A humanoid dexterous hand

Abstract

The application provides an anthropomorphic dexterous hand, a rubber finger sleeve is arranged at a fingertip position of a distal phalanx of a finger, and a finger pulp at the fingertip position is designed as a hollow structure. Since the hollow structure at the finger pulp of the rubber finger sleeve has a large deformation space, the finger can be fully contacted with a grasped object, the contact area of the finger and the object is increased, and therefore the anthropomorphic dexterous hand has good self-adaptability, so that the anthropomorphic dexterous hand can more firmly grasp the object.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and more specifically, to a humanoid dexterous hand. Background Technology

[0002] A dexterous hand is an automatic operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. It needs to meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom. Currently, because the rubber pads on the fingers of a dexterous hand are relatively thin, the contact between the fingers and the object being grasped is insufficient, which can easily lead to a loose grip on the object. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this application is to provide a humanoid dexterous hand.

[0004] In a first aspect, embodiments of this application provide a humanoid dexterous hand, including: a palm, fingers, a thumb, a thumb mounting base, a thumb lateral swing drive assembly, and a second drive electric cylinder tailstock;

[0005] The palm part includes: the palm skeleton, the palm cover plate, and the back cover plate;

[0006] The palm cover plate is disposed on the surface of the palm skeleton, and the back cover plate is disposed on the back of the palm skeleton, forming an installation cavity with the palm cover plate;

[0007] The fingers are fixedly connected to the top of the palm skeleton. The thumb mounting base and the thumb side swing drive assembly are located in the mounting cavity. The thumb mounting base and the thumb side swing drive assembly are connected. The thumb is rotatably connected to the thumb mounting base and connected to the thumb side swing drive assembly. The connected thumb is located on one side of the palm skeleton.

[0008] Each of the multiple fingers includes: the proximal phalanx, the distal phalanx, the base of the finger, and the first drive electric cylinder;

[0009] One end of the finger base is fixed to the top of the palm skeleton, and the other end of the finger base is rotatably connected to the proximal phalanx of the finger. The distal phalanx of the finger is rotatably connected to the proximal phalanx of the finger. The first drive electric cylinder is installed on the palm skeleton. The output end of the first drive electric cylinder is rotatably connected to the proximal phalanx of the finger. The first drive electric cylinder drives the proximal phalanx and the distal phalanx of the finger to rotate, thereby realizing the bending and extension of the finger.

[0010] The fingertips of the distal phalanges of the fingers are provided with rubber finger sleeves, and the fingertips have a hollow structure.

[0011] In the solution provided by the first aspect of this application embodiment, a rubber finger sleeve is provided at the fingertip of the distal phalanx of the finger, and the fingertip pad is designed with a hollow structure. Compared with the method in related technologies where the fingers of a dexterous hand are provided with a thin rubber pad, resulting in insufficient contact between the dexterous hand fingers and the object being grasped, the rubber finger sleeve at the fingertip of the distal phalanx and the hollow structure at the fingertip allow for greater deformation space during the process of the humanoid dexterous hand grasping the object. This enables the fingers to make full contact with the object being grasped, increases the contact area between the fingers and the object, and thus has good adaptability, allowing the humanoid dexterous hand to grasp objects more firmly.

[0012] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This illustration shows a structural schematic diagram of a humanoid dexterous hand provided in an embodiment of this application;

[0015] Figure 2 This invention provides a schematic diagram of the structure of a dexterous hand that removes the palm cover plate according to an embodiment of the present application.

[0016] Figure 3 This invention provides a schematic diagram of the structure of a dexterous hand removing the back cover plate according to an embodiment of the present application.

[0017] Figure 4 A cross-sectional view of the fingers of a dexterous hand provided in an embodiment of this application is shown;

[0018] Figure 5 A schematic diagram of the structure of the first drive link provided in an embodiment of this application is shown;

[0019] Figure 6 A schematic diagram of the distal phalanx connector provided in an embodiment of this application is shown;

[0020] Figure 7 A partial structural schematic diagram of the fingers of a dexterous hand provided in an embodiment of this application is shown;

[0021] Figure 8A schematic diagram of the distal phalanx skeleton of the finger provided in an embodiment of this application is shown;

[0022] Figure 9 The embodiments provided in this application are shown. Figure 4 A magnified view of the area at point X;

