CN114536380B

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

Info

Publication number: CN114536380B
Application number: CN202210442625.8A
Authority: CN
Inventors: 郝高明; 王鹏; 张天懿; 王瑛璐; 沈晓飞
Original assignee: Institute of Automation of Chinese Academy of Science
Current assignee: Institute of Automation of Chinese Academy of Science
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-09-06
Anticipated expiration: 2042-04-26
Also published as: CN114536380A

Abstract

The invention relates to the technical field of humanoid dexterous hands, and provides a five-degree-of-freedom fully-driven humanoid thumb and a humanoid dexterous hand, wherein the five-degree-of-freedom fully-driven humanoid thumb comprises 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, fourth and fifth joints have flexion-extension degrees of freedom and the first and third joints have swivel degrees of freedom. The dexterity of the five-degree-of-freedom thumb exceeds that of the thumb of the existing dexterity hand, the moving range is larger than that of the thumb of a hand, and the five-degree-of-freedom thumb is beneficial to realizing the action which can not be realized by part of the hand.

Description

Five-freedom-degree full-drive humanoid thumb and humanoid dexterous hand

Technical Field

The invention relates to the technical field of humanoid dexterous hands, in particular to a five-degree-of-freedom fully-driven humanoid thumb and a humanoid dexterous hand.

Background

The overall dexterity of a humanoid dexterity hand depends to a large extent on the dexterity of the thumb. The realization of the dexterous operation of the humanoid dexterous hand generally requires that the thumb has more than four degrees of freedom and the total drive of the thumb with five degrees of freedom can be counted.

The thumb joint of the human hand includes a CarpoMetaCarpal joint (CMC joint for short), a MetacarpoPhalangeal joint (MP joint for short), and an InterPhalangeal joint (IP joint for short). The CMC joint is a saddle-shaped joint which has 3 degrees of freedom, namely flexion and extension degrees of freedom, adduction and abduction degrees of freedom and axial rotation degrees of freedom, and the MP joint and the IP joint respectively have 1 flexion and extension degree of freedom. Therefore, in order to realize human-like dexterous operation, the thumb of the human-like dexterous hand is required to have five active degrees of freedom.

The current thumb of the humanoid dexterous hand generally has the problem of insufficient number of degrees of freedom. Most dexterous hand thumbs have 4 or less degrees of freedom. The research on the thumb of a five-degree-of-freedom fully-driven humanoid dexterous hand is not enough, and the existing five-degree-of-freedom thumb has a large difference with the shape of the hand, or has a certain difference with the dexterity of the hand due to the reasons of model simplification approximation, joint motion range and the like. Therefore, it is highly desirable to provide a new five-degree-of-freedom fully-driven human thumb simulator to improve the overall dexterity of the human dexterity hand.

Disclosure of Invention

The invention provides a five-degree-of-freedom fully-driven humanoid thumb and a humanoid dexterous hand, which are used for solving the problem of insufficient dexterity of the humanoid dexterous hand in the prior art.

The invention provides a five-degree-of-freedom fully-driven humanoid thumb, which comprises: comprises 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 a flexion-extension degree of freedom, and the first joint and the third joint have a rotation degree of freedom.

According to the five-degree-of-freedom full-drive humanoid thumb provided by the invention, the rotation axis of the first knuckle is vertically intersected with the rotation axis of the second knuckle, the rotation axis of the third knuckle is vertically intersected with the rotation axis of the second knuckle, and the rotation axis of the first knuckle, the rotation axis of the third knuckle and the rotation axis of the second knuckle are intersected at one point.

The five-degree-of-freedom fully-driven humanoid thumb further comprises a transmission mechanism, wherein the transmission mechanism is arranged in 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.

According to the five-degree-of-freedom fully-driven humanoid thumb provided by the invention, 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.

According to the five-degree-of-freedom fully-driven humanoid thumb provided by the invention, 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 positioned 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.

According to the five-degree-of-freedom fully-driven human-simulated thumb provided by the invention, the third knuckle is provided with a limiting groove, the second knuckle is provided with a limiting piece, and the limiting piece is arranged in the limiting groove and used for limiting the rotating angle of the third knuckle.

According to the five-degree-of-freedom fully-driven humanoid thumb provided by the invention, the first joint, the second joint, the third joint, the fourth joint and the fifth joint are all connected with driving tendon ropes, and the driving tendon ropes are used for driving the corresponding joints to bend, stretch or rotate.

