Articulation mechanism, dexterous hand and robot

Abstract

The application provides a joint transmission structure, a dexterous hand and a robot. The joint transmission structure comprises a first input wheel and a first reversing wheel with an axis parallel to a second axis, a first output wheel perpendicular to the axis of the first reversing wheel and engaged with the first reversing wheel; a second input wheel with an axis parallel to a third axis, a second reversing wheel fixed coaxially with the first output wheel along a first axis, and a second output wheel rotating synchronously with the first reversing wheel along a second axis and engaged with the second reversing wheel; the first axis, the second axis and the third axis are perpendicular to each other; a first rope and a second rope are wound in opposite directions on the first input wheel, the first reversing wheel and the first output wheel in sequence; a third rope and a fourth rope are wound in opposite directions on the second input wheel, the second reversing wheel and the second output wheel in sequence. The application adopts two wheel groups in a space three-dimensional layout, cooperates with a rope driving mode, can drive corresponding joints to realize double degrees of freedom movement, and realizes miniaturization of the joint transmission structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a joint transmission structure, a dexterous hand, and a robot. Background Technology

[0002] Joint-driven mechanisms are commonly used at the joints of humanoid robots, such as the metacarpophalangeal joints (MCP joints) of a robot's dexterous hand, to drive the corresponding joints to perform bending and / or lateral movements.

[0003] Currently, the joint transmission structure of robots is generally a linkage mechanism or a rigid gear transmission mechanism. These mechanisms have high transmission rigidity, occupy a large space, and are difficult to integrate, thus failing to meet the growing demand for miniaturization and lightweighting of humanoid robots. Summary of the Invention

[0004] This application addresses the shortcomings of existing methods by proposing a joint transmission structure, a dexterous hand, and a robot to solve the technical problem of the large space occupation of joint transmission structures in related technologies.

[0005] In a first aspect, embodiments of this application provide a joint transmission structure, disposed at a corresponding joint of a robot, comprising: The first wheel assembly includes a first input wheel and a first reversing wheel with their axes parallel to the second shaft, and a first output wheel with its axis parallel to the first shaft. The circumferential side surface of the first output wheel meshes with the circumferential side surface of the first reversing wheel. The second wheel assembly includes a second input wheel with its axis parallel to the third axis, a second reversing wheel that is coaxially fixed to the first output wheel along the first axis, and a second output wheel that is coaxial with the first reversing wheel along the second axis and whose relative movement is restricted. The circumferential surface of the second output wheel meshes with the circumferential surface of the second reversing wheel. The first axis, the second axis, and the third axis are perpendicular to each other. The first rope group includes a first rope and a second rope, which are wound sequentially around the first input wheel, the first reversing wheel and the first output wheel in opposite directions; The second rope group, including the third rope and the fourth rope, is wound in opposite directions sequentially around the second input wheel, the second reversing wheel and the second output wheel.

[0006] Optionally, the first rope and the second rope are intertwined in a cross-shaped manner between the first input wheel and the first reversing wheel, and between the first output wheel and the first reversing wheel; the torsional torque on the first reversing wheel about the second axis is configured to be opposite to the rotation direction of the first input wheel; The third rope and the fourth rope are intertwined in a cross shape between the second input wheel and the second reversing wheel, and between the second reversing wheel and the second output wheel; when the torsional torque on the second reversing wheel around the first axis is opposite to the rotation direction of the first output wheel, the first reversing wheel and the second output wheel rotate synchronously around the second axis; when the torsional torque on the second reversing wheel around the first axis is in the same direction as the rotation direction of the first output wheel, the second reversing wheel and the first output wheel rotate synchronously around the first axis.

[0007] Optionally, the first input wheel is located below the first reversing wheel and the two are coplanar; The second input wheel is located on the side of the first output wheel away from the first input wheel.

[0008] Optionally, the second input wheel meshes with the second reversing wheel for transmission.

[0009] Optionally, the first input wheel, the first reversing wheel, and the first output wheel are all provided with a first groove for winding a first rope and a second groove for winding a second rope on their peripheral surfaces. The first rope of the first reversing wheel engages with the first groove on the first output wheel, and the second rope of the first output wheel engages with the second groove on the first reversing wheel. The second input wheel, the second reversing wheel, and the second output wheel are all provided with a third groove for winding a third rope and a fourth groove for winding a fourth rope on their peripheral surfaces. The third rope on the second output wheel engages with the third groove on the second reversing wheel, and the fourth rope on the second reversing wheel engages with the fourth groove on the second output wheel.

[0010] Optionally, the joint transmission structure in this application embodiment further includes a support assembly; The support assembly includes a first joint support, a second joint support, and a drive shaft; The second output wheel and the first reversing wheel are rotatably mounted on one side of the first joint bracket along the second axis; one end of the second joint bracket is connected to the first reversing wheel and / or the second output wheel, and the other end of the second joint bracket is connected to the drive shaft, which extends along the first axis and is connected to the first output wheel and the second reversing wheel.

[0011] Optionally, the first joint support and the second output wheel are an integrated structure.

[0012] Optionally, the support assembly further includes a third joint support, which is arranged along a third axis. One end of the third joint support is connected to the drive shaft, and the other end is connected to the second input wheel. The second input wheel is configured to rotate synchronously around the first axis with the first output wheel and the second reversing wheel.

[0013] Optionally, the first reversing wheel is disposed on the side of the second output wheel away from the first joint bracket, and the diameter of the first reversing wheel is smaller than the diameter of the second output wheel.

[0014] Secondly, embodiments of this application provide a dexterous hand, including the joint transmission structure described in the above embodiments.

[0015] Optionally, the dexterous hand in the above embodiments further includes a palm and at least one dexterous hand finger. In the direction from the palm to the fingertip of the dexterous hand finger, the dexterous hand finger includes a metacarpophalangeal joint, a first proximal finger segment, a proximal finger joint, a second proximal finger segment, a distal finger joint, and a distal finger segment arranged sequentially. The metacarpophalangeal joint is located at the junction of the fingers and palm of the dexterous hand, and the joint transmission structure is disposed within the metacarpophalangeal joint; the third joint support of the joint transmission structure is fixedly connected to the proximal finger joint, and the first joint support of the joint transmission structure is hinged to the palm around the second axis; the joint transmission structure is configured to drive the fingers of the dexterous hand to rotate around the first axis and / or the second axis.

[0016] Optionally, the dexterous hand fingers also include a drive component for driving the distal interphalangeal joints to bend palmarly. The drive component is coupled to the joint transmission structure about a first axis and is configured to apply a torsional torque about the first axis to the transmission shaft of the joint transmission structure when driving the distal interphalangeal joints to bend palmarly.

[0017] Optionally, the drive assembly includes a first pulley, a second pulley, a tendon cord, and at least one reversing bearing, wherein the first pulley is disposed within the proximal interphalangeal joint, and the second pulley is disposed within the distal interphalangeal joint; The tendon cord passes around a drive shaft with its axis parallel to the first shaft, a first pulley, and at least one of the reversing bearings and connects to the second pulley.

[0018] Optionally, at least one reversing bearing includes a first reversing bearing and a second reversing bearing located on both sides of the drive shaft along the second axis direction; The first joint support, the second output wheel, and the first reversing wheel of the joint transmission structure are provided with an installation space extending along the second axis, and the first reversing bearing is disposed in the installation space; the third joint support of the joint transmission structure includes an extension located between the transmission shaft and the second input wheel and extending along the second axis, and the second reversing bearing is rotatably connected to the extension; the tendon rope is wrapped around the circumferential side of the transmission shaft away from the first rope wheel.

