Dexterous hand thumb

Abstract

A dexterous hand thumb comprises a bending module and a knuckle module, and the bending module drives the knuckle module to unbend and bend. The bending module comprises a bending motor and a bending speed reducer which are arranged in parallel; the bending motor is meshed with the front end of the bending speed reducer through gear transmission and is fixed through an adapter flange; the rear end of the bending module is rotationally connected with the rear end of the knuckle module; a protruding rotating shaft mounting part is arranged at the front end of the adapter flange, and the circumferential size of the rotating shaft mounting part is smaller than that of the bending module; the knuckle module comprises at least two middle knuckle units and a base knuckle unit which are rotationally connected; the middle knuckle unit is rotationally connected with the front end of the rotating shaft mounting part, so that the middle knuckle unit can rotate around the front end of the rotating shaft mounting part. The dexterous hand thumb is simple in structure, the size of the thumb is reduced, and meanwhile the self-locking performance and the wrapping degree of the thumb are improved.

Description

Technical Field

[0001] This application relates to the technical field of dexterous robotic hands, and particularly to a thumb of a dexterous hand. Background Art

[0002] A dexterous hand is a robotic end effector that mimics the structure and functions of the human hand, featuring high degrees of freedom, precise operation, and adaptive grasping capabilities, and is widely used in industrial manufacturing, medical surgery, home services, space exploration, etc.

[0003] A five-finger dexterous hand includes a thumb, an index finger, a middle finger, a ring finger, a little finger, and a palm. The thumb among them occupies the main position in the design of the dexterous hand. Since the thumb structure usually adopts an independent design, its internal transmission structure and drive structure are complex, making it difficult to reduce the size of the thumb. In existing designs, in order to ensure the harmony between the thumb and the whole hand, a two-joint thumb is generally adopted, which to a certain extent reduces the wrapping degree and sensitivity of the five-finger dexterous hand in actions that require the participation of the thumb, such as grasping, holding, and pinching. Therefore, there is an urgent need for a design that can reduce the size of the thumb while improving the flexibility of the thumb. At the same time, the problem of the existing thumb without power-off self-locking performance is also solved. Summary of the Invention

[0004] To solve the deficiencies of the prior art, the purpose of this application is to provide a thumb of a dexterous hand, which reduces the length and circumferential size of the thumb, improves the self-locking performance, and increases the wrapping degree of the dexterous hand.

[0005] To achieve the above purpose, this application provides a thumb of a dexterous hand, which includes a bending module and a phalanx module. The bending module drives the phalanx module to extend and bend; The bending module includes a bending motor and a bending reducer arranged in parallel; The front ends of the bending motor and the bending reducer are meshed through gear transmission and fixed through an adapter flange; The rear end of the bending module is rotatably connected to the rear end of the phalanx module; The front end of the adapter flange is provided with a protruding shaft installation part, and the circumferential size of the shaft installation part is smaller than the circumferential size of the bending module; The phalanx module includes at least two middle phalanx units and a base phalanx unit that are rotatably connected; The middle phalanx unit is rotatably connected to the front end of the shaft installation part, so that the middle phalanx unit can rotate around the front end of the shaft installation part.

[0006] Further, the base phalanx unit includes a base phalanx pull rod and a base phalanx bracket, The front end of the base phalanx pull rod is rotatably connected to the base phalanx bracket through a pull rod shaft, and the rear end of the base phalanx pull rod is rotatably connected to the middle phalanx unit; The front end of the base phalanx bracket is rotatably connected to the rear end of the bending module.

[0007] Further, the middle phalanx unit includes a bending rod and a fork rod. There are two bending rods, which are respectively located on both sides of the bending module. The tail end of the bending rod is rotatably connected to the base phalanx unit, and the bending part of the bending rod and the tail end of the fork rod are respectively rotatably connected to the rotating shaft mounting part. The front ends of the bending rods are respectively rotatably connected to the fingertip sensor flange.

[0008] Further, a set of first bending rod rotating shaft mounting holes and a set of first fork rod rotating shaft mounting holes are staggeredly arranged between the front ends of the rotating shaft mounting parts; there is a step difference between the outer hole surfaces of the first fork rod rotating shaft mounting holes and the outer hole surfaces of the first bending rod rotating shaft mounting holes.

[0009] Further, the bending parts of the two bending rods are respectively placed outside the two side walls of the rotating shaft mounting part, and the bending parts of the bending rods are rotatably connected to the rotating shaft mounting part through the first bending rod rotating shaft mounting holes. The tail end of the fork rod is placed inside the two side walls of the rotating shaft mounting part and is rotatably connected to the rotating shaft mounting part through the first fork rod rotating shaft mounting holes.

[0010] Further, the front end of the fork rod is provided with two side walls, and the fingertip sensor flange is respectively provided with a second fork rod rotating shaft mounting hole and a second bending rod rotating shaft mounting hole. The two bending rods are located on both sides of the fingertip sensor flange, and the front ends of the bending rods are rotatably connected to the fingertip sensor flange through the second bending rod rotating shaft mounting holes. The fork rod is located between the two bending rods, and the two side walls at the front end of the fork rod are located on both sides of the fingertip sensor flange and are rotatably connected to the fingertip sensor flange through the second fork rod rotating shaft mounting holes.

