Five-degree-of-freedom active fully driven humanoid robotic thumb, dexterous hand and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a five-degree-of-freedom active full-drive humanoid mechanical thumb, a dexterous hand and a humanoid robot, wherein the humanoid mechanical thumb comprises a trapezium base, a metacarpal unit, a phalanx unit, four groups of first telescopic units and one group of second telescopic units; the metacarpal unit is hinged to the trapezium base; the phalanx unit comprises a first rod, a second rod, a third rod and a fourth rod; the first rod is hinged to the metacarpal unit; one end of the first telescopic unit is hinged to the trapezium base, and the other end is hinged to the first rod; the first telescopic unit is used for driving the first rod to rotate; one end of the second telescopic unit is hinged to the metacarpal unit; the other end is hinged to the second rod; and the second telescopic unit is used for driving the second rod to rotate. The mechanical thumb designed in the application has the comprehensive advantages of high dexterity, high load capacity, high precision and compact integration of the five degrees of freedom of the humanoid thumb.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a five-degree-of-freedom active full-drive humanoid mechanical thumb, dexterous hand and humanoid robot. BACKGROUND

[0002] In the field of robot technology, the mechanical thumb is a key component for realizing dexterous operation of the mechanical hand, and its performance directly determines the operational space, diversity of grasping strategies and final task execution capability of the entire mechanical hand. A high-performance mechanical thumb can greatly expand the functional boundaries of the robot and improve its quality and reliability in completing assembly, service, rescue and other operations in complex unstructured environments.

[0003] However, the existing mechanical thumb generally has insufficient dexterity and cannot reproduce the multi-degree-of-freedom compound motion of the human thumb. In addition, in order to pursue flexibility and pressure resistance, complex transmission and joint structures are often used, resulting in excessive size and weight, making it difficult to integrate into compact mechanical hands with strict space requirements. Furthermore, due to joint clearance, long transmission chain and insufficient control strategy, most designs also have the problem of poor repeatability positioning accuracy. In summary, the existing mechanical thumb cannot balance the four aspects of human-like five-degree-of-freedom dexterity, high load capacity, high precision and compact integration, and is difficult to meet the strict requirements of complex industrial scenarios for dexterous operation.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] In view of the deficiencies of the prior art described above, the purpose of the present application is to provide a five-degree-of-freedom active full-drive humanoid mechanical thumb, dexterous hand and humanoid robot, which aims to solve the problem that the existing mechanical thumb used by robots has insufficient structural strength and flexibility, making it difficult to meet the requirements of dexterous operation.

[0006] The technical solution of the present application is as follows:

[0007] A five-degree-of-freedom active full-drive humanoid mechanical thumb, comprising:

[0008] A trapezium base;

[0009] A metacarpal unit hinged to the trapezium base;

[0010] A phalanx unit, the phalanx unit comprising a first rod, a second rod, a third rod and a fourth rod connected head to tail; the first rod, the second rod, the third rod and the fourth rod forming a four-bar linkage mechanism; wherein the first rod is hinged to the metacarpal unit;

[0011] The first telescopic unit is hinged at one end to the trapezium base and at the other end to the first rod, and is used to drive the first rod to rotate;

[0012] The second telescopic unit is hinged at one end to the metacarpal unit and at the other end to the second rod, and is used to drive the second rod to rotate.

[0013] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the metacarpal unit comprises a first hooke joint, a second hooke joint and a connecting rod, one end of the first hooke joint is hinged to the trapezium base, and the other end is hinged to the connecting rod; one end of the second hooke joint is hinged to the connecting rod, and the other end is hinged to the first rod;

[0014] The first hooke joint and the second hooke joint are both biased hooke joints.

[0015] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the first rod is L-shaped and comprises a first connecting segment and a second connecting segment perpendicular to each other, and a third connecting segment arranged at the connecting position of the first connecting segment and the second connecting segment;

[0016] The first connecting segment is hinged to the first telescopic unit, the second connecting segment is hinged to the fourth rod, one side of the third connecting segment is hinged to the second rod, and the other side is hinged to the second hooke joint.

[0017] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the second rod is strip-shaped, one end of the second rod is hinged to the third connecting segment, and the other end is hinged to the second telescopic unit;

[0018] The middle position of the second rod is provided with a through hole for inserting a rotating shaft to hinge the third rod.

