Humanoid robot and dexterous hand thereof

Abstract

The invention provides a humanoid robot and a dexterous hand thereof. The humanoid robot comprises a palm shell defining a containing cavity; the thumb comprises a first rotary actuator, a second rotary actuator, a transmission assembly and a thumb assembly, the first rotary actuator and the second rotary actuator are fixedly connected to the inner wall of the containing cavity, the transmission assembly is in transmission connection between the first rotary actuator and the second rotary actuator, and at least part of the thumb assembly extends out of the containing cavity; the thumb component is in transmission connection with the transmission component; each finger comprises a finger piece and a linear actuator, the linear actuators are fixedly connected to the cavity wall of the containing cavity, at least part of each finger piece extends out of the palm shell, and each finger piece comprises a connecting base, a finger near knuckle, a finger far knuckle, a finger far knuckle and a finger far knuckle rubber coating; and a connector board electrically connected to the first rotary actuator, the second rotary actuator, and the linear actuator. The dexterous hand is compact in layout, small in occupied space and high in movement precision, and the grabbing force of the dexterous hand is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and more specifically, to a dexterous hand and a humanoid robot comprising the dexterous hand. Background Art

[0002] The dexterous hand, as the end effector of the upper limb structure of humanoid robots, is a key component for the commercialization of humanoid robots to complete specific work tasks. The current dexterous hand has defects such as complex structure, large space occupation, and poor grasping accuracy. Summary of the invention

[0003] The present application provides a dexterous hand with a compact layout, small space occupation, high movement accuracy, and improved grasping accuracy of the dexterous hand. The present application also provides a humanoid robot with high movement accuracy and sensitive and convenient grasping.

[0004] In a first aspect, the present application provides a dexterous hand, comprising:

[0005] A palm shell, the palm shell comprising an upper shell on the back of the hand, a lower shell on the palm and a lower shell on the front end, wherein the upper shell on the back of the hand, the lower shell on the palm and the lower shell on the front end together form a receiving cavity;

[0006] The thumb comprises a first rotary actuator, a second rotary actuator, a transmission assembly and a thumb assembly, wherein the first rotary actuator and the second rotary actuator are fixedly connected to the inner wall of the accommodating cavity, the transmission assembly is transmission-connected between the first rotary actuator and the second rotary actuator, at least a portion of the thumb piece extends out of the accommodating cavity, and the thumb assembly is transmission-connected to the transmission assembly;

[0007] A plurality of fingers, including finger pieces and a linear actuator drivingly connected to the finger pieces, the linear actuator being fixedly connected to the cavity wall of the accommodating cavity, at least part of the finger piece extending out of the palm shell, wherein the finger piece includes a connecting seat, a finger proximal knuckle rotatably connected to the connecting seat, a finger distal knuckle rotatably connected to the finger proximal knuckle, and a finger distal knuckle rubber package arranged at the fingertip of the finger distal knuckle;

[0008] A connector plate is fixedly connected to the cavity wall of the accommodating cavity, and the connector plate is electrically connected to the first rotary actuator, the second rotary actuator and the linear actuator.

[0009] In some embodiments, the thumb assembly includes a proximal knuckle of the thumb, a thumb connecting rod, a distal knuckle of the thumb and a rubber-coated fingertip of the distal knuckle of the thumb. The thumb connecting rod transmission connects the transmission assembly with the proximal knuckle of the thumb, the proximal knuckle of the thumb is rotationally connected to the distal knuckle of the thumb, and the rubber-coated fingertip of the distal knuckle of the thumb is fixedly connected to the outer peripheral surface of the fingertip of the distal knuckle of the thumb.

[0010] In some embodiments, the transmission assembly includes a side-swing fixed seat, a bearing, a first worm, a first turbine, a bearing, a bushing, a side-swing output shaft and a bending fixed seat, the first rotary actuator is connected to the first worm, the first worm is transmission-connected to the bearing, the bearing is fixedly connected to the side-swing output shaft, the side-swing output shaft is connected to the bending fixed seat, the bending fixed seat is provided with a first rotating part and a second rotating part, the thumb link is rotationally connected to the first rotating part, the proximal knuckle of the thumb is rotationally connected to the second rotating part through an adapter, the distal knuckle of the thumb is provided with a third rotating part and a fourth rotating part, the distal knuckle of the thumb is rotationally connected to the proximal knuckle of the thumb through the third rotating part and the first pin assembly, and the distal knuckle of the thumb is rotationally connected to the thumb link through the fourth rotating part and the second pin assembly.

[0011] In some embodiments, the finger member further includes a first return spring, a second return spring, a linear actuator connecting rod and a finger connecting rod, the first return spring is sleeved on a first pin shaft rotatably connected between the proximal knuckle of the finger and the connecting seat, and the second return spring is sleeved on a second pin shaft rotatably connected between the proximal knuckle of the finger and the distal knuckle of the finger;

[0012] The proximal knuckle of the finger is provided with two first arc-shaped grooves which are relatively distributed along the first direction, the first end of the linear actuator connecting rod is rotatably connected to the connecting seat, the second end of the linear actuator connecting rod is provided with a first connecting rod hinge part and a second connecting rod hinge part, the first connecting rod hinge part and the second connecting rod hinge part are respectively slidably connected to the two first arc-shaped grooves;

[0013] The distal knuckle of the finger is provided with two relatively distributed second arc grooves along the first direction, the first end of the finger connecting rod is rotatably connected to the proximal knuckle of the finger, and the second end of the finger connecting rod is slidably connected to the two second arc grooves through the third connecting rod hinge part and the fourth connecting rod hinge part respectively.

