WO2023207129A1 - Humanoid five-finger dexterous hand - Google Patents

Abstract

A humanoid five-finger dexterous hand, comprising a palm unit (600), and a thumb (1), an index finger (2), a middle finger (3), a ring finger (4) and a little finger (5), which are respectively connected to the palm unit (600), wherein a first thumb joint (113) and a third thumb joint (133) of the thumb (1) have rotational degrees of freedom, and a second thumb joint (123), a fourth thumb joint (143) and a fifth thumb joint (153) of the thumb (1) have flexion-and-extension degrees of freedom; and first finger joints (2131) of the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) have side-swing degrees of freedom, and second finger joints (2132), third finger joints (223) and fourth finger joints (233) thereof have flexion-and-extension degrees of freedom. The humanoid five-finger dexterous hand not only surpasses existing dexterous hands in terms of dexterity, but can also realize some actions that cannot be realized by human hands. Further provided is a dexterous hand robot comprising the humanoid five-finger dexterous hand.

Description

Human-like five-fingered dexterous hand

Cross-references to related applications

This application requires a Chinese patent application submitted on April 26, 2022, with the application number 202210442685. The Chinese patent application titled "Five Degrees of Freedom Fully Driven Humanoid Thumb and Humanoid Dexterous Hand" was submitted on April 26, 2022. The application number is 202210442686.4. The invention is titled "Dexterous Hand Tendon Drive Unit, Drive Priority to the Chinese patent application "Device and Bionic Dexterous Hand" and the Chinese patent application submitted on April 26, 2022 with application number 202210442688.3 and the invention name "Neuromorphic Dexterous Hand Robot", these patent applications are by reference All are incorporated herein.

Technical field

The present application relates to the field of robotic technology, and in particular to a human-like five-finger dexterous hand.

Background technique

A human-like dexterous hand is a manipulator whose finger index, degree of freedom, shape and function are close to those of a human hand. It can complete tasks such as grasping or operating like a human hand. Human-like dexterous hands can be used to operate in space environments, and can also replace humans in hazardous environments such as poisoning and radiation. They can also be used in industrial production, prosthetics, surgery and other fields. At present, highly human-like dexterous hands have become the focus of research in the field of robotics technology.

Each joint in the human hand is driven by different muscle groups and can move flexibly and independently, and the human hand has the ability to move palms. Opposition movement refers to the movement in which the tip of the thumb contacts the palms of the fingertips of other fingers. It is a unique ability that humans have evolved during the long-term production process. It enables the human hand to perform complex pinching movements and adapts the palm to complex functions. The surface being manipulated.

To achieve palm-opposing movements of a human-like five-finger dexterous hand, the thumb and each joint of the other four fingers need to have corresponding degrees of freedom such as flexion, extension, rotation, or side swing. Most of the existing human-like dexterous hands are either quite different from the human hand in shape, or due to the simplified approximation of the model and the range of joint motion, they have not fully realized the palm-to-palm function and are not easy to perform complex pinching movements. The dexterity is also different from that of the human hand. There is a certain gap.

Contents of the invention

The present application provides a human-like five-finger dexterous hand to at least solve the problem of insufficient dexterity of the human-like five-finger dexterous hand in the prior art.

The present application provides a human-like five-finger dexterous hand, including: a palm unit and a thumb, index finger, middle finger, ring finger and little finger respectively connected to the palm unit;

The thumb has a first thumb joint, a second thumb joint, a third thumb joint, a fourth thumb joint and a fifth thumb joint distributed along its extension direction, and the first thumb joint and the third thumb joint have rotation Degrees of freedom, the second thumb joint, the fourth thumb joint and the fifth thumb joint have degrees of freedom in flexion and extension;

The index finger, the middle finger, the ring finger and the little finger are all distributed with finger bases, first finger knuckles, second finger knuckles and third finger knuckles along their extension directions, and the first finger knuckle and the The finger base is connected to form a first finger knuckle and a second finger knuckle. The second finger knuckle is rotatably connected to the first finger knuckle to form a third finger knuckle. The third finger knuckle is connected to the second finger knuckle. The fourth finger joint is rotatably connected to form a fourth finger joint; the first finger joint has a degree of freedom in lateral swing, and the second finger joint, the third finger joint and the fourth finger joint have a degree of freedom in flexion and extension.

According to a human-like five-finger dexterous hand provided by the present application, the thumb includes a thumb base, a first thumb section, a second thumb section, a third thumb section, a fourth thumb section and a fifth thumb section, and the third thumb section A thumb joint is rotatably connected to the thumb base to form the first thumb joint, the second thumb joint is rotatably connected to the first thumb joint to form the second thumb joint, and the third thumb joint is rotatably connected to the first thumb joint. The third thumb joint is rotatably connected to the second thumb joint, the fourth thumb joint is rotatably connected to the third thumb joint to form the fourth thumb joint, and the fifth thumb joint is connected to the third thumb joint. The fourth thumb joint is rotatably connected to form the fifth thumb joint;

The rotation axis of the first thumb knuckle perpendicularly intersects the rotation axis of the second thumb knuckle, the rotation axis of the third thumb knuckle perpendicularly intersects the rotation axis of the second thumb knuckle, and the first thumb knuckle The axis of rotation, the axis of rotation of the third thumb joint and the axis of rotation of the second thumb joint intersect at one point.

According to a human-like five-finger dexterous hand provided by the present application, the index finger, the middle finger, the ring finger and the little finger further include a cross-shaft connecting block, and the first finger knuckle is connected to the cross-shaft connecting block. , the cross-shaft connecting block is rotatably connected to the finger base through a first finger rotating shaft to form the first finger joint, and the cross-shaft connecting block is rotatably connected to the finger base through a second finger rotating shaft. To form the second finger joint, the axes of the first finger rotation axis and the second finger rotation axis intersect perpendicularly.

According to a human-like five-finger dexterity hand provided by the present application, the index finger, the middle finger, the ring finger and the little finger further include a third finger joint forward driving tendon and a third finger joint reverse driving tendon. and a coupling tendon; the third finger joint forward driving tendon and the third finger joint reverse driving tendon are respectively connected to the third finger knuckle; an elastic reset member is provided in the first finger knuckle. , one end of the coupling tendon is connected to the third finger knuckle, and the other end is connected to the elastic reset member.

According to a human-like five-finger dexterous hand provided by the present application, the palm unit includes a palm base, a first connecting part and a second connecting part, and the thumb, the index finger, the middle finger and the ring finger are respectively connected On the palm base, the little finger is connected to the first end of the second connecting part, and the second end of the second connecting part and the first end of the first connecting part are rotatably connected to form a second palm. Joint, the second end of the first connecting portion is rotatably connected to the palm base to form a first palm joint, and both the first palm joint and the second palm joint have degrees of freedom to flex and extend relative to the palm base. , the rotation axis of the first palm joint and the rotation axis of the second palm joint are arranged at an angle;

The palm unit includes a first palm joint forward driving tendon, a first palm joint reverse driving tendon, a second palm joint forward driving tendon and a second palm joint reverse driving tendon; the first palm joint The joint forward driving tendon and the first palm joint reverse driving tendon are respectively connected to the first connection part of the hand for driving the first palm joint to rotate; the second palm joint forward driving tendon The rope and the second palm joint reverse driving tendon are respectively connected to the second connection part for driving the second palm joint to rotate; and

The human-like five-finger dexterous hand also includes a wrist unit. The wrist unit includes a wrist base and a cross-axis connecting seat. The wrist base is connected to the palm unit through a cross-axis connecting seat to form a first wrist joint and a third wrist joint. Two wrist joints, the first wrist joint has a degree of freedom of flexion and extension, and the second wrist joint has a degree of freedom of lateral swing, wherein the cross axis connecting seat is rotatably connected to the wrist base through the first wrist rotation axis to form the The first wrist joint, the cross-axis connecting seat is rotatably connected to the palm unit through the second wrist rotation axis to form a second wrist joint; the palm unit, the thumb, the index finger, the middle finger, the The driving tendons of each joint of the ring finger and the little finger all pass through the axes of the first wrist rotation axis and the second wrist rotation axis.

According to a human-like five-finger dexterous hand provided by the present application, it further includes a driving device. The driving device includes a plurality of driving units. The plurality of driving units are arranged in one-to-one correspondence with the multiple joints of the human-like five-finger dexterous hand. The driving unit is disposed on a side of the wrist base away from the palm unit, and each driving unit is drivingly connected to the corresponding joint through two driving tendons.

According to a human-like five-finger dexterous hand provided by the present application, the thumb further includes a transmission mechanism, and the transmission mechanism is installed in the second thumb section; the first end of the third thumb section is connected to the first end of the third thumb section. The fourth thumb joint is rotatably connected to form the fourth thumb joint, and the transmission mechanism is connected to the second end of the third thumb joint to drive the third thumb joint to rotate.

According to a human-like five-finger dexterous hand provided by the present application, the transmission mechanism includes a first bevel gear, a second bevel gear and a third thumb joint driving wheel, and the first bevel gear and the third thumb joint are Coaxially fixedly connected, the second bevel gear meshes with the first bevel gear, the third thumb joint driving wheel is coaxially fixedly connected with the second bevel gear, and the third thumb joint driving wheel is coaxially fixedly connected with the first bevel gear. The second thumb joint is rotatably connected, wherein the number of the second bevel gear and the third thumb joint driving wheel is two, and the two second bevel gears are respectively located on the first bevel gear. On both sides in the axial direction, two second bevel gears and two third thumb joint driving wheels are arranged in one-to-one correspondence.

According to a human-like five-finger dexterous hand provided by the present application, the third thumb joint is provided with a limiting groove, the second thumb joint is provided with a limiting part, and the limiting part is provided in the limiting groove, Used to limit the rotation angle of the third thumb joint, wherein the first thumb joint, the second thumb joint, the third thumb joint, the fourth thumb joint and the fifth thumb joint are all connected There is a driving tendon, which is used to drive the corresponding thumb joint to flex, extend or rotate.

According to a human-like five-finger dexterous hand provided by the present application, the thumb further includes a first thumb joint driving wheel, the first thumb joint driving wheel is coaxially fixedly connected to the first thumb joint, and the third thumb joint driving wheel is coaxially fixedly connected to the first thumb joint. A thumb joint driving wheel is coaxially and rotatably connected to the thumb base, and a driving member rope used to drive the first thumb joint is connected to the first thumb joint driving wheel.

According to a human-like five-finger dexterous hand provided by the present application, the second thumb joint is rotatably connected to the first thumb joint through a second thumb shaft to form the second thumb joint, and the fourth thumb joint is formed by The fourth thumb shaft and the third thumb joint are rotatably connected to form the fourth thumb joint; the axis of the fourth thumb shaft intersects perpendicularly with the rotation axis of the third thumb joint; the fourth thumb shaft is A first tendon guide hole is provided, and a second tendon guide hole is provided on the second thumb shaft. The axis of the first tendon guide hole intersects perpendicularly with the axis of the fourth thumb shaft. The axis of the two tendon guide holes intersects perpendicularly with the axis of the second thumb shaft;

The driving tendon used to drive the fifth thumb joint is passed through the first tendon guide hole and the second tendon guide hole in sequence, and the driving tendon used to drive the fourth thumb joint is inserted into the first tendon guide hole and the second tendon guide hole. The driving tendon that drives the third thumb joint is passed through the second tendon guide hole.

According to a human-like five-finger dexterous hand provided by the present application, the hole walls of the first tendon guide hole and the second tendon guide hole are provided with relief grooves, and the relief grooves are used to connect the corresponding thumb joints. Provides clearance for the drive tendon located within it when bent.

According to a human-like five-finger dexterous hand provided by the present application, the first thumb joint, the second thumb joint, the third thumb joint, the fourth thumb joint and the fifth thumb joint have corresponding Each position is provided with a joint position sensor, and the joint position sensor is used to detect the rotation angle of the corresponding joint.

According to a humanoid five-finger dexterous hand provided by this application, the driving unit includes:

Tendon drive module, tendon tensioning module, first tendon and second tendon;

The tendon driving module is connected to the tendon tensioning module; the tendon driving module includes a first mounting base, a driving motor, a first guide wheel, a second guide wheel, a first force measuring element and a second measuring element. force element;

The driving motor is provided on the first mounting base; the first guide wheel and the second guide wheel are respectively rotatably provided on the first mounting base; one end of the first tendon rope is wound around The other end of the drive shaft of the drive motor is suitable for connection with the joint of the bionic dexterous hand after sequentially bypassing the first guide wheel and the tendon tensioning module; one end of the second tendon is wound around The other end of the drive shaft of the drive motor is suitable for connection with the joint after passing through the second guide wheel and the tendon tensioning module in sequence;

The first load-measuring element is used to detect the tension on the first tendon, and the second load-measuring element is used to detect the tension on the second tendon,

The driving device further includes: a fixed frame, a plurality of the driving units are respectively installed on the fixed frame, and the number of the driving units is adapted to the number of the joints.

A human-like five-finger dexterous hand is provided according to the present application, wherein:

At least one first rope hole is provided on the side of the first section, and at least one second rope hole is provided on the side of the second section;

One end of the first tendon is connected to the at least one first rope threading hole after being wound around the first section for a first preset length; one end of the second tendon is connected to the second section. A second preset length is wound around the segment and then connected to the at least one second rope hole.

According to a human-like five-finger dexterous hand provided by the present application, the driving device further includes a distribution board;

The distribution board is arranged on the top of the fixed frame along the height direction of the fixed frame; the wiring tray and the fixed frame form a cubic structure;

A part of the plurality of driving units is provided on four sides of the cube structure, and another part of the plurality of driving units is provided inside the cube structure;

The line distribution plate has four sides, and the four sides are respectively opposite to the four sides of the cube structure; each side of the line distribution plate is provided with a plurality of wire wheels, and the There is an escape opening in the middle of the distribution board;

The plurality of wire pulleys are adapted to respectively guide the first tendons and the second tendons installed on the driving unit on the side of the cube structure; the escape opening is suitable for providing access to the first tendons and second tendons installed in the cube structure. The first tendon and the second tendon on the drive unit pass through.

A human-like five-finger dexterous hand is provided according to the present application, wherein:

Each side of the cube structure is equipped with a plurality of the driving units arranged side by side, each driving unit is arranged along the height direction of the fixed frame, and two adjacent driving units are connected;

And/or, the installation position of the driving unit in the cube structure on the fixed frame is adjustable along the height direction of the fixed frame.

According to a human-like five-finger dexterous hand provided by the present application, each joint of the human-like five-finger dexterous hand is equipped with a joint position sensor for detecting the rotation angle of the joint. The joint position sensor includes a magnet and a magnetic grid. , the magnet is fixed on the rotating shaft of the joint, the magnetic grid is coaxially arranged with the magnet, and when the joint rotates, the magnet and the magnetic grid rotate relatively.

The present application provides a dexterous hand robot, including the humanoid five-finger dexterous hand as described above.

The dexterous hand robot provided according to this application also includes:

A bionic skin layer covering the outer surface of the human hand mimicking skeleton;

The control device is connected to the driving device and is used to output a decision signal to the driving device according to the type of the target object and the feedback signal of the sensor, so as to control the grasping posture of the human-like five-finger dexterous hand.

The control device includes an industrial computer, a first control module and a second control module;

The industrial computer is connected to the first control module, the first control module is connected to the second control module, and the second control module is connected to the sensing component and the tendon drive unit respectively;

The industrial computer is equipped with a neuromorphic chip, the neuromorphic chip is provided with a pulse neural network model, the first control module is provided with a force-position hybrid control algorithm model, and the second control module is provided with a PID position algorithm model;

The impulse neural network model is adapted to output a decision instruction signal to the force-position hybrid control algorithm model according to the type of the target object. The decision instruction signal includes at least one of the position, torque and rotation speed of each joint on the neuromorphic hand. kind;

The force-position hybrid control algorithm model outputs a decision execution signal to the PID position algorithm model based on the decision-making instruction signal and the feedback signal of the sensing component;

The PID position algorithm model performs PID control on the drive motor on the tendon drive unit according to the decision execution signal.

The human-like five-finger dexterous hand provided by this application can realize the dexterity of the five-fingered hand through the flexion and extension of the second thumb joint, the fourth thumb joint and the fifth thumb joint and the flexion and extension of the fourth finger joint, the third finger joint and the second finger joint. Grasping action. The index finger, middle finger, ring finger and little finger can achieve side swing of the fingers through their respective first finger joints. The first thumb joint can be used to drive the first thumb joint to rotate to a certain angle, and then through the flexion and extension of the fourth thumb joint and the fifth thumb joint to realize the palm-opposing movement of the thumb, that is, the palm surface of the thumb tip and the palm of the other fingers can be Face-to-face action. On this basis, the third thumb joint can also be driven to rotate through the third thumb joint to drive the fourth and fifth thumb joints to deflect to a certain angle to complete more complex specified actions. The dexterity of this dexterous hand not only surpasses existing dexterous hands, but can also perform some actions that cannot be achieved by human hands. Moreover, while ensuring its dexterity, it can achieve a 1:1 size design with the human hand.