[0023] Figure 10 This illustration shows the structure of the thumb, thumb mounting base, thumb lateral swing drive assembly, and palmar skeleton assembled according to an embodiment of this application. Figure 1 ;

[0024] Figure 11 This illustration shows the structure of the thumb, thumb mounting base, thumb lateral swing drive assembly, and palmar skeleton assembled according to an embodiment of this application. Figure 2 ;

[0025] Figure 12 A schematic diagram of the structure of the thumb mounting base provided in an embodiment of this application is shown;

[0026] Figure 13 A partial cross-sectional view of the thumb provided in an embodiment of this application is shown. Figure 1 ;

[0027] Figure 14 A partial cross-sectional view of the thumb provided in an embodiment of this application is shown. Figure 2 . Detailed Implementation

[0028] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] A dexterous hand is an automatic operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. It needs to meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom. Currently, because the rubber pads on the fingers of a dexterous hand are relatively thin, the contact between the fingers and the object being grasped is insufficient, which can easily lead to a loose grip on the object.

[0032] Based on this, this application proposes a humanoid dexterous hand. The fingertips of the distal phalanges of the fingers are equipped with rubber finger sleeves, and the fingertips have a hollowed-out structure. Compared to related technologies where the fingers of dexterous hands have thin rubber pads, resulting in insufficient contact between the fingers and the object being grasped, the hollowed-out structure at the fingertips of the rubber finger sleeves provides greater deformation space, allowing for full contact between the fingers and the object. This increases the contact area between the fingers and the object, resulting in excellent adaptability and enabling the humanoid dexterous hand to grasp objects more firmly.

[0033] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] Example

[0035] See Figure 1 The schematic diagram of the humanoid dexterous hand shown is provided below. Figure 2 The diagram shows the structure of the dexterous hand removing the palm cover plate, and see also... Figure 3 The diagram shown is a structural schematic of a dexterous hand with the back cover removed. This embodiment proposes a humanoid dexterous hand, including: a palm 100, fingers 200, a thumb 300, a thumb mounting base 400, a thumb side swing drive assembly 500, and a second drive electric cylinder tailstock 600.

[0036] The palm 100 includes: a palm skeleton 110, a palm cover plate 120, and a back cover plate 130.

[0037] The palm cover plate 120 is disposed on the surface of the palm skeleton 110, and the back cover plate 130 is disposed on the back of the palm skeleton 110, forming an installation cavity with the palm cover plate 120.

[0038] The fingers 200 are fixedly connected to the top of the palm skeleton 110. The thumb mounting base 400 and the thumb lateral swing drive assembly 500 are located in the mounting cavity. The thumb mounting base 400 and the thumb lateral swing drive assembly 500 are connected. The thumb 300 is rotatably connected to the thumb mounting base 400 and connected to the thumb lateral swing drive assembly 500. After connection, the thumb 300 is located on one side of the palm skeleton 110.

[0039] Among them, a portion of the fingers 200 are located inside the palm 100, and the other portion extends out of the palm 100; a portion of the thumb lateral swing drive assembly 500 is located inside the palm 100, and the other portion extends out of the palm 100.

[0040] Each of the multiple fingers 200 includes: a proximal phalanx 210, a distal phalanx 220, a finger base 230, and a first drive electric cylinder 270.

[0041] One end of the finger base 230 is fixed to the top of the palm skeleton 110, and the other end of the finger base 230 is rotatably connected to the proximal phalanx 210 of the finger. The distal phalanx 220 of the finger is rotatably connected to the proximal phalanx 210 of the finger. The first drive cylinder 270 is installed on the palm skeleton 110. The output end of the first drive cylinder 270 is rotatably connected to the proximal phalanx 210 of the finger. The first drive cylinder 270 drives the proximal phalanx 210 and the distal phalanx 220 of the finger to rotate, thereby realizing the bending and extension of the finger 200.

[0042] The distal phalanx 220 of the finger is provided with a rubber finger sleeve 223 at the fingertip position, and the fingertip pad is a hollow structure.