[0019] Thirdly, embodiments of this application provide a robot including the dexterous hand described in the above embodiments.

[0020] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, by arranging the first wheel group and the second wheel group in a three-dimensional spatial layout in three dimensions, and combining the winding method of the first rope group and the second rope group with a flexible transmission form, the volume and weight of the joint transmission structure can be effectively reduced, the integration of the joint transmission structure can be improved, and it is easy to arrange in a limited space. This can meet the increasingly lightweight and highly integrated requirements of humanoid robots.

[0021] Because the axes of the first output wheel and the first reversing wheel are perpendicular and their circumferential surfaces are meshed, and the axes of the second output wheel and the second reversing wheel are perpendicular and their circumferential surfaces are meshed, and the first output wheel and the second reversing wheel are coaxial, when driving the corresponding joint movement, by controlling the rotation direction of the first input wheel and the second input wheel around their respective axes, when the torsional torque on the first output wheel around the first axis is the same as the torsional torque on the second reversing wheel around the first axis, the torsional torques on the first reversing wheel and the second output wheel around the second axis are opposite, thereby driving the corresponding joint to rotate around the first axis. By controlling the rotation direction of the first input wheel and the second input wheel around their respective axes, when the torsional torques on the second output wheel and the first reversing wheel around the second axis are the same, the torsional torques on the first output wheel and the second reversing wheel around the first axis are opposite, thereby driving the corresponding joint to rotate around the second axis, thus realizing the dual-degree-of-freedom drive and decoupling of the joint transmission structure and the corresponding joint around the first and second axes, improving the accuracy and flexibility of joint motion control.

[0022] Moreover, the joint transmission structure in this embodiment has a clear motion mapping relationship, which makes it easy for the control system to quickly output the corresponding drive signal to the first input wheel and the second input wheel after receiving the electrical signal that causes the joint to move around a certain degree of freedom, so as to drive the corresponding joint to rotate around the first axis or around the second axis, thereby improving the response speed of the joint movement.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a joint transmission structure provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the first rope assembly and the first wheel assembly provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of the first rope assembly and the first wheel assembly (the first output wheel is hidden) provided in the embodiments of this application; Figure 4 A top view of the first rope assembly and the first wheel assembly provided in the embodiments of this application along the third axis. Figure 5 This is a schematic diagram of the structure of the second rope group and the second wheel group provided in the embodiments of this application; Figure 6 A schematic diagram of the structure of the second rope assembly and the second wheel assembly (second input wheel omitted) provided in the embodiments of this application; Figure 7 A schematic diagram of the mounting structure of the bracket assembly, the second output wheel, and the first reversing wheel provided in the embodiments of this application; Figure 8 An exploded view of the bracket assembly provided in the embodiments of this application; Figure 9 A schematic diagram of the structure of the fingertip side of a dexterous hand provided in an embodiment of this application; Figure 10 For along Figure 9 Schematic diagram of the cross-sectional structure along the AA direction; Figure 11 for Figure 10 A magnified view of the structure at point B. Explanation of reference numerals in the attached figures: 1-Dexterous hand fingers; 10-Metacarpophalangeal joints; 100-Joint transmission structure; 110 - First wheel assembly; 111 - First input wheel; 112 - First reversing wheel; 113 - First output wheel; 114 - First groove; 115 - Second groove; 120 - Second wheel assembly; 121 - Second input wheel; 122 - Second reversing wheel; 123 - Second output wheel; 124 - Third groove; 125 - Fourth groove; 130 - First rope group; 131 - First rope; 132 - Second rope; 140 - Second rope group; 141 - Third rope; 142 - Fourth rope; 150 - Bracket assembly; 151 - First joint bracket; 152 - Second joint bracket; 1521 - Fixed shaft; 1522 - Bracket body; 1523 - First through hole; 1524 - Arc-shaped support plate; 153 - Drive shaft; 154 - Third joint bracket; 1541 - Second through hole; 1542 - Extension; 160 - First driving source; 20 - First proximal finger segment; 30 - Proximal interphalangeal joint; 40 - Second proximal finger segment; 50 - Distal interphalangeal joint; 60 - Distal finger segment; 70 - Driver components; 71-First pulley; 72-Second pulley; 73-Third input pulley; 74-Tendon rope; 75-Reversing bearing; 751-First reversing bearing; 752-Second reversing bearing; 753-Third reversing bearing; 80-Reset structure; X - First axis; Y - Second axis; Z - Third axis. Detailed Implementation

[0025] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0026] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] In related technologies, joint transmission structures are often used at the joints of humanoid robots, such as the metacarpophalangeal joints (MCP joints) of a robot's dexterous hand, to drive the corresponding joints to perform bending and / or lateral movements.

[0029] Currently, there are various ways to drive the joint transmission structure of robots, especially the drive structure of the finger joints of dexterous hands, to achieve finger movement. For example, each joint can be equipped with an independent drive source to achieve precise drive, or a linkage mechanism or rigid gear transmission mechanism can be used to achieve coupling and decoupling control of multiple degrees of freedom. However, these two methods occupy a lot of space and are heavy, making it difficult to achieve high integration and failing to meet the growing demand for miniaturization and lightweighting of humanoid robots.

[0030] This application provides a joint transmission structure to solve the technical problem that joint transmission structures in related technologies occupy a large amount of space.

[0031] Reference Figures 1-11 The joint transmission structure 100 of this application embodiment is disposed at the corresponding joint of the robot and includes a first wheel group 110, a second wheel group 120, a first rope group 130 and a second rope group 140.

[0032] Reference Figures 1-6 The first gear set 110 includes a first input gear 111 and a first reversing gear 112 with their axes parallel to the second axis Y, and a first output gear 113 with its axis parallel to the first axis X. The circumferential surface of the first output gear 113 meshes with the circumferential surface of the first reversing gear. The second gear set 120 includes a second input gear 121 with its axis parallel to the third axis Z, a second reversing gear 122 that is coaxially fixed to the first output gear along the first axis X, and a second output gear 123 that is coaxial with the first reversing gear 112 along the second axis Y, and whose relative movement is restricted. The circumferential surface of the second output gear 123 meshes with the circumferential surface of the second reversing gear 122. The first axis X, the second axis Y, and the third axis Z are perpendicular to each other.

[0033] The first rope group 130 includes a first rope 131 and a second rope 132, which are wound in opposite directions onto the first input wheel 111, the first reversing wheel 112 and the first output wheel 113 in sequence; the second rope group 140 includes a third rope 141 and a fourth rope 142, which are wound in opposite directions onto the second input wheel 121, the second reversing wheel 122 and the second output wheel 123 in sequence.

[0034] Optionally, the two ends of the first rope 131 and the second rope 132 are fixed to the first input wheel 111 and the first output wheel 113, respectively, and the two ends of the third rope 141 and the fourth rope 142 are fixed to the second input wheel 121 and the second output wheel 123, respectively.

[0035] In this embodiment, by arranging the first wheel group 110 and the second wheel group 120 in a three-dimensional spatial layout, and combining the winding method of the first rope group 130 and the second rope group 140 with a flexible transmission form, the volume and weight of the joint transmission structure 100 can be effectively reduced, the integration of the joint transmission structure 100 can be improved, and it is easy to arrange in a limited space, which can meet the increasingly lightweight and highly integrated requirements of humanoid robots.

