Modular anthropomorphic hand motion characteristic thumb robotic finger

Abstract

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of humanoid robots, and particularly relates to a modularized mechanical thumb finger with the motion characteristics of a human hand. BACKGROUND

[0002] With the development of humanoid robot technology, a humanoid dexterous hand gradually becomes a research hotspot in the fields of robotics, bionics and human-computer interaction. Compared with traditional industrial manipulators, a humanoid dexterous hand not only pursues stability and reliability of grasping, but also emphasizes multi-finger coordination, complex operation and humanized interaction capability. A human hand has formed a highly flexible and functional structure in millions of years of evolution, and can realize tasks from large-scale rough handling to fine operation, which provides an important inspiration for the design of a humanoid hand. In the structure of a human hand, a thumb plays a decisive role. The opposition function of the thumb enables a human being to form a stable opposition structure and fine opposition operation with the other four fingers, thereby greatly expanding the operation range and tool use capability. Therefore, how to effectively realize the function of the thumb of a humanoid dexterous hand becomes a key problem in the field.

[0003] The overall structures of the remaining four fingers of an existing dexterous hand are similar, and a modularized design can be realized, but the existing humanoid thumb mechanism still has problems such as uncoordinated proportions, limited motion degrees of freedom, contradiction between freedom degree configuration and driving complexity, and non-human appearance.

[0004] Therefore, there is an urgent need for a humanoid thumb mechanical structure that is compact in structure, has consistent finger degrees of freedom, motion characteristics and size proportions with a human hand, and has a humanoid appearance, and at the same time, the thumb mechanism can be modularly deployed to any human palm to more effectively support the design and implementation of a humanoid dexterous hand system. SUMMARY

[0005] The present application aims to provide a modularized mechanical thumb finger with the motion characteristics of a human hand to solve the above technical problems.

[0006] To solve the above technical problems, the specific technical scheme of a modularized mechanical thumb finger with the motion characteristics of a human hand is as follows:

[0007] A modularized mechanical thumb finger with the motion characteristics of a human hand includes a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module is used to provide a connection interface with a palm or an arm robot. The metacarpal module is movably connected to the base module and has three active degrees of freedom for realizing opposition, abduction and dumping motions. The proximal phalanx is movably connected to the metacarpal module for realizing bending motion. The distal phalanx is movably connected to the proximal phalanx for realizing coupling and decoupling motions.

[0008] Further, the base module comprises an upper end base and a lower end base, the upper end base is used to fix the movable component of the thumb opposition movement, and provides an interface for connection with the palm and other four finger modules; the lower end base is used to assist in fixing the movable component of the thumb opposition movement, and provides an interface for connection with the arm robot.

[0009] Further, the three active degrees of freedom of the metacarpal module include an opposition movement mechanism, a dumping movement mechanism and an abduction movement mechanism, the proximal phalanx includes a bending movement mechanism, the opposition movement mechanism, the dumping movement mechanism, the abduction movement mechanism and the bending movement mechanism are driven to move correspondingly through a screw-nut mechanism, the distal phalanx and the proximal phalanx are coupled to move through a four-bar linkage mechanism, and the distal phalanx and the proximal phalanx are decoupled to move through a rocker slider mechanism.

[0010] Further, the opposition movement mechanism comprises an opposition base, a first bearing, an opposition movement motor, an opposition movement slider, an opposition movement ball slider, an opposition movement slide rail and an opposition movement connecting rod, the opposition base is fixed to the base module through the first bearing, the opposition movement motor is fixed to the base module, an output shaft of the opposition movement motor is in threaded sliding connection with the opposition movement slider, the opposition movement ball slider is fixed above the opposition movement slider, the opposition movement ball slider can move in translation along the opposition movement slide rail fixed to the upper end base, the opposition movement slider is in rotational connection with the opposition base through the opposition movement connecting rod, the opposition movement motor rotates to drive the opposition movement slider to move forward and backward along the screw thread, and the rotation of the opposition base is driven through the translation of the opposition movement slider.

