Dexterous hand and humanoid robot

Abstract

The invention discloses a dexterous hand and a humanoid robot. The dexterous hand comprises a palm and a plurality of finger assemblies. A containing cavity is formed in the palm, and multiple openings are formed in the front side of the palm. A plurality of mounting arms are arranged in the containing cavity and correspond to the openings respectively, and the front ends of the mounting arms penetrate through the openings and protrude out of the front side of the palm; the accommodating cavity is divided into an upper mounting space and a lower mounting space by the plurality of mounting arms; the multiple finger assemblies are connected to the front ends of the multiple mounting arms in a one-to-one correspondence mode. A plurality of driving units are arranged in the upper mounting space and used for driving the finger assemblies to swing up and down relative to the mounting arm. Two circuit boards arranged up and down are arranged in the lower installation space, a wire of the driving unit is connected to the circuit board located on the upper portion, and a control module is arranged on the circuit board located on the lower portion. Moving parts on the driving units can be prevented from interfering with wire harnesses and electronic devices, and the internal layout of the palm is more reasonable.

Description

Technical Field

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

[0002] The dexterous hand is the end effector of a humanoid robot, which is used to enable the humanoid robot to perform some complex and delicate tasks. Existing dexterous hands usually imitate the human hand to set up a palm, thumb component, index finger component, middle finger component, ring finger component and pinky finger component. Each finger component is connected to the palm and can swing up and down relative to the palm. Through the freedom of each finger swinging relative to the palm and the rotation joints on each finger, the dexterous hand can complete the grasping task. Pressure sensors are usually configured on the finger assemblies of dexterous hands. Since the space of the finger assemblies is small and a driving mechanism needs to be configured inside the finger assemblies to drive the finger joints to rotate, there is more space inside the palm to configure the detection unit corresponding to the pressure sensor, the power supply module and the control module of the driving mechanism in each finger assembly. However, with the continuous development of humanoid robot technology, dexterous hands are required to have more degrees of freedom. It is often necessary to configure more electronic devices and complex wiring harnesses inside the palm to match the more complex mechanical movements of multiple fingers on the palm. As a result, more electronic devices and wiring harnesses take up more space. During the operation of the dexterous hand, it is very easy for the moving parts of the finger assembly to interfere with the electronic devices and wiring harnesses, resulting in poor working stability of the dexterous hand. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a dexterous hand and a humanoid robot to solve the problem of poor working stability of the dexterous hand caused by interference between moving parts and electronic devices and wiring harnesses inside the palm in the prior art.

[0004] The purpose of the present invention is achieved by the following technical solutions: Dexterous hand, including palm and multiple finger components; A receiving cavity is formed inside the palm, and a plurality of openings communicating with the receiving cavity are arranged on the front side of the palm, and the plurality of openings are arranged along the width direction of the palm; a plurality of mounting arms are arranged inside the receiving cavity, and the plurality of mounting arms correspond to the plurality of openings respectively, and the front ends of the mounting arms pass through the corresponding openings and protrude from the front side of the palm; the plurality of mounting arms divide the receiving cavity into an upper mounting space located above the plurality of mounting arms and a lower mounting space located below the plurality of mounting arms; The plurality of finger assemblies are connected to the front ends of the plurality of mounting arms in a one-to-one correspondence; A plurality of drive units corresponding to the finger assemblies are arranged in the upper installation space, and the drive units are used to drive the corresponding finger assemblies to swing up and down relative to the corresponding installation arms; two circuit boards arranged up and down are arranged in the lower installation space, the wires of the drive units are connected to the circuit board located on the upper side, the circuit board located on the lower side is connected to the circuit board located on the upper side, and a control module is provided on the circuit board located on the lower side.