[0036] When driving the corresponding joint movement, the rotation direction of the first input wheel 111 around the second axis Y and the rotation direction of the second input wheel 121 around the third axis Z can be controlled by the joint transmission structure 100 to drive and decouple the corresponding joint of the robot around the first axis X and the second axis Y with two degrees of freedom, thereby improving the accuracy and flexibility of joint motion control.

[0037] Reference Figures 1-6 The following section, in conjunction with the layout of the first wheel group 110 and the first rope group 130, and the layout of the second wheel group 120 and the second rope group 140 in the joint transmission structure 100, specifically explains the two-degree-of-freedom decoupling mechanism of the joint transmission structure 100: Reference Figure 1 The first axis X and the second axis Y are perpendicular to each other and both parallel to the horizontal plane. The first axis X, along the left-right direction, is defined as the direction from right to left as a reference direction for describing the clockwise or counterclockwise rotation of the first output wheel 113 and the second reversing wheel 122 around the first axis. The second axis Y, along the front-back direction, is defined as the direction from front to back as a reference direction for describing the clockwise or counterclockwise rotation of the first reversing wheel 112 and the second output wheel 123 around the second axis Y. The third axis Z, along the top-bottom direction, is defined as the direction from top to bottom as a reference direction for describing the clockwise or counterclockwise rotation of the second input wheel 121 around the third axis Z.

[0038] Reference Figures 1-4 The first input wheel 111 is connected to the first drive source 160. Since the axes of the first input wheel 111 and the first output wheel 113 are perpendicular, and the first rope 131 and the second rope 132 are wound around the first input wheel 111 and the first reversing wheel 112 in opposite directions, when the first input wheel 111 rotates clockwise around the second axis Y, the first output wheel 113 is subjected to a torsional torque that rotates counterclockwise around the first axis X. Since the first input wheel 111 and the first reversing wheel 112 form a meshing state with perpendicular axes, the first output wheel 113 can apply a torsional torque that rotates counterclockwise around the second axis Y to the first reversing wheel 112.

[0039] Reference Figure 1 , Figures 5-6The second input wheel 121 is connected to the second drive source. The axes of the second input wheel 121, the second reversing wheel 122 and the second output wheel 123 are perpendicular to each other. The third rope 141 and the fourth rope 142 are wound around the second input wheel 121, the second reversing wheel 122 and the second output wheel 123 in opposite directions. When the second input wheel 121 rotates clockwise around the third axis Z, the second output wheel 123 is subjected to a torsional torque that rotates counterclockwise around the second axis Y. Since the second reversing wheel 122 and the second output wheel 123 form a meshing state with their axes perpendicular, the second output wheel 123 applies a torsional torque that rotates clockwise around the first axis X to the second reversing wheel 122. Therefore, the torsional torques around the first axis X experienced by the first output wheel 113 and the second reversing wheel 122, which are coaxially fixed along the first axis X, are opposite, thereby canceling out the torsional torques around the first axis X experienced by the joint transmission structure 100. The torsional torques around the second axis Y experienced by the second output wheel 123 and the first reversing wheel 112, which are coaxially fixed along the second axis Y, are the same, thereby driving the joint transmission structure 100 and the corresponding joint to rotate around the second axis Y.

[0040] In other words, the torsional torques on the first output wheel 113 and the second reversing wheel 122, which are coaxially fixed along the first axis X, are opposite, thus canceling out the torsional torques on the joint transmission structure 100 along the first axis X. The torsional torques on the second output wheel 123 and the first reversing wheel 112, which are coaxially fixed along the second axis Y, are the same, thereby driving the joint transmission structure 100 and the corresponding joints to rotate around the second axis Y. For example, this drives the metacarpophalangeal joint 10 and the entire finger 1 of the dexterous hand to perform a lateral swinging motion around the second axis Y.

[0041] Similarly, when the first input wheel 111 rotates clockwise and the second input wheel 121 rotates counterclockwise, the first output wheel 113 tends to rotate counterclockwise around the first axis X, the second reversing wheel 122, coaxial with the first output wheel 113, tends to rotate counterclockwise around the second axis Y, the second output wheel 123 tends to rotate clockwise around the second axis Y, and the first reversing wheel 112 tends to rotate counterclockwise around the second axis Y, thus canceling out the two forces applied to the second axis Y. Therefore, when the first input wheel 111 rotates clockwise and the second input wheel 121 rotates counterclockwise, it can drive the first output wheel 113 and the second reversing wheel 122 to rotate around the first axis X, causing the joints to move around the first axis X, for example, driving the metacarpophalangeal joints 10 and the entire dexterous hand fingers 1 to perform palmar flexion or pitching movements.

[0042] In this embodiment, the torsional torque on the first reversing wheel 112 about the second axis Y is configured to rotate in the opposite direction to the rotation of the first input wheel 111. When the torsional torque on the second reversing wheel 122 about the first axis X is opposite to the rotation of the first output wheel 113, the first reversing wheel 112 and the second output wheel 123 rotate synchronously about the second axis Y. When the torsional torque on the second reversing wheel 122 about the first axis X is in the same direction as the rotation of the first output wheel 113, the second reversing wheel 122 and the first output wheel 113 rotate synchronously about the first axis X.

[0043] Therefore, the joint transmission structure 100 of this application embodiment is configured such that: by controlling the rotation direction of the first input wheel 111 and the second input wheel 121 about their respective axes, when the torsional torque of the first output wheel 113 about the first axis X is the same as the torsional torque of the second reversing wheel 122 about the first axis X, the torsional torques of the first reversing wheel 112 and the second output wheel 123 about the second axis Y are opposite, thereby driving the corresponding joint to rotate about the first axis X. By controlling the rotation direction of the first input wheel 111 and the second input wheel 121 about their respective axes, when the torsional torques of the second output wheel 123 and the first reversing wheel 112 about the second axis Y are the same, the torsional torques of the first output wheel 113 and the second reversing wheel 122 about the first axis X are opposite, thereby driving the corresponding joint to rotate about the second axis Y.

[0044] In this embodiment, the joint transmission structure 100 has a clear motion mapping relationship, which makes it easy for the control system to quickly output the corresponding drive signal to the first input wheel 111 and the second input wheel 121 after receiving the electrical signal that causes the joint to move around a certain degree of freedom, so as to drive the corresponding joint to rotate around the first axis X or around the second axis Y, thereby improving the response speed of the joint movement.

[0045] Optionally, the joint transmission structure 100 in this application embodiment can be set not only at the metacarpophalangeal joint 10 of the robot's dexterous hand, but also at any joint of the robot that requires dual-degree-of-freedom drive, such as the knee joint, ankle joint, etc. This application does not impose specific limitations.

[0046] Optionally, the first rope 131 and the second rope 132 are interwoven in a cross-shaped manner between the first input pulley 111 and the first reversing pulley 112, and between the first output pulley 113 and the first reversing pulley 112. The first pulley group 110 and the first rope group 130 are configured such that when the first input pulley 111 rotates clockwise about the second axis Y, the first output pulley 113 rotates counterclockwise about the first axis X, and the first reversing pulley 112 is subjected to a torsional torque due to its counterclockwise rotation about the second axis Y.

