Rigid-flexible coupling humanoid manipulator

Abstract

The invention provides a rigid-flexible coupling humanoid manipulator which comprises a humanoid rigid-flexible coupling manipulator mechanical body, a wrist tube connected with a hand body and a driving control system and a hand body driving control system, a thumb and palm connecting piece drives a thumb to do palm-facing movement, and a steering engine module is in transmission connection with fingers and the thumb through a plurality of driving ropes. The fingers and the thumb can do flexion or abduction movement, and the fingers can do lateral deviation abduction movement; and elastic ligaments are connected to joints of the fingers and the thumb. Through the autonomous variable-stiffness metacarpophalangeal joints, the bionic interphalangeal joint system and the hand-simulated hand movement system of the elastic envelope structure, dexterous movement and contact compliance of the manipulator in a complex operation task are achieved, and the dynamic balance requirement of the manipulator between dexterous operation and rigid maintenance is met; the invention has the advantages of excellent movement performance, strong environmental adaptability, low manufacturing cost and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of robotics, and specifically, to a rigid-flexible coupled humanoid manipulator hand. Background Art

[0002] In the field of humanoid dexterous manipulator hands, replicating the high dexterity of human hands has been a long-term pursuit, with the goal of achieving active high mobility and passive adaptability. This pursuit is also accompanied by significant challenges, as designers must balance multiple functional factors, including degrees of freedom, kinematics, interaction capabilities, and cost.

[0003] Traditional methods mainly address the issue of active high mobility, using a large number of highly integrated rigid kinematic pairs and linkages to reproduce the joint movements of the human hand and achieve controllable multi-degree-of-freedom mobility within a limited compact space. However, the inherent rigidity limitations of these mechanisms often increase the complexity of design, manufacturing, and control, which may limit the compliance of the manipulator hand.

[0004] With the development of soft robotics technology, new solutions have emerged for the compliance problem of manipulator hands. Soft manipulator hands often exhibit excellent compliance, high interaction safety, and resilience. However, soft hands often suffer from insufficient overall stiffness, especially in terms of lateral stiffness, and are prone to undesirable deflections, which greatly limit the ability of soft hands to grasp heavy objects and operate tools stably.

[0005] The existing Chinese patent with the publication number CN118990449A discloses a humanoid rigid-flexible coupled manipulator hand. Each connected phalanx, phalanx and metacarpal, and metacarpal and carpal are bundled and connected through ductile connectors, and there are corresponding joints to control the rotation direction, so as to achieve the purpose of simulating the human hand. Through the rigid-flexible coupling design of each humanoid finger, the humanoid manipulator hand can combine the advantages of high precision of rigid manipulator hands and compliance of soft manipulator hands, be more anthropomorphic, and have advantages such as light weight. In terms of drive, pneumatic soft actuators are used to drive each connected part, namely phalanx, phalanx and metacarpal, metacarpal and carpal, and metacarpal and metacarpal. In terms of connection, the fixed end and the telescopic end of the soft actuator are respectively clamped on the connected parts.

[0006] While developing soft robots, inspired by the human musculoskeletal system, efforts have also been made to explore a rigid-flexible hybrid method to balance the high dexterity and compliance of manipulator hands. This method has been proven to achieve variable force output, compliant interaction, and force-velocity self-adaptation. However, there are still significant challenges in realizing dexterity in the rigid-flexible hybrid method, and the main challenge lies in balancing multi-degree-of-freedom dexterity and adaptive interaction, as well as effectively coordinating rigid and flexible components.

[0007] Therefore, it is necessary to provide a rigid-flexible coupling humanoid manipulator with high dexterity and compliance to improve the above technical problems. Summary of the invention

[0008] In view of the defects in the prior art, an object of the present invention is to provide a rigid-flexible coupling humanoid manipulator.

