Miniature chain actuator and dexterous hand for humanoid robot

Abstract

The application discloses a miniature chain actuator for humanoid robots, comprising: a miniature chain actuator body, the miniature chain actuator body comprising a driving module, a speed reduction module and a pushing module, the speed reduction module being arranged below the driving module, the pushing module being arranged on one side of the driving module and the speed reduction module, and the driving module being in transmission connection with the pushing module through the speed reduction module. The application provides a miniature chain actuator for humanoid robots, the pushing module being arranged on the other side of the driving module and the speed reduction module, the parallel arrangement mode giving consideration to the advantages of small longitudinal dimensions of the driving module and the speed reduction module, avoiding the disadvantage of large longitudinal dimension of the pushing module, and being capable of reducing the spatial size of the device as much as possible; meanwhile, the volume of the commonly used hollow cup motor integrated screw rod, electric cylinder and other actuators is greatly reduced, the machining difficulty, manufacturing and maintenance cost are avoided, and the effective extension stroke of the miniature chain actuator body is much larger than that of other linear actuators.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and more specifically, to a miniature chain actuator and dexterous hand for humanoid robots. Background Technology

[0002] Humanoid robots are an important indicator of a nation's technological strength and advanced manufacturing level. In recent years, China, as one of the world's largest robot markets, has witnessed rapid development in its robotics industry. One of the core components of humanoid robots is the actuator, including linear and rotary actuators. The robot's walking, jumping, and other complex movements all rely on actuators. Actuators in humanoid robots include hydraulic transmission, pneumatic transmission, linear motor transmission, ball screw transmission, and planetary roller screw transmission, each with its own advantages and disadvantages. Hydraulic transmission offers high output force but is complex and prone to leakage; pneumatic transmission has fast response and low cost but low precision and requires an air source; linear motors offer high precision and speed but are large and expensive; ball screws offer high precision but have high maintenance costs, large axial volume, and low thrust density; planetary roller screws offer high thrust density but are extremely expensive and difficult to miniaturize. The most mainstream linear actuator at present is the planetary roller screw. However, planetary roller screws have problems such as high processing difficulty, high manufacturing and maintenance costs, excessive wear under high-speed motion, difficulty in long-term lubrication, and 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 propose a micro-chain actuator and dexterous hand for humanoid robots to at least partially solve the problems existing in the prior art. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present invention provides a micro chain actuator for humanoid robots, comprising: a micro chain actuator body, the micro chain actuator body including a drive module, a deceleration module, and a push module, the deceleration module being disposed below the drive module, the push module being disposed on one side of the drive module and the deceleration module, and the drive module being drively connected to the push module through the deceleration module.

[0006] According to an embodiment of the present invention, a micro chain actuator for humanoid robots includes a drive module comprising a drive motor and a servo driver. The servo driver is disposed above the drive motor and connected to the drive motor. The output shaft of the drive motor is rotatably connected to the input shaft of a reduction module.

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

[0008] According to an embodiment of the present invention, a micro-chain actuator for a humanoid robot includes a pushing module comprising a housing, a micro-chain sprocket, a micro-chain, and a push rod. The housing is disposed on one side of a drive module and a deceleration module. The micro-chain sprocket, micro-chain, and push rod are disposed within the housing. The micro-chain sprocket is connected to the output end of the deceleration module. The micro-chain is wound around the micro-chain sprocket, such that the micro-chain slides in a U-shape within the housing. The push rod is movably disposed within the housing and connected to one end of the micro-chain.

[0009] According to an embodiment of the present invention, a micro-chain actuator for a humanoid robot includes two mating housing parts. The inner wall of each housing part is provided with a U-shaped guide groove. The guide groove includes a first guide groove and a second guide groove. The first guide groove and the second guide groove are connected. The push rod is movably disposed in the first guide groove, and the micro-chain is movably disposed in the second guide groove.

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

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

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

[0013] According to an embodiment of the present invention, the micro-chain actuator for humanoid robots has a tooth profile composed of multiple line segments. The inner side of the micro-chain has a first oblique line segment, and the outer side uses a second oblique line segment, a horizontal line segment, and a vertical line segment. The tooth tip of the micro-chain is provided with a rotation avoidance point.

