Tendon rope transmission humanoid finger, humanoid hand and humanoid robot

Abstract

The utility model discloses a tendon rope transmission humanoid finger, a humanoid hand and a humanoid robot, and the tendon rope transmission humanoid finger comprises a fixed support which is provided with a driving device; the first knuckle is rotationally connected with the fixed support through a first rotating shaft, and a first rope wheel is arranged on the first rotating shaft; the second knuckles are rotationally connected with the first knuckles through second rotating shafts, and second rope wheels are arranged on the second rotating shafts; one end of the main tendon rope is connected with the driving device, and the other end of the main tendon rope is sequentially wound on the first rope wheel and the second rope wheel to be fixed on the second knuckle; a first rope disc is arranged at the end, close to the first knuckle, of the fixing support, a second rope disc is arranged at the end, close to the first knuckle, of the second knuckle, and the two auxiliary tendon ropes are wound and fixed between the first rope disc and the second rope disc in a crossed mode. According to the tendon rope transmission humanoid finger, the knuckles of the humanoid finger can swing at the same time, and the situation that the humanoid finger is not controlled to swing is eliminated.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, and more specifically, to a tendon-cable driven humanoid finger, a humanoid hand and a humanoid robot. Background Art

[0002] In recent years, humanoid robots have developed rapidly. The design of the humanoid hand at the end is particularly crucial, which determines the scope and ability of the work that the humanoid robot can engage in.

[0003] Currently, the finger of the humanoid hand mainly consists of a finger shell and two finger joints both located inside the finger shell. Its transmission mainly adopts the tendon-cable transmission method, that is, the rear end of the tendon-cable is connected to the driver, and the front end passes through the fixed hole on the inner wall of the finger shell and is connected to the finger joint at the forefront. In this way, by pulling the tendon-cable with the driver, the tendon-cable can first drive the finger joint at the forefront to swing. Since each finger joint is rotationally connected, the finger joint at the forefront will successively drive the finger joints behind it to swing, so as to realize the flexion and extension movement of the humanoid finger. However, the above-mentioned transmission method cannot realize the simultaneous swinging of the finger joints, resulting in low dexterity of the bionic finger. And if the driver is in a shutdown state and the finger joint has not reached the limit position, the finger joint will still swing due to external forces (gravity or collision) and deviate from the required position, resulting in uncontrolled swinging of the bionic finger and poor stability.

[0004] In summary, how to solve the problems that the finger joints of the existing humanoid finger cannot swing simultaneously and the finger joints still swing due to external forces after reaching the required position is an urgent problem to be solved by those skilled in the art at present. Content of the Utility Model

[0005] In view of this, the purpose of the utility model is to provide a tendon-cable driven humanoid finger, which can realize the simultaneous swinging of the finger joints of the humanoid finger and eliminate the uncontrolled swinging of the humanoid finger.

[0006] Another purpose of the utility model is to provide a humanoid hand and a humanoid robot including the above-mentioned tendon-cable driven humanoid finger.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A tendon-cable driven humanoid finger, comprising:

[0009] A fixed bracket provided with a driving device;

[0010] A first finger joint rotationally connected to the fixed bracket through a first rotating shaft, and a first rope pulley is provided on the first rotating shaft;

[0011] A second finger joint rotationally connected to the first finger joint through a second rotating shaft, and a second rope pulley is provided on the second rotating shaft;

[0012] The main tendon rope, one end of the main tendon rope is connected to the driving device, and the other end sequentially winds around the first rope pulley and the second rope pulley and is fixed to the second finger joint;

[0013] Wherein, a first rope disc is arranged at one end of the fixed bracket adjacent to the first finger joint, a second rope disc is arranged at one end of the second finger joint adjacent to the first finger joint, and two auxiliary tendon ropes are cross-wound and fixed between the first rope disc and the second rope disc.

[0014] Preferably, the driving device includes a worm gear, a worm and a motor. The worm gear is rotationally connected to the fixed bracket through a third rotating shaft and meshed with the worm. The worm is connected to the output shaft of the motor, and a rope winding cylinder is integrally arranged on the end face of the worm gear. One end of the main tendon rope is wound and fixed on the outer cylinder wall of the rope winding cylinder.

[0015] Preferably, the outer cylinder wall of the rope winding cylinder, the first rope pulley and the second rope pulley are all wound with braided ropes in contact with the main tendon rope.

[0016] Preferably, a first accommodation space for accommodating the first rope pulley is formed between the opposite ends of the fixed bracket and the first finger joint, and a second accommodation space for accommodating the second rope pulley is formed between the opposite ends of the first finger joint and the second finger joint;

[0017] The first rotating shaft and the second rotating shaft are arranged along the central axis direction of the first finger joint, and are respectively placed in the first accommodation space and the second accommodation space, and the third rotating shaft is parallel to the first rotating shaft and the second rotating shaft.

