Dexterous thumb, dexterous hand, and robot

Abstract

Provided in the embodiments of the present application are a dexterous thumb, a dexterous hand, and a robot. The dexterous thumb comprises: a carpal assembly having a first driving assembly arranged therein; a metacarpal assembly which is provided with a second driving assembly at a first end and a third driving assembly at a second end; a phalanx assembly which is provided with a fourth driving assembly at a first end; a first connector which is in transmission connection with an output shaft of the first driving assembly at a first end and is in transmission connection with an output shaft of the second driving assembly at a second end; and a second connector which is in transmission connection with an output shaft of the third driving assembly at a first end and is in transmission connection with an output shaft of the fourth driving assembly at a second end. Multiple driving assemblies are provided, and therefore multiple degrees of freedom are configured, thereby improving the bionic performance of the dexterous thumb.

Description

Dexterous hand thumb, dexterous hand and robots Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a dexterous thumb, a dexterous hand, and a robot. Background Technology

[0002] As the "last centimeter" of a humanoid robot, the dexterous hand can provide versatility similar to that of a human hand, enabling humanoid robots to perform various complex tasks, such as grasping, external manipulation, in-hand control, and assembly. It is a key step in empowering humanoid robots to perform complex tasks.

[0003] Furthermore, dexterous hands designed using motor-driven technology require the placement of drive motors inside. The number of drive motors determines the number of active degrees of freedom of the dexterous hand, which in turn often determines the biomimetic performance of the dexterous hand. However, due to the strict limitations on the external dimensions of the dexterous hand, existing designs cannot accommodate a certain number of drive motors, resulting in a lower degree of freedom for the thumb and thus poorer biomimetic performance of the thumb, which in turn leads to poorer biomimetic performance of the dexterous hand.

[0004] Therefore, existing dexterous hands suffer from poor biomimetic performance. Technical issues

[0005] This application provides a dexterous thumb, a dexterous hand, and a robot. The components of the dexterous thumb include a first drive component, a second drive component, a third drive component, and a fourth drive component. Because it has more drive components, it has more active degrees of freedom, thereby enabling the dexterous hand with this dexterous thumb to have better biomimetic performance. Technical solutions

[0006] A first aspect of this application provides a dexterous hand thumb, including: a carpal bone assembly, a first connector, a metacarpal bone assembly, a second connector, and a phalanx assembly;

[0007] The wrist bone assembly includes a first drive assembly. The output shaft of the first drive assembly is connected to the first end of the first connector. The first drive assembly is used to output torque to make the first connector rotate about a first axis. The first axis is the axis of the output shaft of the first drive assembly.

[0008] The first end of the metacarpal assembly is provided with a second drive assembly. The output shaft of the second drive assembly is connected to the second end of the first connector. The second drive assembly is used to output torque to make the first connector rotate about a second axis. The second axis is the axis of the output shaft of the second drive assembly.

[0009] The second end of the metacarpal assembly is provided with a third drive assembly. The output shaft of the third drive assembly is connected to the first end of the second connector. The third drive assembly is used to output torque to make the second connector rotate about a third axis. The third axis is the axis of the output shaft of the third drive assembly.

[0010] The first end of the knuckle assembly is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the second end of the second connector. The fourth drive assembly is used to output torque to make the second connector rotate about a fourth axis. The fourth axis is the axis of the output shaft of the fourth drive assembly.

[0011] The first axis has a first angle with the zy plane, which is less than 64 degrees and greater than 44 degrees. The second axis is parallel to the third axis, and both the second and third axes are parallel to the xy plane and the zy plane. The fourth axis is perpendicular to the xy plane.

[0012] In one possible implementation, the first included angle is 54 degrees.

[0013] In one possible implementation, the shortest distance between the first axis and the second axis is less than or equal to 20 mm.

[0014] In one possible implementation, the knuckle component includes a proximal knuckle and a distal knuckle;

[0015] A fourth drive assembly is provided in the first end of the proximal phalanx, and the output shaft of the fourth drive assembly is connected to the second end of the second connector in a transmission connection.

