Humanoid dexterous hand and humanoid robot

Abstract

The invention provides a humanoid dexterous hand and a humanoid robot. The humanoid dexterous hand comprises a palm skeleton, a thumb driving mechanism and a joint mechanism, the palm skeleton comprises a guide rail fixing seat, a skeleton body, a four-finger structure, a thumb and a driving mounting groove; the thumb driving mechanism comprises a side swing driving assembly and a bending driving assembly. One end of the bending driving assembly is embedded into the driving mounting groove, the other end of the bending driving assembly is connected with the joint mechanism through the guide rail fixing seat, and the bending driving assembly is slidably connected with the guide rail fixing seat; and the side swing driving assembly is embedded into the driving mounting groove, is connected with the joint mechanism through the guide rail fixing seat, and is in sliding connection with the guide rail fixing seat. The joint mechanism is controlled through the side swing driving assembly and the bending driving assembly respectively, then the thumb is controlled to move through the joint mechanism, free movement can be conducted in two direction dimensions, and the flexibility of the thumb is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an anthropomorphic dexterous hand and a humanoid robot. BACKGROUND

[0002] At present, more and more end effectors of robots begin to adopt the design of anthropomorphic palms. The human palm has the characteristics of high flexibility, and the human palm can perform various grasping modes such as holding, grabbing, clamping and hooking. The key to the design of the anthropomorphic palm lies in the structural design of each finger. However, the driving motor of the anthropomorphic palm robot on the market is usually installed on the proximal phalanx of the thumb, resulting in a large volume of the thumb and poor flexibility. SUMMARY

[0003] To solve the above problems, the purpose of the embodiment of the present application is to provide an anthropomorphic dexterous hand and a humanoid robot.

[0004] In a first aspect, the embodiment of the present application provides an anthropomorphic dexterous hand, comprising a palm skeleton, a thumb driving mechanism and a joint mechanism.

[0005] The palm skeleton comprises a guide rail fixed seat, a skeleton body, a four-finger structure, a thumb and a driving installation slot.

[0006] The thumb driving mechanism comprises a side swing driving assembly and a bending driving assembly.

[0007] One end of the skeleton body is movably connected with the four-finger structure, and the other end is fixedly connected with the guide rail fixed seat and the driving installation slot, respectively.

[0008] The thumb is connected to the joint mechanism, and one end of the joint mechanism away from the thumb is connected with the guide rail fixed seat.

[0009] The bending driving assembly is embedded in the driving installation slot, and the bending driving assembly is connected with the joint mechanism through the guide rail fixed seat, and the bending driving assembly is slidably connected with the guide rail fixed seat.

[0010] The side swing driving assembly is embedded in the driving installation slot, and the side swing driving assembly is connected with the joint mechanism through the guide rail fixed seat, and the side swing driving assembly is slidably connected with the guide rail fixed seat.

[0011] Under the control of the side swing driving assembly, the joint mechanism drives the thumb to swing sideways.

[0012] Under the control of the bending driving assembly, the joint mechanism drives the thumb to bend.

[0013] In a second aspect, the embodiment of the present application further provides a humanoid robot, comprising the anthropomorphic dexterous hand of the first aspect.

[0014] In the scheme provided by the first aspect and the second aspect of the present application, the joint mechanism is controlled to make lateral swing movement by the lateral swing driving assembly, and the other end of the joint mechanism away from the lateral swing driving assembly controls the thumb to make synchronous lateral swing movement; the joint mechanism is controlled to make bending movement by the bending driving assembly, and the other end of the joint mechanism away from the bending driving assembly controls the thumb to make synchronous bending movement. Compared with the related art in which the driving motor of the simulated palm robot is installed on the proximal phalanx of the thumb of the hand, the joint mechanism is controlled by the lateral swing driving assembly and the bending driving assembly respectively, and then the thumb is controlled to move by the joint mechanism, so that the thumb can move freely in two direction dimensions, and the flexibility of the thumb when grabbing an object is greatly improved.