[0005] According to the dexterous hand of the embodiment of the present invention, a plurality of mounting arms are arranged in the inner cavity of the palm, and the inner cavity of the palm is divided into an upper and lower part by the plurality of mounting arms. The driving unit for driving the finger assembly is arranged in an upper mounting space above the mounting arms, and two circuit boards are arranged up and down and placed in a lower mounting space below the mounting arms. The wiring harness of the driving unit connected to the circuit board located above can be arranged behind or below the plurality of mounting arms, so as to prevent the moving parts on the driving unit from interfering with the wiring harness and electronic devices. In addition, the two circuit boards distributed up and down can arrange more electronic devices, so that the electronic devices can be arranged in the two circuit boards in a classified manner, so that the internal layout of the palm is more reasonable.

[0006] In a preferred embodiment, the rear end of the finger assembly is pivotally connected to the front end of the corresponding mounting arm so that the finger assembly can swing up and down relative to the mounting arm around a first axis, and the driving unit includes a fixed end pivotally connected to the mounting arm and a movable end capable of moving forward and backward relative to the fixed end, and the movable end passes through the opening and is pivotally connected to the rear end of the finger assembly so that the finger assembly can rotate relative to the movable end around a second axis, and the second axis is parallel to the first axis and staggered with each other. The driving unit is installed on each mounting arm so that the driving unit can form an assembly with the mounting arm, which can facilitate the assembly of the internal structure of the palm.

[0007] In a preferred embodiment, the driving unit includes a motor, a reducer, a screw and a nut. The housing of the motor and the housing of the reducer are fixedly connected together to form a fixed end of the driving unit. The housing of the reducer is pivotally connected to the rear end of the mounting arm. The output shaft of the motor is connected to the input end of the reducer. The screw is connected to the output end of the reducer. The nut is sleeved on the screw and cooperates with the screw thread. The movable end is a movable rod fixed on the nut. The screw transmission mechanism driven by the motor realizes the forward and backward movement of the movable rod. The rear end of the little finger assembly is pushed forward or pulled backward by the movable rod, so that the little finger assembly swings around the first axis. The swing angle of the little finger assembly can be accurately controlled by controlling the motor, so that the dexterous hand has higher precision.

[0008] In a preferred embodiment, the length direction of the motor, the screw rod, and the movable rod are all consistent with the length direction of the mounting arm, and the screw rod and the movable rod are located below or above the motor. The assembly formed by the motor body, the screw rod, and the movable rod is arranged in the up-down direction, so that the drive unit occupies less lateral space of the palm, and the drive units on adjacent mounting arms are spaced apart at a larger distance, further avoiding interference between the drive unit and the wiring harness.

[0009] In a preferred embodiment, the finger assembly includes a proximal phalanx and a distal phalanx, the rear end of the distal phalanx is pivotally connected to the front end of the proximal phalanx, the rear end of the proximal phalanx is placed on the front side of the opening of the palm to be pivotally connected to the movable rod of the mounting arm and the driving unit through the first rotating shaft and the second rotating shaft, the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the second rotating shaft; a piezoresistive sensor for detecting the pressure value on the lower surface of the distal phalanx is arranged in the distal phalanx, and the wire of the piezoresistive sensor passes through the distal phalanx, the proximal phalanx, and the opening and is connected to the circuit board located above; a driving assembly for driving the distal phalanx to rotate relative to the proximal phalanx is arranged inside the proximal phalanx, and the wire of the driving assembly passes through the proximal phalanx and the opening and is connected to the circuit board located above. The circuit board located above is used to arrange the interfaces of the piezoresistive sensors, driving units, and driving assemblies corresponding to each finger assembly to connect the piezoresistive sensors, driving units, driving assemblies, and power conversion on each finger assembly; the control module on the circuit board located below is used as the main control part for signal processing and system control, and the two circuit boards are divided into two functional areas to facilitate the classification and arrangement of electronic devices inside the palm.

[0010] In a preferred embodiment, the lower surface of the mounting arm is provided with a recessed position that is recessed upward, and the circuit board located above is placed in the recessed positions of the mounting arms. The recessed positions provided on the mounting arms are used to leave a certain space for the circuit board in the up and down directions, thereby making the internal structure of the palm more compact and avoiding interference between the electronic components on the circuit board and the mounting arms.

