Thumb structure, dexterous hand and humanoid robot

Abstract

The present application provides a thumb structure, a dexterous hand and a humanoid robot. The thumb structure includes a first knuckle and a second knuckle, the second knuckle includes a knuckle body and a connection seat, the connection seat is rotationally connected to the first knuckle, the knuckle body is rotationally connected to the connection seat, at least part of the knuckle body is detachably connected to the connection seat, and the part of the knuckle body detachably connected to the connection seat is used to detach from the connection seat when the back of the knuckle body is under pressure. The knuckle body is connected to the connection seat through two connection points: one is a rotation connection point to realize the rotation of the joint; the other is a detachable connection point, and the detachable connection point is used to release the connection when the back of the knuckle body is under pressure. After the detachable connection point is released, there is only a rotation connection point between the knuckle body and the connection seat, and the knuckle body can rotate freely around the rotation connection point, thereby avoiding the excessive force from being transmitted to the first knuckle, protecting the joint structure, and improving the impact resistance and safety of the thumb structure.

Description

Technical Field

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

[0002] With the rapid development of my country's industry and the continuous rise in labor costs, robotics has become a key tool to meet the growing production needs. Among the many robots, the dexterous hands of humanoid robots are able to perform complex grasping tasks due to their excellent flexibility.

[0003] Currently, the main transmission methods for dexterous hands include wire drives and connecting rod drives. Connecting rod drives are favored for their strong gripping force and high motion precision. However, the rigid connecting rod structure in connecting rod drives is less resistant to impacts and shocks. In particular, impacts to the back of the knuckles of dexterous hands can easily damage the joints. Summary of the Invention

[0004] The present application provides a thumb structure, a dexterous hand, and a humanoid robot that are conducive to improving impact resistance.

[0005] In a first aspect, an embodiment of the present application provides a thumb structure for a dexterous hand of a humanoid robot, the thumb structure comprising a first knuckle and a second knuckle; the second knuckle comprises a knuckle body and a connecting seat, the connecting seat being rotatably connected to the first knuckle, the knuckle body being rotatably connected to the connecting seat, the knuckle body being at least partially detachably connected to the connecting seat, and the portion of the knuckle body detachably connected to the connecting seat being used to detach from the connecting seat when the back of the knuckle body is under pressure.

[0006] In this application, the first and second knuckles of the thumb structure achieve two-stage rotation to simulate human hand movements, improving joint flexibility and enabling more natural thumb movements. The knuckle body is connected to the connector via two connection points: one is a rotating connection point that enables joint rotation; the other is a detachable connection point. The detachable connection point is used to release the connection when the back of the knuckle body is under pressure. After the detachable connection point is released, the knuckle body and the connector seat only have the rotating connection point, and the knuckle body can rotate freely around the rotating connection point, thereby preventing excessive force from being transmitted to the first knuckle, protecting the joint structure (the rotating connection between the second knuckle and the first knuckle), and improving the impact resistance and safety of the thumb structure.

[0007] According to the first aspect, in a possible implementation, a first magnetic portion is provided on the connecting seat, and a second magnetic portion is provided on the phalanx body, and the first magnetic portion and the second magnetic portion are magnetically attracted to each other so that the phalanx body and the connecting seat are detachably connected. The present application realizes a detachable connection through magnetic attraction between the first magnetic portion and the second magnetic portion, and the magnetic attraction between the first magnetic portion and the second magnetic portion enables the phalanx body of the second phalanx to maintain a stable connection with the connecting seat during normal use, thereby preventing accidental detachment. When a collision occurs on the back of the second phalanx, the instantaneous impact force exceeds the magnetic attraction, thereby disconnecting the detachable connection point between the phalanx body and the connecting seat, thereby protecting the joint structure of the thumb structure. After the collision disappears, the phalanx body and the connecting seat can automatically resume connection under the action of the magnetic attraction.

[0008] According to the first aspect, in one possible implementation, the side of the connector facing the knuckle body forms a supporting surface, and the side of the knuckle body facing the connector forms a contact surface. The first magnetic portion and the second magnetic portion are magnetically attracted to each other so that the contact surface and the supporting surface are in contact. The interaction between the contact surface and the supporting surface helps increase the contact area, providing a larger base area, thereby achieving a stable connection between the knuckle body and the connector, providing smoother force transmission, and making the thumb structure more stable when performing movements.

[0009] According to the first aspect, in one possible implementation, the first magnetic portion is disposed on the supporting surface and at least partially protrudes from the supporting surface; the contact surface defines a mounting groove, within which the first magnetic portion is received; and the second magnetic portion is disposed on the bottom wall of the mounting groove or on the bottom of the knuckle body, at least partially forming the second magnetic portion. By designing the first magnetic portion as protruding and providing a mounting groove for receiving the first magnetic portion, a dual physical and magnetic locking mechanism is achieved by the cooperation between the protruding first magnetic portion and the mounting groove, and between the supporting surface and the contact surface, thereby reducing the probability of relative slippage between the knuckle body and the connecting seat.