[0019] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the first connecting segment comprises two connecting plates arranged in parallel, and each connecting plate is provided on the side surface with two lateral ball heads;

[0020] The first telescopic unit is provided with four first telescopic units arranged around the first rod in a rectangular distribution on the trapezium base;

[0021] One end of the first telescopic unit is hinged to the trapezium base, and the other end is hinged to the lateral ball head.

[0022] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the first telescopic unit comprises:

[0023] A third hooke joint is arranged on the large multangular bone base;

[0024] A connecting sleeve is connected with the third hooke joint;

[0025] A first cylinder is inserted into the connecting sleeve; the first cylinder is hollow and a first assembly cavity is formed in the first cylinder;

[0026] A first motor is arranged in the first assembly cavity;

[0027] A first screw rod is in transmission connection with the output shaft of the first motor and extends along the axial direction of the first assembly cavity;

[0028] A first nut is in screw connection with one end of the first screw rod and the other end of the first nut extends out of the first assembly cavity and is provided with a ball sleeve; the ball sleeve is connected with the lateral ball head.

[0029] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the connecting platform is arranged on the connecting rod and protrudes laterally; the connecting platform is arranged on the end of the connecting rod and connected with the first hooke joint; the connecting platform is provided with a connecting ball head; the connecting ball head is used for being hingedly connected with the second telescopic unit.

[0030] The five-degree-of-freedom active full-drive humanoid mechanical thumb, wherein the second telescopic unit comprises:

[0031] A second cylinder is connected with one end of the connecting ball head and the other end of the second cylinder is hollow and provided with a second assembly cavity;

[0032] A second motor is arranged in the second assembly cavity;

[0033] A second screw rod is in transmission connection with the output shaft of the second motor and extends along the axial direction of the second assembly cavity;

[0034] A second nut is in screw connection with one end of the second screw rod and the other end of the second nut extends out of the second assembly cavity and is provided with a fourth hooke joint; the fourth hooke joint is hingedly connected with the second rod.

[0035] The application further discloses a dexterous hand, which comprises a palm part and the five-degree-of-freedom active full-drive humanoid mechanical thumb as any one of the above.

[0036] The application further discloses a humanoid robot, which comprises the five-degree-of-freedom active full-drive humanoid mechanical thumb as any one of the above.

[0037] Compared with the prior art, the embodiment of the application has the following advantages:

[0038] The five-degree-of-freedom active full-drive humanoid mechanical thumb disclosed by the application simulates the function of human thumb, sequentially articulates metacarpal units and phalange units on a trapezium base, and cooperates the first telescopic unit and the second telescopic unit with the four-bar linkage mechanism, so that the first link and the second link in the four-bar linkage mechanism can be actively rotated to drive the third link and the fourth link to rotate cooperatively, so as to realize the effect of driving the metacarpal units and the phalange units to rotate and improve the flexibility of the mechanical thumb. In addition, the phalange units are connected by the first telescopic unit, the second telescopic unit and the metacarpal units, so as to improve the stability and rigidity of the structure. The phalange units are arranged as the four-bar linkage mechanism, so as to further improve the stability of the structure. Therefore, the overall structure of the mechanical thumb is rigid, and the dexterity and structural strength can be considered, so as to meet the use requirements of dexterous operation. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in 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 described in the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0040] Figure 1 It is a structural schematic diagram of the five-degree-of-freedom active full-drive humanoid mechanical thumb in the present application.

[0041] Figure 2 In the figure (a), it is a side view of the five-degree-of-freedom active full-drive humanoid mechanical thumb in the present application in the forward bending state. Figure 2 In the figure (b), it is a side view of the five-degree-of-freedom active full-drive humanoid mechanical thumb in the present application in the backward bending state.

[0042] Figure 3 In the figure (a), it is a front view of the five-degree-of-freedom active full-drive humanoid mechanical thumb in the present application in the left swing state. Figure 3 In the figure (b), it is a front view of the five-degree-of-freedom active full-drive humanoid mechanical thumb in the present application in the right swing state.

[0043] Figure 4 In the figure (a), it is a front view of the phalange unit in the left swing state in the present application. Figure 4 In the figure (b), it is a front view of the phalange unit in the right swing state in the present application.

[0044] Figure 5 In the figure (a), it is a side view of the phalange unit in the forward bending state in the present application. Figure 5 In the figure (b), it is a side view of the fourth link in the forward bending state in the present application.