Description of drawings

In order to explain the technical solutions in this application or the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are of the present invention. For some embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the human-like five-finger dexterous hand body provided by this application;

Figure 2 is a schematic diagram of the skeleton model and joint distribution of the human-like five-finger dexterous hand provided by this application;

Figure 3 is a schematic structural diagram of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 4 is a front view of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 5 is a bottom view of the thumb in the human-like five-fingered dexterous hand provided by this application;

Figure 6 is a top view of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 7 is one of the tendon layout diagrams of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 8 is the second diagram of the tendon cord layout of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 9 is the third diagram of the tendon cord layout of the thumb in the human five-fingered dexterous hand provided by this application;

Figure 10 is a schematic diagram of the second thumb joint in the 0-degree position of the human five-fingered dexterous hand provided by this application;

Figure 11 is a schematic diagram of the second thumb joint in the 90-degree position of the human five-fingered dexterous hand provided by this application;

Figure 12 is a schematic diagram of the connection between the thumb and the palm base of the human five-fingered dexterous hand provided by this application;

Figure 13 is a schematic structural diagram of the index finger in the human five-fingered dexterous hand provided by this application;

Figure 14 is a front view of the index finger in the human five-fingered dexterous hand provided by this application;

Figure 15 is a top view of the index finger in the human five-fingered dexterous hand provided by this application;

Figure 16 is one of the tendon layout diagrams of the index finger of the human five-fingered dexterous hand provided by this application;

Figure 17 is the second tendon layout diagram of the index finger of the human five-fingered dexterous hand provided by this application;

Figure 18 is a schematic structural diagram of a palm unit in a human-like five-finger dexterous hand provided by this application;

Figure 19 is a half-section view of the palm unit of the human-like five-finger dexterous hand provided by the present application;

Figure 20 is a cross-sectional view of the palm unit in Figure 19 at E-E;

Figure 21 is a cross-sectional view of the palm unit in Figure 19 at F-F;

Figure 22 is one of the tendon layout diagrams of the palm unit of the human five-fingered dexterous hand provided by this application;

Figure 23 is the second tendon layout diagram of the palm unit of the human five-fingered dexterous hand provided by this application;

Figure 24 is a schematic structural diagram of the wrist unit in the human-like five-finger dexterous hand provided by this application;

Figure 25 is a side view of the wrist unit in the human-like five-finger dexterity hand provided by the present application;

Figure 26 is an axial cross-sectional view of the first wrist joint in the humanoid five-fingered dexterous hand provided by this application;

Figure 27 is an axial cross-sectional view of the second wrist joint in the humanoid five-fingered dexterous hand provided by this application;

Figure 28 is a schematic diagram of the overall structure of the human-like five-finger dexterous hand provided by this application;

Figure 29 is a schematic diagram of the installation structure of the driving device and wrist unit in the human-like five-finger dexterous hand provided by this application;

Figure 30 is a tendon line layout diagram of the driving device in the human-like five-fingered dexterous hand provided by this application;

Figure 31 is a layout diagram of the motor drive module in the human-like five-fingered dexterous hand provided by this application;

Figure 32 is a layout diagram of the humanoid dexterous mid-joint position sensor provided by this application;

Figure 33 is one of the cross-sectional views of the thumb of the human-like five-finger dexterous hand provided by this application;

Figure 34 is the second cross-sectional view of the thumb of the human-like five-finger dexterous hand provided by this application;

Figure 35 is the third cross-sectional view of the thumb of the human-like five-finger dexterous hand provided by this application;

Figure 36 is a schematic structural diagram of the third joint of the thumb of the humanoid five-finger dexterous hand provided by this application;

Figure 37 is a schematic diagram of the second joint of the thumb of the humanoid five-finger dexterous hand provided by the present application;

Figure 38 is a cross-sectional view of the second joint line structure of the thumb of the humanoid five-finger dexterous hand provided by this application;

Figure 39 is a schematic structural diagram of the humanoid five-finger dexterous hand drive unit provided by this application;

Figure 40 is a schematic diagram of the exploded structure of the first guide wheel and the second guide wheel installed on the first mounting base provided by this application;

Figure 41 is an exploded structural schematic diagram of the drive shaft of the drive motor provided by this application;

Figure 42 is a schematic diagram of the installation structure of the first tension adjustment component provided by this application on the second mounting base;

Figure 43 is a schematic structural diagram of the first tendon provided by this application;

Figure 44 is one of the structural schematic diagrams of the driving device provided by this application;

Figure 45 is the second structural schematic diagram of the driving device provided by this application;

Figure 46 is the third structural schematic diagram of the driving device provided by this application;

Figure 47 is a schematic structural diagram provided by this application for adjusting the installation position of the humanoid five-finger dexterous hand drive unit inside the cube structure;

Figure 48 is a schematic structural diagram of the distribution board provided by this application;

Figure 49 is a schematic diagram of a human-like five-finger dexterous hand including a bionic skin layer provided by this application;

Figure 50 is a control structure block diagram of the dexterous hand robot provided by this application.

Reference signs:

1. Thumb; 10. Thumb base; 111. First thumb joint; 113. First thumb joint; 114. First thumb joint drive wheel; 1151. First thumb joint forward drive tendon; 1152. First thumb joint The thumb joint reversely drives the tendon; 121, second thumb joint; 122, second thumb shaft; 1221, second tendon guide hole; 1222, second relief groove; 123, second thumb joint; 1241, second The thumb joint drives the tendon in the forward direction; 1242. The second thumb joint drives the tendon in the reverse direction; 125. The tendon cord dividing block; 131. The third thumb joint; 132. The third thumb axis; 133. The third thumb joint; 1341 , the first bevel gear; 1342. the second bevel gear; 1343. the third thumb joint driving wheel; 1351. the third thumb joint forwardly drives the tendon; 1352. the third thumb joint reversely drives the tendon; 141. the fourth Thumb joint; 142. The fourth thumb axis; 1421. The first tendon guide hole; 1422. The first relief groove; 143. The fourth thumb joint; 1451. The fourth thumb joint forwardly drives the tendon; 1452. The fourth The thumb joint drives the tendon in the reverse direction; 151. The fifth thumb joint; 152. The fifth thumb axis; 153. The fifth thumb joint; 155. Driving block; 1561. The fifth thumb joint drives the tendon in the forward direction; 1562. The fifth The thumb joint reversely drives the tendon; 1571, the first magnet ring; 1572, the first magnetic grid; 2, the index finger; 20, the finger base; 211, the first finger knuckle; 2121, the first finger axis; 2122, the second Finger rotation axis; 2131. First finger joint; 2132. Second finger joint; 2141. The first finger joint drives the tendon in the forward direction; 2142. The first finger joint drives the tendon in the reverse direction; 2143. The second finger joint drives the tendon in the forward direction. Tendon; 2144, second finger joint reverse driving tendon; 2151, magnet; 2152, second magnetic grid; 221, second finger knuckle; 223, third finger joint; 2241, third finger joint forward driving tendon Rope; 2242, third finger joint reverse drive tendon; 231, third finger joint; 233, fourth finger joint; 2341, coupling tendon; 235, first drive wheel; 24, cross shaft connecting block; 25, Elastic reset member; 3. Middle finger; 4. Ring finger; 5. little finger; 600. Palm unit; 60. Palm base; 601. First tendon hole; 602. Second tendon hole; 603. Third tendon hole; 611. The first connection part; 612. The first palm rotation axis; 613. The first palm joint; 6141. The first palm joint drives the tendon in the forward direction; 6142. The first palm joint drives the tendon in the reverse direction; 621. The second connection 622. Second palm axis; 623. Second palm joint; 6241. The second palm joint forwardly drives the tendon; 6242. The second palm joint reversely drives the tendon; 700. Wrist unit; 70. Wrist base ; 701. Guide limit groove; 712. First wrist rotation axis; 712. First wrist rotation axis; 713. First wrist joint; 7141. First wrist joint forward drive tendon; 7142. First wrist joint reverse drive Tendon; 722. Second wrist rotation axis; 722. Second wrist rotation axis; 723. Second wrist joint; 7241. The second wrist joint drives the tendon in the forward direction; 7242. The second wrist joint drives the tendon in the reverse direction; 73. Cross shaft connecting seat; 74. Tendon cord breakout plate; 741. Tendon cord guide groove; 800. Driving device; 810. Drive unit; 820. Outer cover; 830. Guide wheel; 9. Joint position sensor; 1311. Limit groove ; 1211. Limiting member; 126. Drive shaft; 1491. Second magnet ring; 1271. Third magnet ring; 1272. Third magnetic grid; 82: Fixed frame; 83: Distribution plate; 84: Control board; 85 : series block; 86: first fixing screw; 87: second fixing screw; 811: tendon drive module; 812: tendon tensioning module; 813: first tendon; 814: second tendon; 815: adjustment Clearance; 801: first mounting base; 802: drive motor; 803: first guide wheel; 804: second guide wheel; 805: first force measuring element; 806: second force measuring element; 807: drive plate; 8011 : Base; 8012: First side plate; 8013: Second side plate; 91: First segment; 92: Second segment; 93: Fastener; 911: First rope hole; 912: First Gear teeth; 913: Adjusting wheel; 9131: Strip groove; 921: Second rope threading hole; 922: Second gear teeth; 923: Bushing; 901: Second mounting seat; 902: First tension adjustment component; 903 : The second tension adjustment component; 904: The third guide wheel; 905: The fourth guide wheel; 9021: Tension wheel; 9022: Adjustment rod; 9023: Compression spring; 9024: Adjustment bolt; 831: Wire core; 832: No. A plastic rope cover; 833: Metal rope cover; 834: Plastic connecting sleeve; 1301: Wire pulley; 1302: Avoidance opening; 1000, bionic skin layer; 1202, drive motor; 1207, motor drive board; 1051, tactile sensor; 1205 , the first force measuring element; 1206. the second force measuring element.

Detailed ways

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

In the description of the embodiments of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "first", "second", "third", "fourth" and "fifth" are used to clearly describe product components. The numbering does not represent any substantive difference. "For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances. In addition, the meaning of "plurality" is two or more.

In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Or connected integrally; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood on a case-by-case basis.

The human-like five-finger dexterous hand of the present application will be described below with reference to Figures 1 to 38.

As shown in Figures 1 and 2, the human-like five-finger dexterous hand provided by this application includes: a palm unit 600 and a thumb 1, an index finger 2, a middle finger 3, a ring finger 4 and a little finger 5 respectively connected to the palm unit 600.

The thumb 1 has a first thumb joint 113, a second thumb joint 123, a third thumb joint 133, a fourth thumb joint 143 and a fifth thumb joint 153 distributed along its extension direction. The first thumb joint 113 and the third thumb joint 133 have a degree of freedom of rotation, and the second thumb joint 123, the fourth thumb joint 143 and the fifth thumb joint 153 have a degree of freedom of flexion and extension.

The index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are evenly distributed with finger bases 20, first finger knuckles 211, second finger knuckles 221 and third finger knuckles 231 along their extension directions. The first finger knuckle 211 is connected to the finger base 20 to form a first finger knuckle 2131 and a second finger knuckle 2132. The second finger knuckle 221 is rotatably connected to the first finger knuckle 211 to form a third finger knuckle 223. The third finger knuckle 231 It is rotatably connected with the second finger knuckle 221 to form a fourth finger joint 233 . The first finger joint 2131 has the freedom of lateral swing, and the second finger joint 2132, the third finger joint 223 and the fourth finger joint 233 have the freedom of flexion and extension.

Among them, the thumb joints of the human hand include the carpometacarpal joint (CMC joint for short), the metacarpophalangeal joint (MetacarpoPhalangeal joint for short, MP joint for short) and the interphalangeal joint (InterPhalangeal joint, IP joint for short). The CMC joint is a saddle-shaped joint with three degrees of freedom, namely flexion and extension, adduction and abduction, and axial rotation. The MP joint and IP joint each have one degree of freedom.

Specifically, the extension direction of the thumb 1 refers to the direction from the base of the thumb 1 to the finger tip. The above five joints of thumb 1 correspond to 5 degrees of freedom, and the 5 degrees of freedom are all active degrees of freedom. The fifth thumb joint 153 corresponds to the IP joint of the thumb of the human hand and is used to realize the function of the IP joint of the thumb. The fourth thumb joint 143 corresponds to the MP joint of the thumb of a human hand and is used to realize the function of the thumb MP joint. The first thumb joint 113, the second thumb joint 123 and the third thumb joint 133 correspond to the CMC joint of the thumb of human hand and are used to realize the function of the CMC joint of the thumb. The configuration of the thumb is a new type of "311" configuration five-degree-of-freedom thumb.

The structure of middle finger 3, ring finger 4 and little finger 5 is the same as that of index finger 2. In the embodiment of the present application, the index finger 2 is used as an example to illustrate the structure of these four fingers. The above four finger joints of the index finger 2 correspond to four degrees of freedom, namely three degrees of freedom of flexion and extension and one degree of freedom of side swing. The fourth finger joint 233 corresponds to the distal interphalangeal joint (DIP joint) of the index finger of the human hand and is used to realize the function of the DIP joint of the index finger. The third finger joint 223 corresponds to the proximal interphalangeal joint (PIP joint) of the index finger of the human hand and is used to realize the function of the PIP joint of the index finger. The first finger joint 2131 and the second finger joint 2132 correspond to the MP joint of the index finger of the human hand, and are used to realize the function of the MP joint of the index finger.

The thumb 1, index finger 2, middle finger 3, ring finger 4 and little finger 5 are connected to the palm unit 600 to form the body of the human-like five-finger dexterous hand provided by the present application. The human-like five-finger dexterous hand can realize dexterity through the flexion and extension of the second thumb joint 123, the fourth thumb joint 143 and the fifth thumb joint 153 and the flexion and extension of the fourth finger joint 233, the third finger joint 223 and the second finger joint 2132. Five-finger grasping action. The index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 can achieve side swing of the fingers through their respective first finger joints 2131. The palm-opposing movement of the thumb can be realized by the rotation of the first thumb joint 113 and the flexion and extension of the fourth thumb joint 143 and the fifth thumb joint 153 . On this basis, the rotation of the third thumb joint 133 can also be used to drive the fourth thumb joint 141 and the fifth thumb joint 151 to deflect to a certain angle to complete more complex movements. For example, there is a palm-opposing movement in which the tip of the thumb is in direct contact with the palm surfaces of the other fingers, and a finger-opposing movement in which the tip of the thumb is in direct contact with the tips of the other fingers. The human-like five-finger dexterous hand provided by the embodiment of the present application can complete all the actions in the Kapandji palm-matching experiment. Its dexterity not only surpasses the existing dexterous hand, but can also realize some actions that cannot be achieved by the human hand. Moreover, while ensuring its dexterity, it can achieve a 1:1 size design with the human hand.

The structure of thumb 1 is explained below.

As shown in Figures 3 to 6, the thumb 1 is a modular finger, which includes a thumb base 10, a first thumb section 111, a second thumb section 121, a third thumb section 131, a fourth thumb section 141 and a fifth thumb section. Thumb section 151. The first thumb joint 111 and the thumb base 10 are rotatably connected to form a first thumb joint 113 . The second thumb joint 121 and the first thumb joint 111 are rotatably connected to form a second thumb joint 123 . The third thumb joint 131 and the second thumb joint 121 are rotatably connected to form a third thumb joint 133 . The fourth thumb joint 141 and the third thumb joint 131 are rotatably connected to form a fourth thumb joint 143. The fifth thumb joint 151 and the fourth thumb joint 141 are rotatably connected to form a fifth thumb joint 153.

The thumb 1 can be integrated onto the palm unit 600 via the thumb base 10 . As shown in FIG. 12 , the palm unit 600 includes a palm base 60 , and the thumb base 10 can be connected to the palm base 60 in a manner that is not limited to threaded connection or riveting. The first thumb segment 111 can perform a rotational movement relative to the thumb base 10, the second thumb segment 121 can perform a flexion and extension movement relative to the first thumb segment 111, the third thumb segment 131 can perform a rotational movement relative to the second thumb segment 121, and the fourth thumb segment The joint 141 can perform flexion and extension movements relative to the third thumb joint 131, and the fifth thumb joint 151 can perform flexion and extension movements relative to the fourth thumb joint 141. The five joints can be driven and rotated by a separate driving device. The driving device is arranged outside the thumb 1 and is drivingly connected to the corresponding joint through a driving tendon.

Further, as shown in FIG. 6 , the rotation axis A1 of the first thumb section 111 intersects perpendicularly with the rotation axis A2 of the second thumb section 121 . The rotation axis A3 of the third thumb section 131 perpendicularly intersects the rotation axis A2 of the second thumb section 121 . The rotation axis A1 of the first thumb joint 111, the rotation axis A3 of the third thumb joint 131, and the rotation axis A2 of the second thumb joint 121 intersect at one point.

