Dexterous hand thumb, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot, and solves the problem that the dexterous hand thumb in the related technology cannot have high degree of freedom, small size and low cost at the same time. The dexterous hand thumb comprises a mounting assembly, a side swaying assembly, a first tendon rope, a first knuckle, an interphalangeal knuckle assembly, a second tendon rope and a third tendon rope. According to the dexterous hand thumb, the first tendon rope is used for driving the side swing assembly to swing laterally, the second tendon rope is used for driving the first knuckle to bend, and the third tendon rope is used for driving the interphalangeal knuckle assembly to bend, so that three degrees of freedom of the dexterous hand thumb are achieved, and the dexterous hand thumb has high degree of freedom. In addition, the three degrees of freedom of the thumb of the dexterous hand are all driven by the tendon rope, so that the thumb of the dexterous hand is simple and compact in structure, small in size and low in cost.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular, to a dexterous hand thumb, a dexterous hand, and a robot. Background Art

[0002] With the continuous progress of technologies related to humanoid robots, industrial automation technology is gradually transforming from performing single repetitive tasks represented by industrial robots to performing complex and variable tasks represented by humanoid robots. In this transformation process, the end effector of the robot changes from the role of a dedicated tool to the role of a general tool similar to a human hand. A dexterous hand is an end effector of a robot similar to a human hand, and is used to perform diverse tasks such as grasping, manipulating, and sensing. In order to enable the dexterous hand to perform the same functions as a human hand, the design requirements for the dexterous hand are higher. It is not only required that the dexterous hand has a high degree of freedom, but also that the size of the dexterous hand is small. In addition, it is also required to save the manufacturing and maintenance costs of the dexterous hand as much as possible. As one of the fingers of the dexterous hand, the degree of freedom, size, and cost of the dexterous hand thumb have a great impact on the degree of freedom, size, and cost of the entire dexterous hand.

[0003] However, the dexterous hand thumb in the related art cannot have both a high degree of freedom, a small size, and a low cost. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a dexterous hand thumb, a dexterous hand, and a robot, which solve the problem that the dexterous hand thumb in the related art cannot have both a high degree of freedom, a small size, and a low cost.

[0005] In a first aspect, embodiments of the present disclosure provide a dexterous hand thumb that can be mounted on a palm substrate and has a dorsum side and a palm side that are arranged opposite to each other. The dexterous hand thumb includes: a mounting component that can be mounted on the palm substrate and has a first shaft hole; a side-swinging component including a first rotating shaft that passes through the first shaft hole and is rotatably connected to the mounting component about a first axis; a first tendon rope, the first end of which can be connected to a first driving component, and the second end of which is connected to the side wall of the first rotating shaft to drive the first rotating shaft to rotate about the first axis; a first phalanx that is rotatably connected to the side-swinging component about a second axis perpendicular to the first axis; an interphalangeal phalanx component that is rotatably connected to the first phalanx about a third axis parallel to the second axis; a second tendon rope, the first end of which can be connected to a second driving component, and the second end of which sequentially passes through the first axis, bypasses the side of the second axis close to the palm side, and is connected to the first phalanx; a third tendon rope, the first end of which can be connected to a third driving component, and the second end of which sequentially passes through the first axis, passes through the second axis, bypasses the side of the third axis close to the palm side, and is connected to the interphalangeal phalanx component.

[0006] In some embodiments, after the second end of the first tendon rope is connected to the side wall of the first rotating shaft, it is wound around the side wall of the first rotating shaft counterclockwise or clockwise along the circumferential direction of the first rotating shaft. The dexterous hand thumb further includes: a reset tendon rope, the first end of which can be connected to a reset driving component, and the second end of which is connected to the side wall of the first rotating shaft. Wherein, when the second end of the first tendon rope is wound around the side wall of the first rotating shaft counterclockwise along the circumferential direction of the first rotating shaft, the second end of the reset tendon rope is wound around the side wall of the first rotating shaft clockwise along the circumferential direction of the first rotating shaft; when the second end of the first tendon rope is wound around the side wall of the first rotating shaft clockwise along the circumferential direction of the first rotating shaft, the second end of the reset tendon rope is wound around the side wall of the first rotating shaft counterclockwise along the circumferential direction of the first rotating shaft.

[0007] In some embodiments, the side wall of the first rotating shaft has a first connection structure close to the first phalanx. The second end of the first tendon rope and the second end of the reset tendon rope are both connected to the first connection structure. Wherein, when the dexterous hand thumb is in the zero position of side swing, the first tendon rope and the reset tendon rope are symmetrically arranged with respect to the first rotating shaft.

[0008] In some embodiments, the side-swing assembly further includes: a side-swing main body connected to the first rotating shaft, wherein the first finger joint is rotatably connected to the side-swing main body about the second axis; wherein the first rotating shaft includes: a core shaft portion connected to the side-swing main body; a wheel portion coaxially connected to the core shaft portion, an outer side surface of the wheel portion having an annular guide groove, the first connection structure being located on the outer side surface of the wheel portion and at least partially located in the annular guide groove, wherein the first tendon rope and the reset tendon rope are wound around the annular guide groove.

[0009] In some embodiments, the mounting assembly includes: a mounting main body having the first shaft hole and the first guide hole; a first guide wheel rotatably connected to the mounting main body about a fourth axis and close to the first tendon rope, the fourth axis being parallel to the first axis; a second guide wheel disposed adjacent to the first guide wheel and rotatably connected to the mounting main body about a fifth axis and close to the reset tendon rope, the fifth axis being parallel to the fourth axis; wherein the second end of the first tendon rope sequentially passes through the first guide hole, bypasses a side of the first guide wheel close to the second guide wheel, bypasses the annular guide groove, and is connected to the first connection structure; the second end of the reset tendon rope sequentially passes through the first guide hole, bypasses a side of the second guide wheel close to the first guide wheel, bypasses the annular guide groove, and is connected to the first connection structure.

[0010] In some embodiments, the interphalangeal finger joint assembly includes: a second finger joint rotatably connected to the first finger joint about the third axis, the third tendon rope being connected to the second finger joint; a third finger joint rotatably connected to the second finger joint about a sixth axis, the sixth axis being parallel to the third axis; a fourth tendon rope, a first end of the fourth tendon rope being capable of being connected to a fourth driving assembly, a second end of the fourth tendon rope sequentially passing through the first axis, passing through the second axis, passing through the third axis, bypassing a side of the sixth axis close to the palm side, and being connected to the third finger joint; and / or, the interphalangeal finger joint assembly includes: a second finger joint rotatably connected to the first finger joint about the third axis, the third tendon rope being connected to the second finger joint; a third finger joint rotatably connected to the second finger joint about a sixth axis, the sixth axis being parallel to the third axis; a rocker, a first end of the rocker being connected to the second finger joint, a second end of the rocker being connected to the third finger joint, wherein, in a cross-section perpendicular to the sixth axis, a connection line between the first end and the second end of the rocker intersects a connection line between the third axis and the sixth axis.

[0011] In some embodiments, the dexterous hand thumb further includes: a first elastic member, a first end of the first elastic member is connected to a first connecting portion of the side swing assembly, a second end of the first elastic member is connected to a second connecting portion of the first phalanx, the first connecting portion is located on the back of the hand side close to the second axis, and the second connecting portion is located on the back of the hand side close to the third axis; a second elastic member, a first end of the second elastic member is connected to a third connecting portion of the first phalanx, a second end of the second elastic member is connected to a fourth connecting portion of the second phalanx, the third connecting portion is located on the back of the hand side close to the third axis, and the fourth connecting portion is located on the back of the hand side close to the sixth axis; wherein, when the dexterous hand thumb further includes a fourth tendon rope, the dexterous hand thumb further includes: a third elastic member, a first end of the third elastic member is connected to a fifth connecting portion of the second phalanx, a second end of the third elastic member is connected to the third phalanx, and the fifth connecting portion is located on the back of the hand side close to the sixth axis.

