Multi-degree-of-freedom humanoid robot dexterous hand

Abstract

The invention relates to a multi-degree-of-freedom humanoid robot dexterous hand, belongs to the technical field of humanoid robot hands, and solves the problems that in the prior art, a robot hand thumb is narrow in working space, and grabbing is not firm; the key stability of each finger is poor. The robot dexterous hand comprises a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly, a thumb base, a palm, a little finger part palm, a hand back and a thumb connecting assembly. According to the robot dexterous hand, three-finger collaborative enveloping can be achieved through one-time positioning, and the grabbing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robot hands, in particular to a multi-degree-of-freedom humanoid robot dexterous hand, in particular to a robot dexterous hand built on a six-degree-of-freedom platform. Background Art

[0002] Dexterous hands (multi-fingered biomimetic robotic hands) are a key research area in robotics, with technological development encompassing multiple aspects, including mechanical design, actuation methods, sensing technology, and control algorithms. Traditional mechanically driven dexterous hands utilize rigid mechanical structures such as motors, gears, and connecting rods to actuate the finger joints. These are commonly found in industrial robots (e.g., end effectors from KUKA and ABB). However, they suffer from limited flexibility and safety. The mechanical drive results in a limited number of degrees of freedom, making it difficult to grasp small and irregularly shaped objects. The rigid structure is prone to collision damage. The large size and weight of the motor and gearbox make the system bulky, making it difficult to integrate into lightweight robots (e.g., humanoid robots). Tendon-driven dexterous hands mimic the structure of human tendons, using a motor and cables to transmit power (e.g., Shadow Hand and DLR Hand II). However, they exhibit significant friction and wear. Long-term friction between cables and guides reduces efficiency (typically <70%), necessitating frequent maintenance. Elastic deformation and hysteresis in the cables complicate position control (requiring complex compensation algorithms), and the coupling of multiple degrees of freedom makes independent control difficult (e.g., difficulty in individually bending individual knuckles). Summary of the Invention In view of the above problems, the present invention provides a multi-degree-of-freedom humanoid robot dexterous hand, which solves the technical problems of the existing robot hand such as small thumb working space, unstable grip, and poor stability of the key points of each finger.

[0003] The present invention provides a multi-degree-of-freedom humanoid robot dexterous hand, comprising a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, a pinky assembly, a thumb base, a palm, a pinky palm portion, a back of the hand, and a thumb connecting assembly; The thumb assembly is arranged on the thumb base, and the thumb base is connected to the inner side of the back of the hand through the thumb connecting assembly; The thumb assembly is connected to the thumb base via a six-degree-of-freedom platform; The little finger assembly is connected to the palm and / or back of the hand through the palm of the little finger portion.

[0004] Optionally, the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component each include a fingertip, a second joint and a first joint.

[0005] Optionally, the second joints of the thumb assembly, index finger assembly, middle finger assembly, ring finger assembly and little finger assembly are pivotally connected to the connecting ends of the fingertips through fingertip joint connecting pins and are telescopically connected through a driving device.

[0006] Optionally, the first joints of the thumb assembly, index finger assembly, middle finger assembly and ring finger assembly are respectively arranged on the first mounting platform on the inner side of the palm 8 and / or the back of the hand 13 through their own first joint transmission mechanisms.

[0007] Optionally, the driving device is an electric cylinder.

[0008] Optionally, the electric cylinder includes a reverse planetary roller screw pair, an electric cylinder housing, a rod end joint bearing, a housing stator, a permanent magnet rotor, a locking nut, a bearing, a roller and an electric cylinder end cover.

[0009] Optionally, each first joint transmission mechanism is provided with three groups of driving devices, and the three groups of driving devices are arranged in a triangle position.

[0010] Optionally, one end of the little finger palm 9 is connected to the palm and / or back of the hand through a positioning pin; the other end of the finger palm is telescopically connected to the little finger assembly through a driving device.

