Dexterous hand thumb, dexterous hand and humanoid robot

Abstract

The embodiment of the invention provides a dexterous hand thumb, a dexterous hand and a humanoid robot. The dexterous hand thumb comprises a shell, a phalanx structure and a bending structure. The phalanx structure comprises a near phalanx and a far phalanx, one end of the near phalanx is rotationally connected with the far phalanx, the end, away from the far phalanx, of the near phalanx is rotationally connected to the shell, and a connecting piece is further rotationally connected between the far phalanx and the shell. The bending structure is installed on the shell and comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly are in transmission connection, the driven assembly comprises a driven lead screw and a bending sliding block connected to the driven lead screw in a threaded mode, and one end of the bending sliding block is movably connected to the near phalanx. The dexterous hand thumb is small in size, light in weight and high in dexterous degree.

Description

Technical Field

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

[0002] As a new type of end effector of humanoid robots, the anthropomorphic dexterous hand has become one of the indispensable key components of humanoid robots. The dexterous hand imitates the structure and function of the human hand, so the dexterous hand usually has multiple anthropomorphic fingers, including a thumb structure.

[0003] The fingers of a dexterous hand have multiple degrees of freedom to ensure grasping or other dexterous operations. In the related art, the thumb structure of a dexterous hand is relatively bulky and has a large volume, which not only affects its flexibility, but also affects the installation of the other fingers on the palm. Summary of the invention

[0004] The embodiments of the present application provide a dexterous thumb, a dexterous hand, and a humanoid robot, which are used to increase the flexibility of the thumb and reduce the size of the thumb.

[0005] In the first aspect, the embodiment of the present application provides a dexterous thumb, comprising a shell, a phalanx structure and a bending structure. The phalanx structure comprises a proximal phalanx and a distal phalanx, one end of the proximal phalanx is rotatably connected to the distal phalanx, one end of the proximal phalanx away from the distal phalanx is rotatably connected to the shell, and a connecting piece is rotatably connected between the distal phalanx and the shell, and when the proximal phalanx rotates relative to the shell, the connecting piece is used to drive the distal phalanx to rotate relative to the proximal phalanx. The bending structure is installed on the shell, and the bending structure comprises an active component and a driven component, and the active component and the driven component are transmission-connected, and the driven component comprises a driven screw and a bending slider screwed on the driven screw, one end of the bending slider is movably connected to the proximal phalanx in a direction perpendicular to the rotation axis of the proximal phalanx, and the active component is used to drive the driven screw to rotate, so as to drive the bending slider to move along the active path.

[0006] The dexterous thumb provided in the embodiment of the present application is provided with a connecting piece to link the movement of the distal phalanx relative to the proximal phalanx and the movement of the proximal phalanx relative to the shell. It is only necessary to provide a bending structure inside the shell to drive the bending of the phalanx structure relative to the shell and realize the bending of the phalanx structure itself. There is no need to provide a driving structure inside the phalanx structure to drive the rotation of the distal phalanx relative to the proximal phalanx. This can reduce the complexity of the internal parts of the phalanx structure, make the phalanx structure more slender, increase the dexterity of the phalanx structure, and reduce the weight of the phalanx structure. By driving the bending slider to move relative to the proximal phalanx to drive the rotation of the proximal phalanx relative to the shell through the driven screw, the structure is simpler, and the structure of the proximal phalanx itself and the connection of the bending slider are reasonably utilized to make the structure more compact, thereby making the entire thumb structure more compact, which is conducive to reducing the weight of the thumb and increasing the dexterity of the thumb.

[0007] In a possible implementation, the driven screw extends in a direction perpendicular to the rotation axis of the proximal phalanx, a predetermined gap is provided between the driven screw and the rotation axis of the proximal phalanx, and an extension line of the driven screw does not intersect with the rotation axis of the proximal phalanx. By setting the driven screw, the bending slider will not interfere with the rotation axis of the proximal phalanx during movement.

[0008] In a possible embodiment, a guide groove is provided on the proximal phalanx in a direction perpendicular to the rotation axis of the proximal phalanx, and a part of the structure of the curved slider is movably arranged in the guide groove. By providing the guide groove, the curved slider is connected to the guide groove so as to be movably connected to the proximal phalanx.

[0009] In a possible implementation, the extension line of the guide groove intersects with the axis of the proximal phalanx, so that the guide groove radially diverges with the rotation center of the proximal phalanx as the center, limiting the movement path of the curved sliding block relative to the proximal phalanx.

[0010] In a possible implementation, part of the structure of the driven screw rod is arranged through one end of the proximal phalanx close to the shell, and a first clearance groove is also provided at one end of the proximal phalanx close to the shell. When the proximal phalanx rotates relative to the shell, the proximal phalanx will also move relative to the driven screw rod. By providing the first clearance groove, clearance space can be provided for the driven screw rod, so that the driven screw rod will not interfere with the movement of the proximal phalanx.

[0011] In a possible implementation, the active component includes a bending drive member and an active gear, the active gear is connected to the bending drive member through an active connector, the bending drive member is used to drive the active gear to rotate, the driven component also includes a driven gear rotatably connected to the housing, the driven gear is connected to the driven screw through a driven connector, a transmission component is provided between the active gear and the driven gear, the transmission component is used to transmit the rotation of the active gear to the driven gear. The active gear can be driven to rotate by the bending drive member, and the transmission component can transmit the rotation of the active gear to the driven gear, so as to drive the driven gear to rotate, and then drive the driven screw to rotate, so as to realize the movement of the bending slider.

[0012] In a possible embodiment, the driving gear and the driven gear are both bevel gears, the driving gear is coaxially connected to the output shaft of the bending drive, the driven gear is coaxially connected to the driven screw, and the transmission assembly includes a transmission gear rotatably arranged in the housing, the transmission gear is a bevel gear, and the transmission gear is meshed with the driving gear and the driven gear at the same time. The driving gear and the driven gear are set as bevel gears, and the driving gear and the driven gear are transmitted through the bevel gears, so that the axial direction of the driven screw and the axial direction of the bending drive are parallel or overlapped, which can reduce the volume perpendicular to the axial direction, and because the second shell of the housing can also rotate relative to the first shell, through the cooperation of the driving gear, the driven gear and the transmission gear, the three gears remain in meshing state when the second shell rotates relative to the first shell.