When the second thumb joint 123 is extended to an angle of 180° between the first thumb joint 111 and the second thumb joint 121 , the rotation axis A1 and the rotation axis A3 coincide with each other and intersect perpendicularly with the rotation axis A2 . The thumb of this embodiment is compact, making it closer to the human hand. The rotation axis A4 of the fourth thumb joint 143 is parallel to the rotation axis A5 of the fifth thumb joint 153 .

Specifically, the second thumb joint 121 is hinged with the first thumb joint 111 through the second thumb shaft 122 to form a second thumb joint 123 . The fourth thumb joint 141 is hinged with the third thumb joint 131 through the fourth thumb shaft 142 to form a fourth thumb joint 143. The fifth thumb joint 151 is hinged with the fourth thumb joint 141 through the fifth thumb shaft 152 to form a fifth thumb joint 153.

The five joints of the thumb 1 in the embodiment of the present application can be driven to rotate by independent driving devices. The first thumb joint 113 , the second thumb joint 123 , the third thumb joint 133 , the fourth thumb joint 143 and the fifth thumb joint 153 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 to the corresponding joint through a driving tendon.

As shown in Figures 7 and 8, the thumb 1 also includes a transmission mechanism. The transmission mechanism is installed in the second thumb joint 121. The first end of the third thumb joint 131 and the fourth thumb joint 141 are rotatably connected to form a fourth thumb joint 143 . The transmission mechanism is connected with the second end of the third thumb joint 131 to drive the third thumb joint 131 to rotate.

Specifically, the second end of the third thumb knuckle 131 may be directly rotatably connected to the first end of the second thumb knuckle 121 , or may be rotatably connected to the first end of the second thumb knuckle 121 through other intermediate adapters. For example, a third thumb shaft 132 is fixed at the second end of the third thumb section 131 , and the second thumb section 121 and the third thumb shaft 132 are coaxially and rotatably connected. The driving end of the transmission mechanism is fixedly connected to the third thumb shaft 132. When the transmission mechanism drives the third thumb shaft 132 to rotate, it drives the third thumb joint 131 to rotate.

In some embodiments of the present application, the transmission mechanism includes a first bevel gear 1341, a second bevel gear 1342, and a third thumb joint driving wheel 1343. The first bevel gear 1341 is coaxially fixedly connected to the third thumb joint 131 , and the second bevel gear 1342 meshes with the first bevel gear 1341 . The third thumb joint driving wheel 1343 is coaxially fixedly connected to the second bevel gear 1342 . The third thumb joint driving wheel 1343 is rotatably connected to the second thumb joint 121 .

Specifically, the third thumb joint 131 is fixedly connected to the first bevel gear 1341 through the third thumb shaft 132. The second bevel gear 1342 is rotatably mounted on the second thumb joint 121 and is fixedly connected to the third thumb joint driving wheel 1343 . The third thumb joint driving wheel 1343 can be driven to rotate by a tendon to drive the third thumb joint 131 to rotate around the axis of the second thumb joint 121 .

The second thumb joint 121 includes a plurality of side plates. The plurality of side plates surround the second thumb joint body and form an installation space therein. The first bevel gear 1341, the second bevel gear 1342 and the third thumb joint driving wheel 1343 are accommodated in the installation space, that is, the third thumb joint 133 is rotated and driven in the second thumb joint 121, so that the third thumb joint 133 is rotated. 131 and the second thumb section 121 have a compact structural layout.

Further, as shown in FIG. 7 , the driving tendons used to drive the third thumb joint 133 to rotate are respectively the third thumb joint forward driving tendon 1351 and the third thumb joint reverse driving tendon 1352 . The number of the second bevel gear 1342 and the third thumb joint driving wheel 1343 is two, and the two second bevel gears 1342 are respectively located on both sides of the first bevel gear 1341 in the axial direction. Two second bevel gears 1342 and two third thumb joint driving wheels 1343 are arranged in one-to-one correspondence. The two driving tendons of the third thumb joint 133 are connected to the two third thumb joint driving wheels 1343 in one-to-one correspondence.

In this embodiment, the third thumb joint can drive the tendon 1351 in the forward direction to drive the third thumb joint driving wheel 1343 to rotate to realize the forward rotation of the third thumb joint 133; the third thumb joint can drive the tendon 1352 in the reverse direction to drive the third thumb joint driving wheel 1343. The thumb joint driving wheel 1343 rotates to realize reverse rotation of the third thumb joint 133 . In this embodiment, two third thumb joint driving wheels 1343 are provided to facilitate the arrangement of the driving tendons in the thumb.

As shown in FIG. 8 , the driving tendons used to drive the second thumb joint 123 to flex and extend are respectively the second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 . The second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 are respectively connected to the second thumb joint 121 .

Specifically, the second thumb joint 121 is rotatably connected to the first thumb joint 111 through the second thumb shaft 122 to form a second thumb joint 123. Optionally, the second thumb shaft 122 is fixed to the second thumb section 121 and is rotatably connected to the first thumb section 111 . The second thumb joint 121 rotates around the axis of the second thumb shaft 122 under the driving action of the second thumb joint forward driving tendon 1241 or the second thumb joint reverse driving tendon 1242 to achieve the flexion and extension movement of the second joint.

The thumb 1 also includes a first thumb joint drive wheel 114 . The first thumb joint driving wheel 114 is coaxially and fixedly connected to the first thumb joint 111, and the first thumb joint driving wheel 114 is coaxially and rotatably connected to the thumb base 10. The first thumb joint driving wheel 114 is driven by the tendons to rotate relative to the thumb base 10, thereby driving the first thumb joint 111 to rotate around its axis. It should be noted that in the embodiment of the present application, the axial direction of the knuckles and the axial direction of the thumb base 10 are both the direction of the knuckles along the length of the finger.

Further, as shown in FIG. 9 , the first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 are used to drive the first thumb joint 113 to rotate. One ends of the first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 are respectively connected to both sides of the outer periphery of the first thumb joint driving wheel 114 .

As shown in FIGS. 7 and 8 , in some embodiments of the present application, the fourth thumb shaft 142 is fixedly connected to the fourth thumb section 141 and rotatably connected to the third thumb section 131 . The fifth thumb shaft 152 is fixedly connected to the fourth thumb section 141 and is rotatably connected to the fifth thumb section 151 .

Among them, the driving tendons used to drive the fourth thumb joint 143 to flex and extend are the fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452. The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 are respectively connected to the fourth thumb joint 141 and located on both sides of the fourth thumb shaft 142 . The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 drive the fourth thumb joint 141 to rotate relative to the fourth thumb shaft 142 to realize the flexion and extension movement of the fourth thumb joint 143 .

Among them, the driving tendons used to drive the fifth thumb joint 153 to flex and extend are the fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562, and the fifth thumb joint forward driving tendon 1561 and The fifth thumb joint reverse driving tendons 1562 are respectively connected to the fifth thumb joint 151 on both sides of the fifth thumb shaft 152 .

Specifically, the thumb 1 also includes a driving block 155 , which is fixedly connected to the fifth thumb section 151 and rotatably connected to the fifth thumb shaft 152 . The fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 are both fixed to the driving block 155 and located on both sides of the driving block 155 . The fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 drive the driving block 155 to rotate relative to the fifth thumb shaft 152 to realize the flexion and extension movement of the fifth thumb joint 153 .

In some embodiments of the present application, the fourth thumb shaft 142 is provided with a first tendon guide hole 1421, and the second thumb shaft 122 is provided with a second tendon guide hole 1221. The axis of the first tendon guide hole 1421 perpendicularly intersects the axis of the fourth thumb shaft 142 , and the axis of the second tendon guide hole 1221 perpendicularly intersects the axis of the second thumb shaft 122 . The driving tendon used to drive the fifth thumb joint 153 is passed through the corresponding first tendon guide hole 1421 and the second tendon guide hole 1221 in sequence, and the driving tendon used to drive the fourth thumb joint 143 and the driving tendon are The driving tendon of the third thumb joint 133 is passed through the second tendon guide hole 1221 .

Specifically, the number of the first tendon guide holes 1421 is two, and the fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 are threaded through the two first tendon guides in a one-to-one correspondence. Hole 1421.

The number of the second tendon guide holes 1221 is six, the fourth thumb joint forwardly drives the tendon 1451, the fourth thumb joint reversely drives the tendon 1452, the third thumb joint forwardly drives the tendon 1351, and the third thumb joint The reverse driving tendon 1352, the fifth thumb joint forward driving tendon 1561, and the fifth thumb joint reverse driving tendon 1562 are threaded through the six second tendon guide holes 1221 in a one-to-one correspondence.

The axis of the fourth thumb rotation shaft 142 intersects perpendicularly with the rotation axis of the third thumb joint 131 . The rotation axis of the third thumb section 131 intersects perpendicularly with the axis of the second thumb rotation shaft 122 . The axis of the second thumb rotation shaft 122 perpendicularly intersects the rotation axis of the first thumb joint 111 . The rotation axis of the first thumb section 111 , the rotation axis of the third thumb section 131 and the axis of the second thumb rotation shaft 122 intersect at one point. In this way, the driving tendons used to drive the second thumb joint 123 , the third thumb joint 133 , the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the first thumb joint 111 and pass through the central axis of the first thumb joint 111 noodle. The driving tendons used to drive the third thumb joint 133 , the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the second thumb shaft 122 and pass through the axis center of the second thumb shaft 122 . The driving tendons used to drive the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the third thumb joint 131 and pass through the central axis surface of the third thumb joint 131 . The driving tendon used to drive the fifth thumb joint 153 is passed through the fourth thumb shaft 142 and passes through the axis center of the fourth thumb shaft 142 . This layout of the driving tendons can reduce the motion coupling between the five joints, improve the accuracy of each joint's movements, and achieve human-like dexterous operation of the thumb of a dexterous hand.

The two first tendon guide holes 1421 are symmetrically distributed with respect to the rotation axis of the third thumb joint 131 and are arranged close to the rotation axis of the third thumb joint 131 . The six second tendon guide holes 1221 are symmetrically distributed with respect to the rotation axis of the first thumb joint 111 and are arranged close to the rotation axis of the first thumb joint 111 . In this way, the motion coupling between the first thumb joint 113 and the third thumb joint 133 and other joints can be further reduced.

Further, as shown in Figures 10 and 11, the walls of the first tendon guide hole 1421 and the second tendon guide hole 1221 are provided with relief grooves, and the relief grooves are used to provide relief for the corresponding joints when they are bent. Internal drive tendons provide avoidance.

Wherein, the hole wall of each second tendon guide hole 1221 of the second thumb shaft 122 is provided with a second relief groove 1222, and the second relief groove 1222 is used to position the second thumb joint 123 therein when the second thumb joint 123 is bent. The drive tendons provide avoidance.

Specifically, the second relief groove 1222 is located on the hole wall of the second tendon guide hole 1221 close to the finger surface side of the second thumb joint 121 . The second relief groove 1222 is a fan-shaped groove, and its angle is not less than 90°, which can realize the decoupling of the second thumb joint 123 and ensure that when the second thumb joint 123 is independently driven to move, the third thumb joint 133 and the fourth thumb joint 133 will not be affected. The postures of the thumb joint 143 and the fifth thumb joint 153. When the second thumb joint 123 is in the 0° angle state, the driving tendon edge in the second tendon guide hole 1221 is in the second tendon guide hole 1221 . The inner driving tendon extends along the axial direction of the second tendon guide hole 1221 . When the second thumb joint 123 is rotated to a 90° angle state, the driving tendon in the second tendon guide hole 1221 can be folded into a 90° angle.

As shown in FIG. 5 , the hole wall of each first tendon guide hole 1421 of the fourth thumb shaft 142 is provided with a first relief groove 1422 . The first relief groove 1422 and the second relief groove 1222 have the same structure, thereby realizing the decoupling of the fourth thumb joint 143 and ensuring that the posture of the fifth thumb joint 153 is not affected when the fourth thumb joint 143 is independently driven to move.

In some embodiments of the present application, a tendon line dividing block 125 is provided in the second thumb joint 121, and the tendon line dividing block 125 is provided with three pairs of tendon line dividing holes. The tendon line dividing block 125 is fixedly connected to the second thumb shaft 122 or the second thumb joint 121 . The three pairs of tendon separation holes are respectively used to pass through the two driving tendons of the fifth thumb joint 153 , the two driving tendons of the fourth thumb joint 143 and the two driving tendons of the third thumb joint 133 .

Among them, the tendon cord dividing block 125 is provided in the second thumb joint 121 . The exits of the three pairs of tendon branching holes are arranged in sequence along the axial direction of the second thumb shaft 122 and correspond to the six second tendon guide holes 1221 on the second thumb shaft 122 one by one. The driving tendons of the fifth thumb joint 153 , the fourth thumb joint 143 and the third thumb joint 133 are sequentially threaded through the tendon dividing block 125 , the second thumb shaft 122 , the first thumb joint 111 and the thumb base 10 Then enter the palm unit 600. The driving tendon of the second thumb joint 123 passes through the thumb base 10 and then enters the palm unit 600 . The driving tendons of the first thumb joint enter the palm unit 600 through the tendon guide blocks on the palm base 60 .

The index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are all modular fingers, and the structures of the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are the same. The structure of index finger 2, middle finger 3, ring finger 4 and little finger 5 will be explained below.

As shown in FIGS. 1 and 12 , the finger base 20 can be connected to the palm base 60 in a manner that is not limited to threaded connection or riveting. The first finger knuckle 211 can perform lateral swing movements and flexion and extension movements relative to the finger base 20, the second finger knuckle 221 can perform flexion and extension movements relative to the first finger knuckle 211, and the third finger knuckle 231 can perform flexion and extension movements relative to the second finger knuckle 221. . Among them, the rotation axis B2 of the second finger joint 2132 is perpendicular to the rotation axis B1 of the first finger joint 2131. The rotation axis B2 of the second finger joint 2132, the rotation axis B3 of the third finger joint 223 and the rotation of the fourth finger joint 233 Axis B4 is parallel.

The degree of freedom of flexion and extension of the fourth finger joint 233 is a passively coupled degree of freedom of flexion and extension relative to the third finger joint 223 . The degree of freedom of flexion and extension of the second finger joint 2132 and the third finger joint 223 is an active degree of freedom of flexion and extension, which can be driven and rotated by a separate driving device. The driving device is arranged outside the finger and is drivingly connected to the corresponding joint through a driving tendon.

As shown in FIGS. 14 to 17 , in the embodiment of the present application, the index finger 2 , the middle finger 3 , the ring finger 4 and the little finger 5 also include a cross axis connecting block 24 , and the first finger knuckle 211 is connected to the finger base 20 through the cross axis connecting block 24 The connection forms a first finger joint 2131 and a second finger joint 2132.

Specifically, the first finger knuckle 211 is connected to the cross-shaft connecting block 24 , and the cross-shaft connecting block 24 is rotatably connected to the finger base 20 through the first finger rotating shaft 2121 to form a first finger joint 2131 . The cross-axis connecting block 24 is rotatably connected to the finger base 20 through the second finger rotation axis 2122 to form a second finger joint 2132. The axes of the first finger rotation axis 2121 and the second finger rotation axis 2122 intersect perpendicularly.

Specifically, one of the cross-shaft connecting block 24 and the finger base 20 is fixedly connected or integrally formed with the first finger rotating shaft 2121, and the other one of the cross-shaft connecting block 24 and the finger base 20 is connected to the second finger rotating shaft 2122. Fixed connection or one-piece molding. Pin holes adapted to the first finger rotation axis 2121 or the second finger rotation axis 2122 are provided on the cross axis connecting block 24 and the finger base 20 at positions corresponding to the first finger rotation axis 2121 and the second finger rotation axis 2122 . The axis of the first finger rotation axis 2121 and the axis of the second finger rotation axis 2122 intersect perpendicularly, that is, the side swing rotation axis of the finger intersects perpendicularly with the flexion and extension rotation axis, making the connection structure between the first finger knuckle 211 and the finger base 20 compact.

In the embodiment of the present application, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 each include a third finger joint forward driving tendon 2241, a third finger joint reverse driving tendon 2242 and a coupling tendon 2341. The third finger joint forward driving tendon 2241 and the third finger joint reverse driving tendon 2242 are respectively connected to the third finger knuckle 231 . The first finger knuckle 211 is provided with an elastic return member 25. One end of the coupling tendon 2341 is connected to the third finger knuckle 231, and the other end is connected to the elastic return member 25. The elastic return member 25 may be a return spring or a return elastic piece.

Specifically, the second end of the second finger knuckle 221 is rotatably connected to the first finger knuckle 211 through the third finger rotation axis. A fourth finger rotation axis is fixed on one end of the third finger knuckle 231, and the fourth finger rotation axis is rotatably connected to the second finger knuckle 221. A first driving wheel 235 is fixed on the fourth finger rotating shaft. The third finger joint forward driving tendon 2241 and the third finger joint reverse driving tendon 2242 are respectively connected to the first driving wheel 235 and located on the first driving wheel 235 . both sides. One end of the coupling tendon 2341 is connected to the first driving wheel 235 and is located on the side of the first driving wheel 235 close to the back of the finger. The other end of the coupling tendon 2341 is connected to the elastic reset member 25 .