[0011] Further, the dumping movement mechanism comprises a dumping base, a dumping movement motor, a dumping movement slider, a dumping movement ball slider, a dumping movement slide rail and a dumping movement connecting rod, the dumping base is fixed to the opposition base through a bearing, the dumping movement motor is fixed to the right side of the dumping base, an output shaft of the dumping movement motor is in threaded sliding connection with the dumping movement slider, the dumping movement ball slider is fixed above the dumping movement slider, the dumping movement ball slider can move in translation along the dumping movement slide rail fixed to the dumping base, the dumping movement slider is in rotational connection with the protruding part of the opposition base through the dumping movement connecting rod, the dumping movement motor drives the dumping movement slider to move up and down, and the rotation of the dumping movement motor itself and the dumping base is driven.

[0012] Further, the abduction mechanism comprises an abduction shell, an abduction motor, an abduction slider, an abduction ball slider, an abduction slide rail and an abduction connecting rod, the abduction shell is rotationally connected to the tilting base, the abduction motor is fixed to the left side of the tilting base, the output shaft of the abduction motor is threadedly and slidingly connected to the abduction slider through a lead screw, the abduction ball slider is fixed above the abduction slider, the abduction ball slider can move along the abduction slide rail fixed to the tilting base, the abduction slider is rotationally connected to the abduction shell through the abduction connecting rod, the abduction motor drives the abduction slider to move up and down, thereby driving the abduction connecting rod to rotate and drive the whole abduction shell to rotate.

[0013] Further, the flexion mechanism of the proximal phalange comprises a proximal phalange connecting rod, a flexion motor, a flexion slider, a flexion ball slider, a flexion slide rail and a flexion push rod, the proximal phalange connecting rod is rotationally connected to the inside of the abduction shell through a bearing, the flexion motor is fixed to the inside of the abduction shell, the output shaft of the flexion motor is threadedly connected to the flexion slider through a lead screw, the flexion ball slider is fixed above the flexion slider, the flexion ball slider can move up and down along the flexion slide rail fixed to the abduction shell, the flexion slider is rotationally connected to the proximal phalange connecting rod through the flexion push rod, the flexion motor drives the flexion slider to move up and down, thereby driving the flexion push rod to rotate and drive the proximal phalange connecting rod to rotate.

[0014] Further, the distal phalange comprises a distal phalange connecting rod and a compressible spring press rod, one end of the compressible spring press rod is rotationally connected to the lower end of the distal phalange connecting rod, and the other end is rotationally connected to the abduction shell, the distal phalange connecting rod, the proximal phalange connecting rod, the compressible spring press rod and the left side of the abduction shell form a four-link mechanism, and the distal phalange connecting rod is coupled to move under the driving of the proximal phalange connecting rod.

[0015] Further, when the proximal phalange connecting rod remains stationary, the compressible spring press rod, the distal phalange connecting rod, the left side of the abduction shell and the proximal phalange connecting rod jointly form a rocker slider mechanism, the abduction shell and the proximal phalange connecting rod jointly form a stationary base, the distal phalange connecting rod is decoupled and moves independently.

[0016] Further, the proximal phalange connecting rod and the distal phalange connecting rod are respectively provided with a proximal phalange finger pad and a distal phalange finger pad, and the proximal phalange finger pad and the distal phalange finger pad are provided with a force sensor or a visual sensor to provide tactile information or visual information for the fingers.

[0017] The modularized mechanical thumb finger with the human hand motion characteristics has the following advantages:

[0018] 1. Highly biomimetic motion function and flexibility: Through the modular design of the base module, metacarpal module (with three active degrees of freedom of opposition, abduction, and dumping), proximal phalanx (flexion motion), and distal phalanx (coupling / decoupling motion), the core motion patterns of the human thumb are accurately reproduced, especially the opposition function, enabling the robot hand to perform complex operations such as fine opposition and stable grasping, greatly improving the anthropomorphic operation ability of the anthropomorphic hand.