[0012] In some embodiments, the mounting assembly has a first guiding hole, a second guiding hole and a third guiding hole; the dexterous hand thumb further includes: a plurality of tendon rope sleeve assemblies, first ends of at least three of the tendon rope sleeve assemblies are respectively connected to the mounting assembly and are respectively aligned with the first guiding hole, the second guiding hole and the third guiding hole; wherein, a first end of the first tendon rope passes through the first guiding hole, passes through the tendon rope sleeve assembly aligned with the first guiding hole and then is connected to the first driving assembly; a first end of the second tendon rope passes through the second guiding hole, passes through the tendon rope sleeve assembly aligned with the second guiding hole and then is connected to the second driving assembly; a first end of the third tendon rope passes through the third guiding hole, passes through the tendon rope sleeve assembly aligned with the third guiding hole and then is connected to the third driving assembly.

[0013] In some embodiments, the tendon rope sleeve assembly includes: a sleeve for the first tendon rope, the second tendon rope or the third tendon rope to pass through; a connecting member connected to one end of the sleeve, and the connecting members included in at least three of the tendon rope sleeve assemblies are detachably connected to the mounting assembly.

[0014] In some embodiments, the sleeve includes: an inner sleeve for the first tendon rope, the second tendon rope or the third tendon rope to pass through; an outer sleeve wrapped outside the inner sleeve, the outer sleeve has elasticity, the hardness of the outer sleeve is greater than the hardness of the inner sleeve, and the friction coefficient of the inner sleeve is less than the friction coefficient of the outer sleeve.

[0015] In some embodiments, the side-swing assembly has a second shaft hole extending along the second axis, the first finger segment has a third shaft hole extending along the second axis and a fourth shaft hole extending along the third axis, and the interphalangeal finger segment assembly has a fifth shaft hole extending along the third axis; the dexterous hand thumb further includes: a first mandrel, passing through the second shaft hole and the third shaft hole and connected to the third shaft hole, and rotating with the first finger segment; a second mandrel, passing through the fourth shaft hole and the fifth shaft hole and connected to the fifth shaft hole, and rotating with the interphalangeal finger segment assembly; a first magnetic member, disposed at an end of the first mandrel and coaxially arranged with the first mandrel; a second magnetic member, disposed at an end of the second mandrel and coaxially arranged with the second mandrel; an integrated sensor, connected to the first finger segment, the integrated sensor including a first sensing portion and a second sensing portion, the first sensing portion being coaxially arranged with the first magnetic member and configured to detect the absolute position of the first magnetic member, and the second sensing portion being coaxially arranged with the second magnetic member and configured to detect the absolute position of the second magnetic member.

[0016] In a second aspect, an embodiment of the present disclosure provides a dexterous hand, including: a palm substrate; the dexterous hand thumb according to the first aspect, and the mounting assembly of the dexterous hand thumb is mounted on the palm substrate.

[0017] In a third aspect, an embodiment of the present disclosure provides a robot, including: the dexterous hand according to the second aspect.

[0018] The dexterous hand thumb provided by the embodiment of the present disclosure uses the first tendon rope to drive the side-swing of the side-swing assembly, uses the second tendon rope to drive the bending of the first finger segment, and uses the third tendon rope to drive the bending of the interphalangeal finger segment assembly, thereby realizing 3 degrees of freedom of the dexterous hand thumb and enabling the dexterous hand thumb to have a high degree of freedom. In addition, the 3 degrees of freedom of the dexterous hand thumb are all driven by tendon ropes, making the structure of the dexterous hand thumb simple and compact, with a small size and low cost.

[0019] In addition, the mounting assembly can be mounted on the palm substrate, facilitating the installation and disassembly of the dexterous hand thumb and realizing the modularization of the dexterous hand thumb. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By describing the embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present disclosure will become more apparent. The drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0021] Figure 1 The figure shows a schematic structural diagram of a dexterous hand thumb provided by an embodiment of the present disclosure.

[0022] Figure 2 The figure shows a top view of the thumb of a dexterous hand provided by an embodiment of the present disclosure.

[0023] Figure 3 The figure shows a top view of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0024] Figure 4 The figure shows Figure 3 A partial enlarged view of the thumb of the dexterous hand shown in the A area.

[0025] Figure 5 The figure shows Figure 3 A sectional view of the thumb of the dexterous hand shown in the B-B direction.

[0026] Figure 6 The figure shows Figure 5 A partial enlarged view of the thumb of the dexterous hand shown in the C area.

[0027] Figure 7 The figure shows a structural schematic diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0028] Figure 8 The figure shows Figure 7 A partial enlarged view of the thumb of the dexterous hand shown in the D area.

[0029] Figure 9 The figure shows a structural schematic diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0030] Figure 10 The figure shows Figure 9 A partial enlarged view of the thumb of the dexterous hand shown in the E area.

[0031] Figure 11 The figure shows a top view of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0032] Figure 12 The figure shows Figure 11 A sectional view of the thumb of the dexterous hand shown in the F-F direction.

[0033] Figure 13 The figure shows Figure 12 A partial enlarged view of the thumb of the dexterous hand shown in the G area.

[0034] Figure 14 The figure shows a structural schematic diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0035] Figure 15 The figure shows Figure 14 A partial enlarged view of the thumb of the dexterous hand shown in the M area.

[0036] Figure 16 The figure shows a schematic structural diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0037] Figure 17 As shown is Figure 16 A partial enlarged view of the thumb of the dexterous hand shown in the N region.

[0038] Figure 18 As shown is Figure 16 A partial enlarged view of the thumb of the dexterous hand shown in the P region.

[0039] Figure 19 As shown is Figure 16 A partial enlarged view of the thumb of the dexterous hand shown in the Q region.

[0040] Figure 20 The figure shows a schematic structural diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure.

[0041] Figure 21 The figure shows a top view of a tendon rope sleeve assembly provided by an embodiment of the present disclosure.

[0042] Figure 22 As shown is Figure 21 A cross-sectional view of the tendon rope sleeve assembly shown in the R-R direction.

[0043] Figure 23 As shown is Figure 22 A partial enlarged view of the tendon rope sleeve assembly shown in the S region.

[0044] Figure 24 The figure shows a front view of the thumb of a dexterous hand provided by an embodiment of the present disclosure.

[0045] Figure 25 As shown is Figure 24 A cross-sectional view of the thumb of the dexterous hand shown in the T-T direction.

[0046] Figure 26 As shown is Figure 25 A partial enlarged view of the thumb of the dexterous hand shown in the U region.

[0047] Figure 27 As shown is Figure 25 A partial enlarged view of the thumb of the dexterous hand shown in the V region.

[0048] Figure 28 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure.

[0049] Figure 29 The figure shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure.

