Dexterous hand thumb structure, dexterous hand, and robot

Abstract

This invention relates to the field of dexterous hand technology, and provides a dexterous hand thumb structure, a dexterous hand, and a robot. The dexterous hand thumb structure includes a palm drive unit, a first deceleration unit, and a thumb module. By using the palm drive unit and the first deceleration unit as drive components for the metacarpophalangeal joint, the entire thumb module can achieve palmar lateral swinging motion. At the same time, by setting a bending drive unit in the thumb metacarpal joint, the rotation of the CMC joint is controlled by the bending drive unit, thereby enabling the thumb metacarpal joint to swing while simultaneously performing rotational flexion and extension movements. Furthermore, the rotation axis of the thumb metacarpal joint is perpendicular to the rotation axis of the entire thumb module's swinging motion, and the entire movement process is independent and compact. This allows for independent control of thumb bending and palmar movement within a limited space, achieving more precise dexterous hand motion control.

Description

Technical Field

[0001] This invention relates to the field of dexterity technology, and in particular to a dexterity thumb structure, a dexterity hand, and a robot. Background Technology

[0002] As a core component of robotics, the dexterous hand is achieving human-like fine manipulation capabilities through the integration of precision transmission, multimodal perception, and intelligent algorithms. Because of its ability to perform precise grasping movements, the dexterous hand has potential applications in industrial precision assembly (such as single-handed mobile phone operation), medical surgery (such as laparoscopic robots), and home services. In particular, its application in medical surgery can assist surgeons or allow them to perform accurate and efficient surgical procedures independently.

[0003] Existing humanoid dexterous thumbs typically only possess a single active degree of freedom (such as single bending), making it difficult to achieve the combined movements of flexion and extension and opposition (also known as lateral swing) of a real human thumb. Furthermore, using multi-motor series drive or complex linkage drive methods would result in excessive size, making it difficult to arrange within the limited space inside the palm. Summary of the Invention

[0004] The purpose of this invention is to provide a dexterous hand thumb structure, a dexterous hand and a robot, which adopts a compact dual-degree-of-freedom thumb structure, enabling independent control of thumb bending and palmar movement within a limited space.

[0005] In a first aspect, the present invention provides a dexterous hand thumb structure, the dexterous hand thumb structure comprising: a palm drive unit, a first deceleration unit, and a thumb module; The palm drive unit is connected to the metacarpal base of the palm along the axial direction; the first deceleration unit is connected to the palm drive unit in a transmission manner; the first deceleration unit includes a first worm gear for rotational output. The thumb module includes a thumb metacarpal joint, and the CMC joint of the thumb metacarpal joint is connected to the reduction unit via a lateral swing joint; wherein, one end of the lateral swing joint is rotatably connected to the first worm gear on the same axis, and the other end of the lateral swing joint is rotatably connected to the CMC joint, and the rotation axis of the CMC joint is perpendicular to the rotation axis of the first worm gear. The thumb metacarpal joint is provided with a bending drive unit, which is used to drive the metacarpal joint to bend; wherein, the axis of the bending drive unit does not intersect with the axis of the palm drive unit, and the bending drive unit and the palm drive unit can achieve independent driving or cooperative driving.

[0006] In one possible implementation, the thumb module further includes a proximal phalanx of the thumb and a fingertip, wherein the proximal phalanx of the thumb forms an MCP joint with the metacarpal phalanx of the thumb, and the fingertip forms an IP joint with the proximal phalanx of the thumb.

[0007] In one possible implementation, the palm drive unit includes a first motor, and the bending drive unit includes a second motor and a second reduction unit. The second reduction unit is connected to the second motor in a transmission manner, and the proximal phalanx of the thumb rotates the MCP joint through the second reduction unit.

[0008] In one possible implementation, the second reduction unit includes a worm gear reducer, a reduction gearbox, and an L-shaped connecting rod; the worm gear reducer has a second worm wheel, which is connected to the output shaft of the second motor via a worm; the second worm wheel is provided with an offset connection hole, and there is a preset offset distance between the offset connection hole and the center of the second worm wheel; The gearbox is provided with a first connecting hole for hinged connection with the proximal phalanx of the thumb; the two ends of the L-shaped connecting rod are respectively provided with a first positioning hole and a second positioning hole, the first positioning hole is hinged with the offset connecting hole, and the second positioning hole of the L-shaped connecting rod is hinged with the proximal phalanx of the thumb.

