Micro-chain actuator for humanoid robot and dexterous hand

Abstract

The invention discloses a micro-chain actuator for a humanoid robot, which comprises a micro-chain actuator main body, the micro-chain actuator main body comprises a driving module, a speed reduction module and a pushing module, the speed reduction module is arranged below the driving module, the pushing module is arranged on one side of the driving module and the speed reduction module, and the speed reduction module is arranged on the other side of the driving module. The driving module is in transmission connection with the pushing module through the speed reduction module. According to the miniature chain actuator for the humanoid robot, the pushing module is arranged on the other side of the driving module and the speed reduction module, the advantage that the longitudinal size of the driving module and the speed reduction module is small is considered through the parallel arrangement mode, the defect that the longitudinal size of the pushing module is large is overcome, and the space size of the device can be reduced as much as possible; meanwhile, the size of actuators such as a hollow cup motor integrated lead screw and an electric cylinder which are commonly used at present is greatly reduced, the problems of large machining difficulty and high manufacturing and maintaining cost are avoided, and the effective extending stroke of the micro chain actuator body is far larger than that of other linear actuators.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and more particularly to a micro chain actuator and a dexterous hand for a humanoid robot. Background Art

[0002] Humanoid robots are an important indicator of a country's scientific and technological strength and the level of its high-end manufacturing industry. In recent years, China, one of the world's largest robotics markets, has seen rapid growth in its robotics industry. Actuators, including linear and rotary actuators, are a core component of humanoid robots. Walking, jumping, and other complex movements are all dependent on these actuators. Actuators used in humanoid robots include hydraulic, pneumatic, linear motor, ball screw, and planetary roller screw. Each actuator has its own advantages and disadvantages. Hydraulic transmissions offer high output force but are complex and prone to leakage; pneumatic transmissions offer fast response and low cost, but suffer from low precision and the need for an air source; linear motors offer high precision and speed but are bulky and expensive; ball screws offer high precision but high maintenance costs, large axial bulk, and low thrust density; and planetary roller screws offer high thrust density but are extremely costly and difficult to miniaturize. Currently, the most mainstream linear actuator is the planetary roller screw. However, planetary roller screws have problems such as high processing difficulty, high manufacturing and maintenance costs, rapid wear under high-speed movement, difficulty in long-term lubrication, and a prominent contradiction between the volume in the direction of travel and the stroke (usually 1.2-1.5 times the stroke). As a result, the hands of humanoid robots using the above actuators are not dexterous enough.

[0003] Therefore, it is necessary to provide a micro chain actuator and a dexterous hand for a humanoid robot to at least partially solve the problems existing in the prior art. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides a micro-chain actuator for a humanoid robot, comprising: a micro-chain actuator body, the micro-chain actuator body including a driving module, a deceleration module, and a pushing module, the deceleration module is arranged below the driving module, the pushing module is arranged on one side of the driving module and the deceleration module, and the driving module is connected to the pushing module through the deceleration module.

[0006] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, the driving module includes a driving motor and a servo driver. The servo driver is arranged above the driving motor, the servo driver is connected to the driving motor, and the output shaft of the driving motor is rotatably connected to the input shaft of the deceleration module.

[0007] According to the micro chain actuator for a humanoid robot according to an embodiment of the present invention, the output shaft of the drive motor is provided with a worm, the input shaft of the reduction module is provided with a reduction gear and a turbine, and the worm is rotationally connected to the turbine.

[0008] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, the pushing module includes an outer shell, a micro-chain sprocket, a micro-chain, and a push rod. The outer shell is arranged on one side of the driving module and the deceleration module. The micro-chain sprocket, the micro-chain, and the push rod are arranged in the outer shell. The micro-chain sprocket is connected to the output end of the deceleration module. The micro-chain is wound on the micro-chain sprocket so that the micro-chain is located in the outer shell in a U-shaped sliding manner. The push rod is movably arranged in the outer shell and connected to one end of the micro-chain.

[0009] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, the outer shell includes two shell parts docked with each other, and a U-shaped guide groove portion is arranged on the inner wall of the shell part. The guide groove portion includes a first guide groove and a second guide groove. The first guide groove is connected to the second guide groove. The push rod is movably arranged in the first guide groove, and the micro-chain is movably arranged in the second guide groove.

