Humanoid manipulator and robot

Abstract

The invention belongs to the technical field of robots, and particularly discloses a humanoid manipulator and a robot, the humanoid manipulator comprises a palm base body and five fingers connected with the palm base body, and the five fingers sequentially comprise a little finger, a ring finger, a middle finger, an index finger and a thumb; wherein the little finger, the ring finger, the middle finger and the index finger are the same in structure, each five-connecting-rod structure is formed by three knuckles and two connecting rods, and each five-connecting-rod structure is driven by a corresponding first driving mechanism and used for enabling the fingers to conduct bending and stretching actions; and the thumb can realize three actions through the second driving mechanism, the rotary driving mechanism and the third driving mechanism, namely bending and stretching actions as well as up-and-down rotating actions and left-and-right swinging actions relative to the palm base body. By cooperatively controlling the seven driving mechanisms, the five fingers can achieve various purposes of fist clenching, palm stretching or grabbing of different objects and the like, and meanwhile the humanoid manipulator has the advantages of being multiple in freedom degree, small, exquisite, flexible, similar to a human hand in size, easy to control and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a humanoid manipulator and a robot. Background Art

[0002] With the continuous development of modern technology and the widespread application of robots, robots will increasingly participate in human production and daily life, and in the foreseeable future, robots will be responsible for many areas of work. Among them, the manipulator, as a key end-effector of a robot, is an automatic operating device used to grasp, move objects, or manipulate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of industrial production, and can operate in hazardous environments to protect human safety. Therefore, it is widely used in industrial fields such as machinery manufacturing, metallurgy, electronics, and light industry.

[0003] In these fields, these types of manipulators are characterized by their relatively fixed working environments and simple actions. They typically use two- or three-finger grippers, with a few organizations employing humanoid five-finger grippers. However, in many areas, such as healthcare, construction, and agricultural production, manual labor is still required. This is because existing manipulators are large, bulky, complex to control, have few degrees of freedom, and exhibit low flexibility, making them inadequate for current needs. Therefore, there is an urgent need for multi-finger, dexterous manipulators similar to human hands to fulfill these tasks.

[0004] In view of this, this invention is proposed. Summary of the Invention

[0005] The object of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a humanoid manipulator and a robot. The humanoid manipulator can not only flex and extend the five fingers separately through corresponding drive mechanisms, but also can make the thumb rotate up and down and / or swing left and right relative to the palm base. Therefore, the present invention can achieve various purposes such as making a fist, extending the palm or grasping different objects through the coordinated cooperation of the five fingers. At the same time, the humanoid manipulator has the advantages of multiple degrees of freedom, being compact and flexible, being similar in size to a human hand and being easy to control.

[0006] The purpose of the present invention is to solve the problem through the following technical solutions:

[0007] In one aspect, the present invention provides a humanoid manipulator, comprising a palm base and five fingers connected to the palm base, wherein the five fingers sequentially include a little finger, a ring finger, a middle finger, an index finger, and a thumb;

[0008] The small finger, the ring finger, the middle finger and the index finger each comprise a first knuckle, a second knuckle and a third knuckle which are connected in sequence, the first knuckle is connected to a first connecting seat at the front end of the palm base, the second knuckle is connected to the first connecting seat through a first connecting rod, the third knuckle is connected to the first knuckle through a second connecting rod, thus forming a five-connecting-rod structure, the first connecting rod is connected to the extension end of a first driving mechanism which is connected to the palm base, the first driving mechanism is used to provide power for the flexion and extension of each finger;

[0009] The thumb comprises a connecting frame, a fourth knuckle and a fifth knuckle in sequence, the fourth knuckle is connected to a second connecting seat at the front end of the connecting frame at one end, and is connected to the fifth knuckle at the other end, the fifth knuckle is connected to the second connecting seat through a third connecting rod, thus forming a connecting rod structure, the third connecting rod is connected to the extension end of a second driving mechanism which is connected to the connecting frame and provides power for the flexion and extension of the thumb.

