tensioning wheel 32. The tendon rope group 7 is fixed to the first tensioning wheel 22 and the second tensioning wheel 32 through the grooves. The first tensioning spring 21 and the second tensioning spring 31 provide rebound force and keep the tendon rope group 7 in a tensioned state at all times. When the slider 12 pulls the tendon rope group 7 to move, the tendon rope group 7 can also quickly recover.

[0053] Furthermore, it also includes a wrist assembly 4, which includes a third mounting plate 41 and a flexible drive unit 42. A plurality of flexible drive units 42 are arranged between the third mounting plate 41 and the second mounting plate 13. The tops and bottoms of the plurality of flexible drive units 42 are fixedly connected to the third mounting plate 41 and the first mounting plate 11, respectively.

[0054] In a specific implementation, the flexible drive unit 42 can drive the third mounting plate 41 to tilt to one side relative to the first mounting plate 11, thereby driving the palm assembly 5 and the finger assembly 6 to tilt as a whole, completing a movement similar to bending a human wrist.

[0055] Furthermore, the flexible driving unit 42 includes a hollow elastomer 421 and a deformation limiting fiber 422, the deformation limiting fiber 422 is wound around the outside of the elastomer, and second end covers 423 are respectively provided at the top and bottom of the elastomer. The bottom and top of the elastomer are respectively fixedly connected to the first mounting plate 11 and the third mounting plate 41 through the second end covers 423, and a hydraulic interface 424 is also provided at the bottom of the elastomer.

[0056] In a specific embodiment, there are four flexible drive units 42, which are distributed around. When liquid is passed into the hydraulic interfaces 424 of the left and right flexible drive units 42, the corresponding hollow elastomer 421 will stretch. Due to the limitation of the deformation limiting fiber 422, the entire flexible drive unit 42 will tilt to one side in an arc shape, so that the third mounting plate 41 tilts to one side relative to the first mounting plate 11 to complete the wrist swinging action to one side. Similarly, when liquid is passed into the hydraulic interfaces 424 of the front and rear flexible drive units 42, they will swing to the other side. The amount of liquid passed into the four flexible drive units 42 can also be controlled separately to achieve different wrist movements such as wrist extension and shortening.

[0057] Furthermore, it also includes a palm assembly 5, which includes a palm mounting plate 51, a back-of-hand shell 52 and a palm shell 53. The palm mounting plate 51 is rotatably connected to the third mounting plate 41, and the back-of-hand shell 52 and the palm shell 53 are respectively fixed on both sides of the palm mounting plate 51.

[0058] In a specific embodiment, the palm mounting plate 51 is used to fix the finger assembly 6, and the back of the hand shell 52 and the palm shell 53 are arranged on the outside to protect the palm mounting plate 51. A plurality of wire holes are arranged below the palm mounting plate 51 to pass through and fix the tendon rope group 7. The palm shell 53 imitates the thenar muscle group and the hypothenar muscle group in the human palm to form a distal palm arch, a proximal palm arch, and a longitudinal arch, which is beneficial to increase the contact area of ​​the object and improve the success rate of grasping. The back of the hand shell 52 protects the normal routing of the tendon rope group 7.

[0059] Further, the finger assembly 6 is also included, the finger assembly 6 includes a first finger joint, the first finger joint includes a first metacarpal bone 61, a first proximal phalanx 62, a first middle phalanx 63 and a first distal phalanx 64, one side of the first metacarpal bone 61 is fixed to the palm mounting plate 51, and the other side is connected to the first proximal phalanx 62 through a metacarpophalangeal joint 612, one side of the first middle phalanx 63 is connected to the first metacarpal bone 61 through a flexible joint 611, and the other side is connected to the first middle phalanx 63 through a flexible joint 611, and the first metacarpal bone 61 and the first proximal phalanx 62, the first proximal phalanx 62 and the first middle phalanx, and the first middle phalanx and the first distal phalanx are all connected with a first return spring 65 on the same side;

[0060] The finger assembly 6 also includes a second finger joint, which includes a first angular bone 66, a second metacarpal bone 67, a second proximal phalanx 68 and a second distal phalanx 69. One side of the first angular bone 66 is fixed to the palm mounting plate 51, and the other side is connected to the second metacarpal bone 67 through a metacarpophalangeal joint 612. One side of the second proximal phalanx 68 is connected to the second distal phalanx through a flexible joint 611, and the other side is connected to the second metacarpal bone 67 through a flexible joint 611. The second proximal phalanx and the second distal phalanx, and the second metacarpal bone 67 and the second proximal phalanx 68 are connected on the same side through a second return spring 610, and the second metacarpal bone 67 and the first angular bone 66 are connected through a second return spring 610 located on the adjacent side of other second return springs 610.