[0014] In some embodiments, the second end of the linear actuator connecting rod is provided with two positioning surfaces that are relatively distributed along the first direction, and the first connecting rod hinge portion and the second connecting rod hinge portion are respectively fixedly connected to the two positioning surfaces.

[0015] In some embodiments, the finger further includes two first flange sleeves, and the two first flange sleeves are respectively sleeved on two ends of the second pin shaft along the first direction.

[0016] In some embodiments, the finger further includes two second flange sleeves, and the two second flange sleeves are respectively sleeved on two ends of the first pin shaft along the first direction.

[0017] In some embodiments, the thumb also includes two third flange sleeves and two fourth flange sleeves; the proximal knuckle of the thumb and the distal knuckle of the thumb are rotatably connected via a third pin shaft, and the two third flange sleeves are respectively sleeved on the two ends of the third pin shaft; the thumb connecting rod is rotatably connected to the curved fixing seat via a fourth pin shaft, and the two fourth flange sleeves are respectively sleeved on the two ends of the fourth pin shaft.

[0018] In some embodiments, the palm shell further includes a lower shell rubber package, the lower shell rubber package is connected to the accommodating cavity, and the root of the proximal phalanx of the thumb and the second rotary actuator are arranged inside the lower shell rubber package.

[0019] In some embodiments, the connector plate is provided with a plurality of actuator terminal seats and wrist terminal seats, and the power and signal lines of the first rotary actuator, the second rotary actuator and the linear actuator are plugged into the actuator terminal seats one by one.

[0020] In some embodiments, the connector plate is fixed with a wrist terminal seat, and the bottom of the lower palm shell is provided with a lead opening. The wrist terminal seat is used to collect all power lines and signal lines, and the lead opening is used to lead out the collected power lines and signal lines and connect them to the humanoid robot wrist.

[0021] In some embodiments, the linear actuator includes a drive motor, a lead screw and a slider, the lead screw is connected to a drive portion of the drive motor, and the slider is slidably connected to the lead screw.

[0022] In some embodiments, the connecting seat and the proximal knuckle of the finger have a first limiting surface, and the first limiting surface is used to limit the maximum rotation angle of the proximal knuckle of the finger.

[0023] In some embodiments, the proximal knuckle and the distal knuckle of the finger are provided with a second limiting surface, and the second limiting surface is used to limit the maximum rotation angle of the distal knuckle of the finger.

[0024] In a second aspect, the present invention further provides a humanoid robot comprising a dexterous hand as described in any one of the above items.

[0025] In the embodiment of the present application, under the control of the connector board, the first rotary actuator and the second rotary actuator provide driving force to the transmission assembly, the transmission assembly drives the thumb assembly to swing and grasp and clamp, and the linear actuator drives the finger member to grasp and clamp, thereby, the thumb arranged at the palm position cooperates with each finger to grasp and release the object. The dexterous hand in the present application has a simple structure, a small number of parts, a compact layout, and high flexibility, which effectively improves the coordination accuracy of the thumb and fingers, improves the grasping efficiency, and reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of the structure of the dexterous hand provided for this application;

[0028] Figure 2 A schematic diagram of the interior of the dexterous hand provided for this application;

[0029] Figure 3 A schematic diagram of the structure of the thumb in the dexterous hand provided in this application;

[0030] Figure 4 for Figure 3 A schematic diagram of the assembly of the first rotary actuator, the second rotary actuator and the transmission assembly;

[0031] Figure 5 A schematic diagram of the structure of the thumb assembly in the dexterous hand provided in this application;

[0032] Figure 6 A schematic diagram of the structure of the finger member in the dexterous hand provided in this application;

[0033] Figure 7 This is a schematic diagram of the structure of the lower palm shell in the dexterous hand provided in this application.

[0034] Reference numerals:

[0035] 1000. Dexterous hands;

[0036] 100, palm housing; 200, thumb; 300, finger; 400, connector board;

[0037] 101, upper shell of the back of the hand; 102, lower shell of the palm; 103, rubber coating of the lower shell; 104, lower shell of the front end; 105, accommodating cavity; 201, first rotary actuator; 202, second rotary actuator; 203, thumb assembly; 301, linear actuator; 302, linear actuator connecting rod; 303, finger piece; 401, driver terminal seat; 402, wrist terminal seat;

[0038] 1021, fixing hole; 1022, lead opening; 2011, first motor; 2012, first reducer; 2013, first worm; 2014, first turbine; 2015, side swing fixing seat; 2016, second bearing; 2017, bushing; 2018, first bearing; 2019, side swing output shaft; 2021, second motor; 2022, second reducer; 2023, second worm; 2024, second turbine; 2025, rotating connection seat; 2026, bending fixing seat; 2027, third bearing; 2028, bushing; 2029, bending output shaft; 2030, second bearing; 2031, thumb 1. proximal knuckle of finger; 2032. distal knuckle of thumb; 2033. thumb connecting rod; 2034. rubber-encapsulated distal knuckle of thumb; 2035. third pin shaft; 2036. fourth flange sleeve; 2037. fifth flange sleeve; 3031. proximal knuckle of finger; 3031a. first pin shaft; 3031b. first return spring; 3031c. first arc-shaped groove; 3032. finger connecting rod; 3033. distal knuckle of finger; 3034. connecting seat; 3035. rubber-encapsulated distal knuckle of finger; 3036. first flange sleeve; 3037. third flange sleeve; 3033a. second pin shaft; 3033b. second return spring; 3033c. second arc-shaped groove;

[0039] X, first direction. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0042] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0043] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0045] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0046] The term “plurality” used in this application refers to two or more (including two).

