CN114536380B - Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand - Google Patents

Abstract

The invention relates to the technical field of human-like dexterous hands, and provides a five-degree-of-freedom full-drive humanoid thumb and a human-like dexterous hand. The five-degree-of-freedom full-drive humanoid thumb includes a thumb base, a first knuckle and a second knuckle. , the third knuckle, the fourth knuckle and the fifth knuckle; the first knuckle is rotatably connected with the thumb base to form a first joint, the second knuckle is rotatably connected with the first knuckle to form a second joint, and the first knuckle is rotatably connected with the first knuckle to form a second joint; The third knuckle is rotatably connected with the second knuckle to form the third joint, the fourth knuckle is rotatably connected with the third knuckle to form the fourth joint, and the fifth knuckle is rotatably connected with the fourth knuckle to form the fifth joint; The second joint, the fourth joint, and the fifth joint have degrees of freedom of flexion and extension, and the first joint and the third joint have degrees of freedom of rotation. The dexterity of the five-degree-of-freedom thumb exceeds that of the thumb of the existing dexterous hand, and the range of motion is larger than that of the thumb of a human hand, which is helpful for realizing actions that cannot be achieved by some human hands.

Description

5DOF fully actuated humanoid thumb and humanoid dexterous hand

technical field

The invention relates to the technical field of human-like dexterous hands, in particular to a five-degree-of-freedom full-drive human-like thumb and a human-like dexterous hand.

Background technique

The overall dexterity of a humanoid hand is largely determined by the dexterity of the thumb. The realization of human-like dexterous hand dexterity usually requires the thumb to have more than four degrees of freedom, and there are only a handful of thumbs with five degrees of freedom that are fully actuated.

The thumb joints of the human hand include the CarpoMetaCarpal joint (CMC joint for short), the MetacarpoPhalangeal joint (MP joint for short) and the InterPhalangeal joint (IP joint for short). The CMC joint is a saddle-shaped joint with three degrees of freedom, namely, flexion and extension degrees of freedom, adduction and abduction degrees of freedom, and axial rotation degrees of freedom. MP joint and IP joint each have one flexion and extension degree of freedom. Therefore, in order to realize human-like dexterous operation, the thumb of the human-like dexterous hand generally needs five active degrees of freedom.

At present, the thumb of humanoid dexterous hand generally has the problem of insufficient number of degrees of freedom. Most dexterous thumbs have 4 or less degrees of freedom. The research on the thumb of the dexterous human-like hand with five degrees of freedom fully driven is still insufficient. The existing five-degree-of-freedom thumb is either far from the shape of the human hand, or its dexterity and There is also a certain gap in manpower. Therefore, there is an urgent need to provide a new 5-DOF fully actuated humanoid thumb to improve the overall dexterity of the humanoid dexterous hand.

SUMMARY OF THE INVENTION

The present invention provides a five-degree-of-freedom full-drive humanoid thumb and a humanoid dexterous hand to solve the problem of insufficient dexterity of the humanoid dexterous hand in the prior art.

The invention provides a full-drive humanoid thumb with five degrees of freedom, comprising: a thumb base, a first knuckle, a second knuckle, a third knuckle, a fourth knuckle and a fifth knuckle;

The first knuckle is rotatably connected with the thumb base to form a first joint, the second knuckle is rotatably connected with the first knuckle to form a second joint, and the third knuckle and the The second knuckle is rotatably connected to form a third joint, the fourth knuckle is rotatably connected to the third knuckle to form a fourth joint, and the fifth knuckle is rotatably connected to the fourth knuckle to form a fourth joint fifth joint;

The second joint, the fourth joint and the fifth joint have degrees of freedom of flexion and extension, and the first joint and the third joint have degrees of freedom of rotation.

According to the five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the rotation axis of the first phalanx perpendicularly intersects with the rotation axis of the second phalanx, and the rotation axis of the third phalanx is perpendicular to the rotation axis of the The rotation axes of the second phalanx intersect perpendicularly, and the rotation axes of the first phalanx, the rotation axis of the third phalanx, and the rotation axis of the second phalanx intersect at one point.

A five-degree-of-freedom full-drive human-like thumb provided according to the present invention further includes a transmission mechanism, wherein the transmission mechanism is installed in the second knuckle; the first end of the third knuckle is connected to the fourth knuckle. The knuckles are rotatably connected to form the fourth joint, and the transmission mechanism is connected with the second end of the third knuckle to drive the third knuckle to rotate.

According to a five-degree-of-freedom full-drive human-like thumb provided by the present invention, the transmission mechanism includes a first bevel gear, a second bevel gear and a third joint drive wheel, the first bevel gear and the third knuckle coaxial fixed connection, the second bevel gear meshes with the first bevel gear, the third joint drive wheel is coaxially fixedly connected to the second bevel gear, and the third joint drive wheel and the The second knuckle is rotatably connected.

According to a five-degree-of-freedom full-drive human-like thumb provided by the present invention, the number of the second bevel gear and the third joint driving wheel is two, and the two second bevel gears are respectively located in the second bevel gear. On two axial sides of a bevel gear, the two second bevel gears and the two third joint drive wheels are arranged in a one-to-one correspondence.

According to a five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the third knuckle is provided with a limiting groove, the second knuckle is provided with a limiting member, and the limiting member is provided in the limiting groove is used to limit the rotation angle of the third joint.

According to a five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the first joint, the second joint, the third joint, the fourth joint and the fifth joint are all connected with driving tendons The driving tendons are used to drive the corresponding joints to flex or rotate.

A five-degree-of-freedom full-drive human-like thumb provided according to the present invention further includes a first joint driving wheel, the first joint driving wheel is coaxially and fixedly connected with the first knuckle, and the first joint driving wheel Coaxially and rotatably connected with the thumb base, a drive rope for driving the first joint is connected to the first joint driving wheel.

