Mechanical thumb, dexterous hand and humanoid robot

Abstract

The present application provides a mechanical thumb, a dexterous hand and a humanoid robot. The mechanical thumb includes an articulated seat, a first finger joint and a second finger joint, wherein the articulated seat is used to be connected to the palm structure of the dexterous hand around a first axis; the first finger joint includes a finger joint shell and a first drive assembly arranged in the finger joint shell, the finger joint shell is connected to the articulated seat around a second axis; the second finger joint is connected to the finger joint shell around a third axis; the first drive assembly is used to drive the finger joint shell to rotate around the second axis and drive the second finger joint to rotate around the third axis; the second axis and the third axis both intersect with the first axis space, so that the mechanical thumb can achieve three-degree-of-freedom movement, can produce more complex and natural motion trajectories, simulate the movements of a real thumb, and improve the degree of motion simulation; the finger joint shell integrates the transmission function and the appearance shell, and the first drive assembly is placed in the internal space of the shell to play a protective role and improve the degree of appearance simulation of the mechanical thumb.

Description

Technical Field

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

[0002] The mechanical thumb of a manipulator can usually only stretch and bend, with a low degree of imitation of human hands and low flexibility. The mechanical thumb adopts a wire drive structure. Due to the complexity of the wire drive structure, the structure of the mechanical thumb is complex and the failure rate is high. The mechanical thumb adopts a connecting rod drive structure. To achieve the rotation of the two-level knuckles, two motors are required. This makes the overall layout bloated and the action simulation is insufficient. Summary of the invention

[0003] The present application provides a mechanical thumb, a dexterous hand and a humanoid robot that are conducive to improving the degree of simulation.

[0004] In a first aspect, an embodiment of the present application provides a mechanical thumb for a dexterous hand of a humanoid robot, the mechanical thumb comprising an articulated seat, a first knuckle and a second knuckle, the articulated seat being used to be rotatably connected to the palm structure of the dexterous hand around a first axis; the first knuckle comprising a knuckle shell and a first drive assembly disposed in the knuckle shell, the knuckle shell being rotatably connected to the articulated seat around a second axis; the second knuckle being rotatably connected to the knuckle shell around a third axis; wherein the first drive assembly is used to drive the knuckle shell to rotate around the second axis and drive the second knuckle to rotate around the third axis; the second axis and the third axis both intersect with the first axis in space.

[0005] In the present application, the mechanical thumb realizes three-degree-of-freedom movement through the connection between the hinge seat, the first knuckle and the second knuckle, and the rotation axis of the knuckle shell and the second knuckle are different from the rotation axis of the hinge seat, so that the mechanical thumb can produce a more complex and natural motion trajectory, simulate various movements of a real thumb, and improve the motion simulation degree; the first drive component synchronously drives the knuckle shell and the second knuckle, simplifies the number of driving and transmission parts, simplifies the overall structure, and also improves the coordination and consistency of the knuckle shell and the second knuckle during movement, making the movement of the mechanical thumb smoother and more precise. And the knuckle shell is not only a transmission part, but also an appearance shell. The first drive component is placed in the internal space of the shell to play a protective role and improve the appearance simulation degree of the mechanical thumb.

[0006] According to the first aspect, in a possible implementation, one end of the first drive assembly is rotatably connected to the knuckle housing, and the other end of the first drive assembly is movably connected to the hinge seat; the first knuckle also includes a transmission rod disposed in the knuckle housing, one end of the transmission rod is connected to the hinge seat, and the other end of the transmission rod is rotatably connected to the second knuckle. The first drive assembly, the knuckle housing and the hinge seat form a three-link structure, and the first drive assembly serves as a power source to drive the knuckle housing to rotate around the second axis; the knuckle housing, the distal knuckle, the transmission rod and the hinge seat form a four-link structure, and the transmission rod serves as a transmission structure to transmit the rotation of the knuckle housing to the second knuckle and drive the second knuckle to rotate around the third axis, thereby realizing the bending and extension of the mechanical thumb. By designing the connection point and length of the connecting rod, the motion trajectory and action form of the mechanical thumb can be precisely controlled, further improving the simulation and flexibility of the mechanical thumb.

[0007] According to the first aspect, in a possible implementation, the connection between the knuckle housing and the hinge seat is a first connection point, the connection between the knuckle housing and the second knuckle is a second connection point, and the line connecting the first connection point and the second connection point is arranged to intersect with the transmission rod. In this way, the transmission path of force from the first drive component to the second knuckle can be optimized, the dispersion and loss of force can be reduced, and the stability of the structure can be further enhanced. In addition, the connection structure can also enable the transmission rod to synchronously transmit this rotational motion to the second knuckle when the first drive component drives the knuckle housing to rotate around the second axis, and cause the second knuckle to rotate in the same direction around the third axis. This design ensures the consistency and coordination of the knuckle housing and the second knuckle in motion.