Among them, the coupling tendon 2341 is connected to one end of the elastic return member 25 and is located on the side of the fourth finger rotation axis close to the finger surface, so that the coupling tendon 2341 exerts force on the third finger knuckle 231 toward the dorsal side of the finger under the action of the elastic return member 25. of tension. In this way, when the third finger joint forward driving tendon 2241 is pulled, the third finger joint 223 can be driven to bend toward the inside of the palm.

Moreover, when the second finger knuckle 221 does not encounter an obstacle and the third finger knuckle 223 is bent toward the inside of the palm within a set angle range, the third finger knuckle 231 and the second finger knuckle 221 do not rotate relative to each other. When the bending angle of the third finger joint 223 exceeds the set angle, the third finger knuckle 231 rotates relative to the second finger knuckle 221, causing the fourth finger joint 233 to bend toward the inside of the palm. When the second finger knuckle 221 encounters an obstacle, while the third finger joint forwardly drives the tendon 2241 to continue pulling, the fourth finger joint 233 overcomes the force of the elastic reset member 25 and bends toward the inside of the palm to complete the obstacle response. of grasp.

In the embodiment of the present application, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 all include a first finger joint forward driving tendon 2141, a first finger joint reverse driving tendon 2142, and a second finger joint forward driving tendon. 2143 and the second finger joint drive the tendon 2144 in reverse direction.

Among them, the first finger joint forward driving tendon 2141 and the first finger joint reverse driving tendon 2142 are connected to the first finger knuckle 211 respectively, and are used to drive the first finger knuckle 211 to perform side swing motion relative to the finger base 20 . The second finger joint forward driving tendon 2143 and the second finger joint reverse driving tendon 2144 are respectively connected to the first finger knuckle 211 for driving the first finger knuckle 211 to perform flexion and extension movements relative to the finger base 20 .

Optionally, the first finger joint forward driving tendon 2141 and the first finger joint reverse driving tendon 2142 are respectively connected to positions on the first finger knuckle 211 corresponding to both ends of the second finger rotation axis 2122, such as the first finger knuckle. There are pin holes on both sides of 211 for installing the second finger rotating shaft 2122.

Among them, the third finger joint forward driving tendon 2241 and the third finger joint reverse driving tendon 2242 are threaded through the axes of the first finger rotating shaft 2121 and the second finger rotating shaft 2122. The tendons in the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are distributed in the same manner. There are six driving tendons and one coupling tendon. The six driving tendons are inserted into the tendon holes in the finger base 20.

As shown in FIG. 2 and FIG. 18 , in some embodiments of the present application, the palm unit 600 includes a palm base 60 , a first connecting part 611 and a second connecting part 621 . The thumb 1 , index finger 2 , middle finger 3 and ring finger 4 are respectively connected to the palm base 60 , and the little finger 5 is connected to the first end of the second connecting part 621 . The second end of the second connecting part 621 and the first end of the first connecting part 611 are rotatably connected to form a second palm joint 623. The second end of the first connecting portion 611 is rotatably connected to the palm base 60 to form a first palm joint 613 . Both the first palm joint 613 and the second palm joint 623 have degrees of freedom to flex and extend relative to the palm base 60 . The rotation axis of the first palm joint 613 and the rotation axis of the second palm joint 623 are arranged at an angle.

Among them, the palm unit 600 is used to provide a mounting base and tendon layout space for each finger. The back of the palm base 60 is also provided with a control circuit board. The driving tendons of all fingers pass through the tendon holes in the palm base 60 .

The thumb 1 is connected to the palm base 60 through the thumb base 10 , and the index finger 2 , the middle finger 3 and the ring finger 4 are respectively connected to the palm base 60 through their respective finger bases 20 . The finger base 20 of the little finger 5 is connected to the palm base 60 through the second connecting part 621 and the first connecting part 611 in sequence. The first palm joint 613 has a degree of freedom to flex and extend in the direction of the thumb 1, and the second palm joint 623 has a degree of freedom to flex and extend in the direction of the wrist.

The first connection part 611 is rotatably connected to the palm base 60 through the first palm rotation axis 612 , and the second connection part 621 is rotatably connected to the first connection part 611 through the second palm rotation axis 622 . Optionally, the axis of the second palm rotation axis 622 is parallel to the axis of the second finger rotation axis 2122 of the little finger 5 .

In the embodiment of the present application, as shown in Figures 19-21, the palm unit 600 includes a first palm joint forward driving tendon 6141, a first palm joint reverse driving tendon 6142, and a second palm joint forward driving tendon. 6241 and the second palm joint drive the tendon 6242 in reverse direction. The first palm joint forward driving tendon 6141 and the first palm joint reverse driving tendon 6142 are respectively connected to the first connecting portion 611 of the hand for driving the first palm joint 613 to rotate. The second palm joint forward driving tendon 6241 and the second palm joint reverse driving tendon 6242 are respectively connected to the second connecting portion 621 for driving the second palm joint 623 to rotate. The driving tendons of the little finger 5 are passed through the second connecting portion 621 , the first connecting portion 611 and the tendon holes of the palm base 60 in sequence.

The driving tendons of each finger joint and the driving tendons of the first palm joint 613 and the second palm joint 623 are all threaded through the tendon holes of the palm base 60 . Specifically, as shown in FIGS. 22 and 23 , the palm base 60 is provided with a first tendon hole 601 , a second tendon hole 602 and a third tendon hole 603 . The two driving tendons of the first thumb joint 113 of the thumb 1 are passed through the first tendon hole 601, and a total of eight driving tendons of the other joints of the thumb 1 are passed through the second tendon hole 602. The index finger 2, A total of 24 driving tendons of the middle finger 3 , the ring finger 4 and the little finger 5 and a total of 4 driving tendons of the first connecting part 611 and the second connecting part 621 of the hand are passed through the third tendon hole 603 .

As shown in Figures 24 to 27, the humanoid five-finger dexterous hand provided by this application also includes a wrist unit 700. The wrist unit 700 includes a wrist base 70 and a cross-axis connecting seat 73. The wrist base 70 is connected to the palm unit 600 through the cross-axis connecting seat 73 to form a first wrist joint 713 and a second wrist joint 723. The first wrist joint 713 has a degree of freedom for lateral swing, and the second wrist joint 723 has a degree of freedom for flexion and extension. The wrist unit 700 is used to realize the overall pitch and side swing motion of the human-like five-finger dexterous hand body. Among them, the first wrist joint 713 is used to realize the side swing motion, and the second wrist joint 723 is used to realize the pitching motion.

Specifically, the cross-axis connection base 73 is rotatably connected to the wrist base 70 through the first wrist rotation axis 712 to form a first wrist joint 713, and the cross-axis connection base 73 is rotatably connected to the palm unit 600 through the second wrist rotation axis 722 to form a second wrist joint 713. Wrist joint723. The first wrist rotation axis 712 and the second wrist rotation axis 722 are arranged perpendicularly to each other. The second wrist rotating shaft 722 is rotatably connected to the cross-axis connecting seat 73 and is fixedly connected to the palm base 60 . For example, a connecting piece is fixed on the second wrist rotating shaft 722, and the palm base 60 is connected to the connecting piece through a connecting flange.

The wrist unit 700 includes a first wrist joint forward driving tendon 7141, a first wrist joint reverse driving tendon 7142, a second wrist joint forward driving tendon 7241, and a second wrist joint reverse driving tendon 7242. The first wrist joint forward driving tendon 7141 and the first wrist joint reverse driving tendon 7142 are respectively connected to the cross shaft connecting seat 73 and located on both sides of the first wrist rotation axis 712 . The second wrist joint forward driving tendon 7241 and the second wrist joint reverse driving tendon 7242 are respectively connected to the connector fixed to the second wrist rotation axis 722 and are located on both sides of the second wrist rotation axis 722 .

Further, the driving tendons of the palm unit 600 , thumb 1 , index finger 2 , middle finger 3 , ring finger 4 and little finger 5 all pass through the axes of the first wrist rotation axis 712 and the second wrist rotation axis 722 to realize the joint of the wrist unit 700 Decoupled from the movements of the palm unit 600 and individual fingers. Specifically, the first wrist rotating shaft 712 and the second wrist rotating shaft 722 are provided with tendon guide holes. The axis of the tendon guide hole in the first wrist rotation shaft 712 perpendicularly intersects with the axis of the first wrist rotation shaft 712 , and the axis of the tendon guide hole in the second wrist rotation shaft 722 perpendicularly intersects with the axis of the second wrist rotation shaft 722 . The 38 driving tendons protruding from the palm base 60 are sequentially inserted into the tendon guide holes of the second wrist rotation axis 722 and the tendon guide holes of the first wrist rotation axis 712 .

As shown in Figures 23, 24, and 31, in the embodiment of the present application, the wrist unit 700 also includes a tendon cord dividing plate 74. The tendon cord dividing plate 74 is disposed at the bottom of the wrist base 70, that is, located on the wrist base. 70 is the side away from the cross shaft connecting seat 73. A plurality of tendon cord guide grooves 741 are provided in the tendon cord dividing plate 74. Each tendon cord guide groove 741 extends from the inside to the outside of the tendon cord dividing plate 74. The outlets of the plurality of tendon cord guide grooves 741 are distributed on the tendon cord. The outer peripheral side of the branch plate 74 .

Specifically, the two driving tendons of the second wrist joint 723 and the 38 driving tendons extending from the first wrist rotation axis 712 are connected to the driving device 800 after being divided by the tendon dividing plate 74 . Optionally, the tendon cord distribution plate 74 is a plate-like structure with a through hole in the middle. A plurality of tendon cord guide grooves 741 are arranged at intervals along the circumferential direction of the through hole, and each tendon cord guide groove 741 is formed by a through hole. The side walls extend toward the outer edge of the tendon breakout plate 74 .

The two driving tendons of the first wrist joint 713 are located on both outer sides of the wrist base 70 and the tendon dividing plate 74 . Guide limit grooves 701 are respectively provided on both outer sides of the wrist base 70 , and the two driving tendons of the second wrist joint 723 are respectively located in the two guide limit grooves 701 .

As shown in Figures 28-31, the human-like five-finger dexterous hand provided by the embodiment of the present application also includes a driving device 800. The driving device 800 includes a plurality of driving units 810. The plurality of driving units 810 are arranged in one-to-one correspondence with the plurality of joints of the human five-fingered dexterous hand. The driving unit 810 is disposed on a side of the wrist base 70 away from the palm unit 600 . Each driving unit 810 is drivingly connected to a corresponding joint through two driving tendons.

Among them, the driving unit 810 is a driving mechanism that is not limited to a motor. When the humanoid five-fingered dexterous hand is driven to move, the corresponding driving unit 810 is controlled to pull the corresponding driving tendon, so that the corresponding joint performs flexion, extension, side swinging or rotational movement, thereby realizing the corresponding action. Each driving tendon is equipped with a tendon tension sensor for detecting the tension of the tendon. Among them, the human-like five-finger dexterous hand also includes a pre-tightening mechanism. A pre-tightening mechanism is provided between the driving unit 810 and the corresponding driving tendon to keep the driving tendon in a tensioned state at all times and not break away from the corresponding guide wheel.

In one specific embodiment, the number of driving units 810 is 21, corresponding to driving five joints of thumb 1 (first thumb joint 113, second thumb joint 123, third thumb joint 133, fourth thumb joint). 143 and the fifth thumb joint 153), 3 joints of each of the other four fingers (the first finger joint 2131, the second finger joint 2132 and the third finger joint 223), and 2 joints of the palm unit 600 (the first palm joint 613 and the second palm joint 623) and the two joints of the wrist unit 700 (the first wrist joint 713 and the second wrist joint 723). That is, a total of 42 driving tendons are connected to the driving device 800 to drive 21 joint movements of the humanoid five-finger dexterous hand.

Among them, the driving device 800 also includes an outer cover 820, and 21 driving units 810 are arranged in the outer cover 820. Housing 820 is connected to wrist base 70 . The outer cover 820 is rotatably mounted with 40 guide wheels 830 corresponding to the 40 tendon guide grooves 741 on the top end of the wrist unit 700 . Among them, the 40 driving tendons that pass out from the tendon line distribution board 74 pass through the wheel grooves of the 40 guide wheels one by one and then penetrate into the outer cover 820 to be connected to the corresponding 20 drive units 810. The two driving tendons of the first wrist joint 713 pass through the outer cover 820 and are connected to the other driving unit 810 . As shown in FIG. 31 , when ten tendon guide grooves 741 are respectively provided on all four sides of the tendon line distribution plate 74 , ten corresponding guide wheels 830 are respectively provided on all four sides of the top of the outer cover 820 . Correspondingly, 20 drive units 810 are distributed around the outer cover 820 .

As shown in Figure 32, each joint of the human-like five-finger dexterous hand provided by the embodiment of the present application is equipped with a joint position sensor 9 for detecting the rotation angle of the joint. The joint position sensor 9 includes a magnet and a magnetic grid. The magnet is fixed on the rotating shaft of the joint. The magnetic grid and the magnet are coaxially arranged. When the joint rotates, the magnet and the magnetic grid rotate relative to each other.

Specifically, the fifth thumb joint 153, the fourth thumb joint 143, the third thumb joint 133, the second thumb joint 123, the first thumb joint 113, the third finger joint 223, the second finger joint 2132, the first finger joint 2131 Magnets are fixed on the rotating shafts of the second palm joint 623, the first palm joint 613, the first wrist joint 713 and the second wrist joint 723, and magnetic grids are provided correspondingly at positions having a relative rotation relationship with the rotating shafts. When the joint rotates, the magnets on the rotating shaft rotate synchronously around the axis of the rotating shaft, producing changes in the magnetic field. The rotation angle of the joint can be determined based on the changes in the magnetic field.

Taking the rotation angle detection of the fifth thumb joint 153 as an example, the outer periphery of the driving block 155 is provided with a first magnet ring 1571 coaxial with the fifth thumb shaft 152 , and the fourth thumb joint 141 is provided with a first magnet ring 1571 coaxial with the first magnet ring 1571 . The first magnetic grid 1572 , the first magnet ring 1571 and the first magnetic grid 1572 arranged on the axis form a joint position sensor of the fifth thumb joint 153 .

Taking the detection of the rotation angle of the first finger joint 2131 of the index finger 2 as an example, the magnet 2151 is fixed on the cross-axis connecting block 24 and is coaxially arranged with the first finger rotation axis 2121, and the second magnetic grid 2152 is arranged on the finger base 20 close to On one side of the magnet 2151, the magnet 2151 and the second magnetic grid 2152 are coaxially arranged. Taking the angle detection of the fourth finger joint 233 of the index finger 2 as an example, a magnet is embedded at one end of the rotation axis of the fourth finger, and a magnetic grid is provided at the position of the second finger knuckle 221 corresponding to the magnet. The joint position sensors of other joints can be set up in a similar manner and will not be described again here.

In another embodiment of the present application, as shown in Figures 33 and 34, the thumb according to the embodiment of the present application further includes a transmission mechanism. The transmission mechanism is installed in the second thumb joint 121. The first end of the third thumb joint 131 and the fourth thumb joint 141 are rotatably connected to form a fourth thumb joint 143. The transmission mechanism is connected with the second end of the third thumb joint 131 to drive the third thumb joint 131 to rotate.

Specifically, the second end of the third thumb joint 131 can be rotatably connected to the first end of the second thumb joint 121 directly through a bearing, or can be rotatably connected to the first end of the second thumb joint 121 through other intermediate adapters. connect. For example, as shown in FIG. 34 , a third thumb shaft 132 is fixed at the second end of the third thumb section 131 , and the second thumb section 121 and the third thumb shaft 132 are coaxially and rotatably connected. The driving end of the transmission mechanism is fixedly connected to the third thumb shaft 132. When the transmission mechanism drives the third thumb shaft 132 to rotate, it drives the third thumb section 131 to rotate, thereby driving the fourth thumb section 141 and the fifth thumb section 151 to revolve around the third thumb section. The rotation axis A3 of 131 rotates.

In some embodiments of the present application, the transmission mechanism includes a first bevel gear 1341, a second bevel gear 1342, and a third thumb joint driving wheel 1343. The first bevel gear 1341 is coaxially fixedly connected to the third thumb joint 131 , and the second bevel gear 1342 meshes with the first bevel gear 1341 . The third thumb joint driving wheel 1343 is coaxially fixedly connected to the second bevel gear 1342 . The third thumb joint driving wheel 1343 is rotatably connected to the second thumb joint 121 .

