Anthropomorphic metamorphic dexterous hand

Abstract

The application discloses an anthropomorphic metamorphic dexterous hand, which comprises a palm module and a plurality of finger modules, the finger module comprises a dorsal unit, a palmar unit and a finger driving unit, the dorsal unit and the palmar unit are arranged in a stack, the flexibility of the palmar unit is greater than that of the dorsal unit, and the finger driving unit is used for driving the dorsal traction wire and the palmar traction wire to be retracted or released, so that the finger module is bent towards the palmar unit or stretched away from the palmar unit. When a grasping task is performed, the palmar unit has high adhesion to a grasped object and can adapt to the shape of the grasped object, the palmar unit and the dorsal unit adopt a soft and hard combination mode, the dorsal unit provides a certain degree of rigid support for the finger module, the palmar unit is flexible, the finger module is convenient to bend towards the palmar unit, the characteristics that human fingers can only be bent towards the palm center are met, the finger module has certain rigidity and flexibility at the same time, and the demand for the rigidity and flexibility of the mechanical hand in different grasping environments is met.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a humanoid, cell-like dexterous hand. Background Technology

[0002] Robotic arms can replace human hands to perform multiple tasks in complex and harsh environments. Traditional robotic arms are designed with a fully rigid palm and fingers to adapt to high-load grasping scenarios, but their flexibility and control capabilities are limited. Furthermore, the drive mechanism of robotic arms requires a complex structural design, resulting in a cumbersome, costly, and unreliable robotic arm mechanism. In addition, in practical applications, in order to better mimic human hands to perform corresponding grasping tasks, robotic arms need to have a certain degree of flexibility while possessing overall rigidity. Traditional robotic arms cannot meet these requirements. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a humanoid variable-cell dexterous hand that can balance the rigidity and flexibility requirements of a robotic hand.

[0004] The humanoid cell-like dexterous hand according to an embodiment of the present invention includes:

[0005] The palm module includes multiple palm links and a palm drive unit. The multiple palm links are connected end to end in a rotatable manner and form a closed loop structure. The palm drive unit is connected to some of the palm links to drive the adjacent palm links to rotate relative to each other.

[0006] The finger module is provided in multiple forms, with one finger module installed on each of the palm connecting rods. Each finger module includes a back finger unit, a finger pad unit, and a finger driving unit. The back finger unit and the finger pad unit are stacked on top of each other. The finger pad unit is more flexible than the back finger unit. A back finger traction wire is threaded inside the back finger unit, and a finger pad traction wire is threaded inside the finger pad unit. One end of the back finger traction wire is connected to the tail end of the back finger unit, and the other end is connected to the finger driving unit. One end of the finger pad traction wire is connected to the tail end of the finger pad unit, and the other end is connected to the finger driving unit. The finger driving unit is used to drive the back finger traction wire and the finger pad traction wire to retract and extend, causing the finger module to bend towards the finger pad unit or extend away from the finger pad unit.

[0007] The anthropomorphic cell-based dexterous hand according to embodiments of the present invention has at least the following beneficial effects:

[0008] In this invention, the fingertip unit is more flexible than the back of the finger unit. When performing a grasping task, the fingertip unit has a high degree of fit with the object to be grasped, and can adapt to the shape of the object to be grasped, thus achieving stable grasping. The fingertip unit and the back of the finger unit adopt a combination of hard and soft. The back of the finger unit provides a certain degree of rigid support for the finger module, while the fingertip unit has good flexibility, which makes it easy for the finger module to bend towards the fingertip unit. This conforms to the characteristic that human fingers can only bend towards the palm, so that the finger module has both rigidity and flexibility, which meets the requirements of the mechanical hand for rigidity and flexibility in different grasping environments.

[0009] According to some embodiments of the present invention, the fingertip unit includes a plurality of fingertip connectors, the fingertip connectors are arranged along the length direction of the finger module, and the edges of adjacent fingertip connectors are connected to form a fingertip bend, the thickness of the fingertip bend is less than the thickness of the fingertip connector.

[0010] The finger back unit includes multiple finger back connectors, which are arranged along the length of the finger module. Adjacent finger back connectors are connected at their edges to form a finger back bend, and the thickness of the finger back bend is less than the thickness of the finger back connector.

