Humanoid dexterous finger, humanoid dexterous hand adopting same and humanoid robot

Abstract

The humanoid dexterous finger comprises a single-finger base, a fingertip, a first knuckle and a second knuckle, the fingertip, the first knuckle and the second knuckle are sequentially hinged from top to bottom, the bottom end of the second knuckle is rotationally connected with the single-finger base through a swing part, and the rotating plane, relative to the swing part, of the second knuckle is not parallel to the rotating plane, relative to the single-finger base, of the swing part; the fingertips, the first knuckles and the second knuckles are respectively connected with at least one group of connecting rod driving mechanisms for driving the fingertips, the first knuckles and the second knuckles to independently act; each connecting rod driving mechanism comprises a main connecting rod and a driving assembly driving the main connecting rod to move, each driving assembly comprises a power piece, and the power pieces drive the connecting seats to slide back and forth along the sliding rails through pull ropes. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts the scheme. The humanoid robot adopts the humanoid dexterous hand. The dexterous finger has four active degrees of freedom and higher response speed, and hand actions closer to a real person are realized.

Description

Technical Field

[0001] The invention relates to the field of humanoid robots, in particular to a humanoid dexterous finger and a humanoid dexterous hand and a humanoid robot using the finger. Background Art

[0002] A humanoid robot is a robot designed to mimic human appearance and behavior, also known as a humanoid robot or humanoid robot. It has strong environmental adaptability, anthropomorphic working ability and intimacy, and can be widely used in industrial production, social services, rescue and disaster relief, and can replace humans in dangerous, repetitive and boring work.

[0003] As an important component of humanoid robots, the dexterity of humanoid dexterous hands also largely determines the fields in which humanoid robots can be applied. For example, the invention patent entitled "A Dexterous Finger Mechanism of a Freedom Robot" disclosed by China Patent Publication No. CN118143987A uses three sets of transmission mechanisms to control the fingers to achieve three active degrees of freedom and one passive degree of freedom, that is, the bending of the fingertips and the middle of the fingers is controlled by a set of transmission mechanisms to run synchronously. In some scenes that require fine control of grasping, it will be impossible to accurately control the bending degree of each knuckle, which limits the use of humanoid robots. In addition, in the above patent, a motor is used to drive the screw transmission. After long-term movement, the gap between the nut and the screw will increase, resulting in a decrease in the control accuracy of the dexterous hand, and the fingers cannot be accurately flexed or extended or swung to the exact predetermined position. Summary of the invention

[0004] The purpose of the present invention is to provide anthropomorphic dexterous fingers and anthropomorphic dexterous hands and humanoid robots using the fingers, which can effectively solve the problem that each knuckle of the existing anthropomorphic dexterous fingers cannot achieve fine bending control.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A humanoid dexterous finger comprises a single finger base and a fingertip, a first finger joint, and a second finger joint hinged in sequence from top to bottom, wherein the bottom end of the second finger joint is hinged to a swinging member, the swinging member is rotatably connected to the single finger base, and a rotation plane of the second finger joint relative to the swinging member is not parallel to a rotation plane of the swinging member relative to the single finger base;

[0007] The finger tip, the first finger joint and the second finger joint are respectively connected with at least one set of connecting rod driving mechanisms for driving the finger tip, the first finger joint and the second finger joint to move independently;

[0008] Each group of the connecting rod driving mechanism includes a main connecting rod and a driving assembly for driving the main connecting rod to move, the driving assembly includes a power piece, a pull rope driven by the power piece, a slide rail fixed on the single-finger base and a connecting seat slidably arranged on the slide rail, the connecting seat is movably connected to the main connecting rod, the pull rope includes an upper pull section and a lower pull section, the upper pull section and the lower pull section are respectively fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat, and the power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

[0009] In the above-mentioned anthropomorphic dexterous finger, a first pulley is provided at one end of the slide rail, one of the upper pull section and the lower pull section passes around the first pulley, and the upper pull section and the lower pull section are connected to the same power member.

[0010] In the above-mentioned anthropomorphic dexterous finger, a second pulley is further provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on both sides of the second pulley, and the connecting seat is slidably arranged on a slide rail between the first pulley and the second pulley.

[0011] In the above-mentioned anthropomorphic dexterous finger, the first pulley is located on a side of the slide rail away from the single-finger base, the power member is arranged at an end of the slide rail close to the single-finger base, or the power member is arranged on the single-finger base.

[0012] In the above-mentioned anthropomorphic dexterous finger, two groups of connecting rod driving mechanisms are connected to the second finger joint, namely the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism are respectively located on both sides of the swinging part relative to the rotation axis of the single finger base. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in the same direction to drive the second finger joint to rotate relative to the swinging part; the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in the opposite direction to drive the swinging part to rotate relative to the single finger base.

[0013] In the above-mentioned anthropomorphic dexterous finger, the second knuckle includes a second triangular connecting member, a first corner of the second triangular connecting member is hinged to the swinging member, a first group of connecting rod driving mechanisms and a second group of connecting rod driving mechanisms are respectively rotatably connected to the second corner of the second triangular connecting member through a main connecting rod, and the third corner of the second triangular connecting member is hinged to the bottom end of the first knuckle.

[0014] In the above-mentioned anthropomorphic dexterous finger, a group of connecting rod driving mechanisms is connected to the first knuckle, which is the third group of connecting rod driving mechanisms. The third group of connecting rod driving mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod driving mechanisms is connected to a second rotating shaft, the bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotatably connected to the second rotating shaft, the top end of the first secondary connecting rod is rotatably connected to the first knuckle, and the other end of the first auxiliary connecting rod is rotatably connected to the second knuckle.

[0015] In the above-mentioned anthropomorphic dexterous finger, the first knuckle includes a first triangular connector, a first angle of the first triangular connector is hinged to the second knuckle, a second angle of the first triangular connector is hinged to the fingertip, and a third angle of the first triangular connector is connected to the third group of connecting rod driving mechanisms.

[0016] In the above-mentioned anthropomorphic dexterous fingers, a group of connecting rod driving mechanisms is connected to the fingertips, which is the fourth group of connecting rod driving mechanisms. The fourth group of connecting rod driving mechanisms also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth group of connecting rod driving mechanisms is connected to a third rotating shaft, the bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotatably connected to the third rotating shaft, the top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotatably connected to the second knuckle.

[0017] In the above-mentioned anthropomorphic dexterous finger, the fourth group of connecting rod driving mechanism also includes a third sub-connecting rod and a third triangular connecting member, the first angle of the third triangular connecting member is rotatably connected to the first knuckle or the second knuckle, the second angle of the third triangular connecting member is rotatably connected to the top end of the second sub-connecting rod, the third angle of the third triangular connecting member is rotatably connected to one end of the third sub-connecting rod, and the other end of the third sub-connecting rod is rotatably connected to the fingertip.