Specifically, the third thumb joint 131 is fixedly connected to the first bevel gear 1341 through the third thumb shaft 132 . The second bevel gear 1342 is rotatably mounted on the second thumb joint 121 and is fixedly connected to the third thumb joint driving wheel 1343 . The third thumb joint driving wheel 1343 is used to connect the driving tendon to drive the third thumb joint driving wheel 1343 to rotate through the tendon, thereby driving the second bevel gear 1342. The second bevel gear 1342 drives the first bevel gear 1341 to rotate, and then Drive the third thumb joint 131 to rotate.

The second thumb joint 121 includes a plurality of side plates. The plurality of side plates surround the second thumb joint body and form an installation space therein. The first bevel gear 1341, the second bevel gear 1342 and the third thumb joint driving wheel 1343 are accommodated in the installation space, that is, the third thumb joint 133 is rotated and driven in the second thumb joint 121, so that the third thumb joint 133 is rotated. 131 and the second thumb section 121 have a compact structural layout.

As shown in FIG. 8 , the driving tendons used to drive the third thumb joint 133 to rotate are the third thumb joint forward driving tendon 1351 and the third thumb joint reverse driving tendon 1352 respectively. The number of the second bevel gear 1342 and the third thumb joint driving wheel 1343 is two, and the two second bevel gears 1342 are respectively located on both sides of the first bevel gear 1341 in the axial direction. Two second bevel gears 1342 and two third thumb joint driving wheels 1343 are arranged in one-to-one correspondence. The third thumb joint forward driving tendon 1351 is connected to one of the third thumb joint driving wheels 1343 , and the third thumb joint reverse driving tendon 1352 is connected to the other third thumb joint driving wheel 1343 .

In this embodiment, the third thumb joint can drive the tendon 1351 in the forward direction to drive the third thumb joint driving wheel 1343 to rotate in the first direction to realize the forward rotation of the third thumb joint 133; the third thumb joint can drive the tendon in the reverse direction. 1352 drives the third thumb joint driving wheel 1343 to rotate in the second direction to realize the reverse rotation of the third thumb joint 133. The provision of two third thumb joint driving wheels 1343 in this embodiment is beneficial to the arrangement of the driving tendons in the thumb, and at the same time improves the stability of the transmission mechanism and increases the driving stroke. Among them, the third thumb joint driving wheel 1343 is provided with a wheel groove on its outer peripheral side, and the third thumb joint forward driving tendon 1351 and the third thumb joint reverse driving tendon 1352 are respectively provided on the corresponding third thumb joint driving wheel 1343 in the wheel well.

In some embodiments of the present application, as shown in FIG. 35 , limiting structures are provided on the outsides of the fifth thumb joint 151 and the fourth thumb joint 141 for limiting the rotation angle of the fifth thumb joint 153 . For example, the fifth thumb knuckle 151 is provided with a fifth thumb knuckle pad 154 on the finger surface side, and the fourth thumb knuckle 141 is provided with a fourth thumb knuckle pad 144 on the finger surface side. The four thumb joint soft pads 144 limit the rotation of the fifth thumb joint 153.

Specifically, the ends of the fifth thumb knuckle pad 154 and the fourth thumb knuckle pad 144 that are close to each other are provided with limited surfaces. When the fifth thumb joint 153 is bent at the maximum angle, the fifth thumb knuckle pad 154 and the fourth thumb knuckle pad 144 are The limiting surfaces of the thumb joint pad 144 are offset. For example, the movement range of the fifth thumb joint 153 is 0° to 92°, then when the fifth thumb joint 153 is at an angle of 180°, the limiting surface of the fifth thumb joint 154 and the fourth thumb joint cushion 144 The limit surface is set at an angle of 92°. When the fifth thumb joint 153 is bent at 92°, the limiting surface of the fifth thumb joint pad 154 offsets the limiting surface of the fourth thumb joint pad 144 to achieve position limiting.

A limiting structure is also provided on the outside of the third thumb joint 131 for limiting the rotation angle of the fourth thumb joint 143. Specifically, a limiting surface is provided at one end of the third thumb joint 131 close to the fourth thumb joint 141. When the fourth thumb joint 143 is bent at the maximum angle, the fourth thumb joint 141 and the limiting surface of the third thumb joint 131 offset. For example, another limiting surface is provided at one end of the fourth thumb knuckle pad 144 close to the third thumb knuckle 131. When the fourth thumb joint 143 is bent at the maximum angle, the other limiting surface of the fourth thumb knuckle pad 144 It offsets the limiting surface of the third thumb section 131 .

For example, the movement range of the fourth thumb joint 143 is -6° to 90°. When the fourth thumb joint 143 is at an angle of 180°, the limiting surface of the fourth thumb joint 144 and the limiting surface of the third thumb joint 131 The surface is set at a 90° angle. When the fourth thumb joint 143 is bent inward by 90°, the other limiting surface of the fourth thumb joint pad 144 offsets the limiting surface of the third thumb joint 131 to achieve position limiting.

The back side of the second thumb joint 121 is provided with a limited notch, and the back side of the second thumb joint 121 is the side opposite to the finger surface side thereof. When the second thumb joint 123 is bent outward at the maximum angle, the back side of the first thumb joint 111 offsets the limiting notch. Optionally, the back side of the first thumb section 111 has a cylindrical structure, and the limiting gap is a semicircular gap. For example, the movement range of the second thumb joint 123 is 0 to 90°. When the second thumb joint 123 is bent at 90°, the back side of the first thumb joint 111 offsets the limiting gap to achieve position limiting.

Among them, the back side of the fifth thumb section 151, the back side of the fourth thumb section 141 and the back side of the third thumb section can also be provided with limiting structures to limit the reverse rotation of the fifth thumb section 151 relative to the fourth thumb section 141. The angle limits the reverse rotation angle of the fourth thumb section 141 relative to the third thumb section 131 . For example, as shown in FIG. 35 , the fourth thumb joint 143 can be restricted from bending outward by 6° relative to the third thumb joint 131 through the limiting structures on the back side of the fourth thumb joint 141 and the back side of the third thumb joint 131 . .

In some embodiments of the present application, the third thumb joint 133 can achieve 360° rotation. In practice, the rotation angle of the third thumb joint 133 can be limited as needed. Specifically, as shown in Figure 36, the third thumb knuckle 131 is provided with a limiting groove 1311, the second thumb knuckle 121 is provided with a limiting piece 1211, and the limiting piece 1211 is provided in the limiting groove 1311 for limiting the third thumb knuckle. The rotation angle of 131 relative to the second thumb joint 121. When the third thumb joint 131 rotates relative to the second thumb joint 121, the limiting member 1211 slides in the arc-shaped limiting groove 1311. Specifically, the limiting groove 1311 is an arc-shaped limiting groove 1311 provided on the end surface of the third thumb knuckle 131 close to the second thumb knuckle 121 , and the limiting member 1211 is a connecting block fixed on the first end of the second thumb knuckle 121 limit screw on. For example, the central angle corresponding to the arc-shaped limiting groove 1311 is 225°, and the rotation range of the third thumb joint 133 is - 90° to +135°.

In some embodiments of the present application, the second thumb joint 121 is rotatably connected to the first thumb joint 111 through the second thumb shaft 122 to form a second thumb joint 123. Optionally, the second thumb shaft 122 is fixedly connected to the second thumb section 121 and rotatably connected to the first thumb section 111 . Specifically, the second thumb rotating shaft 122 is fixed on the second end of the second thumb section 121 , and the first thumb section 111 is hinged with the second thumb section 121 through the second thumb rotating shaft 122 .

As shown in FIG. 7 , the driving tendons used to drive the second thumb joint 123 to flex and extend are respectively the second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 . The second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 are respectively connected to the second thumb joint 121 .

Specifically, the driving shaft 126 is fixed on the second thumb rotating shaft 122 , and the second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 are respectively fixedly connected to the driving shaft 126 . Wherein, a guide groove is provided on the outer peripheral side of the drive shaft 126, and the second thumb joint forward driving tendon 1241 and the second thumb joint reverse driving tendon 1242 are respectively provided in the guide grooves on both sides of the drive shaft 126. The driving shaft 126 rotates around the axis of the second thumb shaft 122 under the driving action of the second thumb joint forward driving tendon 1241 or the second thumb joint reverse driving tendon 1242 to realize the flexion and extension movement of the second thumb joint 123 .

The thumb provided by the embodiment of the present application also includes a first thumb joint driving wheel 114 . The first thumb joint driving wheel 114 is coaxially and fixedly connected to the first thumb joint 111 , and the first thumb joint driving wheel 114 is coaxially and rotatably connected to the thumb base 10 . The first thumb joint driving wheel 114 can rotate relative to the thumb base 10 driven by the tendons, thereby driving the first thumb joint 111 to rotate around its axis. It should be noted that in the embodiment of the present application, the axial direction of the thumb joint and the axial direction of the thumb base 10 are both the direction of the thumb joint along the length of the finger.

As shown in FIG. 9 , the driving tendons used to drive the first thumb joint 113 to rotate are respectively the first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 . One ends of the first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 are respectively connected to both sides of the outer periphery of the first thumb joint driving wheel 114 . Among them, a wheel groove is provided on the outer circumferential side of the first thumb joint driving wheel 114, and the first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 are both arranged on the wheel of the first thumb joint driving wheel 114. inside the tank.

In some embodiments of the present application, the fourth thumb joint 141 is rotatably connected to the third thumb joint 131 through the fourth thumb shaft 142 to form a fourth thumb joint 143. Optionally, the fourth thumb shaft 142 is fixedly connected to the fourth thumb section 141 and rotatably connected to the third thumb section 131 . In some embodiments of the present application, the fifth thumb joint 151 is rotatably connected to the fourth thumb joint 141 through the fifth thumb shaft 152 to form a fifth thumb joint 153. Optionally, the fifth thumb shaft 152 is fixedly connected to the fourth thumb section 141 and rotatably connected to the fifth thumb section 151 . Specifically, the fifth thumb rotating shaft 152 is fixed on the first end of the fourth thumb section 141 , and the fourth thumb rotating shaft 142 is fixed on the second end of the fourth thumb section 141 . The fourth thumb section 141 is hinged with the fifth thumb section 151 through the fifth thumb rotating shaft 152 , and the fourth thumb section 141 is hinged with the third thumb section 131 through the fourth thumb rotating shaft 142 .

Among them, the driving tendons used to drive the fourth thumb joint 143 to flex and extend are respectively the fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452. The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 are respectively connected to the fourth thumb joint 141 and located on both sides of the fourth thumb shaft 142 .

Specifically, the fourth thumb joint 141 is provided with a fixed block, and the fixed block is fixed to the fourth thumb shaft 142 . The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 are both fixed to the fixed block. The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 drive the fixed block to rotate relative to the fourth thumb shaft 142 to realize the flexion and extension movement of the fourth thumb joint 143 .

Further, a pulley 146 is rotatably connected to the fourth thumb shaft 142 . The fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452 are respectively disposed in the wheel grooves on both sides of the pulley 146 . The pulley 146 separates the fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452, and reduces the fourth thumb rotation axis 142 to the fourth thumb joint forward driving tendon 1451 and the fourth thumb joint. The resistance generated by the movement of the reverse drive tendon 1452.

Among them, the driving tendons used to drive the fifth thumb joint 153 to flex and extend are the fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562, and the fifth thumb joint forward driving tendon 1561 and The fifth thumb joint reverse driving tendons 1562 are respectively connected to the fifth thumb joint 151 and located on both sides of the fifth thumb shaft 152 .

Specifically, the fifth thumb shaft 152 is rotatably connected to a driving block 155 , and the driving block 155 is fixedly connected to the fifth thumb joint 151 . The fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 are both fixed to the driving block 155 and located on both sides of the driving block 155 . The fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 drive the driving block 155 to rotate relative to the fifth thumb shaft 152 to realize the flexion and extension movement of the fifth thumb joint 153 .

In some embodiments of the present application, as shown in Figure 33, the fourth thumb joint 141 is provided with two tendon guide shafts 147, and the two tendon guide shafts 147 are provided with a gap. The fifth thumb joint forwardly drives the tendon 1561 and The fifth thumb joint reversely drives the tendon 1562 to pass through the gap between the two tendon guide shafts 147 . The fourth thumb joint 141 is also provided with a tendon guide block 148. The tendon guide block 148 is provided with a pair of tendon guide holes. The fifth thumb joint drives the tendon 1561 in the forward direction and the fifth thumb joint drives the tendon 1562 in the reverse direction. The tendon guide hole and the fourth thumb shaft 142 are sequentially passed through the tendon guide block 148 .

In some embodiments of the present application, the fourth thumb shaft 142 is provided with a first tendon guide hole 1421, and the second thumb shaft 122 is provided with a second tendon guide hole 1221. The axis of the first tendon guide hole 1421 perpendicularly intersects the axis of the fourth thumb shaft 142 , and the axis of the second tendon guide hole 1221 perpendicularly intersects the axis of the second thumb shaft 122 . The driving tendon used to drive the fifth thumb joint 153 is passed through the first tendon guide hole 1421 and the second tendon guide hole 1221 in sequence, and the driving tendon used to drive the fourth thumb joint 143 and the driving tendon used to drive the third The driving tendon of the thumb joint 133 is passed through the second tendon guide hole 1221 .

Specifically, the number of the first tendon guide holes 1421 is two, and the fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562 are threaded through the two first tendon guides in a one-to-one correspondence. Hole 1421. The number of the second tendon guide holes 1221 is six, the fourth thumb joint forwardly drives the tendon 1451, the fourth thumb joint reversely drives the tendon 1452, the third thumb joint forwardly drives the tendon 1351, and the third thumb joint The reverse driving tendon 1352, the fifth thumb joint forward driving tendon 1561, and the fifth thumb joint reverse driving tendon 1562 are threaded through the six second tendon guide holes 1221 in a one-to-one correspondence.

The axis of the fourth thumb rotation shaft 142 intersects perpendicularly with the rotation axis of the third thumb joint 131 . The rotation axis of the third thumb section 131 intersects perpendicularly with the axis of the second thumb rotation shaft 122 . The axis of the second thumb rotation shaft 122 perpendicularly intersects the rotation axis of the first thumb joint 111 . The rotation axis of the first thumb section 111 , the rotation axis of the third thumb section 131 and the axis of the second thumb rotation shaft 122 intersect at one point. In this way, the driving tendons used to drive the second thumb joint 123 , the third thumb joint 133 , the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the first thumb joint 111 and pass through the central axis of the first thumb joint 111 noodle. The driving tendons used to drive the third thumb joint 133 , the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the second thumb shaft 122 and pass through the axis center of the second thumb shaft 122 . The driving tendons used to drive the fourth thumb joint 143 and the fifth thumb joint 153 are passed through the third thumb joint 131 and pass through the central axis surface of the third thumb joint 131 . The driving tendon used to drive the fifth thumb joint 153 is passed through the fourth thumb shaft 142 and passes through the axis center of the fourth thumb shaft 142 . This layout of the driving tendons can reduce the motion coupling between the five thumb joints, improve the accuracy of each thumb joint movement, and achieve human-like dexterous operation of the thumb of a dexterous hand.

The two first tendon guide holes 1421 are symmetrically distributed with respect to the rotation axis of the third thumb joint 131 and are arranged close to the rotation axis of the third thumb joint 131 . The six second tendon guide holes 1221 are symmetrically distributed with respect to the rotation axis of the first thumb joint 111 and are arranged close to the rotation axis of the first thumb joint 111 . In this way, the kinematic coupling between the first thumb joint 113 and the third thumb joint 133 and other thumb joints can be further reduced.

Further, as shown in Figures 10 and 11, the walls of the first tendon guide hole 1421 and the second tendon guide hole 1221 are provided with relief grooves, and the relief grooves are used to provide relief when the corresponding thumb joint is bent. The driving tendon inside provides avoidance.

Wherein, the hole wall of each second tendon guide hole 1221 of the second thumb shaft 122 is provided with a second relief groove 1222, and the second relief groove 1222 is used to position the second thumb joint 123 therein when the second thumb joint 123 is bent. The drive tendons provide avoidance.

Specifically, the second relief groove 1222 is located on the hole wall of the second tendon guide hole 1221 close to the finger surface side of the second thumb joint 121 . The second relief groove 1222 is a sector-shaped groove, and its angle is not less than 90°. The decoupling of the second thumb joint 123 can be realized, ensuring that the postures of the third thumb joint 133, the fourth thumb joint 143 and the fifth thumb joint 153 are not affected when the second thumb joint 123 is driven to move alone. When the second thumb joint 123 is in the 0° angle state, the driving tendon edge in the second tendon guide hole 1221 is in the second tendon guide hole 1221 . The inner driving tendon extends along the axial direction of the second tendon guide hole 1221 . When the second thumb joint 123 is rotated to a 90° angle state, the driving tendon in the second tendon guide hole 1221 can be folded into a 90° angle.