[0008] According to the first aspect, in a possible implementation, there are two transmission rods, which are disposed on both sides of the first driving assembly. The two transmission rods can form a stable support structure to disperse the load, avoid concentrated force causing excessive force on one side and causing deflection or distortion, and improve the movement stability and accuracy of the mechanical thumb.

[0009] According to the first aspect, in a possible implementation, the first driving assembly includes a driving member, a gear box, a screw and a screw sleeve, the gear box is rotationally connected to the first finger joint, a gear set is provided in the gear box, the output end of the driving member and the input end of the screw extend into the gear box and are transmission-connected to the gear set; the screw sleeve is threadedly connected to the screw, and one end of the screw sleeve away from the gear box is rotationally connected to the hinge seat. When the driving member drives the screw to rotate, the screw sleeve will perform linear motion along the spiral groove of the screw. This linear motion is further converted into the rotational motion of the finger joint housing and the second finger joint through components such as a transmission rod, and high-precision linear motion can be achieved through the cooperation of the screw and the screw sleeve.

[0010] According to the first aspect, in a possible implementation, a push rod is provided at one end of the first drive assembly; the push rod is movably connected to the hinge seat along a first direction, and an elastic support member is provided between the push rod and the hinge seat. When the back of the mechanical thumb is subjected to an external force, the push rod can move and compress the elastic support member to absorb and disperse part of the energy, thereby reducing the direct impact on the joint or the first drive assembly.

[0011] According to the first aspect, in a possible implementation, one of the push rod and the articulated seat is provided with a sliding groove extending in a first direction, and the other has a connecting portion, and the connecting portion is at least partially movably disposed in the sliding groove. Through the guidance and limitation of the connecting portion by the sliding groove, the relative movement between the push rod and the articulated seat can be performed along a predetermined trajectory, thereby avoiding shaking or deviation caused by uncertainty in the direction of movement, and improving the stability of the mechanical thumb during movement.

[0012] According to the first aspect, in a possible implementation, the connecting portion is in rotational contact with an end wall surface of the sliding slot along the first direction, and the connecting portion is used to compress the elastic support member when the back surface of the first knuckle is subjected to force. When the mechanical thumb is not subjected to external force, the pre-pressure of the elastic support member ensures that the connecting portion is stably against one end of the sliding slot. This state provides a clear and stable rotation center for the mechanical thumb, so that the first drive component can accurately control the movement of the mechanical thumb when driving the rotation.

[0013] According to the first aspect, in a possible implementation, the push rod or the hinge seat is further provided with a receiving groove connected to the sliding groove, and the receiving groove is located at one end of the sliding groove along the first direction; one end of the elastic support member is arranged in the receiving groove, and the other end extends into the sliding groove and abuts against the connecting portion. The receiving groove provides a stable fixing point for one end of the elastic support member, and enables the elastic support member to be compressed along a predetermined direction, thereby avoiding unnecessary lateral deviation and improving the stability of the mechanical thumb when rotating or under force.

[0014] According to the first aspect, in a possible implementation, the sliding groove and the receiving groove are both provided on the push rod, and one end of the receiving groove away from the sliding groove passes through the push rod; the mechanical thumb further comprises a blocking piece, and the blocking piece is detachably connected to the push rod to block the through end of the receiving groove. The elastic support member can be loaded into the receiving groove and the sliding groove through the through end of the receiving groove, thereby simplifying the installation process. By installing the blocking piece, the through end of the receiving groove can be easily and tightly blocked, thereby fixing the elastic support member and preventing the elastic support member from loosening or falling off. By disassembling the blocking piece, the elastic support member can be easily removed without disassembling the entire mechanical thumb, thereby improving maintenance efficiency and reducing repair costs.

[0015] According to the first aspect, in a possible implementation, the articulated seat includes a base, two support plates and the connecting portion, the two support plates are spaced apart at one end of the base, and the connecting portion includes a connecting shaft connected between the two support plates; the push rod is located between the two support plates, the sliding groove passes through the push rod perpendicular to the first direction, and the connecting shaft passes through the sliding groove. The two support plates are spaced apart at one end of the base, providing a stable support foundation for the connecting portion. This design ensures that the connecting portion (especially the connecting shaft) can be evenly dispersed and transmitted to the base when subjected to force, thereby improving the stability and durability of the entire mechanical thumb.

[0016] According to the first aspect, in a possible implementation, the mechanical thumb further includes a second driving component, the second driving component is used to drive the articulated seat to rotate; when the articulated seat rotates to be perpendicular to the palm structure, the connection point between the second driving component and the articulated seat is located outside the connection point between the articulated seat and the palm structure. More rotation space can be provided for the articulated seat, so that the mechanical thumb can achieve a wider range of movements.

