Dexterous hand thumb, dexterous hand and robot

Abstract

Provided in the embodiments of the present application are a dexterous hand thumb, a dexterous hand and a robot. The dexterous hand thumb is provided with a first driving assembly in a housing of a carpal bone assembly, wherein an output shaft of the first driving assembly is drivingly connected to a first end of a connecting frame assembly, such that the connecting frame assembly rotates about a second axis, the second axis being the central axis of the output shaft of the first driving assembly; a second end of the connecting frame assembly is drivingly connected to a first end of a metacarpal bone assembly; the central axis of the housing of the carpal bone assembly is a first axis, and the first axis is perpendicular to the second axis; and the xy-plane is a palm plane, and the yz-plane is a wrist cross section. In this way, by means of setting the minimum included angle between the first axis and the xy-plane to be greater than or equal to 25° but less than 45° and the minimum included angle between the first axis and the yz-plane to be greater than or equal to 5° but less than 23°, the dexterous hand thumb can better mimic the movement pattern of the human thumb, with a limited number of driving electric motors, thereby improving the bionic performance of the dexterous hand thumb.

Description

Dexterous hand thumb, dexterous hand and robots Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a dexterous thumb, a dexterous hand, and a robot. Background Technology

[0002] Dexterous hands, as highly precise robotic devices capable of mimicking the functions of the human hand, are an important branch of humanoid robotics. Their design is inspired by the complex structure and dexterity of the human hand, enabling them to perform diverse tasks such as dexterous grasping, various manipulations, and rich sensory perception. Currently, the core technology of dexterous hands lies primarily in the design of their mechanical structure. Due to the extreme complexity of the human hand's structure, the mechanical structure design of dexterous hands is developing towards multi-joint and modular designs to improve flexibility and biomimicry. Common design approaches include fully actuated hands and underactuated hands. A fully actuated hand refers to a hand where each joint module has its own drive motor that can be independently controlled, allowing for high-precision operation of each joint module. An underactuated hand, on the other hand, does not have a separate drive motor at each joint module; instead, it achieves actuation through linkages or wire drives, reducing the number of drive motors and facilitating control of the dexterous hand.

[0003] The thumb is the finger with the most degrees of freedom in the human hand. The thumb's degrees of freedom are formed by the mutual pulling of a group of small muscles. However, the number of drive motors in a dexterous hand cannot be increased indefinitely. Therefore, improving the biomimetic performance of the thumb, thereby improving the biomimetic performance of a dexterous hand, is an urgent problem to be solved, under the premise of limiting the number of drive motors. Technical issues

[0004] This application provides a dexterous thumb, a dexterous hand, and a robot. The wrist bone component in the dexterous thumb has its minimum included angle with the xy plane and yz plane set within a certain range, so that even with a limited number of drive motors, the dexterous thumb can still better match the movement mode of the human thumb, thereby improving the biomimetic performance of the dexterous thumb and thus improving the biomimetic performance of the dexterous hand. Technical solutions

[0005] A first aspect of this application provides a dexterous hand thumb, including: a carpal bone assembly, a connecting frame assembly, a metacarpal bone assembly, and a phalangeal bone assembly;

[0006] The central axis of the carpal bone assembly shell is the first axis;

[0007] The carpal bone assembly has a first drive assembly inside its housing. The output shaft of the first drive assembly is connected to the first end of the connecting frame assembly. The first drive assembly is used to output torque to make the connecting frame assembly rotate about a second axis. The second axis is the central axis of the output shaft of the first drive assembly.

[0008] The second end of the connecting frame assembly is driven to the first end of the metacarpal assembly, and the second end of the metacarpal assembly is driven to the phalangeal assembly.

[0009] Among them, the first axis is perpendicular to the second axis, and the minimum angle between the first axis and the xy plane is greater than or equal to 25 degrees and less than 45 degrees; the minimum angle between the first axis and the yz plane is greater than or equal to 5 degrees and less than 23 degrees; when the middle finger and the middle metacarpal bone are parallel, the plane swept by the middle finger during the abduction movement is the xy plane; when the middle finger and the middle metacarpal bone are parallel, the plane perpendicular to the central axis of the middle finger is the yz plane.

[0010] In one possible implementation, a second drive assembly is provided inside the housing of the metacarpal assembly. The output shaft of the second drive assembly is connected to the second end of the connecting frame assembly. The second drive assembly is used to output torque to make the connecting frame assembly rotate about a third axis, which is the central axis of the output shaft of the second drive assembly.

[0011] The first end of the phalanx assembly has a third drive assembly inside its housing. The output shaft of the third drive assembly is connected to the second end of the metacarpal assembly. The third drive assembly is used to output torque to make the phalanx assembly rotate around the fifth axis, which is the central axis of the output shaft of the third drive assembly.