In some embodiments of the present application, a tendon line dividing block 125 is provided in the second thumb joint 121, and the tendon line dividing block 125 is provided with three pairs of tendon line dividing holes. The tendon branching block 125 is fixedly connected to the second thumb shaft 122 or the second thumb joint 121. For example, the tendon branching block 125 is fixedly connected to the second thumb shaft 122 through the drive shaft 126. As shown in Figures 37 and 38, the three pairs of tendon separation holes are respectively used to pass through the two driving tendons of the fifth thumb joint 153, the two driving tendons of the fourth thumb joint 143, and the third thumb joint 133. of two driving tendons. Among them, the tendon cord dividing block 125 is provided in the second thumb joint 121 . The exits of the three pairs of tendon branching holes are arranged in sequence along the axial direction of the second thumb shaft 122 and correspond to the six second tendon guide holes 1221 on the second thumb shaft 122 one by one.

Optionally, the outlets of the three pairs of tendon branching holes are symmetrically distributed along the axis direction of the second thumb shaft 122 . Among them, the innermost pair is used to thread the fourth thumb joint forward driving tendon 1451 and the fourth thumb joint reverse driving tendon 1452, and the outermost pair is used to thread the third thumb joint forward driving tendon. The cord 1351 and the third thumb joint drive the tendon 1352 in opposite directions. The other pair is used to thread the fifth thumb joint forward driving tendon 1561 and the fifth thumb joint reverse driving tendon 1562.

Among them, the three pairs of second tendon guide holes 1221 correspond to the outlets of the three pairs of tendon line dividing holes on the tendon line dividing block 125 one by one. The driving shaft 126 is provided with six tendon guide holes corresponding to the three pairs of tendon guide holes on the second thumb shaft 122. The driving tendons of the fifth thumb joint 153, the fourth thumb joint 143 and the third thumb joint 133 are sequentially threaded through the tendon dividing block 125, the driving shaft 126, the second thumb shaft 122, the first thumb joint 111 and The thumb base 10 rears into the palm area. The driving tendon of the second thumb joint 123 passes through the thumb base 10 and then enters the palm area. The first thumb joint forward driving tendon 1151 and the first thumb joint reverse driving tendon 1152 enter the palm area through the tendon guide blocks on the palm base 60 .

In the embodiment of the present application, joint position sensors are provided at corresponding positions of the first thumb joint 113, the second thumb joint 123, the third thumb joint 133, the fourth thumb joint 143 and the fifth thumb joint 153, and the joint position sensors are used for Detect the rotation angle corresponding to the thumb joint.

As shown in Figure 34, the outer circumference of the driving block 155 is provided with a first magnet ring 1571 coaxial with the fifth thumb shaft 152, and the fourth thumb joint 141 is provided with a first magnetic grid coaxial with the first magnet ring 1571. 1572. The first magnet ring 1571 and the first magnetic grid 1572 form a joint position sensor of the fifth thumb joint 153. When the fifth thumb joint 153 rotates, the first magnet ring 1571 rotates around the axis of the fifth thumb rotation shaft 152 , and the rotation angle of the fifth thumb joint 153 can be determined according to changes in the magnetic field sensed by the first magnetic grid 1572 .

The third thumb section 131 is provided with a second magnet ring 1491 that is coaxial with the fourth thumb shaft 142. The fourth thumb section 141 is provided with a second magnetic grid 1492 that is coaxial with the second magnet ring 1491. The magnet ring 1491 and the second magnetic grid 1492 form a joint position sensor of the fourth thumb joint 143 . When the fourth thumb joint 143 rotates, the second magnet ring 1491 rotates around the axis of the fourth thumb shaft 142 to generate changes in the magnetic field. The rotation angle of the fourth thumb joint 143 can be determined based on the changes in the magnetic field sensed by the second magnetic grid 1492 .

The joint position sensor of the third thumb joint 133 may be a potentiometer. The second bevel gear 1342 is connected to the third thumb joint driving wheel 1343 through a transmission shaft, and the potentiometer is coaxially fixedly connected to the transmission shaft. The rotation of the second bevel gear 1342 drives the input hole of the potentiometer to rotate, and the voltage generated by the potentiometer changes linearly with the rotation angle to measure the rotation angle of the third thumb joint 133 .

The first thumb joint 111 is provided with a third magnet ring 1271 that is coaxial with the second thumb shaft 122. The second thumb joint 121 is provided with a third magnetic grid 1272 that is coaxial with the third magnet ring 1271. The third magnet The ring 1271 and the third magnetic grid 1272 form a joint position sensor for the second thumb joint 123 . When the second thumb joint 123 rotates, the third magnet ring 1271 rotates around the axis of the second thumb shaft 122 to generate changes in the magnetic field. The rotation angle of the second thumb joint 123 can be determined based on the changes in the magnetic field sensed by the third magnetic grid 1272 .

The driving unit and driving device of the human-like five-finger dexterous hand of the present application will be described below with reference to FIGS. 39 to 48 .

As shown in Figures 39 and 40, in the driving unit provided by the embodiment of the present application, the driving unit 810 includes: a tendon driving module 811, a tendon tensioning module 812, a first tendon 813 and a second tendon 814; The rope driving module 811 is connected to the tendon tensioning module 812; the tendon driving module 811 includes a first mounting base 801, a driving motor 802, a first guide wheel 803, a second guide wheel 804, a first force measuring element 805 and a second The force measuring element 806; the driving motor 802 is provided on the first mounting base 801; the first guide wheel 803 and the second guide wheel 804 are respectively rotatably provided on the first mounting base 801; one end of the first tendon 813 is wound around the driving The other end of the drive shaft of the motor 802 is suitable for connection with the joints on the bionic dexterous hand after sequentially bypassing the first guide wheel 803 and the tendon tensioning module 812; one end of the second tendon 814 is wound around the drive motor 802 The other end of the drive shaft passes through the second guide wheel 804 and the tendon tensioning module 812 in sequence, and is suitable for connection with the joint on the bionic dexterous hand; the first force measuring element 805 is used to detect the tension on the first tendon 813 Tension, the second load measuring element 806 is used to detect the tension on the second tendon 814.

Specifically, in this embodiment, by arranging the tendon driving module 811, the tendon tensioning module 812, the first tendon 813 and the second tendon 814, the first tendon can be adjusted based on the rotation of the drive motor 802 of the tendon driving module 811. The lengths of the tendons 813 and the second tendons 814 are adjusted. Since the first tendons 813 and the second tendons 814 are respectively tensioned and adjusted through the tendon tensioning module 812 under the guidance of the corresponding guide wheels, they can be adjusted respectively. The tension on the two tendons is accurately detected through the first load measuring element 805 and the second load measuring element 806, so as to provide feedback for the rotation control of the drive motor 802, thereby facilitating the measurement of the first tendon 813 and the second tendon. The length of the rope 814 is precisely adjusted to achieve stable and precise control of the rotational posture of the joints of the bionic dexterous hand under the traction of the first tendon 813 and the second tendon 814, thereby achieving the posture of the bionic dexterous hand. precise control.

It should be noted here that the joints shown in this embodiment can be the finger joints on the hand module of the bionic dexterous hand, the joints on the palm module, and the wrist joints on the wrist module, which are not specifically limited here. In this embodiment, when the joint is controlled to rotate in one direction, for example, when rotating toward the inside of the bionic dexterous hand, the drive motor 802 can be controlled to rotate along the first rotation direction to shorten the length of the first tendon 813 while maintaining the first rotation direction. The length of the second tendon 814 may adaptively increase the length of the second tendon 814, so that the joint can realize inward rotation of the bionic dexterous hand under the joint traction of the first tendon 813 and the second tendon 814.

Correspondingly, this embodiment controls the driving motor 802 to rotate along the second rotation direction to shorten the length of the second tendon 814 and maintain the length of the first tendon 813 or to make the length of the first tendon 813 corresponding. The growth of the joint can enable the joint to rotate toward the outside of the bionic dexterous hand under the joint pulling of the first tendon 813 and the second tendon 814 .

The drive motor 802 shown in this embodiment may be a servo motor known in the art, and the second rotation direction of the drive motor 802 is opposite to the first rotation direction. In this embodiment, the drive board 807 can be configured on the first mounting base 801, the drive board can be connected to the drive motor 802 of the drive unit 810, and the control board 84 of the drive device 800 can be connected to the drive board 807. In this way, this embodiment can output control instructions to the drive board 807 through the control board 84 according to actual needs to control the rotation state of the drive motor 802 .

It should be noted here that the driving board 807 shown in this embodiment has the characteristics of miniaturization, and the connection between the driving board 807 and the driving motor 802 is compact and convenient. In actual operation, this embodiment can use a drive board snap ring to cover the drive motor 802, a drive board snap ring to clamp the drive board 807, and use two snap ring screws to pass through the drive board snap ring and the drive board 807. 2 light holes, use 2 snap ring nuts to fix the above parts into one piece.

At the same time, the first tendon 813 and the second tendon 814 shown in this embodiment can adopt the same structure. As shown in Figure 43, the first tendon rope 813 shown in this embodiment includes: a wire core 831, a first plastic rope cover 832 and a metal rope cover 833; Connect from the inside out.

Among them, the wire core 831 in this embodiment is woven from ultra-high molecular weight polyethylene fiber, with a wire diameter of 0.8 mm, and a load of about 290N, as one of the key components for realizing the tendon driving method.

At the same time, the first plastic rope sleeve 832 is wrapped around the outside of the wire core 831 to serve as a transmission channel for the wire core 831. The overall hardness of the first plastic rope sleeve 832 is relatively high, providing a relatively smooth transmission path for the wire core 831. and channel, and the inner wall of the first plastic rope sleeve 832 is smooth, which can prevent the wire core 831 from being worn, greatly reducing the transmission friction coefficient of the wire core 831, and improving the overall transmission compliance.

In addition, the metal rope sleeve 833 uses a stainless steel metal tightly wound spring sleeve, which is wrapped around the outside of the first plastic rope sleeve 832 and has good flexibility, bending and rigidity, and protects and supports the first plastic rope sleeve 832 effect.

Furthermore, in this embodiment, the length of the metal rope sleeve 833 can be set to be shorter than the length of the first plastic rope sleeve 832 , and the end of the metal rope sleeve 833 away from the driving motor 802 can be connected to the outer side of the first plastic rope sleeve 832 through plastic. The sleeve 834 is connected so that the first tendon 813 and the second tendon 814 form an integrated closed loop as a whole. The metal cable sleeve 833 extends along the area corresponding to the tendon driving module 811 and the tendon tensioning module 812 .

As shown in Figure 40, in order to facilitate the detection of the tension on the first tendon 813 or the second tendon 814, the first mounting base 801 shown in this embodiment includes a base 8011, a first side plate 8012 and a third Two side plates 8013; the first side plate 8012 and the second side plate 8013 are respectively arranged on the opposite sides of the base 8011; one end of the first side plate 8012 is connected to the base 8011, and the other end is rotationally connected to the first guide wheel 803; One end of the two side plates 8013 is connected to the base 8011, and the other end is rotationally connected to the second guide wheel 804; the first force measuring element 805 and the second force measuring element 806 are respectively plate-shaped tension sensors; the first force measuring element 805 It is attached and connected to the first side plate 8012 as one body; the second force measuring element 806 is attached and connected to the second side plate 8013 as one body; among them, the first force measuring element 805 obtains the deformation information by detecting the deformation information of the first side plate 8012 The second load measuring element 806 obtains the tension on the second tendon 814 by detecting the deformation information of the second side plate 8013.

Specifically, when the tension on the first tendon 813 is detected, because the first tendon 813 presses on the first guide wheel 803 and extends to the tendon tensioning module under the guidance of the first guide wheel 803 812, then the pressure on the first guide wheel 803 will be fed back to the first side plate 8012, and the deformation amount on the first side plate 8012 will be reflected on the first force measuring element 805, so that according to the first force measuring element 805 The tension value on the first tendon 813 can be calculated from the read pressure value.

Correspondingly, when detecting the tension on the second tendon 814, the same principle can be used to convert the tension on the second tendon 814 based on the pressure value read by the second load measuring element 806.

Here, the first force measuring element 805 and the second force measuring element 806 shown in this embodiment are respectively connected to the control board 84 shown in the following embodiment, and the control board 84 is connected to the driving motor 802, so that the control board 84 can Closed-loop control of the drive motor 802 is implemented based on the pressure values fed back by the first force measuring element 805 and the second force measuring element 806, thereby achieving fine adjustment of the lengths of the first tendon 813 and the second tendon 814.

As shown in Figure 40, in order to ensure accurate detection of the tension on the first tendon 813 and the second tendon 814, this embodiment sets the first force measuring element 805 to have the same shape as the first side plate 8012. The first force measuring element 805 is disposed on a side of the first side plate 8012 facing away from the second side plate 8013; the second force measuring element 806 has the same shape as the second side plate 8013, and the second force measuring element 806 is disposed on the second side plate 8013 facing away from the first one side of the board.

Further, in order to facilitate the connection of one end of the first tendon 813 and one end of the second tendon 814 with the drive shaft of the drive motor 802 respectively, the base 8011 shown in this embodiment is configured as a first base body and a second Base body; the first base body is perpendicular to the second base body; the first side plate 8012 and the second side plate 8013 are respectively provided on the opposite sides of the first base body. Here, in this embodiment, the base of the driving motor 802 is connected to the second base body, and the driving shaft of the driving motor 802 is arranged between the first side plate 8012 and the second side plate 8013 .

As shown in FIG. 41 , in order to prevent the first tendon 813 and the second tendon 814 from interfering with each other and realize the length adjustment of the first tendon 813 and the second tendon 814 based on the driving shaft of the drive motor 802 , this embodiment The driving shaft of the driving motor 802 is configured as a first segment 91, a second segment 92 and a fastener 93; one end of the first segment 91 and one end of the second segment 92 are connected through the fastener 93, and the second The other end of the segment 92 is connected to the rotor assembly of the drive motor 802; one end of the first tendon 813 is wound around the first segment 91, and one end of the second tendon 814 is wound around the second segment 92.

Specifically, in this embodiment, at least one first rope threading hole 911 is provided on the side of the first section 91, and at least one second rope threading hole 921 is provided on the side of the second section 92; one end of the first tendon 813 The first section 91 is wound with a first preset length and then connected to at least one first rope hole 911; one end of the second tendon 814 is wound with a second preset length on the second section 92 and is connected to at least one first rope hole 911. A second rope hole 921 is connected.

In this embodiment, two first rope threading holes 911 can be constructed on the side of the first section 91, and two second rope threading holes 921 can be constructed on the side of the second section 92.

In actual operation, when fixing one end of the first tendon 813, in this embodiment, the first tendon 813 can be wound around the first section 91 by a first preset length, and then, the first tendon 813 can be wound around the first section 91 to a first preset length. After one end of the tendon rope 813 passes through one of the first rope threading holes 911, it goes back through the other first rope threading hole 911, and connects one end of the returned first tendon rope 813 with the two first rope threading holes 911. The first tendons 813 are connected, and then the other end of the first tendons 813 is tightened to end. The advantage of this connection of the first tendon 813 is that it not only ensures that the first tendon 813 is reliably connected to the first section 91 , but also leaves a certain adjustment margin for the first tendon 813 . When adjusting the length of the second tendon 814, the impact on the length of the first tendon 813 is minimized. At the same time, this fixing method is easy to operate. When manually adjusting the first tendon 813, it is also easy to adjust the second tendon 813. A tendon 813 is dismantled.

Correspondingly, when fixing one end of the second tendon 814, in this embodiment, the second tendon 814 can be wound around the second section 92 by a second preset length, and then, the second tendon 814 can be wound around the second section 92 to a second predetermined length. After one end of the second tendon rope 814 passes through one of the second rope threading holes 921, it is then looped back through the other second rope threading hole 921, and one end of the returned second tendon rope 814 is placed between the two second rope threading holes 921. The second tendon 814 is connected, and then the other end of the second tendon 814 is tightened to end. The advantage of this connection of the second tendon 814 is that it not only ensures that the second tendon 814 is reliably connected to the second section 92 , but also leaves a certain adjustment margin for the second tendon 814 . When adjusting the length of the first tendon 813, the impact on the length of the second tendon 814 is minimized. At the same time, this fixing method is easy to operate. When manually adjusting the second tendon 814, it is also easy to adjust the second tendon 814. The second tendon rope 814 is disassembled.

Further, as shown in FIG. 41 , in order to facilitate manual adjustment of the lengths of the first tendon 813 and the second tendon 814 based on the separate arrangement structure of the drive shaft, this embodiment is provided at one end of the first segment 91 There are first gear teeth 912, and second gear teeth 922 are provided at one end of the second segment 92. The first gear teeth 912 mesh with the second gear teeth 922; the opposite ends of the first segment 91 and the second segment 92 A guide structure is also provided between the two sections, and the guide structure is adapted to guide one end of the first section 91 and one end of the second section 92 to be closer to or farther away from each other along the axial direction of the drive shaft.

Here, in this embodiment, an adjustment wheel 913 is provided at the other end of the first segment 91; a plurality of strip grooves 9131 are provided on the side of the adjustment wheel 913; the plurality of strip grooves 9131 are arranged along the circumferential direction of the adjustment wheel 913. cloth, each strip groove 9131 extends along the axial direction of the drive shaft.