[0045] Figure 6It is a structure explosion drawing of the metacarpal unit in the application;

[0046] Figure 7 It is a structure schematic drawing of the phalanx unit in the application;

[0047] Figure 8 It is a structure explosion drawing of the phalanx unit in the application;

[0048] Figure 9 It is a structure explosion drawing of the first telescopic unit in the application;

[0049] Figure 10 It is a structure explosion drawing of the second telescopic unit in the application.

[0050] Wherein, 10, the base of the multiangular bone; 20, the metacarpal unit; 21, the first hooke joint; 22, the second hooke joint; 23, the connecting rod; 231, the connecting platform; 232, the connecting ball head; 30, the phalanx unit; 31, the first rod; 311, the first connecting section; 3111, the connecting plate; 3112, the lateral ball head; 312, the second connecting section; 313, the third connecting section; 32, the second rod; 321, the through hole; 33, the third rod; 34, the fourth rod; 40, the four-bar linkage; 50, the first telescopic unit; 51, the third hooke joint; 52, the connecting sleeve; 53, the first cylinder; 531, the first assembly cavity; 54, the first motor; 55, the first screw rod; 56, the first nut; 57, the ball sleeve; 60, the second telescopic unit; 61, the second cylinder; 611, the second assembly cavity; 62, the second motor; 63, the second screw rod; 64, the second nut; 65, the fourth hooke joint. DETAILED DESCRIPTION

[0051] In order to enable persons skilled in the art to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0052] Due to manufacturing techniques and / or tolerances, variations in the shapes illustrated in the drawings can occur. Therefore, the examples described herein are not limited to the specific shapes illustrated in the drawings, but include variations in the shapes that occur during manufacturing.

[0053] As used herein, the term "and / or" includes any one of the listed related items and any combination of any two or more of the listed related items.

[0054] Although terms such as "first" and "second" and "third" can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, terms of a first element, component, region, layer or section described herein could also be termed a second element, component, region, layer or section without departing from the teachings of the examples.

[0055] For ease of description, spatial relationship terms, such as "on", "upper", "lower", "below", and "above", can be used herein with respect to the orientation of one element with respect to another element as shown in the figures. Such spatial relationship terms can be intended to encompass different orientations of the device in use or operation, in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, then an element described as on "upper" or "top" with respect to another element would then be oriented "below" or "bottom" with respect to the other element. Accordingly, the term "on" encompasses both "on" and "below" with respect to the spatial orientation of the device. The device can be otherwise oriented (e.g., turned on its side) and terms such as "on", "above", "below", and "top" should be interpreted accordingly.

[0056] The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has", "having" as used herein, are specifically intended to be construed as open-ended terms (i.e., the terms do not allow for exclusion of any other elements, components, items or steps).

[0057] Referring to Figure 1 and Figure 7In an embodiment of the present application, a five-degree-of-freedom active full-drive humanoid mechanical thumb is disclosed, which can simulate the function of human thumb. The mechanical thumb comprises a trapezium base 10, a metacarpal unit 20, a phalange 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 phalange unit 30 comprises a first rod 31, a second rod 32, a third rod 33 and a fourth rod 34 connected head to tail. The first rod 31, the second rod 32, the third rod 33 and the fourth rod 34 form a four-bar linkage 40. The first rod 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 rod 31. The first telescopic unit 50 is used to drive the first rod 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 rod 32. The second telescopic unit 60 is used to drive the second rod 32 to rotate.

[0058] The metacarpal unit 20 and the phalange unit 30 are hinged to the trapezium base 10 in sequence, simulating the structure of human thumb. The 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 rod 31 and the second rod 32 in the four-bar linkage 40 can be actively rotated, driving the third rod 33 and the fourth rod 34 to rotate synchronously, so as to realize the effect of driving the metacarpal unit 20 and the phalange unit 30 to rotate, and to realize the pitching and yawing motion of the thumb, as well as the pitching motion of the IP joint, thereby improving the flexibility of the mechanical thumb.

[0059] Specifically, the first telescopic unit 50 and the second telescopic unit 60 can be operated simultaneously or separately to complete different action instructions.