The five-degree-of-freedom fully-driven humanoid thumb provided by the invention further comprises a first joint driving wheel, wherein the first joint driving wheel is coaxially and fixedly connected with the first knuckle, the first joint driving wheel is coaxially and rotatably connected with the thumb base, and a driving piece rope for driving the first joint is connected with the first joint driving wheel.

According to the five-degree-of-freedom fully-driven humanoid thumb provided by the invention, the second knuckle is rotatably connected with the first knuckle through a second rotating shaft to form the second joint, and the fourth knuckle is rotatably connected with the third knuckle through 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.

According to the five-degree-of-freedom fully-driven humanoid thumb provided by the invention, the hole walls of the first tendon rope guide hole and the second tendon rope guide hole are respectively provided with a abdicating groove, and the abdicating grooves are used for abdicating the driving tendon ropes positioned in the first tendon rope guide holes and the second tendon rope guide holes under the condition that the corresponding joints are bent.

According to the five-degree-of-freedom fully-driven human-simulated thumb provided by the invention, 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 are used for detecting the rotating angles of the corresponding joints.

The invention also provides a humanoid dexterous hand which comprises a palm substrate and any one of the five-degree-of-freedom fully-driven humanoid thumbs, wherein the thumb base is connected with the palm substrate.

The five-degree-of-freedom fully-driven humanoid thumb and the humanoid dexterous hand provided by the invention are integrated on the palm and finger base, and the gripping action of the thumb can be realized through the flexion and extension of the second joint, the fourth joint and the fifth joint. The palm-to-palm action of the thumb can be realized through the flexion and extension of the first joint and the fourth joint and the fifth joint. On the basis, the fourth knuckle and the fifth knuckle can be driven to deflect by a certain angle through the rotation of the third joint, and more complex actions can be completed. The dexterity of the thumb exceeds that of the thumb of the existing dexterity hand, the moving range of the thumb is larger than that of the thumb of the hand, and the thumb is beneficial to realizing the actions which can not be realized by part of the hand of the humanoid dexterity hand.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic view of a five-degree-of-freedom fully-driven human-simulated thumb structure provided by the present invention;

FIG. 2 is a front view of a five-degree-of-freedom fully-driven human-simulated thumb provided by the present invention;

FIG. 3 is a bottom view of a five-degree-of-freedom fully-actuated human-simulated thumb provided by the present invention;

FIG. 4 is a top view of a five-degree-of-freedom fully-actuated human-simulated thumb provided by the present invention;

FIG. 5 is one of the cross-sectional views of a five degree-of-freedom fully actuated human-simulated thumb provided by the present invention;

FIG. 6 is a second cross-sectional view of a five-degree-of-freedom fully-actuated human-like thumb provided in accordance with the present invention;

FIG. 7 is one of the tendon rope layouts for a five degree of freedom fully actuated human thumb simulator provided by the present invention;

FIG. 8 is a second layout view of five-degree-of-freedom fully-actuated human thumb-like tendon ropes provided in the present invention;

FIG. 9 is a third layout view of five-degree-of-freedom fully-actuated human thumb-like tendon ropes provided in the present invention;

FIG. 10 is a third cross-sectional view of a five degree-of-freedom fully actuated human-simulated thumb provided in accordance with the present invention;

FIG. 11 is a schematic structural diagram of a third joint of a five-degree-of-freedom fully-driven human-simulated thumb provided by the invention;

FIG. 12 is a schematic diagram of a five degree-of-freedom fully actuated human thumb simulator with a second joint at a 0 degree position in accordance with the present invention;

FIG. 13 is a schematic view of a five degree-of-freedom fully actuated human thumb simulator second joint at a 90 degree position in accordance with the present invention;

FIG. 14 is a schematic illustration of a line-dividing view of a second joint of a five degree-of-freedom fully actuated human thumb simulator provided in accordance with the present invention;

FIG. 15 is a sectional view of a second joint parting line structure of a five-degree-of-freedom fully-actuated human thumb simulator provided in the present invention;

FIG. 16 is a schematic view of a mounting structure of a five-degree-of-freedom fully-driven human-simulated thumb and palm finger base provided by the invention;

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

FIG. 18 is a schematic structural view of a humanoid dexterous hand provided by the present invention;

reference numerals:

