Humanoid robot and dexterous hand thereof

Abstract

The application provides a humanoid robot and a dexterous hand thereof, comprising: a palm shell enclosing a containing cavity; a thumb comprising a first rotary actuator, a second rotary actuator, a transmission assembly and a middle finger assembly, the first rotary actuator and the second rotary actuator being fixedly connected to the inner wall of the containing cavity, the transmission assembly being transmissionally connected between the first rotary actuator and the second rotary actuator, at least part of the thumb extending out of the containing cavity, the middle finger assembly being transmissionally connected to the transmission assembly; a plurality of fingers comprising finger pieces and linear actuators, the linear actuators being fixedly connected to the cavity wall of the containing cavity, at least part of the finger pieces extending out of the palm shell, the finger pieces comprising a connecting seat, a proximal phalanx, a distal phalanx, a distal phalanx and a distal phalanx rubber sleeve; and a connector plate being electrically connected to the first rotary actuator, the second rotary actuator and the linear actuators. The application has the advantages of compact layout, small space occupation, high motion precision and improved gripping force of the dexterous hand.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a dexterous hand. It also relates to a humanoid robot comprising the aforementioned dexterous hand. Background Technology

[0002] Dexterous hands, as the end effectors of the upper limbs of humanoid robots, are key components for the commercialization of humanoid robots to complete specific work tasks. Current dexterous hands suffer from drawbacks such as complex structure, large space occupation, and poor grasping accuracy. Summary of the Invention

[0003] This application provides a dexterous hand with a compact layout, small footprint, and high motion precision, thereby improving the grasping accuracy of the dexterous hand. This application also provides a humanoid robot with high motion precision and sensitive and convenient grasping.

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

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

[0006] The thumb includes 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 receiving cavity. The transmission assembly is motive-connected between the first rotary actuator and the second rotary actuator. At least a portion of the thumb component extends out of the receiving cavity. The thumb assembly is motive-connected to the transmission assembly.

[0007] Multiple fingers, including finger components and a linear actuator driving the finger components, the linear actuator being fixed to the cavity wall of the receiving cavity, at least a portion of the finger components extending out of the palm shell, wherein the finger component includes a connecting seat, a proximal phalanx of the finger rotatably connected to the connecting seat, a distal phalanx of the finger rotatably connected to the proximal phalanx of the finger, and a distal phalanx coating disposed at the fingertip of the distal phalanx of the finger;

[0008] A connector plate is fixed 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 thumb joint, a thumb link, a distal thumb joint, and a rubber-coated fingertip of the distal thumb joint. The thumb link is kinetically connected to the transmission assembly and the proximal thumb joint. The proximal thumb joint is rotatably connected to the distal thumb joint. The rubber-coated fingertip of the distal thumb joint is fixed to the outer peripheral surface of the fingertip of the distal thumb joint.

[0010] In some embodiments, the transmission assembly includes a side-swing fixed seat, a bearing, a first worm gear, 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 gear, the first worm gear is driven 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 has a first rotating part and a second rotating part, the thumb link is rotatably connected to the first rotating part, the proximal phalanx of the thumb is rotatably connected to the second rotating part through an adapter, the distal phalanx of the thumb has a third rotating part and a fourth rotating part, the distal phalanx of the thumb is rotatably connected to the proximal phalanx of the thumb through the third rotating part and a first pin assembly, and the distal phalanx of the thumb is rotatably connected to the thumb link through the fourth rotating part and a second pin assembly.

[0011] In some embodiments, the finger component further includes a first return spring, a second return spring, a linear actuator link, and a finger link. The first return spring is fitted onto a first pin that is rotatably connected to the connecting seat, and the second return spring is fitted onto a second pin that is rotatably connected to the proximal phalanx of the finger and the distal phalanx of the finger.

[0012] The finger proximal to the phalanx has two oppositely distributed first arc-shaped grooves along the first direction. The first end of the linear actuator link is rotatably connected to the connecting seat. The second end of the linear actuator link is provided with a first link hinge and a second link hinge. The first link hinge and the second link hinge are slidably connected to the two first arc-shaped grooves respectively.