[0060] The first kind, as shown in Figure 2 , Figure 3 and Figure 4 , when the first telescopic unit 50 is active and the second telescopic unit 60 is static, the second telescopic unit 60 is connected with the metacarpal unit 20 and only plays a supporting role, and keeps the second rod 32 static, so that the shape of the phalange unit 30 remains stable. At this time, the metacarpal unit 20, the phalange unit 30 and the second telescopic unit 60 rotate together. When the first telescopic unit 50 is elongated or shortened, the first rod 31 will be pulled laterally, and then the metacarpal unit 20, the phalange unit 30 and the second telescopic unit 60 will simultaneously occur lateral tilting, as shown in Figure 2 (a) and (b), to realize the pitching motion of the entire mechanical thumb; or as shown in Figure 3 (a) and (b), to realize the yawing motion of the entire mechanical thumb; or, as shown inFigure 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] Hooke's joint, also commonly known as universal joint, is a mechanical joint used to transmit rotational motion and torque between two non-collinear axes in space. Its core feature is to allow angular deviation in two directions, so it is essentially a two-degree-of-freedom spatial mechanism.

[0068] The first Hooke's joint 21 and the second Hooke's joint 22 disclosed in the embodiment are both offset type Hooke's joints, the two rotation axis of which are T-shapedly distributed, the two rotation axis are spatially orthogonal, and do not intersect at a point in space. Compared with the traditional cross shaft Hooke's joint, the design of this Hooke's joint makes the rotation range of the joint larger, the connecting rod 23 can move and adjust within a wider angle, providing greater flexibility and functionality.

[0069] Therefore, the metacarpal unit 20 disclosed in the embodiment plays a supporting role through the connecting rod 23, both ends of which are hingedly connected, the first Hooke's joint 21 acts as a "first carpometacarpal joint (CMC joint)", and the second Hooke's joint 22 acts as a "metatarsophalangeal joint (MCP joint)", which is highly flexible and can balance flexibility and structural strength, making the mechanical thumb more dexterous.

[0070] It should be noted that the first Hooke's joint 21 and the second Hooke's joint 22 have interchangeability, and as an equivalent replacement of the inventive concept, both of these two embodiments should be within the scope of protection of the present application.

[0071] Specifically, in another embodiment of the present embodiment, a first recess can be formed on the trapezium base 10, and the first Hooke's joint 21 is arranged in the first recess, so as to increase the concealment and save space. Preferably, the first recess is long strip-shaped, and the extension direction thereof coincides with the rotation plane of the first Hooke's joint 21, so as to play a avoiding role, avoiding the interference of the trapezium base 10 with the movement of the metacarpal joint.

[0072] As shown in Figure 7 and Figure 8 As another embodiment of the present application, the first rod 31 is L-shaped, comprising a first connecting segment 311 and a second connecting segment 312 perpendicular to each other, and a third connecting segment 313 arranged at the connecting position of the first connecting segment 311 and the second connecting segment 312. The first rod 31 disclosed in the embodiment can be one-time formed by plastic or metal to improve the structural strength. The first connecting segment 311 is hingedly connected with the first telescopic unit 50, the second connecting segment 312 is hingedly connected with the fourth rod 34, one side of the third connecting segment 313 is hingedly connected with the second rod 32, and the other side is hingedly connected with the second Hooke's joint 22.

[0073] The first connecting section 311 disclosed in the embodiment extends laterally to connect the first telescopic unit 50, and the second connecting section 312 extends longitudinally to connect the fourth rod 34 at the top away from the first connecting section 311. The third connecting section 313 serves as a connecting function at the connecting position of the first connecting section 311 and the second connecting section 312. Meanwhile, the first rod 31 rotates with the connecting point of the third connecting section 313 and the second hook hinge 22 as the fulcrum during the extension or contraction of the first telescopic unit 50. It is equivalent to setting the rotation axis of the first rod 31 at the middle position of the structure to shorten the force arm, so that the first telescopic unit 50 can more easily drive the first rod 31 to move.

[0074] As shown in Figure 8 As another embodiment of the present application, the second rod 32 is disclosed as a strip, one end of the second rod 32 is hinged with the third connecting section 313, and the other end is hinged with the second telescopic unit 60; a through hole 321 is arranged at the middle position of the second rod 32, and the through hole 321 is used for inserting a rotating shaft to hinge the third rod 33.