[0011] In a preferred embodiment, the width of the opening is equal to the width of the mounting arm; a positioning column extending upward is provided at the bottom of the opening on the palm, a positioning hole matching the positioning column is provided on the lower surface of the mounting arm, the positioning column is inserted into the positioning hole, and the mounting arm is fixedly connected to the palm by screws. During assembly, the positioning column and the positioning hole position the mounting arm and the palm, which can facilitate the assembly of the mounting arm and the palm and improve the installation accuracy of the two.

[0012] In a preferred embodiment, the width of the opening is greater than the width of the mounting arm, so that an avoidance gap is formed between the two sides of the mounting arm and the two sides of the opening, and the mounting arm is pivotally connected to the palm via a pivot extending up and down. The mounting arm can swing sideways relative to the palm around the pivot, and the mounting arm is driven to swing around the pivot by a driving mechanism arranged inside the palm, so that the index finger assembly can swing sideways, thereby enabling the dexterous hand to perform more delicate movements.

[0013] In a preferred embodiment, the palm includes an upper shell and a lower shell detachably fixed to the upper shell, the accommodating cavity is surrounded by the upper shell and the lower shell, the inner surface of the lower shell is provided with a plurality of upwardly protruding supporting bosses, the circuit board located below is fixed on the supporting bosses so that the circuit board located below and the inner surface of the lower shell are gap-matched, that is, sufficient gap is left between the electronic components of the circuit board located below and the inner surface of the lower shell to ensure electrical safety.

[0014] A humanoid robot including the above-mentioned dexterous hand.

[0015] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 Schematic diagram of the coordination structure between the middle mounting arm and the palm; Figure 3 It is a side view structural schematic diagram of the present invention; Figure 4 for Figure 3 Schematic diagram of the structure of the middle and small thumb components; Figure 5 for Figure 1 A schematic diagram of the matching structure of the first mounting arm and the palm corresponding to the little finger assembly; Figure 6 for Figure 1 A schematic diagram of the matching structure of the fourth mounting arm and the palm corresponding to the index finger assembly; Figure 7 for Figure 1 Schematic diagram of the coordination structure between the second circuit board located at the bottom and the palm.

[0017] In the figure: 10, palm; 101, first opening; 102, second opening; 103, third opening; 104, fourth opening; 11, upper shell; 12, lower shell; 121, supporting boss; 122, positioning column; 13, accommodating cavity; 131, upper installation space; 132, lower installation space; 21, first circuit board; 22, second circuit board; 31, little finger assembly; 311, distal knuckle; 312, proximal knuckle; 313, drive assembly ; 314, first rotating shaft; 315, second rotating shaft; 316, piezoresistive sensor; 32, ring finger assembly; 33, middle finger assembly; 34, index finger assembly; 41, first mounting arm; 410, recess; 411, positioning hole; 42, second mounting arm; 43, third mounting arm; 44, fourth mounting arm; 441, pivot; 50, drive unit; 51, motor; 52, reducer; 53, screw; 54, nut; 55, movable rod. DETAILED DESCRIPTION

[0018] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0019] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0020] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] Please refer to Figure 1-7 As shown, a dexterous hand of the present invention comprises a palm 10 and a plurality of finger assemblies, wherein the plurality of finger assemblies specifically comprise a little finger assembly 31, a ring finger assembly 32, a middle finger assembly 33, and an index finger assembly 34; the palm 10 is a hollow shell structure, and a receiving cavity 13 is formed inside the palm 10, and a first opening 101, a second opening 102, a third opening 103, and a fourth opening 104 are arranged on the front side of the palm 10, and the first opening 101, the second opening 102, the third opening 103, and the fourth opening 104 are arranged along the width direction of the palm 10 and are all connected to the receiving cavity 13; the receiving cavity 13 is provided with a first mounting arm 41, a second mounting arm 42, a third mounting arm 43 and a fourth mounting arm 44, which are respectively provided with a one-to-one correspondence with the first opening 101, the second opening 102, the third opening 103 and the fourth opening 104. Taking the first mounting arm 41 and the first opening 101 as an example, the front end of the first mounting arm 41 passes through the first opening 101 and protrudes from the front side of the palm 10, and the other mounting arms and the corresponding openings adopt the same matching method, which will not be described in detail here.