[0013] In a possible implementation, the transmission assembly further includes a rotating shaft, the axis of the rotating shaft is perpendicular to the axis of the driven screw, the rotating shaft is rotatably connected to the housing, and the transmission gear is sleeved on the rotating shaft. Sleeving the transmission gear on the rotating shaft can ensure the stability of the rotation of the driven gear.

[0014] In a possible embodiment, one end of the connector is rotatably connected to the distal phalanx, a guide groove is provided on the proximal phalanx around the rotation axis of the proximal phalanx, the other end of the connector is passed through the guide groove and is rotatably connected to the shell, and the connection position between the connector and the shell and the connection position between the connector and the distal phalanx are respectively located on both sides of the line connecting the rotation centers of the proximal phalanx and the distal phalanx. In order to avoid interference and jamming between the connector and the proximal phalanx when the proximal phalanx rotates, an arc-shaped guide groove is provided on the proximal phalanx, and a partial structure of the connector passes through the guide groove and is rotatably connected to the shell. When the proximal phalanx rotates, a partial structure of the connector can move along the guide groove, and the guide groove can provide clearance for the connector.

[0015] In a possible implementation, the distal phalanx is provided with a second clearance groove, and the connecting member is passed through the second clearance groove. One end of the connecting member is connected to the distal phalanx, and the distal phalanx can rotate relative to the proximal phalanx. The second clearance groove can prevent the distal phalanx from interfering with the connecting member when rotating.

[0016] In a possible implementation, the housing includes a first shell and a second shell, one end of the second shell is rotatably connected to the first shell, the proximal phalanx is rotatably connected to one end of the second shell away from the first shell, and the rotation axis of the proximal phalanx relative to the second shell is perpendicular to the rotation axis of the first shell relative to the second shell. By rotatably arranging the first shell and the second shell, and the rotation axes of the two being perpendicular to the plane swept by the rotation path of the phalanx structure, the double-degree-of-freedom movement of the thumb can be achieved.

[0017] In a possible implementation manner, a flip structure is further included, wherein the flip structure is disposed on the first shell, the flip structure is transmission-connected to the second shell, and the flip structure is used to drive the second shell to rotate relative to the first shell.

[0018] In a possible embodiment, the flip structure includes a flip drive and a drive screw coaxially connected to the output shaft of the flip drive. The flip structure also includes a shaft housing connected to the second housing. The shaft housing is sleeved outside the drive screw. A flip slider is also screwed on the drive screw. One end of the flip slider is rotatably connected to the second housing, and the other end is movably connected to the first housing. The flip structure also utilizes the cooperation of the screw and the slider to drive the second housing to rotate. The driving form of the flip structure and the bending structure is similar, both are driven by a screw and a nut, have good uniformity, and simplify the internal structure.

[0019] In a possible implementation, the bending structure and the flip structure are arranged in a direction parallel to the rotation axis of the second shell, the overall extension direction of the bending structure is parallel to the overall extension direction of the flip structure, and the extension direction and the installation direction of the phalange structure relative to the shell have a predetermined angle. This can not only save volume, but also facilitate the installation and arrangement of the remaining fingers.

[0020] In a second aspect, an embodiment of the present application further provides a dexterous hand, comprising the above-mentioned dexterous hand thumb.

[0021] In a third aspect, an embodiment of the present application also provides a humanoid robot comprising the above-mentioned dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] Figure 1 A cross-sectional view of the thumb of the dexterous hand provided for this application;

[0024] Figure 2 An exploded view of the thumb of the dexterous hand provided for this application;

[0025] Figure 3 An exploded view of the curved structure provided for this application;

[0026] Figure 4 A schematic diagram of a state of the thumb of the dexterous hand provided in this application;

[0027] Figure 5 A schematic diagram of another state of the thumb of the dexterous hand provided for this application;

[0028] Figure 6 Another exploded view of the dexterous hand thumb provided for this application;

[0029] Figure 7 An exploded view of the flip structure provided for this application;

[0030] Figure 8 A schematic diagram of the structure of the housing provided for this application;

[0031] Fig. 9 Another structural schematic diagram of the housing provided for this application;

[0032] Fig.10 A structural schematic diagram of the dexterous thumb provided in this application.

[0033] Description of reference numerals:

[0034] 10. Shell; 11. First shell; 111. First connecting portion; 112. Slide slot; 113. Mounting position; 114. Transfer slot; 115. Fixing member; 116. Accommodating slot; 12. Second shell; 121. Second connecting portion; 122. Connecting hole;

[0035] 20. phalangeal structure; 21. proximal phalanx; 211. first clearance groove; 212. guide groove; 213. guide groove; 22. distal phalanx; 221. second clearance groove; 23. connecting member; 231. protrusion;

[0036] 30. Bending structure; 31. Active component; 311. Bending driving member; 312. Active connecting member; 313. Active gear; 314. First fixed bearing; 315. First retaining spring; 32. Transmission component; 321. Transmission gear; 322. Rotating shaft; 3221. First flange; 3222. Second flange; 323. Second fixed bearing; 324. Second retaining spring; 33. Driven component; 331. Driven gear; 332. Driven connecting member; 333. Driven screw rod; 3331. Screw rod connecting part; 334. Moving nut; 335. Bending slider; 336. Third fixed bearing; 337. Third retaining spring;

[0037] 40. Flip structure; 41. Shaft housing; 411. Adapter shaft; 42. Flip drive member; 43. Drive screw rod; 44. Flip slider; 45. Bump; 46. Connecting bearing; 47. Bushing.

[0038] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] The dexterous hand of the present application is used in the field of robots, especially in humanoid robots, to imitate the movements of human hands. The dexterous hand has multiple fingers, and these finger structures include the thumb and other finger structures. When the dexterous hand performs a task, the flexibility of the fingers determines whether the dexterous hand can perform complex tasks with the degree of freedom. Because the thumb structure needs to work in coordination with the other fingers, the flexibility of the thumb is required to be higher.