[0047] Please refer to Figure 1 and Figure 2 , Figure 1 The schematic diagram of the structure of the dexterous hand provided in this application is as follows: Figure 2 Schematic diagram of the interior of the dexterous hand provided for this application.

[0048] The present application provides a dexterous hand, which includes a palm shell 100 , a thumb 200 , a plurality of fingers 300 , and a connector board 400 .

[0049] like Figure 2 As shown, the palm shell 100 includes a back upper shell 101, a palm lower shell 102 and a front lower shell 104. The back upper shell 101, the palm lower shell 102 and the front lower shell 104 can be buckled together in the front and back directions of the hand to form a shell structure with an accommodating cavity 105 inside. The palm shell 100 can fix and support the various components in the dexterous hand 1000.

[0050] See also Figure 3 , Figure 4 and Figure 5 , one end of the thumb 200 is fixed on the cavity wall of the accommodating cavity 105, at least part of the thumb 200 extends out of the accommodating cavity 105, and the thumb 200 is arranged on one side of the palm. Specifically, the thumb 200 includes a first rotary actuator 201, a second rotary actuator 202, a transmission assembly and a thumb assembly 203. The fixed end of the first rotary actuator 201 is fixedly connected to the inner wall of the accommodating cavity 105 through a locking member, and the fixed end of the second rotary actuator 202 is fixedly connected to the output end of the first rotary actuator 201 through a locking member. The first rotary actuator 201 and the second rotary actuator 202 are transmission-connected to the transmission assembly, at least part of the thumb assembly 203 extends out of the palm housing 100, and the thumb assembly 203 is transmission-connected to the transmission assembly. When the thumb 200 moves, the driving force is provided by the first rotary actuator 201 and the second rotary actuator 202, and then transmitted to the thumb assembly 203 through the transmission assembly, so as to control the thumb assembly 203 to coordinate the movement of the finger 300.

[0051] For the specific structure of finger 300, please refer to Figure 1 , Figure 2 and Figure 6 The plurality of fingers 300 may correspond to the thumb, index finger, middle finger, ring finger and little finger of the human body, respectively. Figure 6 Taking the index finger in the figure as an example, the finger 300 includes a finger piece 303 and a linear actuator 301. The fixed end of the linear actuator 301 is fixedly mounted on the cavity wall of the accommodating cavity 105 through a locking piece, and at least part of the finger piece 303 extends out of the palm housing 100.

[0052] The finger member 303 includes a connection seat 3034, a finger proximal knuckle 3031, a finger distal knuckle 3033, and a finger distal knuckle rubber package 3035. The finger proximal knuckle 3031 is rotatably connected to the connection seat 3034, the finger distal knuckle 3033 is rotatably connected to the finger proximal knuckle 3031, the finger distal knuckle 3033 is rotatably connected to the finger proximal knuckle 3031, the finger distal knuckle rubber package 3035 is arranged at the fingertip of the finger distal knuckle 3033, and the linear actuator drives the connection finger member 303 to provide driving force for the finger member 303.

[0053] See also Figure 2 and Figure 6In this embodiment, the linear actuator 301 is fixedly connected to the cavity wall, and the linear actuators 301 of the multiple fingers 300 are provided with a controllable extension rod 3011, and the extension rod 3011 of the linear actuator 301 is rotatably connected to the linear actuator connecting rod 302. When the linear actuator 301 pushes or pulls the extension rod 3011, the length of the linear actuator connecting rod 302 remains unchanged, so that the proximal knuckle 3031 of the finger is bent or straightened. When the proximal knuckle 3031 of the finger is bent or straightened, the length of the finger connecting rod 3032 remains unchanged, so that the distal knuckle 3033 of the finger is bent or straightened, that is, the coupling movement of the proximal knuckle 3031 of the finger and the distal knuckle 3033 of the finger is realized through the linear actuator connecting rod 302 and the finger connecting rod 3032.

[0054] In addition, the connector plate 400 is fixedly mounted on the cavity wall of the accommodating cavity 105 by means of a locking member. The connector plate 400 is electrically connected to the first rotary actuator 201, the second rotary actuator 202 and the linear actuator 301. The connector plate 400 is equivalent to a circuit board, which can control the operation of the first rotary actuator 201, the second rotary actuator 202 and the linear actuator 301.

[0055] The dexterous hand 1000 provided in the present application, under the control of the connector plate 400, provides driving force to the transmission component through the first rotary actuator 201 and the second rotary actuator 202, the transmission component drives the thumb and finger component 203 to swing and grasp movement, and drives the finger component 303 to perform telescopic movement through the linear actuator 301, and the thumb 200 cooperates with each finger 300 to perform grasping action.