[0017] In a second aspect, the embodiment of the present application further provides a dexterous hand, the dexterous hand comprising the mechanical thumb described in the first aspect, and applying the mechanical thumb to the dexterous hand enables the dexterous hand to have the ability to highly simulate human hand movements, thereby achieving more complex and natural hand movements. The design of the detachable connection between the knuckle body and the connecting seat reduces the damage that may be caused to the internal structure of the mechanical thumb by accidental impact, thereby protecting the overall structure of the dexterous hand and ensuring reliability and stability when performing tasks.

[0018] In a third aspect, the embodiment of the present application further provides a humanoid robot, wherein the humanoid robot further comprises the dexterous hand described in the second aspect. The humanoid robot uses the dexterous hand to achieve more natural and flexible hand movements, and more accurately complete complex tasks such as grasping and manipulation, thereby facilitating the expansion of the application scope of the humanoid robot. Due to the detachable connection in the dexterous hand design, the humanoid robot can effectively protect the hand joints and other key structures when encountering unexpected impacts, thereby reducing the potential risk of injury. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 1 is a schematic diagram of the structure of a dexterous hand in an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of the structure of a mechanical thumb in one embodiment of the present application;

[0022] Figure 3 is a schematic diagram of the internal structure of a knuckle housing of a mechanical thumb in an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the connection between the articulated seat and the first driving assembly of the mechanical thumb in one embodiment of the present application;

[0024] Figure 5 It is a cross-sectional schematic diagram of a mechanical thumb in one embodiment of the present application.

[0025] Reference numerals:

[0026] 1000-dexterous hand; 100-mechanical thumb; 10-hinged seat; 11-connecting part; 12-base; 13-support plate; 20-first knuckle; 21-knuckle shell; 22-first drive assembly; 221-driving member; 222-gear box; 223-screw rod; 224-screw sleeve; 225-push rod; 2251-sliding groove; 2252-accommodating groove; 23-transmission rod; 25-elastic support member; 30-second knuckle; 41-blocking member; 50-second drive assembly; 60-sensing area; 200-palm structure; 300-mechanical finger; L1-first axis; L2-second axis; L3-third axis; O1-first connection point; O2-second connection point. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0031] An embodiment of the present application provides a humanoid robot, including the dexterous hand in the embodiment of the present application.

[0032] 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 dexterous hand is connected to the upper limb component, and 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.

[0033] See also Figure 1 The dexterous hand 1000 in the embodiment of the present application includes a mechanical thumb 100, which is composed of a plurality of knuckle structures, each of which can move independently or in association to simulate the complex movements of a human thumb. These knuckle structures may include a first knuckle 20, a second knuckle 30, and possibly a middle knuckle, etc. The dexterous hand 1000 may also include a palm structure 200 and four mechanical fingers 300, and a special mounting structure and a supporting structure are designed on the palm structure 200 to fix and support the mechanical thumb 100 and the four mechanical fingers 300, ensuring the stability and accuracy of the mechanical thumb 100 and the mechanical fingers 300 after installation. The design of the mechanical finger 300 is similar to that of the mechanical thumb 100, and the mechanical thumb 100 and the mechanical finger 300 work together through a control system to achieve various hand movements.

[0034] The mechanical thumb 100 in the embodiment of the present application is described in detail below.

[0035] The present application embodiment provides a mechanical thumb 100, which is applied to a dexterous hand 1000 of a humanoid robot. It should be understood that the dexterous hand 1000 can be divided into a left hand and a right hand according to the installation position, and the left hand and the right hand have symmetrical structures. The present application embodiment only describes one of the left hand and the right hand.

[0036] In the first embodiment, see Figure 1 and Figure 2The mechanical thumb 100 includes an articulated seat 10, a first knuckle 20 and a second knuckle 30. The articulated seat 10, the first knuckle 20 and the second knuckle 30 are rotationally connected in sequence, and the articulated seat 10 is rotationally connected to the palm structure 200 of the dexterous hand 1000 around the first axis L1, allowing the articulated seat 10 to drive the mechanical thumb 100 to rotate relative to the palm structure 200 as a whole. The first knuckle 20 is rotationally connected to the articulated seat 10 around the second axis L2, simulating the joint movement between the proximal phalanx and the metacarpal bone of the human thumb. The second knuckle 30 is rotationally connected to the first knuckle 20 around the third axis L3, simulating the joint movement between the distal phalanx and the proximal phalanx of the human thumb. Three-degree-of-freedom movement is achieved, which can more flexibly adapt to different grasping angles and postures, and simulate various movements of a real thumb. The second axis L2 and the third axis L3 intersect with the first axis L1 in space, that is, the rotation axis of the knuckle housing 21 and the second knuckle 30 are different from the rotation axis of the hinge seat 10, so that the mechanical thumb 100 can produce a more complex and natural movement trajectory, simulate various movements of a real thumb, and improve the movement simulation degree.