[0041] However, in the related art, the thumb structure of a dexterous hand is generally large in size, which not only affects the installation and arrangement of the other fingers, but also affects the dexterity of the thumb structure itself. There are two main reasons for the large size of the thumb structure: unreasonable design of the thumb structure and unreasonable arrangement of the driving components used to drive the thumb structure to move.

[0042] For example, in the related art, the thumb knuckles are connected to each other in rotation. In order to drive the two adjacent knuckles to rotate relative to each other, a driving structure is set inside one of the knuckles, and the driving structure drives the other knuckle to rotate relative to the knuckle. Such a setting will undoubtedly increase the complexity of the internal structure of the knuckles, and then increase the volume of the knuckles, making them bulky and heavy. In addition, the knuckles will also be constrained by the size of the driving motor of the driving structure, which will limit the range of motion of the knuckles and seriously affect the flexibility of the knuckles.

[0043] In addition, some related technologies use a combination of rod system, wheel system, tooth system and belt system to drive the knuckles to rotate. This combination makes the drive structure too complicated, and also makes the structure of the dexterous hand complicated and the size of the dexterous hand larger.

[0044] In some other related technologies, the angle between the knuckle of the thumb and the driving structure is small, so that both of them occupy part of the space of the thumb structure in different directions, increasing the volume of the thumb structure, which not only wastes space but also affects the installation arrangement of the remaining fingers.

[0045] Based on the above problems, the present application provides a dexterous thumb that can be used in dexterous hands. The phalanges of the dexterous thumb of the present application are slender and small in size, which can effectively reduce the volume and weight of the dexterous hand, and the thumb structure of the present application has high dexterity.

[0046] In a first aspect, an embodiment of the present application provides a dexterous hand thumb, which can be applied to a simulated dexterous hand of a humanoid robot and used as a thumb of a palm. Figure 1 In some achievable embodiments, the dexterous thumb includes a shell 10 , a phalange structure 20 , and a bending structure 30 .

[0047] The shell 10 can serve as a mounting structure for the phalanx structure 20 and the bending structure 30 , and the shell 10 can also provide protection for the bending structure 30 .

[0048] The phalange structure 20 has a plurality of phalanges. As the phalanges of the thumb, in order to achieve a high simulation effect, the phalange structure 20 of the thumb of the present application also has two phalanges, namely the proximal phalange 21 and the distal phalange 22. The proximal phalange 21 is arranged closer to the housing 10 than the distal phalange 22. Specifically, one end of the proximal phalange 21 is rotatably connected to the distal phalange 22, and the end of the proximal phalange 21 away from the distal phalange 22 is rotatably connected to the housing 10. In this way, the entire phalange structure 20 can rotate around an axis relative to the housing 10, and the two phalanges of the phalange structure 20 itself can also rotate relative to each other. It should be noted that the rotation axis between the proximal phalange 21 and the distal phalange 22 is parallel to the rotation axis between the proximal phalange 21 and the housing 10.

[0049] In addition, a connecting piece 23 is rotatably connected between the proximal phalanx 21 and the distal phalanx 22. The connecting piece 23 serves to link the proximal phalanx 21 and the distal phalanx 22, so that when the proximal phalanx 21 rotates relative to the outer shell 10, the connecting piece 23 can drive the distal phalanx 22 to rotate relative to the proximal phalanx 21. In this way, when the phalanx structure 20 rotates relative to the outer shell 10, the two phalanges of the phalanx structure 20 can also rotate relative to each other, so that the thumb is bent to facilitate holding objects.

[0050] The bending structure 30 is installed on the housing 10. The bending structure 30 is arranged inside the housing 10. The housing 10 can protect the parts of the bending structure 30. The bending structure 30 is mainly used to drive the thumb structure to rotate relative to the housing 10. The bending structure 30 specifically includes an active component 31 and a driven component 33. The active component 31 and the driven component 33 are connected in a transmission manner. The active component 31 is used to provide a driving force. The driving force of the active component 31 can be transmitted to the driven component 33. The driven component 33 is used to drive the movement of the phalanx structure 20.

[0051] The driven component 33 includes a driven screw 333 and a curved slider 335 screwed on the driven screw 333. The driven screw 333 is rotatably arranged in the housing 10. When the curved slider 335 rotates relative to the driven screw 333, it can move along the driven screw 333. One end of the curved slider 335 is movably connected to the proximal phalanx 21 in a direction perpendicular to the rotation axis of the proximal phalanx 21. The connection between the curved slider 335 and the proximal phalanx 21 can limit the rotation of the curved slider 335 relative to the proximal phalanx 21, so that the curved slider 335 can only rotate relative to the driven screw 333. The active component 31 is used to provide a driving force for the rotation of the driven screw 333 to drive the driven screw 333 to rotate. When the driven screw 333 rotates, the curved slider 335 can be driven to move along the active path relative to the proximal phalanx 21.

[0052] In the embodiment of the present application, the phalange structure 20 is rotatably arranged relative to the housing 10, so that the phalange structure 20 can complete the bending action of the thumb (see Figure 5 ), in addition, the proximal phalanx 21 and the distal phalanx 22 of the phalanx structure 20 are also relatively rotated so that the phalanx structure 20 itself can be bent (see Figure 4), so as to cooperate with the remaining fingers to hold an object. The bending structure 30 of the embodiment of the present application can drive the proximal phalanx 21 to rotate relative to the housing 10. The present application connects the distal phalanx 22 and the housing 10 together by setting a connecting piece 23. When the proximal phalanx 21 is driven to rotate relative to the housing 10, the distal phalanx 22 moves with the proximal phalanx 21. At this time, the connecting piece 23 can drive the distal phalanx 22 to rotate relative to the proximal phalanx 21, thereby realizing the bending of the phalanx structure 20. Therefore, the present application links the movement of the distal phalanx 22 relative to the proximal phalanx 21 and the movement of the proximal phalanx 21 relative to the shell 10 by setting a connecting piece 23. Only a bending structure 30 is set inside the shell 10 to drive the bending of the phalanx structure 20 relative to the shell 10 and realize the bending of the phalanx structure 20 itself. There is no need to set a driving structure inside the phalanx structure 20 to drive the distal phalanx 22 to rotate relative to the proximal phalanx 21. In this way, the complexity of the internal parts of the phalanx structure 20 can be reduced, making the phalanx structure 20 more slender. Since the rotation of the phalanx will not be constrained by the structure set inside the air, the dexterity of the phalanx structure 20 is relatively increased and the weight of the phalanx structure 20 is reduced.