[0011] The back of the finger and the pad of the finger are arranged opposite each other along the bending direction of the finger module.

[0012] According to some embodiments of the present invention, a plurality of fingertip connectors are arranged along the width direction of the finger module, and adjacent fingertip connectors along the width direction are connected at their edges to form a transition portion, the transition portion being recessed away from the back of the finger unit;

[0013] Multiple finger back connectors are arranged along the width direction of the finger module. Adjacent finger back connectors along the width direction are connected at their edges to form a reinforcing portion. The reinforcing portion protrudes toward the finger pad unit and is located between adjacent finger pad units.

[0014] According to some embodiments of the present invention, the back of the finger unit and the pad of the finger unit are connected to form an integrally molded structure;

[0015] Alternatively, the back of the finger connector and the finger pad connector are bonded to each other on opposite sides, and the back of the finger bend and the finger pad bend are configured as separate structures.

[0016] According to some embodiments of the present invention, the finger back connector includes four finger back connecting surfaces, the sides of the four finger back connecting surfaces are connected end to end in sequence, and the vertices of the four finger back connecting surfaces coincide to form a finger back apex corner;

[0017] The fingertip connector includes four fingertip connecting surfaces, the sides of which are connected end to end in sequence, and the vertices of the four fingertip connecting surfaces coincide to form a fingertip apex angle. The opening of the finger back apex angle in the width direction of the finger unit is not less than the opening of the fingertip apex angle.

[0018] According to some embodiments of the present invention, the edge of the fingertip connector is provided with a notch, the notches of adjacent fingertip connectors are arranged facing each other, and the notch is located at the bend of the fingertip.

[0019] According to some embodiments of the present invention, the fingertip connector has notches on opposite sides along the length direction, the notches of adjacent fingertip connectors are arranged facing each other, the notches are located at the fingertip bend, and the notch on the side away from the finger back unit is larger than the notch on the side facing the finger back unit.

[0020] According to some embodiments of the present invention, the interior of the fingertip connector has a first cavity extending along the length direction, and the first cavities of adjacent fingertip connectors are connected; the interior of the finger back connector has a second cavity extending along the length direction, and the second cavities of adjacent finger back connectors are connected.

[0021] According to some embodiments of the present invention, the back of the finger unit is provided with a guide hole extending along the length direction, the guide holes of adjacent back of the finger units are interconnected, and the back of the finger traction wire is sequentially inserted into the guide hole; the finger pad traction wire is sequentially inserted into the first cavity.

[0022] According to some embodiments of the present invention, two palm drive units are provided, one of which is a palm link including two support arms. The two palm drive units are respectively mounted on the two support arms and are used to drive the palm link connected to the support arms to rotate.

[0023] According to some embodiments of the present invention, the finger module includes a fixed base, the finger driving unit, the back of the finger unit and the finger pad unit are all mounted on the fixed base, and the fixed base is detachably connected to the palm connecting rod.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of one embodiment of the humanoid variable cell dexterous hand of the present invention;

[0027] Figure 2 A schematic diagram of one embodiment of the finger module;

[0028] Figure 3 for Figure 2 A schematic diagram of the explosion of the back finger unit and the fingertip unit;

[0029] Figure 4 This is a cross-sectional view of the dorsal and ventral finger units;

[0030] Figure 5 for Figure 2 Enlarged view of point A in the middle;

[0031] Figure 6 This is a schematic diagram of one embodiment of the fingertip unit;

[0032] Figure 7 for Figure 6 A schematic diagram of the middle finger pad unit from another direction;

[0033] Figure 8 A schematic diagram showing the finger module with the winding roller hidden.

[0034] Figure 9 This is a schematic diagram of one embodiment of the hand linkage.