[0011] Further, the bending module further includes: a bending worm, a bending turbine, a motor flange, and a base phalanx rotating shaft, where: The bending reducer rotating shaft is fixedly connected to the bending worm, the bending worm meshes with the bending turbine, the bending turbine is fixedly connected to the base phalanx bracket, the base phalanx rotating shaft passes through the bending turbine, the motor flange, and the base phalanx bracket. Among them, the base phalanx rotating shaft is fixedly connected to the bending turbine and the base phalanx bracket, the base phalanx rotating shaft is rotatably connected to the motor flange, and the bending assembly can rotate around the base phalanx rotating shaft. A limit bar is arranged on the motor flange, and when the finger joint module is in the straightened state, the limit bar contacts the base finger joint bracket to limit its continued movement.

[0012] Furthermore, it also includes a swing module, which is transmission-connected to the bending module through a thumb flange, a swing turbine, a swing worm, and a base knuckle bracket to drive the entire thumb to swing around the swing turbine shaft.

[0013] Furthermore, it also includes a touch module, and the touch module also includes: A fingertip sensor, a palm circuit board, and a touch signal transmission unit connecting the fingertip sensor and the palm circuit board, wherein the touch signal transmission unit includes: A rigid-flex circuit board that connects the fingertip sensor cable, the bending cable, and the motor's three wires; The hard-soft circuit board comprises a plurality of hard functional boards and a soft board electrically connected to the hard functional boards, and the hard functional boards are respectively mounted on the side walls of the bending module; The hard functional board comprises: a second hard functional board located at the front end of the bending module, wherein a sensor cable socket is provided on the second hard functional board, and the sensor cable socket is electrically connected to the fingertip sensor through the fingertip sensor cable; A first hard functional board and a fourth hard functional board are located on both sides of the bending module and are attached to the bending module, and a cable lead-out end is respectively provided on the first hard functional board and the fourth hard functional board, and the cable lead-out end faces the palm circuit board and is electrically connected to the palm circuit board through a bending cable; A third hard functional board is located at the tail end of the bending motor, and a motor three-phase line interface is arranged on the third hard functional board. The motor three-phase line interface is electrically connected to the bending motor three-phase line at the tail end of the bending motor.

[0014] Furthermore, arc-shaped grooves are provided at the corners of the outer side walls of the bending motor and the bending reducer, so that the soft board part of the soft-hard combined circuit board fits in the arc-shaped grooves.

[0015] Furthermore, the touch signal transmission unit also includes A fingertip sensor cable stopper and a fingertip sensor cable cover plate located between the fingertip sensor and the hard-flexible circuit board; A curved cable pressing block, a curved cable guiding block, an arc-shaped wiring hole, and a curved cable pressing block assembly located between the rigid-flexible circuit board and the palm circuit board; The bending cable pressing block is arranged on a side of the motor flange close to the bending motor and the bending reducer; The curved cable guide block is fixed on the motor flange; The arc-shaped wire routing hole is arranged on the outer wall of the base phalanx bracket; The curved cable is introduced between the two outer walls of the base phalanx bracket by the curved cable pressing block, the curved cable guide block and the arc-shaped wire routing hole and is arranged along the curved turbine surface of the bending module, and is tightly fixed to the lower part of the base phalanx bracket by the curved cable pressing block assembly.

[0016] The dexterous hand thumb provided by this application adopts a worm and worm gear + connecting rod mechanism, which improves the self-locking performance and wrapping degree of the dexterous hand; the motor and the reducer are arranged side by side, reducing the length dimension of the reduction motor and shrinking the thumb length dimension; the front end shells of the motor and the reducer are combined with part of the connecting rod to form an integral body, reducing the thumb length and circumferential dimension; using a flexible-rigid printed circuit board reduces the number of circuit boards and connectors, saves circuit board space and reduces the size.

[0017] Other features and advantages of this application will be described in the subsequent specification, and part of them will become obvious from the specification, or be understood by implementing this application. Brief Description of the Drawings

[0018] The drawings are used to provide a further understanding of this application, and constitute a part of the specification. Together with the embodiments of this application, they are used to explain this application and do not constitute a limitation to this application. In the drawings: Figure 1 FIG. is a three-dimensional structural schematic diagram of the dexterous hand thumb according to the embodiment of this application; Figure 2 FIG. is a three-dimensional structural schematic diagram of the bending module according to the embodiment of this application; Figure 3 FIG. is a cross-sectional view of the bending module according to the embodiment of this application; Figure 4 FIG. is a structural schematic diagram of the flexible-rigid printed circuit board according to the embodiment of this application; Figure 5 FIG. is a connection schematic diagram of the bending module and the flexible-rigid printed circuit board according to the embodiment of this application; Figure 6 FIG. is a structural schematic diagram of the wire routing part according to the embodiment of this application; Figure 7 FIG. is a schematic diagram of the arc-shaped wire routing hole according to the embodiment of this application; Figure 8 FIG. is a schematic diagram of the arc-shaped wire routing of the fingertip sensor cable and the curved cable according to the embodiment of this application; Figure 9 FIG. is a structural schematic diagram of the curved cable pressing block according to the embodiment of this application; Figure 10Schematic diagram of a bent cable guiding block structure according to an embodiment of the present application; Figure 11 Schematic diagram of a swing module structure according to an embodiment of the present application; Figure 12 Schematic diagram of the state of the thumb of a dexterous hand according to an embodiment of the present application; Figure 13 Schematic diagram of the swing and bending of the thumb of a dexterous hand according to an embodiment of the present application.