According to a five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the second knuckle is rotatably connected to the first knuckle through a second rotating shaft to form the second joint, and the fourth knuckle passes through The fourth rotating shaft is rotatably connected with the third knuckle to form the fourth joint; the axis of the fourth rotating shaft intersects perpendicularly with the rotation axis of the third knuckle; the fourth rotating shaft is provided with a first A tendon guide hole, the second rotating shaft is provided with a second tendon guide hole, the axis of the first tendon guide hole is perpendicular to the axis of the fourth rotating shaft, and the second tendon guide hole is the axis perpendicularly intersects with the axis of the second rotating shaft;

The driving tendons for driving the fifth joint are sequentially passed through the first tendon guide holes and the second tendon guide holes, and the driving tendons for driving the fourth joint and the driving tendons for driving The driving tendon of the third joint is passed through the second tendon guide hole.

According to a five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the hole walls of the first tendon guide hole and the second tendon guide hole are provided with a space-apart groove, and the space-apart groove is used for corresponding Provides shelter for the drive chords located within the joint when the joint is flexed.

According to a five-degree-of-freedom full-drive humanoid thumb provided by the present invention, the corresponding positions of the first joint, the second joint, the third joint, the fourth joint and the fifth joint are all set A joint position sensor is provided, and the joint position sensor is used to detect the rotation angle of the corresponding joint.

The present invention also provides a humanoid dexterous hand, comprising a palm base and any one of the above-mentioned five-degree-of-freedom full-drive humanoid thumbs, wherein the thumb base is connected to the palm base.

The five-degree-of-freedom full-drive humanoid thumb and human-like dexterous hand provided by the present invention, wherein the five-DOF full-drive humanoid thumb is used to be integrated into the metacarpophalangeal base, and can pass through the second joint, the fourth joint and the fifth joint The flexion and extension achieve the grasping action of the thumb. The palm-to-hand action of the thumb can also be achieved through the flexion and extension of the first joint and the fourth and fifth joints. On this basis, the rotation of the third joint can also drive the fourth phalanx and the fifth phalanx to deflect a certain angle to complete more complex movements. The dexterity of the thumb exceeds that of the existing dexterous hand thumb, and its range of motion is larger than that of the human thumb, which is helpful for the human-like dexterous hand to realize actions that cannot be achieved by some human hands.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a five-degree-of-freedom full-drive imitation human thumb structure schematic diagram provided by the present invention;

2 is a front view of a five-degree-of-freedom full-drive humanoid thumb provided by the present invention;

Fig. 3 is the bottom view of the thumb of the five-degree-of-freedom full-drive imitation human provided by the present invention;

Fig. 4 is the top view of the thumb of the five-degree-of-freedom full-drive imitation human provided by the present invention;

Fig. 5 is one of the sectional views of the five-degree-of-freedom full-drive human-like thumb provided by the present invention;

6 is the second sectional view of the five-degree-of-freedom full-drive human-like thumb provided by the present invention;

Fig. 7 is one of the tendon cord layout diagrams of the five-degree-of-freedom full-drive imitation human thumb provided by the present invention;

Fig. 8 is the second chord layout diagram of the five-degree-of-freedom full-drive imitation human thumb provided by the present invention;

Fig. 9 is the third chord layout diagram of the five-degree-of-freedom full-drive imitation human thumb provided by the present invention;

10 is the third cross-sectional view of the five-degree-of-freedom full-drive human-like thumb provided by the present invention;

11 is a schematic structural diagram of the third joint of the human thumb with five degrees of freedom full drive provided by the present invention;

Figure 12 is a schematic diagram of the second joint of the five-degree-of-freedom full-drive imitation human thumb at 0 degree position provided by the present invention;

13 is a schematic diagram of the second joint of the five-degree-of-freedom full-drive imitation human thumb at a 90-degree position provided by the present invention;

14 is a schematic diagram of a split line of a second joint of a five-degree-of-freedom full-drive imitation human thumb provided by the present invention;

15 is a cross-sectional view of the second joint split line structure of the five-degree-of-freedom full-drive human-like thumb provided by the present invention;

16 is a schematic diagram of the installation structure of the five-degree-of-freedom full-drive humanoid thumb and palm-finger base provided by the present invention;

Figure 17 is a partial structural cross-sectional view of the humanoid dexterous hand provided by the present invention;

18 is a schematic structural diagram of a human-like dexterous hand provided by the present invention;

Reference number:

100. Five-degree-of-freedom full-drive humanoid thumb; 200. Palm base; 10. Thumb base; 11. First knuckle; 13. First joint; 14. First joint driving wheel; 151, First joint positive driving tendon rope; 152, the first joint reversely drives the tendon rope; 161, the fourth magnet ring; 162, the fourth magnetic grid; 21, the second knuckle; 211, the limiter; 22, the second shaft; 221, 222, the second giving way slot; 23, the second joint; 241, the second joint drives the tendon in the forward direction; 242, the second joint drives the tendon in the reverse direction; 25, the tendon line dividing block ;26, drive shaft; 271, third magnet ring; 272, third magnetic grid; 31, third knuckle; 311, limit groove; 32, third shaft; 33, third joint; 341, first cone Gear; 342, the second bevel gear; 343, the third joint drive wheel; 351, the third joint forward drive tendon rope; 352, the third joint reverse drive tendon rope; 41, the fourth knuckle; 42, the fourth Rotating shaft; 422, the second give way slot; 421, the first tendon rope guide hole; 422, the first give way slot; 43, the fourth joint; 44, the fourth knuckle cushion; 451, the fourth joint is driven forward tendon rope; 452, the fourth joint reverse driving tendon rope; 46, pulley; 47, tendon rope guide shaft; 48, tendon rope guide block; 491, second magnet ring; 492, second magnetic grid; 51, fifth Knuckles; 52, the fifth shaft; 53, the fifth joint; 54, the fifth knuckle cushion; 55, the driving block; 561, the fifth joint drives the chord in the forward direction; 562, the fifth joint drives the chord in the reverse direction 571, the first magnet ring; 572, the first magnetic grid.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first", "second", "third", "fourth" and "fifth" are used to clearly describe product components The numbering carried out does not represent any substantial difference. Also, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, Or integrally connected; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The following describes the five-degree-of-freedom full-drive humanoid thumb and humanoid dexterous hand of the present invention with reference to FIGS. 1 to 18 .