[0056] Optionally, see Figure 2 and Figure 7 The upper shell 101 on the back of the hand mainly fixes the structure of the thumb 200 and multiple fingers 300. The multiple fingers 300 extend from the upper part of the upper shell 101 on the back of the hand, and the thumb 200 extends from the front side of the lower shell 102 on the palm to form a relatively distributed thumb 200 and finger 300 structure for relative grasping. The connector plate 400 is fixedly connected to the lower shell 102 on the palm or the upper shell 101 on the back of the hand.

[0057] Please refer to Figures 3 to 5 In a specific embodiment, the first rotary actuator 201 may include a first motor 2011 and a first reducer 2012, and the second rotary actuator 202 may include a second motor 2021 and a second reducer 2022. The second rotary actuator 202 of the thumb 200 is rotatably connected to the output end of the first rotary actuator 201.

[0058] The first motor 2011 and the second motor 2021 can both be hollow cup brushless motors, or hollow cup brushed motors and miniature frameless motors. The first reducer 2012 and the second reducer 2022 can be miniature planetary reducers or miniature harmonic reducers. The first motor 2011 and the first reducer 2012 are fixedly connected, the first worm 2013 and the output shaft of the first reducer 2012 are fixedly connected, the second motor 2021 and the first reducer 2022 are fixedly connected, and the second worm 2023 and the output shaft of the second reducer 2022 are fixedly connected.

[0059] Further, the transmission assembly includes a side-swing fixed seat 2015, a first bearing 2018, a first worm 2013, a first turbine 2014, a second bearing 2016, a sleeve 2017, a side-swing output shaft 2019 and a bending fixed seat 2026. The first rotary actuator 201 is connected to the first worm 2013, the first worm 2013 is transmission-connected to the second bearing 2016, the second bearing 2016 is fixedly connected to the side-swing output shaft 2019, the side-swing output shaft 2019 is connected to the bending fixed seat 2026, and the bending fixed seat 2026 is provided with a first rotating part and a second rotating part, that is, fixedly connected to the first turbine 2014 through the rotary connection seat 2025, the bending fixed seat 2026 and the side-swing output shaft 2019.

[0060] In a specific embodiment, the thumb assembly 203 includes a thumb proximal knuckle 2031, a thumb connecting rod 2033, a thumb distal knuckle 2032 and a thumb distal knuckle fingertip rubber coating 2034. The thumb connecting rod 2033 transmission connects the transmission assembly with the thumb proximal knuckle 2031, the thumb proximal knuckle 2031 is rotationally connected to the thumb distal knuckle 2032, and the thumb distal knuckle fingertip rubber coating 2034 is fixedly connected to the outer peripheral surface of the fingertip of the thumb distal knuckle 2032.

[0061] The thumb link 2033 is rotatably connected to the first rotating part, the thumb proximal knuckle 2031 is rotatably connected to the second rotating part through an adapter, the thumb distal knuckle 2032 is provided with a third rotating part and a fourth rotating part, the thumb distal knuckle 2032 is rotatably connected to the thumb proximal knuckle 2031 through the third rotating part and the first pin assembly, and the thumb distal knuckle 2032 is rotatably connected to the thumb link 2033 through the fourth rotating part and the second pin assembly.

[0062] In addition, the first rotary actuator 201 is fixedly connected to the back of hand upper shell 101 through the side swing fixing seat 2015, and the second rotary actuator 202 is fixedly connected to the side swing output shaft 2019, thereby being rotationally connected to the accommodating chamber 105. The first reducer is fixedly connected to the side swing fixing seat 2015, and the side swing fixing seat 2015 is fixedly connected to the back of hand upper shell 101. At the same time, the first turbine 2014 is rotationally connected to the side swing fixing seat 2015, and the first turbine 2014 is meshed with the first worm 2013 for transmission. There is also a second bearing 2016 and a sleeve 2017 between the first turbine 2014 and the side swing fixing seat 2015, and there is also a first bearing 2018 between the first worm 2013 and the side swing fixing seat 2015. The side swing output shaft 2019 is fixedly connected to the first turbine 2014. The first motor 2011 drives the first worm 2013 to rotate, and the first worm 2013 drives the first turbine 2014 and the sway output shaft 2019 to rotate, thereby achieving the sway freedom of the thumb assembly 203.

[0063] In this embodiment, the second reducer 2022 is fixedly connected to the rotating connecting seat 2025, the rotating connecting seat 2025 is fixedly connected to the bending fixed seat 2026, the bending fixed seat 2026 is fixedly connected to the side swing output shaft 2019, the second turbine 2024 is rotationally connected to the bending fixed seat 2026, and there is a third bearing 2027 and a sleeve 2028 between the second turbine 2024 and the bending fixed seat 2026; the bent output shaft 2029 is fixedly connected to the second turbine 2024, and there is a second bearing 2030 between the second worm 2023 and the rotating connecting seat 2025.

[0064] In this embodiment, the proximal knuckle 2031 of the thumb is fixedly connected to the second turbine 2024 via the bent output shaft 2029, the distal knuckle 2032 of the thumb is rotationally connected to the proximal knuckle 2031 of the thumb via the pin 2035, the thumb connecting rod 2033 is rotationally connected to the bent fixing seat 2026 and the distal knuckle 2032 of the thumb respectively; the distal knuckle rubber bag 2034 of the thumb is fixedly connected to the distal knuckle 2032 of the thumb.