[0018] In the above-mentioned anthropomorphic dexterous finger, the swinging member and the single-finger base are rotatably connected via a fourth rotating shaft, the swinging member and the single-finger base are respectively located at two ends of the fourth rotating shaft, the swinging member is connected to a first abutment member, and the single-finger base is provided with a second abutment member, the first abutment member abuts against the second abutment member on the side of the second abutment member facing away from the swinging member.

[0019] In the above-mentioned anthropomorphic dexterous finger, one of the first abutment member and the second abutment member is a guide rail, and the other is a hook slidably matched with the guide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail.

[0020] The anthropomorphic dexterous hand comprises a palm and anthropomorphic dexterous fingers arranged on the palm and adopting any of the above solutions.

[0021] A humanoid robot adopts the above-mentioned humanoid dexterous hand.

[0022] Compared with the prior art, the advantages of the present invention are:

[0023] By separately setting a connecting rod driving mechanism for driving the fingertips, the first knuckles, and the second knuckles, the problem that each knuckle of the current humanoid dexterous finger cannot achieve fine bending control is solved. The fingertips, the first knuckles, and the second knuckles are hinged from top to bottom in sequence, which is consistent with the structure of human fingers. Since they are hinged in sequence, they can all be relatively bent, and the second knuckle is connected to the single finger base through a swinging member. The second knuckle and the swinging member, and the swinging member and the single finger base rotate in non-parallel planes respectively. The entire humanoid dexterous finger has four degrees of freedom, and the fingertips, the first knuckles, and the second knuckles are all connected to a connecting rod driving mechanism that independently drives their movements, that is, the four degrees of freedom are all active degrees of freedom. The bending or swinging degree of the finger at different positions under each degree of freedom can be controlled separately as needed, so that the humanoid dexterous finger truly has the same degree of freedom and control as human fingers. A slide rail is set on the single finger base, and the connecting seat slides along the slide rail, thereby effectively controlling the sliding direction of the connecting seat, keeping the trajectory of the connecting seat consistent during the sliding process, and more accurately transmitting power to the finger to control the movement of the finger. The reciprocating sliding of the connecting seat along the slide rail is controlled by a pull rope. After the action signal is given, the power component can respond quickly and drive the connecting seat to move through the pull rope. Even after long-term use, it can still maintain a high control accuracy.

[0024] Furthermore, a first pulley is provided at one end of the slide rail, and one of the upper pull section and the lower pull section passes through the first pulley, and the upper pull section and the lower pull section are connected to the same power member. The pull rope direction of the upper pull section or the lower pull section can be changed by the first pulley, so that the two pull ropes can face the same direction, thereby achieving the purpose of controlling the two pull ropes by one power member at the same time, which not only makes the control response of the upper pull section and the lower pull section faster, but also reduces the number of power members, which is conducive to reducing costs.

[0025] Furthermore, a second pulley is provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on both sides of the second pulley, and the connecting seat is slidably provided on a slide rail between the first pulley and the second pulley. The second pulley is provided to prevent the pull rope bypassing the first pulley from being entangled with another section of the pull rope, thereby ensuring the smooth movement of the two sections of the pull rope, and the connecting seat is provided on the slide rail between the first pulley and the second pulley, so that the pull rope bypassing the first pulley can also be prevented from being entangled on the connecting seat, thereby ensuring the smooth sliding of the connecting seat.

[0026] Furthermore, the first pulley and the second pulley are respectively arranged on the slide rail via a rotating shaft, and positioning sleeves are arranged on the rotating shafts on both sides of the first pulley and the rotating shafts on both sides of the second pulley. The positioning sleeves can ensure the position of the pulleys on the corresponding shafts, and avoid the pulleys from moving axially along the rotating shafts when rolling, which may cause the pull rope to be disengaged from the pulleys.

[0027] Furthermore, the first pulley is located on a side of the slide rail away from the single-finger base, and the power member is arranged at an end of the slide rail close to the single-finger base, or the power member is arranged on the single-finger base. The power member is arranged close to the single-finger base or on the single-finger base, which provides a larger installation space for the power member, and can lower the center of gravity of the entire dexterous hand, reduce the weight of the finger part, and because of sufficient space, the selection range of the power member is wider, which is conducive to reducing the overall cost.

[0028] Furthermore, the second finger joint is connected with two groups of connecting rod driving mechanisms, which are a first group of connecting rod driving mechanisms and a second group of connecting rod driving mechanisms. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively located on both sides of the rotation axis of the swinging member relative to the single finger base. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move in the same direction to drive the second finger joint to rotate relative to the swinging member; the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move in opposite directions to drive the swinging member to rotate relative to the single finger base. By locating the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on both sides of the rotation axis of the swinging member relative to the single finger base, respectively, when the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in the same direction, the force exerted by the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on the second finger joint and the torque generated by the swinging member relative to the rotation axis of the single finger base are zero. At this time, with the push and pull of the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms, the second finger joint will flex and extend relative to the swinging member; and when the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in opposite directions, the force exerted by the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on the second finger joint and the rotation torque generated by the swinging member relative to the rotation axis of the single finger base will be opposite, which will cause the swinging member to rotate relative to the single finger base, thereby causing the second finger joint and the finger parts above it to swing left and right relative to the single finger base, and the bending and swinging control of the second finger joint is achieved through the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms.

[0029] Furthermore, the second knuckle includes a second triangular connector, the first corner of the second triangular connector is hinged to the swinging member, the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively rotatably connected to the second corner of the second triangular connector through the main connecting rod, and the third corner of the second triangular connector is hinged to the bottom end of the first knuckle. The specific structure of the second knuckle is that the first corner of the second triangular connector is used as a fulcrum, the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms push and pull the second corner of the second triangular connector to drive the second knuckle to flex and extend, and the first knuckle uses the third corner of the second triangular connector as a flexion and extension axis. The second knuckle of this structure can not only ensure the flexion and extension of the second knuckle and provide a fulcrum for the rotation of the first knuckle, but also the structure of the triangular connector has a relatively stable mechanical structure.

[0030] Furthermore, the first knuckle is connected with a group of connecting rod driving mechanisms, which is the third group of connecting rod driving mechanisms. The third group of connecting rod driving mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod driving mechanisms is connected with a second rotating shaft. The bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotationally connected to the second rotating shaft. The top end of the first secondary connecting rod is rotationally connected to the first knuckle, and the other end of the first auxiliary connecting rod is rotationally connected to the second knuckle. The specific structure of the third group of connecting rod driving mechanisms for driving the flexion and extension of the first knuckle is that through the rotational connection between the first secondary connecting rod and the main connecting rod, when the first knuckle is bent at a relatively large angle, a larger angle can be formed between the first secondary connecting rod and the main connecting rod to avoid other parts on the finger, and a first auxiliary connecting rod is added to the rotating shaft connecting the first secondary connecting rod and the main connecting rod to limit the motion trajectory of the second rotating shaft, so as to ensure that the main connecting rod drives the first secondary connecting rod to move along the set trajectory.