[0009] According to the present invention, a rigid-flexible coupling humanoid manipulator with high dexterity and compliance includes: a humanoid rigid-flexible coupling hand mechanical body, a carpal tunnel connecting the hand body and a drive control system, and a hand body drive control system, wherein the humanoid rigid-flexible coupling hand mechanical body includes: four fingers, a thumb, and a palm structure, wherein the thumb is installed on the palm of the palm structure through a thumb-palm connector, wherein the thumb-palm connector can drive the thumb to perform palm-to-palm movement, wherein one end of the palm structure is respectively connected to the four fingers, and the other end is connected to the carpal tunnel connecting the hand body and the drive control system and is connected to the hand body drive control system;

[0010] The hand body drive control system is internally provided with a plurality of mutually independent steering gear modules, and the steering gear modules are respectively connected to four fingers and a thumb through a plurality of drive ropes, and the fingers and thumb can be driven by the drive ropes to perform flexion or abduction movements, and the little finger and index finger among the fingers can be driven by the drive ropes to perform lateral abduction movements;

[0011] The joints of the fingers and thumbs are connected with elastic ligaments for recovery.

[0012] Preferably, any of the fingers includes, arranged in sequence from the tip to the root: a distal phalanx, a distal interphalangeal joint, a middle phalanx, a proximal interphalangeal joint, a proximal phalanx, a metacarpophalangeal joint and a metacarpal bone, the distal interphalangeal joint is a fixed pair, the proximal interphalangeal joint is a revolute pair, the metacarpophalangeal joint is a ball-and-ring pair, the end of the distal phalanx is narrowed and has a rounded corner, and the distal phalanx, the middle phalanx and the proximal phalanx are all hollow structures.

[0013] Preferably, the ends of the metacarpal bone and the proximal phalanx that are close to each other are each provided with a lateral long through hole, and a countersunk is provided in the long through hole. The countersunk includes a shaft with annular grooves at both ends, the shaft passes through the long through hole and the two annular grooves extend to the outside of the long through hole, and the annular grooves are used to mount the ligament.

[0014] Preferably, an oval limiting block is provided at the ventral lower edge of the metacarpal bone. Two round holes for the driving rope to pass through are formed in the limiting block. Two first oblique channels are correspondingly formed on the side of the proximal phalanx close to the metacarpal bone. Second oblique channels and third oblique channels are correspondingly formed at the ends of the proximal phalanx and the middle phalanx close to each other. The driving rope sequentially passes through the limiting block, the first oblique channel, the second oblique channel, and the third oblique channel and is reversely connected to the back of the middle phalanx near the proximal interphalangeal joint.

[0015] Preferably, two back buckles for mounting an elastic body are provided on the abduction side of the proximal interphalangeal joint and the metacarpophalangeal joint. The back buckles are connected to the servo module through a driving rope.

[0016] Preferably, the thumb includes, sequentially connected from the tip to the root: the distal phalanx of the thumb, the distal interphalangeal joint of the thumb, the proximal phalanx of the thumb, the proximal interphalangeal joint of the thumb, the metacarpal bone of the thumb, and the metacarpophalangeal joint of the thumb. The distal interphalangeal joint of the thumb is a fixed pair, and the proximal interphalangeal joint of the thumb is a rotating pair. The proximal interphalangeal joint of the thumb is a rotating pair.

[0017] Preferably, the metacarpophalangeal joint of the thumb is connected to a digital servo on the thumb palm connecting member through an extension rocker arm and a lower rocker arm.

[0018] Preferably, a stepped surface is provided at one end of the palm structure close to the finger. Four slots having the same cross-sectional shape as the metacarpal bone are formed on the stepped surface. Mounting holes for screwing are formed at the bottom of the slots. A channel and a groove for the driving rope to pass through are formed around any one of the slots. The back of the palm structure is a shelled structure, and a cavity is formed on the dorsal side. A plurality of struts are arranged from the bottom upwards in the cavity. A chute for fixing the servo bracket of the thumb is formed in the shell on the palmar side of the palm structure.

[0019] Preferably, the hand body is connected to the drive control system. The carpal tunnel includes, sequentially connected from top to bottom through a supporting aluminum column: an upper carpal tunnel plate, a middle carpal tunnel plate, and a lower carpal tunnel plate. A carpal tunnel backing plate is provided on the upper carpal tunnel plate. Both the lower carpal tunnel plate and the upper carpal tunnel plate are tightly connected to the drive control system of the hand body. The lower carpal tunnel plate is tightly connected to the strut. The middle carpal tunnel plate is tightly connected to the palmar side of the palm structure.