The present invention provides a full-drive humanoid thumb with five degrees of freedom, and the five-DOF full-drive humanoid thumb 100 can be integrated with the palm of a humanoid dexterous hand. As shown in FIGS. 1-8 , the five-DOF fully actuated humanoid thumb 100 includes a thumb base 10 , a first knuckle 11 , a second knuckle 21 , a third knuckle 31 , a fourth knuckle 41 and a fifth knuckle Knuckles 51. The first knuckle 11 is rotatably connected with the thumb base 10 to form a first joint 13 . The second knuckle 21 is rotatably connected with the first knuckle 11 to form a second joint 23 . The third knuckle 31 and the second knuckle 21 are rotatably connected to form a third joint 33 . The fourth knuckle 41 and the third knuckle 31 are rotatably connected to form a fourth joint 43 . The fifth knuckle 51 and the fourth knuckle 41 are rotatably connected to form a fifth joint 53 .

The second joint 23 , the fourth joint 43 and the fifth joint 53 have degrees of freedom in flexion and extension, and the first joint 13 and the third joint 33 have degrees of freedom in rotation. That is, the first knuckle 11 can rotate relative to the thumb base 10, the second knuckle 21 can perform flexion and extension motion relative to the first knuckle 11, the third knuckle 31 can rotate relative to the second knuckle 21, and the fourth knuckle The phalanx 41 can perform flexion and extension movements relative to the third phalanx 31 , and the fifth phalanx 51 can perform flexion and extension movements relative to the fourth phalanx 41 .

The five-degree-of-freedom full-drive humanoid thumb has five joints, corresponding to five degrees of freedom, all five degrees of freedom are active degrees of freedom, and each joint can be driven independently. The thumb configuration is "311 configuration", that is, the first joint 13, the second joint 23 and the third joint 33 correspond to the CMC joints of the human hand, and are used to realize the function of the CMC joints. The fourth joint 43 corresponds to the MP joint of the human hand, and is used to realize the function of the MP joint. The fifth joint 53 corresponds to the IP joint of the human hand, and is used to realize the function of the IP joint.

The five-degree-of-freedom full-drive human-like thumb provided by the embodiment of the present invention is used to be integrated into the metacarpophalangeal base, and the grasping action of the thumb can be realized through the flexion and extension of the second joint 23 , the fourth joint 43 and the fifth joint 53 . The palm-to-palm action of the thumb can also be achieved through the rotation of the first joint 13 and the flexion and extension of the fourth joint 43 and the fifth joint 53 , that is, the action in which the volar surface of the fingertip of the thumb is in contact with the volar surface of the fingertips of other fingers. On this basis, the rotation of the third joint 33 can also drive the fourth knuckle 41 and the fifth knuckle 51 to deflect to a certain angle, so as to complete more complex actions. For example, the palm-to-palm action in which the palm surface of the fingertip of the thumb is in direct contact with the palm surfaces of other fingers, and the finger-to-finger action in which the fingertip of the thumb is in direct contact with the fingertips of the other fingers. The 5-DOF full-drive humanoid thumb is a new "311" configuration of the 5-DOF thumb. Use the dexterous hand to achieve actions that some human hands cannot.

Further, as shown in FIG. 4 , the rotation axis A1 of the first phalanx 11 and the rotation axis A2 of the second phalanx 12 intersect perpendicularly, and the rotation axis A3 of the third phalanx 31 and the rotation axis A2 of the second phalanx 12 intersect perpendicularly. intersect vertically. The rotation axis A1 of the first phalanx 11 , the rotation axis A3 of the third phalanx 31 , and the axis A2 of the second phalanx 12 intersect at one point.

When the second joint 23 is extended to the angle of 180° between the first phalanx 11 and the second phalanx 21 , the rotation axis A1 of the first phalanx 11 and the rotation axis A3 of the third phalanx 31 are coincident with the second phalanx 11 . The axes of rotation A2 of the knuckles 12 intersect perpendicularly. The compact structure of the five-DOF full-drive humanoid thumb makes it closer to the human hand. The rotation axis A4 of the fourth joint 43 is parallel to the rotation axis A5 of the fifth joint 53 .

The third phalanx 31 of the five-degree-of-freedom full-drive humanoid thumb is used for rotating motion relative to the second phalanx 21, and the first phalanx 11 is used for rotating motion relative to the thumb base 10, and can be set to a shorter length. To make the entire thumb close to the structure of the human hand, the size of the fifth knuckle 51 , the fourth knuckle 41 and the second knuckle 21 can be set at 1:1 or close to 1:1 with the human hand.

The five joints of the humanoid thumb with five degrees of freedom full drive provided by the embodiment of the present invention can be driven and rotated by a separate driving device. The first joint 13 , the second joint 23 , the third joint 33 , the fourth joint 43 and the fifth joint 53 are all connected with driving tendons, and the driving tendons are used to drive the corresponding joints to flex, extend or rotate. The driving device can be arranged outside the thumb and is drivingly connected with the corresponding joint through the driving tendon.

As shown in FIG. 5 and FIG. 6 , the five-degree-of-freedom full-drive humanoid thumb provided by the embodiment of the present invention further includes a transmission mechanism. The transmission mechanism is installed in the second knuckle 21 . The first end of the third knuckle 31 is rotatably connected with the fourth knuckle 41 to form a fourth joint 43 , and the transmission mechanism is connected with the second end of the third knuckle 31 to drive the third knuckle 31 to rotate.