[0065] Therefore, the second motor 2021 drives the second worm 2023 to rotate, and the second worm 2023 drives the second turbine 2024 and the curved output shaft 2029 to rotate, thereby realizing the degree of freedom of bending or straightening of the proximal thumb joint 2031. The proximal thumb joint 2031 and the distal thumb joint 2032 are coupled to each other through the thumb connecting rod 2033, so that the connection structure is simpler, the number of parts is reduced, and the transmission is more efficient.

[0066] In this way, when the proximal phalanx 2031 of the thumb is bent or straightened, the length of the thumb connecting rod 2033 remains unchanged, thereby causing the distal phalanx 2032 of the thumb to bend or straighten, that is, the coupling movement of the distal phalanx 2032 of the thumb is achieved through the thumb connecting rod 2033. Therefore, the above-mentioned embodiment of the present application can achieve precise transmission of various components in the thumb assembly 203, with a compact layout and high transmission accuracy.

[0067] In addition, the first rotary actuator 201 and the second rotary actuator 202 in the present application may include a worm gear mechanism with mechanical self-locking, or may include a screw slider mechanism with mechanical self-locking, or a holding brake may be installed at the motor to achieve a self-locking function.

[0068] In addition, the linear actuator 301 of the multiple fingers 300 in the present application may include a screw slider mechanism with mechanical self-locking, or a brake is installed at the motor to achieve a self-locking function. A worm gear mechanism may also be used, both of which can achieve self-locking, thereby improving the self-holding force of the dexterous hand, and can still maintain the gripping state when the motor is powered off, thereby protecting the motor.

[0069] In view of the defect that the root structure of the thumb is exposed in the current dexterous hand 1000, which may have an unsightly appearance and be easy to pinch the operator's hand, the palm shell 100 further includes a lower shell rubber coating 103, and the lower shell rubber coating 103 can be made of soft material. The lower end of the lower shell rubber coating 103 is bonded to the palm lower shell 103, and the upper end of the lower shell rubber coating 103 can be bonded and fixed to the thumb 200, and the two can also be gap-fitted.

[0070] The lower shell rubber coating 103 can cover and shield part of the structure of the thumb 200, and can reduce the exposure of various parts of the thumb 200 without affecting the freedom of the thumb 200, and can ensure the freedom of movement of the thumb 200.

[0071] In a specific embodiment, the finger member 303 also includes a first return spring 3031b, a second return spring 3033b, a linear actuator connecting rod 302 and a finger connecting rod 3032, the first return spring 3031b is mounted on the first pin shaft 3031a which is rotatably connected to the proximal knuckle 3031 of the finger and the connecting seat 3034, and the second return spring 3033b is mounted on the second pin shaft 3033a which is rotatably connected to the proximal knuckle 3031 of the finger and the distal knuckle 3033 of the finger.

[0072] Specifically, a first return spring 3031b is sleeved on the pin shaft 3031a between the connecting seat 3034 and the proximal knuckle 3031 of the finger, and a second return spring 3033b is sleeved on the second pin shaft 3033a between the proximal knuckle 3031 of the finger and the distal knuckle 3033 of the finger.

[0073] In addition, the finger proximal knuckle 3031 is provided with two first arc-shaped grooves 3031c that are relatively distributed along the first direction X, the first end of the linear actuator link 302 is rotatably connected to the connecting seat 3034, and the second end of the linear actuator link 302 is provided with a first link hinge portion and a second link hinge portion, and the first link hinge portion and the second link hinge portion are respectively slidably connected to the two first arc-shaped grooves 3031c. The second end of the linear actuator link 302 is provided with two positioning surfaces that are relatively distributed along the first direction X, and the first link hinge portion and the second link hinge portion are respectively fixedly connected to the two positioning surfaces.

[0074] Similarly, the distal knuckle 3033 of the finger is provided with two relatively distributed second arc grooves 3033c along the first direction X, the first end of the finger link 3032 is rotatably connected to the proximal knuckle 3031 of the finger, and the second end of the finger link 3032 is slidably connected to the two second arc grooves 3033c through the third link hinge part and the fourth link hinge part respectively.

[0075] Therefore, the linear actuator connecting rod 302 of the plurality of fingers 300 is rotationally connected to the finger proximal knuckle 3031 through the first arc groove 3031c, and the finger connecting rod 3032 is rotationally connected to the finger distal knuckle 3033 through the second arc groove 3033c. When the motor of the linear actuator 301 is locked, the plurality of fingers 300 can still bend under the action of external force through the first arc groove 3031c, that is, the finger parts 303 of the plurality of fingers 300 are protected from forced external force under the motor locked state. The connecting seat 3034 is rotationally connected to the finger proximal knuckle 3031 through the second pin shaft 3033a, and the finger proximal knuckle 3031 is rotationally connected to the finger distal knuckle 3033 through the second pin shaft 3033a, and a second return spring 3033b is provided on the second pin shaft 3033a.

[0076] When there is no external force, the second return spring 3033b makes the finger piece 303 tend to be straightened. The linear actuator link 302 and the finger link 3032 are at the lower end of the first arc groove 3031c at this time, and provide support for the finger piece 303 when the finger 300 is bent and grasped.

