Dexterous hands and humanoid robots

Abstract

The present application provides a dexterous hand and a humanoid robot, wherein the dexterous hand includes a palm shell, a control component and a mechanical finger; a receiving cavity is formed inside the palm shell, and a driving component is mainly arranged in the receiving cavity inside the palm shell, thereby limiting most of the cables in the receiving cavity; the cables connected to each driving component are connected to the control component, and connected to the signal terminal of the wrist joint structure through a plug-in terminal, thereby reducing the leakage of cables, thereby reducing the direct contact and friction between the cables and mechanical moving parts (such as finger joints), which can not only extend the service life of the cables, but also reduce the risk of signal interruption or failure caused by cable wear. Hiding the cables in the receiving cavity avoids the cables from being distributed in a disorderly manner outside, making the appearance of the dexterous hand neater and more beautiful.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a dexterous hand and a humanoid robot. Background Art

[0002] As an indispensable end-effector of humanoid robots, the dexterous hand is designed to mimic the functions and perception characteristics of human hands. In order to drive the movement of fingers and collect various perception signals, a large number of signal cables and power cables are laid inside and outside the dexterous hand. These cables shuttle through complex mechanical structures, especially near the movable joints of the fingers, and are prone to entanglement. This not only limits the flexibility of the dexterous hand, but also may cause signal interruption due to cable wear, leading to collision accidents. Summary of the invention

[0003] The present application provides a dexterous hand and a humanoid robot that are conducive to optimizing wiring harness layout and improving safety.

[0004] In a first aspect, an embodiment of the present application provides a dexterous hand for a humanoid robot, the dexterous hand comprising a palm shell, a control component and a mechanical finger; a receiving cavity is formed inside the palm shell, the palm shell also has a docking port, the docking port is communicated with the receiving cavity, the palm shell is used to connect with a wrist joint structure at the docking port; the control component is accommodated in the receiving cavity, the control component comprises a plug-in terminal, the plug-in terminal is exposed from the docking port, the plug-in terminal is used to plug with a signal terminal of the wrist joint structure; the mechanical finger comprises a drive component and a finger component, the drive component is partially disposed in the receiving cavity and partially extends out of the palm shell, the finger component is located outside the palm shell, the end of the drive component extending out of the palm shell is connected to the finger component to drive the finger component to rotate relative to the palm shell, and the drive component is electrically connected to the control component.

[0005] In the present application, the driving components are mainly arranged in the accommodating cavity inside the palm shell, so that most of the cables are confined in the accommodating cavity; the cables connected to each driving component are connected to the control component, and the plug-in terminals on the control component are connected to the signal terminals of the wrist joint structure, so as to reduce the exposed cables, thereby reducing the direct contact and friction between the cables and the mechanical moving parts (such as finger joints), which can not only extend the service life of the cables, but also reduce the risk of signal interruption or failure caused by cable wear. Hiding the cables in the accommodating cavity avoids the cables from being distributed in a disorderly manner outside, making the appearance of the dexterous hand more neat and beautiful.

[0006] According to the first aspect, in a possible implementation, the mechanical finger includes a mechanical thumb and a mechanical finger, a partition is provided in the accommodating cavity to divide the accommodating cavity into a first cavity and a second cavity, a driving component of the mechanical thumb is provided in the first cavity, and a driving component of the mechanical finger is provided in the second cavity. Thus, the mechanical thumb and the mechanical finger each have an independent movement space and working environment, avoiding mechanical interference and friction between different driving components.

[0007] According to the first aspect, in a possible implementation, the driving assembly of the mechanical finger and the driving assembly of the mechanical thumb are both rotatably connected to the partition. The shared partition reduces the number of required structural parts, fully utilizes the limited space inside the dexterous hand, and is conducive to reducing the overall volume and weight.

[0008] According to the first aspect, in a possible implementation, a first opening connected to the accommodating cavity is provided on the palm shell; the driving assembly of the mechanical thumb includes a first driving assembly, and the finger member of the mechanical thumb includes an articulated seat, a first knuckle and a second knuckle; the articulated seat is rotatably connected to the side wall of the first opening and extends from the first opening, and the first driving assembly is rotatably connected to the articulated seat; the articulated seat extends out of one end of the first opening, and the first knuckle and the second knuckle are rotatably connected in sequence. The articulated seat is connected to the side wall of the first opening by a rotatable connection so that the mechanical thumb can swing within a certain range at the first opening. The first knuckle and the second knuckle simulate the finger part, simulating the movement trajectory and action of a real finger.

[0009] According to the first aspect, in a possible implementation, the first knuckle includes a knuckle shell and a second drive assembly disposed in the knuckle shell, the two ends of the knuckle shell are respectively rotatably connected to the hinge seat and the second knuckle, and the second drive assembly is used to drive the first knuckle and the second knuckle to rotate. The adjustment of the relative position of the mechanical thumb and the mechanical finger, and the bending and extension of the mechanical thumb are driven by different drive assemblies to achieve independent control of these movements; thereby, the degree of freedom of the mechanical thumb can be increased, so that the mechanical thumb can perform more complex actions. In addition, the knuckle shell integrates multiple functions of exterior decoration, transmission and accommodation, which reduces the occupation of external space, makes the overall structure of the mechanical thumb more compact, and improves the appearance simulation of the mechanical thumb.

