Thumb of dexterous hand and dexterous hand

Abstract

The invention discloses a thumb of a dexterous hand and the dexterous hand, and relates to the technical field of dexterous hands, a mounting seat is rotatably arranged on a palm part around a first axis, and the mounting seat is provided with a mounting cavity, and a first wire passing hole and a first mounting opening which are communicated with the mounting cavity; the driving unit comprises a rotating shaft rotationally arranged in the mounting cavity around a second axis, the rotating shaft is provided with a first threading channel, the first threading channel penetrates through the two opposite ends of the rotating shaft along the second axis and is communicated with the first threading hole and the mounting cavity, the first threading hole and the first threading channel are coaxially arranged, and the second axis intersects with the first axis; the metacarpophalangeal joint is arranged in the mounting cavity in a penetrating mode through the first mounting opening and connected to one end of the rotating shaft, and the metacarpophalangeal joint is provided with a second threading channel communicating with the first threading channel. According to the technical scheme provided by the invention, fatigue damage caused by repeated bending, twisting or winding of the conductive wire harness in the autorotation process of the thumb is reduced, and the reliability of electric connection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dexterous hand, in particular to a dexterous hand big thumb and dexterous hand. BACKGROUND

[0002] The big thumb of the dexterous hand often needs to have a self-rotation degree of freedom around its longitudinal axis to adapt to the posture of different objects. In order to save space, the driving unit is usually arranged in the palm, and the conductive wire bundle needs to be connected to the sensor or micro actuator at the distal end of the metacarpophalangeal joint. In the existing structure, the conductive wire bundle is usually led out from the side or bottom of the metacarpophalangeal joint shell and directly extends to the palm. The wiring path is located outside the thumb base or only partially enters the base cavity.

[0003] When the big thumb rotates, the metacarpophalangeal joint rotates relative to the palm, and one end of the conductive wire bundle is fixed in the palm, causing it to bear repeated bending and twisting in the wire outlet area of the metacarpophalangeal joint. At the same time, with the overall movement of the thumb, the conductive wire bundle may also be wound around the outer surface of the base, causing local wear and tear. Due to the limited space inside the dexterous hand, it is difficult to set up a slip ring, a flexible buffer section or an anti-winding structure on the wire path. Long-term operation often causes insulation damage and conductor breakage, which seriously affects the reliability and service life of the system. SUMMARY

[0004] The main purpose of the present application is to provide a dexterous hand big thumb and dexterous hand, which aims to reduce the fatigue damage of the conductive wire bundle caused by repeated bending, twisting or winding during the rotation of the big thumb, thereby improving the reliability of the electrical connection.

[0005] To achieve the above purpose, the dexterous hand big thumb provided by the present application, the dexterous hand includes a palm part and a big thumb installed on the palm part, the big thumb includes:

[0006] A mounting seat is rotatably arranged in the palm part around a first axis, the mounting seat has a mounting cavity, a first wire passing hole and a first mounting port communicating with the mounting cavity; A driving unit includes a rotating shaft rotatably arranged in the mounting cavity around a second axis, the rotating shaft is provided with a first wire passing channel, the first wire passing channel penetrates through the opposite ends of the rotating shaft along the second axis and communicates with the first wire passing hole and the mounting cavity, and the second axis intersects with the first axis; A metacarpophalangeal joint is arranged in the mounting cavity through the first mounting port and connected to one end of the rotating shaft, the metacarpophalangeal joint is provided with a second wire passing channel communicating with the first wire passing channel, and the first wire passing hole, the first wire passing channel and the second wire passing channel are coaxially arranged.

[0007] In an embodiment, the driving unit further comprises a transmission housing, a first driving member, a first gear portion and a first worm, the transmission housing is mounted in the mounting cavity and sleeved on the outer periphery of the rotating shaft, the first driving member is mounted on the transmission housing and drivingly connected with the first worm, the first worm is arranged through the transmission housing along the first axis and engaged with the first gear portion sleeved on the outer periphery of the rotating shaft.

[0008] In an embodiment, the mounting seat comprises a first seat body and a second seat body connected with each other, the inner spaces of the first seat body and the second seat body are communicated, the first wire passing hole is arranged on the first seat body and distributed along the second axis with the second seat body, the first seat body is provided with a second mounting opening communicated with the mounting cavity, and the transmission housing can be mounted into the first seat body through the second mounting opening.

[0009] In an embodiment, the second mounting opening is arranged on the circumferential wall of the first seat body between the first wire passing hole and the second seat body.

[0010] In an embodiment, the second mounting opening is provided with a relief gap on each of the opposite side edges, and the opposite side surfaces of the transmission housing are exposed in the corresponding relief gaps.

[0011] In an embodiment, the first mounting opening is arranged on the end of the second seat body away from the first seat body and opposite to the first wire passing hole, the metacarpophalangeal joint comprises a base plate, a connecting rod and two mounting portions, one end of the connecting rod is connected with the base plate, the other end of the connecting rod is arranged through the second seat body from the first mounting opening and rotationally connected with the second seat body, the second wire passing channel is arranged on the connecting rod and penetrates through the opposite side surfaces of the base plate, and the two mounting portions are arranged on the side of the base plate away from the connecting rod along a third axis.

[0012] In an embodiment, the third axis is arranged at an acute angle with the second axis, the midpoint of the line connecting the two mounting portions is offset towards the palm center of the palm portion in a plane perpendicular to the first axis relative to the second axis, and the inner side wall of one of the mounting portions is provided with an observation groove, the second axis passes through the observation groove, the shape of the observation groove is matched with the surface shape of the second wire passing channel at the position extending to the observation groove, and the observation groove penetrates through the end surface of the mounting portion away from the base plate along the second axis.