[0019] 2. Optimized structure and driving scheme: Each motion mechanism is driven by a screw and block mechanism, which has the advantages of high transmission accuracy, good self-locking, and strong carrying capacity, ensuring the accuracy and stability of the motion. At the same time, the driving motor is arranged near the motion module (such as the dumping motion motor fixed on the dumping base), optimizing the power transmission path, reducing energy loss and structural interference, and making the overall structure more compact and efficient.

[0020] 3. Unique coupling and decoupling mechanism: The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism, simulating the linkage characteristics of human phalanges; at the same time, through the design of a compressible spring rod and a rocker block mechanism, passive adaptive decoupling motion of the distal phalanx is realized innovatively. This feature enables the fingertip to passively adapt to different shapes and sizes of object surfaces, enhancing the inclusiveness and stability of grasping, especially when grasping irregular objects.

[0021] 4. Good modularity and integration: The base module provides a standardized connection interface with the palm or arm robot, allowing the thumb mechanism to be integrated into different anthropomorphic hand palm systems as an independent module, improving system versatility and maintainability, and reducing design and manufacturing costs.

[0022] 5. Enhanced environmental perception ability: By providing interfaces for force sensors or vision sensors on the proximal phalanx and distal phalanx, the robot finger is equipped with the ability to acquire tactile or visual information, providing an important hardware foundation for force-controlled grasping, fine operation, and human-machine safety interaction, greatly improving the intelligence and safety of robot operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Figure 1 is a schematic diagram of the overall structure of the modular anthropomorphic thumb robot finger of the present application;

[0024] Figure 2 Figure 3 is a schematic diagram of the base module structure of the present application;

[0025] Figure 3 Figure 4 is a schematic diagram of the metacarpal module structure of the present application;

[0026] Figure 4 Flow chart for thumb opposition motion of the present invention;

[0027] Figure 5 Structure diagram of metacarpal module, proximal phalange and distal phalange of the present invention;

[0028] Figure 6 Structure diagram of metacarpal module, proximal phalange and distal phalange of the present invention;

[0029] Figure 7 Flow chart for thumb pronation motion of the present invention;

[0030] Figure 8 Structure diagram of abduction motion mechanism of the present invention;

[0031] Figure 9 Structure diagram of abduction housing of the present invention;

[0032] Figure 10 Structure diagram of the inside of the abduction housing of the present invention;

[0033] Figure 11 Flow chart for thumb abduction motion of the present invention;

[0034] Figure 12 Flow chart for thumb proximal phalange motion of the present invention;

[0035] Figure 13 Flow chart for thumb proximal phalange and distal phalange decoupled motion of the present invention;

[0036] Marked in the figure: 100, base module; 200, metacarpal module; 300, proximal phalanx; 400, distal phalanx; 1, upper end base; 2, lower end base; 3, opposition base; 4, first bearing; 5, opposition movement motor; 6, opposition movement slider; 7, opposition movement ball slider; 8, opposition movement slide rail; 9, opposition movement connecting rod; 10, dumping base; 11, dumping movement motor; 12, dumping movement slider; 13, dumping movement ball slider; 14, dumping movement slide rail; 15, dumping movement connecting rod; 16, abduction left side shell; 161, protrusion; 162, bearing seat; 163, pressure rod connection point; 164, pin column; 17, abduction right side shell; 18, abduction movement motor; 19, abduction movement slider; 20, abduction movement ball slider; 21, abduction movement slide rail; 22, abduction movement connecting rod; 23, left side proximal finger connecting rod; 24, right side proximal finger connecting rod; 25, bending movement motor; 26, bending movement slider; 27, bending movement ball slider; 28, bending movement slide rail; 29, left side bending movement push rod; 30, right side bending movement push rod; 31, distal phalanx connecting rod; 32, compressible spring pressure rod; 33, proximal phalanx finger pad; 34, distal phalanx finger pad. DETAILED DESCRIPTION

[0037] In order to better understand the purpose, structure and function of the present application, a modularized mechanical thumb finger with human motion characteristics is further described in detail below in combination with the drawings.