[0010] Further, the thumb is arranged on a swing frame through a rotary driving mechanism, the rotary output shaft of the rotary driving mechanism is fixedly connected to the connecting frame, and is used to drive the thumb to rotate up and down relative to the palm base with the rotary output shaft as the rotation center, the swing frame is connected to a mounting seat at the rear of the palm base through a pin shaft, the swing frame is connected to the extension end of a third driving mechanism which is connected to the side of the palm base, the third driving mechanism is used to drive the swing frame, the rotary driving mechanism and the thumb as a whole to swing left and right relative to the palm base with the pin shaft as the rotation center.

[0011] Further, the pin shaft is arranged at an angle α relative to the index finger, so as to realize the left and right swinging of the thumb relative to the palm base with the pin shaft as the rotation center.

[0012] Further, the angle α is in the range of 0°-6°.

[0013] Further, the rotary driving mechanism comprises a first motor, the output shaft of the first motor is connected to a worm, the worm is engaged with a turbine arranged in a first housing, the first housing is fixedly arranged in the swing frame, the rotary output shaft of the turbine extends out of the first housing and is fixedly connected to the connecting frame of the thumb, and the axis of the rotary output shaft is perpendicular to the length direction of the thumb.

[0014] Further, the first driving mechanism, the second driving mechanism and the third driving mechanism are all electric push rod driving structures.

[0015] Furthermore, the electric push rod drive structure includes a second shell, which is hinged to the palm base or the connecting frame, and a second motor consisting of an inner rotor and an outer stator is arranged in the second shell. The inner rotor of the second motor is connected to the ball screw, and the ball screw is threadedly connected to the screw nut after extending out of the second shell. The outer surface of the screw nut is covered with a first nut fastener and a second nut fastener connected as a whole, and the first nut fastener is hinged to the first connecting rod or the third connecting rod or the swing frame.

[0016] Furthermore, the little finger, ring finger, middle finger and index finger can each achieve flexion and extension of three phalanges within a range of 0° to 90° relative to each other through the corresponding first driving mechanism;

[0017] The thumb can realize flexion and extension of the two phalanges within a range of 0° to 90° relative to each other through the second driving mechanism, can realize up and down rotation within a range of 0° to 90° relative to the palm base with the rotation output shaft as the rotation center through the rotation driving mechanism, and can realize left and right swinging within a range of 45° to 90° relative to the palm base with the pin shaft as the rotation center through the third driving mechanism.

[0018] Furthermore, the palm base is covered with a shell, and a gap is left between the shell and the relevant driving mechanism to avoid interference between the five fingers when performing relevant actions;

[0019] The five fingers all adopt a frame structure to hide the connecting rod and reduce the weight;

[0020] The humanoid manipulator is provided with a mark point.

[0021] In another aspect, the present invention provides a robot comprising the humanoid manipulator described above.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The humanoid manipulator provided by the present invention is mainly composed of five fingers, a palm base and seven drive mechanisms; wherein, the little finger, ring finger, middle finger and index finger each include three hinged knuckles and two connecting rods to form a five-link structure, and each set of five-link structures is powered by a corresponding drive mechanism to enable each finger to flex and extend; the thumb adopts a connecting rod structure, which can realize thumb flexion and extension as well as up and down rotation and left and right swinging relative to the palm base through three drive mechanisms. In other words, the seven drive mechanisms that provide power for the five fingers of the humanoid manipulator of the present invention are independent of each other, so that each finger does not interfere with each other when working. By coordinating the control of the seven drive mechanisms, the humanoid manipulator can realize various uses such as making a fist, extending the palm or grabbing different objects. At the same time, the humanoid manipulator has the advantages of multiple degrees of freedom, being compact and flexible, being similar in size to a human hand and being easy to control, which is convenient for promotion and popularization in robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the invention.

