Humanoid robot finger transmission system

Abstract

A humanoid robot finger transmission system belongs to the technical field of manipulators and comprises a palm part and finger parts, each finger part is provided with a transmission system, each transmission system comprises a driving mechanism and a connecting rod mechanism, and each driving mechanism is a miniature double-buckle pushing chain device arranged on the side, close to the palm back, of the palm part. A first installation space is formed in the palm part, close to one side of the palm center, of the driving mechanism, the connecting rod mechanism comprises a first connecting rod connected between the middle knuckles and the far-end knuckles and a second connecting rod connected between the near-end knuckles and the middle knuckles, and a driving rod assembly is connected between the second connecting rod and the output end of the miniature double-buckle pushing chain device. And a second mounting space is formed in the finger part on the outer sides of the connecting rod I and the connecting rod II. The miniature double-buckle pushing chain device is used as a driving mechanism of each finger part, so that the cost is reduced, the internal mounting space of the manipulator can be greatly expanded, and the manipulator can realize function upgrading by mounting more sensor parts.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a finger transmission system of a humanoid robot. Background Art

[0002] The manipulator is mainly composed of three parts: actuator, transmission system and control system. The actuator is a component used to grasp the workpiece (or tool). It has various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type. The transmission system enables the actuator to complete various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the grasped object. The control system receives information feedback from sensors installed on the manipulator or at the construction site, and then controls the transmission system to enable the actuator to complete specific actions. The core of the control system is usually composed of microcontrollers such as single-chip microcomputers or DSPs, and the desired functions are realized by programming them.

[0003] The existing manipulator transmission system has the following defects:

[0004] 1. The transmission system has a complex structure, many parts, a difficult manufacturing process, and high costs, which limits the application of robots in some fields.

[0005] 2. Due to the complex structure and numerous parts of the transmission system, the installation space inside the manipulator is extremely small, which limits the further installation of components such as sensors, resulting in limited functional upgrades of the manipulator.

[0006] 3. Existing transmission systems such as transmission springs and rope drive control have problems such as poor transmission accuracy and unstable control of the manipulator's fingers over the grasped objects. Most of the connecting rod transmission methods require more connecting rods, which also takes up a lot of internal space of the manipulator, limiting the upgrade of the manipulator's functions. Summary of the invention

[0007] In response to the problems described in the prior arts 1-3, the present invention discloses a humanoid robot finger transmission system, which simplifies the number of parts of the manipulator transmission system and uses a miniature double-buckle push chain device as the driving mechanism of each finger part, which not only reduces the cost but also greatly expands the installation space inside the manipulator, so that the manipulator can achieve functional upgrades by installing more sensor components. The present invention has the characteristics of high transmission accuracy, high stability, smoother transmission and low economic cost, which is conducive to improving the working efficiency of robot fingers and the widespread promotion and use of manipulators.

[0008] To achieve the above purpose, the technical solution of the present invention is:

[0009] A humanoid robot finger transmission system comprises a palm part and a finger part, wherein one end of the palm part is connected to a plurality of finger parts through a palm base, and each finger part is provided with a transmission system, wherein the transmission system comprises a driving mechanism and a connecting rod mechanism, wherein the driving mechanism is a miniature double-buckle push chain device arranged on the palm part near the back of the palm, and a first installation space is formed in the palm part near the palm center of the driving mechanism, and the finger part comprises a proximal knuckle, an intermediate knuckle, and a distal knuckle, wherein one end of the proximal knuckle is hinged to the palm base, and the other end is hinged to one end of the intermediate knuckle, and the other end of the intermediate knuckle is hinged to one end of the distal knuckle, and the connecting rod mechanism comprises a connecting rod 1 connected between the intermediate knuckle and the distal knuckle, and a connecting rod 2 connected between the proximal knuckle and the intermediate knuckle, a driving rod assembly is connected between the connecting rod 2 and the output end of the miniature double-buckle push chain device, and a second installation space is formed in the finger part where the outer sides of the connecting rod 1 and the connecting rod 2 are located.

[0010] Preferably, a first hinge axis is provided at the lower end of the palm base, the lower part of the proximal knuckle facing the palm base is hinged to the palm base through the first hinge axis, a second hinge axis is provided at the middle part of the other end of the proximal knuckle, the end of the middle knuckle facing the palm base is hinged to the second hinge axis, a third hinge axis is provided at the middle part of the end of the distal knuckle facing the palm base, and the end of the middle knuckle away from the palm base is hinged to the third hinge axis.