[0075] The second rod 32 and the first rod 31 are hinged in the embodiment, a connecting head is formed on the first rod 31, a shaft is inserted on the connecting head, and two second rods 32 are arranged, and the two second rods 32 are parallelly sleeved on both ends of the shaft. An assembly space is formed between the two second rods 32 to assemble the third rod 33 and the second telescopic unit 60.

[0076] When the first telescopic unit 50 stops moving, the first rod 31 also remains stationary, and the second rod 32 rotates with the connecting shaft of the third connecting section 313 and the second rod 32 as the center. At this time, the second telescopic unit 60 is elongated or shortened to swing the movable end of the second rod 32, so as to transmit the force to the third rod 33 and the fourth rod 34, and realize the linkage of the entire four-bar linkage mechanism 40.

[0077] Specifically, when the second telescopic unit 60 is elongated, the second rod 32 is pushed upward to move the third rod 33 upward, and the fourth rod 34 is rotated upward to complete the action of "stretching the thumb"; when the second telescopic unit 60 is shortened, the second rod 32 is rotated downward, and the third rod 33 and the fourth rod 34 are also rotated downward synchronously to complete the action of "bending the thumb".

[0078] It can be seen that the second telescopic unit 60 disclosed in the embodiment can accurately adjust the shape of the four-bar linkage mechanism 40 to complete the corresponding action, and the control precision is high and the flexibility is high.

[0079] Specifically, in the embodiment, the connection position of the second telescopic unit 60 and the second rod member 32 is arranged at the end portion, and the connection position of the third rod member 33 and the second rod member 32 is arranged at the middle portion, so as to form a force-saving lever, to reduce the resistance of the movement of the second telescopic unit 60, and further improve the flexibility of the structure.

[0080] For example, as shown in FIG. 1, the first telescopic unit 50 is arranged on the metacarpal bone unit 20, and the second telescopic unit 60 is arranged on the phalange unit 30. Figure 8 As another embodiment of the present application, as shown in FIG. 2, the first connecting section 311 includes two connecting plates 3111 arranged in parallel, and the side surface of each connecting plate 3111 is protrudingly provided with two lateral ball heads 3112; four first telescopic units 50 are arranged around the first rod member 31, and are distributed in a rectangular shape on the large multangular bone base 10; one end of the first telescopic unit 50 is hingedly connected with the large multangular bone base 10, and the other end is hingedly connected with the lateral ball head 3112.

[0081] In the embodiment, four first telescopic units 50 are arranged, and are symmetrically distributed on both sides of the metacarpal bone unit 20 and the phalange unit 30. When the first telescopic unit 50 is not moved, the first telescopic unit 50 and the metacarpal bone unit 20 jointly support the phalange unit 30, and specifically, simultaneously connect the first rod member 31, so as to keep the first rod member 31 stable. When two adjacent first telescopic units 50 are simultaneously telescoped, the phalange unit 30 can be rotated in the forward and backward direction, or tilted in the left and right direction, so as to simulate the pitching or side-swing movement of the thumb.

[0082] It should be noted that, in the embodiment, the metacarpal bone unit 20 is connected with the phalange unit 30, and is constrained by the metacarpal bone unit 20, so that the four first telescopic units 50 cannot be simultaneously elongated or shortened, and at most, two adjacent first telescopic units 50 can be simultaneously elongated, and the other two first telescopic units 50 can be simultaneously shortened, so as to realize the rotation of the phalange unit 30.

[0083] In summary, in the embodiment, the phalange unit 30 is stably supported and flexibly rotated by the four first telescopic units 50 and the metacarpal bone unit 20 synchronously connecting the phalange unit 30, and after rotation, the posture can also be kept stable, and the flexibility of movement and the strength of the structure are considered, which is beneficial to meet the dexterity requirement of the mechanical thumb.

[0084] For example, as shown in FIG. 1, the first telescopic unit 50 is arranged on the metacarpal bone unit 20, and the second telescopic unit 60 is arranged on the phalange unit 30. Figure 9As shown, as another embodiment of the present application, the first telescopic unit 50 is disclosed to comprise a third hooke joint 51, a connecting sleeve 52, a first cylinder 53, a first motor 54, a first screw rod 55 and a first nut 56, the third hooke joint 51 is arranged on the large triangular bone base 10; the connecting sleeve 52 is connected with the third hooke joint 51; the first cylinder 53 is inserted into the connecting sleeve 52; the first cylinder 53 is hollow and forms a first assembly cavity 531; the first motor 54 is arranged in the first assembly cavity 531; the first screw rod 55 is drivingly connected with 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 with the first screw rod 55, and the other end of the first nut 56 extends out of the first assembly cavity 531 and forms a ball sleeve 57, and the ball sleeve 57 is connected with the lateral ball head 3112.

