A tendon-like humanoid dexterous hand

Abstract

This invention relates to a tendon-wire anthropomorphic dexterous hand, comprising fingers and a palm. The palm is a monolithic support structure, including the palm and back of the hand, with the front of the palm serving as the palm and the back of the palm serving as the back of the hand. Both the palm and the back of the hand have five holes and are fixed by pins to complete the palm structure. The fingers include the thumb, index finger, middle finger, ring finger, and little finger. Each of the thumb, index finger, middle finger, ring finger, and little finger includes a distal phalanx, a middle phalanx, a proximal phalanx, a joint, and a single-motor drive unit. The hollow cup geared motor of the single-motor drive unit achieves lateral finger movement through tendon-wire transmission. This invention uses a single-motor drive combined with an optimized tendon-wire layout to achieve sequential coupling bending of the fingers, and uses the same motor to achieve active lateral finger movement through a belt mechanism. While simplifying the system architecture, it also achieves high integration, dexterous grasping ability, and anthropomorphic movement mode.

Description

Technical Field

[0001] This application belongs to the field of robot bionics and environmental interaction technology, specifically relating to a tendon-string humanoid dexterous hand. Background Technology

[0002] As a key end effector for robot interaction, the development level of robot dexterous hands directly affects the robot's operational performance and application scope. Since the 1970s, robot dexterous hands have undergone several important development stages: early models, represented by Japan's Okada dexterous hand and the US's Stanford / JPL dexterous hand, laid the theoretical foundation for humanoid multi-fingered dexterous hands; at the end of the 20th century, with the advancement of embedded hardware, dexterous hands achieved significant improvements in system integration and perception capabilities; in the last decade, addressing the issues of high cost and maintenance difficulties of highly integrated dexterous hands, simplifying systems and improving robustness have become important development directions.

[0003] With the continuous growth in demand for precision operations in fields such as industrial manufacturing, healthcare, and special operations, traditional dexterous hands have long relied on redundant multi-motor layouts in their drive architecture, resulting in large system size, complex control, and high costs. In terms of transmission methods, although tendon-wire transmission has the advantage of flexibility, it mostly adopts a synchronous traction method with a fixed transmission ratio, lacking the ability to adapt to sequential bending and making it difficult to achieve human-like envelope grasping. In terms of structural integration, bending and lateral swing movements generally need to be controlled by two sets of independent drive components, resulting in complex transmission mechanisms and insufficient reliability, which can no longer meet the design requirements of high integration, dexterous grasping, and human-like motion modes.

[0004] Currently, most existing humanoid dexterous hand solutions only achieve operation through multi-motor redundant drive, fixed transmission ratio tendon rope traction, and discrete bending and lateral swing mechanisms. It is difficult to balance system integration, gripping adaptability, and structural reliability. The main drawbacks and shortcomings are as follows: 1. The drive system is redundant and complex, making it difficult to balance high integration and low cost. To achieve multi-degree-of-freedom movements, existing chord-driven dexterous hands generally require a large number of motors to be placed in the palm, resulting in complex system wiring and high control complexity, making it difficult to achieve a balance between high integration and low cost.

[0005] The patent with publication number CN101804633A discloses a tendon-tie parallel dexterous underactuated bionic robot hand device. The device is driven by ten motors. The index, middle, ring, and little fingers are driven by two motors to rotate three joints, while the thumb is driven by two motors to rotate two joints. The whole hand has a total of ten actuators, with high system redundancy and high control complexity.

[0006] Second, chordal transmission lacks sequential adaptive capability, making it difficult to achieve human-like envelope grasping. Existing tendon-driven dexterous hands mostly use a single rope to directly pull each finger joint. The tendon rope pulls each finger joint synchronously with a fixed transmission ratio. Once the proximal finger joint contacts the object, it restricts the movement of the distal finger joint. It lacks the ability to adapt to sequential bending and cannot achieve passive conformation and envelopment grasping according to the shape of the object during the grasping process.

[0007] The patent with publication number CN207593821U discloses a humanoid five-finger dexterous hand device. The transmission method of each finger is designed as a single motor-double tendon rope mechanism. The driving force is transmitted through tendon rope to achieve finger bending. However, the tendon rope transmission has disadvantages such as pre-tension and low transmission accuracy. The tendon rope synchronously pulls each finger joint with a fixed transmission ratio and lacks the ability to adapt to sequential bending.

