Manipulator having tendon-driven structure

Abstract

The present application discloses a manipulator having a tendon-driven structure, comprising a hand module and a wrist module. The hand module comprises a palm base, a palm module and a plurality of fingers, wherein the palm module comprises a plurality of palm units; the wrist module comprises a wrist joint, and the wrist module comprises a wrist connecting block connected to the palm base; the palm base is provided with a plurality of mounting interfaces, and the plurality of palm units are respectively connected to the palm base by means of the mounting interfaces; the palm base or the wrist connecting block is provided with a base tendon sheath constraint structure, and the base tendon sheath constraint structure is configured to constrain tendon sheaths passing therethrough. According to the manipulator of the present application, the base tendon sheath constraint structure is provided, so as to facilitate organizing a plurality of tendon sheaths of the hand module, and avoid significant displacement of the tendon sheaths between the hand module and the wrist module to affect normal movement of the head module and wrist module.

Description

A manipulator with tendon transmission structure Technical Field

[0001] The present application belongs to the technical field of manipulators, and more specifically, relates to a manipulator with a tendon transmission structure. Background Art

[0002] Robotic arms typically have multiple joints and are physically confined to a relatively small space. To achieve independent control of each joint within this confined space, tendon transmission technology is currently used to drive these joints. The drive assembly, comprising multiple drive units, is typically located in a remote area, such as within the arm. These drive units control the movement of the joints via tendons. A tendon sheath is located outside the tendon, allowing the tendon to slide within it.

[0003] Robotic arms typically have a large number of degrees of freedom. Five-fingered manipulators, similar to human hands, have numerous tendon sheaths. Furthermore, the range of motion of the hand and wrist modules is relatively large, and the movement of the manipulator can cause these tendon sheaths to move along with them. These numerous tendon sheaths can interfere with each other during movement, and how to constrain them is a challenge for those skilled in the art.

[0004] Summary of the Invention

[0005] In order to solve the technical problems of the above-mentioned prior art, an embodiment of the present application provides a manipulator with a tendon transmission structure.

[0006] The technical solution adopted in this application is as follows: a tendon-driven manipulator is provided, comprising a hand module and a wrist module; the hand module comprises a palm base, a palm module, and a plurality of fingers, wherein the palm module comprises a plurality of palm units; the wrist module comprises a wrist joint, and the wrist module comprises a wrist connection block connected to the palm base; the palm base has a plurality of mounting interfaces, and the plurality of palm units are respectively mounted and connected to the palm base via the mounting interfaces;

[0007] A base tendon sheath constraint structure is provided at the palm base or the wrist connecting block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it.

[0008] In one embodiment of the present application, the base tendon sheath constraint structure is configured to allow the tendon sheath to slidably pass therethrough;

[0009] Alternatively, the base tendon sheath restraint structure is configured to secure a portion of the tendon sheath.

[0010] In one embodiment of the present application, the palm unit includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence, and the carpometacarpal joint of the palm unit is connected to the mounting interface of the palm base; one end of the tendon sheath corresponding to the carpometacarpal joint is fixed to the palm base;

[0011] or,

[0012] The palm unit includes a metacarpophalangeal joint and a metacarpophalangeal joint which are arranged in sequence, and the metacarpophalangeal joint of the palm unit is connected to the mounting interface of the palm base.

[0013] In one embodiment of the present application, the fingers of the manipulator include a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm units corresponding to the thumb, the index finger, the middle finger, the ring finger and the little finger are respectively connected to the mounting interfaces of the palm base.

[0014] In one embodiment of the present application, the thumb carpometacarpal joint has rotational freedom and lateral swing freedom; the ring finger carpometacarpal joint has flexion and extension freedom, and the little finger carpometacarpal joint has flexion and extension freedom.

[0015] In one embodiment of the present application, a plurality of tendon sheath fixing parts are provided on the palm base, and one end of the tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint, the tendon sheath corresponding to the ring finger carpometacarpal joint, and the tendon sheath corresponding to the little finger carpometacarpal joint are respectively fixed on the tendon sheath fixing parts.

[0016] In one embodiment of the present application, the mounting interface has a mounting positioning surface, and the angles of the mounting positioning surfaces corresponding to the index finger, middle finger, ring finger, and little finger are different.