[0035] Figure label:

[0036] Hand module 100, hand link 110, support arm 111, hand drive unit 120;

[0037] Finger module 200, back finger unit 210, back finger connector 211, back finger connecting surface 2111, back finger apex angle 2112, second cavity 2113, guide hole 2114, back finger bending part 212, reinforcing part 213, finger pad unit 220, finger pad connector 221, finger pad connecting surface 2211, finger pad apex angle 2212, notch 2213, first cavity 2214, finger pad bending part 222, transition part 223, finger drive unit 230, back finger traction wire 240, finger pad traction wire 250, fixing seat 260, wire hole 261, winding roller 270;

[0038] Base 300. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0042] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0043] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] Reference Figure 1 In an embodiment of the present invention, a humanoid variable cell dexterous hand is provided. The humanoid variable cell dexterous hand includes a palm module 100 and a finger module 200. Multiple finger modules 200 are provided and installed on the palm module 100. The palm module 100 and the finger modules 200 are used to simulate the palm and fingers of a human hand, respectively. Multiple finger modules 200 cooperate to perform corresponding grasping tasks.

[0045] Specifically, the palm module 100 includes multiple palm links 110 and a palm drive unit 120. The multiple palm links 110 are rotatably connected around each other and form a closed loop structure. The palm drive unit 120 is connected to some of the palm links 110 to drive the adjacent palm links 110 to rotate relative to each other. To facilitate grasping actions, 3-5 finger modules 200 are provided, with finger modules 200 mounted only on some of the palm linkages 110. Furthermore, only some of the palm linkages 110 are directly driven to rotate by the palm drive unit 120, while the others are driven to rotate by other connected palm drive units 120. Since the multiple palm linkages 110 are connected in a closed-loop structure, the number of rotating palm linkages 110 and the degrees of freedom of the palm module 100 change under the drive of the palm drive unit 120, thus constructing a variable-cell mechanism for the palm module 100. In this way, the palm module 100 can present different configurations, allowing the finger modules 200 to change different grasping angles, making it suitable for grasping needs in various task environments.

[0046] Reference Figures 2 to 4 The finger module 200 includes a back finger unit 210, a finger pad unit 220, and a finger driving unit 230. The back finger unit 210 and the finger pad unit 220 are stacked. The finger pad unit 220 is more flexible than the back finger unit 210. A back finger traction wire 240 is inserted inside the back finger unit 210, and a finger pad traction wire 250 is inserted inside the finger pad unit 220. One end of the back finger traction wire 240 is connected to the tail end of the back finger unit 210, and the other end is connected to the finger driving unit 230. One end of the finger pad traction wire 250 is connected to the tail end of the finger pad unit 220, and the other end is connected to the finger driving unit 230. The finger driving unit 230 is used to drive the back finger traction wire 240 and the finger pad traction wire 250 to retract and extend, so that the finger module 200 bends toward the finger pad unit 220 or extends away from the finger pad unit 220. For example, in the initial state, the finger module 200 is in a straight line shape. When the finger driving unit 230 pulls the fingertip traction wire 250 to tighten, it releases the finger back traction wire 240. In this case, the fingertip unit 220 is pulled by the finger back traction wire 240 and bends and curls up. The finger back unit 210 is not pulled by the finger back traction wire 240, but bends synchronously with the fingertip unit 220 under the drive of the fingertip unit 220. At this time, the finger module 200 can perform the grasping task. When the finger driving unit 230 releases the fingertip traction wire 250, it tightens the finger back traction wire 240. In this case, the finger back unit 210 is pulled by the finger back traction wire 240 and extends from the bent state. The fingertip unit 220 is not pulled by the fingertip traction wire 250, but extends synchronously under the drive of the finger back unit 210, so that the finger module 200 returns to the initial state. At this time, the finger module 200 releases the grasped object.

[0047] It should be noted that the anthropomorphic cell-like dexterous hand in this invention highly replicates the synergistic effect of the palm and fingers when a human hand performs a grasping action. For example, when a human hand performs a grasping action, the palm wraps and contracts towards the center of the hand, and each finger bends and curls towards the center of the hand. In this invention, the multiple palm linkages 110 of the palm module 100 can change their configuration and rotate towards the center of the palm module 100 under the drive of the palm drive unit 120. Furthermore, the finger drive unit 230 in the finger module 200 pulls the back of the finger unit 210 and the finger pad unit 220 to bend through the traction wire. In conjunction with the contraction of the palm module 100, the object is enveloped between the finger module 200 and the palm to complete the grasping task.

