Dexterous hand thumb, dexterous hand, and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot, which solve the problem that a dexterous hand thumb with three degrees of freedom cannot simultaneously consider joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb. The dexterous hand thumb comprises a metacarpal bone driving assembly, a metacarpophalangeal driving assembly, a first phalanx, a second phalanx, a tendon and an interphalangeal driving assembly, realizes one palmar freedom degree and two bending freedom degrees of the dexterous hand thumb. The metacarpophalangeal driving assembly comprises a metacarpophalangeal driving source, a first worm, a first worm wheel and at least one first guide wheel. The tendon is sequentially passed through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through a first shaft hole and is connected with the interphalangeal driving assembly, realizes movement decoupling of the tendon and the metacarpophalangeal driving assembly, the metacarpal bone driving assembly, the metacarpophalangeal driving assembly and the interphalangeal driving assembly can be arranged on a palm base plate, and the size of the dexterous hand thumb is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot. BACKGROUND

[0002] The thumb of a human hand has three joints, namely metacarpophalangeal joint, metacarpophalangeal joint and interphalangeal joint. The dexterous hand is the end effector of the robot. The thumb of the dexterous hand is an important part of the dexterous hand. The dexterous hand thumb with three degrees of freedom can make the dexterous hand closer to the function of the human hand.

[0003] However, the dexterous hand thumb with three degrees of freedom cannot simultaneously consider the joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb. SUMMARY

[0004] Therefore, the embodiments of the present application provide a dexterous hand thumb, a dexterous hand and a robot, which solve the problem that the dexterous hand thumb with three degrees of freedom cannot simultaneously consider the joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb.

[0005] In a first aspect, embodiments of the present application provide a dexterous hand thumb applied to a dexterous hand, the dexterous hand comprising a palm base plate, the dexterous hand thumb disposed on the palm base plate, and dexterous hand fingers disposed on the palm base plate except for the dexterous hand thumb; wherein the dexterous hand thumb comprises: a metacarpal driving assembly disposed on the palm base plate; a metacarpophalangeal driving assembly rotatably connected to the palm base plate about a first axis and connected to the metacarpal driving assembly, and rotatable about the first axis under the driving of the metacarpal driving assembly to realize the opposition movement of the dexterous hand thumb, wherein the first axis is parallel to the palm base plate, and the extension direction of the first axis is the direction in which the palm base plate points to the dexterous hand fingers; a first phalanx rotatably connected to the metacarpophalangeal driving assembly about a second axis and rotatable about the second axis under the driving of the metacarpophalangeal driving assembly to realize the first bending movement of the first phalanx, wherein the second axis is perpendicular to the first axis; a second phalanx rotatably connected to the first phalanx about a third axis, the third axis being parallel to the second axis; a tendon, the first end of the tendon being connected to the second phalanx; an interphalangeal driving assembly disposed on the palm base plate and connected to the second end of the tendon, configured to drive the movement of the tendon to make the tendon pull the second phalanx to rotate about the third axis to realize the second bending movement of the second phalanx; wherein the metacarpophalangeal driving assembly comprises: a metacarpophalangeal driving source rotatably connected to the palm base plate about the first axis and connected to the metacarpal driving assembly, configured to provide a first rotating force; a first worm connected to the metacarpophalangeal driving source and rotatable under the driving of the metacarpophalangeal driving source, wherein the first worm has a first axial hole penetrating through the first worm along the extension direction of the first worm; a first worm wheel rotatably connected to the metacarpophalangeal driving source about the second axis, the first worm wheel being engaged with the first worm and rotatable about the second axis under the driving of the first worm, wherein the first phalanx is fixedly connected to the first worm wheel to rotate about the second axis under the driving of the first worm wheel; at least one first guide wheel rotatably connected to the metacarpophalangeal driving source about a fourth axis, the first guide wheel being located at one end of the first worm close to the dexterous hand fingers, the fourth axis being parallel to the second axis; wherein the tendon passes through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through the first axial hole, and is connected to the interphalangeal driving assembly in sequence from the second phalanx.

[0006] In some embodiments, the dexterous hand thumb further comprises: at least one second guide wheel rotatably connected with the first phalange around a fifth axis, the fifth axis being parallel to the second axis; wherein the tendon is routed by the second phalange in sequence through a side of the second guide wheel close to the first worm gear, through a side of the first guide wheel away from the first worm, through the first axial hole, and connected with the inter-phalange driving assembly.

[0007] In some embodiments, the positional relationship between the first worm gear, the first guide wheel, the second guide wheel, and the tendon satisfies the following formula: KM+MN+NP=2*R*sin(θ / 2) *cosβ+(5*π / 2-2*β-γ)*r, wherein KM represents the contact length of the tendon with the second guide wheel, MN represents the length of the tendon between the first guide wheel and the second guide wheel, NP represents the contact length of the tendon with the first guide wheel, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents the first center of the orthographic projection of the first worm gear on the palm substrate, O1 represents the second center of the orthographic projection of the first guide wheel on the palm substrate, O2 represents the third center of the orthographic projection of the second guide wheel on the palm substrate, M represents the first point of intersection of the tendon with the second guide wheel close to the first guide wheel, Q represents the first intersection of the extension of the line connecting the first center and the second center with the edge of the first guide wheel, S represents the second intersection of the perpendicular passing through the second center with the edge of the first guide wheel away from the first worm gear, R represents the length of the first line connecting the first center and the second center, and r represents the radius of the first guide wheel; wherein the length of the first line is equal to the length of the second line connecting the first center and the third center; the radius of the first guide wheel is equal to the radius of the second guide wheel.

[0008] In some embodiments, the metacarpal-phalange driving assembly further comprises: a first gear connected with the metacarpal-phalange driving source, disposed at an end of the metacarpal-phalange driving source away from the dexterous hand fingers, and configured to rotate around the first axis under the driving of the metacarpal-phalange driving source; a second gear coaxially connected with an end of the first worm away from the dexterous hand fingers and meshing with the first gear, wherein the second gear has a second axial hole penetrating through the second gear along the extension direction of the first worm; wherein the tendon is routed by the second phalange in sequence through a side of the second guide wheel close to the first worm gear, through a side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, and connected with the inter-phalange driving assembly.

[0009] In some embodiments, the dexterous hand thumb further comprises: a first guide member disposed at an end of the first gear and the second gear away from the dexterous hand finger, and connected with the metacarpal driving source; wherein one side of the first guide member close to the first gear and the second gear has a first guide groove, and the first guide member further has a third shaft hole penetrating the first guide member along the axial direction of the first gear; wherein the first guide groove is in communication with the second shaft hole and the third shaft hole; and the tendon is wound around the second guide wheel close to the first worm wheel, around the first guide wheel away from the first worm, through the first shaft hole, through the second shaft hole, through the first guide groove, through the third shaft hole, and connected with the interphalangeal driving assembly in sequence by the second finger joint.

[0010] In some embodiments, the first guide member comprises: a guide plate, one side of the guide plate close to the first gear and the second gear has the first guide groove; a guide column connected with the side of the guide plate away from the first gear, the third shaft hole penetrates the guide plate and the guide column, and an end of the guide column away from the guide plate is rotatably connected with the palm base plate around the first axis; wherein the side surface of the guide column has a side opening groove, and the side opening groove is in communication with the third shaft hole and the outside of the guide column; and the tendon is wound around the second guide wheel close to the first worm wheel, around the first guide wheel away from the first worm, through the first shaft hole, through the second shaft hole, through the first guide groove, through the third shaft hole, through the side opening groove, and connected with the interphalangeal driving assembly in sequence by the second finger joint.

[0011] In some embodiments, the metacarpal driving assembly comprises: a metacarpal driving source disposed on the palm base plate and configured to provide a second rotating force; a first connecting rod, a first end of the first connecting rod is connected with the metacarpal driving source, and the first connecting rod rotates around a sixth axis under the driving of the metacarpal driving source, the sixth axis is parallel to the first axis; a second connecting rod, a first end of the second connecting rod is rotatably connected with a second end of the first connecting rod, and a second end of the second connecting rod is rotatably connected with the guide plate.

[0012] In some embodiments, the metacarpal driving assembly is disposed on a side of the metacarpophalangeal driving assembly distal to the second phalanx, and the interphalangeal driving assembly is disposed on a side of the metacarpal driving assembly distal to the metacarpophalangeal driving assembly; wherein the dexterous hand thumb further comprises: at least one third guide wheel rotatably connected to the palm base plate about a seventh axis, the seventh axis being parallel to the first axis; wherein the tendon passes through the second phalanx and successively passes around a side of the second guide wheel close to the first worm gear, around a side of the first guide wheel distal to the first worm, through the first shaft hole, through the second shaft hole, through the first guide groove, through the third shaft hole, through the side slot, around a side of the third guide wheel distal to the metacarpal driving assembly, and is connected to the interphalangeal driving assembly.

