Humanoid dexterous hand

Abstract

The invention belongs to the technical field of robots, and relates to a humanoid dexterous hand, which comprises a palm part, a thumb and four fingers, the four fingers are respectively an index finger, a middle finger, a ring finger and a little finger, the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the lengths of all knuckles are different, each finger comprises a finger body and a finger mechanical transmission chain, the thumb comprises a thumb body and a thumb mechanical transmission chain, and each finger and the thumb can be independently installed on the palm or detached from the palm. According to the humanoid dexterous hand, all the driving motors can be direct-current servo motors or stepping motors, and when fingers or the thumb stops bending and stretching movement, if the servo motors are adopted, a servo control system has the electric locking capacity due to the fact that the servo motors are in a closed-loop control mode; if a stepping motor is adopted, the stepping motor has a torque holding function, and the holding torque is far higher than the driving torque; all the power assemblies are externally arranged, namely, the power assemblies are not arranged in finger knuckle cavities.

Description

Technical Field

[0001] The present invention relates to a humanoid dexterous hand, belonging to the technical field of robotics. Background Art

[0002] The humanoid dexterous hand is one of the important components of a humanoid robot and is used to implement the main functions of a human hand.

[0003] The German Aerospace Center developed the DLR-1 dexterous hand in 1998. This dexterous hand is driven by a linear motor, which pulls the tendon to bend the finger. When the tendon is relaxed, the finger is unfolded by the restoring force of the torsion spring at the finger joint. The National Aeronautics and Space Administration (NASA) of the United States developed the Robonaut five-finger dexterous hand in 1999 for performing maintenance tasks in the International Space Station. It is driven by a DC motor located in the forearm cavity and transmitted through a sliding screw-nut mechanism. The bending and unfolding of the finger are achieved through the tendon and the torsion spring. The British shadow company developed the shadow five-finger dexterous hand in 2002, which is driven by 40 groups of compliant pneumatic muscles located in the forearm cavity, and the bending and unfolding of the finger are achieved through the tendon and the torsion spring.

[0004] Beihang University developed the three-finger BUAA series dexterous hand in 1993 and the BU-AA four-finger dexterous hand in 2001. This hand has no palm and is driven by a servo motor and transmitted through a gear mechanism. In 2004, the Robotics Institute of Harbin Institute of Technology and the German Aerospace Center jointly developed the HIT / DRL-1 multi-finger dexterous hand. This hand is driven by a servo motor and transmitted by bevel gears. The bevel gears are connected to the phalanges through the end face. The size of the hand is twice that of a human hand. In 2009, the Robotics Institute of Harbin Institute of Technology developed the HIT-2 humanoid dexterous hand. The finger is driven by a DC servo motor, and the phalanx is driven through a first-stage synchronous belt, a harmonic reducer, and a second-stage synchronous belt. The middle phalanx and the end phalanx of the finger are coupled through the tendon. The thumb is driven by a DC brushless motor and transmitted through a planetary gear train and a worm and worm gear to achieve the movement of the thumb. The size of this hand is 1.5 times that of a human hand. Currently, some companies design humanoid dexterous hands that use a DC servo motor, a planetary reducer, and a phalanx drive method with a planetary ball screw. The planetary ball screw drive overcomes the defect of low efficiency of the sliding screw drive. However, due to the ball return mechanism of its ball nut, its diameter is relatively thick, making the designed phalanx also very thick. The motor, the reducer, and the return gear make the drive module relatively long, making the phalanx thick and long. In addition, there are also problems with the guiding design of the nut. Due to space limitations, it is difficult to use a ball bushing or a ball slide rail mechanism, and using a sliding guide also makes the finger thicker.

[0005] In addition, through the retrieval of existing literature, it is found that: Publication No. of Chinese Invention Patent: CN103538077A, Title: A Bionic Hand with Multiple Degrees of Freedom. Six motors are used to control the bionic hand, with one motor for each of the index finger, middle finger, ring finger, and little finger; two motors are used for the thumb, one for the in-out rotation movement of the thumb and one for the flexion-extension movement of the thumb. The motors are all fixed on the palm, and the mechanical transmission chain is a worm and worm gear mechanism. The finger and thumb motors are arranged in sequence, making the palm very long. The second phalanx of the thumb cannot perform flexion-extension movement.

[0006] Publication No. of Chinese Invention Patent: CN1418765, Title: Robot Dexterous Hand Mechanism. Two joints of each finger are respectively controlled by two motors. Although the flexibility is increased, the mechanical transmission chain of the second joint is very long and the number of mechanical parts is numerous.

[0007] Publication No. of Chinese Invention Patent: CN1365877, Title: Robot Anthropomorphic Multi-Fingered Hand Device. Four fingers, namely the index finger, middle finger, ring finger, and little finger, are controlled by one motor; the thumb is controlled by one motor. Only the five-finger grasping operation mode can be realized, and other movement modes such as two-finger pinching cannot be realized.