[0023] The first mounting arm 41, the second mounting arm 42, the third mounting arm 43 and the fourth mounting arm 44 are respectively connected to the first opening 101, the second opening 102, the third opening 103 and the fourth opening 104 and arranged along the width direction of the palm 10, so that the first mounting arm 41, the second mounting arm 42, the third mounting arm 43 and the fourth mounting arm 44 are used to separate the accommodating cavity 13 of the palm 10 into an upper mounting space 131 and a lower mounting space 132, the upper mounting space 131 is located above the plurality of mounting arms, and the lower mounting space 132 is located below the plurality of mounting arms; the little finger assembly 31, the ring finger assembly 32, the middle finger assembly 33, the index finger assembly 34 and the The rear end of the component 34 is connected to the front end of the first mounting arm 41, the second mounting arm 42, the third mounting arm 43 and the fourth mounting arm 44 in a one-to-one correspondence; four driving units 50 are arranged inside the upper mounting space 131, and the four driving units 50 are respectively used to drive the little finger component 31, the ring finger component 32, the middle finger component 33, and the index finger component 34, so that the little finger component 31 can swing up and down relative to the first mounting arm 41, the ring finger component 32 can swing up and down relative to the second mounting arm 42, the middle finger component 33 can swing up and down relative to the third mounting arm 43, and the index finger component 34 can swing up and down relative to the fourth mounting arm 44.

[0024] Specifically, the driving end of the driving unit 50 is connected to the finger assembly after passing through the opening. Taking the little finger assembly 31 as an example, the driving end of the driving unit 50 corresponding to the little finger assembly 31 is connected to the rear end of the little finger assembly 31 after passing through the first opening 101; a first circuit board 21 and a second circuit board 22 are arranged in the lower installation space 132, wherein the first circuit board 21 is located below the second circuit board 22 so that the two are arranged up and down, and the second circuit board 22 located above is used as an interface circuit board, and the wires of the driving unit 50 are connected to the corresponding interfaces on the second circuit board 22, and the first circuit board 21 located below is used as a main control circuit board, on which a control module is arranged, and the first circuit board 21 and the second circuit board 22 are connected by pin headers or other methods to realize signal connection between the first circuit board 21 and the second circuit board 22.

[0025] In the present invention, a plurality of mounting arms are arranged in the inner cavity of the palm 10, and the inner cavity of the palm 10 is divided into an upper and lower part by using the plurality of mounting arms. The driving unit 50 for driving the finger assembly is arranged in an upper mounting space 131 located above the mounting arm, and the first circuit board 21 and the second circuit board 22 are arranged up and down and are placed in a lower mounting space 132 below the mounting arm. The wiring harness of the driving unit connected to the second circuit board 22 can be arranged behind or below the plurality of mounting arms, thereby preventing the moving parts on the driving unit 50 from interfering with the wiring harness and the electronic devices. In addition, the first circuit board 21 and the second circuit board 22 distributed up and down can arrange more electronic devices, so that the electronic devices can be arranged in a classified manner on the first circuit board 21 and the second circuit board 22, so that the internal layout of the palm 10 is more reasonable.

