An arm-wrist-hand integrated dexterous hand system

Abstract

The application discloses an integrated arm-wrist-hand integrated dexterous hand system, which can realize integrated design and movement of the arm-wrist-hand. The dexterous hand has 15 active degrees of freedom, the wrist joint has 2 active degrees of freedom, the elbow joint has 2 active degrees of freedom, and the shoulder joint has 2 active degrees of freedom. The dexterous hand comprises four fingers, i.e. an index finger, a middle finger, a ring finger and a thumb, wherein the index finger, the middle finger and the ring finger each comprise three bending degrees of freedom and one side swing degree of freedom, and the thumb comprises three bending degrees of freedom. The wrist joint has two rotation degrees of freedom, so that the end can realize posture adjustment in a spherical range. The elbow joint and the shoulder joint each have one rotation degree of freedom and one bending degree of freedom. Through the integrated design of the arm-wrist-hand, the spatial optimization of the arm-wrist-hand is realized, the floor space and the weight distribution of the dexterous hand system are optimized, and the cooperation difficulty problem of the high-degree-of-freedom linear driving dexterous hand and the mechanical arm is improved to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of dexterity hand production, and more particularly to a dexterity hand system that integrates arm, wrist, and hand. Background Technology

[0002] Robots, as embodiments of automation and intelligence, originate from humanity's continuous exploration of improving productivity and solving complex problems. With the rapid development of technology, robots have already been widely applied in many fields. As their level of intelligence gradually increases, robots will play an even more important role in the future, helping humanity solve more complex challenges and driving the continuous development of society and technology.

[0003] Compared to traditional end effectors, robotic dexterous hands offer greater degrees of freedom, enabling them to perform functions more closely resembling those of a human hand and accomplish more complex tasks, thus finding wider applications in industry and scientific research. Among these, the wire-driven dexterous hand is a typical design scheme. It transmits motor force to the dexterous hand joints via cables. By placing the motors at the rear, the wire-driven approach optimizes the spatial structure of the dexterous hand, enhancing its degrees of freedom and expanding its application potential. Dexterous hands such as the Shadow Hand and Pisa Hand employ wire-driven designs, using cables to place the motors at the rear, thereby reducing the size of individual fingers and optimizing the spatial structure of the dexterous hand.

[0004] Currently, line-driven dexterous hands have certain problems. For example, shadow hands place the motor in the motor housing. While the motor housing reduces the size and weight of the dexterous hand itself, the large size of the motor housing severely limits the coordination between the dexterous hand and the robotic wrist or arm. The relatively small shadow hand, due to its large motor housing, requires a large, high-powered robotic arm to support it, failing to fully utilize the advantage of its small size. Therefore, researching integrated arm-wrist-hand dexterous hands, combining motor housing design with robotic arm and wrist design, is of great significance. Through the collaborative design of the robotic arm, wrist, and dexterous hand, the space and weight waste caused by separate designs is eliminated, thereby optimizing the spatial layout and weight distribution of the arm, wrist, and hand. In conclusion, designing an integrated arm-wrist-hand dexterous hand system has high value. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a dexterous hand system with 21 active degrees of freedom that integrates the arm, wrist, and hand.

[0006] The objective of this invention is achieved through the following technical solution: an integrated dexterous hand system comprising an arm-wrist-hand, including a dexterous hand, a wrist joint, a forearm, an elbow joint, an upper arm, and a shoulder joint. Several motors are mounted on the forearm, and each motor is driven by two wires. Each joint of the dexterous hand corresponds to one motor, giving each joint one degree of freedom. The wrist joint corresponds to two motors, giving it two degrees of freedom, thereby enabling the movement of the dexterous hand system.

[0007] Furthermore, the dexterous hand has 15 active degrees of freedom, including four fingers (index, middle, ring, and thumb) and a string splitter. The index, middle, and ring fingers each have three degrees of bending freedom and one degree of lateral swing freedom, while the thumb has three degrees of bending freedom.