[0011] Optionally, the six-degree-of-freedom platform includes a top platform, an actuator assembly and a base platform; the actuator assembly is arranged between the top platform and the base platform, the top platform is connected to the second joint of the thumb, and the base platform is connected to the base of the thumb; the actuator assembly is provided with three groups of pillars, each group of pillars includes two pillars, and each pillar includes an upper hinge of the leg, a driving leg and a lower hinge of the leg.

[0012] Optionally, the thumb connection assembly includes a thumb connection member and a thumb connection pin.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: (1) The robotic dexterous hand of the present invention is built on a six-degree-of-freedom platform and has 26 degrees of freedom. Compared with traditional mechanically driven dexterous hands and tendon-driven dexterous hands, it has more degrees of freedom. The modular design of the integrated micro-electric cylinder can reduce more weight and save more space, allowing the dexterous hand to perform more complex movements and be used in confined spaces.

[0014] (2) The six-degree-of-freedom platform (i.e., the first joint 6 of the thumb) of the dexterous robot hand of the present invention expands the thumb's working space into a sphere and can also be tilted at an angle, so that the thumb alone can envelop and grasp. When grasping a cylinder, an ordinary thumb can only move in a fan-shaped area and requires wrist coordination, making the grasping inflexible and unreliable. At the same time, the six-degree-of-freedom platform can offset vibration and improve stability; (3) The joints of the fingers of the dexterous robotic hand of the present invention do not lose their degrees of freedom at specific angles (e.g., when the fingers are fully extended or folded; when multiple fingers are grasping in coordination; when the joint axes are nearly parallel or coincident), thus avoiding the formation of kinematic singularities with the six-degree-of-freedom platform; and can perform precise operations, such as when instruments must maintain a stable posture during surgery.

[0015] (4) The palm of the robot dexterous hand of the present invention realizes the coordinated enveloping of three fingers by positioning the palm once, thereby improving the grasping efficiency and solving the problem that the grasping posture of multi-branch harnesses in the prior art needs to be adjusted multiple times and the grasping time is slow.

[0016] (5) The dexterous robot hand of the present invention is designed based on the thumb component of the six-degree-of-freedom platform. Through the "parallel macro motion + serial micro motion" architecture, it fundamentally solves the problems of space constraints in the existing technology: the working space is expanded by 5 times, the stiffness bottleneck: the end load-bearing capacity is increased by 10 times, the precision attenuation: the positioning accuracy enters the sub-micron level, and the dynamic limitation: the response bandwidth exceeds 80Hz. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are only for purposes of illustrating particular embodiments and are not to be considered limiting of the invention.

[0018] Figure 1 The main view of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention Figure 1 ; Figure 2 The main view of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention Figure 2 ; Figure 3 A schematic diagram of a back view of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 4 A schematic diagram of the thumb assembly of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 5 Schematic diagram of the curvature of the joint surface of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 6 A schematic diagram of the pinky finger assembly of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 7 A schematic diagram of the palm of the little finger portion of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 8 A schematic diagram of a palm positioning pin hole for the little finger portion of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 9 A schematic diagram of the connection between the little finger and the palm of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 10Schematic diagram of the internal structure of the finger base of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 11 A schematic diagram of an electric cylinder housing of a multi-degree-of-freedom humanoid robot dexterous hand according to the present invention; Figure 12 A schematic diagram of a cross-sectional view of an electric cylinder of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 13 Schematic diagram of a six-degree-of-freedom platform of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 14 A schematic diagram of the connection angle between the little finger and the palm of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention; Figure 15 Schematic diagram of a partial palm view of the multi-degree-of-freedom humanoid robot dexterous hand of the present invention.