[0013] The distal phalanx of the finger has two relatively distributed second arc-shaped grooves along the first direction. The first end of the finger link is rotatably connected to the proximal phalanx of the finger, and the second end of the finger link is slidably connected to the two second arc-shaped grooves through the third link hinge and the fourth link hinge, respectively.

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

[0015] In some embodiments, the finger further includes two first flange sleeves, which are respectively fitted onto the two ends of the second pin along the first direction.

[0016] In some embodiments, the finger further includes two second flange sleeves, which are respectively fitted onto the two ends of the first pin along the first direction.

[0017] In some embodiments, the thumb further includes two third flange sleeves and two fourth flange sleeves; the proximal phalanx of the thumb and the distal phalanx of the thumb are rotatably connected by a third pin, and the two third flange sleeves are respectively fitted onto the two ends of the third pin; the thumb connecting rod is rotatably connected to the bending fixing seat by a fourth pin, and the two fourth flange sleeves are respectively fitted onto the two ends of the fourth pin.

[0018] In some embodiments, the palm shell further includes a lower shell coating, the lower shell coating being connected to the receiving cavity, and the root of the thumb proximal to the phalanx and the second rotary actuator being disposed inside the lower shell coating.

[0019] In some embodiments, the connector board is fixedly provided with a plurality of actuator terminal blocks and wrist terminal blocks, and the power and signal lines of the first rotary actuator, the second rotary actuator and the linear actuator are respectively plugged into each of the actuator terminal blocks.

[0020] In some embodiments, the connector plate is fixedly provided with a wrist terminal seat, and the bottom of the lower shell of the hand is provided with a lead wire opening. The wrist terminal seat is used to gather all the power lines and signal lines, and the lead wire opening is used to lead out the gathered power lines and signal lines and connect them to the humanoid robot's wrist.

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

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

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

[0024] In a second aspect, the present invention also provides a humanoid robot, including a dexterous hand as described in any of the preceding claims.

[0025] In this embodiment, under the control of the connector board, a first rotary actuator and a second rotary actuator provide driving force to the transmission assembly. The transmission assembly drives the thumb assembly to swing and grip, and a linear actuator drives the finger components to perform gripping movements. Thus, the thumb, positioned in the palm of the hand, works in conjunction with the other fingers to grasp and release objects. The dexterous hand in this application has a simple structure, few parts, a compact layout, and high flexibility, effectively improving the coordination accuracy of the thumb and fingers, increasing gripping efficiency, and reducing costs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

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

[0029] Figure 3 A structural diagram of the thumb in a dexterous hand provided for this application;

[0030] Figure 4 for Figure 3 Assembly diagram 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 component in the dexterous hand provided in this application;

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

[0033] Figure 7 A schematic diagram of the structure of the palm-shaped shell provided in this application.

[0034] Figure label:

[0035] 1000, Dexterous Hands;

[0036] 100. Hand shell; 200. Thumb; 300. Fingers; 400. Connector board;

[0037] 101. Upper shell of the back of the hand; 102. Lower shell of the palm; 103. Rubber coating on the lower shell; 104. Lower shell at the front end; 105. Receiving cavity; 201. First rotary actuator; 202. Second rotary actuator; 203. Thumb assembly; 301. Linear actuator; 302. Linear actuator connecting rod; 303. Finger component; 401. Driver terminal block; 402. Wrist terminal block;

[0038] 1021. Fixing hole; 1022. Lead wire opening; 2011. First motor; 2012. First reducer; 2013. First worm gear; 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 gear; 2024. Second turbine; 2025. Rotary connecting seat; 2026. Bending fixing seat; 2027. Third bearing; 2028. Bushing; 2029. Bending output shaft; 2030. Second bearing; 2031. Thumb 2032. Proximal phalanx of the thumb; 2033. Thumb connecting rod; 2034. Rubber coating on the distal phalanx of the thumb; 2035. Third pin; 2036. Fourth flange sleeve; 2037. Fifth flange sleeve; 3031. Proximal phalanx of the finger; 3031a. First pin; 3031b. First return spring; 3031c. First arc-shaped groove; 3032. Finger connecting rod; 3033. Distal phalanx of the finger; 3034. Connecting seat; 3035. Rubber coating on the distal phalanx of the finger; 3036. First flange sleeve; 3037. Third flange sleeve; 3033a. Second pin; 3033b. Second return spring; 3033c. Second arc-shaped groove;

[0039] X, the first direction. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort 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 meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

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

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0045] In the embodiments of this application, the same reference numerals denote 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 this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0046] In this application, "multiple" means two or more (including two).