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 This is a schematic diagram of the overall structure of the humanoid manipulator of the present invention;

[0027] Figure 2 This is a schematic diagram of the front view of the humanoid manipulator of the present invention;

[0028] Figure 3 This is a schematic diagram of the palm base and related hinged parts of the present invention;

[0029] Figure 4 This is a schematic diagram of the connection between the little finger, ring finger, middle finger or index finger and the driving mechanism of the present invention;

[0030] Figure 5 This is a schematic diagram of the connection between the thumb and the related driving mechanism of the present invention;

[0031] Figure 6 Schematic diagram of the exploded structure of the electric push rod (first, second and third drive mechanisms) of the present invention;

[0032] Figure 7 It is a structural schematic diagram of the rotary drive mechanism of the present invention (with the upper cover removed);

[0033] Figure 8This is a schematic diagram of a cross-sectional state of the little finger, ring finger, middle finger or index finger of the present invention when the knuckles are extended;

[0034] Figure 9 This is a schematic diagram of a cross-sectional state of the little finger, ring finger, middle finger or index finger of the present invention when the knuckles are fully flexed;

[0035] Figure 10 This is a schematic diagram of the thumb of the present invention when it moves downward and is fully retracted;

[0036] Figure 11 It is a schematic diagram of the state of the thumb of the present invention when it is swung to the right.

[0037] in:

[0038] 1 is the palm base; 11 is the mounting seat; 12 is the hollowed portion;

[0039] 2 is the five fingers; 21 is the little finger; 22 is the ring finger; 23 is the middle finger; 24 is the index finger; 25 is the thumb; A1 is the first knuckle; A2 is the second knuckle; A3 is the third knuckle; A4 is the first connecting rod; A5 is the second connecting rod; 251 is the connecting frame; 252 is the fourth knuckle; 253 is the fifth knuckle; 254 is the third connecting rod;

[0040] 3 is a first driving mechanism;

[0041] 4 is a second driving mechanism;

[0042] 5 is a rotary drive mechanism; 51 is a first motor; 52 is a worm; 53 is a first housing; 54 is a turbine; 541 is a rotary output shaft;

[0043] 6 is a swing frame;

[0044] 7 is a pin;

[0045] 8 is the third driving mechanism; B1 is the second housing; B2 is the second motor; B3 is the ball screw; B4 is the screw nut; B5 is the first nut fastener; B6 is the second nut fastener;

[0046] α is the angle between the pin and the index finger. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of arrangements consistent with certain aspects of the present invention as detailed in the appended claims.

[0048] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the accompanying drawings and examples.

[0049] Please refer to Figures 1 to 11 The present application provides a humanoid robot hand, comprising a palm base 1 and five fingers 2 connected to the palm base 1, the five fingers 2 comprising a little finger 21, a ring finger 22, a middle finger 23, an index finger 24 and a thumb 25 in sequence; wherein the little finger 21, the ring finger 22, the middle finger 23 and the index finger 24 are arranged in parallel and have the same structure, the actual length of each finger can be set to simulate the actual situation of a human hand, for example, the length of the middle finger 23 is greater than that of the remaining three fingers, in the present embodiment, the remaining four fingers except the thumb 25 all adopt a five-bar linkage structure, and each set of five-bar linkage structure is connected to the extension end of the first driving mechanism 3 hinged on the palm base 1, for providing power for the flexion and extension movement of the corresponding finger; the thumb 25 adopts a linkage structure and is provided with different direction powers through the second driving mechanism 4, the rotary driving mechanism 5 and the third driving mechanism 8, for making the thumb 25 perform the following three actions: the first is flexion and extension movement, the second is up and down rotation movement relative to the palm base 1, and the third is left and right swing movement relative to the palm base 1, and two or three of the three actions can be performed simultaneously. That is to say, the humanoid robot hand can achieve various purposes such as clenching, stretching or grabbing different objects through the coordinated control of the seven driving mechanisms (four first driving mechanisms 3, one second driving mechanism 4, one rotary driving mechanism 5 and one third driving mechanism 8), plus the fact that the five fingers 2 of the humanoid robot hand themselves adopt a linkage structure to make them have multiple degrees of freedom, thus the humanoid robot hand can achieve various purposes such as clenching, stretching or grabbing different objects, meanwhile, the humanoid robot hand has a wide range of grabbing, small as to grab objects with a diameter of millimeter level, large as to grab a sphere with a diameter of 75 millimeters, in addition, the humanoid robot hand is easy to control and has a small overall size, and its size is comparable to that of a general adult female hand.