[0008] Third, the low structural integration makes it difficult to reliably coordinate bending and lateral movements within the same drive unit. Currently, dexterous hand structures that can decouple the two degrees of freedom of finger bending and lateral swing generally require two sets of independent drive components to control bending and lateral swing respectively. The transmission method is mainly a complex multi-link spatial mechanism, which is complex in structure and has poor reliability, making it difficult to achieve reliable decoupling and orderly coordination of the two motions under a single drive unit.

[0009] Patent CN119567299A discloses a dexterous hand finger, a dexterous hand, and a robot. The dexterous hand finger includes a lateral swing assembly, a first phalanx, a first link assembly, a second link assembly, a first drive assembly, and a second drive assembly. The phalanx is bent by a spatial crank-slider mechanism and lateral swing is achieved by an independent drive assembly. A spherical pair is formed between the second link assembly and the first link assembly to achieve motion decoupling. However, bending and lateral swing need to be controlled by two sets of independent drive assemblies, which increases the structural complexity and volume of the dexterous hand finger. Summary of the Invention

[0010] The purpose of this application is to overcome the shortcomings of the prior art and provide a tendon-wire anthropomorphic dexterous hand that uses a single motor drive in conjunction with an optimized tendon-wire layout to achieve sequential coupling bending of the fingers, and uses the same motor to achieve active lateral swinging of the fingers through a belt mechanism. While simplifying the system architecture, it also takes into account high integration, dexterous grasping ability and humanoid movement mode.

[0011] The technical problem solved by this application is achieved through the following technical solution: A tendon-like humanoid dexterous hand includes fingers and a palm; the palm is an integral load-bearing structure, including the palm and the back of the hand, with the front of the palm being the palm and the back of the palm being the back of the hand; both the palm and the back of the hand have five holes and are fixed by pins to complete the palm structure; The fingers include the thumb, index finger, middle finger, ring finger, and little finger; each of the thumb, index finger, middle finger, ring finger, and little finger includes a distal phalanx, a middle phalanx, a proximal phalanx, a joint, and a single motor drive unit. The hollow cup geared motor of the single motor drive unit realizes the lateral movement of the finger through tendon cable transmission.

[0012] Furthermore, the single-motor drive unit includes a control board, a winding wheel, a worm gear, a hollow cup geared motor, a belt, a first bearing, a second bearing, a first tendon rope, a second tendon rope, a small pulley, and a large pulley; The hollow cup geared motor drives the worm gear to rotate the winding wheel, and the first and second tendon ropes wrap around the fingers to make them bend. Large pulleys are installed at the three joints of the distal phalanx, middle phalanx and proximal phalanx. First bearings and second bearings are installed on the left and right sides of the joints respectively. Small pulleys are installed on the pins as rotating shafts. The five small pulleys are fixed by pins. The two ends of the first tendon rope are fixed to the distal phalanx and proximal phalanx respectively as coupling tendon ropes. One end of the second tendon rope is fixed to the middle phalanx and the other end is used as the driving end. The hollow cup geared motor drives the belt to generate torques to the left and right, thereby enabling the fingers to swing sideways.

[0013] Furthermore, a potentiometer is installed at the end of the male and female nails to detect the rotation angle and achieve position feedback.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention features a pioneering single-motor linkage tendon rope layout, enabling sequential coupling bending of the finger joints. Even when the proximal end is obstructed, the mid-to-distal end can still bend independently to conform to the object, significantly improving the adaptability of enveloping and grasping irregularly shaped objects. 2. This invention uses a belt mechanism that links forward and reverse rotation of the same motor to enable active lateral swinging of the fingers. When bending, the lateral swing is locked and the bending is delayed. The simple structure fits the natural movement pattern of the human hand when grasping, which is bending and closing, and extending and opening. 3. This invention adopts a simple architecture of single motor driving single finger, requiring only a small number of motors for the entire hand, achieving sub-second response and approximately 40N gripping force output, significantly reducing system size and control complexity, while taking into account high integration, low cost and high reliability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is another structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the palm structure of the present invention; Figure 4 This is a schematic diagram of the index finger structure of the present invention; Figure 5 This is a schematic diagram of the single motor drive unit structure of the present invention; Figure 6 This is a schematic diagram of the tendon ligament transmission structure of the present invention.