[0008] Furthermore, the cord splitter consists of several perforated support plates, pulleys, small shafts, and pulley supports. The pulleys, small shafts, and pulley supports are fixed through the perforations in the support plates. The pulleys and supports are placed inside the holes and fixed by the solid parts of the front and rear plates. The cord splitter transmits the finger cord to the corresponding position through the cord splitter pulley group, that is, the two cords at the same joint are symmetrical with respect to the central axis of the wrist.

[0009] Furthermore, the wrist joint includes an upper wrist base, a lower wrist base, a wrist joint transmission and drive composite mechanism, and a cross-joint cable transmission mechanism. The wrist joint transmission and drive composite mechanism includes 4 wrist drive cables and 4 sets of wrist cable transmission pulley units. The 4 wrist drive cables cooperate with the wrist cable transmission pulley units 31 to achieve 2-degree-of-freedom rotation of the wrist joint end through the movement of the 4 cables. The cross-joint cord transfer mechanism consists of several cross-joint cord conversion pulley units and several cross-joint cords. It is supported by the upper and lower wrist bases and transfers the dexterous hand cross-joint cords to the cross-joint cord transfer mechanism, and then to the dexterous hand motor, thus realizing the cross-joint cord transfer.

[0010] Furthermore, the forearm includes a wrist-to-hand cord tensioning mechanism, a forearm housing, a forearm central shaft, a central shaft connector, and a motor; the forearm central shaft is connected to the forearm housing via a central shaft connector with bearings; the wrist-to-hand cord tensioning mechanism has several adjustable-height tensioning pulleys through which the cord passes; the height of the tensioning pulleys is adjusted by adjusting the tensioning adjustment screw, thereby adjusting the cord length and the cord tension. The motors at the forearm include 15 dexterous hand motors, 2 wrist joint motors, and 1 elbow joint rotation motor; the motors are mounted around the forearm shell and fixed by screws to the threaded holes of the forearm shell.

[0011] Furthermore, the elbow joint includes an elbow joint rotation gear set, an elbow joint bending pulley, and an elbow joint bending motor installed at the shoulder joint; The elbow joint rotary motor, in conjunction with the elbow joint rotary gear set, drives the central axis of the forearm to rotate, thereby achieving rotational freedom. The elbow flexion motor at the shoulder joint drives the elbow flexion motor pulley group through a wire traction mechanism, thereby driving the elbow flexion pulley. The elbow joint bending motor pulley assembly includes two coaxially rotating first and second pulleys; the elbow joint bending motor is wound with a rope, which is connected to the first pulley; the second pulley is connected to the elbow joint bending pulley via the rope and the elbow joint tensioning mechanism of the upper arm; the elbow joint bending pulley is fixedly connected to the elbow joint shaft, and the elbow joint is rotated by rotating the elbow joint bending pulley.

[0012] Furthermore, the upper arm includes an upper arm central shaft and an elbow joint tensioning mechanism. The upper arm central shaft is used to bear force and transmit the rope. The elbow joint tensioning mechanism includes a pulley block, a screw, and a bracket. The pulley block is connected to the screw through a pulley block support with internal threads. The screw passes through a through hole in the bracket to fix its position. When the screw is screwed in, it drives the pulley block support with internal threads to move. The rope of the elbow joint is wound around and passes through the pulley connected to the screw. By rotating the screw, the position of the pulley is changed, thereby changing the length of the rope and achieving tensioning of the rope corresponding to the bending degree of the elbow joint.

[0013] Furthermore, the shoulder joint includes a shoulder joint rotating base, a shoulder joint rotating motor, a shoulder joint bending motor, a shoulder joint bending motor pulley assembly, an elbow joint bending motor and an elbow joint bending motor pulley assembly, and a gravity balancing mechanism; wherein, the shoulder joint rotating motor drives the shoulder joint rotating base to rotate via a rope, and the shoulder joint bending motor achieves shoulder joint bending control through the cooperation of the pulley assembly and the rope.

