Dexterous thumb, dexterous hand, and robots

Abstract

The present disclosure relates to the field of robotics, and in particular to a dexterous hand thumb, a dexterous hand, and a robot, which solves the problem in the related art that the dexterous hand thumb cannot have a high degree of freedom, a small size, and a low cost. The dexterous hand thumb includes a mounting assembly, a side swing assembly, a first tendon rope, a first finger joint, an interphalangeal joint assembly, a second tendon rope, and a third tendon rope. The dexterous hand thumb uses the first tendon rope to drive the side swing assembly to swing sideways, uses the second tendon rope to drive the first finger joint to bend, and uses the third tendon rope to drive the interphalangeal joint assembly to bend, thereby realizing the three degrees of freedom of the dexterous hand thumb, so that the dexterous hand thumb has a high degree of freedom. In addition, the three degrees of freedom of the dexterous hand thumb are all driven by tendons, making the dexterous hand thumb simple and compact in structure, small in size, and low in cost.

Description

Technical Field

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

[0002] With the continuous advancement of humanoid robot technologies, industrial automation technology is gradually shifting from industrial robots, which typically perform single, repetitive tasks, to humanoid robots, which typically perform complex and varied tasks. During this transformation, the robot's end effector has shifted from a specialized tool to a general-purpose tool, similar to a human hand. A dexterous hand is a humanoid-like end effector used to perform diverse tasks such as grasping, manipulation, and perception. To enable a dexterous hand to perform the same functions as a human hand, its design demands higher standards, requiring not only a high degree of freedom but also a small size. Furthermore, the manufacturing and maintenance costs of the dexterous hand must be minimized. As one of the fingers of a dexterous hand, the thumb's degrees of freedom, size, and cost significantly impact the overall dexterous hand's overall dimensions.

[0003] However, the dexterous thumb in the related art cannot achieve high degree of freedom, small size and low cost at the same time. 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 in the related art that the dexterous hand thumb cannot have a high degree of freedom, a small size, and a low cost.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous thumb, which can be mounted on a palm substrate and has a back side and a palm side arranged opposite to each other, and the dexterous thumb includes: a mounting assembly, which can be mounted on the palm substrate, and the mounting assembly has a first axial hole; a side swing assembly, including a first rotating shaft, which is passed through the first axial hole and is rotatably connected to the mounting assembly around a first axis; a first tendon rope, the first end of the first tendon rope can be connected to the first driving assembly, and the second end of the first tendon rope is connected to the side wall of the first rotating shaft to drive the first rotating shaft to rotate around the first axis; a first finger joint, which is rotatable with the side swing assembly around a second axis Dynamic connection, the second axis is perpendicular to the first axis; the interphalangeal knuckle assembly is rotatably connected to the first knuckle around a third axis, and the third axis is parallel to the second axis; a second tendon rope, the first end of the second tendon rope can be connected to the second drive assembly, the second end of the second tendon rope passes through the first axis in sequence, bypasses the 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 the third tendon rope can be connected to the third drive assembly, the second end of the third tendon rope 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 knuckle assembly.

[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 wrapped 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, 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; wherein, when the second end of the first tendon rope is wrapped 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 wrapped 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 wrapped 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 wrapped around the side wall of the first rotating shaft counterclockwise along the circumference of the first rotating shaft.

[0007] In some embodiments, 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.

[0008] In some embodiments, 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 includes: a core shaft portion, connected to the side-swing body; a wheel portion, coaxially connected to the core shaft portion, 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.

[0009] In some embodiments, the mounting assembly includes: a mounting body having the first axial hole and a first guide hole; a first guide wheel, rotatably connected to the mounting body around a fourth axis, and close to the first tendon rope, and the fourth axis is parallel to the first axis; a second guide wheel, arranged adjacent to the first guide wheel, and rotatably connected to the mounting body around a fifth axis, and close to the reset tendon rope, and the fifth axis is parallel to the fourth axis; wherein, the second end of the first tendon rope sequentially passes through the first guide hole, 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 sequentially passes through the first guide hole, 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.

[0010] In some embodiments, the interphalangeal knuckle assembly includes: a second knuckle, rotatably connected to the first knuckle around the third axis, and the third tendon rope is connected to the second knuckle; a third knuckle, rotatably connected to the second knuckle around the sixth axis, and the sixth axis is parallel to the third axis; a fourth tendon rope, the first end of the fourth tendon rope is capable of being connected to the fourth drive assembly, the second end of the fourth tendon rope passes through the first axis, the second axis, the third axis, and the side of the sixth axis close to the palm side in sequence, and is connected to the third knuckle; and / or, the interphalangeal knuckle assembly includes: a second knuckle, rotatably connected to the first knuckle around the third axis, and the third tendon rope is connected to the second knuckle; a third knuckle, rotatably connected to the second knuckle around the sixth axis, and the sixth axis is parallel to the third axis; a rocker, 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 section perpendicular to the sixth axis, the line connecting the first end of the rocker and the second end of the rocker intersects the line connecting 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 the first connection portion of the side swing assembly, a second end of the first elastic member is connected to the second connection portion of the first phalanx, 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, a first end of the second elastic member is connected to the third connection portion of the first phalanx, a second end of the second elastic member is connected to the fourth connection portion of the second phalanx, 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 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 the fifth connection portion of the second phalanx, a second end of the third elastic member is connected to the third phalanx, and the fifth connection portion is located on the sixth axis close to the back of the hand.

