Visual touch dexterous hand

Abstract

The utility model discloses a visual touch dexterous hand which comprises a palm base plate, a thumb and four fingers. The four fingers extend upwards along the base plate, and the thumb is arranged on one side of the base plate and can rotate around a vertical line parallel to the direction of the four fingers. The thumb comprises a thumb base joint, a near knuckle and a far knuckle, the thumb base joint is driven by a first motor to rotate, and the near knuckle and the far knuckle are connected in the mode that a hinge shaft is perpendicular to the palm center face and driven by a built-in transmission mechanism to bend inwards. The transmission mechanism comprises a second motor, a worm, a worm gear, a plurality of transmission wheels and a tensioning wheel combination, and stable transmission is achieved. The palm substrate and the five fingers are all provided with touch sensors, and the substrate is provided with a high-definition AI hand-eye camera. According to the dexterous hand, opposite clamping of the thumb and the four fingers can be achieved without external equipment, and the dexterous hand has the dexterous operation capacity integrating visual sense and touch sense.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a visual-tactile dexterous hand. Background Technology

[0002] Dexterous hands are crucial components of humanoid robots, belonging to the interdisciplinary field of cutting-edge technologies such as deep bionics, flexible sensing, microelectromechanical systems (MEMS), and high-performance materials. They represent a key breakthrough for achieving a technological leap in intelligent robotics. As the end effector for interaction between embodied robots and their environment, the dexterous hand is a culmination of the cross-integration of advanced technologies such as deep bionics, flexible sensing, MEMS, and high-performance materials.

[0003] However, because dexterous hands possess a degree of freedom and control precision similar to human hands, they are not suitable for tasks requiring fine adjustments and delicate operations, such as gripping objects by moving the thumb and four fingers in opposite directions. Existing technologies typically involve adding specialized gripping tools to an existing dexterous hand, but this approach does not enhance the dexterous hand's functionality. Therefore, we aim to improve existing dexterous hands to overcome these shortcomings. Utility Model Content

[0004] In view of the problems and shortcomings of the existing technology, this utility model provides a visual-touch dexterous hand.

[0005] The technical solution of this utility model is as follows:

[0006] A visual-tactile dexterous hand includes a palm base plate and four fingers: a thumb, index finger, middle finger, ring finger, and little finger. The four fingers extend upwards along the palm base plate, while the thumb is separated from the four fingers and positioned on one side of the palm base plate. Tactile sensors are provided on the palm base plate and the five fingers to sense physical information such as pressure and friction of objects. A high-definition camera is also provided on the palm base plate to capture image information of the objects.

[0007] The thumb can rotate about a vertical line parallel to the extension direction of the other four fingers. The thumb consists of a first phalanx, a base, a proximal phalanx, and a distal phalanx.

[0008] The thumb base is horizontally connected to the palm base and is driven by a first motor connected below its inner end to rotate around a vertical line parallel to the length direction of the four fingers; the lower end of the proximal phalanx is hinged to the outer end of the thumb base, and the lower end of the distal phalanx is hinged to the upper end of the proximal phalanx. The hinge axes of the thumb base, proximal phalanx and distal phalanx are all perpendicular to the palm surface of the palm base and can be driven by a transmission mechanism to achieve inward bending of the proximal phalanx and distal phalanx.

[0009] Furthermore, a high-definition AI hand-eye camera is installed on the palm base plate to capture image information of objects.

[0010] According to a specific embodiment, the transmission mechanism includes a second motor, a worm gear, a worm wheel, and a first transmission wheel, a second transmission wheel, and a third transmission wheel connected by a transmission belt to transmit motion and power.

[0011] The second motor is horizontally mounted on the thumb's base joint, with its output end coaxially connected to a worm gear. A worm wheel is fixedly connected to the lower part of the proximal phalanx via a first pin and meshes with the worm gear. A first drive wheel is rotatably connected to the first pin, a second drive wheel is fixedly connected to the lower part of the distal phalanx via a second pin, and a third drive wheel is rotatably connected to the upper part of the distal phalanx via a third pin. The upper part of the proximal phalanx is rotatably connected to the lower part of the distal phalanx via a second pin. A first tensioning wheel is located between the first and second drive wheels, and a second tensioning wheel is located between the second and third drive wheels.

[0012] According to a specific embodiment, the proximal phalanx and the base of the thumb are set at an angle A, where angle A is 80°-100°.

[0013] More specifically, the second motor is an empty cup motor.