[0043] See Figure 4 The cross-sectional view of the fingers of the dexterous hand shown in this embodiment indicates that the finger base 230 and the end connected to the proximal phalanx 210 of the finger are respectively provided with a second clearance groove 231, a third hinge hole 232 and a fourth hinge hole 233, wherein the axes of the third hinge hole 232 and the fourth hinge hole 233 are perpendicular to the second clearance groove 231.

[0044] The proximal phalanx 210 of the finger includes: a proximal phalanx housing 211, which is rotatably connected to a third hinge hole 232, and a blocking end face 2111 is also formed on the side wall of the proximal phalanx housing 211.

[0045] Each finger 200 also includes: a first drive link 240, a first link 250 and a first spring 260. Part of the structure of the first drive link 240 is located in the second clearance groove 231, and the first drive link 240 is rotatably connected to the finger base 230 through the third hinge hole 232.

[0046] See Figure 5 The schematic diagram of the first drive link shown shows that the first drive link 240 has holes 241, 242, 243 and a third clearance groove 245 respectively. A drive surface 244 is formed on the circumferential surface of the first drive link 240. The axes of holes 241, 242 and 243 are perpendicular to the third clearance groove 245. Hole 241 of the first drive link 240 is rotatably connected to the third hinge hole 232 of the finger base 230 by a pin. Hole 242 of the first drive link 240 is rotatably connected to the output end of the first drive electric cylinder 270 by a pin. The output end of the first drive electric cylinder 270 is located at the third clearance groove 245 and is hinged to the first drive link 240.

[0047] The driving surface 244 is in contact with the blocking end surface 2111 on the side wall of the finger proximal phalanx housing 211.

[0048] One end of the first link 250 extends into the second clearance groove 231 and is rotatably connected to the fourth hinge hole 233 via a pin. The other end of the first link 250 is rotatably connected to the distal phalanx 220 of the finger.

[0049] A hook 251 is provided at one end of the first connecting rod 250 that is rotatably connected to the distal phalanx 220 of the finger. The hole 243 on the first driving connecting rod 240 is elastically connected to the hook 251 by a first spring 260.

[0050] See Figure 6 The schematic diagram of the distal phalanx connector shown is shown in the reference diagram. Figure 7 The diagram shows a partial structural representation of the fingers of a dexterous hand. The distal phalanx 220 includes: a distal phalanx connector 221, a distal phalanx skeleton 222, and a rubber finger sleeve 223. One end of the distal phalanx connector 221 has a first clearance groove 2213. The groove wall of the first clearance groove 2213 has a first hinge hole 2211 and a second hinge hole 2212. The axes of the first hinge hole 2211 and the second hinge hole 2212 are perpendicular to the first clearance groove 2213. The distal phalanx... The skeleton 222 is fitted onto the other end of the distal phalanx connector 221 and connected to the distal phalanx connector 221. The distal phalanx connector 221 is rotatably connected to the proximal phalanx shell 211 of the proximal phalanx 210 of the finger through the first hinge hole 2211. The other end of the first connecting rod 250 extends into the first clearance groove 2213 and is rotatably connected to the second hinge hole 2212 through a pin. The hook 251 is located at the end of the first connecting rod 250 that is rotatably connected to the second hinge hole 2212 through a pin.

[0051] See Figure 8 The diagram shows the structural schematic of the distal phalanx of the finger and see also... Figure 9 shown Figure 4A partially enlarged schematic diagram at point X shows that a limiting beam 2221 is provided on the back of the finger where the distal phalanx skeleton 222 is located. A limiting protrusion 2231 is provided on the surface of the rubber finger sleeve 223 that contacts the distal phalanx skeleton 222. The rubber finger sleeve 223 and the distal phalanx skeleton 222 are limited by the limiting beam 2221 and the limiting protrusion 2231, so that the rubber finger sleeve 223 is snapped onto the distal phalanx skeleton 222.

[0052] The fingertip of the distal phalanx 222 has a hook-shaped part 2222 at the fingertip, and the cross-section of the inner wall of the fingertip corresponding to the rubber finger sleeve 223 is a wavy structure.

[0053] See Figure 10 The diagram shows the assembled structure of the thumb, thumb mounting base, thumb lateral movement drive assembly, and palmar skeleton. Figure 1 See also Figure 11 The diagram shows the assembled structure of the thumb, thumb mounting base, thumb lateral movement drive assembly, and palmar skeleton. Figure 2 And see Figure 12 The schematic diagram of the thumb mounting base shown is shown. In the humanoid dexterous hand proposed in this embodiment, the thumb mounting base 400 has a "U" structure.