[0031] Furthermore, the first knuckle includes a first triangular connector, a first angle of the first triangular connector is hinged to the second knuckle, a second angle of the first triangular connector is hinged to the fingertip, and the third angle of the first triangular connector is connected to the third group of connecting rod driving mechanisms. The specific structure of the first knuckle uses the first angle of the first triangular connector as the fulcrum for flexion and extension, and the connecting rod driving mechanism is connected to the first triangular connector through the third angle of the first triangular connector, thereby pushing the first triangular connector to flex and extend around the first angle, and the second angle of the first triangular connector serves as the fulcrum for flexion and extension of the fingertip. This structure can not only realize the flexion and extension of the first knuckle but also provide a fulcrum for the rotation of the fingertip. Similarly, the structure of the triangular connector has a relatively stable mechanical structure.

[0032] Furthermore, the fingertips are connected with a group of connecting rod driving mechanisms, which are the fourth group of connecting rod driving mechanisms. The fourth group of connecting rod driving mechanisms also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth group of connecting rod driving mechanisms is connected with a third rotating shaft. The bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotatably connected to the third rotating shaft. The top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotatably connected to the second finger joint. The specific structure of the fourth group of connecting rod driving mechanisms for driving the flexion and extension of the fingertips is to limit the motion trajectory of the third rotating shaft through the second auxiliary connecting rod, so as to ensure that the main connecting rod can drive the second secondary connecting rod to move according to the set trajectory.

[0033] Furthermore, the fourth group of connecting rod driving mechanism also includes a third secondary connecting rod and a third triangular connecting member, the first angle of the third triangular connecting member is rotatably connected to the first finger joint or the second finger joint, the second angle of the third triangular connecting member is rotatably connected to the top of the second secondary connecting rod, the third angle of the third triangular connecting member is rotatably connected to one end of the third secondary connecting rod, and the other end of the third secondary connecting rod is rotatably connected to the fingertip. Adding the third triangular connecting member and the third secondary connecting rod to the fourth group of connecting rod driving mechanism allows the fourth group of connecting rod driving mechanism to not only avoid other parts on the finger, but also, since the distance from the fingertip to the single finger base is relatively far, adding the third triangular connecting member with the first angle as the rotation fulcrum can ensure the stability of the movement of the fourth group of connecting rod driving mechanism.

[0034] Furthermore, the swing member and the single-finger base are rotatably connected via a fourth rotating shaft, the swing member and the single-finger base are respectively located at two ends of the fourth rotating shaft, the swing member is connected with a first abutment member, the single-finger base is provided with a second abutment member, and the first abutment member abuts against the second abutment member on the side of the second abutment member facing away from the swing member. By arranging the first abutment member and the second abutment member to abut against each other, the radial force on the fourth rotating shaft is reduced, ensuring that the fourth rotating shaft can operate stably for a long time.

[0035] Furthermore, one of the first abutment member and the second abutment member is a guide rail, and the other is a hook that slides with the guide rail, and when the swing member rotates relative to the single-finger base, the hook slides on the slide rail. Through the cooperation between the hook and the slide rail, the hook can be used to distribute the radial force on the fourth rotating shaft, and the swing member will not be hindered from rotating around the fourth rotating shaft.

[0036] A humanoid dexterous hand comprises a palm and a humanoid dexterous finger disposed on the palm and adopting any of the above solutions. And a humanoid robot adopts the above humanoid dexterous hand. Both the humanoid dexterous hand and the humanoid robot have better controllability, improved finger freedom, can adapt to more complex scenes, and have dexterous fingers with faster response speed, achieving hand movements closer to real people. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A three-dimensional diagram of the humanoid dexterous finger of the present invention;

[0038] Figure 2 This is a three-dimensional diagram of the humanoid dexterous finger of the present invention after removing a second triangular connecting piece;

[0039] Figure 3 It is a structural schematic diagram of the driving assembly of the four-group connecting rod driving mechanism in the present invention;

[0040] Figure 4 It is a schematic diagram of the structure of a single driving component in the present invention;

[0041] Figure 5 An exploded view of a single drive assembly in the present invention;

[0042] Figure 6 It is a front view of a single driving assembly in the present invention;

[0043] Figure 7 for Figure 4 AA section view;

[0044] Figure 8 It is an exploded view of a single-finger base and a swinging member in the present invention;

[0045] Fig. 9 It is a schematic diagram of the connection structure of the fingertip, the first knuckle and the second knuckle in the present invention;

[0046] Fig.10 It is a schematic diagram of the connection structure of the main connecting rod, the first secondary connecting rod and the first auxiliary connecting rod in the third connecting rod driving mechanism of the present invention;

[0047] Fig.11 It is a schematic diagram of the connection structure of the main connecting rod, the second auxiliary connecting rod, the second auxiliary connecting rod, the third auxiliary connecting rod and the third triangular connecting member in the fourth connecting rod driving mechanism of the present invention;

[0048] Fig.12 It is a schematic diagram of the connection structure between the swing member and the single-finger base in the present invention.

[0049] The accompanying drawings are marked as follows:

[0050] Single finger base 100, second abutment member 110, finger tip 200, first finger joint 300, first triangular connector 310, second finger joint 400, first rotating shaft 410, second triangular connector 420, swing member 500, fourth rotating shaft 510, first abutment member 520, main connecting rod 610, fifth rotating shaft 620, positioning sleeve 621, driving assembly 630, power member 640, pull rope 650, upper pull section 651, lower pull section 652, slide rail 660, connecting seat 670, seat body 671, first connecting portion 6 711, fixed groove 6712, second connecting part 6713, slider 672, slide groove 6721, first pulley 680, second pulley 690, first group of connecting rod driving mechanism 710, second group of connecting rod driving mechanism 720, third group of connecting rod driving mechanism 800, first sub-connecting rod 810, first auxiliary connecting rod 820, second rotating shaft 830, fourth group of connecting rod driving mechanism 900, second sub-connecting rod 910, second auxiliary connecting rod 920, third rotating shaft 930, third sub-connecting rod 940, third triangular connecting member 950. DETAILED DESCRIPTION

[0051] The humanoid dexterous finger comprises a single finger base 100 and a fingertip 200, a first finger joint 300, and a second finger joint 400 which are hinged in sequence from top to bottom, wherein the bottom end of the second finger joint 400 is hinged to a swinging member 500, and the swinging member 500 is rotatably connected to the single finger base 100, and the rotation plane of the second finger joint 400 relative to the swinging member 500 is not parallel to the rotation plane of the swinging member 500 relative to the single finger base 100; the fingertip 200, the first finger joint 300, and the second finger joint 400 are respectively connected to at least one group of connecting rod driving mechanisms for driving the fingertip 200, the first finger joint 300, and the second finger joint 400 to move independently; each group of the connecting rod driving mechanisms comprises a main connecting rod 610 and a driving assembly 630 for driving the main connecting rod 610 to move, the driving assembly 630 includes a power piece 640, a pull rope 650 driven to move by the power piece 640, a slide rail 660 fixed on the single-finger base 100 and a connecting seat 670 slidably arranged on the slide rail 660, the connecting seat 670 is movably connected to the main connecting rod 610, the pull rope 650 includes an upper pull section 651 and a lower pull section 652, the upper pull section 651 and the lower pull section 652 are fixedly connected to the connecting seat 670 at both ends of the sliding direction of the connecting seat 670, and the power piece 640 drives the connecting seat 670 to slide back and forth along the slide rail 660 through the pull rope 650.