Specifically, the second end of the third phalanx 31 can be rotatably connected to the first end of the second phalanx 21 directly through a bearing, or can be rotatably connected to the first end of the second phalanx 21 through other intermediate adapters connect. For example, as shown in FIG. 6 , a third rotating shaft 32 is fixed on the second end of the third knuckle 31 , and the second knuckle 21 and the third rotating shaft 32 are coaxially and rotatably connected. The driving end of the transmission mechanism is fixedly connected with the third rotating shaft 32 . When the transmission mechanism drives the third rotating shaft 32 to rotate, it drives the third knuckle 31 to rotate, thereby driving the fourth knuckle 41 and the fifth knuckle 51 to rotate around the third knuckle 31 . The axis of rotation A3 turns.

In some embodiments of the present invention, the transmission mechanism includes a first bevel gear 341 , a second bevel gear 342 and a third joint drive wheel 343 . The first bevel gear 341 is coaxially and fixedly connected with the third knuckle 31 , and the second bevel gear 342 meshes with the first bevel gear 341 . The third joint driving wheel 343 is coaxially and fixedly connected with the second bevel gear 342 . The third joint driving wheel 343 is rotatably connected with the second knuckle 21 .

Specifically, the third knuckle 31 is fixedly connected with the first bevel gear 341 through the third rotating shaft 32 . The second bevel gear 342 is rotatably mounted on the second knuckle 21 and is fixedly connected with the third joint driving wheel 343 . The third joint driving wheel 343 is used to connect the driving tendon, so as to drive the third joint driving wheel 343 to rotate through the tendon, thereby driving the second bevel gear 342, and the second bevel gear 342 drives the first bevel gear 341 to rotate, thereby driving the first bevel gear 341 to rotate. Three knuckles 31 turns.

Wherein, the second phalanx 21 includes a plurality of side plates, the plurality of side plates are surrounded to form a second phalanx main body, and an installation space is formed therein. The first bevel gear 341 , the second bevel gear 342 and the third joint drive wheel 343 are accommodated in the installation space, that is, the rotational drive of the third joint 33 is performed in the second knuckle 21 , so that the third knuckle 31 and the third joint 33 are rotated. The structure layout of the second knuckle 21 is compact.

As shown in FIG. 8 , the driving tendons for driving the third joint 33 to rotate are respectively the forward driving tendons 351 of the third joint and the reverse driving tendons 352 of the third joint. The number of the second bevel gears 342 and the third joint driving wheels 343 is two, and the two second bevel gears 342 are located on both axial sides of the first bevel gear 341 respectively. The two second bevel gears 342 and the two third joint driving wheels 343 are provided in a one-to-one correspondence. The third joint forward driving tendon 351 is connected to one of the third joint driving wheels 343 , and the third joint reverse driving tendon 352 is connected to the other third joint driving wheel 343 .

In this embodiment, the third joint driving wheel 343 can be driven to rotate in the first direction by the third joint driving the tendon 351 in the forward direction, so as to realize the forward rotation of the third joint 33; The joint driving wheel 343 rotates in the second direction to realize the reverse rotation of the third joint 33 . The provision of two third joint drive wheels 343 in this embodiment facilitates the arrangement of the driving tendons in the thumb of the five-degree-of-freedom full-drive humanoid, and at the same time improves the stability of the transmission mechanism and increases the driving stroke. The outer peripheral side of the third joint driving wheel 343 is provided with a wheel groove, and the third joint forward driving tendon 351 and the third joint reverse driving tendon 352 are respectively arranged in the corresponding wheel grooves of the third joint driving wheel 343 .

In some embodiments of the present invention, as shown in FIG. 10 , limiting structures are provided on the outer sides of the fifth knuckle 51 and the fourth knuckle 41 for limiting the rotation angle of the fifth joint 53 . For example, the fifth phalanx pad 54 is provided on the finger surface side of the fifth phalanx 51, the fourth phalanx pad 44 is provided on the finger surface side of the fourth phalanx 41, The four-knuckle soft pad 44 realizes the limit of the rotation of the fifth joint 53 .

Specifically, the ends of the fifth phalanx pad 54 and the fourth phalanx pad 44 close to each other are provided with limit surfaces. When the fifth joint 53 is bent at the maximum angle, the fifth phalanx pad 54 and the fourth finger pad The limit surfaces of the joint cushions 44 abut against each other. For example, if the motion range of the fifth joint 53 is 0° to 92°, when the fifth joint 53 is at an angle of 180°, the limit surface of the fifth phalanx cushion 54 and the limit of the fourth phalanx cushion 44 The faces are set at a 92° angle. When the fifth joint 53 is bent by 92°, the limiting surface of the fifth phalanx cushion 54 abuts against the limiting surface of the fourth phalanx cushion 44 to realize the limiting.

The outer side of the third knuckle 31 is also provided with a limiting structure for limiting the rotation angle of the fourth joint 43 . Specifically, the end of the third phalanx 31 close to the fourth phalanx 41 is provided with a limiting surface. When the fourth joint 43 is bent at a maximum angle, the limiting surfaces of the fourth phalanx 41 and the third phalanx 31 are in contact with each other. For example, the end of the fourth phalanx cushion 44 close to the third phalanx 31 is provided with another limiting surface. When the fourth joint 43 is bent at the maximum angle, the other limiting surface of the fourth phalanx cushion 44 is the same as the The limiting surfaces of the third knuckles 31 are in contact with each other.

For example, the range of motion of the fourth joint 43 is -6°~90°. When the fourth joint 43 is at an angle of 180°, the limiting surface of the fourth phalanx cushion 44 and the limiting surface of the third phalanx 31 are in the shape of an angle of 180°. 90° angle setting. When the fourth joint 43 is bent inward by 90°, the other limiting surface of the fourth phalanx cushion 44 abuts against the limiting surface of the third phalanx 31 to realize the limiting.

The back side of the second knuckle 21 is provided with a limiting notch, and the back side of the second knuckle 21 is the side opposite to the finger surface side. When the second joint 23 is bent outward at the maximum angle, the back side of the first phalanx 11 is in contact with the limiting notch. Optionally, the back side of the first phalanx 11 is a cylindrical structure, and the limiting notch is a semicircular notch. For example, if the range of motion of the second joint 23 is 0° to 90°, when the second joint 23 is bent by 90°, the back side of the first phalanx 11 is in contact with the limiting notch to realize the limiting.