[0008] In summary, the current driving modes of dexterous hands are two ways: ordinary DC motors and DC servo motors. One is the use of ordinary DC motor drive mode. In order to maintain the clamping force when grasping an object, generally worm and worm gear drive or sliding screw and nut drive are used, and they both have mechanical locking ability. However, due to the sliding movement of these two drive modes, the mechanical efficiency is very low, wasting a lot of energy, resulting in a reduction in the final clamping force. Most importantly, as the use time continues, the wear makes the gap between mechanical parts increase, so its accuracy retention ability is low. The other is the use of DC servo motors with electric locking ability, but the current mechanical transmission chain used is relatively complex, making the size of the hand larger. The thumb motor is generally placed in the cavity of the first phalanx of the thumb, making the first phalanx of the thumb thicker. And the thumb motor rotates in and out with the first phalanx of the thumb, and the wires are easy to break, increasing the maintenance workload. Summary of the Invention

[0009] The purpose of the present invention is to provide a new technical solution to improve or solve the technical problems existing in the above-mentioned prior art.

[0010] The technical solution provided by the present invention is as follows: A humanoid dexterous hand, including a palm, a thumb, and four fingers. The four fingers are respectively an index finger, a middle finger, a ring finger, and a little finger. The index finger, middle finger, ring finger, and little finger have the same structure, and the lengths of each phalanx are different. Each finger includes a finger body and a finger mechanical transmission chain. The thumb includes a thumb body and a thumb mechanical transmission chain. Each finger and the thumb can be independently installed on the palm or removed from the palm.

[0011] Furthermore, the finger body comprises a finger base, a first finger joint, a second finger joint and a third finger joint; the finger base is connected to the palm, one end of the first finger joint is connected to the finger base through a first finger joint axis, one end of the second finger joint is connected to the other end of the first finger joint through a second finger joint axis, and the third finger joint is connected to the other end of the second finger joint through a third finger joint axis; The finger mechanical transmission chain includes a finger power assembly, a first bevel gear of the finger, a second bevel gear of the finger, a first straight gear of the finger and a second straight gear of the finger; the finger power assembly is connected to the finger base frame, and the first bevel gear of the finger is assembled on the output shaft of the finger power assembly; the first straight gear of the finger and the second bevel gear of the finger are installed on the first shaft of the finger base frame, and the first straight gear of the finger and the second bevel gear of the finger can rotate synchronously; the second bevel gear of the finger is meshed with the first bevel gear of the finger; the first shaft of the finger base frame is rotatably installed on the finger base frame; The second spur gear of the finger is mounted on the first joint axis of the finger, and the second spur gear of the finger is meshed with the first spur gear of the finger; one end of the first joint of the finger is mounted on the first joint axis of the finger, and the first joint of the finger and the second spur gear of the finger can rotate synchronously around the first joint axis of the finger; one end of the first connecting rod of the finger is connected to the finger base through the first pin shaft of the first connecting rod of the finger, and the other end of the first connecting rod of the finger is connected to one end of the second joint of the finger through the second pin shaft of the first connecting rod of the finger; one end of the second connecting rod of the finger is connected to the other end of the first joint of the finger through the first pin shaft of the second connecting rod of the finger, and the other end of the second connecting rod of the finger is connected to the third joint of the finger through the second pin shaft of the second connecting rod of the finger.

[0012] Furthermore, the finger power assembly includes a finger motor and a finger reducer, the finger motor and the finger reducer are transmission connected, the finger reducer housing is connected to the finger base frame, the finger first bevel gear is assembled on the D-shaped cross-section output shaft journal of the finger reducer through a D-shaped cross-section hole; the finger first spur gear and the finger second bevel gear are both installed on the first shaft of the finger base with a D-shaped cross-section through their respective D-shaped cross-section holes.

[0013] Furthermore, it also includes a finger base first shaft spacer sleeve, which is mounted on the finger base first shaft, and the finger base first shaft pin passes through the finger base first shaft and the finger base first shaft spacer sleeve, which is used to position the finger base first shaft in the axial direction.

[0014] Furthermore, it also includes a first driving pin shaft of the first joint of the finger and a second driving pin shaft of the first joint of the finger, the first driving pin shaft of the first joint of the finger and the second driving pin shaft of the first joint of the finger are used to connect the first knuckle of the finger and the second spur gear of the finger, so that the first knuckle of the finger and the second spur gear of the finger can rotate synchronously around the axis of the first joint of the finger; Both ends of the first axis of the finger base are respectively inserted into the first bronze bushing of the finger base and the second bronze bushing of the finger base, enabling the first axis of the finger base to perform a rotary motion. The finger second spur gear hole is internally equipped with a second spur gear bronze bushing of the finger base, and the second spur gear bronze bushing of the finger base is sleeved on the first finger joint axis. The finger second spur gear can rotate idly on the first finger joint axis while the first finger joint axis does not rotate.

[0015] Furthermore, the finger second bevel gear is not a fan-shaped structure. During the rotary motion, the two end faces of the fan shape can respectively contact the outer periphery of the proximal end of the first finger segment, playing a role in limiting the motion.

[0016] Furthermore, the thumb body includes a thumb base, a thumb rotating frame, a first thumb finger segment, and a second thumb finger segment. The thumb mechanical transmission chain includes a mechanical transmission chain for thumb flexion and abduction movements and a mechanical transmission chain for thumb internal and external rotation movements. The mechanical transmission chain for thumb internal and external rotation movements drives the thumb rotating frame to perform a rotary motion around an axis of the thumb base, forming the internal and external rotation movements of the thumb; the mechanical transmission chain for thumb flexion and abduction movements drives one end of the first thumb finger segment to perform a rotary motion around an axis of the thumb rotating frame, forming the flexion and abduction movements of the first thumb finger segment, and drives the second thumb finger segment to perform a rotary motion around an axis of the first thumb finger segment, forming the flexion and abduction movements of the second thumb finger segment.