[0014] The present invention provides a dexterous hand, comprising: a dexterous hand body, the dexterous hand body including a palm portion and multiple fingers, the multiple fingers being disposed on the palm portion, and multiple of the above-mentioned humanoid robot micro-chain actuators being disposed within the palm portion, the humanoid robot micro-chain actuators including micro-chain actuator bodies, the micro-chain actuator bodies being used to drive the fingers.

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

[0016] This invention provides a micro-chain actuator for humanoid robots. The micro-chain actuator includes a main body, which is composed of a drive module, a deceleration module, and a push module. The push module is located on the opposite side of the drive and deceleration modules. This parallel arrangement takes into account the advantages of the small longitudinal dimensions of the drive and deceleration modules while avoiding the disadvantage of the large longitudinal dimensions of the push module, thus minimizing the spatial size of the device. At the same time, it greatly reduces the size of commonly used actuators such as coreless motors with integrated lead screws and electric cylinders, avoiding problems such as high processing difficulty, high manufacturing and maintenance costs, excessive wear under high-speed motion, difficulty in long-term lubrication, and prominent contradiction between volume and stroke in the direction of travel. Furthermore, the effective extension stroke of the micro-chain actuator is much greater than that of other linear actuators.

[0017] The miniature chain actuator and dexterous hand for humanoid robots described in this invention, along with other advantages, objectives, and features of the invention, will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the internal structure of the deceleration module in this invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of the push module in this invention.

[0022] Figure 4 This is a schematic diagram of the connection between the push rod and the push chain in this invention.

[0023] Figure 5 This is a schematic diagram of the housing component in this invention.

[0024] Figure 6 This is a schematic diagram of the push rod in this invention.

[0025] Figure 7 This is a partial structural diagram of the micro-chain in this invention.

[0026] Figure 8 This is a schematic diagram of the structure of the micro-chain plate in this invention.

[0027] Figure 9 This is a schematic diagram of the structure of the clever book in this invention. Detailed Implementation

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

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

[0030] like Figures 1-8 As shown, this invention provides a micro-chain actuator for humanoid robots, comprising: a micro-chain actuator body 100, which consists of three parts: a drive module 1, a deceleration module 2, and a push module 3. The deceleration module 2 is installed below the drive module 1, so that the drive module 1 and the deceleration module 2 are arranged longitudinally on the same side. The push module 3 is installed on the other side of the drive module 1 and the deceleration module 2. The drive module 1 is then connected to the push module 3 via the deceleration module 2. Therefore, when the drive module 1 is activated, the deceleration by the deceleration module 2 drives the push module 3 to push the humanoid robot's fingers, allowing the fingers to move flexibly.

[0031] The micro-chain actuator body 100 with the above structure integrates a drive module 1, a reduction module 2, and a push module 3. The push module 3 is located on the other side of the drive module 1 and the reduction module 2. This parallel arrangement takes into account the advantages of the small longitudinal dimensions of the drive module 1 and the reduction module 2, while avoiding the disadvantage of the large longitudinal dimensions of the push module 3, thus minimizing the spatial dimensions of the device. At the same time, it greatly reduces the volume of commonly used hollow cup motor integrated lead screws, electric cylinders, and other actuators, avoiding problems such as high processing difficulty, high manufacturing and maintenance costs, excessive wear under high-speed motion, difficulty in long-term lubrication, and prominent contradiction between volume and stroke in the direction of travel. Furthermore, the effective extension stroke of the micro-chain actuator body 100 is much greater than that of other linear actuators.

[0032] Exemplary driver module

[0033] Furthermore, some embodiments of the present invention provide a specific structure for the aforementioned drive module 1. This drive module 1 includes a drive motor 11 and a servo driver 12. Specifically, the drive motor 11 is a servo motor, with the servo driver 12 mounted above it and connected to the drive motor 11. The servo driver 12 can precisely control the rotational speed of the servo motor. The output shaft of the drive motor 11 is rotatably connected to the input shaft 201 of the reduction module 2. The servo driver 12 can start the drive motor 11, causing the reduction module 2 to rotate. The reduction module 2 then reduces the speed and transmits the rotational speed to the push module 3, enabling the push module 3 to push the humanoid robot's fingers.