[0010] According to the first aspect, in one possible implementation, the connecting base is provided with a first connecting flange, and the knuckle body is provided with a second connecting flange, wherein the first connecting flange, the second connecting flange, and the first knuckle are connected via a pivot. Thus, the first connecting flange, the second connecting flange, and the first knuckle are connected together via the pivot, forming a flexible rotational joint; the rotational connection point between the knuckle body and the connecting base, and the rotational connection point between the second knuckle and the first knuckle, share a common connection point, thereby reducing the number of connection structures on the connecting base.

[0011] According to the first aspect, in one possible implementation, the connecting seat further includes a first curved surface adjacent to the supporting surface, the first connecting flange protruding from the first curved surface; the second connecting flange at least partially forms a second curved surface, the pivot, the first curved surface, and the second curved surface are coaxially arranged, and the central angle corresponding to the second curved surface is greater than the central angle corresponding to the first curved surface. By increasing the central angle of the second curved surface, the second curved surface and the first curved surface always maintain contact when the knuckle body rotates, thereby enhancing the stability of the contact and making the force transmission more uniform. In addition, the coaxial arrangement of the first and second curved surfaces ensures smooth rotation and reduces friction and wear caused by axis offset.

[0012] According to the first aspect, in one possible implementation, the thumb structure further includes an articulated base configured to be rotationally connected to the palm structure of the dexterous hand, and the first phalanx is rotationally connected to the articulated base. The articulated base, the first phalanx, and the second phalanx are sequentially rotatably connected, achieving three degrees of freedom (DOF) motion. This enables the thumb structure to produce more complex and natural motion trajectories, simulating various movements of a real thumb and improving motion fidelity.

[0013] According to the first aspect, in one possible implementation, the first knuckle includes a knuckle housing and a first drive assembly and a transmission rod disposed within the knuckle housing, wherein the knuckle housing has two ends rotatably connected to a hinge seat and a second knuckle, respectively; one end of the first drive assembly is rotatably connected to the first knuckle and the other end is movably connected to the hinge seat; one end of the transmission rod is rotatably connected to the hinge seat and the other end is rotatably connected to the connecting seat; the first drive assembly is used to drive the first knuckle to rotate, so that the transmission rod drives the connecting seat and the knuckle body to rotate in the same direction as the first knuckle. Through the cooperation of the first drive assembly and the transmission rod, the first knuckle and the second knuckle are driven in the same direction, and the first drive assembly, the first knuckle and the hinge seat form a three-link structure, in which the first drive assembly directly drives the first knuckle to rotate; the first knuckle, the transmission rod, the second knuckle and the hinge seat form a four-link structure, in which the rotation of the first knuckle drives the rotation of the second knuckle. By designing the connecting rods, the movement of the thumb structure can be precisely controlled to achieve coordinated movement of each part. Furthermore, by placing the first drive assembly and the transmission rod inside the knuckle housing, external space is saved and key components are protected, thereby reducing possible interference from the external environment. Furthermore, by internalizing these components, the overall strength and structural stability of the thumb structure are improved.

[0014] According to the first aspect, in one possible implementation, the connection point between the first knuckle and the articulated seat is a first connection point, and the connection point between the first knuckle, the connecting seat, and the knuckle body is a second connection point. The line connecting the first and second connection points intersects the transmission rod. This intersection design optimizes the mechanical structure of the thumb, provides a stable foundation for thumb movement, and improves the accuracy and reliability of movement.

[0015] According to the first aspect, in one possible implementation, a push rod is provided at one end of the first drive assembly; the push rod is movably connected to the articulated seat along a first direction, and an elastic support member is provided between the push rod and the articulated seat. When the back of the first knuckle is impacted, the push rod compresses the elastic support member under the impact force, partially absorbing the impact force, and the elastic support member can quickly return to its original state after the impact, thereby reducing the impact of external impact on the joint and drive assembly of the thumb structure, thereby improving the durability and stability of the thumb structure.

[0016] According to the first aspect, in one possible implementation, a sensing area is provided on the inner side of the first knuckle; and / or a sensing area is provided on the inner side of the second knuckle. The tactile feedback provided by the sensing area can help the system accurately determine the position and shape of an object, thereby adjusting the movement of the thumb structure to achieve more precise grasping and manipulation.

[0017] According to the first aspect, in one possible implementation, the thumb structure further includes a second drive assembly, wherein the articulated seat is configured to be rotationally connected to the palm structure of the dexterous hand, one end of the second drive assembly is configured to be rotationally connected to the palm structure, and the other end of the second drive assembly is connected to the articulated seat; the direction of the rotation axis of the articulated seat is different from the direction of the rotation axis of the first phalanx. The second drive assembly drives the articulated seat to rotate relative to the palm structure, achieving multi-dimensional motion control and enhancing the flexibility of the thumb structure. This allows the thumb structure to perform more complex movements, such as adjusting the grasping direction and performing rotations, thereby improving the overall functionality of the dexterous hand.

[0018] In a second aspect, embodiments of the present application further provide a dexterous hand comprising the thumb structure described in the first aspect. Application of this thumb structure to the dexterous hand enables the dexterous hand to closely mimic human hand movements, enabling more complex and natural hand movements. The detachable connection between the knuckle body and the connector reduces potential damage to the internal structure of the thumb structure from accidental impact, thereby protecting the overall structure of the dexterous hand and ensuring reliability and stability during task execution.

