Dexterous hand thumb, dexterous hand and robot

Abstract

According to the dexterous hand thumb, a first driving assembly is arranged in a carpal bone assembly, a second driving assembly is arranged at the first end of a metacarpal bone assembly, a third driving assembly is arranged at the second end of the metacarpal bone assembly, and a fourth driving assembly is arranged at the first end of a knuckle assembly; the first end of the first connecting piece is in transmission connection with an output shaft of the first driving assembly, the second end of the first connecting piece is in transmission connection with an output shaft of the second driving assembly, the first end of the second connecting piece is in transmission connection with an output shaft of the third driving assembly, and the second end of the second connecting piece is in transmission connection with an output shaft of the fourth driving assembly. Due to the fact that the dexterous hand thumb is provided with multiple driving assemblies, the dexterous hand thumb has multiple active freedom degrees, and the bionic performance of the dexterous hand thumb is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a dexterous hand thumb, a dexterous hand and a robot. BACKGROUND

[0002] As the "last centimeter" of a humanoid robot, the dexterous hand can provide multi-functionality similar to a human hand, so that the humanoid robot can perform various complex tasks, such as grasping, external operation, internal operation and assembly, and is a key step for the humanoid robot to perform complex operation tasks.

[0003] Further, the dexterous hand designed by using the technical route of motor driving needs to place a driving motor inside the dexterous hand, the number of the driving motor determines the number of active degrees of freedom of the dexterous hand, and the active degrees of freedom often determine the bionic performance of the dexterous hand, and since the size parameters of the dexterous hand are strictly limited, the existing dexterous hand design cannot place a certain number of driving motors, resulting in low degrees of freedom of the thumb of the dexterous hand, thereby causing poor bionic performance of the thumb, and further causing poor bionic performance of the dexterous hand.

[0004] Therefore, the existing dexterous hand has the problem of poor bionic performance. CONTENT OF THE INVENTION

[0005] The embodiment of the application provides a dexterous hand thumb, a dexterous hand and a robot, the components of the dexterous hand thumb include a first driving component, a second driving component, a third driving component and a fourth driving component, since the dexterous hand thumb has more driving components, the dexterous hand thumb has more active degrees of freedom, and thus the dexterous hand with the dexterous hand thumb has better bionic performance.

[0006] The first aspect of the embodiment of the application provides a dexterous hand thumb, which comprises a carpal bone component, a first connecting piece, a metacarpal bone component, a second connecting piece and a knuckle component.

[0007] The first driving component is arranged in the carpal bone component, an output shaft of the first driving component is in transmission connection with a first end of the first connecting piece, the first driving component is used for outputting torque to make the first connecting piece rotate around a first axis, and the first axis is an axis of the output shaft of the first driving component.

[0008] The second driving component is arranged in a first end of the metacarpal bone component, an output shaft of the second driving component is in transmission connection with a second end of the first connecting piece, the second driving component is used for outputting torque to make the first connecting piece rotate around a second axis, and the second axis is an axis of the output shaft of the second driving component.

[0009] A third driving assembly is arranged in the second end of the metacarpal assembly, an output shaft of the third driving assembly is in transmission connection with the first end of the second connecting member, and the third driving assembly is configured to output torque to drive the second connecting member to rotate around a third axis, the third axis being an axis of the output shaft of the third driving assembly;

[0010] A fourth driving assembly is arranged in the first end of the phalanx assembly, an output shaft of the fourth driving assembly is in transmission connection with the second end of the second connecting member, and the fourth driving assembly is configured to output torque to drive the second connecting member to rotate around a fourth axis, the fourth axis being an axis of the output shaft of the fourth driving assembly;

[0011] The first axis and the zy plane form a first included angle, the first included angle is less than 64 degrees and greater than 44 degrees, the second axis is parallel to the third axis, and the second axis and the third axis are parallel to the xy plane and the zy plane, and the fourth axis is perpendicular to the xy plane.

[0012] In a possible implementation, the first included angle is 54 degrees.

[0013] In a possible implementation, the shortest distance between the first axis and the second axis is less than or equal to 20 mm.