[0016] The distal phalanx is provided with a fifth drive assembly. The output shaft of the fifth drive assembly is connected to the second end of the proximal phalanx. The fifth drive assembly is used to output torque to make the proximal phalanx rotate about the fifth axis. The fifth axis is the axis of the output shaft of the fifth drive assembly.

[0017] The fifth axis is parallel to the fourth axis.

[0018] In one possible implementation, the fourth drive component includes: a fourth motor and a fourth transmission component;

[0019] The fourth motor is fixed inside the proximal phalanx, and the output shaft of the fourth motor is connected to the first end of the fourth transmission assembly. The second end of the fourth transmission assembly is connected to the second end of the second connector.

[0020] In one possible implementation, the fifth drive component includes: a fifth motor and a fifth transmission component;

[0021] The fifth motor is fixed inside the distal phalanx, and the output shaft of the fifth motor is connected to the first end of the fifth transmission assembly. The second end of the fifth transmission assembly is connected to the second end of the proximal phalanx.

[0022] In one possible implementation, the first drive component includes: a first motor and a first transmission component;

[0023] The first motor is fixed inside the wrist bone assembly. The output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the first connector.

[0024] In one possible implementation, the second drive component includes: a second motor and a second transmission component;

[0025] The second motor is fixed inside the metacarpal assembly. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second end of the first connector.

[0026] In one possible implementation, the third drive component includes: a third motor and a third transmission component;

[0027] The third motor is fixed inside the metacarpal assembly. The output shaft of the third motor is connected to the first end of the second transmission assembly, and the second end of the third transmission assembly is connected to the first end of the second connector.

[0028] In one possible implementation, the central axis of the second motor is perpendicular to the central axis of the third motor.

[0029] In one possible implementation, the third transmission component includes: a worm and a worm wheel;

[0030] The first end of the worm is connected to the output shaft of the third motor for transmission, and the second end of the worm meshes with the worm wheel for transmission.

[0031] The worm gear is coaxially driven with the first end of the second connecting member.

[0032] A second aspect of the embodiments of this application provides a dexterous hand, which includes: the dexterous hand thumb, dexterous hand fingers, and hand skeleton of any of the above-mentioned dexterous hand;

[0033] The thumb portion of the dexterous hand is located within the palmar skeleton, and the dexterous hand thumb is connected to the first end of the palmar skeleton;

[0034] The fingers of a dexterous hand are located within the palmar skeleton, and the fingers of a dexterous hand are connected to the second end of the palmar skeleton.

[0035] A third aspect of this application provides a robot, which includes: the aforementioned dexterous hand and a robot body, wherein the dexterous hand is connected to the robot body. Beneficial effects

[0036] This application provides a dexterous thumb, a dexterous hand, and a robot. The dexterous thumb includes: a first driving component within a carpal bone assembly; a second driving component at the first end and a third driving component at the second end of a metacarpal bone assembly; a fourth driving component at the first end of a phalanx assembly; and a first end of a first connector is driven by the output shaft of the first driving component, a second end of the first connector is driven by the output shaft of the second driving component, a first end of the second connector is driven by the output shaft of the third driving component, and a second end of the second connector is driven by the output shaft of the fourth driving component. This provides multiple driving components, increasing the degree of active freedom and thus improving the biomimetic performance of the dexterous hand with this thumb. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 is a schematic diagram of the assembled structure of a dexterous hand according to an embodiment of this application;

[0039] Figure 2 is a schematic diagram of the structure of a dexterous hand before the thumb is fully assembled, according to an embodiment of this application.

[0040] Figure 3 is a structural schematic diagram of a dexterous hand thumb provided in an embodiment of this application;

[0041] Figure 4 is an exploded structural diagram of a dexterous hand thumb provided in an embodiment of this application;

[0042] Figure 5 is a perspective view of the human hand skeleton;

[0043] Reference numerals: Dexterous hand 1000; Dexterous hand thumb 100; Dexterous hand finger 200; Palmar skeleton 300; Carpal bone assembly 10; First connector 20; Metacarpal bone assembly 30; Second connector 40; Dental assembly 50; Proximal phalanx 51; Distal phalanx 52; First axis L1; Second axis L2; ​​Third axis L3; Fourth axis L4; Fifth axis L5. The best embodiment of the present invention

[0044] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0045] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0046] For ease of explanation, this application only uses the right hand for description. Correspondingly, to implement the left hand, it is only necessary to mirror the right hand structure.