[0050] Reference numerals: 11. Robot; 1. Dexterous hand; 10. Thumb of dexterous hand; 101. Dorsal side of hand; 102. Palm side of hand; 100. Mounting component; 1001. First shaft hole; 1002. First guiding hole; 1003. Second guiding hole; 1004. Third guiding hole; 1005. Fourth guiding hole; 110. Mounting body; 120. First guiding wheel; 130. Second guiding wheel; 200. Side-swing component; 210. First rotating shaft; 2101. First connecting structure; 2110. Core shaft part; 2120. Wheel part; 201. First connecting part; 2121. Annular guiding groove; 220. Side-swing body; 300. First tendon rope; 400. First finger joint; 401. Second connecting part; 402. Third connecting part; 2001. Second shaft hole; 4001. Third shaft hole; 4002. Fourth shaft hole; 500. Interphalangeal finger joint component; 510. Second finger joint; 5101. Fourth connecting part; 5102. Fifth connecting part; 5103. Arc-shaped avoidance groove; 5104. Sixth shaft hole; 520. Third finger joint; 5201. Seventh shaft hole; 530. Fourth tendon rope; 540. Rocker; 5001. Fifth shaft hole; 5002. Clamping groove; 600. Second tendon rope; 700. Third tendon rope; 800. Reset tendon rope; 900. First elastic member; 1000. Second elastic member; 1100. Third elastic member; 1200. Tendon rope sleeve component; 1210. Sleeve; 1211. Inner sleeve; 1212. Outer sleeve; 1220. Connecting member; 1300. First core shaft; 1400. Second core shaft; 1500. First magnetic member; 1600. Second magnetic member; 1700. Integrated sensor; 1710. First sensing part; 1720. Second sensing part; 1800. First limiting member; 1900. Third core shaft; 2000. Third guiding wheel; 2100. Sector-shaped guiding member; 2200. Second limiting member; 2300. Third limiting member; 2400. First connecting shaft; 2500. Second connecting shaft; 2600. Third connecting shaft; 2700. Fourth connecting shaft; 2800. Fifth connecting shaft; 2900. Sixth connecting shaft; 3000. Fourth core shaft; 3100. Third magnetic member; 3200. First sensor; 3300. Fourth magnetic member; 3400. Second sensor; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; 20. Palm substrate; 30. Index finger of dexterous hand; 40. Middle finger of dexterous hand; 50. Ring finger of dexterous hand; 60. Little finger of dexterous hand. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without making creative efforts belong to the scope of protection of the present disclosure.

[0052] Figure 1 The following is a schematic structural diagram of the thumb of a dexterous hand provided by an embodiment of the present disclosure. Figure 2 The following is a top view of the thumb of a dexterous hand provided by an embodiment of the present disclosure. Figure 3 The following is a top view of the thumb of a dexterous hand provided by another embodiment of the present disclosure. Figure 4 The following is Figure 3 A partial enlarged view of the thumb of the dexterous hand shown in the A area. Figure 5 The following is Figure 3 A cross-sectional view of the thumb of the dexterous hand shown in the B-B direction. Figure 6 The following is Figure 5 A partial enlarged view of the thumb of the dexterous hand shown in the C area. Figure 7 The following is a schematic structural diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure. Figure 8 The following is Figure 7 A partial enlarged view of the thumb of the dexterous hand shown in the D area. Figure 28 The following is a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure. As Figures 1 to 8 And Figure 28 Shown, the thumb 10 of the dexterous hand can be installed on the palm substrate 20, and the thumb 10 of the dexterous hand has a back side 101 and a palm side 102 arranged opposite to each other. The thumb 10 of the dexterous hand includes a mounting component 100, a side swing component 200, a first tendon rope 300, a first phalanx 400, an interphalangeal phalanx component 500, a second tendon rope 600, and a third tendon rope 700.

[0053] The mounting component 100 can be installed on the palm substrate 20. As Figure 6 Shown, the mounting component 100 has a first shaft hole 1001. The side swing component 200 includes a first rotating shaft 210, and the first rotating shaft 210 passes through the first shaft hole 1001 and is rotatably connected to the mounting component 100 around the first axis L1.

[0054] The first end of the first tendon rope 300 can be connected to the first driving component, and the second end of the first tendon rope 300 is connected to the side wall of the first rotating shaft 210 to drive the first rotating shaft 210 to rotate around the first axis L1. The first phalanx 400 is rotatably connected to the side swing component 200 around the second axis L2. The second axis L2 is perpendicular to the first axis L1. The interphalangeal phalanx component 500 is rotatably connected to the first phalanx 400 around the third axis L3, and the third axis L3 is parallel to the second axis L2. AsFigure 5 As shown, the first end of the second tendon cord 600 can be connected to the second driving component, and the second end of the second tendon cord 600 sequentially passes through the first axis L1, bypasses one side of the second axis L2 close to the palm side 102, and is connected to the first phalanx 400. As Figure 5 As shown, the first end of the third tendon cord 700 can be connected to the third driving component, and the second end of the third tendon cord 700 sequentially passes through the first axis L1, passes through the second axis L2, bypasses one side of the third axis L3 close to the palm side 102, and is connected to the interphalangeal phalanx assembly 500.

[0055] The dexterous thumb 10 provided by the embodiment of the present disclosure drives the side-swing assembly 200 to swing sidewise by using the first tendon cord 300, drives the first phalanx 400 to bend by using the second tendon cord 600, and drives the interphalangeal phalanx assembly 500 to bend by using the third tendon cord 700, thereby realizing three degrees of freedom of the dexterous thumb 10 and endowing the dexterous thumb 10 with a high degree of freedom. In addition, the three degrees of freedom of the dexterous thumb 10 are all driven by tendon cords, making the structure of the dexterous thumb 10 simple and compact, with small size and low cost. In addition, the mounting assembly 100 can be mounted on the palm substrate 20, facilitating the installation and disassembly of the dexterous thumb 10 and realizing the modularization of the dexterous thumb 10.

[0056] Specifically, the rotatable connection mentioned in the present disclosure can be realized by means of hole-shaft connection, and will not be elaborated hereinafter.

[0057] Exemplarily, the first driving component, the second driving component, and the third driving component can all be structures such as motors, electric push rods, and cylinders.

[0058] Exemplarily, the connection between the second end of the first tendon cord 300 and the side wall of the first rotating shaft 210, the connection between the second end of the second tendon cord 600 and the first phalanx 400, and the connection between the second end of the third tendon cord 700 and the interphalangeal phalanx assembly 500 can all be realized by means of tying the tendon cords or setting a limiting structure at the second end of the tendon cords.

[0059] Exemplarily, as Figure 1 As shown, the interphalangeal phalanx assembly 500 has a clamping groove 5002, and the dexterous thumb 10 further includes a first limiting member 1800. The first limiting member 1800 is located in the clamping groove 5002, the first limiting member 1800 is connected to the second end of the third tendon cord 700, and is clamped with the end of the clamping groove 5002 to realize the connection between the second end of the third tendon cord 700 and the interphalangeal phalanx assembly 500. Exemplarily, the first limiting member 1800 can be separately provided or integrally formed with the third tendon cord 700. Exemplarily, the second end of the third tendon cord 700 is knotted, and the knotting part is clamped with the end of the clamping groove 5002 to realize the connection between the second end of the third tendon cord 700 and the interphalangeal phalanx assembly 500.

