Hand software development method and dexterous hand

Abstract

The application discloses a hand soft body manufacturing method and a dexterous hand. The method comprises the following steps: preparing two base cloths, one surface of the base cloth being an oil-proof surface; placing a first base cloth on a first jig with a first recess in the middle; pressing a bump matched with the first recess into the first recess, and fixing the first base cloth and the first jig, the bump partially protruding from the first recess; covering the bump with a second base cloth among the two base cloths, and covering the second base cloth through a second jig with a second recess; fixing the first jig and the second jig, and bonding or fusing the first base cloth and the second base cloth around the first recess; opening the connection between the first base cloth and the second base cloth, and sealing the opening after the bump is taken out, so as to obtain a middle cloth, the middle cloth having a first closed cavity; and injecting gel into the first cavity, and performing solidification treatment on the gel.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a method for creating hand software and a dexterous hand. Background Technology

[0002] With the development of robots, their applications are becoming increasingly widespread. Currently, robot dexterous hands are typically made of hard materials (such as metals and hard plastics), resulting in a high degree of hardness on the front side of the hand. When grasping objects, the hard material on the front of the hand makes it difficult to distribute pressure, leading to poor grip stability. Therefore, existing technologies suffer from poor grip stability in dexterous hand applications. Summary of the Invention

[0003] This application provides a method for manufacturing hand software and a dexterous hand to solve the problem of poor grip stability in dexterous hands.

[0004] In a first aspect, embodiments of this application provide a method for creating hand software, including:

[0005] Prepare two pieces of base fabric, wherein the base fabric is an elastic material and one surface of the base fabric is an oil-resistant surface;

[0006] The first base fabric of the two base fabrics is placed on a first fixture with a first groove in the middle, and the first base fabric covers the first groove.

[0007] A protrusion adapted to the first groove is pressed into the first groove so that the first base fabric portion is located in the first groove, and the first base fabric is fixed to the first fixture, with the protrusion portion protruding out of the first groove;

[0008] The second base fabric of the two base fabrics is used to cover the protrusion, and the second base fabric is covered by a second fixture with a second groove. The first groove and the second groove are spliced ​​together to form a first receiving cavity for receiving the protrusion.

[0009] Fix the first fixture and the second fixture, and bond or fuse the first base fabric and the second base fabric around the first groove;

[0010] An opening is made at the junction of the first base fabric and the second base fabric, and after the protrusion is removed, the opening is sealed to obtain an intermediate fabric having a first sealed cavity.

[0011] After injecting gel into the first cavity, the gel is cured to obtain a soft hand with a palm structure in the dexterous hand.

[0012] Secondly, embodiments of this application also provide a dexterous hand, including:

[0013] Hand software;

[0014] A dexterous hand skeleton, comprising a palm structure and a finger structure, wherein the palm structure is provided with N hand soft parts, and the hand soft parts are fixedly connected to the palm structure, where N is an integer greater than 2;

[0015] A glove, which is fitted over the dexterous hand skeleton, with the hand soft body located between the palm structure and the glove.

[0016] This embodiment of the application involves preparing two base fabrics, each being an elastic material with one surface being oil-resistant. The first base fabric is placed on a first fixture with a first groove in the center, covering the first groove. A protrusion adapted to the first groove is pressed into the groove, so that a portion of the first base fabric is located within the groove, and the first base fabric is fixed to the first fixture, with the protrusion protruding from the groove. The second base fabric is then placed over the protrusion, and a second groove is formed. The second fixture of the groove covers the second base fabric, and the first groove and the second groove are spliced ​​together to form a first receiving cavity for accommodating the protrusion; the first fixture and the second fixture are fixed, and the first base fabric and the second base fabric around the first groove are bonded or fused; an opening is made at the connection between the first base fabric and the second base fabric, and after the protrusion is removed, the opening is sealed to obtain an intermediate fabric, which has a sealed first cavity; after injecting gel into the first cavity, the gel is cured to obtain a hand soft body with a palm structure in the dexterous hand. This allows the hand soft body to be installed or placed on the dexterous hand, so that the palm of the dexterous hand has a soft body similar to a muscle structure, thereby dispersing gripping pressure and increasing the gripping contact surface. Therefore, the embodiments of this application improve the gripping stability of the dexterous hand.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 This is a flowchart of the hand software creation method provided in the embodiments of this application;

[0020] Figures 2 to 5 This is a schematic diagram of the fixture used in the hand software manufacturing method provided in this application embodiment;

[0021] Figure 6 and Figure 7 This is a schematic diagram of the structure of the hand software created by the hand software creation method provided in the embodiments of this application;

[0022] Figure 8 This is a schematic diagram of the structure of a dexterous hand provided in an embodiment of this application;

[0023] Figure 9 This is a schematic diagram of another dexterous hand provided in an embodiment of this application;

[0024] Figure 10 yes Figure 8 Layout diagram of the middle hand software;

[0025] Figure 11 yes Figure 9 Layout diagram of the middle hand software;

[0026] Figure 12 This is a schematic diagram of the dexterous hand finger structure after installing finger software, provided in an embodiment of this application;

[0027] Figure 13 This is a schematic diagram of the fixture used in the finger softness manufacturing method provided in this application embodiment;

[0028] Figure 14 This is one of the intermediate product example diagrams of the finger software manufacturing method provided in the embodiments of this application;

[0029] Figure 15 This is the second example of an intermediate product of the finger software manufacturing method provided in the embodiments of this application;

[0030] Figure 16 This is the third example of an intermediate product of the finger software manufacturing method provided in this application embodiment;

[0031] Figure 17 This is a schematic diagram of the structure of the soft part of the dexterous hand finger software according to an embodiment of this application. Detailed Implementation

[0032] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] See Figure 1 This application provides a method for creating hand software, such as... Figure 1 As shown, the method for creating this hand software includes:

[0037] Step 101: Prepare two pieces of base fabric. The base fabric is an elastic material, and one surface of the base fabric is an oil-resistant surface.