[0018] Preferably, two of the rope winding cylinders are symmetrically arranged on the two end faces of the worm gear along the axial direction of the third rotating shaft. One end of two of the main tendon ropes is respectively wound and fixed on the two rope winding cylinders, and the other ends are parallel wound around the first rope pulley and the second rope pulley and then respectively fixed on both sides of the second finger joint.

[0019] Preferably, two of the first rope discs and two of the second rope discs are symmetrically located on both sides of the first finger joint, and one of the auxiliary tendon ropes is wound between the first rope disc and the second rope disc on the same side.

[0020] Preferably, both ends of the first rotating shaft extend out of the first accommodation space, and two of the first rope discs are symmetrically arranged. Both ends of the second rotating shaft extend out of the second accommodation space, and two of the second rope discs are symmetrically arranged.

[0021] Preferably, a first limiting block is provided at one end of the fixed bracket adjacent to the first phalanx, and a second limiting block is provided at one end of the second phalanx adjacent to the first phalanx. When the included angle between the first phalanx and the second phalanx is 180°, the first limiting block abuts against one end wall of the first phalanx, and the second limiting block abuts against the other end wall of the first phalanx. When the included angle between the first phalanx and the second phalanx is 90°, the first limiting block abuts against one upper side wall of the first phalanx, and the second limiting block abuts against the other upper side wall of the first phalanx.

[0022] A humanoid hand includes the tendon-cable driven humanoid finger according to any one of the above.

[0023] A humanoid robot includes the tendon-cable driven humanoid finger according to any one of the above.

[0024] The tendon-cable driven humanoid finger provided by the present utility model includes a fixed bracket, a first phalanx, a second phalanx, a main tendon-cable, a first rope pulley, a second rope pulley, and two auxiliary tendon-cables. Among them, the first phalanx is rotationally connected to the fixed bracket through a first rotating shaft, and the second phalanx is rotationally connected to the first phalanx through a second rotating shaft, so that the first phalanx and the second phalanx can swing relatively. A first rope wheel is arranged on the first rotating shaft, and a second rope wheel is arranged on the second rotating shaft. One end of the main tendon-cable is connected to a driving device, and the other end is sequentially wound around the first rope wheel and the second rope wheel and fixed on the second phalanx, so as to drive the main tendon-cable to move by using the driving device, and realize the clockwise and counterclockwise swinging of the first phalanx and the second phalanx. On this basis, a first rope pulley is arranged at one end of the fixed bracket adjacent to the first phalanx, and a second rope pulley is arranged at one end of the second phalanx adjacent to the first phalanx. The two auxiliary tendon-cables are cross-wound and fixed between the first rope pulley and the second rope pulley. Specifically, one end of the first auxiliary tendon-cable is wound and fixed on the first rope pulley, and the other end extends out from the lower side of the first rope pulley, then extends into the upper side of the second rope pulley and is wound and fixed on the second rope pulley. And one end of the second auxiliary tendon-cable is wound and fixed on the first rope pulley, and the other end extends out from the upper side of the first rope pulley, then extends into the lower side of the second rope pulley and is wound and fixed on the second rope pulley.

[0025] When the tendon-cable driven humanoid finger with the above structure is in use, the driving device drives the main tendon-cable to take in the rope, and the main tendon-cable pulls the first phalanx to swing counterclockwise. At this time, the fitting length of the second auxiliary tendon-cable and the second rope pulley increases, and the fitting length of the second auxiliary tendon-cable and the first rope pulley decreases. Since the length of the second auxiliary tendon-cable is fixed, the first phalanx will be forced to swing counterclockwise following the second phalanx against gravity, that is, the bending movement of the humanoid finger is realized. Similarly, when the driving device drives the main tendon-cable to pay out the rope, the first phalanx will also swing clockwise following the second phalanx, that is, the stretching movement of the humanoid finger is realized. Therefore, during the flexion and extension of the humanoid finger, the phalanges can swing simultaneously, making the phalanx transmission smoother and more natural, so as to improve the flexibility of the humanoid finger.