[0012] Among them, the minimum included angle between the second axis and the third axis is greater than or equal to 70 degrees and they are located in different planes.

[0013] In one possible implementation, the minimum distance between the second axis and the third axis is less than or equal to 20 millimeters.

[0014] In one possible implementation, the phalanx assembly includes: a proximal phalanx and a distal phalanx;

[0015] A third drive assembly is provided inside the proximal phalanx shell. The output shaft of the third drive assembly is connected to the second end of the metacarpal assembly. The third drive assembly is used to output torque to make the phalanx assembly rotate about the fifth axis.

[0016] The distal phalanx shell is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the proximal phalanx via a transmission. The fourth drive assembly is used to output torque to make the distal phalanx rotate about a sixth axis. The sixth axis is the central axis of the output shaft of the fourth drive assembly.

[0017] The fifth and sixth axes are parallel.

[0018] In one possible implementation, the length ratio of the proximal phalanx, distal phalanx, and metacarpal components is 10:15:18.

[0019] In one possible implementation, the first drive component includes: a first motor and a first transmission component; the second drive component includes: a second motor and a second transmission component; the third drive component includes: a third motor and a third transmission component; and the fourth drive component includes: a fourth motor and a fourth transmission component.

[0020] The first motor is fixed inside the housing of the wrist bone assembly. The output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the connecting frame assembly.

[0021] The second motor is fixed inside the shell of the metacarpal assembly. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second end of the connecting frame assembly.

[0022] The third motor is fixed inside the shell of the proximal phalanx. The output shaft of the third motor is connected to the first end of the third transmission assembly, and the second end of the third transmission assembly is connected to the metacarpal assembly.

[0023] The fourth motor is fixed inside the shell of the distal phalanx. The output shaft of the fourth motor is connected to the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is connected to the proximal phalanx.

[0024] In one possible implementation, the outer shells of the carpal bone assembly, metacarpal bone assembly, and phalangeal bone assembly are all cylindrical.

[0025] In one possible implementation, the central axis of the metacarpal assembly housing is the fourth axis, the central axis of the phalangeal assembly is the seventh axis, and the minimum included angle between the fourth axis and the seventh axis is greater than or equal to 1 degree and less than or equal to 10 degrees.

[0026] In one possible implementation, the central axis of the first motor is parallel to the first axis, the central axis of the second motor is parallel to the fourth axis, the central axis of the third motor is parallel to the seventh axis, and the central axis of the fourth motor is parallel to the seventh axis.

[0027] In one possible implementation, the connecting frame assembly includes: a connecting frame body, a first auxiliary component, and a second auxiliary component;

[0028] The first end of the connecting frame body is connected to the first end of the output shaft of the first drive assembly, and the second end of the connecting frame body is connected to the first end of the output shaft of the second drive assembly.

[0029] The first end of the first auxiliary component is fixedly connected to the main body of the connecting frame, and the second end of the first auxiliary component is rotatably connected to the second end of the output shaft of the first drive assembly.

[0030] The first end of the second auxiliary component is fixedly connected to the main body of the connecting frame, and the second end of the second auxiliary component is rotatably connected to the second end of the output shaft of the second drive assembly.

[0031] A second aspect of the embodiments of this application provides a dexterous hand, which includes the dexterous hand thumb, dexterous hand fingers, and hand skeleton of any of the above-mentioned components;

[0032] The thumb portion of the dexterous hand is located within the palmar skeleton, and the dexterous hand thumb is connected to the first end of the palmar skeleton;

[0033] The fingers of a dexterous hand are located within the palmar skeleton, and the fingers of a dexterous hand are connected to the second end of the palmar skeleton.

[0034] A second aspect of this application provides a robot, which includes a dexterous hand as described above, and a robot body, wherein the dexterous hand is connected to the robot body. Beneficial effects

[0035] This application provides a dexterous thumb, a dexterous hand, and a robot. The dexterous thumb has a first drive component inside the outer shell of a carpal bone assembly. The output shaft of the first drive component is connected to the first end of a connecting frame assembly, causing the connecting frame assembly to rotate around a second axis. The second axis is the central axis of the output shaft of the first drive component. The second end of the connecting frame assembly is connected to the first end of a metacarpal bone assembly. The central axis of the outer shell of the carpal bone assembly is the first axis, and the first axis is perpendicular to the second axis. The xy plane is the palm plane, and the yz plane is the wrist section. By setting the minimum angle between the first axis and the xy plane to be greater than or equal to 25 degrees and less than 45 degrees, and the minimum angle between the first axis and the yz plane to be greater than or equal to 5 degrees and less than 23 degrees, the dexterous thumb can better conform to the movement mode of the human thumb, thereby improving the biomimetic performance of the dexterous thumb, even with a limited number of drive motors. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 is a schematic diagram of the positional relationship of the thumb of a dexterous hand in a human hand according to an embodiment of this application;