[0060] In some embodiments, such as Figure 4 and Figures 7 to 10 shown, after the second end of the first tendon cord 300 is connected to the side wall of the first rotating shaft 210, it winds around the side wall of the first rotating shaft 210 counterclockwise or clockwise along the circumferential direction of the first rotating shaft 210. The dexterous hand thumb 10 further includes a reset tendon cord 800. The first end of the reset tendon cord 800 can be connected to a reset driving assembly, and the second end of the reset tendon cord 800 is connected to the side wall of the first rotating shaft 210. When the second end of the first tendon cord 300 winds around the side wall of the first rotating shaft 210 counterclockwise along the circumferential direction of the first rotating shaft 210, the second end of the reset tendon cord 800 winds around the side wall of the first rotating shaft 210 clockwise along the circumferential direction of the first rotating shaft 210. When the second end of the first tendon cord 300 winds around the side wall of the first rotating shaft 210 clockwise along the circumferential direction of the first rotating shaft 210, the second end of the reset tendon cord 800 winds around the side wall of the first rotating shaft 210 counterclockwise along the circumferential direction of the first rotating shaft 210. Refer to Figure 4 , which shows that after the second end of the first tendon cord 300 is connected to the side wall of the first rotating shaft 210, it winds around the side wall of the first rotating shaft 210 clockwise along the circumferential direction of the first rotating shaft 210, and after the second end of the reset tendon cord 800 is connected to the side wall of the first rotating shaft 210, it winds around the side wall of the first rotating shaft 210 counterclockwise along the circumferential direction of the first rotating shaft 210.

[0061] When the side swing assembly 200 is in a side swing state, the reset tendon cord 800 is used to drive the side swing assembly 200 to reset. Specifically, the first tendon cord 300 drives the first rotating shaft 210 of the side swing assembly 200 to rotate a preset angle around the first axis L1, so that the side swing assembly 200 swings a preset angle, and the reset tendon cord 800 drives the first rotating shaft 210 of the side swing assembly 200 to rotate in the reverse direction around the first axis L1 by a preset angle, so that the side swing assembly 200 is reset.

[0062] Exemplarily, the first tendon cord 300 or the reset tendon cord 800 can wind around the side wall of the first rotating shaft 210 in a manner of less than half a turn, half a turn, more than half a turn, one turn, one and a half turns or even more turns.

[0063] Exemplarily, the reset driving assembly can be a motor, an electric push rod, a cylinder or an elastic structure such as a spring or a rubber part.

[0064] In some embodiments, such as Figure 4 , Figure 7 , Figure 8 and Figure 10As shown, the side wall of the first rotating shaft 210 has a first connection structure 2101, and the first connection structure 2101 is close to the first finger joint 400. The second ends of the first tendon rope 300 and the reset tendon rope 800 are both connected to the first connection structure 2101. When the dexterous hand thumb 10 is in the side-swing zero position, the first tendon rope 300 and the reset tendon rope 800 are symmetrically arranged relative to the first rotating shaft 210 to maximize the side-swing angle.

[0065] Specifically, the dexterous hand thumb 10 is in the side-swing zero position, that is, the dexterous hand thumb 10 has no side-swing and is in the straight state. As Figure 2 shown, the dexterous hand thumb 10 is in the side-swing zero position, as Figure 3 shown, the dexterous hand thumb 10 is in the side-swing state.

[0066] In the related art, when using two tendon ropes to drive the side-swing assembly 200 to side-swing in a differential drive manner, the side-swing angle range of the side-swing assembly 200 is -20 degrees to 20 degrees, while when using the above-mentioned first tendon rope 300 and reset tendon rope 800 to drive the side-swing assembly 200 to side-swing respectively, the side-swing angle range of the side-swing assembly 200 is -60 degrees to 60 degrees. Therefore, when using the above-mentioned first tendon rope 300 and reset tendon rope 800 to drive the side-swing assembly 200 to side-swing and reset respectively, a larger side-swing angle can be achieved.

[0067] Specifically, the differential drive manner means that two tendon ropes apply different pulling forces to the side-swing assembly 200, or one tendon rope applies a pulling force to the side-swing assembly 200 and the other tendon rope does not apply a pulling force to the side-swing assembly 200 to make the side-swing assembly 200 side-swing.

[0068] Exemplarily, the second ends of the first tendon rope 300 and the reset tendon rope 800 are both detachably connected to the first connection structure 2101 to facilitate the replacement or maintenance of the first tendon rope 300 and the reset tendon rope 800. Exemplarily, the above-mentioned detachable connection can be achieved through detachable connection forms such as tying knots, bolts and nuts, screws, snap connections, etc.

[0069] In some embodiments, as Figures 3 to 10 shown, the side-swing assembly 200 further includes a side-swing main body 220, the side-swing main body 220 is connected to the first rotating shaft 210, and the first finger joint 400 is rotatably connected to the side-swing main body 220 around the second axis L2. The first rotating shaft 210 includes a core shaft portion 2110 and a wheel portion 2120. The core shaft portion 2110 is connected to the side-swing main body 220, and the wheel portion 2120 is coaxially connected to the core shaft portion 2110. As Figure 8 and Figure 10As shown, the outer side surface of the wheel part 2120 has an annular guide groove 2121. The first connection structure 2101 is located on the outer side surface of the wheel part 2120 and at least partially located in the annular guide groove 2121. The first tendon cord 300 and the return tendon cord 800 are wound around the annular guide groove 2121.

[0070] The annular guide groove 2121 is used to guide the first tendon cord 300 and the return tendon cord 800, preventing the first tendon cord 300 and the return tendon cord 800 from winding around each other, and improving the lateral swing accuracy of the thumb 10 of the dexterous hand.

[0071] In some embodiments, as Figures 4 to 10 shown, the mounting assembly 100 includes a mounting body 110, a first guide wheel 120, and a second guide wheel 130. The mounting body 110 has a first shaft hole 1001 and a first guide hole 1002. As Figure 10 shown, the first guide wheel 120 is rotatably connected to the mounting body 110 around the fourth axis L4 and is close to the first tendon cord 300, and the fourth axis L4 is parallel to the first axis L1. The second guide wheel 130 is disposed adjacent to the first guide wheel 120 and is rotatably connected to the mounting body 110 around the fifth axis L5 and is close to the return tendon cord 800, and the fifth axis L5 is parallel to the fourth axis L4. As Figure 8 and Figure 10 shown, the second end of the first tendon cord 300 sequentially passes through the first guide hole 1002, bypasses the side of the first guide wheel 120 close to the second guide wheel 130, bypasses the annular guide groove 2121, and is connected to the first connection structure 2101. As Figure 10 shown, the second end of the return tendon cord 800 sequentially passes through the first guide hole 1002, bypasses the side of the second guide wheel 130 close to the first guide wheel 120, bypasses the annular guide groove 2121, and is connected to the first connection structure 2101.

[0072] The first guide hole 1002 and the first guide wheel 120 are used to guide the first tendon cord 300, so that the first tendon cord 300 passes through the first guide hole 1002 in a stretched state, bypasses the side of the first guide wheel 120 close to the second guide wheel 130, bypasses the annular guide groove 2121, and is connected to the first connection structure 2101, preventing the first tendon cord 300 from interfering with other structures of the thumb 10 of the dexterous hand, enabling the first tendon cord 300 to smoothly drive the lateral swing assembly 200 to swing laterally, and further improving the lateral swing accuracy of the lateral swing assembly 200.

[0073] The first guiding hole 1002 and the second guiding wheel 130 are used to guide the reset tendon rope 800, so that the reset tendon rope 800 passes through the first guiding hole 1002 in a stretched state, bypasses the side of the second guiding wheel 130 close to the first guiding wheel 120, bypasses the annular guiding groove 2121, and is connected to the first connecting structure 2101, preventing the reset tendon rope 800 from interfering with other structures of the dexterous hand thumb 10, enabling the reset tendon rope 800 to smoothly drive the side swing assembly 200 to swing and reset, and further improving the side swing accuracy of the side swing assembly 200.