[0034] Furthermore, in some embodiments of the present invention, a worm gear 13 is installed on the output shaft of the drive motor 11. Correspondingly, a reduction gear 202 and a worm 20 are installed on the input shaft 201 of the reduction module 2, so that the worm gear 13 and the worm 20 are rotatably connected. The reduction module 2 is composed of several meshing reduction gears 202 of different sizes and tooth numbers. The rotation direction of the reduction gears 202 is perpendicular to the rotation direction of the drive motor 11. Through the different reduction ratios of each pair of reduction gears 202, the effect of speed reduction and torque increase is ultimately achieved.

[0035] Since the drive module 1 and the reduction module 2 are arranged longitudinally on the same side, they are connected by a worm gear 13 and a turbine 20. The turbine 20 and the first-stage reduction gear 202 in the reduction module 2 share the same input shaft 201, so they can run synchronously to achieve primary transmission and achieve self-locking. This makes the miniature chain actuator body 100 of the present invention have power-off self-locking and precise and controllable position.

[0036] Meanwhile, the worm gear 13 and the turbine 20 can ensure that they will not rotate in reverse when the drive module 1 is powered off. This can effectively prevent the humanoid robot's fingers from maintaining their existing movements in an emergency when the power is suddenly cut off during operation.

[0037] Exemplary push module

[0038] Furthermore, some embodiments of the present invention provide a specific structure of the aforementioned push module 3. Here, the push module 3 includes a housing 30, a micro-chain sprocket 31, a micro-chain 36, and a push rod 35. The housing 30 is installed on one side of the drive module 1 and the reduction module 2, while the aforementioned micro-chain sprocket 31, micro-chain 36, and push rod 35 are installed inside the housing 30. The housing 30 is connected to the reduction module 2 by a first bolt 51 and a second bolt 52, and to the drive module 1 by a third bolt 53. The aforementioned micro-chain sprocket 31 is manufactured using powder metallurgy, which can achieve maintenance-free operation and reduce maintenance costs.

[0039] The aforementioned miniature 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 extends out of the reduction module 2 and into the outer casing 30, so that the miniature chain sprocket 31 is mounted on the D-shaped rotating shaft 204. The miniature chain sprocket 31 has a D-shaped fixing hole 311 corresponding to the D-shaped rotating shaft 204, thereby realizing the transmission of torque between the two through the D-shaped rotating shaft 204 and the D-shaped fixing hole 311.

[0040] Furthermore, a micro-chain 36 is wound and installed on the micro-chain sprocket 31, making the micro-chain 36 U-shaped and slidably located inside the outer shell 30. While ensuring an effective pushing stroke, this reduces the spatial size of the pushing module 3. The push rod 35 is movably installed inside the outer shell 30 and connected to one end of the micro-chain 36. Therefore, when the deceleration module 2 drives the micro-chain sprocket 31 to rotate forward (forward indicates a pushing action), the micro-chain sprocket 31 drives the micro-chain 36 to rotate, causing the micro-chain 36 to drive the push rod 35 to move outward inside the outer shell 30, realizing the pushing action. Similarly, when the deceleration module 2 drives the micro-chain sprocket 31 to rotate in the opposite direction (reverse indicates a retraction action), the micro-chain sprocket 31 drives the micro-chain 36 to rotate, causing the micro-chain 36 to drive the push rod 35 to move inward back inside the outer shell 30, realizing the retraction action. This enables actions such as pushing the fingers of the humanoid robot.

[0041] Furthermore, in some embodiments of the present invention, the outer shell 30 described above includes two mating shell parts 301. Here, the shell parts 301 can be made of aluminum alloy to reduce the overall weight of the chain actuator. A U-shaped guide groove 32 is provided on the inner wall of the shell part 301. Specifically, the guide groove 32 includes a first guide groove 321 and a second guide groove 322. The first guide groove 321 is a straight cylindrical shape and is divided into a first cylindrical guide groove 3211 and a second cylindrical guide groove 3212. The push rod 35 can be pushed back and forth in the first cylindrical guide groove 3211 and the second cylindrical guide groove 3212. The second guide groove 322 is J-shaped, and the short end 3221 of the second guide groove 322 flows through the first cylindrical guide groove 3211. The micro chain 36 is movably installed in the second guide groove 322, so that the micro chain 36 can be bent and stored. Thus, the effective extension stroke of the micro chain actuator body 100 is much greater than that of other linear actuators.