[0038] Figure 2 is a structural schematic diagram of a dexterous hand thumb provided in an embodiment of this application;

[0039] Figure 3 is an exploded structural diagram of a dexterous hand thumb provided in an embodiment of this application;

[0040] Figure 4 is a schematic diagram of the structure of a drive component in the thumb of a dexterous hand according to an embodiment of this application;

[0041] Reference numerals: Dexterous hand 1000; Dexterous hand thumb 100; Carpal bone assembly 10, First drive assembly 101; Connecting frame assembly 20, Connecting frame body 201, First auxiliary component 202, Second auxiliary component 203; Metacarpal bone assembly 30, Second drive assembly 301; Phalangeal bone assembly 40, Proximal phalanx 401, Distal phalanx 402, Third drive assembly 4011, Fourth drive assembly 4021; Dexterous hand finger 50, Finger phalanx 501, Finger metacarpal bone 502; First axis L1, Second axis L2, Third axis L3, Fourth axis L4, Fifth axis L5, Sixth axis L6, Seventh axis L7, Eighth axis L8, Ninth axis L9. The best embodiment of the present invention

[0042] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0043] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0044] For ease of explanation, this application only uses the right hand for description. Correspondingly, to implement the left hand, it is only necessary to mirror the right hand structure.

[0045] Referring to Figure 1, Figure 1 is a schematic diagram of the positional relationship of a dexterous hand thumb 100 in a human hand according to an embodiment of this application;

[0046] Figure 1 shows a perspective view of a person's right hand with the palm facing the paper. The dexterous thumb 100 provided in this embodiment is then placed at the position of the thumb skeleton in the perspective view.

[0047] Establish a spatial rectangular coordinate system based on Figure 1, where the xy plane is the palm plane, the zy plane is the wrist cross-section perpendicular to the palm plane, and the xz plane is a plane perpendicular to both the xy and zy planes.

[0048] More specifically, the xy plane is the plane formed when the phalanx 501 of the middle finger and the metacarpal bone 502 of the middle finger are parallel, that is, when the eighth axis L8 and the ninth axis L9 are parallel, and the phalanx 501 performs an abduction movement. The xz plane is the plane perpendicular to the eighth axis L8 when the phalanx 501 of the middle finger and the metacarpal bone 502 of the middle finger are parallel, that is, when the eighth axis L8 and the ninth axis L9 are parallel.

[0049] It should be understood that the abduction action of the finger phalanx 501 means that the finger phalanx 501, according to the abduction revolute joint in Figure 1, rotates the plane swept by the finger phalanx 501, i.e., the xy plane, with the connection between the finger phalanx 501 and the metacarpal bone 502 as the center of the revolute joint.

[0050] It should be understood that the finger phalanx 501 can rotate according to the bending and rotating joint, with the connection point between the finger phalanx 501 and the metacarpal bone 502 as the center of the rotating joint.

[0051] Referring to Figure 2, Figure 2 is a structural schematic diagram of a dexterous hand thumb 100 provided in an embodiment of this application;

[0052] The dexterous hand thumb 100 includes: a carpal bone assembly 10, a connecting frame assembly 20, a metacarpal bone assembly 30, and a phalangeal bone assembly 40;

[0053] The central axis of the outer shell of the wrist bone assembly 10 is the first axis;

[0054] The carpal bone assembly 10 has a first drive assembly 101 inside its housing. The output shaft of the first drive assembly 101 is connected to the first end of the connecting frame assembly 20. The first drive assembly 101 is used to output torque to make the connecting frame assembly 20 rotate around the second axis L2. The second axis L2 is the central axis of the output shaft of the first drive assembly 101.

[0055] The second end of the connecting frame assembly 20 is connected to the first end of the metacarpal assembly 30, and the second end of the metacarpal assembly 30 is connected to the phalangeal assembly 40.

[0056] Wherein, the first axis is perpendicular to the second axis L2; ​​the minimum angle between the first axis and the xy plane is greater than or equal to 25 degrees and less than 45 degrees; the minimum angle between the first axis and the yz plane is greater than or equal to 5 degrees and less than 23 degrees; when the middle finger and the middle metacarpal bone are parallel, the plane swept by the middle finger during the abduction movement is the xy plane; when the middle finger and the middle metacarpal bone are parallel, the plane perpendicular to the central axis of the middle finger is the yz plane.