[0014] In a possible implementation, the phalanx assembly includes a proximal phalanx and a distal phalanx.

[0015] The fourth driving assembly is arranged in the first end of the proximal phalanx, and an output shaft of the fourth driving assembly is in transmission connection with the second end of the second connecting member.

[0016] The fifth driving assembly is arranged in the distal phalanx, an output shaft of the fifth driving assembly is in transmission connection with the second end of the proximal phalanx, and the fifth driving assembly is configured to output torque to drive the proximal phalanx to rotate around a fifth axis, the fifth axis being an axis of the output shaft of the fifth driving assembly.

[0017] The fifth axis is parallel to the fourth axis.

[0018] In a possible implementation, the fourth driving assembly includes a fourth motor and a fourth transmission assembly.

[0019] The fourth motor is fixed in the proximal phalanx, an output shaft of the fourth motor is in transmission connection with a first end of the fourth transmission assembly, and a second end of the fourth transmission assembly is in transmission connection with the second end of the second connecting member.

[0020] In a possible implementation, the fifth driving assembly includes a fifth motor and a fifth transmission assembly.

[0021] The fifth motor is fixed in the distal phalanx, an output shaft of the fifth motor is in transmission connection with a first end of the fifth transmission assembly, and a second end of the fifth transmission assembly is in transmission connection with the second end of the proximal phalanx.

[0022] In a possible implementation, the first driving assembly comprises a first motor and a first transmission assembly.

[0023] The first motor is fixed in the wrist assembly, an output shaft of the first motor is in transmission connection with a first end of the first transmission assembly, and a second end of the first transmission assembly is in transmission connection with a first end of the first connecting piece.

[0024] In a possible implementation, the second driving assembly comprises a second motor and a second transmission assembly.

[0025] The second motor is fixed in the metacarpal assembly, an output shaft of the second motor is in transmission connection with a first end of the second transmission assembly, and a second end of the second transmission assembly is in transmission connection with a second end of the first connecting piece.

[0026] In a possible implementation, the third driving assembly comprises a third motor and a third transmission assembly.

[0027] The third motor is fixed in the metacarpal assembly, an output shaft of the third motor is in transmission connection with a first end of the second transmission assembly, and a second end of the third transmission assembly is in transmission connection with a first end of the second connecting piece.

[0028] In a possible implementation, a central axis of the second motor is perpendicular to a central axis of the third motor.

[0029] In a possible implementation, the third transmission assembly comprises a worm and a worm wheel.

[0030] A first end of the worm is in transmission connection with the output shaft of the third motor, and a second end of the worm is in meshing transmission with the worm wheel.

[0031] The worm wheel is coaxially in transmission connection with the first end of the second connecting piece.

[0032] A second aspect of the embodiments of the present application provides a dexterous hand, which comprises the dexterous thumb, the dexterous finger and the metacarpal skeleton of any one of the above.

[0033] The dexterous thumb is partially located in the metacarpal skeleton, and the dexterous thumb is connected with the first end of the metacarpal skeleton.

[0034] The dexterous finger is partially located in the metacarpal skeleton, and the dexterous finger is connected with the second end of the metacarpal skeleton.

[0035] A third aspect of the embodiments of the present application provides a robot, which comprises the above dexterous hand and a robot body, and the dexterous hand is connected with the robot body.

[0036] The embodiment of the present application provides a dexterous hand thumb, a dexterous hand and a robot, the dexterous hand thumb comprising: a wrist bone assembly internally provided with a first driving assembly, a metacarpal bone assembly provided with a second driving assembly at a first end and provided with a third driving assembly at a second end, a phalange assembly provided with a fourth driving assembly at a first end, and a first end of a first connecting piece is in transmission connection with an output shaft of the first driving assembly, a second end of the first connecting piece is in transmission connection with an output shaft of the second driving assembly, a first end of a second connecting piece is in transmission connection with an output shaft of the third driving assembly, and a second end of the second connecting piece is in transmission connection with an output shaft of the fourth driving assembly; so that more driving assemblies are provided, the active degree of freedom is improved, and then the bionic performance of the dexterous hand with the dexterous hand thumb is improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained according to these drawings without creative labor.