[0017] In one embodiment of the present application, the mounting interface has a groove structure, and the palm units corresponding to the ring finger and the little finger are both inserted into the groove structure.

[0018] In one embodiment of the present application, the tendon transmission structure includes an antagonistic tendon transmission structure; the palm side and the back side of the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the metacarpophalangeal joint of the ring finger, and the metacarpophalangeal joint of the little finger are respectively provided with a metacarpophalangeal tendon sheath constraint structure; the first side and the second side of the metacarpophalangeal joint of the thumb are respectively provided with a metacarpophalangeal tendon sheath constraint structure;

[0019] The metacarpophalangeal tendon sheath restraint structure is configured to allow a corresponding plurality of tendon sheaths to pass therethrough.

[0020] In one embodiment of the present application, the carpometacarpal joint of the thumb, the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the carpometacarpal joint of the ring finger and the carpometacarpal joint of the little finger are all connected to the mounting interface of the palm base; the carpometacarpal joint of the thumb is arranged below the metacarpophalangeal joint of the index finger and / or the metacarpophalangeal joint of the middle finger.

[0021] In one embodiment of the present application, the base tendon sheath constraint structure includes the first base tendon sheath constraint structure located on the palm side of the palm base or the wrist connecting block; the first base tendon sheath constraint structure is arranged below the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger, and the first base tendon sheath constraint structure is a multi-layer structure;

[0022] The tendon sheaths on the palm side corresponding to the metacarpophalangeal joint of the index finger, the metacarpophalangeal joint of the middle finger, the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger respectively pass through the first base tendon sheath constraint structure.

[0023] In one embodiment of the present application, the base tendon sheath constraint structure includes multiple second base tendon sheath constraint structures located on the dorsal side of the palm base or the wrist connecting block; the tendon sheaths on the dorsal side of the index finger metacarpophalangeal joint, middle finger metacarpophalangeal joint, ring finger metacarpophalangeal joint and little finger metacarpophalangeal joint respectively pass through the second base tendon sheath constraint structure.

[0024] In one embodiment of the present application, the palm unit includes a thumb carpometacarpal joint, which has a rotational degree of freedom and a lateral swing degree of freedom; the thumb carpometacarpal joint includes a rotational portion and a lateral swing portion, the lateral swing portion is mounted on the rotational portion, and the rotational portion is mounted on the palm base;

[0025] One end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint is fixed on the lateral swing part; a tendon sheath fixing part is provided on the palm base, and one end of the tendon sheath corresponding to the circumferential freedom of the thumb carpometacarpal joint is fixed on the tendon sheath fixing part.

[0026] In one embodiment of the present application, a tendon sheath guide element is provided on the palm base, and the tendon sheath on the first side of the thumb metacarpophalangeal joint (for example, the position close to the back of the hand is the first side) passes through the tendon sheath guide element, and the tendon sheath guide element is configured to provide a preset range of motion space for the tendon sheath; a limiting structure is provided on the circumferential part of the thumb carpometacarpal joint, and the tendon sheath on the second side of the thumb metacarpophalangeal joint (for example, the position close to the palm side is the second side) passes through the limiting structure and can slide at the limiting structure.

[0027] The beneficial effects of this application are:

[0028] The present application provides a base tendon sheath constraint structure at the palm base or the wrist connection block, and the base tendon sheath constraint structure is configured to constrain the tendon sheaths passing through it. This not only helps to regularize the numerous tendon sheaths of the hand module, but also roughly divides the tendon sheaths into a section located in the hand module and a section located in the wrist module, and prevents the tendon sheaths from moving significantly between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] FIG1 is a schematic top view of a manipulator with a tendon transmission structure provided in an embodiment of the present application;

[0031] FIG2 is a schematic structural diagram of a manipulator with a tendon transmission structure provided by an embodiment of the present application;

[0032] FIG3 is a schematic diagram of a partial structure of the manipulator with the tendon transmission structure shown in FIG2 ;

[0033] FIG4 is a schematic structural diagram of the manipulator with the tendon transmission structure shown in FIG2 from another perspective.