[0014] More specifically, the first, second, and third drive pulleys are all pulleys, connected by toothed drive belts to transmit motion and power.

[0015] According to a specific embodiment, the index, middle, ring, and little fingers can be driven to bend and swing back and forth through the joint module assembly; the joint module includes a motor, a reducer, and a flexible transmission mechanism, which are disposed between the connected finger joints and between the fingers and the palm base plate.

[0016] The beneficial effects of this utility model are:

[0017] The thumb is rotatably mounted on the palm base by a first motor. When a clamping operation is required, the first motor drives the thumb to rotate to a position opposite one or more of the four fingers. Then, the second motor drives the transmission mechanism to work and drive the proximal and distal phalanges of the thumb to bend, so that the thumb and the four fingers move towards each other to achieve the clamping action. This does not require additional peripherals to be added to the dexterous hand, thereby improving the function of the dexterous hand. Attached Figure Description

[0018] Figure 1 A three-dimensional diagram of a dexterous hand;

[0019] Figure 2 A schematic diagram of the thumb's structure;

[0020] 1. Palm base plate; 2. Thumb; 3. Four fingers; 21. First motor; 22. Thumb base joint; 221. Second motor; 222. Worm gear; 23. Proximal phalanx; 231. First pin; 232. First transmission wheel; 233. Worm gear; 234. First tension wheel; 24. Distal phalanx; 241. Second pin; 242. Second transmission wheel; 243. Third pin; 244. Third transmission wheel; 245. Second tension wheel. Detailed Implementation

[0021] The technical means adopted to achieve the intended purpose of this utility model will be further described below with reference to the accompanying drawings of the embodiments of this utility model.

[0022] See Figure 1 and Figure 2 As shown, a visual-tactile dexterous hand includes a palm base plate 1, a thumb 2, and four fingers 3 consisting of the index, middle, ring, and little fingers. The four fingers 3 extend upwards along the palm base plate 1, while the thumb 2 is separated from the four fingers 3 and positioned on one side of the palm base plate 1. Tactile sensors are provided on the palm base plate 1 and the five fingers to sense physical information such as pressure and friction of objects. A high-definition camera is provided on the palm base plate 1 to capture image information of objects.

[0023] The thumb 2 is capable of rotating about a vertical line parallel to the extension direction of the four fingers 3. The thumb 2 includes a first motor 21, a thumb base 22, a proximal phalanx 23, and a distal phalanx 24.

[0024] The thumb base 22 is horizontally connected to the palm base 1 and is driven by a first motor 21 connected below its inner end to rotate around a vertical line parallel to the length direction of the four fingers 3; the lower end of the proximal phalanx 23 is hinged to the outer end of the thumb base 22, and the lower end of the distal phalanx 24 is hinged to the upper end of the proximal phalanx 23. The hinge axes of the thumb base 22, proximal phalanx 23 and distal phalanx 24 are all perpendicular to the palm surface of the palm base 1, and can be driven by a transmission mechanism to achieve inward bending of the proximal phalanx 23 and distal phalanx 24.

[0025] Furthermore, a high-definition AI hand-eye camera is installed on the palm base plate 1 to capture image information of objects.

[0026] According to a specific embodiment, the transmission mechanism includes a second motor 221, a worm gear 222, a worm wheel 233, and a first transmission wheel 232, a second transmission wheel 242, and a third transmission wheel 244 connected and transmitting motion and power via a transmission belt.

[0027] The second motor 221 is horizontally mounted on the thumb base 22, and its output end is coaxially connected to the worm gear 222. The worm wheel 233 is fixedly connected to the lower part of the proximal phalanx 23 via a first pin 231 and meshes with the worm gear 222. The first transmission wheel 232 is rotatably connected to the first pin 231, the second transmission wheel 242 is fixedly connected to the lower part of the distal phalanx 24 via a second pin 241, and the third transmission wheel 244 is rotatably connected to the upper part of the distal phalanx 24 via a third pin 243. The upper part of the proximal phalanx 23 is rotatably connected to the lower part of the distal phalanx via the second pin 241. A first tension wheel 234 is provided between the first transmission wheel 232 and the second transmission wheel 242, and a second tension wheel 245 is provided between the second transmission wheel 242 and the third transmission wheel 244.

[0028] The thumb 2 is rotatably mounted on the palm base plate 1 by the first motor 21. When a clamping operation is required, the first motor 21 drives the thumb 2 to rotate to a position opposite to one or more of the four fingers 3. Then, the second motor 221 drives the transmission mechanism to work and drives the proximal phalanx 23 of the thumb 2 together with the distal phalanx 24 to bend, so that the thumb 2 and the four fingers 3 move towards each other to achieve the clamping action.