In this embodiment, one end of the strip groove 9131 is formed at one end of the adjusting wheel 913 facing the driving motor 802 , and the other end of the strip groove 9131 is formed in the middle of the adjusting wheel 913 . With such an arrangement, it is convenient for the operator to use a flat wrench to directly act on the strip groove 9131 and better control the separation of the first segment 91 and the second segment 92.

At the same time, the fastener 93 shown in this embodiment is preferably a locking bolt or a locking screw, and there is room for adjustment between the end of the fastener 93 away from the first section 91 and the tendon tensioning module 812. Gap 815.

Furthermore, the guide structure shown in this embodiment includes a sleeve 923 and a shaft hole; the sleeve 923 is provided at one end of the second section 92 , and the shaft hole is provided in the first section 91 and penetrates the first section 91 ; The inner side of the shaft sleeve 923 is provided with a threaded structure, and the outer side of the shaft sleeve 923 matches the hole wall of the shaft hole; the screw rod of the locking bolt extends into the shaft hole from the other end of the first segment 91, and Threaded connection with shaft sleeve.

In this way, when adjusting the tension of the first tendon 813 or the second tendon 814, this embodiment can achieve the purpose of adjustment by changing the length of the first tendon 813 or the second tendon 814, that is, by adjusting the first tendon 813 or the second tendon 814. The angle difference between the segment 91 and the second segment 92 is realized. The operation process is as follows:

First, put the hexagonal wrench into the adjustment gap 815 and loosen the locking bolt; then, use the flat wrench to act on the strip groove 9131, so that the first gear teeth 912 of the first segment 91 and the second segment 92 The second gear teeth 922 are disengaged, but ensure that the sleeve 923 on the second segment 92 does not disengage from the shaft hole of the first segment 91; then, use a flat wrench to drive the first segment 91 relative to the first segment 91. The second segment 92 rotates. After the angle difference between the first segment 91 and the second segment 92 reaches the set value, tighten the locking bolt with the hexagonal wrench, so that the first segment 91 and the second segment 91 are connected through the locking bolt. The two segments 92 are connected, and ensure that the first gear teeth 912 of the first segment 91 mesh with the second gear teeth 922 of the second segment 92, thereby fixing the first segment 91 and the second segment 92. integrated and formed into a complete drive shaft.

Here, in this embodiment, by arranging the opposite ends of the first segment 91 and the second segment 92 into a gear meshing structure, the first segment 91 and the second segment 92 can transmit a larger torque. And during operation, the first section 91 and the second section 92 will not "slip" with each other.

Further, as shown in Figure 42, in order to facilitate the tension adjustment of the first tendon 813 or the second tendon 814, the tendon tensioning module 812 shown in this embodiment includes a second mounting base 901, a first The tension adjustment component 902 and the second tension adjustment component 903; the second mounting base 901 is connected to the first mounting base 801; the first tension adjustment component 902 and the second tension adjustment component 903 are respectively provided on the second mounting base 901.

Preferably, in this embodiment, the first tension adjustment component 902 and the second tension adjustment component 903 are configured to have the same structure. For example, the first tension adjustment component 902 shown in this embodiment includes: a tensioning wheel 9021, an adjustment rod 9022, a compression spring 9023 and an adjustment bolt 9024; the first tendon 813 and the second tendon 814 are suitable for bypassing the tensioning wheel 9021; the adjusting rod 9022 includes a mounting section and a screw section, the diameter of the mounting section is larger than the diameter of the screw section; the tensioning wheel 9021 is rotatably installed on one end of the mounting section, and the other end of the mounting section is connected to one end of the screw section; The second mounting base 901 is provided with a through hole, and the other end of the screw section passes through the through hole and is threadedly connected with the adjusting bolt 9024; the other end of the mounting section is in contact with the first side of the second mounting base 901; a set of compression springs 9023 Located outside the screw section, one end of the compression spring is in contact with the second side of the second mounting seat 901 , and the other end of the compression spring is in contact with the adjusting bolt 9024 .

Specifically, in this embodiment, by controlling the adjusting bolt 9024 to twist clockwise until the adjusting bolt 9024 is located at the first position of the screw section, the compression spring 9023 can be controlled to be compressed to the first length, thereby controlling the increase in tension based on the tension wheel 9021 Tension force on the first tendon 813 or the second tendon 814.

Correspondingly, in this embodiment, by controlling the adjusting bolt 9024 to twist counterclockwise until the adjusting bolt 9024 is located at the second position of the screw section, the compression spring 9023 can be controlled to extend to the second length, thereby achieving control of the tensioning wheel 9021 based on the tensioning wheel 9021. The tension on the first tendon 813 or the second tendon 814 is small. Wherein, the second length is greater than the first length.

Here, in order to ensure the reliability of installing the first tension adjustment component 902 or the second tension adjustment component 903 on the second mounting base 901, the via hole provided in this embodiment includes a first hole section and a second hole section. One end of a hole segment is formed on the first side of the second mounting base 901, the other end of the first hole segment is connected with one end of the second hole segment, and the other end of the second hole segment is formed on the second side of the second mounting base 901. side.

Among them, the inner diameter of the second hole section shown in this embodiment is larger than the inner diameter of the first hole section, the compression spring 9023 is located in the second hole section, and the step surface formed between the second hole section and the first hole section and the compression spring One end of 9023 is in contact.

Further, as shown in Figure 39, the tendon tensioning module 812 shown in this embodiment is also provided with a third guide wheel 904 and a fourth guide wheel 905; the third guide wheel 904 and the fourth guide wheel 905 are respectively rotatable. The other end of the first tendon 813 sequentially goes around the tension wheel 9021 and the third guide wheel 904 of the first tension adjustment assembly 902 and is connected to the joint; the second end of the second tendon 814 The other end goes around the tension wheel 9021 and the fourth guide wheel 905 of the second tension adjustment assembly 903 in sequence, and is connected to the joint.

Here, in this embodiment, a fixed shaft can be detachably installed on the second mounting base 901, the third guide wheel 904 can be rotatably installed on one end of the fixed shaft, and the fourth guide wheel 905 can be rotatably installed. Installed on the other end of the fixed shaft.

As shown in Figures 44 to 46, this embodiment also provides a driving device 800, which includes: a fixed frame 82 and a plurality of driving units 810 as described above; the plurality of driving units 810 are respectively installed on the fixed frame 82, The number of driving units 810 is adapted to the number of joints on the bionic dexterous hand.

Here, since the driving device 800 shown in this embodiment includes a driving unit 810, and the specific structure of the driving unit 810 refers to the above embodiment, the driving device 800 shown in this embodiment includes all the technical solutions of the above embodiment. Therefore, At least all the beneficial effects brought by all the technical solutions of the above embodiments are not repeated here.

In actual work, due to the need to meet the driving requirements for corresponding degrees of freedom of multiple joints on a dexterous hand, the driving device 800 shown in this embodiment usually needs to be configured with multiple driving units 810 . In order to prevent the first tendons 813 and the second tendons 814 on the plurality of drive units 810 from interfering with each other, the driving device 800 shown in this embodiment is also provided with a line distribution board 83 .

As shown in FIGS. 44 and 48 , the line distribution tray 83 in this embodiment is arranged on the top of the fixed frame 82 along the height direction of the fixed frame 82 ; the line distribution tray 83 and the fixed frame 82 form a cubic structure. Here, in this embodiment, some of the plurality of driving units 810 are arranged on four sides of the cube structure, and the other part of the plurality of driving units 810 are arranged inside the cube structure.

Correspondingly, the line distribution tray 83 shown in this embodiment has four sides, which are respectively opposite to the four sides of the cube structure; each side of the line distribution tray 83 is provided with a plurality of wire wheels. 8301, an escape opening 8302 is provided in the middle of the line distribution plate 83; a plurality of wire pulleys 8301 are suitable for respectively guiding the first tendons 813 and the second tendons 814 installed on the drive unit 810 on the side of the cube structure; avoidance The opening 8302 is suitable for the first tendon 813 and the second tendon 814 installed on the driving unit 810 in the cube structure to pass through.

Here, the shape of the escape opening 8302 shown in this embodiment can be a triangle, a circle, a rectangle, a "D" shape and other structural forms, which are not specifically limited here.

In one embodiment, four driving units 810 are installed on the first side, the second side and the third side of the cube structure. Correspondingly, this embodiment is provided with eight wire pulleys on the first side, the second side, and the third side of the distribution board 83 , wherein the eight wire pulleys on each side correspond to each other one by one. Thus, the guidance requirements for the four first tendons 813 and the four second tendons 814 on the four driving units 810 are satisfied.

At the same time, in this embodiment, five driving units 810 are installed on the fourth side of the cube structure. Correspondingly, this embodiment is provided with ten wire pulleys on the fourth side of the line distribution tray 83 , wherein the ten wire pulleys on the fourth side of the line distribution tray 83 meet the requirements for the five drives in one-to-one correspondence. Guidance requirements for the five first tendons 813 and the five second tendons 814 on the unit 810 .

Based on the above arrangement, this embodiment realizes the arrangement of 17 driving units 810 on the four sides of the cubic structure. Since the 17 drive units 810 are mainly used to drive the degree of freedom of the knuckles of the bionic dexterous hand, the 17 drive units 810 can be configured in a relatively small-sized structure. The drive motor 802 corresponding to the drive unit 810 can be selected. Model RE13 motor, the diameter of the motor is 13mm.

At the same time, this embodiment is provided with 4 drive units 810 in the cube structure. These 4 drive units 810 are suitable for driving 2 wrist joints and 2 thumb-metacarpal joints of the bionic dexterous hand, with a total of 4 degrees of freedom. Therefore, the four drive units 810 can be configured in a relatively large-sized structure. The drive motor 802 corresponding to the drive unit 810 can be an A-max22 motor, and the diameter of the motor is 22 mm.

Here, this embodiment satisfies the driving requirements for multiple different types of joints on the bionic dexterous hand by arranging 17 driving units 810 on the four sides of the cubic structure and arranging 4 driving units 810 within the cubic structure. In this case, it can also ensure that the overall layout and structure of the driving device 800 is compact, and the overall appearance is miniaturized.

As shown in Figures 44 and 45, in order to further optimize the layout structure of the driving device 800, this embodiment arranges multiple driving units 810 on each side of the cube structure to be arranged side by side, with each driving unit 810 arranged along a fixed The frame 82 is arranged in the height direction, and two adjacent driving units 810 are connected.

As shown in FIG. 40 and FIG. 44 , in this embodiment, two adjacent driving units 810 can be connected through series blocks. Based on the solution of the above embodiment, it can be seen that when installing the driving motor 802, the base 8011 provided in this embodiment includes a first base body and a second base body, and connects the base of the driving motor 802 with the second base body. . Since the plurality of driving units 810 provided on the same side of the cubic structure are arranged side by side, the bases 8011 corresponding to the plurality of driving units 810 are also arranged side by side.

Here, when connecting two adjacent drive units 810, in this embodiment, one end of the series connection block 85 can be connected to the second base on one of the drive units 810, and the other end of the series connection block 85 can be connected to The second base body on another drive unit 810 is connected. Using the same principle, in this embodiment, multiple drive units 810 arranged on the same side of the cube structure can be connected in series in order to reliably fix the multiple drive units 810 on the same side of the cube structure.

Preferably, in order to achieve secondary pre-tightening of the first tendons 813 and the second tendons 814 on the drive unit 810 in the cube structure, this embodiment can also dispose the drive unit 810 in the cube structure on the fixed frame 82 The installation position is adjustable along the height direction of the fixing bracket 82.

As shown in Figures 46 and 47, in this embodiment, a first strip hole is provided on the first mounting seat 801 of the drive unit 810 in the cube structure, and the first strip hole extends along the height direction of the drive device 800. The first mounting base 801 is connected to the fixing bracket 82 through the first fixing screw 86 passing through the first strip hole. At the same time, this embodiment also installs a second fixing screw 87 on the fixing bracket 82 , and the end of the second fixing screw 87 is suitable for contacting the side of the first mounting base 801 .

During the secondary preload adjustment, in this embodiment, the first fixing screw 86 and the second fixing screw 87 can be loosened in sequence, so that the installation position of the driving unit 810 on the fixing bracket 82 can be adjusted along the height direction of the fixing bracket 82 , for example, in this embodiment, the driving unit 810 can be adjusted to move downward relative to the fixed frame 82 as a whole. After the tension adjustment of the first tendon 813 and the second tendon 814 on the drive unit 810 is completed, they can be tightened respectively. The first fixing screw 86 and the second fixing screw 87 ensure that the driving unit 810 no longer moves up and down relative to the fixing frame 82, thereby completing the first tendon 813 and the second tendon 814 on the drive unit 810 in the counterpart structure. Secondary preload.

As shown in Figure 44, in order to facilitate precise control of the movements of each joint on each bionic dexterous hand, the driving device 800 shown in this embodiment is also provided with a control board 84; the control board 84 is provided along the height direction of the fixing frame 82. The bottom of the fixed frame 82; the drive unit 810 is provided with a drive board 807, which is connected to the drive motor 802 of the drive unit 810; the control board 84 is connected to the drive boards 807 of multiple drive units 810;

Among them, in this embodiment, a control module and multiple first interface modules can be integrated on the control board 84. The control modules are respectively connected to multiple first interface modules. The multiple first interface modules are respectively in one-to-one correspondence with the multiple drive units 810. Set up and connect with the second interface module on the drive board through communication lines. Here, the communication line can be CAN or EtherCAT lines that are well known in the art.

According to another embodiment, the present application also provides a dexterous hand robot, which includes the above-mentioned humanoid five-finger dexterous hand, and also includes a bionic skin layer and a control device.

Figure 49 shows a schematic diagram of a human-like five-fingered dexterous hand including a bionic skin layer 1000, where the bionic skin layer covers the outer surface of the human hand's simulated skeleton. The bionic skin layer 1000 can be made of leather material. When integrating multiple tactile sensors 1051 on the front of the bionic skin layer 1000, the integration degree of the tactile sensors can be set to 25 pieces/cm ² and the sensitive area size of the sensing unit is 1mm. x 1mm, the minimum detectable pressure is less than 30Pa, the detection temperature range is 0-80℃, and the pressure response time is less than 1ms.

As shown in Figure 50, the control device shown in this embodiment includes an industrial computer, a first control module and a second control module; the industrial computer is connected to the first control module, the first control module is connected to the second control module, and the second control module is connected to the industrial computer. The control module is connected to the sensing component and the drive unit 810 respectively; the industrial computer is equipped with a neuromorphic chip, the neuromorphic chip is equipped with a pulse neural network model, the first control module is equipped with a force-position hybrid control algorithm model, and the second control module is equipped with a PID Position algorithm model; the impulse neural network model is suitable for outputting decision-making instruction signals to the force-position hybrid control algorithm model according to the type of the target object. The decision-making instruction signals include at least one of the position, torque and rotation speed of each joint of the human-like five-fingered dexterous hand. ; The force-position hybrid control algorithm model outputs a decision execution signal to the PID position algorithm model based on the decision instruction signal and the feedback signal of the sensing component; the PID position algorithm model performs PID control on the drive motor 1202 on the drive unit 810 based on the decision execution signal.

Specifically, this embodiment is based on an industrial computer equipped with a neuromorphic chip that mainly performs various high-level tasks. For example, when the neuromorphic chip performs information processing, the neuromorphic chip can process the input image information of the target object through the impulse neural network model. Processing, performing deep learning-based dexterous hand grasping mode classification, deep learning-based grasping posture detection, and reinforcement learning-based independent decision-making and path planning, etc., and outputting the positions and torques of each joint corresponding to the human-like five-finger dexterous hand. and speed and other decision-making command signals.

Here, industrial computers and neuromorphic chips are mainly used to provide advanced interfaces, such as ROS control. For more complex or more advanced control solutions that intersect with other disciplines, users can implement them and call the provided API interface. to complete overall control.

At the same time, after receiving the decision-making instruction signal output by the impulse neural network model, the first control module shown in this embodiment can execute a real-time force-position hybrid control algorithm through the force-position hybrid control algorithm model to satisfy the force-position hybrid control algorithm model. The requirements of the hybrid control mode and its control process: after receiving the decision-making instruction signal sent by the industrial computer, the first control module obtains the drive layer information from the second control module, such as tension, joint angle, touch, warning and other information. If If it is determined that there is a fault in the control system, an alarm indication will be issued. If it is determined that the control system is normal, the collected information will be input to the force-position hybrid control algorithm model. The force-position hybrid control algorithm model will output the corresponding decision execution signal according to the type of the decision instruction signal. , and sends the decision execution signal to the second control module to realize the entire decision-making process.

