Mechanical fingers, dexterous hands and humanoid robots

Abstract

The present application provides a mechanical finger, a dexterous hand and a humanoid robot. The mechanical finger includes a first knuckle structure, a second knuckle structure and a driving assembly, the driving assembly includes a driving mechanism and a locking mechanism, the driving mechanism is used to be rotatably connected with the palm structure, the driving assembly is used to drive the first knuckle structure and the second knuckle structure to rotate, the locking mechanism has a first state and a second state, in the present application, when the locking mechanism is in the first state, the first knuckle structure and the second knuckle structure are rotatably connected, so that the first driving assembly, the first knuckle structure and the second knuckle mechanism form a connecting rod transmission system to achieve precise grasping and operation. And the back of the first knuckle structure can be used to push or position the workpiece, increasing the diversity of operations. When the locking mechanism is in the second state, the back of the first knuckle structure and the second knuckle structure can be passively bent by external force impact, avoiding the drive mechanism from getting stuck or damaged, and adapting to a variety of complex operating environments and task requirements.

Description

Technical Field

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

[0002] As an indispensable end-effector of humanoid robots, dexterous hands simulate the structure and movement of human hands, have rich degrees of freedom, and thus achieve flexible grasping and grabbing movements, and ensure the accuracy of movements, and can be integrated into and assist in completing a series of complex and delicate work tasks. However, the potential of the back of the hand and the back of the fingers has not been fully explored and utilized, which limits the use of dexterous hands in more application scenarios. Summary of the invention

[0003] The present application provides mechanical fingers, dexterous hands and humanoid robots that are conducive to improving operational diversity and expanding applicable scenarios.

[0004] In a first aspect, an embodiment of the present application provides a mechanical finger for a dexterous hand of a humanoid robot, the mechanical finger comprising a first knuckle structure, a second knuckle structure and a drive assembly, the first knuckle structure being used to be rotatably connected to a palm structure of the dexterous hand; the second knuckle structure being rotatably connected to the first knuckle structure; the drive assembly comprising a drive mechanism and a locking mechanism, the drive mechanism being used to be rotatably connected to the palm structure, the drive assembly being used to drive the first knuckle structure and the second knuckle structure to rotate, the locking mechanism having a first state and a second state, in the first state, the locking mechanism connecting the drive assembly to the first knuckle structure; in the second state, the drive mechanism and the first knuckle structure are separated.

[0005] In the present application, when the locking mechanism is in the first state, the first finger joint structure and the second finger joint structure are rotationally connected, so that the first drive assembly, the first finger joint structure and the second finger joint mechanism form a connecting rod transmission system to achieve precise grasping and operation. And the back of the first finger joint structure can be used to push or position the workpiece, increasing the diversity of operations. When the locking mechanism is in the second state, the robot finger is allowed to automatically adjust its posture when it is hit by an external force, that is, the output shaft of the drive assembly can be separated from the first finger joint structure, and the first finger joint structure and the second finger joint structure are passively bent to avoid the drive mechanism from getting stuck or damaged. Therefore, the robot finger realizes different working modes corresponding to different states of the locking mechanism, and adapts to a variety of complex operating environments and task requirements.

[0006] According to the first aspect, in a possible implementation, the driving mechanism includes a first driving member and an adapter, the adapter having a first connection point, a second connection point and a third connection point; one end of the first driving member is used to be rotatably connected to the palm structure, the other end of the first driving member is rotatably connected to the first connection point, the second connection point is used to be rotatably connected to the palm structure, and the third connection point is rotatably connected to the first knuckle structure through the locking mechanism. By providing an adapter, compared to being directly driven by the driving member, the first driving member, the palm structure, and the adapter can form a connecting rod structure, so that the adapter has a stable motion trajectory when the first driving member is working, which facilitates the locking mechanism to recover from the second state to the first state.

[0007] According to the first aspect, in a possible implementation, the adapter is provided with a first connection hole to form the third connection point, and the first finger joint structure is provided with a second connection hole; the locking mechanism includes a pin shaft, and the pin shaft detachably passes through the first connection hole and the second connection hole. The position of the pin shaft can be controlled to switch between the first state and the second state, without setting up a complex mechanical mechanism or transmission system, simplifying the overall structure, and facilitating the switching of states.