[0077] In this embodiment, the connecting seat 3034 is fixedly connected to the back of the hand upper shell 101, the proximal knuckle 3031 of the finger is rotationally connected to the connecting seat 3034, the distal knuckle 3033 of the finger is rotationally connected to the proximal knuckle 3031 of the finger, the linear actuator connecting rod 302 is rotationally connected to the first arc groove 3031c of the proximal knuckle 3031 of the finger, the finger connecting rod 3032 is rotationally connected to the connecting seat 3034, and is rotationally connected to the second arc groove 3033c of the distal knuckle 3033 of the finger, and the distal knuckle rubber bag 2034 of the thumb is fixedly connected to the distal knuckle 3033 of the finger.

[0078] Under the action of the first return spring 3031b, the linear actuator link 302 is rotatably connected to the a end of the first arc groove 3031c, and under the action of the second return spring 3033b, the finger link 3032 is rotatably connected to the a end of the second arc groove 3033c. Under the action of external force, the linear actuator link 302 slides in the first arc groove 3031c to the b end, and the finger link 3032 slides in the arc groove 3033c to the b end of the second arc groove 3033c, so that the finger member 303 is bent, thereby protecting the finger member 303 and the mechanical structure of the linear actuator 301.

[0079] Furthermore, the connecting seat 3034 of the multiple fingers 300 and the proximal knuckles 3031 of the fingers are provided with a first limiting surface, and when the proximal knuckles 3031 of the fingers move in the straightening direction, physical limiting is achieved by the first limiting surface of the connecting seat 3034 and the proximal knuckles 3031 of the fingers.

[0080] In addition, the proximal knuckles 3031 and the distal knuckles 3033 of multiple fingers 300 are provided with second limiting surfaces. When the fingers 300 move in the straightening direction and the bending direction, physical limiting in both directions can be achieved through the approach of the second limiting surfaces of the proximal knuckles 3031 and the distal knuckles 3033.

[0081] Since the finger 300 is mostly made of aluminum alloy, the finger 300 is lightweight. The finger connecting rod 3032 is made of stainless steel to improve its wear resistance. Therefore, the pin at the finger joint is directly in contact with the finger structure and rotates, which will wear the finger structure for a long time, making the overall motion accuracy of the dexterous hand 1000 worse.

[0082] In view of the disadvantage that aluminum alloy structural parts are not wear-resistant, in order to alleviate the wear between the finger 300 and the finger connecting rod 3032 due to the different materials, the finger 300 is further provided with two first flange sleeves 3036, and the two first flange sleeves 3036 are respectively sleeved on the two ends of the second pin shaft 3033a along the first direction X. The first flange sleeve 3036 can be a flange copper sleeve, and the friction between the finger joint mechanism and the second pin shaft 3033a can be reduced by the first flange sleeve 3036, thereby reducing the amount of wear.

[0083] Furthermore, a second flange sleeve is provided between the connection seat 3034 and the proximal knuckle 3031 of the finger, and a third flange sleeve 3037 is provided between the proximal knuckle 3031 of the finger and the first pin 3031a, which can reduce the friction between the rotating connected parts, reduce the wear between the connecting structural parts, increase the lubrication performance, and provide greater self-supporting force for the dexterous hand 1000 while the dexterous hand 1000 realizes the grasping operation. The flange sleeve in the present application can be a flange copper sleeve or a flange bearing.

[0084] In addition, a copper gasket 3012 may be provided between the extension rod 3011 of the linear actuator 301 and the linear actuator connecting rod 302 to reduce the friction between the two.

[0085] Furthermore, the finger 300 further includes two second flange sleeves, which are respectively sleeved on two ends of the second pin shaft 3033a along the first direction X. The second flange sleeves may be flange copper sleeves or flange bearings, and the friction between the knuckle structural parts and between the knuckle structural parts and the second pin shaft 3033a may be reduced by the second flange sleeves, thereby reducing the friction between the knuckle structural parts and reducing the amount of wear.

[0086] The dexterous hand 1000 provided in the embodiment of the present application is provided with a wear-resistant flange sleeve on the finger structure, which greatly reduces the wear of the finger structure during transmission. At the same time, the flange sleeve can reduce the friction area between the finger structure parts and reduce the wear between the finger structure parts.

[0087] In a specific embodiment, the connector board 400 is provided with a plurality of terminal seats, and the power and signal lines of the first rotary actuator 201 of the thumb 200, the second rotary actuator 202 and the linear actuators 301 of the plurality of fingers 300 are respectively connected to the terminal seats of the connector board 400, and the power and signal cables are gathered into one strand at the connector board 400 and connected to the wrist of the humanoid robot.

[0088] Therefore, the built-in cavity of the dexterous hand 1000 includes a connector board 400, which concentrates the wiring harness of the driver on the connector board in the accommodating cavity and connects it to the upper limb part of the humanoid robot through a wiring harness, thereby avoiding the disorderly distribution of cables and making the appearance of the dexterous hand more neat and beautiful.

[0089] Flange sleeves are also arranged between the thumb connecting rod 2033 and the curved fixing seat 2026, the thumb proximal knuckle 2031 and the thumb distal knuckle 2032, and the thumb distal knuckle 2032 and the thumb connecting rod 2033 to reduce wear between structural parts and increase lubrication. The flange sleeve is a flange copper sleeve, or a flange bearing of similar size.