[0014] Furthermore, the bending degrees of freedom of the elbow joint and the shoulder joint are offset by a gravity balancing mechanism to counteract the gravity of the forearm and upper arm. The gravity balancing mechanism is implemented as follows, taking the shoulder flexion joint as an example: a rope is wound around a swing arm pulley, which is connected to a translation slider. The rotation of the swing arm pulley pulls the translation slider to move. The translation slider is connected to the gravity balancing mechanism's steel wire rope, which in turn pulls the gravity balancing mechanism's steel wire rope to move. The other end of the gravity balancing mechanism's steel wire rope is connected to a spring, which is fixed to the shoulder joint platform and affected by the spring force. When the upper arm is powered down, the upper arm hangs down under gravity, and the shoulder flexion joint rotates. This sequentially transmits the movement of the swing arm pulley, the translation slider, and the gravity balancing mechanism's steel wire rope. The gravity balancing mechanism's steel wire rope is subjected to a greater spring force, causing the steel wire rope to stop moving, thereby keeping the shoulder flexion joint from rotating and achieving the purpose of balancing gravity.

[0015] The beneficial effects of this invention are: First, this invention achieves miniaturization of the dexterous hand system through a rear-mounted motor and linear drive design, optimizing the spatial and mass layout of the system. It optimizes the spatial arrangement and mass distribution of the arm, wrist, and hand.

[0016] Second: This invention achieves spatial optimization of the wire transmission mechanism through the design of a wire transmission system consisting of a dexterous hand joint, a wire splitter at the palm, a wrist joint transmission composite mechanism, and a cross-joint wire transfer mechanism.

[0017] Third: This invention optimizes the pre-tensioning mechanism of the dexterous hand rope through the design of the rope tensioning mechanism. This enables rope tensioning within a relatively small space.

[0018] Fourth: This invention optimizes dexterity hand coupling through dexterity joint optimization design, and realizes the linearization of multi-joint coupling. Attached Figure Description

[0019] Figure 1 It is the overall design drawing of a dexterous hand system that integrates the arm, wrist, and hand; Figure 2 It is the overall design drawing of the dexterous hand; Figure 3 It is the overall design drawing of the dexterous wrist; Figure 4 It is a design drawing of a wrist joint transmission and drive composite mechanism and a cross-joint wire transmission mechanism in a dexterous hand. Figure 5 These are design drawings for the forearm and elbow joints; Figure 6 It is a design drawing of the upper arm and shoulder joint. Detailed Implementation

[0020] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] The embodiments of the present invention provide an integrated arm-wrist-hand system with 21 degrees of freedom, which drives the rotation of each joint through a traction mechanism and has high performance.

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please refer to Figure 1The present invention discloses an integrated arm-wrist-hand system with 21 degrees of freedom, comprising a dexterous hand 1, a wrist joint 2, a forearm 3, an elbow joint 4, an upper arm 5, and a shoulder joint 6. The movement of the dexterous hand system is achieved by driving a motor through a wire-driven transmission.

[0024] Regarding the degree of freedom configuration, the dexterous hand system described in this embodiment has a total of 21 active degrees of freedom. The specific allocation is as follows: the dexterous hand 1 has 15 active degrees of freedom, the wrist joint 2 has 2 active degrees of freedom, the elbow joint 4 has 2 active degrees of freedom, and the shoulder joint 6 has 2 active degrees of freedom. This high degree of freedom configuration enables the system to simulate the complex movements of the human hand.

[0025] Please refer to Figure 2 The dexterous hand 1 part includes four fingers: index finger 7, middle finger 8, ring finger 9, and thumb 10, as well as a string divider 12 located in the palm. Among them, the index finger 7, middle finger 8, and ring finger 9 have the same structure, and each finger has 3 degrees of freedom of bending and 1 degree of freedom of lateral movement; the thumb 10 has 3 degrees of freedom of bending.

[0026] All active degrees of freedom of the aforementioned dexterous hand 1 are driven by cables. To reduce hand weight, the drive motors are rear-mounted, meaning the dexterous hand motors 54, which control the joint degrees of freedom, are installed at the forearm 3. Each degree of freedom corresponds one-to-one with a motor; that is, one motor independently controls the movement of one degree of freedom. There are a total of 18 motors at the forearm 3, each controlling one of the 18 degrees of freedom. The wrist joint has two degrees of freedom, each controlled by a separate motor.