[0019] Reference numerals: 1. Index finger tip; 2. Index finger second joint; 3. Index finger first joint; 4. Thumb tip; 5. Thumb second joint; 6. Thumb first joint; 7. Thumb base; 8. Palm; 9. Part of the palm of the little finger; 10. Little finger first joint; 11. Little finger second joint; 12. Little finger tip; 13. Back of hand; 14. Screw connecting pin; 15. Long screw connecting pin; 16. Reverse planetary roller screw pair; 17. Electric cylinder housing; 18. Finger base connector; 19. Finger base connecting pin; 20. Finger end joint connecting pin; 21. Electric Cylinder end cover; 22. Thumb connector; 23. Thumb connector pin; 24. Top platform; 25. Actuator assembly; 26. Base platform; 27. Front side edge; 28. Rear side edge; 29. ​​Outer edge; 30. Inner edge; 31. Starting point of outer edge 29; 32. End point of outer edge 29; 33. Starting point of inner edge 30; 34. End point of inner edge 30; 16-1. Rod end joint bearing; 17-1. Housing stator; 17-2. Permanent magnet rotor; 17-3. Locking nut; 17-4. Bearing; 17-5. Roller. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0021] A specific embodiment of the present invention, as Figures 1-15, discloses a multi-degree-of-freedom humanoid robot dexterous hand, including a thumb component, an index finger component, a middle finger component, a ring finger component, a little finger component, a thumb base 7, a palm 8, a little finger palm 9, a back of the hand 13, a thumb connector 22 and a thumb connector pin 23.

[0022] Furthermore, the thumb assembly is arranged on the thumb base 7 , and the thumb base 7 passes through the palm 8 and is connected to the inner side of the back of the hand 13 via the thumb connector 22 and the thumb connector pin 23 .

[0023] Furthermore, the thumb assembly includes a thumb tip 4, a thumb second joint 5 and a thumb first joint 6; the thumb first joint 6 is connected to the thumb second joint 5 and the thumb base 7; the thumb second joint 5 is arranged between the thumb tip 4 and the thumb first joint 6.

[0024] Furthermore, the index finger assembly includes, from top to bottom, the index finger tip 1, the index finger second joint 2, and the index finger first joint 3; see Figure 3 A first mounting platform and a second mounting platform are provided on the inner side of the back of the hand 13 , and the first joint 3 of the index finger is provided on the first mounting platform on the inner side of the back of the hand 13 through a first joint transmission mechanism.

[0025] Furthermore, the little finger assembly includes, from bottom to top, the first little finger joint 10, the second little finger joint 11 and the little finger tip 12; the first little finger joint 10 is connected to the little finger palm 9 through a first joint transmission mechanism, and the little finger palm 9 is arranged on a second mounting platform on the inner side of the back of the hand 13.

[0026] Furthermore, the middle finger component includes the tip of the middle finger, the second joint of the middle finger and the first joint of the middle finger; the ring finger component includes the tip of the ring finger, the second joint of the ring finger and the first joint of the ring finger.

[0027] Furthermore, the first joint 6 of the thumb is a six-degree-of-freedom platform, including a top platform 24, an actuator assembly 25 and a base platform 26; the actuator assembly 25 is arranged between the top platform 24 and the base platform 26, the top platform 24 is connected to the second joint 5 of the thumb, and the base platform 26 is connected to the thumb base 7; the actuator assembly 25 is provided with three groups of pillars, each group of pillars includes two pillars, and each pillar includes an upper hinge of the leg, a driving leg and a lower hinge of the leg.

[0028] Furthermore, the connecting ends of the second joints and fingertips of the thumb assembly, index finger assembly, middle finger assembly, ring finger assembly and little finger assembly are pivotally connected through the fingertip joint connecting pin 20, and are telescopically connected through the electric cylinder; one end of the electric cylinder is set at the end of the second joint, and the other end is pivotally connected to one end of the fingertip through the screw connecting pin 14.

[0029] Furthermore, the configuration between the first joint and the second joint of the thumb assembly, index finger assembly, middle finger assembly, ring finger assembly and little finger assembly is the same as the configuration between the second joint and the fingertip, which will not be repeated here.

[0030] Furthermore, the first joints of the thumb assembly, index finger assembly, middle finger assembly and ring finger assembly are respectively arranged on the first mounting platform on the inner side of the back of the hand 13 through their own first joint transmission mechanisms.

[0031] The first joint transmission mechanism includes a long screw connecting pin 15, multiple groups of electric cylinders, a finger-root connecting piece 18 and a finger-root connecting pin 19.