[0010] According to the first aspect, in a possible implementation, the first knuckle further includes a wire fixing member connected to the inner wall of the knuckle housing, and a wiring channel is formed between the wire fixing member and the inner wall of the knuckle housing, thereby constraining the wiring path of the wire connected to the second drive assembly, and preventing the wire from being squeezed, worn or broken during the movement of the mechanical thumb.

[0011] According to the first aspect, in a possible implementation, a wiring space is formed in the hinge seat, and the hinge seat is provided with a first wiring opening and a second wiring opening connected to the wiring space, wherein the first wiring opening is located on the side of the hinge seat facing the wiring channel, and the second wiring opening is located on the side of the hinge seat along its rotation direction. The wiring space enables the wire to smoothly pass through the hinge seat and enter the accommodating cavity of the palm shell. The wire is safely wrapped in the wiring space and can remain stable even when the hinge seat rotates; the reasonable setting of the wiring opening position reduces the number of bending and folding of the cable, and reduces the mechanical stress on the cable.

[0012] According to the first aspect, in a possible implementation, two mounting seats arranged opposite to each other are provided in the accommodating cavity, and the two sides of the first driving assembly are rotatably connected to the two mounting seats in a one-to-one correspondence via a pin. The two mounting seats form a stable support structure, and the wires are safely wrapped in the wiring space, and can remain stable even when the hinged seat rotates; the reasonable setting of the wiring port position reduces the number of bending and folding of the cable, and reduces the mechanical stress on the cable.

[0013] According to the first aspect, in a possible implementation, a second opening connected to the accommodating cavity is provided on the palm shell; the driving assembly of the mechanical finger includes a third driving assembly, and the finger member of the mechanical finger includes a third knuckle and a fourth knuckle; the third knuckle is rotatably connected to the palm shell, and the fourth knuckle is rotatably connected to the third knuckle; part of the third driving assembly is arranged in the accommodating cavity, and one end of the third driving assembly extends from the second opening and is rotatably connected to the third knuckle. The connection point between the third knuckle and the palm, and the connection point between the third knuckle and the second driving member are both outside the accommodating cavity, and the installation and disassembly process of the third knuckle no longer requires opening the palm shell or entering its accommodating cavity, thereby reducing the difficulty of installation and disassembly.

[0014] According to the first aspect, in a possible implementation, the palm shell further includes a connection seat provided at the second opening, the connection seat at least partially extends out of the second opening, and the third finger joint is rotatably connected to a portion of the connection seat exposed from the second opening. The connection seat provides necessary support force to prevent excessive stress generated by movement from directly acting on the palm shell.

[0015] According to the first aspect, in a possible implementation, a limiting groove is provided on one side wall of the accommodating cavity, and the connecting seat is arranged in the limiting groove. The limiting groove limits the connecting seat, and provides a precise positioning and fixing space for the connecting seat. Thus, the connection stability and position accuracy between the third finger joint and the palm shell are improved, so as to improve the movement accuracy of the mechanical finger when bending and stretching.

[0016] According to the first aspect, in a possible implementation, the palm shell includes a base and a back shell, the base and the back shell are detachably connected to enclose the accommodating cavity, the side of the palm shell away from the mechanical finger forms a connecting portion, and the connecting portion is used to connect to the wrist joint structure. The accommodating cavity can be exposed by removing the back shell, which is convenient for disassembling and assembling the structure installed in the accommodating cavity.

[0017] According to the first aspect, in a possible implementation, the connection portion includes a fixing ring and a positioning block located inside the fixing ring, and the hollow portion of the fixing ring forms the docking port; the fixing ring is used to connect with the wrist joint structure, and the positioning block is used to snap into a positioning groove provided on the wrist joint structure. Accurate docking between the dexterous hand and the wrist joint structure is achieved to prevent shaking or falling off during use. Thereby, a stable connection between the plug-in terminal and the signal terminal of the wrist joint structure is achieved.

[0018] In a second aspect, the embodiments of the present application further provide a humanoid robot, the humanoid robot comprising the dexterous hand described in the first aspect. The humanoid robot uses the dexterous hand to better plan the routing path of cables, reduce exposed cables, and thus reduce direct contact and friction between cables and mechanical moving parts (such as finger joints), which not only prolongs the service life of cables, but also reduces the risk of signal interruption or failure caused by cable wear, so as to ensure the accuracy of the humanoid robot's movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 is a schematic diagram of the connection between the dexterous hand and the wrist joint structure in one embodiment of the present application;

[0021] Figure 2 is a schematic diagram of the structure of a dexterous hand in an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of the structure of dismantling the back shell by a dexterous hand in one embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a partial disassembly of a dexterous hand in an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of the installation structure of a mechanical thumb in one embodiment of the present application;

[0025] Figure 6 is a cross-sectional schematic diagram of the installation structure of the mechanical thumb in one embodiment of the present application;

[0026] Figure 7 is a schematic diagram of a perspective state of a knuckle housing of a mechanical thumb in one embodiment of the present application;

[0027] Figure 8 is a schematic structural diagram of the dexterous hand from another perspective in one embodiment of the present application;

[0028] Fig. 9 It is a schematic diagram of the installation structure of the mechanical finger in one embodiment of the present application.