[0009] In one possible implementation, the distance between the center of the first connecting hole and the center of the second worm gear is equal to the distance between the first positioning hole and the second positioning hole; the distance between the first connecting hole and the second positioning hole is equal to the preset offset distance.

[0010] In one possible implementation, the lateral swing joint includes a joint body and a connecting rib plate; the connecting rib plate extends outward from one side of the joint body, and the connecting rib plate is provided with a mounting hole for connecting to the shaft of the first worm gear; The joint body is provided with a first guide hole and a second guide hole that are parallel and spaced apart. The first guide hole is closer to the mounting hole than the second guide hole, and the axis of the first guide hole is perpendicular to the axis of the mounting hole.

[0011] In one possible implementation, the proximal phalanx of the thumb is provided with a first proximal finger hole, a second proximal finger hole, and a third proximal finger hole arranged in an inverted triangular pattern. A metacarpal link is provided inside the metacarpal joint of the thumb. The two ends of the metacarpal link are respectively hinged to the first guide hole and the first proximal finger hole; the second proximal finger hole is hinged to the first connecting hole; and the third proximal finger hole is hinged to the second positioning hole of the L-shaped link.

[0012] In one possible implementation, a proximal phalanx link is provided within the proximal phalanx of the thumb, and a second connecting hole is also provided on the gearbox body. The two ends of the proximal phalanx link are respectively hinged to the second connecting hole and the fingertip.

[0013] In one possible implementation, the first worm gear is provided with a first arc-shaped groove, and the center of the first arc-shaped groove coincides with the center of the first worm gear. And / or, the second worm gear is provided with a second arc-shaped groove, the center of which coincides with the center of the second worm gear.

[0014] In one possible implementation, the first deceleration unit further includes a first angle detection device for detecting the rotation angle of the first worm gear; And / or, the second reduction unit further includes a second angle detection device for detecting the rotation angle of the second worm gear.

[0015] In a second aspect, the present invention also provides a dexterous hand, including the dexterous hand thumb structure as described in the first aspect.

[0016] Thirdly, the present invention also provides a robot comprising the dexterous hand described in the second aspect.

[0017] This invention has at least the following technical effects: The dexterous thumb structure provided by this invention uses a palm drive unit and a first deceleration unit as the driving components of the metacarpophalangeal joint, which can realize the palm-opposing (lateral swinging) movement of the entire thumb module. At the same time, by setting a bending drive unit in the thumb metacarpal joint, the rotation of the CMC joint is controlled by the bending drive unit, thereby realizing the swinging of the thumb metacarpal joint and the rotation (flexion and extension) movement. Moreover, the rotation axis of the thumb metacarpal joint is perpendicular to the rotation axis of the entire thumb module swinging. The entire movement process does not interfere with each other and the structure is compact. Thus, independent control of thumb bending and palm-opposing movement can be achieved in a limited space, so as to achieve more precise dexterous hand movement control. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand thumb structure provided in an embodiment of the present invention; Figure 2This is a schematic diagram of the lateral swinging motion of a dexterous hand thumb structure provided in an embodiment of the present invention; Figure 3 A schematic diagram illustrating the bending motion of a dexterous hand thumb structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of a dexterous hand thumb structure provided in an embodiment of the present invention; Figure 5 Provided for embodiments of the present invention Figure 4 Enlarged view of A in the middle; Figure 6 This is a schematic diagram of the lateral joint of a dexterous hand thumb structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the proximal phalanx of the thumb in a dexterous hand structure provided by an embodiment of the present invention; Figure 8 This is a schematic diagram of the fingertip and IP joint of a dexterous hand thumb structure provided in an embodiment of the present invention.

[0020] In the diagram: 1-First motor; 2-Second motor; 3-First reduction unit; 4-First angular position detection device; 5-Side swing joint; 510-Joint body; 511-First guide hole; 512-Second guide hole; 520-Connecting rib plate; 521-Mounting hole; 6-Second reduction unit; 610-Worm gear reducer; 620-Reduction gearbox; 621-First connecting hole; 622-Second connecting hole; 7-Second angular position detection device; 8-L-shaped connecting rod; 801-; 9-Thumb proximal phalanx; 910-First proximal finger hole; 920-Second proximal finger hole; 930-Third proximal finger hole; 940-Fingert connecting hole; 10-Fingert tip; 101-Connecting rod connecting hole; 11-Proximal phalanx connecting rod; 12-Thumb metacarpal phalanx; 13-Metacarpal connecting rod; 100-Thumb module. Detailed Implementation

[0021] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein. It will be understood by those skilled in the art that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms.

