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 hinged to a swing part, the swing part is rotationally connected with the single-finger base, 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 all connected with connecting rod driving mechanisms independently driving the fingertips, the first knuckles and the second knuckles to act, each connecting rod driving mechanism comprises a main connecting rod with at least one end provided with a fisheye bearing and a driving piece arranged on the single-finger base, and the bottom ends of the main connecting rods are rotationally connected with the driving pieces. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts any scheme. The humanoid robot adopts the humanoid dexterous hand. The robot has the advantages that the fingers have four active degrees of freedom and can adapt to more complex scenes.

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 Robot with Degrees of Freedom" disclosed in Chinese 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 and runs synchronously. In some scenes that require fine control of grasping, it will be impossible to accurately control the bending degree of each finger joint, which limits the use of humanoid robots. Summary of the invention

[0004] The purpose of the present invention is to provide a humanoid dexterous finger and a humanoid dexterous hand and a humanoid robot using the finger, which can effectively solve the problem that each knuckle of the existing humanoid dexterous finger 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 fingertip, the first knuckle and the second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, the first knuckle and the second knuckle to move independently; each set of the connecting rod driving mechanisms includes a main connecting rod with a fisheye bearing at at least one end and a driving member arranged on the single finger base, and one end of the main connecting rod is rotatably connected to the driving member.

[0008] 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 synchronously 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 synchronously in the opposite direction to drive the swinging part to rotate relative to the single finger base.

[0009] In the above-mentioned anthropomorphic dexterous finger, the top ends of the main connecting rods of the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are both rotatably connected to the first rotating shaft, and the first rotating shaft is connected to the second finger joint.

[0010] 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.

[0011] In the above-mentioned anthropomorphic dexterous finger, there are two second triangular connecting members which are arranged in parallel and at intervals, and the connecting rod driving mechanisms connected to the fingertip and the first knuckle all pass through between the two second triangular connecting members.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] In the above-mentioned anthropomorphic dexterous finger, one of the first abutment member and the second abutment member is a slide rail, and the other is a hook slidably matched with the slide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail.

[0018] The anthropomorphic dexterous hand comprises a palm and anthropomorphic dexterous fingers arranged on the palm and adopting any of the above solutions.

[0019] A humanoid robot adopts the above-mentioned humanoid dexterous hand.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] 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 in sequence from top to bottom, which is consistent with the structure of human fingers. Since they are hinged in sequence, they can all bend relatively, 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 the 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. Each connecting rod mechanism includes a main connecting rod with a fisheye bearing at one end and a driving member arranged on the single-finger base. The fisheye bearing allows the main connecting rod to have a certain swing space while being able to rotate relatively, adapting to the connection relationship between the second finger joint and the single-finger base, ensuring that the power of the driving member can be transmitted to the corresponding finger part. The driving member is arranged on the single-finger base, which makes full use of the space in the single-finger base and avoids setting the driving member in the finger joint, ensuring that the size ratio of the anthropomorphic dexterous fingers is close to that of human fingers, further improving the simulation effect, and because the single-finger base has a larger space, the size requirement of the driving member is relaxed, which is conducive to reducing the cost of the driving member.

[0022] Furthermore, the second finger joint is connected with two groups of connecting rod driving mechanisms, namely 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 synchronously 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 synchronously 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.

[0023] Furthermore, the top ends of the main connecting rods of the first connecting rod driving mechanism and the second connecting rod driving mechanism are both rotatably connected to the first rotating shaft, and the first rotating shaft is connected to the second finger joint. The first connecting rod driving mechanism and the second connecting rod driving mechanism are both connected to the same rotating shaft, which facilitates the adjustment of the motion state of the first connecting rod driving mechanism and the second connecting rod driving mechanism when the second finger joint needs to bend and swing.

[0024] 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.

