Five-degree-of-freedom active all-drive humanoid mechanical thumb, dexterous hand and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a five-degree-of-freedom active all-wheel-driven humanoid mechanical thumb, a dexterous hand and a humanoid robotic.The humanoid mechanical thumb comprises a polygonal bone base, a metacarpal bone unit, a phalanx unit, four first telescopic units and a second telescopic unit, and the metacarpal bone unit is hinged to the polygonal bone base; the phalanx unit comprises a first rod piece, a second rod piece, a third rod piece and a fourth rod piece; the first rod piece is hinged to the metacarpal bone unit; one end of the first telescopic unit is hinged to the multi-corner bone base, the other end of the first telescopic unit is hinged to the first rod piece, and the first telescopic unit is used for driving the first rod piece to rotate; one end of the second telescopic unit is hinged to the metacarpal bone unit; the other end of the second telescopic unit is hinged to the second rod piece, and the second telescopic unit is used for driving the second rod piece to rotate. The mechanical thumb designed by the invention has the comprehensive advantages of five degrees of freedom, high flexibility, high loading capacity, high precision and compact integration of a human-like thumb.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a five-degree-of-freedom, actively driven humanoid mechanical thumb, dexterous hand, and humanoid robot. Background Technology

[0002] In the field of robotics, the robotic thumb, as a key component for dexterous manipulation of robotic hands, directly determines the manipulator's operational space, the diversity of its grasping strategies, and its ultimate task execution capability. A high-performance robotic thumb can greatly expand the functional boundaries of a robot, improving its quality and reliability in performing assembly, service, and rescue operations in complex, unstructured environments.

[0003] However, existing robotic thumbs generally suffer from insufficient dexterity, failing to replicate the complex multi-degree-of-freedom movements of the human thumb. Secondly, in pursuit of flexibility and pressure resistance, they often employ complex transmission and joint structures, resulting in excessive size and weight, making integration into compact robotic hands with stringent space requirements. Furthermore, due to excessively long joint clearances, transmission chains, and inadequate control strategies, most designs also suffer from poor repeatability. In short, existing robotic thumbs cannot simultaneously achieve the four operational characteristics of human-like five-degree-of-freedom dexterity, high load-bearing capacity, high precision, and compact integration, making it difficult to meet the stringent requirements of dexterous operation in complex industrial scenarios.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a five-degree-of-freedom active fully driven humanoid mechanical thumb, dexterous hand and humanoid robot, which aims to solve the problem that the mechanical thumbs used in existing robots are insufficient in terms of structural strength and flexibility, making it difficult to meet the requirements of dexterous operation.

[0006] The technical solution of the present invention is as follows: A five-degree-of-freedom actively driven humanoid mechanical thumb, comprising: Polygonal bone base; The metacarpal unit is hinged to the polygonal bone base; A finger bone unit, comprising a first link, a second link, a third link, and a fourth link connected end-to-end; the first link, the second link, the third link, and the fourth link form a four-bar linkage; wherein the first link is hinged to the metacarpal bone unit; The first telescopic unit is hinged at one end to the multi-angled bone base and at the other end to the first rod. The first telescopic unit is used to drive the first rod to rotate. The second telescopic unit is hinged at one end to the metacarpal unit and at the other end to the second rod. The second telescopic unit is used to drive the second rod to rotate.

[0007] The five-degree-of-freedom active all-drive humanoid mechanical thumb, wherein the metacarpal unit includes a first Hooke hinge, a second Hooke hinge, and a connecting rod. One end of the first Hooke hinge is hinged to the polygonal bone base, and the other end is hinged to the connecting rod; one end of the second Hooke hinge is hinged to the connecting rod, and the other end is hinged to the first rod. Both the first and second Hooke hinges are offset Hooke hinges.

[0008] The aforementioned five-degree-of-freedom active all-drive humanoid mechanical thumb, wherein the first rod is L-shaped, including a first connecting segment and a second connecting segment that are perpendicular to each other, and a third connecting segment located at the connection between the first connecting segment and the second connecting segment; The first connecting segment is hinged to the first telescopic unit, the second connecting segment is hinged to the fourth rod, and one side of the third connecting segment is hinged to the second rod, while the other side is hinged to the second Hooke hinge.

[0009] The aforementioned five-degree-of-freedom active all-drive humanoid mechanical thumb, wherein the second rod is strip-shaped, one end of the second rod is hinged to the third connecting section, and the other end is hinged to the second telescopic unit; The second rod has a through hole in the middle, which is used to insert a rotating shaft to hinge the third rod.