[0029] Reference numerals:

[0030] 1000-dexterous hand; 100-palm shell; 101-accommodating cavity; 1011-first cavity; 1012-second cavity; 1013-limiting groove; 102-docking port; 11-separator; 12-mounting seat; 13-pin shaft; 141-first opening; 142-second opening; 15-pivot; 16-connecting seat; 17-base; 18-back shell; 19-connecting part; 191-fixing ring; 192-positioning block; 200-mechanical finger; 210-driving assembly; 220-finger piece; 300-mechanical thumb; 310-first driving assembly; 320 -articulated seat; 321-wiring space; 322-first wiring opening; 323-second wiring opening; 330-first finger joint; 331-finger joint shell; 332-second drive assembly; 333-transmission rod; 335-wire fixing piece; 3351-wiring channel; 340-second finger joint; 400-mechanical finger; 410-third drive assembly; 420-third finger joint; 430-fourth finger joint; 500-control piece; 501-plug terminal; 502-circuit board; 503-plug connector; 2000-wrist joint structure; O1-first connection point; O2-second connection point. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0033] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0034] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] An embodiment of the present application provides a humanoid robot, including the dexterous hand in the embodiment of the present application.

[0036] The humanoid robot of the embodiment of the present application can imitate the appearance and movement posture of a human to achieve more natural and flexible human-machine interaction and automated operation. It may include a trunk component (not shown), a head component (not shown), an upper limb component (not shown), a lower limb component (not shown), and a dexterous hand, etc. The part where the upper limb component is connected to the trunk component is a shoulder joint mechanism, and the part where the upper limb component is connected to the dexterous hand is a wrist joint structure. These components work together to enable the robot to perform complex tasks, such as walking, grasping, operating tools, etc., which will not be described in detail in this application.

[0037] See also Figures 1 to 3 , the dexterous hand 1000 in the embodiment of the present application includes a palm housing 100, a control element 500 and a mechanical finger 200:

[0038] The palm shell 100 can play a shaping role and simulate the palm and back of a human hand. A receiving cavity 101 is formed inside the palm shell 100, which provides installation space for the control component 500 and the drive component 210, making the structure of the entire dexterous hand 1000 more compact and orderly. The palm shell 100 also has a docking port 102, which is connected to the receiving cavity 101. The palm shell 100 is used to connect to the wrist joint structure 2000 at the docking port 102; not only a physical connection is achieved, but also the signal terminal of the wrist joint structure 2000 is connected through the plug terminal 501, ensuring the effective transmission of signals and data.

[0039] The control component 500 is accommodated in the accommodating cavity 101, and the control component 500 can be installed inside the palm housing 100 by fasteners; the drive component 210 is electrically connected to the control component 500 so that the drive component 210 can accurately respond to the instructions of the control component 500, and the signal transmission and reception of the entire dexterous hand 1000 are integrated on the control component 500. The control component 500 may include a plug-in terminal 501, which is exposed from the docking interface 102, which not only protects the control component 500 from direct collision, but also makes the entire dexterous hand 1000 look neater and more beautiful. The plug-in terminal 501 is a standardized electrical interface that can be easily plugged in and out with other devices (such as the drive component 210). The plug-in terminal 501 is used to plug in with the signal terminal of the wrist joint structure 2000; the connection process is simplified and the reliability and stability of the connection are improved.

[0040] The mechanical finger 200 includes a driving component 210 and a finger piece 220. The driving component 210 is partially disposed in the accommodating cavity 101 and partially extends out of the palm housing 100. The cables (signal cables, power cables, etc.) of the driving component 210 can be fixed in the accommodating cavity 101. The extended portion of the driving component 210 is used to drive the finger piece 220 to rotate to perform various actions. The finger piece 220 is located outside the palm housing 100. The finger piece 220 generally includes a plurality of finger joint structures. The end of the driving component 210 extending out of the palm housing 100 is connected to the finger piece 220 to drive the plurality of finger pieces 220 to rotate relative to the palm housing 100. The driving component 210 can also drive the plurality of finger joints to rotate to achieve bending and stretching actions.

[0041] In the present application, the driving assembly 210 is mainly arranged in the accommodating cavity 101 inside the palm housing 100, so that most of the cables are confined in the accommodating cavity 101, reducing the direct contact and friction between the cables and mechanical moving parts (such as finger joints), which can not only extend the service life of the cables, but also reduce the risk of signal interruption or failure caused by cable wear. In addition, hiding the cables in the accommodating cavity 101 can avoid the cables being distributed in a disorderly manner outside, making the appearance of the dexterous hand 1000 more neat and beautiful.

[0042] During the specific implementation process, the drive component 210 can be directly electrically connected to the control component 500 through a cable. Specifically, the control component 500 can also include a circuit board 502 and a connector 503 arranged on the circuit board 502. The plug-in terminal 501 is electrically connected to the circuit board 502 through a wire. Various electronic components can also be integrated on the circuit board 502 to process the instructions of the robot control system. The drive component 210 can be directly electrically connected to the circuit board 502 through a wire. The connector 503 is located in the gap between two adjacent drive components 210, so that the connector 503 is divided into three groups according to the position. The wire of the drive component 210 can be inserted into the connector from the gap, making full use of the space of the accommodating cavity 101.