[0019] Reference numerals: Bending module: 101 - bending motor, 102 - bending reducer, 103 - adapter flange, 104 - motor flange, 105 - base phalanx rotating shaft, 106 - turbine cover plate, 107 - housing fixing block, 108 - circuit board cover plate, 109 - mounting flange, 110 - output shaft of the bending reducer, 111 - mounting hole for the first fork rod rotating shaft, 112 - mounting hole for the first bent rod rotating shaft, 113 - three-phase wire of the bending motor, 114 - encoder magnetic bead, 115 - arc-shaped slot, 116 - bending motor shaft, 117 - bending worm, 118 - bending turbine; 201 - base phalanx pull rod, 202 - base phalanx bracket, 203 - pull rod rotating shaft, 204 - mounting hole for the pull rod rotating shaft; 301 - bent rod, 302 - fork rod; 401 - fingertip sensor flange, 402 - mounting hole for the second fork rod rotating shaft, 403 - mounting hole for the second bent rod rotating shaft, 404 - fingertip sensor connector; 501 - rigid-flexible printed circuit board, 502 - bent cable pressing block, 503 - bent cable guiding block, 504 - bent cable pressing block assembly, 505 - tactile cable stop block, 506 - tactile cable cover plate, 507 - arc-shaped wire routing hole; 510 - first rigid function board, 511 - thumb control module, 512 - voltage regulation module, 513 - cable lead-out end, 514 - second rigid function board, 515 - sensor cable socket, 516 - third rigid function board, 517 - encoder chip, 518 - motor three-phase wire interface, 519 - fourth rigid function board, 520 - encoder flange; 521 - pressing block wire routing groove; 531 - guiding block wire routing groove, 532 - guiding mechanism; 601 - swing motor assembly, 602 - swing worm, 603 - thumb flange, 604 - thumb flange cover plate, 605 - swing turbine rotating shaft, 606 - bushing, 607 - limit screw, 608 - swing turbine. Detailed implementation manners

[0020] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not intended to limit the present application.

[0021] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the protection scope of the present application.

[0022] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] It should be noted that concepts such as "first" and "second" that may be mentioned in the present application are only used to distinguish different devices, components or parts, and are not intended to limit the order or interdependence of the functions performed by these devices, components or parts.

[0024] It should be noted that the modifications of "one" and "multiple" that may be mentioned in the present application are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more". "Multiple" should be understood as two or more.

[0025] The dexterous thumb of the present application includes: a bending module and a phalanx module, where: The bending module drives the phalanx module to straighten and bend; The bending module includes a bending motor and a bending speed reducer arranged in parallel; The front ends of the bending motor and the bending speed reducer are meshed through gear transmission and fixed through an adapter flange; The rear end of the bending module is rotatably connected to the rear end of the phalanx module; The front end of the adapter flange is provided with a protruding shaft mounting portion, and the circumferential dimension of the shaft mounting portion is smaller than the circumferential dimension of the bending module; The phalanx module includes at least two rotatably connected middle phalanx units and a base phalanx unit; The middle phalanx unit is rotatably connected to the front end of the shaft mounting portion, so that the middle phalanx unit can rotate around the front end of the shaft mounting portion.

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the implementation manners of this application in detail with reference to the accompanying drawings.

[0027] Embodiment 1 Figure 1 It is a schematic three-dimensional structure diagram of the thumb of a dexterous hand according to an embodiment of this application. Figure 2 It is a schematic three-dimensional structure diagram of a bending module according to an embodiment of this application. Figure 3 It is a cross-sectional view of the bending module according to an embodiment of this application. As Figures 1 - 3 shown, the bending module of the thumb of the dexterous hand in the embodiment of this application includes: a bending motor 101, a bending reducer 102, a transition flange 103, a motor flange 104, a base phalanx rotating shaft 105, a turbine cover plate 106, a housing fixing block 107, a circuit board cover plate 108, a mounting flange 109, a bending reducer output shaft 110, a first fork rod rotating shaft mounting hole 111, a first bent rod rotating shaft mounting hole 112, a three-phase wire 113 of the bending motor, an encoder magnetic bead 114, an arc-shaped slot 115, a bending motor shaft 116, a bending worm 117, and a bending turbine 118.