[0037] See also Figure 2 and Figure 3 The first knuckle 20 includes a knuckle housing 21 and a first drive assembly 22 disposed in the knuckle housing 21. The knuckle housing 21 is connected to the hinge seat 10 for rotation around the second axis L2; ​​the second knuckle 30 is connected to the knuckle housing 21 for rotation around the third axis L3; wherein the first drive assembly 22 is used to drive the knuckle housing 21 to rotate around the second axis L2, and drive the second knuckle 30 to rotate around the third axis L3; the first drive assembly 22 synchronously drives the knuckle housing 21 and the second knuckle 30, simplifies the number of driving and transmission components, simplifies the overall structure, and also improves the coordination and consistency of the knuckle housing 21 and the second knuckle 30 during movement, making the movement of the mechanical thumb 100 smoother and more precise. Moreover, the knuckle housing 21 is not only used as a transmission part, but also as an appearance housing. The first drive assembly 22 is placed in the internal space of the knuckle housing 21 to play a protective role and improve the appearance simulation of the mechanical thumb 100.

[0038] Therefore, the present application uses the above-mentioned structure to make the mechanical thumb 100 closer to a real human thumb in appearance and movement, and through the first drive component 22, it is precisely controlled to enable the mechanical thumb 100 to move in multiple degrees of freedom and perform high-precision grasping actions, which is suitable for scenarios that require delicate operations, such as precision assembly, medical surgery, etc.

[0039] The second axis L2 and the third axis L3 tend to be parallel, and the first knuckle 20 and the second knuckle 30 usually rotate in the same direction when performing an action. It should be noted that the parallel rotation axes of the first knuckle 20 and the second knuckle 30 means that the rotation axes of the first knuckle 20 and the second knuckle 30 are theoretically parallel to each other, but due to processing errors, assembly errors, etc., a certain angle between the rotation axes of the first knuckle 20 and the second knuckle 30 is allowed.

[0040] In one embodiment, see Figure 2 and Figure 3 One end of the first drive component 22 is rotatably connected to the knuckle housing 21, and the other end of the first drive component 22 is movably connected to the articulated seat 10; the first drive component 22, the knuckle housing 21 and the articulated seat 10 form a three-link structure, and the first drive component 22 provides power to directly drive the first knuckle 20 to rotate. This direct drive method ensures the accuracy and reliability of the rotation of the first knuckle 20.

[0041] The first knuckle 20 also includes a transmission rod 23, one end of which is connected to the articulated seat 10, and the other end of which is rotatably connected to the second knuckle 30. The first knuckle 20, the transmission rod 23, the second knuckle 30 and the articulated seat 10 form a four-link structure, and the rotation of the knuckle housing 21 is transmitted to the second knuckle 30 through the transmission rod 23, so that the second knuckle 30 rotates in the same direction to complete the bending and stretching movements of the mechanical thumb 100. This structure cooperates with the first drive assembly 22 and the transmission rod 23, and the first knuckle 20 and the second knuckle 30 rotate in the same direction by one drive; and the movement of the first knuckle 20 can be converted into the movement of the second knuckle 30 through the transmission of the connecting rod structure, while maintaining the continuity and coordination of the movement.

[0042] The connecting rod structure transmission can efficiently transmit the power of the first drive assembly 22 to the knuckle housing 21 and the second knuckle 30, 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 100 can be accurately controlled. The mechanical thumb 100 can maintain a stable posture and accurate trajectory during the rotation process, thereby meeting the needs of various complex tasks.

[0043] Based on the above examples, please refer to Figure 4, the connection point between the first knuckle 20 and the articulated seat 10 is the first connection point O1, the connection point between the first knuckle 20 and the second knuckle 30 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 23. When the first driving component 22 drives the first knuckle 20 to bend, the first knuckle 20 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 23, the transmission rod 23 deflects upward with the connection point between the transmission rod 23 and the articulated seat 10 as the center of the circle. Therefore, when the first driving component 22 drives the first knuckle 20 to bend, the second knuckle 30 also performs a bending action; the coordinated movement between the first knuckle 20 and the second knuckle 30 enables the mechanical thumb 100 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 23 more stable when transmitting the force generated by the rotation of the first knuckle 20, thereby reducing the vibration or deviation caused by uneven force transmission.