[0057] It should be noted that the middle finger mentioned above refers to the phalanx 501 located at the middle finger, and the middle metacarpal refers to the metacarpal 502 located at the middle finger.

[0058] It should be understood that the first axis is perpendicular to the second axis L2, indicating that the central axis of the carpal bone assembly 10 housing is perpendicular to the central axis of the output shaft of the first drive assembly 101 of the carpal bone assembly 10. However, due to possible interference with the carpal bone assembly 10 housing, the connecting frame assembly 20, which is connected to the output shaft of the first drive assembly 101, can only rotate within a certain angle range. In order to make the movement mode of the dexterous thumb 100 provided in this application embodiment more in line with the movement mode of the human thumb, the minimum angle between the first axis and the xy plane is set to be greater than or equal to 25 degrees and less than 45 degrees, and the minimum angle between the first axis and the yz plane is set to be greater than or equal to 5 degrees and less than 23 degrees; thereby making the angle range of the connecting frame assembly 20 more in line with the rotation angle range of the human thumb.

[0059] This application provides a dexterous thumb 100. The dexterous thumb 100 has a first drive assembly 101 inside the housing of a carpal bone assembly 10. The output shaft of the first drive assembly 101 is connected to the first end of a connecting frame assembly 20, causing the connecting frame assembly 20 to rotate around a second axis L2, which is the central axis of the output shaft of the first drive assembly 101. The second end of the connecting frame assembly 20 is connected to the first end of a metacarpal bone assembly 30. The central axis of the housing of the carpal bone assembly 10 is the first axis, which is perpendicular to the second axis L2. The xy plane is the palm plane, and the yz plane is the wrist section. By setting the minimum angle between the first axis and the xy plane to be greater than or equal to 25 degrees and less than 45 degrees, and the minimum angle between the first axis and the yz plane to be greater than or equal to 5 degrees and less than 23 degrees, the dexterous thumb 100 can better conform to the movement of a human thumb, even with a limited number of drive motors, thereby improving the biomimetic performance of the dexterous thumb 100.

[0060] Furthermore, the first drive component 101 is provided inside the outer shell of the wrist bone assembly 10, which can be understood as the first drive component 101 being enclosed inside the outer shell of the wrist bone assembly 10.

[0061] Furthermore, regarding how the first drive component 101 is disposed within the housing of the carpal bone component 10, the housing of the carpal bone component 10 can be divided into several parts, the first drive component 101 can be placed inside one part of the housing, and then the other parts of the housing can be joined together to assemble the first drive component 101 within the housing of the carpal bone component 10.

[0062] Optionally, in some embodiments, a second drive assembly 301 is provided inside the housing of the metacarpal assembly 30. The output shaft of the second drive assembly 301 is connected to the second end of the connecting frame assembly 20. The second drive assembly 301 is used to output torque to make the connecting frame assembly 20 rotate about a third axis L3. The third axis L3 is the central axis of the output shaft of the second drive assembly 301.

[0063] A third drive assembly 4011 is provided inside the housing at the first end of the finger bone assembly 40. The output shaft of the third drive assembly 4011 is connected to the second end of the metacarpal assembly 30. The third drive assembly 4011 is used to output torque to make the finger bone assembly 40 rotate around the fifth axis L5. The fifth axis L5 is the central axis of the output shaft of the third drive assembly 4011.

[0064] Among them, the minimum included angle between the second axis L2 and the third axis L3 is greater than or equal to 70 degrees and they are located in different planes.

[0065] In this embodiment of the application, the second driving component 301 is provided inside the shell of the metacarpal component 30, which can be understood as the second driving component 301 being wrapped inside the shell of the carpal component 10.

[0066] Furthermore, the details of how the second drive component 301 is disposed within the housing of the metacarpal component 30 will not be repeated here. Please refer to the above description of how the first drive component 101 is disposed within the housing of the carpal component 10.

[0067] In this embodiment of the application, the third driving component 4011 is provided inside the first end shell of the finger bone component 40, which can be understood as the third driving component 4011 being wrapped inside the shell of the finger bone component 40.

[0068] Furthermore, the details of how the third drive component 4011 is disposed within the housing of the finger bone component 40 will not be repeated here. Please refer to the above description of how the first drive component 101 is disposed within the housing of the wrist bone component 10.

[0069] It should be understood that the second axis L2 is the central axis of the output shaft of the first drive assembly 101, and the third axis L3 is the central axis of the output shaft of the second drive assembly 301.

