Wrist integrated humanoid dexterous hand

Abstract

The invention provides a wrist integrated humanoid dexterous hand, and relates to the technical field of robots. The wrist joint connecting seat is mounted at the front end of the wrist shell through a first rotating shaft; the rear end of the palm shell is mounted on the wrist joint connecting seat through a second rotating shaft, and a plurality of line-driven flexible fingers are arranged at the front end of the palm shell; the finger driving module is mounted in the palm shell or the wrist shell and used for linearly driving the flexible fingers to move; the first driving module is mounted in the wrist shell and used for driving the palm shell to rotate around the first rotating shaft or the second rotating shaft so as to simulate a vertically-placed palm to move to the left side and the right side or the front side and the back side around the wrist joint; and the second driving module is mounted at the rear end of the wrist shell and is used for driving the wrist shell to rotate. The wrist has the advantages of being high in wrist flexibility, good in controllability and simple in structure.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a humanoid dexterous hand with an integrated wrist. Background Art

[0002] With the rapid development of science and technology, robotics has gradually matured and has been widely used in various fields. However, despite their excellent performance in many tasks, robots still face significant challenges in performing dexterous manipulation. Dexterous manipulation, such as grasping, assembly, and manufacturing, requires a high degree of precision and adaptability, which is very difficult for robots. Therefore, developing robots with human-like dexterous manipulation capabilities has become a hot topic of current research.

[0003] In recent years, with the rise of soft robotics, the design and research of flexible, anthropomorphic, and dexterous hands has become a focus of attention. Compared with traditional rigid robotic systems, flexible, anthropomorphic, and dexterous hands possess greater compliance and adaptability, enabling them to better adapt to complex environments and tasks. Furthermore, by replacing rigid joints with flexible structural designs, flexible, anthropomorphic, and dexterous hands can reduce the number of parts required for the dexterous hand mechanism, lowering manufacturing and maintenance costs while improving system reliability and maintainability.

[0004] The flexible and dexterous hands currently available on the market have low degrees of freedom in wrist rotation, making it difficult to achieve multi-angle grasping, resulting in poor flexibility; while the wrist adjustment mechanism of traditional rigid robots requires a large number of parts, takes up a large space, and has a more complicated control program. Summary of the Invention

[0005] In response to the deficiencies in the prior art, the present application provides a wrist-integrated humanoid dexterous hand.

[0006] The present application provides a wrist-integrated humanoid dexterous hand that adopts the following technical solutions: A wrist-integrated humanoid dexterous hand, comprising: wrist housing; A wrist joint connecting seat is mounted on the front end of the wrist housing via a first rotating shaft; A palm housing, the rear end of which is mounted on the wrist joint connection seat via a second rotating shaft, and the front end of which is provided with a plurality of line-driven flexible fingers; Finger drive module, installed inside the palm housing or wrist housing, used for line-driven flexible finger movement; A first driving module is installed inside the wrist housing and is used to drive the palm housing to rotate around the first rotation axis or the second rotation axis to simulate the movement of a vertically placed palm around the wrist joint to the left and right sides or the front and back sides; The second driving module is installed at the rear end of the wrist housing and is used to drive the wrist housing to rotate.

[0007] Furthermore, the first driving module includes: a fixing pin, fixedly mounted on the rear end of the palm housing, parallel to the second rotation axis and located on a side of the second rotation axis close to the palm center; A driving connecting rod, the first end of which is hinged to the fixing pin and the second end of which extends into the interior of the wrist housing, and two connecting rods are provided along the length direction of the fixing pin; The driving assembly is installed inside the wrist shell and is used to drive the two driving connecting rods to move simultaneously in a direction close to or away from the palm shell, or to drive the two driving connecting rods to move respectively in a direction close to and away from the palm shell.

[0008] Furthermore, the drive assembly includes a first steering gear, a second steering gear, a first steering wheel rotatably mounted on the first steering gear, and a second steering wheel rotatably mounted on the second steering gear, the first steering gear and the second steering gear being fixedly mounted inside the wrist housing, the first steering wheel and the second steering wheel being coplanar and spaced apart along the length direction of the fixing pin, and the second ends of the two drive connecting rods being hingedly connected to the first steering wheel and the second steering wheel, respectively; Among them, when in the initial position, the distance between the second ends of the two driving connecting rods and the fixed pin is the same, and the first servo and the second servo respectively drive the first steering wheel and the second steering wheel to rotate, so as to drive the two connecting rods to move in the same direction or different directions.