[0047] Referring to Figures 1 and 2, Figure 1 is a structural schematic diagram of a dexterous hand after assembly according to an embodiment of this application, and Figure 2 is a structural schematic diagram of a dexterous hand before assembly according to an embodiment of this application.

[0048] As shown in Figures 1 and 2, a dexterous hand has four dexterous fingers 200 and one dexterous thumb 100. Each of the dexterous fingers 200 or the dexterous thumb 100 can be detached from the dexterous hand individually, achieving a modular design. This facilitates the replacement of damaged dexterous fingers 200 or dexterous thumb 100 on the dexterous hand, making maintenance easier and simplifying manufacturing.

[0049] Referring to Figures 3 and 4, Figure 3 is a structural schematic diagram of a dexterous hand thumb 100 provided in an embodiment of this application; Figure 4 is an exploded structural schematic diagram of a dexterous hand thumb 100 provided in an embodiment of this application.

[0050] The dexterous hand thumb 100 includes: a carpal bone assembly 10, a first connector 20, a metacarpal bone assembly 30, a second connector 40, and a knuckle assembly 50;

[0051] The wrist bone assembly 10 is provided with a first drive assembly. The output shaft of the first drive assembly is connected to the first end of the first connector 20. The first drive assembly is used to output torque to make the first connector 20 rotate about the first axis L1. The first axis L1 is the axis of the output shaft of the first drive assembly.

[0052] The first end of the metacarpal assembly 30 is provided with a second drive assembly. The output shaft of the second drive assembly is connected to the second end of the first connector 20. The second drive assembly is used to output torque to make the first connector 20 rotate around the second axis L2. The second axis L2 is the axis of the output shaft of the second drive assembly.

[0053] The second end of the metacarpal assembly 30 is provided with a third drive assembly. The output shaft of the third drive assembly is connected to the first end of the second connector 40. The third drive assembly is used to output torque to make the second connector 40 rotate around the third axis L3. The third axis L3 is the axis of the output shaft of the third drive assembly.

[0054] The first end of the knuckle assembly 50 is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the second end of the second connector 40. The fourth drive assembly is used to output torque to make the second connector 40 rotate about the fourth axis L4. The fourth axis L4 is the axis of the output shaft of the fourth drive assembly.

[0055] Among them, the first axis L1 has a first angle with the zy plane, which is less than 64 degrees and greater than 44 degrees; the second axis L2 is parallel to the third axis L3, and both the second axis L2 and the third axis L3 are parallel to the xy plane and the zy plane; the fourth axis L4 is perpendicular to the xy plane.

[0056] As shown in Figure 3, a spatial rectangular coordinate system is established with any point in Figure 3 as the origin, the direction of the thumb tip in Figure 3 as the X-axis, the direction along the thumb from the back of the thumb to the thumb pad in Figure 3 as the Y-axis, and the direction perpendicular to the X-axis and Y-axis in Figure 3 as the Z-axis. The X-axis, Y-axis and Z-axis are perpendicular to each other.

[0057] See Figure 5, which is a perspective view of the human hand skeleton.

[0058] It should be noted that the position of the carpal bone component 10 in the dexterous hand in this embodiment of the application, when mapped to the human hand, i.e., when mapped to Figure 5, is located in the area marked A in Figure 5; the position of the metacarpal bone component 30 in the dexterous hand in this embodiment of the application, when mapped to the human hand, i.e., when mapped to Figure 5, is located in the area marked B in Figure 5; and the position of the knuckle component 50 in the dexterous hand in this embodiment of the application, when mapped to the human hand, i.e., when mapped to Figure 5, is located in the areas marked C and D in Figure 5.

[0059] The first connector 20 can be regarded as the joint between the wrist bone component 10 and the metacarpal component 30 in a real person's hand, and the second connector 40 can be regarded as the joint between the metacarpal component 30 and the knuckle component 50 in a real person's hand.