100. a five-degree-of-freedom fully-driven human-simulated thumb; 200. a palm substrate; 10. a thumb base; 11. a first knuckle; 13. a first joint; 14. a first joint drive wheel; 151. the first joint positively drives the tendon rope; 152. the first joint drives the tendon rope in reverse; 161. a fourth magnetic ring; 162. a fourth magnetic grid; 21. a second knuckle; 211. a limiting member; 22. a second rotating shaft; 221. a second tendon rope guide aperture; 222. a second abdicating groove; 23. a second joint; 241. the second joint drives the tendon rope forwards; 242. the second joint drives the tendon rope in reverse; 25. a tendon rope branching block; 26. a drive shaft; 271. a third magnetic ring; 272. a third magnetic grid; 31. a third knuckle; 311. a limiting groove; 32. a third rotating shaft; 33. a third joint; 341. a first bevel gear; 342. a second bevel gear; 343. a third joint drive wheel; 351. the third joint drives the tendon rope forwards; 352. the third joint drives the tendon rope in reverse; 41. a fourth knuckle; 42. a fourth rotating shaft; 422. a second abdicating groove; 421. a first tendon rope guide aperture; 422. a first abdicating groove; 43. a fourth joint; 44. a fourth knuckle cushion; 451. the fourth joint drives the tendon rope forwards; 452. the fourth joint reversely drives the tendon rope; 46. a pulley; 47. a tendon rope guide shaft; 48. a tendon rope guide block; 491. a second magnetic ring; 492. a second magnetic grid; 51. a fifth knuckle; 52. a fifth rotating shaft; 53. a fifth joint; 54. a fifth knuckle cushion; 55. a drive block; 561. the fifth joint drives the tendon rope forwards; 562. the fifth joint reversely drives the tendon rope; 571. a first magnet ring; 572. a first magnetic grid.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, 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 the terms "first", "second", "third", "fourth" and "fifth" are used for the sake of clarity in describing the numbering of the product parts and do not represent any substantial difference, unless explicitly stated or limited otherwise. Further, "a plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The five-degree-of-freedom fully-actuated humanoid thumb and humanoid dexterous hand of the present invention will be described with reference to fig. 1-18.

The invention provides a five-degree-of-freedom fully-driven human-simulated thumb, and the five-degree-of-freedom fully-driven human-simulated thumb 100 can be integrated with the palm part of a human-simulated dexterous hand. As shown in fig. 1-8, a five-degree-of-freedom fully-actuated human-simulated 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 51. The first knuckle 11 is rotatably connected to the thumb base 10 to form a first joint 13. The second knuckle 21 is rotatably connected to the first knuckle 11 to form a second joint 23. The third knuckle 31 is rotatably connected to the second knuckle 21 to form a third joint 33. The fourth knuckle 41 is rotatably connected to the third knuckle 31 to form a fourth joint 43. The fifth knuckle 51 is rotatably connected to the fourth knuckle 41 to form a fifth joint 53.

Wherein the second joint 23, the fourth joint 43 and the fifth joint 53 have a flexion-extension degree of freedom and the first joint 13 and the third joint 33 have a rotation degree of freedom. That is, the first knuckle 11 can rotate relative to the thumb base 10, the second knuckle 21 can rotate relative to the first knuckle 11, the third knuckle 31 can rotate relative to the second knuckle 21, the fourth knuckle 41 can rotate relative to the third knuckle 31, and the fifth knuckle 51 can rotate relative to the fourth knuckle 41.

The five-freedom-degree full-drive humanoid thumb has five joints which correspond to five degrees of freedom, the five degrees of freedom are active degrees of freedom, and each joint can be driven independently. The thumb configuration is a "311 configuration," i.e., where first joint 13, second joint 23, and third joint 33 correspond to CMC joints of a human hand for performing the functions 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 fully-driven humanoid thumb provided by the embodiment of the invention is used for being integrated on a palm and finger base, and the gripping 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 rotation of the first joint 13 and the flexion and extension of the fourth joint 43 and the fifth joint 53 can also be used to realize the palm-to-palm action of the thumb, i.e. the action of contacting the palm surfaces of the finger tips of the thumb with the palm surfaces of the other fingers. On the basis, the third joint 33 can rotate to drive the fourth knuckle 41 and the fifth knuckle 51 to deflect a certain angle, so as to complete more complex actions. For example, the palm of the tip of the thumb is in direct contact with the palm of each of the other fingers, and the tip of the thumb is in direct contact with the tips of the other fingers. The five-freedom-degree full-drive humanoid thumb is a novel '311' -shaped five-freedom-degree thumb, the dexterity of the five-freedom-degree full-drive humanoid thumb exceeds that of the thumb of the existing dexterous hand, the moving range of the five-freedom-degree full-drive humanoid thumb is larger than that of the thumb of a hand, and the five-freedom-degree full-drive humanoid thumb is beneficial to realizing actions which can not be realized by part of the hand of the dexterous hand.

