Dexterous hand finger, dexterous hand and humanoid robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a humanoid robot, the dexterous hand finger comprises a flexible connecting structure, and the flexible connecting structure comprises a mounting seat, a guide rod and a reset part; the mounting seat is arranged on the palm structure, and the guide rod is arranged on the mounting seat; the reset piece is arranged on the guide rod; the driving module is arranged on the guide rod in a penetrating mode and located on the side, away from the mounting base, of the reset piece; the finger root module is connected to one side of the driving module so as to move under the driving of the driving module; when the finger root module is subjected to external force, the finger root module drives the driving module to move along the guide rod and extrudes the reset piece, and the reset piece is used for providing reset acting force for the driving module. When the fingers of the dexterous hand are stressed, the driving module moves along the guide rod, so that the impact force is prevented from directly acting on the driving module, the impact is absorbed through the reset piece located between the driving module and the mounting seat, and the driving module is protected to a certain extent.

Description

Technical Field

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

[0002] With the development of intelligent technology, robotics has become a research hotspot today. As an end effector of robots, robotic hands have also attracted the attention of more and more researchers.

[0003] In the prior art, the finger mechanical structure of the humanoid dexterous hand uses one or more drivers for each finger to achieve actions similar to human fingers grasping, releasing or operating tools. Multiple fingers can be set on the manipulator to form a multi-finger dexterous hand. However, the fingers of the current dexterous hand are directly connected to the drive motor, and the impact resistance and flexibility are poor. During use, it is easy to collide with the external environment or be impacted by external forces due to accidents, thereby causing damage to the drive source. Summary of the invention

[0004] Based on this, the present application provides a dexterous hand finger, a dexterous hand and a humanoid robot to solve the problem that the fingers are directly connected to the motor, have no shock-absorbing function, and are easily damaged under external force impact.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In one aspect, the present application provides a dexterous hand finger, which is arranged on a palm structure, comprising:

[0007] A flexible connection structure, the flexible connection structure includes a mounting seat, a guide rod and a reset member; the mounting seat is arranged on the palm structure, the guide rod is arranged on the mounting seat and extends along the first direction; the reset member is arranged on the guide rod;

[0008] A driving module, which is passed through the guide rod and is located on a side of the reset member away from the mounting seat;

[0009] A finger root module, along a first direction, the finger root module is connected to one side of the driving module to move under the driving of the driving module;

[0010] When the finger root module is subjected to external force, the finger root module drives the driving module to move along the guide rod and squeeze the reset member, and the reset member is used to provide a reset force to the driving module.

[0011] In a possible implementation, the mounting seat includes a mounting plate, a fixing portion and a supporting portion, the mounting plate is arranged on the palm structure, the fixing portion is arranged on the mounting plate, the guide rod is arranged on the fixing portion, and the supporting portion is provided with a supporting hole;

[0012] The driving module comprises a driving seat, a buffer portion is provided on the driving seat, and a through hole is provided on the buffer portion;

[0013] The guide rod passes through the through hole and the abutting hole to movably arrange the driving seat on the mounting seat, and the reset member connects the buffer portion and the abutting portion.

[0014] In a possible implementation manner, the reset member includes a first reset member and a second reset member. The first reset member and the second reset member are respectively arranged on the guide rod and are located on both sides of the abutting portion along a first direction;

[0015] The buffer portion includes a first buffer portion and a second buffer portion. Along the first direction, the first buffer portion and the second buffer portion are located on both sides of the abutting portion;

[0016] The first reset member connects the first buffer portion and the abutting portion, and the second reset member connects the second buffer portion and the abutting portion.

[0017] In a possible implementation manner, the driving module further includes a driving component and a driving link group. The driving component is arranged on the driving seat, and the finger root module is connected to the driving component through the driving link group.

[0018] In a possible implementation manner, the finger root module includes a finger root shell and a rotating seat. The finger root shell is connected to the driving component through the driving link group. The rotating seat is connected to the finger root shell and is rotatably arranged on the palm structure.

[0019] In a possible implementation manner, the driving component includes at least two first driving members. Along a second direction, the at least two first driving members are arranged side by side on the driving seat;

[0020] The driving link group includes at least two first driving links. The finger root module further includes a ball head link. The ball head link is arranged on the finger root shell. One end of the first driving link is ball-jointed to the corresponding first driving member, and the other end is ball-jointed to the ball head link.