[0060] In this embodiment of the application, a first drive component is provided in the wrist bone assembly 10. It can be understood that the first drive component is fixedly installed in the wrist bone assembly 10, and the output shaft of the first drive component is connected to the first end of the first connector 20 for transmission. So when the output shaft of the first drive component outputs torque, it drives the first connector 20 to start rotating.

[0061] It should be noted that when the dexterous hand thumb 100 is in an extended state, the end of the metacarpal component 30 furthest from the tip of the thumb is the first end of the metacarpal component 30; and the end of the metacarpal component 30 closest to the tip of the thumb is the second end of the metacarpal component 30.

[0062] The end of the first connector 20 furthest from the tip of the thumb is designated as the first end of the first connector 20; the end of the first connector 20 closest to the tip of the thumb is designated as the second end of the first connector 20.

[0063] The end of the second connector 40 furthest from the tip of the thumb is designated as the first end of the second connector 40; the end of the second connector 40 closest to the tip of the thumb is designated as the second end of the second connector 40.

[0064] The end of the knuckle component 50 furthest from the tip of the thumb is designated as the first end of the knuckle component 50.

[0065] In this embodiment of the application, a second drive component is fixedly disposed in the first end of the metacarpal assembly 30, and the output shaft of the second drive component is connected to the second end of the first connector 20 for transmission. Thus, when the output shaft of the second drive component outputs torque, it drives the first connector 20 to start rotating. Correspondingly, when the first connector 20 is fixed, the metacarpal assembly 30 starts to rotate relative to the first connector 20.

[0066] In this embodiment of the application, a third drive component is fixedly disposed in the second end of the metacarpal assembly 30, and the output shaft of the third drive component is connected to the first end of the second connector 40 for transmission, so that when the output shaft of the third drive component outputs torque, it drives the second connector 40 to start rotating.

[0067] In this embodiment of the application, a fourth drive component is fixedly disposed in the first end of the knuckle assembly 50, and the output shaft of the fourth drive component is connected to the second end of the second connector 40 for transmission. Thus, when the output shaft of the fourth drive component outputs torque, it drives the second connector 40 to start rotating. Correspondingly, when the second connector 40 is fixed, the knuckle assembly 50 starts to rotate relative to the second connector 40.

[0068] This application provides a dexterous thumb 100, a dexterous hand, and a robot. The dexterous thumb 100 includes: a first driving component within a carpal bone assembly 10; a second driving component at the first end and a third driving component at the second end of a metacarpal bone assembly 30; a fourth driving component at the first end of a phalange assembly 50; a first end of a first connector 20 being driven by the output shaft of the first driving component; a second end of the first connector 20 being driven by the output shaft of the second driving component; a first end of a second connector 40 being driven by the output shaft of the third driving component; and a second end of the second connector 40 being driven by the output shaft of the fourth driving component. This provides multiple driving components, increasing the degree of active freedom and thus improving the biomimetic performance of the dexterous hand with the dexterous thumb 100.

[0069] Furthermore, in this embodiment of the application, by setting a first included angle between the first axis L1 and the zy plane, wherein the first included angle is less than 64 degrees and greater than 44 degrees, the rotation path of the first connecting member 20 when rotating around the first axis L1 is more in line with the rotation path of a real human hand, thereby improving the biomimetic performance of the dexterous hand thumb 100.

[0070] It should be understood that the second axis L2 and the third axis L3 are both parallel to the xy plane and the zy plane, respectively. This means that the second axis L2 is parallel to both the xy plane and the zy plane, and the third axis L3 is also parallel to both the xy plane and the zy plane.

[0071] Referring to Figure 3, it can be seen that the second axis L2 is the central axis of the abduction rotation of the metacarpal component 30, while the third axis L3 is the central axis of the abduction rotation of the phalanx component 50. Therefore, by making the second axis L2 and the third axis L3 parallel to the xy plane and the zy plane, respectively, the abduction rotation of the metacarpal component 30 and the phalanx component 50 can better match the rotation path of the real human hand, thereby giving the dexterous hand thumb 100 better biomimetic performance.

[0072] Optionally, in some embodiments, the first included angle is 54 degrees.