[0011] Preferably, a fourth hinge axis is provided at the upper part of the end of the middle knuckle facing the palm base, a fifth hinge axis is provided at the lower part of the end of the distal knuckle facing the palm base, both ends of the connecting rod one are respectively hinged to the fourth hinge axis and the fifth hinge axis, and the connecting rod one is an S-shaped arc structure; a sixth hinge axis is provided at the lower part of the end of the middle knuckle facing the palm base, a seventh hinge axis is provided at the middle or upper-middle part of the proximal knuckle near the palm base, both ends of the connecting rod two are respectively hinged to the sixth hinge axis and the seventh hinge axis, and a limit block is also provided at the lower part of the palm base to limit the maximum downward rotation angle of the connecting rod two. When the connecting rod two is restricted from rotating downward, the proximal knuckle still has space to rotate downward, and the connecting rod two is an arc rod protruding upward.

[0012] Preferably, the drive rod assembly includes a transmission rod and a drive rod, an eighth hinge axis is provided on the upper part of one end of the proximal knuckle close to the palm base, one end of the transmission rod is hinged to the eighth hinge axis, and the other end is hinged to one end of the drive rod through a ninth hinge axis, and the transmission rod is an upwardly protruding arc rod.

[0013] Preferably, the micro double-buckle push chain device is provided with a chain output channel, and the chain output channel is arranged in the direction of the finger part, and the end of the chain output channel forms a guide groove, one end of the driving rod is inserted into the guide groove and slidingly connected to the guide groove, and the end of the driving rod away from the transmission rod is fixedly connected to the rigid chain end of the micro double-buckle push chain device.

[0014] Preferably, there are two connecting rods 1 and 2, and the two connecting rods 1 and the two connecting rods 2 are respectively located on both sides of the finger part.

[0015] Preferably, the axes of the first to ninth hinge shafts are parallel.

[0016] Preferably, the length and shape of the connecting rod one and the connecting rod two are determined by the following factors: A. The length is limited by four parameters, the shape and the size of the object to be grasped; B. Under the premise of realizing the grasping function of the finger part, the shape is determined by avoiding interference with other structures in the finger part; on this basis, the shape is unique or non-unique.

[0017] Preferably, the four parameters defining the length of the connecting rod 1 and the connecting rod 2 are: the translation distance a1 of the hinge axis at both ends of the connecting rod 1 or the connecting rod 2 along the x-axis, the rotation angle a2 relative to the x-axis, the translation distance d along the z-axis, and the rotation angle d along the z-axis. i , the rotation angle i in the Y-axis direction relative to the z-axis, the X-axis refers to the direction when the finger is partially stretched, the Y-axis is an axis perpendicular to the X-axis in the horizontal plane, and the Z-axis is set to be an axis perpendicular to the intersection of the X and Y axes in the longitudinal direction. When the second connecting rod rotates around the seventh hinge axis, the set point on the seventh hinge axis is taken as the intersection of the XYZ axes. According to the shapes of the first and second connecting rods, based on the translation distance a1 of the sixth hinge axis along the X-axis direction, the rotation angle a2 relative to the x-axis, and the translation distance d along the z-axis i , the position of the fourth hinge axis is determined by the rotation angle i in the Y-axis relative to the z-axis, and the set point on the fourth hinge axis is used as the intersection of the XYZ axes. The position of the fifth hinge axis is determined by the same method; the lengths of the link one and the link two are determined according to the shapes of the link one and the link two, the relative positions of the seventh hinge axis and the sixth hinge axis, the relative positions of the bottom four hinge axes and the fifth hinge axis, and the size of the object to be grasped.

[0018] Preferably, the rotation angle i is set to 0°.

[0019] The beneficial effects of the humanoid robot finger transmission system of the present invention are:

[0020] 1. The present invention can greatly expand the installation space of sensor components by setting the first installation space and the second installation space, so that the robot can achieve functional upgrades by installing various sensors or required components.

[0021] 2. Since the transmission system of the present invention has fewer parts and a unique driving method, the device has good spatial efficiency, economy, and accuracy. According to different working conditions, the specific parameters of the driving mechanism and the connecting rod mechanism can be modified and calculated to make the manipulator suitable for different working conditions. Therefore, the present invention has good applicability.

