Tendon-driven dexterous hand for the thumb and robot

Abstract

This utility model discloses a dexterous hand and robot that utilizes tendon-driven thumbs. The dexterous hand includes a hand body and a thumb module and a four-finger module, both connected to the hand body. The relative positions of the thumb module and the four-finger module are the same as the relative positions of the fingers of a human hand. The thumb module includes a distal interphalangeal joint, a proximal interphalangeal joint, and a swing joint. The distal and proximal interphalangeal joints are connected by a first and a second tendon-driven component to drive their rotation. The swing joint is connected to the hand body via a third tendon-driven component, a push rod, and a fourth tendon-driven component to achieve the swinging of the thumb module. The rotation axes of the first and second tendon-driven components form an angle. This dexterous hand has a high degree of freedom, which is beneficial for improving its grasping ability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a dexterous hand and robot that utilizes tendon ropes to drive the thumb. Background Technology

[0002] With the rapid development of my country's industry and the continuous increase in labor costs, ordinary manual labor can no longer meet the demands of productivity, and industrial development is increasingly inseparable from the application of robots. Driven by robotics technology, the types of robots are becoming more and more diversified. Among them, service robots used in restaurants, shopping malls, and other places require high dexterity of their hands, and dexterous hands are gradually becoming a development trend. Their humanoid appearance and grasping methods will give people a more approachable impression.

[0003] Currently, service robots have relatively poor hand dexterity and cannot adapt well to the environment to achieve various grasping and picking applications. In addition, the degree of freedom of one finger is usually controlled by one actuator, which results in a large number of actuators, a large size required for the entire dexterous hand actuator, and may also occupy the space of the forearm. Utility Model Content

[0004] The main objective of this invention is to provide a dexterous hand and robot that utilizes tendons to drive the thumb, thereby addressing the aforementioned technical problems.

[0005] To achieve the above objectives, this utility model proposes a dexterous hand that utilizes tendon-driven thumbs, comprising a hand body and a thumb module and a four-finger module, both connected to the hand body. The relative positions of the thumb module and the four-finger module are the same as the relative positions of the fingers of a human hand. The thumb module includes a distal interphalangeal joint, a proximal interphalangeal joint, and a swing joint. The distal interphalangeal joint and the proximal interphalangeal joint are connected by a first tendon-driven component and a second tendon-driven component to drive the distal interphalangeal joint and the proximal interphalangeal joint to rotate. The swing joint is connected to the hand body by a third tendon-driven component, a push rod, and a fourth tendon-driven component to realize the swinging of the thumb module. The rotation axes of the first tendon-driven component and the third tendon-driven component have an included angle.

[0006] In one embodiment, a rotating module is provided on the palm body, and the rotating module is connected to the swing joint.

[0007] In one embodiment, the distal interphalangeal joint is provided with a first rotating connection portion at the end near the proximal interphalangeal joint, and the proximal interphalangeal joint is provided with a first rotating shaft at the end near the distal interphalangeal joint, and the first rotating connection portion is sleeved on the first rotating shaft.

[0008] In one embodiment, the proximal interphalangeal joint has a second rotating connection portion at the end away from the first rotating shaft, the swing joint has a second rotating shaft at the end near the proximal interphalangeal joint, the second rotating connection portion is sleeved on the second rotating shaft, and the swing joint has a connecting plate connected to the rotating module at the end away from the proximal interphalangeal joint.

[0009] In one embodiment, the rotating module includes a base and a third rotating shaft disposed on the base. A swing shaft perpendicularly disposed thereon is mounted on the third rotating shaft. The connecting plate is connected to the swing shaft, and the second tendon cable driving member is connected to the swing shaft.

[0010] In one embodiment, the rotation axes of the first rotating shaft and the second rotating shaft are arranged in parallel.

[0011] In one embodiment, motion sensors are provided on both the first rotating connection portion and the second rotating connection portion.

[0012] In one embodiment, both the first tendon cord driving member and the second tendon cord driving member include a rotating ring and a driving tendon cord, the driving tendon cord being wound around the rotating ring, and the rotating ring being mounted on the first rotating shaft and the second rotating shaft.

[0013] In one embodiment, the rotating ring is provided with a notch, and a zinc head of a tendon cord is provided in the notch; the driving tendon cord and the zinc head of the tendon cord are connected.

[0014] In this invention, a dexterous hand utilizing tendon-driven thumbs includes a hand body and a thumb module and a four-finger module, both connected to the hand body. The relative positions of the thumb module and the four-finger module are the same as the relative positions of the fingers of a human hand. The thumb module includes a distal interphalangeal joint, a proximal interphalangeal joint, and a swing joint. The distal and proximal interphalangeal joints are connected by a first tendon-driven component and a second tendon-driven component to drive their rotation. The swing joint is connected to the hand body via a third tendon-driven component, a push rod, and a fourth tendon-driven component to achieve the swinging of the thumb module. The rotation axes of the first and third tendon-driven components form an angle. In this application, the first and second tendon-driven components enable bending of the distal and proximal interphalangeal joints in the thumb module, while the third tendon-driven component enables the lateral swinging freedom of the thumb module. This dexterous hand exhibits a high degree of freedom, which is beneficial for improving the grasping ability of the dexterous hand. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the dexterous hand according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the distal interphalangeal joint in an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the proximal interphalangeal joint in an embodiment of the present invention;

[0019] Figure 4 This is a structural schematic diagram of the swing joint, rotation module, and second fitness drive component according to an embodiment of the present utility model.