[0013] In an embodiment, the proximal phalanx comprises a phalanx shell, a second driving member, and a connecting shaft, the connecting shaft is arranged in the phalanx shell along the third axis, the connecting shaft is rotatable relative to the phalanx shell and fixedly connected with the two mounting portions, the connecting shaft is provided with a third threading channel penetrating through opposite ends thereof along the third axis; the second driving member is installed inside the phalanx shell and drivingly connected with the connecting shaft through a transmission mechanism, so that the phalanx shell is rotatable relative to the mounting portions. The two mounting portions are each provided with a second wire passing hole penetrating through opposite side surfaces thereof along the third axis, one of the mounting portions is provided with a fourth threading channel, one end of the fourth threading channel is exposed to an inner side wall of the mounting portion, and the other end of the fourth threading channel is in communication with the second wire passing hole.

[0014] In an embodiment, a side edge of the mounting portion adjacent to the base plate has a convex arc surface, one end of the phalanx shell towards the metacarpophalangeal joint is provided with a concave arc surface in rotational cooperation with the convex arc surface, the other mounting portion opposite to the fourth threading channel is provided with a wire passing groove, the wire passing groove penetrates through the convex arc surface of the corresponding mounting portion and is in communication with the second wire passing hole of the corresponding mounting portion, the wire passing groove extends along the circumference of the third axis, the phalanx shell is provided with a third wire passing hole corresponding to the wire passing groove, the third wire passing hole is located in the concave arc surface and is in communication with the inside of the phalanx shell.

[0015] The application further provides a dexterous hand comprising the thumb of the dexterous hand.

[0016] The technical scheme of the application comprises the following steps: a first wire passing hole is arranged on the mounting seat of the thumb, a first threading channel is arranged in the rotating shaft of the driving unit, a second threading channel is arranged in the metacarpophalangeal joint, and the first wire passing hole is coaxially arranged with the first threading channel and the second threading channel, so that the conductive wire bundle penetrates through the first wire passing hole, the first threading channel and the second threading channel along the second axis in sequence, thereby constructing an inlaid continuous threading path coaxial with the rotation axis; when the thumb rotates, the conductive wire bundle rotates synchronously with the rotating shaft and the metacarpophalangeal joint as a whole, thereby avoiding relative displacement, repeated bending, twisting or winding of the conductive wire bundle at the rotating interface, reducing the risk of insulation damage or conductor breakage caused by mechanical fatigue, and effectively improving the long-term reliability of the electrical connection and the service life of the dexterous hand under high-frequency operation conditions. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from the structures shown in the drawings without any creative effort.

[0018] Figure 1 Structure schematic diagram of one embodiment of the installation base of the dexterous hand provided by the present application; Figure 2 Structure schematic diagram of the dexterous hand in Figure 1 after the installation base is taken out; Figure 3 Exploded view of one embodiment of the installation base, the driving unit and the metacarpophalangeal joint provided by the present application; Figure 4 Exploded view of the driving unit in Figure 3 from another perspective; Figure 5 Sectional view of the installation base, the driving unit and the metacarpophalangeal joint in Figure 3 after assembly; Figure 6 Structure schematic diagram of one embodiment of the installation base in Figure 3 ; Figure 7 Assembly schematic diagram of one embodiment of the metacarpophalangeal joint and the proximal phalanx provided by the present application; Figure 8 Sectional view of the metacarpophalangeal joint and the proximal phalanx in Figure 7 ; Figure 9 Exploded view of one embodiment of the proximal phalanx provided by the present application; Figure 10 Structure schematic diagram of one embodiment of the metacarpophalangeal joint provided by the present application; Figure 11 Exploded view of the metacarpophalangeal joint in Figure 10 .

[0019] Explanation of the reference signs: 100, installation base; 110, first seat body; 111, first wire passing hole; 112, second installation opening; 113, avoiding notch; 120, second seat body; 121, first installation opening; 130, installation cavity; 200, driving unit; 210, rotating shaft; 211, first wire passing channel; 220, transmission housing; 230, first driving member; 240, first gear part; 250, first worm; 300, metacarpophalangeal joint; 310, connecting rod; 311, second threading passage; 320, base plate; 330, mounting portion; 331, observation slot; 332, second wire passing hole; 333, fourth threading passage; 334, convex arc surface; 335, wire passing slot; 400, proximal phalanx; 410, phalanx housing; 411, concave arc surface; 412, third wire passing hole; 420, second driving member; 430, connecting shaft; 431, third threading passage; 440, second gear portion; 450, second worm; 500, fingertip phalanx; 600, palm portion; 700, conductive wire bundle.

[0020] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0023] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0024] The present application provides a big thumb of a dexterous hand.

[0025] Please refer to Figures 1 to 6In an embodiment of the present application, the dexterous hand comprises a palm portion 600 and a thumb mounted on the palm portion 600, the thumb comprising a mounting base 100, a driving unit 200 and a metacarpophalangeal joint 300, the mounting base 100 being rotatably arranged on the palm portion 600 about a first axis, the mounting base 100 having a mounting cavity 130 and a first wire passing hole 111 and a first mounting opening 121 communicating with the mounting cavity 130; the driving unit 200 comprising a rotating shaft 210 rotatably arranged in the mounting cavity 130 about a second axis, the rotating shaft 210 being provided with a first wire passing channel 211, the first wire passing channel 211 penetrating through opposite ends of the rotating shaft 210 along the second axis and communicating with the first wire passing hole 111 and the mounting cavity 130, the second axis intersecting the first axis; the metacarpophalangeal joint 300 being arranged in the mounting cavity 130 through the first mounting opening 121 and connected to one end of the rotating shaft 210, the metacarpophalangeal joint 300 being provided with a second wire passing channel 311 communicating with the first wire passing channel 211, and the first wire passing hole 111 being coaxially arranged with the first wire passing channel 211 and the second wire passing channel 311.