Wherein, the back side of the fifth phalanx 51 , the back side of the fourth phalanx 41 and the back side of the third phalanx may also be provided with limiting structures to limit the reverse rotation of the fifth phalanx 51 relative to the fourth phalanx 41 The angle limits the reverse rotation angle of the fourth knuckle 41 relative to the third knuckle 31 . For example, as shown in FIG. 10 , the fourth knuckle 43 can be restricted to bend outwardly relative to the third knuckle 31 by 6° through the limiting structures on the back side of the fourth knuckle 41 and the back side of the third knuckle 31 .

As shown in FIG. 16 , when the five-DOF full-drive humanoid thumb is installed and integrated with the palm structure, the thumb base 10 is connected to the palm base 200 of the palm structure. The rotation angle of the first joint 13 may be limited by the palm base 200 , or a limit block may be provided on the palm base 200 to achieve the limit. The movement range of the first joint 13 may be set to -90°˜180°, and optionally, the movement range of the first joint 13 is 0˜110°.

In some embodiments of the present invention, the third joint 33 can realize 360° rotation. Actually, the rotation angle of the third joint 33 can be limited as required. Specifically, as shown in FIG. 11 , the third phalanx 31 is provided with a limiting groove 311 , the second phalanx 21 is provided with a limiting member 211 , and the limiting member 211 is set in the limiting groove 311 for limiting the third phalanx The rotation angle of 31 relative to the second knuckle 21. When the third knuckle 31 rotates relative to the second knuckle 21 , the limiting member 211 slides in the arc-shaped limiting groove 311 . Specifically, the limiting slot 311 is an arc-shaped limiting slot 311 provided on the end surface of the third knuckle 31 close to the second knuckle 21 , and the limiting member 211 is a connecting block fixed to the first end of the second knuckle 21 the limit screw on the . For example, the central angle corresponding to the arc-shaped limiting groove 311 is 225°, and the rotational motion range of the third joint 33 is -90°~+135°.

In some embodiments of the present invention, the second knuckle 21 is rotatably connected to the first knuckle 11 through the second rotating shaft 22 to form a second joint 23 . Optionally, the second rotating shaft 22 is fixedly connected to the second knuckle 21 and is rotatably connected to the first knuckle 11 . Specifically, the second rotating shaft 22 is fixed to the second end of the second knuckle 21 , and the first knuckle 11 is hinged with the second knuckle 21 through the second rotating shaft 22 .

As shown in FIG. 7 , the driving chords for driving the second joint 23 to flex and extend are respectively a forward driving chord 241 of the second joint and a reverse driving chord 242 of the second joint. The second joint forward driving tendon 241 and the second joint reverse driving tendon 242 are respectively connected to the second knuckle 21 .

Specifically, the driving shaft 26 is fixed on the second rotating shaft 22 , and the forward driving tendon 241 of the second joint and the reverse driving tendon 242 of the second joint are respectively fixed and connected to the driving shaft 26 . A guide groove is provided on the outer peripheral side of the drive shaft 26 , and the forward driving tendon 241 of the second joint and the reverse driving tendon 242 of the second joint are respectively arranged in the guide grooves on both sides of the driving shaft 26 . The driving shaft 26 rotates around the axis of the second rotating shaft 22 under the driving action of the second joint forward driving tendon 241 or the second joint reverse driving tendon 242 to realize the flexion and extension motion of the second joint 23 .

The five-degree-of-freedom full-drive humanoid thumb provided by the embodiment of the present invention further includes a first joint driving wheel 14 . The first joint driving wheel 14 is coaxially and fixedly connected with the first knuckle 11 , and the first joint driving wheel 14 is coaxially and rotatably connected with the thumb base 10 . The first joint driving wheel 14 can rotate relative to the thumb base 10 under the driving of the tendon, thereby driving the first knuckle 11 to rotate around its axis. It should be noted that in the embodiment of the present invention, the axial direction of the knuckle and the axial direction of the thumb base 10 are both the direction of the knuckle along the length of the finger.

As shown in FIG. 9 , the driving tendons for driving the first joint 13 to rotate are respectively the first joint forward driving tendon 151 and the first joint reverse driving tendon 152 . One ends of the first joint forward driving tendon 151 and the first joint reverse driving tendon 152 are respectively connected to two sides of the outer periphery of the first joint driving wheel 14 . The first joint driving wheel 14 is provided with a wheel groove on the outer peripheral side, and the first joint forward driving tendon 151 and the first joint reverse driving tendon 152 are both arranged in the wheel groove of the first joint driving wheel 14 .

In some embodiments of the present invention, the fourth knuckle 41 is rotatably connected to the third knuckle 31 through the fourth rotating shaft 42 to form a fourth joint 43 . Optionally, the fourth rotating shaft 42 is fixedly connected to the fourth knuckle 41 and is rotatably connected to the third knuckle 31 . In some embodiments of the present invention, the fifth knuckle 51 is rotatably connected with the fourth knuckle 41 through the fifth rotating shaft 52 to form a fifth joint 53 . Optionally, the fifth rotating shaft 52 is fixedly connected to the fourth knuckle 41 and is rotatably connected to the fifth knuckle 51 . Specifically, the fifth rotating shaft 52 is fixed to the first end of the fourth knuckle 41 , and the fourth rotating shaft 42 is fixed to the second end of the fourth knuckle 41 . The fourth knuckle 41 is hinged with the fifth knuckle 51 through the fifth rotating shaft 52 , and the fourth knuckle 41 is hinged with the third knuckle 31 through the fourth rotating shaft 42 .

Wherein, the driving tendons for driving the fourth joint 43 to flex and extend are respectively the fourth joint forward driving tendon 451 and the fourth joint reverse driving tendon 452 . The forward driving tendon 451 of the fourth joint and the reverse driving tendon 452 of the fourth joint are respectively connected to the fourth knuckle 41 and located on both sides of the fourth rotating shaft 42 .