[0015] In order to make the above-mentioned purpose, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 A three-dimensional schematic view of the anthropomorphic dexterous hand provided by the embodiment of the present application is shown;

[0018] Figure 2 A side view of the anthropomorphic dexterous hand provided by the embodiment of the present application is shown;

[0019] Figure 3 A schematic view of the anthropomorphic dexterous hand provided by the embodiment of the present application is shown;

[0020] Figure 4 A schematic view of the A part of the Figure 3 enlarged structure is shown;

[0021] Figure 5 A positional relationship of the skeleton body, the driving installation slot and the guide rail fixing seat of the anthropomorphic dexterous hand provided by the embodiment of the present application is shown Figure 1 ;

[0022] Figure 6 A schematic view of the B part of the Figure 5 enlarged structure is shown;

[0023] Figure 7The position relationship of the skeleton body, the driving installation slot and the guide rail fixing seat of the anthropomorphic dexterous hand provided by the embodiment of the application is shown Figure 2 ;

[0024] Figure 8 The connection position schematic diagram of the skeleton body and the driving installation slot of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0025] Figure 9 The connection schematic diagram of the thumb support and the partial bending mechanism of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0026] Figure 10 The connection schematic diagram of the bending driving assembly and the bending mechanism of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0027] Figure 11 The guide rail fixing seat structure schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0028] Figure 12 The thumb support structure schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0029] Figure 13 The T-shaped rod structure schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0030] Figure 14 The thumb connecting part structure schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0031] Figure 15 The rocking block explosion schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown

[0032] Figure 16 The T-shaped rod and the rotating installation block connection schematic diagram of the anthropomorphic dexterous hand provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] 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 connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Currently, most humanoid robots only have four fingers, and the lack of a thumb limits the grasping methods of their end effectors. To address this issue, researchers have improved the hand structure of humanoid robots by adding a thumb. However, the thumb structure in these robots is directly controlled by a single actuator, limiting its movement to only one dimension and resulting in poor dexterity when grasping objects. Using two actuators would significantly increase the robot's size. Therefore, a dual-actuator solution that does not add too much volume is being developed.

[0037] Based on this, the present invention proposes the following embodiments of a humanoid dexterous hand and a humanoid robot.

[0038] Example 1

[0039] This invention provides a humanoid dexterous hand, see [link / reference]. Figure 1 The three-dimensional schematic diagram shown is shown below. (See also: [link to schematic diagram]) Figure 2 The side view shown and see Figure 3The schematic diagram shown below, excluding the four-finger structure, illustrates an anthropomorphic dexterous hand comprising: a hand skeleton, a thumb drive mechanism, and a joint mechanism. The hand skeleton includes: a guide rail mounting base 27, a skeleton body 22, a four-finger structure 12, a thumb 10, and a drive mounting groove 13. The thumb drive mechanism includes: a lateral swing drive assembly and a bending drive assembly. One end of the skeleton body 22 is movably connected to the four-finger structure 12, and the other end is fixedly connected to the guide rail mounting base 27 and the drive mounting groove 13, respectively. The thumb 10 is connected to the joint mechanism, with the end of the joint mechanism away from the thumb 10 connected to the guide rail mounting base 27. One end of the bending drive assembly is embedded... The bending drive component is inserted into the drive mounting slot 13. The other end of the bending drive component, which is not embedded in the drive mounting slot 13, is connected to the joint mechanism through the guide rail fixing seat 27. The bending drive component is slidably connected to the guide rail fixing seat 27. One end of the side swing drive component is embedded in the drive mounting slot 13. The other end of the side swing drive component, which is not embedded in the drive mounting slot 13, is connected to the joint mechanism through the guide rail fixing seat 27. The side swing drive component is slidably connected to the guide rail fixing seat 27. Under the control of the side swing drive component, the joint mechanism drives the thumb 10 to perform a side swing movement. Under the control of the bending drive component, the joint mechanism drives the thumb 10 to perform a bending movement.