[0085] In the embodiment, the large triangular bone base 10 is connected through the third hooke joint 51, so that the first telescopic unit 50 can rotate freely relative to the large triangular bone base 10. The connecting sleeve 52 is connected with the third hooke joint 51 and used for sleeving the first cylinder 53. The connecting sleeve 52 and the first cylinder 53 can be connected by welding, bonding or the like to improve the connection firmness and make the structure of the first telescopic unit 50 more stable.

[0086] In the embodiment, the first cylinder 53 can be provided with a battery or a wire for external power supply, so as to supply power to the first motor 54. The first motor 54, the first screw rod 55 and the first nut 56 are sequentially arranged in the first assembly cavity 531 along the axial direction, so as to form the first telescopic unit 50 in a straight line, which is beneficial to save space, facilitate side-by-side arrangement of multiple first telescopic units 50 on the large triangular bone base 10, improve the compactness of the structure on the basis of ensuring that the first telescopic units 50 do not interfere with each other, and provide stable support to improve the load capacity. In the embodiment, the maximum output force of the first telescopic unit 50 can reach 200 Newton (N), which is suitable for a humanoid robot and can improve the gripping and carrying capacity of the robot.

[0087] In the embodiment, the first motor 54 can be fixed in the first assembly cavity 531 by welding, clamping, bonding or the like. A flange bearing and a stop ring can be sleeved on the output shaft of the first motor 54 to serve as a shaft coupling, so as to connect the first screw rod 55 and realize transmission between the first screw rod 55 and the first motor 54. The outer surface of the first screw rod 55 is provided with threads, and the inner wall of the first nut 56 is also provided with threads, which are screwed together. Meanwhile, the other end of the first nut 56 is provided with the ball sleeve 57 to match the lateral ball head 3112 and realize the hinging with the first rod 31.

[0088] Specifically, a guide sleeve can be arranged at the opening of the first assembly cavity 531 in the embodiment, which fills the assembly gap between the first nut 56 and the first cylinder body 53, so that the sealing performance of the first assembly cavity 531 is better, the probability of dust and impurities entering the environment is reduced, and the long-term use of the first telescopic unit 50 is facilitated.

[0089] To sum up, in the embodiment, the driving force is provided by the first motor 54, and the first telescopic unit 50 can accurately adjust the extension length or the contraction length in a certain range through the accurate transmission of the first screw rod 55 and the first nut 56, so that the control precision is high, the occupied volume is small, the load capacity is strong, and the structural strength of the mechanical thumb is improved.

[0090] It should be noted that the positions of the third hook joint 51 and the ball sleeve 57 can be exchanged in the embodiment, in other words, the two ends of the first telescopic unit 50 can be exchanged, and the positive or negative setting can be used, which are equivalent alternatives of the concept of the application, and both of the two embodiments should be within the protection scope of the application.

[0091] As shown in Figure 1 and Figure 6 As another embodiment of the application, the connecting platform 231 protruding laterally is arranged on the connecting rod 23, the connecting platform 231 is located at the end of the connecting rod 23 connected with the first hook joint 21, the connecting ball head 232 is arranged on the connecting platform 231, and the connecting ball head 232 is used for being hingedly connected with the second telescopic unit 60.

[0092] The connecting platform 231 is integrally formed with the connecting rod 23 in the embodiment, the second telescopic unit 60 is connected through the connecting ball head 232 on the connecting platform 231, the second telescopic unit 60 is kept in the same plane with the metacarpal unit 20, and when the metacarpal unit 20 is inclined, the second telescopic unit 60 will not hinder the rotation of the phalanx unit 30, so that the bending action of the phalanx unit 30 in the inclined state is realized.

[0093] As shown in Figure 10 As another embodiment of the application, the second telescopic unit 60 includes a second cylinder body 61, a second motor 62, a second screw rod 63 and a second nut 64, one end of the second cylinder body 61 is connected with the connecting ball head 232, the other end is hollow and forms a second assembly cavity 611, the second motor 62 is arranged in the second assembly cavity 611, the second screw rod 63 is in transmission connection with 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 with the second screw rod 63, the other end of the second nut 64 extends out of the second assembly cavity 611 and is provided with a fourth hook joint 65, and the fourth hook joint 65 is hingedly connected with the second rod 32.