[0047] Please refer to Figure 1 and Figure 2 , Figure 1 A structural schematic diagram of the dexterous hand provided in this application. Figure 2 An internal schematic diagram of the dexterous hand provided in this application.

[0048] This application provides a dexterous hand 1000, which includes: a palm shell 100, a thumb 200, multiple fingers 300, and a connector plate 400.

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

[0050] Please see Figure 3 , Figure 4 and Figure 5 One end of the thumb 200 is fixed to the cavity wall of the receiving cavity 105, at least a portion of the thumb 200 extends out of the receiving cavity 105, and the thumb 200 is located 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 fixed to the inner wall of the receiving cavity 105 by a locking member, and the fixed end of the second rotary actuator 202 is fixed to the output end of the first rotary actuator 201 by a locking member. The first rotary actuator 201 and the second rotary actuator 202 are connected by a transmission assembly. At least a portion of the thumb assembly 203 extends out of the palm shell 100, and the thumb assembly 203 is connected by a transmission assembly. When the thumb 200 moves, 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 to control the thumb assembly 203 to move in coordination with the finger 300.

[0051] For the specific structure of finger 300, please refer to [link / reference]. Figure 1 , Figure 2 and Figure 6 The 300 fingers can correspond to the thumb, index finger, middle finger, ring finger, and little finger of the human body, respectively. Figure 6 Taking the index finger as an example, the finger 300 includes a finger member 303 and a linear actuator 301. The fixed end of the linear actuator 301 is fixedly installed on the cavity wall of the receiving cavity 105 by a locking member. At least a portion of the finger member 303 extends out of the palm shell 100.

[0052] The finger component 303 includes a connecting seat 3034, a proximal phalanx 3031, a distal phalanx 3033, and a distal phalanx coating 3035. The proximal phalanx 3031 is rotatably connected to the connecting seat 3034, the distal phalanx 3033 is rotatably connected to the proximal phalanx 3031, and the distal phalanx coating 3035 is disposed at the fingertip of the distal phalanx 3033. A linear actuator drives the finger component 303 to provide driving force to the finger component 303.

[0053] Please see Figure 2 and Figure 6In this embodiment, the linear actuator 301 is fixedly connected to the cavity wall. The linear actuator 301 of the multiple fingers 300 is provided with an extendable rod 3011 that can be controlled to extend and retract. The extendable 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 extendable rod 3011, the length of the linear actuator connecting rod 302 remains unchanged, thereby causing the proximal phalanx 3031 of the finger to bend or straighten. When the proximal phalanx 3031 of the finger bends or straightens, the length of the finger connecting rod 3032 remains unchanged, thereby causing the distal phalanx 3033 of the finger to bend or straighten. That is, the coupled movement of the proximal phalanx 3031 and the distal phalanx 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 installed on the cavity wall of the accommodating cavity 105 by 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 and 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 this application, under the control of the connector board 400, provides driving force to the transmission assembly through the first rotary actuator 201 and the second rotary actuator 202. The transmission assembly drives the thumb assembly 203 to swing and grasp, and drives the finger component 303 to extend and retract through the linear actuator 301. The thumb 200 cooperates with each finger 300 to perform grasping action.

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

[0057] Please refer to Figures 3 to 5 In one 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] Both the first motor 2011 and the second motor 2021 can be coreless brushless motors, coreless brushed motors, or 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 gear 2013 is fixedly connected to the output shaft of the first reducer 2012, the second motor 2021 and the first reducer 2022 are fixedly connected, and the second worm gear 2023 and the output shaft of the second reducer 2022 are fixedly connected.

[0059] Furthermore, the transmission assembly includes a side-swing fixing seat 2015, a first bearing 2018, a first worm gear 2013, a first turbine gear 2014, a second bearing 2016, a bushing 2017, a side-swing output shaft 2019, and a bending fixing seat 2026. A first rotary actuator 201 is connected to the first worm gear 2013, which is drively connected to the second bearing 2016. The second bearing 2016 is fixedly connected to the side-swing output shaft 2019, which is connected to the bending fixing seat 2026. The bending fixing seat 2026 has a first rotating part and a second rotating part, which are fixedly connected to the first turbine gear 2014 via a rotary connecting seat 2025, the bending fixing seat 2026, and the side-swing output shaft 2019.