[0074] In some embodiments, such as Figure 1 , Figure 3 and Figure 5 shown, the interphalangeal joint assembly 500 includes a second phalanx 510, a third phalanx 520 and a fourth tendon rope 530. The second phalanx 510 is rotatably connected to the first phalanx 400 about the third axis L3, and the third tendon rope 700 is connected to the second phalanx 510. The third phalanx 520 is rotatably connected to the second phalanx 510 about the sixth axis L6, and the sixth axis L6 is parallel to the third axis L3. The first end of the fourth tendon rope 530 can be connected to the fourth driving assembly, and the second end of the fourth tendon rope 530 sequentially passes through the first axis L1, passes through the second axis L2, passes through the third axis L3, bypasses the side of the sixth axis L6 close to the palm side 102, and is connected to the third phalanx 520.

[0075] The dexterous hand thumb 10 realizes the bending of the first phalanx 400 by using the second tendon rope 600, the bending of the second phalanx 510 by using the third tendon rope 700, and the bending of the third phalanx 520 by using the fourth tendon rope 530, thereby realizing 3 bending degrees of freedom of the dexterous hand thumb 10. In addition, the 3 bending degrees of freedom of the dexterous hand thumb 10 are all driven by tendon ropes, making the structure of the dexterous hand thumb 10 simple, compact, small in size, and low in cost.

[0076] Exemplarily, the fourth driving assembly can be a structure such as a motor, an electric push rod, a cylinder, etc.

[0077] Exemplarily, the second end of the fourth tendon rope 530 is knotted, and the knotted part is clamped with the third phalanx 520 to realize the connection between the second end of the fourth tendon rope 530 and the third phalanx 520.

[0078] Exemplarily, as Figure 5 shown, the dexterous hand thumb 10 further includes a third limiting member 2300, and the third limiting member 2300 is connected to the second end of the fourth tendon rope 530 and is clamped with the third phalanx 520 to realize the connection between the second end of the fourth tendon rope 530 and the third phalanx 520. Exemplarily, the third limiting member 2300 can be separately provided or integrally formed with the fourth tendon rope 530.

[0079] In some embodiments, such asFigures 11 to 13 As shown, the interphalangeal joint assembly 500 includes a second phalanx 510, a third phalanx 520, and a rocker 540. The second phalanx 510 is rotatably connected to the first phalanx 400 about a third axis L3, and a third tendon cord 700 is connected to the second phalanx 510. The third phalanx 520 is rotatably connected to the second phalanx 510 about a sixth axis L6, and the sixth axis L6 is parallel to the third axis L3. A first end of the rocker 540 is connected to the second phalanx 510, and a second end of the rocker 540 is connected to the third phalanx 520. In a cross-section perpendicular to the sixth axis L6, the line connecting the first end of the rocker 540 and the second end of the rocker 540 intersects the line connecting the third axis L3 and the sixth axis L6.

[0080] Exemplarily, as Figure 13 shown, the first end of the rocker 540 is rotatably connected to the second phalanx 510 about a seventh axis L7, and the second end of the rocker 540 is rotatably connected to the third phalanx 520 about an eighth axis L8. The seventh axis L7 and the eighth axis L8 are respectively parallel to the third axis L3.

[0081] Exemplarily, as Figure 13 shown, in a cross-section perpendicular to the third axis L3, the orthographic projections of the third axis L3, the sixth axis L6, the seventh axis L7, and the eighth axis L8 are respectively a point H, a point I, a point J, and a point K. The line connecting the point H and the point I represents a rod HI. The line connecting the point I and the point K represents a rod IK. The line connecting the point K and the point J represents a rod KJ. The line connecting the point J and the point H represents a rod JH. The rods HI, IK, KJ, and JH form a four-bar linkage. The rod JH is the frame of the four-bar linkage, the rod HI is the crank of the four-bar linkage, the rod IK is the connecting rod of the four-bar linkage, and the rod KJ is the rocker 540 of the four-bar linkage. The crank is the driving rod, which moves under the drive of the third tendon cord 700. The crank drives the connecting rod and the rocker 540 in sequence, realizing the bending of the third phalanx 520. In addition, when the third tendon cord 700 cancels the pulling force on the second phalanx 510, the four-bar linkage can realize the automatic reset of the third phalanx 520 without setting an additional reset structure to reset the third phalanx 520, making the structure of the thumb 10 of the dexterous hand simple and compact, with small size and low cost.

[0082] Exemplarily, as Figure 13 shown, the thumb 10 of the dexterous hand further includes a third mandrel 1900, the third mandrel 1900 extends along the eighth axis L8 and is rotatably connected to the second end of the rocker 540. The second phalanx 510 has an arc-shaped avoidance groove 5103, and the third mandrel 1900 passes through the arc-shaped avoidance groove 5103 and is connected to the third phalanx 520.

[0083] Exemplarily, as Figure 12As shown, the dexterous hand thumb 10 further includes at least two third guide wheels 2000. The third guide wheels 2000 can be rotatably connected to the first phalanx 400. The first third guide wheel 2000 is close to the side swing assembly 200, and the second third guide wheel 2000 is located between the first third guide wheel 2000 and the interphalangeal phalanx assembly 500. The second end of the third tendon cord 700 passes through the first axis L1, passes through the second axis L2, bypasses the side close to the back of the hand 101 of the first third guide wheel 2000, bypasses the side close to the palm side 102 of the second third guide wheel 2000, bypasses the side close to the palm side 102 of the third axis L3, and is connected to the interphalangeal phalanx assembly 500. By guiding the third tendon cord 700 with the third guide wheels 2000, the friction between the third tendon cord 700 and the first phalanx 400 is reduced, and the entanglement between the third tendon cord 700 and the second tendon cord 600 is also prevented.

[0084] Exemplarily, as Figure 12 shown, the dexterous hand thumb 10 further includes a sector guide 2100, and the sector guide 2100 is connected to the first phalanx 400. The second end of the second tendon cord 600 sequentially passes through the first axis L1, bypasses the side close to the palm side 102 of the second axis L2, bypasses the side close to the back of the hand 101 of the sector guide 2100, and then is connected to the first phalanx 400, thereby reducing the friction between the second tendon cord 600 and the first phalanx 400.

[0085] Exemplarily, as Figure 14 and Figure 15 shown, the dexterous hand thumb 10 further includes a second limiting member 2200. The second limiting member 2200 is connected to the second end of the second tendon cord 600, and the end of the second limiting member 2200 abuts against the inner wall of the first phalanx 400 to realize the connection between the second end of the second tendon cord 600 and the first phalanx 400. Exemplarily, the second limiting member 2200 can be separately provided or integrally formed with the second tendon cord 600.

[0086] In some embodiments, as Figure 5 and Figure 12As shown, the thumb 10 of the dexterous hand further includes a first elastic member 900 and a second elastic member 1000. The first end of the first elastic member 900 is connected to the first connecting portion 201 of the side-swing assembly 200, and the second end of the first elastic member 900 is connected to the second connecting portion 401 of the first phalanx 400. The first connecting portion 201 is located on the back-of-hand side 101 close to the second axis L2, and the second connecting portion 401 is located on the back-of-hand side 101 close to the third axis L3. The first end of the second elastic member 1000 is connected to the third connecting portion 402 of the first phalanx 400, and the second end of the second elastic member 1000 is connected to the fourth connecting portion 5101 of the second phalanx 510. The third connecting portion 402 is located on the back-of-hand side 101 close to the third axis L3, and the fourth connecting portion 5101 is located on the back-of-hand side 101 close to the sixth axis L6.