[0044] Please refer again Figure 3 and Figure 4 The first driving assembly 22 and the transmission rod 23 can be arranged inside the knuckle housing 21, saving the external space of the mechanical thumb 100 and making full use of the internal space of the knuckle housing 21, making the structure of the first knuckle 20 more compact and small; the built-in design also makes the external contour of the first knuckle 20 more neat and smooth. There are no protruding parts or cables, making the appearance of the mechanical thumb 100 closer to a real human finger.

[0045] The rotational connection between the first drive component 22, the transmission rod 23 and the finger joint shell 21 can be achieved by a rotating shaft passing through the first drive component 22 and the finger joint shell 21, or by a rotating shaft passing through the transmission rod 23 and the finger joint shell 21, and based on the structure of the finger joint shell 21, the two ends of the rotating shaft can be mounted on the opposite side walls of the finger joint shell 21, thereby forming a stable supporting structure to ensure the stability of the rotating shaft.

[0046] The number of transmission rods 23 can be two, and the two transmission rods 23 are respectively located on both sides of the first driving component 22; the two transmission rods 23 can form a stable support structure, which helps to achieve the balance and stability of the mechanical thumb 100 during the movement, evenly share the driving force from the first driving component 22, avoid concentrated force causing excessive force on one side and causing deflection or distortion, and improve the movement stability and accuracy of the mechanical thumb 100.

[0047] In one embodiment, the first driving assembly 22 includes a driving member 221, a gear box 222, a screw rod 223 and a screw sleeve 224. The gear box 222 is rotatably connected to the first finger joint 20. A gear set is provided in the gear box 222. The driving member 221 can be a motor. The motor shaft of the driving member 221 extends into the gear box 222 and is connected to the input gear of the gear set. The screw rod 223 is connected to the output gear of the gear set. The driving member 221 drives the screw rod 223 to rotate through the gear set. The screw sleeve 224 is threadedly connected to the screw rod 223, so that the rotation of the screw rod 223 is converted into the linear motion of the screw sleeve 224 along the first direction for output. The gear box 222, the screw rod 223 and the screw sleeve 224 cooperate to efficiently convert the rotational motion of the driving member 221 into the linear motion of the push rod 225. The transmission process is more stable and controllable, which helps to achieve precise control of the mechanical thumb 100.

[0048] Based on the above embodiment, the push rod 225 and the articulated seat 10 limit the rotation of the push rod 225 and the screw sleeve 224 through the connecting part 11, and the hinge axis of the push rod 225 and the connecting part 11, and the rotation axis of the gear box 222 and the finger joint housing 21 are perpendicular to the axis of the screw rod 223, so that the first drive component 22 only bears the axial force of the screw rod 223 but not the lateral force. Therefore, the first drive component 22 does not need to be provided with a linear motion guide structure, such as a guide rail, a slider, or a cylindrical guide rod, which can simplify the overall structure and reduce the structural volume of the mechanical thumb 100.

[0049] It should be noted that the first direction in the present application is based on the length direction of the screw rod 223 and changes with the swing of the screw rod 223 .

[0050] In other embodiments, the drive member 221 and the push rod 225 may also be transformed by using structures such as gear racks, cams, etc., which is not limited in the present application.

[0051] The driving member 221 and the screw rod 223 can be located on the same side of the gear box 222, so that the structure of the entire first driving assembly 22 is more compact, the required space along the first direction is small, and it is easy to be integrated inside the first finger joint 20. The push rod 225 and the screw sleeve 224 can be an integral structure or independent components, which is not limited in this application.

[0052] See also Figure 2 and Figure 4, a push rod 225 is provided at one end of the first driving assembly 22; the push rod 225 is movably connected to the articulated seat 10 along the first direction, and an elastic support member 25 is provided between the push rod 225 and the articulated seat 10. A push rod 225 is provided at one end of the screw sleeve 224 away from the gear box 222, and the extension direction of the push rod 225 is consistent with the length direction of the screw rod. The entire first driving assembly 22 can be regarded as a telescopic rod along the first direction. When the back of the first knuckle 20 is hit, the push rod 225 has a tendency to extend and then compress the elastic support member 25. The elastic support member 25 absorbs part of the impact force, and after the impact, the elastic support member 25 quickly returns to its original state through its own restoring force, thereby achieving impact buffering and shock absorption. Reduce the impact of external impact on the joints of the mechanical thumb 100 and the first driving assembly 22, and improve the durability and stability of the mechanical thumb 100.

[0053] The push rod 225 is provided with a sliding groove 2251 extending along the first direction, and the hinge seat 10 is provided with a connecting portion 11, and the connecting portion 11 is at least partially movably disposed in the sliding groove 2251. Through the guidance and limitation of the connecting portion 11 by the sliding groove 2251, the relative movement between the push rod 225 and the hinge seat 10 can be performed along a predetermined trajectory, thereby avoiding shaking or deviation caused by uncertain movement direction, and improving the stability of the mechanical thumb 100 during movement.