[0020] Figure 5 This is a schematic diagram of the structure of the first tendon chord driving component or the second tendon chord driving component according to an embodiment of the present utility model;

[0021] Figure 6 This is a structural schematic diagram of the thumb module from another perspective of an embodiment of this utility model.

[0022] Reference numerals: 10. Hand body; 20. Thumb module; 21. Distal finger joint; 211. First rotating connection; 22. Proximal finger joint; 221. First rotating shaft; 222. Second rotating connection; 23. Swing joint; 231. Second rotating shaft; 232. Connecting plate; 30. Four-finger module; 40. First tendon ligament drive component, second tendon ligament drive component; 41. Rotating ring; 42. Driven tendon ligament; 453. Notch; 44. Zinc head of tendon ligament; 50. Third tendon ligament drive component; 60. Rotating module; 61. Base; 62. Third rotating shaft; 63. Swing shaft; 70. Push rod; 80. Fourth tendon ligament drive component.

[0023] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] This invention provides a dexterous hand that utilizes tendons to drive the thumb.

[0029] like Figure 1 As shown, the dexterous hand using tendon-driven thumb provided in this embodiment of the present invention includes a palm body 10 and a thumb module 20 and a four-finger module 30, both connected to the palm body 10. The relative positions between the thumb module 20 and the four-finger module 30 are the same as the relative positions of the fingers of a human hand. The thumb module 20 includes a distal interphalangeal joint 21, a proximal interphalangeal joint 22, and a swing joint 23. The distal interphalangeal joint 21 and the proximal interphalangeal joint 22 are connected by a first tendon-driven member 40 and a second tendon-driven member 40 to drive the distal interphalangeal joint 21 and the proximal interphalangeal joint 22 to rotate. The swing joint 23 is connected to the palm body 10 by a third tendon-driven member 50, a push rod 70, and a fourth tendon-driven member 80 to realize the swing of the thumb module 20. The rotation axes of the first tendon-driven member 40 and the third tendon-driven member 50 have an included angle.

[0030] In this embodiment, the first and second tendon-driven components 40 have identical structures and can achieve bending of the distal and proximal interphalangeal joints 21 and 22 in the thumb module 20. The third tendon-driven component 50 can achieve the degree of freedom of lateral swinging of the thumb module 20. The dexterous hand of this application has a large number of degrees of freedom, which is beneficial to improving the grasping ability of the dexterous hand. At the same time, a rotating module 60 is provided on the palm body 10. The rotating module 60 is connected to the swing joint 23 to further improve the degree of freedom of the thumb module 20 and improve the grasping ability of the dexterous hand.

[0031] Please refer to the following: Figures 2-3 The distal interphalangeal joint 21 has a first rotating connection portion 211 at the end near the proximal interphalangeal joint 22, and the proximal interphalangeal joint 22 has a first rotating shaft 221 at the end near the distal interphalangeal joint 21. The first rotating connection portion 211 is sleeved on the first rotating shaft 221. The proximal interphalangeal joint 22 has a second rotating connection portion 222 at the end away from the first rotating shaft 221. The swing joint 23 has a second rotating shaft 231 at the end near the proximal interphalangeal joint 22, and the second rotating connection portion 222 is sleeved on the second rotating shaft 231. The swing joint 23 has a connecting plate 232 at the end away from the proximal interphalangeal joint 22, which is connected to the rotating module 60. The rotation axes of the first rotating shaft 221 and the second rotating shaft 231 are arranged parallel to each other.

[0032] When the chord drive component is driven by the drive motor, the joint movement is achieved by pulling the joint through the drive chord 42 on the chord drive component. The drive chord 42 is connected to the drive motor, and the pull and push of the drive chord 42 achieves precise control.

[0033] Please refer to Figure 4 The rotating module 60 includes a base 61 and a third rotating shaft 62 mounted on the base 61. A swing shaft 63 perpendicularly arranged on the third rotating shaft 62 is mounted thereon. The connecting plate 232 is connected to the swing shaft 63, and the second tendon ligament drive member 50 is connected to the swing shaft 63. In this embodiment, the thumb module 20 can rotate around the axis of the third rotating shaft 62, which can also be connected to a drive motor for driving. Simultaneously, a push rod 70 is provided along the width direction on the palm body 10, and the push rod 70 is connected to the base 61, thereby achieving multi-degree-of-freedom movement through the first tendon ligament drive member 40, the second tendon ligament drive member 50, the rotating module 60, and the push rod 70.