[0023] Combination Figures 1 to 8 As shown, the dexterous thumb structure provided in this embodiment of the invention includes: a palm drive unit (with a first motor 1 inside), a first deceleration unit 3, and a thumb module 100; the palm drive unit is connected to the metacarpal bone base inside the palm along the axial direction. The palm structure is not shown in this embodiment, and the palm can be of any shape. The first motor 1 (which can be a DC brushed hollow cup geared motor) is mounted statically relative to the palm base.

[0024] The first reduction unit 3 is connected to the output shaft of the first motor of the palm drive unit. The palm drive unit provides the power for transmission, and the first reduction unit 3 achieves the output of the corresponding transmission ratio. The first reduction unit 3 includes a first worm and a first worm wheel. The first worm is connected to the output shaft of the first motor 1. The first worm wheel cooperates with the first worm to achieve its rotational output. The rotation of the first worm wheel can realize the palm movement (i.e., the overall swing of the thumb module 100).

[0025] Specifically, the thumb module 100 includes a thumb metacarpal phalanx 12, which includes a CMC joint. The CMC joint is connected to the reduction unit via a lateral swing joint 5. One end of the lateral swing joint 5 is rotatably connected to the first worm gear on the same axis, and the other end of the lateral swing joint 5 is rotatably connected to the CMC joint via a shaft and a hole. It should be noted that the rotation axis of the CMC joint is perpendicular to the rotation axis of the first worm gear, serving as the pivot for bending the CMC joint.

[0026] Furthermore, a bending drive unit is provided within the thumb metacarpal phalanx 12, which is used to drive the metacarpal phalanx to bend; wherein, the axis of the bending drive unit ( Figure 1 The diagram shows L2 and the axis of the palm drive unit ( Figure 1The L1 diagram shows that the two units do not intersect, and the bending drive unit and the palm drive unit can achieve independent or coordinated drive. When the palm drive unit works alone, it can realize the swinging of the entire thumb module 100. When the bending drive unit works, it can realize the bending of the thumb metacarpal phalanx 12. In addition, the other joints of the thumb module 100 can also be controlled to move independently. When the bending drive unit and the palm drive unit work together, the swinging of the thumb and the bending of the joint can be realized simultaneously.

[0027] The dexterous thumb structure provided in this embodiment of the invention, by employing a palm drive unit and a first deceleration unit 3 as the drive components of the metacarpophalangeal joint, enables the entire thumb module 100 to perform palmar (lateral) swinging motion. Simultaneously, by setting a flexion drive unit within the thumb metacarpal joint 12, the rotation of the CMC joint is controlled by the flexion drive unit, thereby enabling the thumb metacarpal joint 12 to swing while simultaneously rotating (flexion and extension). Furthermore, the rotation axis of the thumb metacarpal joint 12 ( Figure 6 L4 in the middle) and the rotation axis of the entire thumb module 100 swing ( Figure 6 The L3 plane is perpendicular to the other plane, and the entire movement process is independent and compact, so that the thumb bending and palm opposition movement can be independently controlled in a limited space, so as to achieve more precise dexterous hand movement control.

[0028] In some embodiments, the thumb module 100 includes, in addition to the thumb metacarpal phalanx 12, the thumb proximal phalanx 9 and the fingertip 10. The thumb proximal phalanx 9 and the thumb metacarpal phalanx 12 form an MCP joint, and the fingertip 10 and the thumb proximal phalanx 9 form an IP joint. That is, the entire thumb structure has four joint axes of rotation, including one active palmar degree of freedom joint (the entire phalanx swings) and three coupled bending degree of freedom joints (CMC joint, MCP joint and IP joint). The first motor 1 drives the palmar degree of freedom, and the motor of the bending drive unit drives the bending degree of freedom. The two different degrees of freedom can be driven independently or in combination to achieve natural pinching.

[0029] This implementation achieves the movement of the CMC joint, MCP joint, and IP joint by using the bending drive unit in conjunction with the linkage structure inside the thumb module 100, thereby realizing the bending action of each joint of the entire thumb module 100. At the same time, combined with the swing of the entire knuckle assembly, the motion control precision of each knuckle is made more accurate, which is conducive to realizing more refined movements.