[0020] Preferably, the hand body drive control system includes a central support aluminum column, end caps at both ends, and servo mounting plates on two sides. A plurality of servo modules are arranged inside the hand body drive control system. Step holes are correspondingly formed in the two end caps, and both ends of the central support aluminum column are tightly installed in the step holes. A plurality of drive rope routing holes corresponding to and connected to the servo modules one by one are formed in the end cap close to the wrist tube where the hand body is connected to the drive control system. The drive rope routing holes correspond to the servo modules from near to far respectively from the center of the end cap to the edge. A plurality of thin slot positions are formed in the servo mounting plates, and the servo modules and the central support aluminum column are tightly connected to the servo mounting plates through the thin slot positions respectively.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. Through the humanoid hand motion system of the self-variable stiffness metacarpophalangeal joint, bionic interphalangeal joint system, and elastic envelope structure, the present invention realizes the self-stiffness adjustment and highly adaptable motion of the manipulator in complex operation tasks, has high dexterous motion and contact compliance, meets the dynamic balance requirements between dexterous operation and rigidity maintenance of the manipulator, and has advantages such as excellent motion performance, strong environmental adaptability, and low manufacturing cost.

[0023] 2. Through one two-degree-of-freedom metacarpophalangeal joint, one single-degree-of-freedom proximal interphalangeal joint, and one fixed-pair distal interphalangeal joint, the thumb, thumb palm connecting piece, and four fingers of the present invention can achieve the actions of 8 active degrees of freedom, with flexible actions and strong practicability. Moreover, the thumb and fingers with opposition, abduction / adduction, and flexion degrees of freedom are designed, and then a humanoid dexterous hand including five fingers is developed; the metacarpophalangeal joint adopts a two-degree-of-freedom variable stiffness mechanism, and through the coupled design of the bionic joint surface guiding structure and the elastic element, a spatial kinematic pair with non-linear stiffness characteristics is constructed. Through the collaborative design of the variable stiffness joint and the bionic guiding structure, the self-adaptation of the rigid-flexible coupling characteristics and the motion range of the manipulator is realized.

[0024] 3. By using stretchable elastic materials such as silicone to imitate human ligaments, the present invention realizes the advantages of low cost, wide adaptability, strong durability, and large compliance, and can provide flexible and robust contact, grasping, and operation capabilities for the end of the manipulator.

[0025] 4. By adopting the design of a cable-driven arm device with modular servo drive, the present invention realizes the integration of a dexterous hand and a cable-driven arm manipulator system, including 15 joints and 8 degrees of actuation design. While ensuring the joints, the number of active degrees of freedom, and compactness, it realizes the rigid-flexible coupling design of anthropomorphic mechanical fingers and the modular design of the drive system, significantly reducing the structural complexity. Through the modular drive system, the physical decoupling of the drive unit and the actuator is achieved, enabling effective iteration in design and manufacturing, and also facilitating the rapid replacement of drive components in case of wear or failure, reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 Schematic diagram mainly showing the rigid-flexible coupling anthropomorphic operating hand of the present invention;

[0028] Figure 2 Schematic diagram mainly showing the finger of the present invention;

[0029] Figure 3 Schematic diagram mainly showing the finger of the present invention;

[0030] Figure 4 Schematic diagram mainly showing the thumb of the present invention;

[0031] Figure 5 Schematic diagram mainly showing the palm structure of the present invention;

[0032] Figure 6 Schematic diagram mainly showing the structure of the wrist tube connecting the hand body and the drive control system of the present invention;

[0033] Figure 7 Schematic diagram mainly showing the drive control system of the hand body of the present invention.

[0034] As shown in the figures:

[0035]

[0036] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0038] As shown Figure 1-7 in the figure, a rigid-flexible coupled humanoid operating hand provided according to the present invention includes: a humanoid rigid-flexible coupled robotic body 1, a wrist tube 2 connecting the hand body and the drive control system, and a hand body drive control system 3. The humanoid rigid-flexible coupled robotic body 1 includes: four fingers 11, a thumb 12, and a palm structure 14. The thumb 12 is installed at the center of the palm of the palm structure 14 through a thumb-palm connecting member 13. The thumb-palm connecting member 13 can drive the thumb 12 to perform an opposition movement. One end of the palm structure 14 is respectively connected to the four fingers 11, and the other end is connected to the hand body drive control system 3 through the wrist tube 2 connecting the hand body and the drive control system; multiple independent servo modules 31 are arranged inside the hand body drive control system 3. The servo modules 31 are respectively connected to the four fingers 11 and a thumb 12 through multiple drive ropes. The fingers 11 and the thumb 12 can be driven by the drive ropes to perform flexion or abduction movements. The little finger 15 and the index finger 16 in the fingers 11 can be driven by the drive ropes to perform lateral abduction; Elastic ligaments for restoration are connected at the joints of the fingers 11 and the thumb 12.