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

[0013] In some embodiments, the tendon rope sleeve assembly includes: a sleeve for passing the first tendon rope, the second tendon rope or the third tendon rope; a connector connected to one end of the sleeve, and at least three of the connectors included in the tendon rope sleeve assembly are detachably connected to the installation 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 around the outside 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.

[0015] In some embodiments, 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 interphalangeal joint assembly has a fifth axial hole extending along the third axis; the dexterous thumb also includes: a first core shaft, which is passed through the second axial hole and the third axial hole, and is connected to the third axial hole, and rotates with the first finger joint; a second core shaft, which is passed through the fourth axial hole and the fifth axial hole, and is connected to the fifth axial hole, and rotates with the interphalangeal joint assembly; a first magnetic part, which is arranged at the end of the first core shaft and is coaxial with the first core shaft; a second magnetic part, which is arranged at the end of the second core shaft and is coaxial with the second core shaft; an integrated sensor, which 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 coaxial with the first magnetic part, and is configured to detect the absolute position of the first magnetic part, and the second sensing part is coaxial with the second magnetic part, and is configured to detect the absolute position of the second magnetic part.

[0016] In a second aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm substrate; and the dexterous hand thumb described in the first aspect, wherein a 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 comprising: the dexterous hand described in the second aspect.

[0018] The dexterous thumb provided in the disclosed embodiment utilizes a first tendon tether to drive the sideways swing of the lateral swing assembly, a second tendon tether to drive the bending of the first phalanx, and a third tendon tether to drive the bending of the interphalangeal joint assembly, thereby achieving three degrees of freedom for the dexterous thumb, providing the dexterous thumb with a high degree of freedom. Furthermore, since all three degrees of freedom of the dexterous thumb are driven by tendons, the dexterous thumb has a simple and compact structure, small size, and low cost.

[0019] In addition, the mounting assembly can be installed on the palm base plate, which facilitates the installation and removal of the dexterous hand thumb and realizes the modularization of the dexterous hand thumb. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended 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 are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components.

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

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

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

[0024] Figure 4 Shown Figure 3 A partial enlarged view of the thumb of the dexterous hand in area A is shown.

[0025] Figure 5 Shown Figure 3 A cross-sectional view of the thumb of the dexterous hand in the BB direction is shown.

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

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

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

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

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

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

[0032] Figure 12 Shown Figure 11 A cross-sectional view of the thumb of the dexterous hand in the FF direction is shown.

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

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

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

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

[0037] Figure 17 Shown Figure 16 The shown figure is a partial enlarged view of the thumb of the dexterous hand in the N area.

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

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

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

[0041] Figure 21 Shown is a top view of a tendon sleeve assembly provided in accordance with an embodiment of the present disclosure.

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

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

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

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

[0046] Figure 26 Shown Figure 25 A partial enlarged view of the U area of the dexterous hand thumb is shown.

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

[0048] Figure 28 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0049] Figure 29 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0050] Reference numerals:

[0051] 11. Robot; 1. Dexterous hand; 10. Dexterous hand thumb; 101. Dorsal side of hand; 102. Palm side of hand; 100. Mounting assembly; 1001. First axial hole; 1002. First guide hole; 1003. Second guide hole; 1004. Third guide hole; 1005. Fourth guide hole; 110. Mounting body; 120. First guide wheel; 130. Second guide wheel; 200. Side swing assembly; 210. First rotating shaft; 2101. First connecting structure; 2110. Core shaft; 2120. Wheel; 201. First connecting part; 2121. Annular guide groove; 220. Side swing body; 300. First tendon; 4 00, first finger joint; 401, second connecting part; 402, third connecting part; 2001, second axial hole; 4001, third axial hole; 4002, fourth axial hole; 500, inter-finger joint assembly; 510, second finger joint; 5101, fourth connecting part; 5102, fifth connecting part; 5103, arc-shaped avoidance groove; 5104, sixth axial hole; 520, third finger joint; 5201, seventh axial hole; 530, fourth tendon rope; 540, rocker; 5001, fifth axial hole; 5002, snap-in groove; 600, second tendon rope; 700, third tendon rope; 800, reset tendon rope; 900, first elastic member; 1000, first Second elastic member; 1100, third elastic member; 1200, tendon sleeve assembly; 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 unit; 1720, second sensing unit; 1800, first limiting member; 1900, third core shaft; 2000, third guide wheel; 2100, fan-shaped guide member; 2200, second limiting member; 2300, third limiting member; 2400, first connecting shaft; 2 500, second connecting axis; 2600, third connecting axis; 2700, fourth connecting axis; 2800, fifth connecting axis; 2900, sixth connecting axis; 3000, fourth core axis; 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 DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0053] Figure 1 Shown is a structural schematic diagram of the thumb of a dexterous hand provided by an embodiment of the present disclosure. Figure 2 Shown is a top view of the thumb of a dexterous hand provided by an embodiment of the present disclosure. Figure 3 Shown is a top view of the thumb of a dexterous hand provided by another embodiment of the present disclosure. Figure 4 Shown Figure 3 A partial enlarged view of the thumb of the dexterous hand in area A is shown. Figure 5 Shown Figure 3 A cross-sectional view of the thumb of the dexterous hand in the BB direction is shown. Figure 6 Shown Figure 5 A partial enlarged view of the thumb of the dexterous hand in area C is shown. Figure 7 Shown is a structural schematic diagram of the thumb of a dexterous hand provided by another embodiment of the present disclosure. Figure 8 Shown Figure 7 A partial enlarged view of the thumb of the dexterous hand in area D is shown. Figure 28 The figure shows a schematic diagram of the structure of the dexterous hand provided by an embodiment of the present disclosure. Figures 1 to 8 as well as Figure 28 As shown, the dexterous thumb 10 can be mounted on a palm base 20. The dexterous thumb 10 has a dorsal side 101 and a palm side 102 disposed opposite to each other. The dexterous thumb 10 includes a mounting assembly 100, a side swing assembly 200, a first tendon tether 300, a first phalanx 400, an interphalangeal joint assembly 500, a second tendon tether 600, and a third tendon tether 700.