[0013] In some embodiments, the dexterous hand thumb further comprises: a second guide member connected to the palm base plate, the second guide member having a second guide groove, the extension direction of the second guide groove being perpendicular to the seventh axis; wherein the tendon passes through the second phalanx and successively passes around a side of the second guide wheel close to the first worm gear, around a side of the first guide wheel distal to the first worm, through the first shaft hole, through the second shaft hole, through the first guide groove, through the third shaft hole, through the side slot, around a side of the third guide wheel distal to the metacarpal driving assembly, through the second guide groove, and is connected to the interphalangeal driving assembly.

[0014] In some embodiments, the dexterous hand thumb further comprises: at least one fourth guide wheel rotatably connected to the palm base plate about an eighth axis, the eighth axis being perpendicular to the seventh axis and perpendicular to the extension direction of the second guide groove; wherein the tendon passes through the second phalanx and successively passes around a side of the second guide wheel close to the first worm gear, around a side of the first guide wheel distal to the first worm, through the first shaft hole, through the second shaft hole, through the first guide groove, through the third shaft hole, through the side slot, around a side of the third guide wheel distal to the metacarpal driving assembly, through the second guide groove, around a side of the fourth guide wheel close to the dexterous hand fingers, and is connected to the interphalangeal driving assembly.

[0015] In some embodiments, the inter-digital driving assembly comprises: an inter-digital driving source arranged on the palm base plate and configured to provide a third rotating force; a second worm connected with the inter-digital driving source and rotating under the driving of the inter-digital driving source, the extension direction of the second worm being parallel to the extension direction of the first axis; a worm shaft rotatably connected with the inter-digital driving source about a ninth axis, wherein the ninth axis is perpendicular to the extension direction of the second worm; a second worm wheel coaxially connected with the worm shaft, the second worm wheel being rotatably connected with the inter-digital driving source about the ninth axis through the worm shaft, the second worm wheel being rotatable about the ninth axis under the driving of the second worm; and a second end of the tendon rope being connected with the worm shaft to pull the tendon rope by the rotation of the worm shaft.

[0016] In some embodiments, the first phalange comprises: a first component, a first end of the first component having a first shaft hole, and a second end of the first component having a second shaft hole; a second component arranged opposite to and connected with the first component, a first end of the second component having a third shaft hole, and a second end of the second component having a fourth shaft hole, wherein the third shaft hole is coaxially arranged with the first shaft hole, and the fourth shaft hole is coaxially arranged with the second shaft hole; the dexterous hand thumb further comprises: a core shaft, a first end of the core shaft extending into the first shaft hole, and a second end of the core shaft extending into the third shaft hole, the core shaft being coaxially arranged with the first shaft hole and coaxially connected with the first worm wheel; and the second phalange comprises: a shaft part, a first end of the shaft part extending into the second shaft hole, and a second end of the shaft part extending into the fourth shaft hole, the shaft part being coaxially arranged with the second shaft hole.

[0017] In some embodiments, the first component has a first recess and a second recess, the first recess being coaxially arranged with the first shaft hole, and the second recess being coaxially arranged with the second shaft hole; the dexterous hand thumb further comprises: a first magnetic member connected with and coaxially arranged with the core shaft; and a first sensor arranged in the first recess and configured to detect the absolute position of the first magnetic member; a second magnetic member connected with and coaxially arranged with the shaft part; and a second sensor arranged in the second recess and configured to detect the absolute position of the second magnetic member.

[0018] In some embodiments, the first end of the first component has a first arc-shaped limiting slot, the center of which is located on the axis of the mandrel, and the second end of the first component has a second arc-shaped limiting slot, the center of which is located on the axis of the shaft part; wherein the dexterous hand thumb further comprises: a first support connected to the metacarpal drive source; a first column pin provided on the first support and located on the side of the first support close to the first component, the first column pin extending into the first arc-shaped limiting slot and being capable of sliding along the first arc-shaped limiting slot; wherein the second knuckle has a second column pin, the second column pin extending into the second arc-shaped limiting slot and being capable of sliding along the second arc-shaped limiting slot.

[0019] In some embodiments, the dexterous hand thumb further comprises: a second support provided on the palm substrate and having a third groove, wherein the guide column rotates relative to the palm substrate about the first axis, and the third groove is coaxially provided with the guide column; a third magnetic member connected to the end of the guide column away from the first gear and coaxially provided with the guide column; and a third sensor provided in the third groove and configured to detect the absolute position of the third magnetic member.

[0020] In some embodiments, the dexterous hand thumb further comprises: a first soft pad provided on the finger pulp area of the first knuckle; and / or a second soft pad provided on the finger pulp area and the fingertip area of the second knuckle.

[0021] In some embodiments, in the case where the dexterous hand thumb comprises the first soft pad, the dexterous hand thumb further comprises: a first tactile sensor provided in the first soft pad; and in the case where the dexterous hand thumb comprises the second soft pad, the dexterous hand thumb further comprises: a second tactile sensor provided in the second soft pad.

[0022] In a second aspect, embodiments of the present application provide a dexterous hand, comprising: a palm substrate; at least one dexterous hand thumb of the first aspect connected to the palm substrate.

[0023] In a third aspect, embodiments of the present application provide a robot, comprising: a main body; at least one dexterous hand of the second aspect connected to the main body.

[0024] The dexterous hand thumb provided by the embodiment of the present application comprises a metacarpal bone driving assembly, a metacarpophalangeal driving assembly, a first phalanx, a second phalanx, a tendon and an interphalangeal driving assembly. The metacarpal bone driving assembly drives the metacarpophalangeal driving assembly to rotate around a first axis, so as to realize the opposition movement of the dexterous hand thumb; the metacarpophalangeal driving assembly drives the first phalanx to rotate around a second axis, so as to realize the first bending movement of the dexterous hand thumb; the interphalangeal driving assembly drives the tendon to move, so as to make the tendon pull the second phalanx to rotate around a third axis, thereby realizing the second bending movement of the dexterous hand thumb. That is, the dexterous hand thumb provided by the embodiment of the present application realizes three degrees of freedom, i.e., one opposition degree of freedom and two bending degrees of freedom.

[0025] In addition, the metacarpophalangeal driving assembly comprises a metacarpophalangeal driving source, a first worm, a first worm wheel and at least one first guide wheel. The tendon passes through the first phalanx in sequence, bypasses the side of the first guide wheel away from the first worm, passes through the first axis hole and is connected with the interphalangeal driving assembly, so as to realize the motion decoupling of the tendon and the metacarpophalangeal driving assembly, and prevent the tendon and the metacarpophalangeal driving assembly from interfering with each other during the movement.

[0026] Further, through the motion decoupling of the tendon and the metacarpophalangeal driving assembly, the metacarpal bone driving assembly, the metacarpophalangeal driving assembly and the interphalangeal driving assembly can all be arranged on the palm base plate, so as to reduce the size of the dexterous hand thumb, and make the size of the dexterous hand thumb closer to the thumb of the human hand. BRIEF DESCRIPTION OF DRAWINGS

[0027] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0028] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand provided by an embodiment of the present application.

[0029] Figure 2 Fig. 2 shows a front view of the dexterous hand provided by an embodiment of the present application.

[0030] Figure 3 Fig. 3 shows a side view of the dexterous hand provided by an embodiment of the present application.

[0031] Figure 4 Fig. 4 shows a cross-sectional view of the dexterous hand provided by an embodiment of the present application. Figure 3 Fig. 5 shows a cross-sectional view of the dexterous hand provided by an embodiment of the present application in the A-A direction.

[0032] Figure 5 Fig. 6 shows a schematic diagram of the decoupling relationship between the tendon and the metacarpophalangeal driving assembly provided by an embodiment of the present application.

[0033] Figure 6 Fig. 1 shows a structural schematic diagram of a dexterous hand thumb provided by an embodiment of the present application.

[0034] Figure 7 Fig. 2 shows a structural schematic diagram of a dexterous hand thumb provided by another embodiment of the present application.

[0035] Figure 8 Fig. 3 shows a structural schematic diagram of a dexterous hand thumb provided by another embodiment of the present application.

[0036] Figure 9 Fig. 4 shows a partial structural schematic diagram of a dexterous hand thumb provided by an embodiment of the present application.

[0037] Figure 10 Fig. 5 shows a partial structural schematic diagram of a dexterous hand thumb provided by another embodiment of the present application.