[0090] In addition, the thumb 200 further includes two fourth flange sleeves 2036 and two fifth flange sleeves 2037. The thumb proximal knuckle 2031 and the thumb distal knuckle 2032 are rotatably connected via the third pin shaft 2035, and the two fourth flange sleeves 2036 are respectively sleeved on the two ends of the third pin shaft 2035. The thumb connecting rod 2033 is rotatably connected to the curved fixing seat 2026 via the fourth pin shaft, and the two fifth flange sleeves 2037 are respectively sleeved on the two ends of the fourth pin shaft. In this way, the wear between the knuckles of the thumb 200 can be reduced.

[0091] See also Figure 7In a specific embodiment, the connector board 400 is fixed with a plurality of actuator terminal blocks 401, and the power and signal lines of the first rotary actuator 201, the second rotary actuator 202 and the linear actuator 301 are plugged into the actuator terminal blocks 401 one by one. The connector board 400 is fixed with a wrist terminal block 402, and correspondingly, a fixing hole 1021 and a lead opening 1022 are provided at the bottom of the palm lower shell 102. The wrist terminal block 402 is used to collect all power lines and signal lines, the fixing hole 1021 is used to connect the wrist of the humanoid robot (not shown in the figure), and the lead opening 1022 is used to connect the wrist wiring, and the collected power lines and signal lines are led out and connected to the wrist of the humanoid robot.

[0092] Therefore, the power and signal lines of the first rotary actuator 201, the second rotary actuator 202 and the multiple linear actuators 301 can be connected to the driver terminal seat 401 of the connector board 400 according to their positions, and then the wrist terminal seat 402 of the connector board 400 concentrates the power supply and signals of all actuators, and the power and signal lines of the wrist terminal seat 402 are then connected to the wrist of the humanoid robot through the opening 1022 of the lower shell 102 of the palm.

[0093] In this embodiment, a fixing hole 1021 and a lead opening 1022 are opened in the palm lower shell 102 to serve as a cable terminal output and fixing hole. The cable terminal output connects the wrist and the cable routing of the connector board 400 in the palm shell accommodating cavity 105, and the fixing hole connects the humanoid robot wrist and the dexterous wrist terminal seat 402.

[0094] In this embodiment, the number, arrangement and shape of the actuator terminal bases 401 of the connector board 400 can be designed according to specific signal transmission requirements.

[0095] It should be noted that the first direction of this application can be Figure 1 The X direction in .

[0096] In addition, the present application also provides a humanoid robot, including the dexterous hand 1000 in the above-mentioned embodiments. The humanoid robot has a small hand, high flexibility, high movement accuracy, and a firm grip.

[0097] The above is a detailed introduction to the humanoid robot and its dexterous hand provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

Claims

1. A dexterous hand, characterized in that: include: A palm shell (100), the palm shell comprising an upper back shell (101), a lower palm shell (102) and a lower front shell (104), the upper back shell (101), the lower palm shell (102) and the lower front shell (104) enclosing a receiving cavity (105); The thumb (200) comprises a first rotary actuator (201), a second rotary actuator (202), a transmission assembly and a thumb assembly (203), wherein the first rotary actuator (201) and the second rotary actuator (202) are fixedly connected to the inner wall of the accommodating cavity (105), the transmission assembly is transmission-connected between the first rotary actuator (201) and the second rotary actuator (202), at least a portion of the thumb assembly (203) extends out of the accommodating cavity (105), and the thumb assembly (203) is transmission-connected to the transmission assembly; A plurality of fingers (300), comprising finger pieces (303) and a linear actuator (301) drivingly connected to the finger pieces (303), wherein the linear actuator (301) is fixedly connected to the cavity wall of the accommodating cavity (105), and at least a portion of the finger piece (303) extends out of the palm housing (100), wherein the finger piece (303) comprises a connecting seat (3034), a finger proximal knuckle (3031) rotatably connected to the connecting seat (3034), a finger distal knuckle (3033) rotatably connected to the finger proximal knuckle (3031), and a finger distal knuckle rubber package (3035) disposed at the fingertip of the finger distal knuckle (3033); A connector plate (400) is fixedly connected to a cavity wall of the accommodating cavity (105); the connector plate (400) is electrically connected to the first rotary actuator (201), the second rotary actuator (202), and the linear actuator (301).

2. The dexterous hand according to claim 1, characterized in that: The thumb assembly (203) comprises a proximal thumb joint (2031), a thumb connecting rod (2033), a distal thumb joint (2032) and a rubber coating (2034) on the tip of the distal thumb joint; the thumb connecting rod (2033) is transmission-connected to the transmission assembly and the proximal thumb joint (2031); the proximal thumb joint (2031) is rotationally connected to the distal thumb joint (2032); and the rubber coating (2034) on the tip of the distal thumb joint is fixedly connected to the outer peripheral surface of the tip of the distal thumb joint (2032).