[0026] Specifically, the palm portion 600 is the main structure of the dexterous hand, and internally integrated are a main controller, a power module and a plurality of sensing / driving lines. An interface region connected with the thumb is arranged at a position close to the root of the thumb. The thumb comprises the mounting base 100, the driving unit 200 and the metacarpophalangeal joint 300, and the mounting base 100 is rotatably arranged on the palm portion 600 about a first axis through a bearing or a pivot structure. The first axis extends along the longitudinal direction of the dexterous hand, i.e. from the wrist to the fingertip (which can also be understood as being substantially parallel to the axis of the middle finger). This rotational degree of freedom enables the whole thumb to perform abduction or adduction movement relative to the palm portion 600, i.e. the thumb swings from the unfolded position on the outer side of the palm portion 600 to the palm center direction, realizing the palm action. The mounting base 100 internally forms a mounting cavity 130, and a first wire passing hole 111 and a first mounting opening 121 communicating with the mounting cavity 130 are arranged on the side wall thereof, the first wire passing hole 111 being used for introducing a conductive wire bundle 700 from the inside of the palm portion 600, and the first mounting opening 121 being used for allowing the metacarpophalangeal joint 300 to pass in.

[0027] The drive unit 200 includes a rotating shaft 210, which is disposed in the mounting cavity 130 inside the mounting base 100 and is capable of rotating relative to the mounting base 100 about a second axis. The second axis intersects the first axis in space; the two can intersect perpendicularly or in a general way, i.e., the angle between them is an acute angle. The rotating shaft 210 is used to drive the thumb to rotate around its own longitudinal axis, thereby achieving lateral adjustment of the fingertip posture. The rotating shaft 210 has a first wire-passing channel 211 inside, which passes through the two opposite ends of the rotating shaft 210 along the direction of the second axis, and the first wire-passing hole 111 is coaxially arranged with the first wire-passing channel 211, i.e., their central axes coincide with the second axis. Thus, when the conductive wire bundle 700 enters the mounting cavity 130 from the palm part 600 through the first wire-passing hole 111, it can directly and without deflection enter the first wire-passing channel 211, forming a continuous and coaxial wiring path.

[0028] The metacarpophalangeal joint 300 passes through the first mounting port 121 on one side of the mounting base 100 into the mounting cavity 130, and is fixedly connected to one end of the rotating shaft 210 by means of threads, pins, or integral molding, so that it rotates synchronously with the rotating shaft 210 around the second axis. The distal end of the metacarpophalangeal joint 300 can continue to be connected to the proximal metacarpophalangeal joint 400 and the fingertip joint 500 in sequence to form a complete thumb structure. The metacarpophalangeal joint 300 has a second wiring channel 311 inside, so that the conductive wire harness 700 can be smoothly extended to the sensor or micro actuator at the distal end of the metacarpophalangeal joint 300. In this structure, the complete path of the conductive wire harness 700 is: palm part 600 → first wire hole 111 (located on the second axis) → mounting cavity 130 → first wiring channel 211 (passing through the rotating shaft 210 along the second axis) → second wiring channel 311 → functional element in the joint.

[0029] When the thumb rotates, the pivot 210 drives the metacarpophalangeal joint 300 and the internal conductive wire bundle 700 to rotate as a whole around the second axis. Since the conductive wire bundle 700 is entirely located within the channel centered on the second axis, and the first wire hole 111 is coaxially arranged with the first wire passage 211 and the second wire passage 311, the conductive wire bundle 700 does not experience relative displacement, bending, or torsion with the rotating components (pivot 210 and metacarpophalangeal joint 300) during movement; it only rotates synchronously with the system. Therefore, fatigue damage caused by repeated bending, torsion, or entanglement at the exit point of the metacarpophalangeal joint 300, a common problem with traditional exposed wiring, is effectively avoided.

[0030] By coaxially arranging the first wire passage 111 with the first wire channel 211 and the second wire channel 311, the conductive wire bundle 700 can extend continuously and without bends along the second axis from the first wire passage 111 through the pivot 210 into the interior of the metacarpophalangeal joint 300. This coaxial arrangement ensures that when the thumb rotates, the conductive wire bundle 700 remains within a rotational system centered on the second axis throughout its rotation, with no relative displacement or geometric abrupt changes between segments. This effectively avoids local bending, shearing, or twisting stress in the connection area caused by path deviation or angular changes.

[0031] Furthermore, the conductive wire harness 700 enters straight from the palm portion 600 along the second axis. Even if the rotating shaft 210 rotates around the second axis, the conductive wire harness 700 only rotates at the first wire hole 111 without bending or shearing. The conductive wire harness 700 will not wrap around the outer surface of the metacarpophalangeal joint 300 or the outer surface of the mounting base 100, effectively reducing local wear on the conductive wire harness 700 and thus reducing fatigue damage caused by repeated bending or wrapping.

[0032] The technical solution of this invention provides a first wire-passing hole 111 on the thumb mounting base 100, a first wire-passing channel 211 in the rotating shaft 210 of the drive unit 200, and a second wire-passing channel 311 in the metacarpophalangeal joint 300. The first wire-passing hole 111 is coaxially arranged with the first wire-passing channel 211 and the second wire-passing channel 311, so that the conductive wire bundle 700 passes through the first wire-passing hole 111, the first wire-passing channel 211 and the second wire-passing channel 311 sequentially along the second axis, constructing an embedded continuous wire-passing path coaxial with the axis of rotation. Thus, when the thumb rotates, the conductive wire bundle 700 rotates synchronously with the rotating shaft 210 and the metacarpophalangeal joint 300, avoiding relative displacement, repeated bending, twisting or tangling of the conductive wire bundle 700 at the rotation interface, thereby reducing the risk of insulation damage or conductor breakage due to mechanical fatigue, and effectively improving the long-term reliability of the electrical connection and the service life of the dexterous hand under high-frequency operating conditions.

[0033] In one implementation, please refer to Figures 3 to 5 The drive unit 200 also includes a transmission housing 220, a first drive member 230, a first gear section 240, and a first worm 250. The transmission housing 220 is installed in the mounting cavity 130 and sleeved on the outer periphery of the rotating shaft 210. The first drive member 230 is installed in the transmission housing 220 and drives the first worm 250. The first worm 250 passes through the transmission housing 220 along the first axis and meshes with the first gear section 240 sleeved on the outer periphery of the rotating shaft 210.