[0060] In one specific embodiment, the thumb assembly 203 includes a proximal thumb joint 2031, a thumb link 2033, a distal thumb joint 2032, and a distal thumb joint fingertip coating 2034. The thumb link 2033 is kinetically connected to the transmission assembly and the proximal thumb joint 2031. The proximal thumb joint 2031 is rotatably connected to the distal thumb joint 2032. The distal thumb joint fingertip coating 2034 is fixedly attached to the outer peripheral surface of the fingertip of the distal thumb joint 2032.

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

[0062] Furthermore, the first rotary actuator 201 is fixedly connected to the upper shell 101 of the back of the hand via a side-swing fixing seat 2015, and the second rotary actuator 202 is fixedly connected to the side-swing output shaft 2019, thereby rotatably connected to the receiving cavity 105. The first reducer is fixedly connected to the side-swing fixing seat 2015, which in turn is fixedly connected to the upper shell 101 of the back of the hand. Simultaneously, the first turbine 2014 is rotatably connected to the side-swing fixing seat 2015, and engages with the first worm gear 2013 for transmission. A second bearing 2016 and a bushing 2017 are located between the first turbine 2014 and the side-swing fixing seat 2015, and a first bearing 2018 is located between the first worm gear 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 gear 2013 to rotate, and the first worm gear 2013 drives the first turbine 2014 and the lateral swing output shaft 2019 to rotate, thereby realizing the lateral swing freedom of the thumb assembly 203.

[0063] In this embodiment, the second reducer 2022 is fixedly connected to the rotary connecting seat 2025, the rotary 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 rotatably connected to the bending fixed seat 2026, and there is also a third bearing 2027 and a bushing 2028 between the second turbine 2024 and the bending fixed seat 2026; the bending output shaft 2029 is fixedly connected to the second turbine 2024, and there is also a second bearing 2030 between the second worm gear 2023 and the rotary connecting seat 2025.

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

[0065] Therefore, the second motor 2021 drives the rotation of the second worm gear 2023, which in turn drives the rotation of the second turbine 2024 and the bending output shaft 2029, thereby achieving the degree of freedom for bending or straightening of the proximal phalanx of the thumb 2031. The proximal phalanx of the thumb 2031 and the distal phalanx of the thumb 2032 are coupled through the thumb linkage 2033, making the connection structure simpler, reducing the number of parts, and improving the transmission efficiency.

[0066] Thus, when the proximal phalanx 2031 of the thumb bends or straightens, the length of the thumb link 2033 remains unchanged, thereby causing the distal phalanx 2032 of the thumb to bend or straighten. This achieves coupled movement of the distal phalanx 2032 of the thumb through the thumb link 2033. Therefore, the above-described embodiment of this application enables precise transmission of components within the thumb assembly 203, resulting in a compact layout and high transmission accuracy.

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

[0068] Furthermore, the linear actuator 301 of the multiple fingers 300 in this application may include a screw-slider mechanism with mechanical self-locking, or a brake installed at the motor to achieve the self-locking function. A worm gear mechanism may also be used, all of which can achieve self-locking, improve the self-holding force of the dexterous hand's grip, and maintain the gripping state even when the motor is powered off, thus protecting the motor.

[0069] To address the shortcomings of the current Dexterous Hand 1000, such as the exposed thumb base structure which may be aesthetically unappealing and easily pinch the operator's hand, the palm shell 100 further includes a lower shell coating 103. The lower shell coating 103 can be made of a soft material. The lower end of the lower shell coating 103 is bonded to the palm lower shell 103, and the upper end of the lower shell coating 103 can be bonded and fixed to the thumb 200. The two can also be fitted with a gap.

[0070] The lower shell coating 103 can cover and conceal part of the structure of the thumb 200. While not affecting the degree of freedom of the thumb 200, it can reduce the exposure of various parts of the thumb 200 and ensure the degree of freedom of movement of the thumb 200.