[0032] Furthermore, the electric cylinder includes an inverted planetary roller screw pair 16, an electric cylinder housing 17, a rod end joint bearing 16-1, a housing stator 17-1, a permanent magnet rotor 17-2, a locking nut 17-3, a bearing 17-4, a roller 17-5 and an electric cylinder end cover 21.

[0033] Preferably, the permanent magnet rotor 17 - 2 is a rotating nut.

[0034] Furthermore, each first joint transmission mechanism is provided with three groups of electric cylinders, and the three groups of electric cylinders are arranged in a triangular position; two groups of electric cylinders are arranged on the inner side of the back of the hand 13 mounting platform (away from the back of the hand 13), and one group of electric cylinders is arranged on the outer side of the mounting platform (close to the back of the hand 13); one end of the reverse planetary roller screw pair 16 is arranged in the electric cylinder housing 17, and the other end of the reverse planetary roller screw pair of the two groups of electric cylinders arranged on the inner side of the mounting platform is pivotally connected to the inner side of the bottom of the first joint through the long screw connecting pin 15, and the other end of the reverse planetary roller screw pair of the one group of electric cylinders arranged on the outer side of the mounting platform is pivotally connected to the outer side of the bottom of the first joint through the finger root connecting piece 18 and the finger root connecting pin 19.

[0035] For example, see Figure 10 The connecting ends of the first index finger joint 3 and the second index finger joint 2 are pivotally connected via a finger end joint connecting pin 20 and telescopically linked by an electric cylinder. One end of the electric cylinder is mounted at the end of the first index finger joint 3, and the other end is pivotally connected to one end of the second index finger joint 2 via a lead screw connecting pin 14. The first index finger joint 3 is mounted on a first mounting platform on the inner side of the back of the hand 13 via a long lead screw connecting pin 15, an inverted planetary roller screw pair 16, an electric cylinder housing 17, a finger base connecting piece 18, and a finger base connecting pin 19.

[0036] Furthermore, the configuration of the middle finger component and the ring finger component is the same as that of the index finger component, and will not be repeated here.

[0037] Further, see Figure 2A three-dimensional XYZ palm coordinate system is established with the center point O of the carpometacarpal joint surface as the origin. The X-axis points vertically along the center point O toward the tip of the middle finger, the Y-axis is perpendicular to the lateral surface of the back of the hand 13, and the Z-axis is perpendicular to the plane of the palm 8. The palm 9 of the little finger is an irregular quadrilateral surface, which includes an anterior edge 27, a posterior edge 28, an lateral edge 29, and an inner edge 30.

[0038] It can be understood that the carpometacarpal joint surface is the contact surface between the palm 8 and the forearm.

[0039] Furthermore, the installation direction of each finger assembly is the angle from the root center position to the target center G when installed on the palm 8, and the expression is:

[0040] in, They are respectively represented as the coordinates of the finger base center position Pi of the i-th finger component on the X-axis and Y-axis; is the installation angle of the base center of the i-th finger assembly on the palm 8; is the orientation angle of the root center of the i-th finger component pointing to the target center G; It can be understood that the mounting angle φᵢ is the angle measured in the X–Y plane (palm plane) relative to the +X axis (positive counterclockwise), which is equivalent to the angle around the Z axis.

[0041] Furthermore, the angle between two fingers in the circumferential direction around the target center G (i.e., the angle measured with the target center G as the center of the circle) during multi-finger collaborative grasping is the grasping angle (with the target center G as the center of the circle): the grasping angle of the thumb component-index finger component ; Grasping angle of index finger component-middle finger component ; Thumb component - middle finger component grab angle ; Installation angle of thumb assembly on palm 8: ; Installation angle of index finger assembly on palm 8: ; Installation angle of the middle finger assembly on the palm 8: ; Then the installation direction angle of the three fingers is: ; ; .