[0022] 3. Compared with transmission spring devices, rope-driven control devices, ball screws and other devices, the transmission system of the present invention can obtain accurate and stable transmission at a lower cost, and is more continuous, smooth and efficient during the transmission process.

[0023] 4. The present invention completes the complete bionic movement of humanoid fingers in a minimum of space through the articulation of each knuckle and the connection between the knuckle and the connecting rod mechanism. Since the finger part of the manipulator is integrated and assembled with the digital model of the finger shell through the connecting rod mechanism, the multi-link mechanism is converted into a finger part controlled by only two connecting rods. Therefore, very little space is occupied inside the finger. On this basis, more sensors can be added to realize more functions of the robot.

[0024] 5. When designing the palm, the present invention can set palm fixing sections of different lengths to enable the finger parts of the same size to achieve the effect that can be achieved by the middle finger, index finger, and ring finger of different lengths, thereby greatly reducing the difficulty of processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an enlarged view of the internal structure of the present invention.

[0026] Figure 2 It is a structural schematic diagram of the transmission system of the present invention.

[0027] Figure 3 It is a schematic diagram of the internal structure of a micro double buckle push chain device.

[0028] Figure 4 It is a schematic diagram of the chain and device housing of a micro double buckle push chain.

[0029] The figure shows: 1-the fifth hinge axis, 2-the third hinge axis, 3-connecting rod one, 4-the fourth hinge axis, 5-the sixth hinge axis, 6-the second hinge axis, 7-connecting rod two, 8-the first hinge axis, 9-palm base, 10-the seventh hinge axis, 11-transmission rod, 12-driving rod, 13-the eighth hinge axis, 14-distal knuckle, 15-middle knuckle, 16-proximal knuckle, 17-back of palm, 18-mini double-buckle push chain device, 19-coupling, 20-driving motor, 21-palm model, 22-guide groove, 23-chain one, 24-pin shaft, 25-chain two, 26-chain output channel, 27-sprocket, 28-first storage part, 29-second storage part, 30-pin shaft, 31-outer chain plate, 32-inner chain plate, 33-device housing. DETAILED DESCRIPTION

[0030] The following description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0031] The following embodiments may be understood as individually expressing a part of a local structure or method of the present invention, or may be understood as a combination of the embodiments to explain the connotation of a larger structure or method of the present invention.

[0032] Example 1

[0033] A humanoid robot finger transmission system, such as Figure 1-4 As shown, it includes a palm part and a finger part. One end of the palm part is connected to a plurality of finger parts through a palm base 9. Each finger part is equipped with a transmission system. The transmission system includes a driving mechanism and a connecting rod mechanism. The driving mechanism is a miniature double-buckle push chain device 18 arranged on the palm part near the back of the palm. The palm part near the palm side of the driving mechanism forms a first installation space. The finger part includes a proximal knuckle 16, an intermediate knuckle 15, and a distal knuckle 14. The proximal knuckle 1 One end of 6 is hinged to the palm base 9, and the other end is hinged to one end of the middle knuckle 15, the other end of the middle knuckle 15 is hinged to one end of the distal knuckle 14, the connecting rod mechanism includes a connecting rod 1 3 connected between the middle knuckle 15 and the distal knuckle 14, and a connecting rod 2 7 connected between the proximal knuckle 16 and the middle knuckle 15, a driving rod assembly is connected between the connecting rod 2 7 and the output end of the micro double-buckle push chain device 18, and the second installation space is formed in the finger part where the outer sides of the connecting rod 1 3 and the connecting rod 2 7 are located.

[0034] The manipulator is used to simulate the delicate movements of human hands, also known as a dexterous hand. The flexibility of the manipulator and the stability of its operation determine its performance. In this embodiment, by setting the first installation space and the second installation space, the installation space of sensor components can be greatly expanded, so that the manipulator can achieve functional upgrades by installing various sensors or required components. However, conventional manipulators cannot achieve the above functions due to the complex structure of the transmission system and the large space occupied, resulting in limitations in performance improvement.