[0038] In this embodiment, the substrate fabric can be PU fabric, for example, 0.4mm thick PU fabric, wherein one side of the PU fabric is a PU leather side (or PU side), and the other side is a fiber side. The PU leather side can be understood as the aforementioned oil-resistant side.

[0039] Step 102: Place the first base fabric of the two base fabrics on the first fixture with the first groove in the middle, and the first base fabric covers the first groove;

[0040] In this embodiment, the oil-resistant surface of the first substrate fabric can face the first groove, or the oil-resistant surface of the first substrate fabric can face away from the first groove.

[0041] Step 103: Press the protrusion that matches the first groove into the first groove so that the first base fabric portion is located in the first groove, and fix the first base fabric to the first fixture, with the protrusion portion protruding out of the first groove;

[0042] In this embodiment, the first surface of the first fixture is provided with a first groove. An adhesive layer can be provided on the side of the first fixture adjacent to the first surface, and then the first substrate fabric is covered with the first groove. The first substrate fabric is then adhered and fixed to the first fixture by the adhesive layer. For example, double-sided tape can be adhered to the side wall of the first fixture, and the double-sided tape can surround the side wall of the first fixture. This allows the first substrate fabric to be bonded in all directions, preventing wrinkles from appearing on the first surface of the first fixture.

[0043] It should be understood that in other embodiments, other fixing methods may be used, such as fixing by cable ties or by buckles, and no further limitations are made here.

[0044] Step 104: Cover the protrusion with the second base fabric of the two base fabrics, and cover the second base fabric with a second fixture having a second groove. The first groove and the second groove are spliced ​​together to form a first receiving cavity for receiving the protrusion.

[0045] In this embodiment of the application, when the oil-resistant surface of the first substrate fabric faces the first groove, the oil-resistant surface of the second substrate fabric can face the second groove; or, when the oil-resistant surface of the first substrate fabric is away from the first groove, the oil-resistant surface of the second substrate fabric can be away from the second groove.

[0046] Optionally, in some embodiments, the first and second fixtures can be 3D-printed molds. Since the fitting precision between the two fixtures is relatively low, a layer of foam can be added to ensure uniform pressure. For example, after covering the protrusions with the second substrate fabric, a soft and thin layer of foam can be placed on top of the second substrate fabric, and then the second fixture can be placed on top of the second substrate fabric. This ensures uniform pressure from the first and second fixtures on the first and second substrate fabrics.

[0047] Of course, in some embodiments, when the fitting accuracy between the first fixture and the second fixture is high, or when the fitting position between the first fixture and the second fixture has a certain degree of softness, foam may not be required.

[0048] Optionally, in some embodiments, after the second base fabric of the two base fabrics covers the protrusion, the oil-resistant surfaces of the first base fabric and the second base fabric can be arranged opposite to or away from each other.

[0049] It should be understood that the structures of the first and second fixtures differ when manufacturing different hand software. In some embodiments, such as... Figure 2 and Figure 3 As shown, the first fixture 11 has a first groove 111 inside, and the second fixture 12 has a second groove 121 inside. The first fixture 11 and the second fixture 12 can fit together so that the first groove 111 and the second groove 121 are joined to form a first receiving cavity. In some embodiments, the first fixture 11 can be as follows: Figure 4 As shown, the second fixture 12 is as Figure 5 As shown.

[0050] Step 105: Fix the first fixture and the second fixture, and bond or fuse the first base fabric and the second base fabric around the first groove.

[0051] In this embodiment of the application, the first fixture and the second fixture can be fastened by cable ties. For example, the first fixture and the second fixture can be fastened and fixed by two cable ties from different directions.

[0052] Optionally, the contact points between the first and second substrate fabrics around the first groove can be bonded or fused to form a sealed cavity in the area accommodating the protrusion. The first and second substrate fabrics can be bonded using an adhesive layer, or fused using a high-frequency process.

[0053] Step 106: Make an opening at the connection between the first base fabric and the second base fabric, and after removing the protrusion, seal the opening to obtain an intermediate fabric, the intermediate fabric having a sealed first cavity;

[0054] In this embodiment, the connection point can be understood as the location around the protrusion where the first substrate fabric and the second substrate fabric are in contact with each other. If there is excess fabric around the connection point, the excess fabric can be further cut off. Then, an opening is made at the connection point, and the protrusion is removed using the elasticity of the substrate fabric. The opening is then sealed using an adhesive film or a high-frequency welding process.

[0055] Step 107: After injecting gel into the first cavity, the gel is solidified to obtain a soft hand with a palm structure in the dexterous hand.

[0056] Optionally, in some embodiments, the gel described above may be referred to as a silicone gel. The gel described above can be obtained by thoroughly mixing HL-1010-3 A gel and HL-1010-3 B gel in a 1:1 ratio.

[0057] Specifically, after mixing to obtain a gel, the mixed gel can be injected into the first cavity using a syringe. Then, the cylindrical fabric filled with gel is placed in an oven and baked at 110°C for 25 minutes to solidify the gel, thus obtaining a soft hand. At the same time, the thermoplasticity of the fibers is utilized to eliminate internal stress and achieve heat setting of the base fabric.