[0054] In other embodiments, a sliding groove 2251 may be provided on the hinge seat 10 , and a connecting portion 11 may be provided on the push rod 225 , which is not limited in the present application.

[0055] The following description will be made by taking the sliding groove 2251 provided on the push rod 225 and the connecting portion 11 provided on the hinge seat 10 as an example.

[0056] See also Figure 2 , Figure 4 and Figure 5, define the end of the sliding groove 2251 close to the second knuckle along the first direction as the first end, and the other end as the second end, the connecting part 11 is in rotational contact with the first end wall of the sliding groove 2251, and when driving the first knuckle 20 to bend, the connecting part 11 is tightly against the end of the sliding groove 2251 as the rotation center. Ensure that the rotation center position of the mechanical thumb 100 during the bending process is fixed and not easy to deviate, which is conducive to the mechanical thumb 100 to achieve precise motion control and reduce motion errors. Avoid the deviation of the motion path caused by an unstable rotation center. An elastic support member 25 is arranged between the second end of the sliding groove 2251 and the connecting part. The elastic support member 25 also maintains a certain amount of compression in the normal state (the state where the back of the mechanical thumb 100 is not compressed), so that the connecting part 11 is pressed against the first end of the sliding groove 2251. When the back of the first knuckle 20 is subjected to force, the connecting part 11 compresses the elastic support member 25, so that the mechanical thumb 100 can have a certain buffering and adaptability when subjected to external forces, reducing the risk of damage caused by direct impact.

[0057] The push rod 225 or the hinge seat 10 is also provided with a receiving groove 2252 connected to the sliding groove 2251, and the receiving groove 2252 is located at the second end of the sliding groove 2251; by setting the receiving groove 2252, a stable installation position is provided for the elastic support member 25, and one end of the elastic support member 25 is arranged in the receiving groove 2252, so that the elastic support member 25 can be compressed along a predetermined direction, avoiding unnecessary lateral deviation, and the elastic support member 25 will not fall off or shift easily when subjected to external force; the other end of the elastic support member 25 extends into the sliding groove 2251 and abuts against the connecting part 11. When the first finger joint 20 is subjected to external impact or drive, the elastic support member 25 can respond quickly and transmit the corresponding force, thereby improving the stability of the mechanical thumb 100 when rotating or subjected to force.

[0058] The connecting design of the sliding groove 2251 and the receiving groove 2252 makes the structure of the entire mechanical thumb 100 more compact and reasonable, can reduce unnecessary space occupation, and improve the integration of the buffer structure.

[0059] The sliding groove 2251 and the receiving groove 2252 are both formed on the push rod 225, and one end of the receiving groove 2252 away from the sliding groove 2251 passes through the push rod 225; the mechanical thumb 100 further includes a blocking member 41, which is detachably connected to the push rod 225 to block the end of the receiving groove 2252 away from the sliding groove 2251. The elastic support member 25 can be extended from the through end of the receiving groove 2252 and gradually pushed into the sliding groove 2251 along the guidance of the receiving groove 2252. During the whole process, the elastic support member 25 will be gradually compressed until the elastic support member 25 can stably abut against a predetermined position of the sliding groove 2251 on the connecting portion 11. After the elastic support member 25 is installed in place, the through end of the receiving groove 2252 is blocked by the blocking member 41, so that the elastic support member 25 is stably fixed in the receiving groove 2252. By disassembling the blocking member 41, the elastic support member 25 can be easily removed without disassembling the entire mechanical thumb 100, thereby improving maintenance efficiency and reducing maintenance costs. Rotating the blocking member 41 can adjust the compression stroke of the elastic support member 25, thereby obtaining different buffering effects.

[0060] In one embodiment, see Figure 4 and Figure 5 The end of the blocking member 41 and the elastic support member 25 can be fixedly connected, and the elastic support member 25 can be pressed against the connecting portion 11 by pushing the blocking member 41. The elastic support member 25 can also be installed in other ways, for example, mechanical connectors such as screws, pins, and buckles can be used to fix the two ends of the elastic support member 25 to the end of the sliding groove 2251 and the connecting portion 11 respectively. Adhesives (such as super glue) can also be used to bond the two ends of the elastic support member 25 to the sliding groove 2251 and the connecting portion 11, and this application does not limit this.

[0061] The elastic support member 25 includes an elastic member and a support block connected to each other, one end of the elastic member away from the support block is arranged in the receiving groove 2252, the support block is located in the sliding groove 2251 and can slide in the sliding groove 2251 along the first direction, and the support block is in rotational contact with the connecting portion 11, allowing the support block to move flexibly when subjected to external force while maintaining rotational contact with the connecting portion 11. The support block not only transmits the supporting force or adjusting force of the elastic member to the connecting portion 11, but also provides additional stability and guidance.