[0043] In some embodiments, see Figure 2 and Figure 4 , the mechanical fingers 200 can be divided into two categories: a mechanical thumb 300 and a mechanical finger 400. The mechanical thumb 300 and the mechanical finger 400 play different roles in the dexterous hand 1000, and have different motion characteristics and functional requirements. The mechanical thumb 300 usually needs to achieve more flexible and complex movements to simulate the grasping, pinching and other actions of the human thumb; while the mechanical finger 400 is mainly responsible for assisting the mechanical thumb 300 to complete tasks such as grasping and holding. A partition 11 is provided in the accommodating cavity 101 to separate the accommodating cavity 101 into a first cavity 1011 and a second cavity 1012. The driving component 210 of the mechanical thumb 300 is arranged in the first cavity 1011, and the driving component 210 of the mechanical finger 400 is arranged in the second cavity 1012. By arranging the driving components 210 of the mechanical thumb 300 and the mechanical finger 400 in different cavities, it can be ensured that they each have independent motion space and working environment. This not only avoids mechanical interference and friction between different drive components 210, but also reduces the cross-arrangement of cables and pipelines, thereby improving the neatness and maintainability of the system.

[0044] Among them, a real human hand is composed of a thumb and four fingers (index finger, middle finger, ring finger and little finger), and the dexterous hand 1000 can be provided with a mechanical thumb 300 and four mechanical fingers 400. Thus, it is closer to the physiological structure of a real human hand, realizes a higher degree of simulation in appearance and function, and performs more delicate and complex operations.

[0045] Of course, in other embodiments, the dexterous hand 1000 may be provided with more or fewer mechanical thumbs 300, or more or fewer mechanical fingers 400. By adjusting and optimizing the number, structure and function of the mechanical thumbs 300 and mechanical fingers 400, the dexterous hand 1000 may be more adaptable to various complex and changeable working environments, providing more possibilities for the development of industrial automation, medical surgery, scientific research and exploration and other fields. This application does not limit this.

[0046] The mechanical thumb 300 is arranged on one side of the palm shell, and the plurality of mechanical fingers 400 are arranged on the adjacent side of the mechanical thumb 300; it is defined that when the dexterous hand 1000 is fully extended, the direction of the mechanical thumb 300 is the first direction. The driving assembly 210 of the mechanical thumb 300 is arranged in the first cavity 1011 along the first direction; the driving assemblies 210 of the four mechanical fingers 400 are arranged in the second cavity 1012 at intervals in the first direction. Through the above arrangement and layout, the driving assemblies 210 of the mechanical thumb 300 and the mechanical fingers 400 can be compactly arranged together, thereby improving the utilization rate of the space of the accommodating cavity 101; and the driving assemblies 210 of the mechanical fingers 400 are spaced from each other, which can ensure that each mechanical finger 400 is relatively independent.

[0047] The driving component 210 of the robotic finger 400 can adopt a screw-nut transmission structure and a foldable design, that is, the motor and the screw of the driving component 210 are arranged on the same side of the transmission gear set and are arranged at intervals along the thickness direction of the palm shell 100, so that the width dimension of the palm shell 100 can be reduced when the four robotic fingers 400 are arranged at intervals.

[0048] It should be noted that, in the present application, when the dexterous hand 1000 is fully extended, the direction of the mechanical finger 400 is not completely perpendicular to the direction of the mechanical thumb 300, and there may be a certain angle between each mechanical finger 400, for example, the angle between two adjacent mechanical fingers 400 may be 3°. The angle between the mechanical fingers 400 can expand the envelope of the mechanical fingers 400 and achieve anthropomorphism; it enables each mechanical finger 400 of the dexterous hand 1000 to form a variety of different gripping shapes and forces, thereby more effectively gripping and fixing objects of various shapes and sizes, and adapting to a variety of complex operating environments and task requirements.

[0049] See also Figure 3 and Figure 4 The driving components 210 of the mechanical finger 400 and the driving components 210 of the mechanical thumb 300 are both rotatably connected to the partition 11. As a key component, the partition 11 plays a role of support, separation and connection inside the dexterous hand 1000. By rotatably connecting the driving components 210 of the mechanical finger 400 and the mechanical thumb 300 to the partition 11, not only the number of required structural parts is reduced, but also the limited space inside the dexterous hand 1000 is fully utilized, making the dexterous hand 1000 smaller in size and lighter in weight.

[0050] See also Figures 4 to 6Two mounting seats 12 arranged opposite to each other are provided in the accommodating cavity 101. The two sides of the first driving component 310 are rotatably connected to the two mounting seats 12 in a one-to-one correspondence through a pin shaft 13. The two mounting seats 12 are connected to the two sides of the first driving component 310 through the pin shaft 13 to form a stable supporting structure, allowing the first driving component 310 to rotate around the pin shaft 13 when working, thereby improving the stability of the first driving component 310 during movement and reducing the deviation or shaking caused by external forces such as vibration.

[0051] The first driving assembly 310 can be regarded as a telescopic rod along the length direction, and its extension or retraction action is directly controlled by a driving source (such as a motor, a cylinder, etc.). When the driving source provides power, the telescopic rod will perform linear motion along its length direction.

[0052] It is understandable that one of the two mounting seats 12 can be the partition 11, and the other is arranged opposite to the partition 11. Thus, the driving assembly 210 of the mechanical thumb 300 and the driving assembly 210 of the mechanical finger 400 are both installed on the partition 11.