[0061] In a specific embodiment, the finger assembly 6 includes four first finger joints and one second finger joint, the four first finger joints are equivalent to the index finger, middle finger, ring finger and little finger of a person, the second finger joint is equivalent to the thumb of a person, the size of each finger joint is close to the size of the hand of an adult man, the flexible joint 611 is rectangular in shape, the metacarpophalangeal joints 612 are cylindrical, the first angular bone 66, the second metacarpal bone 67, the second proximal phalanx 68, the second distal phalanx 69, the first metacarpal bone 61, the first proximal phalanx 62, the first middle phalanx 63 and the first distal phalanx 64 are all made of rigid materials, the flexible joints 611 and the metacarpophalangeal joints 612 are made of flexible materials, and the first return spring 65 and the second return spring 610 can return the first finger joint and the second finger joint to their original position after the tendon rope group 7 pulls the first finger joint and the second finger joint.

[0062] Further, the tendon rope group 7 includes a first tendon rope 71 and a second tendon rope 72, wherein:

[0063] One end of a portion of the first tendon rope 71 is fixedly connected to the first tensioning wheel 22, and the other end sequentially passes through the locking hole, the first mounting plate 11, the third mounting plate 41, the palm mounting plate 51, the first metacarpal bone 61, the first proximal phalanx 62, the first middle phalanx 63 and is connected to the first distal phalanx 64, or the other end sequentially passes through the locking hole, the first mounting plate 11, the third mounting plate 41, the palm mounting plate 51, the first angular bone 66, the second metacarpal bone 67, the second proximal phalanx 68 and is connected to the second distal phalanx 69;

[0064] Another part of the first tendon rope 71 has one end fixedly connected to the first tensioning wheel 22, and the other end sequentially passes through the locking hole, the first mounting plate 11, the third mounting plate 41, the palm mounting plate 51, the first metacarpal bone 61 and is connected to the first proximal phalanx 62, or the other end sequentially passes through the locking hole, the first mounting plate 11, the third mounting plate 41, the palm mounting plate 51, the first angular bone 66 and is connected to the second metacarpal bone 67.

[0065] In a specific embodiment, there are 14 first tendon ropes 71, each first finger joint corresponds to three first tendon ropes 71, and the second finger joint corresponds to two first tendon ropes 71, wherein one first tendon rope 71 on the first finger joint connected to the first distal phalanx 64 pulls the entire first finger joint to bend, and the two first tendon ropes 71 on the first finger joint connected to the first proximal phalanx 62 pull the first proximal phalanx 62 to tilt left and right relative to the first metacarpal bone 61 to complete the flexion movement of the first finger joint, and the same applies to the second finger joint.

[0066] Furthermore, each second tensioning wheel 32 corresponds to two second tendon ropes 72 , and the two second tendon ropes 72 on the second tensioning wheel 32 vertically penetrate the locking hole, the first mounting plate 11 in sequence and cross-penetrate the third mounting plate 41 to be connected to the palm mounting plate 51 .

[0067] In a specific embodiment, there are a total of eight second tendon ropes 72, and each second tensioning wheel 32 corresponds to two second tendon ropes 72. The ends of the two second tendon ropes 72 on the same second tensioning wheel 32 pass through the first mounting plate 11 and are cross-connected to the third mounting plate 41 in an X-shape. When the slider 12 drives the four second tendon ropes 72 tilted to the same side to move downward, the palm mounting plate 51 will rotate clockwise or counterclockwise. When it needs to be restored to the original angle, the spring electromagnet 16 on the slider 12 can be released to restore it, and the underwater humanoid dexterous wrist rotation action can be completed through the second tendon ropes 72.

[0068] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. An underwater humanoid dexterous hand, characterized in that: The driving mechanism comprises a first mounting plate, a slider, a slide bar and a second mounting plate, wherein the first mounting plate is located on the top of the second mounting plate, the slider is arranged in the first mounting plate, a through hole is arranged on the slider, the slide bar passes through the through hole and the two ends of the slide bar are respectively fixedly connected to the first mounting plate and the second mounting plate; A plurality of driving softwares are arranged on both sides of the top and bottom of the slider, and first end covers are arranged at both ends of the driving softwares. One end of the driving softwares at the top is connected to the slider through the first end cover, and the other end is connected to the first mounting plate through the first end cover. One end of the driving softwares at the bottom is connected to the slider through the first end cover, and the other end is connected to the second mounting plate through the first end cover. The driving softwares are provided with hydraulic joints. A plurality of locking holes are arranged in the slider, each of which has a spring electromagnet. The driving mechanism also includes a tendon rope group, one end of each of which is connected to the first mounting plate, and the other end passes through the locking hole of the slider and the second mounting plate in sequence.

