Tendon-driven dexterous hand for the thumb and robot

Abstract

The utility model discloses a utilize tendon rope drive thumb's dexterous hand and robot, dexterous hand includes palm body and all with the palm body connection's thumb module and four finger module, the relative position between thumb module and four finger module is same with the relative position of each finger of human hand, its characterized in that, the thumb module includes far articulatio metacarpalis, near articulatio metacarpalis and swing joint, far articulatio metacarpalis and near articulatio metacarpalis are connected through tendon rope drive component to drive far articulatio metacarpalis with near articulatio metacarpalis rotation, swing joint is connected with palm body through first push rod and second push rod to realize the swing of thumb module. The dexterous hand of the present application has more degrees of freedom, and is favorable for improving the grasping capacity of the dexterous hand.

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 tendon-driven components to drive the distal interphalangeal joint and the proximal interphalangeal joint to rotate. The swing joint is connected to the hand body via a first push rod and a second push rod to realize the swinging of the thumb module.

[0006] 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.

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

[0008] In one embodiment, the swing joint has a receiving cavity inside, and the first push rod is housed in the receiving cavity.

[0009] In one embodiment, the palm body is provided with a rotating ball, which is connected to the output shaft of the first push rod.

[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, the tendon cord driving component includes 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 a first rotating shaft and a 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 tendon-driven component to drive their rotation. The swing joint is connected to the hand body via a first push rod and a second push rod to achieve the swinging of the thumb module. In this application, the tendon-driven component enables the bending of the distal and proximal interphalangeal joints in the thumb module, while the swing joint enables the lateral swinging freedom of the thumb module. This dexterous hand has multiple degrees 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 schematic diagram of the swing joint in an embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the tendon chord drive component according to an embodiment of the present invention.

[0021] Explanation of 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. Receiving cavity; 30. Four-finger module; 40. First push rod; 41. Rotating ball; 50. Tendon cord drive component; 51. Rotating ring; 52. Drive tendon cord; 53. Notch; 54. Tendon cord zinc head; 60. Second push rod.

[0022] 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

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] This invention provides a dexterous hand that utilizes tendons to drive the thumb.

[0028] 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 tendon-driven component 50 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 through a first push rod 40 and a second push rod 60 to realize the swing of the thumb module 20.

[0029] In this embodiment, the tendon drive member 50 can realize the bending of the distal interphalangeal joint 21 and the proximal interphalangeal joint 22 in the thumb module 20, while the swing joint 23 can realize the degree of freedom of the lateral swing of the thumb module 20. The dexterous hand of this application has more degrees of freedom, which is beneficial to improving the grasping ability of the dexterous hand.

[0030] Please refer to the following: Figures 2-3 The distal interphalangeal joint 21 has a first rotating connecting 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 connecting portion 211 is sleeved on the first rotating shaft 221. The proximal interphalangeal joint 22 has a second rotating connecting portion 222 at the end away from the first rotating shaft 221, and the swing joint 23 has a second rotating shaft 231 at the end near the proximal interphalangeal joint 22. The second rotating connecting portion 222 is sleeved on the second rotating shaft 231. The rotation axes of the first rotating shaft 221 and the second rotating shaft 231 are arranged parallel to each other.

[0031] When the tendon chord drive component 50 is driven by the drive motor, the joint movement is achieved by pulling the joint rotation through the drive tendon chords 52 on the tendon drive component 50. Each drive tendon chord 52 is connected to a corresponding drive motor, and the pull and push of the drive tendon chords 52 achieves precise control.

[0032] Please refer to Figure 4The swing joint 23 has a receiving cavity 232 inside, and the first push rod 40 is housed in the receiving cavity 232. The palm body 10 is provided with a rotating ball 41, which is connected to the output shaft of the first push rod 40. In this embodiment, the thumb module 20 swings by the first push rod 40 swinging on the rotating ball 41. At the same time, a second push rod 60 is provided on the palm body 10 along the width direction. The second push rod 60 is connected to the swing ball 41, thereby achieving multi-degree-of-freedom movement through the tendon cable drive component 50, the first push rod 40, and the second push rod 60.

[0033] In addition, a tendon chord drive member 50 is also provided on the side of the rotating ball 41 away from the first push rod 40. That is to say, the thumb module 20 provided in this application adopts the independent operation of three tendon chord drive members 50, the first push rod 40 and the second push rod 60 to rotate the joint.

[0034] Please refer to point 1. Figure 2 as well as Figure 5 The tendon cord driving components 50 have the same structure, each including a rotating ring 51 and a driving tendon cord 52, the driving tendon cord 52 being wound around the rotating ring 51. The driving tendon cord 52 is connected to a tendon cord zinc head 54 within a notch 53 formed in the rotating ring 51. The driving tendon cord 52 can be a flexible, elongated structure such as a rope-like structure, a thread-like structure, or a filament-like structure.

[0035] When the drive motor drives the drive tendon cable 52 to push or pull, it first acts on the tendon cable zinc head 54, and then the tendon cable zinc head 54 will drive the rotating ring 51 to rotate. Since the rotating ring 51 is installed at the pivot position, the rotation of the joint can be driven by the rotation of the rotating ring 51 to achieve the extension of the finger joint.

[0036] 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.

[0037] 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.

[0038] 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 tendon cable drive member (50) 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) through a first push rod (40) and a second push rod (60) to realize the swing of the thumb module (20).

2. The dexterous hand with tendon-driven thumb of claim 1, 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).

3. The dexterous hand with tendon-driven thumb of claim 2, 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), and the swing joint (23) is provided with a second rotating shaft (231) at the end near the proximal interphalangeal joint (22), and the second rotating connection part (222) is sleeved on the second rotating shaft (231).

4. The dexterous hand with tendon-driven thumb of claim 3, wherein, The swing joint (23) has a receiving cavity (232) inside, and the first push rod (40) is housed in the receiving cavity (232).

5. The dexterous hand with tendon-driven thumb of claim 4, wherein, The palm body (10) is provided with a rotating ball (41), which is connected to the output shaft of the first push rod (40).

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, The tendon cord driving component (50) includes a rotating ring (51) and a driving tendon cord (52), the driving tendon cord (52) being wound around the rotating ring (51), and the rotating ring (51) 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 (51) is provided with a notch (53), and a tendon cord zinc head (54) is provided in the notch (53). The driving tendon cord (52) and the tendon cord zinc head (54) 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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