Manipulator of tendon transmission structure
By setting a base tendon sheath restraining structure at the palm base or wrist connection block of the robot, the problem of tendon sheath interference in the robot is solved, the regularity of tendon sheath and limited movement of the tendon sheath is achieved, and the normal movement of the robot is ensured.
Patent Information
- Application Number
- CN202311043253.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-16
- Publication Date
- 2025-02-21
AI Technical Summary
When the robot controls multiple joints independently in a narrow space, the tendon sheath in the tendon transmission structure is prone to interference, resulting in unstable movements.
The base tendon sheath restraining structure is set at the palm base or wrist connection block of the robot. Through this structure, the tendon sheath of the pathway is restricted to ensure that the movement of the tendon sheath between the hand module and the wrist module is limited and avoids movement. cumulative.
The tendon sheath of the hand module is effectively regulated, segmented and restricted the movement of the tendon sheath, avoiding the large amount of momentum of the tendon sheath between different modules, thus ensuring the normal movement of the hand module and wrist module.
Smart Images
Figure CN119489453A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of manipulators, and more specifically, to a manipulator with a tendon transmission structure. Background Art
[0002] A manipulator usually has multiple joints and a relatively small physical space. In order to achieve independent control of each joint in a small space, tendon transmission technology is used in the prior art to drive multiple joints of a manipulator. A drive assembly including multiple drive units is usually set in a remote area such as an arm, and the drive unit can control the movement of the joint through the tendon. A tendon sheath can be set on the outside of the tendon, and the tendon can slide in the tendon sheath.
[0003] The number of degrees of freedom of a manipulator is usually relatively large. A five-finger manipulator similar to a human hand has a large number of tendon sheaths. At the same time, the movement range of the hand module and wrist module of the manipulator is relatively large, and the movement of the manipulator will drive the tendon sheaths to move together. Many tendon sheaths may interfere with each other during movement, and how to constrain the tendon sheaths is a problem that technicians in this field need to consider. Summary of the invention
[0004] In order to solve the technical problems of the above-mentioned prior art, an embodiment of the present application provides a manipulator with a tendon transmission structure.
[0005] The technical solution adopted in the present application is: a manipulator with a tendon transmission structure is provided, comprising a hand module and a wrist module; the hand module comprises a palm base, a palm module and a plurality of fingers, wherein the palm module comprises a plurality of palm units; the wrist module comprises a wrist joint, and the wrist module comprises a wrist connecting block connected to the palm base; the palm base has a plurality of mounting interfaces, and the plurality of palm units are respectively mounted and connected to the palm base through the mounting interfaces;
[0006] A base tendon sheath constraint structure is provided at the palm base or the wrist connecting block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it.
[0007] In one embodiment of the present application, the base tendon sheath restraint structure is configured to allow the tendon sheath to slidably pass therethrough;
[0008] Alternatively, the base sheath restraint structure is configured to secure a portion of the sheath.
[0009] In one embodiment of the present application, the palm unit includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence, and the carpometacarpal joint of the palm unit is connected to the mounting interface of the palm base; one end of the tendon sheath corresponding to the carpometacarpal joint is fixed on the palm base;
[0010] or,
[0011] The palm unit includes a metacarpophalangeal joint and a metacarpophalangeal joint which are arranged in sequence, and the metacarpophalangeal joint of the palm unit is connected to the mounting interface of the palm base.
[0012] In one embodiment of the present application, the fingers of the manipulator include a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm units corresponding to the thumb, the index finger, the middle finger, the ring finger and the little finger are respectively connected to the mounting interfaces of the palm base.
[0013] In one embodiment of the present application, the thumb carpometacarpal joint has rotational freedom and lateral swing freedom; the ring finger carpometacarpal joint has flexion and extension freedom, and the little finger carpometacarpal joint has flexion and extension freedom.
[0014] In one embodiment of the present application, a plurality of tendon sheath fixing parts are provided on the palm base, and one end of the tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint, the tendon sheath corresponding to the ring finger carpometacarpal joint and the tendon sheath corresponding to the little finger carpometacarpal joint are respectively fixed on the tendon sheath fixing parts.
[0015] In one embodiment of the present application, the mounting interface has a mounting positioning surface, and the angles of the mounting positioning surfaces corresponding to the index finger, middle finger, ring finger and little finger are different.