[0034] Among them, the reference numerals in the figures are:

[0035] Palm base 10, palm unit 20, thumb carpometacarpal joint 21, thumb metacarpophalangeal joint 22, index finger metacarpophalangeal joint 23, middle finger metacarpophalangeal joint 24, ring finger carpometacarpal joint 25, ring finger metacarpophalangeal joint 26, little finger carpometacarpal joint 27, little finger metacarpophalangeal joint 28, base tendon sheath constraint structure 11, first base tendon sheath constraint structure 101, second base tendon sheath constraint structure 102, mounting interface 12, tendon sheath fixing part 13, mounting positioning surface 14, tendon sheath guiding element 15, circumferential rotation part 211, side swing part 212, limiting structure 213, metacarpophalangeal tendon sheath constraint structure 30. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0037] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0040] Please refer to Figures 1 to 4, which illustrate the embodiments of the present application.

[0041] As shown in Figures 1 to 4, an embodiment of the present application provides a manipulator with a tendon transmission structure.

[0042] The manipulator includes a hand module. The hand module includes multiple joints and multiple joints. The hand module includes a palm base 10, a palm module and multiple fingers. Corresponding to the number of the fingers, the palm module includes a plurality of palm units 20 of equal number. The palm unit 20 may include carpometacarpal joints, metacarpophalangeal joints, and metacarpophalangeal joints arranged in sequence; or, the palm unit 20 may include metacarpophalangeal joints and metacarpophalangeal joints arranged in sequence. The fingers include finger knuckles and finger joints. The joints include metacarpophalangeal joints and finger knuckles. A tendon sheath is provided on the outside of the tendon (driving tendon).

[0043] The manipulator also includes a wrist module, which includes a wrist joint. The wrist module includes a wrist connection block connected to the palm base. The wrist connection block can be a part of the wrist joint or a separate component, connected between the wrist joint and the palm base 10.

[0044] The robotic arm of the embodiment of the present application may include multiple fingers. For example, the number of fingers may be 2, 3, 4 or 5. It can be understood that the number of fingers is not limited to this.

[0045] The palm base 10 has a plurality of mounting interfaces 12 , and the plurality of palm units 20 can be respectively mounted and connected to the palm base 10 through the mounting interfaces 12 .

[0046] When the palm unit 20 includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence, the carpometacarpal joint of the palm unit 20 is connected to the mounting interface 12 of the palm base 10. If the degree of freedom of the carpometacarpal joint is driven by tendon transmission, one end of the tendon sheath corresponding to the carpometacarpal joint is fixed to the palm base 10.

[0047] When the palm unit 20 includes the metacarpophalangeal joint and the metacarpophalangeal joint arranged in sequence, the metacarpophalangeal joint of the palm unit 20 is connected to the mounting interface 12 of the palm base 10 .

[0048] The joints of the manipulator are mostly driven by tendon transmission. Multiple joints are independently controlled and driven. The tendon of one controlled joint is connected to the rotating end of a driven joint. The tendon then passes through multiple cascaded joints before connecting to the drive unit. The tendon sheath also passes through multiple cascaded joints.

[0049] In a specific embodiment, when a finger joint is used as the controlled joint, one end of the tendon sheath is fixed to the controlled joint, such as the finger joint. The tendon sheath can sequentially pass through a finger joint, metacarpophalangeal joint, metacarpophalangeal joint, palmar base 10, and other joints or joints of the hand module. Some tendon sheaths may need to first pass through the carpometacarpal joint and then through the palmar base 10. The other end of the tendon sheath is fixed.

[0050] The other end of the tendon sheath can be fixedly mounted elsewhere on the manipulator. For example, if the manipulator includes a drive module, the other end of the tendon sheath, after exiting the hand module and passing through the wrist joint, can be fixed near the drive module. Alternatively, if the manipulator is configured to be mounted on another mechanism, the other end of the tendon sheath can be fixedly mounted on the other mechanism.

[0051] Because the tendon sheath is generally long, it needs to pass through one or more cascading joints. When the joint moves, the length of the tendon sheath passing through the joint will change to a certain extent. When passing through multiple joints, the changes in the tendon sheath length at multiple joints may accumulate at one point and cause a large amount of tendon sheath movement, affecting normal tendon transmission drive.

[0052] In one embodiment of the present application, a base tendon sheath constraint structure 11 is provided at the palm base 10 of the manipulator. The base tendon sheath constraint structure 11 is configured to constrain the tendon sheath passing through the palm base 10 .