2. The underwater humanoid dexterous hand according to claim 1, characterized in that: A relay module is also arranged on the slide block. The relay module comprises a watertight joint and a relay control board. The relay control board is connected to each of the spring electromagnets.

3. The underwater humanoid dexterous hand according to claim 1, characterized in that: A first tensioning mechanism and a second tensioning mechanism are also provided on the first mounting plate, the first tensioning mechanism includes a first tensioning wheel and a first tensioning spring arranged on both sides of the first tensioning wheel, the second tensioning mechanism includes a second tensioning wheel and a second tensioning spring arranged on both sides of the second tensioning wheel, the first tensioning wheel is arranged on the second mounting plate and close to the center, a plurality of second tensioning wheels are arranged around the second mounting plate, and the first tensioning wheel and the second tensioning wheel are arranged on the second mounting plate through a fixing plate.

4. The underwater humanoid dexterous hand according to claim 3, characterized in that: It also includes a wrist assembly, which includes a third mounting plate and a flexible drive unit. A plurality of flexible drive units are arranged between the third mounting plate and the second mounting plate, and the tops and bottoms of the plurality of flexible drive units are fixedly connected to the third mounting plate and the first mounting plate respectively.

5. The underwater humanoid dexterous hand according to claim 4, characterized in that: The flexible driving unit includes a hollow elastomer and deformation limiting fibers, the deformation limiting fibers are wound around the outside of the elastomer, the top and bottom of the elastomer are respectively provided with second end covers, the bottom and top of the elastomer are respectively fixedly connected to the first mounting plate and the third mounting plate through the second end covers, and the bottom of the elastomer is also provided with a hydraulic interface.

6. The underwater humanoid dexterous hand according to claim 5, characterized in that: It also includes a palm assembly, which includes a palm mounting plate, a back-of-hand shell and a palm shell. The palm mounting plate is rotatably connected to the third mounting plate, and the back-of-hand shell and the palm shell are respectively fixed on both sides of the palm mounting plate.

7. The underwater humanoid dexterous hand according to claim 6, characterized in that: It also includes a finger assembly, which includes a first finger joint, and the first finger joint includes a first metacarpal bone, a first proximal phalanx, a first middle phalanx and a first distal phalanx. One side of the first metacarpal bone is fixed to the palm mounting plate, and the other side is connected to the first proximal phalanx through the metacarpophalangeal joint. One side of the first middle phalanx is connected to the first metacarpal bone through a flexible joint, and the other side is connected to the first middle phalanx through a flexible joint. A first return spring is connected to the same side between the first metacarpal bone and the first proximal phalanx, the first proximal phalanx and the first middle phalanx, and the first middle phalanx and the first distal phalanx.

8. The underwater humanoid dexterous hand according to claim 7, characterized in that: The finger assembly also includes a second finger joint, which includes a first angular bone, a second metacarpal bone, a second proximal phalanx and a second distal phalanx. One side of the first angular bone is fixed to the palm mounting plate, and the other side is connected to the second metacarpal bone through the metacarpophalangeal joint. One side of the second proximal phalanx is connected to the second distal phalanx through a flexible joint, and the other side is connected to the second metacarpal bone through a flexible joint. The second proximal phalanx and the second distal joint, and the second metacarpal bone and the second proximal phalanx are connected on the same side through the second return spring, and the second metacarpal bone and the first angular bone are connected through a second return spring located on the adjacent side of the other second return springs.

9. The underwater humanoid dexterous hand according to claim 8, characterized in that: The tendon rope group includes a first tendon rope and a second tendon rope, wherein: One end of part of the first tendon rope is fixedly connected to the first tensioning wheel, and the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first metacarpal bone, the first proximal phalanx, the first middle phalanx and is connected to the first distal phalanx, or the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first angular bone, the second metacarpal bone, the second proximal phalanx and is connected to the second distal phalanx; Another part of the first tendon rope has one end fixedly connected to the first tensioning wheel, and the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first metacarpal bone and is connected to the first proximal phalanx, or the other end sequentially passes through the locking hole, the first mounting plate, the third mounting plate, the palm mounting plate, the first angular bone and is connected to the second metacarpal bone.

10. The underwater humanoid dexterous hand according to claim 9, characterized in that: Each of the second tensioning wheels corresponds to two second tendon ropes, and the two second tendon ropes on the second tensioning wheel vertically penetrate the locking hole and the first mounting plate in sequence and cross-penetrate through the third mounting plate to be connected to the palm mounting plate.

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