[0010] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, a storage groove is configured at one end of the push rod, a return spring is configured in the storage groove, and the return spring is connected to one end of the micro-chain.

[0011] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, a displacement sensor is further configured in the outer shell. The displacement sensor is located above the second guide groove and corresponds to the other end of the micro-chain.

[0012] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, the micro-chain includes a plurality of chain tooth units that are movably connected in sequence, and the chain tooth unit includes two micro-chain plates and an intermediate guide plate. The two micro-chain plates are connected by a pin shaft, and one end of the intermediate guide plate is movably configured on one of the pin shafts so that the intermediate guide plate is located between the two micro-chain plates.

[0013] According to the micro-chain actuator for a humanoid robot according to an embodiment of the present invention, the tooth shape of the micro-chain link plate is composed of multiple line segments, the inner side of the micro-chain link plate has a first oblique line segment, and the outer side adopts a second oblique line segment, a horizontal line segment and a vertical line segment, and the tooth tip position of the micro-chain link plate is provided with a rotation avoidance point.

[0014] The present invention provides a dexterous hand, comprising: a dexterous hand main body, the dexterous hand main body comprising a palm and a plurality of fingers, the plurality of fingers being arranged on the palm, the palm being provided with a plurality of the above-mentioned micro-chain actuators for humanoid robots, the micro-chain actuators for humanoid robots comprising a micro-chain actuator main body, and the micro-chain actuator main body being used to drive the fingers.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] The present invention provides a micro-chain actuator for a humanoid robot, which includes a micro-chain actuator body, which is composed of three parts: a driving module, a deceleration module and a pushing module, and the pushing module is arranged on the other side of the driving module and the deceleration module. This parallel arrangement takes into account the advantages of small longitudinal dimensions of the driving module and the deceleration module, avoids the disadvantages of large longitudinal dimensions of the pushing module, and can reduce the spatial dimensions of the device as much as possible; at the same time, it greatly reduces the volume of actuators such as hollow cup motor integrated screws and electric cylinders that are commonly used now, avoids the problems of high processing difficulty, high manufacturing and maintenance costs, excessive wear under high-speed movement, difficulty in long-term lubrication, and prominent contradiction between volume and stroke in the direction of travel, and the effective extension stroke of the micro-chain actuator body is much larger than that of other linear actuators.

[0017] The micro-chain actuator and dexterous hand for humanoid robots described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 Schematic diagram of the internal structure of the deceleration module in the present invention.

[0021] Figure 3 Schematic diagram of the internal structure of the push module in the present invention.

[0022] Figure 4 Schematic diagram of the connection between the push rod and the push chain in the present invention.

[0023] Figure 5 It is a structural schematic diagram of the shell member in the present invention.

[0024] Figure 6 Schematic diagram of the structure of the push rod in the present invention.

[0025] Figure 7 It is a partial structural diagram of the micro chain in the present invention.

[0026] Figure 8 It is a structural schematic diagram of the micro chain link plate in the present invention.

[0027] Figure 9 It is a structural diagram of the smart book in the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0029] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0030] like Figures 1-8 As shown, the present invention provides a micro-chain actuator for a humanoid robot, comprising: a micro-chain actuator body 100, which is composed of three parts: a driving module 1, a deceleration module 2, and a pushing module 3. The deceleration module 2 is installed below the driving module 1, so that the driving module 1 and the deceleration module 2 are arranged longitudinally on the same side. The pushing module 3 is installed on the other side of the driving module 1 and the deceleration module 2, and the driving module 1 is connected to the pushing module 3 through the deceleration module 2. Therefore, when the driving module 1 is started, the deceleration of the deceleration module 2 can drive the pushing module 3 to push the fingers of the humanoid robot, allowing the fingers to move flexibly.

[0031] The micro-chain actuator body 100 with the above structure integrates the drive module 1, the deceleration module 2 and the pushing module 3, and the pushing module 3 is arranged on the other side of the drive module 1 and the deceleration module 2. This parallel arrangement takes into account the advantages of the small longitudinal dimensions of the drive module 1 and the deceleration module 2, avoids the disadvantages of the large longitudinal dimensions of the pushing module 3, and can reduce the spatial size of the device as much as possible; at the same time, it greatly reduces the volume of actuators such as hollow cup motor integrated screws and electric cylinders that are commonly used now, avoids the problems of high processing difficulty, high manufacturing and maintenance costs, excessive wear under high-speed movement, difficulty in long-term lubrication, and prominent contradictions between the volume and stroke in the direction of travel, and the effective extension stroke of the micro-chain actuator body 100 is much larger than that of other linear actuators.