[0010] The five-degree-of-freedom active all-drive humanoid mechanical thumb, wherein the first connecting segment includes two parallel connecting plates, and each connecting plate has two lateral ball heads protruding from its side. The first telescopic unit is provided in four parts, which are arranged around the first rod in a rectangular distribution on the multi-angled bone base; One end of the first telescopic unit is hinged to the polygonal bone base, and the other end is hinged to the lateral ball head.

[0011] The aforementioned five-degree-of-freedom actively driven humanoid mechanical thumb, wherein the first telescopic unit includes: The third Hooke's hinge is located on the base of the polygonal bone; The connecting sleeve is connected to the third Hooke hinge; A first cylinder body is inserted into the connecting sleeve; the first cylinder body is hollow and forms a first assembly cavity; A first motor is located in the first assembly cavity; The first lead screw is connected to the output shaft of the first motor and extends axially along the first assembly cavity; The first nut has one end screwed to the first lead screw, and the other end extends out of the first assembly cavity and forms a ball sleeve, which is connected to the lateral ball head.

[0012] The aforementioned five-degree-of-freedom active all-drive humanoid mechanical thumb includes a laterally protruding connecting platform on the connecting rod, the connecting platform being located at the end of the connecting rod that connects to the first Hooke hinge; the connecting platform is provided with a connecting ball head, the connecting ball head being used for hinged with the second telescopic unit.

[0013] The aforementioned five-degree-of-freedom actively driven humanoid mechanical thumb, wherein the second telescopic unit includes: The second cylinder body has one end connected to the connecting ball head, and the other end is hollow and forms a second assembly cavity; A second motor is located in the second assembly cavity; The second lead screw is connected to the output shaft of the second motor and extends axially along the second assembly cavity; The second nut is screwed to the second lead screw at one end and extends out of the second assembly cavity at the other end, where a fourth Hooke hinge is provided. The fourth Hooke hinge is hinged to the second rod.

[0014] This application also discloses a dexterous hand, comprising a palm portion and a five-degree-of-freedom actively driven humanoid mechanical thumb as described above, connected to said palm portion.

[0015] This application also discloses a humanoid robot, which includes a five-degree-of-freedom actively driven humanoid mechanical thumb as described in any of the above.

[0016] Compared with the prior art, the embodiments of the present invention have the following advantages: This invention discloses a five-degree-of-freedom, actively driven, humanoid mechanical thumb that simulates the function of a human thumb. Metacarpal and phalangeal units are sequentially hinged to a trapezoidal base. Through the cooperation of a first and second telescopic unit with a four-bar linkage, the first and second links in the four-bar linkage can actively rotate, driving the third and fourth links to rotate in tandem. This achieves the effect of driving the metacarpal and phalangeal units to rotate, improving the mechanical thumb's dexterity. Furthermore, the first and second telescopic units, along with the metacarpal units, connect to the phalangeal units, improving structural stability and rigidity. The phalangeal units are configured as a four-bar linkage, further enhancing structural stability. Therefore, the mechanical thumb has high overall structural rigidity, balancing dexterity and structural strength to meet the requirements of dexterous operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the five-degree-of-freedom active all-drive humanoid mechanical thumb in this invention; Figure 2 Figure (a) is a side view of the humanoid mechanical thumb with five degrees of freedom and active all-drive in the present invention in a forward tilting state; Figure 2 Figure (b) is a side view of the five-degree-of-freedom active all-drive humanoid mechanical thumb in the present invention in a backward tilting state; Figure 3 Figure (a) is a front view of the left swing state of the five-degree-of-freedom active all-drive humanoid mechanical thumb in this invention; Figure 3 Figure (b) is a front view of the right-handed state of the five-degree-of-freedom active all-drive humanoid mechanical thumb in this invention; Figure 4 Figure (a) is a front view of the finger bone unit in the left-hand swing state in this invention; Figure 4 Figure (b) is a front view of the finger bone unit in the right-handed state in this invention; Figure 5 Figure (a) is a side view of the finger bone unit in the present invention in a forward-leaning state; Figure 5 Figure (b) is a side view of the fourth member in the forward-leaning state in this invention; Figure 6 This is an exploded view of the metacarpal unit structure in this invention; Figure 7 This is a schematic diagram of the finger bone unit in this invention; Figure 8 This is an exploded view of the finger bone unit in this invention; Figure 9 This is an exploded view of the structure of the first telescopic unit in this invention; Figure 10 This is an exploded view of the structure of the second telescopic unit in this invention.