[0071] In one specific embodiment, the finger component 303 further includes a first return spring 3031b, a second return spring 3033b, a linear actuator link 302, and a finger link 3032. The first return spring 3031b is fitted onto a first pin 3031a that is rotatably connected to the proximal phalanx 3031 of the finger and the connecting seat 3034. The second return spring 3033b is fitted onto a second pin 3033a that is rotatably connected to the proximal phalanx 3031 of the finger and the distal phalanx 3033 of the finger.

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

[0073] Furthermore, the proximal phalanx of the finger 3031 has two relatively distributed first arc-shaped grooves 3031c 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 has a first link hinge portion and a second link hinge portion, which are slidably connected to the two first arc-shaped grooves 3031c respectively. The second end of the linear actuator link 302 has two relatively distributed positioning surfaces along the first direction X, and the first link hinge portion and the second link hinge portion are fixedly connected to the two positioning surfaces respectively.

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

[0075] Therefore, the linear actuator connecting rod 302 of the multiple fingers 300 is rotatably connected to the proximal phalanx 3031 of the fingers through the first arc-shaped groove 3031c, and the finger connecting rod 3032 is rotatably connected to the distal phalanx 3033 of the fingers through the second arc-shaped groove 3033c. Even when the motor is locked, the multiple fingers 300 can still bend under external force through the first arc-shaped groove 3031c, thus protecting the finger pieces 303 of the multiple fingers 300 under forced external force in the motor-locked state. The connecting seat 3034 is rotatably connected to the proximal phalanx 3031 of the fingers through the second pin 3033a, and the proximal phalanx 3031 of the fingers is rotatably connected to the distal phalanx 3033 of the fingers through the second pin 3033a, with a second return spring 3033b on the second pin 3033a.

[0076] When no external force is applied, the second return spring 3033b keeps the finger member 303 in a taut position. The linear actuator link 302 and the finger link 3032 are at the lower end of the first arc-shaped groove 3031c at this time, and provide support for the finger member 303 when the finger 300 bends and grasps.

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

[0078] Under the action of the first return spring 3031b, the linear actuator connecting rod 302 is rotatably connected to end a of the first arc-shaped groove 3031c. Under the action of the second return spring 3033b, the finger connecting rod 3032 is rotatably connected to end a of the second arc-shaped groove 3033c. Under the action of external force, the linear actuator connecting rod 302 slides to end b within the first arc-shaped groove 3031c, and the finger connecting rod 3032 slides to end b within the arc-shaped groove 3033c, causing the finger member 303 to bend, thereby protecting the mechanical structure of the finger member 303 and the linear actuator 301.

[0079] Furthermore, the connecting seat 3034 of the multiple fingers 300 and the proximal phalanx 3031 of the fingers are provided with a first limiting surface. When the proximal phalanx 3031 of the fingers moves in the straightening direction, physical limitation is achieved through the connecting seat 3034 and the first limiting surface of the proximal phalanx 3031 of the fingers.

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

[0081] Since most of the fingers 300 are made of aluminum alloy to achieve lightweight design, while the finger link 3032 is made of stainless steel to improve its wear resistance, the pins at the finger joints directly contact and rotate with the finger structure. Over time, this will wear down the finger structure, reducing the overall motion accuracy of the Dexterity Hand 1000.

[0082] To mitigate the wear-resistance issues of aluminum alloy structural components, and to alleviate wear between the finger 300 and the finger link 3032 caused by the material difference, the finger 300 is also equipped with two first flange sleeves 3036. These two first flange sleeves 3036 are respectively fitted onto the two ends of the second pin 3033a along the first direction X. The first flange sleeves 3036 can be copper flange sleeves. These first flange sleeves 3036 reduce the friction between the finger joint mechanism and the second pin 3033a, thereby reducing wear.

[0083] Furthermore, a second flange sleeve is fitted between the connecting seat 3034 and the proximal phalanx of the finger 3031, and a third flange sleeve 3037 is provided between the proximal phalanx of the finger 3031 and the first pin 3031a. This can reduce the friction between the rotating connected components, reduce the wear between the connecting structural parts, increase lubrication performance, and provide greater self-holding force for the dexterous hand 1000 while it performs grasping operations. The flange sleeve in this application can be a flange copper sleeve or a flange bearing.

[0084] In addition, a copper washer 3012 can be placed between the extension rod 3011 of the linear actuator 301 and the connecting rod 302 of the linear actuator 301 to reduce the friction between them.