[0052] By separately setting a connecting rod driving mechanism for driving the fingertip 200, the first finger joint 300, and the second finger joint 400, the problem that each finger joint of the current humanoid dexterous finger cannot achieve fine bending control is solved. The fingertip 200, the first finger joint 300, and the second finger joint 400 are hinged from top to bottom, which is consistent with the structure of human fingers. Since they are hinged in sequence, they can be relatively bent, and the second finger joint 400 is connected to the single finger base 100 through the swing member 500. The second finger joint 400 and the swing member 500, and the swing member 500 and the single finger base 100 rotate in non-parallel planes respectively. The entire humanoid dexterous finger has four degrees of freedom, and the fingertip 200, the first finger joint 300, and the second finger joint 400 are all connected with a connecting rod driving mechanism that independently drives their movements, that is, the four degrees of freedom are all active degrees of freedom, and the bending or swinging degree of the finger at different positions under each degree of freedom can be controlled separately as needed, so that the humanoid dexterous finger truly has the same degrees of freedom and control as human fingers. A slide rail 660 is provided on the single-finger base 100, and the connecting seat 670 slides along the slide rail 660, thereby effectively controlling the sliding direction of the connecting seat 670, keeping the trajectory of the connecting seat 670 consistent during the sliding process, and being able to more accurately transmit power to the finger to control the movement of the finger. The reciprocating sliding of the connecting seat 670 along the slide rail 660 is controlled by the pull rope 650. After the action signal is given, the power member 640 can respond quickly and drive the connecting seat 670 to move through the pull rope 650. Even after long-term use, a high control accuracy can still be maintained.

[0053] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0056] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] See also Figures 1 to 12 This is an embodiment of the humanoid dexterous finger of the present invention, and the humanoid dexterous hand and humanoid robot using the finger. The humanoid dexterous finger has a structure similar to that of a human finger, including a single finger base 100 and a fingertip 200, a first finger joint 300, and a second finger joint 400 hinged from top to bottom in sequence. The hinged connection method allows the fingertip 200 to rotate relative to the first finger joint 300, and the first finger joint 300 to rotate relative to the second finger joint 400. The rotation can be understood as the flexion and extension of the finger, and the above rotations are all performed in the same plane. The bottom end of the second finger joint 400 is hinged to the swinging member 500, so that the second finger joint 400 can also flex and extend relative to the swinging member 500, and the flexion and extension plane of the second finger joint 400 relative to the swinging member 500 coincides with the flexion and extension plane of the first finger joint 300 relative to the second finger joint 400, thereby realizing the same flexion and extension freedom of the humanoid dexterous finger as the four fingers of the human body except the thumb. The swing member 500 is rotatably connected to the single-finger base 100, and the rotation plane is not parallel to the rotation plane of the second finger joint 400 relative to the swing member 500, that is, the fingers above the second finger joint 400 are given a fourth degree of freedom, and can swing relative to the single-finger base 100. In order to be closer to the range of motion of human fingers, the swing member 500 swings left and right in a vertical plane relative to the single-finger base 100, while the fingertip 200, the first finger joint 300, and the second finger joint 400 flex and extend in a vertical plane perpendicular to the swing plane.

[0058] In order to realize the four degrees of freedom of the above-mentioned anthropomorphic dexterous fingers, the fingertip 200, the first knuckle 300 and the second knuckle 400 are all connected with a connecting rod driving mechanism that independently drives their movements, ensuring that the four degrees of freedom are active degrees of freedom, that is, a certain part of the finger can be independently actively controlled to move within the allowed degrees of freedom, such as independently controlling the flexion and extension of the fingertip 200, independently controlling the flexion and extension of the first knuckle 300, independently controlling the flexion and extension of the second knuckle 400 or swinging left and right. In this way, the anthropomorphic dexterous hand has activity characteristics similar to those of human fingers.

[0059] Since the second knuckle 400 also has the characteristic of swinging left and right, the second knuckle 400 will drive the fingertip 200 and the first knuckle 300 to swing left and right when it swings left and right, and the connecting rod driving mechanism generally moves in a straight line. In order to better adapt to the swinging characteristics of the fingers, each set of connecting rod mechanisms includes a main connecting rod 610 and a driving assembly 630 arranged on the single finger base 100. The main connecting rod 610 is rotatably connected to the driving assembly 630, and the driving assembly 630 transmits power to the corresponding finger part through the main connecting rod 610.

[0060] Since the space in the fingertips 200 or knuckles is small, if the drive assembly 630 is set at these locations, the drive assembly 630 is also required to have a small size and a high torque, which makes the range of options for the drive assembly 630 that meets the above conditions small, and the corresponding price of the drive assembly 630 is also high. In this embodiment, the drive assembly 630 is set on the single-finger base 100, and the space of the single-finger base 100 is relatively larger, and the size of the drive assembly 630 that can be accommodated is also larger, which makes the range of options for the drive assembly 630 larger, which is conducive to reducing the price of the drive assembly 630, thereby reducing the price of the entire dexterous finger.

[0061] like Figures 3 to 7 As shown, the driving assembly 630 includes a power member 640, a pull cord 650 driven by the power member 640, a slide rail 660 fixed on the single-finger base 100, and a connecting seat 670 slidably arranged on the slide rail 660. The setting direction of the slide rail 660 can be set according to the requirements of the humanoid dexterous hand. In this embodiment, the slide rail 660 is vertically arranged, and the corresponding connecting seat 670 slides along the slide rail 660 in the vertical direction.

[0062] The pull rope 650 includes an upper pull section 651 and a lower pull section 652. The upper pull section 651 is mainly used to pull the connection seat 670 upwards so that the connection seat 670 slides upwards along the slide rail 660; the lower pull section 652 is mainly used to pull the connection seat 670 downwards so that the connection seat 670 slides downwards along the slide rail 660. The upper pull section 651 and the lower pull section 652 can be two sections of a pull rope 650 that play different roles, or two pull ropes 650 can be used to achieve different purposes. No matter it is one pull rope 650 or two pull ropes 650, they are all connected to the power member 640, so that the power member 640 controls the connection seat 670 to reciprocate up and down along the slide rail 660 through the pull rope 650.