[0019] Among them, 10, trapezoidal base; 20, metacarpal unit; 21, first Hooke hinge; 22, second Hooke hinge; 23, connecting rod; 231, connecting platform; 232, connecting ball head; 30, phalanx unit; 31, first member; 311, first connecting section; 3111, connecting plate; 3112, lateral ball head; 312, second connecting section; 313, third connecting section; 32, second member; 321, perforation; 33, third member; 34. Fourth link; 40. Four-bar linkage; 50. First telescopic unit; 51. Third Hooke's hinge; 52. Connecting sleeve; 53. First cylinder; 531. First assembly cavity; 54. First motor; 55. First lead screw; 56. First lead screw nut; 57. Ball sleeve; 60. Second telescopic unit; 61. Second cylinder; 611. Second assembly cavity; 62. Second motor; 63. Second lead screw; 64. Second lead screw nut; 65. Fourth Hooke's hinge. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0022] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0023] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0024] For ease of description, spatial relational terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relational terms are intended to encompass not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways, and the spatial relational terms used herein will be interpreted accordingly.

[0025] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0026] See Figure 1 and Figure 7 In one embodiment of this invention application, a five-degree-of-freedom actively driven humanoid mechanical thumb is disclosed, which can simulate the function of a human thumb. It includes a trapezium base 10, metacarpal units 20, phalangeal units 30, a first telescopic unit 50, and a second telescopic unit 60. The metacarpal units 20 are hinged to the trapezium base 10. The phalangeal unit 30 includes a first rod 31, a second rod 32, a third rod 33, and a fourth rod 34 connected end-to-end. The first rod 31, the second rod 32, the third rod 33, and the fourth rod 34 are connected end-to-end. The third link 33 and the fourth link 34 form a four-bar linkage 40; the first link 31 is hinged to the metacarpal unit 20; one end of the first telescopic unit 50 is hinged to the trapezium base 10, and the other end is hinged to the first link 31, and the first telescopic unit 50 is used to drive the first link 31 to rotate; one end of the second telescopic unit 60 is hinged to the metacarpal unit 20; the other end is hinged to the second link 32, and the second telescopic unit 60 is used to drive the second link 32 to rotate.

[0027] In this embodiment, a metacarpal unit 20 and a phalangeal unit 30 are sequentially hinged to a trapezium base 10 to simulate the structure of a human thumb. A four-bar linkage 40 acts as an interphalangeal joint (IP joint). Through the cooperation of the first telescopic unit 50 and the second telescopic unit 60 with the four-bar linkage 40, the first link 31 and the second link 32 in the four-bar linkage 40 can actively rotate, driving the third link 33 and the fourth link 34 to rotate in coordination. This achieves the effect of driving the metacarpal unit 20 and the phalangeal unit 30 to rotate, realizing the pitch and lateral movements of the thumb, as well as the pitch movement of the IP linkage, thus improving the flexibility of the mechanical thumb.

[0028] Specifically, the first telescopic unit 50 and the second telescopic unit 60 can operate simultaneously or separately to complete different action commands.

[0029] The first type, such as Figure 2 , Figure 3 and Figure 4 As shown, when the first telescopic unit 50 is active and the second telescopic unit 60 is stationary, the second telescopic unit 60 is connected to the metacarpal unit 20, serving only a supporting function and keeping the second rod 32 stationary, thus stabilizing the shape of the phalanx unit 30. At this time, the metacarpal unit 20, phalanx unit 30, and second telescopic unit 60 rotate together. When the first telescopic unit 50 extends or retracts, the first rod 31 is pulled laterally, causing the metacarpal unit 20, phalanx unit 30, and second telescopic unit 60 to tilt simultaneously, as... Figure 2 As shown in Figures (a) and (b), the pitching motion of the entire mechanical thumb is achieved; or as shown in Figures (a) and (b), the pitching motion of the entire mechanical thumb is achieved. Figure 3 As shown in Figures (a) and (b), the lateral swinging motion of the entire mechanical thumb is achieved; or, as shown in Figures (a) and (b), Figure 4 As shown in Figures (a) and (b), the phalanx unit 30 of the mechanical thumb achieves lateral swinging motion, and the entire structure has high flexibility.

[0030] The second type, such as Figure 5 As shown in Figure (a), when the first telescopic unit 50 and the second telescopic unit 60 move simultaneously, they can work together to realize the pitching or lateral movement of the mechanical thumb, thus enabling flexible rotation in space.