[0017] Furthermore, the mechanical transmission chain for thumb flexion and abduction movements includes a thumb flexion and abduction power component, a thumb flexion and abduction power component frame, a first thumb bevel gear, a second thumb bevel gear, a third thumb bevel gear, a fourth thumb bevel gear, a first thumb spur gear, and a second thumb spur gear; The thumb flexion and abduction power component is installed on the thumb flexion and abduction power component frame, and the thumb flexion and abduction power component frame is fixedly connected to the palm. The thumb flexion and abduction power component is horizontally placed at the rear end of the palm; the fourth thumb bevel gear is installed on the output shaft of the thumb flexion and abduction power component; the second axis of the thumb rotating frame is installed on the thumb rotating frame, and the second thumb bevel gear and the third thumb bevel gear are installed at both ends of the second axis of the thumb rotating frame, and the third thumb bevel gear meshes with the fourth thumb bevel gear; the first axis of the thumb rotating frame is installed on the thumb rotating frame, and the second axis of the thumb rotating frame is perpendicular to the first axis of the thumb rotating frame; the first thumb bevel gear and the first thumb spur gear are installed on the first axis of the thumb rotating frame, and the first thumb spur gear and the first thumb bevel gear can rotate synchronously; the second thumb spur gear is sleeved on the first thumb joint axis, the first thumb spur gear meshes with the second thumb spur gear, and the first thumb bevel gear meshes with the second thumb bevel gear; the first thumb finger segment is sleeved on the first thumb joint axis and can rotate relative to the first thumb joint axis; the second thumb finger segment is connected to the first thumb finger segment through the second thumb joint axis; one end of the thumb link is connected to the second thumb finger segment through the first pin shaft, and the other end of the thumb link is connected to the thumb rotating frame through the second pin shaft; the second thumb spur gear and the first thumb finger segment are connected together and can rotate synchronously; The mechanical transmission chain of thumb internal and external rotation movement includes thumb internal and external rotation power assembly, thumb internal and external rotation power assembly frame, thumb fifth bevel gear and thumb sixth bevel gear. The thumb internal and external rotation power assembly is installed on the thumb internal and external rotation power assembly frame, the thumb internal and external rotation power assembly frame is tightly connected to the palm, the thumb internal and external rotation power assembly is horizontally placed at the rear end of the palm and is fixed relative to the palm; the thumb sixth bevel gear is sleeved on the output shaft of the thumb internal and external rotation power assembly, the thumb fifth bevel gear is installed on the thumb rotating frame, and the thumb fifth bevel gear and the thumb sixth bevel gear are meshed.

[0018] Furthermore, the thumb flexion and extension power assembly includes a thumb flexion and extension motor and a thumb flexion and extension reducer which are connected to each other in a transmission manner, and the thumb flexion and extension reducer housing is fixedly connected to the thumb flexion and extension power assembly frame; the thumb internal and external rotation power assembly includes a thumb internal and external rotation motor and a thumb internal and external rotation reducer which are connected to each other in a transmission manner, and the thumb internal and external rotation reducer housing is connected to the thumb internal and external rotation power assembly frame; The fourth bevel gear of the thumb is installed on the D-shaped section output shaft journal of the thumb flexion reducer through a D-shaped section hole. A fourth bevel gear gasket of the thumb is provided between the fourth bevel gear of the thumb and the frame of the thumb flexion power assembly, which is used to adjust the axial position of the fourth bevel gear of the thumb; the second shaft of the thumb rotating frame is installed on the thumb rotating frame through the second copper sleeve of the thumb rotating frame, and the second bevel gear of the thumb and the third bevel gear of the thumb with D-shaped section holes are respectively installed on the D-shaped section holes of the second shaft of the thumb rotating frame; the first bevel gear of the thumb and the first straight gear of the thumb are installed on the first shaft of the thumb rotating frame with a D-shaped section through their respective D-shaped section holes; the sixth bevel gear of the thumb is sleeved on the output shaft journal with a D-shaped section of the thumb internal and external rotation reducer through its D-shaped section hole.

[0019] Furthermore, the first bevel gear of the thumb is a fan-shaped structure. When performing a rotational motion, the two end faces of the fan-shaped first bevel gear of the thumb can respectively contact the outer periphery of the proximal end of the first phalanx of the thumb, thereby playing a role in motion limiting.

[0020] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: (1) The thumb, index finger, middle finger, ring finger and little finger of the anthropomorphic dexterous hand are all modular structures. Each module can be installed and disassembled independently, which is more convenient for manufacturing and maintenance.

[0021] (2) The main features of the mechanical transmission chain for the finger flexion and extension movement and the mechanical transmission chain for the thumb flexion and extension movement are that the mechanical transmission is composed of bevel gears and spur gears, which has the advantage of high transmission mechanical efficiency.

[0022] (4) The power assembly consisting of the thumb flexion and extension motor and the thumb flexion and extension reducer is externally mounted, thus overcoming the disadvantage of the power assembly being embedded in the cavity of the thumb knuckle.