[0034] The drive unit 200 further includes a transmission housing 220, a first drive component 230, a first gear section 240, and a first worm gear 250. The transmission housing 220 is installed within the mounting cavity 130 of the mounting base 100 and sleeved around the outer periphery of the rotating shaft 210, providing support and enclosure for the internal transmission components. The transmission housing 220 forms a closed protection for the rotating shaft 210, the first worm gear 250, and the first gear section 240, effectively isolating external dust and interference and improving the operational reliability of the drive system in complex environments. The first drive component 230 is fixedly installed on the transmission housing 220 and directly drives the first worm gear 250. Integrating the first drive component 230 into the transmission housing 220 achieves modular assembly, facilitating maintenance and replacement. The first worm gear 250 passes through the transmission housing 220 along the first axis and is aligned with the rotation axis 210 of the thumb's overall outward / inward movement. This makes full use of the longitudinal space of the mounting cavity 130, avoids radial expansion, and is conducive to the compactness of the overall structure of the dexterous hand. On the other hand, the first worm gear 250 meshes with the first gear portion 240 sleeved on the outer periphery of the rotating shaft 210, thereby transmitting the output power of the first driving member 230 to the rotating shaft 210 through the first worm gear 250-gear reduction mechanism, driving the rotating shaft 210 to rotate around the second axis. When the first driving member 230 is activated, it drives the first worm 250 to rotate around the first axis. The helical teeth on the first worm 250 mesh with the gear teeth of the first gear part 240, and the rotational motion of the first worm 250 is converted into the rotation of the first gear part 240, thereby driving the first gear part 240 sleeved on the outer periphery of the rotating shaft 210 to rotate around the second axis. The first gear part 240 is fixedly connected to the rotating shaft 210 (for example, through a key, pin or interference fit), and the rotating shaft 210 rotates synchronously around the second axis, thereby driving the metacarpophalangeal joint 300 to realize the rotational motion of the thumb.

[0035] In one implementation, please refer to Figure 5 and Figure 6 The mounting base 100 includes a first base body 110 and a second base body 120 that are intersecting and connected. The internal spaces of the first base body 110 and the second base body 120 are connected. A first wire hole 111 is provided in the first base body 110 and distributed along the second axis with the second base body 120. The first base body 110 is provided with a second mounting port 112 that communicates with the mounting cavity 130. The transmission housing 220 can be inserted into the interior of the first base body 110 through the second mounting port 112.

[0036] Mounting base 100 includes a first base body 110 and a second base body 120 that intersect and connect. These two bodies are fixedly connected (e.g., screwed, welded, or integrally molded) to form an integral support structure. Their internal spaces are interconnected, collectively forming a mounting cavity 130 for accommodating the drive unit 200 and part of the metacarpophalangeal joint 300. A first wire-passing hole 111 is provided on the first base body 110 and aligned with the second base body 120 along the second axis, ensuring that the conductive wire harness 700 can be smoothly introduced along the second axis. The first base body 110 also has a second mounting port 112 communicating with the mounting cavity 130. The transmission housing 220 can be laterally inserted into the first base body 110 through this second mounting port 112, completing the modular assembly of the drive unit 200. This design not only simplifies the manufacturing and maintenance process but also avoids complex on-site assembly in confined spaces, improving production efficiency and structural consistency. Meanwhile, since the transmission housing 220 is securely constrained within the first base 110 after installation, the relative positional accuracy between it and the rotating shaft 210, the first worm gear 250, and the first gear section 240 is guaranteed, which is beneficial to the smoothness of transmission and the accuracy of motion control.

[0037] In one embodiment, the first base 110 extends along a first axis to facilitate the arrangement of the drive unit 200; the second base 120 extends along a second axis to facilitate the mounting of the metacarpophalangeal joint 300, thereby contributing to the miniaturization of the mounting base 100. Of course, in other embodiments, the mounting base 100 may also adopt a single-body structure, such as a square three-dimensional structure or a cylindrical structure.

[0038] In one implementation, please refer to Figure 6 The second mounting port 112 is located on the peripheral side wall of the first base 110 between the first wire hole 111 and the second base 120.

[0039] The second mounting port 112 is located on the peripheral sidewall of the first base 110 between the first wire hole 111 and the second base 120, that is, in the middle area of ​​the lateral contour of the first base 110. This avoids the axial channel of the first wire hole 111 and is adjacent to the mounting area of ​​the drive unit 200 formed by the second base 120. The transmission housing 220 is inserted into the first base 110 through the second mounting port 112, achieving a lateral embedded assembly of the drive unit 200. After installation, the transmission housing 220 is securely constrained within the first base 110. The integrated first drive component 230, first worm gear 250, and first gear portion 240 that mates with the outer circumference of the rotating shaft 210 maintain a precise meshing relationship, ensuring smooth transmission and responsiveness of the rotational motion. The second mounting port 112 provides ample operating space to support modular pre-assembly and on-site replacement. Moreover, during later maintenance, only partial disassembly is required to remove the drive unit 200, without disassembling the entire thumb structure.

[0040] In other embodiments, the second mounting port 112 and the second base 120 are distributed along the second axis, and the axial end face of the rotating shaft 210 is exposed from the second mounting port 112, that is, the second mounting port 112 is used as the first wire through hole 111. Alternatively, the mounting base 100 can also adopt a splicing structure, and the splicing surface of the mounting base 100 includes the first axis and the second axis.

[0041] In one implementation, please refer to Figure 6 The second mounting port 112 has clearance notches 113 on both sides of its opposite edges, and the opposite sides of the transmission housing 220 are exposed in the corresponding clearance notches 113.

[0042] The second mounting port 112 has clearance notches 113 on both opposite edges. Partial structures on opposite sides of the transmission housing 220 are exposed at the corresponding clearance notches 113 after assembly. On one hand, during assembly, the clearance notches 113 provide necessary space for local protrusions, terminals, or heat dissipation structures on the transmission housing 220, preventing component interference or stress concentration due to the contour limitations of the mounting cavity 130. On the other hand, when the transmission housing 220 needs to be removed or replaced, the operator can directly contact and apply force to the exposed sides of the transmission housing 220 through the clearance notches 113 on both sides, achieving quick gripping, prying, or pulling without the need for special tools or disassembling other components, significantly improving maintenance efficiency and user experience. Furthermore, the symmetrically arranged clearance notches 113 on both sides enhance structural balance, preventing localized strength reduction caused by unilateral slotting.