[0008] According to the first aspect, in a possible implementation, a limiting protrusion is provided on the first finger joint structure, and the adapter is pressed against the limiting protrusion to align the first connection hole and the second connection hole. When the locking mechanism is in the second state, the limiting protrusion and the adapter can be pressed against each other to achieve force transmission, so that the driving mechanism drives the first finger joint structure to rotate.

[0009] According to the first aspect, in a possible implementation, the locking mechanism further includes a second driving member, and the second driving member is used to drive the pin shaft to pass through or disengage from the first connecting hole and the second connecting hole. By providing the second driving member to realize automatic state switching, the state switching of the robot finger is made faster and more accurate, which is suitable for frequent state switching or working environment.

[0010] According to the first aspect, in a possible implementation, the first finger joint structure includes a finger joint shell and a transmission rod disposed in the finger joint shell, one end of the transmission rod is used to be rotatably connected to the palm structure, and the other end is rotatably connected to the second finger joint structure. The transmission rod can transmit the rotation of the first finger joint structure to the second finger joint structure and drive the second finger joint structure to rotate. The transmission rod also provides support and guidance for the second finger joint structure, thereby improving the stability and accuracy of the second finger joint structure during the rotation process.

[0011] According to the first aspect, in a possible implementation, the first knuckle structure further includes a reset member, and two ends of the reset member are respectively connected to the transmission rod and the adapter. The reset member can gradually release its stored energy as the back force disappears, driving the knuckle shell to approach the adapter, thereby achieving automatic reset of the knuckle shell.

[0012] According to the first aspect, in a possible implementation, the connection point between the knuckle shell and the first knuckle is the fourth connection point, the connection point between the knuckle shell and the palm structure is the fifth connection point, and the line connecting the fourth connection point and the fifth connection point intersects with the transmission rod. The connection points of the four-bar structure formed by the knuckle shell, the second knuckle structure, the transmission rod and the palm structure are designed so that the knuckle shell and the second knuckle structure rotate in the same direction, thereby improving the action simulation of the mechanical finger.

[0013] According to the first aspect, in a possible implementation, the first driving member includes a power source, a gear box, a screw and a screw sleeve, the gear box is used to be rotatably connected to the palm structure, a gear set is provided in the gear box, one end of the power source 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 adapter. The gear box is used to transmit the motion, and the screw and the screw sleeve cooperate to convert the rotary motion into linear motion, thereby improving the transmission accuracy and stability.

[0014] In a second aspect, the embodiment of the present application further provides a dexterous hand for a humanoid robot, the dexterous hand comprising a palm structure and the mechanical finger described in the first aspect, the first finger joint structure of the mechanical finger being rotatably connected to the palm structure. The above-mentioned mechanical finger is applied to the dexterous hand, so that the dexterous hand has the ability to highly simulate the movements of human hands, and realizes more complex and natural hand movements. The driving mechanism and the first finger joint structure are connected by a locking mechanism, and different operation modes are realized by switching the state of the locking mechanism, thereby improving the application range of the dexterous hand.

[0015] According to the second aspect, in a possible implementation, the palm structure includes a palm shell and a connection seat provided on the palm shell, the connection seat is at least partially exposed from the palm shell, and the first finger joint structure is rotatably connected to the portion of the connection seat exposed from the palm shell. The connection point between the first finger joint structure and the connection seat and the connection between the first finger joint structure and the adapter are both located outside the accommodating cavity, and the installation and removal process of the first finger joint structure no longer needs to be performed in the accommodating cavity, and is no longer limited by the space size of the accommodating cavity, making the operation more intuitive and simple, and reducing the difficulty of installation and removal.