[0023] (4) The thumb abduction power component and the thumb internal and external rotation power component of the dexterous hand are horizontally placed at the root of the palm. This arrangement is more reasonable and makes the appearance of the dexterous hand more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0025] Figure 1 is a schematic structural diagram of the humanoid dexterous hand of the present invention; Figure 2 is the finger mechanical transmission principle of the present invention Figure Ⅰ ; Figure 3 is the finger mechanical transmission principle of the present invention Figure Ⅱ ; Figure 4 is the thumb mechanical transmission principle of the present invention Figure Ⅰ ; Figure 5 is the thumb mechanical transmission principle of the present invention Figure Ⅱ ; In the figure, 1. finger motor; 2. finger reducer; 3. finger base; 4. finger first bevel gear gasket; 5. finger first bevel gear; 6. finger second bevel gear; 7. finger base first shaft; 8. finger base first copper bushing; 9. finger first joint shaft; 10. finger first link first pin shaft; 11. finger first phalanx; 12. finger first spur gear; 13. finger base first shaft spacer; 14. finger base first shaft pin; 15. finger base second copper bushing; 16. finger second spur gear copper bushing; 17. finger second spur gear; 18. finger first link; 19. finger second joint shaft; 20. finger second link first pin shaft; 21. finger second link; 22. finger second phalanx; 23. finger third joint shaft; 24. finger third phalanx; 25. finger first joint first drive pin shaft; 26. finger first joint second drive pin shaft; 27. finger first link second pin shaft; 28. finger second link second pin shaft; 29. thumb base first copper bushing; 30. thumb base; 31. thumb rotating frame; 32. thumb rotating frame first copper bushing; 33. thumb first bevel gear; 34. thumb rotating frame first shaft; 35. thumb second bevel gear; 36. thumb second bevel gear first gasket; 37. thumb second bevel gear second gasket; 38. thumb rotating frame second copper bushing; 39. thumb rotating frame second shaft; 40. thumb third bevel gear; 41. thumb fourth bevel gear; 42. thumb base second copper bushing; 43. thumb fifth bevel gear; 44. thumb sixth bevel gear; 45. thumb sixth bevel gear gasket; 46. thumb rotating frame support shaft; 47. thumb first spur gear; 48. thumb rotating frame first shaft spacer; 49. thumb rotating frame first shaft pin; 50. thumb rotating frame third copper bushing; 51. thumb fourth bevel gear gasket; 52. thumb flexion and abduction motor; 53. thumb flexion and abduction power component frame; 54. thumb internal and external rotation reducer; 55. thumb internal and external rotation power component frame; 56. thumb second phalanx; 57. thumb link first pin shaft; 58. thumb link; 59. thumb first phalanx; 60. thumb first joint shaft; 61. thumb second spur gear; 62. thumb second spur gear second drive pin shaft; 63. thumb second spur gear first drive pin shaft; 64. thumb second joint shaft; 65. thumb link second pin shaft; 66. thumb flexion and abduction reducer; 67. thumb internal and external rotation motor. Detailed implementation manners

[0026] The serial numbers assigned to components in this article, such as "first", "second", etc., are only used to distinguish the described objects and do not imply any priority in order or specific technical meaning. In addition, the concepts of "connection" and "coupling" mentioned in this application, unless otherwise specifically stated, are considered to include both direct connection (coupling) and indirect connection (coupling).

[0027] When interpreting the description of this application, it should be clear that the orientation or positional relationships indicated by terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are all based on the perspective and layout shown in the drawings, aiming to facilitate the description and simplify the description process, rather than an absolute limitation on the actual orientation, construction method, and operation mode of the device or component. Therefore, these terms should not be understood as restrictive interpretations of the content of this application.

[0028] The principles and features of the present invention will be described below in conjunction with examples. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0029] As Figure 1 shown, a humanoid dexterous hand includes a palm, a thumb, and four fingers. The four fingers are the index finger, middle finger, ring finger, and little finger respectively; the index finger, middle finger, ring finger, and little finger have the same structure and different phalanx lengths. Each finger includes a finger body and a finger mechanical transmission chain, and the thumb includes a thumb body and a thumb mechanical transmission chain. Each finger and the thumb can be independently installed on the palm or removed from the palm.

[0030] In the embodiment, the end close to the wrist is called the proximal end, and the end far from the wrist is called the distal end.

[0031] As Figure 2 and Figure 3 shown, the finger body includes a finger base 3, a first finger phalanx 11, a second finger phalanx 22, and a third finger phalanx 24 from proximal to distal; the finger base 3 is connected to the palm by screws, and the first finger phalanx 11 is connected to the finger base 3 through a first finger joint axis 9 and can rotate around the joint hole of the finger base 3 to form a first finger joint; the second finger phalanx 22 is connected to the distal end of the first finger phalanx 11 through a second finger joint axis 19 and can rotate around the distal end of the first finger phalanx 11 to form a second finger joint; the third finger phalanx 24 is connected to the distal end of the second finger phalanx 22 through a third finger joint axis 23 and can rotate around the distal end of the second finger phalanx 22 to form a third finger joint.