[0039] The thumb-palm connecting member 13 can drive the thumb 12 to perform an opposition movement. The thumb 12 can perform a bending movement, the fingers 11 can perform a bending action, and the little finger 15 and the index finger 16 can perform a lateral deviation movement outward. Therefore, the thumb 12, the thumb-palm connecting member 13, the little finger 15, the index finger 16, and the remaining two fingers 11 can perform actions with 8 active degrees of freedom, with flexible actions and strong practicability.

[0040] In view of the problems of limited stiffness adjustment and insufficient motion dexterity of traditional bionic manipulators, based on the self-variable stiffness joint and modular cable drive technology, the present application proposes a solution for a rigid-flexible coupled humanoid operating hand with high dexterity and compliance. Through the humanoid hand motion system of self-variable stiffness metacarpophalangeal joints, bionic interphalangeal joint systems, and elastic envelope structures, the manipulator realizes autonomous stiffness adjustment and highly adaptable motion in complex operation tasks, meets the dynamic balance requirements between dexterous operation and rigidity maintenance of the manipulator, and has advantages such as excellent motion performance, strong environmental adaptability, and low manufacturing cost.

[0041] Any finger 11 includes, in sequence from the tip to the root: the distal phalanx 111, the distal interphalangeal joint 112, the middle phalanx 113, the proximal interphalangeal joint 114, the proximal phalanx 115, the metacarpophalangeal joint 116, and the metacarpal bone 117. The distal interphalangeal joint 112 is a fixed pair, the proximal interphalangeal joint 114 is a rotating pair, and the metacarpophalangeal joint 116 is a ball-and-ring pair. The lengths of the metacarpal bone 117, the proximal phalanx 115, the middle phalanx 113, and the distal phalanx 111 are similar to the sizes of human fingers. To improve the accuracy when the fingertip contacts the object surface, following the shape of the human fingertip, the end of the distal phalanx 111 is narrowed and rounded. If the mass of the finger itself is large, the moment of inertia and the torque generated by gravity will affect the pose of the finger in the natural state and the driving response speed. Therefore, the distal phalanx 111, the middle phalanx 113, and the proximal phalanx 115 are all hollow structures and are designed with weight-reducing hollowing.

[0042] At one end where the metacarpal bone 117 and the proximal phalanx 115 are close to each other, there are laterally arranged long through-holes 118. A reverse buckle 119 is arranged in the long through-holes 118. The reverse buckle 119 includes a shaft with annular grooves at both ends. The shaft passes through the long through-holes 118 and the two annular grooves extend to the outside of the long through-holes. The annular grooves are used to mount the ligament 1110. The reverse buckle 119 adopts a split structure, which can effectively enhance the bending resistance of the ligament reverse buckle structure when subjected to the tensile force of the ligament 1110. To improve the restoring force of the finger in the side-offset state. The ligament 1110 is made of a stretchable elastic material such as silica gel.

[0043] For the cable-driven design of the finger 11 in the flexion direction, an oval-shaped limit block 1112 is arranged on the ventral lower edge of the metacarpal bone 117. The limit block 1112 is used for guiding the cable of the drive and positioning between the finger 12 and the palm structure 14 during assembly. At the same time, it can serve as a flexion angle limit surface and form a collision limit with the phalanx surface when the phalanx rotates to the limit angle in flexion. The metacarpophalangeal joint 116 adopts a two-cable drive design. Two round holes for guiding the cable of the drive are opened on the limit block 1112, which can avoid the joint ring and prevent the coupling of the side-offset and flexion degrees of freedom. If a single-cable drive is used, from the side projection angle, the distance between the cable and the joint center is too large, protruding too much from the finger contour line, which is likely to cause wear of the drive cable. At the same time, when the joint is driven in side-offset, the two drive cables can have a differential movement to ensure that the total length of the cable loop remains unchanged and prevent the coupling of the side-offset and flexion degrees of freedom. On the side of the proximal phalanx 115 close to the metacarpal bone 117, two first oblique channels 1113 are correspondingly opened. At the ends where the proximal phalanx 115 and the middle phalanx 113 are close to each other, second oblique channels 1114 and third oblique channels 1115 are correspondingly opened. The drive cable sequentially passes through the limit block 1112, the first oblique channels 1113, the second oblique channels 1114, the third oblique channels 1115 and is connected to the reverse buckle 1111 on the back of the middle phalanx 113 close to the proximal interphalangeal joint 114.