[0040] In one embodiment, a four-finger drive groove 15 is formed at one end of the skeleton body 22 near the four-finger structure 12, and a driver 11 for driving the movement of the four-finger structure 12 is installed in the four-finger drive groove 15. The driver 11 drives the movement of the four-finger structure 12 using techniques known in the art, which will not be repeated here; in particular, the driver 11 driving the movement of the four-finger structure 12 means that the four-finger structure 12 achieves bending movement. The thumb drive mechanism and the joint mechanism are arranged side by side, and the joint mechanism only acts on the thumb 10; the lateral swing drive component controls the thumb 10 to perform lateral swing movement, and the movement trajectory of the thumb 10 is a fan-shaped area, and the thumb 10 performs reciprocating lateral swing movement. The bending drive component controls the thumb 10 to perform bending movement, which means that the thumb 10 performs bending and extension movements. Specifically, the lateral swing drive assembly and the bending drive assembly can be directly fixedly connected without being placed in the drive mounting slot 13. In this case, the drive mounting slot 13 can be removed from the end of the frame body 22 away from the four-finger structure 12, and the lateral swing drive assembly and the bending drive assembly fixed together can be directly fixedly connected to the frame body 22. The fixing methods between the lateral swing drive assembly and the bending drive assembly include, but are not limited to: welding, bonding and plugging.

[0041] In this embodiment of the invention, see Figure 4 shown Figure 3 Enlarged structural diagram of part A and see Figure 5 The positional relationship between the skeleton body, drive mounting slot and guide rail fixing seat is shown. Figure 1The guide rail fixing base includes: a first mounting plate 271, an intermediate plate 272, and a second mounting plate 273; the second mounting plate 273 has a second mounting pivot hole 26, and the joint mechanism is inserted into the second mounting pivot hole 26 and rotatably connected to the second mounting pivot hole 26; one end of the first mounting plate 271 is perpendicular to and fixed to the frame body 22, and the other end is perpendicularly connected to the intermediate plate 272; the other end face of the intermediate plate 272 away from the first mounting plate 271 is perpendicularly connected to the second mounting plate 273; the first mounting plate 271 and the second mounting plate 273 are parallel to each other; the other end of the bending drive assembly that is not embedded in the drive mounting groove 13 is connected to the joint mechanism through the first mounting plate 271, and the bending drive assembly is slidably connected to the first mounting plate 271; the other end of the side swing drive assembly that is not embedded in the drive mounting groove 13 is connected to the joint mechanism located on the second mounting plate 273 through the intermediate plate 272, and the side swing drive assembly is slidably connected to the intermediate plate 272.

[0042] In one implementation, see Figure 11 The schematic diagram of the guide rail fixing seat structure shown shows that the guide rail fixing seat 27 is generally stepped. A bearing needs to be placed in the second mounting shaft hole 26 of the second mounting plate 273 to facilitate the rotation of the joint mechanism in the second mounting shaft hole 26.

[0043] Specifically, the bending drive assembly is activated, reciprocating along a straight line on the first mounting plate 271 and controlling the joint mechanism to drive the thumb 10 to bend. The side-swing drive assembly is activated, reciprocating along a straight line on the intermediate plate 272 and controlling the joint mechanism to rotate around the second mounting pivot hole 26, so that the thumb 10 achieves side-swing movement under the action of the joint mechanism rotating around the second mounting pivot hole 26.

[0044] In the implementation of this invention, see Figure 5 The positional relationship between the skeleton body, drive mounting slot and guide rail fixing seat is shown. Figure 1 See also Figure 6 The enlarged structural diagram of part B shown is provided below. Figure 7 The positional relationship between the skeleton body, drive mounting slot and guide rail fixing seat is shown. Figure 2 And see also Figure 8 The positional relationship between the skeleton body, drive mounting slot and guide rail fixing seat is shown. Figure 3 The frame body 22 is provided with a sector tooth receiving groove 31 and a thumb mounting end face 30; wherein, the sector tooth receiving groove 31 is located on the first mounting plate 271 of the frame body 22 near the guide rail fixing seat 27, and a first mounting shaft hole 32 is opened in the inside of the sector tooth receiving groove 31; the thumb support mounting end face 30 is located on the top of the sector tooth receiving groove 31, and the joint mechanism is set on the thumb mounting end face 30.

[0045] Specifically, the bending drive assembly controls the joint mechanism to rotate around the first mounting pivot hole 32 in the sector tooth receiving groove 31 below the thumb mounting end face 30, and the thumb 10 achieves bending movement under the action of the joint mechanism rotating around the first mounting pivot hole 32.