[0026] In addition, after the first phalanx and the second phalanx swing to the required positions, the driving device stops operating. Since the other end of the main tendon rope is fixed to the second phalanx, and the center distances between the driving device and the first pulley, between the first pulley and the second pulley, and between the second pulley and the second phalanx remain unchanged, when the driving device stops driving the main tendon rope to wind and unwind the rope, the lengths of the tendon ropes that do not contact the two pulleys between the driving device and the first pulley, between the first pulley and the second pulley, and between the second pulley and the second phalanx remain unchanged. Thus, if the first phalanx is manually swung counterclockwise, on the one hand, the contact length between the rear tendon rope wound behind the first pulley and the second pulley increases. To keep the length of the rear tendon rope unchanged, the rear tendon rope will pull the second phalanx to swing clockwise, that is, reduce the contact length between the rear tendon rope and the second pulley to compensate for the increased contact length between the rear tendon rope and the first pulley, while the contact situation of the front tendon rope with the two pulleys is opposite to that of the rear tendon rope; on the other hand, the contact length between the first auxiliary tendon rope and the first rope disc increases, and since the length of the first auxiliary tendon rope is fixed, to keep the length of the first auxiliary tendon rope unchanged, it will force the second phalanx to swing counterclockwise, which conflicts with the rear tendon rope forcing the second phalanx to swing clockwise, that is, the two can cancel each other out. In this way, under the action of the rear tendon rope and the first auxiliary tendon rope, if the driving device stops operating, even if an upward external force acts on the first phalanx, the second phalanx will not swing, and thus the first phalanx cannot swing either. Similarly, under the action of the front tendon rope and the second auxiliary tendon rope, if the driving device stops operating, even if a downward external force acts on the first phalanx, the first phalanx and the second phalanx cannot swing either. Therefore, after the phalanges of the humanoid finger of the present application reach the required positions, they will not deviate from the required positions due to external forces, that is, the situation of uncontrolled swinging of the humanoid finger is eliminated, so as to improve the stability of the swinging of the humanoid finger. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0028] Figure 1 It is a front view of the tendon rope drive humanoid finger provided by the present application in the first extreme position;

[0029] Figure 2 It is a front view of the tendon rope drive humanoid finger provided by the present application in the second extreme position;

[0030] Figure 3 It is a front view of the tendon rope drive humanoid finger provided by the present application in a certain required position;

[0031] Figure 4 An axonometric view of the tendon - rope drive humanoid finger provided by this application in a certain required position;

[0032] Figure 5 A structural schematic diagram of the fixed bracket provided by this application;

[0033] Figure 6 A structural schematic diagram of the second finger joint provided by this application;

[0034] Figure 7 An installation schematic diagram of the main tendon - rope and the worm gear provided by this application;

[0035] Figure 8 A structural schematic diagram of the humanoid hand provided by this application.

[0036] Reference numerals:

[0037] 1 - Fixed bracket; 2 - Worm gear; 3 - Worm; 4 - First rotating shaft; 5 - First rope pulley; 6 - First finger joint; 7 - Second rotating shaft; 8 - Second rope pulley; 9 - Second finger joint; 10 - First rope disk; 11 - Second rope disk; 12 - Main tendon - rope; 13 - Auxiliary tendon - rope; 14 - First limit block; 15 - Second limit block; 16 - Bracket arm; 17 - First finger joint arm; 18 - Second finger joint arm; 19 - Third finger joint arm; 20 - Rope - winding cylinder; 21 - First fixing hole; 22 - Second fixing hole; 23 - Braided rope;

[0038] 121 - Front - side tendon - rope; 122 - Rear - side tendon - rope;

[0039] 131 - First auxiliary tendon - rope; 132 - Second auxiliary tendon - rope. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0041] The core of the present utility model is to provide a tendon - rope drive humanoid finger, which can realize the simultaneous swinging of the finger joints of the humanoid finger and eliminate the uncontrolled swinging of the humanoid finger.

[0042] Another core of the present utility model is to provide a humanoid hand and a humanoid robot including the above - mentioned tendon - rope drive humanoid finger.

[0043] It should be noted that in this embodiment, the orientation or positional relationship indicated by "up", "down", "front", "back", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0044] Please refer to Figure 3 , the present application provides a tendon-cable-driven anthropomorphic finger, including a fixed bracket 1, a first finger joint 6, a second finger joint 9, a main tendon cable 12, a first cable pulley 10, a second cable pulley 11, and two auxiliary tendon cables 13.

[0045] The fixed bracket 1 is provided with a driving device; the first finger joint 6 is rotatably connected to the fixed bracket 1 through a first rotating shaft 4, and a first cable wheel 5 is provided on the first rotating shaft 4; the second finger joint 9 is rotatably connected to the first finger joint 6 through a second rotating shaft 7, and a second cable wheel 8 is provided on the second rotating shaft 7; one end of the main tendon cable 12 is connected to the driving device, and the other end is sequentially wound around the first cable wheel 5 and the second cable wheel 8 and fixed to the second finger joint 9; wherein, a first cable pulley 10 is arranged at one end of the fixed bracket 1 adjacent to the first finger joint 6, a second cable pulley 11 is arranged at one end of the second finger joint 9 adjacent to the first finger joint 6, and the two auxiliary tendon cables 13 are cross-wound and fixed between the first cable pulley 10 and the second cable pulley 11.