[0058] It should be understood that when manufacturing different hand software, the structures of the corresponding first and second fixtures are different, resulting in different hand software structures. In some embodiments, based on... Figure 2 and Figure 3 The jig shown can be obtained Figure 6 The hand software shown is based on Figure 4 and Figure 5 The jig shown can be obtained Figure 7 Fixture shown.

[0059] Optionally, in some embodiments, the amount of gel injected into the first cavity is related to the volume of the bump. For example, in some embodiments, the amount of gel injected into the first cavity is the volume of the bump plus an additional injection volume, wherein the additional injection volume is injected in accordance with the manner shown in Table 1 below.

[0060] Table 1:

[0061]

[0062] This embodiment of the application involves preparing two base fabrics, each being an elastic material with one surface being oil-resistant. The first base fabric is placed on a first fixture with a first groove in the center, covering the first groove. A protrusion adapted to the first groove is pressed into the groove, so that a portion of the first base fabric is located within the groove, and the first base fabric is fixed to the first fixture, with the protrusion protruding from the groove. The second base fabric is then placed over the protrusion, and a second groove is formed. The second fixture of the groove covers the second base fabric, and the first groove and the second groove are spliced ​​together to form a first receiving cavity for accommodating the protrusion; the first fixture and the second fixture are fixed, and the first base fabric and the second base fabric around the first groove are bonded or fused; an opening is made at the connection between the first base fabric and the second base fabric, and after the protrusion is removed, the opening is sealed to obtain an intermediate fabric, which has a sealed first cavity; after injecting gel into the first cavity, the gel is cured to obtain a hand soft body with a palm structure in the dexterous hand. This allows the hand soft body to be installed or placed on the dexterous hand, so that the palm of the dexterous hand has a soft body similar to a muscle structure, thereby dispersing gripping pressure and increasing the gripping contact surface. Therefore, the embodiments of this application improve the gripping stability of the dexterous hand.

[0063] Optionally, in some embodiments, after injecting the gel into the first cavity, the gel is cured to obtain a soft hand for a dexterous hand, including:

[0064] After injecting gel into the first cavity, the intermediate fabric is placed in the third and fourth fixtures;

[0065] After fixing the third and fourth fixtures, the gel is cured to obtain a soft hand body for a dexterous hand.

[0066] The third fixture includes a third groove, and the fourth fixture includes a fourth groove. The third groove and the fourth groove are joined together to form a second receiving cavity. The second receiving cavity is the same as the first receiving cavity, or the second receiving cavity and the first receiving cavity have the same shape after being rotated 180° in space.

[0067] In this embodiment, by setting a third fixture and a fourth fixture, the substrate fabric after gel injection is placed in the third fixture and the fourth fixture, and then fixed with cable ties. The fixed third fixture and the fourth fixture are then placed in an oven and baked at 110°C for 25 minutes to solidify the gel. This ensures that the shape of the solidified gel is consistent with the second receiving cavity, thereby guaranteeing the consistency of the hand soft body shape.

[0068] Optionally, in some embodiments, when the second receiving cavity is the same as the first receiving cavity, the third fixture can be understood as or replaced by the first fixture, and the fourth fixture can be understood as or replaced by the second fixture. In this case, when the first base fabric is placed on the first fixture with the first groove in the middle, the oil-resistant surface of the first base fabric faces away from the first groove. This eliminates the need for multiple sets of fixtures, thereby reducing the difficulty of industrial production.

[0069] Optionally, in some embodiments, when the second receiving cavity and the first receiving cavity are spatially rotated 180° to have the same shape, the aforementioned third and fourth fixtures can be understood as new fixtures. For example, the third groove of the third fixture can be understood as a mirror image of the first groove of the first fixture, and the fourth groove of the fourth fixture can be understood as a mirror image of the second groove of the second fixture. In this case, when the first base fabric is placed on the first fixture with the first groove in the middle, the oil-resistant surface of the first base fabric faces the first groove.

[0070] Optionally, in some embodiments, when the second receiving cavity and the first receiving cavity are spatially rotated 180° to have the same shape, the step of making an opening at the junction of the first base fabric and the second base fabric, and sealing the opening after removing the protrusion to obtain the intermediate fabric, includes:

[0071] An opening is made at the junction of the first base fabric and the second base fabric, and the protrusion is removed;

[0072] The first base fabric and the second base fabric are flipped over based on the opening;

[0073] The opening is sealed to obtain the intermediate fabric.

[0074] In this embodiment of the application, after flipping, the flange edge connecting the first base fabric and the second base fabric will be located in the first cavity. This avoids the stacking of flange edges of multiple handpieces during subsequent installation, which would cause installation inconvenience.

[0075] Optionally, in some embodiments, after flipping the first and second base fabrics based on the opening, the oil-resistant surfaces of the first and second base fabrics are positioned opposite each other. This flipping of the first and second base fabrics creates a first cavity between the oil-resistant surfaces of the flipped first and second base fabrics, thus better preventing gel leakage.

[0076] Optionally, since removing the bump usually requires a large opening, and sealing the opening after flipping is inconvenient, the opening can be reduced before flipping. For example, in some embodiments, after removing the bump, an adhesive film is applied to the opening, and the opening is ironed with a soldering iron to bond the first and second base fabrics together, thus reducing the opening size. Then, tweezers are used to place the first and second base fabrics at the end furthest from the opening and push them inward to the opening, then push them out, thereby flipping the first and second base fabrics. After flipping, an adhesive film can be applied again to the opening, and the opening can be sealed by ironing with a soldering iron.

[0077] It should be noted that, in the above embodiments, in addition to using adhesive film and soldering iron to achieve the reduction and sealing of the opening, a high-frequency process can also be used, and no further limitations are made here.