[0034] Please refer to Figure 6A fourth tendon drive component 80 is installed on the outside of the third tendon drive component 50. That is to say, the thumb module 20 provided in this application rotates the joint by independently operating the first tendon drive component 40, the second tendon drive component 40, the third tendon drive component 50, the fourth tendon drive component 80 and the push rod 70.

[0035] Please refer to point 1. Figure 2 as well as Figure 5 The first tendon cord driving component 40, the second tendon cord driving component 40, the third tendon cord driving component 50, and the fourth tendon cord driving component 80 have the same structure and all include a rotating ring 41 and a driving tendon cord 42, which is wound around the rotating ring 41. The driving tendon cord 42 is connected to a tendon cord zinc head 44 in a notch 453 provided in the rotating ring 41. The driving tendon cord 42 can be a flexible long strip structure such as a rope structure, a line structure, or a filament structure.

[0036] When the drive motor drives the drive tendon cable 42 to push or pull, it first acts on the tendon cable zinc head 44, and then the tendon cable zinc head 44 will drive the rotating ring 41 to rotate. Since the rotating ring 41 is installed at the pivot position, the rotation of the joint can be driven by the rotation of the rotating ring 41 to achieve the extension of the finger joint.

[0037] Among them, the tendon cord zinc head 44 on the third tendon cord drive component 50 is connected to the swing joint 23 so that when the drive tendon cord 42 is pushed or pulled, the thumb module 20 can be driven to swing through the swing joint 23.

[0038] In addition, motion sensors are provided on both the first rotating connection part 211 and the second rotating connection part 222, which can identify the joint position.

[0039] Furthermore, this utility model also provides a robot, which includes at least one dexterous hand that uses tendons to drive the thumb. Since this robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0040] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A dexterous hand that utilizes tendon-driven thumb, the dexterous hand comprising a hand body (10) and a thumb module (20) and a four-finger module (30) both connected to the hand body (10), wherein the relative positions between the thumb module (20) and the four-finger module (30) are the same as the relative positions of the fingers of a human hand, characterized in that, The thumb module (20) includes a distal interphalangeal joint (21), a proximal interphalangeal joint (22), and a swing joint (23). The distal interphalangeal joint (21) and the proximal interphalangeal joint (22) are connected by a first tendon cord drive member (40) and a second tendon cord drive member (40) to drive the distal interphalangeal joint (21) and the proximal interphalangeal joint (22) to rotate. The swing joint (23) is connected to the palm body (10) by a third tendon cord drive member (50), a push rod (70), and a fourth tendon cord member (80) to realize the swing of the thumb module (20). The rotation axes of the first tendon cord drive member (40) and the third tendon cord drive member (50) have an included angle.

2. The dexterous hand with tendon-driven thumb of claim 1, wherein, The palm body (10) is provided with a rotating module (60), which is connected to the swing joint (23).

3. The dexterous hand with tendon-driven thumb of claim 2, wherein, The distal interphalangeal joint (21) is provided with a first rotating connection part (211) at one end near the proximal interphalangeal joint (22), and the proximal interphalangeal joint (22) is provided with a first rotating shaft (221) at one end near the distal interphalangeal joint (21). The first rotating connection part (211) is sleeved on the first rotating shaft (221).

4. The dexterous hand with tendon-driven thumb of claim 3, wherein, The proximal interphalangeal joint (22) is provided with a second rotating connection part (222) at the end away from the first rotating shaft (221), the swing joint (23) is provided with a second rotating shaft (231) at the end near the proximal interphalangeal joint (22), the second rotating connection part (222) is sleeved on the second rotating shaft (231), and the swing joint (23) is provided with a connecting plate (232) connected to the rotating module (60) at the end away from the proximal interphalangeal joint (22).

5. The dexterous hand with tendon-driven thumb of claim 4, wherein, The rotating module (60) includes a base (61) and a third rotating shaft (62) disposed on the base (61). A swing shaft (63) perpendicular to the third rotating shaft (62) is mounted on the third rotating shaft (62). The connecting plate (232) is connected to the swing shaft (63). The second tendon rope driving member (50) is connected to the swing shaft (63).

6. The dexterous hand with tendon-driven thumb of claim 5, wherein, The rotation axes of the first rotating shaft (221) and the second rotating shaft (231) are arranged in parallel.

7. The dexterous hand with tendon-driven thumb of claim 5, wherein, Motion sensors are provided on both the first rotating connection part (211) and the second rotating connection part (222).

8. The dexterous hand with tendon-driven thumb of claim 3, wherein, Both the first tendon cord drive component (40) and the second tendon cord drive component (50) include a rotating ring (41) and a drive tendon cord (42), the drive tendon cord (42) being wound around the rotating ring (41), and the rotating ring (41) being mounted on the first rotating shaft (221) and the second rotating shaft (231).

9. The dexterous hand with tendon-driven thumb of claim 8, wherein, The rotating ring (41) is provided with a notch (453), and a tendon cord zinc head (44) is provided in the notch (453). The driving tendon cord (42) and the tendon cord zinc head (44) are connected.

10. A robot, characterized in that The robot includes at least one dexterous hand that utilizes tendons to drive the thumb as described in any one of claims 1-9.

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