[0028] In the embodiment of this application, the bending motor 101 and the bending reducer 102 of the bending module are arranged in parallel. The front ends (thumb direction ends) of the bending motor 101 and the bending reducer 102 are engaged through gear transmission and are fixedly installed together through the transition flange 103 in terms of structure.

[0029] The transition flange 103 is flush with the outer shell of the bending motor assembly composed of the bending motor 101 and the bending reducer 102.

[0030] A rotating shaft installation part is prominently provided at the front end of the transition flange 103. The rotating shaft installation part is flush with the side surface of the motor, maximizing the reduction of the circumferential dimension of the thumb. On the front end two side walls of the rotating shaft installation part, a group of first fork rod rotating shaft mounting holes 111 and a group of first bent rod rotating shaft mounting holes 112 are respectively provided, rotatably connecting the bending module and the link assembly, reducing the number of parts, saving the mechanism space, making the entire bending module compact and small, and reducing the circumferential and lengthwise dimensions of the thumb.

[0031] The first fork rod rotating shaft mounting hole 111 and the first bent rod rotating shaft mounting hole 112 have a step on the outer sides of the two side walls of the rotating shaft installation part to prevent the bent rod 301 from rubbing against the rotating shaft of the first fork rod rotating shaft mounting hole when rotating. The middle phalanx unit is rotatably connected to the front end of the rotating shaft installation part, enabling the middle phalanx unit to rotate around the front end of the rotating shaft installation part.

[0032] An encoder magnetic bead 114 is installed on the rear output shaft of the bending motor shaft 116 of the bending motor 101. The rotation of the motor shaft can drive the encoder magnetic bead 114 to rotate, providing a rotating magnetic field for the encoder.

[0033] After the output shaft of the bending motor shaft 116 of the bending motor 101 is bent, it is placed on the same side as the output shaft 110 of the bending reducer 102 of the bending reducer. An installation flange 109 for installing the bending worm 117 is provided at the rear end (away from the thumb direction) of the bending reducer 102.

[0034] The output shaft 110 of the bending reducer 102 is fixedly connected to one side of the bending worm 117, and the output shaft 110 of the bending reducer drives the bending worm 117 to rotate together.

[0035] The bending worm 117 meshes with the bending worm gear 118, causing the bending module and the bending worm 117 to rotate around the center of the bending worm gear 118, that is, the bending rotation of the thumb.

[0036] On both sides of the bending worm 117, support bearings (thrust bearings) installed on the motor flange 104 provide support for the rotation of the worm gear.

[0037] A soft limit strip is installed on the motor flange 104. When the thumb is in the straight state, the limit strip contacts the proximal phalanx bracket 202 to limit its further movement. The soft limit strip is made of urethane rubber material to avoid rigid collision, reduce impact and extend service life.

[0038] The bending worm gear 118 is fixedly connected to the proximal phalanx rotating shaft 105; The motor flange 104 is rotatably connected to the proximal phalanx rotating shaft 105, so that the motor flange 104 drives the bending assembly to rotate around the proximal phalanx rotating shaft 105.

[0039] The proximal phalanx bracket 202 is fixedly connected to the proximal phalanx rotating shaft 105. There is a bushing between the proximal phalanx rotating shaft 105 and the proximal phalanx bracket 202 to provide support and positioning, reducing the rotation resistance.

[0040] On the proximal phalanx bracket 202, a pull rod rotating shaft installation hole 204 is provided. One end of the proximal phalanx bracket 202 and the proximal phalanx pull rod 201 are rotatably connected through the pull rod rotating shaft 203 and the pull rod rotating shaft installation hole 204.

[0041] In the embodiment of the present invention, 2 proximal phalanx pull rods 201 are symmetrically arranged on both sides of the proximal phalanx bracket 202, and the bending module is arranged between the 2 proximal phalanx pull rods 201.

[0042] The proximal phalanx pull rod 201, the proximal phalanx bracket 202 and the pull rod rotating shaft 203 constitute the proximal phalanx unit of the embodiment of the present application.

[0043] The other end of the proximal phalanx pull rod 201 is rotatably connected to the middle phalanx unit.

[0044] The middle phalanx unit of the embodiment of the present application includes a bending rod 301 and a fork rod 302. One end of the bending rod 301 is rotatably connected to the other end of the base phalanx pull rod 201.

[0045] In the embodiment of the present application, there are two bending rods 301, which respectively correspond to the two base phalanx pull rods 201 and are located on both sides of the rotating shaft installation part of the adapter flange 103.

[0046] The bending part of the bending rod 301 is rotatably connected to the rotating shaft installation part of the adapter flange 103 through the first bending rod rotating shaft installation hole 112, so that the bending rod 301 can rotate around the rotating shaft of the first bending rod rotating shaft installation hole 112.

[0047] The other end of the bending rod 301 is rotatably connected to the fingertip sensor flange 401 through the second bending rod rotating shaft installation hole 403, so that the bending rod 301 can rotate around the rotating shaft of the second bending rod rotating shaft installation hole 403. It can be understood that the two bending rods 301 are also respectively located on both sides of the fingertip sensor flange 401 and are rotatably connected to the fingertip sensor flange 401.