[0046] Specifically, one end of the first finger joint 6 is rotatably connected to the fixed bracket 1 through the first rotating shaft 4, and the other end is rotatably connected to the second finger joint 9 through the second rotating shaft 7, enabling the first finger joint 6 and the second finger joint 9 to swing relative to each other. Preferably, the first rotating shaft 4 and the second rotating shaft 7 are parallel to each other, which can prevent the first finger joint 6 and the second finger joint 9 from not being on the same straight line when the finger is straightened, so that the anthropomorphic finger is close to the humanoid finger. Rotatable first and second rope pulleys 5 and 8 are respectively sleeved on the first and second rotating shafts 4 and 7. One end of the main tendon rope 12 is connected to the driving end of the driving device, and the other end is sequentially wound around the first and second rope pulleys 5 and 8 and fixed to the second finger joint 9. The function of the driving device is to drive the main tendon rope 12 to extend or shorten, that is, to take in and release the main tendon rope 12, so as to drive the first finger joint 6 and the second finger joint 9 to swing clockwise and counterclockwise. It should be noted that the following rear tendon rope 122 is the part of the main tendon rope 12 wound behind the first and second rope pulleys 5 and 8, and the front tendon rope 121 is the part of the main tendon rope 12 wound in front of the first and second rope pulleys 5 and 8. In addition, a first rope reel 10 is provided at one end of the fixed bracket 1 adjacent to the first finger joint 6, and a second rope reel 11 is provided at one end of the second finger joint 9 adjacent to the first finger joint 6. The two auxiliary tendon ropes 13 are respectively the first auxiliary tendon rope 131 and the second auxiliary tendon rope 132. One end of the first auxiliary tendon rope 131 is wound and fixed on the first rope reel 10, and the other end extends out from the lower side of the first rope reel 10, then extends into and is wound and fixed on the second rope reel 11 from the upper side of the second rope reel 11. One end of the second auxiliary tendon rope 132 is wound and fixed on the first rope reel 10, and the other end extends out from the upper side of the first rope reel 10, then extends into and is wound and fixed on the second rope reel 11 from the lower side of the second rope reel 11, so as to form a cross arrangement of the two auxiliary tendon ropes 13, and each auxiliary tendon rope 13 is wound between the first and second rope reels 10 and 11 on the same side, as Figure 4 shown.

[0047] It should be noted that the tendon rope-driven anthropomorphic finger has two limit positions, as Figure 1 shown. The first limit position is when the finger is in a straightened state, as Figure 2As shown, the second limit position is when the angle between the fixed bracket 1 and the first phalanx 6 is 90°, and the angle between the first phalanx 6 and the second phalanx 9 is 90°. Thus, a first limit block 14 is provided at one end of the fixed bracket 1 adjacent to the first phalanx 6, and a second limit block 15 is provided at one end of the second phalanx 9 adjacent to the first phalanx 6. When the angle between the first phalanx 6 and the second phalanx 9 is 180°, the first limit block 14 abuts against one end wall of the first phalanx 6, and the second limit block 15 abuts against the other end wall of the first phalanx 6, which can prevent the first phalanx 6 and the second phalanx 9 from continuing to swing clockwise, even if they reach the first limit position and stop moving; when the angle between the first phalanx 6 and the second phalanx 9 is 90°, the first limit block 14 abuts against one upper side wall of the first phalanx 6, and the second limit block 15 abuts against the other upper side wall of the first phalanx 6, which can prevent the first phalanx 6 and the second phalanx 9 from continuing to swing counterclockwise, even if they reach the second limit position and stop moving.

[0048] When the tendon rope drive humanoid finger with the above structure is in use, the finger phalanges, namely the first phalanx 6 and the second phalanx 9, are initially in the first limit position. The driving device drives the main tendon rope 12 to take in the rope. The front tendon rope 121 of the main tendon rope 12 pulls the first phalanx to swing counterclockwise. At this time, the fitting length of the second auxiliary tendon rope 132 and the second rope pulley 11 increases, and the fitting length of the second auxiliary tendon rope 132 and the first rope pulley 10 decreases. Since the length of the second auxiliary tendon rope 132 is fixed, the first phalanx 6 will be forced to swing counterclockwise following the second phalanx 9 against gravity. After the first phalanx 6 and the second phalanx 9 reach the second limit position, they stop, that is, the bending movement of the humanoid finger is realized. Similarly, when the driving device drives the main tendon rope 12 to pay out the rope, the first phalanx 6 will also swing clockwise following the second phalanx 9, that is, the stretching movement of the humanoid finger is realized. Therefore, during the flexion and extension of the humanoid finger, the phalanges can swing simultaneously, making the phalanx transmission smoother and more natural, so as to improve the flexibility of the humanoid finger.