[0085] Furthermore, the finger 300 also includes two second flange sleeves, which are respectively fitted onto the two ends of the second pin 3033a along the first direction X. The second flange sleeves can be flange copper sleeves or flange bearings. The second flange sleeves can reduce the friction between the finger joint components and between the finger joint components and the second pin 3033a, thereby reducing the friction between the finger joint components and reducing wear.

[0086] The dexterous hand 1000 provided in this application embodiment has a wear-resistant flange bushing on the finger structure, which greatly reduces the wear of the finger structure during transmission. At the same time, the flange bushing can reduce the friction area between the finger structure components, thereby reducing the wear between the finger structure components.

[0087] In one specific embodiment, the connector board 400 is provided with multiple terminal blocks. The power and signal lines of the first rotary actuator 201 and the second rotary actuator 202 of the thumb 200 and the linear actuators 301 of the multiple fingers 300 are respectively connected to the terminal blocks of the connector board 400, and the power and signal cables are bundled together on 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 driver wiring harness on the connector board inside the cavity and connects it to the upper limb of the humanoid robot through a single wiring harness. This avoids the cables being distributed in a messy manner and makes the Dexterous Hand look neater and more aesthetically pleasing.

[0089] Flange bushings are also provided between the thumb link 2033 and the bending fixing seat 2026, between the proximal thumb joint 2031 and the distal thumb joint 2032, and between the distal thumb joint 2032 and the thumb link 2033. These bushings are used to reduce wear between structural components and increase lubrication. The flange bushings are flange copper bushings, or flange bearings of similar size.

[0090] Furthermore, the thumb 200 also includes two fourth flange sleeves 2036 and two fifth flange sleeves 2037. The proximal phalanx 2031 and distal phalanx 2032 of the thumb are rotatably connected by a third pin 2035, and the two fourth flange sleeves 2036 are respectively fitted onto the two ends of the third pin 2035. The thumb connecting rod 2033 and the bending fixing seat 2026 are rotatably connected by a fourth pin, and the two fifth flange sleeves 2037 are respectively fitted onto the two ends of the fourth pin. This can reduce wear between the phalanxes of the thumb 200.

[0091] Please see Figure 7In one specific embodiment, the connector plate 400 is fixedly provided 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 respectively plugged into each actuator terminal block 401. The connector plate 400 is fixedly provided with a wrist terminal block 402. Correspondingly, the bottom of the lower hand shell 102 is provided with a fixing hole 1021 and a lead wire opening 1022. The wrist terminal block 402 is used to gather all the power lines and signal lines, the fixing hole 1021 is used to connect to the humanoid robot wrist (not shown in the figure), and the lead wire opening 1022 is used to connect the wrist wiring, leading out the gathered power lines and signal lines and connecting them to the humanoid robot wrist.

[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 block 401 of the connector board 400 according to their positions. The power supply and signal of all actuators are then concentrated by the wrist terminal block 402 of the connector board 400. The power and signal lines of the wrist terminal block 402 are then connected to the humanoid robot's wrist through the opening 1022 of the lower shell 102.

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

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

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

[0096] In addition, this application also provides a humanoid robot, including the dexterous hand 1000 in the above embodiments. The humanoid robot's hand is small, highly flexible, has high motion precision, and a reliable grip.