[0019] In a third aspect, embodiments of the present application further provide a humanoid robot comprising the dexterous hand described in the second aspect. By utilizing this dexterous hand, the humanoid robot can achieve more natural and flexible hand movements, more accurately completing complex tasks such as grasping and manipulation, thereby expanding 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 in the event of an unexpected impact, thereby reducing the potential risk of injury. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, 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 any creative work.

[0021] Figure 1 This is a schematic structural diagram of a dexterous hand in one embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the structure of the thumb structure in the first embodiment of the present application after removing the knuckle housing;

[0023] Figure 3 This is a structural diagram of the first embodiment of the present application when the detachable connection point between the knuckle body and the connection seat is separated;

[0024] Figure 4 yes Figure 3 Schematic diagram of the middle finger joint body and connecting seat in disassembled state;

[0025] Figure 5 This is a schematic structural diagram of the thumb structure in the second embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the internal structure of the knuckle housing of the thumb structure in the second embodiment of the present application;

[0027] Figure 7 This is a schematic diagram of the connection between the hinged seat of the thumb structure and the first drive assembly in one embodiment of the present application;

[0028] Figure 8 It is a cross-sectional schematic diagram of the thumb structure in one embodiment of the present application.

[0029] Reference numerals:

[0030] 1000 - Dexterous Hand; 100 - Thumb Structure; 10 - Articulated Seat; 11 - Connecting Part; 20 - First Knuckle; 21 - Knuckle Housing; 22 - First Drive Assembly; 221 - Driving Member; 222 - Gearbox; 223 - Screw Rod; 224 - Screw Bushing; 225 - Push Rod; 2251 - Sliding Slot; 2252 - Receiving Slot; 23 - Transmission Rod; 25 - Elastic Support Member; 30 - Second Knuckle; 31 - Knuckle Body; 311 -Second magnetic part; 312-Contact surface; 313-Mounting groove; 314-Second connecting flange; 315-Second arc surface; 32-Connecting seat; 321-First magnetic part; 322-Supporting surface; 323-First connecting flange; 324-First arc surface; 41-Sealing piece; 50-Second driving assembly; 60-Sensing area; 200-Palm structure; 300-Mechanical finger; O1-First connection point; O2-Second connection point. DETAILED DESCRIPTION

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

[0032] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be an intermediate component.

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

[0034] The following embodiments of the present application are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may 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 present application can mimic a human's appearance and movement to achieve more natural and flexible human-machine interaction and automated operations. It may include a torso assembly (not shown), a head assembly (not shown), upper limb assemblies (not shown), lower limb assemblies (not shown), and a dexterous hand. The dexterous hand is connected to the upper limb assembly. These components work together to enable the robot to perform complex tasks, such as walking, grasping, and operating tools. This application does not provide a detailed description of these components.

[0037] See also Figure 1 The dexterous hand 1000 in the embodiment of the present application includes a thumb structure 100, which is composed of a plurality of finger joint structures, each of which can move independently or in conjunction with each other to simulate the complex movements of the human thumb. These finger joint structures may include a first finger joint 20, a second finger joint 30, and possibly a middle finger joint, etc. The dexterous hand 1000 may also include a palm structure 200 and four mechanical fingers 300. The palm structure 200 is designed with a special mounting interface and support structure for fixing and supporting the thumb structure 100 and the four mechanical fingers 300 to ensure their stability and precision. The design of the mechanical fingers 300 is similar to that of the thumb structure 100. The thumb structure 100 and the mechanical fingers 300 work together through a control system to achieve various hand movements.

[0038] The thumb structure 100 in the embodiment of the present application is described in detail below.

[0039] The present embodiment provides a thumb structure 100 for use in a dexterous humanoid robot hand 1000. 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. The left and right hands are symmetrical in structure, and the present embodiment only uses one of the left and right hands for illustration.

[0040] In the first embodiment, see Figures 1 to 3 The thumb structure 100 includes a first knuckle 20 and a second knuckle 30. The second knuckle 30 includes a knuckle body 31 and a connection base 32. The connection base 32 is rotatably connected to the first knuckle 20, and the knuckle body 31 is rotatably connected to the connection base 32. The knuckle body 31 is at least partially detachably connected to the connection base 32. Specifically, the knuckle body 31 is connected to the connection base 32 via two connection points: one is a rotational connection point that enables rotation of the joint; the other is a detachable connection point that is used to release the connection when the back of the knuckle body 31 is under pressure. After the detachable connection point is released, the knuckle body 31 and the connection base 32 only have the rotational connection point. The knuckle body 31 can rotate freely about the rotational connection point, thereby relieving pressure and preventing excessive force from being transmitted to the first knuckle 20. This protects the joint structure (the rotational connection between the second knuckle 30 and the first knuckle 20) and improves the impact resistance and safety of the thumb structure 100.