[0038] Figure 1 A structure schematic diagram of a dexterous hand after assembly is provided for the embodiments of the present application.

[0039] Figure 2 A structure schematic diagram of a dexterous hand thumb before assembly is provided for the embodiments of the present application.

[0040] Figure 3 A structure schematic diagram of a dexterous hand thumb is provided for the embodiments of the present application.

[0041] Figure 4 An exploded structure schematic diagram of a dexterous hand thumb is provided for the embodiments of the present application.

[0042] Figure 5 A perspective view of a human hand skeleton;

[0043] The drawings are as follows: a dexterous hand 1000; a dexterous hand thumb 100; a dexterous hand finger 200; a palm skeleton 300; a wrist bone assembly 10; a first connecting piece 20; a metacarpal bone assembly 30; a second connecting piece 40; a phalange assembly 50; a proximal phalange 51; a distal phalange 52; a first axis L1; a second axis L2; a third axis L3; a fourth axis L4; and a fifth axis L5. DETAILED DESCRIPTION

[0044] With reference to the drawings and briefly describing the technical schemes in the embodiments of the present application, obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art are within the scope of protection of the present application.

[0045] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0046] In order to facilitate the description, the embodiments of the present application are described by right hand only, and correspondingly, if left hand is to be realized, only the right hand structure needs to be mirrored.

[0047] Referring to Figure 1 and Figure 2 , wherein, Figure 1 is a structure schematic diagram of a dexterous hand provided by the embodiments of the present application after assembly, Figure 2 is a structure schematic diagram of a dexterous thumb of a dexterous hand provided by the embodiments of the present application which has not been assembled.

[0048] According to Figure 1 and Figure 2 , it can be known that a dexterous hand has four dexterous fingers 200 and a dexterous thumb 100, and each of the dexterous fingers 200 or the dexterous thumb 100 can be individually detached from the dexterous hand, achieving modularization, so as to facilitate replacement of damaged dexterous fingers 200 or dexterous thumbs 100 on the dexterous hand, easy maintenance, and simplified production and manufacturing.

[0049] Referring to Figure 3 and Figure 4 , Figure 3 is a structure schematic diagram of a dexterous thumb 100 provided by the embodiments of the present application; Figure 4 is an exploded structure schematic diagram of a dexterous thumb 100 provided by the embodiments of the present application;

[0050] The dexterous thumb 100 comprises a carpal bone assembly 10, a first connecting piece 20, a metacarpal bone assembly 30, a second connecting piece 40, and a knuckle assembly 50.

[0051] The wrist bone assembly 10 is provided with a first drive assembly. The output shaft of the first drive assembly is connected to the first end of the first connector 20. The first drive assembly is used to output torque to make the first connector 20 rotate about the first axis L1. The first axis L1 is the axis of the output shaft of the first drive assembly.

[0052] The first end of the metacarpal assembly 30 is provided with a second drive assembly. The output shaft of the second drive assembly is connected to the second end of the first connector 20. The second drive assembly is used to output torque to make the first connector 20 rotate around the second axis L2. The second axis L2 is the axis of the output shaft of the second drive assembly.

[0053] The second end of the metacarpal assembly 30 is provided with a third drive assembly. The output shaft of the third drive assembly is connected to the first end of the second connector 40. The third drive assembly is used to output torque to make the second connector 40 rotate around the third axis L3. The third axis L3 is the axis of the output shaft of the third drive assembly.

[0054] The first end of the knuckle assembly 50 is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the second end of the second connector 40. The fourth drive assembly is used to output torque to make the second connector 40 rotate about the fourth axis L4. The fourth axis L4 is the axis of the output shaft of the fourth drive assembly.

[0055] Among them, the first axis L1 has a first angle with the zy plane, which is less than 64 degrees and greater than 44 degrees; the second axis L2 is parallel to the third axis L3, and both the second axis L2 and the third axis L3 are parallel to the xy plane and the zy plane; the fourth axis L4 is perpendicular to the xy plane.