[0053] In addition, by setting the active component 31 and the driven component 33, the active component 31 can drive the driven screw 333 of the driven component 33 to rotate, so as to drive the bending slider 335 to move relative to the proximal phalanx 21, and then drive the proximal phalanx 21 to rotate relative to the housing 10. The bending slider 335 in the present application is directly movably connected to the proximal phalanx 21. Compared with the related art that connects the proximal phalanx 21 and the driving member through a connecting rod structure to drive the proximal phalanx 21 to rotate, the present application drives the bending slider 335 to move relative to the proximal phalanx 21 through the driven screw 333 to drive the proximal phalanx 21 to rotate relative to the housing 10. The structure is simpler, and the structure of the proximal phalanx 21 itself and the connection with the bending slider 335 are reasonably used to make the structure more compact, thereby making the entire thumb structure more compact, which is conducive to reducing the weight of the thumb and increasing the dexterity of the thumb.

[0054] Reference Figures 1 to 3 In some practicable ways, the connecting member 23 is a rod-shaped structure, and the connecting member 23 can be arranged inside the phalange structure 20 or outside the phalange structure 20, and it is sufficient to ensure that both ends of the connecting member 23 are rotatably connected to the distal phalange 22 and the housing 10. In the embodiment of the present application, in order to ensure the beautiful appearance of the phalange structure 20 and the thumb, the connecting member 23 is arranged inside the phalange structure 20.

[0055] One end of the connecting member 23 is rotatably connected to the distal phalanx 22, and the other end of the connecting member 23 is rotatably connected to the housing 10. It should be noted that there is a certain distance between the position where the connecting member 23 is connected to the distal phalanx 22 and the rotation axis of the distal phalanx 22, and there is a certain distance between the position where the connecting member 23 is connected to the housing 10 and the rotation axis of the proximal phalanx 21. It should also be noted that since the connecting member 23 is located inside the phalanx, the end of the connecting member 23 away from the distal phalanx 22 needs to penetrate the proximal phalanx 21 and then be rotatably connected to the housing 10.

[0056] Specifically, a protrusion 231 is provided at one end of the connecting piece 23 away from the distal phalanx 22, and a guide groove 213 is provided on the proximal phalanx 21 near the position where it is connected to the shell 10. The guide groove 213 is formed in an arc shape around the rotation axis of the proximal phalanx 21, and the protrusion 231 on the connecting piece 23 is inserted into the guide groove 213 and then rotatably connected to the shell 10.

[0057] Exemplarily, in order to ensure that the distal phalanx 22 can rotate smoothly relative to the proximal phalanx 21, the connection position between the connector 23 and the housing 10 and the connection position between the connector 23 and the distal phalanx 22 are respectively located on both sides of the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22.

[0058] like Figure 1 As shown, the dotted line H is the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22. At this time, the distal phalanx 22 can rotate counterclockwise around the rotation axis, and the proximal phalanx 21 can also rotate counterclockwise around the rotation axis. At this time, in order to ensure that the distal phalanx 22 can also rotate relative to the proximal phalanx 21 when the proximal phalanx 21 rotates around the housing 10, the connection position of the connector 23 and the housing 10 is located on the left side of the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22, and the connection position of the connector 23 and the distal phalanx 22 is located on the right side of the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22. At this time, the connection position of the bending slider 335 and the proximal phalanx 21 is located on the right side of the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22.

[0059] Exemplarily, the end of the connecting piece 23 passes through the distal phalanx 22 and extends into the distal phalanx 22, and is rotatably connected to the distal phalanx 22. When the distal phalanx 22 rotates relative to the proximal phalanx 21, relative movement is also generated between the distal phalanx 22 and the end of the connecting piece 23. In order to avoid jamming between the distal phalanx 22 and the connecting piece 23, a second clearance groove 221 is opened on the distal phalanx 22, and the connecting piece 23 is inserted into the second clearance groove 221. The second clearance groove 221 is opened around the rotating axis of the distal phalanx 22.

[0060] In some feasible embodiments, the proximal phalanx 21 can be driven to rotate through the cooperation of the driven screw 333 and the bent slider 335. In order to achieve the rotation of the proximal phalanx 21, the driven screw 333 needs to be set. For example, in the implementation of the present application, the driven screw 333 extends in a direction perpendicular to the rotation axis of the proximal phalanx 21. At this time, the bent slider 335 can move along the extension direction of the driven screw 333.

[0061] There is a predetermined gap between the driven screw rod 333 and the rotation axis of the proximal phalanx 21, and the extension line of the driven screw rod 333 does not intersect with the rotation axis of the proximal phalanx 21. In this way, the driven screw rod 333 and the rotation axis of the proximal phalanx 21 are staggered, and when the bending slider 335 moves along the driven screw rod 333, there is always a gap between the bending slider 335 and the rotation axis of the proximal phalanx 21.

[0062] Exemplarily, the driven assembly 33 further includes a moving nut 334, which is screwed to the driven screw 333, and one end of the curved slider 335 is connected to the moving nut 334, and the other end is movably connected to the proximal phalanx 21. When the driven screw 333 rotates, it can drive the moving nut 334 to move, thereby driving the curved slider 335 to move.

[0063] Exemplarily, the curved slider 335 is rotationally connected to the moving nut 334. By rotationally connecting the curved slider 335 and the moving nut 334, when the moving nut 334 moves relative to the driven screw 333, the curved slider 335 can also rotate relative to the moving nut 334, thereby avoiding locking between the curved slider 335 and the moving nut 334, and allowing the curved slider 335 to smoothly move relative to the proximal phalanx 21.