[0021] In a possible implementation manner, the finger root module further includes a triangular swing rod. The triangular swing rod is connected to the finger root shell and is rotatably arranged on the rotating seat.

[0022] In a possible implementation manner, the finger root module further includes a fixing pin. The rotating seat is provided with a rotating hole, and the triangular swing rod is provided with a swinging hole. The fixing pin passes through the rotating hole and the swinging hole and is arranged on the finger root shell to rotatably arrange the finger root shell on the rotating seat; and / or

[0023] The driving component further includes a second driving member. The driving link group further includes a second driving link. One end of the second driving link is ball-jointed to the second driving member, and the other end is ball-jointed to the triangular swing rod.

[0024] On the other hand, the present application provides a dexterous hand, including a palm structure and the above-mentioned dexterous hand fingers. The dexterous hand fingers are arranged on the palm structure.

[0025] On the other hand, the present application provides a humanoid robot, including the above-mentioned dexterous hand.

[0026] The dexterous hand fingers, dexterous hand and humanoid robot provided by the present application. By arranging a flexible connection structure between the driving module and the palm structure, and passing the driving module through the guide rod, when the dexterous hand finger is stressed, the driving module will move along the guide rod, thus avoiding the impact force directly acting on the driving module, and absorbing the impact through the reset member located between the driving module and the mounting seat, so as to play a certain protective role for the driving module, and after the impact ends, reset the driving module, which can provide good anti-impact, shock absorption and self-adaptive effects, and the flexible connection structure is small in volume and convenient to be integrated on the driving module of the dexterous hand finger, making the overall structure of the dexterous hand finger compact. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 Structural schematic diagram of the dexterous hand finger provided by the embodiment of the present application arranged on the palm structure;

[0029] Figure 2 For Figure 1 One of the partial exploded structural schematic diagrams of the shown dexterous hand finger and the palm structure;

[0030] Figure 3 For Figure 2 Structural schematic diagram of the shown dexterous hand finger;

[0031] Figure 4 For Figure 3 Partial exploded structural schematic diagram of the shown dexterous hand finger;

[0032] Figure 5 For Figure 1 Another partial exploded structural schematic diagram of the shown dexterous hand finger and the palm structure;

[0033] Figure 6 For Figure 1 Structural schematic diagram of the shown palm structure.

[0034] Explanation of the reference numerals:

[0035] 100 - Dexterous hand finger; 10 - Flexible connection structure; 11 - Mounting seat; 111 - Mounting plate; 112 - Fixing part; 113 - Mounting hole; 114 - Supporting part; 115 - Supporting hole; 12 - Guide rod; 13 - Reset part; 131 - First reset part; 132 - Second reset part; 20 - Driving module; 21 - Driving seat; 211 - Buffer part; 212 - Passing hole; 213 - First buffer part; 214 - Second buffer part; 22 - Driving component; 221 - First driving part; 222 - Second driving part; 23 - Driving link group; 231 - First driving link; 232 - Second driving link; 30 - Finger root module; 31 - Finger root shell; 32 - Rotating seat; 321 - Rotating hole; 33 - Ball head link; 331 - Ball head; 34 - Triangular swing rod; 341 - Swing hole; 35 - Fixed pin; 200 - Palm structure; 201 - Fixed hole; 202 - Rotating hole; 203 - Bearing. Detailed implementation mode

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0037] With the development of intelligent technology, robot technology has become a research hotspot today. As an end effector of a robot, the robot hand has also attracted more and more researchers' attention.

[0038] In the finger mechanical structure of the existing humanoid dexterous hand, each finger uses one or more drivers to achieve actions similar to human finger grasping, releasing, or operating tools. Multiple fingers can be combined on the robot hand to form a multi-finger dexterous hand. However, currently, the dexterous hand finger is directly connected to the driving motor, and the anti-impact and compliance are not good. During use, it is easy to collide with the external environment or be impacted by external forces accidentally, resulting in damage to the driving source.

[0039] To overcome the defects in the prior art, after repeated thinking and verification, the inventor found that if a buffer structure is set between the driving motor and the palm structure, when the dexterous hand finger is stressed, the driving motor can move, and the impact force received by the driving motor can be absorbed by several reset parts arranged in the buffer structure, playing a certain protective role for the driving motor. After the impact ends, the driving module can be reset, providing good anti-impact, shock absorption, and self-adaptive effects.