[0027] To address the issue of cable transmission across joints, a cable splitter 12 is provided at the palm. This cable splitter 12 consists of several perforated support plates, pulleys, small shafts, and pulley supports. The pulleys, small shafts, and pulley supports are fixed through the perforations in the support plates. The pulleys and supports are placed inside the perforations and secured by the solid portions of the front and rear plates. Figure 2 The diagram shows the distribution of pulleys and pulley supports inside the cord splitter 12 after the support plates are removed. In the actual product, each pulley support is positioned by several 2mm support plates. The cord splitter 12 guides the finger's drive cord to its corresponding position via these pulleys. Its core function is to ensure that, by positioning the cords, the length changes of the two cords corresponding to a single joint remain consistent during wrist joint 2 rotation, thus ensuring that the control cord for that joint is always taut and preventing slackness or over-tension.

[0028] According to biological classification, the fingers of this dexterous hand are named sequentially from fingertip to base joint: DIP joint 19, PIP joint 20, MCP flexion joint 21, MCP lateral movement joint 22; and sequentially from fingertip to base phalanx: DP phalanx 15, MP phalanx 16, PP phalanx 17, MC phalanx 18. Taking DIP joint 19 as an example: The principle of the two-string control of a single joint in a dexterous hand is as follows: two strings for the same joint are fixed on the left and right sides of the DP knuckle 15, and wound in opposite directions around the pulley of the DIP joint 19. The strings pass through three pulleys 84 at the PIP joint 20, MCP bending joint 21, and MCP lateral swing joint 22 before entering the string distributor 12. The two strings for the same joint are adjusted in direction by the distributor pulley group 14, and finally, the positions of the two strings for the same joint are kept symmetrical with respect to the main axis 32 of the wrist joint.

[0029] Please refer to Figure 3 and Figure 4 The wrist joint 2 connects the dexterous hand 1 and the forearm 3, and is mainly composed of a wrist joint transmission and drive composite mechanism 24 and a cross-joint rope transmission mechanism 23.

[0030] The wrist joint transmission and drive composite mechanism 24 is used to realize wrist joint transmission and wrist joint drive. The wrist joint transmission part provides structural support and transmission path for the rotational movement of the wrist joint, ensuring sufficient mechanical rigidity and motion accuracy when performing multi-degree-of-freedom movements. The wrist joint drive part cooperates with four wrist drive cables 38 and wrist cable transmission pulley units 31 to achieve two-degree-of-freedom rotation of the wrist joint end via the movement of the four cables. The wrist joint drive part includes four wrist drive cables 38 and four sets of wrist cable transmission pulley units 31, supported by an upper wrist base 39 and a lower wrist base 40. The wrist joint transmission part includes bevel gear sets A33 and B34, wrist transmission cables 35 and corresponding wrist transmission cable supports 36, and two wrist joint spindles 32.

[0031] The cross-joint cord transfer mechanism 23 is used to realize the transfer and reversal of cords across the wrist joint in dexterity hands. This mechanism includes a cross-joint cord transmission section and a cross-joint cord branching section. The cross-joint cord transmission section consists of several cross-joint cord conversion pulley units 48 and several cross-joint cords 47, supported by an upper wrist base 39 and a lower wrist base 40. The cross-joint cord branching section includes a cross-joint cord branching base 50 and several cross-joint cord branching pulley units 49. The cross-joint cord branching base 50 is fixed to the lower wrist base 40 via an upper through-hole and screws. The lower part of the cross-joint cord branching base 50 has several sets of through holes and threaded holes; the threaded holes are used to fix the cross-joint cord branching pulley units 49, and the through holes allow the cross-joint cords 47 to pass through. The cross-joint cord branching pulley units 49 are evenly and progressively installed on the side wall of the cross-joint cord branching base 50, with the installation height of each cross-joint cord branching pulley unit 49 decreasing sequentially.

[0032] The wrist joint drive transmission mechanism 24 enables two rotational degrees of freedom of the wrist joint 2, allowing the distal end of the wrist joint 2 to rotate flexibly. It also possesses the following motion characteristics: the two virtual rotational axes of freedom intersect each other, with the intersection point being the midpoint of each virtual rotational axis. Simultaneously, it transmits the drive cable of the wrist joint, enabling the wrist joint motor 56 at the forearm 3 to drive wrist joint movement.