Further, as shown in FIG. 4, rotational axis A1 of first knuckle 11 perpendicularly intersects rotational axis A2 of second knuckle 12, and rotational axis A3 of third knuckle 31 perpendicularly intersects rotational axis A2 of second knuckle 12. The axis of rotation A1 of first knuckle 11, the axis of rotation A3 of third knuckle 31, and the axis A2 of second knuckle 12 intersect at a point.

With the second joint 23 extended to the 180 ° angle between the first knuckle 11 and the second knuckle 21, the axis of rotation a1 of the first knuckle 11 and the axis of rotation A3 of the third knuckle 31 coincide and intersect perpendicularly with the axis of rotation a2 of the second knuckle 12. The five-degree-of-freedom fully-driven human-simulated thumb has a compact structure, so that the five-degree-of-freedom fully-driven human-simulated thumb is closer to a human hand. The axis of rotation a4 of the fourth joint 43 is parallel to the axis of rotation a5 of the fifth joint 53.

The third knuckle 31 of the five-degree-of-freedom fully-driven human-simulated thumb is used for performing rotary motion relative to the second knuckle 21, the first knuckle 11 is used for performing rotary motion relative to the thumb base 10, and the length can be set to be shorter. The entire thumb is brought into proximity to the hand configuration and may be sized to fit at or near 1:1 to the hand based on the fifth knuckle 51, fourth knuckle 41 and second knuckle 21.

The five-freedom-degree full-drive human thumb-simulated five joints provided by the embodiment of the invention can be driven by a single driving device to rotate. 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 tendon ropes, and the driving tendon ropes are used for driving the corresponding joints to flex or rotate. The driving device can be arranged outside the thumb and is in driving connection with the corresponding joint through the driving tendon rope.

As shown in fig. 5 and 6, the five-degree-of-freedom fully-driven human-simulated thumb provided by the embodiment of the invention further comprises a transmission mechanism. The transmission mechanism is mounted in the second knuckle 21. The first end of the third knuckle 31 is rotatably connected to the fourth knuckle 41 to form a fourth joint 43, and the transmission mechanism is connected to the second end of the third knuckle 31 to drive the third knuckle 31 to rotate.

Specifically, the second end of the third knuckle 31 may be directly rotatably connected to the first end of the second knuckle 21 through a bearing, or may be rotatably connected to the first end of the second knuckle 21 through another intermediate adapter. For example, as shown in fig. 6, a third rotating shaft 32 is fixed to a second end of the third knuckle 31, and the second knuckle 21 is coaxially and rotatably connected to the third rotating shaft 32. The driving end of the transmission mechanism is fixedly connected to the third rotating shaft 32, and the transmission mechanism drives the third rotating shaft 32 to rotate, so as to drive the third knuckle 31 to rotate, and thus drive the fourth knuckle 41 and the fifth knuckle 51 to rotate around the rotation axis a3 of the third knuckle 31.

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

Specifically, the third knuckle 31 is fixedly connected to the first bevel gear 341 through the third rotating shaft 32. A second bevel gear 342 is rotatably mounted to the second knuckle 21 and is fixedly connected to a third knuckle drive wheel 343. The third joint driving wheel 343 is used for connecting and driving the tendon rope, so as to drive the third joint driving wheel 343 to rotate through the tendon rope, thereby driving the second bevel gear 342, and the second bevel gear 342 drives the first bevel gear 341 to rotate, and then drives the third knuckle 31 to rotate.

The second knuckle 21 includes a plurality of side plates, which surround the second knuckle main body and form an installation space therein. The first bevel gear 341, the second bevel gear 342, and the third joint driving wheel 343 are housed in the installation space, that is, the third joint 33 is rotationally driven in the second knuckle 21, so that the layout of the third knuckle 31 and the second knuckle 21 is compact.