[0054] The mounting assembly 100 can be mounted on the palm substrate 20. Figure 6 As shown, the mounting assembly 100 has a first shaft hole 1001. The side swing assembly 200 includes a first rotating shaft 210, which is passed through the first shaft hole 1001 and is rotatably connected to the mounting assembly 100 around the first axis L1.

[0055] The first end of the first tendon 300 can be connected to the first drive assembly, and the second end of the first tendon 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 finger joint 400 is rotatably connected to the side swing assembly 200 around the second axis L2. The second axis L2 is perpendicular to the first axis L1. The interphalangeal finger joint assembly 500 is rotatably connected to the first finger joint 400 around the third axis L3, and the third axis L3 is parallel to the second axis L2. Figure 5 As shown, the first end of the second tendon 600 can be connected to the second drive assembly, and the second end of the second tendon 600 sequentially passes through the first axis L1, bypasses the side of the second axis L2 close to the palm side 102, and is connected to the first knuckle 400. Figure 5 As shown, the first end of the third tendon 700 can be connected to the third drive assembly, and the second end of the third tendon 700 passes through the first axis L1, the second axis L2, and the side of the third axis L3 close to the palm side 102 in sequence, and is connected to the interphalangeal knuckle assembly 500.

[0056] The dexterous thumb 10 provided in the disclosed embodiment utilizes a first tendon tether 300 to drive the lateral swing assembly 200, utilizes a second tendon tether 600 to drive the bending of the first phalanx 400, and utilizes a third tendon tether 700 to drive the bending of the interphalangeal joint assembly 500, thereby achieving three degrees of freedom for the dexterous thumb 10 and providing the dexterous thumb 10 with a high degree of freedom. Furthermore, the three degrees of freedom of the dexterous thumb 10 are all driven by tendons, making the dexterous thumb 10 simple, compact, small, and low-cost. Furthermore, the mounting assembly 100 can be mounted on the palm base 20, facilitating the installation and removal of the dexterous thumb 10 and achieving modularity.

[0057] Specifically, the rotatable connection mentioned in the present disclosure can be achieved by a hole-shaft connection, which will not be described in detail later.

[0058] Exemplarily, the first drive assembly, the second drive assembly and the third drive assembly can all be structures such as motors, electric push rods, and cylinders.

[0059] For example, the connection between the second end of the first tendon rope 300 and the side wall of the first rotating shaft 210, the connection between the second end of the second tendon rope 600 and the first finger joint 400, and the connection between the second end of the third tendon rope 700 and the interphalangeal joint assembly 500 can all be achieved by knotting the tendon rope or setting a limiting structure at the second end of the tendon rope.

[0060] For example, Figure 1 As shown, the interphalangeal joint assembly 500 has a snap-in slot 5002. The dexterous thumb 10 also includes a first stopper 1800, which is located in the snap-in slot 5002. The first stopper 1800 is connected to the second end of the third tendon tether 700 and snaps into place with the end of the snap-in slot 5002 to connect the second end of the third tendon tether 700 to the interphalangeal joint assembly 500. For example, the first stopper 1800 can be separate from or integrally formed with the third tendon tether 700. For example, the second end of the third tendon tether 700 is tied into a knot, and the knot snaps into place with the end of the snap-in slot 5002 to connect the second end of the third tendon tether 700 to the interphalangeal joint assembly 500.

[0061] In some embodiments, as Figure 4 as well as Figures 7 to 10 As shown, after the second end of the first tendon cord 300 is connected to the side wall of the first rotating shaft 210, it is wrapped around the side wall of the first rotating shaft 210 counterclockwise or clockwise along the circumference of the first rotating shaft 210. The dexterous thumb 10 also includes a reset tendon cord 800, the first end of which is capable of being connected to the reset drive assembly, and the second end of the reset tendon cord 800 is connected to the side wall of the first rotating shaft 210. In the case where the second end of the first tendon cord 300 is wrapped around the side wall of the first rotating shaft 210 counterclockwise along the circumference of the first rotating shaft 210, the second end of the reset tendon cord 800 is wrapped around the side wall of the first rotating shaft 210 clockwise along the circumference of the first rotating shaft 210. In the case where the second end of the first tendon cord 300 is wrapped around the side wall of the first rotating shaft 210 clockwise along the circumference of the first rotating shaft 210, the second end of the reset tendon cord 800 is wrapped around the side wall of the first rotating shaft 210 counterclockwise along the circumference of the first rotating shaft 210. See. Figure 4 , it is shown that after the second end of the first tendon rope 300 is connected to the side wall of the first rotating shaft 210, it is wrapped around the side wall of the first rotating shaft 210 clockwise along the circumference of the first rotating shaft 210, and after the second end of the reset tendon rope 800 is connected to the side wall of the first rotating shaft 210, it is wrapped around the side wall of the first rotating shaft 210 counterclockwise along the circumference of the first rotating shaft 210.