[0016] According to the second aspect, in a possible implementation, a clamping portion is provided on the back of the palm shell, and the clamping portion and the first finger joint structure at least partially overlap in a direction perpendicular to the palm shell. The clamping portion can cover the connection between the first finger joint structure and the adapter and the connection between the first finger joint structure and the connecting seat, thereby reducing the exposed mechanical parts. The clamping portion can also realize a clamping action with the first finger joint structure. By adjusting the design and structure of the clamping portion, it can adapt to objects of different shapes, sizes and materials, thereby improving the adaptability and flexibility of the dexterous hand.

[0017] In a third aspect, the embodiments of the present application further provide a humanoid robot, the humanoid robot comprising 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 helping to expand 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

[0018] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic diagram of the structure of a dexterous hand in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the connection structure between the mechanical finger and the connection base in one embodiment of the present application;

[0021] Figure 3 yes Figure 2 A schematic diagram of the structure of the middle knuckle shell of the middle mechanical finger in perspective;

[0022] Figure 4 is a schematic diagram of the cross-sectional structure of a mechanical finger in an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of the disassembled structure of a mechanical finger in one embodiment of the present application;

[0024] Figure 6 is a schematic diagram of a structure in which a palm structure and a mechanical finger are separated in one embodiment of the present application;

[0025] Figure 7 It is a structural schematic diagram of the dexterous hand from another perspective in one embodiment of the present application.

[0026] Reference numerals:

[0027] 1000-dexterous hand; 100-mechanical finger; 10-first knuckle structure; 11-limiting protrusion; 12-knuckle shell; 13-transmission rod; 14-reset member; 15-second connecting hole; 20-second knuckle structure; 30-driving assembly; 31-driving mechanism; 311-first driving member; 3111-power source; 3112-gear box; 3113-screw rod; 3114-screw sleeve; 312-adapter; 3121-first connecting hole; 32-locking mechanism; 321-pin shaft; 200-palm structure; 210-palm shell; 211-accommodating cavity; 212-clamping part; 213-limiting groove; 220-connecting seat; 300-mechanical thumb; O1-first connecting point; O2-second connecting point; O3-third connecting point; O4-fourth connecting point; O5-fifth connecting point. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] 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.

[0031] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] An embodiment of the present application provides a humanoid robot, including the dexterous hand in the embodiment of the present application.

[0033] 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.

[0034] See also Figure 1 The dexterous hand 1000 in the embodiment of the present application includes a mechanical finger 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, a second knuckle, and possibly a middle knuckle, etc. The dexterous hand 1000 may also include a palm structure 200 and a mechanical thumb 300, and a special mounting structure and a supporting structure are designed on the palm structure 200 to fix and support the mechanical thumb 300 and the mechanical finger 100, so as to ensure the stability and accuracy of the mechanical thumb 300 and the mechanical finger 100 after installation. The design of the mechanical finger 100 may be similar to that of the mechanical thumb 300, and the mechanical thumb 300 and the mechanical finger 100 work together through a control system to achieve various hand movements.

[0035] Among them, a real human hand is composed of 1 thumb and 4 fingers (index finger, middle finger, ring finger and little finger), and the dexterous hand 1000 can be provided with 1 mechanical thumb 300 and 4 mechanical fingers 100. Thus, it is closer to the physiological structure of a real human hand, realizes a higher degree of simulation in appearance and function, and performs more delicate and complex operations.

[0036] The following is a detailed introduction to the robotic finger 100 in the embodiment of the present application.

[0037] The present application embodiment provides a mechanical finger 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.

[0038] In one embodiment, see Figure 1 and Figure 2The robot finger 100 includes a first knuckle structure 10, a second knuckle structure 20 and a driving assembly 30. The first knuckle structure 10 is rotatably connected to the palm structure 200, and the second knuckle structure 20 is rotatably connected to the first knuckle structure 10. The driving assembly 30 can drive the first knuckle structure 10 and the second knuckle structure 20 to rotate. Since there is a rotatable connection between the first knuckle structure 10 and the second knuckle structure 20 and between the first knuckle structure 10 and the palm structure 200, the robot finger 100 can achieve a variety of complex action combinations. By accurately controlling the output parameters of the driving assembly 30 (such as speed, torque, etc.), a high degree of simulation of the action of the robot finger 100 is achieved, so that the robot finger 100 can flexibly perform tasks such as grasping and operation.