[0025] Furthermore, the second triangular connector has two pieces and is arranged in parallel and spaced apart, and the connecting rod driving mechanism connected to the finger tip and the first finger joint passes through the two second triangular connectors. The two second triangular connectors arranged in parallel further improve the strength of the second finger joint and can protect the steelmaking driving mechanism passing through the second finger joint.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Furthermore, one of the first abutment member and the second abutment member is a slide rail, and the other is a hook that slidably cooperates with the slide rail. 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.

[0032] 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, and the freedom of fingers is improved, and can adapt to more complex scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A three-dimensional diagram of the humanoid dexterous finger of the present invention;

[0034] Figure 2 This is a three-dimensional diagram of the humanoid dexterous finger of the present invention after removing a second triangular connecting piece;

[0035] Figure 3 It is an exploded view of a single-finger base and a swinging member in the present invention;

[0036] Figure 4 It is a structural schematic diagram of the driving parts of the four-group connecting rod driving mechanism in the present invention;

[0037] Figure 5It is a schematic diagram of the connection structure of the fingertip, the first knuckle and the second knuckle in the present invention;

[0038] Figure 6 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;

[0039] Figure 7 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;

[0040] Figure 8 It is a schematic diagram of the connection structure between the swing member and the single-finger base in the present invention.

[0041] The accompanying drawings are marked as follows:

[0042] Single finger base 100, second abutment member 110, fingertip 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, fisheye bearing 620, driving member 630, 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 secondary connecting rod 810, first auxiliary connecting rod 820, second rotating shaft 830, fourth group of connecting rod driving mechanism 900, second secondary connecting rod 910, second auxiliary connecting rod 920, third rotating shaft 930, third secondary connecting rod 940, third triangular connector 950. DETAILED DESCRIPTION

[0043] The invention discloses a humanoid dexterous finger, comprising a single-finger base 100 and a fingertip 200, a first finger joint 300, and a second finger joint 400 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 all connected to a connecting rod driving mechanism that independently drives their movements, and each group of the connecting rod driving mechanisms comprises a main connecting rod 610 with a fisheye bearing 620 at at least one end and a driving member 630 arranged on the single-finger base 100, and the bottom end of the main connecting rod 610 is rotatably connected to the driving member 630.

[0044] 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. Each set of connecting rod mechanisms includes a main connecting rod 610 with a fisheye bearing 620 at one end and a driving member 630 arranged on the single finger base 100. The fisheye bearing 620 allows the main connecting rod 610 to have a certain swing space while being able to rotate relatively, adapting to the connection relationship between the second finger joint 400 and the single finger base 100, ensuring that the power of the driving member 630 can be transmitted to the corresponding finger part. The driving member 630 is arranged on the single finger base 100, which fully utilizes the space in the single finger base 100 and avoids setting the driving member 630 in the finger joint, ensuring that the size ratio of the anthropomorphic dexterous fingers is close to that of human fingers, further improving the simulation effect, and because the single finger base 100 has a larger space, the size requirement of the driving member 630 is relaxed, which is conducive to reducing the cost of the driving member 630.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] See also Figures 1 to 8 This is an embodiment of a humanoid dexterous finger and a humanoid dexterous hand and a humanoid robot using the finger of the present invention. 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.

[0050] 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.

[0051] 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 swinging left and right, and the connecting rod driving mechanism generally moves along a straight line. In order to better adapt to the swinging characteristics of the finger, each group of connecting rod mechanisms includes a main connecting rod 610 with a fisheye bearing 620 at at least one end and a driving member 630 arranged on the single finger base 100. The main connecting rod 610 is rotatably connected with the driving member 630. The driving member 630 transmits power to the corresponding finger part through the main connecting rod 610. The setting of the fisheye bearing 620 allows the main connecting rod 610 to also have a swinging range relative to the driving member 630. After the second knuckle 400 swings left and right at a certain angle, the main connecting rod 610 can still drive the corresponding finger part to flex and extend. Of course, in order to allow the main connecting rod 610 to obtain a larger range of left and right activities, fisheye bearings 620 are set at both ends of the main connecting rod 610 in this embodiment.