[0044] For the cable-driven design of the finger 11 in the lateral deviation direction, two back buckles 1111 for mounting the elastic body are provided on the abduction sides of the proximal interphalangeal joint 114 and the metacarpophalangeal joint 116. The back buckles 1111 are connected to the servo module 31 through the drive cable. The drive of the finger 11 in the abduction direction of the lateral deviation joint is realized by pulling the back buckle 1111 on the abduction direction side of the joint phalanx end by a drive cable. The drive cable penetrates into the lateral channel 1116 protruding from the side of the joint. The elastic body acts as an extensor and pulls the joint back to the extended position when the tension of the drive cable is unloaded. It should be noted that the cable inlet port of the joint channel should coincide with the flexion rotation axis of the joint to ensure that the flexion rotation of the joint does not interfere with the length of the abduction drive cable and achieve the decoupling of the two drive degrees of freedom of flexion and abduction.

[0045] The thumb 12 includes, sequentially connected from the tip to the root: the distal phalanx of the thumb 121, the distal interphalangeal joint of the thumb 122, the proximal phalanx of the thumb 123, the proximal interphalangeal joint of the thumb 124, the metacarpal bone of the thumb 125, and the metacarpophalangeal joint of the thumb 126. The distal interphalangeal joint of the thumb 122 is a fixed pair, and the proximal interphalangeal joint of the thumb 124 is a rotating pair. The proximal interphalangeal joint of the thumb 124 is a rotating pair. The lengths of the metacarpal bone of the thumb 125, the proximal phalanx of the thumb 123, and the distal phalanx of the thumb 121 are similar to the sizes of human fingers. In order to improve the accuracy when the fingertip of the finger touches the object surface, following the shape of the human fingertip, the end of the distal phalanx of the thumb 121 is narrowed and rounded. If the mass of the finger itself is large, the moment of inertia and the torque generated by gravity will affect the pose of the finger in the natural state and the drive response speed. Therefore, a weight-reducing hollow design is adopted for both the proximal phalanx of the thumb 123 and the distal phalanx of the thumb 121.

[0046] A digital servo is used as a driver at the metacarpophalangeal joint 126 of the thumb 12. The metacarpophalangeal joint 126 of the thumb is connected to the digital servo on the thumb palm connecting member 13 through an extension rocker arm 127 and a lower rocker arm 128. The digital servo is connected to the extension rocker arm 127 through a straight servo arm to transfer the torque to the thumb metacarpal 125. To improve the rotational stability and load capacity of the carpometacarpal joint, a second rotating shaft is designed on the opposite side of the plane where the output shaft of the servo is located, that is, on the bottom surface of the servo. A lower rocker arm 128 integrally formed with the metacarpophalangeal joint 126 of the thumb extends from the lower edge of the metacarpophalangeal joint 126 of the thumb. A bearing structure is designed between the lower rocker arm 128 and the bottom surface of the servo for inserting a stainless steel shaft. At the same time, a blind hole 129 is left at the bottom of the servo bracket, which is coaxial with the output shaft of the servo and is used for embedding a miniature deep groove ball bearing. The lower end surface of the central axis at the end of the lower rocker arm 128 is flush with the lower end surface of the lower rocker arm 128. Therefore, there is a gap between the upper end surface of the lower rocker arm 128 and the lower end surface of the servo bracket where the bearing is located, which can avoid the rotational resistance caused by the friction between the rocker arm and the bracket. The widths of the upper and lower rocker arms are optimized so that when the carpometacarpal joint is at the extreme external rotation position of opposition rotation, both the upper and lower rocker arms contact the palm surface to form a mechanical limit, greatly enhancing the stiffness of the carpometacarpal joint at this position.

[0047] The flexion or abduction movement of the thumb 12 is similar to that of the fingers 11.

