A type of underwater humanoid dexterous hand

Abstract

This invention proposes an underwater humanoid dexterous hand, specifically relating to the field of bionic mechanical technology. The underwater humanoid dexterous hand uses a spring electromagnet to lock the corresponding tendon rope assembly, and then the driving software is connected to the liquid, causing the slider to slide on the slide bar and pull the corresponding tendon rope assembly, thereby driving the tendon rope assembly to operate the corresponding palm or finger assembly to complete the grasping of objects and other tasks. By using the driving software in conjunction with hydraulic pressure to pull the tendon rope assembly, it can adapt to deep water areas and resist greater water pressure.

Description

Technical Field

[0001] This invention relates to the field of biomimetic mechanical technology, and in particular to an underwater humanoid dexterous hand. Background Technology

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

[0003] End effectors are responsible for performing specific underwater tasks. Underwater tasks are diverse, and end effectors vary depending on the specific task, such as welding, drilling, cleaning, maintenance, object grasping, and biological sampling. Based on manufacturing materials, they can be divided into rigid and flexible types. Rigid underwater grippers are currently the most widely used mainstream end effectors in the field of underwater robotics. However, rigid underwater grippers can only perform opening and closing movements using a single-degree-of-freedom rigid clamp to grasp objects. This makes it difficult for these rigid underwater grippers to achieve non-destructive gripping of objects, hindering the retrieval of fragile items and non-destructive sampling of aquatic organisms. Furthermore, due to the simple clamp structure... The rigidity of traditional grippers makes it difficult to stably grasp irregularly shaped or irregularly shaped objects. Flexible underwater grippers are less commonly used because their design requires balancing the deformability of the soft material with the driving force. Excessive thickness of the soft material can lead to insufficient deformability and gripping force, making it impossible to perform a gripping action. Conversely, excessive driving pressure can cause the soft material to break under pressure. Therefore, balancing the gripping force and the deformability of the soft fingers has always been a problem. Finally, the continuity of the flexible material itself results in each finger of the flexible gripper having an infinite number of degrees of freedom, making it impossible to control the gripper effectively.

[0004] Existing underwater humanoid dexterous hands are divided into two types: rigid and flexible joints, each with its own drawbacks. Currently, the driving force of underwater humanoid dexterous hands usually comes from motors, but the sealing, pressure resistance, and power transmission capabilities of motors are not suitable for underwater environments. Existing solutions include sealing the motor in a pressure-resistant cavity, filling it with pressurized oil for pressure maintenance, creating a dynamic seal on the motor's output shaft, and using gears or other transmission components to transmit power. There are also solutions that utilize waterproof motors for drive. However, these solutions are not suitable for deep water areas and cannot withstand high water pressure. Summary of the Invention

[0005] To address the problem that the drive mechanism of existing underwater bionic dexterous hands cannot adapt to deep-water environments, this invention proposes an underwater bionic dexterous hand.

[0006] This invention is achieved through the following technical solution:

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

[0008] Multiple driving software components are provided on the top and bottom sides of the slider. Each driving software component has a first end cap at both ends. One end of the top driving software component is connected to the slider through the first end cap, and the other end is connected to the first mounting plate through the first end cap. One end of the bottom driving software component is connected to the slider through the first end cap, and the other end is connected to the second mounting plate through the first end cap. The driving software component is provided with a hydraulic connector.

[0009] The slider is provided with multiple locking holes, and each locking hole is provided with a spring electromagnet. The driving mechanism also includes tendon rope assemblies. One end of each tendon rope assembly is connected to the first mounting plate, and the other end passes through the locking hole of the slider and the second mounting plate in sequence.

[0010] Furthermore, the slider is also provided with a relay module, which includes a watertight connector and a relay control board, and the relay control board is connected to each of the spring electromagnets.

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

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

[0013] Furthermore, the flexible drive unit includes a hollow elastomer and a deformation-restricting fiber. The deformation-restricting fiber is wound around the outside of the elastomer. The top and bottom of the elastomer are respectively provided with second end caps. The bottom and top of the elastomer are fixedly connected to the first mounting plate and the third mounting plate respectively through the second end caps. The bottom of the elastomer is also provided with a hydraulic interface.

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

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

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

[0017] Furthermore, the tendon rope assembly includes a first tendon rope and a second tendon rope, wherein:

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

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

[0020] Furthermore, each of the second tensioning wheels corresponds to two second tendon ropes, and the two second tendon ropes on the second tensioning wheel pass vertically through the locking hole and the first mounting plate in sequence, and cross each other through the third mounting plate to connect to the palm mounting plate.