[0038] Figure 11 Fig. 6 shows a cross-sectional schematic diagram of the dexterous hand thumb in the direction of B-B. Figure 10 Fig. 7 shows a cross-sectional schematic diagram of the dexterous hand thumb in the direction of B-B.

[0039] Figure 12 Fig. 8 shows a partial exploded schematic diagram of a dexterous hand provided by an embodiment of the present application.

[0040] Figure 13 Fig. 9 shows a schematic diagram of a sensing structure of a metacarpophalangeal joint provided by an embodiment of the present application.

[0041] Figure 14 Fig. 10 shows a schematic diagram of a sensing structure of an interphalangeal joint provided by an embodiment of the present application.

[0042] Figure 15 Fig. 11 shows a schematic diagram of a sensing structure of a metacarpal joint provided by an embodiment of the present application.

[0043] Figure 16 Fig. 12 shows a structural schematic diagram of a robot provided by an embodiment of the present application.

[0044] Reference signs:

[0045] 1 robot; 2 main body; 3 dexterous hand; 10 dexterous hand thumb; 100 metacarpal driving assembly; 110 metacarpal driving source; 120 first connecting rod; 121 first end of first connecting rod; 122 second end of first connecting rod; 130 second connecting rod; 131 first end of second connecting rod; 132 second end of second connecting rod; 200 metacarpophalangeal driving assembly; 210 metacarpophalangeal driving source; 220 first worm; 221 first shaft hole; 230 first worm wheel; 240 first guide wheel; 250 first gear; 260 second gear; 261 second shaft hole; 300 first phalanx; 310 first component; 311 first end of first component; 312 first shaft hole; 313 second end of first component; 314 second shaft hole; 315 first groove; 316 second groove; 317 first arc-shaped limiting slot; 318 second arc-shaped limiting slot; 320 second component; 321 first end of second component; 322 third shaft hole; 323 second end of second component; 324 fourth shaft hole; 400 second phalanx; 410 shaft part; 411 first end of shaft part; 412 second end of shaft part; 420 second column pin; 500 tendon; 501 first end of tendon; 502 second end of tendon; 600 interphalangeal driving assembly; 610 interphalangeal driving source; 620 second worm; 630 worm shaft; 640 second worm wheel; 710 second guide wheel; 720 first guide; 721 first guide groove; 722 third shaft hole; 723 guide plate; 724 guide column; 725 side opening groove; 730 third guide wheel; 740 second guide; 741 second guide groove; 750 fourth guide wheel; 760 mandrel; 761 first end of mandrel; 762 second end of mandrel; 810 first magnetic part; 820 first sensor; 830 second magnetic part; 840 second sensor; 850 first support part; 860 first column pin; 870 second support part; 871 third groove; 880 third magnetic part; 890 third sensor; 910 torsion spring; 911 first end of torsion spring; 912 second end of torsion spring; 920 first soft pad; 930 second soft pad; 940 first tactile sensor; 950 second tactile sensor; 20 palm base plate; 30 dexterous hand finger; L1 first axis; L2 second axis; L3 third axis; L4 fourth axis; L5 fifth axis; L6 sixth axis; L7 seventh axis; L8 eighth axis; L9 ninth axis; Y first direction. DETAILED DESCRIPTION

[0046] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0047] A robot is an intelligent machine capable of semi-autonomous or fully autonomous work, which can perform tasks such as movement and grasping through programming and automatic control. A dexterous hand is an end effector of a robot. A dexterous hand thumb is an important part of the dexterous hand, which directly affects the motion function and compactness of the dexterous hand. The thumb of a human hand has three joints, namely metacarpal joint, metacarpophalangeal joint and interphalangeal joint. A dexterous hand thumb with three degrees of freedom can make the dexterous hand closer to the function of a human hand.

[0048] At present, there are few dexterous hand thumbs with three degrees of freedom, and few dexterous hand thumbs capable of realizing motion decoupling of three joints. There is no dexterous hand thumb capable of realizing three degrees of freedom, motion decoupling of three joints and close to the size of a human hand.

[0049] To solve the above problems, the embodiment of the present application provides a dexterous hand thumb, which is applied to a dexterous hand, and the dexterous hand comprises a palm base plate, a dexterous hand thumb arranged on the palm base plate, and a dexterous hand finger arranged on the palm base plate and other than the dexterous hand thumb. The dexterous hand thumb comprises: a metacarpal bone driving assembly arranged on the palm base plate; a metacarpophalangeal driving assembly rotatably connected to the palm base plate about a first axis and connected to the metacarpal bone driving assembly, and driven to rotate about the first axis by the metacarpal bone driving assembly to realize opposition movement of the dexterous hand thumb, wherein the first axis is parallel to the palm base plate, and the extension direction of the first axis is the direction in which the palm base plate points to the dexterous hand finger; a first phalanx rotatably connected to the metacarpophalangeal driving assembly about a second axis and driven to rotate about the second axis by the metacarpophalangeal driving assembly to realize first bending movement of the first phalanx, wherein the second axis is perpendicular to the palm base plate; a second phalanx rotatably connected to the first phalanx about a third axis, and the third axis is parallel to the second axis; a tendon, a first end of the tendon being connected to the second phalanx; and an interphalangeal driving assembly arranged on the palm base plate and connected to a second end of the tendon, and configured to drive movement of the tendon to pull the second phalanx to rotate about the third axis to realize second bending movement of the second phalanx. The metacarpophalangeal driving assembly comprises: a metacarpophalangeal driving source rotatably connected to the palm base plate about the first axis and connected to the metacarpal bone driving assembly, and configured to provide a first rotating force; a first worm connected to the metacarpophalangeal driving source and rotated under the driving of the metacarpophalangeal driving source, wherein the first worm has a first axis hole penetrating through the first worm along the extension direction of the first worm; a first worm wheel rotatably connected to the metacarpophalangeal driving source about the second axis, and engaged with the first worm to rotate about the second axis under the driving of the first worm, wherein the first phalanx is fixedly connected to the first worm wheel to rotate about the second axis under the driving of the first worm wheel; and at least one first guide wheel rotatably connected to the metacarpophalangeal driving source about a fourth axis, and located at one end of the first worm close to the dexterous hand finger, and the first axis is parallel to the second axis. The tendon passes through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through the first axis hole, and is connected to the interphalangeal driving assembly in sequence from the second phalanx.

[0050] The metacarpal bone driving assembly drives the metacarpophalangeal driving assembly to rotate about the first axis to realize opposition movement of the dexterous hand thumb. The metacarpophalangeal driving assembly drives the first phalanx to rotate about the second axis to realize first bending movement of the dexterous hand thumb. The interphalangeal driving assembly drives movement of the tendon, so that the tendon pulls the second phalanx to rotate about the third axis to realize second bending movement of the dexterous hand thumb. That is, the dexterous hand thumb provided by the embodiment of the present application realizes three degrees of freedom, i.e., one degree of opposition freedom and two degrees of bending freedom.

[0051] The palmar-digital drive assembly includes a palmar-digital drive source, a first worm, a first worm gear, and at least one first guide pulley. A tendon cord runs from the second phalanx through the first phalanx, around the side of the first guide pulley away from the first worm, through the first axial hole, and connects to the interdigital drive assembly. This decouples the tendon cord from the palmar-digital drive assembly and prevents interference between the tendon cord and the palmar-digital drive assembly during movement.

[0052] Furthermore, by decoupling the movement of the tendon rope and the metacarpophalangeal drive assembly, the metacarpal drive assembly, the metacarpophalangeal drive assembly and the interdigital drive assembly can all be set on the palm base plate, reducing the size of the dexterous hand thumb and making the size of the dexterous hand thumb closer to the thumb of a human hand.

[0053] The specific structures of the dexterous hand thumb, the dexterous hand and the robot are described below with reference to the accompanying drawings and specific embodiments.

[0054] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present application. Figure 2 Shown is a front view of the dexterous hand provided by one embodiment of the present application. Figure 3 Shown is a side view of a dexterous hand provided in accordance with an embodiment of the present application. Figure 4 Shown Figure 3 Schematic cross-section of the dexterous hand in the AA direction. Figure 5 Shown is a schematic diagram of the decoupling relationship between the tendon rope and the palmar-digital drive assembly provided in one embodiment of the present application. Figure 6 Shown is a structural schematic diagram of the thumb of a dexterous hand provided in one embodiment of the present application. Figure 7 Shown is a structural schematic diagram of the thumb of a dexterous hand provided in another embodiment of the present application. Figure 8 Shown is a structural schematic diagram of the thumb of a dexterous hand provided in another embodiment of the present application. Figure 9 Shown is a schematic diagram of the partial structure of the thumb of the dexterous hand provided in one embodiment of the present application. Figure 10 Shown is a partial structural schematic diagram of the thumb of a dexterous hand provided in another embodiment of the present application. Figure 11 Shown Figure 10 The cross-sectional schematic diagram of the dexterous hand thumb in the BB direction is shown. Figure 12 Shown is a partial exploded schematic diagram of the dexterous hand provided in one embodiment of the present application. Figure 13 Shown is a schematic diagram of a sensing structure of the metacarpophalangeal joint provided in one embodiment of the present application. Figure 14 Shown is a schematic diagram of the sensing structure of the interphalangeal joint provided in one embodiment of the present application. Figure 15 Shown is a schematic diagram of a sensing structure of a metacarpal joint provided in one embodiment of the present application. Figure 16 The figure shows a schematic diagram of the structure of a robot provided by an embodiment of the present application. Figures 1 to 16As shown, the dexterous hand thumb 10 comprises a metacarpal driving assembly 100, a metacarpophalangeal driving assembly 200, a first phalanx 300, a second phalanx 400, a tendon 500, and an interphalangeal driving assembly 600.