[0048] The size of the palm structure 14 is roughly equivalent to that of a human hand. One end of the palm structure 14 close to the fingers 11 is designed as a stepped surface according to the differences in the starting heights of the fingers of a human hand, and the insertion surface for the middle finger is the highest. Four slots 141 with the same cross-sectional shape as the metacarpal 117 are provided on the stepped surface. Mounting holes for screwing are provided at the bottom of the slots 141 for bolt connection with the fingers 12. Channels 142 and grooves 145 for the driving rope to pass through are provided around any slot 141. When the finger is installed in place, these channels 142 and the channels at the root of the finger are coaxial. The back of the palm structure 14 is a shell structure, so there is a relatively large cavity on the dorsal side. Multiple struts 143 are arranged upward from the bottom in the cavity, which are integral with the palm part and are embedded with copper screw hole columns for assisting in fixing the manipulator and assisting in the routing of the driving rope. The shell is provided with multiple screw holes and multiple through holes, and combined with the screw holes on the struts, the fixation of the hand is realized. A chute 144 for fixing the servo bracket of the thumb 12 is provided on the palm-side shell of the palm structure 14. The rotating shaft of the metacarpophalangeal joint 126 of the thumb is exactly located on the median plane of the sagittal planes of the index finger 16 and the middle finger. The intention of this design is that in the grasping state, the bending direction of the thumb 12 is exactly opposite to the finger gap between the index finger 16 and the middle finger, which can better realize actions such as pinching.

[0049] The hand body is connected to the drive control system. The carpal tunnel 2 is a composite structural member of a carbon fiber plate and aluminum columns. The carpal tunnel 2 connecting the hand body to the drive control system includes, from top to bottom and connected by a supporting aluminum column 24: an upper carpal tunnel plate 21, a middle carpal tunnel plate 22, and a lower carpal tunnel plate 23. A carpal tunnel backing plate 25 is provided on the upper carpal tunnel plate 21, and its main function is to connect the palm structure body 14 and the hand body drive control system 3, route the drive ropes, and provide an interface for connection to a slide rail or a robotic arm. Both the lower carpal tunnel plate 23 and the upper carpal tunnel plate 21 are fixedly connected to the hand body drive control system 3. The lower carpal tunnel plate 23 is fixedly connected to the support column 143, and the middle carpal tunnel plate 22 is fixedly connected to the palm side of the palm structure body 14. The drive ropes of each finger led out from the palm pass through the gaps between the palm columns and the aluminum columns. After being turned by the aluminum columns, they converge to the rope holes where the drive devices are concentrated, and then are connected to each servo module 31 in the hand body drive control system 3.

[0050] The hand body drive control system 3 includes a central support aluminum column 35, end caps 32 at both ends, and servo mounting plates 33 on both sides. The central support aluminum column 35 is used for the overall structural support. A plurality of servo modules 31 are arranged inside the hand body drive control system 3. Step holes 34 are correspondingly opened on the two end caps 32. Both ends of the central support aluminum column 35 are fixedly installed in the step holes 34. A plurality of drive rope routing holes 37 corresponding to and connected to the servo modules 31 one by one are opened on the end cap 32 close to the carpal tunnel 2 connecting the hand body to the drive control system. The drive rope routing holes 37 correspond to the servo modules 31 from near to far respectively from the center of the end cap 32 to the edge. Such a wiring is relatively compact and can avoid the contact and friction between the drive ropes. The servo mounting plates 33 are cut from carbon fiber plates. A plurality of fine slots 36 are opened on the servo mounting plates 33. The servo modules 31 and the central support aluminum column 35 are respectively fixedly connected to the servo mounting plates 33 through the fine slots 36. The longer fine slots 36 on both sides are used for the bolt fixation of the servo modules 31, and the shorter fine slot 36 in the middle is used for bolt connection with the central support aluminum column 35. Before the bolts are tightened, the servo modules 31 can slide arbitrarily on the slots until the drive ropes are tensioned. Each servo mounting plate 33 can accommodate the installation of a plurality of servo modules 31, and each module has a certain adjustment stroke in the full installation state.

[0051] Through the self-variable stiffness metacarpophalangeal joint, the bionic interphalangeal joint system, and the elastic envelope structure of the human hand-like motion system in this application, the robotic hand realizes the self-stiffness adjustment and highly adaptable motion in complex operation tasks, has high dexterous motion and contact compliance, meets the dynamic balance requirements between dexterous operation and rigidity maintenance of the robotic hand, and has the advantages of excellent motion performance, strong environmental adaptability, and low manufacturing cost.