[0039] The driving assembly 30 includes a driving mechanism 31 and a locking mechanism 32. The driving mechanism 31 is partially disposed in the palm structure 200 and partially extends out of the palm structure 200, and the extended portion can be rotatably connected to the first finger joint structure 10 through the locking mechanism 32. The driving mechanism 31 is a power source 3111 for the entire finger movement, and can transmit power to the first finger joint structure 10 through mechanical mechanisms such as gears and connecting rods.

[0040] The locking mechanism 32 has a first state and a second state. In the first state, the locking mechanism 32 connects the drive assembly 30 with the first finger joint structure 10. In this state, the locking mechanism 32 firmly connects the output shaft of the drive assembly 30 with the first finger joint structure 10 to form a rigid transmission chain. In this way, when the drive mechanism 31 is working, the rotation angle and speed of the first finger joint structure 10 and the second finger joint structure 20 can be accurately controlled to achieve accurate grasping and operation. In addition, the back of the first finger joint structure 10 can be in direct contact with the workpiece, so that the workpiece can be pushed or positioned using the back of the mechanical finger 100, increasing the diversity of operations. In the second state, the drive mechanism 31 and the first finger joint structure 10 are disconnected. When the back of the first finger joint structure 10 is hit by an external force, the output shaft of the drive assembly 30 can be separated from the first finger joint structure 10, which has a buffering effect. Even if the back of the first finger joint structure 10 is hit by an external force, it will not be directly transmitted to the drive mechanism 31.

[0041] In the present application, when the locking mechanism 32 is in the first state, the first finger joint structure 10 and the second finger joint structure 20 are rotationally connected, so that the first drive assembly 30, the first finger joint structure 10 and the second finger joint mechanism form a connecting rod transmission system to achieve precise grasping and operation. And the back of the first finger joint structure 10 can be used to push or position the workpiece, increasing the diversity of operations. When the locking mechanism 32 is in the second state, the robot finger 100 is allowed to automatically adjust its posture when encountering unexpected resistance, that is, the first finger joint structure 10 is separated from the second finger joint structure 20 to avoid getting stuck or damaged. The robot finger 100 implements different working modes corresponding to different states of the locking mechanism 32, adapting to a variety of complex operating environments and task requirements.

[0042] The side of the mechanical finger 100 that is on the same side as the back of the palm structure 200 is the back of the mechanical finger 100 .

[0043] In one embodiment, see Figure 2 and Figure 3 The drive mechanism 31 includes a first drive member 311 and an adapter member 312. The adapter member 312 has a first connection point O1, a second connection point O2 and a third connection point O3. The second connection point O2 is used for rotational connection with the palm structure 200, that is, the second connection point O2 is the rotation center of the adapter member 312. The first drive member 311 is used for rotational connection with the palm structure 200. The other end of the first drive member 311 is rotationally connected to the first connection point O1. The first drive member 311 can be regarded as a telescopic rod. When the first drive member 311 is extended, the adapter member 312 rotates counterclockwise around the second connection point O2. On the contrary, when the first drive member 311 is shortened, the adapter member 312 rotates clockwise around the third connection point O3. The third connection point O3 is rotationally connected to the first finger joint structure 10 through the locking mechanism 32. The third connection point O3 transmits the rotation of the adapter member 312 to the first finger joint structure 10, pushing the first finger joint structure 10 to rotate around the palm structure 200.

[0044] The design of the locking mechanism 32 allows the first knuckle structure 10 and the adapter 312 (at the third connection point O3) to be disconnected when needed. This design increases the flexibility of the robotic finger 100, enabling it to switch between different operating modes. When the first knuckle structure 10 and the adapter 312 are disconnected, the first knuckle structure 10 and the adapter 312 abut to form a single-sided limit, and the first driving member 311 can still push the first knuckle structure 10 to bend through the adapter 312 when it is extended. However, when the back of the first knuckle structure 10 is stressed, the first knuckle structure 10 can push itself out of the adapter 312 to protect the robotic finger 100 from damage.