[0053] The pin 13 can be made of a conductive material, such as copper, aluminum or copper alloy, and the connection between the pin 13 and the first drive assembly 310 can be in conductive contact, and the pin 13 can be electrically connected to the control member 500 through the internal circuit of the mounting seat 12, thereby further reducing the use of wires. In order to ensure reliable connection between the pin 13 and the first drive assembly 310, and between the pin 13 and the mounting seat 12, a conductive element (such as a conductive ring, a conductive brush, etc.) can be added to the pin 13 to achieve indirect transmission of power or signals. This method can provide better contact reliability and maintainability.

[0054] Specifically, the pin 13 can be a spring pin, which is a hollow columnar structure. The hollow design of the spring pin can not only reduce weight, but also help heat dissipation and possible internal circuit layout. The spring pin has chamfers at both ends along the axial direction. The chamfer design can reduce the friction and wear of the pin 13 during the insertion or extraction process, and improve the smoothness and service life of the connection. And it has a through slot along its axial direction, which can be elastically deformed when subjected to external force, so as to adapt to different installation dimensions and tolerance requirements.

[0055] See also Figure 4 , Figure 5 and Figure 7The palm housing 100 is provided with a first opening 141 in communication with the accommodating cavity 101. The first opening 141 allows the mechanical thumb 300 to pass through and provides a certain space for the mechanical thumb 300 to rotate. The driving assembly 210 of the mechanical thumb 300 includes a first driving assembly 310, and the first driving assembly 310 is disposed in the first cavity. The finger member 220 of the mechanical thumb 300 includes an articulated seat 320, a first finger joint 330 and a second finger joint 340; the articulated seat 320 is rotatably connected to the side wall of the first opening 141 and extends from the first opening 141, and the first driving assembly 310 is rotatably connected to the articulated seat 320; the articulated seat 320 extends out of one end of the first opening 141, and the first finger joint 330 and the second finger joint 340 are rotatably connected in sequence.

[0056] The articulated seat 320 is connected to the side wall of the first opening 141 through the pivot 15, so that the mechanical thumb 300 can swing within a certain range. At the same time, the articulated seat 320 is also rotatably connected to the first driving assembly 310, receiving power from the first driving assembly 310 and converting it into movement of the finger member 220. The first knuckle 330 and the second knuckle 340 simulate the finger part, simulating the movement trajectory and action of a real finger.

[0057] The rotation axis of the first knuckle 330 and the rotation axis of the second knuckle 340 are different from the rotation axis of the hinge seat 320. The swing of the hinge seat 320 can adjust the relative position relationship between the mechanical thumb 300 and the mechanical finger 400, so as to cooperate with the mechanical finger 400 to achieve the grasping and holding action. The first knuckle 330 and the second knuckle 340 are set to rotate in the same direction, that is, the first knuckle 330 and the second knuckle 340 will move in the same direction when bending or extending. This design is similar to the coordinated movement of the proximal phalanx and the distal phalanx in a real human finger when the finger is bent. The same-direction rotation makes the mechanical thumb 300 more natural and powerful when simulating actions such as grasping and holding.

[0058] The articulated seat 320, the first finger joint 330, and the second finger joint 340 can be driven by the same drive component 210 (the first drive component 310), and the articulated seat 320, the first finger joint 330, and the second finger joint 340 can be transmitted through gears, connecting rods, etc.; the first drive component 310 can also drive the articulated seat 320 to rotate, and another drive component 210 can be set to synchronously drive the first finger joint 330 and the second finger joint 340 to rotate, or two other drive components 210 can be set to respectively drive the first finger joint 330 and the second finger joint 340 to rotate; this application does not limit this.

[0059] The following describes a case where a driving assembly 210 is provided to synchronously drive the first finger joint 330 and the second finger joint 340 .

[0060] See also Figure 5 and Figure 7The first knuckle 330 includes a knuckle housing 331 and a second drive assembly 332 disposed in the knuckle housing 331. The two ends of the knuckle housing 331 are rotatably connected to the hinge seat 320 and the second knuckle 340 respectively. The second drive assembly 332 is used to drive the first knuckle 330 and the second knuckle 340 to rotate. In this way, the flexibility of the mechanical thumb 300 can be improved. The adjustment of the relative position of the mechanical thumb 300 and the mechanical finger 400, and the bending and extension of the mechanical thumb 300 are driven by different drive assemblies 210 to achieve independent control of these movements. In this way, the degree of freedom of the mechanical thumb 300 can be increased, so that the mechanical thumb 300 can perform more complex actions.

[0061] The second driving assembly 332 is disposed in the knuckle housing 331 , and the knuckle housing 331 integrates multiple functions of exterior decoration, transmission and accommodation, thereby reducing the occupation of external space, making the overall structure of the mechanical thumb 300 more compact, and improving the appearance simulation of the mechanical thumb 300 .

[0062] It can be understood that in order to make the second driving assembly 332 synchronously drive the knuckle housing 331 and the second knuckle 340 to rotate, a transmission rod 333 can be provided. Figure 7 As shown; one end of the transmission rod 333 is rotatably connected to the hinge seat 320, and the other end of the transmission rod 333 is rotatably connected to the second knuckle 340. The first drive assembly 310, the knuckle housing 331 and the hinge seat 320 form a three-link structure, and the first drive assembly 310 provides power to directly drive the first knuckle 330 to rotate. This direct drive method ensures the accuracy and reliability of the rotation of the first knuckle 330. The first knuckle 330, the transmission rod 333, the second knuckle 340 and the hinge seat 320 form a four-link structure, and the rotation of the knuckle housing 331 is transmitted to the second knuckle 340 through the transmission rod 333, so that the second knuckle 340 can rotate in the same direction to complete the bending and stretching action of the mechanical thumb 300. This structure cooperates with the first drive component 310 and the transmission rod 333 to achieve the same-direction rotation of the first knuckle 330 and the second knuckle 340 by one drive; and through the transmission of the connecting rod structure, the movement of the first knuckle 330 can be converted into the movement of the second knuckle 340 while maintaining the continuity and coordination of the movement.