[0033] The cross-joint rope transfer mechanism 23 is mainly used for rope transfer and reversal. It can guide two ropes controlling the same joint to a closer distance through a rope reversal structure. This design facilitates the simultaneous control of two ropes of the same joint with a single motor, such as one being wound up and the other being unwound, simplifying the control logic and structural layout.

[0034] Please refer to Figure 3 and Figure 4 The structural design of wrist joint 2 is achieved in the following way: When the four wrist drive cables 38 are pulled at x 下 The cord at the axis causes the lower base of the wrist to wrap around the Y-axis. 下 When the shaft rotates, bevel gear A1 71 and bevel gear A3 73 rotate synchronously, while bevel gear A2 72 remains locked; bevel gear set A 33 and bevel gear set 1B 34 are connected by wrist drive cable 35, and when the lower base 40 of the wrist rotates around the Y... 下 When the shaft rotates, bevel gears B1 74 and B3 76 rotate synchronously, while bevel gear B2 75 remains locked, allowing the upper base to rotate around the Y-axis. 上 The axis rotates in opposite directions at equal angles. When the four wrist drive cords 38 are pulled, the axis rotates in the opposite direction. 下When the wrist base 40 rotates around the X-axis, the cable at the shaft drives the A2 bevel gear 72 to operate the bevel gears of the A bevel gear set 33 in series. The wrist transmission cable 35 then projects a reverse signal onto the B bevel gear set 34, synchronizing the B2 bevel gear 75 with the A2 bevel gear 72. This, in turn, drives the upper and lower bases to achieve equal angular difference deflection. Simultaneously, this structural design causes the two virtual rotation axes of the wrist joint to intersect at a single point, which is also the midpoint of the two virtual rotation axes. Rotation in any other direction can be considered as a superposition of X and Y direction movements. In practical use, angle data is collected by the magnetic encoder 37, thereby achieving real-time closed-loop control of the wrist joint angle.

[0035] Please refer to Figure 3 and Figure 4 The wire transmission mechanism of the dexterous hand 1 at wrist joint 2 is achieved in the following way: The two control lines of the same joint are split by the line splitter 12 and are symmetrical with respect to the main axis 32 of the wrist joint. The line passes through the upper base 39 of the wrist, and then passes through the second transmission pulley 46 of the upper base cross joint, the reversing pulley 45 of the upper base cross joint, and the first transmission pulley 44 of the upper base cross joint. Then it passes through the first transmission pulley 41 of the lower base cross joint, the reversing pulley 42 of the lower base cross joint, and the second transmission pulley 43 of the lower base cross joint. Finally, it passes through the lower base 40 of the wrist and is reversed by the split reversing pulley 51.

[0036] The principle of the reversing pulley 51 is as follows: the cross joint rope 47 wraps around the reversing pulley 51 above the cross joint rope reversing pulley unit 49, passes through the through hole, passes through the cross joint rope reversing base 50, and then wraps around the reversing pulley 51 below the cross joint rope reversing pulley unit 49 on the opposite side, thus merging with the cross joint rope 47 on the opposite side to achieve the reversing.

[0037] Please refer to Figure 5 The forearm 3 is the main drive integration unit of the system, mainly including a wrist-hand cable tensioning mechanism 52, 15 dexterous hand motors 54, 2 wrist joint motors 56, an elbow joint rotary motor 57, a forearm housing 83, a forearm central shaft 61, and a central shaft connector 62. The forearm 3 integrates a total of 18 motors to drive the dexterous hand 1, wrist joint 2, elbow joint 4, etc. Each motor is equipped with a motor bracket to reliably fix the drive cable to the motor output end. The central shaft connector 62 is connected to the forearm housing 83 by screws through two sets of bearings and matching threaded holes, thereby achieving rotational freedom. Each motor is mounted around the forearm housing and fixed by screws to the threaded holes of the forearm housing.

[0038] To address potential slack issues in cable transmission, the forearm 3 is equipped with a wrist-hand cable tensioning mechanism 52. This mechanism includes a height-adjustable tension pulley 60 through which the cable passes. By adjusting the tension adjusting screw 59, the height of the tension pulley can be adjusted, allowing for fine-tuning of the cable path length and thus regulating the cable tension to ensure transmission accuracy.