[0052] In view of the deficiencies of the existing technology, this application combines the advantages of soft elastic materials and proposes a variable stiffness joint assembly based on the kinematics principle of biological joints. A three-joint finger design similar in size to a human finger is proposed, including a two-degree-of-freedom metacarpophalangeal joint, a single-degree-of-freedom proximal interphalangeal joint, and a fixed-pair distal interphalangeal joint. The thumb 12, thumb palm connector 13, and four fingers 11 of this application can achieve eight active degrees of freedom of movement, with flexible movement and strong practicality. Moreover, the thumb 12 and fingers 11 with opposition, abduction / adduction, and flexion degrees of freedom are designed, and then a humanoid dexterous hand with five fingers is developed. The metacarpophalangeal joint adopts a two-degree-of-freedom variable stiffness mechanism, and through the coupling design of a bionic joint surface guiding structure and an elastic element, a spatial kinematic pair with non-linear stiffness characteristics is constructed. Through the collaborative design of the variable stiffness joint and the bionic guiding structure, the autonomous adaptation of the rigid-flexible coupling characteristics and the movement range of the manipulator is realized.

[0053] By using stretchable elastic materials such as silicone to imitate human ligaments, this application realizes advantages such as low cost, wide adaptability, strong durability, and large compliance, and can provide flexible and robust contact, grasping, and operation capabilities for the end of the manipulator.

[0054] This application adopts a modular servo-driven cable-driven arm device design to realize the integration of the dexterous hand and the cable-driven arm manipulator system, including a 15-joint and 8-degree-of-drive design. While ensuring the joints, the number of active degrees of freedom, and the compactness, it realizes the rigid-flexible coupling design of the humanoid mechanical finger and the modular design of the drive system, greatly reducing the structural complexity. Through the modular drive system, the physical decoupling of the drive unit and the actuator is realized, which can achieve effective iteration in design and manufacturing, and is also conducive to the rapid replacement of drive components in case of wear or failure, reducing costs.

[0055] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this application.

[0056] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of this application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A rigid-flexible coupled humanoid manipulator, characterized in that, include: A humanoid rigid-flexible coupling hand mechanical body (1), a hand body and a driving control system connected to a carpal tunnel (2), and a hand body driving control system (3), wherein the humanoid rigid-flexible coupling hand mechanical body (1) comprises: four fingers (11), a thumb (12), and a palm structure (14), wherein the thumb (12) is mounted on the palm of the palm structure (14) via a thumb-palm connecting piece (13), and the thumb-palm connecting piece (13) can drive the thumb (12) to perform a palm-opposing movement, wherein one end of the palm structure (14) is respectively connected to the four fingers (11), and the other end is connected to the carpal tunnel (2) and the hand body driving control system (3) via the hand body and a driving control system; The hand body drive control system (3) is internally provided with a plurality of mutually independent steering gear modules (31), and the steering gear modules (31) are respectively connected to four fingers (11) and a thumb (12) through a plurality of drive ropes, and the fingers (11) and thumb (12) can be driven by the drive ropes to perform flexion or abduction movements, and the little fingers (15) and index fingers (16) of the fingers (11) can be driven by the drive ropes to perform lateral abduction movements; The joints of the fingers (11) and thumb (12) are connected with elastic ligaments for recovery.

2. The rigid-flexible coupled humanoid manipulator according to claim 1, wherein Any finger (11) comprises, arranged in sequence from the tip to the root: a distal phalanx (111), a distal interphalangeal joint (112), a middle phalanx (113), a proximal interphalangeal joint (114), a proximal phalanx (115), a metacarpophalangeal joint (116) and a metacarpal bone (117); the distal interphalangeal joint (112) is a fixed pair, the proximal interphalangeal joint (114) is a revolute pair, the metacarpophalangeal joint (116) is a ball-ring pair, the end of the distal phalanx (111) is narrowed and has a rounded corner, and the distal phalanx (111), the middle phalanx (113) and the proximal phalanx (115) are all hollow structures.

3. The rigid-flexible coupling humanoid manipulator according to claim 2, wherein The metacarpal bone (117) and the proximal phalanx (115) are each provided with a lateral long through hole (118) at one end close to each other, and a buckle (119) is provided in the long through hole (118). The buckle (119) includes a shaft with annular grooves at both ends. The shaft passes through the long through hole (118) and the two annular grooves extend to the outside of the long through hole. The annular groove is used to mount the ligament (1110).