[0054] The thumb mounting base 400 includes: a base plate 402 and two upright plates 404.

[0055] The base plate 402 is fixed on the palm frame 110. Both upright plates 404 extend out of the palm cover plate 120 and are rotatably connected to the thumb 300. A guide rail mounting groove 410 is provided on the end face of the base plate 402 facing the upright plate 404. The guide rail mounting groove 410 is located between the two upright plates 404.

[0056] The thumb lateral swing drive assembly 500 includes: a second drive electric cylinder 510, a guide assembly 520, a rack mounting base 530, a rack 540, and a sector tooth 550.

[0057] The output end of the second drive electric cylinder 510 is fixedly connected to the rack mounting base 530. The rack mounting base 530 extends between the two upright plates 404 of the thumb mounting base 400. The other end of the second drive electric cylinder 510 is fixed to the palm frame 110 through the second drive electric cylinder tailstock 600.

[0058] The guide assembly 520 includes a guide rail 5201 and a slider 5202. The guide rail 5201 is fixed in the guide rail mounting groove 410. The slider 5202 is fixedly connected to the rack mounting seat 530. The slider 5202 is slidably connected to the guide rail 5201 and moves linearly along the extension direction of the guide rail 5201. A rack 540 is fixedly mounted on the rack mounting seat 530.

[0059] The sector tooth 550 is located at the end of the thumb 300 that is rotatably connected to the thumb mounting base 400 and meshes with the rack 540. The teeth of the sector tooth 550 are located between the two upright plates 404 of the thumb mounting base 400. The second drive electric cylinder 510 drives the rack 540 to move linearly, and the rack 540 drives the sector tooth 550 to rotate, thereby causing the thumb 300 to swing laterally.

[0060] See Figure 13 Partial sectional view of the thumb shown Figure 1 And see Figure 14 Partial sectional view of the thumb shown Figure 2 In the anthropomorphic dexterous hand proposed in this embodiment, the thumb 300 includes: the proximal phalanx of the thumb 310, the middle phalanx of the thumb 320, the distal phalanx of the thumb 330, the thumb base 340, the third drive electric cylinder 350, the second connecting rod 360, the second drive connecting rod 370, and the third connecting rod 380.

[0061] The proximal phalanx 310 of the thumb includes a proximal phalanx shell 311, the middle phalanx of the thumb 320 includes a middle phalanx shell 321, and the distal phalanx of the thumb 330 includes a distal phalanx skeleton 331.

[0062] The main body of the second link 360 is located inside the thumb proximal joint housing 311. One end of the second link 360 extends into the thumb middle joint housing 321, and the other end of the second link 360 extends out of the thumb proximal joint housing 311 and is hinged to the thumb base 340. The second drive link 370 and the third link 380 are both located inside the thumb middle joint housing 321.

[0063] The sector tooth 550 is mounted on the thumb base 340, which is rotatably connected to the thumb mounting base 400. One end of the thumb proximal phalanx shell 311 is hinged to the thumb base 340 at point A, the other end of the thumb proximal phalanx shell 311 is hinged to the thumb middle phalanx shell 321 at point B, and the other end of the thumb middle phalanx shell 321 is hinged to the thumb distal phalanx skeleton 331 at point C.

[0064] The third drive electric cylinder 350 is installed inside the thumb proximal phalanx housing 311. The output end of the third drive electric cylinder 350 extends into the thumb middle phalanx housing 321 and is hinged to one end of the second drive link 370 at point D. The other end of the second drive link 370 is hinged to one end of the second link 360 at point E. The end of the second link 360 that is hinged to the second drive link 370 is also hinged to the thumb middle phalanx housing 321 at point E. The other end of the second link 360 is hinged to the thumb base 340 at point F. One end of the third link 380 is hinged to the thumb proximal phalanx housing 311 at point G. The other end of the third link 380 is hinged to the thumb distal phalanx skeleton 331 at point H.

[0065] Points A through H mentioned above are all hinged structures of hinged holes and pins.