[0094] One end of the second rod 32 is hollowed out to form a spherical groove to match the connecting ball head 232, and the other end of the second rod 32 forms a second assembly cavity 611. The second motor 62 is fixed at the bottom of the second assembly cavity 611 and can be powered by a battery or an external power supply. The output end of the second motor 62 is connected to a nut or a fixed ring to drive the second screw rod 63. The second screw rod 63 is screwed with the second nut 64, and when the second motor 62 drives the second screw rod 63 to rotate, the second nut 64 will rise and fall along the axis of the second assembly cavity 611 to realize the telescopic function of the second telescopic unit 60. The end of the second nut 64 is provided with a fourth hook hinge 65 to realize the hinged connection with the second rod 32.

[0095] It can be seen that the second telescopic unit 60 disclosed in the embodiment has a straight line type as a whole, and the second motor 62, the second screw rod 63 and the second nut 64 are carried by the second cylinder body 61, which is similar to the structure of the first telescopic unit 50, has good load capacity, high transmission precision and good control performance, and is beneficial to long-term use.

[0096] It should be noted that the positions of the fourth hook hinge 65 and the second cylinder body 61 can be exchanged, in other words, the two ends of the second telescopic unit 60 can be exchanged, and can be arranged in a forward or reverse direction. In addition, the connecting rod 23 can be arranged in a reverse direction to match the second telescopic unit 60. As an equivalent alternative of the concept of the present application, both of these two embodiments should be within the scope of protection of the present application.

[0097] Specifically, as another embodiment of the present application, the data comparison between the movement range of the five-degree-of-freedom active full-drive humanoid mechanical thumb and the movement range of the human thumb is disclosed, as shown in Table 1 below.

[0098] Table 1

[0099]

[0100] The human reference data in Table 1 is the data of the range of motion of the human thumb in the prior art. It can be seen from the comparison that the range of motion of the mechanical thumb is larger than that of the human thumb and the flexibility is better. The mechanical thumb disclosed in the embodiment avoids all singular points in motion, and the distribution positions of the axes of the four first telescopic units 50 and the second telescopic unit 60 are adjusted to make the gravity distribution uniform, so that the pressure borne by the first telescopic units 50 and the second telescopic unit 60 is small, the overall load capacity is strong, and the maximum load can reach 80N, which embodies high humanization.

[0101] The present application also discloses a dexterous hand, which comprises a palm portion and a five-degree-of-freedom active full-drive humanoid mechanical thumb connected with the palm portion.

[0102] The application also discloses a humanoid robot, wherein the five-degree-of-freedom active full-drive humanoid mechanical thumb is the same as any of the above.

[0103] In summary, the application discloses a five-degree-of-freedom active full-drive humanoid mechanical thumb, which comprises a trapezium base 10, a metacarpal unit 20, a phalanx 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 phalanx unit 30 comprises first, second, third and fourth rod members 31, 32, 33 and 34 which are connected head to tail, the first, second, third and fourth rod members 31, 32, 33 and 34 form a four-bar linkage mechanism 40, the first rod member 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 rod member 31, the first telescopic unit 50 is used to drive the first rod member 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 rod member 32, the second telescopic unit 60 is used to drive the second rod member 32 to rotate, the first telescopic unit 50 and the second telescopic unit 60 are matched with the four-bar linkage mechanism 40, so that the first rod member 31 and the second rod member 32 in the four-bar linkage mechanism 40 can be actively rotated, the phalanx unit 30 is connected by the first telescopic unit 50, the second telescopic unit 60 and the metacarpal unit 20, and the phalanx unit 30 is arranged as the four-bar linkage mechanism 40, the stability of the structure is improved, so that the dexterity and the structural strength are considered, and the use requirement of the dexterous operation is met.

[0104] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0105] It should be noted that the application is introduced by taking the five-degree-of-freedom active full-drive humanoid mechanical thumb, the dexterous hand and the humanoid robot as examples, but the application is not limited to the five-degree-of-freedom active full-drive humanoid mechanical thumb, the dexterous hand and the humanoid robot, and can be applied to the production and use of other similar workpieces.