[0042] Furthermore, the front edge 27 is the side close to the first joint 10 of the little finger, and the rear edge 28 is the side away from the first joint 10 of the little finger. The front edge 27 smoothly transitions with the outer edge 29 and the inner edge 30 through an arc-shaped surface. The expression for the contour curvature radius R1 of the arc-shaped surface of the front edge 27 is:

[0043] wherein, represents the length between the front side edge 27 and the end point horizontal line of the farthest end of the rear side edge 28 from the front side edge 27; k represents a fitting coefficient.

[0044] The profile curvature radius R1 of the arc-shaped surface can realize smooth transition of the boundary and size linkage, reduce interference and stress concentration, and improve the stability of the gripping contact and the assembly consistency, so as to meet the cooperative gripping requirement of the small finger and the thumb.

[0045] It can be understood that the distance between the end point horizontal line of the farthest end of the rear side edge 28 from the front side edge 27 and the parallel line parallel to the front side edge 27 is .

[0046] Preferably, the profile curvature radius R1 of the front side edge 27 is 12.5±0.3mm.

[0047] Further, the rear side edge 28 is arranged to be inclined relative to the Y axis of the palm 8, and the inclination angle between the rear side edge 28 and the reference surface of the palm 8 is The expression of the inclination angle is:

[0048] wherein h represents the distance between the projections of the two end points of the rear side edge 28 on the X axis; d represents the distance between the projections of the two end points of the rear side edge 28 on the Y axis.

[0049] Preferably, .

[0050] Further, the expression of the length L1 of the outer side edge 29 is:

[0051]

[0052] wherein x1, y1 respectively represent the coordinates of the starting point 33 of the outer side edge 29 in the palm three-dimensional coordinate system; x2, y2 respectively represent the coordinates of the ending point 34 of the outer side edge 29 in the palm three-dimensional coordinate system; is the gripping angle of the thumb assembly-finger assembly; is the gripping angle of the finger assembly-middle finger assembly; represents the correction proportional coefficient of the outer side edge length to the change of the gripping angle; L1,0 represents the reference length of the outer side edge, that is, the projection straight line distance of the starting point 33 and the ending point 34 in the current coordinate system, which is the geometric length without considering the angle correction term.

[0053] Preferably, L1=20.0±0.5mm.

[0054] Furthermore, the inner edge 30 is positioned opposite and substantially parallel to the adjacent boundary within a length L2, with the contours of the outer shape in this area essentially matching each other to ensure geometric consistency after assembly. After assembly, this area maintains appropriate clearance and prevents contact, thus preventing interference. The relative position is determined and maintained by the existing locating pins, locating pin holes, and other connectors in this area after they are in place. This area does not serve as a positioning or force-bearing surface.

[0055] Preferably, L2=14.0±0.5mm.

[0056] Furthermore, the relationship between the length L1 of the outer edge 29 and the length L2 of the inner edge 30 is:

[0057] in, is the length ratio coefficient, preferably 0.75; The overlap correction value for the edge structure is preferably 1.0 mm.

[0058] Furthermore, the core dimensions of the little finger portion of the palm 9 include base length, base width, base thickness and joint surface inclination.

[0059] Furthermore, the base length L9 is the distance from the little finger part of the palm 9 to the carpometacarpal joint surface, and is expressed as:

[0060] in, Indicates the base length L9 and the total length of the palm The ratio of, preferably, =0.25; Indicates palm width Impact factor, preferably, =0.045; Indicates the angle of inclination between the palm 9 and the palm 8 of the little finger. =10°.

[0061] Preferably, L9=45.0±0.5mm; =180mm, =85mm.

[0062] Furthermore, the base width is the length of the widest part of the palm 9 of the little finger along the Y-axis direction, and is expressed as:

[0063] in, For the little finger component in the lateral structural participation, preferably, =0.18; the cross ratio of the little finger assembly along the length, = 0.10. the included angle between the mounting surface of the little finger part palm 9 and the palm 8 (lateral offset angle), = 12°.