[0035] Example 2

[0036] like Figure 1 As shown, a first hinge axis 8 is provided at the lower end of the palm base 9, the lower part of the proximal knuckle 16 facing the palm base 9 is hinged to the palm base 9 through the first hinge axis 8, a second hinge axis 6 is provided at the middle part of the other end of the proximal knuckle 16, the end of the intermediate knuckle 15 facing the palm base 9 is hinged to the second hinge axis 6, a third hinge axis 2 is provided at the middle part of the end of the distal knuckle 14 facing the palm base 9, and the end of the intermediate knuckle 15 away from the palm base 9 is hinged to the third hinge axis 2.

[0037] like Figure 1 , 2 As shown, the upper part of the middle finger joint 15 facing the palm base 9 is provided with a fourth hinge axis 4, the lower part of the distal finger joint 14 facing the palm base 9 is provided with a fifth hinge axis 1, the two ends of the connecting rod 1 3 are respectively hinged to the fourth hinge axis 4 and the fifth hinge axis 1, and the connecting rod 1 3 is an S-shaped arc structure; the lower part of the middle finger joint 15 facing the palm base 9 is provided with a sixth hinge axis 5, the middle part or the upper middle part of the proximal finger joint 16 near the palm base 9 is provided with a seventh hinge axis 10, the two ends of the connecting rod 2 7 are respectively hinged to the sixth hinge axis 5 and the seventh hinge axis 10, and the lower part of the palm base 9 is also provided with a limit block (not marked in the figure) for limiting the maximum downward rotation angle of the connecting rod 2 7. When the connecting rod 2 7 is restricted from rotating downward, the proximal finger joint 16 still has space to rotate downward, and the connecting rod 2 7 is an arc rod protruding upward.

[0038] like Figure 1 As shown, the driving rod assembly includes a transmission rod 11 and a driving rod 12. An eighth hinge shaft 13 is provided on the upper part of one end of the proximal knuckle 16 close to the palm base 9. One end of the transmission rod 12 is hinged to the eighth hinge shaft 13, and the other end is hinged to one end of the driving rod 12 through a ninth hinge shaft (not marked in the figure). The transmission rod 13 is an arc-shaped rod protruding upward.

[0039] like Figure 1 , 2As shown in , 3, the micro double-buckle push chain device 18 is provided with a chain output channel 26, and the chain output channel 26 is arranged in the direction of the finger part, and the end of the chain output channel 26 forms a guide groove 22, one end of the driving rod 12 is inserted into the guide groove 22 and is slidably connected to the guide groove 22, and the end of the driving rod 12 away from the transmission rod 11 is fixedly connected to the rigid chain end of the micro double-buckle push chain device 18.

[0040] In this embodiment, the micro double buckle push chain device 18 is a prior art, and its structure and principle can refer to the applicant's authorized patent CN220131061U, a meshing push chain system. Among them, the chain output channel 26 is a rigid chain formed by the meshing of chain one and chain two, which can push and pull along the chain output channel in a straight line, and at the same time, can bear loads in other directions.

[0041] In specific implementation, Figure 1 As shown, the driving rod 12 drives the transmission rod 11 to apply a thrust forward under the push of the rigid chain, thereby causing the proximal knuckle to rotate toward the palm side. During the rotation process, as shown in FIG. Figure 2 As shown, the entire finger part rotates downward together due to the limit between each knuckle. When a certain angle is reached, the limit block limits the connecting rod 2 7 from continuing to rotate, while the proximal knuckle continues to rotate inward. In this way, the middle knuckle is rolled inward by the pulling of the connecting rod 2 and the pushing of the proximal knuckle, and then the distal knuckle is rolled inward by the pushing of the middle knuckle and the pulling of the connecting rod 1, thereby achieving a grasping action. The extension action of the finger part is opposite to this. The transmission rod moves backward under the pulling of the driving rod, and then drives the proximal knuckle and the connecting rod 2 to rotate upward. Under the pushing of the connecting rod 2, the middle knuckle is straightened, and under the pushing of the connecting rod 1, the distal knuckle is straightened.

[0042] Example 3

[0043] like Figure 1 , 2 As shown, there are two connecting rods 1 3 and 2 connecting rods 7, and the two connecting rods 1 3 and the two connecting rods 2 7 are respectively located on both sides of the finger part. The axes of the first to ninth hinge axes are parallel.