[0056] like Figure 3 As shown, with Figure 3 Taking any point in the middle as the origin, with Figure 3 The direction of the fingertip of the middle thumb is the X-axis, along... Figure 3 The Y-axis is defined as the direction from the back of the thumb towards the pad of the thumb. Figure 3 The direction perpendicular to the X-axis and Y-axis is the Z-axis, and the X-axis, Y-axis and Z-axis are perpendicular to each other, establishing a spatial rectangular coordinate system.

[0057] See Figure 5 , Figure 5 It is a perspective view of the human hand skeleton.

[0058] It should be noted that the position of the wrist bone component 10 in the dexterous hand in this embodiment is mapped to the human hand, that is, mapped to... Figure 5 In the middle, is in Figure 5 The area where the identifier A is located; the position of the metacarpal component 30 in the dexterous hand in this embodiment of the application, mapped onto the human hand, that is, mapped onto...Figure 5 The region where the identification B is located in Figure 5 The position of the knuckle assembly 50 in the dexterous hand in the present embodiment is mapped to the human hand, i.e., mapped to Figure 5 The region where the identification C and D are located in Figure 5 The region where the identification C and D are located in

[0059] The first connecting piece 20 can be regarded as a joint between the carpal bone assembly 10 and the metacarpal bone assembly 30 in the real human hand, and the second connecting piece 40 can be regarded as a joint between the metacarpal bone assembly 30 and the knuckle assembly 50 in the real human hand.

[0060] In the present embodiment, the first driving assembly is arranged in the carpal bone assembly 10, and can be understood as being fixedly arranged in the carpal bone assembly 10. The output shaft of the first driving assembly is in transmission connection with the first end of the first connecting piece 20, so that the first connecting piece 20 starts to rotate when the output shaft of the first driving assembly outputs torque.

[0061] It should be noted that when the big thumb 100 of the dexterous hand is in the stretched state, the first end of the metacarpal bone assembly 30 is the end of the metacarpal bone assembly 30 away from the big thumb tip; the second end of the metacarpal bone assembly 30 is the end of the metacarpal bone assembly 30 close to the big thumb tip;

[0062] The first end of the first connecting piece 20 is the end of the first connecting piece 20 away from the big thumb tip; the second end of the first connecting piece 20 is the end of the first connecting piece 20 close to the big thumb tip.

[0063] The first end of the second connecting piece 40 is the end of the second connecting piece 40 away from the big thumb tip; the second end of the second connecting piece 40 is the end of the second connecting piece 40 close to the big thumb tip.

[0064] The first end of the knuckle assembly 50 is the end of the knuckle assembly 50 away from the big thumb tip.

[0065] In the present embodiment, the second driving assembly is fixedly arranged in the first end of the metacarpal bone assembly 30, and the output shaft of the second driving assembly is in transmission connection with the second end of the first connecting piece 20, so that the first connecting piece 20 starts to rotate when the output shaft of the second driving assembly outputs torque. Correspondingly, when the first connecting piece 20 is fixed, i.e., the metacarpal bone assembly 30 starts to rotate relative to the first connecting piece 20.

[0066] In the embodiment of the present application, the third driving assembly fixedly arranged in the second end of the metacarpal bone assembly 30 is in transmission connection with the first end of the second connecting member 40, so that the second connecting member 40 starts to rotate when the output shaft of the third driving assembly outputs torque.

[0067] In the embodiment of the present application, the fourth driving assembly fixedly arranged in the first end of the phalangeal bone assembly 50 is in transmission connection with the second end of the second connecting member 40, so that the second connecting member 40 starts to rotate when the output shaft of the fourth driving assembly outputs torque, and correspondingly, the phalangeal bone assembly 50 starts to rotate relative to the second connecting member 40 when the second connecting member 40 is fixed.