[0064] It can be understood that the lateral structure participation of the little finger assembly represents the structural proportion or influence range of the little finger in the palm lateral width direction (Y axis direction), which is usually used to describe the participation degree of the little finger assembly to the overall width, edge arrangement of the palm (related to the palm size Wpalm and Lpalm, the abduction and adduction range of the palm platform / finger root, the interdigital coupling angle); the cross ratio of the little finger assembly along the length represents the functional or spatial intersection degree of the little finger assembly in the X axis direction and the adjacent structure (such as the ring finger assembly, the palm), which can also be understood as the "longitudinal overlap ratio".

[0065] Preferably, W9 = 32.0 ± 0.3 mm.

[0066] Further, the base thickness H 9 is the palm thickness of the little finger part palm 9 along the Z axis direction, and the expression is:

[0067] wherein, represents the ratio of the palm thickness to the total length of the palm , preferably, = 0.08. represents the included angle between the palm thickness side of the little finger part palm 9 and the horizontal line, preferably, = 10°. represents the shell thickness and the cylinder space compensation thickness of the little finger part palm 9, preferably, = 4.5 mm. Preferably, H 9 = 15.0 ± 0.2 mm.

[0068] Further, the joint surface inclination angle is the palm inclination angle of the little finger part palm 9 and the palm 8, and the expression is:

[0069] wherein λ is a correction coefficient of the base thickness, used to correct the projection influence of the base thickness in the inclination angle calculation of the little finger assembly, λ = 1.15.

[0070] Preferably, α = 5° ± 0.5°.

[0071] Further, the joint surface inclination angle and the bevel inclination angle have the following relationship: the joint surface inclination angle Determine the overall height difference. The inclination angle of the slope absorbs the height difference through the length d, satisfying:

[0072] Furthermore, L palm Proportional relationship with L9 for:

[0073] Furthermore, W 9 and W palm Width ratio for:

[0074] The present invention ensures that the manipulator achieves a balance between symmetry, arrangement density and structural strength.

[0075] Furthermore, the thickness ratio relationship between H9 and palm thickness Hpalm for:

[0076] Preferably, k3 is 15%.

[0077] Furthermore, the center distance between the little finger palm 9 and the thumb base 7 is D The expression is:

[0078] in, k 4 is the width of the palm Projection coefficient, k 5 is the total length of the palm Motion compensation factor.

[0079] Preferably, k 4=0.61, k 5=0.14, guaranteed D =75.0±0.8 mm meets the geometric envelope requirements of natural palm-to-palm movements.

[0080] Preferably, D =75.0±0.8mm (meeting the 90° motion trajectory envelope of thumb abduction / adduction); It can be understood that the motion trajectory envelope refers to the minimum spatial area or range boundary formed by the set of all possible paths when a joint or end effector performs a certain activity. In other words, it represents the spatial "coverage" or extreme contour shell of a certain motion.

[0081] Furthermore, the curvature radius of the palmar joint surface of the thumb base 7 is expressed as:

[0082] wherein, is the joint curvature matching coefficient, preferably, is 0.60; , are the modified factors of the palm width and the total length of the palm respectively, preferably, is 0.25, is 0.05.

[0083] The concave curve of the present application makes the connection angle more reasonable when assembled, avoiding excessive contact point interference between the thumb and the palm platform; The concave design can more naturally "accommodate" the rotational activity track of the thumb, improving the covering and fitting ability of the thumb; The root of the human thumb itself is a structure with a concave transition, and this anatomical feature is simulated by Rthumb in the design, making the dexterous hand more biomimetic in form and function; Preferably, R_thumb=18.0±0.5mm. Further, the metacarpal joint surface curvature radius of the metacarpal base area is:

[0084] wherein, represents the metacarpal curvature fitting coefficient, used for overall scaling to fit the joint surface continuity; , are the modified factors of the palm width and the total length of the palm respectively.

[0085] Preferably, =20.0±0.6mm, further, the palmar joint surface curvature radius and the metacarpal joint surface curvature radius satisfy the following constraint condition: .

[0086] Further, the effective cross-sectional area of the mechanical support wing of the thumb base 7 and the reinforcing rib of the little finger part of the palm 9 satisfies:

[0087] wherein, F thumb is the maximum grip force of the thumb assembly, preferably 150N; F 5 is the maximum grip force of the little finger assembly, preferably 80N; A 7 represents the effective cross-sectional area of the thumb base cross section (the plane parallel to the YOZ plane).A 9 represents the effective cross-sectional area of ​​the palm cross section of the little finger (the surface parallel to the YOZ plane).