[0050] Specifically, as shown in Figure 1 , 4 , 8, 9, the little finger 21, the ring finger 22, the middle finger 23 and the index finger 24 in the present embodiment all comprise a first phalanx A1, a second phalanx A2 and a third phalanx A3 hinged in sequence, and the first phalanx A1 is hinged on a first hinge seat fixedly arranged at the front end of the palm base 1, the second phalanx A2 is hinged to the first hinge seat through a first connecting rod A4, and the third phalanx A3 is hinged to the first phalanx A1 through a second connecting rod A5 to form a five-bar linkage structure, and the first connecting rod A4 is hinged to the extension end of the first driving mechanism 3 hinged on the palm base 1. Through the above arrangement, when the finger (the little finger 21, the ring finger 22, the middle finger 23, the index finger 24) needs to perform flexion movement, the first phalanx A1 is driven to move towards the palm base 1, the second phalanx A2 is driven to move towards the first phalanx A1 through the first connecting rod A4, and the third phalanx A3 is driven to move towards the second phalanx A2 through the second connecting rod A5, thus the finger performs flexion movement. Figure 4Taking the state as an example, the control system controls the telescopic end of the first driving mechanism 3 to gradually retract, pulling the first connecting rod A4 directly connected to the telescopic end to rotate clockwise around the first hinge seat at the front end of the palm base 1, and at the same time driving the second finger joint A2 to rotate clockwise around the hinge point between it and the first finger joint A1. At this time, the first finger joint A1 rotates clockwise around the first hinge seat at the front end of the palm base 1, and at the same time drives the second connecting rod A5 to rotate clockwise around the hinge point between it and the first finger joint A1, and then drives the third finger joint A3 to rotate clockwise. The whole process is carried out synchronously, thereby realizing the flexion movement of each finger joint within the range of 0° to 90°. Figure 9 This is a schematic diagram of a cross-sectional view of the little finger 21, ring finger 22, middle finger 23 or index finger 24 when the phalanges are fully flexed; when the fingers need to be extended, it is only necessary to reversely operate the first drive mechanism 3, and the five-link will then synchronously perform an extension action opposite to the flexion action. Figure 8 This is a schematic diagram of a cross-sectional view of the little finger 21, the ring finger 22, the middle finger 23 or the index finger 24 when the knuckles are fully extended, and the specific extension process will not be described in detail.

[0051] It should be noted that, since the trajectory of the hinge point between the telescopic end and the first connecting rod A4 around the first hinge seat is an arc when the first driving mechanism 3 drives each finger to flex and extend, but the telescopic end of the first driving mechanism 3 is a straight line trajectory, the two motion trajectories will interfere with each other. Therefore, in the embodiment of the present invention, the first driving mechanism 3 is hinged as a whole to the middle part of the palm base 1 through a hinge. In this way, when the telescopic end of the first driving mechanism 3 pushes / pulls the first connecting rod A4, the first driving mechanism 3 rotates following the hinge point between the telescopic end and the first connecting rod A4, thereby avoiding interference when the first driving mechanism 3 drives the fingers to flex and extend.

[0052] In the embodiment of the present invention, the thumb 25 includes a connecting frame 251, a fourth finger joint 252 and a fifth finger joint 253; wherein, the fifth finger joint 253 is hinged to the fourth finger joint 252, the rear end 252 of the fourth finger joint is hinged to a second hinge seat fixed at the front end of the connecting frame 251, and the front end is hinged to the rear end of the fifth finger joint 253, and the fifth finger joint 253 is hinged to the second hinge seat through the third connecting rod 254 to form a connecting rod structure, in which a three-link structure is formed with the connecting frame 251 as a relatively fixed component, and the fourth finger joint 252, the fifth finger joint 253 and the third connecting rod 254 perform planar motion, and the third connecting rod 254 is hinged to the telescopic end of the second driving mechanism 4 which is hinged to the connecting frame 251 and provides power for the flexion and extension of the thumb 25. It can be seen from the above settings that when the thumb 25 is required to perform a flexion movement, Figure 5Taking the state as an example, the control system controls the telescopic end of the second drive mechanism 4 to gradually retract, pulling the third connecting rod 254 directly connected to the telescopic end to rotate clockwise around the second hinge seat at the front end of the connecting frame 251. At the same time, it drives the fifth knuckle 253 to rotate clockwise around its hinge point with the fourth knuckle 252. At this time, the fourth knuckle 252 also rotates clockwise around the second hinge seat, gradually completing the flexion movement of the thumb 25 knuckle from 0 degrees to 90 degrees. When the thumb 25 is fully extended, the reverse operation is performed. Similarly, to prevent the linear motion of the second drive mechanism 4 from interfering with the circular motion of the third connecting rod 254 and the hinge point of the second hinge seat, the two sides of the second drive mechanism 4 are rotatably fixed to the interior of the connecting frame 251 via fixed pins.