[0070] In this embodiment, the minimum included angle between the second axis L2 and the third axis L3 is set to be greater than or equal to 70 degrees and located in different planes. This allows the active degrees of freedom corresponding to the second axis L2 and the third axis L3 to better conform to the movement mode of the human thumb. This achieves better conformity to the movement mode of the human thumb when the number of drive motors is limited, thereby improving the biomimetic performance of the dexterous thumb 100.

[0071] Furthermore, by setting the minimum included angle between the second axis L2 and the third axis L3 to be greater than or equal to 70 degrees and located in different planes, it is possible to better conform to the movement mode of the human thumb when the number of drive motors is limited, thereby saving the number of drive motors, reducing the material cost of dexterous hands, and increasing the popularity of dexterous hands.

[0072] Optionally, in some embodiments, the minimum distance between the second axis L2 and the third axis L3 is less than or equal to 20 mm.

[0073] In this embodiment of the application, by making the minimum distance between the second axis L2 and the third axis L3 less than or equal to 20 mm, the movement mode or movement path of the dexterous hand thumb 100 can be made to better match the movement path of the human thumb, thereby improving the bionic performance of the dexterous hand thumb 100 and thus providing the bionic performance of the dexterous hand.

[0074] Optionally, in some embodiments, the phalanx assembly 40 includes: a proximal phalanx 401 and a distal phalanx 402;

[0075] The proximal phalanx 401 housing is provided with a third drive assembly 4011. The output shaft of the third drive assembly 4011 is connected to the second end of the metacarpal assembly 30. The third drive assembly 4011 is used to output torque to make the phalanx assembly 40 rotate about the fifth axis L5.

[0076] The distal phalanx 402 housing is provided with a fourth drive assembly 4021. The output shaft of the fourth drive assembly 4021 is connected to the proximal phalanx 401. The fourth drive assembly 4021 is used to output torque to make the distal phalanx 402 rotate around the sixth axis L6. The sixth axis L6 is the central axis of the output shaft of the fourth drive assembly 4021.

[0077] Among them, the fifth axis L5 and the sixth axis L6 are parallel.

[0078] In this embodiment of the application, the third driving component 4011 is provided inside the shell of the proximal phalanx 401, which can be understood as the third driving component 4011 being wrapped inside the shell of the proximal phalanx 401.

[0079] Furthermore, the details of how the third drive component 4011 is disposed within the housing of the proximal phalanx 401 will not be repeated here. Please refer to the above description of how the first drive component 101 is disposed within the housing of the carpal bone component 10.

[0080] In this embodiment of the application, the fourth driving component 4021 is provided inside the shell of the distal phalanx 402, which can be understood as the fourth driving component 4021 being wrapped inside the shell of the distal phalanx 402.

[0081] Furthermore, the details of how the fourth drive component 4021 is disposed within the housing of the distal phalanx 402 will not be elaborated here. Please refer to the above description of how the first drive component 101 is disposed within the housing of the carpal bone component 10.

[0082] It should be noted that by making the fifth axis L5 and the sixth axis L6 parallel, the rotation mode of the distal phalanx 402 and the proximal phalanx 401 is made to better match the movement mode of the human hand, thereby improving the biomimetic performance of the thumb 100 of the dexterous hand, and thus improving the biomimetic performance of the dexterous hand.

[0083] Furthermore, by including a distal phalanx 402 and a proximal phalanx 401 in the phalanx assembly, with a fourth drive assembly 4021 in the distal phalanx 402 and a third drive assembly 4011 in the proximal phalanx 401, the phalanx assembly 40 of the dexterous hand thumb 100 is upgraded from having only one active degree of freedom to having two active degrees of freedom, thereby improving the biomimetic performance of the dexterous hand thumb 100 and thus improving the biomimetic performance of the dexterous hand.

[0084] Optionally, in some embodiments, the length ratio of the proximal phalanx 401, the distal phalanx 402, and the metacarpal assembly 30 is 10:15:18.

[0085] In this embodiment, the length ratio of the proximal phalanx 401, the distal phalanx 402, and the metacarpal component 30 is set to 10:15:18. This better conforms to the length ratio of the phalanges of the human thumb, thereby improving the biomimetic performance of the dexterous hand thumb 100 in this application, and thus enhancing the biomimetic performance of the dexterous hand.

[0086] Optionally, in some embodiments, the first drive assembly 101 includes a first motor and a first transmission assembly; the second drive assembly 301 includes a second motor and a second transmission assembly; the third drive assembly 4011 includes a third motor and a third transmission assembly; and the fourth drive assembly 4021 includes a fourth motor and a fourth transmission assembly.

[0087] The first motor is fixed inside the housing of the wrist bone assembly 10. The output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the connecting frame assembly 20.