[0049] During the actual use process, even if the finger phalanges do not run to the two limit positions, the driving device can also be stopped to make the finger stop running, that is, to make the finger phalanges stay at the required position, such as Figure 3 As shown, in this state, neither of the two phalanges runs to the limit position and is in the required position. It should be noted that since the driving device connected to one end of the main tendon rope 12 stops running, and the other end of the main tendon rope 12 is fixed to the second phalanx 9, the main tendon rope 12, that is, the front tendon rope 121 and the rear tendon rope 122, has a constant length. And since the center distances between the driving device and the first rope pulley 5, the first rope pulley 5 and the second rope pulley 8, and the second rope pulley 8 and the second phalanx 9 are fixed values, the lengths of the tendon ropes that do not fit with the two rope pulleys between the driving device and the first rope pulley 5, the first rope pulley 5 and the second rope pulley 8, and the second rope pulley 8 and the second phalanx 9 remain unchanged.

[0050] Thus, if the first phalanx 6 is manually swung counterclockwise, on the one hand, the fitting length between the rear tendon cord 122 and the first pulley 5 increases. To keep the length of the rear tendon cord 122 unchanged, the rear tendon cord 122 will pull the second phalanx 9 to swing clockwise, that is, reduce the fitting length between the rear tendon cord 122 and the second pulley 8 to compensate for the increased fitting length between the rear tendon cord 122 and the first pulley 5, while the fitting situation of the front tendon cord 121 on the two pulleys is opposite to that of the rear tendon cord 122; on the other hand, the fitting length between the first auxiliary tendon cord 131 and the first cord reel 10 increases. Since the length of the first auxiliary tendon cord 131 is fixed, to keep the length of the first auxiliary tendon cord 131 unchanged, it will force the second phalanx 9 to swing counterclockwise, conflicting with the rear tendon cord 122 forcing the second phalanx 9 to swing clockwise, that is, the two can cancel each other out. In this way, under the action of the rear tendon cord 122 and the first auxiliary tendon cord 131, if the driving device stops running, even if an upward external force acts on the first phalanx 6, the second phalanx 9 will not swing, and thus the first phalanx 6 cannot swing either. Similarly, under the action of the front tendon cord 121 and the second auxiliary tendon cord 132, if the driving device stops running, even if a downward external force acts on the first phalanx 6, the first phalanx 6 and the second phalanx 9 cannot swing either.

[0051] If the second phalanx 9 is manually swung counterclockwise, on the one hand, the fitting length between the rear tendon cord 122 and the second pulley 8 increases. To keep the rear detection length unchanged, the rear tendon cord 122 will force the first phalanx 6 to swing clockwise, that is, reduce the fitting length between the rear tendon cord 122 and the first pulley 5 to compensate for the increased fitting length between the rear tendon cord 122 and the second pulley 8, while the fitting situation of the front tendon cord 121 on the two pulleys is opposite to that of the rear tendon cord 122; on the other hand, the fitting length between the first auxiliary tendon cord 131 and the second cord reel 11 decreases. To keep the length of the second auxiliary tendon cord 132 unchanged, it will force the first phalanx 6 to swing clockwise, conflicting with the rear tendon cord 122 forcing the first phalanx 6 to swing counterclockwise, that is, the two can cancel each other out. In this way, under the action of the rear tendon cord 122 and the first auxiliary tendon cord 131, if the driving device stops running, even if an upward external force acts on the second phalanx 9, the first phalanx 6 will not swing, and thus the second phalanx 9 cannot swing either. Similarly, under the action of the front tendon cord 121 and the second auxiliary tendon cord 132, if the driving device stops running, even if a downward external force acts on the second phalanx 9, the first phalanx 6 and the second phalanx 9 cannot swing either.

[0052] Therefore, after the phalanges of the humanoid finger of the present application reach the required position, they will not deviate from the required position due to external force, that is, the situation of uncontrolled swinging of the humanoid finger is eliminated, so as to improve the stability of the swinging of the humanoid finger.

[0053] Preferably, the diameters of the first pulley 5 and the second pulley 8 are the same, which can ensure that the swinging angles of the first phalanx 6 and the second phalanx 9 are the same.