[0046] In this embodiment of the invention, the joint mechanism includes: a thumb support 20, a lateral swing mechanism, and a bending mechanism.

[0047] In one implementation, see Figure 12 The schematic diagram of the thumb support structure shown is an L-shaped thumb support 20, which includes: a first frame 201 and a second frame 202; the first frame 201 is fixed on the thumb support mounting end face 30, and the first frame 201 has a fourth mounting pivot hole 2011; the second frame 202 has a third mounting pivot hole 2021, and the second frame 202 is parallel to the second mounting plate 273; the side swing mechanism passes through the third mounting pivot hole 2021 and is connected to the thumb 10; the bending mechanism passes through the fourth mounting pivot hole 2011 and is connected to the thumb 10; the other end of the bending drive assembly that is not embedded in the drive mounting groove 13 is connected to the bending mechanism through the first mounting plate 271; the other end of the side swing drive assembly that is not embedded in the drive mounting groove 13 is connected to the side swing mechanism located on the second mounting plate 273 through the intermediate plate 272; the side swing mechanism is inserted into the second mounting pivot hole 26 and is rotatably connected to the second mounting pivot hole 26.

[0048] Specifically, the lateral swing drive assembly controls the lateral swing mechanism to rotate around the axis of the third mounting pivot hole 2021, and the lateral swing mechanism drives the thumb 10 to achieve lateral swing movement. The bending drive assembly controls the bending mechanism to rotate around the axis of the fourth mounting pivot hole 2011, and the bending mechanism drives the thumb 10 to achieve bending movement. In particular, the axis of the first mounting pivot hole 32 coincides with the axis of the fourth mounting pivot hole 2011, and the axis of the second mounting pivot hole 26 coincides with the axis of the third mounting pivot hole 2021.

[0049] The aforementioned lateral swing mechanism and bending mechanism enable the robot's thumb 10 to rotate in two dimensions. The rotation of the thumb 10 in two different dimensions includes the following two cases:

[0050] (1) Thumb performs lateral swinging motion

[0051] The aforementioned lateral swing mechanism includes: a lateral swing block 21 and a lateral swing shaft 37; see also Figure 15The diagram shown is an exploded view of the rocker block. The side-swing rocker block 21 includes: a first body 211 and a second body 212; there are two second bodies 212, and the two second bodies 212 are symmetrically fixed at both ends of the first body 211; the thumb connecting part 17 is located between the two second bodies 212, and the thumb connecting part 17 is hinged to the second body 212; the first body 211 is close to the second frame 202 of the thumb support 20, and a fixing hole 2111 is provided at the center of the first body 211, and the axis of the fixing hole 2111 coincides with the axis of the third mounting shaft hole 2021 (located on the second frame 202); one end of the side-swing shaft 37 is embedded in the fixing hole 2111 (the cross-section of the fixing hole 2111 and the side-swing shaft 37 embedded in the fixing hole 2111 is elliptical), and the other end of the side-swing shaft 37 passes through the third mounting shaft hole 2021 and is connected to the side-swing sector tooth 34.

[0052] The lateral swing mechanism is controlled by a lateral swing drive assembly, which includes: a first driver 16, a lateral swing mounting part 24, a lateral swing rack 25, a lateral swing guide rail 28, a lateral swing slider 29, a lateral swing connecting rod 23, and a lateral swing sector tooth 34. The first driver 16 is embedded in the drive mounting groove 13. A lateral swing fixing groove 35 is provided on the middle plate 272 of the guide rail fixing seat 27 for the lateral swing guide rail 28 to be embedded, thereby fixing the lateral swing guide rail 28 to the middle plate 272 of the guide rail fixing seat 27. The lateral swing slider 29 is slidably connected to the lateral swing guide rail 28. A lateral swing strip groove is provided on the lateral swing slider 29, and the other end of the lateral swing guide rail 28 away from the lateral swing fixing groove 35 is embedded in the lateral swing strip groove. The lateral swing slider 29 can... The side swing guide rail 28 slides; the side swing sector tooth 34 is fixed to the other end of the side swing shaft 37 away from the side swing block 21; in particular, the fixing method between the side swing sector tooth 34 and the side swing shaft 37 includes, but is not limited to: flat fixing or welding fixing, wherein flat fixing means that the cross-sectional shape of the side swing sector tooth 34 and the side swing shaft 37 through which the side swing sector tooth 34 passes is non-circular; one side of the side swing mounting part 24 is fixedly connected to the side swing slider 29, and the other side of the side swing mounting part 24 is fixedly connected to the side swing rack 25, and the side swing rack 25 meshes with the side swing sector tooth 34 on the side swing shaft 37; one end of the side swing connecting rod 23 is connected to the first driver 16, and the other end is connected to the side swing mounting part 24.