[0053] It is worth noting that in the embodiment of the present invention, the thumb 25 is set on the swing frame 6 through the rotation drive mechanism 5, and the rotation output shaft 541 of the rotation drive mechanism 5 is fixedly connected to the connecting frame 253, which is used to drive the thumb 25 to rotate up and down relative to the palm base 1 with the rotation output shaft 541 as the rotation center. The swing frame 6 is hinged to the mounting seat 11 preset at the rear of the palm base 1 through the pin 7. The swing frame 6 is hinged to the third drive mechanism 8 hinged to the side of the palm base 1. The third drive mechanism 8 is used to drive the swing frame 6, the rotation drive mechanism 5 and the thumb 25 as a whole to swing left and right relative to the palm base 1 with the pin 7 as the rotation center. Figure 11 It is a schematic diagram of the state when the thumb 25 is swung to the right.

[0054] Specifically, such as Figure 1 、 2 As shown in Figures 5, 7, and 10, the rotary drive mechanism 5 includes a first motor 51, the output shaft of which is connected to a worm 52, which is meshed with a turbine 54 provided in a first housing 53. The first housing 53 is fixedly provided in the swing frame 6. After the rotary output shaft 541 of the turbine 54 extends out of the first housing 53, both ends are fixedly connected to the connecting frame 251 of the thumb 25, and the axis of the rotary output shaft 541 is perpendicular to the length direction of the thumb 25, so that the low-torque motor can achieve the preset output. When grasping objects, the self-locking characteristics of the turbine and worm can be used to provide a reliable and stable grip. That is, the electric turbine and worm drive structure can realize the thumb 25 as a whole rotating up and down around the rotary output shaft 541 and relative to the palm base 1. Figure 10 This is a schematic diagram of the thumb 25 when it is fully retracted and moves downward. At this time, it fits in with the index finger 24, and the minimum size of the base of the thumb is close to zero.

[0055] like Figure 3As shown, the rear part of the palm base 1 is provided with a hollowed part 12, and the mounting seat 11 is arranged on the palm base 1 and located on the front and rear sides of the hollowed part 12. The swing frame 6 is arranged in the hollowed part 12, and the two ends of the swing frame 6 are rotationally connected with the mounting seat 11 through the pin shaft 7, the pin shaft 7 is arranged at an angle α relative to the index finger 24, and the angle α is in the range of 0°-6°, and the telescopic end of the third driving mechanism 8 is hingedly connected with the swing frame 6 through the hollowed part 12. Preferably, when the pin shaft 7 is arranged at an angle relative to the index finger 24 (i.e. the angle α is not 0°), the third driving mechanism 8 is arranged perpendicularly to the pin shaft 7, so as to realize the left and right swing of the thumb 25 around the pin shaft 7 relative to the palm base 1.

[0056] In the embodiment of the present application, the five fingers 2 all adopt the frame structure, which can hide the corresponding connecting rods while ensuring the strength and reducing the self weight, and the palm base 1 is externally covered with a shell (not shown in the figure), the shell has a gap relative to the related driving mechanism, so as to avoid the interference between the driving mechanism and the shell when the five fingers 2 perform the related actions; in addition, the embodiment of the present application is provided with mark points on the anthropomorphic robot hand.

[0057] In the embodiment of the present application, the first driving mechanism 3, the second driving mechanism 4 and the third driving mechanism 8 all adopt the electric push rod driving structure, i.e. all have the push-pull function. In addition, since one of the purposes of the present application is to miniaturize the anthropomorphic robot hand, the electric push rod driving structure is required to be as compact as possible, so as to be arranged on the anthropomorphic robot hand with limited space. For this purpose, the inventor designs the electric push rod driving structure as shown in Figure 6 、 8 、9.