[0066] A blocking protrusion 3211 is also formed on the side wall of the thumb middle phalanx housing 321. A second spring 390 is provided between the second drive link 370 and the third link 380 and the end of the distal phalanx skeleton 331 that is hinged to it. The side of the second drive link 370 fits against the blocking protrusion 3211 on the side wall of the thumb middle phalanx housing 321.

[0067] The third drive cylinder 350 is used to drive the proximal phalanx 310, middle phalanx 320, and distal phalanx 330 of the thumb to rotate, so as to achieve the bending and extension of the thumb 300.

[0068] Furthermore, the anthropomorphic dexterous hand proposed in this embodiment also includes: a ball bearing 800.

[0069] The end of the first drive electric cylinder 270 is mounted on the palm frame 110 via a ball bearing 800.

[0070] The third drive electric cylinder 350 is mounted on the thumb proximal phalanx housing 311 via a ball bearing 800.

[0071] The humanoid dexterous hand proposed in this embodiment also includes a force control sensor.

[0072] Force control sensors are respectively installed between the first drive electric cylinder 270, the third drive electric cylinder 350 and the ball bearing 800.

[0073] A force control sensor is provided between the end of the second drive electric cylinder 510 and the tailstock 600 of the second drive electric cylinder.

[0074] The humanoid dexterous hand proposed in this embodiment also includes: a circuit board 700.

[0075] The circuit board 700 is located inside the mounting cavity and is fixed to the palm frame 110.

[0076] The first drive cylinder 270 and the second drive cylinder 510 are located on both sides of the palm frame 110.

[0077] The first drive cylinder 270, the second drive cylinder 510, and the third drive cylinder 350 are electrically connected to the circuit board 700.

[0078] In one embodiment, the first drive cylinder 270 and the second drive cylinder 510 can be directly electrically connected to the circuit board 700 via cables.

[0079] In the anthropomorphic dexterous hand proposed in this embodiment, the fingertip of the distal phalanx 330 of the thumb and the fingertip of the distal phalanx 220 of the finger have the same structure.

[0080] The humanoid dexterous hand proposed in this embodiment has the following working principle:

[0081] Finger flexion and extension: When the output end of the first drive cylinder 270 located inside the palm 100 extends, it drives the first drive linkage 240 to rotate. Simultaneously, the first drive linkage 240 pushes the proximal phalanx housing 211 of the finger to rotate through the drive surface 244. Furthermore, through the coupling effect of the first linkage 250, the distal phalanx 220 of the finger rotates, thereby achieving finger flexion. When the output end of the first drive cylinder 270 located inside the palm 100 retracts, it drives the first drive linkage 240 to rotate in the opposite direction. At the same time, under the action of the first spring 230, the coupled proximal phalanx housing 211 and distal phalanx 220 of the finger return to their original positions, thereby achieving finger extension.

[0082] Thumb lateral swing: When the output end of the second drive electric cylinder 510 located inside the palm 100 extends, the rack mounting base 530 connected to the output end of the second drive electric cylinder 510 will drive the rack 540 on it to move linearly under the guidance of the guide component 520, thereby causing the sector tooth 550 that meshes with it to rotate, thus completing the lateral swing of the thumb 300.

[0083] Thumb 2 Bending and Extending: When the output end of the third drive electric cylinder 350, located inside the thumb 300, extends, it drives the second drive linkage 370 to rotate. Simultaneously, the second drive linkage 370 pushes the thumb middle phalanx housing 321 to rotate via the drive blocking protrusion 3211. Furthermore, through the coupling effect of the second linkage 360, the proximal phalanx 310 of the thumb rotates, and through the coupling effect of the third linkage 380, the distal phalanx 330 of the thumb rotates, thereby achieving thumb bending. When the output end of the third drive electric cylinder 350, located inside the thumb 300, retracts, it drives the second drive linkage 370 to rotate in the opposite direction. Simultaneously, under the action of the second spring 390, the coupled proximal phalanx 310, middle phalanx 320, and distal phalanx 330 of the thumb will reset, thereby achieving thumb extension.

[0084] The humanoid dexterous hand proposed in this embodiment has the following characteristics:

[0085] 1. The rubber finger cot features a "wavy" design with a certain thickness on the inner wall of the fingertip. During the clamping process, the rubber finger cot will concave in the area with a smaller cross-sectional thickness, forming a wrapping shape. While deforming, the area with a larger cross-sectional thickness provides better support. This solves the problem of the entire fingertip surface of the rubber finger cot concave in the middle during the clamping process, which results in a lack of support for the clamped object and makes it easy for the object to fall.