[0016] In one embodiment of the present application, the installation interface has a groove structure, and the palm units corresponding to the ring finger and the little finger are inserted into the groove structure.
[0017] In one embodiment of the present application, the tendon transmission structure includes an antagonistic tendon transmission structure; the palm side and the back side of the palm and back of the palm of the index finger metacarpophalangeal joint, the middle finger metacarpophalangeal joint, the ring finger metacarpophalangeal joint and the little finger metacarpophalangeal joint are respectively provided with a metacarpophalangeal tendon sheath constraint structure; the first side and the second side of the thumb metacarpophalangeal joint are respectively provided with a metacarpophalangeal tendon sheath constraint structure;
[0018] The metacarpophalangeal tendon sheath restraint structure is configured to allow a corresponding plurality of tendon sheaths to pass therethrough.
[0019] In one embodiment of the present application, the carpometacarpal joint of the thumb, the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the carpometacarpal joint of the ring finger and the carpometacarpal joint of the little finger are all connected to the mounting interface of the palm base; the carpometacarpal joint of the thumb is arranged below the metacarpophalangeal joint of the index finger and / or the metacarpophalangeal joint of the middle finger.
[0020] In one embodiment of the present application, the base tendon sheath constraint structure includes the first base tendon sheath constraint structure located on the palm side of the palm base or the wrist connection block; the first base tendon sheath constraint structure is arranged below the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger, and the first base tendon sheath constraint structure is a multi-layer structure;
[0021] The tendon sheaths on the palm side corresponding to the metacarpophalangeal joints of the index finger, the middle finger, the ring finger and the little finger respectively pass through the first base tendon sheath constraint structure.
[0022] In one embodiment of the present application, the base tendon sheath constraint structure includes a plurality of second base tendon sheath constraint structures located on the back of the hand of the palm base or the wrist connecting block; the tendon sheaths on the back of the hand corresponding to the metacarpophalangeal joints of the index finger, the metacarpophalangeal joints of the middle finger, the metacarpophalangeal joints of the ring finger and the metacarpophalangeal joints of the little finger pass through the second base tendon sheath constraint structure respectively.
[0023] In one embodiment of the present application, the palm unit includes a thumb carpometacarpal joint, and the thumb carpometacarpal joint has a rotation degree of freedom and a side swing degree of freedom; the thumb carpometacarpal joint includes a rotation part and a side swing part, the side swing part is installed on the rotation part, and the rotation part is installed on the palm base;
[0024] One end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint is fixed on the lateral swing part; a tendon sheath fixing part is provided on the palm base, and one end of the tendon sheath corresponding to the circumferential rotation freedom of the thumb carpometacarpal joint is fixed on the tendon sheath fixing part.
[0025] In one embodiment of the present application, a tendon sheath guiding element is provided on the palm base, and the tendon sheath on the first side of the metacarpophalangeal joint of the thumb (for example, the position close to the back of the hand is the first side) passes through the tendon sheath guiding element, and the tendon sheath guiding element is configured to provide a preset range of motion space for the tendon sheath; a limiting structure is provided on the swivel part of the thumb carpometacarpal joint, and the tendon sheath on the second side of the metacarpophalangeal joint of the thumb (for example, the position close to the palm side is the second side) passes through the limiting structure and can slide at the limiting structure.
[0026] The beneficial effects of this application are:
[0027] The present application sets a base tendon sheath constraint structure at the palm base or the wrist connection block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it. It is not only conducive to the regularization of the many tendon sheaths of the hand module, but also roughly divides the tendon sheaths into a section located in the hand module and a section located in the wrist module, and avoids the tendon sheaths from moving a lot between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0029] Figure 1 A schematic diagram of a top view of a manipulator with a tendon transmission structure provided in an embodiment of the present application;
[0030] Figure 2 A schematic diagram of the structure of a manipulator with a tendon transmission structure provided in an embodiment of the present application;
[0031] Figure 3 for Figure 2 A schematic diagram of a partial structure of a manipulator with a tendon transmission structure shown;
[0032] Figure 4 for Figure 2 The schematic diagram of the structure of the tendon transmission structure manipulator shown in another perspective.