[0029] According to a specific embodiment, the proximal phalanx 23 and the thumb base 22 are set at an angle A, where the angle A is 80°-100°.

[0030] More specifically, the second motor 221 is an empty cup motor.

[0031] More specifically, the first drive wheel 232, the second drive wheel 242 and the third drive wheel 244 are all pulleys, connected and transmitting motion and power through toothed drive belts.

[0032] According to a specific embodiment, the index, middle, ring, and little fingers can be driven by the joint module assembly to perform bending and back-and-forth swinging movements; the joint module includes a motor, a reducer, and a flexible transmission mechanism, which are disposed between the connected finger joints and between the fingers and the palm base plate 1.

[0033] The above description represents a preferred embodiment of the present invention. However, the present invention is not limited to the above-described embodiments and examples. Within the scope of knowledge possessed by those skilled in the art, all variations, equivalent substitutions, and improvements made without departing from the concept of the present invention should be included within the protection scope of the present invention.

Claims

1. A visual-tactile dexterous hand, comprising a palm base plate (1), a thumb (2) and four fingers (3) consisting of an index finger, a middle finger, a ring finger and a little finger, the four fingers extending upward along the palm base plate, the thumb (2) being separated from the four fingers and disposed on one side of the palm base plate (1), the palm base plate and the five fingers being provided with tactile sensors, and the palm base plate being provided with a high-definition camera; Its features are: The thumb (2) is capable of rotating about a vertical line parallel to the extension direction of the four fingers (3); the thumb (2) includes a first motor (21), a thumb base (22), a proximal phalanx (23), and a distal phalanx (24); The thumb base (22) is horizontally connected to the palm base and is driven by a first motor (21) connected below its inner end to rotate around a vertical line parallel to the length direction of the four fingers; the lower end of the proximal phalanx (23) is hinged to the outer end of the thumb base (22), and the lower end of the distal phalanx (24) is hinged to the upper end of the proximal phalanx (23). The hinge axes of the thumb base (22), proximal phalanx (23) and distal phalanx (24) are all perpendicular to the palm surface of the palm base and can be driven by a transmission mechanism to achieve inward bending of the proximal phalanx (23) and distal phalanx (24).

2. The visual-tactile dexterous hand according to claim 1, characterized in that, A high-definition AI hand-eye camera is installed on the palm base plate (1) to capture image information of objects.

3. The visual-tactile dexterous hand according to claim 2, characterized in that, The transmission mechanism includes: A second motor (221) is horizontally mounted on the thumb base (22), and its output end is coaxially connected to a worm gear (222). The worm gear (233) is fixedly connected to the lower part of the proximal interphalangeal joint (23) by the first pin (231) and meshes with the worm (222); The first drive wheel (232), the second drive wheel (242), and the third drive wheel (244) are connected and transmit motion and power via a drive belt. The first transmission wheel (232) is rotatably connected to the first pin (231), the second transmission wheel (242) is fixedly connected to the lower part of the distal phalanx (24) through the second pin (241), the third transmission wheel (244) is rotatably connected to the upper part of the distal phalanx (24) through the third pin (243), and the upper part of the proximal phalanx (23) is rotatably connected to the lower part of the distal phalanx through the second pin (241); A first tensioning wheel (234) is provided between the first transmission wheel (232) and the second transmission wheel (242), and a second tensioning wheel (245) is provided between the second transmission wheel (242) and the third transmission wheel (244).

4. The visual-tactile dexterous hand according to any one of claims 1-3, characterized in that, The proximal phalanx (23) and the base of the thumb (22) are set at an angle A, where the angle A is 80°-100°.

5. The visual-tactile dexterity hand according to claim 3, characterized in that, The second motor (221) is an empty cup motor.

6. The visual-tactile dexterity hand according to claim 3 or 5, characterized in that, The first drive wheel (232), the second drive wheel (242) and the third drive wheel (244) are all pulleys, which are connected and transmit motion and power through toothed drive belts.

7. The visual-tactile dexterous hand according to claim 6, characterized in that, The index, middle, ring, and little fingers can be driven by the joint module assembly to perform bending and back-and-forth swinging movements; the joint module includes a motor, a reducer, and a flexible transmission mechanism, and is disposed between the connected finger joints and between the fingers and the palm base plate.

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