[0044] Example 4

[0045] The length and shape of the connecting rod 1 3 and the connecting rod 2 7 are determined by the following factors: A. The length is limited by 4 parameters, the shape and the size of the object to be grasped; B. Under the premise of realizing the grasping function of the finger part, the shape is determined by avoiding interference with other structures in the finger part; on this basis, the shape is unique or non-unique.

[0046] Example 5

[0047] Based on Example 4, this embodiment discloses: the four parameters defining the length of the connecting rod 1 3 and the connecting rod 2 7 refer to: the translation distance a1 of the hinge axis at both ends of the connecting rod 1 3 or the connecting rod 2 7 along the x-axis, the rotation angle a2 relative to the x-axis, the translation distance d along the z-axis, i , the rotation angle i in the Y-axis direction relative to the z-axis (referring to the situation where the finger part swings left and right), the X-axis refers to the direction when the finger part is straightened, the Y-axis is an axis perpendicular to the X-axis in the horizontal plane, and the Z-axis is set to be an axis perpendicular to the intersection of the X and Y axes in the longitudinal direction. When the connecting rod 2 rotates around the seventh hinge axis 10, the set point on the seventh hinge axis is the intersection of the XYZ axes. According to the shapes of the connecting rods 1 and 2, based on the translation distance a1 of the sixth hinge axis 5 along the X-axis direction, the rotation angle a2 relative to the x-axis, and the translation distance d along the z-axis i , the position of the fourth hinge axis 4 is determined by the rotation angle i in the Y-axis relative to the z-axis, and the set point on the fourth hinge axis 4 is taken as the intersection of the XYZ axes. The position of the fifth hinge axis 1 is determined by the same method, and the lengths of the link one and the link two are determined according to the shapes of the link one and the link two, the relative positions of the seventh and the sixth hinge axes, the relative positions of the bottom four hinge axes and the fifth hinge axes, and the size of the object to be grasped.

[0048] In this embodiment, based on the function to be achieved by the finger part, that is, the shape and size of the object to be grasped, combined with the set shapes of connecting rod one and connecting rod two, with the seventh hinge axis as the starting point, the relative positions of the sixth hinge axis, the fourth hinge axis, and the fifth hinge axis at each moment in the grasping process are calculated in sequence, and then the specific lengths of connecting rod one and connecting rod two can be calculated.

[0049] Example 6

[0050] Based on Example 5, this embodiment discloses: the rotation angle i is set to 0°, that is, the finger part is set not to swing left and right, and only the grasping and straightening actions in the vertical direction of the XZ axis are performed.

[0051] Example 7

[0052] Based on Example 6, this embodiment discloses: through the above parameters, a DH coordinate system is established with the first hinge point, and the coordinates are subjected to 4 homogeneous transformations, the transformation method is as follows, and the connecting rod motion conforms to the following matrix. Since the connecting rod composition of this mechanism is simple, parameter adjustment and position parameter calculation can be performed according to the matrix. In the following formula, s represents sin and c represents cos.

[0053]

[0054] Note: The calculation process of this embodiment is prior art, and the contents not mentioned are solved by prior art solutions.

[0055] Working principle of the present invention:

[0056] Each finger part of the manipulator of the present invention is only provided with one driving mechanism of the micro double-buckle push chain device 18, so that the movement of the finger part with three degrees of freedom can be realized, two of which are used for under-actuated flexion, and the other one is used for coupled abduction or adduction. In other words, the degree of freedom of the proximal knuckle acts on the coupled abduction or adduction of the connecting rod mechanism, while the degree of freedom of the middle knuckle and the distal knuckle is used to complete the under-actuated flexion and extension of the target trajectory.

[0057] Furthermore, the present invention calculates parameters such as the length of link one and link two, the coordinates of each hinge axis, the link torsion angle and the link rotation angle, so that two of the degrees of freedom are used for under-actuated flexion and the other degree of freedom is used for coupled abduction or adduction. This arrangement allows the miniature double-buckle push chain device 18 to be placed close to the back of the palm. Such a layout can increase the layout space of the sensor in the palm and increase the functionality of the robot hand. In the drive rod assembly formed by such a layout, the drive rod is located above compared to other transmission rods, so that the way it transmits force is more efficient and the structure is simpler.