[0041] Among them, the first phalanx 20 and the second phalanx 30 can be driven by the same drive structure or by different drive structures, and this application does not limit this. The first phalanx 20 and the second phalanx 30 can achieve two-level rotation to simulate the movements of the human hand, improve joint flexibility, and achieve more natural thumb movements. The rotation axes of the first phalanx 20 and the second phalanx 30 tend to be parallel, and the first phalanx 20 and the second phalanx 30 usually rotate in the same direction when performing an action; the rotation axes of the first phalanx 20 and the second phalanx 30 are parallel, which means that the rotation axes of the first phalanx 20 and the second phalanx 30 are theoretically parallel to each other, but due to processing errors, assembly errors, etc., there is a certain angle between the rotation axes of the first phalanx 20 and the second phalanx 30.

[0042] The knuckle body 31 , the connecting seat 32 and the first knuckle 20 can be rotatably connected to the same axis, thereby reducing the number of rotation axes and making the overall layout of the thumb structure 100 more compact.

[0043] See also Figure 1 、 Figure 3 and Figure 4 The connecting base 32 is provided with a first magnetic portion 321, and the phalanx body 31 is provided with a second magnetic portion 311. The first magnetic portion 321 and the second magnetic portion 311 are magnetically attracted to each other so that the phalanx body 31 and the connecting base 32 are detachably connected. The detachable connection point adopts a magnetic connection. Since the phalanx body 31 and the connecting base 32 also have a rotating connection point, when the first magnetic portion 321 and the second magnetic portion 311 are magnetically attracted together, they can be automatically aligned without the need for complex alignment mechanisms or operations, thereby improving the accuracy and consistency of assembly. When the thumb structure 100 is subjected to external impact or excessive force, the magnetic connection can be passively separated, thereby avoiding the transmission of excessive force to the joint structure, protecting the joint structure of the thumb structure 100, and improving impact resistance and safety.

[0044] Compared to traditional mechanical connection methods (such as bolts and pins), magnetic connection is simpler and faster. The knuckle body 31 is automatically attracted to the connection base 32 when it is close to the connection base, completing the connection without the need for tools or complicated operations.

[0045] In actual applications, one of the first magnetic part 321 and the second magnetic part 311 can be made of a magnet and the other can be made of ferromagnetic material, and the second magnetic part 311 can be attracted by the first magnetic part 321; the first magnetic part 321 and the second magnetic part 311 can also both be made of magnets, and the magnetic poles of the first magnetic part 321 and the second magnetic part 311 on opposite sides are opposite, for example, the N pole of the first magnetic part 321 is aligned with the S pole of the second magnetic part 311, so that the two can attract each other under normal conditions; in the above case, the magnetic strength of the first magnetic part 321 and the second magnetic part 311 needs to be selected according to actual use requirements. Excessively strong magnetism may make disassembly difficult, while too weak magnetism may not be able to withstand normal use force. Therefore, it is necessary to ensure that the connection is stable while ensuring that it can be easily disassembled.

[0046] In other embodiments, one of the first magnetic portion 321 and the second magnetic portion 311 may be an electromagnet, and the other may be a ferromagnetic material. Under normal conditions, the electromagnet is energized to attract the ferromagnetic material. When the back of the second knuckle 30 is impacted, the electromagnet is de-energized, and the detachable connection point is disconnected. This application is not limited to this.

[0047] When selecting an electromagnet and a magnetic material to cooperate with each other, in a preferred embodiment, a ferromagnetic material can be used as the first magnetic part 321, an electromagnet can be used as the second magnetic part 311, and a pressure sensor can be provided on the back of the second phalanx 30. The pressure sensor and the electromagnet are electrically connected to form a control circuit. The pressure sensor is used to detect the external pressure or impact force applied to the second phalanx 30. Under normal conditions, the pressure value detected by the pressure sensor does not exceed the set threshold. The pressure sensor maintains a closed circuit state, the electromagnet is energized and generates a magnetic force, which attracts the ferromagnetic material of the first magnetic part 321, maintaining a stable connection between the phalanx. When the pressure sensor detects an external pressure or impact force exceeding the set threshold, the pressure sensor sends a signal to disconnect the current of the electromagnet. The electromagnet loses its magnetic force and releases its attraction to the first magnetic part 321, thereby passively separating the phalanx body 31 and the connecting seat 32 to avoid damage.

[0048] In one embodiment, please refer again to Figure 3 and Figure 4The side of the connecting seat 32 facing the knuckle body 31 forms a supporting surface 322, which is the part where the connecting seat 32 contacts the knuckle body 31; the side of the knuckle body 31 facing the connecting seat 32 forms a contact surface 312, which is the part corresponding to the supporting surface 322 of the connecting seat 32; when the first magnetic part 321 and the second magnetic part 311 are magnetically attracted to each other, the contact surface 312 fits with the supporting surface 322, thereby increasing the contact area, helping to evenly distribute the force, reduce local stress concentration, and improve the durability and service life of the thumb structure 100.

[0049] The support surface 322 and the contact surface 312 can be flat surfaces, which are easy to machine and facilitate standardization and mass production. The support surface 322 and the contact surface 312 can also be cooperating curved surfaces. This curved surface design provides a self-centering effect. Specifically, when the knuckle body 31 approaches the connector 32, the curved surface automatically guides the knuckle body 31 into the correct position, reducing alignment difficulties during assembly. This self-centering effect helps reduce errors during assembly and effectively prevents the knuckle body 31 from sliding on the connector 32 when subjected to lateral forces or rotational torque.