[0047] The first rope 131 and the second rope 132 of this application adopt a cross-shaped winding (figure-eight winding) method, that is, the first rope 131 and the second rope 132 have a figure-eight intersection between the first input wheel 111 and the first reversing wheel 112, and also have a figure-eight intersection between the first reversing wheel 112 and the first output wheel 113. From a front-to-back perspective, when the first input wheel 111 rotates clockwise around the second axis Y, the first rope 131 is pulled to gradually wind up the outer circumference of the first input wheel 111, while the second rope 132 is gradually unwound. The first rope 131 and the second rope 132 slide in opposite directions on the outer circumference of the first reversing wheel 112, so that the two equal and opposite torsional torques on the first reversing wheel 112 cancel each other out, so as to ensure that the first reversing wheel 112 is subjected to balanced forces. Under the pulling force of the first rope 131, the first output wheel 113 can be driven to rotate counterclockwise around the first axis X. During this process, the first output wheel 113 simultaneously applies a torsional torque to the first reversing wheel 112, rotating counterclockwise around the second axis Y. The second rope 132 gradually winds up the outer circumference of the first output wheel 113. Therefore, the first rope 131 and the second rope 132, which form an "8"-shaped winding, can couple the single input of the first input wheel 111 to two degrees of freedom, which can improve the coupling lag and transmission gap problems of the first input wheel 111 and the first output wheel 113 during forward and reverse movements, and improve transmission efficiency and transmission accuracy.

[0048] Optionally, refer to Figure 2 The fixed ends of the first rope 131 and the second rope 132 overlap on the outer circumferential surface of the first input wheel 111, so as to ensure that the first rope 131 and the second rope 132 are completely wrapped on the outer circumferential surface of the first output wheel 113 as much as possible, so as to eliminate transmission gap as much as possible.

[0049] Optionally, refer to Figure 2 Both the first reversing wheel 112 and the first output wheel 113 have a first groove 114 for winding the first rope 131 and a second groove 115 for winding the second rope 132 on their peripheral surfaces. Taking the first reversing wheel 112 as an example, the first groove 114 and the second groove 115 are arranged at a distance along the axis of the first reversing wheel 112. The first rope 131 wound around the peripheral surface of the first reversing wheel 112 engages with the first groove 114 on the first output wheel 113, and the second rope 132 wound around the peripheral surface of the first output wheel 113 engages with the second groove 115 on the first reversing wheel 112. The first rope 131 and the second rope 132 cross at the engagement position of the first reversing wheel 112 and the first output wheel 113.

[0050] Optionally, refer to Figure 1 , Figure 3 and Figure 4The third rope 141 and the fourth rope 142 are intertwined in a cross shape between the second input wheel 121 and the second reversing wheel 122, and between the second reversing wheel 122 and the second output wheel 123.

[0051] The second wheel assembly 120 and the second rope assembly 140 are configured such that when the second input wheel 121 rotates clockwise around the third axis Z, the second output wheel 123 rotates counterclockwise around the second axis Y, and the second reversing wheel 122 is subjected to a torsional torque that rotates clockwise around the first axis X.

[0052] In this application, the third rope 141 and the fourth rope 142 are interwoven in a figure-eight pattern. Specifically, the third rope 141 and the fourth rope 142 intersect in a figure-eight pattern between the second input wheel 121 and the second reversing wheel 122, and also intersect in a figure-eight pattern between the second reversing wheel 122 and the second output wheel 123. When the second input wheel 121 rotates clockwise around the third axis Z, the third rope 141 is pulled to gradually wind up onto the outer circumference of the second input wheel 121, while the fourth rope 142 is gradually unwound. The third rope 141 and the fourth rope 142 slide in opposite directions on the outer circumference of the second reversing wheel 122, causing the two equal and opposite torsional torques acting on the second reversing wheel 122 to cancel each other out, thus ensuring a balanced force on the second reversing wheel 122. Under the pulling force of the third rope 141, the second output wheel 123 can be driven to rotate counterclockwise around the second axis Y. During this process, the second output wheel 123 simultaneously applies a torsional torque to the second reversing wheel 122, rotating clockwise around the first axis X. The second rope 132 gradually winds up onto the outer circumference of the first output wheel 113. Therefore, the third rope 141 and the fourth rope 142, which form an "8"-shaped winding, can couple the single input of the second input wheel 121 to two degrees of freedom, thereby improving the coupling lag and transmission gap problems of the second input wheel 121 and the second output wheel 123 during forward and reverse movements, and improving transmission efficiency and transmission accuracy.

[0053] Optionally, the first input wheel 111 is located below the first reversing wheel 112 and the two are coplanar.

[0054] In this embodiment, the first input wheel 111 and the first reversing wheel 112 are located in the same vertical plane, so that the distance between the first input wheel 111 and the first reversing wheel 112 is minimized, thereby improving the transmission efficiency of the first rope group 130 and saving the space of the joint transmission structure 100 along the second axis Y, further optimizing the spatial three-dimensional layout of the joint transmission structure 100 and reducing the volume of the joint transmission structure 100.

[0055] Optionally, refer to Figure 1 , Figure 3 and Figure 4 The second input wheel 121 is located on the side of the first output wheel 113 away from the first input wheel 111.

[0056] In this embodiment, the second input wheel 121 and the first input wheel 111 are distributed on both sides of the first output wheel 113 along the third axis Z, which can realize a reasonable spatial layout of the joint transmission structure 100 and facilitate the winding of the first rope group 130 and the second rope group 140, avoiding the first rope group 130 and the second rope group 140 from affecting each other when being wound up and down.

[0057] Optionally, refer to Figure 2 The first reversing wheel 112 and the second output wheel 123 are integrated into one structure. This simplifies the assembly structure between the first reversing wheel 112 and the second output wheel 123, reduces the distance between the first reversing wheel 112 and the second output wheel 123 along the second axis Y, and further reduces the size of the joint transmission structure 100 along the second axis Y, which is beneficial for further miniaturization and weight reduction of the joint transmission structure 100.

[0058] Optionally, continue to refer to Figure 1 , Figure 5 and Figure 6 The second input wheel 121 meshes with the second reversing wheel 122 for transmission.

[0059] In this embodiment, by forming a meshing transmission state with the second input wheel 121 and the second reversing wheel 122 having perpendicular axes, when the second input wheel 121 rotates clockwise around the third axis Z, a torsional torque rotating clockwise around the first axis X is also applied to the second reversing wheel 122. That is, the second input wheel 121 and the second output wheel 123 apply a torsional torque rotating clockwise or counterclockwise around the first axis X to the second reversing wheel 122 from two positions, thereby further improving the transmission torque of the second wheel set 120.

[0060] Optionally, the second input wheel 121, the second reversing wheel 122, and the second output wheel 123 are each provided with a third groove 124 for winding a third rope 141 and a fourth groove 125 for winding a fourth rope 142. The third rope 141 wound around the circumferential side of the second output wheel 123 engages with the third groove 124 on the second reversing wheel 122, and the fourth rope 142 wound around the circumferential side of the second reversing wheel 122 engages with the fourth groove 125 on the second output wheel 123. The third rope 141 and the fourth rope 142 cross at the engagement position of the second reversing wheel 122 and the second output wheel 123.

[0061] Optionally, refer to Figure 1 , Figure 7 and Figure 8 The joint transmission structure 100 in this embodiment of the application also includes a support assembly 150.