[0078] Optionally, in some embodiments, before covering the protrusion with the second base fabric of the two base fabrics, the method further includes:

[0079] An adhesive film is provided in a first area of ​​the first substrate fabric, wherein the first area is an annular area around the protrusion;

[0080] The step of fixing the first fixture and the second fixture, and bonding or fusing the first base fabric and the second base fabric around the first groove, includes:

[0081] The first fixture and the second fixture are fixed by cable ties so that the first fixture and the second fixture press the first base fabric and the second base fabric at the position where the adhesive film is set;

[0082] The fixed first fixture and the second fixture are placed in an environment with a first preset temperature and baked for a first preset time to make the first base fabric and the second base fabric bonded and fixed.

[0083] In this embodiment, the first preset temperature can be set according to actual needs; for example, the first preset temperature can be 110℃. The first preset duration can be set according to actual needs; for example, the first preset duration can be 25 minutes.

[0084] Optionally, a laser cutting machine can be used to cut the entire adhesive film to obtain an annular adhesive film that fits the protrusion. After pressing the protrusion into the first groove, an annular adhesive film can be set around the protrusion, with the protrusion located in the inner circle of the annular adhesive film. At this time, release paper is provided on the side of the annular adhesive film facing away from the first substrate fabric. Further, a soldering iron with a soldering iron for bonding Teflon tape can be heated to 180℃~220℃, and the position can be aligned and lightly pressed (pressed lightly and then lifted) to achieve pre-bonding. Since the adhesive film is thermosetting, it is best to ensure that each area is only ironed once to heat-activate the adhesive film. Excessive ironing will prematurely complete the entire heat curing process, causing the adhesive film to lose its adhesive effect later.

[0085] Next, after peeling off the release paper and covering the protrusion with the second substrate fabric, the annular adhesive film can be positioned between the first substrate fabric and the second substrate fabric to achieve bonding between the first substrate fabric and the second substrate fabric.

[0086] Finally, the second fixture is assembled with the first fixture, and the first and second fixtures are fixed together with cable ties. Then, it is placed in an oven at 110°C for 25 minutes to bake the adhesive film, thereby achieving the bonding of the first and second base fabrics.

[0087] Optionally, in some embodiments, the weave direction of the base fabric is perpendicular to the length direction of the protrusion.

[0088] In this embodiment, the length direction of the protrusion can be understood as the direction of movement of the hand soft body, and the weave direction of the base fabric is the direction in which the base fabric has greater elasticity. Since the weave direction of the base fabric is perpendicular to the length direction of the protrusion, the direction of greater elasticity of the base fabric can be used to support the changes in the state of the hand soft body during movement, thereby reducing the influence of the base fabric on the hand soft body during movement.

[0089] Optionally, in some embodiments, before making the opening at the junction of the first base fabric and the second base fabric, the method further includes:

[0090] Cut the first and second base fabrics to remove the area outside the bonding or fusion point of the first and second base fabrics.

[0091] Furthermore, when the bonding or fusion area between the first and second base fabrics is relatively wide, a portion of this area can be cut. This reduces the width of the flange edge, facilitating subsequent assembly.

[0092] Optionally, in some embodiments, before covering the protrusion with the second base fabric of the two base fabric pieces, the method further includes:

[0093] The portion of the first substrate fabric located above the first groove is laid flat and unfolded.

[0094] In this embodiment, by setting the portion of the first substrate fabric above the first groove to a flat, unfolded state, the stability of the subsequent bonding of the first and second substrate fabrics can be guaranteed.

[0095] Optionally, in some embodiments, this application also provides a dexterous hand, such as... Figure 8 and Figure 9 As shown, the dexterous hand includes:

[0096] Hand software 81;

[0097] A dexterous hand skeleton, comprising a palm structure 821 and a finger structure 822, wherein the palm structure 821 is provided with N hand soft parts 81, and the hand soft parts 81 are fixedly connected to the palm structure 821, where N is an integer greater than 2;

[0098] A glove (not shown in the figure) is fitted over the dexterous hand skeleton, and the hand soft body 81 is located between the palm structure and the glove.

[0099] In this embodiment, the hand software 81 can be glued to the palm structure 821, or the hand software 81 can be fixed to the palm structure by means of buckles, screws or sewing, etc., without further limitation.

[0100] This application embodiment features a dexterous hand comprising: hand soft parts 81; a dexterous hand skeleton, the skeleton including a palm structure 821 and finger structures 822, the palm structure 821 having N hand soft parts 81 fixedly connected to the palm structure 821, where N is an integer greater than 2; and a glove fitted onto the dexterous hand skeleton, with the hand soft parts 81 located between the palm structure and the glove. This provides a soft part with a muscle-like structure in the palm area of ​​the dexterous hand, thereby dispersing gripping pressure and increasing the gripping contact area. Therefore, this application embodiment improves the stability of dexterous hand gripping.

[0101] Alternatively, the gloves described above can be understood as or replaced with protective covers.

[0102] Alternatively, in some embodiments, such as Figure 8 and Figure 10As shown, the N hand software includes 7 palm software located on the front of the palm structure and 1 back hand software located on the back of the palm structure. The 7 palm software includes 4 first palm software, 1 second palm software, 1 third palm software and 1 fourth palm software.

[0103] The four first palm software components are respectively set for four metacarpophalangeal joints, including the first metacarpophalangeal joint corresponding to the little finger, the second metacarpophalangeal joint corresponding to the ring finger, the third metacarpophalangeal joint corresponding to the middle finger, and the fourth metacarpophalangeal joint corresponding to the index finger.