[0058] During the operation of the motor of the entire humanoid mechanical finger transmission system of the present invention, the motor drives the sprocket matched with it to rotate through the torque generated by the motor shaft, and the motor drive shaft and the sprocket are keyed with an interference fit, which is convenient for installation and can provide more stable transmission. Each micro double-buckle push chain device 18 is equipped with a sprocket for driving the rigid chain to extend and retract.

[0059] The driving rod of the present invention is coaxially connected to the transmission rod, and the other end of the transmission rod is connected to the proximal knuckle. The rod length and the rotation angle of the transmission rod are determined by calculating the relative coordinate trajectory of the two fulcrums of the transmission rod, and the transmission process of the driving force to the finger part is completed. During the bending process of the manipulator finger, the transmission rod transmits the driving force to the connecting rod 2 in the proximal knuckle, and the other end of the connecting rod 2 is connected to the middle knuckle. The positions of the two hinge points of the connecting rod 2, as well as the length and the rotation angle of the connecting rod 2 are determined by analyzing the motion trajectory of the middle knuckle and the proximal knuckle, and the motion trajectory control of the two knuckles jointly limited by the transmission rod and the connecting rod 2 is completed. The connecting rod 1 is hinged to the middle knuckle at one end and hinged to the distal knuckle at the other end. The trajectories of the proximal knuckle and the middle knuckle are determined by the connecting rod 2, combined with the target trajectory of the distal knuckle, and the length of the connecting rod 1 and the specific coordinates of the two fulcrums of the connecting rod 1 are determined by relative coordinate conversion and DH parameter calculation, thereby completing the complete bionic movement of the manipulator finger from driving to execution.

[0060] Furthermore, the micro double-buckle push chain device 18 described in the present invention is made of a lightweight but high-strength material. For example, chain one and chain two in the micro double-buckle push chain device 18 can be made of martensitic stainless steel.

[0061] As described above, the present invention replaces the conventional driving mechanism with a miniature double-buckle push chain device 18, and sets up an execution unit connecting rod mechanism with corresponding parameters, so that it is more stable and efficient during the driving process, and the structure is simple and not easy to damage. In addition, the execution unit connecting rod mechanism has a small number of parts, which is easy to produce, and the overall device has a high cost performance.

[0062] Compared with transmission spring devices, rope-driven control devices, ball screws and other devices, the transmission system of the present invention can obtain accurate and stable transmission at a lower cost, and is more continuous, smooth and efficient during the transmission process. The present invention uses the least space to complete the complete bionic movement of humanoid fingers through the articulation of each finger joint and the connection between the finger joint and the connecting rod mechanism. Since the finger part of the manipulator is fused and assembled with the finger shell digital model through the connecting rod mechanism, the multi-link mechanism is converted into a finger part controlled by only two connecting rods, so very little space is occupied inside the finger. On this basis, more sensors can be added to realize more functions of the robot. When designing the palm, the present invention can achieve the effect that can be achieved by the middle finger, index finger, and ring finger of different lengths by setting palm fixing sections (palm base) of different lengths, which greatly reduces the processing difficulty.

Claims

1. A humanoid robot finger transmission system, comprising a palm part and a finger part, characterized in that: One end of the palm part is connected to multiple finger parts through a palm base, and each finger part is configured with a transmission system. The transmission system includes a driving mechanism and a connecting rod mechanism. The driving mechanism is a miniature double-buckle push chain device arranged on the palm part close to the back of the palm, and the palm part of the driving mechanism close to the palm center forms a first installation space. The finger part includes proximal knuckles, middle knuckles, and distal knuckles. One end of the proximal knuckle is hinged to the palm base, and the other end is hinged to one end of the middle knuckle. The other end of the middle knuckle is hinged to one end of the distal knuckle. The connecting rod mechanism includes a connecting rod 1 connected between the middle knuckle and the distal knuckle, and a connecting rod 2 connected between the proximal knuckle and the middle knuckle. A driving rod assembly is connected between the connecting rod 2 and the output end of the miniature double-buckle push chain device, and a second installation space is formed in the finger part where the outer sides of the connecting rod 1 and the connecting rod 2 are located.

2. A humanoid robot finger transmission system as claimed in claim 1, characterized in that: A first hinge axis is provided at the lower end of the palm base, the lower part of the proximal knuckle facing the palm base is hinged to the palm base through the first hinge axis, a second hinge axis is provided at the middle part of the other end of the proximal knuckle, the end of the intermediate knuckle facing the palm base is hinged to the second hinge axis, a third hinge axis is provided at the middle part of the end of the distal knuckle facing the palm base, and the end of the intermediate knuckle away from the palm base is hinged to the third hinge axis.