[0053] Specifically, the first driver 16 is activated and the side swing linkage 23 is controlled to extend and retract. The side swing mounting part 24 is pushed by the side swing linkage 23 and moves back and forth linearly along the side swing guide rail 28. The side swing mounting part 24 facing the middle plate 272 drives the side swing slider 29 fixed to the side swing mounting part 24 to move linearly on the side swing guide rail 28. While the side swing mounting part 24 is moving back and forth linearly along the side swing guide rail 28, the side swing rack 25 on the side swing mounting part 24 also controls the meshing side swing sector teeth 34 to swing left and right. While the side swing sector teeth 34 is swinging, it transmits the rotational force to the side swing shaft 37. While the side swing shaft 37 and the side swing sector teeth 34 are swinging, the other end of the side swing shaft 37 drives the side swing block 21 to swing synchronously. While the side swing block 21 is swinging, it drives the thumb connecting part 17 and the thumb 10 on the side swing block 21 to swing sideways.

[0054] (2) Thumb flexion movement

[0055] See Figure 9 The diagram showing the connection between the thumb support and part of the bending mechanism is shown in the attached diagram. Figure 10 The diagram showing the connection between the bending drive assembly and the bending mechanism is shown in the attached diagram. Figure 16 The diagram shown illustrates the connection between the T-shaped rod and the rotating mounting block. The bending mechanism includes: a rotating mounting block 19, a T-shaped rod 18, and a thumb connector 17.

[0056] The bending drive assembly for controlling the bending mechanism includes: a second driver 45, a bending mounting part 47, a bending rack 33, a bending guide rail 48, a bending slider 49, a bending connecting rod 46, a bending shaft 38, and a bending sector tooth 39.

[0057] The rotating mounting block 19 has an inclined hole on the side facing the frame body 22. The other end of the rotating mounting block 19 away from the inclined hole is fixed to the bending shaft 38. The other end of the bending shaft 38 away from the rotating mounting block 19 passes through the fourth mounting shaft hole 2011 and the bending sector tooth 39 and is embedded in the first mounting shaft hole 32. The side of the bending sector tooth 39 with the tooth groove meshes with the bending rack 33. The bending rack 33 is fixed on the bending mounting part 47. The bending mounting part 47 is fixed on the bending slider 49. The other side of the bending slider 49 away from the bending mounting part 47 has a bending strip groove for the bending guide rail 48 to be embedded. The first mounting plate 271 of the guide rail fixing seat 27 is provided with a bending fixing groove 36. The bending guide rail 48 is fixed on the bending fixing groove 36. The second driver 45 is connected to the bending mounting part 47 through the bending connecting rod 46.

[0058] In this embodiment of the invention, see Figure 14The schematic diagram of the thumb connector structure shown is as follows: The thumb connector 17 includes a connecting body and two connecting plates 50. The two connecting plates 50 are symmetrically fixed to both sides of the connecting body and connected to the thumb 10. The other end of the connecting body away from the symmetrical connecting plates 50 is a housing 42. The housing 42 has an opening 40 facing the T-shaped rod 18. A fifth mounting pivot hole 41 for inserting the T-shaped rod 18 is provided on a set of opposing side walls of the housing 42. A sixth mounting pivot hole 14 is provided on the symmetrical second body 212 of the side rocker block 21. A connecting pivot 43 for inserting into the sixth mounting pivot hole 14 is provided on another set of opposing side walls of the housing 42. The center extension line of the fifth mounting pivot hole 41 is perpendicular to the center extension line of the sixth mounting pivot hole 14.