[0048] Furthermore, in this invention, the flexibility of the fingertip unit 220 is set to be greater than that of the back of the finger unit 210. On the one hand, when performing a grasping task, the fingertip unit 220 contacts the object to be grasped. The highly flexible fingertip unit 220 has a higher degree of conformity with the object to be grasped, can adapt to the shape of the object to be grasped, achieve stable grasping, and will not damage the object to be grasped due to hard contact or collision. On the other hand, the fingertip unit 220 and the back of the finger unit 210 adopt a soft-hard combination, with the back of the finger unit 210 being more flexible than the fingertip unit 220. The abdominal unit 220 has high rigidity, while the fingertip unit 220 has better flexibility than the back of the finger unit 210. The back of the finger unit 210 provides a certain degree of rigid support for the finger module 200, preventing the overall flexibility of the finger module 200 from affecting the structural strength. The fingertip unit 220 has good flexibility, which makes it easy for the finger module 200 to bend towards the fingertip unit 220, which conforms to the characteristic that human fingers can only bend towards the palm. This allows the finger module 200 to have both rigidity and flexibility, meeting the requirements of rigidity and flexibility of the robotic hand in different grasping environments.

[0049] It should be noted that since each finger module 200 is connected to a different palm link 110, the bending direction of the finger module 200 is different, but they all bend toward the palm of the palm module 100, and when the finger module 200 bends, the back of the finger unit 210 bends toward the finger pad unit 220.

[0050] In some embodiments, refer to Figure 3The fingertip unit 220 includes multiple fingertip connectors 221, which are arranged along the length of the finger module 200. The edges of adjacent fingertip connectors 221 are connected to form a fingertip bending portion 222, and the thickness of the fingertip bending portion 222 is less than the thickness of the fingertip connector 221. Thus, multiple fingertip connectors 221 are connected to form the fingertip unit 220. When the fingertip unit 220 is bent, it is bent based on the connection point of the adjacent fingertip connectors 221, that is, the fingertip bending portion 222. Since the thickness of the fingertip bending portion 222 is smaller, the bending of the fingertip unit 220 is more convenient. Similarly, the back of the finger unit 210 includes a plurality of back of the finger connectors 211, which are arranged along the length of the finger module 200. The edges of adjacent back of the finger connectors 211 are connected to form a back of the finger bending portion 212. The thickness of the back of the finger bending portion 212 is less than the thickness of the back of the finger connectors 211. Thus, the plurality of back of the finger connectors 211 are connected to form the back of the finger unit 210. When the back of the finger unit 210 is bent, it is bent based on the connection point of the adjacent back of the finger connectors 211, that is, the back of the finger bending portion 212. Since the thickness of the back of the finger bending portion 212 is smaller, the bending of the back of the finger unit 210 is more convenient. Furthermore, the back-of-finger bending portion 212 and the finger-pad bending portion 222 are arranged opposite to each other along the bending direction of the finger module 200. When the finger module 200 bends, the bending positions of the back-of-finger unit 210 and the finger-pad unit 220 match, so as to avoid the back-of-finger unit 210 and the finger-pad unit 220 interfering with each other during the bending process of the finger module 200 due to the misalignment of the bending positions of the back-of-finger unit 210 and the finger-pad unit 220, which would affect the grasping efficiency.

[0051] Furthermore, multiple fingertip connectors 221 are arranged along the width direction of the finger module 200, and the edges of adjacent fingertip connectors 221 that are close to each other along the width direction form a transition portion 223, which is recessed away from the back finger unit 210; similarly, multiple back finger connectors 211 are arranged along the width direction of the finger module 200, and the edges of adjacent back finger connectors 211 that are close to each other along the width direction form a reinforcing portion 213, which protrudes toward the fingertip unit 220 and is located between adjacent fingertip units 220. Arranging the fingertip connector 221 and the back of the finger connector 211 in the width direction increases the gripping surface of the finger module 200 and the contact area between the finger module 200 and the object to be gripped, thereby improving the envelopment degree of the finger module 200 on the object to be gripped. Furthermore, due to the increased distance in the width direction of the back of the finger unit 210, the strength of the finger module 200 in the width direction is increased, preventing deformation in the width direction when the finger module 200 bends and improving the gripping stability of the finger module 200. In addition, the transition portion 223 on the fingertip unit 220 and the reinforcing portion 213 on the back of the finger unit 210 cooperate with each other. The reinforcing portion 213 abuts against the adjacent fingertip unit 220 in the width direction. Since the strength of the back of the finger unit 210 is higher than that of the fingertip unit 220, the strength of the finger module 200 in the width direction can be further improved, preventing the finger module 200 from stretching or bending in the width direction.