[0045] Furthermore, by providing the adapter 312, the first driving member 311, the palm structure 200, and the adapter 312 form a connecting rod structure, so that the adapter 312 has a stable motion trajectory when the first driving member 311 is working, that is, when the extension length of the first driving member 311 remains unchanged, the adapter 312 can maintain a stable position. This facilitates the first finger joint structure 10 to re-contact the adapter 312 after the back force disappears, without the need for manual adjustment of the position accuracy, and facilitates the locking mechanism 32 to return to the first state from the second state, thereby improving the usability and efficiency of the mechanical finger 100.

[0046] The abutment between the first finger joint structure 10 and the adapter 312 can be achieved by providing a limiting protrusion 11 on the first finger joint structure 10, such as Figure 4 shown.

[0047] See also Figure 2 and Figure 4 The first driving member 311 includes a power source 3111, a gear box 3112, a screw rod 3113 and a screw sleeve 3114. The gear box 3112 is used to be rotatably connected with the palm structure 200. A gear set is arranged in the gear box 3112. The other end of the first driving member 311 and the input end of the screw rod 3113 extend into the gear box 3112 and are transmission-connected with the gear set; the screw sleeve 3114 is threadedly connected with the screw rod 3113, and one end of the screw sleeve 3114 away from the gear box 3112 is rotationally connected with the adapter 312. The power source 3111 can be a motor, which provides power and realizes functions such as deceleration, torque increase or change of transmission direction through the gear box 3112, and then drives the screw rod 3113 to rotate. The screw rod 3113 has a spiral thread, and the screw sleeve 3114 is threadedly connected with the screw rod 3113. When the power source 3111 drives the screw rod 3113 to rotate, the screw sleeve 3114 will move along the axial direction of the screw rod 3113, thereby improving transmission accuracy and stability.

[0048] In other embodiments, other driving or transmission methods may also be used, and this application does not limit this.

[0049] See also Figure 2 , Figure 4 and Figure 5 The first finger joint structure 10 includes a finger joint housing 12 and a transmission rod 13 disposed in the finger joint housing 12, one end of the transmission rod 13 is used for rotational connection with the palm structure 200, and the other end is rotationally connected with the second finger joint structure 20. The transmission rod 13 can transmit the rotation of the first finger joint structure 10 (the finger joint housing 12) to the second finger joint structure 20 and drive the second finger joint structure 20 to rotate. The transmission rod 13 also provides support and guidance for the second finger joint structure 20, improves the stability and accuracy of the second finger joint structure 20 during the rotation process, and prevents discontinuity of movement or reduction of accuracy due to offset or shaking.

[0050] The knuckle shell 12 plays the role of connecting rod transmission during the rotation of the first knuckle structure 10 and the second knuckle structure 20. At the same time, the knuckle shell 12 also serves as an exterior decoration of the first knuckle structure 10. The transmission rod 13 is arranged inside the knuckle shell 12 to hide the complex transmission mechanism, making the appearance of the robotic finger 100 more concise and smooth, and improving the appearance simulation of the robotic finger 100.

[0051] See also Figure 2 and Figure 3 , the connection point between the knuckle shell 12 and the second knuckle structure 20 is the fourth connection point O4, the connection point between the knuckle shell 12 and the palm structure 200 is the fifth connection point O5, and the line connecting the fourth connection point O4 and the fifth connection point O5 intersects with the transmission rod 13. When the first driving member 311 drives the knuckle shell 12 to bend, the knuckle shell 12 rotates clockwise, and the motion trajectory of the fourth connection point O4 is a downward deflection with the fifth connection point O5 as the center of the circle. Since the line connecting the fourth connection point O4 and the fifth connection point O5 intersects with the transmission rod 13, the transmission rod 13 is an upward deflection with the connection point between the transmission rod 13 and the adapter 312 as the center of the circle; therefore, when the first driving member 311 drives the knuckle shell 12 to bend, the second knuckle structure 20 also performs a bending action; the coordinated movement between the knuckle shell 12 and the second knuckle structure 20 enables the mechanical finger 100 to simulate the natural bending process of human fingers.