[0026] In a preferred embodiment, the rear end of the finger assembly is pivoted to the front end of the corresponding mounting arm, so that the finger assembly can swing up and down relative to the mounting arm around the first axis; taking the little finger assembly 31 as an example, its rear end is pivoted to the front end of the first mounting arm 41, and the driving unit 50 for driving the little finger assembly 31 is located above the first mounting arm 41 and is installed on the first mounting arm 41, which specifically includes a fixed end pivoted to the first mounting arm 41, and a movable end that can move forward and backward relative to the fixed end. After the driving unit 50 is started, the movable end moves forward and backward along a straight line, and the movable end passes through the first opening 101 and is pivoted to the rear end of the little finger assembly 31, so that the little finger assembly 31 can rotate around the second axis relative to the interactive end. The second axis is parallel to the first axis and staggered with each other. When the movable end of the driving unit 50 moves forward and backward, it can drive the little finger assembly 31 to rotate around the first axis, and then make the little finger assembly 31 swing up and down relative to the palm 10. The matching structure of the driving unit 50 and other finger assemblies is the same as above, and no repeated description is made here. The driving unit 50 is installed on each mounting arm so that the driving unit 50 and the mounting arm can form an assembly, which can facilitate the assembly of the internal structure of the palm 10.

[0027] In other embodiments, the driving unit 50 may also be installed on the inner wall of the palm 10 .

[0028] The driving unit 50 includes a motor 51, a reducer 52, a screw 53, and a nut 54. The housing of the motor 51 and the housing of the reducer 52 are fixedly connected together and together form the fixed end of the driving unit 50. The housing of the reducer 52 is pivotally connected to the rear end of the first mounting arm 41. The output shaft of the motor 51 is connected to the output end of the reducer 52. The screw 53 is connected to the output end of the reducer 52. The nut 54 is sleeved on the screw 53 and threadedly matched with the screw 53. The movable end of the driving unit 50 is a movable rod 55 fixed on the nut 54. The movable rod 55 is located above the first mounting arm 41 and is pivotally connected to the rear end of the little finger assembly 31 after passing through the first opening 101. The forward and backward movement of the movable rod 55 is realized by the screw transmission mechanism driven by the motor 51. The rear end of the little finger assembly 31 is pushed forward or pulled backward by the movable rod 55, so that the little finger assembly 31 swings around the first axis. The swing angle of the little finger assembly 31 can be accurately controlled by controlling the motor 51, so that the dexterous hand has a higher precision.

[0029] The length direction of the motor 51, the screw rod 53, and the movable rod 55 are all consistent with the length direction of the first mounting arm 41, and the assembly formed by the screw rod 53 and the movable rod 55 is located below the motor 51, that is, the body of the motor 51 and the assembly formed by the screw rod 53 and the movable rod 55 are arranged in the up-down direction, so that the drive unit 50 occupies less lateral space of the palm 10, and the drive units 50 on adjacent mounting arms are spaced apart at a larger distance, further avoiding interference between the drive unit 50 and the wiring harness. In other embodiments, the motor 51 may be arranged below the assembly formed by the screw rod 53 and the movable rod 55.

[0030] Taking the little finger assembly 31 as an example, it includes a proximal knuckle 312 and a distal knuckle 311, the rear end of the distal knuckle 311 is pivoted to the front end of the proximal knuckle 312, the rear end of the proximal knuckle 312 is placed in front of the first opening 101 of the palm 10, the proximal knuckle 312 is pivoted to the front end of the first mounting arm 41 through the first rotating shaft 314, and at the same time, the proximal knuckle 312 is pivoted to the movable rod 55 of the driving unit 50 through the second rotating shaft 315, the first axis is the central axis of the first rotating shaft 314, and the second axis is the central axis of the second rotating shaft 315; a piezoresistive sensor 316 is arranged in the distal knuckle 311, and the piezoresistive sensor 316 is used to detect the pressure value on the lower surface of the distal knuckle 311, and the wire of the piezoresistive sensor 316 passes through the distal knuckle 311, the proximal knuckle 312, and the first opening 101 and is connected to On the second circuit board 22, a driving assembly 313 for driving the distal phalanx 311 to rotate relative to the proximal phalanx 312 is arranged inside the proximal phalanx 312. The driving assembly 313 may have the same structure as the above-mentioned driving unit 50. The wire of the driving assembly 313 passes through the proximal phalanx 312 and the first opening 101 and is connected to the second circuit board 22; that is, the second circuit board 22 is used to arrange the interfaces of the piezoresistive sensors, driving units, and driving assemblies corresponding to each finger assembly to connect the piezoresistive sensors, driving units, driving assemblies, and power conversion on each finger assembly; the control module on the first circuit board 21 is used as the main control part for signal processing and system control. The first circuit board 21 and the second circuit board 22 are divided into two functional areas to facilitate the classified arrangement of electronic devices inside the palm 10. The structures of the ring finger assembly 32, the middle finger assembly 33, and the index finger assembly 34 are the same as the above-mentioned little finger assembly 31, and will not be repeated here.