[0062] When the roll assembly 200 is in the roll state, the reset tendon 800 is used to reset the roll assembly 200. Specifically, the first tendon 300 drives the first rotating shaft 210 of the roll assembly 200 to rotate around the first axis L1 by a preset angle, thereby causing the roll assembly 200 to roll by the preset angle. The reset tendon 800 then drives the first rotating shaft 210 of the roll assembly 200 to rotate in the opposite direction around the first axis L1 by a preset angle, thereby restoring the roll assembly 200.

[0063] For example, the first tendon 300 or the reset tendon 800 can be wound around the side wall of the first rotating shaft 210 in a manner of less than half a circle, half a circle, more than half a circle, one circle, one and a half circles or even more circles.

[0064] Exemplarily, the reset drive assembly may be a motor, an electric push rod, a cylinder, or an elastic structure such as a spring or a rubber member.

[0065] In some embodiments, as Figure 4 、 Figure 7 、 Figure 8 and Figure 10As shown, the sidewall of the first rotating shaft 210 has a first connecting structure 2101, which is located near the first phalanx 400. The second end of the first tendon tether 300 and the second end of the reset tendon tether 800 are both connected to the first connecting structure 2101. When the dexterous thumb 10 is in the zero lateral swing position, the first tendon tether 300 and the reset tendon tether 800 are symmetrically arranged relative to the first rotating shaft 210 to maximize the lateral swing angle.

[0066] Specifically, the thumb 10 of the dexterous hand is in the zero position of lateral swing, that is, the thumb 10 of the dexterous hand has no lateral swing and is in an extended state. Figure 2 As shown, the thumb 10 of the dexterous hand is in the side swing zero position, as shown in FIG. Figure 3 As shown, the thumb 10 of the dexterous hand is in a sideways swing state.

[0067] In the related art, when the roll assembly 200 is driven to roll using two tendons in a differential drive mode, the roll angle range of the roll assembly 200 is -20 degrees to 20 degrees. However, when the roll assembly 200 is driven to roll using the first tendon 300 and the reset tendon 800, the roll angle range of the roll assembly 200 is -60 degrees to 60 degrees. Therefore, when the roll assembly 200 is driven to roll and reset using the first tendon 300 and the reset tendon 800, respectively, a larger roll angle can be achieved.

[0068] Specifically, the differential drive mode is that the two tendons apply different tensions to the side swing assembly 200, or one tendon applies tension to the side swing assembly 200 and the other tendon does not apply tension to the side swing assembly 200, so that the side swing assembly 200 swings sideways.

[0069] Illustratively, the second end of the first tendon 300 and the second end of the reset tendon 800 are both detachably connected to the first connecting structure 2101 to facilitate replacement or maintenance of the first tendon 300 and the reset tendon 800. Illustratively, the aforementioned detachable connection can be achieved by knotting, bolts and nuts, screws, snap connections, or other detachable connection methods.

[0070] In some embodiments, as Figures 3 to 10 As shown, the side swing assembly 200 also includes a side swing body 220, which is connected to the first rotating shaft 210, and the first finger joint 400 is rotatably connected to the side swing 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 body 220, and the wheel portion 2120 is coaxially connected to the core shaft portion 2110. Figure 8 and Figure 10As shown, the outer side surface of the wheel portion 2120 has an annular guide groove 2121, the first connecting structure 2101 is located on the outer side surface of the wheel portion 2120, and at least partially located in the annular guide groove 2121, and the first tendon 300 and the reset tendon 800 are wound around the annular guide groove 2121.

[0071] The annular guide groove 2121 is used to guide the first tendon rope 300 and the reset tendon rope 800 to prevent the first tendon rope 300 and the reset tendon rope 800 from being entangled with each other, thereby improving the side swing accuracy of the dexterous hand thumb 10.

[0072] In some embodiments, as Figures 4 to 10 As 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. Figure 10 As shown, the first guide wheel 120 is rotatably connected to the installation body 110 around the fourth axis L4 and is close to the first tendon 300. The fourth axis L4 is parallel to the first axis L1. The second guide wheel 130 is arranged adjacent to the first guide wheel 120 and is rotatably connected to the installation body 110 around the fifth axis L5 and is close to the reset tendon 800. The fifth axis L5 is parallel to the fourth axis L4. Figure 8 and Figure 10 As shown, the second end of the first tendon 300 passes through the first guide hole 1002, passes around the side of the first guide wheel 120 close to the second guide wheel 130, passes around the annular guide groove 2121, and is connected to the first connecting structure 2101. Figure 10 As shown, the second end of the reset tendon rope 800 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 connecting structure 2101.

[0073] The first guide hole 1002 and the first guide wheel 120 are used to guide the first tendon 300, so that the first tendon 300 remains in an extended state and 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 connecting structure 2101, thereby preventing the first tendon 300 from interfering with other structures of the dexterous hand thumb 10, allowing the first tendon 300 to smoothly drive the side swing assembly 200 to swing sideways, further improving the side swing accuracy of the side swing assembly 200.

[0074] The first guide hole 1002 and the second guide wheel 130 are used to guide the reset tendon rope 800, so that the reset tendon rope 800 remains in an extended state and 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 connecting structure 2101, thereby preventing the reset tendon rope 800 from interfering with other structures of the dexterous hand thumb 10, so that the reset tendon rope 800 can smoothly drive the side swing assembly 200 to swing sideways and reset, further improving the side swing accuracy of the side swing assembly 200.