[0052] The adapter 312, the knuckle housing 12 and the palm structure 200 may be connected at the same connection point, such as Figure 4 As shown, the second connection point O2 and the fifth connection point O5 coincide with each other.

[0053] Based on the above embodiment, the internal limiting protrusion 11 of the knuckle shell 12 can be used. When the adapter 312 and the knuckle shell 12 are separated at the third connection point O3, the adapter 312 can drive the knuckle shell 12 to rotate by abutting against and pushing the limiting protrusion 11.

[0054] Please refer again Figure 2 and Figure 4 The first finger joint structure 10 also includes a reset member 14, and the two ends of the reset member 14 are respectively connected to the transmission rod 13 and the adapter 312. The reset member 14 has a prestress, and the prestress can make the adapter 312 maintain the abutment state with the limit protrusion 11 in the absence of external force, thereby ensuring the stability and accuracy of the mechanical finger 100, and reducing the finger shaking caused by the shaft gap. When the back of the finger joint shell 12 is subjected to force and causes it to separate from the adapter 312, the reset member 14 will gradually release its stored energy as the back force disappears, driving the finger joint shell 12 to move closer to the adapter 312. Until the adapter 312 abuts against the limit protrusion 11 again, the automatic reset of the finger joint shell 12 is achieved.

[0055] The reset element 14 may be a spring, a magnetic element, etc., which is not limited in the present application.

[0056] The connection relationship between the locking mechanism 32, the adapter 312 and the first finger joint structure 10 is described below:

[0057] In the first embodiment, see Figures 2 to 4 , the adapter 312 is provided with a first connection hole 3121 to form a third connection point O3, and the first finger joint structure 10 is provided with a second connection hole 15; the locking mechanism 32 includes a pin 321, and the pin 321 can be detachably passed through the first connection hole 3121 and the second connection hole 15. When the pin 321 completely passes through the two connection holes (the first connection hole 3121 and the second connection hole 15) and is locked in place, a stable connection point is formed between the adapter 312 and the first finger joint structure 10, and the first finger joint structure 10 rotates with the pin 321 as the rotation center. When the pin 321 is separated from the first connection hole 3121 or the second connection hole 15, the first finger joint structure 10 can be separated from the adapter 312, thereby controlling the position of the pin 321 to switch between the first state and the second state, without setting a complex mechanical mechanism or transmission system, simplifying the overall structure, and facilitating the state switching.

[0058] The second connection holes 15 are provided on opposite sides of the finger joint housing 12, and the pin shaft 321 can be plugged in and out by the staff, or a driving member can be provided to realize automatic control, which is not limited in this application. When the pin shaft 321 is inserted into the first connection hole 3121 and the second connection hole 15, the two ends of the pin shaft 321 cooperate with the two second connection holes 15 to form a stable support, which helps to reduce the shaking and deviation of the mechanical finger 100 during operation, and improves the stability and accuracy of the first finger joint structure 10 during rotation.

[0059] Since the inner part of the knuckle housing 12 is provided with a limiting protrusion 11 , under the action of the reset member 14 , the adapter 312 can keep contacting with the limiting protrusion 11 , so that the first connecting hole 3121 and the second connecting hole 15 are automatically aligned.

[0060] In other embodiments, a driving member (such as a motor, a cylinder, etc.) may be provided to realize automatic insertion and extraction of the pin shaft 321, that is, the locking mechanism 32 further includes a second driving member (not shown), which is used to drive the pin shaft 321 to pass through or disengage from the first connection hole 3121 and the second connection hole 15. Automatic control makes the state switching of the robot finger 100 faster and more accurate, and is suitable for frequent state switching or working environments.

[0061] The specific implementation of the second driving member can be selected according to actual needs, such as a motor, a cylinder, a hydraulic cylinder, etc. For example, the second driving member is a motor, and the motor can drive the pin shaft 321 to move axially through a lead screw nut.