[0063] The connecting rod structure transmission system can efficiently transmit the power of the first driving assembly 310 to the knuckle housing 331 and the second knuckle 340, achieving stable and reliable movement. By designing a reasonable connecting rod length and connection point position, the movement trajectory and movement form of the mechanical thumb 300 can be accurately controlled. The mechanical thumb 300 can maintain a stable posture and accurate trajectory during the rotation process, thereby meeting the needs of various complex tasks.

[0064] Based on the above examples, please refer to Figure 5 and Figure 7, the connection point between the first knuckle 330 and the hinge seat 320 is the first connection point O1, the connection point between the first knuckle 330 and the second knuckle 340 is the second connection point O2, and the line connecting the first connection point O1 and the second connection point O2 intersects with the transmission rod 333. When the first driving component 310 drives the first knuckle 330 to bend, the first knuckle 330 rotates counterclockwise, and the motion trajectory of the second connection point O2 is a downward deflection with the first connection point O1 as the center of the circle. Since the line connecting the first connection point O1 and the second connection point O2 intersects with the transmission rod 333, the transmission rod 333 deflects upward with the connection point between the transmission rod 333 and the hinge seat 320 as the center of the circle. Therefore, when the first driving component 310 drives the first knuckle 330 to bend, the second knuckle 340 also performs a bending action; the coordinated movement between the first knuckle 330 and the second knuckle 340 enables the mechanical thumb 300 to simulate the natural bending process of human fingers. Moreover, this structure plays a stable supporting role, reduces the dispersion and loss of force, and makes the transmission rod 333 more stable when transmitting the force generated when the first finger joint 330 rotates, thereby reducing the vibration or deviation caused by uneven force transmission.

[0065] Please refer again Figure 5 and Figure 7 The first driving assembly 310 and the transmission rod 333 can be arranged inside the knuckle housing 331, saving the external space of the mechanical thumb 300 and making full use of the internal space of the knuckle housing 331, so that the structure of the first knuckle 330 is more compact and small; the built-in design also makes the external contour of the first knuckle 330 more neat and smooth. There are no protruding parts or cables, making the appearance of the mechanical thumb 300 closer to a real human finger.

[0066] Based on the above examples, please refer to Figure 7 and Figure 8 The first knuckle 330 also includes a wire fixing member 335 connected to the inner wall of the knuckle housing 331, and a wiring channel 3351 is formed between the wire fixing member 335 and the inner wall of the knuckle housing 331. The knuckle housing 331 is a through-hole housing structure, and openings are provided at both ends for the second drive assembly 332, the connecting rod and other drive transmission components to connect with the hinge seat 320 or the second knuckle 340. Since a second drive assembly 332 is provided to drive the first knuckle 330 and the second knuckle 340 to rotate, the second drive assembly 332 also needs to be electrically connected to the control member 500 through a wire to realize power supply and control of the second drive assembly 210. The present application fixes a wire fixing member 335 on the inner wall of the knuckle housing 331, so that the wire connected to the second drive assembly 332 passes through the wiring channel 3351, constrains the wiring path, and prevents the wire from being squeezed, worn or broken during the movement of the mechanical thumb 300, thereby improving the safety and reliability of the wire.

[0067] The wire fixing member 335 may be a block structure with a groove on one side. The wire fixing member 335 may be detachably mounted on the knuckle housing 331 by means of fasteners such as screws. The groove faces the inner wall of the knuckle housing 331 to form a wiring channel 3351 .

[0068] Furthermore, a wiring space 321 is formed in the hinge seat 320, and the wiring space 321 provides a safe and orderly channel for the wires connected to the second drive assembly 332, so that the wires can smoothly pass through the hinge seat 320 and enter the accommodating cavity 101 of the palm shell 100. The hinge seat 320 is provided with a first wiring opening 322 and a second wiring opening 323 that are connected to the wiring space 321. The first wiring opening 322 is located on the side of the hinge seat 320 facing the wiring channel 3351, and is directly connected to the wiring channel 3351 in the knuckle shell 331. This design can ensure that the wires led out of the knuckle shell 331 can be seamlessly connected to the wiring space 321 of the hinge seat 320, reduce the bending and folding of the cable, and reduce the risk of wear. The second wiring opening 323 is located on one side of the hinge seat 320 along its rotation direction. The design of this wiring opening allows the wires to smoothly enter the palm shell 100.

[0069] The wires are safely wrapped in the wiring space 321 and can remain stable even when the hinge seat 320 rotates; the reasonable location of the wiring opening reduces the number of bending and folding of the cable and reduces the mechanical stress on the cable. Therefore, the design of the wiring space 321 and the wiring opening effectively protects the wires from being squeezed, worn and pulled during the movement of the mechanical thumb 300.

[0070] The wiring space 321 can also play a role in reducing the weight of the articulated seat 320 .