[0086] 2. The design of the hook-shaped part of the distal phalanx of the finger solves the following problem: When a thin object with a certain weight is placed on a flat surface, the small contact area between the finger and the object, and the fact that the rubber finger sleeve is prone to deformation, result in insufficient clamping force and the object easily slipping. When clamping an object, the hook-shaped part design can reduce the deformation of the clamping surface, provide better support, and avoid the problem of thin objects with a certain weight slipping when clamped on a flat surface.

[0087] 3. With the first spring installed inside the fingers and the second spring installed inside the thumb, when the distal or middle phalanx of the dexterous hand is impacted in an inward bending direction, the distal or middle phalanx will rotate around the hinge axis, causing the first spring to deform. This converts the impact energy of the distal or middle phalanx into the elastic potential energy of the first spring, thereby reducing the impact force on the finger actuator. Similarly, when the proximal, middle, or distal phalanx of the thumb is impacted in an inward bending direction, the second spring will deform, thereby reducing the impact force on the thumb actuator. This improves the impact resistance of the dexterous hand and enhances the reliability of the working structure of the anthropomorphic dexterous hand.

[0088] In summary, this embodiment proposes a humanoid dexterous hand. By incorporating rubber finger sleeves at the fingertips of the distal phalanges and a hollowed-out fingertip structure, compared to related technologies where the fingers have thin rubber pads leading to insufficient contact between the fingers and the grasped object, the rubber finger sleeves at the fingertips and the hollowed-out fingertip structure provide greater deformation space during object grasping. This allows for full contact between the fingers and the grasped object, increasing the contact area and thus exhibiting excellent adaptability. Consequently, the humanoid dexterous hand can more firmly grasp objects.