[0055] The dexterous hand thumb 10 is applied to a dexterous hand 3. The dexterous hand 3 is applied to a robot 1. Exemplarily, the robot 1 comprises a main body 2 and the dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. The main body 2 can be a structure of a body part of a humanoid robot, or a structure of an arm part of an industrial robot, which is not limited in the present application.

[0056] The dexterous hand 3 comprises a palm base plate 20, the dexterous hand thumb 10, and dexterous hand fingers 30 arranged on the palm base plate 20 except the dexterous hand thumb 10. The dexterous hand thumb 10 is arranged on the palm base plate 20. The palm base plate 20 can be connected with the main body 2. The palm base plate 20 can be a plate-like structure similar to a palm. The dexterous hand fingers 30 can be a dexterous hand index finger, a dexterous hand middle finger, a dexterous hand ring finger, or a dexterous hand little finger.

[0057] The metacarpal driving assembly 100 is arranged on the palm base plate 20. Exemplarily, the metacarpal driving assembly 100 can be a motor, i.e. directly driving the metacarpophalangeal driving assembly 200 to rotate around a first axis L1 by using the motor. The metacarpal driving assembly 100 can also be a combination of a motor and a belt transmission, or a combination of a motor and a gear transmission. Exemplarily, the metacarpal driving assembly 100 is arranged on the palm base plate 20, which can be directly fixedly connected with the palm base plate 20, or connected with the palm base plate 20 through a fixing seat, a support, or the like.

[0058] The metacarpophalangeal driving assembly 200 is rotatably connected with the palm base plate 20 around the first axis L1, and connected with the metacarpal driving assembly 100. Under the driving of the metacarpal driving assembly 100, the metacarpophalangeal driving assembly 200 rotates around the first axis L1, realizing the opposition movement of the dexterous hand thumb 10. The first axis L1 is parallel to the palm base plate 20, and the extension direction of the first axis L1 is the direction in which the palm base plate 20 points to the dexterous hand fingers 30 or the direction in which the dexterous hand fingers 30 points to the palm base plate 20. Exemplarily, as shown in the figure, Figure 2 the extension direction of the first axis L1 can be a first direction Y.

[0059] Exemplarily, the palm base plate 20 can have a first surface close to the palm and a second surface close to the back of the hand, and the opposition movement of the dexterous hand thumb 10 can be that the metacarpophalangeal driving assembly 200 rotates around the first axis L1 to the direction close to or away from the first surface under the driving of the metacarpal driving assembly 100.

[0060] The first phalange 300 is rotatably connected with the metacarpal-phalangeal driving assembly 200 around a second axis L2. The first phalange 300 rotates around the second axis L2 under the driving of the metacarpal-phalangeal driving assembly 200 to realize the first bending movement of the first phalange 300. The second axis L2 is perpendicular to the first axis L1. The second phalange 400 is rotatably connected with the first phalange 300 around a third axis L3. The third axis L3 is parallel to the second axis L2.

[0061] The first end 501 of the tendon 500 is connected with the second phalange 400. Exemplarily, the tendon can be a rope-like structure, a wire-like structure, a silk-like structure or the like flexible long strip structure. Exemplarily, the second phalange can have a tendon groove, and the first end of the tendon can be inserted into the tendon groove and connected with the second phalange by knotting, which is simple and reliable.

[0062] The inter-phalangeal driving assembly 600 is arranged on the palm substrate 20 and connected with the second end 502 of the tendon 500, and is configured to drive the tendon 500 to move so as to pull the second phalange 400 to rotate around the third axis L3 to realize the second bending movement of the second phalange 400. Exemplarily, the inter-phalangeal driving assembly 600 arranged on the palm substrate 20 can be directly fixedly connected with the palm substrate 20, or can be connected with the palm substrate 20 through a fixing seat, a support or the like.

[0063] The metacarpal-phalangeal driving assembly 200 is driven by the metacarpal driving assembly 100 to rotate around the first axis L1 to realize the opposition movement of the thumb 10 of the dexterous hand; the first phalange 300 is driven by the metacarpal-phalangeal driving assembly 200 to rotate around the second axis L2 to realize the first bending movement of the thumb 10 of the dexterous hand; the tendon 500 is driven by the inter-phalangeal driving assembly 600 to move so as to pull the second phalange 400 to rotate around the third axis L3 to realize the second bending movement of the thumb 10 of the dexterous hand. That is, the thumb 10 of the dexterous hand provided in the embodiment realizes three degrees of freedom, i.e., one opposition degree of freedom and two bending degrees of freedom.

[0064] The metacarpal-phalangeal driving assembly 200 comprises a metacarpal-phalangeal driving source 210, a first worm 220, a first worm wheel 230 and at least one first guide wheel 240.

[0065] The metacarpal-phalangeal driving source 210 is rotatably connected with the palm substrate 20 around the first axis L1 and connected with the metacarpal driving assembly 100, and is configured to provide a first rotating force. The metacarpal-phalangeal driving source 210 can be a motor, an electric cylinder or the like device capable of providing a rotating force, which is not limited in the present application.

[0066] The first worm 220 is connected with the metacarpal drive source 210 and rotates under the driving of the metacarpal drive source 210. The first worm 220 has a first shaft hole 221 penetrating through the first worm 220 along the extension direction of the first worm 220.

[0067] The first worm wheel 230 is rotatably connected with the metacarpal drive source 210 around the second axis L2. The first worm wheel 230 is engaged with the first worm 220 and rotates around the second axis L2 under the driving of the first worm 220. The first phalanx 300 is fixedly connected with the first worm wheel 230 to rotate around the second axis L2 under the driving of the first worm wheel 230.

[0068] Since the worm gear transmission has self-locking property, the self-locking function of the metacarpal drive assembly 200 can be realized, so that the self-locking of the grasping of the dexterous hand thumb 10 is realized, and the passive load capacity is large.

[0069] The first guide wheel 240 is rotatably connected with the metacarpal drive source 210 around the fourth axis L4. The first guide wheel 240 is located at one end of the first worm 220 close to the dexterous hand finger 30. The fourth axis L4 is parallel to the second axis L2. Exemplarily, the first guide wheel 240 can be a circular ring-shaped wheel structure, and the outer side of the first guide wheel 240 can have a first annular groove which can accommodate at least part of the tendon 500 to prevent the tendon 500 from loosening from the first guide wheel 240.

[0070] The tendon 500 passes through the first phalanx 300, bypasses the side of the first guide wheel 240 away from the first worm 220, passes through the first shaft hole 221, and is connected with the interphalangeal drive assembly 600 in sequence by the second phalanx 400, realizing the motion decoupling of the tendon 500 and the metacarpal drive assembly 200 and preventing the tendon 500 and the metacarpal drive assembly 200 from interfering with each other during the motion.

[0071] Further, by decoupling the motion of the tendon 500 and the metacarpal drive assembly 200, the metacarpal drive assembly 100, the metacarpal drive assembly 200 and the interphalangeal drive assembly 600 can be all arranged on the palm base plate 20, reducing the size of the dexterous hand thumb 10 and making the size of the dexterous hand thumb 10 closer to that of the human thumb.

[0072] The relative rotation between various components in the embodiments of the present application can be realized through hinging or through other structures, as long as rotation around the corresponding axis is realized, and the present application does not limit the specific rotation mode. Illustratively, the two components that are relatively rotatable can each be provided with an axle hole, and then an activity axle is inserted into the axle holes of the two components that are relatively rotatable, thereby realizing the relative rotation of the two components. Illustratively, a bearing can be further arranged between the activity axle and the two components, to improve the flexibility of rotation. Illustratively, the axis mentioned in the present application is a virtual axis, and is shown by a dashed line in the drawings.