[0087] The elastic restoring force of the first elastic member 900 is used to drive the first phalanx 400 to reset, so that the first phalanx 400 extends. The elastic restoring force of the second elastic member 1000 is used to pull the second phalanx 510 to reset, so that the second phalanx 510 extends.

[0088] As Figure 5 shown, when the thumb 10 of the dexterous hand further includes a fourth tendon 530, the thumb 10 of the dexterous hand further includes a third elastic member 1100. The first end of the third elastic member 1100 is connected to the fifth connecting portion 5102 of the second phalanx 510, and the second end of the third elastic member 1100 is connected to the third phalanx 520. The fifth connecting portion 5102 is located on the back-of-hand side 101 close to the sixth axis L6. The elastic restoring force of the third elastic member 1100 is used to drive the third phalanx 520 to reset, so that the third phalanx 520 extends.

[0089] Exemplarily, as Figures 16 to 19 shown, the thumb 10 of the dexterous hand further includes a first connecting shaft 2400, a second connecting shaft 2500, a third connecting shaft 2600, a fourth connecting shaft 2700, a fifth connecting shaft 2800 and a sixth connecting shaft 2900. The first connecting shaft 2400 is connected to the first connecting portion 201, and the first end of the first elastic member 900 is sleeved on the first connecting shaft 2400. The second connecting shaft 2500 is connected to the second connecting portion 401, and the second end of the first elastic member 900 is sleeved on the second connecting shaft 2500. The third connecting shaft 2600 is connected to the third connecting portion 402, and the first end of the second elastic member 1000 is sleeved on the third connecting shaft 2600. The fourth connecting shaft 2700 is connected to the fourth connecting portion 5101, and the second end of the second elastic member 1000 is sleeved on the fourth connecting shaft 2700. The fifth connecting shaft 2800 is connected to the fifth connecting portion 5102, and the first end of the third elastic member 1100 is sleeved on the fifth connecting shaft 2800. The sixth connecting shaft 2900 is connected to the third phalanx 520, and the second end of the third elastic member 1100 is sleeved on the sixth connecting shaft 2900.

[0090] Exemplarily, the first elastic member 900, the second elastic member 1000, and the third elastic member 1100 can all be elastic structures such as springs and rubber parts.

[0091] In some embodiments, as Figure 10 and Figure 20 shown, the mounting assembly 100 has a first guiding hole 1002, a second guiding hole 1003, and a third guiding hole 1004. The dexterous hand thumb 10 further includes a plurality of tendon sheath assemblies 1200. The first ends of at least three tendon sheath assemblies 1200 are respectively connected to the mounting assembly 100 and aligned with the first guiding hole 1002, the second guiding hole 1003, and the third guiding hole 1004. The first end of the first tendon 300 passes through the first guiding hole 1002, passes through the tendon sheath assembly 1200 aligned with the first guiding hole 1002, and then is connected to the first driving assembly. The first end of the second tendon 600 passes through the second guiding hole 1003, passes through the tendon sheath assembly 1200 aligned with the second guiding hole 1003, and then is connected to the second driving assembly. The first end of the third tendon 700 passes through the third guiding hole 1004, passes through the tendon sheath assembly 1200 aligned with the third guiding hole 1004, and then is connected to the third driving assembly.

[0092] In addition, the first end of the reset tendon 800 passes through the first guiding hole 1002, passes through the tendon sheath assembly 1200 aligned with the first guiding hole 1002, and then is connected to the reset driving assembly.

[0093] In addition, as Figure 20 shown, when the interphalangeal joint assembly 500 includes a fourth tendon 530, the mounting assembly 100 has a fourth guiding hole 1005. The first end of at least one tendon sheath assembly 1200 is connected to the mounting assembly 100 and aligned with the fourth guiding hole 1005. The first end of the fourth tendon 530 passes through the fourth guiding hole 1005, passes through the tendon sheath assembly 1200 aligned with the fourth guiding hole 1005, and then is connected to the fourth driving assembly.

[0094] The plurality of tendon sheath assemblies 1200 are used to guide the first tendon 300, the second tendon 600, the third tendon 700, the reset tendon 800, and the fourth tendon 530 respectively, preventing the first tendon 300, the second tendon 600, the third tendon 700, the reset tendon 800, and the fourth tendon 530 from being entangled on the paths connecting to the corresponding driving assemblies.

[0095] In some embodiments, as Figures 20 to 22As shown, the tendon rope sleeve assembly 1200 includes a sleeve 1210 and a connecting member 1220. The sleeve 1210 is for the first tendon rope 300, the second tendon rope 600, or the third tendon rope 700 to pass through. The connecting member 1220 is connected to one end of the sleeve 1210, and the connecting members 1220 included in at least three tendon rope sleeve assemblies 1200 are detachably connected to the mounting assembly 100.

[0096] In addition, the sleeve 1210 is also for the return tendon rope 800 to pass through. In addition, when the interphalangeal joint assembly 500 includes a fourth tendon rope 530, the sleeve 1210 is also for the fourth tendon rope 530 to pass through.

[0097] Through the above settings, a modular design of multiple tendon rope sleeve assemblies 1200 can be achieved, so that when disassembling and assembling the dexterous hand thumb 10, the tendon rope sleeve assembly 1200 can be disassembled and assembled as a whole, thereby further improving the modularity of the dexterous hand thumb 10.

[0098] In addition, the connecting member 1220 included in the tendon rope sleeve assembly 1200 is detachably connected to the mounting assembly 100 to facilitate the maintenance and replacement of the tendon rope sleeve assembly 1200 connected to the mounting assembly 100. Exemplarily, the above detachable connection can be achieved through detachable connection forms such as bolts and nuts, screws, buckles, magnetic attraction, etc.

[0099] In some embodiments, as Figures 21 to 23 shown, the sleeve 1210 includes an inner sleeve 1211 and an outer sleeve 1212. The inner sleeve 1211 is for the first tendon rope 300, the second tendon rope 600, or the third tendon rope 700 to pass through. The outer sleeve 1212 is wrapped outside the inner sleeve 1211. The outer sleeve 1212 has elasticity, the hardness of the outer sleeve 1212 is greater than that of the inner sleeve 1211, and the friction coefficient of the inner sleeve 1211 is less than that of the outer sleeve 1212.

[0100] The inner sleeve 1211 has a low friction coefficient, which can reduce the friction on the tendon ropes (for example, the first tendon rope 300, the second tendon rope 600, the third tendon rope 700, the return tendon rope 800, or the fourth tendon rope 530). The outer sleeve 1212 has elasticity, which is convenient for shaping the sleeve 1210, and the outer sleeve 1212 has a certain hardness, which can reduce the deformation of the sleeve 1210 when subjected to external forces, so as to protect the tendon ropes inside the inner sleeve 1211 and reduce the extrusion on the tendon ropes.

[0101] Exemplarily, the material of the inner sleeve 1211 can be Teflon, and the material of the outer sleeve 1212 can be a metal material, such as stainless steel, aluminum, etc.