[0062] The support assembly 150 includes a first joint support 151, a second joint support 152, and a drive shaft 153. The second output wheel 123 and the first reversing wheel 112 are rotatably disposed on one side of the first joint support 151 along the second axis Y; one end of the second joint support 152 is connected to the first reversing wheel 112 and / or the second output wheel 123, and the other end of the second joint support 152 is connected to the drive shaft 153, which extends along the first axis X and is connected to the first output wheel 113 and the second reversing wheel 122.

[0063] In this embodiment, the bracket assembly 150 serves as a support structure for the first wheel set 110 and the second wheel set 120. The second joint bracket 152 and the drive shaft 153 in the bracket assembly 150 enable the first output wheel 113 and the second reversing wheel 122 to be coaxially fixed along the first axis X. The first joint bracket 151 and the second joint bracket 152 enable the first reversing wheel 112 and the second output wheel 123 to be coaxially fixed along the second axis Y, and the first joint bracket 151 and the second joint bracket 152 are fixed together.

[0064] When the first output wheel 113 and the second reversing wheel 122 rotate around the first axis X, they drive the second joint bracket 152 to rotate around the first axis X, which in turn drives the first joint bracket 151, the first reversing wheel 112, and the second output wheel 123 to rotate around the first axis X, thus realizing the rotation of the joint transmission structure 100 and the corresponding joints around the first axis X. When the second output wheel 123 and the first reversing wheel 112 rotate around the second axis Y, they drive the second joint bracket 152, the transmission shaft 153, the first output wheel 113, and the second reversing wheel 122 to rotate around the second axis Y.

[0065] Optionally, refer to Figure 7 and Figure 8 The support assembly 150 also includes a third joint support 154, which is arranged along the third axis Z. One end of the third joint support 154 is connected to the drive shaft 153, and the other end is connected to the second input wheel 121. The second input wheel 121 is configured to rotate synchronously with the first output wheel 113 and the second reversing wheel 122 around the first axis X.

[0066] In this embodiment, the third joint bracket 154 is used to support the second input wheel 121. The third joint bracket 154 is fixedly connected to the transmission shaft 153, thereby enabling the second input wheel 121 to rotate around the first axis X or the second axis Y, so as to drive the corresponding joint to rotate around the first axis X or the second axis Y.

[0067] Optionally, refer to Figure 8The second joint bracket 152 includes a fixed shaft 1521 with its axis parallel to the second axis Y and a bracket body 1522. The fixed shaft 1521 passes through the central holes of the first reversing wheel 112 and the second output wheel 123 and is fixed to the first joint bracket 151. The bracket body 1522 is hollow in the middle and has first through holes 1523 at both ends that extend along the first axis X. The third joint bracket 154 is located in the hollow position in the middle of the bracket body 1522. The bottom of the third joint bracket 154 has a second through hole 1541. The drive shaft 153 passes through the first through hole 1523 and the second through hole 1541 and is fixed to the third joint bracket 154, for example, by screws. The first output wheel 113 and the second reversing wheel 122 are respectively fixed to the two ends of the drive shaft 153. The bottom of the support body 1522 is also fixed with an arc-shaped support plate 1524. The top surface of the arc-shaped support plate 1524 is in contact with the outer peripheral surface of the drive shaft 153 to support the drive shaft 153 and various components installed on the drive shaft 153, thereby improving the overall structural support stability.

[0068] Optionally, continue to refer to Figure 7 and Figure 8 The first joint support 151 and the second output wheel 123 are an integrated structure. For example, the first joint support 151 and the second output wheel 123 can be integrally formed. Thus, when the second input wheel 121 drives the second output wheel 123 to rotate around the second axis Y, the support assembly 150 can be driven to rotate through the transmission of the first joint support 151, thereby driving the joint transmission structure 100 to rotate around the second axis Y as a whole. This can further reduce the size of the joint transmission structure 100 along the second axis Y, thereby reducing the volume and weight of the joint transmission structure 100.

[0069] Optionally, the first joint bracket 151, the second output wheel 123, and the first reversing wheel 112 are integrated structures. For example, the first joint bracket 151, the second output wheel 123, and the first reversing wheel 112 are integrally formed. This can further simplify the structure of the first joint bracket 151, the second output wheel 123, and the first reversing wheel 112, which are coaxially arranged along the second axis Y, and further reduce the volume and weight of the joint transmission structure 100.

[0070] Optionally, refer to Figure 1 and Figure 7 The first reversing wheel 112 is located on the side of the second output wheel 123 away from the first joint bracket 151, and the diameter of the first reversing wheel 112 is smaller than the diameter of the second output wheel 123.

[0071] In this embodiment, the first reversing wheel 112 and the second output wheel 123 are coaxial and have a diameter difference, so as to avoid interference between the first rope group 130 and the second rope group 140 wrapped around the outer circumference of the second output wheel 123 when the first rope group 130 slides on the outer circumference of the first reversing wheel 112.

[0072] Optionally, refer to Figure 1 The diameters of the first input wheel 111, the first reversing wheel 112, and the first output wheel 113 are the same, and the diameters of the second input wheel 121, the second reversing wheel 122, and the second output wheel 123 are the same, so as to ensure that the first wheel group 110 and the second wheel group 120 operate independently and do not interfere with each other.

[0073] Secondly, embodiments of this application provide a dexterous hand (not shown in the figure), including the joint transmission structure 100 of the above embodiments.

[0074] Optionally, refer to Figures 1-11 The dexterous hand in this embodiment of the application also includes a palm (not shown in the figure) and at least one dexterous hand finger 1. Along the direction from the palm to the fingertip of the dexterous hand finger 1, the dexterous hand finger 1 includes a metacarpophalangeal joint 10, a first proximal finger segment 20, a proximal interphalangeal joint 30 (PIP joint), a second proximal finger segment 40, a distal interphalangeal joint 50 (DIP joint), and a distal finger segment 60 located at the fingertip.

[0075] Optionally, refer to Figures 9-10 The metacarpophalangeal joint 10 is located at the junction of the dexterous hand finger 1 and the palm, and the joint transmission structure 100 is disposed within the metacarpophalangeal joint 10. The second input wheel 121 of the joint transmission structure 100 is fixedly connected to the first proximal finger segment 20, and the first joint support 151 of the joint transmission structure 100 is hinged to the palm around the second axis Y; the joint transmission structure 100 is configured to drive the dexterous hand finger 1 to rotate around the first axis X and / or the second axis Y.

[0076] In this embodiment, since the second input wheel 121 is fixedly connected to the second proximal finger segment 40, and the first joint support 151 is hinged to the palm along the second axis Y, when both the second output wheel 123 and the first reversing wheel 112 rotate around the second axis Y, they can drive the joint transmission structure 100 and the entire dexterous hand finger 1 to perform a lateral swing motion around the second axis Y. When the first output wheel 113 and the second reversing wheel 122 rotate around the first axis X, they can drive the joint transmission structure 100 and the entire dexterous hand finger 1 to perform a pitching motion around the first axis X. The pitching motion of the dexterous hand finger 1 includes the aforementioned palmar flexion motion of the dexterous hand finger 1.

[0077] Optionally, the dexterous hand finger 1 also includes a drive component 70 for driving the distal finger joint 50 to flex against the palm.