[0089] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A humanoid dexterous hand, characterized in that, include: Palm (100), fingers (200), thumb (300), thumb mounting base (400), thumb side swing drive assembly (500) and second drive electric cylinder tailstock (600). The palm (100) includes: palm skeleton (110), palm cover plate (120) and back cover plate (130). The palm cover plate (120) is disposed on the surface of the palm skeleton (110), and the back cover plate (130) is disposed on the back of the palm skeleton (110) and forms an installation cavity with the palm cover plate (120); The fingers (200) are fixedly connected to the top of the palm skeleton (110). The thumb mounting base (400) and the thumb side swing drive assembly (500) are located in the mounting cavity. The thumb mounting base (400) and the thumb side swing drive assembly (500) are connected. The thumb (300) is rotatably connected to the thumb mounting base (400) and connected to the thumb side swing drive assembly (500). The connected thumb (300) is located on one side of the palm skeleton (110). Each of the multiple fingers (200) includes: a proximal phalanx (210), a distal phalanx (220), a base (230), and a first drive electric cylinder (270); One end of the finger base (230) is fixed to the top of the palm skeleton (110), and the other end of the finger base (230) is rotatably connected to the proximal phalanx (210) of the finger, and the distal phalanx (220) of the finger is rotatably connected to the proximal phalanx (210). The first drive cylinder (270) is installed on the palm skeleton (110), and the output end of the first drive cylinder (270) is rotatably connected to the proximal phalanx (210) of the finger. The first drive cylinder (270) drives the proximal phalanx (210) and the distal phalanx (220) of the finger to rotate, thereby realizing the bending and extension of the finger (200). The distal phalanx (220) of the finger is provided with a rubber finger sleeve (223) at the fingertip position and the fingertip pad is a hollow structure; The thumb (300) includes: the proximal phalanx of the thumb (310), the middle phalanx of the thumb (320), the distal phalanx of the thumb (330), the thumb base (340), the third drive electric cylinder (350), the second link (360), the second drive link (370), and the third link (380). The proximal phalanx of the thumb (310) includes a proximal phalanx shell (311), the middle phalanx of the thumb (320) includes a middle phalanx shell (321), and the distal phalanx of the thumb (330) includes a distal phalanx skeleton (331). Ball bearing (800); The end of the first drive electric cylinder (270) is mounted on the palm skeleton (110) via a ball bearing (800); The third drive electric cylinder (350) is mounted on the thumb proximal phalanx housing (311) via a ball bearing (800); The main body of the second link (360) is located inside the thumb proximal phalanx housing (311). One end of the second link (360) extends into the thumb middle phalanx housing (321), and the other end of the second link (360) extends out of the thumb proximal phalanx housing (311) and is hinged to the thumb base (340). The second drive link (370) and the third link (380) are both located inside the thumb middle phalanx housing (321). The sector teeth (550) are mounted on the thumb base (340), the thumb base (340) is rotatably connected to the thumb mounting base (400), one end of the thumb proximal phalanx shell (311) is hinged to the thumb base (340) at point A, the other end of the thumb proximal phalanx shell (311) is hinged to the thumb middle phalanx shell (321) at point B, and the other end of the thumb middle phalanx shell (321) is hinged to the thumb distal phalanx skeleton (331) at point C; The third drive electric cylinder (350) is installed inside the thumb proximal phalanx housing (311). The output end of the third drive electric cylinder (350) extends into the thumb middle phalanx housing (321) and is hinged to one end of the second drive link (370) at point D. The other end of the second drive link (370) is hinged to one end of the second link (360) at point E. The end of the second link (360) that is hinged to the second drive link (370) is also hinged to the thumb middle phalanx housing (321) at point E. The other end of the second link (360) is hinged to the thumb base (340) at point F. One end of the third link (380) is hinged to the thumb proximal phalanx housing (311) at point G. The other end of the third link (380) is hinged to the thumb distal phalanx skeleton (331) at point H.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The finger base (230) is connected to the finger proximal phalanx (210) and is provided with a second relief groove (231), a third hinge hole (232) and a fourth hinge hole (233), respectively. The axes of the third hinge hole (232) and the fourth hinge hole (233) are perpendicular to the second relief groove (231). The proximal phalanx of the finger (210) includes: a proximal phalanx housing (211), which is rotatably connected to a third hinge hole (232), and a blocking end face (2111) is also formed on the side wall of the proximal phalanx housing (211). Each finger (200) also includes: a first drive link (240), a first link (250) and a first spring (260). Part of the structure of the first drive link (240) is located in the second clearance groove (231), and the first drive link (240) is rotatably connected to the finger base (230) through the third hinge hole (232). The first drive link (240) is provided with a hole 1 (241), a hole 2 (242), a hole 3 (243) and a third clearance groove (245), and a drive surface (244) is formed on the circumferential surface of the first drive link (240). The axes of the holes 1 (241), 2 (242) and 3 (243) are perpendicular to the third clearance groove (245). The hole 1 (241) of the first drive link (240) is rotatably connected to the third hinge hole (232) of the finger base (230) by a pin. The hole 2 (242) of the first drive link (240) is rotatably connected to the output end of the first drive electric cylinder (270) by a pin. The output end of the first drive electric cylinder (270) is located at the third clearance groove (245) and is hinged to the first drive link (240). The driving surface (244) is in contact with the blocking end face (2111) on the side wall of the finger proximal phalanx housing (211); One end of the first link (250) extends into the second clearance groove (231) and is rotatably connected to the fourth hinge hole (233) via a pin. The other end of the first link (250) is rotatably connected to the distal phalanx (220) of the finger. A hook (251) is provided at one end of the first link (250) that is rotatably connected to the distal phalanx (220) of the finger. The hole three (243) on the first drive link (240) and the hook (251) are elastically connected by the first spring (260). The distal phalanx (220) includes: a distal phalanx connector (221), a distal phalanx skeleton (222), and a rubber finger sleeve (223). One end of the distal phalanx connector (221) has a first clearance groove (2213). The groove wall of the first clearance groove (2213) has a first hinge hole (2211) and a second hinge hole (2212). The axes of the first hinge hole (2211) and the second hinge hole (2212) are perpendicular to the first clearance groove (2213). The distal phalanx skeleton (222) is fitted with... The other end of the distal phalanx connector (221) is connected to the distal phalanx connector (221). The distal phalanx connector (221) is rotatably connected to the proximal phalanx housing (211) of the proximal phalanx (210) through the first hinge hole (2211). The other end of the first connecting rod (250) extends into the first clearance groove (2213) and is rotatably connected to the second hinge hole (2212) through a pin. The hook (251) is located at the end of the first connecting rod (250) that is rotatably connected to the second hinge hole (2212) through a pin. A limiting beam (2221) is provided on the part of the distal phalanx of the finger (222) located on the back of the finger. A limiting protrusion (2231) is provided on the surface of the rubber finger sleeve (223) that contacts the distal phalanx of the finger (222). The rubber finger sleeve (223) and the distal phalanx of the finger (222) are limited by the limiting beam (2221) and the limiting protrusion (2231), so that the rubber finger sleeve (223) is snapped onto the distal phalanx of the finger (222). The fingertip of the distal phalanx skeleton (222) has a hook-shaped part (2222) at the fingertip, and the cross-section of the inner wall of the fingertip corresponding to the rubber finger sleeve (223) is a wavy structure.