[0102] In some embodiments, as Figures 24 to 27As shown, the side swing assembly 200 has a second shaft hole 2001 extending along the second axis L2, the first finger joint 400 has a third shaft hole 4001 extending along the second axis L2 and a fourth shaft hole 4002 extending along the third axis L3, and the interphalangeal finger joint assembly 500 has a fifth shaft hole 5001 extending along the third axis L3. The dexterous hand thumb 10 further includes a first mandrel 1300, a second mandrel 1400, a first magnetic member 1500, a second magnetic member 1600, and an integrated sensor 1700. The first mandrel 1300 passes through the second shaft hole 2001 and the third shaft hole 4001 and is connected to the third shaft hole 4001, and rotates with the first finger joint 400. The second mandrel 1400 passes through the fourth shaft hole 4002 and the fifth shaft hole 5001 and is connected to the fifth shaft hole 5001, and rotates with the interphalangeal finger joint assembly 500. The first magnetic member 1500 is disposed at the end of the first mandrel 1300 and is coaxially disposed with the first mandrel 1300. The second magnetic member 1600 is disposed at the end of the second mandrel 1400 and is coaxially disposed with the second mandrel 1400. The integrated sensor 1700 is connected to the first finger joint 400, and the integrated sensor 1700 includes a first sensing portion 1710 and a second sensing portion 1720. The first sensing portion 1710 is coaxially disposed with the first magnetic member 1500 and is configured to detect the absolute position of the first magnetic member 1500. The second sensing portion 1720 is coaxially disposed with the second magnetic member 1600 and is configured to detect the absolute position of the second magnetic member 1600.

[0103] The absolute position of the first magnetic member 1500 is detected by the first sensing portion 1710 to detect the rotation angle of the first finger joint 400. The absolute position of the second magnetic member 1600 is detected by the second sensing portion 1720 to detect the rotation angle of the interphalangeal finger joint assembly 500.

[0104] In addition, the first sensing portion 1710 and the second sensing portion 1720 are integrated by the integrated sensor 1700, which facilitates connecting one output end of the integrated sensor 1700 to the control system to simplify the layout of the connecting wires of the output end of the integrated sensor 1700.

[0105] Exemplarily, the integrated sensor 1700 can be a Hall sensor. The integrated sensor 1700 uses the Hall principle to detect the absolute positions of the first magnetic member 1500 and the second magnetic member 1600, with accurate detection and convenient installation.

[0106] Exemplarily, such as Figure 25 and Figure 27As shown, the second phalanx 510 of the interphalangeal phalanx assembly 500 has a sixth shaft hole 5104 extending along the sixth axis L6, and the third phalanx 520 of the interphalangeal phalanx assembly 500 has a seventh shaft hole 5201 extending along the sixth axis L6. The dexterous hand thumb 10 further includes a fourth mandrel 3000, a third magnetic member 3100, and a first sensor 3200. The fourth mandrel 3000 passes through the sixth shaft hole 5104 and the seventh shaft hole 5201 and is connected to the seventh shaft hole 5201, and rotates with the third phalanx 520. The third magnetic member 3100 is disposed at the end of the fourth mandrel 3000 and is coaxially disposed with the fourth mandrel 3000. The first sensor 3200 is connected to the third phalanx 520 and is coaxially disposed with the third magnetic member 3100, and is configured to detect the absolute position of the third magnetic member 3100 to realize the detection of the rotation angle of the third phalanx 520.

[0107] Exemplarily, the first sensor 3200 may be a Hall sensor. The first sensor 3200 adopts the Hall principle to detect the absolute position of the third magnetic member 3100, with accurate detection and convenient installation.

[0108] Exemplarily, as Figure 5 and Figure 6 shown, the dexterous hand thumb 10 further includes a fourth magnetic member 3300 and a second sensor 3400. The fourth magnetic member 3300 is disposed at the end of the mandrel portion 2110 of the first rotating shaft 210 and is coaxially disposed with the mandrel portion 2110. The second sensor 3400 is connected to the mounting body 110 of the mounting assembly 100 and is coaxially disposed with the mandrel portion 2110, and is configured to detect the absolute position of the second sensor 3400 to realize the detection of the rotation angle of the side swing assembly 200.

[0109] Exemplarily, the second sensor 3400 may be a Hall sensor. The second sensor 3400 adopts the Hall principle to detect the absolute position of the fourth magnetic member 3300, with accurate detection and convenient installation.

[0110] Figure 28 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure. As Figure 1 and Figure 28 shown, the dexterous hand 1 includes the dexterous hand thumb 10 and the palm substrate 20 mentioned in the above embodiment. The mounting assembly 100 of the dexterous hand thumb 10 is mounted on the palm substrate 20.

[0111] Exemplarily, the dexterous hand thumb 10 is the dexterous hand thumb. The dexterous hand 1 may further include a dexterous hand index finger 30, a dexterous hand middle finger 40, a dexterous hand ring finger 50, and a dexterous hand little finger 60, and the dexterous hand index finger 30, the dexterous hand middle finger 40, the dexterous hand ring finger 50, and the dexterous hand little finger 60 are all mounted on the palm substrate 20.

[0112] Since the dexterous hand 1 includes the dexterous thumb 10, the dexterous hand 1 has all the technical features and effects of the dexterous thumb 10, which will not be elaborated here.

[0113] Figure 29 The following is a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As Figure 29 shown, the robot 11 includes the dexterous hand 1 mentioned in the above embodiment. Exemplarily, the robot 11 can be a humanoid robot, a collaborative robot, a handling robot, etc.

[0114] Since the robot 11 includes the dexterous hand 1, the robot 11 has all the technical features and effects of the dexterous hand 1, which will not be elaborated here.

[0115] In the embodiments of the present disclosure, if the form of connection is not clearly defined, the form of connection can be a detachable connection form such as by bolts and nuts, screws, buckles, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable fit, non-detachable connection can be carried out by welding, bonding, etc.

[0116] The phrases "an embodiment" and "embodiments" mentioned in the specification indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining specific features, structures, or characteristics with an embodiment, it is within the knowledge scope of those skilled in the art to implement such features, structures, or characteristics in combination with other embodiments, whether explicitly or implicitly described.

[0117] It should be understood that the terms "on", "above", and "over" in the present disclosure should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0118] In addition, for the convenience of description, spatial relative terms may be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to include different orientations of components in use or operation other than the orientation shown in the drawings. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive words used in the text can be interpreted accordingly.

[0119] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0120] The above are only the preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A dexterous thumb, characterized in that: The dexterous thumb can be mounted on a palm substrate, and has a back side and a palm side disposed opposite to each other. The dexterous thumb comprises: A mounting component, capable of being mounted on the palm substrate, the mounting component having a first axial hole; The side swing assembly comprises a first rotating shaft, the first rotating shaft is passed through the first shaft hole and is rotatably connected to the mounting assembly around a first axis; A first tendon cord, wherein a first end of the first tendon cord is connectable to a first driving assembly, and a second end of the first tendon cord is connected to a side wall of the first rotating shaft to drive the first rotating shaft to rotate around the first axis; a first finger joint, rotatably connected to the side swing assembly about a second axis, the second axis being perpendicular to the first axis; an inter-finger knuckle assembly, rotatably connected to the first knuckle about a third axis, the third axis being parallel to the second axis; A second tendon cord, wherein a first end of the second tendon cord is connectable to a second drive assembly, and a second end of the second tendon cord sequentially passes through the first axis, bypasses a side of the second axis close to the palm side, and is connected to the first knuckle; A third tendon rope, the first end of which can be connected to the third drive assembly, the second end of which passes through the first axis, the second axis, and around the side of the third axis close to the palm side in sequence, and is connected to the interphalangeal knuckle assembly.