[0040] In view of this, the present application provides a dexterous hand finger, which is arranged on a palm structure, including:

[0041] A flexible connection structure, the flexible connection structure includes a mounting seat, a guide rod and a reset member; the mounting seat is arranged on the palm structure, the guide rod is arranged on the mounting seat and extends along the first direction; the reset member is arranged on the guide rod;

[0042] A driving module, which is passed through the guide rod and is located on a side of the reset member away from the mounting seat;

[0043] A finger root module, along a first direction, the finger root module is connected to one side of the driving module to move under the driving of the driving module;

[0044] When the finger root module is subjected to external force, the finger root module drives the driving module to move along the guide rod and squeeze the reset member, and the reset member is used to provide a reset force to the driving module.

[0045] By setting a flexible connection structure between the driving module and the palm structure, and by passing the driving module through the guide rod, when the dexterous hand fingers are subjected to force, the driving module will move along the guide rod, thereby avoiding the impact force from directly acting on the driving module, and absorbing the impact through the reset part located between the driving module and the mounting seat, thereby providing a certain protection for the driving module, and resetting the driving module after the impact ends, thereby providing good impact resistance, shock absorption, and adaptive effects, and the flexible connection structure is small in size, which is convenient for integration into the driving module of the dexterous hand fingers, making the overall structure of the dexterous hand fingers compact.

[0046] The contents of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application more clearly and in detail.

[0047] Figure 1 This is a schematic diagram of the structure in which the fingers of the dexterous hand provided in an embodiment of the present application are arranged on the palm structure. Figure 2 for Figure 1 One of the partial exploded structural diagrams of the finger and palm structure of the dexterous hand is shown. Figure 3 for Figure 2 Schematic diagram of the structure of the fingers of the dexterous hand. Figure 4 for Figure 3 Schematic diagram of the partial exploded structure of the dexterous hand fingers shown. Figure 5 for Figure 1 The second schematic diagram of the partial decomposition structure of the fingers and palm of the dexterous hand. Figure 6 for Figure 1 Structural schematic diagram of the palm structure shown.

[0048] The specific structure of the fingers of the dexterous hand and various possible implementation methods are described in detail below.

[0049] likeFigure 1 and Figure 2 As shown, the dexterous hand finger 100 provided in the embodiment of the present application is used on the dexterous hand of a humanoid robot. The dexterous hand finger 100 is arranged on the palm structure 200 of the dexterous hand.

[0050] The dexterous hand finger 100 includes a flexible connection structure 10, a driving module 20 and a finger base module 30. The flexible connection structure 10 is arranged on the palm structure 200. The driving module 20 is arranged on the flexible connection structure 10. The finger base module 30 is arranged on the driving module 20. The flexible connection structure 10 is used to provide a shock-absorbing effect, so that the dexterous hand finger 100 is not easily damaged under the impact of external force. The driving module 20 is used to drive the finger base module 30 to move.

[0051] Please also see Figure 3 Specifically, along the first direction x, the finger root module 30 is connected to one side of the driving module 20. Wherein, along the first direction x, the side close to the finger root module 30 is the front side, and the side close to the driving module 20 is the rear side.

[0052] The flexible connection structure 10 is integrated in the driving module 20, and plays a certain protective role for the driving motor in the driving module 20 through the flexible connection with the palm structure 200. Therefore, when the dexterous finger 100 is subjected to an impact load, it drives the driving module 20 to move as a whole to absorb the impact.

[0053] In a possible implementation, the flexible connection structure 10 includes a mounting seat 11, a guide rod 12, and a reset member 13. The mounting seat 11 is disposed on the palm structure 200. The guide rod 12 is disposed on the mounting seat 11 and extends along the first direction x, and the reset member 13 is disposed on the guide rod 12. The driving module 20 is disposed on the guide rod 12 and is located on a side of the reset member 13 away from the mounting seat.

[0054] When the finger base module 30 is subjected to external force, the finger base module 30 drives the driving module 20 to move along the guide rod 12 and squeeze the reset member 13 . The reset member 13 is used to provide a reset force to the driving module 20 .

[0055] By inserting the driving module 20 on the guide rod 12, when the dexterous hand finger 100 is subjected to force, the driving module 20 will move along the guide rod 12, thereby preventing the impact force on the dexterous hand finger 100 from directly acting on the driving module 20. The reset member 13 located between the driving module 20 and the mounting seat 11 absorbs the impact force, thereby playing a certain protective role for the driving module 20, and resets the driving module 20 after the impact ends, thereby providing good impact resistance, shock absorption, and self-adaptation effects.