Specifically, the fourth knuckle 41 is provided with a fixing block, and the fixing block is fixed on the fourth rotating shaft 42 . Both the forward driving tendon 451 of the fourth joint and the reverse driving tendon 452 of the fourth joint are fixed to the fixing block. The fourth joint positively drives the tendon 451 and the fourth joint reversely drives the tendon 452 to drive the fixed block to rotate relative to the fourth rotating shaft 42 , so as to realize the flexion and extension motion of the fourth joint 43 .

Further, a pulley 46 is rotatably connected to the fourth rotating shaft 42 . The forward driving tendons 451 of the fourth joint and the reverse driving tendons 452 of the fourth joint are respectively arranged in the wheel grooves on both sides of the pulley 46 . The pulley 46 separates the fourth joint forward driving tendon 451 and the fourth joint reverse driving tendon 452, and reduces the fourth rotation shaft 42 to the fourth joint forward driving tendon 451 and the fourth joint reverse driving tendon 452 resistance from movement.

Wherein, the driving tendons used to drive the fifth joint 53 to flex and extend are respectively the fifth joint forward driving tendon 561 and the fifth joint reverse driving tendon 562, the fifth joint forward driving tendon 561 and the fifth joint reverse driving The driving tendons 562 are respectively connected to the fifth phalanx 51 and located on both sides of the fifth rotating shaft 52 .

Specifically, the fifth rotating shaft 52 is rotatably connected with a driving block 55 , and the driving block 55 is fixedly connected with the fifth knuckle 51 . The fifth joint forward driving tendon 561 and the fifth joint reverse driving tendon 562 are both fixed to the driving block 55 and located on both sides of the driving block 55 . The fifth joint positively drives the tendon 561 and the fifth joint reversely drives the tendon 562 to drive the driving block 55 to rotate relative to the fifth rotating shaft 52 to realize the flexion and extension motion of the fifth joint 53 .

In some embodiments of the present invention, as shown in FIG. 5 , the fourth phalanx 41 is provided with two tendon guide shafts 47 , and the two tendon guide shafts 47 are arranged in a gap, and the fifth joint drives the tendon 561 and the first The five-joint reverse driving tendon 562 is passed through the gap between the two tendon guide shafts 47 . The fourth phalanx 41 is also provided with a tendon rope guide block 48, and a pair of tendon rope guide holes are provided in the tendon rope guide block 48. The fifth joint drives the tendon rope 561 forward and the fifth joint reversely drives the tendon rope 562 in sequence. The tendon guide hole and the fourth rotating shaft 42 are passed through the tendon guide block 48 .

In some embodiments of the present invention, the fourth rotating shaft 42 is provided with a first tendon guide hole 421 , and the second rotating shaft 22 is provided with a second tendon guide hole 221 . The axis of the first tendon guide hole 421 intersects perpendicularly with the axis of the fourth rotating shaft 42 , and the axis of the second tendon guide hole 221 intersects vertically with the axis of the second rotating shaft 22 . The driving chord for driving the fifth joint 53 is passed through the first chord guide hole 421 and the second chord guide hole 221 in sequence, the driving chord for driving the fourth joint 43 and the driving chord for driving the third joint 33 The driving chord is inserted through the second chord guide hole 221 .

Specifically, the number of the first tendon guide holes 421 is two, and the fifth joint forward driving tendon 561 and the fifth joint reverse driving tendon 562 pass through the two first tendon guide holes 421 in one-to-one correspondence. . The number of the second chord guide holes 221 is six, the fourth joint drives the chord forward 451, the fourth joint drives the chord 452 in the reverse direction, the third joint drives the chord forward 351, and the third joint drives the chord in the reverse direction The rope 352 , the fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 pass through the six second tendon rope guide holes 221 in a one-to-one correspondence.

Wherein, the axis of the fourth rotating shaft 42 perpendicularly intersects with the rotation axis of the third knuckle 31 . The axis of rotation of the third knuckle 31 intersects perpendicularly with the axis of the second shaft 22 . The axis of the second rotating shaft 22 intersects perpendicularly with the rotation axis of the first knuckle 11 . The rotation axis of the first knuckle 11 , the rotation axis of the third knuckle 31 and the axis of the second rotating shaft 22 intersect at one point. In this way, the driving tendons for driving the second joint 23 , the third joint 33 , the fourth joint 43 and the fifth joint 53 are passed through the first phalanx 11 and pass through the central axis of the first phalanx 11 . The driving tendons for driving the third joint 33 , the fourth joint 43 and the fifth joint 53 are passed through the second rotating shaft 22 and pass through the axis of the second rotating shaft 22 . The driving tendons for driving the fourth joint 43 and the fifth joint 53 are passed through the third phalanx 31 and pass through the central axis of the third phalanx 31 . The driving tendons for driving the fifth joint 53 are passed through the fourth rotating shaft 42 and pass through the axis of the fourth rotating shaft 42 . Such a driving tendon arrangement can reduce the motion coupling between the five joints, improve the accuracy of the movements of each joint, and realize the human-like dexterity of the thumb of the dexterous hand.

The two first tendon guide holes 421 are symmetrically distributed with respect to the rotation axis of the third phalanx 31 and are disposed close to the rotation axis of the third phalanx 31 . The six second tendon guide holes 221 are symmetrically distributed with respect to the rotation axis of the first phalanx 11 and are disposed close to the rotation axis of the first phalanx 11 . In this way, the motion coupling between the first joint 13 and the third joint 33 and other joints can be further reduced.

Further, as shown in FIG. 12 and FIG. 13 , the hole walls of the first tendon guide hole 421 and the second tendon guide hole 221 are provided with a way-out groove, which is used to locate the corresponding joint when the corresponding joint is bent. Inner drive chords provide avoidance.

Wherein, the hole wall of each second tendon guide hole 221 of the second rotating shaft 22 is provided with a second abdication groove 222, and the second abdication groove 222 is used for the driving in the second joint 23 when the second joint 23 is bent. Tendon cords provide shelter.