[0009] Furthermore, a first fisheye bearing is installed on the first end of the driving connecting rod, and a second fisheye bearing is installed on the second end. The first fisheye bearing is installed on the fixing pin, and the second fisheye bearing is installed on the first steering wheel or the second steering wheel.

[0010] Furthermore, the plurality of flexible fingers are respectively named thumb, index finger, middle finger, ring finger and little finger, wherein the thumb has two degrees of freedom of frontal bending and lateral swing, and the index finger, middle finger, ring finger and little finger each have one degree of freedom of frontal bending; The finger driving module includes a four-finger driving component and a thumb driving component. The four-finger driving component is used to drive the index finger, middle finger, ring finger and little finger to bend, and the thumb driving component is used to drive the thumb to bend along the front or along the side.

[0011] Furthermore, the four-finger driving assembly includes: a third steering gear, fixedly mounted inside the wrist housing, for driving a third steering wheel rotatably mounted thereon; The first tendon cords are provided with four pieces, and the first ends thereof are connected to the index finger, middle finger, ring finger and little finger respectively, and the second ends thereof converge at one point; The second tendon rope has a first end connected to the second end of the first tendon rope, and a second end fixed to the third steering wheel.

[0012] Furthermore, the thumb drive module includes: A thumb base, fixedly mounted on the front side of the palm housing; A thumb rotating seat, rotatably mounted on the thumb base; A forward bending drive assembly is provided inside the palm housing and is used to drive the thumb to bend along the front side; The lateral swing driving component is arranged inside the palm shell and is used for driving the thumb rotating seat to rotate so as to drive the thumb to bend laterally.

[0013] Furthermore, the forward bending drive assembly includes: A guide wheel rotatably mounted inside the palm housing; a fourth steering gear, fixedly mounted inside the palm housing, for driving a fourth steering wheel rotatably mounted thereon; a third tendon rope, a first end of which is connected to the thumb, and a second end of which passes around the guide wheel and is fixedly connected to the fourth steering wheel; The fourth steering engine drives the third steering wheel to rotate, so as to drive the third tendon rope to pull the thumb to bend in the positive direction.

[0014] Furthermore, the lateral swing drive assembly includes: a fifth steering gear, fixedly mounted inside the palm housing, for driving a fifth steering wheel rotatably mounted thereon; Two fourth tendon ropes are provided, the first ends of which are connected to the two ends of the thumb rotating seat respectively, and the second ends are wound around the circumference of the fifth steering wheel in opposite directions; The fifth steering engine drives the fifth steering wheel to rotate, thereby driving the fourth tendon rope to pull the thumb rotating seat to rotate.

[0015] Furthermore, the second driving module includes: a sixth steering gear, fixedly mounted on the inner side of the tail end of the wrist housing, for driving a sixth steering wheel rotatably mounted thereon; A connecting flange is provided on the outer side of the tail end of the wrist housing; The third rotating shaft has a first end coaxially fixedly connected to the connecting flange, and a second end coaxially connected to the sixth steering wheel.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. This application provides a wrist joint connector between the wrist housing and the palm housing. A first drive module drives the palm housing to rotate about a first or second rotation axis, respectively, to simulate the left-right or front-back movement of a vertically placed palm around the wrist joint. A second drive module drives the wrist housing to rotate horizontally, simulating horizontal rotation of the forearm. This allows the wrist of the dexterous hand of this application to have three degrees of freedom in three directions, significantly improving its flexibility. 2. The palm housing swings forward and backward by driving the two driving links simultaneously toward or away from the palm housing through the first and second servos. The palm housing rotates left and right by driving the two driving links toward and away from the palm housing. The connecting rods, driven by the servos, take up little space and can be stored inside the palm housing, resulting in a simple structure, fewer parts, easier control, and lower cost. 3. By installing fisheye bearings at both ends of the driving link, the driving link can adapt to the multi-angle movement of the palm shell, including complex angles such as left front, right front, left back, and right back, further improving the flexibility of the dexterous hand; 4. The flexible fingers are driven to bend by tendon ropes and motors to achieve grasping actions, and the thumb can achieve forward bending and lateral swing through the forward bending drive component and the lateral swing drive component respectively, which improves the shape adaptability of the dexterous hand and enhances the manipulation ability of the whole hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a front schematic diagram of the overall structure of an embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the back side of the overall structure of an embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of the connection between the wrist housing and the wrist joint connecting seat in an embodiment of the present application.