[0050] The first magnetic portion 321 is positioned on the supporting surface 322, with at least a portion of its structure protruding from the supporting surface 322. This design allows the first magnetic portion 321 to more easily mate and engage with the mounting slot 313 provided on the knuckle body 31. The mounting slot 313 is provided on the contact surface 312 of the knuckle body 31, and its shape and size match those of the first magnetic portion 321, ensuring a tight and precise fit between the two.

[0051] When the first magnetic portion 321 is seated in the mounting groove 313, the two fit together with high precision. This high-precision fit not only ensures a secure connection between the knuckle body 31 and the connecting seat 32, but also reduces relative slippage caused by a loose fit. Reduced relative slippage reduces wear caused by friction, thereby extending the overall product life.

[0052] The second magnetic portion 311 can be located on the bottom wall of the mounting slot 313. This allows the first magnetic portion 321 to be more precisely aligned with the second magnetic portion 311 when placed within the mounting slot 313, ensuring stronger magnetic attraction. Alternatively, the second magnetic portion 311 can be formed entirely or partially from the bottom of the knuckle body 31. This ensures a stable connection between the knuckle body 31 and the connector 32, even with slight deflections of the first magnetic portion 321.

[0053] In other embodiments, the first magnetic portion 321 may be a magnet partially embedded in the connection base 32, a magnetic patch adhered to the connection base 32, or a magnetic coating applied to the connection base 32. Correspondingly, the second magnetic portion 311 may be a magnet embedded in the phalangeal body 31, a magnetic patch attached to the phalangeal body 31, or a magnetic coating applied to the phalangeal body 31. This application does not impose any limitations on this.

[0054] In one embodiment, please refer again to Figure 3 and Figure 4 The connecting base 32 is provided with a first connecting flange 323, and the knuckle body 31 is provided with a second connecting flange 314. The first connecting flange 323, the second connecting flange 314, and the first knuckle 20 are connected by a pivot. The first connecting flange 323, the second connecting flange 314, and the first knuckle 20 are connected together by the pivot, forming a flexible rotational joint. That is, in this embodiment, the rotational connection point between the knuckle body 31 and the connecting base 32, and the rotational connection point between the second knuckle 30 and the first knuckle 20, share the same connection point. This can reduce the number of connection structures on the connecting base 32, and also reduce the number of required pivots and the related connecting parts 11, thereby reducing the complexity of manufacturing and assembly.

[0055] Furthermore, the design of the shared connection point makes the thumb structure 100 more compact, thereby improving space utilization.

[0056] There can be two second connecting flanges 314, with the first connecting flange 323 located between them. The two second connecting flanges 314 provide two spaced support points, ensuring stable support for the second connecting flange 314 (knuckle body 31) during rotation, preventing twisting and misalignment. This multi-point support helps distribute stress on the pivot and reduces contact forces at a single connection point. The two second connecting flanges 314 also act as position limits for the first connecting flange 323, ensuring that the 11 connecting parts move within a specified range, preventing excessive rotation or misalignment, and improving operational precision and safety.

[0057] Based on the above embodiment, the connecting base 32 further includes a first curved surface 324 adjacent to the supporting surface 322, with the first connecting flange 323 protruding from the first curved surface 324. The second connecting flange 314 at least partially forms a second curved surface 315. The pivot, first curved surface 324, and second curved surface 315 are coaxially arranged, and the central angle corresponding to the second curved surface 315 is greater than the central angle corresponding to the first curved surface 324. Because the pivot, first curved surface 324, and second curved surface 315 are coaxial, the first curved surface 324 and second curved surface 315 can be in sliding contact. When the knuckle body 31 rotates relative to the connecting base 32, the sliding contact between the first curved surface 324 and second curved surface 315 effectively disperses stress on the pivot, thereby reducing the risk of wear and damage and improving the stability and durability of the thumb structure 100 when subjected to external loads. The difference between the central angles of the first curved surface 324 and the second curved surface 315 determines the angular range of rotation between the knuckle body 31 and the connecting base 32. By adjusting the size of these two central angles, the rotation range of the knuckle body 31 can be flexibly controlled to meet different usage requirements. For example, the central angle of the first arc surface 324 is 30 to 45 degrees, while the central angle of the second arc surface 315 is 100 to 180 degrees. This design allows the knuckle body 31 to rotate a large angle after separation, while also limiting the rotation angle through the interaction of the arc surfaces, without the need for a separate limiting structure.

[0058] The central angles of the first arc surface 324 and the second arc surface 315 are set according to actual needs to adapt to different application scenarios, and this application does not limit this.

[0059] Furthermore, the connection between the first arc surface 324 and the supporting surface 322 is smoothly transitioned to avoid forming sharp edges and corners, thereby preventing scratches when the knuckle body 31 rotates relative to the connecting seat 32 .

[0060] Regarding the driving structure of the thumb structure 100 , the present application takes the example of the first driving component 22 driving the first knuckle 20 and driving the second knuckle 30 to rotate in conjunction with each other as an example for explanation.