[0056] Due to its simple structure and small number of components, the flexible connection structure 10 has a relatively small volume and is convenient to be integrated into the finger 100 of the dexterous hand, making the overall structure of the dexterous hand finger 100 more compact.

[0057] In a possible implementation, there are two guide rods 12.

[0058] In a possible implementation, along the second direction y, the two guide rods 12 are arranged side by side.

[0059] Among them, the second direction y is perpendicular to the first direction x.

[0060] Through the arrangement of the two guide rods 12, the sliding connection between the driving module 20 and the mounting seat 11 is made more stable.

[0061] Please refer to Figure 4 , in a possible implementation, the mounting seat 11 includes a mounting plate 111 and a fixing portion 112. The mounting plate 111 is arranged on the palm structure 200, and the fixing portion 112 is arranged on the mounting plate 111 and located on the side away from the palm structure 200. The guide rod 12 is arranged on the fixing portion 112.

[0062] By connecting the palm structure 200 through the mounting plate 111, the connection stability between the flexible connection structure 10 and the palm structure 200 is improved.

[0063] Please refer to Figure 6 , in a possible implementation, the palm structure 200 is provided with a fixing hole 201. The mounting plate 111 is provided with a mounting hole 113. Through fixing members such as screws passing through the mounting hole 113 and the fixing hole 201, the mounting plate 111 is fixedly connected to the palm structure 200.

[0064] In a possible implementation, the mounting seat 11 further includes a resisting portion 114. The resisting portion 114 is provided with a resisting hole 115. The driving module 20 includes a driving seat 21. A buffer portion 211 is arranged on the driving seat 21, and the buffer portion 211 faces the flexible connection structure 10. A through hole 212 is arranged on the buffer portion 211. The guide rod 12 passes through the through hole 212 and the resisting hole 115 to movably arrange the driving seat 21 on the mounting seat 11. The reset member 13 connects the buffer portion 211 and the resisting portion 114.

[0065] Through the arrangement of the through hole 212 and the resisting hole 115 and making the guide rod 12 pass through them, the sliding connection precision between the driving seat 21 and the mounting seat 11 is improved.

[0066] In a possible implementation, the reset member 13 includes a first reset member 131 and a second reset member 132. The first reset member 131 and the second reset member 132 are respectively disposed on the guide rod 12 and are located on both sides of the abutting portion 114. The buffer portion 211 includes a first buffer portion 213 and a second buffer portion 214. The first buffer portion 213 and the second buffer portion 214 are located on both sides of the abutting portion 114. The first reset member 131 connects the first buffer portion 213 and the abutting portion 114, and the second reset member 132 connects the second buffer portion 214 and the abutting portion 114.

[0067] By providing the first reset member 131 and the second reset member 132 on both sides of the abutting portion 114, the driving module 20 is kept fixed. When two forces in opposite directions are applied, the driving module 20 can move back and forth along the guide rod 12 and be reset under the restraint of the first reset member 131 and the second reset member 132.

[0068] When the driving seat 21 moves forward in the first direction x, the front first reset member 131 is compressed to generate a restoring force to reset the driving seat 21. When the driving seat 21 moves backward, the rear second reset member 132 is compressed to generate a restoring force to reset the driving seat 21.

[0069] In a possible implementation, the reset member 13 is a shock-absorbing spring, specifically a compression spring.

[0070] The first reset member 131 and the second reset member 132 are relatively large in size, which can provide good anti-shock and self-adaptive effects.

[0071] In a possible implementation, the driving module 20 further includes a driving component 22 and a driving link group 23. The driving component 22 is disposed on the driving seat 21, and the finger root module 30 is connected to the driving component 22 through the driving link group 23.

[0072] The driving component 22 drives the finger root module 30 to perform different movements through the driving link group 23.

[0073] In a possible implementation, the movements performed by the driving component 22 driving the finger root module 30 include, but are not limited to, rotation along an axis parallel to the second direction y and rotation along an axis parallel to the third direction z.

[0074] Among them, the third direction z is perpendicular to the first direction x and the second direction y respectively.

[0075] Please also refer to Figure 5 In a possible implementation, the finger root module 30 includes a finger root shell 31 and a rotating seat 32. The finger root shell 31 is connected to the driving component 22 through the driving link group 23. The rotating seat 32 connects the finger root shell 31 and is rotatably disposed on the palm structure 200.