[0021] The beneficial effects of this invention are:

[0022] (1) The underwater humanoid dexterous hand proposed in this invention uses a spring electromagnet to lock the corresponding tendon rope group, and then the driving software is connected to the liquid, so that the slider slides and pulls the corresponding tendon rope group, thereby driving the tendon rope group to operate the corresponding palm component or finger component to complete the grasping of objects and other tasks. By using the driving software in conjunction with hydraulic pressure to pull the tendon rope group, it can adapt to deep water areas and resist greater water pressure.

[0023] (2) The underwater humanoid dexterous hand proposed in this invention has multiple degrees of freedom, and can realize multiple degrees of freedom such as pitch, yaw, rotation, and extension. Each finger can move independently through a separate tendon rope, and can complete more types of work.

[0024] (3) The underwater humanoid dexterous hand parts proposed in this invention have good openness and are mostly thin shells. They are evenly stressed and do not need to consider pressure resistance and other issues. At the same time, the electrical components are sealed with epoxy resin potting compound, which will not cause corrosion problems and can ensure the feasibility of underwater operation.

[0025] (4) The underwater humanoid dexterous hand proposed in this invention uses flexible joints to develop fingers, giving the fingers the ability to passively deform. It can automatically adapt to the shape of the object during the grasping process, and will not damage the target object when in contact with it. It also has impact resistance.

[0026] (5) The underwater humanoid dexterous hand proposed in this invention uses cylindrical flexible joints as the metacarpophalangeal joints of the fingers to realize the flexion movement of the fingers to the radial and ulnar sides and the bending and straightening movement to the palmar and dorsal sides, which improves the flexibility of the fingers and enables them to complete more types of actions and work. Attached Figure Description

[0027] Figure 1 This is an overall view of the underwater anthropomorphic dexterous hand of the present invention;

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

[0029] Figure 3 This is a structural diagram of the second finger joint of the underwater anthropomorphic dexterous hand of the present invention;

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

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

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

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

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

[0035] Figure 9 This is a structural diagram of the drive mechanism for the underwater anthropomorphic dexterous hand of the present invention;

[0036] Figure 10 This is a structural diagram of the driving software for the underwater humanoid dexterous hand of the present invention.

[0037] Figure 11 This is a schematic diagram of the slider structure of the underwater anthropomorphic dexterous hand of the present invention.

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

[0039] Figure 13 This is a structural diagram of the first tensioning mechanism of the underwater anthropomorphic dexterous hand of the present invention;

[0040] Figure 14 This is a structural diagram of the second tensioning mechanism of the underwater anthropomorphic dexterous hand of the present invention;

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

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] To more clearly and completely illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0044] Please refer to Figures 1-14 The present invention proposes an underwater humanoid dexterous hand including a drive mechanism 1. The drive mechanism 1 includes a first mounting plate 11, a slider 12, a slide rod 18, and a second mounting plate 13. The first mounting plate 11 is located on top of the second mounting plate 13. The slider 12 is disposed inside the first mounting plate 11 and between the second mounting plate 13. The slider 12 is provided with a through hole. The slide rod 18 passes through the through hole and its two ends are fixedly connected to the first mounting plate 11 and the second mounting plate 13 respectively.

[0045] Multiple drive software units 14 are provided at the top and bottom of the slider 12. The drive software units 14 are provided with first end caps 15 at both ends. One end of the top drive software unit 14 is connected to the slider 12 through the first end cap 15, and the other end is connected to the first mounting plate 11 through the first end cap 15. One end of the bottom drive software unit 14 is connected to the slider 12 through the first end cap 15, and the other end is connected to the second mounting plate 13 through the first end cap 15. A hydraulic connector 141 is provided on the drive software unit 14.

[0046] The slider 12 has multiple locking holes, and each locking hole has a spring electromagnet 16. The drive mechanism 1 also includes tendon rope groups 7. One end of each tendon rope group 7 is connected to the second mounting plate 13, and the other end passes through the locking hole of the slider 12 and the first mounting plate 11 in sequence.

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

[0048] In one embodiment, multiple sliders 12 can be provided. When two or more sliders 12 are provided, all sliders 12 are positioned between the first mounting plate 11 and the second mounting plate 13. Different tendon rope groups 7 can be locked by spring electromagnets 16. Then, the corresponding tendon rope groups 7 are driven by the driving software 14 to pull the corresponding palm component 5 or finger component 6 in turn to perform different tasks.

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

[0050] In a specific embodiment, the relay module 17 is used to control each spring electromagnet 16. The control lines of the spring electromagnet 16 are integrated inside the slider 12 and converge on the relay control board 171 in the relay module 17. The relay control board 171 controls the opening and closing of the spring electromagnet 16. The relay control board 171 is waterproofed with potting compound. The control lines of the relay control board 171 are integrated on the watertight connector 172 and are connected to the external control system with the watertight cable to receive external control signals. The relay module 17 is wrapped in epoxy resin potting compound to seal it and prevent seawater corrosion.