[0054] Considering the specific structure of the driving device and its specific way of connecting the rope, on the basis of the above embodiments, please refer to Figure 2 , the driving device includes a worm gear 2, a worm 3 and a motor. The worm gear 2 is rotationally connected to the fixed bracket 1 through a third rotating shaft and is meshed with the worm 3. The worm 3 is connected to the output shaft of the motor, and a rope winding cylinder 20 is integrally provided on the end face of the worm gear 2. One end of the main tendon rope 12 is wound and fixed on the outer cylinder wall of the rope winding cylinder 20.

[0055] Specifically, the fixed bracket 1 is fixed with a third rotating shaft. The worm gear 2 is rotatably sleeved on the third rotating shaft and is meshed with the worm 3, and the worm 3 is connected to the output shaft of the motor. In this way, when the motor drives the worm 3 to rotate counterclockwise, the worm 3 drives the worm gear 2 to rotate clockwise, and when the motor drives the worm 3 to rotate clockwise, the worm 3 drives the worm gear 2 to rotate counterclockwise. The driving device with the above structure has a large load-bearing capacity and a compact structure, so that the main tendon rope 12 can be smoothly retracted and extended, and the installation space can be saved. In addition, a rope winding cylinder 20 is integrally processed on the end face of the worm gear 2 for winding the main tendon rope 12, so that the worm gear 2 is directly connected to the main tendon rope 12. Compared with the existing spring or torsion spring added between the worm gear 2 and the tendon rope, the direct connection between the worm gear 2 and the tendon rope in this application can save the installation space, make the finger structure more compact, and does not need to overcome the spring force to increase the driving force of the motor, which is beneficial to reducing the power consumption, and a motor with a small volume and low power can be used, which can further save the installation space, so as to better reduce the overall volume and weight of the finger.

[0056] It can be understood that the main tendon rope 12 can be made of fine steel wire rope, Kevlar braided wire, Dyneema wire, ultra-high molecular weight polyethylene fiber braided wire, etc. The friction generated between the main tendon rope 12 and the braided wire is less than the friction generated between the main tendon rope 12 and the hard metal.

[0057] To increase the service life of the main tendon rope 12, on the basis of the above embodiments, please refer to Figure 7 , the outer cylinder wall of the rope winding cylinder 20, the first rope pulley 5 and the second rope pulley 8 are all wound with a braided rope 23 in contact with the main tendon rope 12, that is, the rope grooves on the outer cylinder wall, the first rope pulley 5 and the second rope pulley 8 are all wound with the braided rope 23. Therefore, the part of the main tendon rope 12 that fits and separates with the rope groove no longer directly contacts the surface of the rope groove, which can eliminate the static friction between the main tendon rope 12 and the hard rope groove surface, and eliminate the sudden friction generated when the main tendon rope 12 is pressed against the part where it extends from the worm gear, thereby improving the service life of the main tendon rope 12.

[0058] Considering the specific installation method of the first rope pulley 5 and the second rope pulley 8, on the basis of the above embodiments, please refer to Figures 4 to 6, a first accommodation space for accommodating the first rope pulley 5 is formed between the opposite ends of the fixed bracket 1 and the first finger joint 6, and a second accommodation space for accommodating the second rope pulley 8 is formed between the opposite ends of the first finger joint 6 and the second finger joint 9; the first rotating shaft 4 and the second rotating shaft 7 are arranged along the central axis direction of the first finger joint 6, and are respectively placed in the first accommodation space and the second accommodation space, and the third rotating shaft is parallel to the first rotating shaft 4 and the second rotating shaft 7.

[0059] Specifically, the interior of the fixed bracket 1 is a cavity for placing the driving device. Two symmetric bracket arms 16 are integrally provided at the end of the fixed bracket 1 adjacent to the first finger joint 6. Two symmetric first finger joint arms 17 are integrally provided at the end of the first finger joint 6 adjacent to the fixed bracket 1. The two bracket arms 16 and the two first finger joint arms 17 correspond one by one and enclose the first accommodation space. The two ends of the first rotating shaft 4 respectively penetrate through the two first finger joint arms 17 and are fixedly connected to the two bracket arms 16. The first rope pulley 5 is rotatably sleeved on the first rotating shaft 4 and is located in the first accommodation space. Similarly, two symmetric second finger joint arms 18 are integrally provided at the end of the first finger joint 6 adjacent to the second finger joint 9. Two symmetric third finger joint arms 19 are integrally provided at the end of the second finger joint 9 adjacent to the first finger joint 6. The two second finger joint arms 18 and the two third finger joint arms 19 correspond one by one and enclose the second accommodation space. The two ends of the second rotating shaft 7 respectively penetrate through the two second finger joint arms 18 and are fixedly connected to the two third finger joint arms 19. The second rope pulley 8 is rotatably sleeved on the second rotating shaft 7 and is located in the second accommodation space. It can be seen that the above two accommodation spaces not only provide rotatable spaces for the two rope pulleys respectively, but also reduce the overall weight of the finger.