[0032] The finger mechanical transmission chain for driving finger flexion and extension movements includes a finger power component, bevel gears, spur gears, and two four-bar linkages; more specifically, the finger power component includes a finger motor 1 and a finger reducer 2, and the finger power component is fixedly connected to the finger base 3 through the screw holes and screws on the housing of the finger reducer 2; the first finger bevel gear 5 is assembled on the journal of the D-shaped cross-section output shaft of the finger reducer 2 through a D-shaped cross-section hole, and a first finger bevel gear gasket 4 is installed between the first finger bevel gear 5 and the finger base 3 for adjusting the axial relative position of the first finger bevel gear 5; the second finger bevel gear 6 is installed on the first finger base shaft 7 with a D-shaped cross-section of the finger base 3 through a D-shaped cross-section hole, and the first finger spur gear 12 is installed on the first finger base shaft 7 with a D-shaped cross-section through its D-shaped cross-section hole. Therefore, the first finger spur gear 12 and the second finger bevel gear 6 rotate synchronously; a first finger base shaft spacer 13 is sleeved on the first finger base shaft 7, and a first finger base shaft pin 14 passes through the first finger base shaft 7 and the first finger base shaft spacer 13 for axial positioning of the first finger base shaft 7; the second finger bevel gear 6 meshes with the first finger bevel gear 5; both ends of the first finger base shaft 7 are inserted into the first finger base brass bushing 8 and the second finger base brass bushing 15 respectively, enabling the first finger base shaft 7 to rotate; the second finger spur gear 17 has a second finger spur gear brass bushing 16 embedded in its hole, and the second finger spur gear brass bushing 16 is sleeved on the first finger joint shaft 9. The second finger spur gear 17 can rotate idly on the first finger joint shaft 9, while the first finger joint shaft 9 does not rotate. The second finger spur gear 17 meshes with the first finger spur gear 12; the holes on both sides of the proximal end of the first finger segment 11 are sleeved on the first finger joint shaft 9, and the proximal end of the first finger segment 11 and the second finger spur gear 17 are connected through a first finger joint first drive pin 25 and a first finger joint second drive pin 26, enabling the first finger segment 11 and the second finger spur gear 17 to rotate synchronously around the first finger joint shaft 9; the hole at the proximal end of the first link 18 is connected to the finger base 3 through a first link first pin 10, and the hole at the distal end of the first link 18 is connected to the proximal end of the second finger segment 22 through a first link second pin 27. The finger base 3, the first finger segment 11, the second finger segment 22, and the first link 18 form the first four-bar linkage of the finger; the hole at the proximal end of the second link 21 is connected to the distal end of the first finger segment 11 through a second link first pin 20, and the hole at the distal end of the second link 21 is connected to the proximal end of the third finger segment 24 through a second link second pin 28. The first finger segment 11, the second finger segment 22, the third finger segment 24, and the second link 21 form the second four-bar linkage of the finger.

[0033] When the finger motor 1 rotates clockwise, through the transmission of the finger reducer 2, bevel gears and spur gears, the first finger joint 11 of the finger makes a flexion movement. At the same time, due to the action of the first four-bar linkage mechanism of the finger, the second finger joint 22 of the finger also makes a flexion movement. Due to the action of the second four-bar linkage mechanism of the finger, the third finger joint 24 of the finger also makes a flexion movement; when the finger motor 1 rotates counterclockwise, through the transmission of the finger reducer 2, bevel gears and spur gears, the first finger joint 11 of the finger makes an extension movement. At the same time, due to the action of the first four-bar linkage mechanism of the finger, the second finger joint 22 of the finger also makes an extension movement. Due to the action of the second four-bar linkage mechanism of the finger, the third finger joint 24 of the finger also makes an extension movement. The second bevel gear 6 of the finger is not a full circle; it is fan-shaped. When making a rotary motion, the two end faces of its fan shape can respectively contact the outer periphery of the proximal end of the first finger joint 11 of the finger, playing a role in limiting the motion.

[0034] As Figure 4 and Figure 5 shown, the thumb body includes a thumb flexion / extension motor 52, a thumb flexion / extension reducer 66, a thumb internal / external rotation motor 67, a thumb internal / external rotation reducer 54, a thumb base 30, a thumb rotating frame 31, a first thumb joint 59 and a second thumb joint 56; the thumb rotating frame 31 can make a rotary motion around an axis of the thumb base 30 to form the internal / external rotation motion of the thumb; the proximal end of the first thumb joint 59 can make a rotary motion around an axis of the thumb rotating frame 31 to form the flexion / extension motion of the first thumb joint 59; the proximal end of the second thumb joint 56 can make a rotary motion around the axis of the distal end of the first thumb joint 59 to form the flexion / extension motion of the second thumb joint 56.