[0062] In a preferred embodiment, the support block is in sliding contact with the inner wall of the sliding groove 2251 along a first direction, that is, the support block cannot rotate in the sliding groove 2251, providing a clear path for the sliding of the support block. This guiding property helps to improve the controllability and predictability of the movement of the mechanical thumb 100, reduce errors caused by shaking or offset, and thus improve the accuracy and reliability of the movement of the mechanical thumb 100.

[0063] Furthermore, the moving direction of the support block is the same as the compression and extension direction of the elastic member. When an external force acts on the back of the mechanical thumb 100, the elastic support member 25 can directly and efficiently transmit the supporting force or the regulating force through the support block. This direct force transmission path reduces energy loss and response time, allowing the mechanical system to respond to external changes more quickly.

[0064] The support block and the inner wall of the sliding groove 2251 can be connected by a guiding structure, such as a guiding groove, a guiding column or a roller, to ensure the correct guidance and stable sliding of the support block in the sliding groove 2251, and this application does not limit this.

[0065] The elastic support member 25 can be a combination of a spring and a support block, or the elastic support member 25 can be a spring without a support block, or the elastic support member 25 can be rubber, an air spring, a hydraulic support member or a magnetic levitation support member, which is not limited in the present application.

[0066] In one embodiment, please refer again to Figure 4 and Figure 5 The hinged seat 10 includes a base 12, two support plates 13 and a connecting portion 11. The two support plates 13 are arranged at one end of the base 12 to form a stable support frame. This design not only ensures the stability of the structure, but also provides necessary movement space for other components (such as the push rod 225) through the space therebetween. The connecting portion 11 includes a connecting shaft connected between the two support plates 13. The connecting shaft can be a cylindrical rod, and its two ends are fixed to the support plates 13 through bearings, bushings or directly to ensure smooth rotation or sliding. The push rod 225 is located between the two support plates 13, and the sliding groove 2251 passes through the push rod 225 perpendicular to the first direction, and the connecting shaft passes through the sliding groove 2251. The two support plates 13 provide a stable support foundation, which can evenly distribute the force of other components (such as the push rod 225) when sliding or rotating to the base 12, avoiding the imbalance and damage that may be caused by unilateral force.

[0067] In the articulated seat 10, the support plate 13 provides necessary movement space and stable support for the push rod 225 and other components. The connecting shaft serves as the center of rotation or sliding, guiding and controlling the movement trajectory of the push rod 225. When an external force acts on the push rod 225, the push rod 225 moves along the sliding groove 2251, and realizes rotation or relative rotation through the matching relationship with the connecting shaft. And this movement is transmitted to other mechanical components to realize the movement of the mechanical thumb 100.

[0068] In one embodiment, please refer again to Figure 2 and Figure 3The mechanical thumb 100 may further include a second driving assembly 50, which is used to drive the articulated seat 10 to rotate. When the second driving assembly 50 is extended to drive the articulated seat 10 to be perpendicular to the palm structure, the side facing the palm center of the palm structure 200 is the inner side, and the side away from the palm center of the palm structure 200 is the outer side. The connection point between the second driving assembly 50 and the articulated seat 10 is located outside the connection point between the articulated seat 10 and the palm structure 200, which can provide a longer force arm, so that when the second driving assembly 50 is contracted or extended, a greater torque can be generated, driving the mechanical thumb 100 to rotate at a greater angle around the first axis L1 (i.e., the vertical axis of the palm structure).

[0069] The second drive assembly 50 is disposed in the internal space of the palm structure 200 and is rotatably connected to the palm structure 200. Therefore, the second drive assembly 50 can also be divided into the palm structure, and the hinge seat 10 is driven by the second drive assembly 50 in the palm structure 200, which is not limited in this application. The structure of the second drive assembly 50 can be the same as or different from the structure of the first drive assembly 22, which is not limited in this application.

[0070] In one embodiment, a sensing area 60 is provided on the inner side of the first knuckle 20, which can detect the contact with an external object and provide tactile feedback; a sensing area 60 is provided on the inner side of the second knuckle 30, which can detect the contact with an external object and provide tactile feedback. The contact state between the first knuckle 20 and the external object can be detected in real time, including whether there is contact, the position and area of ​​contact. The action strength, speed and position of the first knuckle 20 can be adjusted according to the feedback information to more accurately grasp or operate the object.