[0039] Please refer to Figure 5 The elbow joint 4 connects the forearm 3 and the upper arm 5, including the elbow joint rotational degree of freedom and the elbow joint bending degree of freedom, respectively realizing the rotational degree of freedom and bending degree of freedom of the elbow joint 4.

[0040] The elbow joint rotational freedom includes a forearm central axis 61, bearings, a central axis connector 62, an elbow joint connector 63, an elbow joint rotational gear set 58, and an elbow joint rotational motor 57 mounted on the forearm 3. The forearm central axis 61 is coaxially arranged with the forearm housing 83 and is connected to the forearm housing 83 through bearings and fittings. The elbow joint rotational motor 57 engages with the forearm central axis 61 through the gear set, thereby driving the elbow joint 4 to achieve axial rotation.

[0041] Please refer to Figure 6 The elbow joint flexion degree of freedom includes an elbow joint flexion pulley 86, an elbow joint flexion motor 69, and an elbow joint flexion motor pulley assembly 70. Unlike the rotational degree of freedom, the elbow joint flexion motor 69 is placed at the shoulder joint platform 85 and works in conjunction with the elbow joint flexion pulley 86 via the elbow joint flexion motor pulley assembly 70 and a rope. The elbow joint flexion motor pulley assembly 70 includes two coaxially rotating pulleys, elbow joint flexion motor pulley A and elbow joint flexion motor pulley B. The elbow joint flexion motor 69 is wound with a rope, which is connected to pulley A in the elbow joint flexion motor pulley assembly 70. Driving the elbow joint flexion motor 69 drives the rotation of pulley A in the elbow joint flexion motor pulley assembly 70. Pulley B in the elbow joint flexion motor pulley assembly 70 rotates synchronously because it is coaxially fixed to pulley A. The elbow joint flexion motor pulley B is connected to the elbow joint flexion pulley 86 via the rope and the elbow joint tensioning mechanism 87 of the upper arm 5. The elbow joint bending pulley 86 is fixedly connected to the elbow joint shaft, and the elbow joint rotation is achieved by rotating the elbow joint bending pulley 86. This design reduces the inertia of the end of the arm, and the bending of the elbow joint 4 is controlled by pulling the cable through the bottom motor.

[0042] The upper arm 5 mainly includes an upper arm central shaft 64 and an elbow joint tensioning mechanism 87. The upper arm central shaft 64 is mainly used to bear structural forces and transmit the passing ropes. The elbow joint tensioning mechanism 87 is specifically used to adjust the tension of the ropes passing through the upper arm 5 and corresponding to the elbow joint bending degree of freedom, ensuring the stability of long-distance transmission. The elbow joint tensioning mechanism 87 includes a pulley block, a screw, and a bracket. The pulley block is connected to the screw through a pulley block support with internal threads. The screw passes through a through hole on the bracket to achieve a generally fixed position. When the screw is screwed in, it drives the pulley block support with internal threads to move. The elbow joint rope is wound around and passes through the pulley connected to the screw. By rotating the screw, the position of the pulley is changed, thereby changing the length of the rope and achieving tension of the rope corresponding to the elbow joint bending degree of freedom.

[0043] The shoulder joint 6, as the root of the system, includes a shoulder joint rotation base 68, a shoulder joint flexion motor pulley assembly 66, an elbow joint flexion motor pulley assembly 70, a shoulder joint rotation motor 67, and a shoulder joint flexion motor 65. The shoulder joint rotation motor 67 drives the shoulder joint rotation base 68 to rotate by winding a cable around it; while the shoulder joint flexion motor 65 drives the shoulder joint 6 to pitch and flex through the cooperation of the pulley assembly and the cable, providing a large working space for the entire arm.