[0043] In other embodiments, the clearance notch 113 may not be provided, and a portion of the transmission housing 220 may protrude outside the second mounting port 112; or, the transmission housing 220 may have a lug that is exposed to the second mounting port 112.

[0044] In one implementation, please refer to Figures 1 to 7 The first mounting port 121 is located at the end of the second base 120 away from the first base 110 and is opposite to the first wire hole 111. The metacarpophalangeal joint 300 includes a base plate 320, a connecting rod 310 and two mounting parts 330. One end of the connecting rod 310 is connected to the base plate 320, and the other end passes through the first mounting port 121 into the second base 120 and is rotatably connected to the second base 120. The second wire passage 311 is located on the connecting rod 310 and passes through the two opposite sides of the base plate 320. The two mounting parts 330 are spaced apart along the third axis on the side of the base plate 320 away from the connecting rod 310. The thumb also includes a proximal metacarpophalangeal joint 400, which is rotatably mounted on the mounting part 330 around the third axis.

[0045] The connecting rod 310 and the mounting portion 330 are located on opposite sides of the substrate 320. Specifically, the connecting rod 310 is connected to the side of the substrate 320 closest to the mounting base 100, while the mounting portion 330 is located on the side of the substrate 320 furthest from the mounting base 100 and facing the fingertip. The connecting rod 310 is a rod-shaped structure that extends along the second axis and is rotatably connected to the mounting base 100, serving as the input end of the metacarpophalangeal joint 300 for transmitting rotational motion. Inside the rod-shaped connecting rod 310, a second wiring channel 311 extending along the second axis is provided. The second wiring channel 311 passes through the entire connecting rod 310 and traverses both opposite sides of the substrate 320, forming a continuous wiring path from the mounting base 100 side to the space between the two mounting portions 330. Through the second wiring channel 311, the conductive wire harness 700 can be directly led to the drive unit or sensing unit inside the metacarpophalangeal joint 400 without having to go around the outside or pass through the gap of the kinematic pair, thus effectively avoiding bending, pulling or wear of the cable during thumb swinging or flexion and extension. The design of the second wiring channel 311 realizes the concealed layout of the conductive wire harness 700, improving the simplicity and biomimetic naturalness of the thumb's appearance, while eliminating the risk of snagging and maintenance complexity caused by exposed conductive wire harness 700; secondly, since the second wiring channel 311 runs straight along the second axis and is located on the core axis of the rotary joint, the conductive wire harness 700 hardly generates relative displacement or torsional stress when the metacarpophalangeal joint 300 rotates around the second axis, which greatly extends the service life of the conductive wire harness 700 and improves system reliability.

[0046] The mounting portion 330, serving as the output end of the metacarpophalangeal joint 300, transmits the rotational motion of the connecting rod 310 to the proximal metacarpophalangeal joint 400. Two mounting portions 330 extend from the same side of the base plate 320 (i.e., the side facing the proximal metacarpophalangeal joint 400), are parallel to each other, and coaxial, together forming a double-pivot bearing structure for supporting and fixing the proximal metacarpophalangeal joint 400. The third axis is the flexion-extension axis of the proximal metacarpophalangeal joint 400, and the proximal metacarpophalangeal joint 400 is rotatably mounted on the mounting portion 330 around the third axis to realize the flexion-extension movements of the proximal metacarpophalangeal joint 400.

[0047] In one embodiment, the angle between the third axis and the second axis is set at an acute angle, and the midpoint of the line connecting the two mounting portions 330 is offset towards the palm of the hand portion 600 in a plane perpendicular to the first axis relative to the second axis; an observation groove 331 is provided on the inner sidewall of one of the mounting portions 330, the second axis passes through the observation groove 331, the shape of the observation groove 331 is adapted to the surface shape of the second wire channel 311 extending to the observation groove 331, and the observation groove 331 passes through the end face of the mounting portion 330 away from the substrate 320 along the second axis.

[0048] Please see Figure 1 , Figure 2The angle between the third axis and the second axis is acute, meaning that the flexion-extension axis of the proximal metacarpophalangeal joint 400 (i.e., the third axis) is not perpendicular to the thumb's rotation axis 210 (i.e., the second axis), but is inclined towards the palm of the hand 600. Correspondingly, two mounting portions 330 are spaced apart on the base plate 320 along the third axis, with the midpoint of their connecting line offset relative to the second axis towards the palm of the hand 600 in a plane perpendicular to the first axis. This offset arrangement ensures that, in the initial extended state, the overall orientation of the thumb's knuckle chain (including the proximal metacarpophalangeal joint 400) is pre-biased towards the palm region. When the connecting rod 310 drives the base plate 320 to rotate around the second axis towards the palm, since the third axis itself is already inclined towards the palm, the trajectory of the proximal metacarpophalangeal joint 400 during subsequent flexion and extension is no longer limited to an outwardly convex arc perpendicular to the palm, but is superimposed with a lateral displacement component towards the palm. This mechanism allows the fingertips to approach the palm more quickly and deeply at the same rotation angle, effectively shortening the gripping stroke and improving the ability to envelop and grasp small, cylindrical, or irregularly shaped objects.