[0053] The base tendon sheath constraint structure 11 is configured to allow the tendon sheath to slidably pass therethrough, and the base tendon sheath constraint structure 11 allows the tendon sheath to have a certain amount of sliding movement at the base tendon sheath constraint structure 11. For example, the amount of sliding movement of the tendon sheath at the base tendon sheath constraint structure 11 is relatively small. Alternatively, the base tendon sheath constraint structure 11 is configured to fix a portion of the tendon sheath passing therethrough.

[0054] When the tendon sheath is fixed at the base tendon sheath constraint structure 11 at the palm base 10 or is only allowed to have a small amount of sliding, the tendon sheath is divided into two parts with the base tendon sheath constraint structure 11 as the boundary, and the change in the tendon sheath length of the hand module is limited to this side of the hand module. The present application not only facilitates the regularization of the numerous tendon sheaths of the hand module by setting the base tendon sheath constraint structure 11, but also limits the tendon sheath in sections, roughly dividing the tendon sheath into a section located in the hand module and a section located in the wrist module, and avoiding a large amount of movement of the tendon sheath between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module.

[0055] Preferably, the base tendon sheath restraint structure 11 is a detachable structure, for example, it may include a positioning slot and a cover plate.

[0056] The tendons of the finger joints and the joints of the palm unit 20 corresponding to the fingers (such as the metacarpophalangeal joints and the carpometacarpal joints), as well as the tendon sheaths on the outside of the tendons, can all be positioned and constrained by the base tendon sheath constraint structure 11 at the palm base 10 when passing through the palm base 10.

[0057] Preferably, the manipulator is a dexterous hand having five fingers that mimic a human hand. The fingers include a thumb, index finger, middle finger, ring finger, and pinky finger. The palm units corresponding to the thumb, index finger, middle finger, ring finger, and pinky finger are respectively connected to the mounting interface of the palm base.

[0058] In one embodiment, the palm unit 20 corresponding to the thumb includes a thumb carpometacarpal joint 21, a thumb metacarpophalangeal joint 22, and a thumb metacarpophalangeal joint arranged in sequence (not shown in the accompanying drawings). In one embodiment, the palm unit 20 corresponding to the index finger includes an index finger metacarpophalangeal joint 23 and an index finger metacarpophalangeal joint arranged in sequence (not shown in the accompanying drawings). In one embodiment, the palm unit 20 corresponding to the middle finger includes a middle finger metacarpophalangeal joint 24 and a middle finger metacarpophalangeal joint arranged in sequence (not shown in the accompanying drawings). In one embodiment, the palm unit 20 corresponding to the ring finger includes a ring finger carpometacarpal joint 25, a ring finger metacarpophalangeal joint 26, and a ring finger metacarpophalangeal joint arranged in sequence (not shown in the accompanying drawings). In one embodiment, the palm unit 20 corresponding to the little finger includes a little finger carpometacarpal joint 27, a little finger metacarpophalangeal joint 28, and a little finger metacarpophalangeal joint arranged in sequence (not shown in the accompanying drawings).

[0059] The palm unit corresponding to the index finger and the palm unit corresponding to the middle finger do not have a carpometacarpal joint. The palm unit corresponding to the index finger and the palm unit corresponding to the middle finger can be set separately or as a whole.

[0060] In one embodiment, the index finger metacarpophalangeal joint 23 , the middle finger metacarpophalangeal joint 24 , the thumb carpometacarpal joint 21 , the ring finger carpometacarpal joint 25 , and the little finger carpometacarpal joint 27 are respectively connected to the mounting interface 12 of the palm base 10 .

[0061] The mounting interface 12 has a mounting surface 14. The angles of the mounting surfaces 14 corresponding to the index finger, middle finger, ring finger, and pinky finger are different. Preferably, the internal angles between two adjacent mounting surfaces 14 are obtuse. The index finger metacarpophalangeal joint 23, middle finger metacarpophalangeal joint 24, ring finger metacarpophalangeal joint 26, and pinky finger metacarpophalangeal joint 28 are arranged in a fan-shaped skeleton, with angles between them. The mounting interface 12 has a groove structure, and the palm units 20 corresponding to the ring finger and pinky finger are both inserted into the groove structure.