[0062] In the first embodiment, a pivot can be horizontally arranged inside the knuckle housing 12, and a bearing groove is provided on the adapter 312. Under the action of the reset member 14, the pivot can be rotatably limited in the bearing groove. The groove wall of the bearing groove pushes the pivot to drive the first knuckle structure 10 to rotate. The locking mechanism 32 can include a second driving member and a limiting member, and the limiting member is slidably connected to the adapter 312. The second driving member can drive the limiting member to slide and surround the bearing groove to form a through hole that matches the shape and size of the pivot.

[0063] The palm structure 200 is described below:

[0064] See also Figure 1 and Figure 6 The palm structure 200 includes a palm shell 210 and a connection seat 220 disposed on the palm shell 210. A receiving cavity 211 is formed inside the palm shell 210 to provide an installation space for the drive mechanism 31, making the entire structure of the dexterous hand 1000 more compact; the palm shell 210 can also play a shaping role, simulating the palm and back of a human hand. The connection seat 220 is at least partially exposed from the palm shell 210, and the first finger joint structure 10 is rotatably connected to the part of the connection seat 220 exposed from the palm shell 210. The connection seat 220 is a bridge between the first finger joint structure 10 and the palm shell 210, providing necessary support force to prevent excessive stress generated by movement from acting on the palm shell 210. The connection point between the first finger joint structure 10 and the connecting seat 220, and the connection between the first finger joint structure 10 and the adapter 312 are both located outside the accommodating cavity 211. The installation and disassembly process of the first finger joint structure 10 no longer needs to be performed inside the accommodating cavity 211, and is no longer limited by the spatial size of the accommodating cavity 211, making the operation more intuitive and simple, and reducing the difficulty of installation and disassembly.

[0065] A limiting groove 213 is provided on one side wall of the accommodating cavity 211, and the connecting seat 220 is arranged in the limiting groove 213. The limiting groove 213 provides a precise positioning and fixing space for the connecting seat 220. The connecting seat 220 is firmly installed in the limiting groove 213, which improves the connection stability and position accuracy between the first finger joint structure 10 and the palm shell 210. During the movement of the mechanical finger 100, the limiting groove 213 can prevent the connecting seat 220 from unnecessary deviation or shaking, thereby ensuring the stability and reliability of the rotation action.

[0066] The number of the limiting grooves 213 and the number of the connecting seats 220 are consistent with the number of the robotic fingers 100, so that each robotic finger 100 is independent of each other and each has a stable connection and support mechanism.

[0067] The driving components 30 of the four mechanical fingers 100 are arranged at intervals in the accommodating cavity 211. Through the above arrangement and layout, the driving components 30 of the mechanical thumb 300 and the mechanical fingers 100 can be arranged compactly together, thereby improving the utilization rate of the space of the accommodating cavity 211; and the driving components 30 of the mechanical fingers 100 are spaced apart from each other, which can ensure that each mechanical finger 100 is relatively independent.

[0068] It should be noted that, in the present application, when the dexterous hand 1000 is fully extended, the direction of the mechanical finger 100 is not completely perpendicular to the direction of the mechanical thumb 300, and there may be a certain angle between each mechanical finger 100, for example, the angle between two adjacent mechanical fingers 100 may be 3°. The existence of an angle between the mechanical fingers 100 can expand the envelope range of the mechanical fingers 100 and achieve anthropomorphism; it enables each mechanical finger 100 of the dexterous hand 1000 to form a variety of different gripping shapes and forces, thereby more effectively gripping and fixing objects of various shapes and sizes, and adapting to a variety of complex operating environments and task requirements.

[0069] The driving assembly 30 of the robotic finger 100 can adopt a folding design, that is, the power source 3111 and the screw rod 3113 are arranged on the same side of the gear box 3112, and are arranged at intervals along the thickness direction of the palm shell 210, so that the width dimension of the palm shell 210 can be reduced when four robotic fingers 100 are arranged at intervals.