[0088] The second motor is fixed inside the shell of the metacarpal assembly 30. The output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second end of the connecting frame assembly 20.

[0089] The third motor is fixed inside the housing of the proximal phalanx 401. The output shaft of the third motor is connected to the first end of the third transmission assembly, and the second end of the third transmission assembly is connected to the metacarpal assembly 30.

[0090] The fourth motor is fixed inside the housing of the distal phalanx 402. The output shaft of the fourth motor is connected to the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is connected to the proximal phalanx 401.

[0091] In the embodiments of this application, the first motor, the second motor, the third motor and the fourth motor can all be high torque density brushless motors.

[0092] In the embodiments of this application, the first transmission component, the second transmission component, the third transmission component, and the fourth transmission component can all be interleaved shaft transmission mechanisms;

[0093] Furthermore, interleaved shaft transmission mechanisms include: worm gear transmission mechanisms, hypoid gear transmission mechanisms, interleaved shaft helical gear transmission mechanisms, cross belt / chain transmission mechanisms, face gear transmission mechanisms, and bevel gear-helical gear assembly transmission mechanisms, etc. No further limitations are imposed here.

[0094] It should be noted that the first motor is located inside the housing of the carpal bone assembly 10, the second motor is located inside the housing of the metacarpal bone assembly 30, the third motor is located inside the housing of the proximal phalanx 401, and the fourth motor is located inside the housing of the distal phalanx 402.

[0095] Furthermore, the first motor can be placed axially or radially within the housing of the wrist bone assembly 10, without further restrictions.

[0096] It should be understood that axial placement means that after the first motor is placed, the central axis of the first motor is parallel to the central axis of the outer shell of the carpal bone assembly 10.

[0097] It should be understood that radial placement means that after the first motor is placed, the central axis of the first motor is perpendicular to the central axis of the outer shell of the wrist bone assembly 10.

[0098] Similarly, the axial and radial placement of the second, third, and fourth motors can be understood with reference to the first motor, and will not be elaborated further here.

[0099] In this embodiment of the application, by setting a motor in each drive component, compared with the method of transmitting torque through linkage in the prior art, the decoupling between the moving joints can be achieved, thereby improving the biomimetic performance of the dexterous hand thumb 100, and thus improving the biomimetic performance of the dexterous hand.

[0100] Optionally, in some embodiments, the housings of the carpal bone assembly 10, the metacarpal bone assembly 30, and the phalangeal bone assembly 40 are all cylindrical.

[0101] In this embodiment, by making the outer shells of the carpal bone assembly 10, metacarpal bone assembly 30, and phalangeal bone assembly 40 all cylindrical, the radial dimensions of the outer shells of the carpal bone assembly 10, metacarpal bone assembly 30, and phalangeal bone assembly 40 can be greatly reduced. This allows the outer shells of the carpal bone assembly 10, metacarpal bone assembly 30, and phalangeal bone assembly 40 to fit as closely as possible to the internal motor, resulting in a compact internal space layout and a small external size for the dexterous hand thumb 100.

[0102] Furthermore, since the outer shells of the wrist bone assembly 10, metacarpal bone assembly 30, and phalangeal bone assembly 40 are all cylindrical, their shape better matches the shape of human finger bones. This facilitates the subsequent installation of other sensory components on the outer shell of the dexterous hand's thumb 100, thus improving the manufacturability of the dexterous hand.

[0103] Optionally, in some embodiments, the central axis of the metacarpal assembly 30 housing is the fourth axis L4, the central axis of the phalangeal assembly 40 is the seventh axis L7, and the minimum included angle between the fourth axis L4 and the seventh axis L7 is greater than or equal to 1 degree and less than or equal to 10 degrees.

[0104] In this embodiment, the fourth axis L4 refers to the central axis of the outer shell of the metacarpal component 30 in the dexterous thumb 100; the seventh axis L7 refers to the central axis of the outer shells of the distal phalanx 402 and the proximal phalanx 401 in the dexterous thumb 100. By setting the minimum included angle between the fourth axis L4 and the seventh axis L7 to be greater than or equal to 1 degree and less than or equal to 10 degrees, the positional relationship between the metacarpal component 30, the distal phalanx 402 and the proximal phalanx 401 of the dexterous thumb 100 can be made to better match the positional relationship between the phalanges of the human thumb, thereby improving the biomimetic performance of the dexterous thumb 100 and thus improving the biomimetic performance of the dexterous hand.

[0105] Optionally, in some embodiments, the central axis of the first motor is parallel to the first axis, the central axis of the second motor is parallel to the fourth axis L4, the central axis of the third motor is parallel to the seventh axis L7, and the central axis of the fourth motor is parallel to the seventh axis L7.