[0062] The ring finger carpometacarpal joint 25 has flexion and extension freedom, and the little finger carpometacarpal joint 27 has flexion and extension freedom. The thumb carpometacarpal joint 21 has rotational freedom and lateral swing freedom. Preferably, the rotational freedom axis and the lateral swing freedom axis of the thumb carpometacarpal joint 21 are not orthogonal. The thumb carpometacarpal joint 21 includes a rotation portion 211 and a lateral swing portion 212, and the lateral swing portion 212 is rotatably arranged on the rotation portion 211 around the lateral swing freedom axis, and the rotation portion 211 is rotatably mounted on the palm base 10 around the rotational freedom axis. The thumb metacarpophalangeal joint 22 is connected to the lateral swing portion 212.

[0063] The index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger carpometacarpal joint 25 and the little finger carpometacarpal joint 27 are located above the palm base 10. The above here refers to the direction where the fingertips are located when the manipulator is extended. On the contrary, the palm base 10 is located below the manipulator. The index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger carpometacarpal joint 25 and the little finger carpometacarpal joint 27 are connected to the palm base 10 in sequence. The thumb carpometacarpal joint 21 is located below the index finger metacarpophalangeal joint 23 and / or the middle finger metacarpophalangeal joint 24. A avoidance opening can be provided on the palm base 10, and the thumb carpometacarpal joint 21 is installed at the avoidance opening. When the thumb rotates, the avoidance opening can prevent the main structure of the thumb carpometacarpal joint 21 from interfering with the palm base 10.

[0064] The movements of the ring finger carpometacarpal joint 25, the little finger carpometacarpal joint 27, and the thumb carpometacarpal joint 21 are all driven by tendon transmission. The palm base 10 is provided with multiple tendon sheath fixation portions 13. Preferably, the tendon sheath fixation portions 13 are detachable structures. For example, they may include a fixing slot and a fixing plate.

[0065] The tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint 21 is fixed at one end to the tendon sheath fixation portion 13 on the palm base 10. The tendon sheath corresponding to the ring finger carpometacarpal joint 25 is fixed at one end to the tendon sheath fixation portion 13. The tendon sheath corresponding to the little finger carpometacarpal joint 27 is also fixed at one end to the tendon sheath fixation portion 13.

[0066] Among them, one end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint 21 is fixed on the lateral swing part 212.

[0067] In one embodiment, the joints of the manipulator are driven by an antagonistic tendon transmission method, and the tendon transmission structure includes an antagonistic tendon transmission structure.

[0068] Metacarpophalangeal tendon sheath restraint structures 30 are provided on the palm and dorsal sides of the index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26, and the little finger metacarpophalangeal joint 28. Metacarpophalangeal tendon sheath restraint structures 30 are provided on the first and second sides of the thumb metacarpophalangeal joint 22; for example, the position closer to the dorsal side is the first side, and the position closer to the palm is the second side. The metacarpophalangeal tendon sheath restraint structures 30 are configured to allow multiple tendon sheaths corresponding to the respective fingers to pass through.

[0069] A first base tendon sheath constraint structure 101 is provided on the palm side of the palm base 10. Preferably, the first base tendon sheath constraint structure 101 is located below the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28. The first base tendon sheath constraint structure 101 is a multi-layer structure. The tendon sheaths on the palm side corresponding to the four metacarpophalangeal joints, the index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28, all pass through the first base tendon sheath constraint structure 101, and the tendon sheaths are arranged in a multi-layer structure on the first base tendon sheath constraint structure 101. Preferably, the tendon sheaths on the palm side corresponding to the four metacarpophalangeal joints can slide or be fixed at the first base tendon sheath constraint structure 101.

[0070] A plurality of second base tendon sheath constraint structures 102 are provided on the dorsal side of the palm base 10. The tendon sheaths on the dorsal side of the four metacarpophalangeal joints, namely the index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28, can pass through the plurality of second base tendon sheath constraint structures 102 respectively. Preferably, the tendon sheaths on the dorsal side of the four metacarpophalangeal joints can slide or be fixed at the second base tendon sheath constraint structure 102. Four second base tendon sheath constraint structures 102 can be provided on the dorsal side of the palm base 10, and the positions of the four second base tendon sheath constraint structures 102 roughly correspond to the positions of the index finger metacarpophalangeal joint 23, the middle finger metacarpophalangeal joint 24, the ring finger metacarpophalangeal joint 26 and the little finger metacarpophalangeal joint 28, respectively.