[0071] See also Figure 2 , Figure 4 and Fig. 9 , a second opening 142 communicating with the accommodating cavity 101 is provided on the palm shell 100; the driving assembly 210 of the mechanical finger 400 includes a third driving assembly 410, and the finger member 220 of the mechanical finger 400 includes a third finger joint 420 and a fourth finger joint 430; the third finger joint 420 is rotatably connected to the palm shell 100, and the fourth finger joint 430 is rotatably connected to the third finger joint 420; this multi-stage rotation connection design enables the mechanical finger 400 to simulate the complex movement patterns of human fingers, including bending, stretching and rotation. The third driving assembly 410 is partially arranged in the accommodating cavity 101, and one end of the third driving assembly 410 extends from the second opening 142 and is rotatably connected to the third finger joint 420. Through the direct drive of the third driving assembly 410 and the design of multi-stage rotation connection, the mechanical finger 400 can achieve highly flexible and precise motion control. This design enables the mechanical finger 400 to complete various complex tasks, such as grasping, carrying and operating.

[0072] The lengths of the four mechanical fingers 400 are set to be consistent or inconsistent, which is not limited in this application. In the case where the lengths of the four mechanical fingers 400 are inconsistent, the fourth finger joints 430 of the mechanical fingers 400 can be set to different lengths without changing other structures, so that the third driving components 410 and the third finger joints 420 of the four mechanical fingers 400 can be interchangeably reused, reducing production costs and facilitating maintenance and replacement.

[0073] In addition, a connection point is set outside the palm shell 100 (the position where the third finger joint 420 is rotated and connected), and the third drive component 410 extends out from the second opening 142, that is, the connection point between the third drive component 410 and the third finger joint 420 is also outside the palm shell 100. Since the connection points between the third finger joint 420 and the palm shell 100 and the third drive component 410 are all outside the accommodating cavity 101, the installation and disassembly process of the third finger joint 420 no longer needs to open the palm shell 100 or enter its accommodating cavity 101, and is no longer limited by the space size of the accommodating cavity 101, which makes the operation more intuitive and simple, and reduces the difficulty of installation and disassembly.

[0074] The palm housing 100 further includes a connection seat 16 disposed at the second opening 142, and the third finger joint 420 is rotatably connected to the portion of the connection seat 16 exposed from the second opening 142. The connection seat 16 is a bridge between the third finger joint 420 and the palm housing 100, and the connection seat 16 provides the necessary support force to prevent excessive stress generated by movement from directly acting on the palm housing 100, thereby ensuring a stable connection between the two. The connection seat 16 is designed to at least partially extend out of the second opening 142, so that the rotational connection portion 19 of the third finger joint 420 and the connection seat 16 can be completely exposed to the outside of the palm housing 100.

[0075] See also Figure 4 and Fig. 9 A limiting groove 1013 is provided on one side wall of the accommodating cavity 101, and the connecting seat 16 is arranged in the limiting groove 1013. The limiting groove 1013 provides a precise positioning and fixing space for the connecting seat 16. The connecting seat 16 is firmly installed in the limiting groove 1013, which improves the connection stability and position accuracy between the third finger joint 420 and the palm housing 100. During the movement of the mechanical finger 400, the limiting groove 1013 can prevent the connecting seat 16 from unnecessary deviation or shaking, thereby ensuring the stability and reliability of the rotation action.

[0076] The number of the limiting grooves 1013 and the number of the connecting seats 16 are consistent with the number of the mechanical fingers 400, so that each mechanical finger 400 is independent of each other and each has a stable connection and support mechanism.

[0077] See also Figure 3 and Figure 4 The palm shell 100 includes a base 17 and a back shell 18. The base 17 and the back shell 18 are detachably connected to form a receiving cavity 101. The receiving cavity 101 can be exposed by removing the back shell 18, which is convenient for disassembling and assembling the structure installed in the receiving cavity 101. A connecting portion 19 is formed on the side of the palm shell 100 away from the mechanical finger 200. The connecting portion 19 is used to connect with the wrist joint structure 2000.

[0078] The base 17 provides an internal space and is used to connect with other structural parts, such as the mounting seat 12, the connecting seat 16, etc. The back shell 18 covers the back of the base 17 and is tightly combined with the base 17 by a detachable connection method (such as screws, buckles, magnets, etc.), and together they enclose the accommodating cavity 101.

[0079] See also Figure 2 and Figure 4 The connection part 19 includes a fixing ring 191 and a positioning block 192 located inside the fixing ring 191, and the hollow part of the fixing ring 191 forms a docking interface 102; the fixing ring 191 is used to connect with the wrist joint structure 2000, and the hollow part of the fixing ring 191 forms a docking interface 102 connected to the wrist joint structure 2000, allowing the corresponding part of the wrist joint structure 2000 to be inserted therein, and the fixing ring 191 and the wrist joint structure 2000 are locked by fasteners such as screws. The positioning block 192 is used to snap into the positioning groove provided on the wrist joint structure 2000, and the shape and size of the positioning block 192 need to closely match the positioning groove on the wrist joint structure 2000 to achieve accurate docking between the dexterous hand 1000 and the wrist joint structure 2000 to prevent shaking or falling off during use.