[0073] In some embodiments, the dexterous hand thumb 10 further comprises at least one second guide wheel 710. The second guide wheel 710 is rotatably connected with the first phalanx 300 around a fifth axis L5. The fifth axis L5 is parallel to the second axis L2. The tendon 500 is sequentially wound around a side of the second guide wheel 710 close to the first worm gear 230, around a side of the first guide wheel 240 away from the first worm 220, passes through the first axle hole 221, and is connected with the interphalangeal driving assembly 600 by the second phalanx 400.

[0074] Illustratively, the second guide wheel 710 can be a circular ring-shaped wheel structure, and the outer side of the second guide wheel 710 can have a second annular groove that can accommodate at least part of the tendon 500, to prevent the tendon 500 from loosening from the second guide wheel 710. Illustratively, as shown in Figure 4 The second guide wheel 710 is arranged at the part of the first phalanx 300 close to the first worm gear 230, so that the second guide wheel 710 and the first guide wheel 240 jointly support the tendon 500, further preventing the tendon 500 from interfering with the first worm gear 230, and realizing the movement decoupling of the tendon 500 and the metacarpal driving assembly 200.

[0075] In some embodiments, the positional relationship between the first worm gear 230, the first guide wheel 240, the second guide wheel 710 and the tendon 500 satisfies the following formula (1).

[0076] KM+MN+NP=2*R*sin(θ / 2) *cosβ+(5*π / 2-2*β-γ)*r (1)

[0077] Wherein, KM represents the contact length of the tendon 500 with the second guide wheel 710, MN represents the length of the tendon 500 between the first guide wheel 240 and the second guide wheel 710, NP represents the contact length of the tendon 500 with the first guide wheel 240, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents the first center of a circle of the orthographic projection of the first worm gear 230 on the palm base plate 20, O1 represents the second center of a circle of the orthographic projection of the first guide wheel 240 on the palm base plate 20, O2 represents the third center of a circle of the orthographic projection of the second guide wheel 710 on the palm base plate 20, M represents the first tangent point of the tendon 500 close to the first guide wheel 240 with the second guide wheel 710, Q represents the first intersection point of the extension line of the connecting line of the first center and the second center with the edge of the first guide wheel 240, S represents the second intersection point of the perpendicular line passing through the second center with the edge of the first guide wheel 240 away from the first worm gear 230, R represents the length of the first connecting line of the first center and the second center, and r represents the radius of the first guide wheel 240; wherein, the length of the first connecting line is equal to the length of the second connecting line of the first center and the third center; the radius of the first guide wheel 240 is equal to the radius of the second guide wheel 710.

[0078] Exemplarily, as shown in FIG. 6, KM can also represent the length of the circular arc at which the second guide wheel 710 contacts the tendon 500. MN can also represent the length of the tangent line between the first guide wheel 240 and the second guide wheel 710. NP can also represent the length of the circular arc at which the first guide wheel 240 contacts the tendon 500. ∠O1OO2 is the angle formed by the broken line connecting the second center, the first center and the third center. ∠O1O2M is the angle formed by the broken line connecting the second center, the third center and the first tangent point. ∠QO1S is the angle formed by the broken line connecting the first intersection point, the second center and the second intersection point. The perpendicular line passing through the second center is a vertical straight line passing through the second center in the case that the axis of the first guide wheel 240 is horizontally arranged. Figure 5

[0079] During the movement of the dexterous hand thumb 10, the angles of θ, β and γ can change. Through the calculation of the above formula (1), the length of the first connecting line of the first center and the second center can be obtained, and then the distance of the first guide wheel 240 relative to the first worm gear 230 and the distance of the second guide wheel 710 relative to the first worm gear 230 can be set according to the length of the first connecting line of the first center and the second center, so that the tendon 500 can be guaranteed not to interfere with the first worm gear 230 under different angles of θ, β and γ.

[0080] ​In some embodiments, the metacarpal driving assembly 200 further comprises a first gear 250 and a second gear 260. The first gear 250 is connected with the metacarpal driving source 210, disposed at an end of the metacarpal driving source 210 away from the dexterous hand fingers 30, and configured to rotate around the first axis L1 under the driving of the metacarpal driving source 210. The second gear 260 is coaxially connected with an end of the first worm 220 away from the dexterous hand fingers 30, and engaged with the first gear 250. The second gear 260 has a second axial hole 261 penetrating through the second gear 260 along the extension direction of the first worm 220. The tendon 500 is wound around, in sequence, a side of the second guide wheel 710 close to the first worm wheel 230, a side of the first guide wheel 240 away from the first worm 220, the first axial hole 221, the second axial hole 261, the first guide slot 721, the third axial hole 722, and the inter-finger driving assembly 600.

[0081] Exemplarily, the first gear 250 and the second gear 260 can both be straight gears, or can be other types of gears, as long as the transmission of rotational force can be achieved. By disposing the first gear 250 and the second gear 260, the metacarpal driving source 210 and the first worm 220 can be disposed side by side, thereby saving space.

[0082] In addition, by making the second gear 260 have the second axial hole 261 penetrating through the second gear 260 along the extension direction of the first worm 220, the tendon 500 can pass through the second axial hole 261, thereby preventing the tendon 500 from interfering with the rotation of the second gear 260.

[0083] In some embodiments, the dexterous hand thumb 10 further comprises a first guide 720. The first guide 720 is disposed at an end of the first gear 250 and the second gear 260 away from the dexterous hand fingers 30, and connected with the metacarpal driving source 210. A side of the first guide 720 close to the first gear 250 and the second gear 260 has a first guide slot 721. The first guide 720 further has a third axial hole 722 penetrating through the first guide 720 along the axial direction of the first gear 250. The first guide slot 721 is in communication with the second axial hole 261 and the third axial hole 722.

[0084] The tendon 500 is wound around, in sequence, a side of the second guide wheel 710 close to the first worm wheel 230, a side of the first guide wheel 240 away from the first worm 220, the first axial hole 221, the second axial hole 261, the first guide slot 721, the third axial hole 722, and the inter-finger driving assembly 600.

[0085] By disposing the first guide 720, the tendon 500 can pass through the first guide slot 721 and the third axial hole 722, thereby preventing the tendon 500 from interfering with the rotation of the first gear 250.

[0086] In some embodiments, the first guide member 720 includes a guide plate 723 and a guide post 724. A first guide groove 721 is formed on a side of the guide plate 723 that is adjacent to the first gear 250 and the second gear 260. The guide post 724 is connected to a side of the guide plate 723 that is distal to the first gear 250. A third axial hole 722 extends through the guide plate 723 and the guide post 724. The end of the guide post 724 distal to the guide plate 723 is rotatably connected to the palm base plate 20 about the first axis L1. A side slot 725 is formed on the side of the guide post 724. The side slot 725 connects the third axial hole 722 to the outer side of the guide post 724.

[0087] The tendon rope 500 is passed from the second finger joint 400 around the side of the second guide wheel 710 close to the first worm gear 230, around the side of the first guide wheel 240 away from the first worm 220, through the first axial hole 221, through the second axial hole 261, through the first guide groove 721, through the third axial hole 722, through the side slot 725, and connected to the inter-finger drive assembly 600.

[0088] The side slots 725 guide the tendon 500, further preventing the tendon 500 from interfering with the rotation of the first gear 250. The slotted gears of the side slots 725 can be configured according to actual needs, and this application does not impose any specific restrictions.

[0089] In some embodiments, the metacarpal drive assembly 100 includes a metacarpal drive source 110, a first connecting rod 120, and a second connecting rod 130. The metacarpal drive source 110 is disposed on the palm base plate 20 and is configured to provide a second rotational force. The first end 121 of the first connecting rod is connected to the metacarpal drive source 110. Driven by the metacarpal drive source 110, the first connecting rod 120 rotates about a sixth axis L6, which is parallel to the first axis L1. The first end 131 of the second connecting rod is rotatably connected to the second end 122 of the first connecting rod, and the second end 132 of the second connecting rod is rotatably connected to the guide plate 723.

[0090] For example, Figure 11 As shown, the first connecting rod 120, the second connecting rod 130, and the first guide member 720 form a parallelogram structure. The metacarpal drive source 110 drives the first connecting rod 120 to rotate, which in turn drives the first guide member 720 via the second connecting rod 130. The first guide member 720 then drives the palm-to-palm drive assembly 200 to rotate about the first axis L1, achieving palm-to-palm motion of the palm-to-palm drive assembly 200. This achieves high transmission efficiency and a compact structure.

[0091] Exemplarily, the first connecting rod 120 can be a straight rod, a curved rod, or other irregular shapes, which are not limited in the present application. In actual applications, the first connecting rod 120 can be curved or avoid space to make full use of the space and improve the compactness of the dexterous hand thumb 10 according to the available space.