[0048] The fork rod 302 is arranged between the two bending rods 301. One end is installed in the middle of the two side walls of the rotating shaft installation part through the first fork rod rotating shaft installation hole 111 and is rotatably connected to the rotating shaft installation part of the adapter flange 103. The two side walls of the other end are located outside the fingertip sensor flange and are rotatably connected to the fingertip sensor flange 401 through the second fork rod rotating shaft installation hole 402, so that the fork rod 302 can rotate around the rotating shafts of the first fork rod rotating shaft installation hole 111 and the second fork rod rotating shaft installation hole 402.

[0049] In the embodiment of the present invention, when the bending module works, the base phalanx pull rod 201 and the bending rod 301 are pulled to realize the bending rotation of the thumb.

[0050] The fingertip sensor flange 401 is provided with a fingertip sensor connector 404 and screw holes for installing and fixing the fingertip sensor.

[0051] Preferably, a snap ring groove for installing a snap ring is provided on the rotating shaft of the base phalanx bracket 202, which can realize the axial positioning of the rotating shaft and the connecting rod.

[0052] The phalanx module of the present application at least includes a middle phalanx unit and a base phalanx unit that are rotatably connected, and the bending module is used to drive the phalanx module to straighten and bend.

[0053] In the embodiment of the present application, the turbine cover plate 106 is arranged on the bending worm wheel 118.

[0054] The housing fixing block 107 and the circuit board cover plate 108 are respectively arranged on the outer side wall of the bending motor 101.

[0055] The three-phase line 113 of the bending motor is located at the rear end of the bending motor 101 and is used to provide power supply for the bending motor 101.

[0056] An arc-shaped slot 115 is also provided at the corner of the outer side wall of the bending motor 101, so that the flexible part of the flexible-rigid combination circuit board 501 fits into the arc-shaped slot 115, further reducing the circumferential dimension of the thumb.

[0057] Preferably, the dexterous hand thumb of the embodiment of the present application further includes a touch control module.

[0058] The touch control module of the present application includes: a fingertip sensor, a palm circuit board (not shown in the figure), and a touch signal transmission unit connecting the fingertip sensor and the palm circuit board, wherein, The touch signal transmission unit includes: a flexible-rigid combination circuit board 501 connecting the fingertip sensor cable, the bending cable and the three-phase motor line.

[0059] Figure 4 For the schematic diagram of the flexible-rigid combination circuit board structure according to the embodiment of the present application, as Figure 4 shown, the flexible-rigid combination circuit board 501 of the present application includes: a plurality of rigid function boards and a flexible board electrically connecting the rigid function boards, The rigid function boards are respectively installed on the side walls of the bending module, and the rigid function boards include a first rigid function board 510, a second rigid function board 514, a third rigid function board 516 and a fourth rigid function board 519.

[0060] The first rigid function board 510, the second rigid function board 514, the third rigid function board 516 and the fourth rigid function board 519 are electrically connected through the flexible board.

[0061] The first rigid function board 510 fits on one side of the bending module and is equipped with a thumb control module 511, a voltage regulation module 512, and a cable lead-out end 513.

[0062] The fourth rigid function board 519 fits on the other side of the bending module and is equipped with a cable lead-out end 513.

[0063] The cable lead-out end 513 faces the direction of the palm circuit board and is electrically connected to the palm circuit board through a bending cable. The cable lead-out end 513 leads out the power supply and sensor signals of the flexible-rigid combination circuit board 501 through the cable and transmits them to the palm main control board. The scheme of arranging the cable lead-out end 513 from both sides of the bending module reduces the number of cables on one side and relieves the wiring pressure. The second rigid function board 514 fits on the front side of the bending module and is equipped with a sensor cable socket 515. The sensor cable socket 515 is connected to the fingertip sensor through a fingertip sensor cable.

[0064] The third rigid function board 516 is attached to the tail end of the bending motor 101, and an encoder chip 517 and a motor three-phase wire interface 518 are installed.

[0065] The motor three-phase wire interface 518 is electrically connected to the bending motor three-phase wire 113 at the tail end of the bending motor 101 to provide a control signal for the bending motor 101.

[0066] In the embodiment of the present application, multiple rigid function boards of the rigid-flex circuit board 501 are respectively attached to the outer side walls of the bending motor 101 and the bending reducer 102, the flexible board is attached to the upper plane, the outer side, and the corners at the front and rear ends of the bending motor assembly, reducing the circumferential dimension of the thumb.

[0067] The cable lead-out end 513 faces the direction of the palm circuit board, which not only shortens the length of the bending cable but also makes the wiring more regular, further reducing the circumferential dimension of the thumb.

[0068] The motor three-phase wire interface 518 is arranged on the third rigid function board 516, making the distance between the motor three-phase wire interface 518 and the bending motor three-phase wire 113 at the tail end of the bending motor 101 the closest, further reducing the circumferential dimension of the thumb.

[0069] In the embodiment of the present application, the rigid-flex circuit board 501 is produced and processed as a whole, saving the number of connectors between boards, saving space, and being able to be bent at the flexible board to achieve flexible layout and improve space utilization.