[0061] In one embodiment, see Figure 1 、 Figure 5 and Figure 6The first knuckle 20 includes a knuckle housing 21, a first drive assembly 22, and a transmission rod 23 disposed within the knuckle housing 21. One end of the first drive assembly 22 is rotationally connected to the knuckle housing 21, while the other end of the first drive assembly 22 is movably connected to the hinge base 10. One end of the transmission rod 23 is rotationally connected to the hinge base 10, while the other end of the transmission rod 23 is rotationally connected to the connecting base 32. The hinge base 10 is the component that connects the knuckle housing 21 to the palm structure 200. The knuckle housing 21 is rotationally connected to the hinge base 10. The first drive assembly 22 is used to drive the knuckle housing 21 to rotate, so that the transmission rod 23 drives the connecting base 32 and the knuckle body 31 to rotate in the same direction relative to the knuckle housing 21. Through the cooperation of the first drive assembly 22 and the transmission rod 23, a single drive achieves the same-direction rotation of the knuckle housing 21 and the second knuckle 30. Specifically, the first drive assembly 22, the knuckle housing 21, and the hinge base 10 form a three-link structure, with the first drive assembly 22 directly driving the knuckle housing 21. This direct drive ensures the accuracy and reliability of the rotation of the knuckle housing 21. The knuckle housing 21, the transmission rod 23, the second knuckle 30, and the hinge base 10 form a four-link structure. The rotation of the knuckle housing 21 is transmitted to the second knuckle 30 via the transmission rod 23, achieving the same-direction rotation of the second knuckle 30. This structure utilizes the characteristics of a connecting rod drive, namely, the ability to convert one motion into another while maintaining the continuity and coordination of the motion.

[0062] The connecting rod transmission system efficiently transmits power from the first drive assembly 22 to the knuckle housing 21 and second knuckle 30, achieving stable and reliable movement. By properly designing the connecting rod length and connection point locations, the movement of the thumb mechanism 100 can be precisely controlled. This design allows the thumb mechanism 100 to maintain a stable posture and accurate trajectory during rotation, thus meeting the requirements of various complex tasks.

[0063] Based on the above examples, please refer to Figure 5 and Figure 7 The connection point between the knuckle housing 21 and the hinge seat 10 is the first connection point O1, and the connection point between the knuckle housing 21, the connection seat 32 and the knuckle body 31 is the second connection point O2; the line connecting the first connection point O1 and the second connection point O2 intersects with the transmission rod 23. Figure 6As shown, when the first drive assembly 22 drives the knuckle housing 21 to bend, the knuckle housing 21 rotates counterclockwise, and the motion trajectory of the second connection point O2 deflects upward with the first connection point O1 as the center. Because the line connecting the first and second connection points O1 and O2 intersects the transmission rod 23, the transmission rod 23 deflects upward with the connection point between the transmission rod 23 and the hinge seat 10 as the center, and the rotation angle of the connection point between the transmission rod 23 and the knuckle housing 21 is larger. Therefore, when the first drive assembly 22 drives the knuckle housing 21 to bend, the second knuckle 30 also bends. The coordinated movement between the knuckle housing 21 and the second knuckle 30 enables the thumb structure 100 to simulate the natural bending process of a human finger. This design also forms a stable support structure mechanically, making the transmission rod 23 more stable when transmitting the force generated by the rotation of the knuckle housing 21, reducing vibration or deviation caused by uneven force transmission.

[0064] In an alternative embodiment, please refer again to Figure 5 and Figure 6 The knuckle shell 21 is a hollow shell structure, and the first drive assembly 22 and the transmission rod 23 are both arranged inside the knuckle shell 21. This saves the external space of the thumb structure 100 and makes full use of the internal space of the knuckle shell 21, making the structure of the first knuckle 20 more compact and small; as a hollow shell structure, the knuckle shell 21 not only acts as a connecting rod, connecting the hinge seat 10 and other knuckle parts, but also provides protection for key components, thereby reducing possible interference from the external environment. In addition, the built-in design of the first drive assembly 22 and the transmission rod 23 also makes the external contour of the first knuckle 20 neater and smoother. There are no protruding parts or cables, making the appearance of the thumb structure 100 closer to a real human finger.

[0065] There can be two transmission rods 23, one on each side of the first drive assembly 22, to help maintain balance and stability of the thumb mechanism 100 during movement. These rods evenly distribute the driving force from the first drive assembly 22, reducing vibration or offset caused by uneven force on a single transmission rod 23, thereby improving the movement accuracy and reliability of the thumb mechanism 100.

[0066] In one embodiment, see Figure 7 and Figure 8A push rod 225 is provided at one end of the first drive assembly 22; the push rod 225 is movably connected to the hinge seat 10 along a first direction, and an elastic support member 25 is provided between the push rod 225 and the hinge seat 10. The first direction is the extension direction of the push rod 225. When the back of the first knuckle 20 is impacted, the push rod 225 tends to extend, thereby compressing the elastic support member 25. The elastic support member 25 absorbs part of the impact force and quickly returns to its original state after the impact due to its own restoring force, thereby achieving impact buffering and shock absorption, reducing the impact of external impact on the joints of the thumb structure 100, and improving the durability and stability of the thumb structure 100.