[0104] The second palm soft body is located on the side of the first palm soft body corresponding to the first metacarpophalangeal joint that is far away from the finger structure corresponding to the little finger, and the length direction of the second palm soft body is consistent with the length direction of the first palm soft body corresponding to the first metacarpophalangeal joint. The direction of the line connecting the geometric center of the second palm soft body and the geometric center of the first palm soft body corresponding to the first metacarpophalangeal joint is the length direction of the second palm soft body.

[0105] The third and fourth palm software are both located on one side of the second palm software. The third palm software is positioned between the second palm software and the metacarpophalangeal joint corresponding to the thumb. The fourth palm software is located between the third palm software and the first palm software corresponding to the second metacarpophalangeal joint, and between the third palm software and the first palm software corresponding to the third metacarpophalangeal joint.

[0106] In this embodiment, the finger structure and palm structure can be movably connected through the metacarpophalangeal joint. The specific structure of the palm structure and finger structure can be referred to in related technologies, and will not be repeated here.

[0107] Optionally, such as Figure 10 As shown, the four first hand software programs are A1, A2, A3 and A4, the second hand software program is B, the third hand software program is C, the fourth hand software program is D, and the back of the hand software program is E.

[0108] Optionally, in some embodiments, the aforementioned third palm software A3 can be split into two palm software programs (such as A31 and A32), specifically as follows: Figure 11 As shown.

[0109] Optionally, in some embodiments, the dexterous hand further includes a finger soft body 83, which is sleeved on the finger structure and located between the finger structure 822 and the glove.

[0110] In this embodiment of the application, there may be multiple finger soft bodies 83. For example, there are 5 finger structures 822, corresponding to 5 fingers, and 5 finger soft bodies, with each finger soft body being fitted onto one finger structure.

[0111] Optionally, the aforementioned finger soft material can be glued and fixed to the finger structure 822, or it can be fixedly connected to the finger structure by wire harness or screws, without further limitation.

[0112] Optionally, further integration Figure 12 In some embodiments, the finger structure 822 includes four first-type finger structures and one second-type finger structure. The first-type finger structure includes three phalanges and a knuckle joint located between two adjacent phalanges. The knuckle joint is used to connect two adjacent phalanges.

[0113] The finger soft body disposed in the first type of finger structure includes a base fabric and two U-shaped soft parts disposed in the base fabric. One U-shaped soft part is disposed in relation to the first knuckle of the first type of finger structure adjacent to the palm structure, and the other U-shaped soft part is disposed in relation to the second knuckle of the first type of finger structure. The second knuckle is adjacent to the first knuckle.

[0114] The finger soft part disposed in the second type of finger structure includes a base fabric and a U-shaped soft part disposed in the base fabric. The U-shaped soft part is disposed corresponding to the first phalanx of the second type of finger structure adjacent to the palm structure.

[0115] The U-shaped opening of the U-shaped soft part is positioned facing the back of the finger structure.

[0116] In this embodiment, the finger structure and palm structure can be movably connected through the metacarpophalangeal joint. The specific structure of the palm structure and finger structure can be referred to in related technologies, and will not be repeated here.

[0117] Optionally, the first phalanx can be understood as the base of the phalanx, and the second phalanx can be understood as the middle phalanx.

[0118] Optionally, the aforementioned U-shaped soft part can wrap around the front and sides of the finger structure, which corresponds to the muscle distribution of a human finger. This can improve the stability of gripping or holding objects when grasping or holding them through the finger structure.

[0119] Optionally, in some embodiments, the base fabric has a first opening on the front side corresponding to the first knuckle portion, the first opening being located between the two U-shaped soft portions, and the base fabric has a second opening on the back side corresponding to the first knuckle portion, the second opening being located between the two U-shaped soft portions;

[0120] Wherein, the first finger joint portion is provided with first through holes 8221 on two opposite sides, and the base fabric is installed and fixed on the first finger joint portion through connecting lines and the first through holes 8221;

[0121] Wherein, the first finger joint portion refers to the finger joint portion of the first finger joint portion and the second finger joint portion in the first type of finger structure.

[0122] In this embodiment of the application, the first opening and the second opening are arranged opposite to each other. By setting the first opening and the second opening, a clearance space is provided during the rotation of the first finger joint, thereby improving the flexibility of the rotation of the first finger joint.

[0123] Furthermore, the connecting thread can be knitted thread, which can be sewn onto the base fabric and fixed to the first through hole using a needle. Thus, during the rotation of the second knuckle relative to the first knuckle controlled by the first knuckle, the base fabric forms a pleated structure at the first knuckle, thereby creating a pleated structure in the glove at the first knuckle. Therefore, the embodiments of this application enable biomimetic dexterity.

[0124] Optionally, in some embodiments, the above-mentioned finger software is a method for manufacturing the above-mentioned finger software in the above examples, including:

[0125] Step S1: Prepare two pieces of base fabric. The base fabric is an elastic material, and one surface of the base fabric is an oil-resistant surface.

[0126] In the embodiments of this application, the base fabric can be PU fabric, for example, PU fabric with a thickness of 0.4mm. One side of the PU fabric is a PU leather side (or PU side), and the other side is a fiber side. The PU leather side can be understood as the oil-resistant side mentioned above.

[0127] Step S2: A piece of base fabric is stretched and fixed onto the fifth fixture with an opening in the middle.

[0128] like Figure 13As shown, the fifth fixture 21 has an opening 22 at its center. The shape of the opening 22 corresponds to the finger structure of a dexterous hand. The finger structure includes four first-type finger structures and one second-type finger structure. The first-type finger structure includes three knuckles and a knuckle joint located between two adjacent knuckles. The knuckle joint is used to connect two adjacent knuckles.