[0070] Figure 5 For the connection schematic diagram of the bending module and the rigid-flex circuit board according to the embodiment of the present application, as Figure 5 shown, the rigid-flex circuit board 501 connects four rigid function boards with different functions (the first rigid function board 510, the second rigid function board 514, the third rigid function board 516, and the fourth rigid function board 519) with a flexible board. Arc-shaped slots 115 are provided at the outer side wall corners of the bending motor 101 and the bending reducer 102, and the flexible board of the rigid-flex circuit board 501 is attached to the arc-shaped slots 115, which not only reduces the circumferential dimension of the thumb but also the arc-shaped slots can prevent the flexible board from breaking.

[0071] In the embodiment of the present application, an encoder flange 520 is provided between the end of the bending motor 101 and the third rigid function board 516 to stably fix the rigid-flex circuit board 501 on the bending motor 101.

[0072] The rigid-flex circuit board 501 is arranged by attaching to the bending motor assembly. The bending motor three-phase wire 113 is directly connected to the rigid-flex circuit board 501, and the line is the shortest. The encoder chip 517 is used to detect the magnetic field of the rotating magnetic bead and detect the motion state of the motor at all times.

[0073] In the embodiment of the present application, the rigid-flex circuit board 501 is processed as a whole, saving the number of connectors between boards, saving space, and enabling bending treatment at the soft board outlet to achieve flexible layout and improve space utilization rate.

[0074] The touch signal transmission unit of the present application further includes a tactile cable stopper 505 and a tactile cable cover 506 located between the fingertip sensor and the rigid-flex circuit board 501 to prevent the fingertip sensor cable from being scratched.

[0075] The touch signal transmission unit of the present application further includes a curved cable pressing block 502, a curved cable guiding block 503, an arc-shaped wire routing hole 507, and a curved cable pressing block assembly 504 located between the rigid-flex circuit board 501 and the palm circuit board.

[0076] Figure 6 It is a schematic diagram of the wire routing part structure according to the embodiment of the present application. Figure 7 It is a schematic diagram of the arc-shaped wire routing hole according to the embodiment of the present application. As Figure 6 and 7 shown, the curved cable pressing block 502 is arranged on the side of the motor flange 104 close to the bending motor assembly; the curved cable guiding block 503 is fixed on the motor flange 104; the arc-shaped wire routing hole 507 is arranged on the outer wall of the base phalanx bracket 202; the curved cable is introduced between the two outer walls of the base phalanx bracket 202 by the curved cable pressing block 502, the curved cable guiding block 503 and the arc-shaped wire routing hole 507 and is arranged along the surface of the bending turbine 118 of the bending module, and is pressed and fixed at the lower part of the base phalanx bracket by the curved cable pressing block assembly 504.

[0077] In the curved cable wire routing part of the present application, an arc-shaped wire routing hole 507 is arranged on the base phalanx bracket 202. The cable led out from the curved cable guiding block 503 enters the arc-shaped wire routing hole 507, is arranged and led out along the surface of the bending worm wheel 118, is pressed and fixed by the curved cable pressing block assembly 504, and the end is conductively connected to the palm circuit board.

[0078] Preferably, the curved cable is provided with a bending allowance in the bending worm wheel part to adapt to the length change of the cable during the thumb bending movement. The cable preferably uses wear-resistant and bend-resistant materials to improve the service life.

[0079] Figure 8 It is a schematic diagram of the arc-shaped wire routing of the fingertip sensor cable and the curved cable according to the embodiment of the present application. As Figure 8 shown, the fingertip sensor cable is located between the fingertip sensor and the rigid-flex circuit board 501, and the curved cable is located between the rigid-flex circuit board 501 and the palm circuit board, reducing the number of single-sided cables and relieving the wire routing pressure.

[0080] Figure 9 Schematic diagram of the bent cable pressing block structure according to an embodiment of the present application. As Figure 9 shown, the bent cable pressing block 502 of the embodiment of the present application is provided with a pressing block wire groove 521.

[0081] The cable led out from the cable lead-out end 513 of the rigid-flex printed circuit board 501 is arranged along the pressing block wire groove 521 and is pressed and fixed on the side surface of the bending motor 101 by the bent cable pressing block 502.

[0082] Figure 10 Schematic diagram of the bent cable guiding block structure according to an embodiment of the present application. As Figure 10 shown, the bent cable guiding block 503 of the embodiment of the present application is provided with a guiding block wire groove 531 and a guiding mechanism 532.

[0083] In the embodiment of the present application, the bent cable enters the bent cable guiding block 503 after being led out from the wire groove 521 of the bent cable pressing block 502. Under the guiding action of the guiding block wire groove 531 and the guiding mechanism 532, the bent cable routing is more regular and there is no phenomenon of random running.

[0084] Preferably, the dexterous hand thumb of the embodiment of the present application further includes a swinging module.