[0044] The gravity balancing mechanism 77 includes a shoulder joint flexion joint gravity balancing mechanism and an elbow joint flexion joint gravity balancing mechanism. This mechanism is implemented as follows, taking the shoulder joint flexion joint as an example: a swing arm pulley 78 is fixedly connected to the upper arm 5 and coaxial with the shoulder joint rotation axis. A rope is wound around the swing arm pulley 78. The swing arm pulley 78 is connected to a translation slider 79, which is located on the shoulder joint platform 85 and can slide. Rotation of the swing arm pulley 78 pulls the translation slider 79 to move. The translation slider 79 is connected to the gravity balancing mechanism wire rope 80, pulling the gravity balancing mechanism wire rope 80 to move. One end of the gravity balancing mechanism wire rope 80 is connected to a spring 81, and the other end of the spring 81 is fixed to the shoulder joint platform 85 and is affected by the spring force. When the upper arm is powered down, the upper arm 5 hangs down under gravity, and the shoulder joint flexes and rotates. This sequentially transmits the movement of the swing arm pulley 78, the translation slider 79, and the gravity balance mechanism wire rope 80. The gravity balance mechanism wire rope 80 is subjected to a greater elastic force from the spring 81, and the wire rope stops moving, thereby keeping the shoulder joint flexing and rotating, achieving the purpose of balancing gravity.

[0045] In summary, this embodiment achieves a highly integrated and highly flexible arm-wrist-hand dexterity system through ingenious cable drive design, rear-mounted motor layout, and cross-joint transmission mechanism.

[0046] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0047] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. This application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An integrated dexterous hand system combining arm, wrist, and hand, characterized in that, The system includes a dexterous hand (1), wrist joint (2), forearm (3), elbow joint (4), upper arm (5) and shoulder joint (6). Several motors are installed at the forearm (3). Each motor is driven by two wires. Each joint of the dexterous hand (1) corresponds to one motor, so that each joint has one degree of freedom. The wrist joint (2) corresponds to two motors, so that it has two degrees of freedom, thus realizing the movement of the dexterous hand system.

2. The integrated arm-wrist-hand dexterous hand system according to claim 1, characterized in that, The dexterous hand (1) has 15 active degrees of freedom, including four fingers: index finger (7), middle finger (8), ring finger (9), and thumb (10), as well as a string splitter (12). The index finger (7), middle finger (8), and ring finger (9) each have 3 bending degrees of freedom and 1 lateral swing degree of freedom, and the thumb (10) has 3 bending degrees of freedom.

3. The integrated arm-wrist-hand dexterous hand system according to claim 2, characterized in that, The cord splitter (12) consists of several perforated support plates, pulleys, small shafts and pulley supports. The pulleys, small shafts and pulley supports are fixed by the perforations of the support plates. The pulleys and supports are placed in the holes and fixed by the solid parts of the front and rear plates. The cord splitter (12) transmits the finger cord to the corresponding position through the cord splitter pulley group (14), that is, the two cords at the same joint are symmetrical with respect to the central axis of the wrist.

4. The integrated arm-wrist-hand dexterous hand system according to claim 1, characterized in that, The wrist joint (2) includes an upper wrist base (39), a lower wrist base (40), a wrist joint transmission and drive composite mechanism (24), and a cross-joint wire transmission mechanism (23). The wrist joint transmission and drive composite mechanism (24) includes 4 wrist drive cables (38) and 4 sets of wrist cable transmission pulley units (31). The wrist joint can achieve 2-degree-of-freedom rotation through the movement of the 4 cables by cooperating with the 4 wrist drive cables (38) and the wrist cable transmission pulley units (31). The cross-joint cord transfer mechanism (23) consists of several cross-joint cord conversion pulley units (48) and several cross-joint cords (47). It is supported by the upper wrist base (39) and the lower wrist base (40) to transfer the dexterous hand cross-joint cords (47) to the cross-joint cord transfer mechanism (23), and then to the dexterous hand motor (54), thus realizing the cross-joint cord transfer.

5. The integrated arm-wrist-hand dexterous hand system according to claim 1, characterized in that, The forearm (3) includes a wrist-hand cord tensioning mechanism (52), a forearm shell (83), a forearm central shaft (61), a central shaft connector (62), and a motor; the forearm central shaft (61) is connected to the forearm shell (83) through the central shaft connector (62) with bearings; the wrist-hand cord tensioning mechanism (52) has several adjustable-height tensioning pulleys (60) through which cords pass; by adjusting the tensioning adjustment screw (59), the height of the tensioning pulleys (60) is adjusted, and finally the cord length and cord tension are adjusted; The motors include 15 dexterous hand motors (54), 2 wrist joint motors (56), and elbow joint rotation motors (57); the motors are mounted around the forearm shell and fixed by screws to the threaded holes of the forearm shell.