[0031] The lower surface of the first mounting arm 41 is provided with an upwardly recessed recess 410. Similarly, the lower surfaces of the second mounting arm 42, the third mounting arm 43 and the fourth mounting arm 44 are all provided with an upwardly recessed recess. The upper second circuit board 22 is located in the recesses of multiple mounting arms. The recesses provided on the mounting arms are used to reserve a certain space for the second circuit board 22 in the up and down directions, thereby making the internal structure of the palm 10 more compact and avoiding interference between the electronic components on the second circuit board 22 and the mounting arms.

[0032] See also Figure 5As shown, the width of the first opening 101 is equal to the width of the first mounting arm 41, so that the first opening 101 can just allow the front end of the first mounting arm 41 to pass through. A positioning column 122 extending upward is provided at the bottom of the first opening 101 on the palm 10, and a positioning hole 411 matching the positioning column 122 is provided on the lower surface of the first mounting arm 41. After the front end of the first mounting arm 41 is inserted into the first opening 101, the positioning column 122 is inserted into the positioning hole 411, and then the first mounting arm 41 is fixedly connected to the palm 10 by screws. During assembly, the positioning column 122 and the positioning hole 411 position the first mounting arm 41 and the palm 10, which can facilitate the assembly of the first mounting arm 41 and the palm 10 and improve the installation accuracy of the two. The installation of other mounting arms and the palm 10 can adopt the same structure as above.

[0033] See also Figure 6 As shown, the mounting arm can be set to be able to swing sideways relative to the palm 10, so that the finger assembly corresponding to the mounting arm has the side swing function. Specifically, the width of the fourth opening 104 can be set to be larger than the width of the fourth mounting arm 44. After the fourth mounting arm 44 is inserted into the fourth opening 104, the two sides of the fourth mounting arm 44 form an avoidance gap with the two sides of the fourth opening 104. The fourth mounting arm 44 is pivoted on the palm 10 through a pivot 441 extending up and down; the fourth mounting arm 44 can swing sideways relative to the palm 10 around the pivot 441, and the fourth mounting arm 44 is driven by the driving mechanism set inside the palm 10 to swing around the pivot 441, so as to realize the side swing of the index finger assembly 34, so that the dexterous hand can complete more delicate movements. Other mounting arms can also be installed on the palm 10 using the above structure to realize the side swing function of all finger assemblies.

[0034] The palm 10 includes an upper shell 11 and a lower shell 12 detachably fixed to the upper shell 11. The accommodating cavity 13 is surrounded by the upper shell 11 and the lower shell 12. The inner surface of the lower shell 12 is provided with a plurality of upwardly protruding supporting bosses 121. The first circuit board 21 located below is fixed on the supporting bosses 121, so that there is sufficient gap between the electronic components of the first circuit board 21 and the inner surface of the lower shell 12 to ensure electrical safety.

[0035] The humanoid robot of the present invention includes the above-mentioned dexterous hand. Other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0036] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0037] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. Dexterous hand, characterized in that, Including palm, multiple finger components; A receiving cavity is formed inside the palm, and a plurality of openings communicating with the receiving cavity are arranged on the front side of the palm, and the plurality of openings are arranged along the width direction of the palm; a plurality of mounting arms are arranged inside the receiving cavity, and the plurality of mounting arms correspond to the plurality of openings respectively, and the front ends of the mounting arms pass through the corresponding openings and protrude from the front side of the palm; the plurality of mounting arms divide the receiving cavity into an upper mounting space located above the plurality of mounting arms and a lower mounting space located below the plurality of mounting arms; The plurality of finger assemblies are connected to the front ends of the plurality of mounting arms in a one-to-one correspondence; A plurality of drive units corresponding to the finger assemblies are arranged in the upper installation space, and the drive units are used to drive the corresponding finger assemblies to swing up and down relative to the corresponding installation arms; two circuit boards arranged up and down are arranged in the lower installation space, the wires of the drive units are connected to the circuit board located on the upper side, the circuit board located on the lower side is connected to the circuit board located on the upper side, and a control module is provided on the circuit board located on the lower side.