4. The rigid-flexible coupling humanoid manipulator according to claim 3, characterized in that, An oval limiting block (1112) is provided at the ventral lower edge of the metacarpal bone (117). Two round holes for the driving rope to pass through are formed in the limiting block (1112). Corresponding to the two round holes, two first oblique channels (1113) are formed on the side of the proximal phalanx (115) close to the metacarpal bone (117). Second oblique channels (1114) and third oblique channels (1115) are formed at the ends of the proximal phalanx (115) and the middle phalanx (113) close to each other. The driving rope sequentially passes through the limiting block (1112), the first oblique channels (1113), the second oblique channels (1114), the third oblique channels (1115) and is connected to a back buckle (1111) on the back of the middle phalanx (113) close to the proximal interphalangeal joint (114).

5. The rigid-flexible coupling humanoid manipulator according to claim 4, characterized in that, Two back buckles (1111) for mounting elastic bodies are provided on the abduction sides of the proximal interphalangeal joint (114) and the metacarpophalangeal joint (116). The back buckles (1111) are connected to the servo module (31) through a driving rope.

6. The rigid-flexible coupled humanoid manipulator according to claim 1, wherein The thumb (12) includes, sequentially connected from the tip to the root: the distal phalanx of the thumb (121), the distal interphalangeal joint of the thumb (122), the proximal phalanx of the thumb (123), the proximal interphalangeal joint of the thumb (124), the metacarpal bone of the thumb (125) and the metacarpophalangeal joint of the thumb (126). The distal interphalangeal joint of the thumb (122) is a fixed pair, and the proximal interphalangeal joint of the thumb (124) is a rotating pair. The proximal interphalangeal joint of the thumb (124) is a rotating pair.

7. The rigid-flexible coupling humanoid manipulator according to claim 6, characterized in that, The metacarpophalangeal joint of the thumb (126) is connected to a digital servo on the thumb palm connecting member (13) through an extension rocker arm (127) and a lower rocker arm (128).

8. The rigid-flexible coupling humanoid manipulator according to claim 2, wherein A stepped surface is provided at one end of the palm structure (14) close to the finger (11). Four slots (141) having the same cross-sectional shape as the metacarpal bone (117) are formed on the stepped surface. Mounting holes for screwing are formed at the bottoms of the slots (141). A channel (142) and a groove (145) for the driving rope to pass through are formed around any one of the slots (141). The back of the palm structure (14) is a shell structure, and a cavity is formed on the dorsal side. A plurality of struts (143) are arranged from the bottom upward in the cavity. A chute (144) for fixing the servo bracket of the thumb (12) is formed on the shell on the palmar side of the palm structure (14).

9. The rigid-flexible coupling humanoid manipulator according to claim 1, wherein, The wrist tube (2) of the hand body connected to the drive control system includes: a wrist tube upper plate (21), a wrist tube middle plate (22), and a wrist tube lower plate (23) sequentially connected from top to bottom through a support aluminum column (24). A wrist tube cushion plate (25) is provided on the wrist tube upper plate (21). Both the wrist tube lower plate (23) and the wrist tube upper plate (21) are fixedly connected to the hand body drive control system (3). The wrist tube lower plate (23) is fixedly connected to the strut (143). The wrist tube middle plate (22) is fixedly connected to the palmar side of the palm structure (14).

10. The rigid-flexible coupling humanoid manipulator according to claim 1, characterized in that, The hand body drive control system (3) includes a central support aluminum column (35), end caps (32) at both ends, and servo mounting plates (33) on two sides. A plurality of servo modules (31) are arranged inside the hand body drive control system (3). Step holes (34) are correspondingly formed in the two end caps (32). Both ends of the central support aluminum column (35) are tightly installed in the step holes (34). A plurality of drive rope routing holes (37) corresponding to and connected to the servo modules (31) one by one are formed in the end cap (32) close to the wrist tube (2) where the hand body is connected to the drive control system. The drive rope routing holes (37) correspond to the servo modules (31) from near to far respectively from the center of the end cap (32) to the edge. A plurality of fine slots (36) are formed in the servo mounting plates (33). The servo modules (31) and the central support aluminum column (35) are tightly connected to the servo mounting plates (33) through the fine slots (36) respectively.

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