[0063] The power member 640 can be one or two. If there are two power members 640, they provide power for the upper pull section 651 to be lifted up and the lower pull section 652 to be pulled down. For example, a driving motor is provided at each end of the upper slide rail 660 as the power member 640. The motor shaft of the driving motor is wound around or releases the pull rope 650 to control the sliding of the connecting seat 670 on the slide rail 660. In this embodiment, there is only one power member 640, and the lifting action of the upper pull section 651 or the pulling action of the lower pull section 652 is controlled by the power member 640 at the same time. Specifically, a first pulley 680 is provided at one end of the slide rail 660, and one of the upper pull section 651 and the lower pull section 652 bypasses the first pulley 680. The direction of the upper pull section 651 or the lower pull section 652 is changed by the first pulley 680, so that the upper pull section 651 or the lower pull section 652 is parallel and faces one direction, and is connected to the power member 640 at the same time. The power member 640 can be a driving motor, and the pull rope 650 of the upper pull section 651 and the pull rope 650 of the lower pull section 652 are all on the motor shaft of the driving motor. When the motor shaft rotates forward, the pull rope 650 of the upper pull section 651 is released, and the pull rope 650 of the lower pull section 652 is wound at the same time, so as to realize the action of pulling down the connecting seat 670; when the motor shaft is reversed, the pull rope 650 of the upper pull section 651 is wound, and the pull rope 650 of the lower pull section 652 is released at the same time, so as to realize the action of lifting the connecting seat 670. The upward movement or downward movement of the connecting seat 670 will also drive the corresponding finger joint movement through the main connecting rod 610. A sensor for detecting the motor shaft speed and the number of rotations, such as a Hall sensor, is provided on the driving motor. By controlling the speed and the number of rotations, the finger movement position is adjusted, and by detecting the actual speed of the motor, the motor speed can be understood in real time and adjusted, and the flexion and extension speed of the finger can be accurately controlled.

[0064] In addition to the drive motor, a power member 640 such as a double-headed cylinder can also be used to achieve the purpose of controlling the pull rope 650 through the forward and reverse actions of a power member 640 to drive the connecting seat 670 to reciprocate along the slide rail 660. Similarly, a sensor can be added to detect the piston movement position of the double-headed cylinder, so as to accurately adjust the finger movement position.

[0065] Furthermore, the power member 640 is arranged in the single-finger base 100, below the slide rail 660, making full use of the space in the single-finger base 100, and can reduce the center of gravity of the entire humanoid dexterous hand, and can also reduce the diameter of the finger, so that the finger is closer to the size of the human finger. Of course, the power member 640 can also be arranged at the end of the slide rail 660 close to the single-finger base 100. At this time, the first pulley 680 is located at the end of the slide rail 660 away from the single-finger base 100, so that the connecting seat 670 can slide on the slide rail 660 between the first base and the power member 640. If the power member 640 is arranged on the finger joint, the size of the power member 640 is limited, and it is also necessary to generate a large torque. The price of the power member 640 that meets the conditions will be very expensive. In this embodiment, the power member 640 is arranged in the single-finger base 100, and there is enough space in the single-finger base 100, so the size limit of the power member 640 becomes smaller, and the selection range of the power member 640 is wider, which is conducive to reducing the manufacturing cost of the entire dexterous hand.

[0066] If the length of the slide rail 660 is too long or the diameter of the first pulley 680 is too short, the upper pull section 651 may interfere with or be entangled with the connecting seat 670 after bypassing the first pulley 680, thereby affecting the normal sliding of the connecting seat 670. Therefore, a second pulley 690 is also provided on the slide rail 660 between the first pulley 680 and the power member 640, and the upper pull section 651 and the lower pull section 652 are respectively located on both sides of the second pulley 690. Through the restriction of the first pulley 680 and the second pulley 690, the pull rope 650 on the left and right sides between the first pulley 680 and the second pulley 690 maintains a certain distance, thereby avoiding the occurrence of the above-mentioned problem.

[0067] Furthermore, a protective tube is provided between the second pulley 690 and the power member 640 and is sleeved on the outer periphery of the pull rope 650. Since multiple sets of driving components 630 are provided on the single-finger base 100, in order to prevent the pull ropes 650 of adjacent driving components 630 from being entangled, and in order to prevent the pull ropes 650 from touching other parts of the dexterous hand, the above functions are realized through the protective tube. The diameter of the protective tube can be smaller than the diameter of the second pulley 690, so that the two sections of the pull rope 650 below the second pulley 690 are in a retracted state.

[0068] The first pulley 680 and the second pulley 690 are both arranged on the slide rail 660 through the fifth rotating shaft 620, and positioning sleeves 621 are arranged on the fifth rotating shaft 620 on both sides of the first pulley 680 and the fifth rotating shaft 620 on both sides of the second pulley 690. The sleeves can limit the relative positions of the first pulley 680 and the second pulley 690 in the axial direction of the fifth rotating shaft 620, so as to avoid axial movement along the fifth rotating shaft 620 when the roller rolls, thereby preventing the pull rope 650 from detaching from the pulley. In addition to using an optical axis, the fifth rotating shaft 620 can also be replaced by a bolt, and the pulley is arranged on the part without a thread on the bolt, and the bolt can also be fixed to the single-finger base 100, so that there is no need to set other components to fix the slide rail 660 and the single-finger base 100, simplifying the overall structure.

[0069] In the above embodiment, the first pulley 680 and the second pulley 690 are both arranged on the slide rail 230 through the fifth rotating shaft 620. The first pulley 680 and the second pulley 690 are both fixed pulleys. The pull rope 650 cooperates with the fixed pulley to control the movement of the connecting seat 670. The moving speed of the connecting seat 670 is consistent with the retraction and extension speed of the pull rope 650. This method has a higher response speed. The movement of the power member 640 can be quickly transmitted to the connecting seat 670 and drive the corresponding finger joint movement through the main connecting rod 610.

[0070] On the basis of the above embodiment, the connection seat 670 includes a seat body 671 and a slider 672 detachably fixed to the connection seat 670. The slider 672 and the seat body 671 can be connected by screws or by detachable means such as snap-on. The detachable connection between the slider 672 and the seat body 671 facilitates the manufacture of the connection seat 670 and can also meet the functional requirements of different positions of the connection seat 670. The slider 672 is a wearable part, and the seat body 671 plays the role of connecting the pull rope 650, the main connecting rod 610 and other components. Therefore, the detachable connection method is adopted, which is also convenient for replacement and maintenance after the slider 672 is worn.

[0071] The slider 672 is provided with a slide groove 6721 which cooperates with the slide rail 660. The cross-sectional shape of the slide groove 6721 is adapted to the cross-sectional shape of the slide rail 660. For example, the slide rail 660 and the slider 672 can be made into a dovetail shape or a concave-convex cross-section.