[0070] See also Figure 1 and Figure 7 The back of the palm shell 210 is provided with a clamping portion 212, and the clamping portion 212 and the first finger joint structure 10 at least partially overlap in a direction perpendicular to the palm shell 210. The clamping portion 212 can shield the connection between the first finger joint structure 10 and the adapter 312 and the connection between the first finger joint structure 10 and the connecting seat 220, reduce the exposed mechanical parts, avoid direct contact between the staff and the transmission structure, and reduce safety hazards. The clamping portion 212 can also achieve a clamping action with the first finger joint structure 10. By adjusting the design and structure of the clamping portion 212, it can adapt to objects of different shapes, sizes and materials, and improve the adaptability and flexibility of the dexterous hand 1000.

[0071] 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.

[0072] 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 finger, It is characterized in that A dexterous hand for a humanoid robot, the mechanical finger comprising: A first finger joint structure, used for rotationally connecting with the palm structure of the dexterous hand; a second finger joint structure, rotatably connected to the first finger joint structure; A driving assembly, the driving assembly comprising a driving mechanism and a locking mechanism, the driving mechanism being used to be rotatably connected to the palm structure, the driving assembly being used to drive the first finger joint structure and the second finger joint structure to rotate, the locking mechanism having a first state and a second state, in the first state, the locking mechanism connects the driving assembly and the first finger joint structure; in the second state, the driving mechanism and the first finger joint structure are separated; The driving mechanism comprises a first driving member and a conversion member, wherein the conversion member has a first connection point, a second connection point and a third connection point; one end of the first driving member is used for rotationally connecting with the palm structure, the other end of the first driving member is rotationally connected with the first connection point, the second connection point is used for rotationally connecting with the palm structure, and the third connection point is rotationally connected with the first knuckle structure through the locking mechanism; The adapter is provided with a first connection hole to form the third connection point, and the first finger joint structure is provided with a second connection hole; the locking mechanism includes a pin shaft, and the pin shaft can be detachably passed through the first connection hole and the second connection hole.

2. The mechanical finger according to claim 1, It is characterized in that A limiting protrusion is provided on the first finger joint structure, and the adapter is pressed against the limiting protrusion to align the first connecting hole and the second connecting hole.

3. The mechanical finger according to claim 1, It is characterized in that The locking mechanism further includes a second driving member, and the second driving member is used to drive the pin shaft to pass through or disengage from the first connecting hole and the second connecting hole.

4. The mechanical finger according to claim 1, It is characterized in that The first finger joint structure includes a finger joint shell and a transmission rod arranged in the finger joint shell, one end of the transmission rod is used to be rotatably connected to the palm structure, and the other end of the transmission rod is rotatably connected to the second finger joint structure.

5. The mechanical finger according to claim 4, It is characterized in that The first finger joint structure also includes a reset member, and two ends of the reset member are respectively connected to the transmission rod and the adapter.

6. The mechanical finger according to claim 4, It is characterized in that The connection point between the knuckle shell and the first knuckle structure is the fourth connection point, the connection point between the knuckle shell and the palm structure is the fifth connection point, and the line connecting the fourth connection point and the fifth connection point intersects with the transmission rod.

7. The mechanical finger according to claim 1, It is characterized in that The first driving member includes a power source, a gear box, a screw rod and a screw sleeve. The gear box is used to be rotatably connected to the palm structure. A gear set is provided in the gear box. One end of the power source 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 rotatably connected to the adapter.

8. A dexterous hand, It is characterized in that For a humanoid robot, the dexterous hand comprises a palm structure and a mechanical finger as claimed in any one of claims 1 to 7, and the first knuckle structure of the mechanical finger is rotatably connected to the palm structure.

9. The dexterous hand according to claim 8, It is characterized in that The palm structure includes a palm shell and a connecting seat arranged on the palm shell, wherein the connecting seat is at least partially exposed from the palm shell, and the first finger joint structure is rotatably connected to the part of the connecting seat exposed from the palm shell.

10. The dexterous hand according to claim 9, It is characterized in that A clamping portion is provided on the back of the palm shell, and the clamping portion at least partially overlaps with the first finger joint structure along a direction perpendicular to the palm shell.

11. A humanoid robot, It is characterized in that The humanoid robot comprises the dexterous hand according to any one of claims 8 to 10.

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