Among them, if the decision instruction signal is only a joint position signal, the force-position hybrid control algorithm model will transmit the joint position signal as a decision execution signal to the second control module, and the second control module will execute the corresponding PID control; if the decision instruction signal is both Including the torque of a joint and the rotation speed of the joint, the force-position hybrid control algorithm model uses the torque and rotation speed of the joint as the decision execution signal, and transmits the decision execution signal to the second control module, which further processes the decision The execution signal is sent to the motor drive board 1207, and the motor drive board 1207 adjusts the state of the joint to be controlled.

Further, after receiving the decision execution signal output by the force-position hybrid control algorithm model, the second control module shown in this embodiment can perform PID on the drive motor 1202 on the drive unit 810 according to the sensing signal fed back by the sensing component. control.

As shown in FIG. 50 , the second control module shown in this embodiment is connected to the tactile sensing controller, and the tactile sensing controller is connected to each tactile sensor 1051 . When the human-like five-fingered dexterous hand grasps the target object, each tactile sensor 1051 collects the transient contact force and pressure signals when the human-like five-fingered dexterous hand grasps and contacts the target object, and the tactile sensing controller combines the contact force and pressure signals. The pressure signal is fed back to the second control module.

At the same time, each drive unit 810 shown in this embodiment is configured with a motor drive board 1207, and collects the temperature of the drive motor 1202 through a temperature sensor. In this embodiment, the temperature sensor and the first force measuring element 1205 and the second force measuring element 1206 on the driving unit 810 are respectively connected to the motor driving board 1207, and the motor driving board 1207 is connected to the second control module and the driving motor 1202 respectively. .

When the second control module performs PID control on the drive motor 1202 on the drive unit 810, the control flow is as follows:

First, the second control module obtains the temperature of the drive motor 1202 from the motor drive board 1207. If the temperature of the drive motor 1202 is greater than the preset temperature, the second control module outputs early warning information and controls the corresponding drive motor 1202 to stop running; If the temperature of the motor 1202 is lower than the preset temperature, the second control module obtains information such as torque, angle, and tactile force of the joints of the human-like five-finger dexterous hand in real time, and waits for the decision execution signal sent from the first control module.

Then, after the force-position hybrid control algorithm model outputs the decision execution signal according to the type of the decision instruction signal, if the decision execution signal is a joint position signal, the second control module will represent the decision execution signal of the joint position and the feedback of the joint position. The signal is input to the PID position algorithm model, and the PID position algorithm model outputs an execution signal to the motor drive board 1207 to control the drive motor 1202 to complete the corresponding action. If the decision execution signal is other signals such as joint speed, joint torque, etc., the second control module sends such decision execution signal to the motor drive board 1207, and the motor drive board 1207 controls the operating status of the drive motor 1202.

Further, the motor drive board 1207 shown in this embodiment is provided with a speed regulation module, a force control module and a data acquisition module. The speed regulation module, the force control module and the data acquisition module are connected to each other. The first force measurement module on the drive unit 810 The component 1205 and the second force measuring component 1206 are respectively connected to the data acquisition module; the speed regulation module and the force control module are respectively connected to the driving motor 1202.

When the motor driving board 1207 controls the operating status of the driving motor 1202, it first obtains the temperature of the driving motor 1202 and the tension information detected by the first force measuring element 1205 and the second force measuring element 1206, and waits for the upper layer's third The decision execution signal sent by the second control module; if the decision execution signal is the speed of the joint, the speed control module uses the PWM speed control algorithm program to control the joint speed. If the decision execution signal is the torque decision signal, the force control module will first The tension information and torque decision signal fed back by the force measuring element 1205 or the second force measuring element 1206 are input into the force control algorithm to obtain the rotation speed decision signal of the joint, and use the PWM speed adjustment algorithm program configured in the speed control module to control the speed of the joint.

Based on the solution shown in the above embodiment, this embodiment conducts a human-like dexterity experiment based on Feix taxonomy on a dexterous hand robot. Among them, the Feix taxonomy is an important benchmark for evaluating the dexterity of human hands and dexterous hand robots based on the dexterity movements of the human hand. It has 33 groups of dexterity movements, including three different levels of movement tests: strength, intermediate level and fine operation. It can be seen from experiments that the Feix taxonomy action completion rate of the dexterous hand robot shown in this embodiment can reach 100%, proving that it has good human-like dexterous operation capabilities.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application 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 Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (20)

A human-like five-finger dexterous hand, including: a palm unit and a thumb, index finger, middle finger, ring finger and little finger respectively connected to the palm unit; The thumb has a first thumb joint, a second thumb joint, a third thumb joint, a fourth thumb joint and a fifth thumb joint distributed along its extension direction, and the first thumb joint and the third thumb joint have rotation Degrees of freedom, the second thumb joint, the fourth thumb joint and the fifth thumb joint have degrees of freedom in flexion and extension; The index finger, the middle finger, the ring finger and the little finger are all distributed with finger bases, first finger knuckles, second finger knuckles and third finger knuckles along their extension directions, and the first finger knuckle and the The finger base is connected to form a first finger knuckle and a second finger knuckle. The second finger knuckle is rotatably connected to the first finger knuckle to form a third finger knuckle. The third finger knuckle is connected to the second finger knuckle. The fourth finger joint is rotatably connected to form a fourth finger joint; the first finger joint has a degree of freedom in lateral swing, and the second finger joint, the third finger joint and the fourth finger joint have a degree of freedom in flexion and extension. The human-like five-finger dexterous hand according to claim 1, wherein the thumb includes a thumb base, a first thumb segment, a second thumb segment, a third thumb segment, a fourth thumb segment and a fifth thumb segment, and the The first thumb joint is rotatably connected to the thumb base to form the first thumb joint, the second thumb joint is rotatably connected to the first thumb joint to form the second thumb joint, and the third thumb joint is rotatably connected to the first thumb joint. The fourth thumb knuckle and the second thumb knuckle are rotatably connected to form the third thumb joint, the fourth thumb knuckle and the third thumb knuckle are rotatably connected to form the fourth thumb joint, and the fifth thumb knuckle and The fourth thumb joint is rotatably connected to form the fifth thumb joint; The rotation axis of the first thumb knuckle perpendicularly intersects the rotation axis of the second thumb knuckle, the rotation axis of the third thumb knuckle perpendicularly intersects the rotation axis of the second thumb knuckle, and the first thumb knuckle The axis of rotation, the axis of rotation of the third thumb joint and the axis of rotation of the second thumb joint intersect at one point. The human-like five-finger dexterous hand according to claim 1, wherein the index finger, the middle finger, the ring finger and the little finger further include a cross-shaft connecting block, and the first finger knuckle is connected to the cross-shaft connecting block. , the cross-shaft connecting block is rotatably connected to the finger base through a first finger rotating shaft to form the first finger joint, and the cross-shaft connecting block is rotatably connected to the finger base through a second finger rotating shaft. To form the second finger joint, the axes of the first finger rotation axis and the second finger rotation axis intersect perpendicularly. The human-like five-finger dexterous hand according to claim 1, wherein the index finger, the middle finger, the ring finger and the little finger further include a third finger joint forward driving tendon and a third finger joint reverse driving tendon. and a coupling tendon; the third finger joint forward driving tendon and the third finger joint reverse driving tendon are respectively connected to the third finger knuckle; an elastic reset member is provided in the first finger knuckle. , one end of the coupling tendon is connected to the third finger knuckle, and the other end is connected to the elastic reset member. The human-like five-finger dexterous hand according to claim 1, wherein the palm unit includes a palm base, a first connecting part and a second connecting part, and the thumb, the index finger, the middle finger and the ring finger are connected respectively. On the palm base, the little finger is connected to the first end of the second connecting part, and the second end of the second connecting part and the first end of the first connecting part are rotatably connected to form a second palm. Joint, the second end of the first connecting portion is rotatably connected to the palm base to form a first palm joint, and both the first palm joint and the second palm joint have degrees of freedom to flex and extend relative to the palm base. , the rotation axis of the first palm joint and the rotation axis of the second palm joint are arranged at an angle; The palm unit includes a first palm joint forward driving tendon, a first palm joint reverse driving tendon, a second palm joint forward driving tendon and a second palm joint reverse driving tendon; the first palm joint The joint forward driving tendon and the first palm joint reverse driving tendon are respectively connected to the first connection part of the hand for driving the first palm joint to rotate; the second palm joint forward driving tendon The rope and the second palm joint reverse driving tendon are respectively connected to the second connection part for driving the second palm joint to rotate; and The human-like five-finger dexterous hand further includes a wrist unit. The wrist unit includes a wrist base and a cross-axis connecting seat. The wrist base is connected to the palm unit through a cross-axis connecting seat to form a first wrist joint and a A second wrist joint, the first wrist joint has a degree of freedom of flexion and extension, and the second wrist joint has a degree of freedom of lateral swing, wherein the cross-axis connection base is formed by a first wrist rotation axis and a rotatable connection with the wrist base. The first wrist joint, the cross-axis connection seat is rotatably connected to the palm unit through the second wrist rotation axis to form a second wrist joint; the palm unit, the thumb, the index finger, the middle finger, The driving tendons of each joint of the ring finger and the little finger all pass through the axes of the first wrist rotation axis and the second wrist rotation axis. The human-like five-finger dexterous hand according to claim 5, further comprising a driving device, the driving device includes a plurality of driving units, the plurality of driving units are arranged in one-to-one correspondence with the plurality of joints of the human-like five-finger dexterous hand, so The driving unit is disposed on a side of the wrist base away from the palm unit, and each driving unit is drivingly connected to the corresponding joint through two driving tendons. The human-like five-finger dexterous hand according to claim 1, wherein the thumb further includes a transmission mechanism, and the transmission mechanism is installed in the second thumb joint; The first end of the third thumb knuckle and the fourth thumb knuckle are rotatably connected to form the fourth thumb joint, and the transmission mechanism is connected to the second end of the third thumb knuckle to drive the third thumb knuckle. Thumb joint rotation. The human-like five-finger dexterous hand according to claim 7, wherein the transmission mechanism includes a first bevel gear, a second bevel gear and a third thumb joint driving wheel, the first bevel gear and the third thumb joint are in sync with each other. The shaft is fixedly connected, the second bevel gear meshes with the first bevel gear, the third thumb joint driving wheel is coaxially fixedly connected with the second bevel gear, and the third thumb joint driving wheel is connected with the first bevel gear. The second thumb joint is rotatably connected, wherein the number of the second bevel gear and the third thumb joint drive wheel is two, and the two second bevel gears are respectively located on the shaft of the first bevel gear. To both sides, two second bevel gears and two third thumb joint driving wheels are arranged in one-to-one correspondence. The human-like five-finger dexterous hand according to claim 8, wherein the third thumb joint is provided with a limiting groove, the second thumb joint is provided with a limiting part, and the limiting part is provided in the limiting groove, Used to limit the rotation angle of the third thumb joint, wherein the first thumb joint, the second thumb joint, the third thumb joint, the fourth thumb joint and the fifth thumb joint are all connected There is a driving tendon, which is used to drive the corresponding thumb joint to flex, extend or rotate. The human-like five-finger dexterous hand according to claim 9, wherein the thumb further includes a first thumb joint driving wheel, the first thumb joint driving wheel is coaxially fixedly connected to the first thumb joint, and the third thumb joint driving wheel is coaxially fixedly connected to the first thumb joint. A thumb joint driving wheel is coaxially and rotatably connected to the thumb base, and a driving member rope used to drive the first thumb joint is connected to the first thumb joint driving wheel. The human-like five-finger dexterous hand according to claim 10, wherein the second thumb joint is rotatably connected to the first thumb joint through a second thumb shaft to form the second thumb joint, and the fourth thumb joint is formed by The fourth thumb shaft and the third thumb joint are rotatably connected to form the fourth thumb joint; the axis of the fourth thumb shaft intersects perpendicularly with the rotation axis of the third thumb joint; the fourth thumb shaft is A first tendon guide hole is provided, and a second tendon guide hole is provided on the second thumb shaft. The axis of the first tendon guide hole intersects perpendicularly with the axis of the fourth thumb shaft. The axis of the two tendon guide holes intersects perpendicularly with the axis of the second thumb shaft; The driving tendon used to drive the fifth thumb joint is passed through the first tendon guide hole and the second tendon guide hole in sequence, and the driving tendon used to drive the fourth thumb joint is inserted into the first tendon guide hole and the second tendon guide hole. The driving tendon that drives the third thumb joint is passed through the second tendon guide hole. The human-like five-finger dexterous hand according to claim 11, wherein the hole walls of the first tendon guide hole and the second tendon guide hole are provided with relief grooves, and the relief grooves are used to connect the corresponding thumb joints. Provides clearance for the drive tendon located within it when bent. The human-like five-finger dexterous hand according to claim 1, wherein the first thumb joint, the second thumb joint, the third thumb joint, the fourth thumb joint and the fifth thumb joint have corresponding Each position is provided with a joint position sensor, and the joint position sensor is used to detect the rotation angle of the corresponding joint. The humanoid five-finger dexterous hand according to claim 6, wherein the driving unit includes: Tendon drive module, tendon tensioning module, first tendon and second tendon; The tendon driving module is connected to the tendon tensioning module; the tendon driving module includes a first mounting base, a driving motor, a first guide wheel, a second guide wheel, a first force measuring element and a second measuring element. force element; The driving motor is provided on the first mounting base; the first guide wheel and the second guide wheel are respectively rotatably provided on the first mounting base; one end of the first tendon rope is wound around The other end of the drive shaft of the drive motor is suitable for connection with the joint of the bionic dexterous hand after sequentially bypassing the first guide wheel and the tendon tensioning module; one end of the second tendon is wound around The other end of the drive shaft of the drive motor is suitable for connection with the joint after passing through the second guide wheel and the tendon tensioning module in sequence; The first load-measuring element is used to detect the tension on the first tendon, and the second load-measuring element is used to detect the tension on the second tendon, The driving device further includes: a fixed frame, a plurality of the driving units are respectively installed on the fixed frame, and the number of the driving units is adapted to the number of the joints. The humanoid five-finger dexterous hand according to claim 14, wherein, At least one first rope hole is provided on the side of the first section, and at least one second rope hole is provided on the side of the second section; One end of the first tendon is connected to the at least one first rope threading hole after being wound around the first section for a first preset length; one end of the second tendon is connected to the second section. A second preset length is wound around the segment and then connected to the at least one second rope hole. The humanoid five-finger dexterous hand according to claim 15, wherein the driving device further includes a cable distribution plate; The distribution board is arranged on the top of the fixed frame along the height direction of the fixed frame; the wiring tray and the fixed frame form a cubic structure; A part of the plurality of driving units is provided on four sides of the cube structure, and another part of the plurality of driving units is provided inside the cube structure; The line distribution plate has four sides, and the four sides are respectively opposite to the four sides of the cube structure; each side of the line distribution plate is provided with a plurality of wire wheels, and the There is an escape opening in the middle of the distribution board; The plurality of wire pulleys are adapted to respectively guide the first tendons and the second tendons installed on the driving unit on the side of the cube structure; the escape opening is suitable for providing access to the first tendons and second tendons installed in the cube structure. The first tendon and the second tendon on the drive unit pass through. The humanoid five-finger dexterous hand according to claim 16, wherein, Each side of the cube structure is equipped with a plurality of the driving units arranged side by side, each driving unit is arranged along the height direction of the fixed frame, and two adjacent driving units are connected; And/or, the installation position of the driving unit in the cube structure on the fixed frame is adjustable along the height direction of the fixed frame. The human-like five-finger dexterous hand according to claim 1, wherein each joint of the human-like five-finger dexterous hand is equipped with a joint position sensor for detecting the rotation angle of the joint, and the joint position sensor includes a magnet and a magnetic grid. , the magnet is fixed on the rotating shaft of the joint, the magnetic grid is coaxially arranged with the magnet, and when the joint rotates, the magnet and the magnetic grid rotate relatively. A dexterous hand robot includes a humanoid five-finger dexterous hand according to claims 1-18. The dexterous hand robot according to claim 19, further comprising: A bionic skin layer covering the outer surface of the human hand mimicking skeleton; The control device is connected to the driving device and is used to output a decision signal to the driving device according to the type of the target object and the feedback signal of the sensor, so as to control the grasping posture of the human-like five-finger dexterous hand. The control device includes an industrial computer, a first control module and a second control module; The industrial computer is connected to the first control module, the first control module is connected to the second control module, and the second control module is connected to the sensing component and the tendon drive unit respectively; The industrial computer is equipped with a neuromorphic chip, the neuromorphic chip is provided with a pulse neural network model, the first control module is provided with a force-position hybrid control algorithm model, and the second control module is provided with a PID position algorithm model; The impulse neural network model is adapted to output a decision instruction signal to the force-position hybrid control algorithm model according to the type of the target object. The decision instruction signal includes at least one of the position, torque and rotation speed of each joint on the neuromorphic hand. kind; The force-position hybrid control algorithm model outputs a decision execution signal to the PID position algorithm model based on the decision-making instruction signal and the feedback signal of the sensing component; The PID position algorithm model performs PID control on the drive motor on the tendon drive unit according to the decision execution signal.

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