[0092] Exemplarily, the second connecting rod 130 can be a straight rod, a curved rod, or other irregular shapes, which are not limited in the present application. In actual applications, the second connecting rod 130 can be curved or avoid space to make full use of the space and improve the compactness of the dexterous hand thumb 10 according to the available space.

[0093] In some embodiments, the metacarpal driving assembly 100 is arranged on the side of the metacarpophalangeal driving assembly 200 away from the second knuckle 400. The interphalangeal driving assembly 600 is arranged on the side of the metacarpal driving assembly 100 away from the metacarpophalangeal driving assembly 200. The dexterous hand thumb 10 further comprises at least one third guide wheel 730. The third guide wheel 730 is rotatably connected to the palm base plate 20 about a seventh axis L7. The seventh axis L7 is parallel to the first axis L1.

[0094] Exemplarily, the third guide wheel 730 can be a circular ring-shaped wheel structure, and the outer side of the third guide wheel 730 can have a third annular groove for accommodating at least part of the tendon 500 to prevent the tendon 500 from loosening from the third guide wheel 730.

[0095] The tendon 500 is sequentially wound around the side of the second guide wheel 710 close to the first worm gear 230, around the side of the first guide wheel 240 away from the first worm 220, through the first shaft hole 221, through the second shaft hole 261, through the first guide groove 721, through the third shaft hole 722, through the side slot 725, around the side of the third guide wheel 730 away from the metacarpal driving assembly 100, and connected to the interphalangeal driving assembly 600.

[0096] By arranging the third guide wheel 730, the tendon 500 can be wound around the side of the third guide wheel 730 away from the metacarpal driving assembly 100, so as to avoid interference between the tendon 500 and the metacarpal driving assembly 100.

[0097] In some embodiments, the dexterous hand thumb 10 further comprises a second guide 740. The second guide 740 is connected to the palm base plate 20. The second guide 740 has a second guide groove 741. The extension direction of the second guide groove 741 is perpendicular to the seventh axis L7.

[0098] Exemplarily, on the cross section of the second guide groove 741, the size of the opening of the second guide groove 741 can be smaller than the size between the two side walls of the second guide groove 741, so as to prevent the tendon 500 from being pulled out of the second guide groove 741.

[0099] The tendon 500 is wound around the side of the second guide pulley 710 close to the first worm gear 230 by the second phalange 400 in sequence, around the side of the first guide pulley 240 away from the first worm 220, through the first shaft hole 221, through the second shaft hole 261, through the first guide groove 721, through the third shaft hole 722, through the side slot 725, around the side of the third guide pulley 730 away from the metacarpal driving assembly 100, through the second guide groove 741, and connected with the interphalangeal driving assembly 600.

[0100] By arranging the second guide 740, the tendon 500 can pass through the second guide groove 741, further guiding the tendon 500, so as to further avoid the interference between the tendon 500 and the metacarpal driving assembly 100.

[0101] In some embodiments, the dexterous hand thumb 10 further comprises: at least one fourth guide pulley 750. The fourth guide pulley 750 is rotatably connected with the palm base plate 20 around an eighth axis L8. The eighth axis L8 is perpendicular to the seventh axis L7 and perpendicular to the extension direction of the second guide groove 741.

[0102] Exemplarily, the fourth guide pulley 750 can be a circular ring-shaped wheel structure, and the outer side of the fourth guide pulley 750 can have a fourth annular groove, which can accommodate at least part of the tendon 500, so as to prevent the tendon 500 from being loosened from the fourth guide pulley 750.

[0103] The tendon 500 is wound around the side of the second guide pulley 710 close to the first worm gear 230 by the second phalange 400 in sequence, around the side of the first guide pulley 240 away from the first worm 220, through the first shaft hole 221, through the second shaft hole 261, through the first guide groove 721, through the third shaft hole 722, through the side slot 725, around the side of the third guide pulley 730 away from the metacarpal driving assembly 100, through the second guide groove 741, around the side of the fourth guide pulley 750 close to the dexterous hand finger 30, and connected with the interphalangeal driving assembly 600.

[0104] By arranging the fourth guide pulley 750, the tendon 500 can be wound around the side of the fourth guide pulley 750 close to the dexterous hand finger 30, so as to guide the tendon 500 to the interphalangeal driving assembly 600.

[0105] In some embodiments, the interphalangeal driving assembly 600 comprises: an interphalangeal driving source 610, a second worm 620, a worm shaft 630, and a second worm gear 640.

[0106] The interphalangeal driving source 610 is arranged on the palm base plate 20 and is configured to provide a third rotating force. The second worm 620 is connected with the interphalangeal driving source 610 and rotates under the driving of the interphalangeal driving source 610. The extending direction of the second worm 620 is parallel to the extending direction of the first axis L1. The worm shaft 630 is rotatably connected with the interphalangeal driving source 610 around the ninth axis L9. The ninth axis L9 is perpendicular to the extending direction of the second worm 620. The second worm wheel 640 is coaxially connected with the worm shaft 630, so that the worm shaft 630 is rotatably connected with the interphalangeal driving source 610 around the ninth axis L9.

[0107] The second worm wheel 640 is engaged with the second worm 620, and the second worm wheel 640 rotates around the ninth axis L9 under the driving of the second worm 620. The second end 502 of the tendon is connected with the worm shaft 630, so that the tendon 500 is pulled by the rotation of the worm shaft 630, thereby pulling the second phalanx 400 to rotate around the third axis L3.

[0108] In addition, the tendon driving mode can arrange the interphalangeal driving assembly 600 on the palm base plate 20, thereby saving the space in the fingers of the dexterous hand.

[0109] In addition, since the worm gear transmission has self-locking property, the self-locking function of the interphalangeal driving assembly 600 can be realized, thereby realizing the self-locking of the gripping of the thumb 10 of the dexterous hand and having large passive load capacity.

[0110] In some embodiments, the first phalanx 300 includes a first component 310 and a second component 320. The first end 311 of the first component has a first shaft hole 312, and the second end 313 of the first component has a second shaft hole 314. The second component 320 is oppositely arranged and connected with the first component 310. The first end 321 of the second component has a third shaft hole 322, and the second end 323 of the second component has a fourth shaft hole 324. The third shaft hole 322 is coaxially arranged with the first shaft hole 312, and the fourth shaft hole 324 is coaxially arranged with the second shaft hole 314. The dexterous hand thumb 10 further includes a mandrel 760. The first end 761 of the mandrel extends into the first shaft hole 312, and the second end 762 of the mandrel extends into the third shaft hole 322. The mandrel 760 is coaxially arranged with the first shaft hole 312. The mandrel 760 is coaxially connected with the first worm wheel 230. The second phalanx 400 includes a shaft portion 410. The first end 411 of the shaft portion extends into the second shaft hole 314, and the second end 412 of the shaft portion extends into the fourth shaft hole 324. The shaft portion 410 is coaxially arranged with the second shaft hole 314.

[0111] By arranging the first phalanx 300 to include the first component 310 and the second component 320, the installation and disassembly of the first phalanx 300 are facilitated.

[0112] In some embodiments, the first component 310 has a first groove 315 and a second groove 316. The first groove 315 is coaxially disposed with the first shaft hole 312, and the second groove 316 is coaxially disposed with the second shaft hole 314.

[0113] The dexterous thumb 10 further includes a first magnetic member 810, a first sensor 820, a second magnetic member 830, and a second sensor 840. The first magnetic member 810 is connected to and coaxially disposed with the core shaft 760. The first sensor 820 is disposed in the first groove 315 and is configured to detect the absolute position of the first magnetic member 810. The second magnetic member 830 is connected to and coaxially disposed with the shaft portion 410. The second sensor 840 is disposed in the second groove 316 and is configured to detect the absolute position of the second magnetic member 830.

[0114] The first sensor 820 can use the Hall principle to detect the absolute position of the first magnetic member 810, which is accurate and easy to install. The second sensor 840 can also use the Hall principle to detect the absolute position of the second magnetic member 830, which is accurate and easy to install.

[0115] In some embodiments, the first end 311 of the first component has a first arc-shaped retaining groove 317. The center of the first arc-shaped retaining groove 317 is located on the axis of the core shaft 760. The second end 313 of the first component has a second arc-shaped retaining groove 318. The center of the second arc-shaped retaining groove 318 is located on the axis of the shaft portion 410.