[0033] Among them, the reference numerals in the figure are:
[0034] Palm base 10, palm unit 20, thumb carpometacarpal joint 21, thumb metacarpophalangeal joint 22, index finger metacarpophalangeal joint 23, middle finger metacarpophalangeal joint 24, ring finger carpometacarpal joint 25, ring finger metacarpophalangeal joint 26, little finger carpometacarpal joint 27, little finger metacarpophalangeal joint 28, base tendon sheath constraint structure 11, first base tendon sheath constraint structure 101, second base tendon sheath constraint structure 102, mounting interface 12, tendon sheath fixing part 13, mounting positioning surface 14, tendon sheath guiding element 15, swivel part 211, side swing part 212, limiting structure 213, metacarpophalangeal tendon sheath constraint structure 30. DETAILED DESCRIPTION
[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0039] See also Figure 1-Figure 4 , the embodiments of the present application are now described.
[0040] like Figure 1-Figure 4 As shown, an embodiment of the present application provides a robot with a tendon transmission structure.
[0041] The manipulator includes a hand module. The hand module includes a plurality of joints and a plurality of joints. The hand module includes a palm base 10, a palm module and a plurality of fingers. Corresponding to the number of the fingers, the palm module includes a plurality of palm units 20 of equal number. The palm unit 20 may include a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence; or, the palm unit 20 may include a metacarpophalangeal joint and a metacarpophalangeal joint arranged in sequence. The fingers include finger knuckles and finger joints. The joints include a metacarpophalangeal joint and a finger knuckle. A tendon sheath is arranged on the outside of the tendon (driving tendon).
[0042] The manipulator further comprises a wrist module, which comprises a wrist joint. The wrist module comprises a wrist connection block connected to the palm base. The wrist connection block may be a part of the wrist joint or a separate part, connected between the wrist joint and the palm base 10.
[0043] The robot arm of the embodiment of the present application may include multiple fingers. For example, the number of fingers may be 2, 3, 4 or 5. It can be understood that the number of fingers is not limited to this.
[0044] The palm base 10 has a plurality of mounting interfaces 12 , and the plurality of palm units 20 can be respectively mounted and connected to the palm base 10 through the mounting interfaces 12 .
[0045] When the palm unit 20 includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence, the carpometacarpal joint of the palm unit 20 is connected to the mounting interface 12 of the palm base 10. If the degree of freedom of the carpometacarpal joint is driven by tendon transmission, one end of the tendon sheath corresponding to the carpometacarpal joint is fixed on the palm base 10.
[0046] When the palm unit 20 includes a metacarpophalangeal joint and a metacarpophalangeal joint that are sequentially arranged, the metacarpophalangeal joint of the palm unit 20 is connected to the mounting interface 12 of the palm base 10 .
[0047] The joints of the manipulator are mostly driven by tendon transmission. Multiple joints are independently controlled and driven. The tendon of one controlled joint is connected to the rotating end of one driven joint, and then the tendon needs to pass through multiple cascaded joints before being connected to the drive unit, and the tendon sheath needs to pass through multiple cascaded joints.
[0048] In a specific embodiment, when the finger joint is used as the controlled joint, one end of the tendon sheath is fixed at the controlled joint such as the finger joint, and the tendon sheath can sequentially pass through the joints or joints of the hand module such as the knuckle, the metacarpophalangeal joint, the metacarpophalangeal joint, and the palm base 10. Some tendon sheaths also need to pass through the carpometacarpal joint first and then pass through the palm base 10. The other end of the tendon sheath is fixed.
[0049] The other end of the tendon sheath can be fixedly set at other positions of the manipulator. For example, the manipulator includes a driving module, and after the tendon sheath comes out of the hand module, it passes through the wrist joint and the other end is fixed near the driving module. Alternatively, when the manipulator is configured to be installed on other mechanisms, the other end of the tendon sheath can be fixedly set on other mechanisms.
[0050] Since the tendon sheath is generally long, it needs to pass through one or more cascade joints. When the joint moves, the length of the tendon sheath passing through the joint will change to a certain extent. When passing through multiple joints, the changes in the length of the tendon sheath at multiple joints may accumulate at one point and cause a large amount of tendon sheath movement, which will affect the normal tendon transmission drive.