[0042] Therefore, when the aforementioned miniature sprocket 31 rotates in the forward direction, it drives the miniature chain 36 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 aforementioned micro-chain sprocket 31 rotates in the opposite direction, it drives the micro-chain 36 to move along the first guide groove 321 into 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 provided at one end of the push rod 35, and a return spring 34 is installed in the storage groove 351. In its natural state, the return spring 34 is entirely located inside the storage groove 351. When the micro-chain actuator body 100 is energized, the micro-chain 36 directly contacts the push rod 35, achieving a precise pushing effect. A side hole 352 is provided on the side wall of the storage groove 351. Bolts are used to install components into the side hole 352, extending to connect with one end of the return spring 34, thereby fixing the return spring 34. The other end of the return spring 34 is connected to one end of the micro-chain 36. This ensures that a certain tension is maintained between the micro-chain 36 and the push rod 35 in the initial state.

[0045] The aforementioned micro-chain 36 is connected to the push rod 35 via a return spring 34. This design ensures that when the drive module 3 is powered off, the movement of the push rod 35 towards the outside of the micro-chain actuator body 100 remains unaffected. In other words, when the humanoid robot's dexterous hand is powered off, the bending of the fingers towards the palm is unrestricted. At this time, a certain distance is created between the push rod 35 and the micro-chain 36. After the external force disappears, the return spring 34 between them will use its own rebound force to restore the fingers of the dexterous hand to their original position. The advantage of this design is that in special circumstances during operation, such as encountering foreign objects, it can prevent the fingers of the dexterous hand from being broken in the opposite direction, providing excellent protection.

[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 within the second cylindrical guide groove 3212 to match the hinge hole of the finger link.

[0047] Furthermore, in some embodiments of the present invention, a displacement sensor 37 is also installed inside the housing 30. Here, the displacement sensor 37 is located above the second guide groove 322 and corresponds to the other end of the micro-chain 36. The displacement sensor 37 can accurately provide feedback on the position information of the micro-chain actuator, providing information input for hardware control.

[0048] Furthermore, in some embodiments of the present invention, the micro-chain 36 described above includes a plurality of chain tooth units 360 that are movably connected in sequence. Each 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 363. One end of the intermediate guide plate 362 is movably mounted on one of the pins 363, such that the intermediate guide plate 362 is located between the two micro-chain plates 361.

[0049] Here, a first plate hole 3611 and a second plate hole 3612 are provided on the micro chain plate 361. The first plate hole 3611 and the second plate hole 3612 are designed with different sizes. 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 staggered with the adjacent chain tooth unit 360, so that the micro chain plate 361 and the intermediate guide plate 362 can rotate relative to each other. The beneficial effect of this solution is that it effectively reduces the types of parts. The entire micro chain 36 has only two main types of parts: a chain plate and a pin, which greatly reduces the production cost. The micro chain 36 with the above structure can achieve a good meshing connection with the micro chain sprocket 31 to drive the micro chain 36.

[0050] Furthermore, the aforementioned micro-chain plate 361 is symmetrical about the left and right along the vertical center line. The tooth profile 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 uses a second oblique line segment 3615, a horizontal line segment 3617, and a vertical line segment 3616. The slopes of the first oblique line segment 3614 and the second oblique line segment 3615 on the inner and outer tooth profiles match the tooth profile of the micro-chain sprocket 31 to achieve meshing transmission with the micro-chain sprocket 31. The vertical line segment 3616 on the outer tooth profile enables the rigid push and pull of the micro-chain 36 and ensures that there is no empty stroke during the conversion between pushing out and retracting.