[0031] The third type, such as Figure 5 As shown in Figure (b), when the first telescopic unit 50 is stationary and the second telescopic unit 60 is active, the first link 31 remains stable due to the support of the first telescopic unit 50 and the metacarpal unit 20. At this time, the extension or shortening of the second telescopic unit 60 can drive the second link 32 to rotate, causing the shape of the four-bar linkage 40 to change, adjusting the positions of the third link 33 and the fourth link 34. The fourth link 34 can be designed to mimic the shape of a human fingertip to achieve the effect of simulating the bending motion of the human thumb.

[0032] In summary, by integrating the first telescopic unit 50, the second telescopic unit 60, and the metacarpal unit 20 on the multi-twist bone base 10, the finger bone unit 30 can be flexibly manipulated to perform pitching, lateral swinging, bending, and other movements. It is highly flexible, occupies little space, has a good compact shape, is suitable for humanoid robot products, and is more realistic.

[0033] In addition, in this embodiment, the first telescopic unit 50, the second telescopic unit 60 and the metacarpal unit 20 are connected together to the finger bone unit 30 to improve the stability and rigidity of the structure; the finger bone unit 30 is set as a four-bar linkage 40, which further improves the stability of the structure.

[0034] In summary, the mechanical thumb disclosed in this embodiment has high overall structural rigidity, which can balance dexterity and structural strength to meet the requirements of dexterous operation.

[0035] like Figure 6 As shown, in another embodiment of this application, the metacarpal unit 20 includes a first Hooke hinge 21, a second Hooke hinge 22, and a connecting rod 23. One end of the first Hooke hinge 21 is hinged to the trapezium base 10, and the other end is hinged to the connecting rod 23. One end of the second Hooke hinge 22 is hinged to the connecting rod 23, and the other end is hinged to the first rod 31. Both the first Hooke hinge 21 and the second Hooke hinge 22 are offset Hooke hinges.

[0036] A Hooke's joint, also commonly known as a universal joint, is a mechanical hinge used to transmit rotational motion and torque between two non-collinear axes in space. Its core feature is that it allows angular offset in two directions, thus it is essentially a two-degree-of-freedom spatial mechanism.

[0037] In this embodiment, both the first Hooke hinge 21 and the second Hooke hinge 22 are offset Hooke hinges. The two axes of rotation of this type of Hooke hinge are T-shaped, spatially orthogonal, and do not intersect at a single point in space. Compared to traditional cross-axis Hooke hinges, this design allows for a wider range of hinge rotation, enabling the link 23 to move and adjust within a broader range of angles, providing greater flexibility and functionality.

[0038] Therefore, the metacarpal unit 20 disclosed in this embodiment plays a supporting role through the connecting rod 23. Both ends are hinged. The first Hooke hinge 21 acts as the "first carpometacarpal joint (CMC joint)" and the second Hooke hinge 22 acts as the "metacarpophalangeal joint (MCP joint)". It has high flexibility and can take into account both flexibility and structural strength, making the mechanical thumb more dexterous.

[0039] It should be noted that the first Hooke hinge 21 and the second Hooke hinge 22 in this embodiment are interchangeable. As equivalent replacements for the inventive concept, both of these implementations should be within the scope of protection of this application.

[0040] Specifically, in another embodiment of this invention, a first groove can be formed on the trapezoidal base 10, and the first Hooke's hinge 21 can be placed in the first groove to increase concealment and save space. Preferably, the first groove is elongated, and its extension direction coincides with the rotation plane of the first Hooke's hinge 21, which can play a role in avoiding interference between the trapezoidal base 10 and the metacarpal joint.

[0041] like Figure 7 and Figure 8 As shown, in another embodiment of this application, the first rod 31 is L-shaped, including a first connecting segment 311 and a second connecting segment 312 that are perpendicular to each other, and a third connecting segment 313 disposed at the connection between the first connecting segment 311 and the second connecting segment 312. The first rod 31 disclosed in this embodiment can be made of plastic or metal in a single molding process to improve structural strength. The first connecting segment 311 is hinged to the first telescopic unit 50, the second connecting segment 312 is hinged to the fourth rod 34, and one side of the third connecting segment 313 is hinged to the second rod 32, and the other side is hinged to the second Hooke hinge 22.