[0021] Figure 4 This is a schematic structural diagram of the wrist joint connecting seat before the bearing is installed in the embodiment of the present application.

[0022] Figure 5 This is a schematic diagram of the structure of the wrist joint connecting seat after the bearing is installed in the embodiment of the present application.

[0023] Figure 6 It is a structural diagram of the first driving module of an embodiment of the present application.

[0024] Figure 7 It is a connection diagram of the driving connecting rod, the first fisheye bearing and the second fisheye bearing in an embodiment of the present application.

[0025] Figure 8This is a schematic diagram of the connection between the driving connecting rod and the fixing pin in an embodiment of the present application.

[0026] Figure 9 Schematic diagram of the finger drive module according to an embodiment of the present application.

[0027] Figure 10 It is a schematic diagram of the specific structure of the finger drive module of an embodiment of the present application.

[0028] Figure 11 Schematic diagram of the structure of the thumb in an embodiment of the present application.

[0029] Figure 12 It is a structural schematic diagram of the thumb rotating seat of an embodiment of the present application.

[0030] Figure 13 This is a bottom schematic diagram of the thumb rotating base according to an embodiment of the present application.

[0031] Reference numerals: 1. Wrist housing; 11. Mounting seat; 12. Avoidance hole; 2. Wrist joint connection seat; 21. First stepped hole; 22. Second stepped hole; 23. First rotating shaft; 24. First bearing; 25. Second rotating shaft; 26. Second bearing; 3. Palm shell; 31. Ear plate; 4. Flexible fingers; 41. Thumb; 42. Index finger; 43. Middle finger; 44. Ring finger; 45. Little finger; 5. Finger drive module; 51. Four-finger drive assembly; 511. Third servo; 512. Third steering wheel; 513. First guide; 514. Second guide; 52. Thumb base; 53. Thumb rotation seat; 531. Threaded hole; 532. Bottom hole; 533. Base shaft; 534. Top hole; 535. Pin; 536. Side hole; 54. Forward bending drive assembly; 541. Guide wheel; 542. Fourth servo; 543. Fourth steering wheel; 55. Lateral swing drive assembly; 551. Fifth servo; 552. Fifth steering wheel. 6. First drive module; 61. Fixing pin; 62. Drive connecting rod; 621. First fisheye bearing; 622. Second fisheye bearing; 63. First servo; 631. First steering wheel; 64. Second servo; 641. Second steering wheel; 7. Second drive module; 71. Sixth servo; 72. Connecting flange; 73. Third rotating shaft. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0033] The present application discloses a wrist-integrated humanoid dexterous hand. Figure 1 、 Figure 2 、 Figure 3 The wrist-integrated humanoid dexterous hand includes: Wrist housing 1; The wrist joint connecting seat 2 is mounted on the front end of the wrist housing 1 through the first rotating shaft 23; The palm housing 3 has a rear end mounted on the wrist joint connection seat 2 via a second rotating shaft 25, and a front end provided with a plurality of line-driven flexible fingers 4; The finger drive module 5 is installed inside the palm housing 3 or the wrist housing 1 and is used to drive the flexible finger 4 to move; A first driving module 6 is installed inside the wrist housing 1 and is used to drive the palm housing 3 to rotate around the first rotation axis 23 or the second rotation axis 25 to simulate the left and right or front and back movement of a vertically placed palm around the wrist joint; The second driving module 7 is installed at the rear end of the wrist housing 1 and is used to drive the wrist housing 1 to rotate in the horizontal direction.

[0034] The present application sets a wrist joint connecting seat 2 between the wrist shell 1 and the palm shell 3, and drives the palm shell 3 to rotate around the first rotation axis 23 or the second rotation axis 25 through the first driving module 6, so that the palm shell 3 can imitate the vertically placed palm to move to the left and right sides or front and back sides around the wrist joint; the second driving module 7 drives the entire wrist shell 1 and the palm shell 3 to rotate in the horizontal direction, so that the dexterous hand has three degrees of freedom, and cooperates with the finger driving module 5 to drive multiple linear fingers to perform grasping movements, greatly improving the flexibility and operability of the dexterous hand.