[0052] It should be noted that the length direction mentioned above refers to the overall extension direction of the finger module 200, which extends away from the palm module 100, conforming to the basic shape of the human hand; the width direction refers to the arrangement direction of adjacent finger modules 200.

[0053] Multiple fingertip connectors 221 arranged along the length direction form a fingertip bending group, and multiple finger back connectors 211 arranged along the length direction form a finger back bending group. When there are multiple fingertip connectors 221 and finger back connectors 211, both the fingertip bending group and the finger back bending group have multiple groups. Adjacent fingertip connector groups are connected by a transition portion 223, and adjacent finger back connector groups are connected by a reinforcing portion 213. It should be noted that each fingertip connector group contains a fingertip traction wire 250. Within the same finger module 200, the number of fingertip traction wires 250 is the same as the number of fingertip connectors 221 arranged in the width direction. Similarly, each finger back connector group contains a finger back traction wire 240. Within the same finger module 200, the number of finger back traction wires 240 is the same as the number of finger back connectors 211 arranged in the width direction. In this way, the influence of the flexibility traction accuracy of the back of the finger unit 210 and the finger pad unit 220 can be reduced. The back of the finger bending group and the finger pad bending group in the same finger module 200 bend synchronously. The traction effect of the traction wire on different areas of the back of the finger unit 210 and the finger pad unit 220 is relatively uniform, which improves the gripping force of the finger module 200 on the object to be grasped.

[0054] In this invention, reference is made to Figure 5 The finger back connector 211 includes four finger back connector surfaces 2111. The sides of the four finger back connector surfaces 2111 are connected end to end in sequence, and the vertices of the four finger back connector surfaces 2111 coincide to form a finger back apex angle 2112. The sides of adjacent finger back connector surfaces 2111 are connected to each other to form a joint edge. Each finger back connector 211 includes four joint edges, two of which extend along the width direction of the finger module 200 and are located on opposite sides of the finger back apex angle 2112, and two of which extend along the length direction of the finger module 200 and are located on opposite sides of the finger back apex angle 2112. Similarly, refer to... Figure 6 The fingertip connector 221 includes four fingertip connecting surfaces 2211. The sides of the four fingertip connecting surfaces 2211 are connected end to end in sequence, and the vertices of the four fingertip connecting surfaces 2211 coincide to form a fingertip apex angle 2212. The sides of adjacent fingertip connecting surfaces 2211 are connected to each other to form a joint edge. Each fingertip connector 221 includes four joint edges. Two of the joint edges extend along the width direction of the finger module 200 and are located on opposite sides of the fingertip apex angle 2212. Two of the joint edges extend along the length direction of the finger module 200 and are located on opposite sides of the fingertip apex angle 2212.

[0055] It should be noted that the fingertip apex angle 2212 is located on the side of the fingertip unit 220 away from the bending direction, and the finger back apex angle 2112 is located on the side of the finger back unit 210 away from the bending direction. After the finger back unit 210 and the fingertip unit 220 are stacked, the finger back apex angle 2112 is located on the side of the fingertip apex angle 2212 away from the bending direction. The positions of the connecting ridge on the finger back connector 211 and the connecting ridge on the fingertip connector 221 correspond in the bending direction of the finger module 200. In this embodiment, along the width direction of the finger module 200, the opening of the finger back apex angle 2112 is set to be no less than the opening of the finger pad apex angle 2212. The two connecting ridges extending along the width direction in the finger back unit 210 can provide greater support in the width direction. Since the hardness of the finger back unit 210 is higher than that of the finger pad unit 220, the finger back unit 210 can provide greater support force to the finger pad unit 220 in the width direction, thereby improving the strength of the finger module 200 in the width direction and reducing the contraction and bending of the finger module 200 in the width direction.