[0059] See Figure 13 The schematic diagram of the T-shaped rod structure shown indicates that the T-shaped rod 18 includes: a first rod body 181 and a second rod body 182. One end of the first rod body 181 is movably connected to the inclined hole, and the other end of the first rod body 181 passes through the opening 40 and is fixedly connected to the center of the second rod body 182. The second rod body 182 is embedded in the housing 42, and both ends of the second rod body 182 are inserted into the fifth mounting shaft hole 41. A rotating bearing 44 is embedded in the fifth mounting shaft hole. A bearing cover 51 is provided on the outside of the housing 42 and installed at the fifth mounting shaft hole 41. The bearing cover 51 is used to prevent the first rod body 181 from moving left and right to a certain extent.

[0060] Specifically, the second driver 45 is activated, controlling the bending connecting rod 46 to extend and retract. The other end of the bending connecting rod 46, away from the second driver 45, pushes the bending mounting part 47 and the bending slider 49 to reciprocate linearly along the bending guide rail 48. The bending rack 33 on the bending mounting part 47 reciprocates linearly while meshing with the bending sector tooth 39. The bending sector tooth 39 controls the rotation of the rotating mounting block 19 through the bending shaft 38. The inclined hole at the end of the rotating mounting block 19 away from the bending shaft 38 controls the first rod 181 to perform conical motion with the center of the second rod 182 as the center. After the first rod 181 is pushed, it controls the second rod 182 to rotate within the housing 42 along the center line of the fifth mounting shaft hole 41. During the rotation of the second rod 182 within the housing 42, it controls the thumb connector 17 to rotate around the axis of the sixth mounting shaft hole 14. Specifically, the bending movement of the thumb 10 actually means that the thumb 10 rotates along the axis of the sixth mounting pivot hole 14 following the thumb connecting part 17, and the thumb 10 and the connecting plate 50 on the thumb connecting part 17 are fixedly connected, and the fixing methods include but are not limited to: welding, plugging and threaded connection.

[0061] Furthermore, both the first driver 16 and the second driver 45 are linear drivers.

[0062] Furthermore, a rotating bearing 44 is provided in both the fifth mounting shaft hole 41 and the sixth mounting shaft hole 14.

[0063] In summary, this application proposes a humanoid dexterous hand. A lateral swing drive component controls the joint mechanism to perform lateral swing motion, while the end of the joint mechanism furthest from the lateral swing drive component controls the thumb 10 to perform a synchronous lateral swing motion. Similarly, a bending drive component controls the joint mechanism to perform bending motion, with the end of the joint mechanism furthest from the bending drive component controlling the thumb 10 to perform a synchronous bending motion. Compared to related technologies where the drive motor of a simulated hand robot is mounted on the proximal phalanx of the thumb, controlling the joint mechanism separately through the lateral swing and bending drive components, and then controlling the thumb 10's movement through the joint mechanism, allows for free movement in two dimensions, greatly improving the flexibility of the thumb 10 when grasping objects. Furthermore, the transmission structure is more compact and occupies less space.

[0064] Example 2

[0065] This application also discloses a humanoid robot, including the aforementioned humanoid dexterous hand structure. Therefore, this humanoid robot possesses all the technical effects described in Embodiment 1, which will not be repeated here.