[0067] The push rod 225 defines a sliding groove 2251 extending in a first direction. The hinge seat 10 is provided with a connecting portion 11, which is at least partially movably disposed within the sliding groove 2251. The sliding groove 2251 provides a clear motion trajectory for the connecting portion 11, making the movement of the connecting portion 11 on the push rod 225 more stable and controllable. Furthermore, when the first drive assembly 22 drives the knuckle housing 21 to bend, the connecting portion 11 abuts against the end of the sliding groove 2251 and rotates around this center. This relatively fixed and stable position helps the thumb structure 100 maintain a certain degree of rigidity and precision during the bending process, avoiding movement deviation or distortion caused by an unstable rotation center. The elastic support member 25 may be a spring.

[0068] The push rod 225 is also provided with a receiving groove 2252 which is connected to the sliding groove 2251. One end of the elastic support member 25 is arranged in the receiving groove 2252. The receiving groove 2252 can also play a guiding and receiving role when the elastic support member 25 is compressed, avoiding unnecessary lateral deviation, so that the elastic support member 25 will not easily fall off or shift when subjected to external force.

[0069] An opening is formed at one end of the receiving groove 2252 away from the sliding groove 2251, and the elastic support member 25 can extend into the receiving groove 2252 and the sliding groove 2251 from the opening, and then the sealing member 41 is threadedly connected to the opening to seal the opening, which facilitates the assembly of the elastic support member 25.

[0070] Specifically, see Figure 5 and Figure 6The first drive 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 knuckle housing 21. A gear set is provided in the gear box 222. The driving member 221 has a driving member 221 shaft extending into the gear box 222 and connected to the input end of the gear set. The screw rod 223 is connected to one end 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, thereby converting the rotation of the screw rod 223 into a linear motion of the screw sleeve 224 along a first direction for output. The push rod 225 is provided at one end of the screw sleeve 224. That is, the push rod 225 is directly connected to one end of the first drive assembly 22 or is part of one end of the first drive assembly 22. By providing an elastic support member 25 between the push rod 225 and the connection seat 32 of the hinge seat 10, the impact force can be prevented from being transmitted to the driving member 221, thereby protecting the first drive assembly 22.

[0071] The screw rod 223 and the threaded sleeve 224 can form a self-locking structure, so that when the back of the first phalanx 20 is impacted, the force will not reversely drive the screw rod 223 to rotate and transmit it to the gear set in the gear box 222, thereby protecting the gear set and the drive member 221. When the back of the phalanx housing 21 or the second phalanx 30 is impacted by an external force, the force transmitted by the push rod 225 is buffered by the connection portion 11 and the elastic support member 25 before being transmitted to the hinge seat 10. This environmental compliance mechanism can achieve mechanical compliance and protect the thumb structure 100, the phalanx housing 21, the first drive assembly 22, and the transmission structure (screw rod 223 and threaded sleeve 224).

[0072] The driving member 221 and the screw rod 223 can be located on the same side of the gear box 222, making the structure of the entire driving assembly more compact, requiring less space along the first direction, and easily integrated into the interior of the knuckle housing 21. The push rod 225 and the screw sleeve 224 can be an integral structure or independent components, which is not limited in this application.

[0073] The driving member 221 can be a motor. The gear box 222, the screw 223, and the screw sleeve 224 cooperate to efficiently convert the motor's rotational motion into the linear motion of the push rod 225. This makes the transmission process smoother and more controllable, facilitating precise control of the thumb structure 100. In other embodiments, the driving member 221 and the push rod 225 can also use a gear rack, cam, or other structure for conversion, which is not limited in this application.

[0074] In one embodiment, please refer again to Figure 3 and Figure 4The first knuckle 20 has a sensing area 60 on its inner side that can detect contact with external objects and provide tactile feedback. The second knuckle 30 also has a sensing area 60 on its inner side that can detect contact with external objects and provide tactile feedback. The contact status between the first knuckle 20 and the external object can be detected in real time, including whether there is contact, the location of contact, and the area of ​​contact. The force, speed, and position of the first knuckle 20 can be adjusted based on the feedback information to more accurately grasp or manipulate objects.

[0075] Combining the sensing areas 60 of the first and second knuckles 20 and 30 forms a complete tactile perception system, providing the robot with more comprehensive and accurate tactile information. This information not only helps the robot achieve more natural and flexible manipulations but also improves its adaptability and safety in complex environments. For example, in human-machine interaction scenarios, the thumb structure 100 can adjust its response based on the strength and location of a person's touch, providing a more comfortable and natural interaction experience. In the field of industrial automation, tactile perception systems can help robots achieve more precise and efficient tasks such as grasping, assembly, and inspection.

[0076] The sensing area 60 can use thin film pressure sensors, capacitive sensors, or piezoresistive sensors, which can sensitively detect small changes in contact. Advanced signal processing techniques such as filtering, denoising, and feature extraction can be used to improve the accuracy and reliability of tactile information.