[0071] The thumb carpometacarpal joint 21 has both rotational and lateral freedom. In a preferred embodiment, the rotational and lateral freedom axes of the thumb carpometacarpal joint 21 are not orthogonal, but rather eccentric. The thumb carpometacarpal joint 21 is capable of both rotational and lateral movement, and the tendon sheath at the thumb carpometacarpal joint 21 experiences significant movement.

[0072] In order to better constrain the tendon sheath at the thumb carpometacarpal joint 21, in one embodiment of the present application, one end of the tendon sheath on the outside of the tendon corresponding to the rotational freedom of the thumb carpometacarpal joint 21 is fixed to the tendon sheath fixing portion 13 on the palm base 10. Furthermore, one end of the tendon sheath on the outside of the tendon corresponding to the lateral swing freedom of the thumb carpometacarpal joint 21 is fixed to the lateral swing portion 212.

[0073] A tendon sheath guide element 15 is also provided on the palm base 10, and the tendon sheath coming from the first side of the thumb metacarpophalangeal joint 22 passes through the tendon sheath guide element 15. When the tendon sheath on the dorsal side of the thumb metacarpophalangeal joint 22 passes through the tendon sheath guide element 15, the tendon sheath guide element 15 is configured to provide a preset range of motion space for the tendon sheath, which can constrain the tendon sheath to move within the preset range of space. Preferably, the tendon sheath guide element 15 is a detachable structure. For example, the tendon sheath guide element 15 can be configured to have an arc-shaped profile. A larger channel can be provided between the tendon sheath guide element 15 and the tendon sheath to facilitate the smooth passage of the tendon sheath on the dorsal side of the thumb metacarpophalangeal joint 22 during movement.

[0074] In addition, a limiting structure 213 may be provided on the circumferential portion 211 of the thumb carpometacarpal joint 21, and the tendon sheath coming from the second side of the thumb metacarpophalangeal joint 22 may pass through the limiting structure 213 and slide on the limiting structure 213. Preferably, the limiting structure 213 is a detachable structure.

[0075] As an alternative to the aforementioned placement of the base tendon sheath constraint structure 11, in another embodiment of the present application, the base tendon sheath constraint structure 11 can also be positioned at the wrist connection block of the wrist joint. The base tendon sheath constraint structure 11 includes a first base tendon sheath constraint structure 101 located on the palm side of the wrist connection block. The base tendon sheath constraint structure 11 also includes a second base tendon sheath constraint structure 102 located on the dorsal side of the wrist connection block.

[0076] The beneficial effects provided by this application are:

[0077] The present application provides a base tendon sheath constraint structure at the palm base or the wrist connection block, and the base tendon sheath constraint structure is configured to constrain the tendon sheaths passing through it. This not only helps to regularize the numerous tendon sheaths of the hand module, but also roughly divides the tendon sheaths into a section located in the hand module and a section located in the wrist module, and prevents the tendon sheaths from moving significantly between the hand module and the wrist module, thereby affecting the normal movement of the hand module and the wrist module.

[0078] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A tendon transmission structure manipulator, comprising a hand module and a wrist module; the hand module comprises a palm base, a palm module and a plurality of fingers, wherein: The palm module includes a plurality of palm units; the wrist module includes a wrist joint, and the wrist module includes a wrist connection block connected to the palm base; the palm base is characterized in that the palm base has a plurality of mounting interfaces, and the plurality of palm units are respectively mounted and connected to the palm base through the mounting interfaces; A base tendon sheath constraint structure is provided at the palm base or the wrist connecting block, and the base tendon sheath constraint structure is configured to constrain the tendon sheath passing through it.

2. The robot according to claim 1, characterized in that: The base tendon sheath restraint structure is configured to allow the tendon sheath to slidably pass therethrough; Alternatively, the base sheath restraint structure is configured to secure a portion of the sheath.

3. The robot according to claim 1, characterized in that: The palm unit includes a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint which are arranged in sequence. The carpometacarpal joint of the palm unit is connected to the mounting interface of the palm base; one end of the tendon sheath corresponding to the carpometacarpal joint is fixed on the palm base; or, The palm unit includes a metacarpophalangeal joint and a metacarpophalangeal joint which are arranged in sequence, and the metacarpophalangeal joint of the palm unit is connected to the mounting interface of the palm base.