[0035] The mechanical transmission chain for thumb abduction movement includes a thumb abduction power component, a frame 53 of the thumb abduction power component, a first thumb bevel gear 33, a second thumb bevel gear 35, a third thumb bevel gear 40, a fourth thumb bevel gear 41, a first thumb spur gear 47, and a second thumb spur gear 61; the thumb abduction power component includes a thumb abduction motor 52 and a thumb abduction speed reducer 66. The screw holes on the housing of the thumb abduction speed reducer 66 are fixedly connected to the frame 53 of the thumb abduction power component through screws. The frame 53 of the thumb abduction power component is fixedly connected to the palm through screws, and the thumb abduction power component is horizontally placed at the rear end of the palm; the fourth thumb bevel gear 41 is installed on the journal of the D-shaped cross-section output shaft of the thumb abduction speed reducer 66 through its D-shaped cross-section hole. A fourth thumb bevel gear gasket 51 is placed between the fourth thumb bevel gear 41 and the frame 53 of the thumb abduction power component for adjusting the axial position of the fourth thumb bevel gear 41; the second thumb bracket shaft 39 is installed in the proximal hole of the thumb bracket 31 through the second thumb bracket bronze bushing 38. The D-shaped cross-section journals at both ends of the second thumb bracket shaft 39 are respectively installed with the second thumb bevel gear 35 and the third thumb bevel gear 40 having D-shaped cross-section holes. The first second thumb bevel gear gasket 36 and the second second thumb bevel gear gasket 37 are used to adjust the axial position of the second thumb bevel gear 35, and the third thumb bevel gear 40 meshes with the fourth thumb bevel gear 41; the first thumb bracket shaft 34 is supported in a transverse hole of the thumb bracket 31 through the first thumb bracket bronze bushing 32 and the third thumb bracket bronze bushing 50. The second thumb bracket shaft 39 is perpendicular to the first thumb bracket shaft 34; the first thumb bevel gear 33 and the first thumb spur gear 47 are installed on the first thumb bracket shaft 34 with a D-shaped cross-section through their D-shaped cross-section holes. Therefore, the first thumb spur gear 47 and the first thumb bevel gear 33 rotate synchronously; a first thumb bracket shaft spacer 48 is sleeved on the first thumb bracket shaft 34. The first thumb bracket shaft pin 49 passes through the first thumb bracket shaft spacer 48 and the first thumb bracket shaft 34 for axial positioning of the first thumb bracket shaft 34; the second thumb spur gear 61 is sleeved on the first thumb joint shaft 60 and can rotate relative to the first thumb joint shaft 60. The first thumb spur gear 47 meshes with the second thumb spur gear 61. The holes on both sides of the proximal end of the first thumb phalanx 59 are sleeved on the first thumb joint shaft 60 and can rotate relative to the first thumb joint shaft 60. The first driving pin shaft 63 and the second driving pin shaft 62 of the second thumb spur gear are used to connect the second thumb spur gear 61 and the proximal end of the first thumb phalanx 59, so that the second thumb spur gear 61 and the first thumb phalanx 59 rotate synchronously; the proximal end of the second thumb phalanx 56 is connected to the distal end of the first thumb phalanx 59 through the second thumb joint shaft 64 and can rotate relative to the distal end of the first thumb phalanx 59;The holes at both ends of the thumb link 58 are respectively penetrated by the first thumb link pin 57 and the second thumb link pin 65. The first thumb link pin 57 is connected to the proximal end of the second thumb phalanx 56, and the second thumb link pin 65 is connected to the thumb carrier 31. The thumb carrier 31, the first thumb phalanx 59, the second thumb phalanx 56 and the thumb link 58 form a thumb four-bar mechanism.

[0036] When the thumb abduction and adduction motor 52 rotates clockwise, through the transmission of the thumb abduction and adduction reducer 66, the first thumb bevel gear 33, the second thumb bevel gear 35, the third thumb bevel gear 40, the fourth thumb bevel gear 41, the first thumb spur gear 47 and the second thumb spur gear 61, it drives the first thumb phalanx 59 to perform a finger flexion movement, and then drives the second thumb phalanx 56 to perform a finger flexion movement through the thumb four-bar mechanism. When the thumb abduction and adduction motor 52 rotates counterclockwise, through the transmission of the thumb abduction and adduction reducer 66, the first thumb bevel gear 33, the second thumb bevel gear 35, the third thumb bevel gear 40, the fourth thumb bevel gear 41, the first thumb spur gear 47 and the second thumb spur gear 61, it drives the first thumb phalanx 59 to perform a finger extension movement, and then makes the second thumb phalanx 56 perform a finger extension movement through the thumb four-bar mechanism. The first thumb bevel gear 33 is not a full circle, it is fan-shaped, and when performing a rotary motion, the two end faces of its fan shape can respectively contact the outer circumference of the proximal end of the first thumb phalanx 59, playing a role in limiting the motion. The mechanical transmission chain for the in-out rotation movement of the thumb includes the in-out rotation power assembly of the thumb, the frame 55 of the in-out rotation power assembly of the thumb, the fifth thumb bevel gear 43, and the sixth thumb bevel gear 44; the in-out rotation power assembly of the thumb includes the in-out rotation motor 67 and the in-out rotation reducer 54 of the thumb. The screw holes of the in-out rotation reducer 54 of the thumb are fixedly connected to the frame 55 of the in-out rotation power assembly of the thumb through screws. The frame 55 of the in-out rotation power assembly of the thumb is fixedly connected to the palm through screws. The in-out rotation power assembly of the thumb is horizontally placed at the rear end of the prosthetic palm and is fixed relative to the palm; the sixth thumb bevel gear 44 is sleeved on the output shaft neck with a D-shaped cross-section of the in-out rotation reducer 54 of the thumb through its D-shaped cross-section hole. A sixth thumb bevel gear gasket 45 is arranged between the sixth thumb bevel gear 44 and the in-out rotation reducer 54 of the thumb; the fifth thumb bevel gear 43 has two stepped shaft necks. One shaft neck has a flat cross-section, and one shaft neck has a circular cross-section. The shaft neck with a flat cross-section is installed in the flat cross-section hole at the proximal end of the thumb rotator 31, and the shaft neck with a circular cross-section passes through the second copper sleeve 42 of the thumb base, and this copper sleeve is fixedly connected to the hole at the proximal end of the thumb base 30; the thumb rotator support shaft 46 is fixedly connected to the thumb rotator 31 through the screw hole on its end face with screws; the thumb rotator support shaft 46 passes through the first copper sleeve 29 of the thumb base, and this copper sleeve is installed in the hole at the distal end of the thumb base 30. When the in-out rotation motor 67 of the thumb rotates in the clockwise direction, through the transmission of the in-out rotation reducer 54 of the thumb, the fifth thumb bevel gear 43, and the sixth thumb bevel gear 44, the thumb rotator 31 makes an in-rotation movement relative to the thumb base 30; when the in-out rotation motor 67 of the thumb rotates in the counterclockwise direction, through the transmission of the in-out rotation reducer 54 of the thumb, the fifth thumb bevel gear 43, and the sixth thumb bevel gear 44, the thumb rotator 31 makes an out-rotation movement relative to the thumb base 30.