[0077] In the second embodiment, see Figure 5 and Figure 6 The difference from the first embodiment is that the thumb structure 100 further includes a second drive assembly 50. The articulated base 10 is configured to be rotatably connected to the palm structure 200 of the dexterous hand 1000. One end of the second drive assembly 50 is configured to be rotatably connected to the palm structure 200, while the other end of the second drive assembly 50 is connected to the articulated base 10. The direction of the rotation axis of the articulated base 10 is different from the direction of the rotation axis of the first phalanx 20. The second drive assembly 50 drives the articulated base 10 to rotate relative to the palm structure 200, achieving multi-dimensional motion control and enhancing the flexibility of the thumb structure 100. This allows the thumb structure 100 to perform more complex movements, such as adjusting the grasping direction and performing rotations, thereby improving the overall functionality of the dexterous hand 1000.

[0078] The structure of the second drive assembly 50 may be the same as or different from that of the first drive assembly 22 , and this application does not limit this.

[0079] In the second embodiment, the structural design of the hinge seat 10, the first finger joint 20 and the second finger joint 30 is the same as that of the first embodiment, and will not be described in detail herein.

[0080] 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. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0081] The above disclosure is only a preferred embodiment of the present application, and 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 the above embodiment and equivalent changes made in accordance with the claims of the present application are still within the scope covered by the present application.

Claims

1. A thumb structure, characterized in that: A dexterous hand for a humanoid robot, the thumb structure comprising: First knuckle; The second knuckle, the second knuckle includes a knuckle body and a connecting seat, the connecting seat is rotatably connected to the first knuckle, the knuckle body is rotatably connected to the connecting seat via a rotating connection point, the knuckle body is detachably connected to the connecting seat via a detachable connection point, the detachable connection point is used to release the connection when the back of the knuckle body is under pressure, after the detachable connection point is released, only the rotating connection point exists between the knuckle body and the connecting seat.

2. The thumb structure according to claim 1, characterized in that: The connecting seat is provided with a first magnetic part, and the finger joint body is provided with a second magnetic part. The first magnetic part and the second magnetic part are magnetically attracted to each other to form the detachable connecting point, so that the finger joint body and the connecting seat can be detachably connected.

3. The thumb structure according to claim 2, characterized in that: The connecting seat forms a supporting surface on one side facing the knuckle body, and the knuckle body forms a contact surface on one side facing the connecting seat. The first magnetic part and the second magnetic part are magnetically attracted to each other so that the contact surface fits the supporting surface.

4. The thumb structure according to claim 3, characterized in that: The first magnetic part is arranged on the supporting surface and at least partially protrudes from the supporting surface; the contact surface is provided with a mounting groove, and the first magnetic part is accommodated in the mounting groove; The second magnetic portion is disposed on the bottom wall of the mounting groove or the bottom of the finger joint body to at least partially form the second magnetic portion.

5. The thumb structure according to claim 3, characterized in that: The connecting seat is provided with a first connecting flange, the finger joint body is provided with a second connecting flange, and the first connecting flange, the second connecting flange and the first finger joint are connected by a pivot to form the rotating connecting point.

6. The thumb structure according to claim 5, characterized in that: The connecting seat also includes a first arc surface adjacent to the supporting surface, and the first connecting flange protrudes from the first arc surface; the second connecting flange at least partially forms a second arc surface, the pivot, the first arc surface and the second arc surface are coaxially arranged, and the central angle corresponding to the second arc surface is greater than the central angle corresponding to the first arc surface.

7. The thumb structure according to any one of claims 1 to 6, characterized in that: The thumb structure also includes an articulated seat, which is used to be rotatably connected to the palm structure of the dexterous hand, and the first finger joint is rotatably connected to the articulated seat.

8. The thumb structure according to claim 7, characterized in that: The first knuckle includes a knuckle shell and a first drive assembly and a transmission rod arranged in the knuckle shell, the two ends of the knuckle shell are respectively rotatably connected to the hinge seat and the second knuckle; one end of the first drive assembly is rotatably connected to the first knuckle, and the other end is movably connected to the hinge seat; one end of the transmission rod is rotatably connected to the hinge seat, and the other end is rotatably connected to the connecting seat; the first drive assembly is used to drive the first knuckle to rotate, so that the transmission rod drives the connecting seat and the knuckle body to rotate in the same direction as the first knuckle.

9. The thumb structure according to claim 8, characterized in that: The connection point between the first knuckle and the hinge seat is the first connection point, and the connection point between the first knuckle, the connection seat and the knuckle body is the second connection point; the line connecting the first connection point and the second connection point intersects with the transmission rod.

10. The thumb structure according to claim 8, characterized in that: 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.

11. The thumb structure according to claim 7, characterized in that: The thumb structure also includes a second drive assembly, the articulated seat is used to be rotatably connected to the palm structure of the dexterous hand, one end of the second drive assembly is used to be rotatably connected to the palm structure, and the other end of the second drive assembly is connected to the articulated seat; the direction of the rotation axis of the articulated seat is different from the direction of the rotation axis of the first knuckle.

12. The thumb structure according to any one of claims 1 to 6, characterized in that: A sensing area is provided on the inner side of the first finger joint; and / or a sensing area is provided on the inner side of the second finger joint.

13. A dexterous hand for a humanoid robot, characterized in that: The dexterous hand comprises the thumb structure according to any one of claims 1 to 12.

14. A humanoid robot, characterized in that: The humanoid robot comprises the dexterous hand of claim 13.

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