[0129] The aforementioned fifth fixture may include two types of fixtures, each corresponding to a different type of finger structure. The opening of the first type of fixture corresponding to the first type of finger structure may include two first openings and one connecting hole, wherein the two first openings and the connecting hole are sequentially distributed in a first direction, and the connecting hole is located between the two first openings. The opening of the second type of fixture corresponding to the second type of finger structure may include one first opening.

[0130] Alternatively, in some embodiments, a general fifth fixture can be used, namely a first type of fixture corresponding to the first type of finger structure. For example, when making finger soft tissue with a second type of finger structure, only the first opening can be used. In the following embodiments, the first type of fixture corresponding to the first type of finger structure will be used as an example for explanation.

[0131] The fifth fixture 21 has multiple through holes evenly distributed around the opening 22. These through holes are small round holes used to install and fix the base fabric. For example, in some embodiments, a first side of a piece of base fabric can be fixed by first passing a nail or needle through the base fabric and inserting it into the through hole. Then, the base fabric is stretched in the second direction, so that the base fabric is in a stretched state. Next, a nail or needle through the base fabric and inserting it into the through hole can be used to fix the second side of the fabric. Finally, a nail or needle through the base fabric and inserting it into the through hole can be used to fix both sides of the base fabric in the first direction, so that the oil-resistant surface of the base fabric is in contact with the fifth fixture, or the oil-resistant surface is away from the fifth fixture.

[0132] Of course, in other embodiments, the base fabric and the fifth fixture can be fixed in other ways, which are not further limited here. For example, they can be fixed by adhesive bonding.

[0133] Optionally, in some embodiments, the width of the connecting hole in the second direction is smaller than the width of the first opening in the second direction, and the openings are symmetrically arranged in the first direction, with the first and second directions being perpendicular to each other.

[0134] Step S3: Place another piece of base fabric in the opening in a free state;

[0135] In this embodiment, the oil-resistant surfaces of the two base fabrics are either bonded together or positioned opposite each other. For example, the other base fabric can be obtained by laser cutting, and its shape and size are adapted to the opening of the fifth fixture. After one base fabric is installed and fixed onto the fifth fixture, the fifth fixture is flipped over, and then the oil-resistant surface of the other base fabric is placed into the opening, so that the oil-resistant surfaces of the base fabrics are bonded together.

[0136] Step S4: The two base fabrics are bonded or fused together in the opening to obtain the intermediate fabric, wherein at least one third cavity is formed between the two oil-proof surfaces.

[0137] In this embodiment, a relevant fixture can be used to bond or fuse two pieces of base fabric within the opening to obtain an intermediate fabric. Specifically, for the first type of finger structure, two third cavities can be formed on the oil-resistant surface. These third cavities can be understood as sealed or airtight cavities. Optionally, the oil-resistant surface can be located inside or outside the first cavity; no further limitation is made here.

[0138] Step S5: After removing the intermediate fabric from the fifth fixture, wrap the intermediate fabric around the cylindrical sixth fixture, and glue or fuse the two opposite edges of the intermediate fabric to obtain a cylindrical fabric.

[0139] In this embodiment, excess edges around the middle fabric can be trimmed to facilitate subsequent bonding or fusion processes. For example, in some embodiments, the two opposite edges of the middle fabric in the first direction can be trimmed, leaving a 0.5mm margin for bonding or fusion to achieve a cylindrical fabric shape. Optionally, the shape after trimming is as follows: Figure 15 As shown.

[0140] Step S6: Inject gel into the third cavity of the cylindrical fabric and cure the gel to obtain the soft finger of the dexterous hand.

[0141] Optionally, in some embodiments, the gel described above can be understood or replaced with a silicone gel, which can be obtained by thoroughly mixing HL-1010-3 A gel and HL-1010-3 B gel in a 1:1 ratio.

[0142] Specifically, after mixing to obtain a gel, the mixed gel can be injected into the third cavity using a syringe. Then, the cylindrical fabric filled with silicone gel can be placed in an oven and baked at 110°C for 15 minutes to solidify the gel, thereby obtaining a soft finger.

[0143] In some embodiments, the amount of intermediate fabric gel injected corresponding to the finger structure of different fingers can be as shown in Table 2 or Table 3.

[0144] Table 2:

[0145]

[0146] Table 3:

[0147]

[0148] In Tables 2 and 3 above, "standard finger" can be understood as the middle finger, index finger, and ring finger; "flesh 1" can be understood as the soft tissue corresponding to the middle phalanx; and "flesh 2" can be understood as the soft tissue corresponding to the proximal phalanx. The "soft tissue" can refer to the object formed by the gel solidifying within a third cavity.

[0149] This embodiment of the application involves preparing two base fabrics, each made of an elastic material, with one surface being oil-resistant. One base fabric is stretched and fixed onto a fifth fixture with a central opening. The other base fabric is freely placed within the opening. The two base fabrics are then bonded or fused together within the opening to obtain an intermediate fabric, wherein at least one third cavity is formed between the two oil-resistant surfaces. After removing the intermediate fabric from the fifth fixture, it is wrapped around a cylindrical sixth fixture, and the two opposite edges of the intermediate fabric are bonded or fused together to obtain a cylindrical fabric. Gel is injected into the third cavity of the cylindrical fabric, and the gel is cured to obtain a dexterous hand finger soft body. This allows the finger soft body to be installed or placed on a dexterous hand, giving the finger position a soft body similar to a muscle structure, thereby improving the stability of the dexterous hand's grip.