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

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

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

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

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

[0056] In a specific embodiment, there are four flexible drive units 42, distributed around the perimeter. When liquid is introduced into the hydraulic interfaces 424 of the two left and right flexible drive units 42, the corresponding hollow elastomers 421 will elongate. Due to the restriction of the deformation limiting fibers 422, the entire flexible drive unit 42 will tilt to one side in an arc shape, causing the third mounting plate 41 to tilt to one side relative to the first mounting plate 11, thereby completing the wrist swinging action to one side. Similarly, when liquid is introduced into the hydraulic interfaces 424 of the two front and rear flexible drive units 42, it will swing to the other side. The amount of liquid introduced into the four flexible drive units 42 can also be controlled separately to achieve different wrist movements such as wrist extension and shortening.

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

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

[0059] Furthermore, it also includes a finger assembly 6, which includes a first finger joint. The first finger joint includes a first metacarpal bone 61, a first proximal phalanx 62, a first middle phalanx 63, and a first distal phalanx 64. One side of the first metacarpal bone 61 is fixed to the palm mounting plate 51, and the other side is connected to the first proximal phalanx 62 through a metacarpophalangeal joint 612. One side of the first middle phalanx 63 is connected to the first proximal phalanx 62 through a flexible joint 611, and the other side is connected to the first distal phalanx 64 through a flexible joint 611. A first return spring 65 is connected to the same side of the first metacarpal bone 61 and the first proximal phalanx 62, the first proximal phalanx 62 and the first middle phalanx, and the first middle phalanx 63 and the first distal phalanx 64.

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

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

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

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

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

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

[0066] Furthermore, each second tensioning wheel 31 corresponds to two second tendon ropes 72. The two second tendon ropes 72 on the second tensioning wheel 31 pass vertically through the locking hole and the first mounting plate 11 in sequence, and cross each other through the third mounting plate 41 to connect to the palm mounting plate 51.

[0067] In a specific implementation, there are a total of 8 second tendon ropes 72. Each second tensioning wheel 31 corresponds to two second tendon ropes 72. The ends of the two second tendon ropes 72 on the same second tensioning wheel 31 pass through the first mounting plate 11 and are connected to the third mounting plate 41 in an X-shape. When the slider 12 drives the four second tendon ropes 72 tilted to the same side to move downward, the palm mounting plate 51 will rotate clockwise or counterclockwise. When it is necessary to return to the original angle, the spring electromagnet 16 on the slider 12 is released to restore the original position. The underwater humanoid dexterous wrist rotation action can be completed by using the second tendon ropes 72.

[0068] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. An underwater anthropomorphic dexterous hand, characterized in that, The system includes a drive mechanism comprising a first mounting plate, a slider, a slide rod, and a second mounting plate. The first mounting plate is located on top of the second mounting plate. Multiple sliders are provided and disposed between the first and second mounting plates. Each slider has a through hole, and the slide rod passes through the through hole and is fixedly connected at both ends to the first mounting plate and the second mounting plate, respectively. The top and bottom of the slider are provided with multiple driving software, and the two ends of the driving software are provided with first end caps. One end of the top driving software is connected to the slider through the first end cap, and the other end is connected to the first mounting plate through the first end cap. One end of the bottom driving software is connected to the slider through the first end cap, and the other end is connected to the second mounting plate through the first end cap. The driving software is provided with a hydraulic connector. The slider is provided with multiple locking holes, and each locking hole is provided with a spring electromagnet. The driving mechanism also includes tendon rope assemblies. One end of each tendon rope assembly is connected to the second mounting plate, and the other end passes through the locking hole of the slider and the first mounting plate in sequence.

2. The underwater anthropomorphic dexterous hand according to claim 1, characterized in that, The slider is also equipped with a relay module, which includes a watertight connector and a relay control board. The relay control board is connected to each of the spring electromagnets.

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

4. The underwater anthropomorphic dexterous hand according to claim 3, characterized in that, It also includes a wrist assembly, which includes a third mounting plate and a flexible drive unit. Multiple flexible drive units are disposed between the third mounting plate and the first mounting plate, and the top and bottom of the multiple flexible drive units are fixedly connected to the third mounting plate and the first mounting plate, respectively.

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

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

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

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

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

10. The underwater anthropomorphic dexterous hand according to claim 9, characterized in that, The tendon rope assembly includes a second tendon rope, with each second tension wheel corresponding to two second tendon ropes. The two second tendon ropes on the second tension wheel pass vertically through the locking hole and the first mounting plate in sequence, and cross each other through the third mounting plate to connect to the palm mounting plate.

Images