[0038] As shown in Figure 1 A modularized mechanical thumb finger with human characteristics of the present application includes a base module 100, a metacarpal module 200, a proximal phalanx 300 and a distal phalanx 400. The base module 100 is used to provide a connection interface with a palm or an arm robot. The metacarpal module 200 is movably connected to the base module 100 and has three active degrees of freedom, which are used to realize opposition, abduction and dumping movements. The proximal phalanx 300 is movably connected to the metacarpal module 200 and is used to realize bending movement. The distal phalanx 400 is movably connected to the proximal phalanx 300 and is used to realize coupling and decoupling movements.

[0039] As shown in Figure 2 The base module 100 includes an upper end base 1 and a lower end base 2. The upper end base 1 is used to fix the movable components of the thumb opposition movement and at the same time provides an interface for connection with the palm and other four finger modules. The lower end base 2 is used to assist in fixing the movable components of the thumb opposition movement and at the same time provides an interface for connection with the arm robot.

[0040] The three active degrees of freedom of the metacarpal module 200 include a palmar motion mechanism, a dump motion mechanism, and an abduction motion mechanism, and the proximal phalangeal joint includes a flexion motion mechanism. The palmar motion mechanism, the dump motion mechanism, the abduction motion mechanism, and the flexion motion mechanism are all driven by a screw block mechanism to perform corresponding actions. The distal phalangeal joint 400 and the proximal phalangeal joint 300 are coupled by a four-bar linkage mechanism, and the distal phalangeal joint 400 and the proximal phalangeal joint 300 are decoupled by a rocker block mechanism.

[0041] As shown in Figure 3 , the palmar motion mechanism includes a palmar base 3, a first bearing 4, a palmar motion motor 5, a palmar motion slider 6, a palmar motion ball slider 7, a palmar motion slide rail 8, and a palmar motion connecting rod 9. The palmar base 3 is fixed to the base module through the first bearing 4, and the palmar motion motor 5 is also fixed to the base module. The output shaft of the palmar motion motor 5 has a screw thread, and a palmar motion slider 6 that can move parallel to the screw thread is arranged on the screw thread. The palmar motion slider 6 has a palmar motion ball slider 7 fixed above it, and the palmar motion ball slider 7 can move in translation along a palmar motion slide rail 8 fixed to the upper end base 1. This screw block mechanism is mainly used to assist the movement of the palmar motion slider 8. The palmar motion slider 6 is rotationally connected to the palmar base 3 through the palmar motion connecting rod 9. When the palmar motion motor 5 rotates, it drives the palmar motion slider 6 to move forward and backward along the screw thread. Through the translation of the palmar motion slider 6, the rotation of the palmar base 3 is driven. The flowchart of the thumb palmar motion is shown in Figure 4 .

[0042] As shown in Figure 5 Figure 6 , the dump motion mechanism includes a dump base 10, a dump motion motor 11, a dump motion slider 12, a dump motion ball slider 13, a dump motion slide rail 14, and a dump motion connecting rod 15. The dump base 10 is fixed to the palmar base 3 through a bearing, and the dump base 10 can rotate about the palmar base 3. The dump motion motor 11 is fixed to the right side of the dump base 10. The output shaft of the dump motion motor 11 has a screw thread, and a dump motion slider 12 that can move parallel to the screw thread is arranged on the screw thread. The dump motion slider 12 has a dump motion ball slider 13 fixed above it, and the dump motion ball slider 13 can move in translation along a dump motion slide rail 14 fixed to the dump base 10. This screw block mechanism is mainly used to assist the movement of the dump motion slider 12. The dump motion slider 12 is rotationally connected to the protruding part of the palmar base 3 through the dump motion connecting rod 15. Since the palmar base 3 is relatively static during the dump motion of the thumb, the dump motion motor 11 is fixed to the dump base 10. The dump motion motor 11 drives the dump motion slider 12 to move up and down along the screw thread. The up and down movement of the dump motion slider 12 drives the rotation of the dump motion motor 11 itself and the dump base 10. The flowchart of the thumb dump motion is shown inFigure 7 As shown.