[0051] In one embodiment of the present application, a base tendon sheath constraint structure 11 is provided at the palm base 10 of the manipulator. The base tendon sheath constraint structure 11 is configured to constrain the tendon sheath passing through the palm base 10 .
[0052] The base tendon sheath constraint structure 11 is configured to allow the tendon sheath to slidably pass through, and the base tendon sheath constraint structure 11 allows the tendon sheath to have a certain amount of sliding at the base tendon sheath constraint structure 11, for example, the amount of sliding of the tendon sheath at the base tendon sheath constraint structure 11 is relatively small. Alternatively, the base tendon sheath constraint structure 11 is configured to fix a portion of the tendon sheath passing through it.
[0053] When the tendon sheath is fixed at the base tendon sheath constraint structure 11 at the palm base 10 or is only allowed to have a small amount of sliding, the tendon sheath is divided into two parts with the base tendon sheath constraint structure 11 as the boundary, and the change in the tendon sheath length of the hand module is limited to this side of the hand module. The present application not only helps to regularize the numerous tendon sheaths of the hand module by setting the base tendon sheath constraint structure 11, but also limits the tendon sheath in sections, roughly dividing the tendon sheath into a section located at the hand module and a section located at the wrist module, and avoiding a large amount of movement of the tendon sheath between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module.
[0054] Preferably, the base tendon sheath restraint structure 11 is a detachable structure, for example, it may include a positioning groove and a cover plate.
[0055] The tendons of the finger joints and the joints of the palm unit 20 corresponding to the fingers (such as the metacarpophalangeal joints and the carpometacarpal joints), as well as the tendon sheaths on the outside of the tendons, can all be positioned and constrained by the base tendon sheath constraint structure 11 at the palm base 10 when passing through the palm base 10.
[0056] Preferably, the manipulator is a dexterous hand imitating a human hand with five fingers. The fingers include a thumb, an index finger, a middle finger, a ring finger, and a little finger. The palm units corresponding to the thumb, the index finger, the middle finger, the ring finger, and the little finger are respectively connected to the mounting interface of the palm base.
[0057] In one embodiment, the palm unit 20 corresponding to the thumb includes a thumb carpometacarpal joint 21, a thumb metacarpophalangeal joint 22, and a thumb metacarpophalangeal joint (not shown in the drawings) arranged in sequence. In one embodiment, the palm unit 20 corresponding to the index finger includes a index finger metacarpophalangeal joint 23 and an index finger metacarpophalangeal joint (not shown in the drawings) arranged in sequence. In one embodiment, the palm unit 20 corresponding to the middle finger includes a middle finger metacarpophalangeal joint 24 and a middle finger metacarpophalangeal joint (not shown in the drawings) arranged in sequence. In one embodiment, the palm unit 20 corresponding to the ring finger includes a ring finger carpometacarpal joint 25, a ring finger metacarpophalangeal joint 26, and a ring finger metacarpophalangeal joint (not shown in the drawings) arranged in sequence. In one embodiment, the palm unit 20 corresponding to the little finger includes a little finger carpometacarpal joint 27, a little finger metacarpophalangeal joint 28, and a little finger metacarpophalangeal joint (not shown in the drawings) arranged in sequence.
[0058] The palm unit corresponding to the index finger and the palm unit corresponding to the middle finger do not have a wrist-metacarpal joint. The palm unit corresponding to the index finger and the palm unit corresponding to the middle finger can be separately set, or they can be set as a whole.
[0059] In one embodiment, the index finger metacarpophalangeal joint 23 , the middle finger metacarpophalangeal joint 24 , the thumb carpometacarpal joint 21 , the ring finger carpometacarpal joint 25 , and the little finger carpometacarpal joint 27 are respectively connected to the mounting interface 12 of the palm base 10 .
[0060] The mounting interface 12 has a mounting surface 14, and the angles of the mounting surfaces 14 corresponding to the index finger, middle finger, ring finger and little finger are different; preferably, the internal angles between two adjacent mounting surfaces 14 are all obtuse angles. The index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28 are arranged in a fan-shaped skeleton, and have angles between them. The mounting interface 12 has a groove structure, and the palm units 20 corresponding to the ring finger and the little finger are inserted into the groove structure.