[0042] In this embodiment, the first connecting segment 311 extends laterally to connect the first telescopic unit 50, and the second connecting segment 312 extends longitudinally, connecting the fourth rod 34 at its top, away from the first connecting segment 311. The third connecting segment 313 serves as a connector at the connection point between the first connecting segment 311 and the second connecting segment 312. Simultaneously, during the extension or retraction of the first telescopic unit 50, the first rod 31 rotates around the connection point of the third connecting segment 313 and the second Hooke's hinge 22. This effectively places the rotation axis of the first rod 31 in the middle of the structure, shortening the lever arm and making it easier for the first telescopic unit 50 to drive the first rod 31.

[0043] like Figure 8 As shown, in another embodiment of this application, the second rod 32 is strip-shaped, one end of the second rod 32 is hinged to the third connecting section 313, and the other end is hinged to the second telescopic unit 60; a through hole 321 is provided in the middle position of the second rod 32, the through hole 321 is used to insert a rotating shaft to hinge the third rod 33.

[0044] In this embodiment, the second rod 32 and the first rod 31 are hinged together. A connector head protrudes from the first rod 31, and a shaft is inserted into the connector head. Two second rods 32 are provided, and the two second rods 32 are sleeved parallel to each other at both ends of the shaft. An assembly space is formed between the two second rods 32 to facilitate the assembly of the third rod 33 and the second telescopic unit 60.

[0045] When the first telescopic unit 50 stops moving, the first link 31 also remains stationary, while the second link 32 rotates around the connecting shaft between the third connecting section 313 and the second link 32. At this time, the second telescopic unit 60 extends or shortens, causing the movable end of the second link 32 to swing, thereby transmitting force to the third link 33 and the fourth link 34, realizing the linkage of the entire four-bar linkage 40.

[0046] Specifically, when the second telescopic unit 60 extends, it pushes the second rod 32 upward, causing the third rod 33 to move upward and drive the fourth rod 34 to rotate upward, completing the action of "extending the thumb"; when the second telescopic unit 60 shortens, the second rod 32 rotates downward, and the third rod 33 and the fourth rod 34 also rotate downward synchronously, completing the action of "bending the thumb".

[0047] As can be seen, the second telescopic unit 60 disclosed in this embodiment can accurately adjust the shape of the four-bar linkage 40 to complete the corresponding action, with high control precision and high flexibility.

[0048] Specifically, in this embodiment, the connection position between the second telescopic unit 60 and the second rod 32 is set at the end, and the connection position between the third rod 33 and the second rod 32 is set in the middle to form a force-saving lever, thereby reducing the resistance to the movement of the second telescopic unit 60 and further improving the flexibility of the structure.

[0049] For example Figure 8 As shown, in another embodiment of this application, the first connecting segment 311 includes two parallel connecting plates 3111, and each connecting plate 3111 has two lateral ball heads 3112 protruding from its side; four first telescopic units 50 are provided, and the four first telescopic units 50 are arranged around the first rod 31 in a rectangular distribution on the polygonal bone base 10; one end of the first telescopic unit 50 is hinged to the polygonal bone base 10, and the other end is hinged to the lateral ball head 3112.

[0050] In this embodiment, four first telescopic units 50 are symmetrically distributed on both sides of the metacarpal unit 20 and the phalanx unit 30. When the first telescopic unit 50 is stationary, the first telescopic unit 50 and the metacarpal unit 20 jointly support the phalanx unit 30, specifically by simultaneously connecting to the first rod 31 to keep the first rod 31 stable. When two adjacent first telescopic units 50 extend or retract simultaneously, the phalanx unit 30 can rotate forward and backward or tilt left and right to simulate the pitching or lateral movement of the thumb.

[0051] It should be noted that, since the metacarpal unit 20 is connected to the phalangeal unit 30 in this embodiment, and is constrained by the metacarpal unit 20, the four first telescopic units 50 cannot extend or shorten at the same time. At most, two adjacent first telescopic units 50 can be controlled to extend at the same time, and the other two first telescopic units 50 can be controlled to shorten at the same time, so as to realize the rotation of the phalangeal unit 30.

[0052] In summary, in this embodiment, the finger bone unit 30 is synchronously connected to the four first telescopic units 50 and the metacarpal unit 20, so that the finger bone unit 30 is stably supported and can rotate flexibly. After rotation, it can also maintain a stable posture, taking into account both the flexibility of movement and the strength of the structure, which is conducive to meeting the dexterity requirements of the mechanical thumb.