[0106] It should be understood that the application is not limited to the precise structures which have been described above and illustrated in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the application should only be limited by the appended claims.

[0107] The above description is only the preferred embodiment of the application, and is not used to limit the application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A five degree of freedom, actively driven, fully actuated, anthropomorphic robotic thumb, characterized by, The utility model relates to a kind of knuckle joint, including: Metacarpal base; Metacarpal unit, with the metacarpal base articulates; Phalangeal unit, the phalangeal unit includes first rod, second rod, third rod and fourth rod in head-to-tail;The first rod, the second rod, the third rod and the fourth rod form four-bar linkage;Wherein, the first rod is articulated with the metacarpal unit; First telescopic unit, one end is articulated with the metacarpal base, the other end is articulated with the first rod, and the first telescopic unit is used to drive the first rod to rotate; Second telescopic unit, one end is articulated with the metacarpal unit;The other end is articulated with the second rod, and the second telescopic unit is used to drive the second rod to rotate; The metacarpal unit includes first hooke hinge, second hooke hinge and connecting rod, one end of the first hooke hinge is articulated with the metacarpal base, and the other end is articulated with the connecting rod;One end of the second hooke hinge is articulated with the connecting rod, and the other end is articulated with the first rod; The first rod is L-shaped, including first connecting section and second connecting section perpendicular to each other, and third connecting section is arranged at the connecting place of the first connecting section and the second connecting section; The first connecting section is articulated with the first telescopic unit, the second connecting section is articulated with the fourth rod, one side of the third connecting section is articulated with the second rod, and the other side is articulated with the second hooke hinge; The first connecting section includes two connecting plates arranged in parallel, and two lateral ball heads are protrudingly arranged on the side surface of each connecting plate; The first telescopic unit is provided with four, four first telescopic units are arranged around the first rod, and are distributed in rectangle on the metacarpal base; One end of the first telescopic unit is articulated with the metacarpal base, and the other end is articulated with the lateral ball head; The connecting platform is protrudingly arranged on the connecting rod, and the connecting platform is located at the end of the connecting rod connected with the first hooke hinge;A connecting ball head is arranged on the connecting platform, and the connecting ball head is used to articulate with the second telescopic unit.

2. The five-degree-of-freedom actively fully-actuated anthropomorphic robotic thumb of claim 1, wherein, The first hooke hinge and the second hooke hinge are both offset type hooke hinges.

3. The five-degree-of-freedom actively fully-actuated anthropomorphic robotic thumb of claim 1, wherein, The second rod is strip-shaped, one end of the second rod is articulated with the third connecting section, and the other end is articulated with the second telescopic unit; Wherein, the second rod is provided with a through hole at the middle position, and the through hole is used for inserting a rotating shaft to articulate the third rod.

4. The five-degree-of-freedom actively fully-actuated anthropomorphic robotic thumb of claim 1, wherein, The first telescopic unit includes: Third hooke hinge, arranged on the metacarpal base; Connecting sleeve, connected with the third hooke hinge; First cylinder, inserted into the connecting sleeve;The first cylinder is hollow, and a first assembly cavity is formed; First motor, arranged in the first assembly cavity; First screw rod, transmission connection with the output shaft of the first motor, extends along the axial direction of the first assembly cavity; First nut, one end is screwed with the first screw rod, and the other end extends out of the first assembly cavity and forms a ball sleeve, and the ball sleeve is connected with the lateral ball head.

5. The five-degree-of-freedom actively fully-actuated anthropomorphic robotic thumb of claim 1, wherein, The second telescopic unit includes: Second cylinder, one end is connected with the connecting ball head, and the other end is hollow and forms a second assembly cavity; Second motor, arranged in the second assembly cavity; A second screw rod is in transmission connection with the output shaft of the second motor and extends along the axial direction of the second assembly cavity; A second nut is in screw connection with one end of the second screw rod and has the other end extending out of the second assembly cavity and provided with a fourth Hooke joint, which is in hinged connection with the second rod.

6. A dexterous hand characterized by, The five-degree-of-freedom active full-drive humanoid mechanical thumb comprises a palm part and a five-degree-of-freedom active full-drive humanoid mechanical thumb as claimed in any one of claims 1 to 5 connected with the palm part.

7. A humanoid robot, characterized in that, The five-degree-of-freedom active full-drive humanoid mechanical thumb as claimed in any one of claims 1 to 5.

Images