[0075] In some embodiments, as Figure 1 、 Figure 3 and Figure 5 As shown, the interphalangeal joint assembly 500 includes a second joint 510, a third joint 520, and a fourth tether 530. The second joint 510 is rotatably connected to the first joint 400 about a third axis L3, and the third tether 700 is connected to the second joint 510. The third joint 520 is rotatably connected to the second joint 510 about a sixth axis L6, which is parallel to the third axis L3. The first end of the fourth tether 530 is capable of connecting to the fourth drive assembly. The second end of the fourth tether 530 sequentially passes through the first axis L1, the second axis L2, the third axis L3, and around the side of the sixth axis L6 near the palm side 102, and then connects to the third joint 520.

[0076] The dexterous hand thumb 10 utilizes the second tendon 600 to drive the first phalanx 400 to bend, utilizes the third tendon 700 to drive the second phalanx 510 to bend, and utilizes the fourth tendon 530 to drive the third phalanx 520 to bend, thereby realizing the three bending degrees of freedom of the dexterous hand thumb 10. In addition, the three bending degrees of freedom of the dexterous hand thumb 10 are all driven by tendons, making the dexterous hand thumb 10 simple and compact in structure, small in size, and low in cost.

[0077] Exemplarily, the fourth driving component may be a motor, an electric push rod, a cylinder or the like.

[0078] Exemplarily, the second end of the fourth tendon 530 is knotted, and the knotted portion is engaged with the third finger joint 520 to achieve the connection between the second end of the fourth tendon 530 and the third finger joint 520.

[0079] For example, Figure 5 As shown, the dexterous thumb 10 further includes a third stopper 2300, which is connected to the second end of the fourth tendon 530 and is engaged with the third knuckle 520 to achieve connection between the second end of the fourth tendon 530 and the third knuckle 520. For example, the third stopper 2300 can be provided separately from the fourth tendon 530 or can be integrally formed.

[0080] In some embodiments, as Figures 11 to 13 As shown, the interphalangeal joint assembly 500 includes a second joint 510, a third joint 520, and a rocker 540. The second joint 510 is rotatably connected to the first joint 400 about the third axis L3, and the third tendon 700 is connected to the second joint 510. The third joint 520 is rotatably connected to the second joint 510 about the sixth axis L6, which is parallel to the third axis L3. The first end of the rocker 540 is connected to the second joint 510, and the second end of the rocker 540 is connected to the third joint 520. In a cross section perpendicular to the sixth axis L6, the line connecting the first and second ends of the rocker 540 intersects the line connecting the third axis L3 and the sixth axis L6.

[0081] For example, Figure 13 As shown, the first end of the rocker 540 is rotatably connected to the second finger joint 510 around the seventh axis L7, and the second end of the rocker 540 is rotatably connected to the third finger joint 520 around the eighth axis L8. The seventh axis L7 and the eighth axis L8 are respectively parallel to the third axis L3.

[0082] For example, Figure 13 As shown, on the 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 point H, point I, point J and point K respectively. The line between point H and point I represents rod HI. The line between point I and point K represents rod IK. The line between point K and point J represents rod KJ. The line between point J and point H represents rod JH. Rod HI, rod IK, rod KJ and rod JH form a four-bar linkage. Rod JH is the frame of the four-bar linkage, rod HI is the crank of the four-bar linkage, rod IK is the connecting rod of the four-bar linkage, and rod KJ is the rocker 540 of the four-bar linkage. The crank is the active rod, which moves under the drive of the third tendon 700. The crank drives the connecting rod and the rocker 540 to move in turn, thereby realizing the bending of the third knuckle 520. In addition, when the third tendon 700 removes the tension on the second phalanx 510, the four-bar linkage can automatically reset the third phalanx 520 without setting up an additional reset structure to reset the third phalanx 520, making the structure of the dexterous thumb 10 simple and compact, small in size, and low in cost.

[0083] For example, Figure 13 As shown, the dexterous thumb 10 also includes a third core shaft 1900, which extends along the eighth axis L8 and is rotatably connected to the second end of the rocker 540. The second finger joint 510 has an arc-shaped avoidance groove 5103, and the third core shaft 1900 passes through the arc-shaped avoidance groove 5103 and is connected to the third finger joint 520.

[0084] For example, Figure 12As shown, the dexterous thumb 10 also includes at least two third guide wheels 2000. The third guide wheels 2000 are rotatably connected to the first phalanx 400. The first third guide wheel 2000 is located near the side swing assembly 200, and the second third guide wheel 2000 is located between the first third guide wheel 2000 and the interphalangeal joint assembly 500. The second end of the third tether 700 passes through the first axis L1 and the second axis L2, passes around the side of the first third guide wheel 2000 near the back of the hand 101, passes around the side of the second third guide wheel 2000 near the palm 102, passes around the side of the third axis L3 near the palm 102, and connects to the interphalangeal joint assembly 500. The third guide wheels 2000 guide the third tether 700, reducing friction between the third tether 700 and the first phalanx 400 and preventing entanglement between the third tether 700 and the second tether 600.