[0049] Further, please refer to Figure 10 and Figure 11 One of the mounting portions 330 has an observation groove 331 on its inner sidewall, and a second axis passes through this observation groove 331. The observation groove 331 is located on the side of the mounting portion 330 facing the connecting rod 310 and extends along the second axis. The outline shape of the observation groove 331 is adapted to the outer surface shape of the second wire-passing channel 311 when it extends to this area at the end of the connecting rod 310. At the same time, the observation groove 331 extends along the second axis to the end face of the mounting portion 330 away from the substrate 320, thereby establishing a straight viewing and operation channel between the outer end face of the mounting portion 330 and the second wire-passing channel 311 inside the connecting rod 310. Through this operating channel, operators can directly observe the direction, connection status, and presence of wear or loosening of the conductive wire harness 700 after it exits from the second wiring channel 311 without disassembling major structural components such as the proximal knuckle 400, base plate 320, connecting rod 310, or mounting base 100, from the outer end of the mounting part 330. If necessary, the conductive wire harness 700 can be inserted, removed, replaced, or temporarily tested through the observation slot 331. Furthermore, since the observation slot 331 is only located inside the mounting part 330, it avoids openings on the main viewing surface that would affect aesthetics, achieves weight reduction through partial material removal, and does not weaken the structural strength of critical load-bearing areas.

[0050] In other embodiments, the third axis can be perpendicular to the second axis, so that the direction, connection status and wear or loosening of the conductive wire harness 700 after it is led out of the second wire channel 311 can be easily observed without the need to set up the observation slot 331.

[0051] In one implementation, please refer toFigures 8 to 11 The proximal knuckle 400 includes a knuckle housing 410, a second drive member 420, and a connecting shaft 430. The connecting shaft 430 passes through the knuckle housing 410 along a third axis and is rotatable relative to the knuckle housing 410. It is fixedly connected to two mounting portions 330. The connecting shaft 430 has a third threading channel 431 that passes through its opposite ends along the third axis. The second drive member 420 is installed inside the knuckle housing 410 and is driven to the connecting shaft 430 through a transmission mechanism, so that the knuckle housing 410 is rotatable relative to the mounting portions 330. Both mounting portions 330 have a second threading hole 332 that passes through their opposite sides along the third axis. One of the mounting portions 330 has a fourth threading channel 333. One end of the fourth threading channel 333 is exposed on the inner wall of the mounting portion 330, and the other end is connected to the second threading hole 332.

[0052] Please see Figure 8 and Figure 9 The proximal metacarpophalangeal joint 400 adopts a modular integrated design, including a joint housing 410, a second drive component 420, and a connecting shaft 430. The connecting shaft 430 passes through the joint housing 410 along a third axis and forms a rotatable fit with the joint housing 410, which can be achieved through bearings, bushings, or self-lubricating holes. Both ends of the connecting shaft 430 are fixedly connected to the two mounting portions 330 of the mounting portion 330 (e.g., through pins, threads, or interference fits), thereby connecting the entire proximal metacarpophalangeal joint 400 to the mounting portion 330 with the third axis as the center of rotation. The second drive element 420 (usually a micro motor or servo motor) is built into the knuckle housing 410 and establishes a drive connection with the connecting shaft 430 through a transmission mechanism (such as a gear set, timing belt, tendon cable, or connecting rod). This transmission mechanism may include a second gear portion 440 sleeved on the outer periphery of the connecting shaft 430 and a second worm gear 450 connected to the output shaft of the second drive element 420. The second worm gear 450 and the second gear portion 440 mesh with each other. When the second drive element 420 operates, it drives the connecting shaft 430 to rotate relative to the knuckle housing 410 through the transmission mechanism. However, since the connecting shaft 430 is fixed to the mounting portion 330, the actual effect is that the second worm gear 450 drives the knuckle housing 410 to rotate around the connecting shaft 430 (i.e., the third axis) relative to the mounting portion 330, thereby achieving the flexion and extension movement of the proximal metacarpophalangeal joint 400.

[0053] Integrating the second drive component 420 inside the knuckle housing 410 of the proximal knuckle 400 avoids interference and complexity caused by external wiring or tendon cable transmission, improving structural compactness and biomimetic appearance. Secondly, the use of dual mounting parts 330 to support the connecting shaft 430 across the span enhances the rigidity and bending resistance of the rotating shaft, effectively suppressing the swaying or tilting of the proximal knuckle 400 under load, and improving gripping accuracy and reliability. Thirdly, the functional partition layout on both sides of the base plate 320, with one side connecting to the upstream connecting rod 310 and the other side supporting the downstream proximal knuckle 400, achieves clear separation of the force flow path, which is conducive to modular assembly and maintenance.

[0054] In other embodiments, the mounting part 330 is provided, and the mounting part 330 has a receiving cavity inside. The second driving member 420 and the transmission mechanism are installed in the receiving cavity of the mounting part 330. The connecting shaft 430 is fixedly connected to the knuckle housing 410 and is rotatable relative to the mounting part 330.

[0055] Further, please refer to Figure 10 and Figure 11 Both mounting portions 330 are provided with second wire-passing holes 332 extending along the third axis through their opposite sides. The second wire-passing holes 332 not only provide a spatial channel for the assembly of the connecting shaft 430, but also serve as a necessary path for the conductive wire harness 700 to pass through the mounting portion 330. In addition, one of the mounting portions 330 is also provided with a fourth wire-passing channel 333. Figure 11 The area defined by the two dashed lines represents the fourth wire passage 333 formed inside the mounting part 330. One end of the fourth wire passage 333 is exposed on the inner wall of the mounting part 330 (i.e., the side wall facing the other mounting part 330), and the other end is connected to the second wire hole 332 of the mounting part 330. After the conductive wire bundle 700 passes through the second wire passage 311 of the connecting rod 310 out of the substrate 320, it passes through the mounting space between the two mounting parts 330 and extends from the port of the fourth wire passage 333 exposed on the inner wall of one of the mounting parts 330 to its other end, and passes through the second wire hole 332. Then it passes through the second wire hole 332 into the third wire passage 431 of the connecting shaft 430, and finally reaches the inside of the knuckle housing 410 to connect to the second drive member 420 or electronic components such as sensors set on the fingertip.

[0056] When the second drive member 420 operates, it drives the connecting shaft 430 to attempt to rotate relative to the knuckle housing 410 via the transmission mechanism. However, since both ends of the connecting shaft 430 are fixedly connected to the two mounting portions 330, it remains stationary during movement. That is, the connecting shaft 430, as the physical carrier of the third axis, does not rotate or displace during the flexion and extension of the proximal metacarpophalangeal joint 400. Therefore, the actual effect of the transmission mechanism is that the knuckle housing 410 rotates relative to the mounting portion 330 around the stationary connecting shaft 430 (i.e., around the third axis), thereby realizing the flexion and extension action of the proximal metacarpophalangeal joint 400.