2. The dexterous thumb of claim 1, characterized in that: After the second end of the first tendon rope is connected to the side wall of the first rotating shaft, it is wound around the side wall of the first rotating shaft counterclockwise or clockwise along the circumference of the first rotating shaft; The dexterous thumb also includes: A reset tendon rope, wherein the first end of the reset tendon rope can be connected to the reset drive assembly, and the second end of the reset tendon rope is connected to the side wall of the first rotating shaft; Among them, when the second end of the first tendon rope is wound around the side wall of the first rotating shaft counterclockwise along the circumference of the first rotating shaft, the second end of the reset tendon rope is wound around the side wall of the first rotating shaft clockwise along the circumference of the first rotating shaft; when the second end of the first tendon rope is wound around the side wall of the first rotating shaft clockwise along the circumference of the first rotating shaft, the second end of the reset tendon rope is wound around the side wall of the first rotating shaft counterclockwise along the circumference of the first rotating shaft.

3. The dexterous thumb of claim 2, characterized in that: The side wall of the first rotating shaft has a first connecting structure, the first connecting structure is close to the first knuckle, the second end of the first tendon rope and the second end of the reset tendon rope are both connected to the first connecting structure, wherein when the thumb of the dexterous hand is in the lateral swing zero position, the first tendon rope and the reset tendon rope are symmetrically arranged relative to the first rotating shaft.

4. The dexterous thumb of claim 3, characterized in that: The side swing assembly also includes: A side-swing body connected to the first rotating shaft, wherein the first finger joint is rotatably connected to the side-swing body around the second axis; Wherein, the first rotating shaft comprises: A core shaft portion connected to the side swing body; The wheel portion is coaxially connected to the core shaft portion, and the outer side surface of the wheel portion has an annular guide groove. The first connecting structure is located on the outer side surface of the wheel portion and at least partially located in the annular guide groove, wherein the first tendon rope and the reset tendon rope are wound around the annular guide groove.

5. The dexterous thumb of claim 4, characterized in that: The installation assembly includes: A mounting body having the first shaft hole and a first guide hole; A first guide wheel is rotatably connected to the installation body around a fourth axis and is close to the first tendon rope, and the fourth axis is parallel to the first axis; a second guide wheel, disposed adjacent to the first guide wheel and rotatably connected to the mounting body around a fifth axis and close to the reset tendon rope, the fifth axis being parallel to the fourth axis; Among them, the second end of the first tendon rope passes through the first guide hole in sequence, bypasses the side of the first guide wheel close to the second guide wheel, bypasses the annular guide groove, and is connected to the first connecting structure; the second end of the reset tendon rope passes through the first guide hole in sequence, bypasses the side of the second guide wheel close to the first guide wheel, bypasses the annular guide groove, and is connected to the first connecting structure.

6. The dexterous thumb according to any one of claims 1 to 5, characterized in that: The inter-finger knuckle assembly comprises: a second finger joint, rotatably connected to the first finger joint around the third axis, and the third tendon cord is connected to the second finger joint; a third finger joint, rotatably connected to the second finger joint about a sixth axis, wherein the sixth axis is parallel to the third axis; a fourth tendon cord, wherein a first end of the fourth tendon cord is connectable to a fourth drive assembly, and a second end of the fourth tendon cord sequentially passes through the first axis, the second axis, the third axis, and passes around a side of the sixth axis close to the palm side, and is connected to the third knuckle; and / or, The inter-finger knuckle assembly comprises: a second finger joint, rotatably connected to the first finger joint around the third axis, and the third tendon cord is connected to the second finger joint; a third finger joint, rotatably connected to the second finger joint about a sixth axis, wherein the sixth axis is parallel to the third axis; A rocker, wherein the first end of the rocker is connected to the second knuckle, and the second end of the rocker is connected to the third knuckle, wherein, on a cross section perpendicular to the sixth axis, a line connecting the first end of the rocker and the second end of the rocker intersects a line connecting the third axis and the sixth axis.

7. The dexterous thumb of claim 6, characterized in that: The dexterous thumb also includes: A first elastic member, wherein a first end of the first elastic member is connected to a first connection portion of the side swing assembly, a second end of the first elastic member is connected to a second connection portion of the first finger joint, the first connection portion is located on the second axis close to the back of the hand, and the second connection portion is located on the third axis close to the back of the hand; a second elastic member, wherein a first end of the second elastic member is connected to a third connection portion of the first knuckle, a second end of the second elastic member is connected to a fourth connection portion of the second knuckle, the third connection portion is located on the third axis close to the back of the hand, and the fourth connection portion is located on the sixth axis close to the back of the hand; Wherein, in the case where the dexterous thumb further includes a fourth tendon cord, the dexterous thumb further includes: A third elastic member, wherein the first end of the third elastic member is connected to the fifth connecting portion of the second finger joint, the second end of the third elastic member is connected to the third finger joint, and the fifth connecting portion is located on the sixth axis close to the back of the hand.

8. The dexterous thumb according to any one of claims 1 to 5, characterized in that: The mounting assembly has a first guide hole, a second guide hole and a third guide hole; The dexterous thumb also includes: A plurality of tendon rope sleeve assemblies, wherein the first ends of at least three of the tendon rope sleeve assemblies are respectively connected to the mounting assembly and are respectively aligned with the first guide hole, the second guide hole and the third guide hole; Among them, the first end of the first tendon rope passes through the first guide hole, passes through the tendon rope sleeve assembly aligned with the first guide hole, and then is connected to the first driving assembly; the first end of the second tendon rope passes through the second guide hole, passes through the tendon rope sleeve assembly aligned with the second guide hole, and then is connected to the second driving assembly; the first end of the third tendon rope passes through the third guide hole, passes through the tendon rope sleeve assembly aligned with the third guide hole, and then is connected to the third driving assembly.

9. The dexterous thumb of claim 8, characterized in that: The tendon sleeve assembly comprises: a sleeve, through which the first tendon cord, the second tendon cord or the third tendon cord passes; A connecting piece is connected to one end of the sleeve, and the connecting pieces included in at least three of the tendon rope sleeve assemblies are detachably connected to the installation assembly.

10. The dexterous thumb of claim 9, characterized in that: The sleeve comprises: An inner sleeve, through which the first tendon cord, the second tendon cord or the third tendon cord passes; The outer sleeve is wrapped around the outer side of the inner sleeve, the outer sleeve is elastic, the hardness of the outer sleeve is greater than the hardness of the inner sleeve, and the friction coefficient of the inner sleeve is less than the friction coefficient of the outer sleeve.

11. The dexterous thumb according to any one of claims 1 to 5, characterized in that: The side swing assembly has a second axial hole extending along the second axis, the first finger joint has a third axial hole extending along the second axis and a fourth axial hole extending along the third axis, and the inter-finger knuckle assembly has a fifth axial hole extending along the third axis; The dexterous thumb also includes: A first core shaft is inserted into the second shaft hole and the third shaft hole, and is connected to the third shaft hole, and rotates with the first finger joint; A second core shaft is passed through the fourth shaft hole and the fifth shaft hole, and is connected to the fifth shaft hole, and rotates with the inter-finger knuckle assembly; A first magnetic member is disposed at an end of the first core shaft and is coaxially disposed with the first core shaft; A second magnetic member is disposed at an end of the second core shaft and is coaxially disposed with the second core shaft; An integrated sensor is connected to the first finger joint, and the integrated sensor includes a first sensing part and a second sensing part. The first sensing part is coaxially arranged with the first magnetic part and is configured to detect the absolute position of the first magnetic part. The second sensing part is coaxially arranged with the second magnetic part and is configured to detect the absolute position of the second magnetic part.

12. A dexterous hand, characterized in that: include: Palm baseplate; The dexterous thumb of any one of claims 1 to 11, wherein the mounting component of the dexterous thumb is mounted on the palm substrate.

13. A robot, characterized in that: include: The dexterous hand of claim 12.

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