[0043] As shown. Figure 6 Figure 8 As shown, the abduction mechanism includes an abduction shell, an abduction motor 18, an abduction slider 19, an abduction ball slider 20, an abduction slide rail 21 and an abduction connecting rod 22, as shown. Figure 2 Figure 9 As shown, the abduction shell includes an abduction left shell 16 and an abduction right shell 17, as shown. Figure 10 As shown, the abduction left shell 16 and the abduction right shell 17 have pin columns 164 inside the bottom, and the abduction left shell 16 and the abduction right shell 17 are connected to the pouring base 10 in a left-right combined manner through the pin columns 164, and the abduction shell can rotate as a whole around the pouring base 10, the abduction motor 18 is fixed to the left side of the pouring base 10, the output shaft of the abduction motor 18 has a lead screw thread, and an abduction slider 19 that can move parallel to the lead screw is arranged on the lead screw thread, the abduction slider 19 has an abduction ball slider 20 fixed above it, and the abduction ball slider 20 can move up and down along the abduction slide rail 21 fixed on the pouring base 10, and this lead screw slider mechanism is mainly used to assist the movement of the abduction slider 20, the abduction slider 19 is rotationally connected to the protrusion 161 inside the abduction left shell 16 through the abduction connecting rod 22, and the up and down movement of the abduction slider 19 will drive the abduction connecting rod 22 to rotate the whole abduction shell. The flow chart of thumb abduction movement is as shown. Figure 11

[0044] As shown. Figure 5 Figure 8 ​As shown, the proximal phalanx 300 of the thumb can be bent around the metacarpal module, the bending movement mechanism of the proximal phalanx 300 includes the proximal phalanx connecting rod, the bending movement motor 25, the bending movement slider 26, the bending movement ball slider 27, the bending movement sliding rail 28 and the bending movement push rod, the bending movement push rod includes the left side bending movement push rod 29 and the right side bending movement push rod 30, the proximal phalanx connecting rod includes the left side proximal phalanx connecting rod 23 and the right side proximal phalanx connecting rod 24, the left side proximal phalanx connecting rod 23 and the right side proximal phalanx connecting rod 24 are respectively rotatably connected in the bearing seat 162 inside the abduction left side shell 16 and the abduction left side shell 17. The bending movement motor 25 is fixed inside the abduction shell, the output shaft of the bending movement motor 25 has a lead screw thread, a bending movement slider 26 is arranged on the lead screw thread and can move up and down on the lead screw thread, the bending movement ball slider 27 is fixed above the bending movement slider 26, the bending movement ball slider 27 can move up and down on a bending movement sliding rail 28 fixed on the abduction left side shell 16, the lead screw slider mechanism is mainly used to assist the movement of the bending movement slider 26, the bending movement slider 26 is rotatably connected with the left side proximal phalanx connecting rod 23 and the right side proximal phalanx connecting rod 24 through the left side bending movement push rod 29 and the right side bending movement push rod 30, the bending movement motor 25 drives the bending movement slider 26 to move up and down, the bending movement slider 26 moving up and down drives the left side bending movement push rod 29 and the right side bending movement push rod 30 to rotate the left side proximal phalanx connecting rod 23 and the right side proximal phalanx connecting rod 24. The flow chart of the movement of the proximal phalanx of the thumb is as shown in Figure 12 .

[0045] The distal phalanx 400 of the thumb can rotate around the proximal phalanx of the thumb, as shown in Figure 5 Figure 6 Figure 8 The distal phalanx 400 includes the distal phalanx connecting rod 31 and the compressible spring pressure rod 32, the distal phalanx connecting rod 31 is installed on the inner side of the upper end of the left side proximal phalanx connecting rod 23 and the right side proximal phalanx connecting rod 24, one end of the compressible spring pressure rod 32 is rotatably connected with the lower end of the distal phalanx connecting rod 31, the other end is rotatably connected with the pressure rod connection point 163 on the abduction left side shell 16. The distal phalanx connecting rod 31, the proximal phalanx connecting rod, the compressible spring pressure rod 32 and the abduction left side shell 16 form a four-bar linkage mechanism, so the distal phalanx connecting rod 31 will be coupled to move under the driving of the proximal phalanx connecting rod. The flow chart of the coupled movement of the proximal phalanx 300 and the distal phalanx 400 of the thumb is as shown in Figure 12 .