[0066] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A humanoid dexterous hand, characterized in that, include: Hand skeleton, thumb drive mechanism, and joint mechanism; The hand skeleton includes: a guide rail fixing seat, a skeleton body, a four-finger structure, a thumb, and a drive mounting groove; The thumb drive mechanism includes: a side-swing drive assembly and a bending drive assembly; One end of the skeleton body is movably connected to the four-finger structure, and the other end is fixedly connected to the guide rail fixing seat and the drive mounting slot respectively. The thumb is connected to the joint mechanism, and the end of the joint mechanism away from the thumb is connected to the guide rail fixing seat; The bending drive assembly is embedded in the drive mounting slot, and the bending drive assembly is connected to the joint mechanism through the guide rail fixing seat. The bending drive assembly is slidably connected to the guide rail fixing seat. The side swing drive assembly is embedded in the drive mounting slot, and the side swing drive assembly is connected to the joint mechanism through the guide rail fixing seat. The side swing drive assembly is slidably connected to the guide rail fixing seat. Under the control of the lateral swing drive assembly, the joint mechanism drives the thumb to perform a lateral swing motion; Under the control of the bending drive assembly, the joint mechanism drives the thumb to perform a bending motion.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The guide rail fixing base includes: a first mounting plate, an intermediate plate, and a second mounting plate; The second mounting plate has a second mounting pivot hole, and the joint mechanism is inserted into the second mounting pivot hole and rotatably connected to the second mounting pivot hole; One end of the first mounting plate is perpendicular to and fixed to the frame body, and the other end is perpendicularly connected to the intermediate plate; the other end face of the intermediate plate away from the first mounting plate is perpendicularly connected to the second mounting plate; the first mounting plate and the second mounting plate are parallel to each other. The other end of the bending drive assembly that is not embedded in the drive mounting slot is connected to the joint mechanism through the first mounting plate, and the bending drive assembly is slidably connected to the first mounting plate. The other end of the side swing drive assembly that is not embedded in the drive mounting slot is connected to the joint mechanism located on the second mounting plate through the intermediate plate, and the side swing drive assembly is slidably connected to the intermediate plate; The bending drive assembly is activated, and the bending drive assembly reciprocates along a straight line on the first mounting plate, and controls the joint mechanism to drive the thumb to bend. The side-swing drive assembly is activated, and the side-swing drive assembly reciprocates along a straight line on the middle plate, and controls the joint mechanism to rotate around the second mounting pivot hole. The thumb achieves side-swing movement under the action of the joint mechanism rotating around the second mounting pivot hole.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, The frame body is provided with a sector tooth receiving groove and a thumb mounting end face; The sector tooth receiving groove is located on the first mounting plate of the frame body near the guide rail fixing seat; a first mounting shaft hole is opened in the sector tooth receiving groove. The thumb support mounting end face is located at the top of the sector tooth receiving groove, and the joint mechanism is disposed on the thumb mounting end face; The bending drive assembly controls the joint mechanism to rotate around the first mounting pivot hole in the sector tooth receiving groove below the thumb mounting end face, and the thumb achieves bending movement under the action of the joint mechanism rotating around the first mounting pivot hole.

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, The joint mechanism includes: a thumb support, a lateral swing mechanism, and a bending mechanism; The thumb support is L-shaped and includes: a first frame and a second frame; The first frame is fixed to the mounting end face of the thumb bracket; The first frame has a fourth mounting shaft hole; The second frame has a third mounting pivot hole, and the second frame is parallel to the second mounting plate; The side-swing mechanism passes through the third mounting pivot hole and connects to the thumb; The bending mechanism passes through the fourth mounting pivot hole and is connected to the thumb; the other end of the bending drive assembly, which is not embedded in the drive mounting slot, is connected to the bending mechanism through the first mounting plate. The other end of the side-swing drive assembly that is not embedded in the drive mounting slot is connected to the side-swing mechanism located on the second mounting plate via the intermediate plate; the side-swing mechanism is inserted into the second mounting shaft hole and is rotatably connected to the second mounting shaft hole; The side-swing drive assembly controls the side-swing mechanism to rotate around the third mounting pivot hole as the center, and the side-swing mechanism drives the thumb to achieve side-swing movement. The bending drive assembly controls the bending mechanism to rotate around the fourth mounting pivot hole as the center, and the bending mechanism drives the thumb to achieve bending movement.

5. The anthropomorphic dexterous hand according to claim 4, characterized in that, The axis of the first mounting shaft hole coincides with the axis of the fourth mounting shaft hole, and the axis of the second mounting shaft hole coincides with the axis of the third mounting shaft hole.