[0056] In one embodiment, the back-of-the-finger unit 210 and the fingertip unit 220 are connected to form an integrally molded structure; that is, the back-of-the-finger unit 210 and the fingertip unit 220 are integrally formed without the need for subsequent assembly. On the one hand, this reduces the assembly difficulty of the finger module 200; on the other hand, the high matching accuracy between the back-of-the-finger bending portion 212 and the fingertip bending portion 222 gives the finger module 200 high bending performance. Exemplarily, the back-of-the-finger unit 210 and the fingertip unit 220 are formed by injection molding, 3D printing, or other processing methods.

[0057] In other embodiments, the back-of-finger connector 211 and the finger-pad connector 221 are bonded to each other on opposite sides, and the back-of-finger bending portion 212 and the finger-pad bending portion 222 are separate structures. Thus, in the stacking direction of the back-of-finger unit 210 and the finger-pad unit 220, the back-of-finger connector 211 and the finger-pad connector 221 are bonded to each other, forming an integral structure that can be bent synchronously. The connection method is simple and quick. Furthermore, since the back-of-finger bending portion 212 and the finger-pad bending portion 222 are not connected and are independent of each other, the impact of bonding on the bending performance of the finger module 200 can be reduced, allowing the back-of-finger bending portion 212 and the finger-pad bending portion 222 to bend freely, thus improving the bending flexibility of the finger module 200.

[0058] In this invention, reference is made to Figure 6 and Figure 7The fingertip connector 221 has a notch 2213 on its edge. The notches 2213 of adjacent fingertip connectors 221 in the longitudinal direction face each other. After adjacent fingertip connectors 221 are connected, the two notches 2213 abut and combine to form a closed through hole, and this notch 2213 is located precisely at the fingertip bend 222. The notch 2213 on the fingertip connector 221 further improves the flexibility of the fingertip unit 220, reduces the degree of compression on the side of the fingertip bend 222 facing away from the back of the finger unit 210 during bending, and makes the bending of the fingertip unit 220 more flexible.

[0059] In another embodiment, the fingertip connector 221 has notches 2213 on both sides opposite to each other along the length direction. The notches 2213 of adjacent fingertip connectors 221 along the length direction are arranged facing each other. After the adjacent fingertip connectors 221 are connected to each other, the two notches 2213 are joined together to form a closed through hole. The notches 2213 are located exactly on the fingertip bend 222. The notch 2213 on the side facing away from the finger back unit 210 is set to be larger than the notch 2213 on the side facing the finger back unit 210. Thus, notches 2213 are provided on both sides of the fingertip unit 220, which can improve the flexibility of the fingertip unit 220 during bending and stretching, and further improve the flexibility of the fingertip unit 220; and since the finger module 200 faces away from the back of the finger unit 210 when bending, setting the notch 2213 on the side facing away from the back of the finger unit 210 to be larger than the notch 2213 on the side facing the back of the finger unit 210 is more conducive to the bending of the fingertip unit 220, making the bending of the finger module 200 more flexible.

[0060] In this invention, reference is made to Figure 3 The fingertip connector 221 has a first cavity 2214 extending along its length inside. The first cavities 2214 of adjacent fingertip connectors 221 are connected. Due to the hollow interior of the fingertip connector 221, the fingertip unit 220 has greater flexibility and can produce greater deformation when bent to adapt to the shape of the object being grasped. Similarly, the back finger connector 211 has a second cavity 2113 extending along its length inside, allowing the back finger unit 210 to also have a certain degree of flexibility and to bend better when pulled by the back finger traction wire 240 or driven by the fingertip unit 220.

[0061] Furthermore, refer to Figure 4The back-of-finger connector 211 has a guide hole 2114 extending along its length. The guide holes 2114 of adjacent back-of-finger units 210 are interconnected. The back-of-finger traction wires 240 are sequentially inserted into the guide holes 2114. When driven by the finger driving unit 230, the back-of-finger traction wires 240 are guided by the guide holes 2114 and extend and retract along the length of the finger module 200, preventing the back-of-finger traction wires 240 from wobbling inside the back-of-finger connector 211. Since the back-of-finger unit 210 has a certain rigidity, setting the guide holes 2114 in the back-of-finger unit 210 can accurately limit the bending direction of the finger module 200, improving the grasping accuracy of the anthropomorphic cell dexterous hand. In addition, the fingertip traction wires 250 are directly inserted into the first cavity 2214 of multiple fingertip units 220, using the first cavity 2214 to achieve the traction of the fingertip units 220 by the fingertip traction wires 250.