[0057] Under this motion mechanism, after the conductive wire harness 700 enters the third wire passage 431 of the connecting shaft 430 through the second wire hole 332 of the mounting part 330, the portion of the conductive wire harness 700 located within the third wire passage 431 remains stationary. Thus, the transition section of the conductive wire harness 700 between the metacarpophalangeal joint 300 and the proximal metacarpophalangeal joint 400 is completely hidden inside the mounting part 330 and the connecting shaft 430, without being exposed or crossing the movement gap, significantly improving wiring concealment and anti-interference capabilities. Secondly, during the repeated flexion and extension of the proximal metacarpophalangeal joint 400, the conductive wire harness 700 does not move with the joint housing 410, nor does it undergo relative sliding, bending, or torsion. It only needs to adapt to rotational movement on the metacarpophalangeal joint 300 side, while maintaining a static connection on the proximal metacarpophalangeal joint 400 side, thereby greatly reducing the risk of mechanical fatigue and ensuring the long-term stability of power supply and signal transmission.

[0058] It is worth mentioning that, for the metacarpophalangeal joint 300 offset from the connecting rod 310 in the mounting part 330, the fourth wire passage 333 and the observation slot 331 are located in the same mounting part 330. Thus, the conductive wire bundle 700 exiting from the second wire passage 311 can directly enter the fourth wire passage 333 along the second axis or a similar extension path, avoiding the need for a large-angle bend after exiting the second wire passage 311 to connect to the fourth wire passage 333. Simultaneously, since the observation slot 331 is located in the same mounting part 330 and extends along the second axis, operators can visually observe the state of the conductive wire bundle 700 before and after entering the fourth wire passage 333 through the observation slot 331, facilitating inspection, insertion / removal, or troubleshooting, thereby improving maintenance convenience.

[0059] Of course, in other embodiments, the fourth threading channel 333 may also be located in a different mounting part 330 from the observation slot 331.

[0060] In one implementation, please refer to Figures 8 to 11The mounting part 330 has a convex arc surface 334 on one side edge adjacent to the substrate 320. The end of the knuckle housing 410 facing the metacarpophalangeal joint 300 is provided with a concave arc surface 411 that rotatably engages with the convex arc surface 334. Another mounting part 330 opposite to the fourth wire channel 333 is provided with a wire passage groove 335. The wire passage groove 335 passes through the convex arc surface 334 of the corresponding mounting part 330 and is connected to the second wire passage hole 332 of the corresponding mounting part 330. The wire passage groove 335 extends circumferentially along the third axis. The knuckle housing 410 is provided with a third wire passage hole 412 corresponding to the wire passage groove 335. The third wire passage hole 412 is located on the concave arc surface 411 and is connected to the interior of the knuckle housing 410.

[0061] The mounting portion 330 has a convex arc surface 334 on one side adjacent to the base plate 320. The end of the knuckle shell 410 facing the metacarpophalangeal joint 300 has a concave arc surface 411 that matches the convex arc surface 334. The two cooperate to form a rotating pair around the third axis, allowing the knuckle shell 410 to smoothly flex and extend relative to the metacarpophalangeal joint 300. During the rotation of the proximal metacarpophalangeal joint 400 around the third axis, the convex arc surface 334 is always covered by the concave arc surface 411, preventing it from being exposed on the outer surface of the thumb. At the same time, the outer surface of the mounting portion 330 and the outer surface of the knuckle shell 410 maintain a smooth, neat, and continuous overall appearance in terms of both vision and touch, thereby significantly improving the overall appearance integration and biomimetic aesthetics of the thumb.

[0062] Based on this, one of the two mounting parts 330 is provided with a fourth wire passage 333, and the other is provided with a wire groove 335. The wire groove 335 passes through the convex arc surface 334 of the corresponding mounting part 330 and is connected to the second wire hole 332 of the corresponding mounting part 330. The wire groove 335 extends circumferentially along the third axis. Correspondingly, the finger joint housing 410 is provided with a third wire hole 412 at the position corresponding to the wire groove 335. The third wire hole 412 is located on the concave arc surface 411 and is connected to the internal space of the finger joint housing 410. The wire groove 335 is arc-shaped circumferentially along the third axis, and the wire groove 335 provides the necessary movement space and guide trajectory for the conductive wire harness 700 during the rotation of the finger joint housing 410. During the flexion and extension of the proximal phalanx 400, the third wire-passing hole 412 remains connected to the wire-passing groove 335. This allows the conductive wire bundle 700 to slide slightly or deflect compliantly along the arc-shaped path of the wire-passing groove 335, avoiding sharp bends, localized stress concentrations, or compression at the rotation interface, effectively alleviating mechanical fatigue. Secondly, the fit between the convex arc surface 334 and the concave arc surface 411 forms a closed rotating pair. The alignment design of the wire-passing groove 335 and the third wire-passing hole 412 ensures that the conductive wire bundle 700 is always constrained within this rotating pair, with no exposed section crossing the external environment, thus preventing interference, wear, or entanglement with adjacent phalanges, hand structures, or other external objects. Furthermore, because the wire-passing groove 335 and the third wire-passing hole 412 are precisely aligned and located in the inner area of ​​the non-main visual surface, they do not affect the overall aesthetic appearance of the dexterous hand, nor do they require additional openings that would compromise structural strength.

[0063] Because the proximal metacarpophalangeal joint 400 needs to frequently flex and extend around the third axis during operation, there is relative rotation between the joint housing 410 and the mounting part 330. If the conductive wire harness 700 directly crosses the gap between the two, it is very easy to suffer fatigue fracture due to repeated bending, pulling, or friction. This solution integrates a circumferentially extending wire groove 335 on the convex arc surface 334 and opens a third wire hole 412 at the corresponding position on the concave arc surface 411, thus constructing a dynamic wire threading interface that adapts to joint rotation.