[0073] In this embodiment, by setting the first included angle to 54 degrees, the relative positional relationship between the first axis L1 and other axes is restricted. The other axes include the second axis L2, the third axis L3, and the fourth axis L4. When the metacarpal assembly 30 rotates around the second axis L2, the second connector 40 rotates around the third axis L3, and the knuckle assembly 50 rotates around the fourth axis L4, the rotation path during the above rotation process is closer to the rotation path of a real human hand, thereby giving the dexterous hand thumb 100 better biomimetic performance.

[0074] Optionally, in some embodiments, the shortest distance between the first axis L1 and the second axis L2 is less than or equal to 20 mm.

[0075] In this embodiment, the shortest distance between the first axis L1 and the second axis L2 is set to be less than or equal to 20 mm. This allows the first connector 20 to more closely follow the rotation path of a real human hand when rotating around the first axis L1 and the metacarpal assembly 30 to rotate around the second axis L2, thereby giving the dexterous hand thumb 100 better biomimetic performance.

[0076] Optionally, in some embodiments, the knuckle assembly 50 includes a proximal knuckle 51 and a distal knuckle 52;

[0077] A fourth drive assembly is provided in the first end of the proximal phalanx 51, and the output shaft of the fourth drive assembly is connected to the second end of the second connector 40 in a transmission connection.

[0078] The distal phalanx 52 is provided with a fifth drive assembly. The output shaft of the fifth drive assembly is connected to the second end of the proximal phalanx 51. The fifth drive assembly is used to output torque to make the proximal phalanx 51 rotate about the fifth axis L5. The fifth axis L5 is the axis of the output shaft of the fifth drive assembly.

[0079] Among them, the fifth axis L5 is parallel to the fourth axis L4.

[0080] It should be understood that the position of the proximal phalanx 51 in the dexterous hand in this embodiment of the application, when mapped to the human hand, i.e., when mapped to Figure 5, is located in the area marked C in Figure 5; the position of the distal phalanx 52 in the dexterous hand in this embodiment of the application, when mapped to the human hand, i.e., when mapped to Figure 5, is located in the area marked D in Figure 5.

[0081] It should be noted that when the dexterous thumb 100 is in an extended state, the end of the proximal phalanx 51 furthest from the tip of the thumb is the first end of the proximal phalanx 51; and the end of the proximal phalanx 51 closest to the tip of the thumb is the second end of the proximal phalanx 51.

[0082] Working principle description: The fourth drive assembly is fixedly installed in the first end of the proximal phalanx 51, and the output shaft of the fourth drive assembly is connected to the second end of the second connector 40. When the output shaft of the second drive assembly outputs torque, it drives the second connector 40 to start rotating. Correspondingly, when the second connector 40 is fixed, the proximal phalanx 51 starts to rotate relative to the second connector 40.

[0083] Working principle description: The fifth drive assembly is fixedly installed in the distal phalanx 52, and the output shaft of the fifth drive assembly is connected to the second end of the proximal phalanx 51. When the output shaft of the fifth drive assembly outputs torque, it drives the proximal phalanx 51 to start rotating. Correspondingly, when the proximal phalanx 51 is fixed, the distal phalanx 52 starts to rotate relative to the proximal phalanx 51.

[0084] In this embodiment of the application, by splitting the knuckle assembly 50 into a proximal knuckle 51 and a distal knuckle 52, and by fixing a fourth driving component inside the proximal knuckle 51 and a fifth driving component inside the distal knuckle 52, the number of active degrees of freedom on the dexterous thumb 100 is further increased, thereby improving the bionic performance of the dexterous thumb 100.

[0085] Optionally, in some embodiments, the fourth drive component includes: a fourth motor and a fourth transmission component;

[0086] The fourth motor is fixed inside the proximal finger joint 51. The output shaft of the fourth motor is connected to the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is connected to the second end of the second connector 40.

[0087] In this embodiment, the fourth transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand thumb 100.

[0088] Optionally, in some embodiments, the fifth drive component includes: a fifth motor and a fifth transmission component;

[0089] The fifth motor is fixed inside the distal phalanx 52. The output shaft of the fifth motor is connected to the first end of the fifth transmission assembly, and the second end of the fifth transmission assembly is connected to the second end of the proximal phalanx 51.