[0062] In addition, the guide hole 2114 is located at the center of the finger back connector 211 in the width direction, so that the traction force on different areas of the finger back connector 211 in the width direction is more uniform, and the finger module 200 grasps the object more stably.

[0063] Reference Figure 2 The finger module 200 also includes a mounting base 260. The finger drive unit 230, the back of the finger unit 210, and the finger pad unit 220 are all mounted on the mounting base 260. The mounting base 260 is detachably connected to the palm link 110. In this way, the finger module 200 is installed as an integral structure on the palm link 110. When the internal structure of the finger module 200 malfunctions, the finger module 200 can be directly disassembled for maintenance. In addition, the finger drive unit 230 is located inside the finger module 200 and is not related to the palm drive unit 120. This can reduce interference between different drive components inside the humanoid variable-cell dexterous hand, making the structure of the humanoid variable-cell dexterous hand simpler and the motion control faster.

[0064] The finger drive unit 230 can be configured as a geared motor. The finger drive unit 230 is installed inside the fixed base 260. The fixed base 260 contains a winding roller 270. A finger back traction wire 240 or a finger pad traction wire 250 is wound around the outer circumference of the winding roller 270. The winding roller 270 is connected to the finger drive unit 230 and rotates under the drive of the finger drive unit 230 to wind the finger back traction wire 240 or finger pad traction wire 250 around the outer circumference of the winding roller 270 or to release the traction wire wound on the winding roller 270. Two winding rollers 270 are arranged inside the fixed base 260 along the stacking direction of the finger back unit 210 and the finger pad unit 220. The two winding rollers 270 are used to wind the finger back traction wire 240 and the finger pad traction wire 250, respectively. Furthermore, each winding roller 270 can be driven by one finger drive unit 230, or the two winding rollers 270 can share one finger drive unit 230.

[0065] Additionally, refer to Figure 8 The back of the finger unit 210 and the finger pad unit 220 are connected to the outer wall of the fixed base 260. The fixed base 260 is provided with a back of the finger wire hole 261 extending toward the back of the finger unit 210 and a finger pad wire hole 261 extending toward the finger pad unit 220. The back of the finger traction wire 240 is led out from the winding roller 270 to the back of the finger wire hole 261 and guided by the back of the finger wire hole 261, and introduced into the guide hole 2114 in the back of the finger unit 210. The finger pad traction wire 250 is led out from the winding roller 270 to the finger pad wire hole 261 and guided by the finger pad wire hole 261, and introduced into the first cavity 2214 in the finger pad unit 220.

[0066] In this invention, reference is made to Figure 9 Two hand drive units 120 are provided. One hand link 110 includes two support arms 111. The two hand drive units 120 are respectively mounted on the two support arms 111 and are used to drive the hand link 110 connected to the support arms 111 to rotate. The rotation of the two hand links 110 can further drive other hand links 110 rotatedly connected to the two hand links 110 to rotate, so that the hand module 100 changes the corresponding configuration. It should be noted that the two support arms 111 provide a mounting base for the hand drive unit 120, so that the hand drive unit 120 is integrated into the inside of the hand module 100, and the shape of the humanoid cell-like dexterous hand is more concise.

[0067] In addition, the humanoid cell-like dexterous hand also includes a base 300, and a palm link 110 with two support arms 111 is rotatably connected to the base 300. When the palm link 110 rotates relative to the base 300, it can change the position of the palm module 100 and the finger module 200. The finger module 200 can grasp objects at different positions, thus expanding the grasping range of the humanoid cell-like dexterous hand.