[0078] Reference Figures 9-11 The drive assembly 70 is coupled to the joint transmission structure 100 around the first axis X and is configured to apply a torsional torque of palmar bending around the first axis X to the drive shaft 153 of the joint transmission structure 100 when the distal finger segment 60 is bent around the distal finger joint 50.

[0079] It should be noted that the palmar bending motion around the first axis X refers to the movement of the dexterous hand fingers 1 around the first axis X, bending towards the side closer to the palm, such as when the dexterous hand performs a grasping action or a fist-making action, which is the palmar bending motion around the first axis X described in the embodiments of this application.

[0080] In this embodiment, by coupling the drive assembly 70 to the joint transmission structure 100 around the first axis X, for example, by coupling it to the first output wheel 113 and / or the second reversing wheel 122 which are coaxially fixed along the first axis X, or by coupling it to the transmission shaft 153 extending along the first axis X, a torsional torque that generates palmar bending around the first axis X can be applied to the first output wheel 113 and / or the second reversing wheel 122 while driving the distal finger segment 60 to bend palmarly around the distal finger joint 50. This allows the joint transmission structure 100 located at the metacarpophalangeal joint 10 to further drive the entire dexterous hand finger 1 to bend palmarly around the first axis X when the dexterous hand performs a grasping action. This enables more precise adjustment of the bending action of the dexterous hand finger 1 and allows for a tighter grasp of the target object, thereby improving the dexterous hand's grasping ability.

[0081] Optionally, refer to Figures 10-11 In this embodiment of the application, the drive assembly 70 includes a first pulley 71, a second pulley 72, a tendon cord 74, and at least one reversing bearing 75. The first pulley 71 is disposed in the proximal finger joint 30, and the second pulley 72 is disposed in the distal finger joint 50.

[0082] The tendon rope 74 passes around the drive shaft 153, which is parallel to the first shaft X, the first rope pulley 71, and at least one reversing bearing 75, and connects to the second rope pulley 72.

[0083] In this embodiment, a tendon cord 74 is introduced that spans the metacarpophalangeal joint 10, proximal interphalangeal joint 30, and distal interphalangeal joint 50. When the tendon cord 74 is pulled and gradually tightened, the tension of the tendon cord 74 is continuously transmitted along the drive shaft 153, the proximal interphalangeal joint 30, and the distal interphalangeal joint 50. Since the same tendon cord 74 spans multiple joints to form a continuous drive path, the driving torque generated by the distal interphalangeal joint 50 can be transmitted along the finger structure proximally. This allows an additional torsional torque about the first axis X to be applied to the joint drive structure 100, resulting in an auxiliary driving torque at the metacarpophalangeal joint 10. Therefore, the drive assembly 70 can not only drive the distal interphalangeal joint 50 to bend, but also act on the drive shaft 153 through the tendon cord 74 to form an auxiliary driving torque at the metacarpophalangeal joint 10. This significantly improves the enveloping ability and gripping stability of the dexterous hand fingers 1.

[0084] Furthermore, the final output torque of the metacarpophalangeal joint 10 is composed of the main driving torques of the first drive source 160 and the second drive source, together with the auxiliary driving torque applied by the tendon ligament 74. In other words, the auxiliary driving torque formed by the tendon ligament 74 at the metacarpophalangeal joint 10 can reduce the load on the two drive sources at the metacarpophalangeal joint 10, thereby improving the gripping output capability of the entire finger and solving the problem of excessive proximal joint load and insufficient distal driving capability in traditional dexterous hands.

[0085] Optionally, the radius of the drive shaft 153 is smaller than the radius of the first pulley 71 and the radius of the second pulley 72. That is, the effective radius of action of the tendon cord 74 at the proximal interphalangeal joint 30 and the distal interphalangeal joint 50 is greater than the effective radius of action at the metacarpophalangeal joint 10.

[0086] For the same continuously driven tendon 74, the tension at all points on the tendon 74 remains consistent, and the driving torque obtained by each joint is positively correlated with the radius of that joint. Therefore, under the same tension conditions, the distal interphalangeal joints 50 and 30, which have larger effective operating radii, can obtain larger driving torques. The metacarpophalangeal joints 10, which have smaller effective operating radii, obtain smaller driving torques. Thus, under the same tension, the distal interphalangeal joint 50 can obtain a greater torque output.

[0087] In other words, the embodiments of this application can actively achieve torque distribution among multiple joints by designing the radius of action at different joints, thus achieving uneven torque distribution among the joints. This allows multiple joints to move collaboratively according to a preset ratio, rather than being controlled independently. The embodiments of this application can utilize continuous cross-joint tendon ropes 74 to achieve active distribution and redistribution of driving torque among multiple joints. This allows the distal drive to participate in the overall bending process, thereby significantly improving the output capability and efficiency of the dexterous hand system.

[0088] Optionally, the first pulley 71 and the second pulley 72 have the same radius. The ratio of the radius of the first pulley 71 to that of the drive shaft 153 can be approximately 2:1.

[0089] Optionally, the drive assembly 70 further includes a third input wheel 73 with its axis parallel to the second axis Y, and the third input wheel 73 can be connected to a third drive source. One end of the tendon rope 74 is wound and fixed to the third input wheel 73, and the other end passes over at least one reversing bearing 75, the drive shaft 153, the first rope pulley 71 and connects to the second rope pulley 72.

[0090] Furthermore, the third input wheel 73 of this application is connected to a third drive source, which can provide power for the extension and retraction of the tendon cords 74. This enables the finger system to form a three-input drive structure, providing drive redundancy while only needing to control two main degrees of freedom. This allows for the distribution and optimization of tension on each tendon cord 74 under different working conditions, improving the system's load capacity and control flexibility, as well as enhancing overall performance and reliability.

[0091] Optionally, the third input wheel 73 can be located on the side of the first output wheel 113 away from the first rope wheel 71, such as inside the palm of the dexterous hand, or it can be located in other parts of the robot besides the dexterous hand, which can further optimize the internal space layout of the robot and help reduce the size of the dexterous hand and the robot as a whole.

[0092] Optionally, the first drive source 160, the second drive source, and the third drive source in the above embodiments can be a drive motor or other drive structures, and this application does not impose specific limitations.

[0093] Optionally, refer to Figures 10-11 The reversing bearing 75 serves to guide the reversing of the tendon ligament 74, and the number of reversing bearings 75 includes at least three. This embodiment of the application only illustrates an example with three reversing bearings 75.

[0094] Optionally, refer to Figure 11 At least one reversing bearing 75 includes a first reversing bearing 751 and a second reversing bearing 752 located on both sides of the drive shaft 153 along the second axis Y. The first joint support 151, the second output wheel 123, and the first reversing wheel 112 of the joint transmission structure 100 have mounting spaces extending along the second axis Y, and the first reversing bearing 751 is disposed within these mounting spaces. The third joint support 154 of the joint transmission structure 100 includes an extension 1542 located between the drive shaft 153 and the second input wheel 121 and extending along the second axis Y, and the second reversing bearing 752 is rotatably connected to the extension 1542. A tendon rope 74 is wound around the circumferential side of the drive shaft 153 away from the first rope pulley 71.