[0061] Among them, the ring finger carpometacarpal joint 25 has flexion and extension freedom, and the little finger carpometacarpal joint 27 has flexion and extension freedom. The thumb carpometacarpal joint 21 has rotational freedom and lateral swing freedom. Preferably, the rotational freedom axis and the lateral swing freedom axis of the thumb carpometacarpal joint 21 are not orthogonal. The thumb carpometacarpal joint 21 includes a rotation part 211 and a lateral swing part 212, and the lateral swing part 212 is rotatably arranged on the rotation part 211 around the lateral swing freedom axis, and the rotation part 211 is rotatably mounted on the palm base 10 around the rotational freedom axis. The thumb metacarpophalangeal joint 22 is connected to the lateral swing part 212.
[0062] The index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger carpometacarpal joint 25 and the little finger carpometacarpal joint 27 are located above the palm base 10. The above here refers to the direction where the fingertips are located when the manipulator is stretched out. On the contrary, the palm base 10 is located below the manipulator. The index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger carpometacarpal joint 25 and the little finger carpometacarpal joint 27 are connected to the palm base 10 in sequence. The thumb carpometacarpal joint 21 is located below the index finger metacarpophalangeal joint 23 and / or the middle finger metacarpophalangeal joint 24. An avoidance opening can be set on the palm base 10, and the thumb carpometacarpal joint 21 is installed at the avoidance opening. When the thumb is in a circular rotation, the avoidance opening can prevent the main structure of the thumb carpometacarpal joint 21 from interfering with the palm base 10.
[0063] The movements of the ring finger carpometacarpal joint 25, the little finger carpometacarpal joint 27, and the thumb carpometacarpal joint 21 are all driven by tendon transmission. A plurality of tendon sheath fixing parts 13 are provided on the palm base 10. Preferably, the tendon sheath fixing parts 13 are detachable structures. For example, they may include fixing grooves and fixing plates.
[0064] The tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint 21 is fixed at one end to the tendon sheath fixing part 13 on the palm base 10. The tendon sheath corresponding to the ring finger carpometacarpal joint 25 is fixed at one end to the tendon sheath fixing part 13. The tendon sheath corresponding to the little finger carpometacarpal joint 27 is respectively fixed at one end to the tendon sheath fixing part 13.
[0065] Among them, one end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint 21 is fixed on the lateral swing part 212.
[0066] In one embodiment, the joints of the manipulator are driven by an antagonistic tendon transmission method, and the tendon transmission structure includes an antagonistic tendon transmission structure.
[0067] The palm side and back side of the palm-phalangeal joint 23 of the index finger, the palm-phalangeal joint 24 of the middle finger, the palm-phalangeal joint 26 of the ring finger, and the palm-phalangeal joint 28 of the little finger are provided with a palm-phalangeal tendon sheath constraint structure 30. The first side and the second side of the palm-phalangeal joint 22 of the thumb are provided with a palm-phalangeal tendon sheath constraint structure 30; for example, the position close to the back side is the first side, and the position close to the palm side is the second side. The palm-phalangeal tendon sheath constraint structure 30 is configured to allow multiple tendon sheaths corresponding to the corresponding fingers to pass through respectively.
[0068] A first base tendon sheath constraint structure 101 is provided on the palm side of the palm base 10. Preferably, the first base tendon sheath constraint structure 101 is located below the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28. The first base tendon sheath constraint structure 101 is a multi-layer structure. The tendon sheaths on the palm side corresponding to the four metacarpophalangeal joints, the index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28, all pass through the first base tendon sheath constraint structure 101, and the tendon sheaths are arranged in a multi-layer structure on the first base tendon sheath constraint structure 101. Preferably, the tendon sheaths on the palm side corresponding to the four metacarpophalangeal joints can slide or be fixed at the first base tendon sheath constraint structure 101.
[0069] A plurality of second base tendon sheath constraint structures 102 are provided on the back of the hand of the palm base 10. The tendon sheaths on the back of the hand corresponding to the four metacarpophalangeal joints 23 of the index finger, the metacarpophalangeal joint 24 of the middle finger, the metacarpophalangeal joint 26 of the ring finger and the metacarpophalangeal joint 28 of the little finger can pass through the plurality of second base tendon sheath constraint structures 102 respectively. Preferably, the tendon sheaths on the back of the hand corresponding to the four metacarpophalangeal joints can slide or be fixed at the second base tendon sheath constraint structure 102. Four second base tendon sheath constraint structures 102 can be provided on the back of the hand of the palm base 10, and the positions of the four second base tendon sheath constraint structures 102 roughly correspond to the positions of the metacarpophalangeal joint 23 of the index finger, the metacarpophalangeal joint 24 of the middle finger, the metacarpophalangeal joint 26 of the ring finger and the metacarpophalangeal joint 28 of the little finger, respectively.