[0072] The seat body 671 is provided with a first connecting portion 6711 fixed to the pull rope 650. The pull rope 650 can be fixed to the first connecting portion 6711 by means of clipping or screwing. For example, a clip is provided on the first connecting portion 6711 to clamp the pull rope 650. A fixing groove 6712 can also be opened on the first connecting portion 6711. The fixing groove 6712 can be provided with a spring clip to clamp the pull rope 650. The pull rope 650 can also be fixed in the fixing groove 6712 by a bolt passing through the fixing groove 6712.

[0073] The seat body 671 is also provided with a second connecting portion 6713 connected to the main connecting rod 610. The second connecting portion 6713 and the main connecting rod 610 are generally connected in an active manner to provide the main connecting rod 610 with more degrees of freedom. For example, a sliding rod is provided on the second connecting portion 6713, and the main connecting rod 610 is slidably connected to the sliding rod.

[0074] To avoid interference, the first connection part 6711 and the second connection part 6713 are respectively located on opposite sides of the slide rail 660. In this embodiment, the first connection part 6711 and the pull rope 650 are located on the same side of the slide rail 660, and the second connection part 6713 and the slider 672 are located on the other side of the slide rail 660, thereby avoiding the first pulley 680 or the pull rope 650 from affecting the movement of the main connecting rod 610.

[0075] Based on the above embodiments, Figure 2 , Figure 3 , Fig. 9 As shown, the second finger joint 400 is connected with two groups of connecting rod driving mechanisms, namely the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720. The swinging member 500 rotates around the single finger base 100, and its rotation axis is L1. The first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 are arranged side by side and are respectively located on both sides of the rotation axis L1. In this way, when the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 move synchronously in the same direction, two equal-sized squares will be generated relative to the rotation axis L1. The torque in the opposite direction will make the swing member 500 not rotate around the rotation axis L1, but will make the second finger joint 400 rotate around the rotation axis L2 relative to the swing member 500. In this embodiment, the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 synchronously push the second finger joint 400 upward around the rotation axis L2 to swing upward, showing an extension action, while the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 synchronously pull the second finger joint 400 downward around the rotation axis L2 to swing downward, showing a flexion action. However, when the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 synchronously move in opposite directions, a torque with the same rotation direction around the rotation axis L1 will be generated on the swing member 500, causing the swing member 500 to rotate around the rotation axis L1, thereby realizing the left and right swing of the fingers.

[0076] Furthermore, the top ends of the main connecting rods 610 of the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 are both rotatably connected to the first rotating shaft 410, and the first rotating shaft 410 is rotatably connected to the second finger joint 400. The rotation axis of the first rotating shaft 410 is L3, so that the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 share the first rotating shaft 410, so that the forces when the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 drive the second finger joint 400 to flex and extend are equal, and it is easier to control the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 to move synchronously.

[0077] The second finger joint 400 includes a second triangular connector 420, which has three corners, corresponding to the swinging member 500, the connecting rod driving mechanism and the first finger joint 300 respectively. Specifically, the first corner of the second triangular connector 420 is hinged to the swinging member 500, the second corner of the second triangular connector 420 is connected to the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720, and the third corner of the second triangular connector 420 is hinged to the first finger joint 300, and its rotation axis is L4.

[0078] Since the second knuckle 400 needs to support the first knuckle 300 and the fingertip 200, and the left and right swinging of the finger also needs to be achieved by driving the second knuckle 400 to drive the swinging member 500 to rotate through the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720, therefore, in this embodiment, the second knuckle 400 includes two second triangular connecting members 420 arranged in parallel and spaced apart, which not only improves the strength of the second knuckle 400, but also forms a space in the middle of the second knuckle 400, and the connecting rod driving mechanisms connected to the fingertip 200 and the first knuckle 300 all pass through between the two second triangular connecting members 420, and the two second triangular connecting members 420 can also protect the passing connecting rod driving mechanisms.

[0079] Based on the above embodiments, Figure 2 , Fig. 9 , Fig.10As shown, since the first finger joint 300 only needs to realize flexion and extension, a group of connecting rod driving mechanisms are connected to the first finger joint 300, which is the third group of connecting rod driving mechanisms 800. The driving assembly 630 of the third group of connecting rod driving mechanisms 800 is arranged on the single finger base 100. Therefore, the main connecting rod 610 of the third group of connecting rod driving mechanisms 800 needs to be arranged very long to transmit the power of the driving assembly 630 to the first finger joint 300. The third connecting rod driving mechanism must pass through the second finger joint 400. The second knuckle 400 can be flexed and extended, and the first knuckle 300 can also be flexed and extended. When the first knuckle 300 and the second knuckle 400 simultaneously reach the maximum flexion position and the maximum extension position, if the power is transmitted only by the main connecting rod 610, the main connecting rod 610 will sweep a huge range, which will interfere with other components provided on the second knuckle 400, and the single main connecting rod 610 will also obviously exceed the range of the second knuckle 400, so that the second knuckle 400 cannot maintain the proportion shape of a human finger. Figure 2 , Fig.10 As shown, in order to solve the above problems, the third group of connecting rod driving mechanism 800 also includes a first secondary connecting rod 810 and a first auxiliary connecting rod 820. The top end of the main connecting rod 610 of the third group of connecting rod driving mechanism 800 is connected to the second rotating shaft 830, and the bottom end of the first secondary connecting rod 810 is also rotatably connected to the second rotating shaft 830. The top end of the first secondary connecting rod 810 is rotatably connected to the first finger joint 300, and one end of the first auxiliary connecting rod 820 is also rotatably connected to the second rotating shaft 830. The rotation axis of the second rotating shaft 830 is L5. The other end of the first auxiliary connecting rod 820 is rotatably connected to the second finger joint 400. Through the first auxiliary connecting rod 820, when driving the first finger joint 300 to flex and extend, the motion trajectory of the rotation axis L5 is limited. When realizing the flexion and extension of the first finger joint 300, the angle between the main connecting rod 610 and the first secondary connecting rod 810 can change, thereby avoiding some components on the second finger joint 400. The other end of the optimal first auxiliary link 820 is rotatably connected to the first rotating shaft 410 of the second finger joint 400, which can reduce the number of parts of the entire device and save costs.

[0080] Further, in order to realize that the first knuckle 300 can be driven by the third group of connecting rod driving mechanism 800 to rotate relative to the second knuckle 400 and be connected to the fingertip 200, the first knuckle 300 includes a first triangular connector 310, the first angle of the first triangular connector 310 is connected to the second knuckle 400, the second angle of the first triangular connector 310 is connected to the fingertip 200, the rotation axis is L6, the third angle of the first triangular connector 310 is connected to the third group of connecting rod driving mechanism 800, that is, the third angle of the first triangular connector 310 is connected to the top of the first secondary connecting rod 810, and the rotation axis is L7. The driving assembly 630 of the third group of connecting rod driving mechanism 800 transmits power from the main connecting rod 610 to the first secondary connecting rod 810, and the first secondary connecting rod 810 pushes and pulls the first knuckle 300, so that the first knuckle 300 rotates around the rotation axis L4, and the purpose of the third group of connecting rod driving mechanism 800 driving the first knuckle 300 to flex and extend is realized.