[0032] Exemplary driver modules

[0033] Furthermore, some embodiments of the present invention provide a specific structure of the above-mentioned drive module 1, wherein the drive module 1 of this structure includes a drive motor 11 and a servo driver 12. Specifically, the drive motor 11 is configured as a servo motor, wherein the servo driver 12 is installed above the drive motor 11 and connected to the drive motor 11, and the servo driver 12 can accurately control the speed of the servo motor. Here, the output shaft of the drive motor 11 is rotationally connected to the input shaft 201 of the reduction module 2. The drive motor 11 can be started by the servo driver 12, and the drive motor 11 drives the reduction module 2 to rotate. The reduction module 2 then performs a reduction transmission to the push module 3, so that the push module 3 can push the fingers of the humanoid robot.

[0034] Furthermore, in some embodiments of the present invention, a worm 13 is mounted on the output shaft of the drive motor 11. Correspondingly, a reduction gear 202 and a turbine 20 are mounted on the input shaft 201 of the reduction module 2, such that the worm 13 is rotationally connected to the turbine 20. The reduction module 2 is composed of a plurality of meshing reduction gears 202 of varying sizes with varying numbers of teeth. The rotation direction of the reduction gears 202 is perpendicular to that of the drive motor 11. By using different reduction ratios for each pair of reduction gears 202, the effect of increasing torque by reducing speed is ultimately achieved.

[0035] Since the driving module 1 and the reduction module 2 are arranged longitudinally on the same side, the two are connected by a worm 13 and a turbine 20, and the turbine 20 and the first-stage reduction gear 202 in the reduction module 2 share the same input shaft 201, so that they can run synchronously to realize primary transmission and can achieve self-locking, so that the micro chain actuator body 100 of the present invention has the characteristics of self-locking when power is off and precise controllable position.

[0036] At the same time, the worm 13 and the turbine 20 can ensure that there will be no reverse operation when the drive module 1 is powered off. This can effectively prevent the fingers of the humanoid robot from maintaining their existing movements in an emergency situation when there is a sudden power outage during operation.

[0037] Exemplary Push Module

[0038] Furthermore, some embodiments of the present invention provide a specific structure of the above-mentioned pushing module 3, where the pushing module 3 of this structure includes an outer shell 30, a micro chain sprocket 31, a micro chain 36, and a push rod 35, wherein the outer shell 30 is installed on one side of the driving module 1 and the deceleration module 2, and the above-mentioned micro chain sprocket 31, micro chain 36, and push rod 35 are installed in the outer shell 30, wherein the outer shell 30 is connected to the deceleration module 2 through a first bolt 51 and a second bolt 52, and is connected to the driving module 1 through a third bolt 53; the above-mentioned micro chain sprocket 31 is manufactured using a powder metallurgy process, which can be maintenance-free and reduce maintenance costs.

[0039] The above-mentioned micro chain sprocket 31 is connected to the output end of the reduction module 2. Here, the output end 203 of the reduction module 2 has a D-shaped rotating shaft 204. The D-shaped rotating shaft 204 passes through the reduction module 2 and extends into the outer shell 30, so that the micro chain sprocket 31 is installed on the D-shaped rotating shaft 204. The micro chain sprocket 31 has a D-shaped fixing hole 311 corresponding to the D-shaped rotating shaft 204, so that the torque between the two is transmitted through the D-shaped rotating shaft 204 and the D-shaped fixing hole 311.

[0040] Furthermore, a micro chain 36 is wound around the micro chain sprocket 31, so that the micro chain 36 is U-shaped and slidably located in the outer shell 30, while ensuring an effective pushing stroke, the space size of the pushing module 3 is reduced, and the push rod 35 is movably installed in the outer shell 30 and connected to one end of the micro chain 36, so when the deceleration module 2 drives the micro chain sprocket 31 to rotate forward (forward represents a pushing action), the micro chain sprocket 31 drives the micro chain 36 to rotate, so that the micro chain 36 drives the driving push rod 35 to move outward in the outer shell 30 to achieve a pushing action; similarly, when the deceleration module 2 drives the micro chain sprocket 31 to rotate reversely (reverse represents a contraction action), the micro chain sprocket 31 drives the micro chain 36 to rotate, so that the micro chain 36 drives the driving push rod 35 to move inward in the outer shell 30 to achieve a contraction action, thereby achieving actions such as pushing the fingers of the humanoid robot.