[0058] Specifically, the electric push rod driving structure comprises a second shell B1, the second shell B1 is hingedly connected with the palm base 1 or the connecting frame 251 (when it is the first driving mechanism 3 or the third driving mechanism 8, the second shell B1 is hingedly connected with the corresponding mounting seat of the palm base 1; when it is the second driving mechanism 4, the second shell B1 is hingedly connected with the connecting frame 251), and a second motor B2 composed of an inner rotor and an outer stator is arranged in the second shell B1. The inner rotor of the second motor B2 is connected with a ball screw B3, the ball screw B3 is screwed with a ball screw nut B4 after extending out of the second shell B1, the outer surface of the ball screw nut B4 is covered with a first nut fastener B5 and a second nut fastener B6 which are integrated, and the first nut fastener B5 is hingedly connected with the first connecting rod A4 or the third connecting rod 254 or the swing frame 6 (when it is the first driving mechanism 3, the first nut fastener B5 is hingedly connected with the first connecting rod A4; when it is the second driving mechanism 4, the first nut fastener B5 is hingedly connected with the third connecting rod 254; when it is the third driving mechanism 8, the first nut fastener B5 is hingedly connected with the swing frame 6). Preferably, the electric push rod driving structure

[0059] Preferably, in the humanoid manipulator of the present invention, the surfaces of all hinged rotating shafts or pins are coated with wear-resistant materials to increase the overall service life of the humanoid manipulator. In addition, the electric push rod drive structures (first drive mechanism 3, second drive mechanism 4 and third drive mechanism 8) used in the present invention are all a combination of brushless motor + ball screw, that is, the second motor B2 is a brushless motor, which has the advantages of long service life and more accurate control of rotation speed and strength. In addition, the present invention is respectively provided with pressure sensors on the fifth knuckle 31 of the thumb 25 and the third knuckle A3 of the remaining four fingers, and a push-pull force sensor is provided on each electric push rod drive structure, and all pressure sensors and push-pull force sensors are connected to the control system for feeding back the pressure data of the five fingers and the push-pull force data applied by the drive mechanism to the control system to achieve accurate closed-loop control of the humanoid manipulator.

[0060] In summary, the humanoid manipulator provided by the embodiment of the present invention has the little finger 21, ring finger 22, middle finger 23, and index finger 24, respectively, capable of flexing and extending the three phalanges relative to each other from 0 to 90 degrees via the corresponding first drive mechanism 3. Simultaneously, the thumb 25 is capable of flexing and extending the two phalanges relative to each other from 0 to 90 degrees via the second drive mechanism 4. Furthermore, the thumb 25 is capable of rotating up and down relative to the palm base 1 within a range of 0° to 90° with the rotation output shaft 541 as the rotation center via the rotation drive mechanism 5. Furthermore, the thumb 25 is capable of swinging left and right relative to the palm base 1 within a range of 45° to 90° (from outside to inside) with the pin 7 as the rotation center via the third drive mechanism 8. In other words, the anti-humanoid manipulator of the embodiment of the present invention, through the coordinated cooperation of the seven drive mechanisms, can enable the five fingers to achieve various purposes such as making a fist, extending the palm, or grasping various objects.

[0061] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0062] It should be understood that the present invention is not limited to the above description and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A humanoid manipulator, characterized in that: It comprises a palm base (1) and five fingers (2) connected to the palm base (1), wherein the five fingers (2) sequentially comprise a little finger (21), a ring finger (22), a middle finger (23), an index finger (24) and a thumb (25); Wherein, the little finger (21), the ring finger (22), the middle finger (23) and the index finger (24) all include a first knuckle (A1), a second knuckle (A2) and a third knuckle (A3) which are hinged in sequence, and the first knuckle (A1) is hinged on a first hinge seat at the front end of the palm base (1), the second knuckle (A2) is hinged to the first hinge seat via a first connecting rod (A4), the third knuckle (A3) is hinged to the first knuckle (A1) via a second connecting rod (A5) to form a five-link structure, the first connecting rod (A4) is hinged to the telescopic end of a corresponding first driving mechanism (3) hinged on the palm base (1), and the first driving mechanism (3) is used to provide power for the flexion and extension movements of each finger; The thumb (25) comprises a connecting frame (251), a fourth finger joint (252) and a fifth finger joint (253) in sequence. One end of the fourth finger joint (252) is hinged to a second hinge seat at the front end of the connecting frame (251), and the other end is hinged to the fifth finger joint (253). The fifth finger joint (253) is hinged to the second hinge seat via a third connecting rod (254) to form a connecting rod structure. The third connecting rod (254) is hinged to the telescopic end of a second driving mechanism (4) hinged to the connecting frame (251) and providing power for the flexion and extension movement of the thumb (25).