[0081] On the basis of the above embodiment, a group of connecting rod driving mechanisms is connected to the fingertip 200, which is the fourth group of connecting rod driving mechanisms 900. The problem encountered when driving the first finger joint 300 to flex and extend is the same. The fourth group of connecting rod driving mechanisms 900 also needs to avoid the components in the second finger joint 400 and the components in the first finger joint 300. Therefore, Figure 2 , Fig. 9 , Fig.11 As shown, the fourth group of connecting rod driving mechanism 900 includes a second secondary connecting rod 910 and a second auxiliary connecting rod 920. The top of the main connecting rod 610 of the fourth group of connecting rod driving mechanism 900 is connected to the third rotating shaft 930, and the bottom of the second secondary connecting rod 910 and one end of the second auxiliary connecting rod 920 are both rotatably connected to the third rotating shaft 930, that is, the main connecting rod 610, the second secondary connecting rod 910 and the second auxiliary connecting rod 920 of the fourth group of connecting rod driving mechanism 900 can rotate around the third rotating shaft 930, and its rotation axis is L8. The top of the second secondary connecting rod 910 is connected to the fingertip 200, and the other end of the second auxiliary connecting rod 920 is rotatably connected to the second finger joint 400. The motion trajectory of the third rotating shaft 930 is limited by the second auxiliary connecting rod 920. The purpose of setting the above structure is the same as the purpose of setting the third group of connecting rod driving mechanism 800. The other end of the best second auxiliary connecting rod 920 is rotatably connected to the first rotating shaft 410 of the second finger joint 400, which can reduce the number of parts of the entire device and save costs. Since the fingertip 200 is equipped with a fourth group of connecting rod driving mechanisms 900 that independently drives the flexion and extension thereof, the fingertip 200 has an active flexion and extension function, and the flexion and extension of the fingertip 200 is directly driven by the fourth group of connecting rod driving mechanisms 900. The driving force of the fourth group of connecting rod driving mechanisms 900 is directly transmitted to the fingertip 200, ensuring that the fingertip 200 has sufficient force.

[0082] Furthermore, the fourth group of connecting rod driving mechanism 900 also includes a third secondary connecting rod 940 and a third triangular connecting member 950. The first angle of the third triangular connecting member 950 is rotatably connected to the first finger joint 300 or the second finger joint 400. In the present embodiment, the first angle of the third triangular connecting member 950 is coaxial with the rotation connection between the second finger joint 400 and the first finger joint 300, that is, the first angle of the third triangular connecting member 950 can also rotate around the rotation axis L4; the second angle of the third triangular connecting member 950 is rotatably connected to the top end of the second secondary connecting rod 910, and the rotation axis is L9; the third angle of the third triangular connecting member 950 is rotatably connected to the first finger joint 300 or the second finger joint 400. One end of the third secondary connecting rod 940 is rotatably connected, and the rotation axis is L10; the other end of the third secondary connecting rod 940 is rotatably connected to the fingertip 200, and the rotation axis is L11. The rotation axis L11 does not coincide with the rotation axis L6. The power of the driving assembly 630 of the fourth group of connecting rod driving mechanism 900 drives the third triangular connecting member 950 to rotate around the rotation axis L4 through the main connecting rod 610 and the second secondary connecting rod 910. The rotation of the third triangular connecting member 950 drives the fingertip 200 to rotate around the rotation axis L6 through the third secondary connecting rod 940, thereby realizing the control of the flexion and extension of the fingertip 200 by the fourth group of connecting rod driving mechanism 900. The fourth group of connecting rod driving mechanism 900 of the above structure can not only avoid the rotating shafts set in the second knuckle 400 and the first knuckle 300, but also make the second sub-connecting rod 910 close to the flexion and extension trajectory of the second knuckle 400 and the third sub-connecting rod 940 close to the flexion and extension trajectory of the first knuckle 300, so as to reduce the distance between the second sub-connecting rod 910 and the second knuckle 400, and the distance between the third sub-connecting rod 940 and the first knuckle 300, or be completely wrapped by the corresponding knuckles, so that the size ratio of the second knuckle 400 and the first knuckle 300 is closer to the actual proportion of human fingers.

[0083] like Figure 2 , Figure 8 As shown, in order to prevent the single-finger base 100 from interfering with the movement of the swinging member 500 and the second finger joint 400, the swinging member 500 is rotatably connected to the single-finger base 100 via the fourth rotating shaft 510. The swinging member 500 and the single-finger base 100 are respectively located at the two ends of the fourth rotating shaft 510, and the second finger joint 400, the first finger joint 300 and the fingertip 200 are also connected to the swinging member 500. These weights will use the position where the rotating shaft is connected to the single-finger base 100 as a fulcrum to generate a huge torque, causing the fourth rotating shaft 510 to bend, resulting in changes in the left and right swing trajectory of the finger, which affects the finger's inability to accurately complete the intended action. In order to solve the above technical problems, as Figure 8 , Fig.12As shown, a first abutment member 520 is provided on the swinging member 500, and a second abutment member 110 is provided on the single-finger base 100. The first abutment member 520 abuts against the second abutment member 110 on the side of the second abutment member 110 facing away from the swinging member 500. That is, a force is generated by the abutment between the first abutment member 520 and the second abutment member 110 to pull the swinging member 500, thereby reducing the influence of the gravity on the swinging member 500 on the fourth rotating shaft 510.

[0084] Further, one of the first abutment 520 and the second abutment 110 is a slide rail, and the other is a hook that cooperates with the slide rail. When the swinging member 500 rotates relative to the single-finger base 100, the hook slides on the slide rail. In this embodiment, the hook is fixed on the swinging member 500, and the slide rail is set on the single-finger base 100. The slide rail is in an arc shape and is coaxial with the fourth rotating shaft 510. For example, the slide rail is set at the top of the connection position between the single-finger base 100 and the swinging member 500, which will not affect the rotation of the swinging member 500. In addition to the above-mentioned structure of the first abutment 520 and the second abutment 110, a slide groove can be opened on the single-finger base 100, and the first abutment 520 bolt can be used. The head of the bolt passes through the slide groove and is fixedly connected to the swinging member 500 above the fourth rotating shaft 510, and the tail of the bolt abuts against the side wall of the single-finger base 100 next to the slide groove, thereby reducing the influence of gravity on the fourth rotating shaft 510.

[0085] Based on the above embodiments, one of the fingertip 200, the first knuckle 300, and the second knuckle 400 may be provided with a six-axis force sensor, which can detect the force of the humanoid dexterous finger touching the object, and control the finger position state through the corresponding driving component to achieve the ability to grasp fragile objects, such as the ability to grasp eggs.