[0041] Furthermore, in some embodiments of the present invention, the outer housing 30 comprises two mutually abutting housing members 301. Housing members 301 can be made of aluminum alloy to reduce the overall weight of the chain actuator. A U-shaped guide groove 32 is defined on the inner wall of housing member 301. Specifically, guide groove 32 comprises a first guide groove 321 and a second guide groove 322. The first guide groove 321 is a linear cylindrical groove, divided into a first cylindrical guide groove 3211 and a second cylindrical guide groove 3212. The push rod 35 reciprocates within the first cylindrical guide groove 3211 and the second cylindrical guide groove 3212. The second guide groove 322 is J-shaped, with the short end 3221 of the second guide groove 322 communicating with the first cylindrical guide groove 3211. The micro chain 36 is movably mounted within the second guide groove 322, allowing the micro chain 36 to be bent and stored. This allows the effective extension stroke of the micro chain actuator body 100 to be significantly greater than that of other linear actuators.

[0042] Therefore, when the micro chain sprocket 31 rotates forward, the micro chain 36 is driven to move along the second guide groove 322 into the first guide groove 321, thereby causing the push rod 35 to move outward along the first cylindrical guide groove 3211 and the second cylindrical guide groove 3212; similarly,

[0043] When the micro chain sprocket 31 rotates in the opposite direction, the micro chain 36 is driven to move along the first guide groove 321 to the second guide groove 322 , thereby causing the push rod 35 to move inward and retract along the first cylindrical guide groove 3211 and the second cylindrical guide groove 3212 .

[0044] Furthermore, in some embodiments of the present invention, a storage groove 351 is defined at one end of the push rod 35. A return spring 34 is installed within the storage groove 351. In its natural state, the return spring 34 is entirely located within the storage groove 351. When the micro-chain actuator body 100 is powered, the micro-chain link 36 directly contacts the push rod 35, achieving a precise push-out effect. A side hole 352 is defined in the sidewall of the storage groove 351. A bolt is installed into the side hole 352 and extends to connect with one end of the return spring 34, thereby securing the return spring 34. The other end of the return spring 34 is connected to one end of the micro-chain link 36. This ensures that, in the initial state, a certain tension is maintained between the micro-chain link 36 and the push rod 35.

[0045] The micro-chain 36 is connected to the push rod 35 via a return spring 34. This solution ensures that when the drive module 3 is powered off, the movement of the push rod 35 toward the outside of the micro-chain actuator body 100 is not affected. That is, when the power to the humanoid robot's dexterous hand is off, the bending of the fingers toward the inside of the palm is not restricted. At this time, a certain distance will be generated between the push rod 35 and the micro-chain 36. After the external force disappears, the return spring 34 between the two will rely on its own rebound force to restore the fingers of the dexterous hand to their original position. The beneficial effect of this solution is that it can prevent the fingers of the dexterous hand from being broken in the opposite direction when encountering special circumstances during operation, such as encountering foreign objects, and has a good protective function.

[0046] Furthermore, in some embodiments of the present invention, a hinge hole 353 is provided at the other end of the push rod 35, which is connected to the finger link (not shown) of the dexterous hand through the hinge hole 353. The entire push rod 35 can rotate radially in the second cylindrical guide groove 3212 to cooperate with the hinge hole of the finger link.

[0047] Furthermore, in some embodiments of the present invention, a displacement sensor 37 is installed within the outer housing 30. Displacement sensor 37 is located above the second guide slot 322 and corresponds to the other end of the micro-chain link 36. Displacement sensor 37 accurately provides feedback on the position of the micro-chain actuator, providing input for hardware control.

[0048] Furthermore, in some embodiments of the present invention, the above-mentioned micro-chain 36 includes a plurality of chain tooth units 360 that are movably connected in sequence, wherein the chain tooth unit 360 includes two micro-chain plates 361 and an intermediate guide plate 362, the two micro-chain plates 361 are connected by a pin shaft 363, and one end of the intermediate guide plate 362 is movably mounted on one of the pin shafts 363, so that the intermediate guide plate 362 is located between the two micro-chain plates 361.