[0068] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A humanoid cell-like dexterous hand, characterized in that, include: The palm module includes multiple palm links and a palm drive unit. The multiple palm links are connected end to end in a rotatable manner and form a closed loop structure. The palm drive unit is connected to some of the palm links to drive the adjacent palm links to rotate relative to each other. Multiple finger modules are provided, with one finger module installed on each portion of the palm linkage. Each finger module includes a back finger unit, a finger pad unit, and a finger drive unit. The back finger unit and the finger pad unit are stacked, with the finger pad unit being more flexible than the back finger unit. A back finger traction wire is threaded inside the back finger unit, and a finger pad traction wire is threaded inside the finger pad unit. One end of the back finger traction wire is connected to the tail end of the back finger unit, and the other end is connected to the finger drive unit. One end of the finger pad traction wire is connected to the tail end of the finger pad unit, and the other end is connected to the finger drive unit. The finger drive unit is used to drive the back finger traction wire and the finger pad traction wire to retract and extend, thereby enabling the... The finger module bends toward the fingertip unit or extends away from the fingertip unit; the fingertip unit includes multiple fingertip connectors, which are arranged along the width direction of the finger module. Adjacent fingertip connectors along the width direction are connected at their edges to form a transition portion, which is recessed away from the back of the finger unit; the back of the finger unit includes multiple back of the finger connectors, which are arranged along the width direction of the finger module. Adjacent back of the finger connectors along the width direction are connected at their edges to form a reinforcing portion, which protrudes toward the fingertip unit and is located between adjacent fingertip units. The reinforcing portion abuts against the adjacent fingertip unit in the width direction.

2. The anthropomorphic cell-based dexterous hand according to claim 1, characterized in that, The fingertip unit includes multiple fingertip connectors, which are arranged along the length of the finger module. Adjacent fingertip connectors are connected at their edges to form a fingertip bend, and the thickness of the fingertip bend is less than the thickness of the fingertip connector. The finger back connectors are arranged along the length of the finger module, and the edges of adjacent finger back connectors are connected to form a finger back bend, the thickness of the finger back bend is less than the thickness of the finger back connector. The back of the finger and the pad of the finger are arranged opposite each other along the bending direction of the finger module.

3. The anthropomorphic cell-based dexterous hand according to claim 2, characterized in that, The back of the finger unit and the pad of the finger unit are connected to form an integral structure; Alternatively, the back of the finger connector and the finger pad connector are bonded to each other on opposite sides, and the back of the finger bend and the finger pad bend are configured as separate structures.

4. The humanoid cell-like dexterous hand according to claim 2, characterized in that, The finger back connector includes four finger back connector surfaces, the sides of the four finger back connector surfaces are connected end to end in sequence, and the vertices of the four finger back connector surfaces coincide to form the finger back apex corner; The fingertip connector includes four fingertip connecting surfaces, the sides of which are connected end to end in sequence, and the vertices of the four fingertip connecting surfaces coincide to form a fingertip apex angle. The opening of the finger back apex angle in the width direction of the finger module is not less than the opening of the fingertip apex angle.

5. The humanoid cell-like dexterous hand according to claim 2, characterized in that, The edge of the fingertip connector is provided with a notch, and the notches of adjacent fingertip connectors are arranged facing each other, and the notch is located at the bend of the fingertip.

6. The humanoid cell-like dexterous hand according to claim 2, characterized in that, The fingertip connector has notches on both sides opposite each other along the length direction. The notches of adjacent fingertip connectors are arranged facing each other. The notches are located at the fingertip bend, and the notch on the side away from the finger back unit is larger than the notch on the side facing the finger back unit.

7. The humanoid cell-like dexterous hand according to claim 2, characterized in that, The fingertip connector has a first cavity extending along the length direction, and the first cavities of adjacent fingertip connectors are connected. The back of the finger connector has a second cavity extending along the length direction, and the second cavities of adjacent back of the finger connectors are connected.

8. The anthropomorphic cell-based dexterous hand according to claim 7, characterized in that, The back of the finger unit has a guide hole that runs through the length direction. The guide holes of adjacent back of the finger units are interconnected. The back of the finger traction wires are sequentially inserted into the guide holes. The finger pad traction wires are sequentially inserted into the first cavity.

9. The humanoid cell-like dexterous hand according to claim 1, characterized in that, Two palm drive units are provided. One of the palm linkages includes two support arms. The two palm drive units are respectively installed on the two support arms and are used to drive the palm linkage connected to the support arms to rotate.

10. The anthropomorphic cell-based dexterous hand according to claim 1, characterized in that, The finger module includes a fixed base, and the finger driving unit, the back of the finger unit and the finger pad unit are all mounted on the fixed base. The fixed base is detachably connected to the palm connecting rod.

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