[0060] In addition, the third rotating shaft is parallel to the first rotating shaft 4 and the second rotating shaft 7, which is not only beneficial to the compact arrangement of the worm gear 2, the first rope pulley 5 and the second rope pulley 8 to save the length of the main tendon rope 12, but also avoids large deflection angles between the worm gear 2, the first rope pulley 5 and the second rope pulley 8, which affects the smooth pulling of the finger joint by the main tendon rope 12.

[0061] Considering the specific installation method of the main tendon rope 12, on the basis of the above embodiment, two winding drums 20 are symmetrically arranged on both end faces of the worm gear 2 along the axial direction of the third rotating shaft. One ends of the two main tendon ropes 12 are respectively wound and fixed on the two winding drums 20, and the other ends are parallelly wound around the first rope pulley 5 and the second rope pulley 8 and then fixed on both sides of the second finger joint 9.

[0062] It can be understood that the main tendon rope 12 of the present application adopts a double-rope walking wheel, which can not only enhance the pulling force of the finger joint and the balance of the finger joint swing, but also reduce the friction of a single main tendon rope 12, that is, improve the service life of the main tendon rope 12, thereby improving the safety and stability of the swing of the two finger joints.

[0063] Considering the specific installation method of the two auxiliary tendon ropes 13, on the basis of the above embodiment, please refer to Figure 4 , the two first rope reels 10 and the two second rope reels 11 are symmetrically located on both sides of the first finger joint 6, and an auxiliary tendon rope 13 is wound between the first rope reel 10 and the second rope reel 11 on the same side. Thus, the two auxiliary tendon ropes 13 are symmetrically arranged on both sides of the first finger joint 6, which can further enhance the balance and stability of the swinging of the two finger joints.

[0064] Considering the specific installation method of the first rope reel 10 and the second rope reel 11, on the basis of the above embodiment, please refer to Figure 4 , both ends of the first rotating shaft 4 extend out of the first accommodating space, and two first rope reels 10 are symmetrically provided. Both ends of the second rotating shaft 7 extend out of the second accommodating space, and two second rope reels 11 are symmetrically provided.

[0065] Specifically, the two first rope reels 10 are symmetrically arranged at the bottom ends of the two support arms 16, and both ends of the first rotating shaft 4 respectively penetrate through the two first finger joint arms 17 and are connected to the two first rope reels 10, that is, the first rope reel 10 is coaxially connected with the first rope wheel 5; the two second rope reels 11 are symmetrically arranged at the bottom ends of the two third finger joint arms 19, and both ends of the second rotating shaft 7 respectively penetrate through the two second finger joint arms 18 and are connected to the two second rope reels 11, that is, the second rope reel 11 is coaxially connected with the second rope wheel 8. Thus, the rope reel and the rope wheel are coaxially arranged, which can simplify the mechanical structure of the fixed bracket 1 and the finger joint, save space, reduce the volume of the finger, that is, make the finger as thin as possible, and at the same time reduce the processing amount in the mechanical processing process and reduce the processing difficulty.

[0066] Preferably, a first fixing hole 21 is provided at the position of the rope groove of the fixed bracket 1 facing the first rope reel 10, as Figure 5 shown, and a second fixing hole 22 is provided at the position of the rope groove of the second finger joint 9 facing the second rope reel 11, as Figure 6 shown. In this way, one end of the first auxiliary tendon rope 131 is knotted, and glue is applied to the knotted part to completely cover the knot. After the glue is completely cured, the first auxiliary tendon rope 131 is passed through the first fixing hole 21 of the fixed bracket 1, so that the first fixing hole 21 fixes the first auxiliary tendon rope 131, thereby ensuring the firm installation of the first auxiliary tendon rope 131 and further ensuring the smooth swinging of the two finger joints. Similarly, the second auxiliary tendon rope 132 can also be passed through the second fixing hole 22 in the above manner, so that the second fixing hole 22 fixes the second auxiliary tendon rope 132, thereby ensuring the firm installation of the second auxiliary tendon rope 132 and further ensuring the smooth swinging of the two finger joints.

[0067] As Figure 8As shown, in addition to the above tendon-cable drive anthropomorphic finger, the present utility model also provides an anthropomorphic hand including the tendon-cable drive anthropomorphic finger disclosed in the above embodiment. For the structures of other parts of the anthropomorphic hand, reference can be made to the prior art and will not be elaborated herein.

[0068] In addition, the present utility model also provides an anthropomorphic robot including the tendon-cable drive anthropomorphic finger disclosed in the above embodiment. For the structures of other parts of the anthropomorphic robot, reference can be made to the prior art and will not be elaborated herein.