[0049] Here, the micro chain plate 361 is provided with a first plate hole 3611 and a second plate hole 3612. The first plate hole 3611 and the second plate hole 3612 are designed with different sizes. Among them, the first plate hole 3611 is clearance-fitted with the pin 363, and the second plate hole 3612 is interference-fitted with the pin 363. The intermediate guide plate 362 is staggeredly connected with the adjacent chain tooth unit 360 to achieve the mutual rotation of the micro chain plate 361 and the intermediate guide plate 362. The beneficial effect of this solution is that it effectively reduces the number of parts. The entire micro chain 36 only has two major parts: one chain plate and one pin, which greatly reduces production costs. The micro chain 36 with the above structure can achieve a good meshing connection with the micro chain sprocket 31, realizing the drive of the micro chain 36;

[0050] Furthermore, the above-mentioned micro-chain plate 361 is symmetrical left-right along the vertical center line as a whole, and the tooth shape of the micro-chain plate 361 is composed of multiple line segments. The inner side of the micro-chain plate 361 has a first oblique line segment 3614, and the outer side adopts a second oblique line segment 3615, a horizontal line segment 3617 and a vertical line segment 3616, wherein the slopes of the first oblique line segment 3614 and the second oblique line segment 3615 of the inner and outer tooth profiles match the tooth shape of the micro-chain sprocket 31 to realize the meshing transmission with the micro-chain sprocket 31, and the vertical line segment 3616 of the outer tooth profile realizes the rigid push and pull of the micro-chain 36, and ensures that no empty stroke occurs during the push-out and retraction conversion process.

[0051] Furthermore, a rotation avoidance point 3613 is provided at the tooth tip position of the micro-chain link plate 361 , and the rotation avoidance point 3613 can eliminate the interference between the micro-chain link plates 361 when the entire chain rotates.

[0052] like Figure 9 As shown, the present invention provides a dexterous hand, which includes a dexterous hand main body 400, which is installed on the arm of a humanoid robot (not shown). Here, the dexterous hand main body 400 includes a palm part 41 and multiple fingers 42. The multiple fingers 42 are movably installed on the palm part 41, and multiple micro-chain actuators for humanoid robots are installed in the palm part 41. The micro-chain actuator for humanoid robots includes a micro-chain actuator main body 100, which can drive the fingers 42 to move dexterously.

[0053] Generally speaking, the number of fingers 42 installed on the dexterous hand body 400 is 5, so the number of corresponding micro-chain actuator bodies 100 is at least 5, which makes the dexterous hand body 400 a dexterous hand with six degrees of freedom. Taking the above-mentioned six-degree-of-freedom dexterous hand body 400 as an example, the method of arranging the micro-chain actuator bodies 100 in the dexterous hand body 400 is as follows:

[0054] Six micro-chain actuator bodies 100 are arranged within the palm portion 41 of the dexterous hand body 400, namely a first micro-chain actuator body 1001, a second micro-chain actuator body 1002, a third micro-chain actuator body 1003, a fourth micro-chain actuator body 1004, a fifth micro-chain actuator body 1005, and a sixth micro-chain actuator body 1006. The first micro-chain actuator body 1001, the second micro-chain actuator body 1002, the third micro-chain actuator body 1003, and the fourth micro-chain actuator body 1004 can be arranged in parallel or at a certain angle to achieve bending of the fingers 42 other than the thumb. The sixth micro-chain actuator body 1006 achieves sideways swing of the thumb. Simultaneously, the fifth micro-chain actuator body 1005 is arranged within the proximal phalanx of the finger 42 (thumb) to achieve bending of the finger 42 (thumb). In addition, when the micro-chain actuator body 100 is arranged, the running plane of the micro-chain 36 in the pushing module 3 can be parallel to the running plane of the dexterous hand body 400. It can also be allowed to have a certain rotation angle between the running plane of the micro-chain 36 and the running plane of the dexterous hand according to the structural requirements of the dexterous hand. At this time, the end of the push rod 35 can be rotated to ensure that the hinge hole 353 is adapted to the finger 42. This greatly improves the application flexibility of the dexterous hand body 400. The layout of the micro-chain actuator body 100 can be dynamically adjusted according to specific space requirements, which effectively solves the problem of limited space in certain application scenarios.