[0035] Specifically, the wrist housing 1 and the palm housing 3 can be set to any desired shape, for example, Figure 1 and Figure 2 As shown, the wrist housing 1 of the present application is a rectangular housing, and the palm housing 3 is designed to imitate a human palm.

[0036] The structure and installation layout of the wrist joint connecting seat 2 of this embodiment are described in detail below.

[0037] like Figure 3 and Figure 4As shown, the wrist joint connecting seat 2 is a transversely arranged U-shaped support, and a first stepped hole 21 is opened on the outer side of the side wall opposite to the opening side, and a second stepped hole 22 is opened on the outer side of the two side walls adjacent to the side wall where the first stepped hole 21 is located. The first stepped hole 21 and the second stepped hole 22 are both circular holes with a large diameter on the outer side and a small diameter on the inner side.

[0038] like Figure 5 As shown, the first rotating shaft 23 is coaxially arranged in the first stepped hole 21, and a first bearing 24 is arranged between the first rotating shaft 23 and the outer side of the first stepped hole 21. A miniature push-off bearing is installed on the inner side of the first bearing 24 to prevent the first rotating shaft 23 from deviating in the axial direction. There are two second rotating shafts 25 and they are coaxially arranged in the two second stepped holes 22 respectively. A second bearing 26 is arranged between the second rotating shaft 25 and the outer side of the second stepped hole 22. Figure 2 As shown, the rear end of the palm shell 3 is provided with two ear plates 31, the wrist joint connecting seat 2 is placed between the two ear plates 31, and the ear plates 31 are fixed to the second rotating shaft 25 by screws, and the palm shell 3 can rotate around the second rotating shaft 25. Figure 3 As shown, a mounting base 11 is fixed to the top of the wrist housing 1 via bolts. Part of the mounting base 11 protrudes from the top surface of the wrist housing 1. The end of the first rotation axis 23 is also fixed to the portion of the mounting base 11 protruding from the top surface of the wrist housing 1 via bolts. The wrist joint drive seat can then drive the palm housing 3 to rotate about the first rotation axis 23. By driving the palm housing 3 to rotate about the first rotation axis 23 or the second rotation axis 25, the first drive module 6 can achieve the dexterous hand of the present application to imitate the palm swinging around the elbow joint along the left and right sides or the front and back sides.

[0039] Furthermore, in the present application, the first driving module 6 cleverly controls the palm housing 3 to move around the first rotation axis 23 or the second rotation axis 25 through a simple component design.

[0040] Specifically, such as Figure 6As shown, the first drive module 6 includes a fixing pin 61, a drive link 62, and a drive assembly. The fixing pin 61 is fixedly mounted to the rear end of the palm housing 3 via a screw. It is located on the side of the second rotation axis 25 near the center of the palm and parallel to the second rotation axis 25. The first end of the drive link 62 is hinged to the fixing pin 61, and the second end extends into the wrist housing 1 through the avoidance hole 12 at the top of the wrist housing 1. Two drive links 62 are spaced apart along the length of the fixing pin 61. The drive assembly is fixedly mounted within the wrist housing 1 and is used to drive the two drive links 62 to move simultaneously in a direction toward or away from the palm housing 3, causing the wrist housing 1 to rotate around the second rotation axis 25 driven by the fixing pin 61, thereby causing the palm housing 3 to swing in the forward and backward directions. Alternatively, the drive assembly drives the two drive links 62 to move in directions toward and away from the palm housing 3, respectively, causing the fixing pin 61 to swing left and right, thereby causing the palm housing 3 to rotate along the first rotation axis 23, thereby causing the palm housing 3 to swing left and right.

[0041] Furthermore, the drive assembly includes a first servo 63 and a second servo 64. A first steering disc 631 and a second steering disc 641 are rotatably mounted on the first servo 63 and the second servo 64, respectively. The first servo 63 and the second servo 64 are fixed to the inner wall of the wrist housing 1 via bolts and a sheet metal frame. The first steering disc 631 and the second steering disc 641 are coplanar and spaced apart along the length of the fixing pin 61. The second ends of the two drive connecting rods 62 are hingedly connected to the sides of the first steering disc 631 and the second steering disc 641, respectively, away from the first servo 63 or the second servo 64. Figure 6 shown.