[0071] Combining the sensing area 60 of the first knuckle 20 and the second knuckle 30 can form a complete tactile perception system to provide the humanoid robot with more comprehensive and accurate tactile information. This information not only helps the humanoid robot to achieve more natural and flexible operating actions, but also improves the adaptability and safety of the humanoid robot in complex environments. For example, in a human-computer interaction scenario, the mechanical thumb 100 can adjust its response according to the feedback touch strength and position, providing a more comfortable and natural interactive experience. In the field of industrial automation, the tactile perception system can help humanoid robots achieve more accurate and efficient operations such as grasping, assembly and detection.

[0072] The sensing area 60 may use a thin film pressure sensor, a capacitive sensor or a piezoresistive sensor, which can sensitively detect small contact changes. Signal processing techniques such as filtering, denoising and feature extraction may be used to improve the accuracy and reliability of tactile information.

[0073] 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.

[0074] 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 mechanical thumb, characterized in that: A dexterous hand for a humanoid robot, the mechanical thumb comprising: An articulated seat, used to be connected to the palm structure of the dexterous hand for rotation around a first axis; A first finger joint, the first finger joint comprises a finger joint housing and a first driving assembly disposed in the finger joint housing, the finger joint housing being rotatably connected to the hinge seat around a second axis; a second finger joint, the second finger joint being rotatably connected to the finger joint housing about a third axis; Wherein, the first driving assembly is used to drive the knuckle housing to rotate around the second axis, and drive the second knuckle to rotate around the third axis; the second axis and the third axis both intersect with the first axis in space; One end of the first driving assembly is rotatably connected to the knuckle housing, and the other end of the first driving assembly is movably connected to the hinge seat; A push rod is provided at one end of the first driving assembly; the push rod is movably connected to the hinge seat along a first direction, and an elastic support member is provided between the push rod and the hinge seat; One of the push rod and the hinge seat is provided with a sliding groove extending in a first direction, and the other has a connecting portion, wherein at least a part of the connecting portion is movably disposed in the sliding groove; The connecting portion is in rotational contact with the first end wall surface of the sliding groove along the first direction, and when the first finger joint is driven to bend, the connecting portion is tightly against the end of the sliding groove as the rotation center, the first end is an end of the sliding groove along the first direction close to the second finger joint, and the connecting portion is used to compress the elastic support member when the back side of the first finger joint is subjected to force; The push rod or the hinge seat is further provided with a receiving groove connected with the sliding groove, and the receiving groove is located at one end of the sliding groove along the first direction; one end of the elastic support member is arranged in the receiving groove, and the other end extends into the sliding groove and abuts against the connecting portion; The sliding groove and the receiving groove are both provided on the push rod, and one end of the receiving groove away from the sliding groove passes through the push rod; The mechanical thumb further comprises a blocking piece, which is detachably connected to the push rod to block the through end of the receiving groove, and the compression stroke of the elastic support member can be adjusted by rotating the blocking piece.

2. The mechanical thumb according to claim 1, characterized in that: The first finger joint also includes a transmission rod arranged in the finger joint housing, one end of the transmission rod is connected to the hinge seat, and the other end of the transmission rod is rotatably connected to the second finger joint.

3. The mechanical thumb according to claim 2, characterized in that: The connection point between the knuckle housing and the hinge seat is a first connection point, the connection point between the knuckle housing and the second knuckle is a second connection point, and a line connecting the first connection point and the second connection point intersects with the transmission rod.

4. The mechanical thumb according to claim 2, characterized in that: The number of the transmission rods is two, and the two transmission rods are arranged on both sides of the first driving assembly.

5. The mechanical thumb according to claim 2, characterized in that: The first driving assembly includes a driving member, a gear box, a screw rod and a screw sleeve. The gear box is rotationally connected to the first finger joint. A gear set is provided in the gear box. The output end of the driving member and the input end of the screw rod extend into the gear box and are transmission-connected to the gear set. The screw sleeve is threadedly connected to the screw rod, and one end of the screw sleeve away from the gear box is rotationally connected to the hinge seat.

6. The mechanical thumb according to claim 1, characterized in that: The hinge seat comprises a base, two support plates and the connecting portion, the two support plates are spaced apart at one end of the base, and the connecting portion comprises a connecting shaft connected between the two support plates; The push rod is located between the two support plates, the sliding groove penetrates the push rod perpendicular to the first direction, and the connecting shaft passes through the sliding groove.

7. The mechanical thumb according to any one of claims 1 to 6, characterized in that: The mechanical thumb further comprises a second driving assembly, and the second driving assembly is used to drive the articulated seat to rotate; When the articulated seat is rotated to be perpendicular to the palm structure, the connection point between the second driving assembly and the articulated seat is located outside the connection point between the articulated seat and the palm structure.

8. A dexterous hand, characterized in that: For a humanoid robot, the dexterous hand comprises a mechanical thumb as claimed in any one of claims 1 to 7.

9. A humanoid robot, characterized in that: The humanoid robot comprises the dexterous hand as claimed in claim 8.

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