[0088] Furthermore, taking the center point O(0,0,0) of the carpometacarpal joint surface as a reference, the coordinate system positioning relationship of the little finger part of the palm 9 is:

[0089]

[0090]

[0091] Wherein, x9 represents the coordinate of the geometric center of the little finger part of the palm 9 on the X axis; y9 represents the coordinate of the geometric center of the little finger part of the palm 9 on the Y axis; z9 represents the coordinate of the geometric center of the little finger part of the palm 9 on the Z axis; β is the sagittal plane inclination angle of the metacarpal base area, preferably 10°.

[0092] Preferably, ; ; .

[0093] Furthermore, the clearance fit between the little finger part of the palm 9 and the palm positioning pin is expressed as:

[0094] Among them, D8 is the pin shaft diameter of the palm positioning pin; d9 is the pin hole diameter of the positioning pin hole in the palm of the little finger 9.

[0095] Preferably, D7=10.3mm; d9=10mm.

[0096] The arrangement of the little finger palm 9 of the present invention establishes a coordinated motion equation of the thumb-little finger base to ensure the biomechanical rationality of the grasping action; the tolerance zone design of the locating pin hole and the thumb base locating pin takes into account both processing feasibility and assembly accuracy.

[0097] Further, see Figure 5, an electric cylinder end cover 21 is provided on the top of the electric cylinder housing 17, and the reverse planetary roller screw pair 16 is telescopically connected to the electric cylinder housing 17; the housing stator 17-1, the permanent magnet rotor 17-2, the locking nut 17-3, the bearing 17-4 and the roller 17-5 are provided in the electric cylinder housing 17; the roller 17-5 is provided at the end away from the electric cylinder housing 17 away from the electric cylinder end cover 21; one end of the reverse planetary roller screw pair 16 is connected to the roller 17-5 and is telescopically arranged at Inside the electric cylinder housing 17; the other end of the reverse planetary roller screw pair 16 extends out of the electric cylinder end cover 21 of the electric cylinder housing 17, and the end is provided with a rod end joint bearing 16-1; the housing stator 17-1 and the permanent magnet rotor 17-2 are arranged between the reverse planetary roller screw pair 16 and the electric cylinder housing 17, and the housing stator 17-1 is arranged between the permanent magnet rotor 17-2 and the electric cylinder housing 17; the locking nut 17-3 and the bearing 17-4 are arranged in the electric cylinder housing 17 at one end of the electric cylinder end cover 21. The housing stator 17-1 and permanent magnet rotor 17-2 are coaxially arranged to form a frameless torque motor stator / rotor assembly, which is respectively fixed between the electric cylinder housing 17 and the screw drive shaft; the locking nut 17-3 and bearing 17-4 are arranged at the end of the electric cylinder housing 17 near the electric cylinder end cover 21, which are used to position and constrain the rotating parts of the motor; the roller 17-5 is arranged at the end away from the electric cylinder end cover 21, supporting the distal end of the inverted planetary roller screw pair 16; one end of the inverted planetary roller screw pair 16 is supported by the roller 17-5 and the electric cylinder housing, and can be telescopically moved along the electric cylinder axial direction.

[0098] Furthermore, the permanent magnet rotor 17-2, locking nut 17-3, bearing 17-4, and roller 17-5 form the stator winding. When energized, the stator winding generates a rotating magnetic field, driving the permanent magnet rotor 17-2 to rotate about the screw axis of the inverted planetary roller screw pair 16, driving the roller 17-5 to roll along the fixed screw groove of the inverted planetary roller screw pair 16. The combined rotation and revolution of the roller 17-5 forces the screw of the inverted planetary roller screw pair 16 to translate axially. The extension and contraction of the screw can drive the finger joint to flex and extend. The finger base is connected to the two symmetrically arranged micro-electric cylinders via the finger base connector 18, and the extension and contraction of the two cylinders cause the finger base to swing left and right. The thumb's rotary joint (composed of thumb connector 22 and thumb connector pin 23) enables rotational movement. The six-degree-of-freedom platform on thumb base 7 significantly increases the thumb's flexibility. This coordinated movement with the four fingers enables specific movements such as pinching, grasping, and gripping, as well as delicate manipulation of small objects. The pinky finger's separate design, disconnected from the entire palm, adds an additional degree of freedom, allowing for better coordination between the pinky and thumb, significantly increasing overall palm flexibility.