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

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

[0053] Generally, the dexterous hand body 400 has five fingers 42, so the corresponding number of micro-chain actuator bodies 100 is at least five, making the dexterous hand body 400 a six-degree-of-freedom dexterous hand. Taking the above-mentioned six-degree-of-freedom dexterous hand body 400 as an example, the method for arranging the micro-chain actuator bodies 100 within 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, second, third, and fourth micro-chain actuator bodies 1001, 1002, 1003, and 1004 can be arranged parallel or at a certain angle, respectively enabling the bending of the fingers 42 other than the thumb. The sixth micro-chain actuator body 1006 enables the lateral movement of the thumb. Simultaneously, the fifth micro-chain actuator body 1005 is arranged near the joint of the thumb for bending the thumb. Furthermore, when arranging the micro-chain actuator body 100, the running plane of the micro-chain 36 in the push module 3 can be parallel to the running plane of the dexterous hand body 400. Alternatively, depending on the structural requirements of the dexterous hand, a certain rotational angle can be allowed between the running plane of the micro-chain 36 and the running plane of the dexterous hand. In this case, 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 arrangement 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 other degrees of freedom dexterous hands, the micro-chain actuator body 100 can be positioned where linear drive is required.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, a connection, or a communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A miniature chain actuator for a humanoid robot, characterized in that, include: The micro chain actuator body (100) includes a drive module (1), a deceleration module (2), and a push module (3). The deceleration module (2) is located below the drive module (1), and the push module (3) is located on one side of the drive module (1) and the deceleration module (2). The drive module (1) is connected to the push module (3) through the deceleration module (2). The drive module (1) includes a drive motor (11) and a servo driver (12). The servo driver (12) is positioned above the drive motor (11) and is connected to the drive motor (11). The output shaft of the drive motor (11) is rotatably connected to the input shaft of the reduction module (2). The output shaft of the drive motor (11) is equipped with a worm gear (13), and the input shaft of the reduction module (2) is equipped with a reduction gear and a turbine (20). The worm gear (13) and the turbine (20) are rotatably connected. The push module (3) includes a housing (30), a micro chain sprocket (31), a micro chain (36), and a push rod (35). The housing (30) is disposed on one side of the drive module (1) and the deceleration module (2). The micro chain sprocket (31), the micro chain (36), and the push rod (35) are disposed inside the housing (30). The micro chain sprocket (31) is connected to the output end of the deceleration module (2). The micro chain (36) is wound around the micro chain sprocket (31), so that the micro chain (36) is located in the housing (30) in a U-shape. The push rod (35) is movably disposed inside the housing (30) and connected to one end of the micro chain (36).

2. The micro-chain actuator for a humanoid robot according to claim 1, characterized in that, The outer shell (30) includes two mating shell parts (301). The inner wall of the shell part (301) is provided with a U-shaped guide groove (32). The guide groove (32) includes a first guide groove (321) and a second guide groove (322). The first guide groove (321) and the second guide groove (322) are connected. The push rod (35) is movably disposed in the first guide groove (321), and the micro chain (36) is movably disposed in the second guide groove (322).

3. A miniature chain actuator for a humanoid robot according to claim 1, 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).

4. A miniature chain actuator for a humanoid robot according to claim 2, characterized in that, The outer casing (30) is also equipped with a displacement sensor (37), which is located above the second guide groove (322) and corresponds to the other end of the micro chain (36).

5. A miniature chain actuator for a humanoid robot according to claim 1, characterized in that, The micro-chain (36) includes a plurality of chain tooth units (360) that are movably connected in sequence. Each 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 (363). One end of the intermediate guide plate (362) is movably disposed on one of the pins (363), such that the intermediate guide plate (362) is located between the two micro-chain plates (361).

6. A miniature chain actuator for a humanoid robot according to claim 5, characterized in that, The teeth of the micro chain plate (361) are 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 uses a second oblique line segment (3615), a horizontal line segment (3617) and a vertical line segment (3616). The tooth tip of the micro chain plate (361) is provided with a rotation avoidance point (3613).

7. A dexterous hand, characterized in that, include: A dexterous hand body (400) includes a palm portion (41) and a plurality of fingers (42), wherein the plurality of fingers (42) are disposed on the palm portion (41), and a plurality of micro-chain actuators for humanoid robots as described in any one of claims 1 to 6 are disposed within the palm portion (41), wherein the micro-chain actuator for humanoid robots includes a micro-chain actuator body (100) for driving the fingers (42).

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