[0068] The embodiment of the present application provides a dexterous hand thumb 100, a dexterous hand and a robot, the dexterous hand thumb 100 comprising: a first driving assembly arranged in the carpal bone assembly 10, a second driving assembly arranged in the first end of the metacarpal bone assembly 30, a third driving assembly arranged in the second end of the metacarpal bone assembly 30, a fourth driving assembly arranged in the first end of the phalangeal bone assembly 50, and the first end of the first connecting member 20 is in transmission connection with the output shaft of the first driving assembly, the second end of the first connecting member 20 is in transmission connection with the output shaft of the second driving assembly, the first end of the second connecting member 40 is in transmission connection with the output shaft of the third driving assembly, and the second end of the second connecting member 40 is in transmission connection with the output shaft of the fourth driving assembly; so as to have more driving assemblies, improve the active degree of freedom, and further improve the bionic performance of the dexterous hand with the dexterous hand thumb 100.

[0069] In addition, in the embodiment of the present application, the first connecting member 20 has a first included angle between the first axis L1 and the zy plane, and the first included angle is less than 64 degrees and greater than 44 degrees, so that the rotation path of the first connecting member 20 is more consistent with the rotation path of the real human hand when rotating around the first axis L1, and the bionic performance of the dexterous hand thumb 100 is improved.

[0070] It should be understood that the second axis L2 and the third axis L3 are respectively parallel to the xy plane and the zy plane, that is, the second axis L2 is parallel to the xy plane and the zy plane, and the third axis L3 is also parallel to the xy plane and the zy plane.

[0071] Referring to Figure 3It can be known that the second axis L2 is a central axis of the metacarpal assembly 30 for abduction rotation, and the third axis L3 is a central axis of the phalange assembly 50 for abduction rotation, and therefore, parallelizing the second axis L2 and the third axis L3 to the xy plane and the zy plane respectively can make the rotation route of the metacarpal assembly 30 for abduction rotation and the rotation route of the phalange assembly 50 for abduction rotation more conform to the rotation route of a real human hand, so that the dexterous hand thumb 100 has better bionic performance.

[0072] Optionally, in some embodiments, the first included angle is 54 degrees.

[0073] In the embodiments of the present application, by setting the first included angle to be 54 degrees, that is, limiting the relative position relationship between the first axis L1 and other axes including the second axis L2, the third axis L3 and the fourth axis L4, the rotation route in the rotation process of the metacarpal assembly 30 rotating around the second axis L2, the second connecting piece 40 rotating around the third axis L3 and the phalange assembly 50 rotating around the fourth axis L4 is more conform to the rotation route of a real human hand, so that the dexterous hand thumb 100 has better bionic performance.

[0074] Optionally, in some embodiments, the shortest distance between the first axis L1 and the second axis L2 is less than or equal to 20 mm.

[0075] In the embodiments of the present application, by setting the shortest distance between the first axis L1 and the second axis L2 to be less than or equal to 20 mm. In this way, the rotation route of the first connecting piece 20 rotating around the first axis L1 and the rotation route of the metacarpal assembly 30 rotating around the second axis L2 are more conform to the rotation route of a real human hand, so that the dexterous hand thumb 100 has better bionic performance.

[0076] Optionally, in some embodiments, the phalange assembly 50 includes a proximal phalange 51 and a distal phalange 52.

[0077] The fourth driving assembly is arranged in the first end of the proximal phalange 51, and an output shaft of the fourth driving assembly is in transmission connection with the second end of the second connecting piece 40.

[0078] The fifth driving assembly is arranged in the distal phalange 52, an output shaft of the fifth driving assembly is in transmission connection with the second end of the proximal phalange 51, the fifth driving assembly is used for outputting torque to make the proximal phalange 51 rotate around the fifth axis L5, and the fifth axis L5 is an axis line of the output shaft of the fifth driving assembly.

[0079] Optionally, in some embodiments, the fifth axis L5 is parallel to the fourth axis L4.