[0046] However, since the compressible spring press rod 32 can realize the change of length, when the proximal phalange link keeps static, the compressible spring press rod 32, the distal phalange link 31, the abduction left side shell 16 and the proximal phalange link together form a rocker slider mechanism, the abduction left side shell 16 and the proximal phalange link together form a static base, thus the distal phalange link 31 can realize decoupling and independent movement in this way. The flow chart of the decoupling movement of the thumb proximal phalange 300 and the distal phalange 400 is shown as follows. Figure 13

[0047] It is worth noting that the proximal phalange link and the distal phalange link 31 can be respectively installed with the proximal phalange finger pad 33 and the distal phalange finger pad 34, and the proximal phalange finger pad 33 and the distal phalange finger pad 34 can be provided with force sensors or visual sensors to provide the finger with tactile information or visual information.

[0048] It can be understood that the present application is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present application. In addition, under the guidance of the present application, these features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of the present application.​

Claims

1. A modular split anthropomorphic thumb finger comprising a base module (100), a metacarpal module (200), a proximal phalanx (300) and a distal phalanx (400), the base module (100) being configured to provide a connection interface to a palm or an arm robot, characterized in that, The metacarpal module (200) is movably connected to the base module (100) and has three active degrees of freedom for realizing opposition, abduction and dumping movements; the proximal phalanx (300) is movably connected to the metacarpal module (200) for realizing flexion movement; the distal phalanx (400) is movably connected to the proximal phalanx (300) for realizing coupling and decoupling movements; the three active degrees of freedom of the metacarpal module (200) include an opposition movement mechanism, a dumping movement mechanism and an abduction movement mechanism, the proximal phalanx (300) includes a flexion movement mechanism, the opposition movement mechanism, the dumping movement mechanism, the abduction movement mechanism and the flexion movement mechanism are all driven to move correspondingly through a screw block mechanism, the distal phalanx (400) and the proximal phalanx (300) realize coupling movement through a four-bar linkage mechanism, the distal phalanx (400) and the proximal phalanx (300) realize decoupling movement through a rocker block mechanism; the flexion movement mechanism of the proximal phalanx (300) includes a proximal phalanx connecting rod, the distal phalanx (400) includes a distal phalanx connecting rod (31) and a compressible spring pressure rod (32), one end of the distal phalanx connecting rod (31) is rotatably connected to the lower end of the proximal phalanx connecting rod, the other end of the compressible spring pressure rod (32) is rotatably connected to the abduction shell, the distal phalanx connecting rod (31), the proximal phalanx connecting rod, the compressible spring pressure rod (32) and the abduction left shell (16) form a four-bar linkage mechanism, the distal phalanx connecting rod (31) is coupled to move under the driving of the proximal phalanx connecting rod.

2. The modular, body-separated, anthropomorphic thumb mechanical finger according to claim 1, characterized in that, The base module (100) includes an upper end base (1) and a lower end base (2), the upper end base (1) is used for fixing the movable component of the thumb opposition movement and providing an interface for connection with the palm and other four finger modules; the lower end base (2) is used for assisting in fixing the movable component of the thumb opposition movement and providing an interface for connection with the arm robot.

3. The modular, body-separated, anthropomorphic thumb mechanical finger according to claim 2, characterized in that, The opposition movement mechanism includes an opposition base (3), a first bearing (4), an opposition movement motor (5), an opposition movement slider (6), an opposition movement ball slider (7), an opposition movement slide rail (8) and an opposition movement connecting rod (9), the opposition base (3) is fixed to the base module (100) through the first bearing (4), the opposition movement motor (5) is fixed to the base module (100), the output shaft of the opposition movement motor (5) is threadedly and slidably connected with the opposition movement slider (6), the opposition movement ball slider (7) is fixed above the opposition movement slider (6), the opposition movement ball slider (7) can move in translation along the opposition movement slide rail (8) fixed to the upper end base (1), the opposition movement slider (6) is rotatably connected with the opposition base (3) through the opposition movement connecting rod (9), the opposition movement motor (5) rotates to drive the opposition movement slider (6) to move in translation along the screw thread, and the rotation of the opposition base (3) is driven by the translation of the opposition movement slider (6).