[0042] In addition, if Figure 7 and Figure 8 As shown, the driving connecting rod 62 has a first fisheye bearing 621 and a second fisheye bearing 622 respectively connected via threads at both ends. The axes of the first and second fisheye bearings 621 and 622 are perpendicular to each other. The ball head of the first fisheye bearing 621 is connected to the fixing pin 61 via a threaded pin, while the ball head of the second fisheye bearing 622 is fixedly connected to the surface of the first steering wheel 631 or the second steering wheel 641 via a threaded pin.

[0043] Moreover, when in the initial position, the second ends of the two driving links 62 are at the same distance from the fixing pin 61, and the first servo 63 and the second servo 64 respectively drive the first steering wheel 631 and the second steering wheel 641 to rotate, thereby driving the two links to move in the same direction or different directions.

[0044] In this embodiment, when in the initial position, the two second fisheye bearings 622 at the second ends of the two driving links 62 are respectively located at the extreme close points of the first steering wheel 631 and the second steering wheel 641. When the first steering wheel 631 and the second steering wheel 641 rotate in opposite directions at the same speed, the two second fisheye bearings 622 can be driven to move upward or downward at the same time, so that the driving links 62 drive the palm housing 3 to rotate around the second rotation axis 25; when the first steering wheel 631 and the second steering wheel 641 move in the same direction at the same speed, the two second fisheye bearings 622 can be driven to move upward and downward respectively, so that the driving links 62 drive the palm housing 3 and the wrist joint connecting seat 2 to rotate around the first rotation axis 23.

[0045] In another embodiment, when in the initial position, the two second fisheye bearings 622 at the second ends of the two driving links 62 are respectively located at the farthest points of the first steering wheel 631 and the second steering wheel 641, and the driving method of the first steering wheel 631 and the second steering wheel 641 is the same as that of this embodiment.

[0046] In another embodiment, when in the initial position, the second fisheye bearing 622 on the first steering wheel 631 is located on the side of the first steering wheel 631 away from the second steering wheel 641, and the second fisheye bearing 622 on the second steering wheel 641 is located on the side of the second steering wheel 641 close to the first steering wheel 631. When the first steering wheel 631 and the second steering wheel 641 rotate in the same direction at the same speed, the two second fisheye bearings 622 can be driven to move upward or downward at the same time, so that the driving link 62 drives the palm shell 3 to rotate around the second rotation axis 25; when the first steering wheel 631 and the second steering wheel 641 move in opposite directions at the same speed, the two second fisheye bearings 622 can be driven to move upward and downward respectively, so that the driving link 62 drives the palm shell 3 and the wrist joint connecting seat 2 to rotate around the first rotation axis 23.

[0047] Thus, the palm shell 3 can be controlled to swing left and right or front and back by controlling the rotation direction of the first steering wheel 631 and the second steering wheel 641 through the two driving links 62 cooperating with the first fisheye bearing 621 and the second fisheye bearing 622.

[0048] In addition, by further optimizing the control program of the first servo 63 and the second servo 64, the remote control angles of the first steering wheel 631 and the second steering wheel 641 are made different, and the movement amplitudes of the two driving links 62 can be made different, so that the palm shell 3 can be moved to the left front, right front, left rear or right rear, realizing a more complex movement path, further improving the flexibility of the dexterous hand.

[0049] In addition, if Figure 9As shown, the second drive module 7 includes a sixth servo 71, a sixth steering wheel, a connecting flange 72, and a third rotating shaft 73. The sixth servo 71 is fixed to the inner side of the rear end of the wrist housing 1 via bolts, and the sixth steering wheel is rotatably mounted on the sixth servo 71. The connecting flange 72 is disposed on the outer side of the rear end of the wrist housing 1 and is used to connect to external features such as the arm end of the robot. The first end of the third rotating shaft 73 is coaxially fixedly connected to the connecting flange 72 via screws, and the second end extends into the interior of the wrist housing 1. A bearing is disposed between the third rotating shaft 73 and the wrist housing 1. The third rotating shaft 73 is rotatably connected to the wrist housing 1 via the bearing. The second end of the third rotating shaft 73 is provided with a tapered groove. The lower surface of the sixth steering wheel is provided with tapered teeth. The tapered teeth are inserted into the tapered groove to assemble the sixth steering wheel and the third rotating shaft 73.