[0080] It should be understood that the position of the proximal phalange 51 in the dexterous hand in the embodiments of the present application is mapped to a human hand, that is, mapped to the proximal phalange of the human hand. Figure 5The region where the identifier C is located in Figure 5 The position of the distal phalange 52 in the dexterous hand in the embodiment of the application is mapped to the human hand, i.e., mapped to Figure 5 The region where the identifier D is located in Figure 5 The region where the identifier D is located in

[0081] It needs to be noted that when the thumb 100 of the dexterous hand is in the stretched state, the first end of the proximal phalange 51 is the end of the proximal phalange 51 far away from the tip of the thumb, and the second end of the proximal phalange 51 is the end of the proximal phalange 51 close to the tip of the thumb.

[0082] Working principle description: the fourth driving assembly in the first end of the proximal phalange 51 is fixedly arranged in the first end of the proximal phalange 51, and the output shaft of the fourth driving assembly is in transmission connection with the second end of the second connecting piece 40, so that when the output shaft of the second driving assembly outputs torque, the second connecting piece 40 starts to rotate, and correspondingly, when the second connecting piece 40 is fixed, the proximal phalange 51 starts to rotate relative to the second connecting piece 40.

[0083] Working principle description: the fifth driving assembly in the distal phalange 52 is fixedly arranged in the distal phalange 52, and the output shaft of the fifth driving assembly is in transmission connection with the second end of the proximal phalange 51, so that when the output shaft of the fifth driving assembly outputs torque, the proximal phalange 51 starts to rotate, and correspondingly, when the proximal phalange 51 is fixed, the distal phalange 52 starts to rotate relative to the proximal phalange 51.

[0084] In the embodiment of the application, by splitting the phalange assembly 50 into the proximal phalange 51 and the distal phalange 52, and by fixedly arranging the fourth driving assembly in the proximal phalange 51 and the fifth driving assembly in the distal phalange 52, the number of active degrees of freedom on the thumb 100 of the dexterous hand is further increased, thereby improving the bionic performance of the thumb 100 of the dexterous hand.

[0085] Optionally, in some embodiments, the fourth driving assembly comprises a fourth motor and a fourth transmission assembly.

[0086] The fourth motor is fixed in the proximal phalange 51, the output shaft of the fourth motor is in transmission connection with the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is in transmission connection with the second end of the second connecting piece 40.

[0087] In the embodiment of the application, the fourth transmission assembly can be provided with different speed reduction ratios as needed to meet the torque needs of the thumb 100 of the dexterous hand.

[0088] Optionally, in some embodiments, the fifth driving assembly comprises a fifth motor and a fifth transmission assembly.

[0089] The fifth motor is fixed in the distal phalanx 52, an output shaft of the fifth motor is in transmission connection with a first end of a fifth transmission assembly, and a second end of the fifth transmission assembly is in transmission connection with the second end of the proximal phalanx 51.

[0090] In the embodiment of the present application, the fifth transmission assembly can be provided with different speed reduction ratios according to requirements to meet the torque requirements of the thumb 100 of the dexterous hand.

[0091] Optionally, in some embodiments, the first driving assembly comprises a first motor and a first transmission assembly.

[0092] The first motor is fixed in the carpal bone assembly 10, an output shaft of the first motor is in transmission connection with a first end of the first transmission assembly, and a second end of the first transmission assembly is in transmission connection with the first end of the first connecting piece 20.

[0093] In the embodiment of the present application, the first transmission assembly can be provided with different speed reduction ratios according to requirements to meet the torque requirements of the thumb 100 of the dexterous hand.

[0094] Optionally, in some embodiments, the second driving assembly comprises a second motor and a second transmission assembly.

[0095] The second motor is fixed in the metacarpal bone assembly 30, an output shaft of the second motor is in transmission connection with a first end of the second transmission assembly, and a second end of the second transmission assembly is in transmission connection with the second end of the first connecting piece 20.

[0096] In the embodiment of the present application, the second transmission assembly can be provided with different speed reduction ratios according to requirements to meet the torque requirements of the thumb 100 of the dexterous hand.

[0097] Optionally, in some embodiments, the third driving assembly comprises a third motor and a third transmission assembly.

[0098] The third motor is fixed in the metacarpal bone assembly 30, an output shaft of the third motor is in transmission connection with a first end of the second transmission assembly, and a second end of the third transmission assembly is in transmission connection with the first end of the second connecting piece 40.