Specifically, the second relinquishment groove 222 is located on the hole wall of the second tendon guide hole 221 on the side of the finger surface close to the second phalanx 21 . The second escaping groove 222 is a fan-shaped groove, and its angle is not less than 90°. The decoupling of the second joint 23 can be achieved to ensure that the postures of the third joint 33 , the fourth joint 43 and the fifth joint 53 are not affected when the second joint 23 is independently driven to move. When the second joint 23 is in the 0° angle state, the driving tendon in the second tendon guide hole 221 is along the driving tendon in the second tendon guide hole 221 when the second joint 23 is in the 0° angle state. The driving tendon extends along the axial direction of the second tendon guide hole 221 . When the second joint 23 is rotated to a 90° angle, the driving tendon in the second tendon guide hole 221 can be folded into a 90° angle.

As shown in FIG. 3 , the hole wall of each first tendon guide hole 421 of the fourth rotating shaft 42 is provided with a first escape groove 422 , and the first escape groove 422 has the same structure as the second escape groove 222 , so that The decoupling of the fourth joint 43 is achieved to ensure that the posture of the fifth joint 53 is not affected when the fourth joint 43 is independently driven to move.

In some embodiments of the present invention, the second phalanx 21 is provided with a tendon string dividing block 25, and the tendon string dividing block 25 is provided with three pairs of tendon string dividing holes. The tendon line dividing block 25 is fixedly connected to the second rotating shaft 22 or the second knuckle 21 , for example, the tendon rope dividing block 25 is fixedly connected to the second rotating shaft 22 through the driving shaft 26 . As shown in FIG. 14 and FIG. 15 , the three pairs of tendon splitting holes are respectively used to pass through the two driving tendons of the fifth joint 53 , the two driving tendons of the fourth joint 43 and the two driving tendons of the third joint 33 . Drive tendons. Wherein, the tendon line dividing block 25 is arranged in the second knuckle 21 . The outlets of the three pairs of tendon wire branching holes are sequentially arranged along the axis direction of the second rotating shaft 22 and correspond to the six second tendon rope guiding holes 221 on the second rotating shaft 22 one-to-one.

Optionally, the exits of the three pairs of tendon wire splitting holes are symmetrically distributed along the axis direction of the second rotating shaft 22 . Among them, the innermost pair is used to wear the fourth joint forward driving tendon 451 and the fourth joint reverse driving tendon 452, and the outermost pair is used to wear the third joint forward driving tendon 351 and The third joint drives the tendon 352 in reverse. The other pair is used for threading the fifth joint forward driving tendon 561 and the fifth joint reverse driving tendon 562 .

The three pairs of second tendon guide holes 221 correspond one-to-one with the exits of the three pairs of tendon splitting holes on the tendon splitting block 25 . The driving shaft 26 is provided with six tendon guide holes corresponding to the three pairs of tendon guide holes on the second rotating shaft 22 one-to-one. The driving tendons of the fifth joint 53 , the fourth joint 43 and the third joint 33 are sequentially passed through the tendon dividing block 25 , the driving shaft 26 , the second rotating shaft 22 , the first knuckle 11 and the thumb base 10 . into the palm area. The driving tendon of the second joint 23 is passed through the thumb base 10 and then enters the palm area. The first joint forward driving tendon 151 and the first joint reverse driving tendon 152 enter the palm area through the tendon guide block on the palm base 200 .

In the embodiment of the present invention, the corresponding positions of the first joint 13 , the second joint 23 , the third joint 33 , the fourth joint 43 and the fifth joint 53 are provided with joint position sensors, and the joint position sensors are used to detect the rotation of the corresponding joints angle.

As shown in FIG. 6 , the outer circumference of the driving block 55 is provided with a first magnet ring 571 coaxial with the fifth rotating shaft 52 , and the fourth finger 41 is provided with a first magnetic grid 572 coaxial with the first magnet ring 571 , the first magnet ring 571 and the first magnetic grid 572 form the joint position sensor of the fifth joint 53 . When the fifth joint 53 rotates, the first magnet ring 571 rotates around the axis of the fifth rotating shaft 52 , and the rotation angle of the fifth joint 53 can be determined according to the change of the magnetic field sensed by the first magnetic grid 572 .

The third knuckle 31 is provided with a second magnet ring 491 coaxial with the fourth rotating shaft 42 , the fourth knuckle 41 is provided with a second magnetic grid 492 coaxial with the second magnet ring 491 , the second magnet The ring 491 and the second magnetic grid 492 form a joint position sensor of the fourth joint 43 . When the fourth joint 43 rotates, the second magnet ring 491 rotates around the axis of the fourth shaft 42 to generate a magnetic field change, and the rotation angle of the fourth joint 43 can be determined according to the magnetic field change sensed by the second magnetic grid 492 .

The joint position sensor of the third joint 33 may use a potentiometer. The second bevel gear 342 is connected to the third joint drive wheel 343 through the transmission shaft, and the potentiometer is coaxially and fixedly connected to the transmission shaft. The rotation of the second bevel gear 342 drives the input hole of the potentiometer to rotate, and the voltage generated by the potentiometer changes linearly with the rotation angle, so as to measure the rotation angle of the third joint 33 .

The first knuckle 11 is provided with a third magnet ring 271 coaxial with the second rotating shaft 22, the second knuckle 21 is provided with a third magnetic grid 272 coaxial with the third magnet ring 271, the third magnet ring 271 and the third magnetic grid 272 form a joint position sensor of the second joint 23 . When the second joint 23 rotates, the third magnet ring 271 rotates around the axis of the second shaft 22 to generate a magnetic field change. The rotation angle of the second joint 23 can be determined according to the magnetic field change sensed by the third magnetic grid 272 .