[0106] In this embodiment, the parallelism between the center of the first motor and the first axis includes two cases: the center axis of the first motor is located on the first axis and the center axis of the first motor is not located on the first axis. Both of these cases save more internal space inside the carpal bone assembly 10 than placing the first motor radially inside the outer shell of the carpal bone assembly 10.

[0107] Furthermore, having the central axis of the first motor located on the first axis saves more internal space within the housing of the wrist bone assembly 10 compared to having the central axis of the first motor not located on the first axis.

[0108] Both of these approaches can save internal space within the outer shell of the wrist bone assembly 10, thereby reducing the overall size of the wrist bone assembly 10.

[0109] Furthermore, through the above methods, the diameter of the metacarpal component in this application can be reduced to 12-22 mm, the diameter of the proximal phalanx can be reduced to 12-18 mm, and the diameter of the distal phalanx can be reduced to 10-18 mm.

[0110] Optionally, in some embodiments, the connecting frame assembly 20 includes: a connecting frame body 201, a first auxiliary member 202, and a second auxiliary member 203;

[0111] The first end of the connecting frame body 201 is connected to the first end of the output shaft of the first drive assembly 101, and the second end of the connecting frame body 201 is connected to the first end of the output shaft of the second drive assembly 301.

[0112] The first end of the first auxiliary component 202 is fixedly connected to the main body 201 of the connecting frame, and the second end of the first auxiliary component 202 is rotatably connected to the second end of the output shaft of the first drive assembly 101.

[0113] The first end of the second auxiliary component 203 is fixedly connected to the main body 201 of the connecting frame, and the second end of the second auxiliary component 203 is rotatably connected to the second end of the output shaft of the second drive assembly 301.

[0114] In this embodiment of the application, by including the connecting frame assembly 20 as a connecting frame body 201, a first auxiliary component 202, and a second auxiliary component 203, the assembly difficulty of the dexterous hand thumb 100 can be greatly reduced and the manufacturability of the dexterous hand thumb 100 can be improved.

[0115] A second aspect of the embodiments of this application provides a dexterous hand 1000, which includes a dexterous hand thumb 100, dexterous hand fingers 50 and a hand skeleton as described above;

[0116] The dexterous hand thumb 100 is located inside the palmar skeleton, and the dexterous hand thumb 100 is connected to the first end of the palmar skeleton;

[0117] The dexterous hand finger 50 is located within the palmar skeleton, and the dexterous hand finger 50 is connected to the second end of the palmar skeleton.

[0118] In this embodiment, the dexterous hand 1000 includes: a dexterous thumb 100, dexterous fingers 50, and a hand skeleton as described above; the dexterous thumb 100 is partially located within the hand skeleton and connected to a first end of the hand skeleton; the dexterous fingers 50 are partially located within the hand skeleton and connected to a second end of the hand skeleton. Therefore, the dexterous hand with the dexterous thumb 100 possesses high biomimetic performance.

[0119] A third aspect of this application provides a robot, which includes a dexterous hand 1000 as described above, and a robot body, wherein the dexterous hand 1000 is connected to the robot body.

[0120] In this embodiment, the robot has good biomimetic performance by having the aforementioned dexterous hand 1000 and a robot body, with the dexterous hand 1000 connected to the robot body.

[0121] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A dexterous hand thumb, characterized in that, include: Carpal bone assembly, connector assembly, metacarpal bone assembly, and phalangeal bone assembly; The central axis of the carpal bone assembly shell is the first axis; The carpal bone assembly has a first drive assembly inside its housing. The output shaft of the first drive assembly is connected to the first end of the connecting frame assembly. The first drive assembly is used to output torque to make the connecting frame assembly rotate about a second axis, which is the central axis of the output shaft of the first drive assembly. The second end of the connecting frame assembly is driven to the first end of the metacarpal assembly, and the second end of the metacarpal assembly is driven to the phalangeal assembly; Wherein, the first axis is perpendicular to the second axis, the minimum angle between the first axis and the xy plane is greater than or equal to 25 degrees and less than 45 degrees; the minimum angle between the first axis and the yz plane is greater than or equal to 5 degrees and less than 23 degrees; when the middle finger and the middle metacarpal bone are parallel, the plane swept by the middle finger during an abduction motion is the xy plane; when the middle finger and the middle metacarpal bone are parallel, the plane perpendicular to the central axis of the middle finger is the yz plane.