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

In the embodiment, the tendon rope 351 can be driven by the forward direction of the third joint to drive the third joint driving wheel 343 to rotate towards the first direction, so that the forward rotation of the third joint 33 is realized; the tendon rope 352 is reversely driven by the third joint to drive the third joint driving wheel 343 to rotate towards the second direction, so that the reverse rotation of the third joint 33 is realized. The two third joint driving wheels 343 are arranged in the embodiment, so that the arrangement of the five-degree-of-freedom fully-driven tendon rope driven in the human thumb imitation is facilitated, the stability of the transmission mechanism is improved, and the driving stroke is increased. Wheel grooves are formed in the outer peripheral side of the third joint driving wheel 343, and the third joint forward driving tendon rope 351 and the third joint reverse driving tendon rope 352 are respectively arranged in the wheel grooves of the corresponding third joint driving wheel 343.

In some embodiments of the present invention, as shown in fig. 10, the outer sides of the fifth knuckle 51 and the fourth knuckle 41 are both provided with a limiting structure for limiting the rotation angle of the fifth joint 53. For example, the fifth knuckle 51 is provided with a fifth knuckle cushion 54 on the finger side, the fourth knuckle 41 is provided with a fourth knuckle cushion 44 on the finger side, and the fifth knuckle cushion 54 and the fourth knuckle cushion 44 limit the rotation of the fifth joint 53.

Specifically, the end of the fifth knuckle cushion 54 that is close to the end of the fourth knuckle cushion 44 is provided with a limiting surface, and the limiting surfaces of the fifth knuckle cushion 54 and the fourth knuckle cushion 44 are abutted when the fifth joint 53 is bent at the maximum angle. For example, the range of motion of the fifth joint 53 is 0 ° -92 °, and thus the position-limiting surface of the fifth knuckle cushion 54 and the position-limiting surface of the fourth knuckle cushion 44 are arranged at an angle of 92 ° when the fifth joint 53 is at an angle of 180 °. When the fifth joint 53 is bent by 92 degrees, the limiting surface of the fifth knuckle cushion 54 abuts against the limiting surface of the fourth knuckle cushion 44, so that the limiting is realized.

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, a stopper surface is provided at an end of the third knuckle 31 close to the fourth knuckle 41, and when the fourth joint 43 is bent by the maximum angle, the fourth knuckle 41 abuts against the stopper surface of the third knuckle 31. For example, the end of the fourth knuckle cushion 44 close to the third knuckle 31 is provided with another stopper surface, and when the fourth joint 43 is bent at the maximum angle, the other stopper surface of the fourth knuckle cushion 44 is abutted against the stopper surface of the third knuckle 31.

For example, the range of motion of the fourth joint 43 is-6 ° -90 °, and when the fourth joint 43 is at an angle of 180 °, the limiting surface of the fourth knuckle cushion 44 and the limiting surface of the third knuckle 31 are arranged at an angle of 90 °. When the fourth joint 43 bends inward by 90 °, the other limiting surface of the fourth knuckle cushion 44 abuts against the limiting surface of the third knuckle 31, so as to realize limiting.

The back side of the second knuckle 21 is provided with a limit notch, and the back side of the second knuckle 21 is the side opposite to the finger side. When the second joint 23 is bent outward by the maximum angle, the back surface side of the first knuckle 11 abuts against the stopper notch. Optionally, the back side of the first knuckle 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 °, the back surface side of the first knuckle 11 abuts against the stopper notch when the second joint 23 is bent by 90 °, thereby achieving stopper.

The back side of the fifth knuckle 51, the back side of the fourth knuckle 41, and the back side of the third knuckle may also be provided with a limiting structure to limit the reverse rotation angle of the fifth knuckle 51 relative to the fourth knuckle 41 and the reverse rotation angle of the fourth knuckle 41 relative to the third knuckle 31. For example, as shown in fig. 10, the fourth joint 43 may be restricted from bending outward 6 ° with respect to the third knuckle 31 by a stopper structure 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-degree-of-freedom fully-actuated human-simulated thumb is integrated with the palm structure, the five-degree-of-freedom fully-actuated human-simulated thumb is connected to the palm base 200 of the palm structure through the thumb base 10. The rotation angle of the first joint 13 can be limited by the palm substrate 200, or the palm substrate 200 is provided with a limiting block to realize limiting. The range of motion of the first joint 13 may be set to-90 ° -180 °, optionally the range of motion of the first joint 13 is 0-110 °.