4. The modular, body-separated, anthropomorphic thumb mechanical finger according to claim 3, characterized in that, The pouring movement mechanism comprises a pouring base (10), a pouring movement motor (11), a pouring movement slider (12), a pouring movement ball slider (13), a pouring movement slide rail (14) and a pouring movement connecting rod (15), the pouring base (10) is fixed on the palm base (3) through a bearing, the pouring movement motor (11) is fixed on the right side of the pouring base (10), the output shaft of the pouring movement motor (11) is threadedly and slidably connected with the pouring movement slider (12), the pouring movement ball slider (13) is fixed above the pouring movement slider (12), the pouring movement ball slider (13) can move in translation along the pouring movement slide rail (14) fixed on the pouring base (10), the pouring movement slider (12) is rotatably connected with the protruding part on one side of the palm base (3) through the pouring movement connecting rod (15), the pouring movement motor (11) drives the pouring movement slider (12) to move up and down, and drives the pouring movement motor (11) and the pouring base (10) to rotate.

5. The modular, body-segmented, anthropomorphic thumb-finger mechanical hand of claim 4, wherein, The abduction movement mechanism comprises an abduction shell, an abduction movement motor (18), an abduction movement slider (19), an abduction movement ball slider (20), an abduction movement slide rail (21) and an abduction movement connecting rod (22), the abduction shell is rotatably connected on the pouring base (10), the abduction movement motor (18) is fixed on the left side of the pouring base (10), the output shaft of the abduction movement motor (18) is threadedly and slidably connected with the abduction movement slider (19), the abduction movement ball slider (20) is fixed above the abduction movement slider (19), the abduction movement ball slider (20) can move in translation along the abduction movement slide rail (21) fixed on the pouring base (10), the abduction movement slider (19) is rotatably connected with the abduction shell through the abduction movement connecting rod (22), the abduction movement motor (18) drives the abduction movement slider (19) to move up and down, thereby driving the abduction movement connecting rod (22) to drive the whole rotation of the abduction shell.

6. The modular, body-separated, anthropomorphic thumb mechanical finger according to claim 5, characterized in that, The bending movement mechanism of the proximal phalanx (300) further comprises a bending movement motor (25), a bending movement slider (26), a bending movement ball slider (27), a bending movement slide rail (28) and a bending movement push rod, the proximal phalanx connecting rod is rotatably connected inside the abduction shell, the bending movement motor (25) is fixed inside the abduction shell, the output shaft of the bending movement motor (25) is threadedly connected with the bending movement slider (26), the bending movement ball slider (27) is fixed above the bending movement slider (26), the bending movement ball slider (27) can move up and down along the bending movement slide rail (28) fixed on the abduction shell, the bending movement slider (26) is rotatably connected with the proximal phalanx connecting rod through the bending movement push rod, the bending movement motor (25) drives the up-and-down movement of the bending movement slider (26), thereby driving the bending movement push rod to drive the proximal phalanx connecting rod to rotate.

7. The modular, body-separated, anthropomorphic thumb mechanical finger according to claim 6, characterized in that, When the proximal phalange link remains stationary, the compressible spring presser bar (32), the distal phalange link (31), the abduction left side housing (16) and the proximal phalange link collectively form a rocker slider mechanism, the abduction housing and the proximal phalange link collectively form a stationary base, the distal phalange link (31) implements decoupling, individual motion.

8. The modular, body-separated, anthropomorphic thumb mechanical finger of claim 6, wherein, The proximal phalange link and the distal phalange link (31) are respectively installed with a proximal phalange finger pad (33) and a distal phalange finger pad (34), the proximal phalange finger pad (33) and the distal phalange finger pad (34) are provided with a force sensor or a visual sensor, to provide tactile information or visual information for the finger.

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