[0085] Figure 11 Schematic diagram of the swinging module structure according to an embodiment of the present application. As Figure 11 shown, the swinging module of the present application includes: a swinging motor assembly 601, a swinging worm 602, a thumb flange 603, a thumb flange cover plate 604, a swinging turbine rotating shaft 605, a bushing 606, a limit screw 607, and a swinging turbine 608, wherein: The swinging turbine 608 is installed on the base phalanx bracket 202 through the swinging turbine rotating shaft 605. The swinging turbine 608 can rotate around the swinging turbine rotating shaft 605, so that the swinging module can drive the entire thumb to swing around the swinging turbine rotating shaft 605.

[0086] The output shaft of the swinging motor assembly 601 is connected to the swinging worm 602 to drive the swinging worm 602 to rotate. The swinging turbine 608 meshes with the swinging worm 602, and the swinging worm 602 drives the swinging turbine 608 to rotate around the swinging turbine rotating shaft 605.

[0087] Both sides of the swinging worm 602 are provided with support bearings (preferably thrust bearings) installed on the thumb flange 603 to provide positioning and support for the rotation of the swinging worm 602.

[0088] A bushing 606 is installed on the swinging turbine rotating shaft 605. The inner ring of the bushing 606 is fitted with the swinging turbine rotating shaft 605, and the outer ring is fitted with the thumb flange 603. The bushing 606 provides positioning and support for the rotation of the swinging turbine 608. A plurality of (4) limit screws 607 are arranged on the outer side of the bushing 606 to limit the axial movement of the bushing.

[0089] Figure 12 Schematic diagram of the state of the dexterous hand thumb according to an embodiment of the present application, as Figure 12 shown, the straight state of the dexterous hand thumb in the embodiment of the present application is as Figure 12 in (a) of the figure, and the bent state is as shown in (b) of the figure.

[0090] In the straight state of the thumb, the bending worm 117 of the bending module rotates to drive the thumb to rotate around the base phalanx rotating shaft 105 of the bending turbine 118, and at the same time drives the base phalanx connecting rod 201 to rotate around the pull rod rotating shaft 203. The rotation of the base phalanx connecting rod 201 drives the bending rod 301 and the fork rod 302 to rotate around the first bending rod rotating shaft mounting hole 112 and the first fork rod rotating shaft mounting hole 111 respectively, realizing the bending of the thumb.

[0091] Figure 13 Schematic diagram of the swinging and bending of the dexterous hand thumb according to an embodiment of the present application, as Figure 13 shown, for the dexterous hand thumb in the embodiment of the present application, the worm and worm gear are driven by the bending module, and then the connecting rod assembly is driven to realize the bending and straightening of the thumb. The worm and worm gear are driven by the swinging module to make the thumb swing around the swinging turbine rotating shaft 605.

[0092] In the embodiment of the present application, the bending and swinging of the dexterous hand thumb both adopt a worm and worm gear + connecting rod mechanism, which can improve the self-locking performance and increase the wrapping degree of the finger; by arranging the bending motor and the bending reducer side by side, the length dimension of the thumb can be reduced; the housing of the bending motor assembly is combined with part of the connecting rod to form a whole, reducing the length and circumferential dimension of the thumb; using a flexible and rigid combination circuit board reduces the number of circuit boards and connectors, saves circuit board space and reduces the size; avoids the cable from being scratched and pinched, and improves the service life of the robot.

[0093] The embodiment of the present application also provides a dexterous hand adopting the dexterous hand thumb structure of the above embodiment.

[0094] The embodiment of the present application also provides a robot including the dexterous hand of the above embodiment.

[0095] Those of ordinary skill in the art will understand that the foregoing is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A dexterous hand thumb, characterized in that, It includes a bending module and a knuckle module, and the bending module drives the knuckle module to extend and bend; The bending module includes a bending motor and a bending speed reducer arranged side by side; The front ends of the bending motor and the bending speed reducer are engaged through gear transmission and fixed through an adapter flange; The rear end of the bending module is rotatably connected to the rear end of the knuckle module; The front end of the adapter flange is provided with a protruding rotating shaft mounting portion, and the circumferential dimension of the rotating shaft mounting portion is smaller than the circumferential dimension of the bending module; The knuckle module includes at least two middle knuckle units and a base knuckle unit rotatably connected; The middle knuckle unit is rotatably connected to the front end of the rotating shaft mounting portion, so that the middle knuckle unit can rotate around the front end of the rotating shaft mounting portion.

2. The dexterous hand thumb according to claim 1, characterized in that, The base knuckle unit includes a base knuckle pull rod and a base knuckle bracket, The front end of the base knuckle pull rod is rotatably connected to the base knuckle bracket through a pull rod rotating shaft, and the rear end of the base knuckle pull rod is rotatably connected to the middle knuckle unit; The front end of the base knuckle bracket is rotatably connected to the rear end of the bending module.

3. The dexterous hand thumb according to claim 1, characterized in that, The middle knuckle unit includes a bending rod and a fork rod, There are two bending rods, which are respectively located on both sides of the bending module; The tail ends of the bending rods are rotatably connected to the base knuckle unit, and the bending parts of the bending rods and the tail ends of the fork rod are respectively rotatably connected to the rotating shaft mounting portion; The front ends of the bending rods and the front ends of the fork rod are respectively rotatably connected to a fingertip sensor flange.