In some embodiments of the present invention, the third joint 33 may achieve 360 ° of rotation. The rotation angle of the third joint 33 can be limited as required. Specifically, as shown in fig. 11, the third knuckle 31 is provided with a limiting groove 311, the second knuckle 21 is provided with a limiting member 211, and the limiting member 211 is disposed in the limiting groove 311 and is used for limiting a rotation angle of the third knuckle 31 relative to the second knuckle 21. When the third knuckle 31 rotates relative to the second knuckle 21, the stopper 211 slides in the circular-arc-shaped stopper slot 311. Specifically, the limiting groove 311 is an arc-shaped limiting groove 311 disposed on the end surface of the third knuckle 31 close to the second knuckle 21, and the limiting member 211 is a limiting screw fixed on the connecting block at the first end of the second knuckle 21. For example, the corresponding central angle of 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 via a second shaft 22 to form a second joint 23. Optionally, the second hinge 22 is fixedly connected to the second knuckle 21 and rotatably connected to the first knuckle 11. Specifically, the second rotating shaft 22 is fixed to a second end of the second knuckle 21, and the first knuckle 11 is hinged to the second knuckle 21 through the second rotating shaft 22.

As shown in fig. 7, the driving tendon ropes for driving the second joint 23 to flex are a second joint forward driving tendon rope 241 and a second joint reverse driving tendon rope 242, respectively. A second joint forward-drive tendon rope 241 and a second joint reverse-drive tendon rope 242 are attached to the second knuckle 21, respectively.

Specifically, the driving shaft 26 is fixed on the second rotating shaft 22, and the second joint forward driving tendon rope 241 and the second joint reverse driving tendon rope 242 are respectively fixedly connected to the driving shaft 26. Wherein, the periphery side of the driving shaft 26 is provided with a guide groove, and the second joint forward driving tendon rope 241 and the second joint reverse driving tendon rope 242 are respectively arranged in the guide grooves at 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 rope 241 or the second joint reverse driving tendon rope 242, so as to realize the flexion and extension movement of the second joint 23.

The five-degree-of-freedom fully-driven humanoid thumb provided by the embodiment of the invention further comprises 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 drive wheel 14 is rotatable relative to the thumb base 10 under actuation of the tendon rope to cause the first knuckle 11 to pivot about its axis. It should be noted that in the present embodiment, the axial direction of the knuckle and the axial direction of the thumb base 10 are both the directions of the knuckle along the length of the finger.

As shown in fig. 9, the driving tendon ropes for driving the first joint 13 to swing are a first joint forward driving tendon rope 151 and a first joint reverse driving tendon rope 152, respectively. One ends of the first joint forward driving tendon rope 151 and the first joint reverse driving tendon rope 152 are respectively connected to both sides of the outer periphery of the first joint driving wheel 14. Wherein, the periphery side of first joint driving wheel 14 is equipped with the race, and first joint forward drive tendon rope 151 and first joint reverse drive tendon rope 152 all locate the race of first joint driving wheel 14 in.

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

Wherein, the driving tendon ropes for driving the fourth joint 43 to flex and extend are the fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452 respectively. The fourth joint forward driving tendon string 451 and the fourth joint reverse driving tendon string 452 are respectively connected to the fourth knuckle 41 and located at both sides of the fourth rotation shaft 42.

Specifically, a fixed block is disposed in the fourth knuckle 41, and the fixed block is fixed to the fourth rotating shaft 42. The fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452 are fixed to the fixing block. The fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452 drive the fixed block to rotate relative to the fourth rotating shaft 42, so as to realize the flexion and extension movement of the fourth joint 43.

Further, a pulley 46 is rotatably connected to the fourth shaft 42. The fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452 are respectively disposed in pulley grooves at both sides of the pulley 46. The pulley 46 separates the fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452, and reduces the resistance of the fourth rotation shaft 42 to the movement of the fourth joint forward driving tendon rope 451 and the fourth joint reverse driving tendon rope 452.

The driving tendon ropes for driving the fifth joint 53 to flex and stretch are a fifth joint forward driving tendon rope 561 and a fifth joint reverse driving tendon rope 562 respectively, and the fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 are connected to the fifth knuckle 51 and located on two sides of the fifth rotating shaft 52 respectively.

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 rope 561 and the fifth joint reverse driving tendon rope 562 are fixed to the driving block 55 and located on both sides of the driving block 55. The fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 drive the driving block 55 to rotate relative to the fifth rotating shaft 52, so as to realize the flexion and extension movement of the fifth joint 53.

In some embodiments of the present invention, as shown in fig. 5, two tendon rope guide shafts 47 are disposed in the fourth knuckle 41, the two tendon rope guide shafts 47 are disposed in a gap, and the fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 are disposed in the gap between the two tendon rope guide shafts 47. A tendon rope guide block 48 is further arranged in the fourth knuckle 41, a pair of tendon rope guide holes is arranged in the tendon rope guide block 48, and a fifth joint forward driving tendon rope 561 and a fifth joint reverse driving tendon rope 562 sequentially penetrate through the tendon rope guide holes of the tendon rope guide block 48 and the fourth rotating shaft 42.