[0085] For example, Figure 12 As shown, the dexterous thumb 10 further includes a fan-shaped guide 2100, which is connected to the first phalanx 400. The second end of the second tendon 600 sequentially passes through the first axis L1, passes around the side of the second axis L2 close to the palm side 102, passes around the side of the fan-shaped guide 2100 close to the back side 101, and then connects to the first phalanx 400, thereby reducing friction between the second tendon 600 and the first phalanx 400.

[0086] For example, Figure 14 and Figure 15 As shown, the dexterous thumb 10 further includes a second stopper 2200, which is connected to the second end of the second tendon tether 600. The end of the second stopper 2200 abuts against the inner wall of the first phalanx 400 to achieve the connection between the second end of the second tendon tether 600 and the first phalanx 400. For example, the second stopper 2200 can be provided separately from the second tendon tether 600 or can be integrally formed.

[0087] In some embodiments, as Figure 5 and Figure 12As shown, the dexterous thumb 10 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 connection portion 201 of the side swing assembly 200, and the second end of the first elastic member 900 is connected to the second connection portion 401 of the first phalanx 400. The first connection portion 201 is located near the back of the hand 101 along the second axis L2, and the second connection portion 401 is located near the back of the hand 101 along the third axis L3. The first end of the second elastic member 1000 is connected to the third connection portion 402 of the first phalanx 400, and the second end of the second elastic member 1000 is connected to the fourth connection portion 5101 of the second phalanx 510. The third connection portion 402 is located near the back of the hand 101 along the third axis L3, and the fourth connection portion 5101 is located near the back of the hand 101 along the sixth axis L6.

[0088] The elastic restoring force of the first elastic member 900 is used to drive the first knuckle 400 to reset so as to extend the first knuckle 400. The elastic restoring force of the second elastic member 1000 is used to pull the second knuckle 510 to reset so as to extend the second knuckle 510.

[0089] like Figure 5 As shown, when the dexterous thumb 10 also includes the fourth tendon 530, the dexterous thumb 10 also 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 sixth axis L6 near the back of the hand 101. The elastic restoring force of the third elastic member 1100 is used to drive the third phalanx 520 to return to its original position, thereby extending the third phalanx 520.

[0090] For example, Figures 16 to 19 As shown, the dexterous thumb 10 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, with the first end of the first elastic member 900 sleeved onto the first connecting shaft 2400. The second connecting shaft 2500 is connected to the second connecting portion 401, with the second end of the first elastic member 900 sleeved onto the second connecting shaft 2500. The third connecting shaft 2600 is connected to the third connecting portion 402, with the first end of the second elastic member 1000 sleeved onto the third connecting shaft 2600. The fourth connecting shaft 2700 is connected to the fourth connecting portion 5101, with the second end of the second elastic member 1000 sleeved onto the fourth connecting shaft 2700. The fifth connecting shaft 2800 is connected to the fifth connecting portion 5102, with the first end of the third elastic member 1100 sleeved onto the fifth connecting shaft 2800. The sixth connecting shaft 2900 is connected to the third finger joint 520 , and the second end of the third elastic member 1100 is sleeved on the sixth connecting shaft 2900 .

[0091] For example, the first elastic member 900 , the second elastic member 1000 and the third elastic member 1100 may all be elastic structures such as springs and rubber members.

[0092] In some embodiments, as Figure 10 and Figure 20 As shown, the mounting assembly 100 has a first guide hole 1002, a second guide hole 1003, and a third guide hole 1004. The dexterous thumb 10 also includes multiple tendon cord sleeve assemblies 1200. The first ends of at least three tendon cord sleeve assemblies 1200 are connected to the mounting assembly 100 and aligned with the first guide hole 1002, the second guide hole 1003, and the third guide hole 1004, respectively. The first end of the first tendon cord 300 passes through the first guide hole 1002, through the tendon cord sleeve assembly 1200 aligned with the first guide hole 1002, and then connects to the first drive assembly. The first end of the second tendon cord 600 passes through the second guide hole 1003, through the tendon cord sleeve assembly 1200 aligned with the second guide hole 1003, and then connects to the second drive assembly. The first end of the third tendon cord 700 passes through the third guide hole 1004, through the tendon cord sleeve assembly 1200 aligned with the third guide hole 1004, and then connects to the third drive assembly.

[0093] In addition, the first end of the reset tendon 800 passes through the first guide hole 1002, passes through the tendon sleeve assembly 1200 aligned with the first guide hole 1002, and is connected to the reset drive assembly.

[0094] In addition, if Figure 20 As shown, when the interphalangeal knuckle assembly 500 includes the fourth tendon 530, the mounting assembly 100 has a fourth guide hole 1005, and the first end of at least one tendon sleeve assembly 1200 is connected to the mounting assembly 100 and aligned with the fourth guide hole 1005. The first end of the fourth tendon 530 passes through the fourth guide hole 1005, passes through the tendon sleeve assembly 1200 aligned with the fourth guide hole 1005, and is then connected to the fourth drive assembly.

[0095] Multiple tendon rope sleeve assemblies 1200 are used to guide the first tendon rope 300, the second tendon rope 600, the third tendon rope 700, the reset tendon rope 800 and the fourth tendon rope 530 respectively, to prevent the first tendon rope 300, the second tendon rope 600, the third tendon rope 700, the reset tendon rope 800 and the fourth tendon rope 530 from getting entangled on the path connected to the corresponding drive assembly.