[0097] The humanoid robot and its dexterous hand provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A dexterous hand, characterized in that, include: The palm shell (100) includes a back shell (101), a palm shell (102) and a front shell (104), which together form a cavity (105). The thumb (200) includes a first rotary actuator (201), a second rotary actuator (202), a transmission assembly, and a thumb assembly (203). The first rotary actuator (201) and the second rotary actuator (202) are fixedly connected to the inner wall of the receiving cavity (105). The transmission assembly is driven 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 receiving cavity (105), and the thumb assembly (203) is drivenly connected to the transmission assembly. Multiple fingers (300) include finger components (303) and a linear actuator (301) drivingly connected to the finger components (303). The linear actuator (301) is fixed to the cavity wall of the receiving cavity (105). At least a portion of the finger components (303) extends out of the palm shell (100). The finger component (303) includes a connecting seat (3034), a proximal phalanx (3031) rotatably connected to the connecting seat (3034), a distal phalanx (3033) rotatably connected to the proximal phalanx (3031), and a device disposed on the distal phalanx (303). 3) The distal phalanx of the fingertip is coated with rubber (3035). The finger component (303) also includes a first return spring (3031b), a second return spring (3033b), a linear actuator link (302), and a finger link (3032). The first return spring (3031b) is fitted onto the first pin (3031a) that is rotatably connected to the proximal phalanx (3031) of the finger and the connecting seat (3034). The second return spring (3033b) is fitted onto the second pin (3033a) that is rotatably connected to the proximal phalanx (3031) of the finger and the distal phalanx (3033) of the finger. The finger proximal phalanx (3031) is provided with two oppositely distributed first arc-shaped grooves along the first direction. The first end of the linear actuator link (302) is rotatably connected to the connecting seat (3034). The second end of the linear actuator link (302) is provided with a first link hinge and a second link hinge. The first link hinge and the second link hinge are slidably connected to the two first arc-shaped grooves respectively. The distal phalanx (3033) of the finger has two relatively distributed second arc-shaped grooves along the first direction. The first end of the finger link (3032) is rotatably connected to the proximal phalanx (3031) of the finger. The second end of the finger link (3032) is slidably connected to the two second arc-shaped grooves through the third link hinge and the fourth link hinge, respectively. The second end of the linear actuator link (302) has two relatively distributed positioning surfaces along the first direction. The first link hinge and the second link hinge are respectively fixed to the two positioning surfaces. The connector plate (400) is fixed to the cavity wall of the accommodating cavity (105) and 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) includes a proximal thumb joint (2031), a thumb link (2033), a distal thumb joint (2032), and a distal thumb joint fingertip coating (2034). The thumb link (2033) is kinetically connected to the transmission assembly and the proximal thumb joint (2031). The proximal thumb joint (2031) is rotatably connected to the distal thumb joint (2032). The distal thumb joint fingertip coating (2034) is fixed to the outer peripheral surface of the fingertip of the distal thumb joint (2032).

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

4. The dexterous hand according to claim 1, characterized in that, The finger (300) also includes two first flange sleeves, which are respectively sleeved on the two ends of the second pin (3033a) along the first direction.

5. The dexterous hand according to claim 4, characterized in that, The finger (300) also includes two second flange sleeves, which are respectively sleeved on the two ends of the first pin (3031a) along the first direction.

6. The dexterous hand according to claim 3, characterized in that, The thumb (200) also includes two third flange sleeves and two fourth flange sleeves; The proximal phalanx (2031) and distal phalanx (2032) of the thumb are rotatably connected by a third pin (2035), and the two third flange sleeves are respectively fitted onto the two ends of the third pin (2035); The thumb link (2033) and the bending fixing seat (2026) are rotatably connected by a fourth pin, and the two fourth flange sleeves are respectively fitted onto the two ends of the fourth pin.

7. The dexterous hand according to claim 2, characterized in that, The palm shell (100) also includes a lower shell coating (103), which is connected to the accommodating cavity (105). The root of the thumb proximal phalanx (2031) and the second rotary actuator (202) are disposed inside the lower shell coating (103).

8. The dexterous hand according to claim 7, characterized in that, The connector board (400) is fixed with a plurality of actuator terminal blocks (401) and wrist terminal blocks (402), and the power and signal lines of the first rotary actuator (201), the second rotary actuator (202) and the linear actuator (301) are connected to each of the actuator terminal blocks (401) in a corresponding manner.

9. The dexterous hand according to claim 8, characterized in that, The connector plate (400) is fixedly provided with a wrist terminal block (402), and the bottom of the palm lower shell (102) is provided with a lead wire opening (1022). The wrist terminal block (402) is used to gather all the power lines and signal lines, and the lead wire opening (1022) is used to lead out the gathered power lines and signal lines and connect them to the humanoid robot wrist.

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

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

12. The dexterous hand according to claim 11, characterized in that, The proximal phalanx (3031) and distal phalanx (3033) of the finger are provided with a second limiting surface, which is used to limit the maximum rotation angle of the distal phalanx (3033).

13. A humanoid robot, characterized in that, Including the dexterous hand as described in any one of claims 1 to 12 above.

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