[0099] Furthermore, the fixed screw grooves of the inverted planetary roller screw pair 16 are multi-start spiral grooves on the inverted planetary roller screw pair 16 for the rollers 17-5 to embed and roll; these fixed screw grooves are arranged in a spiral shape along the screw axis, and the rollers roll in cooperation with the nuts therein to achieve linear transmission.

[0100] Further, see Figure 9 A revolute pair (provided by two planetary roller screw pairs) is set between the palm 8 and the little finger palm 9 to provide ±15° rotational freedom around the Y axis (perpendicular to the palm back plane).

[0101] During use, step 1: the permanent magnet rotor 17 - 2 rotates around the axis of the lead screw, and the extension and retraction of the lead screw drives the finger joints to flex and extend.

[0102] Step 2: The two micro electric cylinders at the finger base extend and contract to make the finger base swing left and right.

[0103] Step 3: The coordinated movement of the thumb joints and the four fingers can achieve specific actions such as pinching, grasping, and clenching. Step 4: The palm of the hand on the little finger makes the little finger and thumb cooperate better with each other.

[0104] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom humanoid robot dexterous hand, characterized in that: Including thumb assembly, index finger assembly, middle finger assembly, ring finger assembly, little finger assembly, thumb base, palm, little finger palm, back of hand, thumb connection assembly; The thumb assembly is arranged on the thumb base, and the thumb base is connected to the inner side of the back of the hand through the thumb connecting assembly; The thumb assembly is connected to the thumb base via a six-degree-of-freedom platform; The little finger assembly is connected to the palm and / or back of the hand through the palm of the little finger portion.

2. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 1, characterized in that: The thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly each include a fingertip, a second joint and a first joint.

3. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 2, characterized in that: The second joints of the thumb assembly, index finger assembly, middle finger assembly, ring finger assembly and little finger assembly are all pivotally connected to the connecting ends of the fingertips through fingertip joint connecting pins, and are telescopically connected through a driving device.

4. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 2, characterized in that: The first joints of the thumb assembly, the index finger assembly, the middle finger assembly and the ring finger assembly are respectively arranged on the first mounting platform on the inner side of the palm and / or the back of the hand through their own first joint transmission mechanisms.

5. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 3, characterized in that: The driving device is an electric cylinder.

6. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 5, characterized in that: The electric cylinder includes a reverse planetary roller screw pair, an electric cylinder housing, a rod end joint bearing, a housing stator, a permanent magnet rotor, a locking nut, a bearing, a roller and an electric cylinder end cover.

7. The multi-degree-of-freedom humanoid robot dexterous hand according to any one of claims 5-6, characterized in that: Each first joint transmission mechanism is provided with three sets of driving devices, and the three sets of driving devices are arranged in a triangle position.

8. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 1, characterized in that: One end of the palm of the little finger part is connected to the palm and / or the back of the hand through a positioning pin; the other end of the palm of the finger part is telescopically connected to the little finger assembly through a driving device.

9. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 1, characterized in that: The six-degree-of-freedom platform includes a top platform, an actuator assembly and a base platform; the actuator assembly is arranged between the top platform and the base platform, the top platform is connected to the second joint of the thumb, and the base platform is connected to the base of the thumb; the actuator assembly is provided with three groups of pillars, each group of pillars includes two pillars, and each pillar includes an upper hinge of the leg, a driving leg and a lower hinge of the leg.

10. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 1, characterized in that: The thumb connection assembly includes a thumb connection piece and a thumb connection pin.

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