[0055] In addition, for dexterous hands with other degrees of freedom, the micro-chain actuator body 100 can be arranged at a location where linear drive is required.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as limiting the present invention.

[0057] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; they can refer to mechanical connection, connection, or communication; they can refer to direct connection or indirect connection through an intermediate medium; they can refer to internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A micro chain actuator for a humanoid robot, characterized in that: include: A micro-chain actuator body (100) is provided, wherein the micro-chain actuator body (100) comprises a driving module (1), a deceleration module (2), and a pushing module (3); the deceleration module (2) is arranged below the driving module (1); the pushing module (3) is arranged on one side of the driving module (1) and the deceleration module (2); and the driving module (1) is connected to the pushing module (3) through the deceleration module (2).

2. The micro chain actuator for a humanoid robot according to claim 1, characterized in that: The driving module (1) comprises a driving motor (11) and a servo driver (12). The servo driver (12) is arranged above the driving motor (11). The servo driver (12) is connected to the driving motor (11). The output shaft of the driving motor (11) is rotationally connected to the input shaft of the reduction module (2).

3. The micro chain actuator for a humanoid robot according to claim 2, characterized in that: The output shaft of the driving motor (11) is provided with a worm (13), the input shaft of the reduction module (2) is provided with a reduction gear and a turbine (20), and the worm (13) is rotationally connected to the turbine (20).

4. The micro chain actuator for a humanoid robot according to claim 1, characterized in that: The pushing module (3) comprises an outer shell (30), a micro chain sprocket (31), a micro chain (36), and a push rod (35). The outer shell (30) is arranged on one side of the driving module (1) and the reduction module (2). The micro chain sprocket (31), the micro chain (36), and the push rod (35) are arranged in the outer shell (30). The micro chain sprocket (31) is connected to the output end of the reduction module (2). The micro chain (36) is wound around the micro chain sprocket (31) so that the micro chain (36) is located in the outer shell (30) in a U-shaped sliding manner. The push rod (35) is movably arranged in the outer shell (30) and connected to one end of the micro chain (36).

5. The micro chain actuator for a humanoid robot according to claim 4, characterized in that: The outer shell (30) includes two shell parts (301) connected to each other. A U-shaped guide groove portion (32) is arranged on the inner wall of the shell part (301). The guide groove portion (32) includes a first guide groove (321) and a second guide groove (322). The first guide groove (321) is connected to the second guide groove (322). The push rod (35) is movably arranged in the first guide groove (321), and the micro chain (36) is movably arranged in the second guide groove (322).

6. The micro chain actuator for a humanoid robot according to claim 4, characterized in that: One end of the push rod (35) is provided with a storage groove (351), and a return spring (34) is provided in the storage groove (351). The return spring (34) is connected to one end of the micro chain (36).

7. The micro chain actuator for a humanoid robot according to claim 5, characterized in that: A displacement sensor (37) is also disposed in the outer shell (30). The displacement sensor (37) is located above the second guide groove (322) and corresponds to the other end of the micro chain (36).

8. The micro chain actuator for a humanoid robot according to claim 4, characterized in that: The micro chain (36) includes a plurality of chain tooth units (360) that are movably connected in sequence. The chain tooth unit (360) includes two micro chain plates (361) and an intermediate guide plate (362). The two micro chain plates (361) are connected by a pin shaft (363). One end of the intermediate guide plate (362) is movably configured on one of the pin shafts (363), so that the intermediate guide plate (362) is located between the two micro chain plates (361).

9. The micro chain actuator for a humanoid robot according to claim 8, characterized in that: The tooth shape of the micro chain link plate (361) is composed of multiple line segments. The inner side of the micro chain link plate (361) has a first oblique line segment (3614), and the outer side adopts a second oblique line segment (3615), a horizontal line segment (3617) and a vertical line segment (3616). The tooth tip position of the micro chain link plate (361) is provided with a rotation avoidance point (3613).

10. A dexterous hand, characterized in that: include: A dexterous hand body (400), the dexterous hand body (400) includes a palm portion (41) and a plurality of fingers (42), the plurality of fingers (42) are arranged on the palm portion (41), and a plurality of micro-chain actuators for a humanoid robot as described in any one of claims 1 to 9 are arranged in the palm portion (41), the micro-chain actuator for a humanoid robot includes a micro-chain actuator body (100), and the micro-chain actuator body (100) is used to drive the fingers (42).

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