[0030] In one specific embodiment, the bending drive unit includes a second motor 2 and a second reduction unit 6, with the second reduction unit 6 being drive-connected to the second motor 2. The second reduction unit 6 includes a worm gear reducer 610, a reduction gearbox 620, and an L-shaped connecting rod 8; the worm gear reducer 610 has a second worm wheel (not shown in the figure), which is drive-connected to the output shaft of the second motor 2 via a worm, and the second worm wheel is provided with an offset connection hole (not shown in the figure), with a preset offset distance between the offset connection hole and the center of the second worm wheel.

[0031] The gearbox housing 620 is provided with a first connecting hole 621 and a second connecting hole 622. The first connecting hole 621 is closer to the L-shaped connecting rod 8 than the second connecting hole 622. The first connecting hole 621 is used for hinged connection with the connecting hole on the thumb proximal knuckle 9. The two ends of the L-shaped connecting rod 8 are respectively provided with first positioning holes (…). Figure 5 (The middle part is obscured and not shown) and the second positioning hole 810. The first positioning hole and the offset connecting hole are hinged by a rotating shaft. The second positioning hole 810 is used to be hinged to the connecting hole on the thumb proximal phalanx 9 by a rotating shaft. In this way, the second worm gear, the reduction gearbox 620, the L-shaped connecting rod 8 and the thumb proximal phalanx 9 form a quadrilateral double rocker transmission mechanism.

[0032] In one possible implementation, the distance between the center of the first connecting hole 621 and the center of the second worm gear is equal to the distance between the first positioning hole and the second positioning hole; the distance between the first connecting hole 621 and the second positioning hole is equal to the preset offset distance. In this way, the above-mentioned dual rocker transmission mechanism is a parallelogram, which can achieve a 1:1 transmission output and higher control precision.

[0033] In one possible implementation, the side-swing joint 5 includes a joint body 510 and a connecting rib plate 520; the connecting rib plate 520 extends outward from one side of the joint body 510, and the connecting rib plate 520 is provided with a mounting hole 521 for synchronous rotation with the first worm gear.

[0034] Specifically, the joint body 510 is provided with a first guide hole 511 and a second guide hole 512 that are parallel and spaced apart. The first guide hole 511 is closer to the mounting hole 521 than the second guide hole 512, and the axes of the first guide hole 511 and the second guide hole 512 are perpendicular to the axis of the mounting hole 521, which ensures that the lateral swing and bending movements do not interfere with each other, and the structure is more compact.

[0035] Optionally, combined Figure 5 and Figure 7 As shown, the thumb proximal phalanx 9 is provided with a first proximal finger hole 910, a second proximal finger hole 920, and a third proximal finger hole 930 arranged in an inverted triangular pattern. Figure 5 (The part is obscured and not shown; it is indicated in parentheses in the diagram). The specific structure of the proximal phalanx 9 of the thumb is as follows: Figure 7 As shown, the thumb proximal phalanx 9 is also provided with a fingertip connection hole 940, which is used to hinge with the IP joint on the fingertip 10. The fingertip 10 is provided with a connecting rod connection hole 101, which is hinged with the proximal phalanx connecting rod 11, and the fingertip is rotated through the proximal phalanx connecting rod 11.

[0036] A metacarpal link 13 is provided inside the thumb metacarpal joint 12. The two ends of the metacarpal link 13 are respectively hinged to the first guide hole 511 and the first proximal finger hole 910; the second proximal finger hole is hinged to the first connecting hole 621; and the third proximal finger hole is hinged to the second positioning hole of the L-shaped link 8.

[0037] Furthermore, a proximal phalanx 9 of the thumb is provided with a proximal phalanx connecting rod 11, and a second connecting hole 622 is provided on the reduction gearbox 620. The two ends of the proximal phalanx connecting rod 11 are respectively hinged to the second connecting hole 622 and the fingertip. In this way, the transmission mechanism composed of the second reduction unit 6, the metacarpal connecting rod 13, the proximal phalanx connecting rod 11 and the fingertip 10 can realize the rotation of each joint to realize the control of the flexion and extension of the thumb.

[0038] In some embodiments, a first arc-shaped groove is provided on the first worm gear, and the center of the first arc-shaped groove coincides with the center of the first worm gear, thereby limiting the rotation angle of the first worm gear through the first arc.

[0039] Optionally, a second arc-shaped groove is provided on the second worm gear, and the center of the second arc-shaped groove coincides with the center of the second worm gear, thereby limiting the rotation angle of the second worm gear through the second arc.