[0064] Reference Figures 1 to 3 In some feasible embodiments, the bending slider 335 can move relative to the driven screw 333 and relative to the proximal phalanx 21. The bending slider 335 can move along a predetermined straight line relative to the proximal phalanx 21, and the bending slider 335 can move closer to or farther away from the rotation axis of the proximal phalanx 21 when moving relative to the proximal phalanx 21.

[0065] Specifically, a guide groove 212 is provided on the proximal phalanx 21 in a direction perpendicular to the rotation axis of the proximal phalanx 21, and a part of the structure of the curved slider 335 can be movably arranged in the guide groove 212. The opening path of the guide groove 212 is the moving path of the curved slider 335 relative to the proximal phalanx 21. When the driven screw 333 drives the curved slider 335 to move, the structure of the curved slider 335 located in the guide groove 212 can move along the guide groove 212, and the curved slider 335 can also rotate relative to the motion nut 334, so that when the curved slider 335 moves along the guide groove 212, the proximal phalanx 21 can be forced to rotate relative to the housing 10.

[0066] Exemplarily, the shape and size of the end of the curved slider 335 are adapted to the shape and size of the guide groove 212. For example, the curved slider 335 has a square shape, and the cross-section of the guide groove 212 along its extension direction is also square, so that the end of the curved slider 335 can be snapped into the guide groove 212.

[0067] Exemplarily, the end of the curved slider 335 can also be circular. When the end of the curved slider 335 is circular, the curved slider 335 can be rotatably connected to the moving nut 334, or it can be non-rotatably connected. When the circular curved slider 335 is connected to the guide groove 212, it can rotate in the guide groove 212.

[0068] Exemplarily, the two opposite ends of the motion nut 334 are provided with curved sliders 335, and the two ends of the proximal phalanx 21 in the direction of its rotation axis are provided with guide grooves 212, and the two curved sliders 335 can be respectively inserted into the corresponding guide grooves 212. By providing the cooperation of the two guide grooves 212 and the two curved sliders 335, the structure for driving the rotation of the proximal phalanx 21 is more stable.

[0069] In some feasible embodiments, the position of the guide groove 212 on the proximal phalanx 21 is not limited. It can be set to have a certain distance from the rotation axis of the proximal phalanx 21 and the extension line does not intersect with the axis of the proximal phalanx 21, or as in the implementation of the present application, the guide groove 212 extends along a radial direction with the rotation axis of the proximal phalanx 21 as the center, so that the extension line of the guide groove 212 can intersect with the axis of the proximal phalanx 21.

[0070] As shown in the figure, it can be understood that the opening path of the guide groove 212 and the connection position of the connecting member 23 to the housing 10 are located on both sides of the line connecting the rotation centers of the proximal phalanx 21 and the distal phalanx 22.

[0071] It should be noted that one end of the driven screw rod 333 passes through the end of the proximal phalanx 21 close to the shell 10 and then extends into the proximal phalanx 21, so that part of the structure of the driven screw rod 333 is passed through the end of the proximal phalanx 21 close to the shell 10. When the proximal phalanx 21 rotates relative to the shell 10, the driven screw rod 333 is located in the shell 10 and its position is fixed. The proximal phalanx 21 also moves relative to the driven screw rod 333. In order to avoid the proximal phalanx 21 and the driven screw rod 333 from getting stuck, a first clearance groove 211 is also provided at the end of the proximal phalanx 21 close to the shell 10. The first clearance groove 211 is provided around the rotating axis of the proximal phalanx 21, so that the driven screw rod 333 can be passed through the first clearance groove 211. When the proximal phalanx 21 rotates, the first clearance groove 211 serves to make way for the driven screw rod 333, thereby avoiding the phenomenon of getting stuck between the driven screw rod 333 and the proximal phalanx 21.

[0072] In some achievable embodiments, the driving component 31 includes a curved driving member 311 and a driving gear 313, wherein the curved driving member 311 is used to drive the driving gear 313 to rotate, and the driven component 33 also includes a driven gear 331 rotatably connected to the housing 10, wherein the driven gear 331 is connected to the driven screw 333, and a transmission component 32 is provided between the driving gear 313 and the driven gear 331, wherein the transmission component 32 is used to transmit the rotation of the driving gear 313 to the driven gear 331, so as to drive the driven gear 331 to rotate, and the rotation of the driven gear 331 can drive the driven screw 333 to rotate. The rotation of the driven screw 333 can be achieved by the cooperation of the curved driving member 311, the driving gear 313, the driven gear 331 and the transmission component 32.

[0073] It should be noted that the bending drive member 311 is a driving motor having an output shaft, and the driving gear 313 is connected to the output shaft of the bending drive member 311. Specifically, one end of the driving gear 313 is fixedly connected to the driving connector 312, and a hole is provided at the end of the driving connector 312, and the output shaft of the bending drive member 311 can be inserted into the hole of the driving connector 312. In addition, the output shaft of the bending drive member 311 can be key-connected with the driving connector 312, for example, a connection key is convexly provided on the outer wall of the output shaft of the bending drive member 311, and a key slot is provided on the hole wall of the driving connector 312. When the output shaft of the bending drive member 311 is inserted into the hole of the driving connector 312, the connection key is inserted and adapted in the key hole, so that the driving connector 312 can rotate relative to the output shaft of the bending drive member 311.

[0074] It is worth mentioning that the active gear 313 can also be rotatably connected to the housing 10 through the active connector 312. The end of the active connector 312 close to the active gear 313 is set as a step structure, and the end of the active connector 312 away from the active gear 313 is provided with a slot along the peripheral wall. The active component 31 also includes a first fixed bearing 314, the outer ring of the first fixed bearing 314 is connected to the housing 10, and the inner ring of the first fixed bearing 314 can be sleeved on the active connector 312. At this time, the first fixed bearing 314 is located between the step structure and the slot. The active component 31 also includes a first retaining spring 315. When the first fixed bearing 314 is sleeved on the active connector 312, the first retaining spring 315 can be clamped in the slot, so that the two ends of the first fixed bearing 314 are respectively in contact with the step structure and the retaining spring. By providing the first fixed bearing 314 , the driving gear 313 can be rotatably disposed in the housing 10 , and by providing a stepped structure and a retaining spring on the driving connecting member 312 , the first fixed bearing 314 can be fixed relative to the driving connecting member 312 .