[0064] Please see Figure 5 and Figure 8In the assembled state, the conductive wire harness 700 is led out from the second wire passage 311 of the metacarpophalangeal joint 300 and enters the fourth wire passage 333 from the port exposed on the inner side wall of one of the mounting portions 330; then, it is guided through the second wire hole 332 of the mounting portion 330 and into the entrance of the third wire passage 431 of the connecting shaft 430; the conductive wire harness 700 passes through the entire connecting shaft 430 along the third wire passage 431, exits from the outlet at the other end, and enters the second wire hole 332 of the mounting portion 330 on the opposite side; then, the conductive wire harness 700 rotates into the wire groove 335 of the mounting portion 330, and through the corresponding third wire hole 412 of the knuckle housing 410, finally enters the interior of the knuckle housing 410 and connects to the second drive member 420 or functional element.

[0065] The present invention also proposes a dexterous hand, which includes a thumb of the dexterous hand. The specific structure of the thumb of the dexterous hand is as described in the above embodiments. Since the dexterous hand adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0066] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A thumb of a dexterous hand, characterized in that, The dexterous hand comprises a palm portion and a thumb mounted on the palm portion, the thumb comprising: a mounting seat rotatably arranged on the palm portion about a first axis, the mounting seat having a mounting cavity and a first wire hole and a first mounting opening communicating with the mounting cavity; a driving unit comprising a rotating shaft rotatably arranged in the mounting cavity about a second axis, the rotating shaft being provided with a first wire passage penetrating through opposite ends of the rotating shaft along the second axis and communicating with the first wire hole and the mounting cavity, the second axis intersecting the first axis; a metacarpophalangeal joint arranged in the mounting cavity through the first mounting opening and connected to one end of the rotating shaft, the metacarpophalangeal joint being provided with a second wire passage communicating with the first wire passage, and the first wire hole, the first wire passage and the second wire passage being coaxially arranged.

2. The thumb of the dexterous hand of claim 1, wherein, The driving unit further comprises a transmission housing, a first driving member, a first gear portion and a first worm, the transmission housing being mounted in the mounting cavity and sleeved on the outer periphery of the rotating shaft, the first driving member being mounted on the transmission housing and drivingly connected to the first worm, the first worm penetrating through the transmission housing along the first axis and being engaged with the first gear portion sleeved on the outer periphery of the rotating shaft.

3. The thumb of the dexterous hand of claim 2, wherein, The mounting seat comprises a first seat body and a second seat body connected at an intersection, the interior spaces of the first seat body and the second seat body being communicated, the first wire hole being arranged in the first seat body and being distributed along the second axis with the second seat body, the first seat body being provided with a second mounting opening communicating with the mounting cavity, and the transmission housing being capable of being loaded into the interior of the first seat body through the second mounting opening.

4. The thumb of the dexterous hand of claim 3, wherein, The second mounting opening is located on the peripheral side wall of the first seat body between the first wire hole and the second seat body.

5. The thumb of the dexterous hand of claim 3, wherein, The two opposite side edges of the second mounting opening are each provided with a relief notch, and the opposite side surfaces of the transmission housing are partially exposed in the corresponding relief notches.

6. The thumb of the dexterous hand of claim 3, wherein, The first mounting opening is arranged at one end of the second seat body away from the first seat body and is oppositely arranged with the first wire hole, the metacarpophalangeal joint comprising a base plate, a connecting rod and two mounting portions, one end of the connecting rod being connected to the base plate, the other end of the connecting rod being arranged in the second seat body through the first mounting opening and being rotatably connected to the second seat body, the second wire passage being arranged in the connecting rod and penetrating through the opposite side surfaces of the base plate; the two mounting portions being arranged on the side of the base plate away from the connecting rod along a third axis, and the thumb further comprising a proximal phalanx, the proximal phalanx being rotatably mounted on the mounting portions about the third axis.

7. A thumb for an articulated hand as claimed in claim 6, characterized in that, The third axis is arranged at an acute angle with the second axis, and the midpoint of the line connecting the two mounting portions is offset from the second axis in a plane perpendicular to the first axis toward the palm center of the palm portion; the inner side wall of one of the mounting portions is provided with an observation slot through which the second axis passes, the observation slot is shaped to match the surface shape of the second threading channel at the end of the observation slot, and the observation slot penetrates the mounting portion along the second axis away from the end face of the base plate.

8. The thumb of the dexterous hand of claim 6, wherein, The proximal phalanx includes a phalanx housing, a second driving member, and a connecting shaft, the connecting shaft is arranged through the phalanx housing along the third axis, the connecting shaft is rotatable relative to the phalanx housing and fixedly connected with the two mounting portions, and the connecting shaft is provided with a third threading channel penetrating through opposite ends thereof along the third axis; the second driving member is installed inside the phalanx housing and drivingly connected with the connecting shaft through a transmission mechanism to enable the phalanx housing to be rotatable relative to the mounting portions. The two mounting portions are each provided with a second wire passing hole penetrating through opposite side faces thereof along the third axis, one of the mounting portions is provided with a fourth threading channel, and one end of the fourth threading channel is exposed to the inner side wall of the mounting portion, and the other end is in communication with the second wire passing hole.

9. The thumb of the dexterous hand of claim 8, wherein, The side edge of the mounting portion adjacent to the base plate has a convex arc surface, one end of the phalanx housing toward the metacarpophalangeal joint is provided with a concave arc surface in rotational cooperation with the convex arc surface, the other mounting portion opposite to the fourth threading channel is provided with a wire passing groove penetrating through the convex arc surface of the corresponding mounting portion and in communication with the second wire passing hole of the corresponding mounting portion, the wire passing groove extends along the circumferential direction of the third axis, the phalanx housing is provided with a third wire passing hole corresponding to the wire passing groove, the third wire passing hole is located in the concave arc surface and in communication with the inside of the phalanx housing.

10. A dexterous hand characterized by, The thumb of the dexterous hand according to any one of claims 1 to 9.

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