[0052] Since the space in the fingertips 200 or knuckles is small, if the driver 630 is set at these locations, the driver 630 is also required to have a small size and a high torque, which makes the selection range of the driver 630 that meets the above conditions small, and the corresponding price of the driver 630 is also high. In this embodiment, the driver 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 driver 630 that can be accommodated is also larger, which makes the selection range of the driver 630 larger, which is conducive to reducing the price of the driver 630, thereby reducing the price of the entire dexterous finger.

[0053] Furthermore, two groups of connecting rod driving mechanisms are connected to the second finger joint 400, namely, a first group of connecting rod driving mechanisms 710 and a 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] On the basis of the above embodiment, 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 member 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 transmit the power of the driving member 630 to the first finger joint 300, so it must be set very long, and the third connecting rod driving mechanism must pass through the second finger joint 400. Since the second knuckle 400 can be flexed and extended, 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 main connecting rod 610 alone will also obviously exceed the range of the second knuckle 400, making it impossible for the second knuckle 400 to maintain the proportions of a human finger. Figure 2 , Figure 6 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.

[0058] like Figure 2 , Figure 5 , Figure 6 As shown, in order to realize that the first finger joint 300 can be driven by the third group of connecting rod driving mechanism 800 to rotate relative to the second finger joint 400 and be connected to the finger tip 200, the first finger joint 300 includes a first triangular connecting member 310, the first angle of the first triangular connecting member 310 is connected to the second finger joint 400, the second angle of the first triangular connecting member 310 is connected to the finger tip 200, the rotation axis is L6, the third angle of the first triangular connecting member 310 is connected to the third group of connecting rod driving mechanism 800, that is, the third angle of the first triangular connecting member 310 is connected to the top of the first secondary connecting rod 810, and the rotation axis is L7. The driving member 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 finger joint 300, so that the first finger joint 300 rotates around the rotation axis L4, and the purpose of the third group of connecting rod driving mechanism 800 driving the first finger joint 300 to flex and extend is realized.

[0059] 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 , Figure 5 , Figure 7As 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.

[0060] 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 this 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 top end of the second secondary connecting rod 910, and the rotation axis is L9; 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 member 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.

[0061] like Figure 2 , Figure 3 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 3 , Figure 8As 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.

[0062] 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.

[0063] 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.

[0064] 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 member 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, so that the driving components 630 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.

[0065] 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.

[0066] 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 fingertip, the first knuckle and the second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, the first knuckle and the second knuckle to move independently; each set of the connecting rod driving mechanisms includes a main connecting rod with a fisheye bearing at at least one end and a driving member arranged on the single finger base, and one end of the main connecting rod is rotatably connected to the driving member.

2. 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 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 synchronously 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 synchronously in opposite directions to drive the swinging member to rotate relative to the single finger base.

3. The humanoid dexterous finger according to claim 2, characterized in that: The top ends of the main connecting rods of the first connecting rod driving mechanism and the second connecting rod driving mechanism are both rotatably connected to the first rotating shaft, and the first rotating shaft is connected to the second finger joint.

4. The humanoid dexterous finger according to claim 2, 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.

5. The humanoid dexterous finger according to claim 4, characterized in that: The second triangular connecting members include two pieces which are arranged in parallel and at intervals, and the connecting rod driving mechanisms connected with the fingertips and the first knuckles all pass through between the two pieces of the second triangular connecting members.

6. 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.

7. The humanoid dexterous finger according to claim 6, 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.

8. 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.

9. The humanoid dexterous finger according to claim 8, 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.

10. 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.

11. The humanoid dexterous finger according to claim 10, characterized in that: One of the first abutment member and the second abutment member is a slide rail, and the other is a hook slidably matched with the slide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail.

12. A humanoid dexterous hand, characterized in that: The invention comprises a palm and anthropomorphic dexterous fingers according to any one of claims 1 to 11 arranged on the palm.

13. A humanoid robot, characterized in that The humanoid dexterous hand according to claim 12 is adopted.

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