[0096] In some embodiments, as Figures 20 to 22As shown, tendon sleeve assembly 1200 includes a sleeve 1210 and a connector 1220. Sleeve 1210 allows the first tendon 300, the second tendon 600, or the third tendon 700 to pass through. Connector 1220 is connected to one end of sleeve 1210. At least three tendon sleeve assemblies 1200 include connectors 1220 that are detachably connected to mounting assembly 100.

[0097] In addition, the sleeve 1210 is also used to pass the reduction tendon 800. In addition, in the case where the interphalangeal knuckle assembly 500 includes a fourth tendon 530, the sleeve 1210 is also used to pass the fourth tendon 530.

[0098] The above arrangement enables a modular design of multiple tendon sleeve assemblies 1200 , so that the tendon sleeve assemblies 1200 can be disassembled and assembled as a whole while disassembling and assembling the dexterous hand thumb 10 , thereby further improving the modularity of the dexterous hand thumb 10 .

[0099] In addition, the tendon sleeve assembly 1200 includes a connector 1220 that is detachably connected to the mounting assembly 100 to facilitate maintenance and replacement of the tendon sleeve assembly 1200 connected to the mounting assembly 100. For example, the detachable connection can be achieved by bolts and nuts, screws, snaps, magnets, or other detachable connection methods.

[0100] In some embodiments, as Figures 21 to 23 As shown, sleeve 1210 includes an inner sleeve 1211 and an outer sleeve 1212. Inner sleeve 1211 allows the first tendon 300, second tendon 600, or third tendon 700 to pass through. Outer sleeve 1212 wraps around inner sleeve 1211. Outer sleeve 1212 is elastic, has a harder hardness than inner sleeve 1211, and has a lower coefficient of friction than outer sleeve 1212.

[0101] Inner sleeve 1211 has a low coefficient of friction, reducing friction on tendons (e.g., first tendon 300, second tendon 600, third tendon 700, reduction tendon 800, or fourth tendon 530). Outer sleeve 1212 is elastic, facilitating shaping of sleeve 1210. It also has a certain degree of hardness, minimizing deformation of sleeve 1210 when subjected to external forces, thereby protecting the tendons within inner sleeve 1211 and reducing compression.

[0102] Exemplarily, the material of the inner sleeve 1211 may be Teflon, and the material of the outer sleeve 1212 may be metal, such as stainless steel, aluminum, etc.

[0103] In some embodiments, as Figures 24 to 27As shown, the side swing assembly 200 has a second axial hole 2001 extending along the second axis L2, the first phalanx 400 has a third axial hole 4001 extending along the second axis L2 and a fourth axial hole 4002 extending along the third axis L3, and the interphalangeal phalanx assembly 500 has a fifth axial hole 5001 extending along the third axis L3. The dexterous thumb 10 also includes a first spindle 1300, a second spindle 1400, a first magnetic member 1500, a second magnetic member 1600, and an integrated sensor 1700. The first spindle 1300 passes through the second axial hole 2001 and the third axial hole 4001, and is connected to the third axial hole 4001, rotating with the first phalanx 400. The second spindle 1400 passes through the fourth axial hole 4002 and the fifth axial hole 5001, and is connected to the fifth axial hole 5001, rotating with the interphalangeal phalanx assembly 500. The first magnetic member 1500 is disposed at the end of the first core shaft 1300 and is coaxially arranged with the first core shaft 1300. The second magnetic member 1600 is disposed at the end of the second core shaft 1400 and is coaxially arranged with the second core shaft 1400. The integrated sensor 1700 is connected to the first finger joint 400 and includes a first sensing portion 1710 and a second sensing portion 1720. The first sensing portion 1710 is coaxially arranged 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 arranged with the second magnetic member 1600 and is configured to detect the absolute position of the second magnetic member 1600.

[0104] The first sensing unit 1710 detects the absolute position of the first magnetic member 1500 to detect the rotation angle of the first knuckle 400 . The second sensing unit 1720 detects the absolute position of the second magnetic member 1600 to detect the rotation angle of the interphalangeal knuckle assembly 500 .

[0105] In addition, the integrated sensor 1700 is used to integrate the first sensing portion 1710 and the second sensing portion 1720 together, so that one output end of the integrated sensor 1700 can be connected to the control system to simplify the arrangement of the connection line of the output end of the integrated sensor 1700.

[0106] For example, the integrated sensor 1700 may 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 , and has accurate detection and is easy to install.

[0107] For example, Figure 25 and Figure 27As shown, the second knuckle 510 of the interphalangeal knuckle assembly 500 has a sixth axial hole 5104 extending along the sixth axis L6, and the third knuckle 520 of the interphalangeal knuckle assembly 500 has a seventh axial hole 5201 extending along the sixth axis L6. The dexterous thumb 10 also includes a fourth spindle 3000, a third magnetic member 3100, and a first sensor 3200. The fourth spindle 3000 is inserted through the sixth axial hole 5104 and the seventh axial hole 5201 and is connected to the seventh axial hole 5201, rotating with the third knuckle 520. The third magnetic member 3100 is disposed at the end of the fourth spindle 3000 and is coaxial with the fourth spindle 3000. The first sensor 3200 is connected to the third knuckle 520 and coaxial with the third magnetic member 3100. It is configured to detect the absolute position of the third magnetic member 3100 to detect the rotation angle of the third knuckle 520.

[0108] For example, the first sensor 3200 may be a Hall sensor. The first sensor 3200 uses the Hall principle to detect the absolute position of the third magnetic component 3100 , and has accurate detection and is easy to install.