[0053] like Figure 9 As shown, in another embodiment of this application, the first telescopic unit 50 includes a third Hooke hinge 51, a connecting sleeve 52, a first cylinder 53, a first motor 54, a first lead screw 55, and a first nut 56. The third Hooke hinge 51 is disposed on the polygonal bone base 10; the connecting sleeve 52 is connected to the third Hooke hinge 51; the first cylinder 53 is inserted into the connecting sleeve 52; the first cylinder 53 is hollow, forming a first assembly cavity 531; the first motor 54 is disposed in the first assembly cavity 531; the first lead screw 55 is drivenly connected to the output shaft of the first motor 54 and extends along the axial direction of the first assembly cavity 531; one end of the first nut 56 is screwed to the first lead screw 55, and the other end extends out of the first assembly cavity 531 and forms a ball sleeve 57, which is connected to the lateral ball head 3112.

[0054] In this embodiment, the first telescopic unit 50 is connected to the polygonal bone base 10 via a third Hooke hinge 51, allowing it to rotate freely relative to the polygonal bone base 10. A connecting sleeve 52 is connected to the third Hooke hinge 51 and is used to mount the first cylinder body 53. The connecting sleeve 52 and the first cylinder body 53 can be connected by welding, bonding, or other methods to improve the strength of the connection and make the structure of the first telescopic unit 50 more stable.

[0055] In this embodiment, a battery can be installed inside the first cylinder 53, or an external power source can be connected via wires to power the first motor 54. The first motor 54, the first lead screw 55, and the first nut 56 are sequentially arranged axially within the first assembly cavity 531, forming a linear first telescopic unit 50. This design saves space and allows for the side-by-side arrangement of multiple first telescopic units 50 on the polygonal bone base 10, improving structural compactness while ensuring no mutual interference. Furthermore, the linear structure provides stable support, enhancing load-bearing capacity. In this embodiment, the maximum output force of the first telescopic unit 50 can reach 200 Newtons (N), suitable for humanoid robots, improving the robot's gripping and load-bearing capabilities.

[0056] In this embodiment, the first motor 54 can be fixed in the first assembly cavity 531 by welding, snap-fitting, or bonding. A flange bearing and a retaining ring can be fitted on the output shaft of the first motor 54 to act as a coupling, connecting the first lead screw 55 and enabling transmission between the first lead screw 55 and the first motor 54. The outer surface of the first lead screw 55 is threaded, and the inner wall of the first lead screw nut 56 is also threaded, and the two are screwed together. At the same time, a ball sleeve 57 is provided at the other end of the first lead screw nut 56 to match the lateral ball head 3112, realizing the hinge connection with the first rod 31.

[0057] Specifically, in this embodiment, a guide sleeve can be provided at the opening of the first assembly cavity 531 to fill the assembly gap between the first nut 56 and the first cylinder 53, thereby improving the sealing performance of the first assembly cavity 531, reducing the probability of dust and impurities entering the environment, and facilitating the long-term use of the first telescopic unit 50.

[0058] In summary, in this embodiment, the first motor 54 provides driving force, and the first lead screw 55 and the first lead screw nut 56 accurately transmit power, enabling the first telescopic unit 50 to accurately adjust the extension length or retraction length within a certain range. This results in high control precision, small volume, strong load capacity, and improved structural strength of the mechanical thumb.

[0059] It should be noted that the positions of the third Hooke hinge 51 and the ball sleeve 57 in this embodiment can be interchanged. In other words, the two ends of the first telescopic unit 50 can be interchanged, and can be set in either the forward or reverse direction. As an equivalent substitution of the inventive concept, both of these implementation methods should be within the scope of protection of this application.

[0060] like Figure 1 and Figure 6As shown, in another embodiment of this application, a laterally protruding connecting platform 231 is provided on the connecting rod 23. The connecting platform 231 is located at the end of the connecting rod 23 that connects to the first Hooke hinge 21. A connecting ball head 232 is provided on the connecting platform 231, and the connecting ball head 232 is used to hinge with the second telescopic unit 60.

[0061] In this embodiment, the connecting platform 231 and the connecting rod 23 are integrally formed. The second telescopic unit 60 is connected through the connecting ball head 232 on the connecting platform 231, so that the second telescopic unit 60 and the metacarpal unit 20 are kept on the same plane. Therefore, when the metacarpal unit 20 is tilted, it will not prevent the second telescopic unit 60 from driving the finger bone unit 30 to rotate, so as to realize the bending action of the finger bone unit 30 in the tilted state.