4. The robot according to claim 1, characterized in that: The fingers of the manipulator include a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm units corresponding to the thumb, the index finger, the middle finger, the ring finger and the little finger are respectively connected to the mounting interfaces of the palm base.

5. The robot according to claim 4, characterized in that: The thumb carpometacarpal joint has rotational freedom and lateral swing freedom; the ring finger carpometacarpal joint has flexion and extension freedom, and the little finger carpometacarpal joint has flexion and extension freedom.

6. The robot according to claim 5, characterized in that: A plurality of tendon sheath fixing parts are arranged on the palm base, and one end of the tendon sheath corresponding to the rotational freedom of the thumb carpometacarpal joint, the tendon sheath corresponding to the ring finger carpometacarpal joint and the tendon sheath corresponding to the little finger carpometacarpal joint are respectively fixed to the tendon sheath fixing parts.

7. The robot according to claim 4, characterized in that: The installation interface is provided with an installation positioning surface, and the angles of the installation positioning surfaces corresponding to the index finger, middle finger, ring finger and little finger are different.

8. The robot according to claim 4, characterized in that: The installation interface has a groove structure, and the palm units corresponding to the ring finger and the little finger are both inserted into the groove structure.

9. The robot according to claim 4, characterized in that: The tendon transmission structure comprises an antagonistic tendon transmission structure; the palm side and the back side of the palm-to-palm joint of the index finger, the middle finger, the ring finger and the little finger are respectively provided with a palm-to-palm tendon sheath constraint structure; the first side and the second side of the thumb metacarpophalangeal joint are respectively provided with a palm-to-palm tendon sheath constraint structure; The metacarpophalangeal tendon sheath restraint structure is configured to allow a corresponding plurality of tendon sheaths to pass therethrough.

10. The robot according to claim 5, characterized in that: The thumb carpometacarpal joint, index finger metacarpophalangeal joint, middle finger metacarpophalangeal joint, ring finger carpometacarpal joint and little finger carpometacarpal joint are all connected to the mounting interface of the palm base; the thumb carpometacarpal joint is arranged below the index finger metacarpophalangeal joint and / or the middle finger metacarpophalangeal joint.

11. The robot according to claim 5, characterized in that: The base tendon sheath constraint structure includes the first base tendon sheath constraint structure located on the palm side of the palm base or the wrist connection block; the first base tendon sheath constraint structure is arranged below the metacarpophalangeal joint of the ring finger and the metacarpophalangeal joint of the little finger, and the first base tendon sheath constraint structure is a multi-layer structure; The tendon sheaths on the palm side corresponding to the metacarpophalangeal joints of the index finger, the middle finger, the ring finger and the little finger respectively pass through the first base tendon sheath constraint structure.

12. The robot according to claim 5, characterized in that: The base tendon sheath constraint structure includes multiple second base tendon sheath constraint structures located on the back of the hand of the palm base or the wrist connecting block; the tendon sheaths on the back of the hand corresponding to the metacarpophalangeal joints of the index finger, the middle finger, the ring finger and the little finger are respectively passed through multiple second base tendon sheath constraint structures.

13. The robot according to claim 1, characterized in that: The palm unit includes a thumb carpometacarpal joint, which has a rotational degree of freedom and a lateral swinging degree of freedom; the thumb carpometacarpal joint includes a rotational part and a lateral swinging part, the lateral swinging part is mounted on the rotational part, and the rotational part is mounted on the palm base; One end of the tendon sheath corresponding to the lateral swing freedom of the thumb carpometacarpal joint is fixed on the lateral swing part; a tendon sheath fixing part is provided on the palm base, and one end of the tendon sheath corresponding to the circumferential rotation freedom of the thumb carpometacarpal joint is fixed on the tendon sheath fixing part.

14. The robot according to claim 13, characterized in that: A tendon sheath guiding element is disposed on the palm base, through which the tendon sheath on the first side of the thumb metacarpophalangeal joint passes, and the tendon sheath guiding element is configured to provide a preset range of motion space for the tendon sheath; A limiting structure is provided on the circumflex part of the thumb carpometacarpal joint, and the tendon sheath on the second side of the thumb metacarpophalangeal joint passes through the limiting structure and can slide on the limiting structure.

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