[0040] In this embodiment, the worm gears (first worm gear and second worm gear) at the two output ends are provided with arc-shaped limiting grooves at the extreme angle positions of the bending joint and the opposing joint to prevent excessive rotation, thereby enhancing safety and reliability. In addition, an elastomer such as rubber can be added to the inner side of the arc-shaped groove as a buffer element to reduce the impact force under extreme operating conditions.

[0041] In some embodiments, the first deceleration unit 3 further includes a first angle detection device 4 for detecting the rotation angle of the first worm gear. Optionally, the first angle detection device 4 can be implemented by using a first strong magnet and a first magnetic encoder to achieve angle detection.

[0042] Alternatively, the angle detection device in the above embodiments may also employ angle detection schemes such as photoelectric encoders or variable resistance potentiometers, which are not specifically limited in this embodiment.

[0043] In some embodiments, the second reduction unit 6 further includes a second angle detection device 7 for detecting the rotation angle of the second worm gear. Optionally, the second angle detection device 7 can achieve angle detection by a combination of a second strong magnet and a second magnetic encoder; the specific detection method will not be described in detail here.

[0044] The two different transmission paths are explained below: (1) Hand drive transmission path The output of the first motor 1 → the first worm gear in the first reduction unit 3 rotates → the side swing joint 5 rotates coaxially → driving the entire flexible thumb module 100 to rotate, so as to realize the palm opening / closing movement → the magnetic encoder detects the palm movement angle in real time.

[0045] (2) Bending drive transmission path The output of the second motor 2 → the worm gear reduction in the second reduction unit 6 → the parallelogram double rocker mechanism transmission (L-shaped connecting rod 8 as the transmission rod) → the thumb proximal phalanx 9 is pushed to rotate around the MCP joint → the magnetic encoder detects the movement of the MCP joint.

[0046] IP joint movement: The thumb proximal joint 9, proximal joint link 11, fingertip 10, and reduction gearbox 620 form a set of coupled cross four-bar linkage. When the thumb proximal joint 9 rotates around the MCP joint, the fingertip 10 also rotates around the IP joint at the same time according to a certain transmission ratio.

[0047] CMC joint exercises: A set of coupled cross four-bar linkages are formed by the proximal phalanx of the thumb 9, the metacarpal link 13, the metacarpal phalanx and the lateral swing joint 5. When the proximal phalanx of the thumb 9 is pushed by the L-shaped link 8 of the second deceleration unit 6 to rotate around the MCP joint, the metacarpal phalanx also rotates around the CMC joint at the same time according to a certain transmission ratio.

[0048] Through multi-link cross-drive, the thumb structure can achieve the effect of a single drive source motor (first motor) coupled to drive the flexion and extension movements of three joints, as shown in the attached figure. Figure 3 As shown, this thumb structure enables more human-like and flexible finger movements within a compact space.

[0049] It should be noted that in the embodiments of this invention, the connection and transmission between connecting rods are mainly involved. Each part is hinged by a hole-pin fit to form a rotating pair. The finger joint housing is fastened by screws to axially fasten the pin elements of each rotating shaft and prevent the pins from axially slipping.

[0050] Based on the same inventive concept, this invention provides a dexterous hand, including a dexterous hand thumb structure as described in the previous embodiment. This dexterous hand thumb structure uses a palm drive unit and a first deceleration unit as drive components for the palm joint, enabling the entire thumb module 100 to perform palm-opposition (lateral swing) movement. Simultaneously, by setting a bending drive unit within the thumb metacarpal joint, the bending drive unit controls the rotation of the CMC joint, thereby enabling the thumb metacarpal joint to swing while simultaneously rotating (flexion and extension). Furthermore, the rotation axis of the thumb metacarpal joint is perpendicular to the rotation axis of the entire thumb module 100's swing, ensuring that the entire movement process is independent and compact. This allows for independent control of thumb bending and palm-opposition movements within a limited space, resulting in a dexterous hand structure with higher control precision and a more compact structure.

[0051] Based on the same inventive concept, this invention also provides a robot, including the dexterous hand described in the foregoing embodiments. The robot with the dexterous hand described in the foregoing embodiments has a compact structure, high control precision, and high flexibility, in order to meet more precise operation requirements.