[0080] The plug-in terminal 501 extends into the hollow part of the fixing ring 191. When the fixing ring 191 and the wrist joint structure 2000 are aligned and installed, the plug-in terminal 501 will enter the position corresponding to the signal terminal of the wrist joint structure 2000. As the installation progresses, the plug-in terminal 501 will be plugged into the signal terminal to achieve electrical connection. In addition, the stability of signal transmission between the plug-in terminal 501 and the signal terminal can be ensured without shaking or falling off between the dexterous hand 1000 and the wrist joint structure 2000.

[0081] The number, arrangement and shape of the plug-in terminals 501 need to be designed according to specific signal transmission requirements.

[0082] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0083] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A dexterous hand, characterized in that: For a humanoid robot, the dexterous hand comprises: A palm shell, wherein a receiving cavity is formed inside the palm shell, and the palm shell further comprises a docking port, wherein the docking port is communicated with the receiving cavity, and the palm shell is used to be connected to the wrist joint structure at the docking port; A control component is accommodated in the accommodating cavity, the control component includes a plug-in terminal, the plug-in terminal is exposed from the docking port, and the plug-in terminal is used to be plugged with a signal terminal of the wrist joint structure; A mechanical finger, the mechanical finger comprising a driving assembly and a finger piece, the driving assembly is partially disposed in the accommodating cavity and partially extends out of the palm shell, the finger piece is located outside the palm shell, the end of the driving assembly extending out of the palm shell is connected to the finger piece to drive the finger piece to rotate relative to the palm shell, and the driving assembly is electrically connected to the control piece; The mechanical fingers include a mechanical thumb; The palm shell is provided with a first opening communicating with the accommodating cavity; The finger member of the mechanical thumb comprises an articulated seat, a first finger joint and a second finger joint; the articulated seat is rotatably connected to the side wall of the first opening and extends from the first opening, and the articulated seat extends from one end of the first opening, the first finger joint and the second finger joint are rotatably connected in sequence; The first finger joint comprises a finger joint housing, and two ends of the finger joint housing are rotatably connected to the hinge seat and the second finger joint respectively; The first knuckle further comprises a wire fixing member connected to the inner wall of the knuckle housing, and a wiring channel is formed between the wire fixing member and the inner wall of the knuckle housing; A wiring space is formed in the hinge seat, and the hinge seat is provided with a first wiring opening and a second wiring opening which are connected with the wiring space, wherein the first wiring opening is located on a side of the hinge seat facing the wiring channel, and the second wiring opening is located on a side of the hinge seat along the rotation direction thereof; The first wiring port is directly connected to the wiring channel, the second wiring port is connected to the first opening, the wire led out from the wiring channel enters the wiring space through the first wiring port, and enters the accommodating cavity from the first opening after being led out from the second wiring port.

2. The dexterous hand according to claim 1, characterized in that: The mechanical finger also includes a mechanical finger, a partition is provided in the accommodating cavity to divide the accommodating cavity into a first cavity and a second cavity, the driving component of the mechanical thumb is arranged in the first cavity, and the driving component of the mechanical finger is arranged in the second cavity.

3. The dexterous hand according to claim 2, characterized in that: The driving assembly of the mechanical finger and the driving assembly of the mechanical thumb are both rotatably connected to the partition.

4. The dexterous hand according to claim 2, characterized in that: The driving assembly of the mechanical thumb includes a first driving assembly, and the first driving assembly is rotatably connected to the articulated seat.

5. The dexterous hand according to claim 4, characterized in that: The first knuckle further comprises a second driving assembly disposed in the knuckle housing, and the second driving assembly is used for driving the first knuckle and the second knuckle to rotate.

6. The dexterous hand according to claim 4, characterized in that: Two mounting seats arranged opposite to each other are arranged in the accommodating cavity, and two sides of the first driving component are rotationally connected to the two mounting seats in a one-to-one correspondence via pins.

7. The dexterous hand according to claim 2, characterized in that: A second opening connected to the accommodating cavity is provided on the palm shell; the driving assembly of the mechanical finger includes a third driving assembly, and the finger member of the mechanical finger includes a third knuckle and a fourth knuckle; the third knuckle is rotatably connected to the palm shell, and the fourth knuckle is rotatably connected to the third knuckle; part of the third driving assembly is arranged in the accommodating cavity, and one end of the third driving assembly extends from the second opening and is rotatably connected to the third knuckle.

8. The dexterous hand according to claim 7, characterized in that: The palm shell further comprises a connection seat arranged at the second opening, the connection seat at least partially extends out of the second opening, and the third finger joint is rotatably connected to the portion of the connection seat exposed from the second opening.

9. The dexterous hand according to claim 8, characterized in that: A limiting groove is provided on one side wall of the accommodating cavity, and the connecting seat is arranged in the limiting groove.

10. The dexterous hand according to any one of claims 1 to 9, characterized in that: The palm shell includes a base and a back shell, the base and the back shell are detachably connected to enclose the accommodating cavity, and a connecting portion is formed on a side of the palm shell away from the mechanical finger, and the connecting portion is used to connect with the wrist joint structure.

11. The dexterous hand according to claim 10, characterized in that: The connecting part includes a fixing ring and a positioning block located inside the fixing ring, and the hollow part of the fixing ring forms the docking port; the fixing ring is used to be connected to the wrist joint structure, and the positioning block is used to be inserted into a positioning groove provided on the wrist joint structure.

12. A humanoid robot, characterized in that: The humanoid robot comprises a wrist joint structure and the dexterous hand according to any one of claims 1 to 11.

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