[0070] The thumb carpometacarpal joint 21 has both rotational freedom and lateral swing freedom. In a preferred embodiment, the rotational freedom axis and the lateral swing freedom axis of the thumb carpometacarpal joint 21 are not orthogonal, and the two rotation axes are eccentrically designed. The thumb carpometacarpal joint 21 can perform rotational movement and lateral swing movement, and the tendon sheath at the thumb carpometacarpal joint 21 has a relatively large range of movement.
[0071] In order to better constrain the tendon sheath at the thumb carpometacarpal joint 21, in one embodiment of the present application, one end of the tendon sheath on the outside of the tendon corresponding to the rotational freedom of the thumb carpometacarpal joint 21 is fixed to the tendon sheath fixing portion 13 on the palm base 10. Among them, one end of the tendon sheath on the outside of the tendon corresponding to the lateral swing freedom of the thumb carpometacarpal joint 21 is fixed to the lateral swing portion 212.
[0072] The palm base 10 is also provided with a tendon sheath guiding element 15, through which the tendon sheath coming from the first side of the thumb metacarpophalangeal joint 22 passes. When the tendon sheath on the dorsal side of the thumb metacarpophalangeal joint 22 passes through the tendon sheath guiding element 15, the tendon sheath guiding element 15 is configured to provide a preset range of motion space for the tendon sheath, and can constrain the tendon sheath to move within the preset range of space. Preferably, the tendon sheath guiding element 15 is a detachable structure, for example, the tendon sheath guiding element 15 can be configured to have an arc-shaped profile. A larger channel can be provided between the tendon sheath guiding element 15 and the tendon sheath, so that the tendon sheath on the dorsal side of the thumb metacarpophalangeal joint 22 can pass smoothly during movement.
[0073] In addition, a limiting structure 213 may be provided on the circumferential portion 211 of the thumb carpometacarpal joint 21, and the tendon sheath coming from the second side of the thumb metacarpophalangeal joint 22 may pass through the limiting structure 213 and slide on the limiting structure 213. Preferably, the limiting structure 213 is a detachable structure.
[0074] As an alternative to the location of the above-mentioned base tendon sheath constraint structure 11, in another embodiment of the present application, the base tendon sheath constraint structure 11 can also be set at the wrist connection block of the wrist joint. The base tendon sheath constraint structure 11 includes the first base tendon sheath constraint structure 101 located on the palm side of the wrist connection block. The base tendon sheath constraint structure 11 also includes a second base tendon sheath constraint structure 102 located on the back side of the wrist connection block.
[0075] The beneficial effects provided by this application are:
[0076] The present application sets a base tendon sheath constraint structure at the palm base or the wrist connection block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it. It is not only conducive to the regularization of the many tendon sheaths of the hand module, but also roughly divides the tendon sheaths into a section located in the hand module and a section located in the wrist module, and avoids the tendon sheaths from moving a lot between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module.
[0077] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. A tendon-driven manipulator, comprising a hand module and a wrist module; the hand module comprises a palm base, a palm module, and a plurality of fingers, wherein: The palm module includes a plurality of palm units; the wrist module includes a wrist joint, and the wrist module includes a wrist connection block connected to the palm base; the palm base has a plurality of mounting interfaces, and the plurality of palm units are respectively mounted and connected to the palm base through the mounting interfaces; A base tendon sheath constraint structure is provided at the palm base or the wrist connecting block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it.
2. The manipulator according to claim 1, characterized in that: The base tendon sheath restraint structure is configured to allow the tendon sheath to slidably pass therethrough; Alternatively, the base tendon sheath restraint structure is configured to secure a portion of the tendon sheath.