As shown in FIG. 17 , the outer periphery of the first joint driving wheel 14 is provided with a fourth magnet ring 161 , and the palm base 200 is provided with a fourth magnetic grid 162 , the fourth magnet ring 161 and the fourth magnetic grid 162 form a first joint 13 joint position sensors. When the first joint 13 rotates, the fourth magnet ring 161 rotates to generate a magnetic field change, and the rotation angle of the first joint 13 can be determined according to the magnetic field change sensed by the fourth magnetic grid 162 .

The present invention also provides a humanoid dexterous hand, as shown in FIG. 16 and FIG. 17 , the humanoid dexterous hand includes a palm base 200 and any one of the above-mentioned five-degree-of-freedom full-drive humanoid thumb 100, the thumb base 10 is connected to Palm base 200 . The thumb base 10 may be connected to the palm base 200 by static connection such as riveting or screw connection. As shown in FIG. 18 , the palm base 200 is also connected with the index finger, the middle finger, the ring finger and the little finger of the humanoid hand.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (12)

1. A five-degree-of-freedom fully-driven humanoid thumb is characterized by comprising a thumb base, a first knuckle, a second knuckle, a third knuckle, a fourth knuckle and a fifth knuckle;

the first knuckle and the thumb base are rotatably connected to form a first joint, the second knuckle and the first knuckle are rotatably connected to form a second joint, the third knuckle and the second knuckle are rotatably connected to form a third joint, the fourth knuckle and the third knuckle are rotatably connected to form a fourth joint, and the fifth knuckle and the fourth knuckle are rotatably connected to form a fifth joint;

the second joint, the fourth joint and the fifth joint have flexion and extension degrees of freedom, and the first joint and the third joint have rotation degrees of freedom, so that the first knuckle can make rotation motion relative to the thumb base, the second knuckle can make flexion and extension motion relative to the first knuckle, the third knuckle can make rotation motion relative to the second knuckle, the fourth knuckle can make flexion and extension motion relative to the third knuckle, and the fifth knuckle can make flexion and extension motion relative to the fourth knuckle;

wherein the axis of rotation of the first knuckle is coaxial with the axis of the thumb base and the axis of rotation of the third knuckle is coaxial with the axis of the second knuckle.

2. The five degree-of-freedom fully-driven humanoid thumb of claim 1, wherein the axis of rotation of the first knuckle perpendicularly intersects the axis of rotation of the second knuckle, the axis of rotation of the third knuckle perpendicularly intersects the axis of rotation of the second knuckle, and the axis of rotation of the first knuckle, the axis of rotation of the third knuckle, and the axis of rotation of the second knuckle intersect at a point.

3. The five degree-of-freedom fully-actuated humanoid thumb of claim 1 further comprising a transmission mechanism mounted within the second knuckle; the first end of the third knuckle is rotatably connected with the fourth knuckle to form the fourth joint, and the transmission mechanism is connected with the second end of the third knuckle to drive the third knuckle to rotate.

4. The five-degree-of-freedom fully-driven humanoid thumb according to claim 3, wherein the transmission mechanism comprises a first bevel gear, a second bevel gear and a third joint driving wheel, the first bevel gear is coaxially and fixedly connected with the third knuckle, the second bevel gear is meshed with the first bevel gear, the third joint driving wheel is coaxially and fixedly connected with the second bevel gear, and the third joint driving wheel is rotatably connected with the second knuckle.

5. The five-degree-of-freedom fully-driven humanoid thumb as claimed in claim 4, characterized in that the number of the second bevel gears and the number of the third joint driving wheels are two, the two second bevel gears are respectively located at two axial sides of the first bevel gear, and the two second bevel gears and the two third joint driving wheels are arranged in a one-to-one correspondence manner.

6. The five-degree-of-freedom fully-driven humanoid thumb of claim 1, wherein the third knuckle is provided with a limiting groove, the second knuckle is provided with a limiting member, and the limiting member is arranged in the limiting groove and used for limiting a rotation angle of the third knuckle.

7. The five-degree-of-freedom fully-driven humanoid thumb of claim 1, wherein the first joint, the second joint, the third joint, the fourth joint and the fifth joint are all connected with drive tendon ropes for driving the corresponding joints to flex or rotate.

8. The five-degree-of-freedom fully-driven humanoid thumb of claim 7 further comprising a first joint drive wheel, the first joint drive wheel being coaxially fixedly connected with the first knuckle, the first joint drive wheel being coaxially rotatably connected with the thumb base, a drive member rope for driving the first joint being connected to the first joint drive wheel.

9. The five-degree-of-freedom fully-driven humanoid thumb of claim 7, wherein the second knuckle is rotatably connected with the first knuckle by a second rotating shaft to form the second joint, and the fourth knuckle is rotatably connected with the third knuckle by a fourth rotating shaft to form the fourth joint; the axis of the fourth rotating shaft is vertically intersected with the rotating axis of the third knuckle; a first tendon rope guide hole is formed in the fourth rotating shaft, a second tendon rope guide hole is formed in the second rotating shaft, the axis of the first tendon rope guide hole is vertically intersected with the axis of the fourth rotating shaft, and the axis of the second tendon rope guide hole is vertically intersected with the axis of the second rotating shaft;

and a driving tendon rope for driving the fifth joint sequentially penetrates through the first tendon rope guide hole and the second tendon rope guide hole, and a driving tendon rope for driving the fourth joint and a driving tendon rope for driving the third joint penetrate through the second tendon rope guide hole.

10. The five-degree-of-freedom fully-driven humanoid thumb of claim 9, wherein the hole walls of the first tendon rope guide hole and the second tendon rope guide hole are each provided with an abdicating groove for providing abduction for the driving tendon rope located therein in case of a corresponding joint bending.

11. The five-degree-of-freedom fully-driven humanoid thumb according to claim 1, wherein joint position sensors are arranged at corresponding positions of the first joint, the second joint, the third joint, the fourth joint and the fifth joint, and the joint position sensors are used for detecting rotation angles of the corresponding joints.

12. A humanoid dexterous hand comprising a palm base and a five-degree-of-freedom fully actuated humanoid thumb as claimed in any one of claims 1 to 11, the thumb base being attached to the palm base.

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