[0095] In this embodiment, a first reversing bearing 751 and a second reversing bearing 752 are provided at the metacarpophalangeal joint 10 so that the tendon cord 74 is wound around the outer circumference of the lower half of the transmission shaft 153 from below, so that the tendon cord 74 on both sides of the first output wheel 113 extends along the third axis Z. Thus, when the tendon cord 74 is pulled, a torsional torque about the first axis X is applied to the first output wheel 113, so as to apply an auxiliary driving torque about the first axis X to the joint transmission structure 100, which can drive the metacarpophalangeal joint to bend further about the first axis X, thereby significantly improving the dexterous hand fingers 1's ability to envelop objects and grasp stability, while also reducing the load on the two drive sources of the corresponding joint transmission structure 100.

[0096] Furthermore, in this embodiment, the first reversing bearing 751 is disposed inside the integrated structure consisting of the first joint support 151, the second output wheel 123 and the first reversing wheel 112, and the second reversing bearing 752 is disposed in the space between the transmission shaft 153 and the second input wheel 121. This allows both the first reversing bearing 751 and the second reversing bearing 752 to be disposed in the space inside the joint transmission structure 100, which can reasonably optimize the internal space design of the metacarpophalangeal joint 10, so as to achieve a more compact design at the metacarpophalangeal joint 10, thereby significantly reducing the volume of the fingers 1 of the dexterous hand.

[0097] Optionally, the reversing bearing 75 further includes a third reversing bearing 753 disposed between the first sheave 71 and the second sheave 72. The third reversing bearing 753 is located on the side of the first sheave 71 close to the first reversing bearing 751, and the tendon rope 74 passes around the circumferential side of the upper half of the first sheave 71 and the circumferential side of the lower half of the second sheave 72.

[0098] Optionally, the dexterous hand in this embodiment of the application further includes a transmission component (not shown in the figure). The transmission component is used to drive the proximal finger joint 30 and the distal finger joint 50 to bend synchronously when the distal finger joint 50 produces an antipalpatial flexion, thereby realizing the kinematic coupling between the proximal finger joint 30 and the distal finger joint 50.

[0099] Optionally, the proximal interphalangeal joint 30 is further provided with a fixed bracket coaxial with the first rope wheel 71, and the first rope wheel 71 can rotate about a first axis X relative to the fixed bracket. The distal interphalangeal joint 50 is provided with a fixed wheel coaxial with the second rope wheel 72, and the fixed wheel and the second rope wheel 72 are configured to rotate synchronously.

[0100] The transmission assembly includes a third rope group. The third rope group includes a fifth rope and a sixth rope, which are wound from opposite directions and fixed to a fixed bracket and a fixed wheel, respectively.

[0101] In this embodiment, the fifth and sixth ropes are wound in a figure-eight shape between the fixed bracket and the fixed wheel, thereby achieving motion coupling between the proximal finger joint 30 and the distal finger joint 50 with the help of the third rope group. Since the fifth and sixth ropes are of fixed length and their ends are fixed to the fixed bracket and the fixed wheel respectively, when the tendon rope 74 is pulled to drive the second rope wheel 72 to bend around the first axis X, the fifth rope gradually winds up and wraps around the fixed wheel, and the sixth rope gradually unwinds and wraps around the fixed bracket. This can drive the distal fingertip and proximal finger segment to also generate a palmar bending motion around the first axis X around the axis of the first rope wheel 71, realizing synchronous bending and rotation of the distal finger joint 50 and the proximal finger joint 30 at the same angle. In this way, when performing the action of making a fist or grasping an object, the distal finger joint 50, the proximal finger joint 30, and the metacarpophalangeal joint 10 can be linked together, which can significantly improve the enveloping ability and grasping stability of the fingers 1 of the dexterous hand.

[0102] Optionally, a fixed bracket is provided on each side of the first rope pulley 71, and the two fixed brackets and the first rope pulley 71 are coaxially fixed through a first rotating shaft. A fixed wheel is provided on each side of the second rope pulley 72, and the two fixed wheels and the second rope pulley 72 are coaxially fixed through a second rotating shaft. The fifth rope is wound in an S-shape and fixed to the fixed bracket and fixed wheel on the first side of the first rope pulley 71, and the sixth rope is wound in an S-shape and fixed to the fixed bracket and fixed wheel on the second side of the first rope pulley 71. The winding directions of the fifth and sixth ropes are opposite. This ensures that the force is evenly distributed inside the distal finger joint 50 and the proximal finger joint 30.

[0103] Optionally, refer to Figure 9 The dexterous hand finger 1 in this embodiment of the application also includes a reset structure 80. The reset structure 80 is disposed between the joint transmission structure 100 and the first rope wheel 71 and is configured to extend and retract along the length direction of the dexterous hand finger 1, so that when the third drive source stops inputting power to the third input wheel 73, it can drive the distal finger joint 50 and the proximal finger joint 30 to reset.

[0104] This application uses a torsion spring structure as an example to illustrate the embodiments.

[0105] Thirdly, embodiments of this application provide a robot (not shown in the figures) including the dexterous hand described in the above embodiments.

[0106] The robot of this application embodiment has all the beneficial effects of the dexterous hand in the above embodiments, which will not be repeated here.

[0107] Optionally, the robot in this embodiment of the application also includes an arm connected to the dexterous hand in the above embodiment. The third input wheel 73 in the drive assembly 70 of the dexterous hand can also be set in the arm according to design needs, so that by extending the length of the tendon 74, the distal finger segment 60 of the dexterous hand finger 1 can be bent, thereby also causing the first proximal finger segment 20 and the distal finger segment 60 to bend synchronously at the same angle. This allows for more precise adjustment of the bending action of the dexterous hand finger 1, and at the same time, it enables a tighter grip on the target object, improving the dexterous hand's gripping ability.

[0108] The beneficial technical effects of the technical solutions provided in this application include: This embodiment of the application constructs a joint transmission structure 100 by spatially arranging the first wheel group 110 and the second wheel group 120 in three dimensions. Combined with the winding method of the first rope group 130 and the second rope group 140 and the flexible transmission form, it can simultaneously achieve the driving and decoupling of pitch and lateral degrees of freedom within a limited volume using two drive motors. This significantly improves the functional integration and output capacity per unit volume, meeting the increasingly lightweight and highly integrated requirements of humanoid robots. The first reversing wheel 112, the second reversing wheel 122, the first rope group 130, and the second rope group 140 are all arranged around the metacarpophalangeal joint 10 in a local space, achieving multi-degree-of-freedom driving without the need for an additional external transmission mechanism.

[0109] In this embodiment, the joint transmission structure 100 has a clear motion mapping relationship, which makes it easy for the control system to quickly output the corresponding drive signal to the first input wheel 111 and the second input wheel 121 after receiving the electrical signal that causes the joint to move around a certain degree of freedom, so as to drive the corresponding joint to rotate around the first axis X or around the second axis Y, thereby improving the response speed of the joint movement.

[0110] This embodiment of the application forms a continuous drive path within the dexterous hand finger 1, spanning the metacarpophalangeal joint 10, proximal interphalangeal joint 30, and distal interphalangeal joint 50. This drive configuration allows for a larger wrap angle between the distal finger segment 60 (fingertip area) and the first proximal finger segment 20. The distal interphalangeal joint 50 participates in the overall drive process, enabling the tendon cord 74 to have a higher torque output capacity at the distal end, thus achieving a reasonable distribution of drive torque among the joints. Furthermore, the tendon cord 74 simultaneously bypasses the drive shaft 153 of the joint transmission structure 100. When the tendon cord 74 tightens, a torsional torque is preferentially generated at the distal interphalangeal joint 50, bending around the first axis X. This torque is then transmitted proximally through the rigid structure of the finger, thereby forming an auxiliary drive torque at the metacarpophalangeal joint 10. This further induces the metacarpophalangeal joint 10 to bend around the first axis X, effectively enhancing the gripping ability of the dexterous hand finger 1. Simultaneously, it effectively reduces the load at the metacarpophalangeal joint 10, improving overall system efficiency and extending the service life of the drive components.