[0099] In the embodiment of the present application, the third transmission assembly can be provided with different speed reduction ratios according to requirements to meet the torque requirements of the thumb 100 of the dexterous hand.

[0100] Optionally, in some embodiments, the central axis of the second motor is perpendicular to the central axis of the third motor.

[0101] In the embodiment of the present application, since the second motor and the third motor are both located in the metacarpal assembly 30, and the center axes of the second motor and the third motor are perpendicular to each other, the internal structure arrangement of the metacarpal assembly 30 can be more compact, thereby reducing the size of the metacarpal assembly 30, and further improving the bionic performance of the thumb 100 of the dexterous hand.

[0102] Optionally, in some embodiments, the third transmission assembly comprises a worm and a worm wheel.

[0103] The first end of the worm is in transmission connection with the output shaft of the third motor, and the second end of the worm is in meshing transmission with the worm wheel.

[0104] The worm wheel is coaxially in transmission with the first end of the second connecting piece 40.

[0105] In the embodiment of the present application, since the center axes of the second motor and the third motor are perpendicular to each other, when the center axis of the second motor is perpendicular to the XZ plane, the center axis of the third motor is perpendicular to the third axis L3, and the torque is transmitted to the third axis L3 through the third transmission assembly, the combination of the worm and the worm wheel can be adopted, a high transmission ratio and a high load capacity can be achieved, thereby providing the load capacity of the thumb 100 of the dexterous hand.

[0106] The second aspect of the embodiment of the present application provides a dexterous hand 1000, which comprises the thumb 100 of the dexterous hand, the finger 200 of the dexterous hand and the metacarpal frame 300 according to any one of the above.

[0107] The thumb 100 of the dexterous hand is partially located in the metacarpal frame 300, and the thumb 100 of the dexterous hand is connected with the first end of the metacarpal frame 300.

[0108] The finger 200 of the dexterous hand is partially located in the metacarpal frame 300, and the finger 200 of the dexterous hand is connected with the second end of the metacarpal frame 300.

[0109] In the embodiment of the present application, the dexterous hand 1000 comprises the thumb 100 of the dexterous hand, the finger 200 of the dexterous hand and the metacarpal frame 300 according to any one of the above, the thumb 100 of the dexterous hand is partially located in the metacarpal frame 300, and the thumb 100 of the dexterous hand is connected with the first end of the metacarpal frame 300, the finger 200 of the dexterous hand is partially located in the metacarpal frame 300, and the finger 200 of the dexterous hand is connected with the second end of the metacarpal frame 300. Thus, the dexterous hand 1000 with the thumb 100 of the dexterous hand has high bionic performance.

[0110] The third aspect of the embodiment of the present application provides a robot, which comprises the dexterous hand 1000 and a robot body, and the dexterous hand 1000 is connected with the robot body.

[0111] In the embodiment of the present application, the robot has the above-mentioned dexterous hand and the robot body, and the dexterous hand is connected with the robot body, so that the robot has good bionic performance.

[0112] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A dexterous hand thumb, characterized by, The wrist bone assembly, the first connecting piece, the metacarpal bone assembly, the second connecting piece and the knuckle assembly are included. The first driving assembly is arranged in the wrist bone assembly, an output shaft of the first driving assembly is in transmission connection with a first end of the first connecting piece, the first driving assembly is used for outputting torque to make the first connecting piece rotate around a first axis, and the first axis is an axis of the output shaft of the first driving assembly. The second driving assembly is arranged in a first end of the metacarpal bone assembly, an output shaft of the second driving assembly is in transmission connection with a second end of the first connecting piece, the second driving assembly is used for outputting torque to make the first connecting piece rotate around a second axis, and the second axis is an axis of the output shaft of the second driving assembly. The third driving assembly is arranged in a second end of the metacarpal bone assembly, an output shaft of the third driving assembly is in transmission connection with a first end of the second connecting piece, the third driving assembly is used for outputting torque to make the second connecting piece rotate around a third axis, and the third axis is an axis of the output shaft of the third driving assembly. The fourth driving assembly is arranged in a first end of the knuckle assembly, an output shaft of the fourth driving assembly is in transmission connection with a second end of the second connecting piece, the fourth driving assembly is used for outputting torque to make the second connecting piece rotate around a fourth axis, and the fourth axis is an axis of the output shaft of the fourth driving assembly. The first axis and the zy plane have a first included angle, the first included angle is less than 64 degrees and greater than 44 degrees, the second axis is parallel to the third axis, and the second axis and the third axis are parallel to the xy plane and the zy plane, and the fourth axis is perpendicular to the xy plane. The first included angle is 54 degrees.