3. The anthropomorphic dexterous hand according to claim 1, characterized in that, The thumb mounting base (400) has a "U" structure; The thumb mounting base (400) includes: a base plate (402) and two upright plates (404); The base plate (402) is fixed on the palm frame (110). Both upright plates (404) extend out of the palm cover plate (120) and are rotatably connected to the thumb (300). A guide rail mounting groove (410) is provided on the end face of the base plate (402) facing the upright plate (404). The guide rail mounting groove (410) is located between the two upright plates (404).

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, The thumb lateral drive assembly (500) includes: a second drive electric cylinder (510), a guide assembly (520), a rack mount (530), a rack (540), and a sector tooth (550); The output end of the second drive electric cylinder (510) is fixedly connected to the rack mounting seat (530). The rack mounting seat (530) extends between the two upright plates (404) of the thumb mounting base (400). The other end of the second drive electric cylinder (510) is fixed to the palm skeleton (110) through the second drive electric cylinder tailstock (600). The guide assembly (520) includes: a guide rail (5201) and a slider (5202). The guide rail (5201) is fixed in the guide rail mounting groove (410). The slider (5202) is fixedly connected to the rack mounting seat (530). The slider (5202) is slidably connected to the guide rail (5201) and moves linearly along the extension direction of the guide rail (5201). A rack (540) is fixedly mounted on the rack mounting seat (530). The sector tooth (550) is located at the end of the thumb (300) that is rotatably connected to the thumb mounting base (400) and meshes with the rack (540). The teeth of the sector tooth (550) are located between the two upright plates (404) of the thumb mounting base (400). The second drive electric cylinder (510) drives the rack (540) to move linearly, and the rack (540) drives the sector tooth (550) to rotate, thereby causing the thumb (300) to swing laterally.

5. The anthropomorphic dexterous hand according to claim 4, characterized in that, A blocking protrusion (3211) is also formed on the side wall of the thumb middle phalanx shell (321). A second spring (390) is provided between the second drive link (370) and the third link (380) and the end of the distal phalanx skeleton (331) that is hinged to the second drive link (370). The side of the second drive link (370) fits against the blocking protrusion (3211) on the side wall of the thumb middle phalanx shell (321). The third drive cylinder (350) is used to drive the thumb proximal phalanx (310), thumb middle phalanx (320), and thumb distal phalanx (330) to rotate, so as to achieve the bending and extension of the thumb (300).

6. The anthropomorphic dexterous hand according to claim 5, characterized in that, Also includes: Force control sensor; Force control sensors are respectively installed between the first drive electric cylinder (270), the third drive electric cylinder (350) and the ball bearing (800); A force control sensor is provided between the end of the second drive electric cylinder (510) and the tailstock (600) of the second drive electric cylinder.

7. The anthropomorphic dexterous hand according to claim 5, characterized in that, Also includes: Circuit board (700); The circuit board (700) is set inside the mounting cavity and is fixed on the palm frame (110); The first drive electric cylinder (270) and the second drive electric cylinder (510) are located on both sides of the palm skeleton (110); The first drive cylinder (270), the second drive cylinder (510) and the third drive cylinder (350) are electrically connected to the circuit board (700).

8. The anthropomorphic dexterous hand according to claim 5, characterized in that, The pad of the distal phalanx of the thumb (330) has the same structure as the pad of the distal phalanx of the finger (220).

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