[0075] Reference Figures 1 to 3In some achievable embodiments, the driven assembly 33 further includes a driven connecting member 332 , which is connected to the driven gear 331 , and the driven connecting member 332 can connect the driven gear 331 to the driven screw rod 333 .

[0076] The end of the driven screw 333 is provided with a screw connection part 3331, and the end of the driven connecting member 332 away from the driven gear 331 is provided with a hole, and the screw connection part 3331 can be inserted into the hole of the driven connecting member 332. A connecting key is provided on the peripheral wall of the screw connection part 3331, and a key slot is provided on the hole wall of the driven connecting member 332. When the screw connection part 3331 is inserted into the driven connecting member 332, the connecting key can be inserted and adapted in the key slot, thereby limiting the rotation of the screw connection part 3331 relative to the driven connecting member 332.

[0077] The driven connecting member 332 can also be rotatably connected to the housing 10. The end of the driven connecting member 332 close to the driven gear 331 is a stepped structure, and a groove is provided on the peripheral wall of the end away from the driven gear 331. The driven component 33 also includes a third fixed bearing 336 and a third retaining spring 337. The inner ring of the third fixed bearing 336 can be sleeved on the driven connecting member 332. At this time, the third retaining spring 337 can be engaged in the groove, so that the third fixed bearing 336 is restricted between the third retaining spring 337 and the stepped structure of the driven connecting member 332.

[0078] In some achievable embodiments, the driving gear 313 is coaxially connected to the output shaft of the bending driving member 311 , the driven gear 331 is coaxially connected to the driven screw 333 , and the axis of the output shaft of the bending driving member 311 and the axis of the driven screw 333 are arranged in parallel.

[0079] Exemplarily, both the driving gear 313 and the driven gear 331 are bevel gears, and the transmission assembly 32 includes a transmission gear 321 rotatably disposed in the housing 10, and the transmission gear 321 is also a bevel gear, and the transmission gear 321 is located between the driving gear 313 and the driven gear 331, and the transmission gear 321 is simultaneously meshed with the driving gear 313 and the driven gear 331. When the driving gear 313 rotates, it can drive the transmission gear 321 to rotate, and the transmission gear 321 can transmit the driving force of the driving gear 313 to the driven gear 331 to drive the driven gear 331 to rotate.

[0080] Exemplarily, the rotation axis of the transmission gear 321 is perpendicular to the rotation axes of the driving gear 313 and the driven gear 331 .

[0081] Exemplarily, the output shaft of the bending driving member 311 and the axis of the driven screw rod 333 are coaxially arranged.

[0082] Exemplarily, the number of teeth of the transmission gear 321 may be more than the number of teeth of the driving gear 313 and the driven gear 331, or less than the number of teeth of the driving gear 313 and the driven gear 331. The number of teeth of the driving gear 313 may be more than the number of teeth of the driven gear 331, or less than the number of teeth of the driven gear 331, or the number of teeth of the driving gear 313 may be equal to the number of teeth of the driven gear 331.

[0083] In some achievable embodiments, the transmission assembly 32 further includes a rotating shaft 322, which is used to fix the position of the transmission gear 321 and can provide support for the transmission gear 321 so that the transmission gear 321 can be rotatably disposed in the housing 10. The axis of the rotating shaft 322 is perpendicular to the axis of the driven screw 333, the rotating shaft 322 is rotatably connected to the housing 10, and the transmission gear 321 is sleeved on the rotating shaft 322.

[0084] Specifically, the circumferential walls at both ends of the rotating shaft 322 are convexly provided with a first flange 3221 and a second flange 3222, the transmission gear 321 can be sleeved on the end of the rotating shaft 322 close to the first flange 3221, and the end of the transmission gear 321 can abut against the first flange 3221. The transmission gear 321 has a connecting end, on which a second fixed bearing 323 is sleeved, and a slot is provided at the end of the connecting end. The transmission assembly 32 also includes a second retaining spring 324, which can be engaged in the slot of the connecting end, and the second fixed bearing 323 is clamped between the retaining spring and the transmission gear 321. The outer ring of the second fixed bearing 323 can be connected to the housing 10, so that the end of the rotating shaft 322 close to the first flange 3221 can be rotatably connected to the housing 10.

[0085] It should be noted that two second fixed bearings 323 can be provided, and the other second fixed bearing 323 can be mounted on the end of the rotating shaft 322 close to the second flange 3222. The outer ring of the second fixed bearing 323 is connected to the outer shell 10, so that the end of the rotating shaft 322 close to the second flange 3222 can be rotatably connected to the outer shell 10, and thus both ends of the rotating shaft 322 can be rotatably connected to the outer shell 10.

[0086] Exemplarily, the transmission gear 321 and the rotating shaft 322 may also be connected via a connecting key.

[0087] Exemplarily, when the rotating shaft 322 is connected to the housing 10 , the driving gear 313 and the driven gear 331 are located on opposite sides of the rotating shaft 322 , and the driving gear 313 and the driven gear 331 are located between the first flange 3221 and the second flange 3222 .

[0088] Reference Figures 1 to 3In some achievable embodiments, the housing 10 includes a first housing 11 and a second housing 12, one end of the second housing 12 is rotatably connected to the first housing 11, and the proximal phalanx 21 is rotatably connected to an end of the second housing 12 away from the first housing 11. In the present application, the rotation axis of the proximal phalanx 21 relative to the second housing 12 is perpendicular to the rotation axis of the first housing 11 relative to the second housing 12, so that the thumb has two degrees of freedom. By setting the housing 10 as the first housing 11 and the second housing 12, the first housing 11 is rotatably connected to the second housing 12, the proximal phalanx 21 is rotatably connected to the second housing 12, and the rotation axis of the proximal phalanx 21 is perpendicular to the rotation axis of the second housing 12 relative to the first housing 11, so that the entire thumb can move within two degrees of freedom.