[0090] In this embodiment of the application, the fifth transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand thumb 100.

[0091] Optionally, in some embodiments, the first drive component includes: a first motor and a first transmission component;

[0092] The first motor is fixed inside the wrist bone assembly 10. The output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the first connector 20.

[0093] In this embodiment of the application, the first transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand thumb 100.

[0094] Optionally, in some embodiments, the second drive component includes: a second motor and a second transmission component;

[0095] The second motor is fixed inside the metacarpal assembly 30. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second end of the first connector 20.

[0096] In this embodiment of the application, the second transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand thumb 100.

[0097] Optionally, in some embodiments, the third drive component includes: a third motor and a third transmission component;

[0098] The third motor is fixed inside the metacarpal assembly 30. The output shaft of the third motor is connected to the first end of the second transmission assembly, and the second end of the third transmission assembly is connected to the first end of the second connector 40.

[0099] In this embodiment of the application, the third transmission component can be set with different reduction ratios as needed to meet the torque requirements of the dexterous hand thumb 100.

[0100] Optionally, in some embodiments, the central axis of the second motor is perpendicular to the central axis of the third motor.

[0101] In this embodiment, since both the second motor and the third motor are located inside the metacarpal assembly 30, and given the size of the metacarpal assembly 30, setting the central axis of the second motor and the central axis of the third motor to be perpendicular to each other can achieve a more compact internal structure arrangement of the metacarpal assembly 30, thereby reducing the size of the metacarpal assembly 30 and improving the biomimetic performance of the dexterous hand thumb 100.

[0102] Optionally, in some embodiments, the third transmission component includes a worm and a worm wheel;

[0103] The first end of the worm is connected to the output shaft of the third motor for transmission, and the second end of the worm meshes with the worm wheel for transmission.

[0104] The worm gear is coaxially driven with the first end of the second connecting member 40.

[0105] In this embodiment, since the central axes of the second motor and the third motor are perpendicular to each other, when the central axis of the second motor is perpendicular to the XZ plane, the central axis of the third motor is perpendicular to the third axis L3. Here, the torque is transmitted to the third axis L3 through the third transmission component. A combination of worm gear and worm wheel can be used to achieve a higher transmission ratio and a higher load capacity, thereby providing the load capacity of the dexterous thumb 100.

[0106] A second aspect of the embodiments of this application provides a dexterous hand 1000, which includes: a dexterous hand thumb 100, dexterous hand fingers 200, and a hand skeleton 300 as described above;

[0107] The dexterous hand thumb 100 is located within the palm skeleton 300, and the dexterous hand thumb 100 is connected to the first end of the palm skeleton 300.

[0108] The dexterous hand fingers 200 are located within the palmar skeleton 300, and the dexterous hand fingers 200 are connected to the second end of the palmar skeleton 300.

[0109] In this embodiment, the dexterous hand 1000 includes: a dexterous thumb 100, dexterous fingers 200, and a hand skeleton 300 as described above; the dexterous thumb 100 is partially located within the hand skeleton 300 and connected to a first end of the hand skeleton 300; the dexterous fingers 200 are partially located within the hand skeleton 300 and connected to a second end of the hand skeleton 300. Therefore, the dexterous hand 1000 with the dexterous thumb 100 possesses high biomimetic performance.

[0110] A third aspect of this application provides a robot, which includes: the aforementioned dexterous hand 1000, and a robot body, wherein the dexterous hand 1000 is connected to the robot body.

[0111] In this embodiment, the robot has good biomimetic performance by having the aforementioned dexterous hand and a robot body, with the dexterous hand connected to the robot body.