2. The dexterous hand thumb according to claim 1, characterized in that, The metacarpal assembly has a second drive assembly inside its housing. The output shaft of the second drive assembly is connected to the second end of the connecting frame assembly. The second drive assembly is used to output torque to make the connecting frame assembly rotate about a third axis, which is the central axis of the output shaft of the second drive assembly. The first end of the finger bone assembly has a housing containing a third drive assembly. The output shaft of the third drive assembly is connected to the second end of the metacarpal assembly. The third drive assembly is used to output torque to make the finger bone assembly rotate about a fifth axis. The fifth axis is the central axis of the output shaft of the third drive assembly. The minimum included angle between the second axis and the third axis is greater than or equal to 70 degrees and they are located in different planes.

3. The dexterous hand thumb according to claim 2, characterized in that, The minimum distance between the second axis and the third axis is less than or equal to 20 millimeters.

4. The dexterous hand thumb according to claim 2, characterized in that, The phalangeal assembly includes: a proximal phalanx and a distal phalanx; The third drive assembly is provided inside the proximal phalanx shell. The output shaft of the third drive assembly is connected to the second end of the metacarpal assembly. The third drive assembly is used to output torque to make the phalanx assembly rotate about the fifth axis. The distal phalanx shell is provided with a fourth drive assembly. The output shaft of the fourth drive assembly is connected to the proximal phalanx. The fourth drive assembly is used to output torque to make the distal phalanx rotate about a sixth axis. The sixth axis is the central axis of the output shaft of the fourth drive assembly. The fifth axis and the sixth axis are parallel.

5. The dexterous hand thumb according to claim 4, characterized in that, The length ratio of the proximal phalanx, the distal phalanx, and the metacarpal assembly is 10:15:

18.

6. The dexterous hand thumb according to claim 4, characterized in that, The first drive assembly includes: a first motor and a first transmission assembly; the second drive assembly includes: a second motor and a second transmission assembly; the third drive assembly includes: a third motor and a third transmission assembly; the fourth drive assembly includes: a fourth motor and a fourth transmission assembly. The first motor is fixed inside the housing of the wrist bone assembly, the output shaft of the first motor is connected to the first end of the first transmission assembly, and the second end of the first transmission assembly is connected to the first end of the connecting frame assembly. The second motor is fixed inside the shell of the metacarpal assembly, and the output shaft of the second motor is connected to the first end of the second transmission assembly, and the second end of the second transmission assembly is connected to the second end of the connecting frame assembly. The third motor is fixed inside the shell of the proximal phalanx, the output shaft of the third motor is connected to the first end of the third transmission assembly, and the second end of the third transmission assembly is connected to the metacarpal assembly. The fourth motor is fixed inside the shell of the distal phalanx, the output shaft of the fourth motor is connected to the first end of the fourth transmission assembly, and the second end of the fourth transmission assembly is connected to the proximal phalanx.

7. The dexterous hand thumb according to claim 1, characterized in that, The outer shells of the carpal bone assembly, the metacarpal bone assembly, and the phalangeal bone assembly are all cylindrical.

8. The dexterous hand thumb according to claim 6, characterized in that, The central axis of the metacarpal assembly housing is the fourth axis, the central axis of the phalangeal assembly is the seventh axis, and the minimum included angle between the fourth axis and the seventh axis is greater than or equal to 1 degree and less than or equal to 10 degrees.

9. The dexterous hand thumb according to claim 8, characterized in that, The central axis of the first motor is parallel to the first axis, the central axis of the second motor is parallel to the fourth axis, the central axis of the third motor is parallel to the seventh axis, and the central axis of the fourth motor is parallel to the seventh axis.

10. The dexterous hand thumb according to claim 1, characterized in that, The connecting frame assembly includes: a connecting frame body, a first auxiliary component, and a second auxiliary component; The first end of the connecting frame body is connected to the first end of the output shaft of the first drive component, and the second end of the connecting frame body is connected to the first end of the output shaft of the second drive component. The first end of the first auxiliary component is fixedly connected to the main body of the connecting frame, and the second end of the first auxiliary component is rotatably connected to the second end of the output shaft of the first drive assembly. The first end of the second auxiliary component is fixedly connected to the main body of the connecting frame, and the second end of the second auxiliary component is rotatably connected to the second end of the output shaft of the second drive assembly.

11. A dexterous hand, characterized in that, The dexterous hand includes the dexterous hand thumb, dexterous hand fingers, and hand skeleton as described in any one of claims 1 to 10; The dexterous hand thumb portion is located within the hand skeleton, and the dexterous hand thumb is connected to the first end of the hand skeleton; The dexterous hand fingers are located within the hand skeleton, and the dexterous hand fingers are connected to the second end of the hand skeleton.

12. A robot, characterized in that, It includes a dexterous hand as described in claim 11, and a robot body, wherein the dexterous hand is connected to the robot body.

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