[0052] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, and processes discussed in this invention can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this invention can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and schemes in the prior art that are similar to those disclosed in this invention can also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0053] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0054] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dexterous hand thumb structure, characterized in that, The dexterous hand thumb structure includes: a palm drive unit, a first deceleration unit, and a thumb module; The palm drive unit is connected to the metacarpal base of the palm along the axial direction; the first deceleration unit is connected to the palm drive unit in a transmission manner; the first deceleration unit includes a first worm gear for rotational output. The thumb module includes a thumb metacarpal joint, and the CMC joint of the thumb metacarpal joint is connected to the reduction unit via a lateral swing joint; wherein, one end of the lateral swing joint is rotatably connected to the first worm gear on the same axis, and the other end of the lateral swing joint is rotatably connected to the CMC joint, and the rotation axis of the CMC joint is perpendicular to the rotation axis of the first worm gear. The thumb metacarpal joint is provided with a bending drive unit, which is used to drive the metacarpal joint to bend; wherein, the axis of the bending drive unit does not intersect with the axis of the palm drive unit, and the bending drive unit and the palm drive unit can achieve independent driving or cooperative driving.

2. The dexterous hand thumb structure according to claim 1, characterized in that, The thumb module also includes a proximal phalanx and a fingertip. The proximal phalanx of the thumb forms an MCP joint with the metacarpal phalanx of the thumb, and the fingertip forms an IP joint with the proximal phalanx of the thumb.

3. The dexterous hand thumb structure according to claim 2, characterized in that, The palm drive unit includes a first motor, and the bending drive unit includes a second motor and a second reduction unit, wherein the second reduction unit is connected to the second motor in a transmission manner. The second reduction unit includes a worm gear reducer, a reduction gearbox, and an L-shaped connecting rod; the worm gear reducer has a second worm wheel, which is connected to the output shaft of the second motor via a worm; the second worm wheel is provided with an offset connection hole, and there is a preset offset distance between the offset connection hole and the center of the second worm wheel; The gearbox is provided with a first connecting hole for hinged connection with the proximal knuckle of the thumb; the two ends of the L-shaped connecting rod are respectively provided with a first positioning hole and a second positioning hole, the first positioning hole is hinged with the offset connecting hole, and the second positioning hole is hinged with the proximal knuckle of the thumb.

4. The dexterous hand thumb structure according to claim 3, characterized in that, The distance between the center of the first connecting hole and the center of the second worm gear is equal to the distance between the first positioning hole and the second positioning hole; the distance between the first connecting hole and the second positioning hole is equal to the preset offset distance.

5. The dexterous hand thumb structure according to claim 3, characterized in that, The lateral swing joint includes a joint body and a connecting rib plate; the connecting rib plate extends outward from one side of the joint body, and the connecting rib plate is provided with a mounting hole for connecting to the shaft of the first worm gear; The joint body is provided with a first guide hole and a second guide hole that are parallel and spaced apart. The first guide hole is closer to the mounting hole than the second guide hole, and the axis of the first guide hole is perpendicular to the axis of the mounting hole.

6. The dexterous hand thumb structure according to claim 5, characterized in that, The thumb proximal joint is provided with a first proximal finger hole, a second proximal finger hole, and a third proximal finger hole distributed in an inverted triangle; A metacarpal link is provided inside the metacarpal joint of the thumb. The two ends of the metacarpal link are respectively hinged to the first guide hole and the first proximal finger hole; the second proximal finger hole is hinged to the first connecting hole; and the third proximal finger hole is hinged to the second positioning hole of the L-shaped link.

7. The dexterous hand thumb structure according to claim 6, characterized in that, A proximal joint connecting rod is provided inside the proximal joint of the thumb, and a second connecting hole is also provided on the gearbox body. The two ends of the proximal knuckle link are respectively hinged to the second connecting hole and the fingertip.

8. The dexterous hand thumb structure according to claim 3, characterized in that, The first worm gear is provided with a first arc-shaped groove, and the center of the first arc-shaped groove coincides with the center of the first worm gear. And / or, the second worm gear is provided with a second arc-shaped groove, the center of which coincides with the center of the second worm gear.

9. The dexterous hand thumb structure according to claim 8, characterized in that, The first deceleration unit further includes a first angle detection device for detecting the rotation angle of the first worm gear; And / or, the second reduction unit further includes a second angle detection device for detecting the rotation angle of the second worm gear.

10. A dexterous hand, characterized in that, Includes the dexterous hand thumb structure as described in any one of claims 1 to 9.

11. A robot, characterized in that, Including the dexterous hand as described in claim 10.

Images