4. The dexterous hand thumb according to claim 3, characterized in that, A group of first bending rod rotating shaft mounting holes and a group of first fork rod rotating shaft mounting holes are alternately arranged at the front end of the rotating shaft mounting portion; there is a step difference between the outer hole surfaces of the first fork rod rotating shaft mounting holes and the outer hole surfaces of the first bending rod rotating shaft mounting holes.

5. The dexterous hand thumb according to claim 4, characterized in that, The bending parts of the two bending rods are respectively placed outside the two side walls of the rotating shaft mounting portion, and the bending parts of the bending rods are rotatably connected to the rotating shaft mounting portion through the first bending rod rotating shaft mounting holes; The tail end of the fork rod is placed inside the two side walls of the rotating shaft mounting portion and is rotatably connected to the rotating shaft mounting portion through the first fork rod rotating shaft mounting holes.

6. The dexterous hand thumb according to claim 3, characterized in that, The front end of the fork rod is provided with two side walls, and the fingertip sensor flange is respectively provided with second fork rod rotating shaft mounting holes and second bending rod rotating shaft mounting holes; The two bending rods are located on both sides of the fingertip sensor flange, and the front ends of the bending rods are rotatably connected to the fingertip sensor flange through the second bending rod rotating shaft mounting holes; The fork rod is located between the two bending rods, and the two side walls at the front end of the fork rod are located on both sides of the fingertip sensor flange and are rotatably connected to the fingertip sensor flange through the second fork rod rotating shaft mounting holes.

7. The dexterous hand thumb according to claim 1, characterized in that, The bending module further includes: a bending worm, a bending turbine, a motor flange and a base knuckle rotating shaft, where: The bending reducer shaft is connected and fixed with the bending worm, the bending worm is meshed with the bending turbine, the bending worm wheel is fixedly connected with the base knuckle bracket, the base knuckle shaft passes through the bending turbine, the motor flange and the base knuckle bracket, wherein the base knuckle shaft is fixedly connected with the bending turbine and the base knuckle bracket, the base knuckle shaft is rotatably connected with the motor flange, and the bending assembly can rotate around the base knuckle shaft; A limit bar is arranged on the motor flange, and when the finger joint module is in the straightened state, the limit bar contacts the base finger joint bracket to limit its continued movement.

8. The dexterous hand thumb according to claim 1, characterized in that, It also includes a swing module, which is connected to the bending module through a thumb flange, a swing turbine, a swing worm, and a base knuckle bracket to drive the entire thumb to swing around the swing turbine shaft.

9. The dexterous hand thumb according to claim 1, characterized in that, It also includes a touch module, and the touch module also includes: A fingertip sensor, a palm circuit board, and a touch signal transmission unit connecting the fingertip sensor and the palm circuit board, wherein the touch signal transmission unit includes: A rigid-flex circuit board that connects the fingertip sensor cable, the bending cable, and the motor's three wires; The hard-soft circuit board comprises a plurality of hard functional boards and a soft board electrically connected to the hard functional boards, and the hard functional boards are respectively mounted on the side walls of the bending module; The hard functional board comprises: a second hard functional board located at the front end of the bending module, wherein a sensor cable socket is provided on the second hard functional board, and the sensor cable socket is electrically connected to the fingertip sensor through the fingertip sensor cable; A first hard functional board and a fourth hard functional board are located on both sides of the bending module and are attached to the bending module, and a cable lead-out end is respectively provided on the first hard functional board and the fourth hard functional board, and the cable lead-out end faces the palm circuit board and is electrically connected to the palm circuit board through a bending cable; A third hard functional board is located at the tail end of the bending motor, and a motor three-phase line interface is arranged on the third hard functional board. The motor three-phase line interface is electrically connected to the bending motor three-phase line at the tail end of the bending motor.

10. The dexterous hand thumb according to claim 9, characterized in that, Arc-shaped slots are arranged at the corners of the outer side walls of the bending motor and the bending reducer, so that the soft board part of the soft-hard combined circuit board fits in the arc-shaped slots.

11. The dexterous hand thumb according to claim 9, wherein The touch signal transmission unit also includes A fingertip sensor cable stopper and a fingertip sensor cable cover plate located between the fingertip sensor and the hard-flexible circuit board; A curved cable pressing block, a curved cable guiding block, an arc-shaped wiring hole, and a curved cable pressing block assembly located between the rigid-flexible circuit board and the palm circuit board; The bending cable pressing block is arranged on a side of the motor flange close to the bending motor and the bending reducer; The curved cable guide block is fixed on the motor flange; The arc-shaped wiring hole is arranged on the outer wall of the base knuckle bracket; The bent cable is introduced between the two outer walls of the base phalanx bracket by the bent cable pressing block, the bent cable guiding block and the arc-shaped wire routing hole and is arranged along the bending turbine surface of the bending module, and is tightly fixed to the lower part of the base phalanx bracket by the bent cable pressing block assembly.

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