[0116] The dexterous thumb 10 also includes: a first support member 850 and a first pin 860. The first support member 850 is connected to the palm-finger drive source 210. The first pin 860 is arranged on the first support member 850 and is located on the side of the first support member 850 close to the first component 310. The first pin 860 extends into the first arc-shaped limit groove 317 and can slide along the first arc-shaped limit groove 317, thereby limiting the rotation of the first knuckle 300 and the first support member 850, and the structure is simple and compact. The second knuckle 400 has a second pin 420. The second pin 420 extends into the second arc-shaped limit groove 318 and can slide along the second arc-shaped limit groove 318, thereby limiting the rotation of the second knuckle 400 and the first knuckle 300, and the structure is simple and compact.

[0117] In some embodiments, the dexterous hand thumb 10 further comprises a second support 870, a third magnetic element 880, and a third sensor 890. The second support 870 is arranged on the palm base plate 20 and has a third groove 871. The guide column 724 rotates about the first axis L1 relative to the palm base plate 20, and the third groove 871 is coaxially arranged with the guide column 724. The third magnetic element 880 is connected to an end of the guide column 724 away from the first gear 250 and is coaxially arranged with the guide column 724. The third sensor 890 is arranged in the third groove 871 and is configured to detect the absolute position of the third magnetic element 880.

[0118] The third sensor 890 can detect the absolute position of the third magnetic element 880 using the Hall principle, which is accurate and easy to install.

[0119] In some embodiments, the dexterous hand thumb 10 further comprises a torsion spring 910. The torsion spring 910 is sleeved on the shaft portion 410, the first end 911 of the torsion spring is connected to the first knuckle 300, and the second end 912 of the torsion spring is connected to the second knuckle 400.

[0120] In actual applications, the first knuckle 300 can have a first clamping groove, the extension direction of the first clamping groove can be parallel to the extension direction of the shaft portion 410, and the first end 911 of the torsion spring can be inserted into the first clamping groove to achieve detachable connection of the first end 911 of the torsion spring to the first knuckle 300, facilitating installation of the torsion spring 910. The second knuckle 400 can have a second clamping groove. The extension direction of the second clamping groove can be parallel to the extension direction of the shaft portion 410, and the second end 912 of the torsion spring can be inserted into the second clamping groove to achieve detachable connection of the second end 912 of the torsion spring to the second knuckle 400, facilitating installation of the torsion spring 910.

[0121] By arranging the torsion spring 910, the first knuckle 300 and the second knuckle 400 can be automatically reset after bending, and the structure is simple and compact.

[0122] In some embodiments, the dexterous hand thumb 10 further comprises a first soft pad 920 and / or a second soft pad 930. The first soft pad 920 is arranged on the finger pulp area of the first knuckle 300. The second soft pad 930 is arranged on the finger pulp area and the fingertip area of the second knuckle 400.

[0123] In some embodiments, in the case where the dexterous hand thumb 10 comprises the first soft pad 920, the dexterous hand thumb 10 further comprises a first tactile sensor 940. The first tactile sensor 940 is arranged in the first soft pad 920 to improve the tactile ability of the dexterous hand thumb 10. In the case where the dexterous hand thumb 10 comprises the second soft pad 930, the dexterous hand thumb 10 further comprises a second tactile sensor 950. The second tactile sensor 950 is arranged in the second soft pad 930 to improve the tactile ability of the dexterous hand thumb 10.

[0124] Exemplarily, the first tactile sensor 940 and the second tactile sensor 950 can each be a planar array tactile sensor, so as to further improve the tactile ability of the dexterous hand thumb 10.

[0125] The embodiment of the present application also provides a dexterous hand 3 applied to the robot 1. As shown in the figure, Figure 16 The dexterous hand 3 comprises the palm base plate 20, the dexterous hand thumb 10 mentioned in the above embodiment, and the dexterous hand fingers 30 provided on the palm base plate 20 and excluding the dexterous hand thumb 10. The dexterous hand thumb 10 is provided on the palm base plate 20 and connected with the palm base plate 20.

[0126] Since the dexterous hand 3 comprises the dexterous hand thumb 10, the robot 1 also has all the technical features and technical effects of the dexterous hand thumb 10, which will not be described here.

[0127] The embodiment of the present application also provides a robot 1. As shown in the figure, Figure 16 The robot 1 comprises the main body 2 and the dexterous hand 3 mentioned in the above embodiment. The dexterous hand 3 is connected with the main body 2.

[0128] Since the robot 1 comprises the dexterous hand 3 mentioned in the above embodiment, the robot 1 has all the technical features and technical effects of the dexterous hand 3, which will not be described here.

[0129] In the embodiments of the present application, if the form of connection is not explicitly limited, the form of connection can be a detachable connection form such as bolt-nut, screw, buckle, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved through welding, bonding, etc.

[0130] In the description, "one embodiment", "an embodiment", and the like indicate that the described embodiment can include a specific feature, structure, or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure, or characteristic in connection with other embodiments that are explicitly or implicitly described.

[0131] It should be understood that "on", "above", and "over" in the present disclosure should be interpreted in the broadest way, so that "on" not only means "directly on", but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over", but also can include the meaning of "above" or "over" without intermediate features or layers therebetween (i.e., directly on).

[0132] In addition, spatially relative terms, such as "under", "below", "lower", "over", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0133] It should be noted that, as used 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 can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0134] The preferred embodiments of the application are described above in detail. The application is not limited to the above embodiments but can be modified in various ways without departing from the spirit and scope of the application. Accordingly, the application should not be construed as being limited to the above embodiments but be defined by the following claims; and all modifications, equivalent replacements and the like which come within the scope of the application are intended to be embraced in the application.

Claims

1. A dexterous thumb, characterized in that: Applied to a dexterous hand, the dexterous hand comprises a palm substrate, a dexterous hand thumb arranged on the palm substrate, and dexterous hand fingers other than the dexterous hand thumb arranged on the palm substrate; Wherein, the dexterous thumb comprises: A metacarpal drive assembly, disposed on the palm substrate; a palmar-finger drive assembly, rotatably connected to the palm baseplate about a first axis and connected to the metacarpal drive assembly, and driven by the metacarpal drive assembly to rotate about the first axis to achieve palmar-opposing movement of the thumb of the dexterous hand, wherein the first axis is parallel to the palm baseplate and extends in a direction from the palm baseplate to the fingers of the dexterous hand; A first phalanx is rotatably connected to the palm-finger driving assembly about a second axis, and is driven by the palm-finger driving assembly to rotate about the second axis to achieve a first bending movement of the first phalanx, wherein the second axis is perpendicular to the first axis; a second finger joint, rotatably connected to the first finger joint about a third axis, wherein the third axis is parallel to the second axis; a tendon cord, a first end of the tendon cord being connected to the second finger joint; an interdigital drive assembly, disposed on the palm base plate and connected to the second end of the tendon cord, configured to drive the tendon cord to move, so that the tendon cord pulls the second phalanx to rotate around the third axis, thereby achieving a second bending movement of the second phalanx; Wherein, the palm-finger drive assembly includes: a palmar-digital drive source, rotatably connected to the palm base plate about the first axis and connected to the metacarpal drive assembly, and configured to provide a first rotational force; a first worm connected to the palm-finger driving source and driven to rotate by the palm-finger driving source, wherein the first worm has a first axial center hole extending through the first worm along an extension direction of the first worm; a first worm gear rotatably connected to the palmar-digital drive source about the second axis, the first worm gear meshing with the first worm and driven by the first worm to rotate about the second axis, wherein the first finger joint is fixedly connected to the first worm gear so as to rotate about the second axis under the drive of the first worm gear; at least one first guide wheel rotatably connected to the palm-finger drive source about a fourth axis, the first guide wheel being located at an end of the first worm gear proximal to the finger of the dexterous hand, the fourth axis being parallel to the second axis; The tendon rope passes through the first finger joint in sequence from the second finger joint, bypasses the side of the first guide wheel away from the first worm, passes through the first axial hole, and is connected to the inter-finger drive assembly.

2. The dexterous thumb of claim 1, wherein: Also includes: at least one second guide wheel rotatably connected to the first finger joint about a fifth axis, the fifth axis being parallel to the second axis; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, and connected to the inter-finger drive assembly.

3. The dexterous thumb of claim 2, wherein: The positional relationship between the first worm gear, the first guide wheel, the second guide wheel and the tendon rope satisfies the following formula: KM+MN+NP=2*R*sin(θ / 2) *cosβ+(5*π / 2-2*β-γ)*r, Wherein, KM represents the contact length between the tendon and the second guide wheel, MN represents the length of the tendon between the first guide wheel and the second guide wheel, NP represents the contact length between the tendon and the first guide wheel, θ represents ∠O1OO2, β represents ∠O1O2M, γ represents ∠QO1S, O represents the first center of the orthographic projection of the first worm gear on the palm base plate, O1 represents the second center of the orthographic projection of the first guide wheel on the palm base plate, O2 represents the third center of the orthographic projection of the second guide wheel on the palm base plate, M represents the first tangent point of the tendon and the second guide wheel close to the first guide wheel, Q represents the first intersection point of the extended line of the line connecting the first center and the second center and the edge of the first guide wheel, S represents the second intersection point of the perpendicular line passing through the second center and the edge of the first guide wheel away from the first worm gear, R represents the length of the first line connecting the first center and the second center, and r represents the radius of the first guide wheel; The length of the first connecting line is equal to the length of the second connecting line between the first center of the circle and the third center of the circle; the radius of the first guide wheel is equal to the radius of the second guide wheel.