2. The dexterous hand thumb of claim 1, wherein, The shortest distance between the first axis and the second axis is less than or equal to 20 mm.

3. The dexterous hand thumb of claim 1 or 2, wherein, The knuckle assembly includes a proximal knuckle and a distal knuckle.

4. The mitten of claim 1, wherein, The fourth driving assembly is arranged in the proximal knuckle, and an output shaft of the fourth driving assembly is in transmission connection with a second end of the second connecting piece. The fifth driving assembly is arranged in the distal knuckle, an output shaft of the fifth driving assembly is in transmission connection with a second end of the proximal knuckle, and the fifth driving assembly is used for outputting torque to make the proximal knuckle rotate around a fifth axis, and the fifth axis is an axis of the output shaft of the fifth driving assembly. The fifth axis is parallel to the fourth axis. The fourth driving assembly includes a fourth motor and a fourth transmission assembly.

5. The mitten of claim 4, wherein, The fourth motor is fixed in the proximal knuckle, an output shaft of the fourth motor is in transmission connection with a first end of the fourth transmission assembly, and a second end of the fourth transmission assembly is in transmission connection with the second end of the second connecting piece. The fifth driving assembly includes a fifth motor and a fifth transmission assembly.

6. The mitten of claim 4, wherein, The fifth motor is fixed in the distal knuckle, an output shaft of the fifth motor is in transmission connection with a first end of the fifth transmission assembly, and a second end of the fifth transmission assembly is in transmission connection with the second end of the proximal knuckle. The first driving assembly includes a first motor and a first transmission assembly.

7. The mitten of claim 1, wherein, ​ The first motor is fixed in the carpal bone assembly, an output shaft of the first motor is in driving connection with a first end of the first transmission assembly, and a second end of the first transmission assembly is in driving connection with a first end of the first connecting piece.

8. The mitten of claim 1, wherein, The second driving assembly comprises a second motor and a second transmission assembly. The second motor is fixed in the metacarpal bone assembly, an output shaft of the second motor is in driving connection with a first end of the second transmission assembly, and a second end of the second transmission assembly is in driving connection with a second end of the first connecting piece.

9. The mitten of claim 8, wherein, The third driving assembly comprises a third motor and a third transmission assembly. The third motor is fixed in the metacarpal bone assembly, an output shaft of the third motor is in driving connection with a first end of the second transmission assembly, and a second end of the third transmission assembly is in driving connection with a first end of the second connecting piece.

10. The mitten of claim 9, wherein, A central axis of the second motor is perpendicular to a central axis of the third motor.

11. The mitten of claim 9, wherein, The third transmission assembly comprises a worm and a worm wheel. A first end of the worm is in driving connection with the output shaft of the third motor, and a second end of the worm is in meshing driving connection with the worm wheel. The worm wheel is coaxially in driving connection with the first end of the second connecting piece.

12. A dexterous hand characterized by, The dexterous hand comprises the dexterous thumb, the dexterous fingers and the metacarpal bone frame according to any one of claims 1 to 11. The dexterous thumb is located in the metacarpal bone frame, and the dexterous thumb is connected with a first end of the metacarpal bone frame. The dexterous fingers are located in the metacarpal bone frame, and the dexterous fingers are connected with a second end of the metacarpal bone frame.

13. A robot, characterized in that The dexterous hand comprises the dexterous thumb, the dexterous fingers and the metacarpal bone frame according to any one of claims 1 to 11.

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