3. A humanoid robot finger transmission system as claimed in claim 2, characterized in that: A fourth hinge axis is provided at the upper part of the end of the middle knuckle facing the palm base, a fifth hinge axis is provided at the lower part of the end of the distal knuckle facing the palm base, both ends of the connecting rod one are respectively hinged to the fourth hinge axis and the fifth hinge axis, and the connecting rod one is an S-shaped arc structure; a sixth hinge axis is provided at the lower part of the end of the middle knuckle facing the palm base, a seventh hinge axis is provided at the middle or upper-middle part of the proximal knuckle near the palm base, both ends of the connecting rod two are respectively hinged to the sixth hinge axis and the seventh hinge axis, and a limit block is also provided at the lower part of the palm base to limit the maximum downward rotation angle of the connecting rod two. When the connecting rod two is restricted from rotating downward, the proximal knuckle still has space to rotate downward, and the connecting rod two is an upwardly protruding arc rod.

4. A humanoid robot finger transmission system as claimed in claim 3, characterized in that: The driving rod assembly includes a transmission rod and a driving rod. An eighth hinge axis is provided on the upper part of one end of the proximal knuckle close to the palm base. One end of the transmission rod is hinged to the eighth hinge axis, and the other end is hinged to one end of the driving rod through a ninth hinge axis. The transmission rod is an upwardly protruding arc rod.

5. A humanoid robot finger transmission system as claimed in claim 4, characterized in that: The micro double-buckle push chain device is provided with a chain output channel, and the chain output channel is arranged in the direction of the finger part. The end of the chain output channel forms a guide groove, one end of the driving rod is inserted into the guide groove and is slidably connected to the guide groove, and the end of the driving rod away from the transmission rod is fixedly connected to the rigid chain end of the micro double-buckle push chain device.

6. A humanoid robot finger transmission system as claimed in claim 5, characterized in that: There are two connecting rods one and two connecting rods two, and the two connecting rods one and the two connecting rods two are respectively located on both sides of the finger part.

7. A humanoid robot finger transmission system as claimed in claim 6, characterized in that: The axes of the first to ninth hinge shafts are parallel.

8. A humanoid robot finger transmission system as claimed in claim 7, characterized in that: The length and shape of the connecting rod 1 and the connecting rod 2 are determined by the following factors: A. The length is limited by 4 parameters, the shape and the size of the object to be grasped; B. On the premise of realizing the grasping function of the finger part, the shape is determined by avoiding interference with other structures in the finger part; on this basis, the shape is unique or non-unique.

9. A humanoid robot finger transmission system as claimed in claim 8, characterized in that: The four parameters defining the length of the link 1 and link 2 are: the translation distance a1 of the hinge axis at both ends of the link 1 or link 2 along the x-axis, the rotation angle a2 relative to the x-axis, the translation distance d along the z-axis, and the rotation angle d along the z-axis. i , the rotation angle i in the Y-axis direction relative to the z-axis, the X-axis refers to the direction when the finger is partially stretched, the Y-axis is an axis perpendicular to the X-axis in the horizontal plane, and the Z-axis is set to be an axis perpendicular to the intersection of the X and Y axes in the longitudinal direction. When the connecting rod 2 rotates around the seventh hinge axis 10, the set point on the seventh hinge axis is the intersection of the XYZ axes. According to the translation distance a1 of the sixth hinge axis 5 along the X-axis direction, the rotation angle a2 relative to the x-axis, and the translation distance d along the z-axis i , the position of the fourth hinge axis 4 is determined by the rotation angle i in the Y-axis relative to the z-axis, and the set point on the fourth hinge axis 4 is taken as the intersection of the XYZ axes. The position of the fifth hinge axis 1 is determined by the same method, and the lengths of the link one and the link two are determined according to the shapes of the link one and the link two, the relative positions of the seventh and the sixth hinge axes, the relative positions of the bottom four hinge axes and the fifth hinge axes, and the size of the object to be grasped.

10. A humanoid robot finger transmission system as claimed in claim 9, characterized in that: The rotation angle i is set to 0°.

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