2. The humanoid manipulator according to claim 1, characterized in that: The thumb (25) is arranged on the swing frame (6) through a rotation drive mechanism (5); the rotation output shaft (541) of the rotation drive mechanism (5) is fixedly connected to the connecting frame (251) and is used to drive the thumb (25) to rotate up and down relative to the palm base (1) with the rotation output shaft (541) as the rotation center; the swing frame (6) is hinged to a mounting seat (11) preset at the rear of the palm base (1) through a pin shaft (7); the swing frame (6) is hinged to the telescopic end of a third drive mechanism (8) hinged to the side of the palm base (1); the third drive mechanism (8) is used to drive the swing frame (6), the rotation drive mechanism (5) and the thumb (25) as a whole to swing left and right relative to the palm base (1) with the pin shaft (7) as the rotation center.

3. The humanoid manipulator according to claim 2, characterized in that: The pin (7) is arranged at an angle α relative to the index finger (24) to enable the thumb (25) to swing left and right relative to the palm base (1) with the pin (7) as the rotation center.

4. The humanoid manipulator according to claim 3, characterized in that: The angle α has a value range of 0° to 6°.

5. The humanoid manipulator according to claim 2, characterized in that: The rotary drive mechanism (5) comprises a first motor (51), an output shaft of the first motor (51) being connected to a worm (52), the worm (52) being engaged with a turbine (54) disposed in a first housing (53), the first housing (53) being fixedly disposed in a swing frame (6), a rotation output shaft (541) of the turbine (54) extending out of the first housing (53) and being fixedly connected to a connecting frame (251) of the thumb (25), and an axis of the rotation output shaft (541) being perpendicular to the length direction of the thumb (25).

6. The humanoid manipulator according to claim 2, characterized in that: The first drive mechanism (3), the second drive mechanism (4) and the third drive mechanism (8) are all electric push rod drive structures.

7. The humanoid manipulator according to claim 6, characterized in that: The electric push rod driving structure includes a second shell (B1), the second shell (B1) is hinged to the palm base (1) or the connecting frame (251), a second motor (B2) composed of an inner rotor and an outer stator is arranged in the second shell (B1), the inner rotor of the second motor (B2) is connected to the ball screw (B3), the ball screw (B3) is screwed to the screw nut (B4) after extending out of the second shell (B1), the outer surface of the screw nut (B4) is covered with a first nut fastener (B5) and a second nut fastener (B6) connected as one body, and the first nut fastener (B5) is hinged to the first connecting rod (A4) or the third connecting rod (254) or the swing frame (6).

8. The humanoid manipulator according to claim 2, characterized in that: The little finger (21), the ring finger (22), the middle finger (23) and the index finger (24) can respectively realize flexion and extension of the three phalanges within a range of 0° to 90° relative to each other through the corresponding first driving mechanism (3); The thumb (25) can realize flexion and extension of two phalanges within a range of 0° to 90° relative to each other through the second driving mechanism (4), can realize up and down rotation within a range of 0° to 90° relative to the palm base (1) with the rotation output shaft (541) as the rotation center through the rotation driving mechanism (5), and can realize left and right swinging within a range of 45° to 90° relative to the palm base (1) with the pin shaft (7) as the rotation center through the third driving mechanism (8).

9. The humanoid manipulator according to claim 1, characterized in that: The palm base (1) is covered with a shell, and a gap is left between the shell and the relevant driving mechanism to prevent interference between the five fingers (2) when performing relevant actions; The five fingers (2) all adopt a frame structure, which is used to hide the connecting rod and reduce the dead weight; The humanoid manipulator is provided with a mark point.

10. A robot, characterized in that: It comprises the humanoid manipulator according to any one of claims 1 to 9.

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