[0050] Therefore, by fixing the connecting flange 72 to an external feature such as a robot arm, and driving the sixth steering wheel to rotate through the sixth servo 71, the wrist housing 1 can be driven to rotate along the third rotation axis 73, so that the dexterous hand can be rotated in the horizontal direction.

[0051] On the other hand, the middle section of the flexible finger 4 is composed of a continuous microstructure, which is composed of a thermoplastic elastomer material through 3D printing. The specific composition of the microstructure and the line drive method can be referred to the patent applications with publication numbers CN118478435A and CN118478380A, which will not be repeated here.

[0052] like Figure 9 As shown, the multiple flexible fingers 4 are respectively named thumb 41, index finger 42, middle finger 43, ring finger 44, and little finger 45, and are arranged in a manner that mimics human fingers. That is, the index finger 42, middle finger 43, ring finger 44, and little finger 45 are installed at intervals at the front end of the palm shell 3, and the thumb 41 is installed on the side of the palm shell 3 close to the palm. In addition, the thumb 41 has two degrees of freedom: frontal bending and lateral swing, and the index finger 42, middle finger 43, ring finger 44, and little finger 45 each have one degree of freedom of frontal bending. The finger drive module 5 includes a four-finger drive component 51 and a thumb drive component. The four-finger drive component 51 is used to drive the index finger 42, middle finger 43, ring finger 44, and little finger 45 to bend synchronously, and the thumb drive component is used to drive the thumb 41 to bend along the front or along the side.

[0053] Specifically, such as Figure 10As shown, the four-finger drive assembly 51 includes a third servo 511, a third steering wheel 512, a first tendon cord, and a second tendon cord. The third servo 511 is fixed to the wrist housing 1 via bolts and a sheet metal bracket, and is located between the first servo 63 and the second servo 64. The third steering wheel 512 is rotatably mounted on the third servo 511. Four first tendon cords are provided, and their first ends are respectively connected to the microstructures of the index finger 42, middle finger 43, ring finger 44, and pinky finger 45. The connection method is similar to that of patent application publication number CN118478435A. The second ends of the four first tendon cords converge at a point and are collectively connected to the first end of the second tendon cord. The second end of the second tendon cord passes through the palm housing 3 into the wrist housing 1 and is locked to the third steering wheel 512 via screws.

[0054] Therefore, the third steering wheel 512 is driven to rotate by the third servo 511, pulling the second tendon rope to drive the first tendon rope to pull the microstructure deformation of each flexible finger 4, so that the index finger 42, middle finger 43, ring finger 44 and little finger 45 are bent toward the front to perform a grasping action.

[0055] It should be noted that in order to clearly display the various structures of this application, all tendon ropes in the drawings have been hidden.

[0056] To prevent the first and second tendon cords from interfering with surrounding structures, a first guide member 513 and a second guide member 514 are provided within the palm housing 3. The first guide member 513 is cylindrical and bolted to the palm housing 3. The second guide member 514 is located on the side of the first guide member 513 closer to the wrist housing 1. The second guide member 514 is plate-shaped and has a through hole for the second tendon cords to pass through. The second ends of the four first tendon cords pass through the interior of the first guide member 513 and converge between the first and second guide members 513 and 514. An aluminum ring is installed at the convergence point. The second ends of the four first tendon cords are welded to the aluminum ring, and the first ends of the second tendon cords are welded to the aluminum ring. Therefore, pulling the second tendon cord simultaneously pulls the four first tendon cords.

[0057] On the other hand, the thumb drive module is expanded in detail.

[0058] like Figure 10 and Figure 11 As shown, the thumb drive module includes a thumb base 52, a thumb rotating base 53, a forward bending drive assembly 54, and a lateral swing drive assembly 55. The thumb base 52 is fixedly mounted on the front side of the palm housing 3, the thumb rotating base 53 is rotatably mounted on the thumb base 52, the forward bending drive assembly 54 is disposed inside the palm housing 3 and is used to drive the thumb 41 to bend along the front, and the lateral swing drive assembly 55 is disposed inside the palm housing 3 and is used to drive the thumb rotating base 53 to rotate, thereby driving the thumb 41 to bend laterally.