3. The dexterous hand according to claim 2, characterized in that: The transmission assembly comprises a side-swing fixing seat (2015), a first bearing (2018), a first worm (2013), a first turbine (2014), a second bearing (2016), a bushing (2017), a side-swing output shaft (2019) and a bending fixing seat (2026), wherein the first rotary actuator (201) is connected to the first worm (2013), the first worm (2013) is transmission-connected to the second bearing (2016), the second bearing (2016) is fixedly connected to the side-swing output shaft (2019), and the side-swing output shaft (2019) is connected to the bending fixing seat (2026). 026), the curved fixing seat (2026) is provided with a first rotating part and a second rotating part, the thumb connecting rod (2033) is rotatably connected to the first rotating part, the proximal phalanx (2031) of the thumb is rotatably connected to the second rotating part via an adapter, the distal phalanx (2032) of the thumb is provided with a third rotating part and a fourth rotating part, the distal phalanx (2032) of the thumb is rotatably connected to the proximal phalanx (2031) of the thumb via the third rotating part and the first pin assembly, and the distal phalanx (2032) of the thumb is rotatably connected to the thumb connecting rod (2033) via the fourth rotating part and the second pin assembly.

4. The dexterous hand according to any one of claims 1 to 3, characterized in that: The finger member (303) further comprises a first return spring (3031b), a second return spring (3031b), a linear actuator connecting rod (302) and a finger connecting rod (3032), wherein the first return spring (3031b) is sleeved on a first pin shaft (3031a) rotatably connected between the proximal finger joint (3031) and the connecting seat (3034), and the second return spring (3031b) is sleeved on a second pin shaft (3033a) rotatably connected between the proximal finger joint (3031) and the distal finger joint (3033); The proximal phalanx (3031) of the finger is provided with two first arc-shaped grooves that are relatively distributed along a first direction, the first end of the linear actuator connecting rod (302) is rotatably connected to the connecting seat (3034), the second end of the linear actuator connecting rod (302) is provided with a first connecting rod hinge portion and a second connecting rod hinge portion, and the first connecting rod hinge portion and the second connecting rod hinge portion are respectively slidably connected to the two first arc-shaped grooves; The distal phalanx (3033) of the finger is provided with two second arc-shaped grooves which are relatively distributed along the first direction; the first end of the finger connecting rod (3032) is rotatably connected to the proximal phalanx (3031) of the finger; and the second end of the finger connecting rod (3032) is slidably connected to the two second arc-shaped grooves through a third connecting rod hinge part and a fourth connecting rod hinge part, respectively.

5. The dexterous hand according to claim 4, characterized in that: The second end of the linear actuator connecting rod (302) is provided with two positioning surfaces that are distributed opposite to each other along a first direction, and the first connecting rod hinge portion and the second connecting rod hinge portion are respectively fixedly connected to the two positioning surfaces.

6. The dexterous hand according to claim 4, characterized in that: The finger (300) further comprises two first flange sleeves, wherein the two first flange sleeves are respectively sleeved on two ends of the second pin shaft (3033a) along the first direction.

7. The dexterous hand according to claim 6, characterized in that: The finger (300) further comprises two second flange sleeves, wherein the two second flange sleeves are respectively sleeved on two ends of the first pin shaft (3031a) along the first direction.

8. The dexterous hand according to claim 3, characterized in that: The thumb (200) further comprises two third flange sleeves and two fourth flange sleeves; The proximal thumb joint (2031) and the distal thumb joint (2032) are rotatably connected via a third pin shaft (2035), and the two third flange sleeves are respectively sleeved on two ends of the third pin shaft (2035); The thumb connecting rod (2033) is rotatably connected to the curved fixing seat (2026) via a fourth pin shaft, and the two fourth flange sleeves are respectively sleeved on two ends of the fourth pin shaft.

9. The dexterous hand according to claim 2, characterized in that: The palm housing (100) further comprises a lower shell rubber coating (103), wherein the lower shell rubber coating (103) is connected to the accommodating cavity (105), and the root of the proximal phalanx of the thumb (2031) and the second rotary actuator (202) are arranged inside the lower shell rubber coating (103).

10. The dexterous hand according to claim 9, characterized in that: The connector plate (400) is fixedly provided with a plurality of actuator terminal seats (401) and wrist terminal seats (402); power supply and signal lines of the first rotary actuator (201), the second rotary actuator (202) and the linear actuator (301) are plugged into the actuator terminal seats (401) one by one.

11. The dexterous hand according to claim 10, characterized in that: The connector plate (400) is fixedly provided with a wrist terminal seat (402), and the bottom of the palm lower shell (102) is provided with a lead opening (1022), the wrist terminal seat (402) is used to collect all power lines and signal lines, and the lead opening (1022) is used to lead out the collected power lines and signal lines and connect them to the wrist of the humanoid robot.

12. The dexterous hand according to claim 1, characterized in that: The linear actuator (301) comprises a drive motor, a lead screw and a slider, the lead screw is connected to a drive portion of the drive motor, and the slider is slidably connected to the lead screw.

13. The dexterous hand according to claim 1, characterized in that: The connecting seat (3034) and the proximal phalanx (3031) of the finger are each provided with a first limiting surface, and the first limiting surface is used to limit the maximum rotation angle of the proximal phalanx (3031) of the finger.

14. The dexterous hand according to claim 13, characterized in that: The proximal finger joint (3031) and the distal finger joint (3033) are provided with a second limiting surface, and the second limiting surface is used to limit the maximum rotation angle of the distal finger joint (3033).

15. A humanoid robot, characterized in that: Comprising the dexterous hand as described in any one of claims 1 to 14 above.

Images