2. The dexterous hand according to claim 1, characterized in that: The rear end of the finger assembly is pivotally connected to the front end of the corresponding mounting arm so that the finger assembly can swing up and down relative to the mounting arm around a first axis. The driving unit includes a fixed end pivotally connected to the mounting arm and a movable end that can move forward and backward relative to the fixed end. The movable end passes through the opening and is pivotally connected to the rear end of the finger assembly so that the finger assembly can rotate relative to the movable end around a second axis. The second axis is parallel to the first axis and staggered with each other.

3. The dexterous hand according to claim 2, characterized in that: The drive unit includes a motor, a reducer, a screw and a nut. The housing of the motor and the housing of the reducer are fixedly connected together to form a fixed end of the drive unit. The housing of the reducer is pivotally connected to the rear end of the mounting arm. The output shaft of the motor is connected to the input end of the reducer. The screw is connected to the output end of the reducer. The nut is sleeved on the screw and cooperates with the screw thread. The movable end is a movable rod fixed on the nut.

4. The dexterous hand according to claim 3, characterized in that: The length directions of the motor, the lead screw and the movable rod are all consistent with the length direction of the mounting arm, and the lead screw and the movable rod are located below or above the motor.

5. The dexterous hand according to claim 3, characterized in that: The finger assembly includes a proximal knuckle and a distal knuckle. The rear end of the distal knuckle is pivotally connected to the front end of the proximal knuckle. The rear end of the proximal knuckle is placed on the front side of the opening of the palm to be pivotally connected to the mounting arm and the movable rod of the driving unit through the first rotating shaft and the second rotating shaft respectively. The first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the second rotating shaft. A piezoresistive sensor for detecting the pressure value on the lower surface of the distal knuckle is arranged in the distal knuckle. The wire of the piezoresistive sensor passes through the distal knuckle, the proximal knuckle and the opening and is connected to the circuit board located above. A driving assembly for driving the distal knuckle to rotate relative to the proximal knuckle is arranged inside the proximal knuckle. The wire of the driving assembly passes through the proximal knuckle and the opening and is connected to the circuit board located above.

6. The dexterous hand according to claim 1, characterized in that: The lower surface of the mounting arm is provided with a recessed position recessed upwards, and the circuit board located above is placed in the recessed positions of the plurality of mounting arms.

7. The dexterous hand according to claim 1, characterized in that: The width of the opening is equal to the width of the mounting arm; a positioning column extending upward is provided at the bottom of the opening on the palm, a positioning hole matching the positioning column is provided on the lower surface of the mounting arm, the positioning column is inserted into the positioning hole, and the mounting arm is fixedly connected to the palm by screws.

8. The dexterous hand according to claim 1, characterized in that: The width of the opening is greater than the width of the mounting arm, so as to form an escape gap between the two sides of the mounting arm and the two sides of the opening. The mounting arm is pivotally connected to the palm through a pivot extending up and down.

9. The dexterous hand according to claim 1, characterized in that: The palm includes an upper shell and a lower shell detachably fixed to the upper shell. The accommodating cavity is surrounded by the upper shell and the lower shell. The inner surface of the lower shell is provided with a plurality of upwardly protruding supporting bosses. The circuit board located below is fixed on the supporting bosses so that the circuit board located below is gap-matched with the inner surface of the lower shell.

10. A humanoid robot, characterized in that The invention comprises the dexterous hand as described in any one of claims 1 to 9.

Images