3. The manipulator according to claim 1, characterized in that: The palm unit includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence, and the carpometacarpal joint of the palm unit is connected to the mounting interface of the palm base; one end of the tendon sheath corresponding to the carpometacarpal joint is fixed to the palm base; or, The palm unit includes a metacarpophalangeal joint and a metacarpophalangeal joint which are arranged in sequence, and the metacarpophalangeal joint of the palm unit is connected to the mounting interface of the palm base.
4. The manipulator according to claim 1, characterized in that: The fingers of the manipulator include a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm units corresponding to the thumb, the index finger, the middle finger, the ring finger and the little finger are respectively connected to the mounting interfaces of the palm base.
5. The robot according to claim 4, characterized in that: The thumb carpometacarpal joint has a rotational degree of freedom and a lateral swing degree of freedom; the ring finger carpometacarpal joint has a flexion and extension degree of freedom; and the little finger carpometacarpal joint has a flexion and extension degree of freedom.
6. The robot according to claim 5, characterized in that: A plurality of tendon sheath fixing parts are provided on the palm base, and one end of the tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint, the tendon sheath corresponding to the ring finger carpometacarpal joint and the tendon sheath corresponding to the little finger carpometacarpal joint are respectively fixed to the tendon sheath fixing parts.
7. The robot according to claim 4, characterized in that: The mounting interface is provided with a mounting positioning surface, and the angles of the mounting positioning surfaces corresponding to the index finger, middle finger, ring finger and little finger are different.
8. The robot according to claim 4, characterized in that: The installation interface has a groove structure, and the palm units corresponding to the ring finger and the little finger are both inserted into the groove structure.
9. The robot according to claim 4, characterized in that: The tendon transmission structure includes an antagonistic tendon transmission structure; the palm side and the back side of the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger are respectively provided with a metacarpophalangeal tendon sheath constraint structure; the first side and the second side of the metacarpophalangeal joint of the thumb are respectively provided with a metacarpophalangeal tendon sheath constraint structure; The metacarpophalangeal tendon sheath restraint structure is configured to allow a corresponding plurality of tendon sheaths to pass therethrough.
10. The robot according to claim 5, characterized in that: The thumb carpometacarpal joint, index finger metacarpophalangeal joint, middle finger metacarpophalangeal joint, ring finger carpometacarpal joint and little finger carpometacarpal joint are all connected to the mounting interface of the palm base; the thumb carpometacarpal joint is arranged below the index finger metacarpophalangeal joint and / or the middle finger metacarpophalangeal joint.
11. The robot according to claim 5, characterized in that: The base tendon sheath constraint structure includes the first base tendon sheath constraint structure located on the palm side of the palm base or the wrist connecting block; the first base tendon sheath constraint structure is arranged below the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger, and the first base tendon sheath constraint structure is a multi-layer structure; The tendon sheaths on the palm side corresponding to the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger respectively pass through the first base tendon sheath constraint structure.
12. The robot according to claim 5, characterized in that: The base tendon sheath constraint structure includes multiple second base tendon sheath constraint structures located on the dorsal side of the palm base or the wrist connecting block; the tendon sheaths on the dorsal side of the index finger metacarpophalangeal joint, middle finger metacarpophalangeal joint, ring finger metacarpophalangeal joint and little finger metacarpophalangeal joint are respectively passed through multiple second base tendon sheath constraint structures.
13. The robot according to claim 1, characterized in that: The palm unit includes a thumb carpometacarpal joint, which has a rotational degree of freedom and a lateral swing degree of freedom; the thumb carpometacarpal joint includes a rotation part and a lateral swing part, the lateral swing part is mounted on the rotation part, and the rotation part is mounted on the palm base; One end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint is fixed on the lateral swing part; a tendon sheath fixing part is provided on the palm base, and one end of the tendon sheath corresponding to the circumferential freedom of the thumb carpometacarpal joint is fixed on the tendon sheath fixing part.
14. The robot according to claim 13, characterized in that: A tendon sheath guide element is provided on the palm base, through which the tendon sheath on the first side of the thumb metacarpophalangeal joint passes, and the tendon sheath guide element is configured to provide a preset range of motion for the tendon sheath; A limiting structure is provided on the circumferential portion of the thumb carpometacarpal joint, and the tendon sheath on the second side of the thumb metacarpophalangeal joint passes through the limiting structure and can slide on the limiting structure.