[0016] Explanation of reference numerals in the attached figures 1. Fingers; 1-1. Thumb; 1-2. Index finger; 1-3. Middle finger; 1-4. Ring finger; 1-5. Little finger; 2. Palm; 2-1. Palm center; 2-2. Back of hand; 1-2-1, Distal phalanx; 1-2-2, Middle phalanx; 1-2-3, Proximal phalanx; 1-2-4, Joint; 1-2-5, Control panel; 1-2-6, Potentiometer; 1-2-7, Winding reel; 1-2-8, Worm gear; 1-2-9, Hollow cup geared motor; 1-2-10, Belt; 1-2-11, First bearing; 1-2-12, Second bearing; 1-2-13, First tendon ligament; 1-2-14, Second tendon ligament; 1-2-15, Small pulley; 1-2-16, Large pulley; 1-2-17, Threaded pin. Detailed Implementation

[0017] The present application will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not limiting, and should not be used to limit the scope of protection of the present application.

[0018] like Figures 1-6 As shown, a tendon-like humanoid dexterous hand is innovative in that it includes a palm 2 and fingers 1; the palm includes a palmar 2-1 and a back of the hand 2-2; the fingers include a thumb 1-1, an index finger 1-2, a middle finger 1-3, a ring finger 1-4, and a little finger 1-5; each of the thumb, index finger, middle finger, ring finger, and little finger includes a distal phalanx 1-2-1, a middle phalanx 1-2-2, a proximal phalanx 1-2-3, a joint 1-2-4, and a single motor drive unit; the palm 2 is an integral load-bearing structure with high structural strength and light weight, with the front of the palm being the palm 2-1 and the back of the palm being the back of the hand 2-2. The palm undertakes the structural function of supporting the five fingers.

[0019] The hollow cup geared motor 1-2-9 of the single motor drive unit realizes the lateral swing of the finger through tendon rope transmission; the single motor drive unit includes a control board 1-2-5, a winding wheel 1-2-7, a worm gear 1-2-8, a hollow cup geared motor 1-2-9, a belt 1-2-10, a first bearing 1-2-11, a second bearing 1-2-12, a first tendon rope 1-2-13, a second tendon rope 1-2-14, a small pulley 1-2-15, and a large pulley 1-2-16; The hollow cup geared motor 1-2-9 drives the worm gear 1-2-8 to rotate the winding wheel 1-2-7, causing the first tendon rope 1-2-13 and the second tendon rope 1-2-14 to wind and bend the finger. Large pulleys 1-2-16 are installed at the three joints 1-2-4 of the distal phalanx 1-2-1, middle phalanx 1-2-2, and proximal phalanx 1-2-3. First bearings 1-2-11 and second bearings 1-2-12 are respectively installed on the left and right sides of joint 1-2-4. Small pulleys 1-2-15 are mounted on the male-female pin 1-2-17 as rotating shafts. The five small pulleys 1-2-15 are fixed by pins. The first tendon ligament 1-2-13... The first tendon rope 1-2-14 is fixed at both ends to the distal phalanx 1-2-1 and the proximal phalanx 1-2-3 respectively as coupling tendon ropes. One end of the second tendon rope 1-2-14 is fixed to the middle phalanx 1-2-2, and the other end serves as the driving end. The hollow cup geared motor 1-2-9 drives the belt 1-2-10 to generate left and right torques, thereby realizing the lateral movement of the finger. The potentiometer 1-2-6 installed at the end of the male and female nails 1-2-17 completes the rotation angle detection and realizes the position feedback. The fingers are thumb 1-1, index finger 1-2, middle finger 1-3, ring finger 1-4, and little finger 1-5. All fingers are driven by hollow cup geared motors 1-2-9. The two ends of the first tendon rope 1-2-13 are fixed to the distal phalanx 1-2-1 and the proximal phalanx 1-2-3 respectively, serving as coupling tendon ropes. One end of the second tendon rope is fixed to the middle phalanx 1-2-2, and the other end serves as the driving end, simultaneously enabling the lateral movement of the fingers. Each finger is controlled by a single hollow cup geared motor 1-2-9 to achieve finger joint coupling movement and ensure that it conforms to the shape, size, and movement pattern of the human hand. The single hollow cup geared motor 1-2-9 is driven. Taking the index finger 1-2 as an example, the hollow cup geared motor 1-2-9 drives the worm gear 1-2-8 to rotate, which in turn drives the shaft and the winding wheel 1-2-7 to rotate. The tendon rope 21-2-14 will wind clockwise or counterclockwise, causing the finger to bend. A potentiometer 1-2-6 is installed at the end of the shaft to detect the rotation angle and realize position feedback.