6. The anthropomorphic dexterous hand according to claim 4, characterized in that, The bending mechanism includes: a rotating mounting block, a T-shaped rod, and a thumb connector; The rotating mounting block has an inclined hole on one side facing the skeleton body, and the other end of the rotating mounting block away from the inclined hole passes through the fourth mounting shaft hole and is connected to the bending drive assembly. One end of the T-shaped rod is inserted into the inclined hole, and the other end of the T-shaped rod is connected to the thumb connection part; The thumb connection part is connected to the thumb at the end away from the T-shaped bar; Under the control of the bending drive assembly, the rotating mounting block rotates around the fourth mounting shaft hole as the center, and drives the T-shaped rod to make conical motion, so that the T-shaped rod drives the thumb connection part and the thumb to bend.

7. The anthropomorphic dexterous hand according to claim 6, characterized in that, The side-swing mechanism includes: a side-swing block and a side-swing pivot; the side-swing block includes: a first body and a second body; There are two second bodies, and the two second bodies are symmetrically fixed at both ends of the first body; the thumb connecting part is located between the two second bodies, and the thumb connecting part is hinged to the second body; The first body is close to the second frame, and a fixing hole is provided at the center of the first body. The axis of the fixing hole coincides with the axis of the third mounting shaft hole. One end of the side swing shaft is connected to the side swing drive assembly, and the other end passes through the third mounting shaft hole and the fixed mounting hole and is connected to the side swing block. Driven by the side-swing drive assembly, the side-swing shaft drives the rocker block, the thumb connector and the thumb to perform side-swing movements synchronously.

8. The anthropomorphic dexterous hand according to claim 7, characterized in that, The side-swing drive assembly includes: a first driver, a side-swing mounting part, a side-swing rack, a side-swing guide rail, a side-swing slider, a side-swing connecting rod, and side-swing sector teeth; The first driver is embedded in the driver mounting slot; The side-swing guide rail is fixed to the middle plate of the guide rail fixing seat; The side-swing slider is slidably connected to the side-swing guide rail; The side-swing rack is mounted on the side-swing mounting part, and the side-swing mounting part is fixedly connected to the side-swing slider; The side-swing sector teeth are fixed to the other end of the side-swing axis away from the side-swing rocker; The side-swing slider is fixedly connected to the side-swing mounting part, and the side-swing rack meshes with the side-swing sector teeth on the side-swing rotating shaft; One end of the side swing linkage is connected to the first driver, and the other end is connected to the side swing mounting part; Driven by the first driver, the side swing linkage drives the side swing mounting part to reciprocate linearly along the side swing guide rail. The reciprocating side swing mounting part drives the side swing rack to move linearly. The linearly moving side swing rack drives the side swing sector teeth to rotate. The rotating side swing sector teeth drive the side swing shaft to rotate. The other end of the side swing shaft away from the side swing sector teeth drives the side swing rocker to swing synchronously. While swinging, the side swing rocker drives the thumb connection part on the side swing rocker to swing sideways with the thumb.

9. The anthropomorphic dexterous hand according to claim 6, characterized in that, The bending drive assembly includes: a second driver, a bending mounting part, a bending rack, a bending guide rail, a bending slider, a bending connecting rod, a bending shaft, and bending sector teeth; The second driver is embedded in the driver mounting slot, and the second driver is located in the driver mounting slot near the end where the driver mounting slot is connected to the skeleton body; The bending mounting part is connected to the rotating mounting block in the bending mechanism via the bending slider on the first mounting plate; The other end of the rotating mounting block away from the inclined hole is connected to the curved shaft, and the end of the curved shaft passing through the fourth mounting shaft hole meshes with the curved sector teeth. One end of the bending connecting rod is connected to the second driver, and the other end is connected to the bending mounting part; The curved guide rail is fixed to the first mounting plate of the guide rail fixing seat; The curved slider is slidably connected to the curved guide rail; The curved rack is fixedly connected to the curved mounting part; The curved sector teeth mesh with the curved rack; One end of the curved shaft is connected to the curved sector tooth, and the other end is connected to the rotating mounting block; Driven by the second driver, the bending linkage drives the bending mounting part to reciprocate linearly along the bending guide rail. The bending rack on the bending mounting part drives the bending sector teeth to rotate, and the bending sector teeth drive the bending shaft to rotate. The bending shaft controls the thumb connection part and the thumb to bend.

10. A humanoid robot, characterized in that, Including any one of the above-mentioned humanoid dexterous hands (1-9).

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