[0109] For example, Figure 5 and Figure 6 As shown, the dexterous 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 core shaft portion 2110 of the first rotating shaft 210 and is coaxially disposed with the core shaft portion 2110. The second sensor 3400 is connected to the mounting body 110 of the mounting assembly 100 and is coaxially disposed with the core shaft portion 2110. The second sensor 3400 is configured to detect the absolute position of the second sensor 3400 to detect the rotation angle of the lateral swing assembly 200.

[0110] For example, the second sensor 3400 may be a Hall sensor. The second sensor 3400 uses the Hall principle to detect the absolute position of the fourth magnetic member 3300 , and has accurate detection and is easy to install.

[0111] Figure 28 The figure shows a schematic diagram of the structure of the dexterous hand provided by an embodiment of the present disclosure. Figure 1 and Figure 28 As shown, the dexterous hand 1 comprises the dexterous hand thumb 10 and the palm base plate 20 mentioned in the above embodiment. The mounting assembly 100 of the dexterous hand thumb 10 is mounted on the palm base plate 20.

[0112] Exemplarily, the dexterous hand thumb 10 is the dexterous hand thumb, and the dexterous hand 1 can also 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 installed on the palm substrate 20.

[0113] Since the dexterous hand 1 includes the dexterous hand thumb 10 , the dexterous hand 1 has all the technical features and technical effects of the dexterous hand thumb 10 , which will not be described in detail here.

[0114] Figure 29 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 29 As 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.

[0115] Since the robot 11 includes the dexterous hand 1 , the robot 11 has all the technical features and technical effects of the dexterous hand 1 , which will not be described in detail here.

[0116] In the various embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form using bolts and nuts, screws, snaps, magnets, etc. In some connections, if there is no special requirement for a non-detachable connection form, a non-detachable connection may be achieved through welding, bonding, etc.

[0117] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0118] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0119] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0120] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0121] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection 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 includes: A mounting assembly capable of being mounted on the palm substrate, the mounting assembly having a first axial hole; The side swing assembly includes a first rotating shaft, the first rotating shaft is inserted into 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 the first drive 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 about 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 interphalangeal 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, a second end of the second tendon cord sequentially passes through the first axis, passes around a side of the second axis close to the palm side, and is connected to the first knuckle; a third tendon cord, a first end of which is connectable to a third drive assembly, a second end of which sequentially passes through the first axis, the second axis, and around a side of the third axis close to the palm side, and is connected to the interphalangeal knuckle assembly; a reset tendon cord, wherein a first end of the reset tendon cord is connectable to the reset drive assembly, and a second end of the reset tendon cord is connected to a side wall of the first rotating shaft; 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 about 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, wherein the first tendon rope and the reset tendon rope are respectively wound around the annular guide groove in opposite directions.

2. The dexterous thumb of claim 1, wherein: After the second end of the first tendon is connected to the side wall of the first rotating shaft, it is wound around the side wall of the first rotating shaft in a counterclockwise or clockwise direction along the circumference of the first rotating shaft; In which, when the second end of the first tendon rope is wrapped 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 wrapped 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 wrapped 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 wrapped 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, wherein: 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, wherein: The first connecting structure is located on the outer side surface of the wheel portion and is at least partially located in the annular guide groove.

5. The dexterous thumb of claim 4, characterized in that: The installation components include: The mounting body has the first shaft hole and the first guide hole; a first guide wheel rotatably connected to the mounting body about a fourth axis and close to the first tendon cord, 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 body about a fifth axis and close to the reset tendon cord, 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 interphalangeal knuckle assembly comprises: a second finger joint, rotatably connected to the first finger joint about 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, a first end of which is connectable to a fourth drive assembly, a second end of which sequentially passes through the first axis, the second axis, the third axis, and 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 about 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, wherein: The dexterous thumb further comprises: a first elastic member, wherein 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 knuckle, the first connecting portion is located on the second axis close to the back of the hand, and the second connecting 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 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 third axis close to the back of the hand, and the fourth connecting portion is located on the sixth axis close to the back of the hand; Wherein, in the case where the dexterous hand thumb further includes a fourth tendon cord, the dexterous hand 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 knuckle, the second end of the third elastic member is connected to the third knuckle, 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 further comprises: a plurality of tendon cord sleeve assemblies, wherein the first ends of at least three of the tendon cord 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 is then connected to the first drive 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 is then connected to the second drive 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 is then connected to the third drive assembly.

9. The dexterous thumb of claim 8, wherein: The tendon sleeve assembly comprises: a sleeve for passing the first tendon cord, the second tendon cord or the third tendon cord; 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, wherein: The sleeve comprises: an inner sleeve for passing the first tendon cord, the second tendon cord or the third tendon cord; 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 shaft hole extending along the second axis, the first finger joint has a third shaft hole extending along the second axis and a fourth shaft hole extending along the third axis, and the inter-finger joint assembly has a fifth shaft hole extending along the third axis; The dexterous thumb further comprises: a first core shaft passing through the second shaft hole and the third shaft hole, and connected to the third shaft hole, and rotating with the first finger joint; a second core shaft, passing through the fourth shaft hole and the fifth shaft hole, and connected to the fifth shaft hole, and rotating with the interphalangeal knuckle assembly; a first magnetic member, disposed at an end of the first core shaft and coaxially disposed with the first core shaft; a second magnetic member, disposed at an end of the second core shaft and 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 assembly of the dexterous thumb is mounted on the palm substrate.

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

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