[0111] In this embodiment, the third input wheel 73 is configured as the third drive source connecting the robot system, forming a three-input drive structure. This provides drive redundancy while only requiring control of two main degrees of freedom, enabling the distribution and optimization of tension on each tendon 74 under different working conditions, thus improving the system's load capacity and control flexibility. It also allows for better drive strategies under complex conditions, thereby improving system robustness and adaptability.

[0112] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component 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 application.

[0113] 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0114] 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.

[0115] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A joint transmission structure, characterized in that, Located at the joints of the robot, including: The first wheel assembly includes a first input wheel and a first reversing wheel with their axes parallel to the second shaft, and a first output wheel with its axis parallel to the first shaft. The circumferential side of the first output wheel meshes with the circumferential side of the first reversing wheel. The second wheel assembly includes a second input wheel with its axis parallel to the third axis, a second reversing wheel that is coaxially fixed to the first output wheel along the first axis, and a second output wheel that is coaxial with the first reversing wheel along the second axis and whose relative movement is restricted. The circumferential surface of the second output wheel meshes with the circumferential surface of the second reversing wheel. The first axis, the second axis, and the third axis are perpendicular to each other. The first rope group includes a first rope and a second rope, which are wound sequentially around the first input wheel, the first reversing wheel and the first output wheel in opposite directions; The second rope group, including the third rope and the fourth rope, is wound in opposite directions sequentially around the second input wheel, the second reversing wheel and the second output wheel.

2. The joint transmission structure according to claim 1, characterized in that, The first rope and the second rope are intertwined in a cross shape between the first input wheel and the first reversing wheel, and between the first output wheel and the first reversing wheel; The third rope and the fourth rope are intertwined in a cross shape between the second input wheel and the second reversing wheel, and between the second reversing wheel and the second output wheel; The first reversing wheel is subjected to a torsional torque about the second axis, which is configured to be opposite to the rotation direction of the first input wheel; when the second reversing wheel is subjected to a torsional torque about the first axis, which is opposite to the rotation direction of the first output wheel, the first reversing wheel and the second output wheel rotate synchronously about the second axis; when the second reversing wheel is subjected to a torsional torque about the first axis, which is in the same direction as the rotation direction of the first output wheel, the second reversing wheel and the first output wheel rotate synchronously about the first axis.

3. The joint transmission structure according to claim 1, characterized in that, The first input wheel is located below the first reversing wheel and the two are coplanar; The second input wheel is located on the side of the first output wheel away from the first input wheel.

4. The joint transmission structure according to claim 1, characterized in that, The second input wheel meshes with the second reversing wheel for transmission.

5. The joint transmission structure according to claim 1, characterized in that, The first input wheel, the first reversing wheel, and the first output wheel are all provided with a first groove for winding a first rope and a second groove for winding a second rope on their peripheral sides. The first rope wound on the peripheral side of the first reversing wheel engages with the first groove on the first output wheel, and the second rope wound on the peripheral side of the first output wheel engages with the second groove on the first reversing wheel. The second input wheel, the second reversing wheel, and the second output wheel are all provided with a third groove for winding a third rope and a fourth groove for winding a fourth rope on their peripheral side surfaces. The third rope wound on the peripheral side surface of the second output wheel engages with the third groove on the second reversing wheel, and the fourth rope wound on the peripheral side surface of the second reversing wheel engages with the fourth groove on the second output wheel.

6. The joint transmission structure according to claim 1, characterized in that, It also includes support components; The support assembly includes a first joint support, a second joint support, and a drive shaft; The second output wheel and the first reversing wheel are disposed on one side of the first joint bracket along the second axis; one end of the second joint bracket is connected to the first reversing wheel and / or the second output wheel, and the other end of the second joint bracket is connected to the drive shaft, which extends along the first axis and is connected to the first output wheel and the second reversing wheel.

7. The joint transmission structure according to claim 6, characterized in that, The support assembly further includes a third joint support, which is arranged along a third axis. One end of the third joint support is connected to the drive shaft, and the other end is connected to the second input wheel. The second input wheel is configured to rotate synchronously around the first axis with the first output wheel and the second reversing wheel.

8. The joint transmission structure according to claim 6, characterized in that, The first joint support and the second output wheel are an integrated structure.

9. The joint transmission structure according to claim 8, characterized in that, The first reversing wheel is located on the side of the second output wheel away from the first joint bracket, and the diameter of the first reversing wheel is smaller than the diameter of the second output wheel.

10. The joint transmission structure according to claim 9, characterized in that, The diameters of the first reversing wheel, the first input wheel, and the first input wheel are the same; The second input wheel, the second reversing wheel, and the second output wheel have the same diameter.

11. A dexterous hand, characterized in that, Includes the joint transmission structure as described in any one of claims 1-10.

12. The dexterous hand according to claim 11, characterized in that, It also includes a palm and at least one dexterous hand finger, with the direction from the palm toward the fingertip of the dexterous hand finger, the dexterous hand finger including a metacarpophalangeal joint, a first proximal finger segment, a proximal finger joint, a second proximal finger segment, a distal finger joint, and a distal finger segment connected in sequence; The metacarpophalangeal joint is located at the junction of the fingers and palm of the dexterous hand. The joint transmission structure is disposed within the metacarpophalangeal joint. The third joint support of the joint transmission structure is fixedly connected to the first proximal finger segment. The first joint support of the joint transmission structure is hinged to the palm around the second axis. The joint transmission structure is configured to drive the fingers of the dexterous hand to rotate around the first axis and / or the second axis.

13. The dexterous hand according to claim 12, characterized in that, The dexterous hand fingers also include a drive component for driving the distal interphalangeal joints to bend palmarly. The drive component is coupled to the joint transmission structure about a first axis and is configured to apply a torsional torque about the first axis to the transmission shaft of the joint transmission structure when driving the distal interphalangeal joints to bend palmarly.

14. The dexterous hand according to claim 13, characterized in that, The drive assembly includes a first pulley, a second pulley, a tendon cord, and at least one reversing bearing. The first pulley is disposed within the proximal interphalangeal joint, and the second pulley is disposed within the distal interphalangeal joint. The tendon cord passes around a drive shaft with its axis parallel to the first shaft, a first pulley, and at least one of the reversing bearings and connects to the second pulley.

15. The dexterous hand according to claim 14, characterized in that, At least one reversing bearing includes a first reversing bearing and a second reversing bearing located on both sides of the drive shaft along the second axis direction. The first joint support, the second output wheel, and the first reversing wheel of the joint transmission structure are provided with an installation space extending along the second axis, and the first reversing bearing is disposed in the installation space; the third joint support of the joint transmission structure includes an extension located between the transmission shaft and the second input wheel and extending along the second axis, and the second reversing bearing is rotatably connected to the extension; the tendon rope is wrapped around the circumferential side of the transmission shaft away from the first rope wheel.

16. A robot, characterized in that, Including a dexterous hand as described in any one of claims 11-15.

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