[0086] Through the above structure, not only the active control of the four degrees of freedom of the flexion and extension and swing of the second knuckle 400, the flexion and extension of the first knuckle 300, and the flexion and extension of the fingertip 200 is realized, but also the power of the driving assembly 630 can be quickly and accurately transmitted to the corresponding knuckle or fingertip 200 through the connecting rod structure, so that the entire humanoid dexterous finger not only has the same degrees of freedom as the human finger, but also can actively control each degree of freedom like the human finger, and realize the same function as the human finger. The first knuckle 300 and the second knuckle 400 both use triangular connectors, which can not only maintain the bending angle of the knuckles, but also avoid driving the other knuckle to move when driving one knuckle to bend alone. For example, when the first knuckle 300 is bent, it will not drive the second knuckle 400 to move, and the angle between the first knuckle 200 and the first knuckle 300 can be kept unchanged; similarly, when the second knuckle 400 is flexed and extended, it will not drive the first knuckle 300 to move, and the angle between the first knuckle 300 and the second knuckle 400 can be kept unchanged. In addition, the present invention also arranges the driving components 630 of all connecting rod driving mechanisms on the single-finger base 100, which not only reduces the center of gravity of the anthropomorphic dexterous fingers, but also makes full use of the space of the single-finger base 100, allowing the driving components 630 to have a larger range of choices, which is beneficial to reducing the cost of the driving components 630, and can also prevent the fingers from being too thick, maintaining the same proportions of the anthropomorphic dexterous fingers as human fingers.

[0087] The present invention also discloses a humanoid dexterous hand, comprising a palm and a humanoid dexterous finger disposed on the palm and adopting any of the above schemes. And a humanoid robot adopts the above humanoid dexterous hand. Both the humanoid dexterous hand and the humanoid robot have better controllability, and the freedom of the fingers is improved, and can adapt to more complex scenes.

[0088] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims

1. Humanoid dexterous fingers, characterized in that: It comprises a single finger base and a fingertip, a first finger joint, and a second finger joint which are hinged in sequence from top to bottom, wherein the bottom end of the second finger joint is hinged to a swinging member, the swinging member is rotatably connected to the single finger base, and a rotation plane of the second finger joint relative to the swinging member is not parallel to a rotation plane of the swinging member relative to the single finger base; The finger tip, the first finger joint and the second finger joint are respectively connected with at least one set of connecting rod driving mechanisms for driving the finger tip, the first finger joint and the second finger joint to move independently; Each group of the connecting rod driving mechanism includes a main connecting rod and a driving assembly for driving the main connecting rod to move, the driving assembly includes a power piece, a pull rope driven by the power piece, a slide rail fixed on the single-finger base and a connecting seat slidably arranged on the slide rail, the connecting seat is movably connected to the main connecting rod, the pull rope includes an upper pull section and a lower pull section, the upper pull section and the lower pull section are respectively fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat, and the power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

2. The humanoid dexterous finger according to claim 1, characterized in that: A first pulley is provided at one end of the slide rail, one of the upper pull section and the lower pull section passes around the first pulley, and the upper pull section and the lower pull section are connected to the same power member.

3. The humanoid dexterous finger according to claim 2, characterized in that: A second pulley is further provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on both sides of the second pulley, and the connecting seat is slidably arranged on a slide rail between the first pulley and the second pulley.

4. The humanoid dexterous finger according to claim 2 or 3, characterized in that: The first pulley is located at a side of the slide rail away from the single-finger base, the power member is arranged at an end of the slide rail close to the single-finger base, or the power member is arranged on the single-finger base.

5. The humanoid dexterous finger according to claim 1, characterized in that: The second finger joint is connected to two groups of connecting rod driving mechanisms, which are the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively located on both sides of the rotation axis of the swinging part relative to the single finger base. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move in the same direction to drive the second finger joint to rotate relative to the swinging part; the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move in the opposite directions to drive the swinging part to rotate relative to the single finger base.

6. The humanoid dexterous finger according to claim 5, characterized in that: The second finger joint includes a second triangular connecting member, a first corner of the second triangular connecting member is hinged to the swinging member, a first group of connecting rod driving mechanisms and a second group of connecting rod driving mechanisms are rotatably connected to the second corner of the second triangular connecting member through a main connecting rod respectively, and the third corner of the second triangular connecting member is hinged to the bottom end of the first finger joint.

7. The humanoid dexterous finger according to claim 1, characterized in that: The first finger joint is connected to a group of connecting rod driving mechanisms, which is the third group of connecting rod driving mechanisms. The third group of connecting rod driving mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod driving mechanisms is connected to a second rotating shaft, the bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotatably connected to the second rotating shaft, the top end of the first secondary connecting rod is rotatably connected to the first finger joint, and the other end of the first auxiliary connecting rod is rotatably connected to the second finger joint.

8. The humanoid dexterous finger according to claim 7, characterized in that: The first knuckle includes a first triangular connector, a first angle of the first triangular connector is hinged to the second knuckle, a second angle of the first triangular connector is hinged to the fingertip, and a third angle of the first triangular connector is connected to the third set of connecting rod driving mechanisms.

9. The humanoid dexterous finger according to claim 1, characterized in that: The fingertips are connected to a group of connecting rod driving mechanisms, which is the fourth group of connecting rod driving mechanisms. The fourth group of connecting rod driving mechanisms also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth group of connecting rod driving mechanisms is connected to a third rotating shaft, the bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotatably connected to the third rotating shaft, the top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotatably connected to the second knuckle.

10. The humanoid dexterous finger according to claim 9, characterized in that: The fourth group of connecting rod driving mechanism also includes a third secondary connecting rod and a third triangular connecting member, the first angle of the third triangular connecting member is rotatably connected to the first finger joint or the second finger joint, the second angle of the third triangular connecting member is rotatably connected to the top end of the second secondary connecting rod, the third angle of the third triangular connecting member is rotatably connected to one end of the third secondary connecting rod, and the other end of the third secondary connecting rod is rotatably connected to the fingertip.

11. The humanoid dexterous finger according to claim 1, characterized in that: The swinging member is rotatably connected to the single-finger base via a fourth rotating shaft, the swinging member and the single-finger base are respectively located at two ends of the fourth rotating shaft, the swinging member is connected to a first abutment member, and the single-finger base is provided with a second abutment member, the first abutment member abuts against the second abutment member on a side of the second abutment member facing away from the swinging member.

12. The humanoid dexterous finger according to claim 11, characterized in that: One of the first abutment member and the second abutment member is a guide rail, and the other is a hook slidably matched with the guide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail.

13. A humanoid dexterous hand, characterized in that: The invention comprises a palm and anthropomorphic dexterous fingers according to any one of claims 1 to 12 arranged on the palm.

14. A humanoid robot, characterized in that The humanoid dexterous hand according to claim 13 is adopted.

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