In some embodiments of the present invention, the fourth shaft 42 has a first tendon rope guide hole 421, and the second shaft 22 has a second tendon rope guide hole 221. The axis of the first tendon rope guide hole 421 perpendicularly intersects the axis of the fourth rotating shaft 42, and the axis of the second tendon rope guide hole 221 perpendicularly intersects the axis of the second rotating shaft 22. A driving tendon rope for driving the fifth joint 53 is sequentially passed through the first tendon rope guide hole 421 and the second tendon rope guide hole 221, and a driving tendon rope for driving the fourth joint 43 and a driving tendon rope for driving the third joint 33 are passed through the second tendon rope guide hole 221.

Specifically, the number of the first tendon rope guide holes 421 is two, and the fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 are respectively inserted into the two first tendon rope guide holes 421 in a one-to-one correspondence manner. The number of the second tendon rope guide holes 221 is six, and the fourth joint forward driving tendon rope 451, the fourth joint reverse driving tendon rope 452, the third joint forward driving tendon rope 351, the third joint reverse driving tendon rope 352, the fifth joint forward driving tendon rope 561 and the fifth joint reverse driving tendon rope 562 penetrate through the six second tendon rope guide holes 221 in a one-to-one correspondence manner.

Wherein the axis of the fourth shaft 42 perpendicularly intersects the axis of rotation of the third knuckle 31. The axis of rotation of the third knuckle 31 perpendicularly intersects the axis of the second shaft 22. The axis of the second shaft 22 perpendicularly intersects the axis of rotation of the first knuckle 11. The rotational axis of the first knuckle 11, the rotational axis of the third knuckle 31 and the axis of the second shaft 22 intersect at a point. In this manner, the driving tendon string for driving the second joint 23, the third joint 33, the fourth joint 43, and the fifth joint 53 is inserted through the first knuckle 11 and passes through the medial plane of the first knuckle 11. The driving tendon rope for driving the third joint 33, the fourth joint 43 and the fifth joint 53 is inserted through the second rotating shaft 22 and passes through the axis of the second rotating shaft 22. A driving tendon string for driving the fourth joint 43 and the fifth joint 53 is inserted through the third knuckle 31 and passes through the medial axial plane of the third knuckle 31. A driving tendon rope for driving the fifth joint 53 is inserted through the fourth rotating shaft 42 and passes through the axis of the fourth rotating shaft 42. The layout mode of the driving tendon ropes can reduce the motion coupling among five joints, improve the precision of the motion of each joint and realize the human-like flexible operation of the thumb of a dexterous hand.

Wherein the two first tendon rope guide holes 421 are symmetrically distributed with respect to the rotation axis of the third knuckle 31 and are disposed close to the rotation axis of the third knuckle 31. Six second tendon rope guide holes 221 are symmetrically distributed with respect to the rotation axis of the first knuckle 11 and are disposed near the rotation axis of the first knuckle 11. In this manner, the kinematic coupling between the first joint 13 and the third joint 33 and the other joints can be further reduced.

Further, as shown in fig. 12 and 13, the hole walls of the first tendon rope guide hole 421 and the second tendon rope guide hole 221 are each provided with a relief groove for providing relief for the driving tendon rope therein in case of bending of the corresponding joint.

The hole wall of each second tendon rope guide hole 221 of the second rotating shaft 22 is provided with a second abdicating groove 222, and the second abdicating groove 222 is used for providing abduction for the driving tendon rope in the second joint 23 under the condition that the second joint is bent.

Specifically, the second escape groove 222 is located on the wall of the second tendon rope guide hole 221 on the finger side close to the second knuckle 21. The second relief groove 222 is a fan-shaped groove having an angle not smaller than 90 °. The decoupling of the second joint 23 can be realized, and the posture of the third joint 33, the fourth joint 43 and the fifth joint 53 is not influenced when the second joint 23 is driven to move independently. With second joint 23 at the 0 ° angle, the driving tendon rope in second tendon rope guide hole 221 extends in the axial direction of second tendon rope guide hole 221 with second joint 23 at the 0 ° angle. When the second joint 23 is rotated to a 90 ° angle state, the driving tendon rope in the second tendon rope guide hole 221 may be folded at a 90 ° angle.