[0062] like Figure 10 As shown, in another embodiment of this application, the second telescopic unit 60 includes a second cylinder 61, a second motor 62, a second lead screw 63, and a second nut 64. One end of the second cylinder 61 is connected to the connecting ball head 232, and the other end is hollow and forms a second assembly cavity 611. The second motor 62 is disposed in the second assembly cavity 611. The second lead screw 63 is drivenly connected to the output shaft of the second motor 62 and extends along the axial direction of the second assembly cavity 611. One end of the second nut 64 is screwed to the second lead screw 63, and the other end extends out of the second assembly cavity 611 and is provided with a fourth Hooke hinge 65. The fourth Hooke hinge 65 is hinged to the second rod 32.

[0063] In this embodiment, one end of the second rod 32 is hollowed out to form a spherical groove to match and connect to the ball head 232, and the other end of the second rod 32 forms a second assembly cavity 611. The second motor 62 is fixed to the bottom of the second assembly cavity 611 and can be powered by a battery or an external power source. The output end of the second motor 62 is connected to a nut or a retaining ring to drive the second lead screw 63. The second lead screw 63 is screwed to the second lead nut 64. When the second motor 62 drives the second lead screw 63 to rotate, the second lead nut 64 will rise and fall along the axial direction of the second assembly cavity 611 to realize the telescopic function of the second telescopic unit 60. The end of the second lead nut 64 is provided with a fourth Hooke hinge 65 to realize the hinge connection with the second rod 32.

[0064] As can be seen, the second telescopic unit 60 disclosed in this embodiment is generally linear, with the second cylinder 61 supporting the second motor 62, the second lead screw 63, and the second lead screw 64, similar to the structure of the first telescopic unit 50. It has good load capacity, high transmission accuracy, good control performance, and is conducive to long-term use.

[0065] It should be noted that in this embodiment, the positions of the fourth Hooke hinge 65 and the second cylinder 61 can be interchanged. In other words, the two ends of the second telescopic unit 60 can be interchanged, and can be set in either the forward or reverse direction. Simultaneously, the connecting rod 23 can be set in the reverse direction to match the second telescopic unit 60. As equivalent replacements for the inventive concept, both of these implementations should be within the scope of protection of this application.

[0066] Specifically, as another embodiment of this application, a data comparison of the range of motion of a five-degree-of-freedom active all-drive humanoid mechanical thumb and the range of motion of a human thumb is disclosed, as shown in Table 1 below.

[0067] Table 1

[0068] The human reference data in Table 1 are available data on the range of motion of the human thumb in the prior art. A comparison shows that the mechanical thumb has a larger range of motion and better flexibility than the human thumb. The mechanical thumb disclosed in this embodiment avoids all singularities during movement and, by adjusting the axial distribution of the four first telescopic units 50 and the second telescopic unit 60, achieves uniform gravity distribution. The first telescopic units 50 and the second telescopic unit 60 experience less pressure, resulting in a strong overall load capacity, with a maximum load of 80N, demonstrating a high degree of human-likeness.

[0069] This application also discloses a dexterous hand, comprising a palm portion and a five-degree-of-freedom actively driven humanoid mechanical thumb as described above, connected to said palm portion.

[0070] This application also discloses a humanoid robot, which includes a five-degree-of-freedom actively driven humanoid mechanical thumb as described in any of the above.

[0071] In summary, this application discloses a five-degree-of-freedom, actively driven, humanoid mechanical thumb, comprising a trapezium base 10, a metacarpal unit 20, a phalangeal unit 30, a first telescopic unit 50, and a second telescopic unit 60. The metacarpal unit 20 is hinged to the trapezium base 10. The phalangeal unit 30 includes a first link 31, a second link 32, a third link 33, and a fourth link 34 connected end-to-end. The first link 31, the second link 32, the third link 33, and the fourth link 34 form a four-bar linkage 40. The first link 31 is hinged to the metacarpal unit 20. One end of the first telescopic unit 50 is hinged to the trapezium base 10, and the other end is hinged to the first link 31. The first telescopic unit 50 is used to drive the first link 31 to rotate. One end of the second telescopic unit 60 is hinged to the metacarpal unit 20, and the other end is hinged to the second link 32. The second telescopic unit 60 is used to drive the second link 32 to rotate. Through the cooperation of the first telescopic unit 50 and the second telescopic unit 60 with the four-bar linkage 40, the first link 31 and the second link 32 in the four-bar linkage 40 can rotate actively; the first telescopic unit 50, the second telescopic unit 60 and the metacarpal unit 20 are connected to the phalangeal unit 30, and the phalangeal unit 30 is set as a four-bar linkage 40, which improves the stability of the structure, thereby taking into account both dexterity and structural strength to meet the requirements of dexterous operation.