[0020] The first tendon cord 1-2-13 and the second tendon cord 1-2-14 are used for transmission. Taking the index finger 1-2 as an example, the three phalanges are the proximal phalanx 1-2-3, the middle phalanx 1-2-2, and the distal phalanx 1-2-1. There are large pulleys 1-2-16 at the three joints. The first bearing 1-2-11 and the second bearing 1-2-12 are respectively set on the left and right sides of the joints. There are five small pulleys 1-2-15. The five small pulleys 1-2-15 are fixed with pins 1-2-17 as the rotating shaft. The two ends of the first tendon cord 1-2-13 are fixed at the distal phalanx 1-2-1 and the proximal phalanx 1-2-3 as coupling tendon cords. One end of the second tendon cord 1-2-14 is fixed to the middle phalanx 1-2-2, and the other end is the driving end.

[0021] To achieve the lateral swing of finger 1, taking index finger 1-2 as an example, the belt 1-2-10 is used to generate left and right torques respectively by the forward and reverse rotation of the hollow cup reduction motor 1-2-9, thereby achieving the lateral swing of finger 1. The lateral swing range is then limited by the structure.

[0022] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A tendon-like human dexterous hand, characterized in that: Including fingers (1) and palm (2); The palm (2) is an integral load-bearing structure, including the palm (2-1) and the back of the hand (2-2). The front of the palm (2) is set as the palm (2-1), and the back of the palm is set as the back of the hand (2-2). There are five holes on both the palm and the back of the hand, and the palm structure is completed by fixing with a male and female nail (1-2-17). The fingers include the thumb (1-1), index finger (1-2), middle finger (1-3), ring finger (1-4), and little finger (1-5); the thumb, index finger, middle finger, ring finger, and little finger each include the distal phalanx (1-2-1), middle phalanx (1-2-2), proximal phalanx (1-2-3), joint (1-2-4), and a single motor drive unit. The hollow cup geared motor (1-2-9) of the single motor drive unit realizes the lateral movement of the fingers through tendon cord transmission.

2. The tendon-like anthropomorphic dexterous hand according to claim 1, characterized in that: The single motor drive unit includes a control board (1-2-5), a winding wheel (1-2-7), a worm gear (1-2-8), a hollow cup geared motor (1-2-9), a belt (1-2-10), a first bearing (1-2-11), a second bearing (1-2-12), a first tendon rope (1-2-13), a second tendon rope (1-2-14), a small pulley (1-2-15), and a large pulley (1-2-16). The hollow cup geared motor (1-2-9) drives the worm gear (1-2-8) to rotate the winding wheel (1-2-7), and the first tendon rope (1-2-13) and the second tendon rope (1-2-14) are wound around to make the fingers bend. Large pulleys (1-2-16) are provided at the three joints (1-2-4) of the distal phalanx (1-2-1), middle phalanx (1-2-2), and proximal phalanx (1-2-3). First bearings (1-2-11) and second bearings (1-2-12) are respectively provided on the left and right sides of the joint (1-2-4). Small pulleys (1-2-15) are installed on the male and female pins (1-2-17) as rotating shafts. The five small pulleys (1-2-15) are fixed by pins. The two ends of the first tendon cord (1-2-13) are fixed on the distal phalanx (1-2-1) and proximal phalanx (1-2-3) as coupling tendon cords. One end of the second tendon cord (1-2-14) is fixed on the middle phalanx (1-2-2), and the other end serves as the driving end. The hollow cup geared motor (1-2-9) drives the belt (1-2-10) to generate torques to the left and right, thereby enabling the lateral swing of the fingers.

3. The tendon-like anthropomorphic dexterous hand according to claim 1, characterized in that: A potentiometer (1-2-6) is installed at the end of the male and female nails (1-2-17) to complete the rotation angle detection and realize position feedback.

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