[0089] It should be noted that two first connection parts 111 are arranged at intervals at one end of the first shell 11, and two second connection parts 121 are arranged at intervals at one end of the second shell 12 away from the proximal phalanx 21. The two second connection parts 121 can be arranged between the two first connection parts 111, and the corresponding first connection parts 111 and second connection parts 121 can be fitted together. A connecting shaft is convexly provided on the two second connection parts 121, and shaft holes are provided at the positions corresponding to the connecting shafts of the two second connection parts 121. The connecting shaft can be inserted into the shaft hole so that the second connection part 121 is rotatably connected to the first connection part 111.

[0090] Exemplarily, a bearing may be sleeved on the connecting shaft, and the connecting shaft may be rotatably connected to the shaft hole through the bearing and the shaft hole.

[0091] It is worth mentioning that the active component 31 is arranged in the first housing 11, the driven component 33 is arranged in the second housing 12, and the transmission component 32 is arranged in the second housing 12. The rotating shaft 322 is inserted between the two second connecting parts 121, and the active gear 313 and the driven gear 331 are both located in the gap between the two second connecting parts 121. When the second housing 12 rotates relative to the first housing 11, the driven component 33 and the transmission component 32 can be driven to rotate at the same time. At this time, the second connecting part 121 also rotates relative to the active component 31, and the active gear 313 is located in the gap between the two second connecting parts 121, so that the active gear 313 will not interfere with the rotation of the second housing 12.

[0092] It should be noted that the axis of the rotating shaft 322 coincides with the axis of the rotating shaft of the second housing 12 , so that the transmission gear 321 can rotate coaxially with the second housing 12 , so that when the second housing 12 rotates, the transmission gear 321 and the driving gear 313 can always maintain meshing.

[0093] Reference Figure 2 , Figure 6 and Figure 7In some achievable embodiments, a flip structure 40 is further provided on the first shell 11 , and the flip structure 40 is transmission-connected to the second shell 12 , and the flip structure 40 is used to drive the second shell 12 to rotate relative to the first shell 11 .

[0094] Specifically, the flip structure 40 includes a flip driving member 42 and a driving screw 43. The flip driving member 42 is a driving motor. The flip driving member 42 has an output shaft for outputting driving force. The driving screw 43 is coaxially connected to the output shaft of the flip driving member 42. The axial direction of the driving screw 43 is perpendicular to the rotation axis of the second housing 12, and the extension line of the driving rod does not intersect the rotation axis of the second housing 12. A flip slider 44 is also screwed on the driving screw 43. Both opposite ends of the flip slider 44 are convexly provided with protrusions 45. The protrusion 45 at one end of the flip slider 44 is rotatably connected to the second housing 12, and the protrusion 45 at the other end is movably connected to the first housing 11.

[0095] Please combine Figure 8 and Fig. 9 The second housing 12 is spaced apart from the first housing 11 along the rotation axis and away from the curved structure 30. A connection hole 122 is provided at the end surface of the second housing 12 near the rotation axis. The connection hole 122 and the rotation axis of the second housing 12 are spaced apart. A slide groove 112 is provided at the end surface of the first housing 11 facing the connection hole 122. The slide groove 112 is an arc-shaped groove and is provided around the rotation axis of the second housing 12 with the rotation axis as the center.

[0096] The flip driving member 42 is rotatably connected to the first housing 11, and the rotation axis of the flip driving member 42 is parallel to the rotation axis of the second housing 12. The protrusions 45 at both ends of the flip slider 44 are respectively inserted into the slide groove 112 and the connecting hole 122.

[0097] It should be noted that the position of the connection hole 122 on the second housing 12 satisfies that when the second housing 12 and the first housing 11 are in the initial position (no relative rotation occurs between the two), the angle between the line between the center of the connection hole 122 and the rotation center of the second housing 12 and the length direction of the driving screw 43 is greater than or equal to 90° and less than 180°. In this way, when the driving screw 43 drives the flip slider 44 to move, the extension line of the driving force used by the flip slider 44 to drive the second housing 12 to rotate will not intersect with the axis of the second housing 12, so as to smoothly drive the second housing 12 to rotate relative to the first housing 11.

[0098] Exemplarily, the flip structure 40 further includes a shaft housing 41, and the driving end of the flip driving member 42 is inserted into the shaft housing 41, so that the shaft housing 41 is sleeved outside the driving screw 43, and a shaft sleeve 47 is provided outside the driving screw 43, and a connecting bearing 46 is provided outside the shaft sleeve 47. The shaft housing 41 is hollow inside, and the outer ring of the connecting bearing 46 is connected to the inner wall of the shaft housing 41. The shaft housing 41 is rotatably connected to the first housing 11, so that the entire flip structure 40 is also rotatably connected to the first housing 11.

[0099] Specifically, a receiving groove 116 is provided on the first shell 11, and the shaft housing 41 can be accommodated in the receiving groove 116. The shaft housing 41 is provided with a transfer shaft 411 at both opposite ends perpendicular to the length direction of the driving screw rod 43. The first shell 11 is also provided with mounting positions 113 at both ends near the receiving groove 116 along the rotation axis direction of the second shell 12. A transfer groove 114 is also provided in the mounting position 113. The transfer shaft 411 on the shaft housing 41 can be placed in the transfer groove 114 accordingly. When the transfer shaft 411 is placed in the transfer groove 114, a fixing member 115 can also be installed in the mounting position 113 by means of screws, and the fixing member 115 confines the transfer shaft 411 in the transfer groove 114.

[0100] It should be noted that the adapter shaft 411 is a cylindrical shaft, and the adapter groove 114 is a semi-cylindrical groove or a cylindrical groove, so that the adapter shaft 411 can rotate in the adapter groove 114. In addition, the size of the adapter groove 114 in the direction of the rotation axis of the second housing 12 is adapted to the size of the adapter shaft 411 in the direction of the rotation axis of the second housing 12, so as to prevent the shaft housing 41 from deviating along the direction of the rotation axis of the second housing 12.