[0150] Optionally, in some embodiments, before placing another piece of base fabric in a free state within the opening, the method further includes:

[0151] A hot melt adhesive sheet is placed on the base fabric inside the opening, and the hot melt adhesive sheet has a hollowed-out area corresponding to the position of the third cavity;

[0152] The process of bonding or fusing the two base fabric pieces within the opening to obtain the intermediate fabric includes:

[0153] The base fabric is ironed with a soldering iron at a second preset temperature to the position corresponding to the hot melt adhesive sheet, so that the two base fabrics are bonded together to obtain the middle fabric.

[0154] In this embodiment, laser cutting can be used to obtain a heat-fused material with an adhesive layer around the periphery of the third cavity. The two base fabric pieces will not bond in the aforementioned hollowed-out area, thus forming a sealed third cavity. Optionally, the aforementioned hollowed-out area may include multiple areas; for example, a hollowed-out area may be formed at the location corresponding to each third cavity.

[0155] like Figure 14 As shown, in some embodiments, after a hot melt adhesive sheet 23 is applied to the oil-resistant surface within the opening, a structure is formed as follows: Figure 14 The structure shown includes a hot melt adhesive sheet 23 with three open areas, through which the base fabric 14 can be exposed. It should be understood that the structure of the fifth fixture and the shape of the hot melt adhesive sheet 23 can differ for different fingers. For example, when making the finger fibrous part of the thumb, the structure after attaching the hot melt adhesive sheet 23 is as follows: Figure 16 As shown, at this point, the hot melt adhesive sheet has only one cutout area.

[0156] Optionally, in some embodiments, when the hot melt adhesive sheet is cut, release paper is provided on both sides. After fixing one piece of base fabric to the fifth fixture, one side of the release paper of the hot melt adhesive sheet can be peeled off, and the hot melt adhesive sheet can be placed in the opening and bonded to the oil-proof layer of the base fabric. Then, the other side of the release paper of the hot melt adhesive sheet is peeled off, and another piece of base fabric with its oil-proof layer facing the hot melt adhesive sheet is placed in the opening and bonded to the hot melt adhesive sheet. Finally, the base fabric with the hot melt adhesive sheet is evenly ironed with a soldering iron, so that the two pieces of base fabric are bonded and sealed to form at least one third cavity.

[0157] Optionally, the second preset temperature can be set according to actual needs. For example, in some embodiments, the second preset temperature can be 180°C.

[0158] Optionally, in some embodiments, the step of bonding or fusing the two base fabric pieces within the opening to obtain an intermediate fabric includes:

[0159] The two base fabric pieces are fused together at the periphery of the third cavity using a high-frequency fixture to obtain the intermediate fabric.

[0160] In this embodiment, a high-frequency process can be used to fuse and seal the two substrate fabrics at the points where they need to be connected to form a third cavity.

[0161] Optionally, in some embodiments, there are two third cavities, and a fourth cavity is also formed in the intermediate fabric between the two oil-resistant surfaces, the fourth cavity being located between the two third cavities;

[0162] Before removing the two pieces of intermediate fabric from the fifth fixture, wrapping the intermediate fabric around the cylindrical sixth fixture, and bonding or fusing the two opposite edges of the intermediate fabric to obtain the cylindrical fabric, the method further includes:

[0163] The intermediate fabric is cut to remove the edge area of ​​the fourth cavity and the base fabric located outside the third cavity.

[0164] In this embodiment of the application, the cylindrical fabric has a first opening on the front side corresponding to the first finger joint portion, and the first opening is located between the third cavities. The base fabric has a second opening on the back side corresponding to the first finger joint portion, and the second opening is located between the two third cavities.

[0165] Wherein, the first finger joint portion is provided with first through holes on two opposite sides, and the base fabric is installed and fixed on the first finger joint portion through connecting lines and the first through holes;

[0166] Wherein, the first finger joint portion refers to the finger joint portion of the first finger joint portion and the second finger joint portion in the first type of finger structure.

[0167] Optionally, in order to better achieve the cylindrical shape of the intermediate fabric, the edge of the base fabric previously fixed on the fifth fixture can be reserved by 0.5mm in the first direction.

[0168] In this embodiment of the application, the intermediate fabric is cut to remove the edge areas of the fourth cavity and the base fabric located outside the third cavity, as follows: Figure 15 The structure shown is such that region 25 is the region corresponding to the first opening, and region 26 is the region corresponding to the second opening when the middle fabric forms a cylindrical shape.

[0169] Optionally, in some embodiments, the bonding or fusing of the two opposite edges of the intermediate fabric includes any of the following:

[0170] Apply hot melt adhesive to the first edge area of ​​the middle fabric, stack the second edge area of ​​the middle fabric on the first edge area, and iron the second edge area with a soldering iron to bond the first edge area and the second edge area together.

[0171] The first edge region and the second edge region are fused together using a high-frequency fixture.

[0172] In this embodiment of the application, the first edge region and the second edge region can be understood as the two side edges of the middle fabric in the first direction.

[0173] In some embodiments, hot melt adhesive can be applied to the first edge region, then the second edge region can be overlapped with the first edge region, and finally the second edge region can be evenly ironed with a soldering iron at 180°C to make the first edge region and the second edge region adhere.

[0174] In some embodiments, the first edge region and the second edge region can be overlapped, and then the first edge region and the second edge region can be fused by a high-frequency process.

[0175] Optionally, in some embodiments, after the gel solidifies within the third cavity, it forms a U-shaped soft part that matches the knuckles of the dexterous hand.