[0069] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0070] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0071] The above has introduced in detail a tendon-cable drive anthropomorphic finger, an anthropomorphic hand, and an anthropomorphic robot provided by the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A tendon-rope-driven humanoid finger, characterized in that: include: A fixed support (1) is provided with a driving device; A first finger joint (6) is rotatably connected to the fixed bracket (1) via a first rotating shaft (4), and a first rope wheel (5) is provided on the first rotating shaft (4); A second finger joint (9) is rotatably connected to the first finger joint (6) via a second rotating shaft (7), and a second rope pulley (8) is provided on the second rotating shaft (7); a main tendon rope (12), one end of which is connected to the driving device, and the other end of which is sequentially wound around the first rope wheel (5) and the second rope wheel (8) and fixed to the second finger joint (9); A first rope drum (10) is arranged at one end of the fixed bracket (1) adjacent to the first finger joint (6), a second rope drum (11) is arranged at one end of the second finger joint (9) adjacent to the first finger joint (6), and two auxiliary tendon ropes (13) are cross-wound and fixed between the first rope drum (10) and the second rope drum (11).

2. The tendon-rope-driven humanoid finger according to claim 1, characterized in that: The driving device comprises a worm wheel (2), a worm (3) and a motor; the worm wheel (2) is rotatably connected to the fixed bracket (1) via a third rotating shaft and is meshedly connected to the worm (3); the worm (3) is connected to the output shaft of the motor; and a rope winding drum (20) is integrally provided on the end face of the worm wheel (2); one end of the main tendon rope (12) is wound and fixed on the outer wall of the rope winding drum (20).

3. The tendon-rope-driven humanoid finger according to claim 2, characterized in that: The outer wall of the rope winding drum (20), the first rope wheel (5) and the second rope wheel (8) are all fully wound with a braided rope (23) in contact with the main tendon rope (12).

4. The tendon-rope-driven humanoid finger according to claim 2, characterized in that: A first accommodating space for accommodating the first rope wheel (5) is formed between the two ends facing each other of the fixed bracket (1) and the first finger joint (6), and a second accommodating space for accommodating the second rope wheel (8) is formed between the two ends facing each other of the first finger joint (6) and the second finger joint (9); The first rotating shaft (4) and the second rotating shaft (7) are arranged along the central axis direction of the first finger joint (6) and are respectively placed in the first accommodating space and the second accommodating space, and the third rotating shaft is parallel to the first rotating shaft (4) and the second rotating shaft (7).

5. The tendon-rope-driven humanoid finger according to claim 4, characterized in that: The two rope winding drums (20) are symmetrically arranged on the two end surfaces of the worm gear (2) along the axial direction of the third rotating shaft, and one end of the two main tendon ropes (12) are respectively wound and fixed on the two rope winding drums (20), and the other end is wound around the first rope wheel (5) and the second rope wheel (8) in parallel and then fixed on both sides of the second finger joint (9).

6. The tendon-rope-driven humanoid finger according to claim 4, characterized in that: The two first rope drums (10) and the two second rope drums (11) are symmetrically located on both sides of the first finger joint (6), and an auxiliary tendon rope (13) is wound between the first rope drum (10) and the second rope drum (11) on the same side.

7. The tendon-rope-driven humanoid finger according to claim 6, characterized in that: Both ends of the first rotating shaft (4) extend out of the first accommodating space and are symmetrically provided with two first rope drums (10); both ends of the second rotating shaft (7) extend out of the second accommodating space and are symmetrically provided with two second rope drums (11).

8. The tendon-rope-driven humanoid finger according to any one of claims 1 to 7, characterized in that: The fixed bracket (1) is provided with a first limit block (14) at one end adjacent to the first finger joint (6), and the second limit block (15) is provided with a second limit block (15) at one end adjacent to the first finger joint (6). When the angle between the first finger joint (6) and the second finger joint (9) is 180°, the first limit block (14) abuts against one end wall of the first finger joint (6), and the second limit block (15) abuts against the other end wall of the first finger joint (6). When the angle between the first finger joint (6) and the second finger joint (9) is 90°, the first limit block (14) abuts against one upper side wall of the first finger joint (6), and the second limit block (15) abuts against the other upper side wall of the first finger joint (6).

9. A humanoid hand, characterized in that: A tendon-transmitted humanoid finger comprising the tendon-transmitted humanoid finger as described in any one of claims 1 to 8.

10. A humanoid robot, characterized in that: A tendon-transmitted humanoid finger comprising the tendon-transmitted humanoid finger as described in any one of claims 1 to 8.

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