[0101] By setting the shaft housing 41 and setting the adapter shaft 411 on the shaft housing 41, the shaft housing 41 can be rotatably connected to the first shell 11, and then the entire flip structure 40 can be rotatably connected to the first shell 11. When the driving screw 43 drives the flip slider 44 to move, the protrusion 45 on the flip slider 44 can move along the opening path of the slide groove 112, and the protrusion 45 at the other end of the flip slider 44 can rotate relative to the second shell 12. When the protrusion 45 moves along the slide groove 112, the shaft housing 41 rotates relative to the first shell 11 to smoothly drive the second shell 12 to rotate relative to the first shell 11.

[0102] See also Figure 2 and Fig.10 In some feasible embodiments, the bending structure 30 and the flipping structure 40 are arranged in a direction parallel to the rotation axis of the second shell 12, and the overall extension direction of the bending structure 30 is parallel to the overall extension direction of the flipping structure 40, specifically, the length direction of the driving screw 43 is parallel to the length direction of the driven screw 333, and the extension direction of the bending structure 30 and the flipping structure 40 and the installation direction of the phalangeal structure 20 relative to the shell 10 have a predetermined angle.

[0103] It should be noted that the extension direction of the bending structure 30 may be the extension direction of the driven screw 333, and the extension direction of the flip structure 40 may be the extension direction of the driving screw 43. When the phalanx structure 20 itself is not bent and the proximal phalanx 21 is not rotated relative to the housing 10, the length direction of the phalanx structure 20 itself is the installation direction relative to the housing 10.

[0104] For ease of description, see Fig.10 , Fig.10 The dotted line L in the figure is the length direction of the phalanx structure 20 at this time, and is also the installation direction thereof relative to the housing 10. The dotted line F in the figure is the extension direction of the bending structure 30 and the flipping structure 40. The angle between the two directions is a predetermined angle. In the implementation of the present application, the size of this angle is between 0° and 30°.

[0105] By arranging the bending structure 30 and the flipping structure 40 in parallel, and setting the angle between the extension direction of the bending structure 30 and the flipping structure 40 and the installation direction of the phalangeal structure 20, the overall volume of the thumb can be reduced, so that the thumb will not be bloated, which is convenient for installing the thumb on the simulated palm and greatly reduces the impact on the installation of other fingers.

[0106] In a second aspect, an embodiment of the present application further provides a dexterous hand, comprising the above-mentioned dexterous hand thumb.

[0107] In a third aspect, an embodiment of the present application also provides a humanoid robot comprising the above-mentioned dexterous hand.

[0108] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A dexterous thumb, characterized in that: include: shell; A phalanx structure, the phalanx structure comprising a proximal phalanx and a distal phalanx, one end of the proximal phalanx being rotatably connected to the distal phalanx, one end of the proximal phalanx being rotatably connected to the shell, a connecting piece being rotatably connected between the distal phalanx and the shell, and when the proximal phalanx rotates relative to the shell, the connecting piece is used to drive the distal phalanx to rotate relative to the proximal phalanx; as well as A bending structure is installed on the shell, and the bending structure includes an active component and a driven component. The active component and the driven component are transmission-connected, and the driven component includes a driven screw and a bending slider screwed on the driven screw, one end of the bending slider is movably connected to the proximal phalanx in a direction perpendicular to the rotation axis of the proximal phalanx, and the active component is used to drive the driven screw to rotate so as to drive the bending slider to move along the movable path.

2. The dexterous thumb of claim 1, characterized in that: The driven screw rod extends in a direction perpendicular to the rotation axis of the proximal phalanx, a predetermined gap is provided between the driven screw rod and the rotation axis of the proximal phalanx, and an extension line of the driven screw rod and the rotation axis of the proximal phalanx do not intersect.

3. The dexterous thumb of claim 2, characterized in that: A guide groove is provided on the proximal phalanx in a direction perpendicular to the rotation axis of the proximal phalanx, and a partial structure of the curved slider is movably arranged in the guide groove, and an extension line of the guide groove intersects with the axis of the proximal phalanx.

4. The dexterous thumb of claim 1, characterized in that: The active component includes a curved driving member and a driving gear, wherein the driving gear is connected to the curved driving member via an active connecting member, and the curved driving member is used to drive the driving gear to rotate. The driven component also includes a driven gear rotatably connected to the housing, and the driven gear is connected to the driven screw via a driven connecting member. A transmission component is provided between the driving gear and the driven gear, and the transmission component is used to transmit the rotation of the driving gear to the driven gear.

5. The dexterous thumb of claim 4, characterized in that: The driving gear and the driven gear are both bevel gears, the driving gear is coaxially connected to the output shaft of the bending drive member, the driven gear is coaxially connected to the driven screw, the transmission assembly includes a transmission gear rotatably arranged in the housing, the transmission gear is a bevel gear, and the transmission gear is meshed with the driving gear and the driven gear at the same time.

6. The dexterous thumb according to any one of claims 1 to 5, characterized in that: One end of the connecting piece is rotatably connected to the distal phalanx, a guide groove is provided on the proximal phalanx around the rotation axis of the proximal phalanx, the other end of the connecting piece is passed through the guide groove and is rotatably connected to the outer shell, and the connection position of the connecting piece and the outer shell and the connection position of the connecting piece and the distal phalanx are respectively located on both sides of the line connecting the rotation centers of the proximal phalanx and the distal phalanx.

7. The dexterous thumb of claim 1, characterized in that: The shell includes a first shell and a second shell, one end of the second shell is rotatably connected to the first shell, the proximal phalanx is rotatably connected to an end of the second shell away from the first shell, and the rotation axis of the proximal phalanx relative to the second shell is perpendicular to the rotation axis of the first shell relative to the second shell.

8. The dexterous thumb of claim 7, characterized in that: It also includes a flipping structure, which includes a flipping drive and a driving screw coaxially connected to the output shaft of the flipping drive. The flipping structure also includes a shaft shell, which is connected to the second shell. The shaft shell is sleeved outside the driving screw. A flipping slider is also threaded on the driving screw. One end of the flipping slider is rotatably connected to the second shell, and the other end is movably connected to the first shell.

9. A dexterous hand, characterized in that: Comprising the dexterous thumb as described in any one of claims 1-8.

10. A humanoid robot, characterized in that: Including the dexterous hand described in claim 9.

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