As shown in fig. 3, a first abdicating groove 422 is formed in a hole wall of each first tendon rope guide hole 421 of the fourth rotating shaft 42, and the first abdicating groove 422 and the second abdicating groove 222 have the same structure, so that decoupling of the fourth joint 43 is realized, and it is ensured that the posture of the fifth joint 53 is not affected when the fourth joint 43 is driven to move alone.

In some embodiments of the present invention, a tendon rope branching block 25 is disposed in the second knuckle 21, and the tendon rope branching block 25 has three pairs of tendon rope branching holes. The tendon rope distribution block 25 is fixedly connected to the second rotary shaft 22 or the second knuckle 21, for example, the tendon rope distribution block 25 is fixedly connected to the second rotary shaft 22 through a drive shaft 26. As shown in fig. 14 and 15, three pairs of the tendon rope branching holes are provided for passing through the two driving tendon ropes of the fifth joint 53, the two driving tendon ropes of the fourth joint 43, and the two driving tendon ropes of the third joint 33, respectively. Wherein the tendon rope branching block 25 is arranged in the second knuckle 21. Outlets of the three pairs of tendon rope branching holes are sequentially arranged along the axis direction of the second rotating shaft 22 and correspond to the six second tendon rope guide holes 221 on the second rotating shaft 22 one by one.

Alternatively, the outlets of the three pairs of tendon rope branching holes are symmetrically distributed along the axial direction of the second rotating shaft 22. Wherein, the innermost pair is used for penetrating a fourth joint forward driving tendon rope 451 and a fourth joint reverse driving tendon rope 452, and the outermost pair is used for penetrating a third joint forward driving tendon rope 351 and a third joint reverse driving tendon rope 352. The other pair is used for penetrating a fifth joint forward driving tendon rope 561 and a fifth joint reverse driving tendon rope 562.

Wherein, the three pairs of second tendon rope guide holes 221 correspond to the outlets of the three pairs of tendon rope branching holes on the tendon rope branching block 25 one by one. The drive shaft 26 is provided with six tendon rope guide holes corresponding one-to-one to the three pairs of tendon rope guide holes on the second rotating shaft 22. The driving tendon rope of the fifth joint 53, the fourth joint 43 and the third joint 33 sequentially passes through the tendon rope branching block 25, the driving shaft 26, the second rotating shaft 22, the first knuckle 11 and the thumb base 10 and then enters the palm area. The driving tendon rope of the second joint 23 is inserted into the palm area after the thumb base 10. First joint forward drive tendon string 151 and first joint reverse drive tendon string 152 are passed through tendon string guides on palm base 200 into the palm area.

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

As shown in fig. 6, a first magnet ring 571 that is coaxial with the fifth rotation shaft 52 is provided on the outer periphery of the drive block 55, a first magnetic scale 572 that is coaxial with the first magnet ring 571 is provided on the fourth knuckle 41, and the first magnet ring 571 and the first magnetic scale 572 form a 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 magnetic field variation induced 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, and the second magnet 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 employ a potentiometer. The second bevel gear 342 is connected with a third joint driving wheel 343 through a transmission shaft, and the potentiometer is coaxially and fixedly connected with the transmission shaft. The second bevel gear 342 rotates to drive the input hole of the potentiometer to rotate, and the potentiometer generates voltage which linearly changes along with the rotation angle, so that the lateral amount of the rotation angle of the third joint 33 is realized.

The first knuckle 11 is provided with a third magnet ring 271 coaxial with the second shaft 22, the second knuckle 21 is provided with a third magnetic grid 272 coaxial with the third magnet ring 271, and 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 variation, and the rotation angle of the second joint 23 can be determined according to the magnetic field variation sensed by the third magnetic grid 272.

As shown in fig. 17, a fourth magnet ring 161 is provided on the outer periphery of the first joint driving wheel 14, a fourth magnetic scale 162 is provided on the palm base 200, and the fourth magnet ring 161 and the fourth magnetic scale 162 form a joint position sensor of the first joint 13. 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 17, which comprises a palm substrate 200 and any one of the five-degree-of-freedom fully actuated humanoid thumbs 100, the thumb base 10 being attached to the palm substrate 200. Wherein, the thumb base 10 can be connected to the palm base 200 by static connection means such as riveting or screwing. As shown in FIG. 18, the palm substrate 200 is further connected with the index finger, the middle finger, the ring finger and the little finger of the dexterous hand.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

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 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;

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.