[0076] By rotating the rotating base 32, the finger root module 30 can rotate along an axis parallel to the third direction z.

[0077] In a possible implementation, a rotating hole 202 is provided on the palm structure 200. The axis of the rotating hole 202 is parallel to the third direction z. The rotating base 32 is rotatably arranged in the rotating hole 202.

[0078] In a possible implementation, a bearing 203 is further provided in the rotating hole 202. The rotating base 32 is arranged in the bearing 203, so as to rotate in the bearing 203, improving the stability of the rotation of the finger root module 30.

[0079] In a possible implementation, the driving assembly 22 includes at least two first driving members 221. Along the second direction y, at least two first driving members 221 are arranged side by side on the driving base 21.

[0080] The driving link group 23 includes at least two first driving links 231. The first driving member 221 is connected to the finger root shell 31 through the first driving link 231.

[0081] The first driving member 221 is used to drive the finger root shell 31 to rotate along an axis parallel to the third direction z.

[0082] In a possible implementation, the finger root module 30 further includes a ball head link 33, and the ball head link 33 is arranged on the finger root shell 31. One end of the first driving link 231 is ball-jointed to the corresponding first driving member 221, and the other end is ball-jointed to the ball head link 33.

[0083] Specifically, at least two ball heads 331 are provided on the ball head link 33. One end of the first driving link 231 is provided with a ball seat hole. The ball head link 33 passes through the ball seat hole, and the ball head 331 is accommodated in the corresponding ball seat hole, so that the first driving link 231 is ball-jointed to the ball head link 33.

[0084] The driving end of the first driving member 221 is provided with an upper driving frame, and the upper driving frame is ball-jointed to one end of the first driving link 231.

[0085] In a possible implementation, the driving assembly 22 includes two first driving members 221.

[0086] When the two first driving members 221 respectively drive the first driving link 231 to move in the reverse direction of the first direction x, the ball head link 33 is driven to rotate, so that the finger root shell 31 rotates around the axis of the rotating hole 202, that is, the finger 100 of the dexterous hand can swing left and right.

[0087] When the two first driving members 221 simultaneously drive the first driving link 231 to move in the same direction of the first direction x, the ball head link 33 is driven to move, so that the finger root shell 31 can swing up and down.

[0088] In a possible implementation, the finger root module 30 further includes a triangular swing rod 34, which is connected to the finger root housing 31 and rotatably arranged on the rotating seat 32.

[0089] The arrangement of the triangular swing rod 34 enables the finger root housing 31 to rotate along an axis parallel to the second direction y.

[0090] In a possible implementation, the finger root module 30 further includes a fixing pin 35. The rotating seat 32 is provided with a rotating hole 321, and the triangular swing rod 34 is provided with a swinging hole 341. The fixing pin 35 passes through the rotating hole 321 and the swinging hole 341 and is arranged on the finger root housing 31 to rotatably arrange the finger root housing 31 on the rotating seat 32.

[0091] Specifically, the fixing pin 35 passes through the rotating holes 321 on both sides of the rotating seat 32 and simultaneously passes through the swinging hole 341 below the triangular swing rod 34, enabling the triangular swing rod 34 to rotate around the fixing pin 35. Further, the fixing pin 35 is fixed to the left and right sides of the finger root housing 31, so that the finger root housing 31 can rotate around the fixing pin 35.

[0092] In a possible implementation, the driving assembly 22 further includes a second driving member 222, and the driving link group 23 further includes a second driving link 232. One end of the second driving link 232 is ball-jointed to the second driving member 222, and the other end is ball-jointed to the triangular swing rod 34.

[0093] The second driving member 222 is used to drive the finger root housing 31 to rotate along an axis parallel to the second direction y.

[0094] When the second driving member 222 drives the second driving link 232 to move along the first direction x, it drives the triangular swing rod 34 to move. Since the triangular swing rod 34 is rotatably arranged on the rotating seat 32, the finger root housing 31 rotates around the axis of the fixing pin 35, that is, the finger 100 of the dexterous hand can rotate up and down.