[0059] Specifically, such as Figure 11 and Figure 12 As shown, the thumb rotating seat 53 is a hollowed-out semicircular shape, and the thumb base 52 is provided with a groove that matches the width of the thumb rotating seat 53. Two base rotating shafts 533 are coaxially arranged on either side of the thumb rotating seat 53. Two bearings are fixed to the thumb base 52 on either side of the groove. The two base rotating shafts 533 are fixed to the inner sides of the two bearings via pins, allowing the thumb rotating seat 53 to rotate around the base rotating shafts 533.

[0060] Furthermore, the lateral swing drive assembly 55 includes a fifth steering gear 551, a fifth steering wheel 552, and two fourth tendon cables. The fifth steering gear 551 is fixedly mounted inside the palm housing 3 by bolts and a sheet metal bracket. The fifth steering wheel 552 is rotatably mounted on the fifth steering gear 551, and the tangential center plane of the fifth steering wheel 552 is coplanar with the tangential center plane of the thumb rotating seat 53. Figure 12 As shown, the thumb rotating base 53 has two threaded holes 531 on either side of its top, and two bottom holes 532 on either side of its bottom. The first end of a fourth tendon is screwed into one of the threaded holes 531, while its second end passes through the bottom hole 532 on the same side and is wrapped around the fifth steering disc 552. Another fourth tendon passes through the other threaded hole 531, through the other bottom hole 532, and is wrapped around the fifth steering disc 552 in the opposite direction.

[0061] Therefore, the fifth steering wheel 552 is driven to rotate in different directions by the fifth steering gear 551, so that the fourth tendon rope can drive the thumb rotating seat 53 to swing laterally.

[0062] On the other hand, Figure 10 As shown, the forward bending drive assembly 54 includes a guide wheel 541, a fourth servo 542, a fourth steering disc 543, and a third tendon. The guide wheel 541 is mounted inside the palm housing 3 and is an idler wheel that rotates about its own axis. The fourth servo 542 is fixedly mounted inside the palm housing 3 via bolts and a sheet metal bracket. The fourth steering disc 543 is rotatably mounted on the fourth servo 542. The first end of the third tendon is connected to the microstructure of the thumb 41, while the second end passes through the guide wheel 541 and is fixedly connected to the fourth steering disc 543 via screws.

[0063] More specifically, Figure 13 As shown, a top hole 534 is defined in the inner top wall of the thumb rotating base 53, with a pin 535 fixedly mounted below the top hole 534. A side hole 536 is defined on one side of the pin 535. The second end of the third tendon passes through the top hole 534, around the pin 535, and then through the side hole 536 to exit the thumb rotating base 53 and enter the palm housing 3. In conjunction with the guide wheel 541, the third tendon can adjust the spatial position of the thumb 41 and the fourth steering wheel 543, achieving precise control of the forward bending of the thumb 41.

[0064] Therefore, by driving the fourth steering wheel 543 to rotate through the fourth servo 542, the fourth tendon rope can be driven to pull the microstructure of the thumb 41 to produce bending deformation, so that the thumb 41 bends along the front to grasp, and the fourth steering wheel 543 is driven to rotate in the reverse direction, and the microstructure of the thumb 41 is restored to its initial state under the action of its own elasticity.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A wrist-integrated humanoid dexterous hand, characterized in that: include: wrist housing; A wrist joint connecting seat is mounted on the front end of the wrist housing via a first rotating shaft; A palm housing, the rear end of which is mounted on the wrist joint connection seat via a second rotating shaft, and the front end of which is provided with a plurality of line-driven flexible fingers; Finger drive module, installed inside the palm housing or wrist housing, used for line-driven flexible finger movement; A first driving module is installed inside the wrist housing and is used to drive the palm housing to rotate around the first rotation axis or the second rotation axis to simulate the movement of a vertically placed palm around the wrist joint to the left and right sides or the front and back sides; The second driving module is installed at the rear end of the wrist housing and is used to drive the wrist housing to rotate.

2. The wrist-integrated humanoid dexterous hand according to claim 1, characterized in that: The first driving module includes: a fixing pin, fixedly mounted on the rear end of the palm housing, parallel to the second rotation axis and located on a side of the second rotation axis close to the palm center; A driving connecting rod, the first end of which is hinged to the fixing pin and the second end of which extends into the interior of the wrist housing, and two connecting rods are provided along the length direction of the fixing pin; The driving assembly is installed inside the wrist shell and is used to drive the two driving connecting rods to move simultaneously in a direction close to or away from the palm shell, or to drive the two driving connecting rods to move respectively in a direction close to and away from the palm shell.