[0072] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0073] It should be noted that this invention uses five-degree-of-freedom actively driven humanoid mechanical thumb, dexterous hand, and humanoid robot as examples to introduce the specific structure and working principle of the invention. However, the application of this invention is not limited to five-degree-of-freedom actively driven humanoid mechanical thumb, dexterous hand, and humanoid robot, and can also be applied to the production and use of other similar workpieces.

[0074] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A five-degree-of-freedom actively driven humanoid mechanical thumb, characterized in that, include: Polygonal bone base; The metacarpal unit is hinged to the polygonal bone base; A finger bone unit, comprising a first link, a second link, a third link, and a fourth link connected end-to-end; the first link, the second link, the third link, and the fourth link form a four-bar linkage; wherein the first link is hinged to the metacarpal bone unit; The first telescopic unit is hinged at one end to the multi-angled bone base and at the other end to the first rod. The first telescopic unit is used to drive the first rod to rotate. The second telescopic unit is hinged at one end to the metacarpal unit and at the other end to the second rod. The second telescopic unit is used to drive the second rod to rotate.

2. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 1, characterized in that, The metacarpal unit includes a first Hooke hinge, a second Hooke hinge, and a connecting rod. One end of the first Hooke hinge is hinged to the polygonal bone base, and the other end is hinged to the connecting rod. One end of the second Hooke hinge is hinged to the connecting rod, and the other end is hinged to the first rod. Both the first and second Hooke hinges are offset Hooke hinges.

3. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 2, characterized in that, The first rod is L-shaped and includes a first connecting segment and a second connecting segment that are perpendicular to each other, as well as a third connecting segment located at the connection between the first connecting segment and the second connecting segment; The first connecting segment is hinged to the first telescopic unit, the second connecting segment is hinged to the fourth rod, and one side of the third connecting segment is hinged to the second rod, while the other side is hinged to the second Hooke hinge.

4. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 3, characterized in that, The second rod is strip-shaped, with one end hinged to the third connecting section and the other end hinged to the second telescopic unit; The second rod has a through hole in the middle, which is used to insert a rotating shaft to hinge the third rod.

5. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 3, characterized in that, The first connecting segment includes two connecting plates arranged in parallel, and each connecting plate has two lateral ball heads protruding from its side. The first telescopic unit is provided in four parts, which are arranged around the first rod in a rectangular distribution on the multi-angled bone base; One end of the first telescopic unit is hinged to the polygonal bone base, and the other end is hinged to the lateral ball head.

6. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 5, characterized in that, The first telescopic unit includes: The third Hooke's hinge is located on the base of the polygonal bone; The connecting sleeve is connected to the third Hooke hinge; A first cylinder body is inserted into the connecting sleeve; the first cylinder body is hollow and forms a first assembly cavity; A first motor is located in the first assembly cavity; The first lead screw is connected to the output shaft of the first motor and extends axially along the first assembly cavity; The first nut has one end screwed to the first lead screw, and the other end extends out of the first assembly cavity and forms a ball sleeve, which is connected to the lateral ball head.

7. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 2, characterized in that, The connecting rod is provided with a laterally protruding connecting platform, which is located at the end of the connecting rod that connects to the first Hooke hinge; the connecting platform is provided with a connecting ball head, which is used to hinge with the second telescopic unit.

8. The five-degree-of-freedom actively driven humanoid mechanical thumb according to claim 7, characterized in that, The second telescopic unit includes: The second cylinder body has one end connected to the connecting ball head, and the other end is hollow and forms a second assembly cavity; A second motor is located in the second assembly cavity; The second lead screw is connected to the output shaft of the second motor and extends axially along the second assembly cavity; The second nut is screwed to the second lead screw at one end and extends out of the second assembly cavity at the other end, where a fourth Hooke hinge is provided. The fourth Hooke hinge is hinged to the second rod.

9. A dexterous hand, characterized in that, It includes a palm portion and a five-degree-of-freedom, actively driven, humanoid mechanical thumb as described in any one of claims 1 to 8, connected to the palm portion.

10. A humanoid robot, characterized in that, Including the five-degree-of-freedom active all-drive humanoid mechanical thumb as described in any one of claims 1 to 8.

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