4. The dexterous thumb of claim 3, wherein: in, The palm-finger drive assembly further includes: a first gear connected to the palm-finger driving source, disposed at an end of the palm-finger driving source away from the fingers of the dexterous hand, and configured to rotate around the first axis when driven by the palm-finger driving source; a second gear coaxially connected to an end of the first worm gear away from the finger of the dexterous hand and meshing with the first gear, wherein the second gear has a second axial center hole penetrating the second gear along an extension direction of the first worm gear; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, and connected to the inter-finger drive assembly.

5. The dexterous thumb of claim 4, characterized in that: Also includes: a first guide member, provided at an end of the first gear and the second gear away from the fingers of the dexterous hand, and connected to the palm-finger drive source; The first guide member has a first guide groove on one side thereof close to the first gear and the second gear, and the first guide member also has a third axial hole passing through the first guide member along the axial direction of the first gear; Wherein, the first guide groove is connected to the second axial hole and the third axial hole; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, through the first guide groove, through the third axial hole, and connected to the inter-finger drive assembly.

6. The dexterous thumb of claim 5, wherein: The first guide member comprises: a guide plate, wherein a surface of the guide plate close to the first gear and the second gear has the first guide groove; a guide post connected to a side of the guide plate away from the first gear, the third axial hole passing through the guide plate and the guide post, and an end of the guide post away from the guide plate being rotatably connected to the palm base plate around the first axis; Wherein, the side surface of the guide column has a side groove, and the side groove communicates with the third axial hole and the outer side of the guide column; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, through the first guide groove, through the third axial hole, through the side slot, and connected to the inter-finger drive assembly.

7. The dexterous thumb of claim 6, wherein: The metacarpal drive assembly comprises: a metacarpal drive source, disposed on the palm base plate and configured to provide a second rotational force; a first connecting rod, wherein a first end of the first connecting rod is connected to the metacarpal drive source, and under the drive of the metacarpal drive source, the first connecting rod rotates about a sixth axis, and the sixth axis is parallel to the first axis; A second connecting rod, wherein the first end of the second connecting rod is rotatably connected to the second end of the first connecting rod, and the second end of the second connecting rod is rotatably connected to the guide plate.

8. The dexterous thumb of claim 7, wherein: The metacarpal drive assembly is arranged on a side of the metacarpophalangeal drive assembly away from the second phalanx, and the interphalangeal drive assembly is arranged on a side of the metacarpal drive assembly away from the metacarpophalangeal drive assembly; Wherein, the dexterous thumb further comprises: at least one third guide wheel rotatably connected to the palm base plate about a seventh axis, wherein the seventh axis is parallel to the first axis; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, through the first guide groove, through the third axial hole, through the side slot, around the side of the third guide wheel away from the metacarpal drive assembly, and connected to the interphalangeal drive assembly.

9. The dexterous thumb of claim 8, wherein: Also includes: a second guide member connected to the palm base plate, the second guide member having a second guide groove, wherein an extending direction of the second guide groove is perpendicular to the seventh axis; In which, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, through the first guide groove, through the third axial hole, through the side slot, around the side of the third guide wheel away from the metacarpal drive assembly, through the second guide groove, and connected to the interdigital drive assembly.

10. The dexterous thumb of claim 9, wherein: Also includes: at least one fourth guide wheel rotatably connected to the palm base plate about an eighth axis, wherein the eighth axis is perpendicular to the seventh axis and perpendicular to the extending direction of the second guide slot; Among them, the tendon rope is passed from the second finger joint in sequence around the side of the second guide wheel close to the first worm wheel, around the side of the first guide wheel away from the first worm, through the first axial hole, through the second axial hole, through the first guide groove, through the third axial hole, through the side slot, around the side of the third guide wheel away from the metacarpal drive assembly, through the second guide groove, around the side of the fourth guide wheel close to the fingers of the dexterous hand, and connected to the interdigital drive assembly.

11. The dexterous thumb according to any one of claims 1 to 10, characterized in that: The inter-finger drive assembly comprises: an inter-finger driving source, disposed on the palm substrate and configured to provide a third rotational force; a second worm connected to the inter-finger drive source and rotated under the drive of the inter-finger drive source, wherein an extension direction of the second worm is parallel to an extension direction of the first axis; a worm gear shaft rotatably connected to the inter-finger drive source about a ninth axis, wherein the ninth axis is perpendicular to an extension direction of the second worm; a second worm gear coaxially connected to the worm gear shaft to be rotatably connected to the inter-finger drive source around the ninth axis via the worm gear shaft, the second worm gear meshing with the second worm, and driven by the second worm to rotate around the ninth axis; Wherein, the second end of the tendon rope is connected to the worm gear shaft so that the tendon rope is pulled by the rotation of the worm gear shaft.

12. The dexterous thumb according to any one of claims 1 to 10, characterized in that: The first knuckle comprises: a first component, wherein a first end of the first component has a first axial hole, and a second end of the first component has a second axial hole; a second component disposed opposite to and connected to the first component, wherein a first end of the second component has a third axial hole, and a second end of the second component has a fourth axial hole, wherein the third axial hole is coaxially disposed with the first axial hole, and the fourth axial hole is coaxially disposed with the second axial hole; The dexterous thumb further comprises: a core shaft, wherein a first end of the core shaft extends into the first axial hole, a second end of the core shaft extends into the third axial hole, the core shaft is coaxially arranged with the first axial hole, and the core shaft is coaxially connected with the first worm gear; The second phalanx comprises: A shaft portion, wherein the first end of the shaft portion extends into the second shaft hole, the second end of the shaft portion extends into the fourth shaft hole, and the shaft portion is coaxially arranged with the second shaft hole.

13. The dexterous thumb of claim 12, wherein: The first component has a first groove and a second groove, the first groove is coaxially arranged with the first axial hole, and the second groove is coaxially arranged with the second axial hole; Wherein, the dexterous thumb further comprises: a first magnetic member connected to the core shaft and coaxially arranged with the core shaft; a first sensor disposed in the first groove and configured to detect an absolute position of the first magnetic member; a second magnetic member connected to the shaft portion and coaxially arranged with the shaft portion; The second sensor is disposed in the second groove and is configured to detect the absolute position of the second magnetic member.

14. The dexterous thumb of claim 12, wherein: The first end of the first component has a first arc-shaped limiting groove, the center of which is located at the axis of the core shaft, and the second end of the first component has a second arc-shaped limiting groove, the center of which is located at the axis of the shaft portion; Wherein, the dexterous thumb further comprises: a first support member connected to the palm-finger drive source; a first pin, disposed on the first support member and located on a side of the first support member close to the first component, the first pin extending into the first arc-shaped limiting groove and being able to slide along the first arc-shaped limiting groove; Wherein, the second finger joint has a second pin, and the second pin extends into the second arc-shaped limiting groove and can slide along the second arc-shaped limiting groove.

15. The dexterous thumb according to any one of claims 6 to 10, characterized in that: Also includes: a second support member, disposed on the palm base plate, having a third groove, wherein the guide post rotates relative to the palm base plate around the first axis, and the third groove is coaxially disposed with the guide post; a third magnetic member connected to an end of the guide post away from the first gear and coaxially arranged with the guide post; The third sensor is disposed in the third groove and is configured to detect the absolute position of the third magnetic member.

16. The dexterous thumb of any one of claims 1 to 10, characterized in that: Also includes: a first soft pad, provided on the fingertip area of ​​the first knuckle; and / or, The second soft pad is arranged on the finger pulp area and fingertip area of ​​the second finger joint.

17. The dexterous thumb of claim 16, wherein: In the case where the dexterous hand thumb includes the first soft pad, the dexterous hand thumb further includes: a first tactile sensor, disposed in the first soft pad; In the case where the dexterous hand thumb includes the second soft pad, the dexterous hand thumb further includes: The second tactile sensor is disposed in the second soft pad.

18. A dexterous hand, characterized in that: include: palm baseplate; At least one thumb of the dexterous hand according to any one of claims 1 to 17 is connected to the palm base plate.

19. A robot, characterized in that: include: main body; At least one dexterous hand according to claim 18, connected to the main body.

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