3. The wrist-integrated humanoid dexterous hand according to claim 2, characterized in that: The drive assembly includes a first steering gear, a second steering gear, a first steering wheel rotatably mounted on the first steering gear, and a second steering wheel rotatably mounted on the second steering gear. The first steering gear and the second steering gear are both fixedly mounted inside the wrist housing. The first steering wheel and the second steering wheel are coplanar and spaced apart along the length of the fixing pin. The second ends of the two drive connecting rods are hingedly connected to the first steering wheel and the second steering wheel, respectively. Among them, when in the initial position, the distance between the second ends of the two driving connecting rods and the fixed pin is the same, and the first servo and the second servo respectively drive the first steering wheel and the second steering wheel to rotate, so as to drive the two connecting rods to move in the same direction or different directions.

4. The wrist-integrated humanoid dexterous hand according to claim 3, characterized in that: The first end of the driving connecting rod is installed with a first fisheye bearing, and the second end is installed with a second fisheye bearing. The first fisheye bearing is installed on the fixing pin, and the second fisheye bearing is installed on the first steering wheel or the second steering wheel.

5. The wrist-integrated humanoid dexterous hand according to claim 1, characterized in that: The plurality of flexible fingers are respectively named thumb, index finger, middle finger, ring finger and little finger, wherein the thumb has two degrees of freedom of frontal bending and lateral swing, and the index finger, middle finger, ring finger and little finger each have one degree of freedom of frontal bending; The finger driving module includes a four-finger driving component and a thumb driving component. The four-finger driving component is used to drive the index finger, middle finger, ring finger and little finger to bend, and the thumb driving component is used to drive the thumb to bend along the front or along the side.

6. The wrist-integrated humanoid dexterous hand according to claim 5, characterized in that: The four-finger drive assembly includes: a third steering gear, fixedly mounted inside the wrist housing, for driving a third steering wheel rotatably mounted thereon; The first tendon cords are provided with four pieces, and the first ends thereof are connected to the index finger, middle finger, ring finger and little finger respectively, and the second ends thereof converge at one point; The second tendon rope has a first end connected to the second end of the first tendon rope, and a second end fixed to the third steering wheel.

7. The wrist-integrated humanoid dexterous hand according to claim 6, characterized in that: The thumb drive module includes: A thumb base, fixedly mounted on the front side of the palm housing; A thumb rotating seat, rotatably mounted on the thumb base; A forward bending drive assembly is provided inside the palm housing and is used to drive the thumb to bend along the front side; The lateral swing driving component is arranged inside the palm shell and is used for driving the thumb rotating seat to rotate so as to drive the thumb to bend laterally.

8. The wrist-integrated humanoid dexterous hand according to claim 7, characterized in that: The forward bending drive assembly comprises: A guide wheel rotatably mounted inside the palm housing; a fourth steering gear, fixedly mounted inside the palm housing, for driving a fourth steering wheel rotatably mounted thereon; a third tendon rope, a first end of which is connected to the thumb, and a second end of which passes around the guide wheel and is fixedly connected to the fourth steering wheel; The fourth steering engine drives the third steering wheel to rotate, so as to drive the third tendon rope to pull the thumb to bend in the positive direction.

9. The wrist-integrated humanoid dexterous hand according to claim 7, characterized in that: The lateral swing drive assembly includes: a fifth steering gear, fixedly mounted inside the palm housing, for driving a fifth steering wheel rotatably mounted thereon; Two fourth tendon ropes are provided, the first ends of which are connected to the two ends of the thumb rotating seat respectively, and the second ends are wound around the circumference of the fifth steering wheel in opposite directions; The fifth steering engine drives the fifth steering wheel to rotate, thereby driving the fourth tendon rope to pull the thumb rotating seat to rotate.

10. The wrist-integrated humanoid dexterous hand according to claim 1, characterized in that: The second driving module includes: a sixth steering gear, fixedly mounted on the inner side of the tail end of the wrist housing, for driving a sixth steering wheel rotatably mounted thereon; A connecting flange is provided on the outer side of the tail end of the wrist housing; The third rotating shaft has a first end coaxially fixedly connected to the connecting flange, and a second end coaxially connected to the sixth steering wheel.

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