[0176] It should be understood that in the embodiments of this application, the shape and size of the soft parts corresponding to different fingers can be set according to actual needs, and no further limitations are made here. The aforementioned U-shaped soft parts can cover the front and sides of the finger structure, corresponding to the muscle distribution of a human finger. For example, in some embodiments, the two soft parts of a standard finger are as follows... Figure 17 As shown, in Figure 17 In the middle, the upper soft part corresponds to the soft part of the middle phalanx, and the lower soft part corresponds to the soft part of the proximal phalanx.

[0177] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0178] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for creating a hand-based software, characterized in that, include: Prepare two pieces of base fabric, wherein the base fabric is an elastic material and one surface of the base fabric is an oil-resistant surface; The first base fabric of the two base fabrics is placed on a first fixture with a first groove in the middle, and the first base fabric covers the first groove. A protrusion adapted to the first groove is pressed into the first groove so that the first base fabric portion is located in the first groove, and the first base fabric is fixed to the first fixture, with the protrusion portion protruding out of the first groove; The second base fabric of the two base fabrics is used to cover the protrusion, and the second base fabric is covered by a second fixture with a second groove. The first groove and the second groove are spliced ​​together to form a first receiving cavity for receiving the protrusion. Fix the first fixture and the second fixture, and bond or fuse the first base fabric and the second base fabric around the first groove; An opening is made at the junction of the first base fabric and the second base fabric, and after the protrusion is removed, the opening is sealed to obtain an intermediate fabric having a first sealed cavity. After injecting gel into the first cavity, the gel is cured to obtain a soft hand with a palm structure in the dexterous hand.

2. The method according to claim 1, characterized in that, The process of injecting gel into the first cavity and then solidifying the gel to obtain a soft hand for a dexterous hand includes: After injecting gel into the first cavity, the intermediate fabric is placed in the third and fourth fixtures; After fixing the third and fourth fixtures, the gel is cured to obtain a soft hand body for a dexterous hand. The third fixture includes a third groove, and the fourth fixture includes a fourth groove. The third groove and the fourth groove are joined together to form a second receiving cavity. The second receiving cavity is the same as the first receiving cavity, or the second receiving cavity and the first receiving cavity have the same shape after being rotated 180° in space.

3. The method according to claim 2, characterized in that, When the second receiving cavity and the first receiving cavity are spatially rotated 180° to have the same shape, the step of making an opening at the junction of the first base fabric and the second base fabric, and sealing the opening after removing the protrusion to obtain the intermediate fabric includes: An opening is made at the junction of the first base fabric and the second base fabric, and the protrusion is removed; The first base fabric and the second base fabric are flipped over based on the opening; The opening is sealed to obtain the intermediate fabric.

4. The method according to claim 1, characterized in that, Before covering the protrusion with the second base fabric of the two base fabrics, the method further includes: An adhesive film is provided in a first area of ​​the first substrate fabric, wherein the first area is an annular area around the protrusion; The step of fixing the first fixture and the second fixture, and bonding or fusing the first base fabric and the second base fabric around the first groove, includes: The first fixture and the second fixture are fixed by cable ties so that the first fixture and the second fixture press the first base fabric and the second base fabric at the position where the adhesive film is set; The fixed first fixture and the second fixture are placed in an environment with a first preset temperature and baked for a first preset time to make the first base fabric and the second base fabric bonded and fixed.

5. The method according to claim 1, characterized in that, The weave pattern of the base fabric is perpendicular to the length direction of the protrusion.

6. The method according to claim 1, characterized in that, Before making the opening at the junction of the first base fabric and the second base fabric, the method further includes: Cut the first and second base fabrics to remove the area outside the bonding or fusion point of the first and second base fabrics.

7. The method according to claim 1, characterized in that, Before covering the protrusion with the second base fabric of the two base fabrics, the method further includes: The portion of the first substrate fabric located above the first groove is laid flat and unfolded.

8. A dexterous hand, characterized in that, include: Hand software; A dexterous hand skeleton, comprising a palm structure and a finger structure, wherein the palm structure is provided with N hand soft parts, and the hand soft parts are fixedly connected to the palm structure, where N is an integer greater than 2; A glove, which is fitted over the dexterous hand skeleton, with the hand soft body located between the palm structure and the glove.

9. The dexterous hand according to claim 8, characterized in that, The N hand software includes 7 palm software located on the front of the palm structure and 1 back hand software located on the back of the palm structure. The 7 palm software includes 4 first palm software, 1 second palm software, 1 third palm software and 1 fourth palm software. The four first palm software components are respectively set for four metacarpophalangeal joints, including the first metacarpophalangeal joint corresponding to the little finger, the second metacarpophalangeal joint corresponding to the ring finger, the third metacarpophalangeal joint corresponding to the middle finger, and the fourth metacarpophalangeal joint corresponding to the index finger. The second palm soft body is located on the side of the first palm soft body corresponding to the first metacarpophalangeal joint that is far away from the finger structure corresponding to the little finger, and the length direction of the second palm soft body is consistent with the length direction of the first palm soft body corresponding to the first metacarpophalangeal joint. The direction of the line connecting the geometric center of the second palm soft body and the geometric center of the first palm soft body corresponding to the first metacarpophalangeal joint is the length direction of the second palm soft body. The third and fourth palm software are both located on one side of the second palm software. The third palm software is positioned between the second palm software and the metacarpophalangeal joint corresponding to the thumb. The fourth palm software is located between the third palm software and the first palm software corresponding to the second metacarpophalangeal joint, and between the third palm software and the first palm software corresponding to the third metacarpophalangeal joint.

10. The dexterous hand according to claim 8, characterized in that, The dexterous hand also includes finger soft body, which is fitted onto the finger structure and located between the finger structure and the glove.

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