[0095] In a possible implementation, the first driving member 221 and the second driving member 222 adopt coreless motors. Coreless motors have the characteristics of low inertia, high efficiency, low electromagnetic interference, smooth torque output and high power density. Therefore, the first driving member 221 and the second driving member 222 have lower inertia, can quickly respond to control signals, and achieve quick start and stop; reduce eddy current loss and iron loss, and have higher efficiency; have lower electromagnetic interference; can provide smoother torque output and reduce cogging effect; are compact in design and can provide high power output in a smaller volume.

[0096] Since the dexterous hand finger 100 needs to have the functions of lateral swing and up-and-down rotation at the same time, in the driving module 20, a first driving member 221 for driving the lateral swing of the finger root module 30 and a second driving member 222 for driving the up-and-down rotation of the finger root module 30 are required. At the same time, a first driving link 231 and a second driving link 232 connecting the finger root module 30 are also required. Therefore, on the driving module 20, it is also necessary to avoid the connection and movement areas of the first driving link 231 and the second driving link 232. At the same time, a control board needs to be provided for the driving assembly 22. Therefore, in the driving module 20, it is very difficult to set a space for shock resistance.

[0097] The dexterous hand finger 100 provided by the embodiment of the present application is arranged on the palm structure 200 and includes:

[0098] A flexible connection structure 10, which includes a mounting seat 11, a guide rod 12 and a reset member 13. The mounting seat 11 is arranged on the palm structure 200, the guide rod 12 is arranged on the mounting seat 11 and extends along the first direction x, and the reset member 13 is arranged on the guide rod 12;

[0099] A driving module 20, which is sleeved on the guide rod 12 and is located on the side of the reset member 13 away from the mounting seat 11;

[0100] A finger root module 30, along the first direction, the finger root module 30 is connected to one side of the driving module 20 to move under the drive of the driving module 20;

[0101] When an external force acts on the finger root module 30, the finger root module 30 drives the driving module 20 to move along the guide rod 12 and compress the reset member 13, and the reset member 13 is used to provide a reset force to the driving module 20.

[0102] By arranging the flexible connection structure 10 between the driving module 20 and the palm structure 100, and sleeving the driving module 20 on the guide rod 12, when the dexterous hand finger 100 is stressed, the driving module 20 will move along the guide rod 12, so as to avoid the impact force directly acting on the driving module 20, and the reset member 13 located between the driving module 20 and the mounting seat 11 absorbs the impact, so as to play a certain protective role for the driving module 20, and after the impact ends, the driving module 20 is reset, which can provide good anti-impact, shock absorption and self-adaptive effects, and the flexible connection structure 10 has a small volume and is convenient to be integrated on the driving module 20 of the dexterous hand finger 100, making the overall structure of the dexterous hand finger 100 compact.

[0103] On the other hand, the embodiment of the present application also provides a dexterous hand. The dexterous hand includes a palm structure 200 and dexterous hand fingers 100, and the dexterous hand fingers 100 are arranged on the palm structure 200.

[0104] Since the dexterous hand in this embodiment includes the dexterous hand finger 100 described in any of the above embodiments, the dexterous hand includes the structural features and beneficial effects of the dexterous hand finger 100, and these will not be elaborated herein.

[0105] On the other hand, an embodiment of the present application further provides a humanoid robot, including the above-mentioned dexterous hand.

[0106] It should be noted that phrases such as "an embodiment", "embodiments", "exemplary embodiments", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. Moreover, such phrases do not necessarily refer to the same embodiment. In addition, when combining a specific feature, structure, or characteristic with an embodiment, it is within the knowledge scope of those skilled in the art to implement such a feature, structure, or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0107] Generally speaking, terms should be understood at least in part based on their use in the context. For example, at least in part according to the context, the term "one or more" used herein can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Similarly, at least in part according to the context, terms such as "a" or "the" can also be understood as conveying a singular usage or a plural usage.

[0108] It should be easily understood that the terms "on", "above", and "over" in the present application should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above or over something", but can also include the meaning of "above or over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0109] In addition, for the convenience of description, spatial relative terms can be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatial relative terms are intended to include different orientations of the device in use or operation other than the orientation shown in the drawings. The device can have other orientations (rotated 90° or in other orientations), and the spatial relative descriptive words used in the text can be interpreted accordingly.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger of a dexterous hand, arranged on a palm structure (200), characterized in that: include: A flexible connection structure (10), the flexible connection structure (10) comprising a mounting seat (11), a guide rod (12) and a reset member (13); the mounting seat (11) is arranged on the palm structure (200), the guide rod (12) is arranged on the mounting seat (11) and extends along a first direction; the reset member (13) is arranged on the guide rod (12); a driving module (20), the driving module (20) being inserted through the guide rod (12) and located on a side of the reset member (13) facing away from the mounting seat (11); A finger root module (30), connected to one side of the driving module (20) along a first direction so as to move under the drive of the driving module (20); When the finger base module (30) is subjected to an external force, the finger base module (30) drives the driving module (20) to move along the guide rod (12) and squeeze the reset member (13), and the reset member (13) is used to provide a reset force to the driving module (20).