6. The integrated arm-wrist-hand dexterous hand system according to claim 5, characterized in that, The elbow joint (4) includes an elbow joint rotation gear set (58), an elbow joint bending pulley (86), and an elbow joint bending motor (69) installed at the shoulder joint. The elbow joint rotary motor (57) works in conjunction with the elbow joint rotary gear set (58) to drive the forearm central shaft (61) to rotate, thereby achieving rotational freedom. The elbow flexion motor (69) at the shoulder joint drives the elbow flexion pulley (86) by driving the elbow flexion motor pulley assembly (70). The elbow joint bending motor pulley assembly (70) includes two coaxially rotating first pulleys and second pulleys; the elbow joint bending motor (69) is wound with a rope, which is connected to the first pulley; the second pulley is connected to the elbow joint bending pulley (86) via the rope and the elbow joint tensioning mechanism (87) of the upper arm (5); the elbow joint bending pulley (86) is fixed to the elbow joint shaft, and the elbow joint is rotated by rotating the elbow joint bending pulley (86).

7. The integrated arm-wrist-hand dexterous hand system according to claim 1, characterized in that, The upper arm (5) includes an upper arm central shaft (64) and an elbow joint tensioning mechanism (87). The upper arm central shaft (64) is used to bear force and transmit the rope. The elbow joint tensioning mechanism (87) includes a pulley block, a screw, and a bracket. The pulley block is connected to the screw through a pulley block support with internal threads. The screw passes through a through hole on the bracket to fix its position. When the screw is screwed in, it drives the pulley block support with internal threads to move. The elbow joint rope is wound around and passes through the pulley connected to the screw. By rotating the screw, the position of the pulley is changed, thereby changing the length of the rope and achieving tensioning of the rope corresponding to the elbow joint bending degree of freedom.

8. The integrated arm-wrist-hand dexterous hand system according to claim 1, characterized in that, The shoulder joint (6) includes a shoulder joint rotating base (68), a shoulder joint rotating motor (67), a shoulder joint bending motor (65), a shoulder joint bending motor pulley assembly (66), an elbow joint bending motor (69), an elbow joint bending motor pulley assembly (70), and a gravity balance mechanism (77); wherein, the shoulder joint rotating motor (67) drives the shoulder joint rotating base (68) to rotate through a rope, and the shoulder joint bending motor (65) achieves shoulder joint (6) bending control through the pulley assembly and the rope.

9. The integrated arm-wrist-hand dexterous hand system according to claim 8, characterized in that, The bending degrees of freedom of the elbow joint and the bending degrees of freedom of the shoulder joint are offset by the gravity balancing mechanism (77) to counteract the gravity of the forearm and upper arm. The gravity balancing mechanism (77) is implemented in the following way, taking the shoulder joint bending joint as an example: a rope is wound around a swing arm pulley (78), which is fixed to the upper arm (5) and coaxial with the shoulder joint rotation axis; the swing arm pulley (78) is connected to a translation slider (79), which is located on the shoulder joint platform (85) and can slide; the rotation of the swing arm pulley (78) will pull the translation slider (79) to translate, and the translation slider (79) is connected to the gravity balancing mechanism wire rope (80), which pulls the gravity balancing mechanism wire rope (80) to move. One end of the steel wire rope (80) of the gravity balancing mechanism is connected to the spring (81), and the other end of the spring (81) is fixed to the shoulder joint platform (85). Affected by the spring force, when the upper arm is powered down, the upper arm (5) hangs down under gravity, and the shoulder joint flexion joint rotates, which in turn transmits the movement of the swing arm pulley (78), the translation slider (79) and the steel wire rope (80) of the gravity balancing mechanism. The steel wire rope (80) of the gravity balancing mechanism is subjected to a greater spring force (81), and the steel wire rope stops moving, thereby keeping the shoulder joint flexion joint from rotating and achieving the purpose of balancing gravity.

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