[0112] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A dexterous hand thumb, characterized in that, include: Carpal bone assembly, first connector, metacarpal bone assembly, second connector, and phalanx assembly; The wrist bone assembly includes a first drive assembly. The output shaft of the first drive assembly is connected to the first end of the first connector. The first drive assembly is used to output torque to make the first connector rotate about a first axis. The first axis is the axis of the output shaft of the first drive assembly. The first end of the metacarpal assembly is provided with a second drive assembly. The output shaft of the second drive assembly is connected to the second end of the first connector. The second drive assembly is used to output torque to make the first connector rotate about a second axis. The second axis is the axis of the output shaft of the second drive assembly. The second end of the metacarpal assembly is provided with a third drive assembly. The output shaft of the third drive assembly is connected to the first end of the second connector. The third drive assembly is used to output torque to make the second connector rotate about a third axis. The third axis is the axis of the output shaft of the third drive assembly. The first end of the knuckle assembly is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the second end of the second connector. The fourth drive assembly is used to output torque to make the second connector rotate about a fourth axis. The fourth axis is the axis of the output shaft of the fourth drive assembly. The first axis has a first angle with the zy plane, the first angle being less than 64 degrees and greater than 44 degrees. The second axis is parallel to the third axis, and both the second axis and the third axis are parallel to the xy plane and the zy plane. The fourth axis is perpendicular to the xy plane.

2. The dexterous hand thumb according to claim 1, characterized in that, The first included angle is 54 degrees.

3. The dexterous hand thumb according to claim 1 or 2, characterized in that, The shortest distance between the first axis and the second axis is less than or equal to 20 mm.

4. The dexterous hand thumb according to claim 1, characterized in that, The phalanx assembly includes: a proximal phalanx and a distal phalanx; The fourth drive assembly is provided in the first end of the proximal phalanx, and the output shaft of the fourth drive assembly is connected to the second end of the second connector in a transmission connection. The distal phalanx is provided with a fifth drive assembly. The output shaft of the fifth drive assembly is connected to the second end of the proximal phalanx. The fifth drive assembly is used to output torque to make the proximal phalanx rotate about a fifth axis. The fifth axis is the axis of the output shaft of the fifth drive assembly. The fifth axis is parallel to the fourth axis.

5. The dexterous hand thumb according to claim 4, characterized in that, The fourth drive component includes: a fourth motor and a fourth transmission component; The fourth motor is fixed inside the proximal phalanx, and the output shaft of the fourth motor is connected to the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is connected to the second end of the second connector.

6. The dexterous hand thumb according to claim 4, characterized in that, The fifth drive component includes: a fifth motor and a fifth transmission component; The fifth motor is fixed inside the distal phalanx, and the output shaft of the fifth motor is connected to the first end of the fifth transmission assembly, and the second end of the fifth transmission assembly is connected to the second end of the proximal phalanx.

7. The dexterous hand thumb according to claim 1, characterized in that, The first drive component includes: a first motor and a first transmission component; The first motor is fixed inside the wrist bone assembly, the output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the first connector.

8. The dexterous hand thumb according to claim 1, characterized in that, The second drive component includes: a second motor and a second transmission component; The second motor is fixed inside the metacarpal assembly, and the output shaft of the second motor is connected to the first end of the second transmission assembly. The second end of the second transmission assembly is connected to the second end of the first connector.

9. The dexterous hand thumb according to claim 8, characterized in that, The third drive component includes: a third motor and a third transmission component; The third motor is fixed inside the metacarpal assembly, and the output shaft of the third motor is connected to the first end of the second transmission assembly. The second end of the third transmission assembly is connected to the first end of the second connector.

10. The dexterous hand thumb according to claim 9, characterized in that, The central axis of the second motor is perpendicular to the central axis of the third motor.

11. The dexterous hand thumb according to claim 9, characterized in that, The third transmission component includes: a worm gear and a worm wheel; The first end of the worm is connected to the output shaft of the third motor, and the second end of the worm meshes with the worm wheel. The worm gear is coaxially driven with the first end of the second connecting member.

12. A dexterous hand, characterized in that, The dexterous hand includes the dexterous hand thumb, dexterous hand fingers, and hand skeleton as described in any one of claims 1 to 11; The dexterous hand thumb portion is located within the hand skeleton, and the dexterous hand thumb is connected to the first end of the hand skeleton; The dexterous hand fingers are located within the hand skeleton, and the dexterous hand fingers are connected to the second end of the hand skeleton.

13. A robot, characterized in that, It includes a dexterous hand as described in claim 12, and a robot body, wherein the dexterous hand is connected to the robot body.