[0037] The present invention provides a humanoid dexterous hand. All motors can adopt DC servo motors or stepper motors. When the finger or thumb stops the flexion-extension movement, if a servo motor is adopted, because it is a closed-loop control mode, the servo control system has the ability of electric locking; if a stepper motor is adopted, it has the holding torque function, and the holding torque is much higher than the driving torque; all the power assemblies composed of the driving motors and reducers adopt an external placement method, that is, the power assemblies are not placed in the finger joint cavities.

[0038] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A humanoid dexterous hand, characterized in that It includes a palm, a thumb and four fingers, the four fingers are respectively an index finger, a middle finger, a ring finger and a little finger, the index finger, middle finger, ring finger and little finger have the same structure, and the lengths of each knuckle are different, each of the fingers includes a finger body and a finger mechanical transmission chain, the thumb includes a thumb body and a thumb mechanical transmission chain, and each of the fingers and the thumb can be independently installed on the palm or removed from the palm.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The finger body comprises a finger base, a first finger joint, a second finger joint and a third finger joint; the finger base is connected to the palm, one end of the first finger joint is connected to the finger base through a first finger joint axis, one end of the second finger joint is connected to the other end of the first finger joint through a second finger joint axis, and the third finger joint is connected to the other end of the second finger joint through the third finger joint axis; The finger mechanical transmission chain includes a finger power assembly, a first bevel gear of the finger, a second bevel gear of the finger, a first straight gear of the finger and a second straight gear of the finger; the finger power assembly is connected to the finger base frame, and the first bevel gear of the finger is assembled on the output shaft of the finger power assembly; the first straight gear of the finger and the second bevel gear of the finger are installed on the first shaft of the finger base frame, and the first straight gear of the finger and the second bevel gear of the finger can rotate synchronously; the second bevel gear of the finger is meshed with the first bevel gear of the finger; the first shaft of the finger base frame is rotatably installed on the finger base frame; The second spur gear of the finger is mounted on the first joint axis of the finger, and the second spur gear of the finger is meshed with the first spur gear of the finger; one end of the first joint of the finger is mounted on the first joint axis of the finger, and the first joint of the finger and the second spur gear of the finger can rotate synchronously around the first joint axis of the finger; one end of the first connecting rod of the finger is connected to the finger base through the first pin shaft of the first connecting rod of the finger, and the other end of the first connecting rod of the finger is connected to one end of the second joint of the finger through the second pin shaft of the first connecting rod of the finger; one end of the second connecting rod of the finger is connected to the other end of the first joint of the finger through the first pin shaft of the second connecting rod of the finger, and the other end of the second connecting rod of the finger is connected to the third joint of the finger through the second pin shaft of the second connecting rod of the finger.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, The finger power assembly includes a finger motor and a finger reducer, which are transmission-connected to the finger motor and the finger reducer, and the finger reducer housing is connected to the finger base frame. The first finger bevel gear is assembled on the D-shaped cross-section output shaft journal of the finger reducer through a D-shaped cross-section hole; the first finger spur gear and the second finger bevel gear are both installed on the first shaft of the finger base frame with a D-shaped cross-section through their respective D-shaped cross-section holes.

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, It also includes a finger base first shaft spacer sleeve, which is mounted on the finger base first shaft. The finger base first shaft pin passes through the finger base first shaft and the finger base first shaft spacer sleeve, and is used to position the finger base first shaft in the axial direction.

5. The anthropomorphic dexterous hand according to claim 4, characterized in that, It also includes a first driving pin shaft of the first joint of the finger and a second driving pin shaft of the first joint of the finger, the first driving pin shaft of the first joint of the finger and the second driving pin shaft of the first joint of the finger are used to connect the first knuckle of the finger and the second spur gear of the finger, so that the first knuckle of the finger and the second spur gear of the finger can rotate synchronously around the axis of the first joint of the finger; The two ends of the first shaft of the finger base are respectively inserted into the first bronze bushing of the finger base and the second bronze bushing of the finger base, enabling the first shaft of the finger base to perform a rotary motion. The finger second spur gear hole is internally equipped with a second spur gear bronze bushing of the finger base. The second spur gear bronze bushing of the finger base is sleeved on the first finger joint shaft. The finger second spur gear can rotate freely on the first finger joint shaft while the first finger joint shaft does not rotate.

6. The anthropomorphic dexterous hand according to claim 5, characterized in that, The finger second bevel gear is not a fan-shaped structure. When performing a rotary motion, the two end faces of the fan shape can respectively contact the outer periphery of the proximal end of the first finger segment, playing a role in limiting the motion.