2. The dexterous hand finger according to claim 1, characterized in that: The mounting seat (11) comprises a mounting plate (111), a fixing portion (112) and a supporting portion (114); the mounting plate (111) is arranged on the palm structure (200); the fixing portion (112) is arranged on the mounting plate (111); the guide rod (12) is arranged on the fixing portion (112); and the supporting portion (114) is provided with a supporting hole (115); The driving module (20) comprises a driving seat (21), the driving seat (21) is provided with a buffer portion (211), and the buffer portion (211) is provided with a through hole (212); The guide rod (12) is inserted into the insertion hole (212) and the abutting hole (115) to movably mount the driving seat (21) on the mounting seat (11); and the reset member (13) connects the buffer portion (211) and the abutting portion (114).

3. The dexterous hand finger according to claim 2, characterized in that: The restoring member (13) comprises a first restoring member (131) and a second restoring member (132), wherein the first restoring member (131) and the second restoring member (132) are respectively arranged on the guide rod (12) and are located on both sides of the abutting portion (114) along the first direction; The buffer portion (211) comprises a first buffer portion (213) and a second buffer portion (214), and along the first direction, the first buffer portion (213) and the second buffer portion (214) are located on both sides of the abutting portion (114); The first restoring member (131) connects the first buffer portion (213) and the abutting portion (114), and the second restoring member (132) connects the second buffer portion (214) and the abutting portion (114).

4. The dexterous hand finger according to claim 2, characterized in that: The driving module (20) further comprises a driving assembly (22) and a driving connecting rod group (23); the driving assembly (22) is arranged on the driving seat (21); and the finger base module (30) is connected to the driving assembly (22) via the driving connecting rod group (23).

5. The dexterous hand finger according to claim 4, characterized in that: The finger base module (30) comprises a finger base shell (31) and a rotating seat (32); the finger base shell (31) is connected to the driving component (22) via the driving connecting rod group (23); the rotating seat (32) is connected to the finger base shell (31) and is rotatably disposed on the palm structure (200).

6. The dexterous hand finger according to claim 5, characterized in that: The driving assembly (22) comprises at least two first driving members (221), and along the second direction, at least two of the first driving members (221) are arranged side by side on the driving seat (21); The driving connecting rod group (23) comprises at least two first driving connecting rods (231), and the finger base module (30) further comprises a ball head connecting rod (33), wherein the ball head connecting rod (33) is arranged on the finger base shell (31), and one end of the first driving connecting rod (231) is ball-jointed with the corresponding first driving member (221), and the other end is ball-jointed with the ball head connecting rod (33).

7. The dexterous hand finger according to claim 5, characterized in that: The finger base module (30) further comprises a triangular swing rod (34), wherein the triangular swing rod (34) is connected to the finger base shell (31) and is rotatably disposed on the rotating seat (32).

8. The dexterous hand finger according to claim 7, characterized in that: The finger base module (30) further comprises a fixing pin (35), the rotating seat (32) is provided with a rotating hole (321), the triangular swing rod (34) is provided with a swing hole (341), the fixing pin (35) passes through the rotating hole (321) and the swing hole (341), and is arranged on the finger base shell (31), so as to rotate the finger base shell (31) and arrange it on the rotating seat (32); and / or The driving assembly (22) further comprises a second driving member (222), and the driving connecting rod assembly (23) further comprises a second driving connecting rod (232), one end of the second driving connecting rod (232) being ball-jointed to the second driving member (222), and the other end of the second driving connecting rod (232) being ball-jointed to the triangular swing rod (34).

9. A dexterous hand, characterized in that: It comprises a palm structure (200) and a dexterous hand finger (100) according to any one of claims 1 to 8, wherein the dexterous hand finger (100) is arranged on the palm structure (200).

10. A humanoid robot, characterized in that: Comprising the dexterous hand as claimed in claim 9.

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