7. The anthropomorphic dexterous hand according to any one of claims 1-6, characterized in that, The thumb body includes a thumb base, a thumb rotating frame, a first thumb phalanx, and a second thumb phalanx. The thumb mechanical transmission chain includes a mechanical transmission chain for thumb flexion / abduction motion and a mechanical transmission chain for thumb internal / external rotation motion. The mechanical transmission chain for thumb internal / external rotation motion drives the thumb rotating frame to perform a rotary motion around an axis of the thumb base, forming the internal / external rotation motion of the thumb. The mechanical transmission chain for thumb flexion / abduction motion drives one end of the first thumb phalanx to perform a rotary motion around an axis of the thumb rotating frame, forming the flexion / abduction motion of the first thumb phalanx, and drives the second thumb phalanx to perform a rotary motion around an axis of the first thumb phalanx, forming the flexion / abduction motion of the second thumb phalanx.

8. The anthropomorphic dexterous hand according to claim 7, characterized in that, The mechanical transmission chain for thumb flexion / abduction motion includes a thumb flexion / abduction power component, a frame of the thumb flexion / abduction power component, a first thumb bevel gear, a second thumb bevel gear, a third thumb bevel gear, a fourth thumb bevel gear, a first thumb spur gear, and a second thumb spur gear; The thumb flexion / abduction power component is installed on the frame of the thumb flexion / abduction power component. The frame of the thumb flexion / abduction power component is fixedly connected to the palm. The thumb flexion / abduction power component is horizontally placed at the rear end of the palm. The fourth thumb bevel gear is installed on the output shaft of the thumb flexion / abduction power component. The second shaft of the thumb rotating frame is installed on the thumb rotating frame. The second thumb bevel gear and the third thumb bevel gear are installed at both ends of the second shaft of the thumb rotating frame. The third thumb bevel gear meshes with the fourth thumb bevel gear. The first shaft of the thumb rotating frame is installed on the thumb rotating frame. The second shaft of the thumb rotating frame is perpendicular to the first shaft of the thumb rotating frame. The first thumb bevel gear and the first thumb spur gear are installed on the first shaft of the thumb rotating frame. The first thumb spur gear and the first thumb bevel gear can rotate synchronously. The second thumb spur gear is sleeved on the first finger joint shaft. The first thumb spur gear meshes with the second thumb spur gear. The first thumb bevel gear meshes with the second thumb bevel gear. The first thumb phalanx is sleeved on the first finger joint shaft and can rotate relative to the first finger joint shaft. The second thumb phalanx is connected to the first thumb phalanx through the second finger joint shaft. One end of the thumb link is connected to the second thumb phalanx through the first pin shaft, and the other end of the thumb link is connected to the thumb rotating frame through the second pin shaft. The second thumb spur gear and the first thumb phalanx are connected together and can rotate synchronously; The mechanical transmission chain of thumb internal and external rotation movement includes thumb internal and external rotation power assembly, thumb internal and external rotation power assembly frame, thumb fifth bevel gear and thumb sixth bevel gear. The thumb internal and external rotation power assembly is installed on the thumb internal and external rotation power assembly frame, the thumb internal and external rotation power assembly frame is tightly connected to the palm, the thumb internal and external rotation power assembly is horizontally placed at the rear end of the palm and is fixed relative to the palm; the thumb sixth bevel gear is sleeved on the output shaft of the thumb internal and external rotation power assembly, the thumb fifth bevel gear is installed on the thumb rotating frame, and the thumb fifth bevel gear and the thumb sixth bevel gear are meshed.

9. The anthropomorphic dexterous hand according to claim 8, wherein The thumb flexion and extension power assembly includes a thumb flexion and extension motor and a thumb flexion and extension reducer that are mutually connected in transmission, and the thumb flexion and extension reducer housing is fixedly connected to the thumb flexion and extension power assembly frame; the thumb internal and external rotation power assembly includes a thumb internal and external rotation motor and a thumb internal and external rotation reducer that are mutually connected in transmission, and the thumb internal and external rotation reducer housing is connected to the thumb internal and external rotation power assembly frame; The fourth bevel gear of the thumb is installed on the D-shaped section output shaft journal of the thumb flexion reducer through a D-shaped section hole. A fourth bevel gear gasket of the thumb is provided between the fourth bevel gear of the thumb and the frame of the thumb flexion power assembly, which is used to adjust the axial position of the fourth bevel gear of the thumb; the second shaft of the thumb rotating frame is installed on the thumb rotating frame through the second copper sleeve of the thumb rotating frame, and the second bevel gear of the thumb and the third bevel gear of the thumb with D-shaped section holes are respectively installed on the D-shaped section holes of the second shaft of the thumb rotating frame; the first bevel gear of the thumb and the first straight gear of the thumb are installed on the first shaft of the thumb rotating frame with a D-shaped section through their respective D-shaped section holes; the sixth bevel gear of the thumb is sleeved on the output shaft journal with a D-shaped section of the thumb internal and external rotation reducer through its D-shaped section hole.

10. The anthropomorphic dexterous hand according to claim 9, characterized in that, The first bevel gear of the thumb is a fan-shaped structure. When performing a rotational motion, the two end faces of the fan-shaped first bevel gear of the thumb can respectively contact the outer periphery of the proximal end of the first phalanx of the thumb, thereby playing a role in limiting the motion.

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